WO2005094664A1 - 内視鏡 - Google Patents
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- Publication number
- WO2005094664A1 WO2005094664A1 PCT/JP2005/006493 JP2005006493W WO2005094664A1 WO 2005094664 A1 WO2005094664 A1 WO 2005094664A1 JP 2005006493 W JP2005006493 W JP 2005006493W WO 2005094664 A1 WO2005094664 A1 WO 2005094664A1
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- WIPO (PCT)
- Prior art keywords
- unit
- endoscope
- bending
- instruction operation
- endoscope according
- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
- A61B1/0005—Display arrangement combining images e.g. side-by-side, superimposed or tiled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00039—Operational features of endoscopes provided with input arrangements for the user
- A61B1/00042—Operational features of endoscopes provided with input arrangements for the user for mechanical operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0052—Constructional details of control elements, e.g. handles
Definitions
- the present invention relates to an endoscope that is inserted into a body cavity or the like to perform an endoscopic examination or the like.
- a bending portion is provided near the distal end of the insertion portion so that the endoscope can be inserted into a bent body or the like and can be observed in a desired direction.
- the bending section can be operated for bending (angle operation) in the section.
- a freeze switch or the like that instructs a signal processing device that performs signal processing on the image sensor to display a still image is provided on the operation unit. A plurality of scope switches are provided. Then, the surgeon can perform various operations with one hand holding the holding portion of the operation portion.
- Japanese Patent Application Laid-Open No. 9-276214 discloses, for example, Japanese Patent Application Laid-Open No. 9-276214 as a prior art endoscope device in which the functions assigned to the plurality of scope switches can be changed and set to further improve operability.
- the endoscope device disclosed in the above publication has a configuration in which the function of the scope switch is set or changed by operating a keyboard connected to a video processor to which the endoscope is connected. During an endoscopy, it is difficult for the user who is actually operating the endoscope to make changes.
- the present invention has been made in view of the above-mentioned points, and has an operability in which a user who grips and operates an endoscope can perform a change setting and the like of a function assigned to a scope switch. It is intended to provide a high endoscope.
- the present invention provides a highly operable endoscope that can perform various operations with the same operability as a bending instruction operation with a hand held by a user who grips and operates the endoscope. Purpose.
- An endoscope of the present invention includes an insertion section provided with a bendable section,
- a grip portion provided on a base end side of the insertion portion and gripped by an operator
- Instruction operation means having a function of performing a bending instruction operation of the bending portion and a function of another instruction operation different from the bending instruction operation on a peripheral portion including the grip portion,
- FIG. 1 is an overall configuration diagram of an endoscope system provided with the present invention.
- FIG. 2A is a diagram showing a wireless data transmission form used in the present invention.
- FIG. 2B is a diagram showing a wired data transmission mode used in the present invention.
- FIG. 2C is a diagram showing a data transmission form of an optical communication system used in the present invention.
- FIG. 3 is a perspective view showing a specific external shape around an AWS unit.
- FIG. 4A is a perspective view showing an AWS unit with an AWS adapter attached.
- FIG. 4B is a perspective view showing the AWS unit with the AWS adapter removed.
- FIG. 5A is a front view showing the structure of the AWS adapter.
- FIG. 5B is a left side view showing the structure of the AWS adapter.
- Figure 5C is a right side view showing the structure of the AWS adapter.
- FIG. 5D is a sectional view taken along the line AA ′ of FIG. 5A.
- FIG. 5E is a cross-sectional view taken along the line BB ′ of FIG. 5A.
- FIG. 6 is a block diagram showing an internal configuration of an endoscope system control device and an AWS unit.
- FIG. 7 is a diagram showing an internal configuration of the endoscope according to the first embodiment.
- FIG. 8 is a view showing a specific external shape and the like of the endoscope.
- FIG. 9 is an explanatory view showing a schematic function of a conductive polymer artificial muscle (EPAM) used for an angle member and a hardness variable actuator.
- EEM conductive polymer artificial muscle
- FIG. 10A is a diagram showing a configuration of a transparency sensor.
- FIG. 10B is a view showing the operation of the transparency sensor.
- FIG. 11 is a block diagram showing a configuration of an electric system in the endoscope.
- FIG. 12A is a diagram showing a display example of an endoscope image and the like on a monitor.
- FIG. 12B is a diagram showing a display example of a main menu on a monitor.
- FIG. 12C is a diagram showing an example of function assignment to function switches on a monitor.
- FIG. 13 is a flowchart showing a control process for an angle operation.
- FIG. 14 is a flowchart showing a curved shape display process.
- FIG. 15 is a diagram showing the relationship between the magnitude of displacement in the vertical and horizontal directions and the total displacement.
- FIG. 16 is an explanatory diagram showing a bending radius and the like in a state where a bending portion is bent.
- FIG. 17 is an explanatory diagram of three-dimensionally drawing a curved shape of a curved portion.
- FIG. 18 is a flowchart showing a control operation for a hardness varying operation.
- FIG. 19 is a flowchart showing the processing contents on the endoscope side in the human interface.
- Fig. 20 is a flowchart showing the processing contents on the endoscope system control device side in the human interface.
- FIG. 21 is a diagram showing a specific external shape and the like of an endoscope according to a second embodiment of the present invention.
- FIG. 22 is a diagram showing a peripheral portion of an operation unit in an endoscope according to a second modification.
- FIG. 23 is a diagram showing a peripheral portion of an operation unit in an endoscope according to a third modification.
- FIG. 24 is a diagram showing a peripheral portion of an operation unit in an endoscope according to a fourth modification.
- FIG. 25 is a schematic configuration diagram of an endoscope system including a third embodiment of the present invention.
- FIG. 26 is a diagram showing a schematic configuration of an endoscope according to a third embodiment.
- FIG. 27 is a perspective view showing an overall configuration of an endoscope system including a third embodiment.
- FIG. 28 is an overall view showing a detailed configuration of an endoscope.
- FIG. 29 is a view showing a trackball and the like provided on the operation unit as viewed from the arrow C in FIG. 28.
- FIG. 30 is a circuit diagram showing a configuration of a contactless transmission section in which a base end of a tube unit is detachably connected to an operation section main body without contacts.
- FIG. 31 is a block diagram showing a configuration of an electric system of components provided in the endoscope.
- FIG. 32 is a block diagram showing a configuration of an electric system of a main part of the endoscope system control device.
- Figure 33 is a block diagram showing the configuration of the six electrical systems of the AWS unit.
- FIG. 34 is a flowchart showing the operation of the AWS unit startup process.
- FIG. 35 is a flowchart showing an operation content of an endoscope activation process.
- FIG. 36 is a flowchart showing an operation content of an imaging control process.
- FIG. 37 is a flowchart showing an operation content of a control process of air supply and water supply.
- FIG. 38 is a flowchart showing a control process of an angle operation.
- FIG. 39 is an operation explanatory diagram showing a setting operation of the hardness variable and an UPD image corresponding to the operation.
- FIG. 40 is an external view of a curved portion when a multi-stage angle operation is performed.
- Example 1 First Embodiment A first embodiment of the present invention will be described with reference to FIGS.
- an endoscope system 1 including the first embodiment of the present invention is not shown lying on an examination bed 2 and is a flexible endoscope that is inserted into a patient's body cavity to perform endoscopy.
- An endoscope system control device 5 that performs signal processing for an image pickup device built in the endoscope 3, control processing for various operation means provided in the endoscope 3, image processing, and the like.
- an observation monitor 6 such as a liquid crystal monitor for displaying a video signal generated by the mirror system control device 5.
- the observation monitor 6 is provided with a touch panel 33.
- the endoscope system 1 is connected to an image recording unit 7 for, for example, filing the digital video signal generated by the endoscope system control device 5 and the AWS unit 4, and is connected to the endoscope 3.
- a shape detection coil hereinafter abbreviated as UPD coil
- UPD coil shape detection coil
- the position of each UPD coil is detected by receiving an electromagnetic field by the UPD coil, and the endoscope is used.
- an UPD coil unit 8 for displaying the shape of the inlet.
- the UPD coil unit 8 is provided so as to be embedded in the upper surface of the inspection bed 2.
- the UPD coil unit 8 is connected to the AWS unit 4 by a cable 8a.
- a storage recess is formed at one end of the inspection bed 2 in the longitudinal direction and at a position below the one end, so that the tray transport trolley 38 can be stored.
- a scope tray 39 in which the endoscope 3 is stored is mounted on the upper part of the tray transport trolley 38.
- the scope tray 39 containing the sterilized or disinfected endoscope 3 can be transported by the tray transport trolley 38 and can be stored in the storage recess of the inspection bed 2.
- the operator can pull out the endoscope 3 from the scope tray 39 and use it for endoscopy, and store it in the scope tray 39 again after the endoscope inspection.
- the scope tray 39 containing the used endoscope 3 is transported by the tray transport trolley 38, so that sterilization or disinfection can be performed smoothly.
- the AWS unit 4 and the endoscope system control device 5 shown in FIG. Information (data) is transmitted and received via a wire.
- the endoscope 3 may transmit and receive information (data) (two-way transmission) by wireless power connected to the AWS unit 4 and the tube unit 19. Further, the endoscope system control device 5 may transmit and receive information to and from the endoscope 3 wirelessly.
- FIGS. 2A to 2C show three systems in a transmission / reception unit (communication unit) for transmitting and receiving data between units and devices in the endoscope system 1 or between the endoscope 3 and a unit or device. ing.
- FIG. 2A shows a wireless data transmission / reception unit.
- AWS unit 4 the endoscope system control device 5
- the data for transmission is modulated by the data communication control unit 11 built in the AWS unit 4 via the data transmission unit 12 and transmitted to the endoscope system control device 5 wirelessly from the antenna unit 13.
- the AWS unit 4 receives data transmitted wirelessly by the endoscope system control device 5 by the antenna unit 13, demodulates the data by the data reception unit 14, and sends the data to the data communication control unit 11.
- a wireless LAN having a maximum data communication speed of 54 Mbps is formed in accordance with, for example, the IEEE 802.11g standard.
- FIG. 2B shows a wired data transmission / reception unit.
- the data transmitted from the endoscope 3 is transmitted to the AWS unit 4 by wire from the electrical connector 15 via the data transmission unit 12 ′ by the data communication control unit 11 built in the endoscope 3.
- the data transmitted from the AWS unit 4 is transmitted to the data communication control unit 11 via the electrical connector 15 and the data receiving unit 14 '.
- FIG. 2C shows a data transmission / reception unit of the optical communication system.
- the data communication control unit 11 built in the AWS unit 4 transmits the optical communication power provided to the AWS unit 4 via the data transmission unit 12 "that performs transmission and reception by light and the data reception unit 14.
- the endoscope 3 of the first embodiment is connected to the endoscope main body 18 and the endoscope main body 18 in a detachable manner, and for example, used and discarded (disposable type).
- the endoscope main body 18 has an elongated and soft insertion portion 21 inserted into a body cavity, and an operation portion 22 provided at a rear end of the insertion portion 21.
- the base end of the tube unit 19 is detachably connected.
- an imaging unit using a charge-coupled device (abbreviated as CCD) 25 that can vary the gain inside the imaging device is arranged at the distal end portion 24 of the insertion section 21.
- CCD charge-coupled device
- a bending portion 27 that can be bent with a small amount of force is provided at the rear end of the distal end portion 24.
- a trackball 69 as operating means (instruction input unit) provided in the operating unit 22, The bending portion 27 can be bent.
- This trackball 69 is angled
- the insertion portion 21 is formed with a plurality of hardness variable portions provided with hardness variable actuators 54A and 54B for varying the hardness so that the insertion operation and the like can be performed more smoothly.
- the AWS unit 4 and the endoscope system control device 5 transmit and receive data with the wireless transmitting and receiving units 77 and 101, for example, as shown in FIG.
- the observation motor 6 is connected to a monitor connector 35 of the endoscope system control device 5 by a monitor cable.
- the endoscope system controller 5 has the AWS unit 4 side force together with the image data captured by the CCD 25 and the insertion part shape of the endoscope 3 detected using the UPD coil unit 8 (UPD image) Therefore, the endoscope system controller 5 transmits a video signal corresponding to the image data to the observation monitor 6 to display the UPD image together with the endoscope image on the display surface. I can do it.
- the observation monitor 6 is configured by a high-resolution TV (HDTV) monitor so that a plurality of types of images can be simultaneously displayed on the display surface.
- HDTV high-resolution TV
- AWS Unit 4 has a scope connector 40 is there. Then, the scope connector 41 of the endoscope 3 is detachably connected to the scope connector 40.
- FIGS. 3 and 4 show the external shape of the scope connector 40 on the AWS unit 4 side.
- FIG. 5 shows the structure of an AWS adapter 42 detachably attached to the scope connector 40 of the AWS unit 4
- FIG. 6 shows the scope connector 40 of the AWS unit 4 and the scope connector 41 of the endoscope 3.
- the internal structure is shown in a connected state.
- a recessed AWS adapter mounting portion 40a is provided on the front surface of the AWS hood 4, and the AWS adapter mounting portion 40a has an A WS adapter (FIG. 5).
- the scope connector 40 is formed by attaching the conduit connection adapter 42, and the scope connector 41 on the endoscope 3 side is connected to the scope connector 40.
- the AWS adapter mounting portion 40a is provided with a scope electrical connector 43, an air supply connector 44, and a pinch valve 45.
- the AWS adapter mounting portion 40a is provided with an inner end face of the AWS adapter 42.
- the scope connector 41 of the endoscope 3 is connected detachably from the outer end face side.
- FIG. 5A is a front view of the AWS adapter 42
- FIGS. 5B and 5C are left and right side views
- FIGS. 5D and 5E are cross-sectional views taken along lines AA 'and BB' of FIG. 5A, respectively.
- a scope connector 41 is inserted into a concave portion 42a on the front surface thereof.
- an electric connector portion of the scope connector 41 is inserted into a through hole 42b provided in the concave portion, and the inside of the through hole 42b is inserted.
- an air supply / water supply base 42c and a suction base 42d are provided below the through hole 42b, and an air supply / water supply base 63 and a suction base 64 (see FIGS. 6 and 7) of the scope connector 41 are provided respectively. Connected.
- a recess 42f for accommodating the pinch valve 45 protruding from the AWS adapter mounting portion 40a is provided on the base end surface side of the AWS adapter 42.
- the air supply / water supply port 42c provided on the AWS adapter 42 has an air supply port 42c that is connected to the air supply connector 44 of the AWS unit 4 by branching the internal pipeline communicating therewith. e and the water supply mouthpiece 46 projecting to the side.
- the suction mouth 42d becomes a suction mouth 47 that is bent sideways and projects to the side, and a relief pipe 47a that branches upward, for example, in the middle of the relief pipe 47a. Is sandwiched by a pinch valve 45 on the way, and its upper end is open.
- the relief pipe line 47a is normally set to the open state by the pinch valve 45, and is set to the open state when the suction operation is performed.
- the pinch valve 45 is driven. Then, the pinch knob 45 closes the relief pipeline 47a to stop the release, and the suction operation is performed.
- the water supply base 46 and the suction base 47 are respectively connected to a water supply tank 48 and a suction device (a suction tank 49b is inserted in the middle via a suction tube 49a). Connected.
- the water tank 48 is connected to the water tank connector 50 of the AWS unit 4.
- An operation panel 4a is provided on the front side of the AWS unit 4 above the scope connector 40.
- FIGS. 8 (A) shows the vicinity of the operation section of the endoscope 3 from the side
- FIG. 8 (B) shows a front view from the right side of FIG. 8 (A)
- FIG. 8 (A) shows a rear view as viewed from the left side
- FIG. 8 (D) shows a plan view as viewed from above in FIG. 8 (A).
- FIG. 8 (E) shows an example of the angle range of the inclined surface which is close to the optimum.
- the flexible endoscope 3 has an elongated flexible insertion section 21 and an endoscope body 18 having an operation section 22 provided at the rear end thereof, and
- the connector (for tube unit connection) 51 provided near the base end (front end) of the operation unit 22 of the main body 18 is detachably connected to the general connector 52 at the base end.
- Tube unit 19 (abbreviated as type).
- the insertion portion 21 includes a hard distal portion 24 provided at a distal end of the insertion portion 21, a bendable bending portion 27 provided at a rear end of the distal portion 24, and a rear end force of the bending portion 27.
- a hard distal portion 24 provided at a distal end of the insertion portion 21, a bendable bending portion 27 provided at a rear end of the distal portion 24, and a rear end force of the bending portion 27.
- a plurality of portions, specifically two portions, in the soft portion 53 are formed of a conductive polymer artificial muscle (abbreviated as EPAM) or the like that can expand and contract by applying a voltage and change the hardness.
- Hardness variable actuators 54A and 54B are provided.
- a light-emitting diode (abbreviated as LED) 56 is attached as an illumination means inside the illumination window provided at the distal end portion 24 of the insertion section 21, and the illumination light of the LED 56 is integrated with the LED 56.
- the light is emitted forward through a lens and illuminates a subject such as an affected part.
- the light emitting element forming the lighting means is not limited to the LED 56, and may be formed using an LD (laser diode) or the like.
- an objective lens (not shown) is attached to an observation window provided adjacent to the illumination window, and a CCD 25 having a built-in variable gain function is arranged at an image forming position to image a subject.
- An imaging means is formed.
- One end of each of the LED 56 and the CCD 25 is connected, and a signal line passed through the insertion section 21 is provided inside the operation section 22 and connected to a control circuit 57 that performs centralized control processing (aggregated control processing).
- a plurality of UPD coils 58 are arranged in the insertion section 21 at predetermined intervals along the longitudinal direction, and a signal line connected to each UPD coil 58 is connected to a UPD coil drive unit provided in the operation section 22. It is connected to the control circuit 57 via 59.
- angle actuators 27a as angle elements (curved elements) formed by arranging EPAMs in the longitudinal direction are arranged at four places in the circumferential direction on the inner side of the outer skin of the curved portion 27.
- the angle actuator 27a and the hardness variable actuators 54A and 54B are also connected to the control circuit 57 via signal lines.
- the control circuit 57 is configured by mounting electronic circuit elements on a switch board 57a and a trackball board 57b, for example.
- FIG. 9 (A) shows EPAM used for the angle actuator 27a and the hardness variable actuators 54A and 54B.
- EPAM for example, electrodes are attached to both sides of a plate shape, and by applying a voltage, for example, as shown in FIG. 9B, the EPAM can be contracted in the thickness direction and expanded in the longitudinal direction. This EPAM is applied, for example, as shown in Fig. 9 (C). The amount of distortion can be varied in proportion to the square of the electric field strength E due to the applied voltage.
- the bent portion 27 When used as the angle actuator 27a, the bent portion 27 can be curved by forming it into a wire shape or the like, extending one side, and contracting the other side in the same manner as a normal wire function.
- the hardness can be varied by the extension or contraction, and the hardness varying actuators 54A and 54B can use the function to vary the hardness of the portion.
- an air / water supply pipe 60a and a suction pipe 61a are inserted into the insertion section 21, and a rear end thereof is a pipe connector 51a opened in the connector section 51.
- the pipeline connector 51a is detachably connected to the pipeline connector 52a of the overall connector section 52 at the base end of the tube unit 19.
- the air / water supply line 60a is connected to the air / water supply line 6 Ob inserted in the tube unit 19, and the suction line 61a is connected to the suction line 61b inserted in the tube unit 19. At the same time, it branches into the conduit connector 52a and opens to the outside, and communicates with an insertion port (also called a forceps port) 62 through which a treatment tool such as forceps can be inserted.
- the forceps port 62 is closed by the forceps stopper 62a when not in use.
- the rear ends of the air / water supply line 60b and the 6-lb suction-absorbing I line serve as the air / water supply base 63 and the suction base 64 in the scope connector 41.
- the air / water supply base 63 and the suction base 64 are connected to the air / water supply base 42c and the suction base 42d of the AWS adapter 42 shown in Figs. Then, as shown in FIG. 5, inside the AWS adapter 42, the air supply / water supply mouthpiece 42c branches into an air supply line and a water supply line, and the air supply line is used for the air supply inside the AWS Tut 4.
- the pump 65 is connected via the solenoid valve B 1, and the water supply pipe is connected to the water supply tank 48.
- the water supply tank 48 is also connected to the air supply pump 65 on the way via the solenoid valve B2.
- the air supply pump 65 and the solenoid valves B1 and B2 are connected to the AWS control unit 66 via control lines (drive lines), and the opening and closing of the AWS control unit 66 is controlled so that air supply and water supply can be performed. I have to.
- the AWS control unit 66 also controls the suction operation by controlling the opening and closing of the pinch valve 45.
- the operating section 22 of the endoscope body 18 is provided with a grip section 68 that is gripped by an operator.
- the grip 68 is located near the rear end (the base end) of the operation section 22 (the side opposite to the insertion section 21 side). For example, it is formed by a cylindrical side surface portion.
- the grip 68 is used to perform remote control operations (abbreviated as remote control operations) such as release and freeze on the periphery including the grip 68.
- remote control operations such as release and freeze on the periphery including the grip 68.
- three scope switches SW1, SW2, SW3 Are provided along the longitudinal axis of the grip portion 68, and each is connected to the control circuit 57 (see FIG. 7).
- a base end surface provided at the rear end (base end) of the grip portion 68 (or the operation portion 22) Is an inclined surface Sa, a function of performing a bending instruction operation of the bending portion 27 near the position opposite to the position where the scope switches SW1, SW2, and SW3 forces S are provided on the inclined surface Sa;
- a trackball 69 is provided as instruction operation means that also has a remote operation (remote control operation) function different from the bending instruction operation.
- the trackball 69 has a waterproof structure, and can perform an angle operation (bending operation), setting of another remote operation by switching from an angle operation mode, and the like.
- the trackball 69 is rotatably held, and the amount of rotation is detected by an encoder covered with a waterproof film.
- a substantially hemispherical concave portion is provided on the inclined surface Sa at the upper end of the operation section 22, and, for example, Hall elements 11 la and 11 lb as magnetic sensors are arranged at two orthogonal positions around the concave portion.
- the detection signals of the elements ll la and 11 lb are input to the control circuit 57 via the trackball board 57b.
- this concave portion is covered with an elastic waterproof film 112 in a watertight manner, and a spherical ball 69a is housed from the outside of the concave portion covered with the waterproof film 112.
- the surface of the ball 69a has a structure in which N poles and S poles are alternately arranged two-dimensionally.
- the magnetic pole on the surface of the ball 69a moves with the rotation of the ball 69a, and the amount of change in the magnetic field at that time is reduced to a hole.
- a switch 113 is provided, for example, on the track ball substrate 57b in the vicinity of the concave portion that is water-tightly covered with the waterproof film 112, and the user pushes or presses the ball 69a into the concave side.
- the contact point of the switch 113 can be changed from OFF to ON or from ON to OFF by the pushed ball 69a.
- the switch detection signal from the switch 113 is also input to the control circuit 57.
- the coil 69 is provided with a coil panel 114 around the switch 113. When the operation of pushing the ball 69a is stopped, the ball 69a is returned to the concave side.
- the user can perform a turning operation of the ball 69a to perform a bending instruction operation on the bending portion 27 in an arbitrary direction.
- a switching means that can be used by switching the operation function of the bending instruction to another function by ONZOFF of the switch 113 by an operation of pushing the ball 69a is used.
- the N and S magnetic poles are two-dimensionally arranged on the surface of the ball 69a, and when the ball 69a is rotated, the change in the magnetic field at that time is determined by the Hall element 11 la, The moving direction and the moving amount of the ball 69a are detected by detecting with 1 lb, and the structure is to be detected by a magnetic method.
- the ball 69a may be optically detected as follows.
- black spots are provided two-dimensionally at a predetermined pitch on the surface of the ball 69a (the other parts have high reflectivity and white, etc.), and around the recess where the ball 69a is stored.
- Two portions of the waterproof film 112 are formed of transparent members, and for example, a photo reflector as an optical sensor disposed inside the waterproof film 112 is disposed.
- each photo reflector irradiates the surface of the ball 69a via a transparent member with light so that the movement in the direction perpendicular to each other can be detected, and when the reflected light is received, the ball 69a is rotated orthogonally.
- the direction of movement and the amount of movement may be optically detected.
- a pressure sensor that detects pressure is used in place of The pushing operation or the pushing operation of the rule 69a may be detected. That is, the output of the pressure sensor is compared by a comparator, and if a pressure equal to or higher than a predetermined value is detected, the switching operation may be performed and a corresponding control process may be performed.
- a substantially U-shaped hook 70 is provided for connecting the vicinity of both ends in the longitudinal direction of the grip portion 68 provided near the rear end of the operation portion 22. As shown in FIG. The endoscope 3 falls with its weight even when the gripper 6 8 is not gripped firmly because the fingers of the hand are inserted inside the hook 70 for gripping with the right hand (or left hand). Can be effectively prevented.
- the endoscope 3 can be effectively prevented from falling downward due to its weight even if the operator does not hold (hold) the holding portion 68 tightly. Therefore, the surgeon grasps (holds) the grasping portion 68 when the operator grasps the grasping portion 68 and performs various operations. Even if it is stopped, if a part of the hand is put in the hook 70, the endoscope 3 can be prevented from falling off and the operability can be improved.
- the air supply switch SW4 and the suction switch SW5 are symmetrically arranged on both sides of the trackball 69 on this inclined surface Sa.
- the ball 69 and the scope switches SW4 and SW5 are also connected to the control circuit 57.
- the operation unit 22 or the grip unit 68 extends in the longitudinal direction of the operation unit 22 or the grip unit 68 in the front view shown in FIG.
- the track ball 69 is arranged on the inclined surface Sa at a position on the center line O which is symmetrical with respect to the center line O (as a line).
- an air / water supply switch SW4 and a suction switch SW5 are arranged at symmetrical positions.
- FIG. 8 (C) The rear view opposite to this front view is shown in FIG. 8 (C), and also in this rear view, the shape is symmetrical with respect to the center line O.
- Three scope switches SW1, SW2, and SW3 are arranged on the outer surface of the grip portion 68.
- the inclined surface Sa forms an obtuse angle that is greater than 90 ° with respect to the center line O of the grip portion 68 or a line parallel to the side surface. It is formed by ⁇ .
- the inclined surface Sa is formed in an inclined shape having an angle of ⁇ with respect to a surface perpendicular to the center line O of the grip portion 68, and the trackball 69 and the track ball 69 are located at the lower side of the inclined surface Sa.
- An air / water supply switch SW4 and a suction switch SW5 are provided symmetrically. Then, as shown in FIG. 8 (B), the trackball 69 and the like can be easily operated by the thumb of the hand grasped.
- the inclined surface Sa has an angle ⁇ that forms an obtuse angle with respect to the center line O, that is, a force that can be operated well if the 90 ° force is also within an angle of 180 °. More specifically, FIG. As shown in the figure, better operability can be ensured when the angle is within 120 ° of ⁇ 1 and 150 ° of ⁇ 2.
- the operation means such as the trackball 69 provided in the operation unit 22 is disposed so as to be symmetrical with respect to the longitudinal center line O of the grip unit 68.
- the operation can be performed well even when the surgeon grips with the right or left hand! /
- the grip portion 68 is formed near the rear end of the operation portion 22, and the connection portion with the tube unit 19 is provided at a position closer to the insertion portion 21 than the position of the grip portion 68. Therefore, it is possible to reduce the eccentricity of the position of the center of gravity when the gripping portion 68 is gripped by the positional force of the central axis.
- the tube unit 19 is extended laterally from a position rearward (upper side) from the position of the gripping portion in the conventional example, the position of the center of gravity in that case tends to be decentered due to the weight of the tube unit.
- the tube unit 19 since the tube unit 19 also extends to the side relative to the insertion portion 21, that is, the position force on the lower side than the grip portion 68, the center of gravity position is shifted. The amount of heart can be reduced, and the operability can be improved.
- the inner surface of the hook 70 is located near the side of the index finger. Since the side is lightly touched, even if the center of gravity is eccentric and the center axis is inclined (that is, the longitudinal direction of the operation unit 22 is inclined), the hook 70 hits the hand and the inclination can be regulated. Good operability can be secured.
- the power supply line 71a and the signal line 71b extending from the control circuit 57 are connected to the tube unit via contactless transmission sections 72a and 72b formed in the connector section 51 and the general connector section 52. It is electrically connected to the power supply line 73a and the signal line 73b passed through the inside 19 without contact.
- the power supply line 73a and the signal line 73b are connected to a power supply & signal terminal forming an electric connector 74 at the scope connector 41 by a voltage V.
- the user connects the power line 73a to the power unit 75 via the scope electrical connector 43 of the AWS unit 4 as shown in FIG.
- the line 73b is connected (via the power supply unit 75) to the UPD cutout 76, the transmission / reception unit 77, and the AWS control unit 66.
- the transmission and reception unit 77 is connected to an antenna unit 77a for transmitting and receiving radio waves by radio.
- the contactless transmission sections 72a and 72b have a structure in which a pair of coils are close to each other to form a transformer that is electromagnetically coupled. That is, the end of the power supply line 71a is connected to the coil forming the contactless transmission unit 72a, and the end of the other power supply line 73a is connected to the coil adjacent to the coil in the contactless transmission unit 72a. Connected! RU
- the AC power transmitted by the power supply line 73a is transmitted to the power supply line 7la through the coil that is electromagnetically coupled in the contactless transmission unit 72a.
- one end of the signal line 71b is connected to a coil forming the contactless transmission section 72b, and the other end of the signal line 73b is also connected to a coil close to the coil in the contactless transmission section 72b. Have been.
- a signal is transmitted from the signal line 7 lb side to the signal line 73b side via the paired coils, and also transmitted in the opposite direction.
- the endoscope 3 of the present embodiment is configured such that the endoscope main body 18 and the tube unit 19 are contactless. It is also characterized in that it can be connected detachably to prevent the effects of corrosion and the like generated in the case of electrical contacts, even if washing and sterilization are repeated. Further, as shown in FIG. 7, a transparency sensor 143 is provided in the middle of the air / water supply line 60a and the suction line 61a, respectively. Light is transmitted through each of the conduits 61a so that the degree of contamination on the inner wall of the conduit and the transparency of the fluid passing through the interior of the conduit can be detected.
- FIGS. 10A and 1OB are explanatory diagrams of the operation of the cleaning level detection by the transparency sensor 143.
- FIG. 10A and 1OB are explanatory diagrams of the operation of the cleaning level detection by the transparency sensor 143.
- a photoreflector 144 and a reflecting plate 145 are arranged on the outer periphery of an air / water supply line 60a (same as the suction line 61a) formed of a transparent tube so as to face each other, and a transparency sensor 143 is provided. Is formed.
- the light from the light emitting element constituting the photoreflector 144 is emitted to the reflection plate 145 side, and the reflected light reflected by the reflection plate 145 is received by the light receiving element constituting the photoreflector 144 To receive light.
- the transmittance detector 146 such as the air / water supply line 60a formed of a transparent tube is actually disposed between the photoreflector 144 and the reflection plate 145, the air / water supply line
- the transmittance detector 146 such as the air / water supply line 60a formed of a transparent tube
- the air / water supply line When the inner wall side of the air / water supply line 60a is cleaned by flowing a transparent cleaning liquid inside the 60a, when the inner wall surface is in a clean state, the amount of light received by the light receiving element of the photo reflector 144 increases. Make it possible to detect the degree of cleaning.
- the washing level of the inner wall surface of the air / water supply pipe 60a and the inner wall surface of the suction pipe 61a can be quantitatively detected by this function.
- FIG. 11 shows a control circuit 57 and the like arranged in the operation unit 22 of the endoscope main body 18 and an electric system configuration of main components arranged in each part of the insertion unit 21.
- a CCD 25 and an LED 56 are arranged at the tip 24 of the input section 21 shown in the lower part on the left side of FIG. 11, and the bending section 27 described above in the drawing has an angle actuator ( In this embodiment, specifically, an EPAM) 27a and an encoder 27c are arranged, and in the flexible portion 53 described above in the drawing, a variable hardness actuator (specifically, in this embodiment, EPAM) 54 and an encoder 54c Are arranged respectively. Further, a transparency sensor 143 and an UPD coil 58 are arranged in the flexible portion 53.
- a track ball 69 On the surface of the operation section 22 described above the flexible section 53 of the insertion section 21, a track ball 69, an air supply / water supply switch (SW4), a suction switch (SW5), and a scope switch (SW1 to SW3) are provided. Is placed. As will be described later, an angle operation and a function of selecting and setting other functions are assigned by operating the trackball 69.
- control circuit 57 (excluding the UPD coil drive unit 59 and the like) including most of the inside of the operation unit 22 shown on the right side via a signal line. Connected, the control circuit 57 performs drive control and signal processing of those functions.
- the control circuit 57 has a state management unit 81 composed of a CPU or the like that manages a control state, and this state management unit 81 is connected to a state holding memory 82 that holds (stores) the state of each unit. .
- This state holding memory 82 has a program storage memory 82a as control information storage means, and the components shown in FIG. 11 are changed by rewriting program data as control information stored in the program storage memory 82a.
- the state management unit 81 (the CPU constituting the state management unit 81) can perform control (management) corresponding to the changed configuration.
- state holding memory 82 or at least the program holding memory 82a is composed of, for example, a nonvolatile memory and an electrically rewritable flash memory or an EEPROM, and the program data can be easily changed via the state management unit 81.
- the state holding memory 82 or at least the program holding memory 82a is composed of, for example, a nonvolatile memory and an electrically rewritable flash memory or an EEPROM, and the program data can be easily changed via the state management unit 81.
- a command for changing program data is sent to the state management unit 81 via the signal line 71b, that is, via the following wired transmission / reception unit 83, and the program data to be rewritten after the command is transmitted to the AWS.
- Unit 4 also sends the force to change program data. Also, version upgrades and the like can be easily performed via the signal line 71b.
- model information unique to each endoscope 3 and individual information corresponding to the use state are written and retained in the state retention memory 82 as described below, so that the information can be used effectively. Is also good.
- the state holding memory 82 holds, for example, the model information of the endoscope 3 (for example, information on the type of the CCD 25, the length of the insertion section, etc.), and also varies depending on the usage state of the endoscope inspection or the like.
- Individual information of the endoscope 3 (for example, information such as use time (total use time of endoscopy or total use time), number of cleaning times, adjustment value, maintenance history, etc.) is retained, and this information is stored in the system. It is used for deciding operations and providing information to users.
- the state holding memory 82 as the function of the conventional scope ID, the information (data) of the scope ID can be effectively used. Since there are 82, there is no need to provide a separate scope ID, it can be more advanced than the existing scope ID, and it is possible to perform more detailed appropriate setting, adjustment, management, processing, etc. .
- the state management unit 81 is connected to the wired transmission / reception unit 83 that performs wired communication with the AWS unit 4.
- the state management unit 81 controls an LED driving unit 85 controlled by the illumination control unit 84 via an illumination control unit 84 that controls illumination.
- the LED driving section 85 applies an LED driving signal for causing the LED 56 serving as a lighting means to emit light to the LED 56.
- the illuminated subject such as the affected part is imaged by the objective lens (not shown) attached to the observation window on the imaging surface of the CCD 25 arranged at the image forming position. Photoelectric conversion is performed.
- the CCD 25 outputs a signal charge that has been photoelectrically converted and accumulated as an imaging signal by applying a CCD drive signal from a CCD drive unit 86 controlled by the state management unit 81.
- the image signal is converted into a digital signal by an AZD converter (abbreviated as ADC) 87 and then input to the state management unit 81, and the digital signal (image data) is stored in the image memory 88. .
- the image data of the image memory 88 is sent to the data transmission section 1 ⁇ of the transmission / reception unit 83.
- AWS G is transmitted to the 4 side.
- it is transmitted to the endoscope system controller 5 by the AWS unit 4 power wirelessly.
- the image data transmitted to the endoscope system control device 5 is wirelessly received by the transmission / reception unit 101, processed by the image processing unit 116 to generate a video signal, A video signal is output from the monitor connector 35 to the observation monitor 6 via the system control unit 117 that controls the entire endoscope system 1, and an endoscope image is displayed on the display surface of the observation monitor 6.
- the power supply unit 100 supplies operation power to the transmission / reception unit 101, the image processing unit 116, and the system control unit 117.
- the output signal of the ADC 87 is sent to the brightness detection unit 89, and the information on the brightness of the image detected by the brightness detection unit 89 is sent to the state management unit 81. Based on this information, the state management unit 81 performs dimming control via the illumination control unit 84 so that the illumination light amount of the LED 56 becomes appropriate brightness.
- the state management unit 81 controls an actuator driving unit 92 via an angle control unit 91, and controls the angle actuator (EPAM) 27a to be driven by the actuator driving unit 92.
- the drive amount of the angle actuator (EPAM) 27a is detected by the encoder 27c, and is controlled so that the drive amount matches a value corresponding to the indicated value.
- the state management unit 81 controls an actuator driving unit 94 via a hardness variable control unit 93, and the actuator driving unit 94 controls the hardness variable actuator (EPAM) 54 (here, 54A and 54B (Represented by one).
- the driving amount of the hardness variable actuator (EPAM) 54 is detected by the encoder 54c, and is controlled so that the driving amount becomes a value corresponding to the indicated value.
- the detection signal from the transparency sensor 143 provided in the flexible section 53 is converted into signal data corresponding to the transparency by the transparency detection section 148, and then input to the state management section 81, where the state management section 81 holds the state.
- the information is transmitted from the transmission / reception unit 83 to the endoscope system controller 5 via the AWS unit 4.
- the observation monitor 6 confirms that the reference value has been reached. indicate.
- the state management unit 81 is inputted via a trackball displacement detection unit 95 corresponding to an operation amount of a trackball 69 or the like provided in the operation unit 22.
- the trackball displacement detection unit 95 has the Hall elements 11 la and 11 lb for detecting the rotation direction and the rotation amount of the ball 69 a of the trackball 69, and detects ONZ OFF of the switch 113. .
- a switch press operation such as an ON operation by the air / water supply switch, suction switch, and scope switch is detected by the switch press detection unit 96, and the detected information is input to the state management unit 81.
- the control circuit 57 includes a power transmission / reception unit 97 and a power generation unit 98.
- the power transmission / reception unit 97 is specifically a contactless transmission unit 51b in the operation unit 22, and an electric connector 74 at the end of the tube unit 19. Then, the power transmitted by the power generation unit 98 is converted into a DC power supply in the power generation unit 98.
- the power generated by the power generation unit 98 supplies power necessary for its operation to each unit in the control circuit 57.
- the endoscope system 1 when the power is turned on, various images are displayed on the observation monitor 6 as shown in FIG. 12A, for example.
- a menu is displayed in addition to the information display area Rj for displaying patient information, the endoscope image display area Ri, the UPD image display area Ru, the freeze image display area Rf, and the angle display area Ra.
- An area Rm is provided, and a menu is displayed in the menu display area Rm.
- the main menu includes a scope switch, an angle sensitivity, an insertion section hardness, a zoom, an image emphasis, and an air supply amount, a return item for performing an operation instruction to return to a previous menu screen, and an end for performing an operation instruction for ending the menu. Items are displayed.
- the user can move the selection frame or the cursor by rotating the trackball 69 in the up / down direction or the left / right direction. For example, when the user moves to the item of the scope switch, the frame is displayed in bold and selected. Is displayed.
- the function to be assigned to the power SW5 can be selected and set. Further, for example, when it is desired to change and set the air supply amount, the item of the air supply amount may be selected and set. In this case, by operating the trackball 69, an instruction operation to increase or decrease the air supply amount can be performed.
- the trackball 69 has a function of performing an instruction operation (instruction input) for bending the bending portion 27 in a desired direction, and a function different from the bending operation. Specifically, the operability is improved by performing operations such as assigning functions to the scope switches SW1 to SW5 provided around the grip portion 68.
- the scope switches SW1 to SW5 that simply turn on and off can easily perform the instruction operation function that is difficult to operate (instruction operation) by the instruction operation using the track ball 69 as described above. So that you can do it.
- the overall connector section 52 of the disposable tube unit 19 is connected to the connector section 51 of the operation section 22 of the endoscope body 18.
- the contactless transmission sections 72a and 72b are connected to each other in an insulated and waterproof state.
- the preparation of the endoscope 3 is completed.
- the scope connector 41 of the tube unit 19 is connected to the connector 40 of the AWS unit 4.
- various conduits, power lines, signal lines, and optical connections are completed in one connection operation by one-touch connection. Unlike the conventional endoscope system, it is not necessary to connect various conduits and electrical connectors each time.
- the user connects the UPD coil unit 8 to the AWS unit 4 and connects the endoscope system controller 5 to the observation monitor 6.
- the endoscope system control device 5 is connected to the image recording unit 7 or the like, thereby completing the setup of the endoscope system 1.
- the power of the AWS unit 4 and the endoscope system control device 5 is turned on. Then, each unit in the AWS unit 4 is activated, and the power supply unit 75 is in a state where it can supply power to the endoscope 3 via the power supply line.
- AWS Unit 4 first turns off the power supply, starts a timer, and after confirming that the endoscope 3-side power is correctly returned within a certain period of time, continuously supplies power. To supply.
- the operator inserts the insertion section 21 of the endoscope 3 into the body cavity of the patient, and the CCD 25 provided at the distal end 24 of the insertion section 21 allows the subject such as an affected part in the body cavity to be exposed. It is imaged.
- the captured image data is wirelessly transmitted to the endoscope system control device 5 via the AWS unit 4 and subjected to image processing to generate a video signal, and the image of the subject is displayed on the display surface of the observation module 6 by the endoscope. It is displayed as an image. Therefore, the surgeon can diagnose the diseased part or the like by observing the endoscopic image, and can perform a treatment for treatment using a treatment tool as necessary.
- a trackball 69 having a function of an angle instruction input unit, a freeze instruction operation, and the like are provided with respect to a longitudinal center line O of the grip unit 68.
- Scope switches SW1 to SW3 for performing various operation instructions, an air supply / water supply switch (SW4), and a suction switch (SW5) are provided symmetrically.
- the trackball 69 is located at a position where it is easy to operate with the thumb, and on both sides thereof. Easy operation of symmetrically arranged air / water supply switch (SW4) and suction switch (SW5) can do.
- scope switches SW1 and SW2 are respectively located near the positions where the index finger and the middle finger are gripped, and the scope switch SW3 is located near the position where the small finger is gripped.
- the holding position of the outer peripheral surface holding the holding portion 68 is on the side facing the side holding with the right hand, but the position of each finger is determined by the instruction input. It is the same as the case of gripping the part with the left hand.
- the trackball 69 is located at the position V ⁇ which is easy to operate with the thumb, and the air supply and water supply disposed symmetrically on both sides of the trackball 69.
- the switch (SW4) and the suction switch (SW5) can also be operated.
- scope switches SW1 and SW2 are respectively located near the positions where the index finger and the middle finger are gripped, and the scope switch SW3 is located near the position where the small finger is gripped.
- the hook 70 is provided so that the gripping portion 68 is connected to both sides in the longitudinal direction so that the hand to be gripped can pass through the inside thereof.
- the endoscope 3 can be effectively prevented from falling due to its weight without holding it tightly.
- the assignment of functions to the scope switches SW1 to SW5 can be changed and set. Accordingly, each operator can perform an endoscopy by changing and assigning the functions to the scope switches SW1 to SW5 so as to be most easily operated.
- the user can perform various operations in a state where the user desires while holding the endoscope 3.
- FIG. 12B it is possible to easily change the air supply amount by, for example, selecting an item of the air supply amount. For this reason, it is easy to simplify the configuration for instructing air supply.
- the state management unit 81 determines whether or not the angle control is effective, as shown in step S41.
- the state management unit 81 determines whether or not the angle control effective force is present as shown in step S41, based on whether or not the trackball 69 is pressed against the trackball 69. Specifically, the state management unit 81 can detect the displacement operation and the pushing or pressing operation by the rotation operation of the trackball 69 from the output of the trackball displacement detection unit 95. When the trackball 69 is pressed, the angle control is turned off.
- the state management unit 81 determines whether or not the angle control is valid based on the output of the trackball displacement detection unit 95.
- step S45 If it is determined that the angle control is not valid, the process proceeds to step S45, and the previous command value is held. On the other hand, when it is determined that the angle control is valid, the process proceeds to the next step S42, and the state management unit 81 acquires the state data by operating the trackball 69. Then, in the next step S43, the state management section 81 determines whether or not there is a further state change based on the output of the trackball displacement detection section 95.
- step S45 if the state management unit 81 determines that there is no state change, the process proceeds to step S45, and if it determines that there is a state change, on the other hand, in the next step S44, the rotation direction of the trackball 69 is changed. , A command value corresponding to the rotation amount is calculated.
- step S46 the state management unit 81 sends the command value to the actuator driving unit 92 via the angle control unit 91, and performs servo processing on the angle actuator.
- the actuator driving unit 92 drives the angle actuator based on the command value so as to be in an under state (bending angle and bending direction) corresponding to the command value.
- the angle state of the angle actuator is detected by the encoder (step Step S47), the actuator driving unit 92 drives the angle actuator so that the value detected by the encoder matches the target angle state corresponding to the command value.
- the angle control processing ends.
- an angle-shaped display area Ra is provided on the display surface of the observation monitor 6, and this display area Ra is provided on the distal end side of the endoscope 3.
- the state management unit 81 moves the angle actuator 27a in the vertical and horizontal directions.
- the data of AXud and AXrl is taken in from the encoder 27c via the actuator driving unit 92 and the angle control unit 93.
- the total displacement ⁇ of the angle factor actuator 27a is calculated by calculating the square root of the added value obtained by squaring the displacements ⁇ Xud and ⁇ Xrl.
- the state management unit 81 determines the bending section data of the endoscope 3 incorporating the state management section 81 (specifically, the length L and the diameter D of the bending section 27 in the insertion section 21). ) Is read from the state holding memory 82 and acquired.
- the state management unit 81 calculates the bending radius R.
- the curved portion 27 when the curved portion 27 is curved, as shown in FIG. 16, the curved portion 27 can be approximated to be curved in a substantially arc shape, and the length La of the curved portion 27 inside the curved portion and the curved portion outside the curved portion 27 can be approximated.
- the length Lb of the part 27 is reduced from the length L along the center by ⁇ on the inside and extended by ⁇ on the outside, respectively.
- ⁇ indicates the central angle at which the curved portion 27 is considered to be a circular arc, and the circular arc having the bending radius R is expected. In other words, it can be approximated that the arc-shaped curved portion 27 is on the curved radius R and the central angle ⁇ .
- the state management unit 81 determines, for example, the following relational expression of the central angle ⁇
- FIG. 16 shows a plane including the inside and the outside of the curved portion 27 when the curved portion 27 is curved.
- the base end side of the curved portion 27 is set as the Z-axis at the time of display, and the curved shape model is displayed three-dimensionally.
- the vertical curvature is set to the YZ plane, and this YZ plane is associated with the display surface of the observation monitor 6.
- the curved model drawn on the YZ plane is drawn so as to be displayed as if it were rotated around the ⁇ ⁇ axis by an angle ⁇ corresponding to the displacement amount ⁇ component in the left-right direction as shown in FIG. .
- step S24 shown in FIG. 14 the state management unit 81 calculates the rotation angle ⁇ about the ⁇ axis. This rotation angle ⁇ is
- the state management unit 81 first draws the curved shape model on the ⁇ plane. That is, the curved shape model Ma indicated by the dotted line in FIG. 17 is first set and drawn on the ⁇ plane.
- the state management unit 81 rotates the curved shape model Ma indicated by the dotted line by the rotation angle ⁇ around the Z axis.
- the curved shape model Mb indicated by the solid line is drawn three-dimensionally so that the curved shape model Ma is placed on a plane rotated by the rotation angle ⁇ around the Z axis. Then, the process of displaying the curved shape ends.
- the vicinity of the curved portion 27 on the distal end side of the insertion portion 21 is displayed as a curved shape model Mb. This makes it easy to grasp the bent state of the distal end side of the insertion section 21 and to easily perform diagnosis and the like.
- the state management unit 81 determines whether the variable hardness control is effective or not, as shown in step S51.
- the insertion section hardness is assigned to the scope switches SW1 to SW5 by the main menu, and the state management section 81 determines whether the scope switch of the insertion section hardness has been pressed and activated. A determination is made as to whether or not it is.
- step S55 the state management unit 81 determines that the hardness variable control is not valid
- the process proceeds to step S55, and holds the previous command value.
- the state management unit 81 acquires the state data by operating the trackball 69. That is, in this case, the trackball 69 is switched from the angle instructing operation function to be used for an instruction function to change the hardness, and the state data by the operation of the trackball 69 is acquired by the state management unit 81. .
- the trackball 69 is provided at a position where it is easy to operate, the user can give an instruction to change the hardness with good operability.
- the state management section 81 determines whether or not there is a further state change based on the output of the trackball displacement detection section 95.
- step S55 if the state management unit 81 determines that there is no state change, the process proceeds to step S55. Conversely, if it determines that there is a state change, in the next step S54, the rotation direction of the trackball 69 is changed. , A command value corresponding to the rotation amount is calculated.
- step S56 the state management section 81 sends the command value to the actuator driving section 94 via the hardness variable control section 93, and sends the hardness variable actuator 54A or! B to the actuator. Servo processing.
- the actuator driving section 94 drives the hardness varying actuator 54A or 54B based on the command value so as to attain the target hardness corresponding to the command value.
- the variable hardness state of the hardness variable actuator 54A or 54B is detected by the encoder 54c, and the value detected by the encoder 54c is adjusted to reach the target hardness.
- the eta driving section 94 drives the hardness variable actuator 54A or 54B.
- step S57 during the execution of such servo processing, the hardness variable control section 93 or the state management section 81 determines whether or not the hardness is within the variable range of the hardness variable actuator 54A or 54B by the actuator driving section 94. If the value deviates from the variable range, the process of the hardness variable control is terminated.
- step S57 if the hardness is within the variable range of the hardness variable actuator 54A or 54B, in the next step S58, the hardness variable control unit 93 or the state management unit 81 determines the force that has reached the target hardness. A determination is made as to whether or not the target hardness has been reached, and the flow returns to step S56 to continue the servo processing. In this way, when the target hardness has been reached, the hardness variable control process is terminated.
- the UPD unit 76 detects the position of the UPD coil 58 arranged inside the insertion section 21 of the endoscope 3 by the UPD coil unit 8, calculates the insertion shape of the insertion section 21, and performs the observation monitoring.
- the shape of the insertion part that is, the UPD image, is displayed on the display screen 6.
- the human interface is abbreviated as HMI.
- the state management unit 81 waits until the angle valid switch is turned off. That is, it waits until the trackball 69 is pressed and the angle effective switch is turned off.
- the state management unit 81 issues a GUI (graphical user interface) display message as shown in the next step S62.
- This GUI display message is wirelessly sent from the endoscope 3 via the AWS unit 4 to the (control CPU) in the system control unit 117 of the endoscope system control device 5.
- the state management unit 81 After issuing the GUI display message, the state management unit 81 waits for a display completion message of the endoscope system control device 5 side power GUI to be received in the next step S63. If the GUI completion message cannot be received, the state management unit 81 proceeds to step S64 to determine whether the retry end condition is satisfied. Returns to step S63, and on the contrary, If applicable, terminate with an error.
- step S63 when receiving the display completion message, the state management unit 81 proceeds to step S65 and determines whether or not the angle valid switch has been turned ON. Then, when the angle valid switch is turned ON, the state management unit 81 issues a GUI end message as shown in step S66.
- This GUI end message is transmitted to the endoscope system control device 5 wirelessly via the AWS unit 4 in the same manner as the GUI display message.
- the state management unit 81 waits for a display end message of the endoscope system control device 5 side power GUI to be received in the next step S67. Then, when receiving the GUI display end message, the state management unit 81 ends the human interface processing.
- step S68 determines whether or not the force satisfies the retry end condition. If not, the process returns to step S66. Conversely, if the retry end condition is satisfied, the process ends with an error.
- step S65 If the angle valid switch is not turned on in step S65, the process proceeds to the menu screen of step S69, and in this step S69, the state management unit 81 determines that the state of the trackball 69 has changed. It is determined whether or not the output force of the trackball displacement detection unit 95 has a change amount equal to or greater than a certain threshold.
- step S70 when determining that there is a change in the state of the trackball 69, the state management unit 81 acquires the state data (change data) of the trackball 69.
- the user can select and instruct a function of a desired item on the main menu screen of FIG. 12B by using a cursor that moves in response to the operation of the trackball 69.
- the state management unit 81 also performs processing for displaying a cursor.
- step S71 the state management unit 81 transmits state data corresponding to the operation of the trackball 69 by the user.
- This state data is transmitted as packet data from the endoscope 3 through the AWS unit 4 in synchronization with the imaging data of the CCD 25, and the endoscope system. Sent to controller 5. After transmitting this status data, the process returns to step S65.
- step S69 when the state management unit 81 determines that there is no change in the state of the trackball 69, as shown in step S72, the switch presses the switch to determine whether there is a change in the switch state (switches SW1 to SW5). The determination is made based on the detection output from the detection unit 96.
- step S72 if it is determined that there is no change in the switch state, the process returns to step S65. Conversely, if it is determined that there is a change in the switch state, as shown in step S73, the state management unit 81 obtains the switch pressing state data, transmits the switch pressing data obtained in the next step S74, and returns to the processing in step S65.
- the state management unit 81 controls the operation of the trackball 69 and the scope switches SW1 to SW5 and the like by the user, and visually displays the currently set state and the like to the user as shown in FIG. For example, processing for displaying the information easily is also performed.
- the CPU of the system control unit 117 of the endoscope system control device 5 transmits a GUI display message from the endoscope 3 side in the first step S81. Waits for reception. This CPU waits for reception of a GUI display message wirelessly via the transmission / reception unit 101 in FIG. Then, as shown in step S82, when the CPU of the system control unit 117 receives the GUI display message, it performs a GUI display control process. That is, the CPU controls the image processing unit 116 to perform GUI display.
- the CPU After the GUI display process in step S82, the CPU issues a display completion message as shown in step S83. The CPU transmits this display completion message via the transmission / reception unit 101.
- the CPU determines whether or not a GUI end message has been received from the endoscope 3. Then, when receiving the GUI end message, the CPU performs a process of ending the GUI display in step S85, issues a GUI display end message in the next step S86, and then executes the process of the human interface. The process ends.
- step S84 if the GUI end message has not been received, the CPU proceeds to step S87 to determine whether or not the received data of the trackball 69 has changed. Whether the received data of the trackball 69 has changed or not is determined by the endoscope 3 side. The determination is made based on the result of the change in the state of the ball 69. If there is a change in the received data, the state data of the trackball 69 is obtained as shown in step S88. Further, in the next step S89, the CPU moves the cursor by a moving amount corresponding to the acquired state data (change data) of the trackball 69. Then, the process returns to step S84.
- step S87 If it is determined in step S87 that the received data of the trackball 69 has not changed, the CPU determines whether the received data of the switch has changed as shown in step S90. Is performed based on the received data of the transmission data of the determination result on the endoscope 3 side.
- step S91 the CPU acquires the switch pressed state data from the transmission information on the endoscope 3 side force as shown in step S91. Further, as shown in step S91, the CPU performs processing for executing the function assigned to the switch on which the switch has been pressed, and returns to the processing in step S84. Also, in step S90, if there is no change in the received data of the switch, the process returns to step S84.
- the trackball that performs the bending instruction operation that is arranged so that the user of the endoscope 3 can easily operate.
- other functions can be operated in addition to the function of instructing the bending of the bending section 27, and the existing operation functions can be secured to achieve better operability.
- the endoscope 3 can be separated into the endoscope body 18 and the tube unit 19 in the operation unit 22, and the tube unit 19 side is a disposable type.
- the endoscope main body 18 can be easily washed, sterilized, and the like.
- the air supply / water supply line 60a and the suction line 61a in the endoscope body 18 can be made much shorter than in the conventional example in which the universal cable corresponding to the tube unit 19 is integrally formed, so that the cleaning is performed. And sterilization is also easy.
- the pipe connector 51a is slightly bent, and the other portions are substantially straight air supply. Since there are a water supply pipe 60a and a suction pipe 61a, it is possible to easily and quickly perform processes such as washing, sterilization, and drying of the pipe. Therefore, it is possible to set the state in which the endoscopy can be performed in a short time.
- the endoscope main body 18 and the tube unit 19 are connected and detached independently without any contact, even if the endoscope main body 18 is repeatedly washed and sterilized, even if the endoscope main body 18 is repeatedly cleaned and sterilized. Otherwise, it is possible to improve the reliability without occurrence of a conduction failure or the like of the contact.
- FIG. 21 shows an endoscope 3B according to a second embodiment of the present invention.
- FIG. 21 (A) shows the vicinity of the operation unit with a part of the lateral force cut away
- FIG. 21 (B) shows a front view from the right side of FIG. 21 (A)
- FIG. ) Shows a plan view of FIG. 21 (A) as viewed from above
- FIG. 21 (D) shows a part of an endoscope 3F of a modification.
- the endoscope 3B of the present embodiment is different from the endoscope 3 of the first embodiment in that the signal line 73b for signal transmission is not provided, but the antenna unit 121 for transmission and reception is built in the operation unit 22 instead. are doing.
- Information such as image data captured by the CCD 25 and operation data when the trackball 69 or the like as an operation means is operated is transmitted to the AWS cut 4 via the antenna unit 121.
- Other configurations are the same as in the first embodiment.
- an air / water supply conduit 60b, a suction conduit 61b, and a power supply line 73a are inserted into the tube unit 19.
- the structure can be made more suitable for disposable.
- the operation can be performed with good operability when the grip portion 68 of the endoscope 3B is gripped with either the right or left hand, such as right-handed or left-handed, as in the first embodiment.
- FIG. 21D shows an endoscope 3F according to a first modification.
- the hook 70 is a force that connects the upper and lower ends (longitudinal direction) of the grip portion 68 gripped by hand in a loop shape.
- the hook 7 is formed in an L-shape from the upper end side of the grip portion 68, and the lower end of the hook 7 (is not connected to the grip portion 68, and is opened at the lower end of the hook 70 '. Is formed.
- the operation unit 22 or the gripping unit 68 is symmetrical about the center line O in the longitudinal direction, and the instruction input unit is formed symmetrically. The same operability as in the second embodiment can be ensured.
- the function of preventing the endoscope 3B from falling which may occur in the case of insufficient grip, includes a hook.
- the hook 7 is formed so that the rear end side force of the grip portion 68 also has a protruding portion that protrudes in a direction perpendicular to the axial direction of the grip portion 68.
- the endoscope 3B can be effectively prevented from falling.
- this portion can be used to hold the endoscope 3F by hooking it on an endoscope hanger or the like. It has almost the same effects as the second embodiment.
- FIGS. 22A to 22C show an endoscope 3C according to a second modification.
- This endoscope 3C employs the operation pad 161 instead of the trackball 69 as the operation means in the endoscope 3B of the second embodiment.
- FIG. 22 (A) is a side view of the endoscope 3C as viewed from the side
- FIG. 22 (B) is a front view of the right side of FIG. 22 (A)
- FIG. Fig. 22 (A) is a plan view seen from above
- Fig. 22 (D) is the arrangement state along the center line parallel to the inclined surface Sa when viewed from the direction perpendicular to the inclined surface Sa in Fig. 22 (A).
- 22 (E) shows the operation pad 16 in the same arrangement state as FIG. 22 (D) in the modification.
- the endoscope 3C employs a disc-shaped operation pad 161 instead of the trackball 69 in the endoscope 3B shown in FIG. That is, the operation pad 161 is attached to the inclined surface Sa.
- the operation pad 161 is provided with switches 162a, 162b, 162c, 162d for giving operation instructions in four directions, up, down, left, and right, respectively, at four locations corresponding to four directions, up, down, left, and right.
- the function of the switch 113 of the trackball 69 is, for example, the case where two switches for giving an operation instruction in the opposite direction, specifically, the switches 162a and 162b are simultaneously pressed. The operation can be substituted.
- FIG. 22E a cross-shaped operation pad 161 / as shown in FIG. 22E may be employed.
- the operation pad 161 / is also provided with switches 162a, 162b, 162c, 162d for giving operation instructions in four directions, up, down, left, and right, respectively, at four locations corresponding to four directions, up, down, left, and right.
- FIG. 23 shows an endoscope 3D according to a third modification.
- This endoscope 3D is perpendicular to the center axis O of the endoscope 3C at the position of the trackball 69 on the inclined surface Sa of the endoscope 3B shown in FIG. 21, for example, as shown in FIG. 23 (C).
- Two operation pads 163A and 163B are provided in parallel in the direction.
- the operation pad 163A is provided with switches 162a and 162b for the up and down direction, and the operation pad 163B is provided with switches 162c and 162d for the left and right direction.
- the force described in the case of the endoscope system 1 using the endoscope 4 can be similarly applied to other medical systems.
- the physical mechanism for changing the shape of the curved portion is simple, and when changing the shape of the curved portion, by performing the same predetermined operation, the same amount of the predetermined amount is used each time.
- An object of the present invention is to provide an endoscope that can change the shape of a curved portion.
- an endoscope system 1B provided with the present embodiment is a flexible endoscope (scope) which is inserted into a body cavity of a patient (not shown) lying on the examination bed 2 and performs endoscopy. 3G and this endoscope 3G are connected, and air supply, air supply and water supply and suction functions are provided.
- Water / suction unit hereinafter abbreviated as AWS unit 4 4
- an endoscope that performs signal processing for the imaging device built in the endoscope 3G, and control processing for various operation means provided in the endoscope 3G
- the system includes a system controller 5 and an observation monitor 6 such as a liquid crystal monitor for displaying a video signal generated by the endoscope system controller 5.
- the endoscope system 1 B is connected to an image recording unit 7 for example, such as filing a digital video signal generated by the endoscope system control device 5, and an AWS unit 4, and the endoscope system 1 B
- an image recording unit 7 for example, such as filing a digital video signal generated by the endoscope system control device 5, and an AWS unit 4, and the endoscope system 1 B
- UPD coil shape detection coil
- the position of each UPD coil is detected by receiving the signal of the electromagnetic field generated by the UPD coil. It has an UPD coil unit 8 for displaying the shape of the insertion section of the endoscope 3G.
- the image recording unit 7 is connected to a LAN 9 in the hospital where the endoscope system 1B is provided, and the image recording unit 7 is fired to the image recording unit 7 by terminal devices connected to the LAN 9 by wire or wirelessly. So that the user can refer to the images and the like.
- the AWS unit 4 and the endoscope system control device 5 transmit and receive information (data) wirelessly.
- the endoscope 3G is connected to the AWS unit 4 by a cable, but may be configured to wirelessly transmit and receive information (data) (bidirectional transmission).
- the endoscope system control device 5 may transmit and receive information to and from the endoscope 3G wirelessly. Note that the communication method described with reference to FIGS. 2A to 2C can be used.
- FIG. 26 shows a schematic configuration of an endoscope 3G of the present embodiment.
- the endoscope 3G includes an endoscope main body 18 and a tube unit 19 which is detachably connected to the endoscope main body 18 and is, for example, a disposable type (disposer veneer pipe).
- the tube unit 19 has a smaller diameter than the conventional universal cable, and in this embodiment, only the air supply / water supply line 60b and the suction line 61b as two pipe tubes, and only the power supply line 73a and the signal line 73b.
- the force is also configured (see Figure 28).
- the endoscope main body 18 has a flexible insertion section 21 inserted into a body cavity, and an operation section 22 provided at a rear end of the insertion section 21. The ends are detachably connected. Further, an imaging unit using a CCD 25 whose gain is variable inside the imaging device is arranged at the distal end portion 24 of the insertion section 21 as an imaging device. Further, the distal end portion 24 is provided with a contact sensor 142 for detecting a state in which the distal end portion 24 is in contact (pressure contact) with an inner wall or the like in a body cavity.
- a bending portion 27 that can be bent with a small amount of force is provided at a rear end of the distal end portion 24, and the bending portion 27 is bent by operating an angle / remote control device 28 provided on the operation portion 22. be able to.
- the angle / remote control 28 includes an angle operation (bending operation), an operation such as air supply / water supply, suction, and the like, and a remote control operation for the endoscope system controller 5 (specifically, a freeze instruction operation, a release instruction operation, a release instruction operation). Remote control operation etc. can be performed as an instruction operation.
- the insertion portion 21 is formed with a portion having a variable hardness so that insertion can be performed more smoothly.
- a cleaning level detecting section 29 is provided in the insertion section 21 so as to be able to detect a cleaning level of the pipeline.
- An observation monitor 6 composed of a liquid crystal monitor or the like is disposed adjacent to the side surface of the inspection bed 2 and a cart 31 movably disposed near one end of the inspection bed 2 in the longitudinal direction.
- Endoscope system controller 5 AWS unit 4, image file ZLANZ electric mail Z ultrasonic unit (image file unit, wireless LAN or wired LAN, electric scalpel device, ultrasonic unit, etc. are shown in simplified form) 32
- the monitor 33 'with a touch panel is arranged at the top.
- a UPD coil unit 8 is embedded in the upper surface of the examination bed 2 where the patient lies.
- the UPD coil unit 8 is connected to the AWS unit 4 by a UPD cable 34.
- the AWS unit 4 and the endoscope system control device 5 transmit and receive data by the wireless transmission and reception units 77 and 101, for example, as shown in FIG. Also, as shown in FIG. 27, the observation monitor 6 is connected to a monitor connector of the endoscope system control device 5 by a monitor cable 35 '.
- the transmission / reception units 101 and 36 are attached to the endoscope system control device 5 and the observation monitor 6, respectively.
- a video signal may be transmitted so that an endoscope image corresponding to the video signal can be displayed on the display surface.
- the endoscope system controller 5 has the AWS unit 4 side force together with the image data captured by the CCD 25 and the insertion part shape of the endoscope 3 detected using the UPD coil unit 8 (UPD image) Therefore, the endoscope system controller 5 can send a video signal corresponding to the image data to the observation monitor 6 and display the UPD image together with the endoscope image on the display surface. Like that.
- the observation monitor 6 is configured by a high-resolution TV (HDTV) monitor so that a plurality of types of images can be simultaneously displayed on the display surface.
- HDTV high-resolution TV
- a storage recess is formed at one end of the inspection bed 2 in the longitudinal direction and a position below the one end, and the tray transport trolley 38 is slid into the storage recess. It can be stored freely.
- a scope tray 39 for accommodating the endoscope 3G shown in FIG. 28 is placed on the upper part of the tray transport trolley 38.
- the scope tray 39 containing the sterilized or disinfected endoscope 3G can be transported by the tray transport trolley 38, and can be stored in the storage recess of the inspection bed 2.
- the operator can pull out the endoscope 3G from the scope tray 39 and use it for endoscopy, and store it again in the scope tray 39 after the endoscope examination.
- the scope tray 39 containing the used endoscope 3G is transported by the tray transport trolley 38, so that sterilization or disinfection can be performed smoothly.
- the AWS unit 4 is provided with a scope connector 40.
- the scope connector 40 is detachably connected to the scope connector 41 of the endoscope 3G.
- the endoscope 3G of the present embodiment includes an endoscope main body 18 having a soft insertion portion 21 and an operation portion 22 provided at the rear end thereof, and an endoscope 3G of this embodiment.
- the connector (for tube unit connection) 51 provided near the base end (front end) of the operation unit 22 of the main body 18 is detachably connected to the general connector 52 at the base end. Tube unit 19).
- the above-mentioned scope connector 41 which is detachably connected to the AWS unit 4 is provided.
- the insertion portion 21 includes a hard distal portion 24 provided at a distal end of the insertion portion 21, a bendable bending portion 27 provided at a rear end of the distal portion 24, and a rear end force of the bending portion 27. It consists of up to 22 elongated flexible parts (convoluted tube parts) 53. At several places, specifically two places, in the flexible part 53, it is possible to expand and contract by applying a voltage and change the hardness. There is provided a variable hardness actuator 54A, 54B called a conductive polymer artificial muscle (abbreviated as EPAM).
- EPAM conductive polymer artificial muscle
- a light emitting diode (abbreviated as LED) 56 is attached as an illumination means inside the illumination window provided at the distal end portion 24 of the insertion portion 21, and the illumination light of the LED 56 is integrated with the LED 56.
- the light is emitted forward through the attached illumination lens and illuminates the subject such as the affected part.
- the LED 56 may be an LED that generates white light, or an R LED, a G LED, and a B LED that emit light of each wavelength range of red (R), green (G), and blue (B). It may be configured by using.
- the light emitting element forming the illumination means is not limited to the LED 56, but may be formed using an LD (laser diode) or the like.
- An observation lens (not shown) is attached to an observation window provided adjacent to the illumination window, and a CCD 25 having a built-in variable gain function is arranged at an image forming position, and an imaging means for imaging an object is provided. Is formed.
- the CCD 25 in the present embodiment has a variable gain function built into the CCD element itself, and the gain of the CCD output signal can be easily varied up to several hundred times by the variable gain function. However, we are trying to obtain a bright image with little decrease in SZN. In addition, since the LED 56 has better luminous efficiency than the case of a lamp, the temperature rise near the LED 56 can be suppressed.
- One end is connected to each of the LED 56 and the CCD 25, and the other end of the signal line passed through the insertion section 21 is provided, for example, in the operation section 22 and performs centralized control processing (aggregated control processing). Connected to circuit 57.
- a plurality of UPD coils 58 are arranged in the insertion portion 21 at predetermined intervals along the longitudinal direction, and a signal line connected to each UPD coil 58 is connected to a UPD coil provided in the operation portion 22. It is connected to a control circuit 57 via a controller drive unit 59.
- angle actuators 27a which are bending portion shape variable mechanisms and formed by arranging EPAMs in the longitudinal direction, are provided.
- the angle actuator 27a expands and contracts when a voltage is applied, so that the shape of the curved portion 27 can be changed.
- the angle actuator 27a Due to the above-described operation of the angle actuator 27a, it is not necessary to separately provide a physical mechanism such as a bending piece and a bending wire as a physical mechanism for changing the shape of the bending portion 27.
- the angle actuator 27a may be provided at four or more locations as long as it is not provided at only the four locations and is provided inside the outer skin. Further, when the angle actuator 27a is provided at four or more locations in the circumferential direction on the inner side of the outer skin by the action of the angle actuator 27a, for example, as shown in FIG. 40, the bending portion 27 is bent in multiple stages. It is possible to do.
- the curved portion 27 in which the bending portion 27 is curved in seven steps is not limited to the portion from XI to X7 in FIG. 40.
- the number of parts to be made is not limited to seven parts.
- the angle actuator 27a and the hardness variable actuators 54A and 54B are also connected to a control circuit 57 having a function as a curved portion shape control means via signal lines.
- the EPAM used for the angle actuator 27a and the hardness variable actuators 54A and 54B may be the one described in Fig. 9.
- the bent portion 27 When used as the angle actuator 27a, the bent portion 27 can be curved by forming it into a wire shape or the like, extending one side, and contracting the other side in the same manner as a normal wire function. Further, when the EPAM is used as the angle actuator 27a by the above-described operation of the EPAM, when changing the shape of the bending portion, the same operation is performed at a predetermined time to change the shape of the bending portion by a predetermined same amount each time. Can be changed. The hardness can be varied by the extension or contraction, and the hardness varying actuators 54A and 54B utilize the function to reduce the hardness of the portion. It is variable.
- an air / water supply conduit 60a and a suction conduit 61a are inserted into the insertion portion 21, and a rear end thereof is a conduit connector 51a opened in the connector portion 51.
- the pipeline connector 51a is detachably connected to the pipeline connector 52a of the overall connector section 52 at the base end of the tube unit 19.
- the air / water supply line 60a is connected to the air / water supply line 6 Ob inserted in the tube unit 19, and the suction line 61a is connected to the suction line 61b inserted in the tube unit 19. At the same time, it branches into the conduit connector 52a, opens to the outside, and communicates with a treatment tool insertion port (abbreviated as a forceps port) 62 through which a treatment tool such as forceps can be inserted.
- the forceps port 62 is closed by the forceps stopper 62a when not in use.
- the rear ends of the air supply / water supply line 60b and the bow suction I line 6 lb on the hand side serve as an air supply / water supply base 63 and a suction base 64 in the scope connector 41.
- the air / water supply base 63 and the suction base 64 are connected to the air / water supply base 42c and the suction base 42d of the AWS adapter 42 shown in FIG. 5A and the like, respectively.
- the operating section 22 of the endoscope main body 18 is provided with a grip section 68 that is gripped by an operator.
- a grip section 68 Around the grip section 68, a release, a freeze, and the like are provided.
- three scope switches SW1, SW2, and SW3 are provided along the longitudinal axis of the operation unit 22 and are connected to the control circuit 57, respectively.
- the slope Sa formed on the upper surface of the operation unit 22 opposite to the position where the scope switches SW1, SW2, and SW3 are provided is located at a position where the operation can be performed by the hand holding the grip unit 68.
- a trackball 69 having a waterproof structure for performing an angle operation (bending operation) and setting other remote control operations by switching is provided.
- FIG. 29 is a view taken in the direction of arrow C in FIG.
- two scope switches SW4 and SW5 are provided on both sides of the trackball 69 on the slope Sa at positions symmetrical in the left and right direction on both sides in the longitudinal direction of the operation unit 22. It is.
- the functions of the air / water switch and the suction switch are normally assigned to the scope switches SW4 and SW5.
- the trackball 69 is positioned in the longitudinal direction with respect to the longitudinal direction of the operation unit 22 or the insertion unit 21.
- the two scope switches SW4 and SW5 are located on the center line, and the two scope switches SW4 and SW5 are arranged symmetrically, and the scope switches SW1, SW2 and SW3 are arranged on the rear side along this center line.
- the operation unit 22 has a plurality of operation means. Further, in the operation unit 22, various operation means such as a trackball 69 are provided symmetrically with respect to the central axis in the longitudinal direction, so that the operator can hold the grip unit 68 of the operation unit 22. The same operability can be ensured in both the case of gripping with the left hand and the case of gripping and operating with the right hand.
- various operation means such as a trackball 69 are provided symmetrically with respect to the central axis in the longitudinal direction, so that the operator can hold the grip unit 68 of the operation unit 22. The same operability can be ensured in both the case of gripping with the left hand and the case of gripping and operating with the right hand.
- the trackball 69 and the scope switches SW4 and SW5 are also connected to the control circuit 57.
- the trackball 69 and the scope switches SW1 to SW5 correspond to the angle Z remote control operator 28 in FIG.
- the trackball 69 and the scope switches SW1 to SW5 which are operating means
- one or more bending portion shape variable operating means can be assigned.
- the bending portion shape variable operation means allocated to one or more of the trackball 69 and the scope switches SW1 to SW5 is operated by an operator to operate the angle control portion 91, which is a bending portion shape variable control device, which will be described later. Is instructed. Then, the angle controller 91 receiving the instruction expands and contracts the angle actuator 27a, so that the shape of the curved portion 27 can be changed.
- the power supply line 71a and the signal line 71b extending from the control circuit 57 pass through the tube unit 19 via the contactless transmission sections 72a and 72b formed in the connector section 51 and the general connector section 52.
- the power line 73a and the signal line 73b are electrically connected without contact (see Fig. 30 for details).
- the power supply line 73a and the signal line 73b are connected to an electric connector 74 having a power supply & signal contact at the scope connector 41.
- the connector 51 side of the contactless transmission units 72a and 72b is called, for example, a contactless transmission unit 51b.
- the user connects the scope connector 41 to the AWS unit 4, As shown in FIG. 6, the power line 73a is connected to the power supply unit 75 via the electrical connector 43 of the AWS unit 4, and the signal line 73b is connected to the UPD unit 76 (via the power supply unit 75) and the transmission / reception unit. 77 and connected to AWS control unit 66.
- the transmission / reception unit 77 is connected to an antenna for transmitting and receiving radio waves by radio.
- FIG. 30 shows a configuration of a contactless connection section of the connector sections 51 and 52 by the contactless transmission sections 72a and 72b.
- the AC power supplied by the power supply line 73a passed from the power supply unit 75 to the inside of the tube unit 19 is stored in the outer case of the connector section 52 and forms the primary side coil Cla forming the contactless transmission section 72a. Supplied to
- a secondary-side coil Clb is arranged inside the outer case of the connector portion 51, and the primary-side coil Cla and the secondary-side coil Clb are electromagnetically coupled to each other in a state where the magnetic flux leakage is small in close proximity.
- the AC power supplied to the coil Cla is efficiently transmitted to the secondary coil Clb.
- the coil Clb is connected to a power supply circuit 78 in the control circuit 57, and the power supply circuit 78 generates DC power required on the control circuit 57 side.
- the power supply circuit 78 converts the DC voltage rectified through the rectifying diode D and the smoothing capacitor into a DC voltage required for the operation of the control circuit 57 by, for example, the three-terminal power supply IC 79 and the smoothing capacitor. To the control circuit 57.
- a signal line 71b (forming a common signal transmission means) connected to the control circuit 57 is connected to a coil C2a forming a contactless transmission section 72b, and a coil C2b which is close to and opposed to the coil C2a. Is connected to the signal line 73b passed through the tube unit 19. That is, almost in the same manner as in the case of the transformer T1, the contactless transmission section 72b is formed by the transformer T2 that is electromagnetically coupled by the coils C2a and C2b.
- the signal on the signal line 7 lb side is also transmitted to the signal line 73b side via the coils C2a and C2b that are electromagnetically coupled, and also transmitted in the opposite direction.
- the internal configuration is controlled by the control circuit 57 so that various operation means and imaging means are controlled in a centralized manner. Therefore, the number of electric signal lines passing through the tube unit 19 can be reduced. Further, even when the function provided to the endoscope 3G is changed, the signal line 73b in the tube unit 19 can be used without any change. That is, the signal line 73b forms a common signal transmission unit that commonly transmits various signals.
- the magnets Ml and M2 are arranged so that different magnetic poles are opposed to each other.
- Cla and Clb and coils C2a and C2b can be detachably mounted in close proximity to each other.
- the connector portions 51 and 52 may be provided with concave and convex portions for positioning by fitting each other.
- the endoscope 3G of this embodiment is characterized in that the endoscope main body 18 is configured to be detachably connected to the tube unit 19 at the contact point! / Puru.
- FIG. 31 shows a configuration of a control circuit 57 and the like arranged in the operation unit 22 of the endoscope main body 18 and a configuration of an electric system in main components arranged in each part of the insertion unit 21. Since the configuration of FIG. 31 has been described in FIG. 11, most of the description is omitted.
- the state management unit 81 is connected to a wired transmission / reception unit 83 (in this embodiment) that performs wired communication with the AWS unit 4 (since the transmission / reception unit 83 corresponds to Fig. 2B, 2B, except that the electrical connector 15 is a contactless transmission section 72a, 72b in the operation section 22 and an electrical connector 74 at the end of the tube unit 19. Become).
- the state management unit 81 controls the actuator drive unit 92 via an angle control unit 91 which is a bending portion shape variable control means, and manages the drive of the angle actuator (EPAM) 27a by the actuator drive unit 92. I do.
- the drive amount of the angle factor actuator (EPAM) 27a is detected by the encoder 27c, and is controlled so that the drive amount matches a value corresponding to the indicated value.
- the angle control unit 91 which is a bending portion shape variable control means, changes the shape of the bending portion 27 by controlling and expanding and contracting the angle actuator 27a, which is a bending portion shape variable mechanism.
- the state management unit 81 controls the actuator driving unit 94 via the hardness variable control unit 93, and the actuator driving unit 94 drives the hardness changing actuator 54.
- the drive amount of the hardness variable actuator 54 is detected by the encoder 54c, and is controlled so that the drive amount becomes a value corresponding to the indicated value.
- an operation signal corresponding to the operation amount of the trackball 69 provided on the operation unit 22 is input to the state management unit 81 via the trackball displacement detection unit 95. Further, a switch press operation such as an ON operation by the air / water supply switch, suction switch, and scope switch is detected by the switch press detection unit 96, and the detected information is input to the state management unit 81.
- EPAM has a characteristic of generating an electromotive force by deformation due to an external force, and an EPAM arranged on the opposite side of a driving EPAM may be used as an encoder.
- the control circuit 57 includes a power transmission / reception unit 97 and a power generation unit 98.
- the power transmission / reception unit 97 is specifically a contactless transmission unit 72a in the operation unit 22. Then, the AC power transmitted to the power generation unit 98 is converted into a DC power in the power generation unit 98.
- the power supply generator 98 corresponds to the power supply circuit 78 in FIG. The DC power generated by the power generation unit 98 supplies power required for its operation to each unit in the control circuit 57.
- FIG. 32 shows the internal configuration of the transmission / reception unit 101 and the image processing unit 116 of the endoscope system control device 5 shown in FIG.
- the endoscope system control device 5 has, for example, a transmission / reception cut 101 of a wireless system.
- the data such as image signals transmitted wirelessly by the AWS unit 4 is taken in by the antenna unit 13, sent to the data receiving unit 14, amplified, and demodulated.
- the operation of the data receiving unit 14 is controlled by the data communication control unit 11, and the received data is sequentially stored in the buffer memory 102.
- the image data in the buffer memory 102 is sent to an image processing unit 103 that processes the image data.
- the image processing unit 103 receives, in addition to the image data from the buffer memory 102, character information from a character generation unit 105 that generates character information by key input of a keyboard 104, and superimposes the character information on the image data. You can impose.
- the image processing unit 103 sends the input image data and the like to the image memory control unit 106, temporarily stores the image data and the like in the image memory 107 via the image memory control unit 106, and also stores the image data and the like in the recording medium 158. Record. Further, the image memory control unit 106 reads out the image data temporarily stored in the image memory 107 and sends it to the digital encoder 108.
- the digital encoder 108 encodes the image data into a predetermined video format, and Output to 109).
- This DAC 109 converts a digital video signal into an analog video signal.
- the analog video signal is further output from the video output terminal to the observation monitor 6 via the line driver 110, and an image corresponding to the video signal is displayed on the observation monitor 6.
- the image data temporarily stored in the image memory 107 is read out and input to the DV data generating unit 111, where the DV data is generated by the DV data generating unit 111, and the DV data output terminal DV data is output. Is output.
- the endoscope system control device 5 is provided with a video input terminal and a DV data input terminal, and the video signal to which the video input terminal power is input is also transmitted to the line receiver 11 ⁇ and the ADC 113 '.
- the video signal that has been converted to a digital signal is demodulated by the digital decoder 114 'and input to the image memory control unit 106.
- the image data is extracted (decoded) by the image data extraction unit 115 from the DV data input to the DV data input terminal, and is input to the image memory control unit 106.
- the image memory control unit 106 also temporarily stores the video signal (image data) to which the video input terminal or the DV data input terminal is also input in the image memory 107, records it in the recording medium 158, or For example, output to the observation monitor 6 from the video output terminal.
- the image data captured by the CCD 25 of the endoscope 3 and the UPD image data generated by the UPD unit 76 are wirelessly input to the endoscope system controller 5 from the AWS unit 4 side. Then, the endoscope system control device 5 converts these image data into a predetermined video signal and outputs it to the observation monitor 6. Note that the endoscope system control device 5 may receive the UPD coil position data instead of the UPD image data, and generate the UPD image data in the image processing unit 103.
- FIG. 33 shows the internal configuration of AWS Unit 4.
- Image data and operation data such as switches input from the control circuit 57 of the endoscope 3G to the electrical connector 43 for the scope are output to the data communication control unit 11 of the transmission / reception unit 77, and the UPD image from the UPD unit 76 is provided.
- the endoscope system It is transmitted to the antenna section 13 of the system control device 5.
- AWS-related information such as the operation of the air supply / water supply switch and the suction switch provided in the operation unit 22 of the endoscope 3G is also sent to the air supply / water supply control unit 122, and this air supply / water supply control unit 122
- the operation of the pump 65 and the solenoid valve unit 124 is controlled in accordance with the received information.
- the air supply / water supply lines Ob and 61b are connected to the solenoid valve unit 124 via the AWS adapter 42.
- the water supply tank 48 is connected to the solenoid valve unit 124 and the AWS adapter 42, and the suction tank 49b is connected to the AWS adapter 42.
- commercial power is supplied to the AWS unit 4, and the commercial power is sent to the power transmission output unit 127 via the insulating transformer 126.
- the power transmission output section 127 supplies AC power insulated from commercial power from the electric connector 43 to the power line 73a of the endoscope 3 connected to the electric connector 43.
- the power transmission output of the power transmission output unit 127 is controlled by a power transmission control unit 128 connected to the data communication control unit 11.
- This main menu includes the scope switch, angle sensitivity, insertion section hardness, zoom, image emphasis, and air supply amount, and an operation instruction to return to the previous menu screen.
- the item is displayed.
- the general connector section 52 of the disposable tube unit 19 is connected to the connector section 51 of the operation section 22 of the endoscope body 18.
- the transformers Tl and T2 forming the contactless transmission sections 72a and 72b are insulated and waterproof from each other. It will be electromagnetically connected in this state. With this connection, the preparation of the endoscope 3G is completed.
- the scope connector 41 of the tube unit 19 is connected to the connector 43 of the AWS unit 4.
- various conduits, power lines, signal lines, and optical connections are completed in one connection operation by one-touch connection.
- the user connects the AWS unit 4 to the UPD coil unit 8 and connects the endoscope system controller 5 to the observation monitor 6. Further, if necessary, the endoscope system 1B is set up by connecting the endoscope system control device 5 to the image recording unit 7 or the like.
- the power of the AWS unit 4 and the endoscope system control device 5 is turned on. Then, each unit in the AWS unit 4 is activated, and the power supply unit 75 can supply power to the endoscope 3 via the power supply line 73a and the like.
- the power transmission control unit 128 in the power supply unit 75 of the AWS unit 4 shown in FIG. 33 starts the startup processing, as shown in FIG. 34, in the first step S1, the state of the power transmission output unit 127 is supplied to the power supply. Stop, that is, turn off the power supply.
- step S2 after the monitoring timer is turned on, the state of the power transmission output unit 127 is supplied with power, that is, the power supply is turned on, as shown in step S3.
- the power transmission output unit 127 is in a state of supplying power, the power is transmitted through the power line 73a in the tube unit 19, further passes through the contactless transmission unit 72a, and is supplied to the power supply in the control circuit 57 of the operation unit 22.
- AC power is supplied to the generator 98.
- step S4 the power transmission control unit 128 enters a state of waiting for reception of an activation message from the endoscope 3 via the signal line 73b in the tube unit 19. Then, when the power transmission control unit 128 does not receive the activation message, the power transmission control unit 128 determines whether the monitoring timer has expired as shown in step S5, and if not, returns to step S4. If the time has expired, the process returns to the first step S1. On the other hand, when the start message is received before the timeout in step S4, the power transmission control unit 128 turns off the time measurement of the monitoring timer as shown in step S6. Then, a continuation message is issued as shown in step S7, and the activation process ends.
- control circuit 57 of the endoscope 3G is supplied with AC power to the power generation unit 98, so that the power required for the operation in the control circuit 57 is supplied and the start process is started. Then, the state management unit 81 shown in FIG. 31 waits for the power supply voltage of the power generation unit 98 to be stabilized in the first step S11.
- the state management unit 81 performs system initialization of each unit of the control circuit 57. After the system initialization, as shown in step S13, the state management unit 81 transmits a start message to the power transmission control unit 128 via the transmission / reception unit 83 and further via the signal line 73b in the tube unit 19.
- step S14 After transmitting the start message, as shown in step S14, the state management unit 81 enters a state of waiting for a continuation message to be received by the power transmission control unit 128, and when the continuation message is received, The startup process ends. On the other hand, if the continuation message is not received, as shown in step S15, the state management unit 81 proceeds to step S15 if the retry end condition (for example, the condition of the preset number of retry) is not reached. Return to step 13, issue a start message again, and terminate with an error if the retry end condition is met.
- the start-up process ends normally imaging by the CCD 25 starts, and the user can perform air / water feeding, suction, an angle operation, a hardness varying operation, and the like using the operation unit of the operation unit 22.
- FIG. 36 shows the operation contents of the imaging control processing.
- the endoscope 3G acquires imaging data. Specifically, under the control (control) of the state management unit 81, the LED 56 emits light, the CCD driving unit 86 starts the operation of driving the CCD 25, and the imaging signal captured by the CCD 25 is converted into a digital signal by the ADC 87. (Imaging data). The image data (image data) is sequentially stored in the image memory 88, and the image data is acquired. The gain is made.
- the acquired image data is sequentially transmitted as shown in step S32.
- the image data read from the image memory 88 is transmitted from the transmission / reception unit 83 to the AWS unit 4 by wire, and is transmitted from the transmission / reception unit 77 of the AWS unit 4 to the endoscope system control device 5 wirelessly.
- the video signal is converted into a video signal inside the endoscope system control device 5 and displayed on the observation monitor 6.
- the imaging data of ADC 87 is input to brightness detection section 89.
- the brightness detection unit 89 detects the brightness of the image data by calculating an average value of the luminance data of the image data at an appropriate time.
- the detection data of the brightness detection unit 89 is input to, for example, the state management unit 81, and it is determined whether or not the specified brightness power is present (step S34). Then, when the brightness is the designated brightness, the imaging process ends, and the process proceeds to the next imaging process.
- step S34 when the state management unit 81 determines that the brightness is not the designated brightness, the state management unit 81 sends an illumination light adjustment instruction signal (control signal) to the illumination control unit 84 as shown in step S35.
- the illumination control unit 84 adjusts the amount of illumination light. For example, the illumination control unit 84 adjusts the amount of illumination by increasing or decreasing the drive current for causing the LED 56 to emit light.
- the lighting control unit 84 returns the adjustment result to the state management unit 81.
- the state management unit 81 determines whether or not the brightness is within the brightness adjustment range that can be controlled by the illumination control unit 84, based on the information on the adjustment result (step S36). If the brightness control by the illumination control unit 84 has been performed, the process of step S37 is not performed, and the imaging process control ends.
- step S37 the state management unit 81 outputs a CCD gain adjustment signal to the CCD drive unit 86, and the gain of the CCD 25 is output. Is adjusted to adjust the brightness of the image data. Then, the imaging process ends.
- step S38 of FIG. 37 the state management unit 81 of the control circuit 57 acquires the state data of the air / water supply switch.
- the operation of the air / water switch is detected by the switch push detection unit 96 shown in FIG. 31 and the information of the detection result is input. Get the.
- step S39 the state management unit 81 determines a change in the state of the air / water switch. If it is determined in step S39 that the state of the air / water switch has been changed, the state management unit 81, as shown in step S40, sends the air / water switch corresponding to the instruction of the air / water switch operated by the user.
- the control data is transmitted to the AWS unit 4 via the transmission / reception unit 83.
- the air / water control unit 122 in the AWS unit 4 controls the pump 65 and the solenoid valve unit 124 according to the air / water control data. Then, the air supply / water supply processing operation ends. On the other hand, when it is determined in step S32 that there is no change in the state of the air / water supply switch, the air / water supply processing operation without performing the processing in step S40 is ended. Note that the suction process is almost the same as the air supply / water supply process, and thus the process is omitted. Next, the angle operation control process will be described with reference to FIG.
- the flowchart of FIG. 38 shows a control process when a contact sensor for detecting contact is provided at the distal end portion 24 of the insertion section 21.
- step S47b when performing the angle operation control for the angle operation, during the start of the servo processing in step S46 as shown in FIG. As shown in step S47b, by detecting the detection result of the contact sensor via the contact sensor detection unit, it is detected whether the distal end portion 24 is in contact with the inner wall or the like in the body cavity with a pressure equal to or more than an appropriate value (determination). )I do.
- the process proceeds to the next step S47, and the state management unit 81 reaches the target position corresponding to the angle command value. Is determined by the encoder detection value. If the target position has not been reached, the process returns to step S46.If the target position has been reached, on the other hand, the control processing for this angle operation ends. I do.
- step S47b when the state management unit 81 determines that the contact is made with an appropriate value or more, the process of the next step S47 is not performed, and the control process for the angle operation ends. .
- the state management unit 81 performs a control process to bend the bending unit 27 to the target position corresponding to the command value by the angle operation.
- control is performed so as to suppress further bending.
- the user when the user inserts the insertion section 21 into the body cavity, even if the user performs an angle operation to insert the insertion section 21 along the bent conduit, the user should make contact with a pressure greater than the set value. Thus, pain given to the patient can be further reduced, and smooth insertion can be achieved.
- the hardness may be controlled to be further changed by the hardness variable actuator according to the detection output of the contact sensor.
- the control processing of the hardness variable operation shown in FIG. 18 is performed.
- the UPD unit 76 detects the position of the UPD coil 58 disposed inside the insertion section 21 of the endoscope 3G by the UPD coil unit 8, calculates the insertion shape of the insertion section 21, and calculates the observation mode. -Display the insertion part shape, that is, UPD image, on the display screen of tab 6.
- Figs. 39 (A) to (D) show the menu screen on the right side and the UPD image on the left side in a corresponding state, respectively.
- the user force S menu screen is used to display the hardness variable actuators 54A and 54B.
- the hardness of the hardness variable actuators 54A and 54B provided at a plurality of locations is displayed in a color corresponding to the set hardness. This shows how identification is facilitated.
- FIG. 39 (A) shows the display state of the main menu, and shows that the user selects the variable insertion section hardness in this display state.
- the sections A and B of the hardness variable actuators 54A and 54B are set in this section. It is displayed without being distinguished from the parts other than A and B.
- variable insertion part hardness When the variable insertion part hardness is selected as shown in FIG. 39 (B), the hardness range set for the sections A and B of the two hardness variable actuators 54A and 54B is shown.
- B and B a hardness setting screen is displayed as to whether the hardness is set to (soft! /,) Soft state force,! / In the hard state, or deviation hardness.
- the current hardness position is indicated by a circle. In this case, the colors are displayed in different display colors from soft to hard.
- the corresponding UPD image has a display color corresponding to the hardness for which the hardness variable factor is set, and the portion of the hardness variable factor is displayed in color.
- the hardness section is set to a state close to soft, and in this case, the sections A and B of the hardness variable actuators 54A and 54B in the UPD image are displayed in yellow. .
- FIG. 39 (C) shows a case where the hardness of the section B of the hardness varying actuator 54B is set to a hardness near the center in the state of FIG. 39 (B). Section B of the actuator 54B is displayed in green.
- FIG. 39 (D) shows a case where the hardness of the section B of the hardness variable actuator 54B is set to the hardness (hard value) in the state of FIG. 39 (B) or FIG. 39 (C).
- B of the hardness variable actuator 54B in the UPD image is displayed in blue.
- the user can freely set the hardness of the hardness variable actuators 54A and 54B, and set the sections A and B of the set hardness variable actuators 54A and 54B. Since the display is performed in the display color corresponding to the hardness, the user can easily identify the hardness of the hardness variable actuators 54A and 54B.
- the operator can easily perform the insertion work of the insertion section 21 and the like.
- the endoscope 3G of the present embodiment that forms the endoscope system 1B performing such operations, the endoscope 3G is separated into the endoscope main body 18 and the tube unit 19 in the operation unit 22.
- the tube unit 19 side By making the tube unit 19 side a disposable type, the endoscope main body 18 can be easily cleaned, sterilized, and the like.
- the air / water supply line 60a and the suction line 61a in the endoscope body 18 can be much shorter than in the conventional example in which the universal cable corresponding to the tube unit 19 is integrally formed. Therefore, cleaning and sterilization are also easy.
- the pipe connector 51a is slightly bent, and the other portions are an air supply / water supply pipe 60a and a suction pipe 61a that extend almost linearly. Processing such as washing, sterilization, and drying of the inside can be performed easily and in a short time. Therefore, it is possible to set the state in which the endoscopy can be performed in a short time.
- the endoscope main body 18 and the tube unit 19 are connected and detached independently without contact, the endoscope main body 18 can be repeatedly washed and sterilized. In addition, it is possible to improve the reliability without occurrence of contact continuity failure or the like when the contactless operation is not performed.
- the operating section 22 is provided with a number of operating means such as an angle operating means, an air / water feeding operating means, a suction operating means, a hardness varying means, a freeze operating means, a release operating means, and the like.
- a control circuit 57 provided in the operation unit 22 controls the operation means collectively (intensively).
- the control circuit 57 is configured to collectively control a light emitting unit that emits illumination light for performing imaging and an imaging unit that performs imaging together with the operation unit.
- various functions provided in the endoscope main body 18 are collectively controlled by the control circuit 57 provided in the operation unit 22 and the AWS connected to the endoscope main body 18 is controlled.
- the unit 4 and the endoscope system controller 5 that transmits and receives information wirelessly are also configured to collectively control various functions of the operation means, so that the user (more specifically, the operator) Various operations can be freely performed by various operation means provided in the unit 22, and operability can be greatly improved.
- the number of signal lines that need to be inserted into the tube unit 19 connected at the connection portion of the operation unit 22 can be reduced, and the tube unit 19 side can be made disposable.
- the tube unit 19 can be easily narrowed and bent, and operability when a user operates can be improved.
- the bending instruction operation can be performed by the bending instruction operation means arranged at a position that is easy to operate with a grasped hand, and Other instruction operations, changes in set values, and the like can be performed by operating the bending instruction operation means.
Abstract
Description
Claims
Priority Applications (1)
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US11/541,872 US7883460B2 (en) | 2004-04-02 | 2006-10-02 | Endoscope |
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JP2004-110483 | 2004-04-02 | ||
JP2004110483A JP4377734B2 (ja) | 2004-04-02 | 2004-04-02 | 内視鏡 |
JP2004130129A JP4624711B2 (ja) | 2004-04-26 | 2004-04-26 | 内視鏡 |
JP2004-130129 | 2004-04-26 |
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US11/541,872 Continuation US7883460B2 (en) | 2004-04-02 | 2006-10-02 | Endoscope |
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US8454497B2 (en) | 2009-09-30 | 2013-06-04 | Olympus Medical Systems Corp. | Endoscope apparatus and bending drive control method |
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JP5728159B2 (ja) | 2010-02-02 | 2015-06-03 | ソニー株式会社 | 画像処理装置、画像処理方法及びプログラム |
WO2012044713A1 (en) * | 2010-10-01 | 2012-04-05 | Imerj LLC | Drag/flick gestures in user interface |
US20130023790A1 (en) * | 2011-07-19 | 2013-01-24 | Schaeffer Jeremy R | Biopsy device |
US20140142383A1 (en) * | 2012-11-22 | 2014-05-22 | Gyrus Acmi, Inc. (D.B.A. Olympus Surgical Technologies America) | Endoscope Camera Head Memory |
JP5914765B2 (ja) * | 2013-12-04 | 2016-05-11 | オリンパス株式会社 | ワイヤレス伝送システム |
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US7883460B2 (en) | 2011-02-08 |
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