WO2005102144A1 - 内視鏡 - Google Patents
内視鏡 Download PDFInfo
- Publication number
- WO2005102144A1 WO2005102144A1 PCT/JP2005/007458 JP2005007458W WO2005102144A1 WO 2005102144 A1 WO2005102144 A1 WO 2005102144A1 JP 2005007458 W JP2005007458 W JP 2005007458W WO 2005102144 A1 WO2005102144 A1 WO 2005102144A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- hardness
- unit
- endoscope
- variable
- aws
- Prior art date
Links
Classifications
-
- 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
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
-
- 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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
-
- 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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/00078—Insertion part of the endoscope body with stiffening means
Definitions
- the present invention relates to an endoscope that is inserted into a body cavity or the like and performs an endoscopy or the like.
- an endoscope In the medical field, for example, an endoscope is used when performing various treatments on a site, a tissue, or the like of a body cavity of a living body as an affected part.
- an endoscope When performing various treatments on an affected part using an endoscope, it is necessary to smoothly insert the endoscope into a bent body cavity of a living body. Therefore, the insertion portion of the endoscope generally has flexibility. However, if the insertion section has only flexibility, the operation at the insertion section's proximal side is not sufficiently transmitted to the insertion section's distal side, so that the directionality of the insertion section's distal side is not determined.
- the hardness changing mechanism provided in the insertion portion mainly includes a hardness changing coil and a hardness changing wire. Therefore, when the surgeon changes the hardness using the endoscope proposed in Japanese Patent Application Laid-Open No. 2002-330924, the entire portion provided with the hardness changing coil and the hardness changing wire is provided with the hardness changing portion. Be eligible. In other words, since there is a limitation on physical mechanisms such as a partial force, a hardness changing coil, and a hardness changing wire that can change the hardness, there is a problem in that the portion or the number of hardness changes is limited.
- the present invention has been made in view of the above points, and a part capable of performing a hardness change is not limited by a physical mechanism. It is an object of the present invention to provide an endoscope capable of performing a hardness changing operation in addition to another operation without releasing the operation means.
- An endoscope according to the present invention is an endoscope provided with an insertion section and an operation section, wherein the insertion section has a hardness variable mechanism that can change hardness by applying a voltage.
- the operation unit includes a plurality of operation units, wherein the operation unit includes: a hardness change control unit that controls the hardness variable mechanism to change the hardness; and a hardness change operation unit that instructs the hardness change control unit to change the hardness.
- FIG. 1 is a schematic configuration diagram of an endoscope system to which an endoscope according to an embodiment of the present invention is applied.
- FIG. 2A is a diagram showing a data communication form by a wireless system.
- FIG. 2B is a diagram showing a data communication form by a wired method.
- FIG. 2C is a diagram showing a data communication form using an optical communication system.
- FIG. 3 is a diagram showing a schematic configuration of an endoscope as one embodiment of the present invention.
- FIG. 4 is a perspective view showing an overall configuration of an endoscope system according to the present embodiment.
- FIG. 5 is a perspective view showing a specific external shape around the AWS unit.
- FIG. 6A is a diagram showing a state in which a detachable AWS adapter is attached to an AWS unit.
- FIG. 6B is a diagram showing a state in which an AWS adapter detachable from the AWS unit is removed.
- FIG. 7A is a front view of AWS adapter 42.
- FIG. 7B is a left side view of the AWS adapter 42.
- FIG. 7C is a right side view of the AWS adapter 42.
- FIG. 7D is a sectional view taken along a line AA ′ of FIG. 7A.
- FIG. 7E is a sectional view taken along the line BB ′ of FIG. 7A.
- FIG. 8 is a diagram showing the structure of an AWS adapter.
- FIG. 9 is a side view showing a part of internal components of an endoscope according to an embodiment of the present invention in a see-through manner.
- FIG. 10A is a diagram showing a schematic configuration of a conductive polymer artificial muscle (EPAM) used for an angle member and a hardness variable actuator in the present embodiment.
- EEM conductive polymer artificial muscle
- FIG. 10B is a view showing a state where the conductive polymer artificial muscle (EPAM) shown in FIG. 10A is contracted in the thickness direction and elongated in the longitudinal direction.
- EEM conductive polymer artificial muscle
- FIG. 10C is an explanatory diagram showing an outline of an amount of strain with respect to an electric field intensity due to an applied voltage in the conductive polymer artificial muscle (EPAM) shown in FIG. 10A.
- EPAM conductive polymer artificial muscle
- FIG. 11 is a view showing a trackball and the like provided on an operation unit as viewed from an arrow A in FIG.
- FIG. 12 is a circuit diagram showing a configuration of a contactless transmission unit in which a base end of a tube unit is detachably connected to an operation unit main body without a contact.
- FIG. 13 is a block diagram showing a configuration of an electric system of components provided in the endoscope.
- FIG. 14 is a block diagram showing a configuration of an electric system of a main part of the endoscope system control device.
- FIG. 15 is a block diagram showing a configuration of an electrical system of the AWS unit.
- FIG. 16A is a diagram showing an example of an image displayed on a monitor immediately after the power of the endoscope system is turned on.
- FIG. 16B is a diagram showing an example of a main menu image displayed in the menu display area of FIG. 16A.
- FIG. 16C is a diagram showing an example of an image of the function assignment of the scope switch displayed in the menu display area of FIG. 16A.
- FIG. 17 is a flowchart showing the operation contents of the AWS unit startup processing.
- FIG. 18 is a flowchart showing an operation content of an endoscope activation process.
- FIG. 19 is a flowchart showing an operation content of an imaging control process.
- FIG. 20 is a flowchart showing an operation content of an air / water supply control process.
- FIG. 21 is a flowchart showing a control process of an angle operation.
- FIG. 22 is a flowchart showing a control operation for a hardness changing operation.
- FIG. 23A is a diagram showing a display state of a main menu in an UPD image.
- FIG. 23B is a diagram showing a display state of a hardness setting screen in the UPD image.
- FIG. 23C is a diagram showing a display state of the hardness setting screen in the UPD image different from that of FIG. 23B.
- FIG. 23D is a diagram showing a display state of the hardness setting screen in the UPD image which is different from the display states of FIG. 23B and FIG. 23C.
- FIG. 24 is a flowchart showing the processing content on the endoscope side in the human interface.
- FIG. 25 is a flowchart showing the processing performed on the endoscope system control device side in the human interface.
- FIG. 1 is a schematic configuration diagram of an endoscope system to which an endoscope according to an embodiment of the present invention is applied.
- FIG. 2A is a diagram showing a data communication form by a wireless system.
- FIG. 2B is a diagram showing a data communication mode using a wired system.
- FIG. 2C is a diagram showing a data communication mode using an optical communication system.
- FIG. 3 is a diagram showing a schematic configuration of an endoscope according to one embodiment of the present invention.
- FIG. 4 is a perspective view showing the overall configuration of the endoscope system of the present embodiment.
- FIG. 5 is a diagram showing a specific external shape around the AWS unit.
- FIG. 6A is a diagram showing a state in which a detachable AWS adapter is attached to the AWS unit.
- FIG. 6B is a diagram showing a state in which an AWS adapter that is detachably attached to the AWS unit is removed.
- FIG. 7A is a front view of the AWS adapter 42.
- FIG. 7B is a left side view of the AWS adapter 42.
- FIG. 7C is a right side view of the AWS adapter 42.
- FIG. 7D is a sectional view taken along the line AA ′ of FIG. 7A.
- FIG. It is a B-B 'sectional view.
- FIG. 8 is a diagram showing an internal configuration of the endoscope system control device and the AWS unit.
- FIG. 9 is a side view in which some of the internal components of the endoscope according to one embodiment of the present invention are seen through.
- FIG. 10A is a diagram showing a schematic configuration of an electroconductive polymer artificial muscle (EPAM) used for the angle member and the hardness variable actuator in the present embodiment.
- FIG. 10B is a diagram showing a state where the conductive polymer artificial muscle (EPAM) shown in FIG. 10A is contracted in the thickness direction and elongated in the longitudinal direction.
- FIG. 10C is an explanatory diagram showing an outline of a strain amount with respect to an electric field intensity due to an applied voltage in the conductive polymer artificial muscle (EPAM) shown in FIG. 10A.
- FIG. 11 is a diagram showing a track ball and the like provided on the operation unit as viewed from the arrow C in FIG. FIG.
- FIG. 12 is a diagram showing a configuration of a contactless transmission unit in which the base end of the tube unit is detachably connected to the operation unit main body without contact.
- FIG. 13 is a diagram showing a configuration of an electric system in components provided in the endoscope.
- FIG. 14 is a diagram showing a configuration of an electric system of a main part of the endoscope system control device.
- FIG. 15 is a diagram showing the configuration of the electrical system of AWS Cut.
- FIG. 16A is a diagram showing an example of an image displayed on a monitor immediately after the power of the endoscope system is turned on.
- FIG. 16B is a diagram showing an example of a main menu image displayed in the menu display area of FIG. 16A.
- FIG. 16C is a diagram showing an example of an image of the function assignment of the scope switch displayed in the menu display area of FIG. 16A.
- FIG. 17 is a diagram illustrating the operation of the AWS unit startup process.
- FIG. 18 is a diagram illustrating an operation content of the endoscope start-up process.
- FIG. 19 is a diagram illustrating the operation content of the imaging control process.
- FIG. 20 is a diagram showing the operation of the air / water supply control process.
- FIG. 21 is a diagram showing a control process of the angle operation.
- FIG. 22 is a diagram showing a control operation for the hardness changing operation.
- FIG. 23A is a diagram showing a display state of the main menu in the UPD image.
- FIG. 23B is a diagram showing a display state of the hardness setting screen in the UPD image.
- FIG. 23C is a diagram showing a display state of the hardness setting screen in the UPD image different from that of FIG. 23B.
- FIG. 23D is a diagram showing a display state of the hardness setting screen in the UPD image, which is different from that of FIGS. 23B and 23C.
- FIG. 24 is a flowchart showing the processing contents on the endoscope side in the human interface.
- Figure 25 shows the human interface
- FIG. 7 is a flowchart showing the processing contents on the endoscope system control device side in the process.
- FIGS. 1 to 3 Before describing a specific configuration of the present invention, a schematic configuration of the present invention will be described with reference to FIGS. 1 to 3.
- an endoscope system 1 provided with the present invention is a flexible endoscope which is inserted into a patient's body cavity to perform endoscopy, not shown, lying on an examination bed 2.
- the endoscope 3 is connected to the endoscope 3 and has an air supply 'water supply' suction unit (hereinafter abbreviated as AWS unit) 4 having air supply, water supply, and suction functions.
- AWS unit air supply 'water supply' suction unit
- An endoscope system controller 5 that performs signal processing for an image sensor incorporated in the endoscope, and performs control processing for various operation means provided in the endoscope 3, and an image generated by the endoscope system controller 5.
- an observation monitor 6 such as a liquid crystal monitor for displaying signals.
- 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 an AWS unit 4.
- a shape detection coil hereinafter abbreviated as UPD coil
- the position of each UPD coil is detected by detecting the position of each UPD coil 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 part of the endoscope 3.
- the image recording unit 7 is connected to a LAN 9 in the hospital where the endoscope system 1 is provided, and is connected to the image recording unit 7 by terminal devices connected to the LAN 9 by wire or wirelessly. It is possible to refer to the image that has been filed.
- the AWS unit 4 and the endoscope system control device 5 transmit and receive information (data) wirelessly.
- the endoscope 3 is connected to the AWS unit 4 by a cable. However, the endoscope 3 may transmit and receive information (data) (bidirectional transmission) wirelessly. 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 the unit or device.
- AWS Unit 4 and the endoscope system control The case of the device 5 will be described.
- FIG. 2A shows a wireless system, in which a data communication control unit 11 built in the AWS unit 4 modulates the data via a data transmission unit 12 and wirelessly transmits the data from the antenna unit 13 to the endoscope system control device 5.
- 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 according to, for example, the IE EE802.lg standard.
- FIG. 2B shows a wired system, and a specific example will be described in which data transmission and reception are performed between the endoscope 3 and the AWS unit 4.
- the data communication control unit 11 built in the endoscope 3 transmits the data to the AWS unit 4 by wire from the electrical connector 15 via the data transmission unit 12 '.
- the data transmitted from the AWS unit 4 is sent to the data communication control unit 11 via the electrical connector 15 and the data receiving unit 14 '.
- FIG. 2C shows an optical communication system, and a specific example will be described in which data transmission and reception are performed between the AWS unit 4 and the endoscope system control device 5.
- the data communication control unit 11 built in the AWS unit 4 is connected to the optical communication power block 16 provided in the AWS unit 4 via a data transmission unit 12 ⁇ that performs transmission and reception for optical communication and a data reception unit 14 ”. Then, data is transmitted and received via the optical communication power bra on the endoscope system control device 5 side.
- FIG. 3 shows a schematic configuration of an endoscope 3 of the present invention.
- the endoscope 3 includes an endoscope body 18 and a tube unit 19 that is detachably connected to the endoscope body 18 and is, for example, a disposable type (disposer pipe).
- the tube unit 19 has a smaller diameter than a conventional universal cable, and in the present embodiment, only two conduit tubes 63 and 64, a power supply line 72a, and a signal line 72b are configured.
- 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.
- the gain is variable inside the imaging element.
- An imaging unit using the CCD 25 is arranged.
- 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 the rear end of the distal end portion 24.
- the angle / remote control device 28 is used to perform an angle operation (bending operation), an operation of air / water supply, suction, and the like, and a remote control operation to the endoscope system control device 5 and the like (specifically, a freeze instruction operation, a release 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 arranged adjacent to the side surface of the inspection bed 2, and is placed on a cart 31 movably arranged near one end of the inspection bed 2 in the longitudinal direction.
- an UPD coil unit 8 as an endoscope shape detecting means is embedded in an upper surface portion of the examination bed 2 where the patient lies.
- the UPD coil unit 8 is connected to the AWS unit 4 by the UPD cable 34.
- the AWS unit 4 and the endoscope system control device 5 transmit and receive data by wireless transmission and reception units 77 and 101, for example, as shown in FIG.
- the observation monitor 6 as a display means is connected to a monitor connector of the endoscope system control device 5 by a monitor cable 35.
- transmission / reception units 101 and 36 are attached to the endoscope system control device 5 and the observation monitor 6, respectively, and the image is displayed on the observation monitor 6 from the endoscope system control device 5.
- An image 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 at a position below the storage bed, and the tray transport trolley 38 is slidable in the storage recess. It can be stored in.
- a scope tray 39 in which the endoscope 3 shown in FIG. 9 is stored is placed 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 is provided with a scope connector 40. Then, a scope connector 41 (of the endoscope 3) is detachably connected to the scope connector 40 as shown in FIG. 4,
- FIGS. 5, 6A and 6B a more specific external shape of the scope connector 40 on the AWS unit 4 side is shown in FIGS. 5, 6A and 6B.
- 7A to 7E show the structure of an AWS adapter 42 detachably attached to the scope connector 40 of the AWS unit 4, and
- FIG. 8 shows the scope connector 40 and the endoscope 3 of the AWS unit 4 side.
- the internal structure of the scope connector 41 on the side is shown in a connected state.
- the front of AWS Unit 4 has a recessed AWS adapter
- the AWS adapter mounting section 40a is provided with an AWS adapter (pipe connection adapter) 42 shown in FIGS. 7A to 7E to form a scope connector 40.
- the scope connector 40 is formed on the AWS adapter mounting section 40a.
- the scope connector 41 of the endoscope 3 is connected to 40.
- the AWS adapter mounting portion 40a is provided with an electric connector 43 for connecting a scope, an air supply connector 44, and a pinch valve 45.
- the AWS adapter mounting portion 40a is located inside the AWS adapter 42.
- the end face is detachably attached, and the outer end face side force is connected to the scope connector 41 of the endoscope 3.
- FIGS. 7A to 7E Details of the AWS adapter 42 are shown in FIGS. 7A to 7E.
- 7A is a front view of the AWS adapter 42
- FIGS. 7B and 7C are left and right side views
- FIGS. 7D and 7E are cross-sectional views of AA ′ and BBZ of FIG. 7A, 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 / water supply connector 42c and a suction connector 42d are provided below the through-hole 42b, and an air / water supply base 63 and a suction base 64 in the scope connector 41 (see FIGS. 8 and 9). Are connected respectively.
- the AWS adapter 42 has a concave portion 42f on the base end side for accommodating the pinch valve 45 protruding from the AWS adapter mounting portion 40a.
- the air supply connector 42c provided on the AWS adapter 42 has an air supply base 42e connected to the air supply connector 44 of the AWS unit 4 by branching an internal pipe communicating with the connector. It becomes the water supply mouth 46 protruding to the side.
- the suction connector 42d has a suction pipe 47 that is bent to the side and protrudes to the side, and a relief pipe 47a that branches upward, for example, in the middle of the relief pipe 47a. After passing through the inside of the pinch valve 45 on the way, its upper end is open.
- the water supply port 46 and the suction port 47 are respectively connected to the water supply tank 48 and the suction device (with the suction tank 49b inserted in the middle via the suction tube 49a) as shown in FIG. 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.
- the endoscope 3 of the present embodiment includes an endoscope main body 18 having a flexible insertion portion 21 and an operation portion 22 provided at a rear end thereof,
- 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.
- the above-mentioned scope connector 41 which is detachably connected to the AWS unit 4 is provided at the end of the tube unit 19.
- the insertion portion 21 includes a hard tip portion 24 provided at the tip of the insertion portion 21, a bendable bending portion 27 provided at the rear end of the tip portion 24, and a rear end of the bending portion 27.
- the force also consists of an elongated soft part (coil part) 53 up to the operation part 22. At several points in the soft part 53, specifically two places, it expands and contracts by applying a voltage, and the hardness changes.
- variable hardness actuators 54A and 54B which are variable hardness mechanisms called conductive polymer artificial muscles (abbreviated as EPAM). Due to the function of the hardness variable actuators 54A and 54B, which can be expanded and contracted by applying a voltage and can also change the hardness, the portion where the hardness can be changed is not limited by the physical mechanism. .
- 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 illumination light of the LED 56 is integrated with the LED 56. The light is emitted forward through the attached illumination lens to illuminate the subject such as the affected part. I will tell.
- 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 function of changing the gain is built into the CCD element itself, and the gain of the CCD output signal can be easily changed to about several hundred times by the function of changing the gain. However, it tries to obtain a bright image with little decrease in S / N. Further, 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 connected to a control circuit 57 provided, for example, inside the operation section 22 and performing centralized control processing (aggregated control processing). It is connected.
- 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 formed by arranging EPAMs in the longitudinal direction are arranged at four locations 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, respectively.
- the EPAM used for the angle actuator 27a and the hardness variable actuators 54A and 54B is, for example, as shown in FIG. 10A, by attaching electrodes to both sides of a plate shape, and applying a voltage, as shown in FIG. 10B. It can be contracted in the thickness direction and elongated in the longitudinal direction. Note that this EPAM can vary the amount of distortion in proportion to the square of the electric field strength E depending on the applied voltage, for example, as shown in FIG. 10C.
- the curved portion 27 When used as an angle actuator 27a, it should be formed into a wire shape or the like. By extending one side and contracting the other side, the curved portion 27 can be curved in the same manner as a normal wire function. In addition, 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 at the connector 51.
- the tube connector 52a in the general connector 52 at the base end of the tube unit 19 is detachably connected to the conduit connector 51a.
- 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 tube connector 52a and 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 supply / water supply base 63 and the suction base 64 are connected to the air supply / water supply connector 42c and the suction connector 42d of the AWS adapter 42 shown in FIGS. 6A, 6B, 7A and the like, respectively.
- the air supply / water supply connector 42c branches into an air supply line and a water supply line.
- the air supply line is connected to an air supply / water supply pump 65 inside the AWS unit 4 via an electromagnetic valve B 1, and the water supply line is connected to a water supply tank 48.
- the water supply tank 48 is also connected to the air / water supply pump 65 on the way via the solenoid valve B2.
- the air / water pump 65 and the solenoid valves B1 and B2 are connected to the AWS control unit 66 by a control line (drive line), and the AWS control unit 66 controls the opening and closing to perform air and water supply. Like that.
- 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 main body 18 is provided with a grip section 68 which is gripped by an operator, and the periphery including the grip section 68 includes a release and a freeze.
- the grip section 68 includes a release and a freeze.
- three scope switches SW1 and S W2 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. 11 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-right direction on both sides in the longitudinal direction of the operation unit 22. It is. Normally, the functions of the air / water switch and the suction switch are assigned to the switch SW4 and SW5.
- the trackball 69 is 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 on the center line and are arranged symmetrically, and the scope switches SW1, SW2 and SW3 are arranged on the rear side along the 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.
- one or more hardness changing operation means can be assigned to one or more of the operation means such as the trackball 69 and the scope switches SW1 to SW5.
- the hardness changing operation means assigned to one or more of the trackball 69 and the scope switches SW1 to SW5 is operated by an operator to cause a hardness change control unit 93, which will be described later, to be a hardness change control means. Instructions are given. So Then, upon receiving the instruction, the hardness change control unit 93 changes the hardness of the hardness changing factor 54A, 54B.
- the power supply line 71a and the signal line 71b extended from the control circuit 57 are connected to the inside of the tube unit 19 via the 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, which pass through, without contact (see FIG. 12 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 so that the power line 73a is connected to the power supply unit 75 via the electrical connector 43 of the AWS unit 4 as shown in FIG.
- the signal line 73b is connected to the UPD unit 76, the transmission / reception unit 77, and the AWS control unit 66 (via the power supply unit 75).
- the transmission / reception unit 77 is connected to an antenna that transmits and receives radio waves by radio.
- FIG. 12 shows a configuration of a contactless connection unit of the connector units 51 and 52 by the contactless transmission units 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 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 rectified DC voltage via the rectifying diode D and the smoothing capacitor into a control circuit 57 by, for example, a three-terminal power supply IC 79 and a smoothing capacitor. Is converted to a DC voltage necessary for the operation of the control circuit 57 and supplied 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 control circuit 57 centrally controls or manages various types of operation means, imaging means, and the like.
- the number of electric signal lines passing through the unit 19 can be reduced. Further, even when the function provided to the endoscope 3 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 3 of the present embodiment is characterized in that the endoscope main body 18 is configured to be detachably connected to the tube unit 19 by a contactless! / Puru.
- FIG. 13 shows 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.
- a CCD 25 and an LED 56 are arranged at the tip 24 of the insertion section 21 shown in the lower part on the left side in FIG. 13, and the bending section 27 described above in the drawing has an angle actuator (in this embodiment, concretely).
- (EPAM) 27a and encoder 27c are arranged!
- the flexible portion 53 includes a hardness varying actuator 54 and an encoder 54c (specifically, in this embodiment, the hardness varying actuators 54A and 54B by EPAM are used. (Represented by a single one). Further, an UPD coil 58 is 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 3) are provided. Will be placed. As will be described later, the trackball 69 is used for an angle operation and a selection setting of other functions.
- the control circuit 57 has a state management unit 81 composed of a CPU or the like that manages a control state.
- the state management unit 81 is connected to a state holding memory 82 that holds (stores) the state of each unit. Have been.
- This state holding memory 82 has a program storage memory 82a as control information storage means, and the components shown in FIG. 13 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 program data change command 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 sent 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.
- the state holding memory 82 holds, for example, model information of the endoscope 3 (for example, information such as the type of the CCD 25 and the length of the insertion section) and the usage state of the endoscope inspection.
- model information of the endoscope 3 for example, information such as the type of the CCD 25 and the length of the insertion section
- the usage state of the endoscope inspection Individual information of each endoscope 3 that differs depending on the situation (for example, information such as use time (total use of endoscopy or total use time), number of washes, adjustment values, and maintenance history) is retained. Is used for determining system operation and providing information to the user.
- Such information can be edited from outside such as the endoscope system control device 5 or a cleaning device (not shown).
- 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 (in the present embodiment) to a wired transmission / reception unit 83 that performs wired communication with the AWS unit 4 (this transmission / reception unit 83 is configured as shown in FIG. 2B).
- the electrical connector 15 is a contactless transmission section 72a, 72b in the operation section 22 and an electrical connection is provided at the end of the tube unit 19. Connector 74).
- the state management unit 81 controls an LED drive 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 onto the imaging surface of the CCD 25 arranged at the image forming position, and photoelectrically converted by the CCD 25.
- 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.
- the signal is transmitted from the electrical connector 15 (the contactless transmission unit 51b in the present embodiment) to the AWS unit 4 via the signal line 73b in the tube unit 19. Further, the power of the AWS unit 4 is also transmitted to the endoscope system controller 5 wirelessly.
- 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 amount of illumination by the LED 56 becomes appropriate.
- the state management unit 81 controls an actuator driving unit 92 via an angle control unit 91, and manages driving of the angle actuator (EPAM) 27a 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 change control unit 93 which is a hardness change control unit, and drives the hardness varying actuator 54 with the actuator driving unit 94.
- the driving amount of the hardness variable actuator 54 is detected by the encoder 54c, and is controlled so that the driving amount becomes a value corresponding to the indicated value.
- a hardness change control unit 93 which is a hardness change control unit, controls the hardness variable actuator 54A and the hardness variable actuator 54B, which are hardness variable mechanisms, to change the hardness.
- an operation signal corresponding to an operation amount such as a trackball 69 provided in the operation unit 22 is input to the state management unit 81 via the trackball displacement detection unit 95.
- 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.
- the AC power transmitted to the power generator 98 is supplied to the Source.
- This power generation section 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. 14 shows an internal configuration of the transmission / reception unit 101 and the image processing unit 116 of FIG. 8 in the endoscope system control device 5.
- 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.
- 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.
- the video signal converted to a digital signal through 13 is demodulated by a digital decoder 114 and input to an 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 AWS unit 4 side wirelessly inputs the image data captured by the CCD 25 of the endoscope 3 and the UPD image data generated by the UPD unit 76 to the endoscope system controller 5. 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. 15 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 3 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 output.
- the data is transmitted from the antenna unit 13 to the antenna unit 13 of the endoscope system control device 5 together with the data.
- AWS-related information such as the operation of the air supply / water supply switch and the suction switch provided on the operation unit 22 of the endoscope 3 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 tubes 60b 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.
- 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.
- the endoscope system 1 when the power is turned on, various images are displayed on the observation monitor 6 as shown in FIG. 16A, for example.
- the endoscope image display area Ri in addition to the information display area Rj for displaying patient information and the like, the endoscope image display area Ri, the UPD image display area Ru, the freeze image display area Rf, and the angle-shaped display area Ra, A menu display area Rm is provided, and a menu is displayed in the menu display area Rm.
- the angle shape display area Ra detects the angle operation amount of the angle actuator 27a with the encoder 27c, and displays the angle shape in that case.
- 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 electromagnetically connected to each other in an insulated and waterproof state. With this connection, the preparation of the endoscope 3 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 control device 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 can supply power to the endoscope 3 via the power supply line 73a and the like.
- the state of the power transmission output unit 127 is To stop the power supply, 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 a start 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.
- step S4 when the activation 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 3 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. And
- the state management unit 81 shown in FIG. 13 waits for the power supply voltage of the power generation unit 98 to stabilize 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 receives a continuation message. Then, the startup processing 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 supply, suction, an angle operation, a hardness change operation, and the like using the operation unit of the operation unit 22.
- FIG. 19 shows the operation contents of the imaging control processing.
- the endoscope 3 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 digitally converted by the ADC 87. It is converted into a signal (imaging data). The image data (image data) is sequentially stored in the image memory 88, and the image data is obtained.
- the acquired image data is sequentially transmitted as shown in step S22.
- 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 the ADC 87 is input to the brightness detection unit 89.
- the brightness detecting 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 designated brightness power is present (step S24). Then, when the brightness is the designated brightness, the imaging process ends, and the process proceeds to the next imaging process.
- step S24 when the state management unit 81 determines that the brightness is not the designated brightness, it sends an instruction signal (control signal) for adjusting the illumination light to the illumination control unit 84 as shown in step S25.
- 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 possible by the illumination control unit 84 based on the information on the adjustment result. Then, when the brightness control by the illumination control unit 84 has succeeded, the imaging process control ends without performing the process of step S27. On the other hand, when it is out of the brightness adjustment range by the illumination control unit 84, the state management unit 81 outputs a CCD gain adjustment signal to the CCD drive unit 86 as shown in step S27, The brightness of the image data is adjusted by adjusting the gain. Then, the imaging process ends.
- the state management unit 81 of the control circuit 57 acquires the state data of the air / water supply switch as shown in step S31 of FIG.
- step S32 the state management unit 81 determines a change in the state of the air / water switch.
- step S32 it is determined that the state of the air / water switch has changed.
- step S33 the state management unit 81 transmits the air / water control data corresponding to the instruction of the air / water switch operated by the user 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 in accordance with 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 switch, the air / water processing operation without performing the processing in step S33 is ended. Note that the suction process is almost the same as the air supply / water supply process, and thus the process is omitted.
- the state management unit 81 determines whether or not the angle control is effective, as shown in step S41.
- the state management section 81 determines whether or not the angle control is valid, 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 a displacement operation and a pressing operation of the trackball 69 based on an 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
- the command value is sent to the actuator drive unit 92 via the angle control unit 91, and the angle actuator is servo-processed.
- the actuator drive unit 92 drives the angle actuator based on the command value so as to be in an under state (curved angle) corresponding to the command value.
- the angle state of the angle actuator is detected by the encoder, and the actuator driving unit 92 drives the angle actuator so that the value detected by the encoder matches the command value.
- the angle control process ends.
- FIG. 21 also shows processing operations (steps S47 and S48) when a contact sensor is provided in the servo processing in step S46.
- This control process basically performs the same control process as FIG.
- the state management unit 81 determines whether or not the hardness variable control is effective 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.
- the state management section 81 determines whether or not there is any 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.
- the state management unit 81 sends the command value to the actuator driving unit 94 via the hardness change control unit 93, and sends the hardness variable actuator 54A or! B to the actuator.
- Servo processing That is, the actuator driving unit 94 drives the hardness varying actuator 54A or 54B based on the command value so as to have a target hardness corresponding to the command value.
- the hardness changing state of the hardness changing actuator 54A or 54B is detected by the encoder 54c, and the actuator driving unit 94 controls the hardness changing actuator 54A or 54A so that the value detected by the encoder 54c reaches the target hardness. Drive 54B.
- step S57 the hardness change control unit 93 or the state management unit 81 determines whether or not the hardness is within the variable range of the hardness changing actuator 54A or 54B by the actuator driving unit 94. If the value deviates from the variable range, the process of the hardness variable control is terminated.
- the hardness change control unit 93 or the state management unit 81 further increases the force reaching the target hardness in the next step S58.
- a determination is made as to whether or not the target hardness has been reached, and the process returns to step S56 to continue the servo processing. In this way, when the target hardness has been reached, the hardness variable control process ends.
- 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 image of the shape of the insertion section that is, the UPD image, is displayed on the display screen 6.
- FIGS. 23A to 23D show the menu screen on the right side and the UPD image on the left side in a corresponding state, respectively.
- the hardness of the hardness variable actuators 54A and 54B is selected and set on the user screen.
- the hardness of the hardness variable actuators 54A and 54B provided at multiple locations is displayed in a color corresponding to the set hardness, making it easier to identify the hardness of those portions. Show.
- FIG. 23A shows a display state of the main menu, and shows a case where the user selects the variable insertion part hardness in this display state.
- the UPD image is displayed immediately before the variable insertion portion hardness is selected, and therefore, the sections A and B of the hardness variable actuators 54A and 54B are displayed without being distinguished from portions other than the sections A and B. Is done.
- variable insertion part hardness When the variable insertion part hardness is selected as shown in FIG. 23B, the hardness range set for the sections A and B of the two hardness variable factories 54A and 54B is shown. Then, a hardness setting screen is displayed as to whether the hardness is set from a soft state (soft) to a hard state or a hard /! State in the hard state, and a deviation hardness.
- the current hardness positions are indicated by circles. In this case, the display colors are different from soft to hard.
- the hardness variable actuator is set, and the portion of the hardness variable actuator is displayed in color with a display color corresponding to the hardness.
- 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.23C shows a case where, for example, the hardness of the section B of the hardness varying actuator 54B is set to the hardness near the center in the state of FIG.23B, and in this case, the section B of the hardness varying actuator 54B in the UPD image. Is displayed in green.
- FIG. 23D shows a case where the hardness of the section B of the hardness varying actuator 54B is set to a hard (hard value) hardness in the state of FIG. 23B or 23C.
- the B of the hardness variable actuator 54B in the 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 human interface is abbreviated as HMI.
- the state management unit 81 waits for the angle valid switch to be 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.
- 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 waits for a display completion message of the endoscope system control device 5 side GUI display 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 conversely terminates with an error if the retry end condition is met.
- 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 the state management unit 81 changes the state of the trackball 69. If it is determined that there is a change, the state data (change data) of the trackball 69 is obtained.
- the user can select and instruct the function of the desired item on the main menu screen of FIG. 16B by using a cursor that moves in response to the operation of the trackball 69.
- 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 from the endoscope 3 to the endoscope system controller 5 via the AWS unit 4 as packet data in synchronization with the imaging data of the CCD 25.
- 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 when it is determined that there is no change in the switch state, the process returns to step S65, and when it is determined that there is a change in the switch state, as shown in step S73, the state management unit 81 Acquires 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 CPU of the system control unit 117 of the endoscope system control device 5 sends a GUI display message from the endoscope 3 in the first step S81. Waits for reception. This CPU waits for reception of the GUI display message wirelessly via the transmission / reception unit 101 of FIG. 8 or FIG.
- 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 processing 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. In the next step S84, the CPU determines whether or not a GUI end message has been received from the endoscope 3. And the CPU receives this GUI end message In this case, after performing the process of terminating the GUI display in step S85, a GUI display end message is issued in the next step S86, and the process of the human interface is terminated.
- 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. The determination as to whether or not the received data of the trackball 69 has changed is made based on the determination result of the change in the state of the trackball 69 by the endoscope 3. 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 or not 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.
- 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 endoscope 3 of the present embodiment that forms the endoscope system 1 performing such operations, the endoscope 3 can be separated into the endoscope main body 18 and the tube unit 19 at the operation unit 22. By making the tube unit 19 a disposable type, the endoscope body 18 can be easily cleaned, sterilized, and the like.
- the air / water supply line 60a and the suction line 61a in the endoscope main 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 universal cable corresponding to the tube unit 19 is integrated
- the connector portion 51 of the operation unit 22 has a slightly bent pipe.
- the line connector part 51a and the other parts are an air supply / water supply line 60a and a suction line 61a that extend in a substantially straight line, so that processing such as washing, sterilization, and drying of the line is easy and quick. Can be done. Therefore, it can be set in a short time to a state where the endoscopy can be performed.
- the endoscope main body 18 and the tube unit 19 are configured to be detachably connected without contact, the endoscope main body 18 can be repeatedly cleaned and sterilized. The reliability can be improved without occurrence of contact failure or the like when the contact is not contactless.
- the operating unit 22 is provided with a number of operating means such as an angle operating means, an air / water supplying means, a suction operating means, a hardness changing operating means, a freeze operating means, a release operating means, and the like.
- the operation means is controlled intensively (intensively) by a control circuit 57 provided in the operation section 22.
- the control circuit 57 is configured to collectively control the light emitting unit that emits illumination light for performing imaging and the 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 unit connected to the endoscope main body 18 4 and the endoscope system control device 5 that transmits and receives information wirelessly, the various functions of the operating means are collectively controlled, so that the user (more specifically, the operator) can Various operations can be freely performed by the various operation means provided in, and the operability can be greatly improved.
- image data obtained by the CCD 25 from the control circuit 57 and various types of data by the operation means are provided. Since the signals are transmitted in common through a pair of signal lines 71b by packetizing or the like, the number of electric signal lines can be reduced (specifically, two signal lines for signal transmission and power transmission The number of power lines can be reduced to two, and if one of the signal line and the power line is used in common, the number can be reduced to three in total.)
- the tube unit 19 can be easily narrowed and bent, and operability when a user operates can be improved.
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Endoscopes (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2005800123852A CN1946331B (zh) | 2004-04-22 | 2005-04-19 | 内窥镜 |
US11/585,300 US7896801B2 (en) | 2004-04-22 | 2006-10-19 | Endoscope with rigidity variation section |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004-127271 | 2004-04-22 | ||
JP2004127271A JP4091016B2 (ja) | 2004-04-22 | 2004-04-22 | 内視鏡システム |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/585,300 Continuation US7896801B2 (en) | 2004-04-22 | 2006-10-19 | Endoscope with rigidity variation section |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005102144A1 true WO2005102144A1 (ja) | 2005-11-03 |
Family
ID=35196680
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/007458 WO2005102144A1 (ja) | 2004-04-22 | 2005-04-19 | 内視鏡 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7896801B2 (ja) |
JP (1) | JP4091016B2 (ja) |
CN (1) | CN1946331B (ja) |
WO (1) | WO2005102144A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2047788A1 (en) * | 2006-07-27 | 2009-04-15 | Olympus Medical Systems Corp. | Endoscope system |
WO2016199305A1 (ja) * | 2015-06-12 | 2016-12-15 | オリンパス株式会社 | 可撓管挿入装置 |
US11045073B2 (en) * | 2015-12-25 | 2021-06-29 | Olympus Corporation | Flexible tube insertion apparatus |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5052553B2 (ja) * | 2009-03-19 | 2012-10-17 | オリンパス株式会社 | 処置内視鏡 |
JP5484393B2 (ja) * | 2011-05-10 | 2014-05-07 | 富士フイルム株式会社 | 内視鏡の操作部 |
US20140142383A1 (en) * | 2012-11-22 | 2014-05-22 | Gyrus Acmi, Inc. (D.B.A. Olympus Surgical Technologies America) | Endoscope Camera Head Memory |
JP6234332B2 (ja) * | 2014-06-25 | 2017-11-22 | オリンパス株式会社 | 内視鏡装置、作動方法、及び作動プログラム |
JP6348854B2 (ja) * | 2015-02-03 | 2018-06-27 | 富士フイルム株式会社 | 内視鏡用プロセッサ装置、内視鏡システム及び内視鏡システムの非接触給電方法 |
WO2016139752A1 (ja) * | 2015-03-03 | 2016-09-09 | オリンパス株式会社 | 可撓管挿入装置 |
EP3275357A4 (en) * | 2015-03-26 | 2018-12-12 | Olympus Corporation | Flexible tube inserting device |
JP6461333B2 (ja) * | 2015-06-04 | 2019-01-30 | オリンパス株式会社 | 可撓管挿入装置、及び可撓管挿入装置の作動方法 |
CN105286773B (zh) * | 2015-10-09 | 2017-08-11 | 华东理工大学 | 一种结肠镜单手操作手柄 |
CN107105984B (zh) * | 2015-10-27 | 2019-08-02 | 奥林巴斯株式会社 | 插入装置 |
EP3363344A4 (en) * | 2015-11-20 | 2019-10-09 | Olympus Corporation | ENDOSCOPE SYSTEM |
WO2017221298A1 (ja) * | 2016-06-20 | 2017-12-28 | オリンパス株式会社 | 可撓管挿入装置 |
WO2018122976A1 (ja) * | 2016-12-27 | 2018-07-05 | オリンパス株式会社 | 可撓管挿入装置 |
CN109222853A (zh) * | 2018-11-19 | 2019-01-18 | 苏州新光维医疗科技有限公司 | 内窥镜及内窥镜工作方法 |
JP7061585B2 (ja) * | 2019-03-20 | 2022-04-28 | 富士フイルム株式会社 | 内視鏡 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05237056A (ja) * | 1991-04-02 | 1993-09-17 | Olympus Optical Co Ltd | 内視鏡 |
JPH06181882A (ja) * | 1992-12-17 | 1994-07-05 | Toshiba Corp | 内視鏡装置用スコープ |
JP2000166860A (ja) * | 1998-12-08 | 2000-06-20 | Olympus Optical Co Ltd | 内視鏡装置 |
JP2000233027A (ja) * | 1998-12-14 | 2000-08-29 | Masaki Esashi | 能動細管及びその製造方法 |
JP2003225197A (ja) * | 2002-02-05 | 2003-08-12 | Pentax Corp | 可撓性可変内視鏡 |
JP2003275168A (ja) * | 2002-03-22 | 2003-09-30 | Olympus Optical Co Ltd | 電動湾曲内視鏡装置 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5357979A (en) * | 1992-12-01 | 1994-10-25 | Intelliwire, Inc. | Flexible elongate device having a distal extremity with current controlled adjustable stiffness and adjustable bend location and method |
US5810715A (en) * | 1995-09-29 | 1998-09-22 | Olympus Optical Co., Ltd. | Endoscope provided with function of being locked to flexibility of insertion part which is set by flexibility modifying operation member |
US5800421A (en) * | 1996-06-12 | 1998-09-01 | Lemelson; Jerome H. | Medical devices using electrosensitive gels |
US6882086B2 (en) * | 2001-05-22 | 2005-04-19 | Sri International | Variable stiffness electroactive polymer systems |
US6891317B2 (en) * | 2001-05-22 | 2005-05-10 | Sri International | Rolled electroactive polymers |
US6562021B1 (en) * | 1997-12-22 | 2003-05-13 | Micrus Corporation | Variable stiffness electrically conductive composite, resistive heating catheter shaft |
US6203494B1 (en) * | 1999-03-02 | 2001-03-20 | Olympus Optical Co., Ltd. | Endoscope capable of varying hardness of flexible part of insertion unit thereof |
US7128708B2 (en) * | 2002-06-13 | 2006-10-31 | Usgi Medical Inc. | Shape lockable apparatus and method for advancing an instrument through unsupported anatomy |
JP4772208B2 (ja) | 2001-05-10 | 2011-09-14 | オリンパス株式会社 | 内視鏡 |
JP2003079566A (ja) | 2001-09-14 | 2003-03-18 | Olympus Optical Co Ltd | 内視鏡形状検出プローブ |
US6770027B2 (en) | 2001-10-05 | 2004-08-03 | Scimed Life Systems, Inc. | Robotic endoscope with wireless interface |
JP2004109222A (ja) * | 2002-09-13 | 2004-04-08 | Olympus Corp | 内視鏡装置 |
GB0222106D0 (en) * | 2002-09-24 | 2002-10-30 | Univ Dundee | Body cavity inspection |
US20040193014A1 (en) * | 2003-03-26 | 2004-09-30 | Olympus Optical Co., Ltd. | Electric bending endoscope |
US8398693B2 (en) * | 2004-01-23 | 2013-03-19 | Boston Scientific Scimed, Inc. | Electrically actuated medical devices |
-
2004
- 2004-04-22 JP JP2004127271A patent/JP4091016B2/ja not_active Expired - Fee Related
-
2005
- 2005-04-19 CN CN2005800123852A patent/CN1946331B/zh not_active Expired - Fee Related
- 2005-04-19 WO PCT/JP2005/007458 patent/WO2005102144A1/ja active Application Filing
-
2006
- 2006-10-19 US US11/585,300 patent/US7896801B2/en not_active Expired - Fee Related
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05237056A (ja) * | 1991-04-02 | 1993-09-17 | Olympus Optical Co Ltd | 内視鏡 |
JPH06181882A (ja) * | 1992-12-17 | 1994-07-05 | Toshiba Corp | 内視鏡装置用スコープ |
JP2000166860A (ja) * | 1998-12-08 | 2000-06-20 | Olympus Optical Co Ltd | 内視鏡装置 |
JP2000233027A (ja) * | 1998-12-14 | 2000-08-29 | Masaki Esashi | 能動細管及びその製造方法 |
JP2003225197A (ja) * | 2002-02-05 | 2003-08-12 | Pentax Corp | 可撓性可変内視鏡 |
JP2003275168A (ja) * | 2002-03-22 | 2003-09-30 | Olympus Optical Co Ltd | 電動湾曲内視鏡装置 |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2047788A1 (en) * | 2006-07-27 | 2009-04-15 | Olympus Medical Systems Corp. | Endoscope system |
EP2047788A4 (en) * | 2006-07-27 | 2013-07-24 | Olympus Medical Systems Corp | ENDOSCOPE SYSTEM |
WO2016199305A1 (ja) * | 2015-06-12 | 2016-12-15 | オリンパス株式会社 | 可撓管挿入装置 |
JPWO2016199305A1 (ja) * | 2015-06-12 | 2018-04-26 | オリンパス株式会社 | 可撓管挿入装置 |
US10517461B2 (en) | 2015-06-12 | 2019-12-31 | Olympus Corporation | Flexible tube insertion apparatus |
US11045073B2 (en) * | 2015-12-25 | 2021-06-29 | Olympus Corporation | Flexible tube insertion apparatus |
Also Published As
Publication number | Publication date |
---|---|
US7896801B2 (en) | 2011-03-01 |
JP4091016B2 (ja) | 2008-05-28 |
CN1946331B (zh) | 2012-01-18 |
CN1946331A (zh) | 2007-04-11 |
US20070038028A1 (en) | 2007-02-15 |
JP2005304869A (ja) | 2005-11-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2005102144A1 (ja) | 内視鏡 | |
WO2005102245A1 (ja) | 医療用ベッド | |
US7942810B2 (en) | Endoscope and endoscopic system | |
WO2005096912A1 (ja) | 内視鏡 | |
WO2005102145A1 (ja) | 内視鏡 | |
WO2005094664A1 (ja) | 内視鏡 | |
US7896804B2 (en) | Endoscope with first and second imaging and illumination units | |
US8517926B2 (en) | Endoscope | |
US7914443B2 (en) | Endoscope with non-contact signal transmission and reception | |
JP3967731B2 (ja) | カプセル型内視鏡 | |
WO2005082227A1 (ja) | 内視鏡および内視鏡システム | |
JP4231805B2 (ja) | カプセル型内視鏡 | |
JP4624711B2 (ja) | 内視鏡 | |
JP4364051B2 (ja) | 内視鏡 | |
JP2005287969A (ja) | 内視鏡 | |
JP2005237817A (ja) | 内視鏡 | |
JP2005237705A (ja) | 内視鏡 | |
JP4472382B2 (ja) | 内視鏡 | |
JP2005304779A (ja) | 内視鏡 | |
JP2005204886A (ja) | 内視鏡 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS KE KG KM KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SM SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWE | Wipo information: entry into national phase |
Ref document number: 11585300 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 200580012385.2 Country of ref document: CN |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWW | Wipo information: withdrawn in national office |
Country of ref document: DE |
|
WWP | Wipo information: published in national office |
Ref document number: 11585300 Country of ref document: US |
|
122 | Ep: pct application non-entry in european phase |