JPH0975301A - Remote manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a remote manipulator with which an operating wire on the side of another direction can be prevented from being damaged when an inserting part is bent on the side of one direction. SOLUTION: This device is provided with a 1st wire 44 fixed at the top end of inserting part, a 2nd wire 45 and a rotary drum 42 arranged on the base end side of an inserting part and provided so as to be freely turned back and forth around a prescribed rotary axis. Further, the device is provided with a 1st engage part provided at the rotary drum 42 to be engaged with a terminal 44a of 1st wire 44 only when the rotary drum 42 is rotated in direction R so as to take up the 1st wire 44 on the rotary drum 42 and a 2nd engage part provided at the rotary drum 42 to be engaged with a terminal 45a of the 2nd wire 45 only when the rotary drum 42 is rotated in direction R' so as to take up the 2nd wire 45 on the rotary drum 42.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control device for operating an insertion portion such as an endoscope device inserted inside a subject from outside the subject.

[0002]

2. Description of the Related Art Conventionally, an endoscope apparatus for observing the inside of a subject has been used. In the endoscope device, an image of a target site is obtained by bending an insertion portion inserted inside the subject in a desired direction by a remote control device outside the subject.

11A and 11B are schematic views showing such an endoscope apparatus 10. The endoscopic device 10 is
The insertion part 11 to be inserted into the subject and the insertion part 11
And a remote control device 12 for bending.

The insertion portion 11 has a cylindrical support portion 11a and five relay members 11b whose one end is swingably supported by the support portion 11a and which are swingably connected to each other.
And a tip portion 11c swingably connected to the other end of the relay member 11b. A lens 13 of the endoscope is incorporated in the tip portion 11c.

The remote control device 12 has an operating portion 12a arranged at the base end side of the insertion portion 11, a rotary drum 12b arranged in the operating portion 12a, and a base end side wound around the rotary drum 12b. , Operation wires 12c and 12d having fixed ends. An operating knob (not shown) for rotatably operating the rotating drum 12b is attached to the rotating drum 12b. In addition, the tips of the operation wires 12c and 12d are the tip portions 11 of the insertion portion 11.
It is fixed to both sides of c.

In the endoscope device 10 thus constructed, when the insertion portion 11 is bent as shown in FIG. 11B, the remote control device 12 is operated as follows. That is, the operator operates the operation knob to rotate the rotary drum 12b in the direction of arrow R in FIG. As a result, the operation wire 12c is moved to the rotary drum 12b.
The distal end portion 11c of the insertion portion 11 is pulled in the direction of the arrow Q in FIG. 11B via the operation wire 12c, and the relay member 11b swings to bend the insertion portion 11.

[0007]

The endoscope apparatus 10 provided with the conventional remote control device 12 as described above has the following problems. That is, the operation wires 12c, 1
Since 2d is attached to the same rotary drum 12b, when the operation wire 12c is wound as described above, a force is generated in the direction in which the other operation wire 12d is forcibly sent out. At this time, if the operation wire 12d is suddenly sent out, it may buckle and be damaged.

On the other hand, even if the operation wire 12d is sent out without buckling, the force to be sent out is not transmitted to the tip portion 11c due to internal friction acting on the operation wire 12d, so that the operation wire 12d may be loosened and bent in the middle. At this time, when the rotary drum 12 is rotated in the opposite direction by the operation knob, the operation wire 12d may be bent or caught in the middle.

In some cases, instead of the above-mentioned rotary drum 12b, a rotary ring is used as described in Japanese Utility Model Publication No. 63-44003. That is, FIG.
As shown in, the proximal ends of the operation wires 12c and 12d are fixed along the inner diameter portion 14a of the rotating ring 14.
In this case, the same problem occurs.

Therefore, the operation wire 12 as described above is used.
In order to prevent the problems of buckling and loosening of c and 12d, FIG.
A remote control device 15 shown in FIG. 3 has been proposed. That is, the remote control device 15 includes a rotary drum 15a and operation wires 15b and 15c whose base ends are fixed to the rotary drum 15a. The slide connecting mechanisms 15d, 1 are attached to the tips of the operation wires 15b, 15c.
The operation wires 15f and 15g are connected to each other via 5e. In addition, 16a and 16b in FIG. 13 have shown the guide of the operation wires 15b and 15c.

Here, the slide connection mechanisms 15d and 15e
Only when the operation wires 15b and 15c are wound around the rotary drum 15a.
When g is pulled and pushed out, the operation wire 15
It has a function of preventing the occurrence of slack by sliding the tips of b and 15c.

However, since the feeding force from the rotating drum 15a is the largest in the vicinity of the rotating drum 15a, when the rotating drum 15a is rapidly rotated, the operation wires 15b and 15c may be buckled or loosened. It was

On the other hand, the insertion portion 11 inserted inside the subject
When the tip end of the is subjected to an external force from the internal organs or the like and is forcedly bent in the direction shown in FIG.
The operation wire 12c on the inner side is more redundant than the operation wire 12d. Therefore, the above-described buckling or slack may occur, and the same problem may occur.

Therefore, a first object of the present invention is to prevent damage due to buckling or loosening of the operating wire in the other direction when the operating wire in one direction is wound to bend the total insertion portion. It is an object of the present invention to provide a remote control device capable of operating.

A second object of the present invention is to prevent damage due to buckling or loosening of the inner operating wire when the insertion portion inserted inside the subject is bent by external force. It is intended to provide a remote control device that can be used.

[0016]

In order to solve the above-mentioned problems and to achieve the object, the invention described in claim 1 is such that an insertion portion to be inserted into a subject is curved in two predetermined directions. In a remote control device for positioning the tip of the insertion section, a first wire whose tip is fixed to one of the two directions of the tip of the insertion section and a tip of the tip of the insertion section in the two directions. A second wire whose distal end is fixed to the other direction side, a rotor disposed on the proximal end side of the insertion portion and rotatably provided in forward and reverse directions around a predetermined rotation axis, and the rotation described above. A first engagement provided on the child, which engages with a proximal end of the first wire when the rotor is rotated in a forward direction, and enables the first wire to be wound around the rotor; Part and the rotor, when the rotor is rotated in the opposite direction Engages the proximal end of said second wire,
A second engaging portion that enables the second wire to be wound around the rotor is provided.

According to a second aspect of the present invention, in the remote control device for positioning the tip of the insertion part by bending the insertion part to be inserted into the subject in four predetermined directions, First and second wires having their tips fixed on two sides of the same plane in the bendable direction of the tip and two sides of the same plane that are offset by a predetermined angle from the above-mentioned plane of the tip of the insertion section. Third and fourth wires having their distal ends fixed to them, and first and second wires which are disposed on the proximal end side of the insertion portion and are rotatable about forward and backward directions around a predetermined rotation axis. And the first rotor, the first rotor being engaged with the base end of the first wire when the first rotor is rotated in the forward direction, and the first wire being connected to the first wire. A first engaging portion that enables winding of the first rotor, and the first rotor provided on the first engaging portion. Is, second to allow winding engages the proximal end of said second wire when rotating the first rotor in the reverse direction, the second wire to the first rotor
Is provided on the second rotor and the engaging portion of the third wire, and when the second rotor is rotated in the forward direction, the second wire engages with the proximal end of the third wire, A third engaging portion that allows the second rotor to be wound, and the fourth wire, which is provided on the second rotor and rotates when the second rotor is rotated in the opposite direction. And a fourth engaging portion which engages with the base end of the second wire and allows the fourth wire to be wound around the second rotor.

In the invention described in claim 3, claim 1
Alternatively, in the invention described in 2, the engaging portion includes a convex portion provided on the outer peripheral surface of the rotor, and a notch portion formed on the convex portion and through which the wire can pass.
It is preferable that a locking body that is locked to the notch is provided at the proximal end of the wire.

According to the invention described in claim 4, claim 1
Or in the invention described in 2, the engaging portion communicates the hollow portion provided in the rotor, the outside of the rotor and the hollow portion, and the first or second wire is It is preferable that the wire has a communication hole formed so as to pass therethrough, the base end of the wire is movably arranged in the hollow portion, and a locking body that is locked in the communication hole is provided. In the invention described in claim 5, in the invention described in claims 1 to 4, the first and second engaging portions or the third and fourth engaging portions are mutually the first and the second. It is preferable that the second rotor is arranged with a predetermined distance in the axial direction.

According to a sixth aspect of the present invention, in the remote control device for positioning the tip of the insertion section by bending the insertion section to be inserted into the subject in two predetermined directions, the tip of the insertion section is provided. A first wire whose distal end is slidably arranged within a predetermined range in one of the two directions, and a distal end in a predetermined range on the other side of the two directions of the distal end of the insertion portion. A second wire slidably arranged in the inside, and a second wire arranged on the proximal end side of the insertion portion so as to be rotatable in forward and reverse directions about a predetermined rotation axis, and when rotated in the forward direction. A rotor that winds up the base end side of the first wire and also winds the base end side of the second wire when rotated in the opposite direction; and the first end provided at the tip of the insertion portion. The first one above only when the wire is wound When the first engaging portion that engages with the tip of the ear and allows the first wire to be wound around the rotor and the second wire that is provided at the tip of the insertion portion are wound up It is preferable that the second engaging portion engages only with the tip of the second wire and allows the second wire to be wound around the rotor.

According to a seventh aspect of the invention, in the remote control device for positioning the tip of the insertion section by bending the insertion section to be inserted into the subject in four predetermined directions, the tip of the insertion section is provided. Of the first and second wires whose distal ends are slidably arranged within a predetermined range on two sides of the same plane of the bendable directions of the above, and a predetermined angle deviation from the plane of the distal end of the insertion section. The third and fourth wires, whose distal ends are slidably moved within a predetermined range on two sides of the same plane, and forward and reverse directions about a predetermined rotation axis, which are arranged on the proximal end side of the insertion portion. Is rotatably installed on the
A first rotor that winds the base end side of the first wire when it rotates in the forward direction, and winds the base end side of the second wire when it rotates in the opposite direction; It is arranged on the base end side of the insertion portion and is rotatable about the rotation axis deviated from the rotation axis of the first rotor by a predetermined angle in forward and reverse directions. A second rotor that winds up the proximal end side of the wire and also winds up the proximal end side of the fourth wire when rotated in the opposite direction, and the first wire provided at the distal end of the insertion portion. Is engaged with the tip of the first wire when wound,
First engaging portion that enables winding of the wire on the first rotor, and the tip of the second wire when the second wire is wound on the tip of the insertion portion. A second engaging portion that engages with the second rotor to allow the second wire to be wound around the first rotor, and the third wire provided at the tip of the insertion portion is wound up. A third engaging portion that engages with the tip of the third wire to enable the third wire to be wound around the second rotor; and the fourth engaging portion that is provided at the tip of the inserting portion. When the wire of the
Engages the tip of the wire of the
And a fourth engaging portion capable of being wound around the rotor.

In the invention described in claim 8, claim 6 is provided.
Or in the invention described in 7, the engaging portion is provided on the hollow body and a base end side of the insertion portion of the hollow body to communicate the inside and the outside of the hollow body, and the wire can pass therethrough. And a communication hole formed in, the tip of the wire is movably arranged inside the hollow body,
It is preferable that a locking body that is locked in the communication hole is provided.

As a result of taking the above-mentioned means, the following actions will occur. That is, in the invention described in claim 1, in the remote operation device for positioning the tip of the insertion part by bending the insertion part to be inserted into the subject in two predetermined directions, one direction of the tip of the insertion part The first wire whose distal end is fixed to the side and the rotor disposed on the proximal end side of the insertion portion and rotatable in the forward and reverse directions are engaged when the rotor is rotated in the forward direction. The first wire is engaged with the first engaging portion so that the first wire can be wound around the rotor. Therefore, when the insertion portion is curved in one direction, the first wire can be wound around the rotor by rotating the rotor in the positive direction. At this time,
Since the second wire and the rotor are not engaged, the force extruded on the second wire does not act. Therefore, the second
Wire does not buckle or loosen.

Similarly, the second wire, the tip of which is fixed to the other direction side of the tip of the insertion portion, and the rotor are engaged when the rotor is rotated in the opposite direction, and the second wire is attached. The second engaging portion engages with the rotor so that it can be wound around the rotor. Therefore, when the insertion portion is curved in the other direction, the second wire can be wound around the rotor by rotating the rotor in the opposite direction. At this time, since the first wire and the rotor are not engaged with each other, the force pushed out by the first wire does not act. For this reason,
No buckling or slack occurs in the first wire.

According to the invention described in claim 2, in the remote control device for positioning the tip of the insertion part by bending the insertion part to be inserted into the subject in four predetermined directions, the bending of the tip of the insertion part is performed. Coplanar 2 of possible directions
The first wire whose tip is fixed to one side of the direction and the first rotor which is arranged at the base end side of the insertion portion and is rotatable in the forward and reverse directions are the first rotation. It engages when the child is rotated in the forward direction, and engages in the first engaging portion so that the first wire can be wound around the first rotor. Therefore, when the insertion portion is curved in one direction, by rotating the first rotor in the forward direction,
The first wire can be wound on the first rotor. At this time, since the second wire and the first rotor are not engaged with each other, the force pushed out by the second wire does not act. Therefore, the second wire does not buckle or loosen.

Similarly, the second wire having its tip fixed to the other direction of the two directions of the tip of the insertion portion and the first rotor rotate the first rotor in the opposite direction. Sometimes, the second wire is engaged in the second engaging portion so that the second wire can be wound around the first rotor. Therefore, when the insertion portion is curved in the other direction, the second wire can be wound around the first rotor by rotating the first rotor in the opposite direction. At this time,
Since the first wire and the first rotor are not engaged,
No force is exerted on the first wire. Therefore, the first wire is not buckled or loosened.

On the other hand, a third wire whose tip is fixed in one of two directions on the same plane, which is offset from the above-mentioned plane of the tip of the insertion section by a predetermined angle, and the forward and reverse of the third wire, which is arranged on the proximal side of the insertion section The second rotor rotatably provided in the direction is engaged with the second rotor when the second rotor is rotated in the forward direction, and the third wire can be wound around the second rotor. The third engaging portion is engaged so that Therefore, when the insertion portion is curved in one direction, the third wire can be wound around the second rotor by rotating the second rotor in the forward direction. At this time, the fourth wire and the second wire
Since it is not engaged with the rotor of No. 4, no force is exerted on the fourth wire. Therefore, the fourth wire does not buckle or loosen.

Similarly, the fourth wire whose tip is fixed to the other side of the above two directions of the tip of the insertion part and the second rotor rotate the second rotor in the opposite direction. Sometimes, the fourth wire is engaged in the fourth engaging portion so that the fourth wire can be wound around the second rotor. Therefore, when the insertion portion is curved in the other direction, the fourth wire can be wound around the second rotor by rotating the second rotor in the opposite direction. At this time,
Since the third wire and the second rotor are not engaged,
No force is exerted on the third wire. Therefore, the third wire does not buckle or loosen.

According to the third aspect of the present invention, in the engaging portion, when the rotor rotates in the forward direction, for example, the locking body provided at the base end of the wire has a protrusion on the outer peripheral surface of the rotor. It is possible to wind the wire by being locked in the notch formed in the part, and when rotating in the opposite direction, the wire passes freely through the notch and the force that pushes out from the rotor acts on the wire. do not do.

According to the invention described in claim 4, in the engaging portion, when the rotor rotates in the forward direction, for example, the locking body provided at the base end of the wire communicates with the hollow portion of the rotor. When the wire is locked in the hole and the wire can be wound in the opposite direction, the wire freely passes through the communication hole and the wire is not pushed by the rotor.

In the invention described in claim 5, the first and second engaging portions or the third and fourth engaging portions are first to each other.
Also, since the second rotor is arranged with a predetermined distance in the axial direction, it is possible to increase the range in which the wire on the non-engaged side can move along the rotor.

According to the invention described in claim 6, in the remote control device for positioning the tip of the insertion part by bending the insertion part to be inserted into the subject in two predetermined directions, the proximal side of the insertion part When the rotor, which is arranged in the above position and is rotatably provided in the forward and reverse directions about the predetermined rotation axis, is rotated in the forward direction, the tip of the insertion portion is within a predetermined range in one of the two directions. The base end of the first wire which is slidably arranged is wound up with. At this time, the tip of the insertion portion and the tip of the first wire engage when the rotor rotates in the forward direction, and the first wire can be wound around the rotor.

When the rotor is rotated in the opposite direction,
The proximal end of the second wire whose distal end is slidably arranged within a predetermined range is wound up in the other direction of the two directions of the distal end of the insertion portion. At this time, the tip of the insertion portion and the tip of the second wire engage when the rotor rotates in the opposite direction, and the second wire can be wound around the rotor.

On the other hand, the difference in length between the first wire and the second wire that occurs when the insertion portion is forcibly curved in one direction by an external force is that the tip of the first wire is the insertion portion. It is absorbed by sliding with respect to the tip of the. Therefore, the first wire is not buckled or loosened.
Similarly, the difference in length between the first wire and the second wire that occurs when the insertion portion is forcibly bent in the other direction by an external force is that the tip of the second wire is the tip of the insertion portion. Absorbed by sliding against. Therefore, the second wire does not buckle or loosen.

According to the invention described in claim 7, in the remote control device for positioning the tip of the insertion part by bending the insertion part to be inserted into the subject in four predetermined directions, the proximal side of the insertion part When the first rotor, which is arranged in the center and is rotatably provided in the forward and reverse directions around the predetermined rotation axis, is rotated in the forward direction, the tip of the insertion portion is in the same plane within the bendable direction. The proximal end of the first wire whose distal end is slidably moved within a predetermined range is wound up in one of the two directions. At this time, the tip of the insertion portion and the tip of the first wire engage when the first rotor rotates in the forward direction, and the first wire can be wound around the first rotor. it can.

Further, when the first rotor is rotated in the opposite direction, the base end of the second wire whose distal end is slidably moved within a predetermined range on the other side of the above two directions. Roll up. At this time, the tip of the insertion portion and the tip of the second wire engage when the first rotor rotates in the opposite direction, and the second wire can be wound around the first rotor. it can.

On the other hand, the difference in length between the first wire and the second wire that occurs when the insertion portion is forcibly bent in one direction by an external force is that the tip of the first wire is the insertion portion. It is absorbed by sliding with respect to the tip of the. Therefore, the first wire is not buckled or loosened.
Similarly, the difference in length between the first wire and the second wire that occurs when the insertion portion is forcibly bent in the other direction by an external force is that the tip of the second wire is the tip of the insertion portion. Absorbed by sliding against. Therefore, the second wire does not buckle or loosen.

On the other hand, when the second rotor, which is arranged on the base end side of the insertion part and is rotatable about the predetermined rotation axis in the forward and reverse directions, is rotated in the forward direction, the tip of the insertion part is The proximal end of the third wire whose distal end is slidably arranged within a predetermined range is wound up in one direction out of two directions on the same plane deviated from the above plane by a predetermined angle. At this time, the tip of the insertion portion and the tip of the third wire engage with each other when the second rotor rotates in the forward direction, and the third wire can be wound around the second rotor. it can.

When the second rotor is rotated in the opposite direction, the base end of the fourth wire whose distal end is slidably moved within a predetermined range on the other side of the above two directions. Roll up. At this time, the tip of the insertion portion and the tip of the fourth wire are engaged when the second rotor rotates in the opposite direction, and the fourth wire may be wound around the second rotor. it can.

On the other hand, the difference in length between the third wire and the fourth wire that occurs when the insertion portion is forcibly bent in one direction by an external force is that the tip of the third wire is the insertion portion. It is absorbed by sliding with respect to the tip of the. Therefore, the third wire does not buckle or loosen.
Similarly, the difference in length between the third wire and the fourth wire that occurs when the insertion portion is forcibly bent in the other direction by an external force is that the tip of the fourth wire is the tip of the insertion portion. Absorbed by sliding against. Therefore, the fourth wire does not buckle or loosen.

In the invention described in claim 8, in the engaging portion, when the rotor rotates in the forward direction, for example, the locking body provided at the proximal end of the wire engages with the communication hole of the hollow body. When the wire is stopped, the wire can be wound, and when the wire is forcibly bent by an external force, the tip of the wire can move in the hollow body by the pushing force applied to the wire.

[0042]

1 is a schematic diagram showing the configuration of an endoscope device 20 incorporating a remote control device according to a first embodiment of the present invention. 2 (a) and 2 (b) are enlarged views of the main parts.

The endoscope device 20 includes an insertion portion 30 to be inserted into the subject and a remote control device 40 for bending the insertion portion 30.

The insertion portion 30 has a cylindrical support portion 31 and one end which is swingably supported by the support portion 31 so as to be bendable in two directions on the same plane as a whole and swings relative to each other. The relay member 32 includes five relay members 32 that are freely connected and a tip portion 33 that is swingably connected to the other end of the relay member 32. In addition, the lens 3 of the endoscope is attached to the tip portion 33.
4 is incorporated and is guided to the image display unit 36 via the optical fiber 35, for example. Moreover, 33a and 33b in FIG.
Indicates both sides of the tip portion 33.

The remote control device 40 is provided with an operation section 41 arranged on the proximal end side of the insertion section 30.
A rotary drum 42 that is rotatable in the arrow R direction and the arrow R ′ direction in FIG. 2 and a housing 43 that is arranged around the rotary drum 42 are arranged inside. An operating knob (not shown) for rotatably operating the rotating drum 42 is attached to the rotating drum 42. Further, convex portions 50 and 51 are provided on the outer peripheral portion of the rotary drum 42.

44 and 4 in FIGS. 1 and 2 (a) and (b)
Reference numeral 5 indicates an operation wire. Operation wires 44, 45
Spherical terminals 44a and 45a (locking bodies) are attached to the base ends of the above, respectively, and engage with the rotary drum 42 as described later. On the other hand, the operation wires 44, 4
The front end of 5 is the side part 33 of the front end 33 of the insertion part 30.
a and 33b, respectively.

As shown in FIG. 2B, the protrusion 50 is formed with a notch 50a through which the operating wire 44 can pass and a spherical terminal 44a of the operating wire 44 described later is locked. ing. The convex portion 50, the cutout portion 50a, and the terminal 44a form an engaging portion. In addition, the operation wire 45 is allowed to pass through the convex portion 51, and a notch portion 51 in which a spherical terminal 45a of the operation wire 45 described later is locked.
a is formed. The convex portion 51, the cutout portion 51a, and the terminal 45a form an engaging portion.

The terminals 44a and 45a are connected to the rotary drum 4
The gap W between the housing 2 and the housing 43 is formed so as to be freely movable along the outer circumference of the rotary drum 42.

In the endoscope device 20 thus constructed, when the insertion portion 30 is bent as shown in FIG. 3A, the remote operation device 40 is operated as follows. That is, the operator operates the operation knob to rotate the rotary drum 42.
Is rotated in the direction of arrow R in FIG. At this time, the terminal 44a of the operation wire 44 is locked in the cutout portion 50a, and the operation wire 44 is wound around the rotary drum 42. Then, the distal end portion 33 of the insertion portion 30 is pulled in the direction of arrow A in FIG. 3 via the operation wire 44, and the relay members 32 respectively swing to bend the insertion portion 30.

At this time, the convex portion 51 moves in the direction of pushing out the operation wire 45 by the rotation of the rotary drum 42.
The terminal 45a is not locked to the cutout portion 51a of the convex portion 51,
Moreover, since the operation wire 45 passes through the cutout portion 51a, the operation wire 45 stops at the original position.

Since the operating wire 45 is paired with the operating wire 44, the distal end portion 33 of the inserting portion 30 pulls the operating wire 45 by an amount along the curve of the inserting portion 30.
At this time, the operating wire 45 is naturally pulled, so that slack does not occur on the way. Further, the difference between the operation wire 44 and the operation wire 45 due to the bending of the insertion portion 30 is absorbed by the free movement of the terminal 45a in the gap W.

On the other hand, as shown in FIG.
When bending 0, the remote operation device 40 is operated as follows. That is, the operator operates the operation knob to rotate the rotary drum 42 in the direction of arrow R'in FIG. At this time, the terminal 45a of the operation wire 45 is locked in the cutout portion 50a, and the operation wire 45 is wound around the rotary drum 42. Then, the distal end portion 33 of the insertion portion 30 is pulled through the operation wire 45 in the direction of the arrow A ′ in FIG. 3, the relay members 32 respectively swing, and the insertion portion 30 bends.

At this time, the projection 50 moves in the direction of pushing out the operation wire 44 by the rotation of the rotary drum 42.
The terminal 44a is not locked to the notch 50a of the protrusion 50,
Moreover, since the operation wire 44 passes through the cutout portion 50a, it remains at the original position.

Since the operating wire 44 is paired with the operating wire 45, the distal end portion 33 of the inserting portion 30 is pulled by the operating wire 44 by an amount along the curve of the inserting portion 30. At this time, the operating wire 44 is naturally pulled, so that slack does not occur on the way. Further, the operation wire 44 and the operation wire 45 due to the bending of the insertion portion 30
The difference between and is absorbed by the free movement of the terminal 44a in the gap W.

As described above, in the first embodiment,
In the case of bending in one direction, the forced pushing of the operating wire in the other direction by the rotating drum is prevented by allowing the end of the operating wire to escape into the space along the rotating drum,
It is possible to prevent the wire from being damaged due to buckling or loosening. Therefore, an endoscope device having high reliability and durability can be obtained.

4 to 8 show the first to the first embodiment of the present invention.
It is a figure which shows the principal part of the remote control concerning a 5th modification. The configuration of this embodiment is the same as that of the above-described first embodiment, and will be omitted.

In the first modification shown in FIG. 4, the rotary drum 60 is used instead of the rotary drum 42. That is, the rotating drum 60 is the cylindrical drum body 6
1, drum parts 62a and 62b provided on the upper and lower ends of the drum body 61, and convex parts 63 and 64 (63 is not shown) provided on the outer periphery of the drum body 61. Notches 63a and 64a (63a is not shown) are formed on the protrusions 63 and 64, respectively, through which the operation wires 44 and 45 can pass and the terminals 44a and 45a can be locked.
Further, the operation wires 44, 4 are attached to these convex portions 63, 64.
5 terminals 44a and 45a are engaged with each other.

Even when the rotary drum 60 having such a structure is used, the same effect as that of the first embodiment described above can be obtained, and the vertical movement of the terminals 44a and 45a in FIG. 4 is restricted. , Operation reliability is improved.

In the second modification shown in FIG. 5, the rotary drum 65 is used instead of the rotary drum 42. That is, the rotating drum 65 is the cylindrical drum body 6
6, the flange portions 67a to 67c provided at the upper end, the intermediate portion and the lower end of the drum main body 66, and the convex portion 68 provided on the outer periphery of the drum main body 66 between the flange portion 67a and the flange portion 67b. And a convex portion 69 provided on the outer periphery of the drum body 66 between the collar portion 67b and the collar portion 67c. The operation wires 44 and 45 are provided on the convex portions 68 and 69, respectively.
Is formed, and notches 68a and 69a are formed so that the terminals 44a and 45a can be locked. Further, the base ends of the operation wires 44 and 45 are engaged with the protrusions 68 and 69, respectively.

Even when the rotary drum 65 constructed as described above is used, the same effect as that of the first embodiment described above can be obtained, and the outer circumference of the drum main body 66 in the gap W between the terminals 44a and 45a is obtained. The moving range in the vertical direction can be set large. Therefore, the amount of rotation of the rotary drum 60 can be increased, and the amount of bending can be increased.

In the third modification shown in FIG. 6, the rotary drum 70 is used instead of the rotary drum 42. That is, the rotary drum 70 includes a cylindrical drum main body 71, hollow portions 72 and 73 (72 is not shown) provided in the drum main body 71 along the circumferential direction thereof, the hollow portions 72 and 73, and the drum. Communication hole 7 that communicates with the outside of the main body 71
2a and 73a (72a is not shown). The communication holes 72a and 73a are formed so that the operation wires 44 and 45 can pass therethrough and the terminals 44a and 45a can be locked. Further, the operation wire 4 is provided in the hollow portions 72 and 73.
4, 45 terminals 44a and 45a are arranged, respectively.

Even when the rotary drum 70 having such a structure is used, the same effect as that of the above-described second modification can be obtained, and the housing 43 is not required, and the operating portion 4 is not necessary.
0 can be miniaturized.

In the fourth modification shown in FIG. 7, the first
Instead of the terminals 44a and 45a of the modified example of FIG.
45b (44b is not shown) was used. Terminal 4
4b and 45b are formed in a fan shape, and the gap W can be smoothly moved along the outer periphery of the drum body 61 of the rotary drum 60. Even when the terminals 44b and 45b configured as described above are used, the same effect as that of the above-described first modification can be obtained.

In the fifth modification shown in FIG. 8, the first
The operation wires 80 and 81 are used instead of the operation wires 44 and 45 in the above embodiment. Operating wire 80,
Reference numeral 81 is divided into wires 80a and 81a on the operation portion side and wires 80b and 81b on the insertion portion side, respectively, and connected by wire connecting portions 80c and 81c. In addition, 80d and 81d in FIG. 8 have shown the terminal.

The operation wires 80, 8 constructed in this way
Even when 1 is used, the same effect as that of the above-described first embodiment can be obtained.

FIGS. 9A and 9B are views showing an endoscope apparatus incorporating a remote control device according to the second embodiment of the present invention. As shown in FIG. 9A, the endoscope device 90 includes an insertion portion 100 that is inserted inside the subject and a remote control device 110 that bends the insertion portion 100.

The insertion portion 100 includes a cylindrical support portion 101,
Five relay members 10 each having one end swingably supported by the support portion 101 and swingably connected to each other
2 and a tip portion 103 swingably connected to the other end of the relay member 102. The lens 104 of the endoscope is incorporated in the tip portion 103, and the optical fiber 10
It is guided to the image display unit 106 via 5.

As shown in FIG. 9B, the tip portion 103 has a cylindrical tip member 103a and a tip member 103a.
And cylindrical hollow portions 103d and 103e respectively arranged on both side portions 103b and 103c. The hollow portions 103d and 103e have communication holes 103f and 10e, respectively.
3 g are provided. Both of the communication holes 103f and 103g are formed to have a diameter through which the operation wires 114 and 115 can pass, and terminals 114a and 115a provided at the tips of the operation wires 114 and 115 described later are locked.
In addition, the terminals 114 are provided in the hollow portions 103d and 103e.
a and 115a are arranged.

The remote control device 110 has an operation part 111 arranged on the proximal end side of the insertion part 100, and a rotary drum 112 is arranged in the operation part 111. An operation knob (not shown) for rotatably operating the rotary drum 112 is attached to the rotary drum 112.

Reference numerals 114 and 115 in FIG. 9 denote operation wires. The proximal ends of the operation wires 114 and 115 are fixed to the outer circumference of the rotary drum 112. Also, the operation wire 1
Terminals 114a, 11 are provided at the respective tips of 14, 115.
5a is provided, and is slidably arranged in the hollow portions 103d and 103e described above.

In the endoscope device 90 thus constructed, when the insertion portion 100 is curved in the direction of arrow B in FIG. 9A, the remote operation device 110 is operated as follows. That is, the operator operates the operation knob to rotate the rotary drum 112 in the direction of arrow R in FIG. 9A, and winds the operation wire 114. Winding operation wire 1
14 terminals 114a are communication holes 103f of the hollow portion 103d.
, The side portion 103b of the distal end portion 103 is pulled toward the proximal end side, and the insertion portion 100 bends. When the rotary drum 112 is bent in the direction B ′ in FIG.
(A) Rotate in the middle R'direction, and similarly perform the bending operation.

On the other hand, for example, as shown in FIG.
03 receives the external force P and the arrow B'in FIG.
When it is forcibly curved in the direction, it operates as follows. That is, the operation wire 115 located inside when curved is longer than the operation wire 114 located outside. Therefore, a compressive force acts on the operation wire 115, and this compressive force causes the terminal 115a to move into the hollow portion 104.
Enter into d. The compressive force applied to the operation wire 115 is relaxed, and buckling / loosening does not occur. Therefore, the operation wire 115 is not subjected to an excessive force and is not damaged.

When the wire is forcibly bent in the opposite direction, the terminal 114a of the operation wire 114 is similarly processed.
Can be prevented from entering the hollow portion 103d and causing buckling and slack.

As described above, in the second embodiment,
Even if the insertion portion 100 is forcibly bent by an external force and a compression force acts on the operation wire 114 or 115 positioned inside, the compression force is generated because the respective terminal 114a or 115a enters into the hollow portion 103d or 104d. It is possible to prevent the operation wires 114 and 115 from buckling and loosening. Therefore, the operation wires 114 and 115
It is possible to prevent damage.

Although not shown, the above first and second
In the embodiment of the present invention, the structure is such that it can be bent only in two directions on the same plane, that is, in the left-right direction or the up-down direction.
The bending direction of the insertion portion can be set to four directions by shifting the assembly by 0 °.

The present invention is not limited to the above embodiments. That is, in the above embodiment,
Although the remote control device is applied to the endoscope, it may be used for other scopes or the like. In addition, the operation unit 111 of the second embodiment
May be configured as in the first embodiment. Of course, various modifications can be made without departing from the scope of the present invention.

[0077]

According to the invention described in claim 1, in the remote control device for positioning the tip of the insertion part by bending the insertion part to be inserted into the subject in two predetermined directions, the first wire is provided. By winding the wire around the rotor, the force pushed out by the second wire does not act when the insertion portion is bent in one direction. Therefore, the second wire does not buckle or loosen. Similarly, when the first wire is bent in the other direction, the first wire is not buckled or loosened. For this reason,
It is possible to prevent damage to the wire.

In the invention described in claim 2, in the remote control device for positioning the tip of the insertion part by bending the insertion part to be inserted into the subject in four predetermined directions, the first wire is By being wound around the first rotor, the force pushed out by the second wire does not act when the insertion portion is curved in one direction. Therefore, the second wire does not buckle or loosen. Similarly, when the first wire is bent in the other direction, the first wire is not buckled or loosened. Therefore, it is possible to prevent the wire from being damaged.

When the third wire is wound around the second rotor to bend the insertion portion in one direction,
No force is exerted on the fourth wire. Therefore, the fourth wire does not buckle or loosen. Similarly, when the third wire is bent, the third wire is not buckled or loosened. Therefore, it is possible to prevent the wire from being damaged.

According to the third aspect of the present invention, the locking body can be engaged only when rotating in the forward direction, and the locking body can be disengaged when rotating in the reverse direction.
It is possible not to apply a pushing force from the rotor to the wire.

According to the invention described in claim 4, the locking body can be engaged only when rotating in the forward direction, and the locking body can be disengaged when rotating in the reverse direction.
It is possible not to apply a pushing force from the rotor to the wire.

In the invention described in claim 5, it is possible to set a large range in which the wire on the non-engaging side can move along the rotor.

According to the invention described in claim 6, in the remote control device for positioning the tip of the insertion part by bending the insertion part to be inserted into the subject in two predetermined directions, the insertion part has one direction side. The difference in length between the first wire and the second wire, which occurs when the wire is forcibly bent by an external force, is absorbed by the distal end of the first wire slidingly moving with respect to the distal end of the insertion portion. To be done. For this reason,
No buckling or slack occurs in the first wire. Similarly, the difference in length between the first wire and the second wire that occurs when the insertion portion is forcibly bent in the other direction by an external force is:
The tip of the second wire is absorbed by sliding movement with respect to the tip of the insertion section. Therefore, the second wire does not buckle or loosen. Therefore, it is possible to prevent the wire from being damaged.

According to the invention described in claim 7, in the remote control device for positioning the tip of the insertion part by bending the insertion part to be inserted into the subject in four predetermined directions, the insertion part has one direction side. The difference in length between the first wire and the second wire, which occurs when the wire is forcibly bent by an external force, is absorbed by the distal end of the first wire slidingly moving with respect to the distal end of the insertion portion. To be done. For this reason,
No buckling or slack occurs in the first wire. Similarly, the difference in length between the first wire and the second wire that occurs when the insertion portion is forcibly bent in the other direction by an external force is:
The tip of the second wire is absorbed by sliding movement with respect to the tip of the insertion section. Therefore, the second wire does not buckle or loosen. Therefore, it is possible to prevent the wire from being damaged.

Further, the difference in length between the third wire and the fourth wire that occurs when the insertion portion is forcibly bent in one direction by an external force is that the tip of the third wire is the insertion portion. It is absorbed by sliding with respect to the tip of the. Therefore, the fourth wire does not buckle or loosen.
Similarly, the difference in length between the third wire and the fourth wire that occurs when the insertion portion is forcibly bent in the other direction by an external force is that the tip of the fourth wire is the tip of the insertion portion. Absorbed by sliding against. Therefore, the third wire does not buckle or loosen. Therefore, it is possible to prevent the wire from being damaged.

In the invention described in claim 8, in the engaging portion, when the first rotor rotates in the forward direction, for example, the locking body provided at the base end of the first wire is hollow. When it is locked in the communication hole of the body, the first wire can be wound up, and when it is forcibly bent by an external force,
The pushing force applied to the second wire enables the tip of the wire to move in the hollow body. Therefore, it is possible to prevent the pushing force from acting on the second wire.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing a configuration of an endoscope apparatus incorporating a remote control device according to a first embodiment of the present invention.

2A and 2B are diagrams showing an operation unit incorporated in the remote control device, wherein FIG. 2A is a plan view and FIG. 2B is a perspective view.

3A and 3B are plan views showing a state in which the operation unit is operated, wherein FIG. 3A is a state in which the rotary drum is rotated in the forward direction, and FIG. 3B is a state in which the rotary drum is rotated in the reverse direction. .

FIG. 4 is a perspective view showing a main part of a remote control device according to a first modified example of the same embodiment.

FIG. 5 is a perspective view showing a main part of a remote control device according to a second modification of the same embodiment.

FIG. 6 is a cross-sectional view showing the main parts of a remote control device according to a third modification of the same embodiment.

FIG. 7 is a perspective view showing a main part of a remote control device according to a fourth modified example of the same embodiment.

FIG. 8 is a perspective view showing a main part of a remote control device according to a fifth modification of the same embodiment.

9A and 9B are views showing an endoscope apparatus incorporating a remote control device according to a second embodiment of the present invention, in which FIG. 9A is a schematic view and FIG. 9B is an enlarged view of a main part.

FIG. 10 is a cross-sectional view showing a main part of the remote control device, in which (a) is a state before bending and (b) is a curved state.

11A and 11B are schematic views showing an example of a conventional remote control device incorporated in an endoscope apparatus, where FIG. 11A is a state before bending and FIG. 11B is a curved state.

FIG. 12 is a plan view showing a main part of another example of a conventional remote control device.

FIG. 13 is a perspective view showing a main part of still another example of a conventional remote control device.

[Explanation of symbols]

20, 90 ... Endoscope device 30, 100 ... Insertion part 31, 101 ... Support part 32, 102 ... Relay member 33, 103 ... Tip part 33a, 33b, 103b, 103c ... Both side parts 34, 104 ... Lens 35, 105 ... optical fiber 36, 106 ... image display section 40, 110 ... remote control device 41, 111 ... operation section 42, 60, 65, 70, 112 ... rotary drum 43 ... housing 44, 45, 80, 81, 114, 115 ... Operation wires 44b, 45b, 114a, 115a ... Terminals 50, 51, 63, 64, 68, 69 ... Convex parts 50a, 51a, 63a, 64a, 68a, 69a ... Notch parts 61, 66, 71 ... Drum body 62a, 62b , 67a to 67c ... Collar portion 72, 103d, 103e ... Hollow portion 72a, 103f, 103g ... Communication hole W ... Gap

[Procedure amendment]

[Submission date] December 26, 1995

[Procedure amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] Fig. 10

[Correction method] Change

[Correction contents]

FIG. 10 is a cross-sectional view showing a main part of the remote control device.

Claims (8)

[Claims] 1. A remote control device for positioning the tip of the insertion part by bending the insertion part to be inserted into the subject in two predetermined directions, one of the two directions of the tip of the insertion part. A first wire whose tip is fixed to the side, a second wire whose tip is fixed to the other side of the two directions of the tip of the insertion section, and a proximal end side of the insertion section A rotor provided around a predetermined rotation axis so as to be rotatable in forward and reverse directions, and a rotor provided on the rotor and attached to the base end of the first wire when the rotor is rotated in the forward direction. A first engaging portion that engages and allows the first wire to be wound around the rotor; and a second engaging portion that is provided on the rotor and rotates the rotor in the opposite direction. Engages with the proximal end of the wire to allow winding of the second wire around the rotor Remote control apparatus characterized by and a second engagement portion that. 2. A remote control device for positioning the tip of the insertion part by bending the insertion part to be inserted into the subject in four predetermined directions. 2 in the same plane
The first and second wires whose ends are fixed on the direction side, and the third and fourth wires whose ends are fixed on the two directions on the same plane that is deviated by a predetermined angle from the plane of the ends of the insertion section. Wires, first and second rotors disposed on the proximal end side of the insertion portion and rotatable about a predetermined rotation axis in forward and reverse directions, respectively, and provided on the first rotor. When the first rotor is rotated in the forward direction, the first wire engages with the proximal end of the first wire to enable the first wire to be wound by the first rotor. And the engaging portion of the first rotor, and when the first rotor is rotated in the opposite direction, engages with the base end of the second wire, A second engaging portion that enables the first rotor to be wound, and a second rotor that is provided on the second rotor and rotates the second rotor in the forward direction. A third engaging portion that engages with the base end of the third wire when wound, and allows the third wire to be wound around the second rotor; A second rotor that engages with the proximal end of the fourth wire when the second rotor is rotated in the opposite direction, and that allows the fourth wire to be wound around the second rotor. 4. The remote control device, comprising: 3. The engaging portion includes a convex portion provided on an outer peripheral surface of the rotor, and a cutout portion formed on the convex portion so that the wire can pass therethrough. The remote control device according to claim 1 or 2, wherein a locking body that is locked to the cutout portion is provided at the end. 4. The engaging portion communicates the hollow portion provided in the rotor with the outside of the rotor and the hollow portion, and
A communicating hole formed so that the wire can pass therethrough; a proximal end of the wire is movably arranged in the hollow portion; and a locking body that is locked in the communicating hole is provided. The remote control device according to claim 1 or 2, characterized in that. 5. The first and second engagement portions or the third engagement portion
The remote operation according to any one of claims 1 to 4, wherein the fourth engaging portion and the fourth engaging portion are arranged at a predetermined distance from each other in the axial direction of the first and second rotors. apparatus. 6. A remote control device for positioning the tip of the insertion part by bending the insertion part to be inserted into the subject in two predetermined directions, one of the two directions of the tip of the insertion part. A first wire having a distal end slidably arranged within a predetermined range, and a distal end slidably arranged within a predetermined range on the other side of the two directions of the distal end of the insertion portion. A second wire and a base of the first wire, which is disposed on the proximal end side of the insertion portion and is rotatable about a predetermined rotation axis in forward and reverse directions, and when rotated in the forward direction. A rotor that winds the end side and winds the base end side of the second wire when it is rotated in the opposite direction, and when the first wire that is provided at the tip of the insertion portion is wound. Only engages the tip of the first wire, A first wire for winding the first wire around the rotor
And the second wire provided on the tip of the insertion part and engaged with the tip of the second wire only when the second wire is wound, and the second wire is wound around the rotor. The second that can be taken
And an engaging portion of the remote control device. 7. A remote control device for positioning the tip of the insertion part by bending the insertion part to be inserted into the subject in four predetermined directions, wherein the tip of the insertion part is within the bendable direction. 2 on the same plane
The first and second wires, the tips of which are slidably arranged within a predetermined range on the direction side, and the tips of which are predetermined on the two plane sides of the same plane which is deviated from the plane of the tip of the insertion portion by a predetermined angle Third and fourth wires slidably arranged within the range, and arranged on the proximal end side of the insertion portion so as to be rotatable in forward and reverse directions about a predetermined rotation axis, and in the forward direction. A first rotor that winds up the base end side of the first wire when it rotates in the opposite direction, and winds up the base end side of the second wire when it rotates in the opposite direction, and a base of the insertion section. It is arranged on the end side and is provided rotatably in forward and reverse directions about a rotation axis deviated from the rotation axis of the first rotor by a predetermined angle, and when rotating in the forward direction, the base of the third wire The base end of the fourth wire when the end side is wound and rotated in the opposite direction. A second rotor that winds up the first wire and a first wire that is provided at the tip of the insertion portion and that engages the tip of the first wire when the first wire is wound. A first engaging portion that enables winding on the first rotor; and an engaging portion that is provided at the tip of the insertion portion and that engages with the tip of the second wire when the second wire is wound. A second engaging portion that enables the second wire to be wound around the first rotor, and a third engaging portion that is provided at the tip of the insertion portion and that the third wire is wound up. A third engaging portion that engages with the tip of the wire and allows the third wire to be wound around the second rotor, and the fourth wire that is provided at the tip of the insertion portion and is wound up. A fourth engaging portion that engages with the tip of the fourth wire when wound, and allows the fourth wire to be wound around the second rotor. Remote control device which is characterized in that it comprises. 8. The engaging portion is provided on a hollow body and a base end side of the inserting portion of the hollow body to communicate the inside and the outside of the hollow body, and the wire is formed to pass therethrough. 8. A communication hole, wherein the distal end of the wire is movably arranged inside the hollow body, and a locking body that is locked in the communication hole is provided. The remote control device described in.