WO2013047186A1 - 内視鏡 - Google Patents
内視鏡 Download PDFInfo
- Publication number
- WO2013047186A1 WO2013047186A1 PCT/JP2012/073146 JP2012073146W WO2013047186A1 WO 2013047186 A1 WO2013047186 A1 WO 2013047186A1 JP 2012073146 W JP2012073146 W JP 2012073146W WO 2013047186 A1 WO2013047186 A1 WO 2013047186A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- pulley
- peripheral surface
- outer peripheral
- rotating body
- bending
- Prior art date
Links
- 238000005452 bending Methods 0.000 claims abstract description 186
- 230000002093 peripheral effect Effects 0.000 claims abstract description 132
- 238000003780 insertion Methods 0.000 claims abstract description 29
- 230000037431 insertion Effects 0.000 claims abstract description 29
- 238000003825 pressing Methods 0.000 claims description 29
- 238000001514 detection method Methods 0.000 claims description 17
- 238000003384 imaging method Methods 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 12
- 239000000725 suspension Substances 0.000 claims description 9
- 238000010586 diagram Methods 0.000 description 23
- 210000003811 finger Anatomy 0.000 description 10
- 238000005286 illumination Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 239000000835 fiber Substances 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 210000000436 anus Anatomy 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000214 mouth Anatomy 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
Images
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
- A61B1/0052—Constructional details of control elements, e.g. handles
-
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
-
- 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
- A61B1/04—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 combined with photographic or television appliances
- A61B1/05—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 combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
- G02B23/2476—Non-optical details, e.g. housings, mountings, supports
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
Definitions
- the present invention relates to an endoscope for bending a bending portion provided in an insertion portion by moving a pulling member by changing a tilt direction and a tilt angle of an operator provided in the operation portion.
- endoscopes having an elongated insertion portion have been used in the medical field or the industrial field.
- observation or the like can be performed by inserting an insertion portion into the body from the oral cavity or anus.
- observation can be performed by inserting the insertion portion into the piping of the boiler or the inside of the engine.
- a bending portion that bends in the vertical and horizontal directions, for example, is provided on the distal end side of the insertion portion.
- the observation optical system provided at the distal end portion can be directed in a desired direction by performing a bending operation on the bending portion.
- a bending knob for bending the bending portion for example, in the up-down direction or the left-right direction is rotatably provided in the operation portion provided on the proximal end side of the insertion portion having the bending portion.
- the bending knob is connected to the other end portion of the bending wire corresponding to the bending direction in which one end portion is connected to a predetermined position of the bending portion.
- the operator can pull or loosen the connected bending wire by appropriately rotating the bending knob clockwise or counterclockwise with the finger of the hand holding the operation unit.
- the bending portion is configured to bend.
- the bending knob is rotated and the bending wire is directly pulled, the bending operation is a burden for an operator with weak finger strength.
- a driving means is provided inside the operation unit of an endoscope, and the bending wire is pulled or relaxed by operating the operation element, which is a bending mechanism, with a finger so that the bending portion is desired.
- the operation element which is a bending mechanism
- each bending wire is wound and arranged in advance in a predetermined relaxed state on a pulley that is rotated by a motor that is a driving means.
- the operator tilts an operation instruction lever (corresponding to the operation element in the present specification) which is an operation element.
- the bending wire corresponding to the tilting direction of the operation instruction lever is pulled to contact the pulley.
- the drag force between the bending wire and the pulley is increased, the wire is moved in the rotation direction of the pulley, and the bending portion is bent in a desired direction.
- the assist force amount is auxiliary power for moving the bending wire obtained from the rotating pulley.
- Japanese Patent Application Laid-Open No. 2009-5836 discloses that an endoscope provided with the pulling member operation device of Japanese Patent Application Laid-Open No. 2003-325437 does not increase the size of the operation unit and is pulled by the operation unit.
- An endoscope including a bending mechanism capable of efficiently bending a bending portion with respect to a pulling amount of a member is shown.
- the amount of assist force obtained when the operation instruction lever is tilted to bend the bending portion is small. It is a constant value for each endoscope.
- the present invention has been made in view of the above circumstances, and each of a plurality of operators who handle an endoscope can operate the operation instruction lever with an operation instruction lever tilting operation force optimum for the operator.
- the purpose is to provide an endoscope.
- An endoscope includes a distal end portion provided with an imaging element that captures a subject image, a curved portion that can be bent by connecting a plurality of bending pieces, and an elongated and flexible flexible tube.
- An operation portion provided on the proximal end side of the insertion portion connecting the portions, and a bending piece constituting the bending portion and guided into the operation portion, and the bending portion is bent by relative movement.
- a suspension frame having mounting portions to which a pair of pulling members are fixed, respectively, at positions facing each other with the operation element interposed therebetween, and the operation element tiltingly operated, the pulling member on the operation element side is pulled by the pulley. Then, the frictional force generated by reducing the diameter of the rotating body and bringing the inner peripheral surface into contact with the outer peripheral surface of the pulley rotated by the motor is changed so that the traction member on the insertion portion side from the pulley is changed.
- a force adjustment unit that adjusts the force to be pulled.
- FIG. 1 to 10 are diagrams according to the first embodiment of the present invention
- FIG. 1 is a diagram for explaining an endoscope in which an operation element constituting a pulling member operation device is erected on an operation unit.
- FIG. 2 is a block diagram illustrating a configuration of an endoscope in which a pulling member operation device is built in an operation unit.
- FIG. 3 is a diagram for explaining a configuration example of a rotating body arranged on a pulley.
- FIG. 4 is an example of table data, and is a diagram for explaining a setting state of the shaft tilt angle of the operator and the motor rotation speed.
- FIG. 5 is a diagram for explaining the relationship between the bending angle of the bending portion and the amount of assist force.
- FIG. 1 is a diagram for explaining an endoscope in which an operation element constituting a pulling member operation device is erected on an operation unit.
- FIG. 2 is a block diagram illustrating a configuration of an endoscope in which a pulling member operation device is built in an
- FIG. 6 is a diagram for explaining the relationship between the bending angle of the bending portion and the amount of manipulator tilting operation force.
- FIG. 7 shows a configuration of an endoscope system including a switch for setting an initial rotation speed of a motor in the bending control device or a switch for selecting and setting one of a plurality of table data registered in a storage unit. Illustration explaining the example
- FIG. 8 is a diagram for explaining the relationship between the bending angle of the bending portion and the operation element tilting operation force amount for each table data registered in the storage portion.
- FIG. 9A is a diagram illustrating a rotating body in which the friction coefficient of the inner peripheral surface is changed in the circumferential direction.
- FIG. 9B is a diagram for explaining the action of a rotating body having a friction coefficient on the inner peripheral surface that differs in the circumferential direction.
- FIG. 10 is a diagram for explaining vertical drag of a rotating body having a uniform friction coefficient on the inner peripheral surface.
- 11 to 16 are views according to a second embodiment of the present invention, and FIG. 11 is a view for explaining an endoscope having a feature in a pulley of a traction member operating device arranged in an operation unit.
- Figure 12 is an external view of the pulley
- FIG. 13 is a schematic sectional view for explaining the configuration of the pulley.
- 14 is a cross-sectional view as seen from the Y14-Y14 direction of FIG.
- FIG. 15 is a cross-sectional view as seen from the Y15-Y15 direction of FIG.
- FIG. 16 is a diagram for explaining the operation of the pulley.
- FIG. 17 is a diagram illustrating another configuration of the moving pulley piece.
- FIG. 18 is a diagram for explaining another configuration of the pulley included in the traction member operating device, and is a diagram for explaining the configuration of the pulley that switches the assist force amount in two stages.
- 19A to 19C relate to another configuration of the pulley provided in the pulling member operating device, and FIG. 19A illustrates the pulley arrangement position in which the moving rod is arranged at the first position and the assist force amount is the smallest among the three stages.
- FIG. 19B is a diagram for explaining the pulley arrangement position in which the moving rod is arranged at the second position and the assist force amount is intermediate among the three stages.
- FIG. 19C is a diagram for explaining the pulley arrangement position in which the moving rod is arranged at the third position and the assist force amount is the largest among the three stages.
- 20 to 22 relate to another configuration of the pulley that changes the assist force amount in stages, and
- FIG. 20 is a diagram illustrating a pulley including a second pulley portion that is replaceable with respect to the operation portion.
- FIG. 23 to 25 relate to another configuration in which the contact resistance between the pulley and the rotating body is continuously changed
- FIG. 23 is a diagram illustrating a pulley including a pulley portion and an operation lever.
- FIG. 24 is a diagram for explaining the operation lever.
- FIG. 25 is a diagram for explaining the operation of the pulley of FIG.
- the endoscope 1 As shown in FIGS. 1 and 2, the endoscope 1 according to the present embodiment includes an elongated insertion portion 2, an operation portion 3, and a universal cord 4.
- the operation unit 3 is connected to the proximal end of the insertion unit 2.
- the universal cord 4 extends from the side of the operation unit 3.
- the base end of the universal cord 4 is connected to a bending control device 9 that is an external device of the endoscope 1.
- the insertion portion 2 is configured by connecting a distal end portion 2a, a bending portion 2b, and a flexible tube portion 2c in order from the distal end side.
- the flexible tube portion 2c has flexibility and is formed long.
- An image pickup apparatus 1a having an image pickup element is built in the distal end portion 2a.
- the operation unit 3 includes a gripping unit 3a and an operation unit main body 3b.
- the grip part 3a is connected to the insertion part 2, and the operation part main body 3b is connected to the grip part 3a.
- a pulling member operation device 10 is provided in the operation unit 3.
- the longitudinal axis of the grip portion 3a and the insertion axis of the insertion portion 2 are in a coaxial or parallel positional relationship.
- the longitudinal axis of the operation section main body 3b and the longitudinal axis of the gripping section 3a are in a coaxial or parallel positional relationship.
- a manipulator 5 is provided in the empty space of the operation unit body 3b.
- the operation element 5 is operated when the bending portion 2b is bent.
- the operation element 5 protrudes from an operation element protrusion (not shown).
- the manipulator protrusion is an opening and is formed on one surface orthogonal to the longitudinal axis provided in the operation portion main body 3b.
- the shaft portion 5a of the operation element 5 is arranged orthogonal to the longitudinal axis when the bending portion 2b is in a straight line state.
- Reference numeral 5b denotes a finger pad, which is provided at the end of the shaft 5a.
- the bending portion 2b is configured to be able to bend in four directions, for example, upward, rightward, downward, and leftward by connecting a plurality of bending pieces 2d.
- Reference numeral 2e is a proximal bending piece.
- the proximal end bending piece 2e constitutes the proximal end of the bending portion 2b and is connected to the distal end side of the flexible tube portion 2c.
- Reference numeral 2f is a tip bending piece.
- the distal bending piece 2f constitutes the distal end of the bending portion 2b and is connected to the proximal end side of the distal end portion 2a.
- the bending portion 2b bends upward, rightward, downward, leftward, and between upward and rightward according to the tilting operation including the tilting direction and tilting angle of the operation element 5. Specifically, the bending portion 2b bends upward by tilting the operation element 5 in the direction of the arrow Yu in FIG. 1, curves downward by tilting in the direction of the arrow Yd, and tilts in the direction of the arrow Yl. To bend leftward, and by tilting in the direction of the arrow Yr, bend to the right.
- the bending portion 2b is configured to bend in four directions, up, down, left, and right. However, the bending portion 2b may be configured to bend in two upper and lower directions.
- a switch 6a, an air / water supply button 6b, and a suction button 6c are provided on the exterior of the operation unit main body 3b at predetermined positions.
- the switch 6a is a switch for instructing various imaging operations of the imaging device 1a provided in the distal end portion 2a, for example.
- an imaging cable 1b As shown in FIG. 2, in the universal cord 4, an imaging cable 1b, a motor cable 1c, an angle sensor cable 1d, a speed sensor cable 1e, a light guide fiber bundle 1f, an air supply tube (not shown), and a water supply A tube (not shown), a suction tube (not shown) and the like are inserted.
- the imaging cable 1b is connected to the imaging device 1a.
- the motor cable 1c is connected to a motor 13 described later.
- the angle sensor cable 1d is connected to the tilt angle detection sensor 8a.
- the speed sensor cable 1e is connected to the motor rotation speed detection sensor 8b.
- the light guide fiber bundle 1f transmits illumination light from the light source unit 9a.
- reference numeral 1g is an objective optical system
- reference numeral 1h is an illumination window.
- the illumination light emitted from the light guide fiber bundle 1f passes through the illumination window 1h and is emitted toward the observation site.
- the observation image of the observation site illuminated by the illumination light passes through the objective optical system 1g and forms an image on the imaging surface of the imaging element.
- Reference numeral 7 in FIGS. 1 and 2 denotes a cover member.
- the cover member 7 closes the operating element projection port in a water-tight manner, and is in close contact with the shaft portion 5a to hold the operating element 5 so that it can be tilted.
- a channel insertion port 6e communicating with a treatment instrument channel (not shown) is provided on the exterior of the grip portion 3a.
- the pulling member operating device 10 mainly includes a bending wire 11, an elongated pulley 20, a motor 13, a suspension frame 14, an operation element 5, and a guide roller 15. ing.
- the bending wire 11 is a pulling member.
- a plurality of rotating bodies 12 are disposed on the elongated pulley 20.
- the motor 13 rotates the pulley 20.
- the hanging frame 14 has a substantially cross shape.
- the operation element 5 is integrally fixed to the suspension frame 14.
- the motor shaft 13a of the motor 13, the pulley shaft 20a of the pulley 20, and the roller shaft 15a of the guide roller 15 are set in a mutually parallel positional relationship.
- the bending wire 11 is provided corresponding to the bending direction of the bending portion 2b.
- the bending wires 11 are four, namely, an upper bending wire, a lower bending wire, a left bending wire, and a right bending wire.
- Rotating body 12 is provided corresponding to each bending wire 11.
- the rotary end 12 includes four parts: an upper rotary body, a lower rotary body, a left rotary body, and a right rotary body.
- a middle portion of the upper bending wire is wound around the outer peripheral surface of the upper rotating body 12.
- a middle portion of the lower bending wire is wound around the outer peripheral surface of the lower rotating body 12.
- a midway portion of the left bending wire is wound around the outer peripheral surface of the left rotating body 12.
- a midway portion of the right bending wire is wound around the outer peripheral surface of the right rotating body 12.
- Rotating body 12 can be elastically deformed. As shown in FIG. 3, the rotating body 12 includes an annular portion 12a and a rotation amount adjusting portion 12b, and a gap 12c is formed in the annular portion 12a. A wire guide part is formed in the annular part 12a and the rotation amount adjusting part 12b. The wire guide portion is configured in a predetermined shape so as to smoothly guide the bending wire 11 from the winding start position 12s to the winding end position 12e.
- the four rotating bodies 12 are arranged in a predetermined loosely fitted state with respect to the outer peripheral surface of the pulley 20.
- each rotating body 12 is configured to be in a rotating state independently of the pulley 20.
- a pulley side gear 20g is fixed to the pulley shaft 20a of the pulley 20.
- the rotating body 12 is not limited to the shape having the annular portion 12a and the rotation amount adjusting portion 12b, and may be a so-called C-ring shape, for example, an annular portion 12a having a gap 12c.
- the motor 13 is a driving means for rotating the rotating body 12 corresponding to the bending direction provided in the pulley 20 with a predetermined torque during the bending operation.
- a motor side gear 13 g is fixed to the motor shaft 13 a of the motor 13.
- the motor side gear 13g meshes with the pulley side gear 20g.
- the motor 13 of the present embodiment is configured such that the rotational speed is set according to a control signal output from the motor amplifier 9f.
- the motor 13 is set in advance to operate at a rotational speed V (rotational speed N) in an initial state (when the power is turned on).
- the substantially cross-shaped suspension frame 14 has a wire attachment portion 17.
- the wire attachment portion 17 is connected to the proximal end portion of each wire 11.
- the guide roller 15 is a wire travel route changing member that changes the travel route of the wire 11 in the operation unit 3.
- the guide roller 15 is disposed at a predetermined position with respect to the suspension frame 14.
- the guide roller 15 includes a roller shaft 15a and four guide rollers 15r that are rotatably disposed on the roller shaft 15a.
- a tilt angle detection sensor 8a is a tilt operation angle detection device such as an encoder, and constitutes a force adjustment unit.
- the angle sensor 8 a detects the tilt angle of the shaft portion 5 a of the operation element 5.
- the detection result of the angle sensor 8a is tilt angle information, and is output to the bending control device 9 via the angle sensor cable 1d.
- the speed sensor 8b is a motor rotation state detection device and constitutes a force adjustment unit.
- the speed sensor 8 b detects the rotation speed of the motor 13.
- the detection result of the speed sensor 8b is rotation speed information and is output to the bending control device 9 by the speed sensor cable 1e.
- the motor rotation state detection device may be a motor rotation speed detection sensor that detects the rotation speed of the motor instead of the motor rotation speed detection sensor 8b.
- Reference numeral 16 denotes a universal joint, which is rotatably disposed on a frame (not shown).
- the shaft portion 5 a of the operation element 5 and the frame convex portion which is the central axis of the suspension frame 14 are coaxially attached and fixed via a universal joint 16.
- the bending wire 11 is inserted into a guide pipe (see reference numeral 18 in FIG. 11) which is a metal coil pipe in the insertion portion 2 and extends toward the distal end side.
- the ends of the bending wires 11 are fixed at positions corresponding to the top, bottom, left and right of the distal bending piece 2f.
- the bending control device 9 mainly includes, for example, a light source unit 9a, a processor unit 9b, a storage unit 9c, a comparison unit 9d, and a control unit 9e.
- the light source unit 9a includes an LED (not shown) or a lamp (not shown) that supplies illumination light to the light guide fiber bundle 1f.
- the processor unit 9b outputs a signal for driving the imaging device via the imaging cable 1b, receives a signal photoelectrically converted by the imaging device, generates a video signal, and outputs the video signal to a display device (not shown).
- the bending control device 9 includes a light source unit 9a and a processor unit 9b.
- the light source unit 9a may be a light source device that is an external device of the endoscope 1
- the processor unit 9b may be separately provided as a video processor that is an external device.
- tip part instead of providing the light guide fiber bundle 1f may be sufficient.
- the storage unit 9c, the comparison unit 9d, and the control unit 9e constitute a force adjustment unit.
- the storage unit 9c stores table data in which the relationship between the tilt angle of the shaft portion 5a of the operation element 5, the upward bending angle at the tilt angle, and the motor rotation speed corresponding to the tilt angle is registered. Yes.
- the table data includes, for example, a rotation speed when the tilt angle of the shaft portion 5a is 0 degree (a state perpendicular to one surface) to an angle ⁇ of FIG.
- the rotation speed is set to increase at a predetermined rate.
- the comparison unit 9d receives the tilt angle of the shaft 5a detected by the angle sensor 8a and the rotational speed of the motor 13 detected by the speed sensor 8b. Then, the comparison unit 9d compares the input tilt angle of the shaft unit 5a and the rotation speed of the motor 13 with the table data registered in the storage unit 9c. The comparison unit 9d outputs the comparison result to the control unit 9e as motor control information.
- the control unit 9e controls the rotation speed of the motor 13 based on the motor control information input from the comparison unit 9d in addition to the control of the light source unit 9a and the processor unit 9b. For example, when the tilt angle of the shaft 5a is 15 degrees, the controller 9e rotates the rotation speed of the motor 13 at a speed 1.1 times faster than the initial rotation speed. As a result, the rotation speed of the motor 13 increases to a predetermined value.
- the relationship between the inclination angle of the shaft portion 5a of the operation element 5 and the motor speed corresponding to the inclination angle is not limited to the relationship shown in FIG. That is, the rotational speed of the motor 13 is changed linearly or exponentially with a change in the inclination angle of the shaft portion 5a of the operation element 5, or is linearly functional up to a predetermined inclination angle. It is also possible to appropriately set such that it changes exponentially after the predetermined angle.
- the rotational speed of the motor 13 is 1, 1.4, 1.8, 2.2, 2.6 times the rotational speed in the initial state.
- the relationship between the bending angle of the upward bending portion and the assisting force amount was confirmed by changing it twice. As a result, as shown in FIG. 5, it was confirmed that as the rotational speed of the motor 13 was higher, the assist force amount was increased as the bending angle of the bending portion was increased.
- the operation element 5 is tilted to bend the bending angle of the bending portion 2b.
- the operation instruction lever tilting operation force can be reduced as shown by the solid line in FIG.
- the operation instruction lever tilting operation force amount can be made substantially constant after the bending angle exceeds a predetermined angle.
- the endoscope 1 configured as described above, when the shaft portion 5a of the operating element 5 is in an upright state in a state where the motor 13 is driven and the pulley 20 is rotated, the endoscope 1 is disposed on the pulley 20. All of the bending wires 11 wound around the four rotating bodies 12 corresponding to the vertical and horizontal directions are all in a predetermined relaxed state. As a result, all the rotating bodies 12 are in a sliding state with respect to the pulley 20, and the bending portion 2b is held in a straight state.
- the operator bends the bending portion 2b, for example, upward.
- the operator places the thumb abdomen on the finger rest 5b of the operator 5 while holding the grip 3a, and tilts the shaft 5a in the direction of the arrow Yu in FIG.
- the suspension frame 14 is tilted with the tilting operation of the operating element 5.
- the upper bending wire 11 fixed to the upper wire mounting portion 17 changes from a loose state to a gradually pulled state, while the other bending wires 11 change to a further loose state.
- the operator performs an operation of further tilting the shaft portion 5a in the same direction so as to bring the upper rotating body 12 into close contact with the pulley 20 from the start of the operation, whereby the upper rotating body 12 and the pulley in close contact with each other.
- the frictional force with 20 is further increased.
- the upward bending wire 11 positioned closer to the insertion portion 2 than the upward rotating body 12 is further pulled and moved, and the bending portion 2b is further bent upward.
- the comparison unit 9d always compares the tilt angle of the shaft unit 5a and the rotation speed of the motor 13 that are input as described above with the table data registered in the storage unit 9c.
- the comparison unit 9d outputs motor control information for maintaining the rotation speed to the control unit 9e.
- the comparison unit 9d outputs a change instruction signal to the control unit 9e when the rotation speed is different from the tilt angle.
- the change instruction signal is motor control information for changing the rotation speed to a rotation speed corresponding to the tilt angle.
- control unit 9e When the control unit 9e receives a signal for maintaining the rotational speed from the comparison unit 9d, the control unit 9e maintains the driving state of the motor 13 as it is. On the other hand, when receiving the change instruction signal from the comparison unit 9d, the control unit 9e controls the motor amplifier 9f to rotate the rotation speed of the motor 13 at the number of rotations corresponding to the change instruction signal.
- control part 9e raises the rotational speed of the motor 13 as the inclination-angle of the axial part 5a becomes large.
- the pulling member operating device 10 of the endoscope 1 is provided with the angle sensor 8a for detecting the tilt angle and the speed sensor 8b for detecting the rotation speed of the motor 13.
- the storage unit 9c that registers the table data in the bending control device 9
- the comparison unit 9d that compares the tilt angle information and rotation speed information with the value of the table data in the storage unit 9c and outputs motor control information to the control unit 9e.
- a control unit 9e for controlling the rotation speed of the motor 13 in accordance with the motor control information.
- table data is set in the storage unit 9c, in which a relationship is set such that the rotational speed of the motor 13 increases in a preset state when the shaft tilt angle increases.
- the operator When the operator inserts the treatment instrument into the treatment instrument channel of the endoscope 1 in the middle of the bending section operation described above, the operator maintains the bending state of the bending section 2b and moves the treatment instrument. Insert. At this time, the operator maintains the bending state of the bending portion 2b while maintaining the tilted state of the operation element 5 with the finger.
- the operation of maintaining the tilted state of the operation element 5 with a finger places a burden on the finger and causes fatigue. For this reason, in order to reduce the burden on the finger, that is, to reduce fatigue, the assisting power may be increased by increasing the motor rotation speed.
- the motor rotation speed is increased and the tilted state of the operating element 5 is maintained.
- the amount of operation force required to At this time if the bending angle of the bending portion 2b is larger than the threshold angle stored in the storage portion 9c, it may be configured to determine whether the tilted state of the operation element 5 is maintained as described above.
- the motor speed is increased and the operator 5 is tilted.
- the bending control device 9 may be provided with, for example, a first setting switch and a switching unit 9h indicated by reference numeral 9g in FIG.
- the first setting switch 9g is a switch for setting the initial rotation speed of the motor 13 via the switching unit 9h of the control unit 9e.
- the first setting switch 9g changes the setting by switching the initial rotation speed to, for example, 1.1 times, 1.2 times, 0.9 times, 0.8 times, or the like with respect to the initial state every time the pushing operation is performed. .
- the first setting switch 9g may be arranged on the operation unit 3.
- the operator can easily operate the operator 5 by changing the initial rotational speed to a value different from the initial state and rotating the pulley 20.
- the initial rotation speed is set to 1.2 times, for example.
- the tilting operation can be performed with an optimum operation feeling from when the tilting operation of the operation element 5 is started until the bending portion 2b is largely bent.
- the initial rotational speed is set to 0.8 times, for example.
- the tilting operation can be performed with an optimum operation feeling from when the tilting operation of the operation element 5 is started until the bending portion 2b is largely bent.
- arbitrary table data is selected from a plurality of table data stored in the storage unit 9c.
- a selection switch for selection may be provided.
- the bending control device 9 is provided with, for example, a first setting switch 9g and a selection unit 9k shown by a broken line in FIG. Further, for example, five table data d1, d2, d3, d4, and d5 set in such a manner that the operation element tilting operation force amount changes with respect to the bending portion bending angle as shown in FIG. 8 are registered in the storage unit 9c in advance. Keep it.
- the operator selects desired table data from a plurality of table data. As a result, the operator can perform the tilting operation with an optimal feeling of operation from the start of the tilting operation of the operation element 5 until the bending portion 2b is largely bent.
- the straight line shown by the broken line in FIG. 8 shows the relationship between the bending portion bending angle and the operation element tilting operation force when the pulley is kept rotating with the motor 13 kept at the initial rotational speed.
- the tilt operation force amount of the operation instruction lever is significantly increased as compared to the tilt start time.
- the rotation angle of the motor 13 is switched by measuring the tilt angle of the shaft portion 5a of the operation element 5.
- a current value detection device that detects the current value of the motor 13 may be provided, and the rotation speed of the motor 13 may be switched based on the current detection information.
- the rotational speed of the motor 13 may be switched by measuring the amount of C-ring rotation, measuring the amount of wire movement, or measuring the wire tension. . According to this configuration, it is possible to reduce the number of sensors from the operation unit 3 of the endoscope 1 by providing the current value detection device in the bending control device 9. Other operations and effects are the same as those of the above-described embodiment.
- the friction coefficient of the inner peripheral surface 12i is changed stepwise along the circumferential direction within a predetermined range.
- the friction coefficient of the inner peripheral surface 12i of the rotating body 12A differs between the first inner peripheral surface 12ia, the second inner peripheral surface 12ib, and the third inner peripheral surface 12ic.
- the first inner peripheral surface 12ia is a surface facing the outer peripheral surface of the bending wire 11 extending in the direction of the operation element 5 with the gap 12c interposed therebetween, and is set to a friction coefficient ⁇ 1.
- the second inner peripheral surface 12ib is provided adjacent to the first inner peripheral surface 12ia, and the friction coefficient ⁇ 2 is set lower than the friction coefficient ⁇ 1.
- the third inner peripheral surface 12ic is provided adjacent to the second inner peripheral surface 12ib, and the friction coefficient ⁇ 3 is set lower than the friction coefficient ⁇ 2. Note that the frictional resistance of the entire inner peripheral surface 12i may be set so that the frictional resistance continuously increases in the circumferential direction from the first inner peripheral surface 12ic.
- the operation element 5 is tilted in the Yd direction, for example, and the bending wire 11 on the operation element 5 side is pulled to narrow the gap 12c of the rotating body 12.
- the inner peripheral surface 12i of the rotating body 12A is pressed against the outer peripheral surface of the pulley 20, and a vertical drag is generated.
- the rotating body 12A is moved so that the frictional force is maximized at the position where the maximum vertical effect is generated.
- the rotating body 12 is moved so that a region having a large friction coefficient ⁇ on the inner peripheral surface 12i contacts a portion having a large vertical drag.
- the bending wire 11 by the side of the insertion part 2 is pulled, and the bending part 2b curves.
- the friction coefficient of the inner peripheral surface 12i is set to change in a stepwise manner to the friction coefficients ⁇ 1, ⁇ 2, and ⁇ 3 along the circumferential direction within a predetermined range. .
- the rotating body 12 ⁇ / b> A has the position of the inner peripheral surface 12 i at the third inner peripheral surface so that the frictional force at the maximum vertical effect occurrence position becomes the maximum frictional force.
- the second inner peripheral surface 12 ib, and the first inner peripheral surface 12 ia are rotated so as to change in this order. Then, the bending portion 2b is gradually greatly bent.
- the inner surface having a high friction coefficient on the inner peripheral surface 12i is moved to the maximum thrust drag generation position.
- the assistance for the amount of operation force necessary for the bending operation is increased, and the bending wire 11 arranged on the insertion portion side is smoothly pulled and moved to reduce the burden on the operator. be able to.
- the initial rotation speed of the motor is changed to 1.1 times, 1.2 times, 0.9 times, 0.8 times, or the like with respect to the rotation speed in the initial state, It responds to the demands of the operator, that is, the desire to operate with a little more force or the operation with a little less force. However, it is possible to meet these demands of the operator by adopting the configuration shown below.
- the endoscope 1 includes a pulling member operation device 10A having a pulley 20A that also serves as a force adjustment unit in the operation unit 3.
- the configuration of the other pulling member operation device 10A is the same as that of the first embodiment, and the same members are denoted by the same reference numerals and description thereof is omitted.
- the pulley 20 ⁇ / b> A mainly includes a pulley body 21, a moving pulley piece 22, a pulley piece position adjustment rod (hereinafter abbreviated as an adjustment rod) 23, and an adjustment shaft 24. Configured.
- the pulley main body 21 is a first pulley portion, which is a body portion 25, an adjusting rod arrangement space 26, a moving pulley piece arrangement hole (hereinafter abbreviated as a movement hole) 27, a pair of flange portions 28, a pulley shaft 20a, and a support.
- the shaft 20b is mainly configured.
- a pulley side gear 20g is fixed to the pulley shaft 20a.
- the pulley body 21 is divided into two parts, a first pulley body 21A and a second pulley body 21B, as shown in FIG.
- the first pulley main body 21A and the second pulley main body 21B are a pair of semi-cylindrical bodies having a semicircular cross-sectional shape, and reference numeral 21c is a dividing line.
- the first pulley main body 21A and the second pulley main body 21B are integrally fixed by, for example, screws or adhesion.
- a pulley main body 21 including a trunk portion 25 having a circular cross section, a pulley shaft 20a, a support shaft 20b, and a flange portion 28 is configured.
- first pulley body 21A and the second pulley body 21B are integrally fixed with screws. For this reason, for example, a female screw (not shown) is formed in the first pulley main body 21A, and a so-called counterbore hole (not shown) is provided in the second pulley main body 21B. Is formed.
- the adjustment rod arrangement space 26 is an axial space formed in an elongated shape in the axial direction formed in the body portion 25 as shown in FIG.
- the adjustment rod arrangement space 26 is an internal space in which the adjustment rod 23 is slidably arranged.
- the adjusting rod arrangement space 26 is configured by combining a semicircular recess having a semicircular cross-sectional shape formed on the opposing planar side of the first pulley main body 21A and the second pulley main body 21B.
- a female screw portion 26f constituting a sliding mechanism portion is provided in the vicinity of the end surface of the adjustment rod arrangement space 26 on the support shaft 20b side.
- Reference numeral 26h denotes a side hole, which is a round hole that communicates the adjusting rod arrangement space 26 with the outside on the end face side of the support shaft 20b.
- the moving hole 27 is a communication hole that communicates the inner surface of the semicircular recess and the outer surface of the body portion 25 and has a substantially rectangular shape.
- the moving holes 27 are arranged in the first pulley main body 21A and the second pulley main body 21B, for example, in four lines in two lines at predetermined intervals.
- the flange portion 28 protrudes by a predetermined amount from the outer peripheral surface on each end face side.
- four movement holes 27 are arranged at equal intervals in the circumferential direction and four at equal intervals in the longitudinal direction.
- Numeral 29 is an engaging protrusion.
- the engaging protrusion 29 protrudes by a predetermined amount from the inner end face 26a on the pulley shaft 20a side of the adjusting rod arrangement space 26.
- the engaging protrusion 29 is disposed in an engaging groove 23 g described later formed on the adjustment rod 23.
- the cross-sectional shape of the engaging protrusion 29 is, for example, a rectangular shape.
- the engaging protrusion 29 includes a connecting portion for integrally rotating the pulley main body 21 and the adjusting rod 23, and a defining portion for disposing the adjusting rod 23 in the adjusting rod disposing space 26 in a predetermined direction. Doubles as
- the moving pulley piece 22 is a second pulley portion and is slidably disposed in the moving hole 27.
- the moving pulley piece 22 can move in the moving hole 27 from the center axis side of the adjusting rod arrangement space 26 toward the outside, and can move in the opposite direction.
- the end face of the adjustment pulley arrangement space center axis side of the moving pulley piece 22 arranged in the moving hole 27 is a slope 22s formed at a predetermined inclination angle in a predetermined direction.
- a cam surface 31c of a cam portion 31 described later is disposed in contact with the inclined surface 22s.
- the ridgeline of the moving pulley piece 22 is chamfered with a curved surface.
- the chamfered moving pulley piece 22 slides smoothly with respect to the moving hole 27.
- a reference numeral 22 a in FIG. 12 is an escape portion that reduces the contact resistance between the moving pulley piece 22 and the moving hole 27.
- the adjustment rod 23 is a force adjustment part, and has a plurality of protrusions protruding in the outer peripheral direction.
- the adjusting rod 23 is a round bar, and includes an engaging groove 23g on one end surface side, and an engaging shaft 23a projects from the other surface side.
- the depth dimension of the engaging groove 23g is set in consideration of the protruding amount of the engaging protrusion 29, and a predetermined gap is formed between the end surface of the engaging protrusion 29 and the bottom surface of the engaging groove 23g.
- the The gap is set to be larger than the movement amount of the adjusting rod 23 described later.
- the engaging shaft 23a is arranged with a predetermined fit in the side hole 26h.
- a positioning groove 23ag is formed on the end surface of the engaging shaft 23a.
- a protrusion 24a of the adjustment shaft 24 is disposed in the positioning groove 23ag and is integrally fixed by adhesion or the like.
- the plurality of convex portions of the adjustment rod 23 are a plurality of cam portions 31 and a moving screw portion 32.
- the moving screw portion 32 is a sliding mechanism portion and is provided on the engaging protrusion 29 side.
- the moving screw portion 32 is screwed to the female screw portion 26f.
- Four cam portions 31 are provided at equal intervals in the circumferential direction of the outer peripheral surface of the adjusting rod 23 and four cam portions 31 are equally spaced in the longitudinal direction of the body portion 25.
- the cam portion 31 has a cam surface 31 c that is an inclined surface that contacts the inclined surface 22 s of the moving pulley piece 22. In the initial state shown in FIG. 13, the cam surface 31 c is disposed so as to face the inclined surface 22 s slightly apart.
- the cam surface 31c has a drop-off prevention portion (see reference numeral 33 in FIG. 15).
- the drop-off prevention part 33 is a groove that prevents the moving pulley piece 22 from falling off the outer side of the body part 25 of the moving hole 27.
- an engaging portion 22c provided on the protrusion 22b is disposed in the dropout prevention portion 33.
- the protrusion 22b is configured to protrude from the moving pulley piece 22 toward the adjustment rod arrangement space center axis.
- the cam surface 31c comes into contact with the inclined surface 22s by moving the adjusting rod 23 along the longitudinal axis toward the motor 13 as indicated by an arrow Y13 in FIG. Thereafter, the cam surface 31c is further moved in the same direction, so that the moving pulley piece 22 is moved from the central axis side of the adjusting rod arrangement space 26 to the outside in the moving hole 27. That is, the moving pulley piece 22 protrudes from the opening on the body 25 side of the moving hole 27 and approaches the inner peripheral surface of the rotating body 12.
- reference numeral 3c denotes an adjustment hole, which is formed on the side surface of the operation unit main body 3b.
- the adjustment hole 3c is closed by the lid body 6d.
- the lid 6d is an elastic body that is detachable from the adjustment hole 3c, and protects the inside of the adjustment hole 3c in a watertight manner.
- the end of the adjustment shaft 24 is disposed in the adjustment hole 3c. Both end portions of the rod-shaped protrusion 24b protrude from the outer peripheral surface of the adjustment shaft 24 end portion.
- the rod-like protrusion 24b is inserted into a slit 37s formed at the end of a rotating jig (see reference numeral 37 in FIG. 16).
- the distance from the bottom surface of the adjustment hole 3 c to the end surface of the rod-shaped protrusion 24 b is set to be larger than the movement amount of the adjustment rod 23.
- Reference numeral 34 denotes a spring.
- the spring 34 urges the adjustment rod 23 with a predetermined urging force in the direction of the adjustment hole 3c opposite to the arrow Y13.
- reference numerals 3d and 3e are frame bodies and are provided in the operation unit main body 3b.
- a first support body arrangement hole is formed in the first frame 3d.
- a first support body 35 that rotatably supports the pulley shaft 20a of the pulley body 21 is disposed in the first support body arrangement hole, and a second support body arrangement hole is formed in the second frame 3e. Yes.
- a second support body 36 that rotatably supports the support shaft 20b of the pulley body 21 is disposed in the second support body arrangement hole.
- the endoscope 1 including the pulling member operation device 10A configured to include the pulley 20A also serving as the force adjustment unit in the operation unit 3 will be described.
- the operator operates the endoscope 1 first, the amount of protrusion of the moving pulley 27 from the opening of the moving hole 27 of the moving hole 27 from the body 25 side opening is adjusted, and the operating element 5 is operated with the desired operating element tilting operating force. Enable tilting operation.
- the operator prepares a rotating jig 37.
- the operator removes the lid 6d as shown in FIG. 16, and exposes the rod-shaped protrusion 24b in the adjustment hole 3c.
- the operator places the distal end portion 37a of the rotating jig 37 in the adjustment hole 3c and guides the rod-shaped protrusion 24b into the slit 37s formed in the distal end portion 37a.
- the operator rotates a handle (not shown) of the rotating jig 37 in the clockwise direction.
- the adjustment shaft 24 rotates and the rotation is transmitted to the engaging shaft 23a, and the moving screw portion 32 screwed to the female screw portion 26f starts rotating.
- the adjusting rod 23 gradually moves toward the motor 13 in the arrow Y16 direction against the urging force of the spring 34.
- the cam surface 31c also moves in the same direction and contacts the inclined surface 22s.
- the operator continues to rotate the rotating jig 37 clockwise. Then, the adjustment bar 23 is further moved in the arrow Y16 direction, so that the cam surface 31c is also moved in the same direction. As the cam surface 31c moves, all the moving pulley pieces 22 gradually protrude in the direction of the arrow Y16a, that is, from the body 25 side opening in the moving hole 27.
- the operator appropriately checks the operational feeling while performing the tilting operation of the operation element 5 by rotating the pulley 20A with the motor 13 in the driving state. Then, the adjustment tool 23 is repeatedly moved by the rotating jig 37 and the operation element 5 is tilted so that an optimum operation feeling can be obtained.
- the adjusting rod 23 When the handle of the rotating jig 37 is rotated counterclockwise, the adjusting rod 23 is gradually moved in the direction opposite to the arrow Y16 by the biasing force of the spring 34.
- the engagement groove-side end surface of the adjustment rod 23 having the engagement groove 23a is the most spaced from the motor 13, the outer peripheral surface of the moving pulley piece 22 is in the state shown in FIG. This is the state closest to the axis center of the pulley body 21.
- the outer peripheral surface of the moving pulley piece 22 is farthest from the axis center of the pulley body 21.
- the frictional force generation location is a contact surface between the outer peripheral surface of the moving pulley piece 22 and the inner peripheral surface of the rotating body 12, After the position adjustment of the adjustment rod 23 is completed, the operator starts an examination using the endoscope 1.
- the suspension frame 14 tilts along with the tilt operation. To go.
- the upper bending wire 11 changes from a loose state to a gradually pulled state.
- the other bending wires 11 change to a more loose state.
- the upper bending wire 11 is pulled out of the bending wires 11 wound around the four rotating bodies 12 of the pulley 20A in a relaxed state. Then, the gap 12c of the upper rotating body 12 is narrowed against the elastic force, and the inner peripheral surface of the upper rotating body 12 changes to a reduced diameter state in close contact with the outer peripheral surface of the moving pulley piece 22. As a result, a frictional resistance is generated between the upper rotating body 12 and the moving pulley piece 22, and the upper rotating body 12 is rotated in the same direction as the rotation direction of the pulley 20A. As the upper rotating body 12 rotates, the upper bending wire 11 disposed on the insertion portion 2 side of the upper rotating body 12 is pulled and moved so that the bending portion 2b is bent upward. To start.
- the operator continues to incline the shaft portion 5a in the same direction from the start of the operation so that the inner peripheral surface of the upper rotating body 12 is brought into close contact with the outer peripheral surface of the moving pulley piece 22.
- the upward bending wire 11 positioned closer to the insertion portion 2 than the upward rotating body 12 is further pulled, and the bending portion 2b is further bent upward.
- the operator can perform the tilting operation of the operator 5 with an optimal operational feeling set in advance.
- the rotation jig 37 is arranged in the adjustment hole 3c provided in the operation unit 3, the adjustment shaft 24 is rotated, and the adjustment rod 23 constituting the pulley 20A of the traction member operation device 10A is attached to the pulley main body 21.
- the assist force can be adjusted by appropriately setting the distance from the axial center of the pulley body 21 to the outer peripheral surface of the moving pulley piece 22 steplessly. Therefore, even if there is a difference between the operator's strong or weak force, or the operator's hand being large or small, the operator can perform the adjustment work to obtain the optimum operation feeling for the operator. Can be tilted.
- the outer peripheral surface of the moving pulley piece 22 is brought into contact with the inner peripheral surface of the rotating body 12, and the distance from the axial center of the pulley body 21 to the outer peripheral surface of the moving pulley piece 22 is adjusted. Yes.
- a pulley-side straight surface 41 and a pulley-side inclined surface 42 are included in the outer peripheral surface 40 of the moving pulley piece 22.
- a rotating body straight surface 46 and a rotating body inclined surface 47 are provided on the inner peripheral surface 45 side of the rotating body 12. The rotating body straight surface 46 is in surface contact with the pulley-side straight surface 41, and the rotating body inclined surface 47 is in surface contact with the pulley-side inclined surface 42.
- the area of the outer peripheral surface 40 having the pulley-side inclined surface 42 of the moving pulley piece 22 is larger than the area of the outer peripheral surface of the moving pulley piece 22 of the second embodiment. For this reason, when the outer peripheral surface of the moving pulley piece 22 is brought into contact with the inner peripheral surface 45 of the rotating body 12, the contact area increases, and a larger assist force amount can be obtained.
- Other operations and effects are the same as those of the second embodiment described above.
- the adjustment rod 23 is moved back and forth in the axial direction of the pulley body 21, and the distance from the axial center of the pulley body 21 to the outer peripheral surface of the moving pulley piece 22 is set in a stepless manner. The ability can be adjusted.
- the adjustment force 23 may be moved back and forth in the axial direction of the pulley main body 21 to change the assist force amount in two stages as in the pulley 20C shown in FIG.
- the inner peripheral surface of the rotating body 12 is brought into contact with the outer peripheral surface 25o of the body portion 25 of the pulley main body 21 as shown in the drawing above the center line in FIG.
- the outer peripheral surface 22o of the moving pulley piece 22 is placed on the inner periphery of the rotating body 12 as shown in the figure below the center line of FIG. Touch the surface.
- the first friction coefficient of the outer peripheral surface 25o of the body 25 is ⁇ 1
- the second friction coefficient of the outer peripheral surface 22o of the moving pulley piece 22 is ⁇ 2
- the first friction coefficient ⁇ 1 and the second friction coefficient are Between the coefficient ⁇ 2, ⁇ 2> ⁇ 1
- the relationship is set.
- the pulley 20D of the present embodiment has a configuration in which the amount of assist force can be switched in three stages by moving the position of the adjusting rod 23D in the axial direction. Therefore, instead of the female screw portion 26f and the moving screw portion 32, positioning holes 53a, 53b, 53c, which will be described later, a fixing pin 56, and a through hole 57a are provided.
- the pulley 20D of the present embodiment mainly includes a pulley main body 21D, a moving pulley piece 22D, and an adjustment rod 23D.
- the moving pulley piece 22 ⁇ / b> D also serves as the rotating body 12 and has a slope 48 and a contact surface 49.
- Other configurations are the same as those of the second embodiment, and the same members are denoted by the same reference numerals and description thereof is omitted.
- the pulley main body 21 ⁇ / b> D includes four convex portions 52 each having an inclined surface 51 on which the inclined surface 48 abuts.
- the convex portion 52 projects from the outer peripheral surface 25 o of the body portion 25.
- the pulley main body 21D includes a protruding arrangement portion 53 that also serves as a first support shaft protruding from the operation portion main body 3b.
- Three positioning holes 53a, 53b, and 53c are formed at predetermined positions of the protruding arrangement portion 53.
- a round bar-shaped fixing pin 56 is inserted into each of the positioning holes 53a, 53b, 53c.
- the axis of the first positioning hole 53a and the axis of the second positioning hole 53b are in a parallel positional relationship.
- the axis of the first positioning hole 53a and the axis of the third positioning hole 53c, and the axis of the second positioning hole 53b and the axis of the third positioning hole 53c are provided in a positional relationship orthogonal to each other.
- Other configurations are substantially the same as those of the second embodiment, and the same members are denoted by the same reference numerals and description thereof is omitted.
- the adjusting rod 23D includes four pressing portions 55 at predetermined intervals.
- the pressing portion 55 is a convex portion having a pressing surface 54 that presses the contact surface 49.
- a through hole 57a into which the fixing pin 56 is inserted is provided at a predetermined position at the end 57 of the adjusting rod 23D.
- the end portion 57 is disposed outside the operation unit.
- Other configurations are substantially the same as those of the second embodiment, and the same members are denoted by the same reference numerals and description thereof is omitted.
- the adjustment pin 23D is arranged at the first position by arranging the fixing pin 56 in the first positioning hole 53a and the through hole 57a.
- the moving pulley piece 22 ⁇ / b> D is arranged on the outer peripheral surface 25 o of the body portion 25, and the inclined surface 48 is arranged in contact with the inclined surface 51 of the convex portion 52.
- the fixing pin 56 is replaced, and the pin 56 is arranged in the second positioning hole 53b and the through hole 57a.
- the adjustment rod 23D is moved from the first position to the second position.
- the pressing surface 54 of each pressing portion 55 of the adjusting rod 23D presses the contact surface 49 of each moving pulley piece 22D.
- the inclined surface 48 of the moving pulley piece 22D moves on the inclined surface 51 of the convex portion 52 and is separated from the outer peripheral surface 25o. That is, the position of the moving pulley piece 22D is moved outward from the axis center of the pulley body 21D.
- the fixing pin is replaced, and the fixing pin 56 is engaged with the third positioning hole 53c and the through hole 57a as shown in FIG. 19C.
- the adjustment rod 23D is moved from the second position to the third position.
- the pressing surface 54 of each pressing portion 55 of the adjusting rod 23D presses the contact surface 49 of each moving pulley piece 22D, further moving the moving pulley piece 22D to the outer periphery. Move away from the surface 25o. Then, the position of the outer peripheral surface of the moving pulley piece 22D is changed to a position farthest from the axis center of the pulley body 21D.
- the distance from the shaft center of the pulley main body 21D to the frictional force generation point is the longest, and the largest assist force amount can be obtained.
- the frictional force generation location is a contact surface between the inclined surface 51 of the convex portion 52 and the inclined surface 48 of the moving pulley piece 22D. In this manner, the assist force amount can be switched in three stages by fixing and arranging the adjusting rod 23D at the first position, the second position, and the third position that are different in the axial direction.
- the pulley 20 ⁇ / b> E of the present embodiment is mainly configured by including a first pulley portion 61, a plurality of second pulley portions 62, and a fixture 63.
- the first pulley unit 61 is disposed in the operation unit 3.
- the plurality of second pulley parts 62 are exchangeable, and are attached to and detached from the operation part main body 3 b of the operation part 3 by the attachment 63.
- the first pulley portion 61 includes a pulley shaft 20a, a body portion 64, and a pair of flange portions 28.
- a plurality of rotating bodies 12 are arranged on the body portion 64 at a predetermined distance.
- the pair of flange portions 28 prevent the rotating body 12 from falling off the body portion 64.
- one flange portion 28 ⁇ / b> E is composed of a plurality of flange-shaped portions 65. That is, the flange portion 28E has notches (not shown) in which contact resistance portions 66 described later are arranged at equal intervals in the circumferential direction.
- the second pulley 62 is detachable from the first pulley 61, and for example, three types of second pulleys 62A, 62B, and 62C are prepared.
- the second pulley portions 62A, 62B, and 62C are configured to include a plurality of contact resistance portions 66, a disc portion 67, and an attachment portion 68.
- the contact resistance portion 66 is a plurality of convex portions standing from one surface side of the disc portion 67.
- the contact resistance portions 66 are provided at regular intervals and are disposed on the outer peripheral surface of the body portion 64 through the notches disposed in the circumferential direction of the flange portion 28E.
- Reference numeral 66 a is an inner peripheral surface of the contact resistance portion 66.
- the inner peripheral surface 66 a is disposed on the outer peripheral surface of the body portion 64.
- the inner peripheral surface of the rotating body 12 is disposed in a predetermined loosely fitted state.
- the outer peripheral surface 66b of the contact resistance portion 66 is set to a predetermined friction coefficient.
- the second pulley portions 62A, 62B, 62C are set to different friction coefficients for each pulley portion. Specifically, the friction coefficient of the outer peripheral surface 66b of the A type second pulley 62A is ⁇ 1, the friction coefficient of the outer peripheral surface 66b of the B type second pulley 62B is ⁇ 2, and the C type second pulley. The friction coefficient of the outer peripheral surface 66b of the part 62C is ⁇ 3.
- second pulley portions 62A, 62B, and 62C from A type to C type are prepared. However, three or more types of second pulley portions may be prepared, or two second pulley portions may be prepared.
- the disc portion 67 is a disc-shaped support, and has a predetermined thickness and a predetermined rigidity.
- the attachment part 68 is a convex part protruding from the central part on the other surface side of the disk part 67, and has, for example, a circumferential groove 69 in which the E-ring 70 is disposed.
- the fixture 63 mainly includes a connecting portion 71, a fixture main body 72, and a knob 73.
- the connecting portion 71 is rotatably connected to the mounting portion 68 of the second pulley portion 62.
- the fixture main body 72 includes a small diameter portion 74 and a large diameter portion 75.
- the small diameter portion 74 is disposed in the stepped hole 3g having the female screw portion 3f provided in the operation portion 3.
- the small diameter portion 74 is formed with a male screw portion 76 that is screwed into the female screw portion 3f.
- the knob 73 is a convex portion protruding from the end face of the large diameter portion 75.
- the knob 73 is formed in a predetermined shape in consideration of the handleability of the operator.
- the second pulley portion 62 and the fixture 63 are integrally configured in advance as shown in FIG.
- the small diameter portion 74 and the large diameter portion 75 constituting the fixture 63 are separate bodies and are integrally attached by bonding or screwing.
- a through hole 79 and a recess 77 constituting the connecting portion 71 are formed in the small diameter portion 74.
- the attachment portion 68 is inserted through the through hole 79.
- An E ring 70 and a spring 78 are disposed in the recess 77.
- the mounting portion 68 of the second pulley portion 62 protrudes into the concave portion 77 through the through hole 79, and the E ring 70 is engaged with the circumferential groove 69 and is rotatably disposed on the small diameter portion 74.
- a spring 78 having a predetermined length dimension is disposed on the mounting portion 68 with a predetermined biasing force.
- the concave portion 77 is closed by the large diameter portion 75.
- the large diameter portion 75 and the small diameter portion 74 are integrally fixed by, for example, a screw.
- an integrated second pulley portion 62 and fixture 63 are configured.
- the A type second pulley 62A with the outer peripheral surface 66b having the friction coefficient ⁇ 1 the B type second pulley 62B with the outer peripheral surface 66b having the friction coefficient ⁇ 2, and the outer peripheral surface 66b having the friction coefficient ⁇ 3 in advance.
- a C-type second pulley 62C is prepared. The operator selects and installs an optimal one among these second pulley portions 62A, 62B, and 62C in consideration of the size of his / her hand or the grip strength.
- the operator selects one of the plurality of second pulley portions 62 having different friction coefficients with respect to the first pulley portion 61 to configure the pulley 20E.
- the contact resistance between the outer peripheral surface 66b of the second pulley portions 62A, 62B, and 62C and the inner peripheral surface of the rotating body 12 constituting the pulley 20E can be changed stepwise.
- the operator attaches, for example, the second pulley portion 62C to the operation portion 3 instead of the second pulley portion 62A.
- the contact resistance portion 66 of the second pulley portion 62B is disposed on the first pulley portion 61, and the small diameter portion 74 and the large diameter portion 75 of the fixture main body 72 are operated. It arrange
- the operator holds the knob 73 of the fixture 63 and rotates it, for example, clockwise. Then, the fixture main body 72 is rotated with respect to the operation portion main body 3b and the attachment portion 68, the fixture main body 72 is pushed into the stepped hole 3g, and the contact resistance portion 66 is the trunk portion 64 of the first pulley portion 61. It moves in the axial direction on the outer peripheral surface. Then, when the operator continues to operate the knob 73 so that the end surface of the fixture main body 72 and the outer surface of the operation portion main body 3b are in a state of being flush with each other, the second pulley portion 62C is attached to the first pulley portion 61. Complete.
- a plurality of second pulley portions having different friction coefficients are prepared.
- a plurality of second pulley portions having different outer diameters may be prepared.
- the frictional force generation point is a contact surface between the outer peripheral surface of the second pulley portion and the inner peripheral surface of the rotating body 12.
- the pulley 20 ⁇ / b> F mainly includes a pulley unit 80 disposed in the operation unit 3 and an operation lever 90.
- the pulley unit 80 of this embodiment includes a pulley shaft 81.
- the pulley shaft 81 includes a pair of flange portions 82, a pair of rotating bodies 83, a pair of contact resistance changing members 84, and a pair of pressing members 85.
- the pulley side gear 20g is fixed to the pulley shaft 81 in the same manner as the pulley shaft 20a.
- the pulley side gear 20g is engaged with a motor side gear 13g fixed to the motor shaft 13a of the motor 13.
- the pair of flange portions 82 are provided to project at predetermined positions.
- the pair of rotating bodies 83 has a substantially disk shape that can be elastically deformed, and is arranged in a predetermined loosely fitted state on the pulley shaft 81.
- the pair of rotating bodies 83 includes a concave inclined side surface 83a on the surface opposite to the flange portion 82 side.
- the concave inclined side surface 83a is inclined from the outer periphery toward the center.
- the rotating body 83 is slidably disposed on the pulley shaft 81.
- the pair of contact resistance changing members 84 includes a convex inclined side surface 84a.
- the convex inclined side surface 84 a is a contact surface that contacts the concave inclined side surface 83 a of the rotating body 83.
- the contact resistance changing member 84 includes a flat side surface 84b configured by a plane.
- the flat side surface 84b is formed on the opposite surface of the convex inclined side surface 84a.
- the contact resistance changing member 84 is slidably disposed on the pulley shaft 81.
- the pair of pressing members 85 includes a pressing portion 85a and a bearing portion 85b.
- the pressing portion 85 a presses the flat side surface 84 b of the contact resistance changing member 84.
- the bearing portion 85 b is disposed on the outer peripheral surface of the pulley shaft 81.
- the operation lever 90 is arranged orthogonal to the pulley shaft 81 of the pulley section 80.
- the operation lever 90 includes a rod-shaped portion 91, a flat portion 92, and a cam portion 93 in order from one end side.
- the rod-shaped portion 91 is provided so as to protrude outward from, for example, the upper surface of the operation portion main body 3b.
- a through hole 92a through which the pulley shaft 81 is inserted is formed in the flat portion 92.
- the diameter of the through hole 92a is configured in consideration of the amount of movement of the operation lever 90. That is, the through hole 92 a has a gap having a predetermined size with respect to the pulley shaft 81.
- the cam portion 93 has an inclined cam surface 93c.
- the inclined cam surface 93c is inclined from the longitudinal central axis toward the outer side of the other end.
- the inclined cam surface 93c contacts the pair of pressing members 85 by operating the operation lever 90 to bring the cam surface 93c closer to the pulley shaft center. After the contact, the operation lever 90 is operated to bring the inclined cam surface 93c closer to the pulley shaft center, whereby the pressing member 85 moves on the pulley shaft 81 toward the flange portions 82 along with the operation. .
- the operation of the pulling member operating device having the pulley 20F will be described.
- the operator rotates the pulley 20F with a motor (not shown) in a driving state, and performs the tilting operation of the operation element 5. If the operator feels that the operation feeling is heavy during the operation, the operator operates the operation lever 90 as described above to bring the inclined cam surface 93c closer to the pulley shaft center by a predetermined amount.
- the inclined cam surface 93c moves the pressing member 85 in the direction of the arrow Y25 as the inclined cam surface 93c approaches the pulley shaft center as shown in FIG. Then, the pressing portion 85 a of the pressing member 85 presses the flat side surface 84 b of the contact resistance changing member 84. Then, the contact resistance changing member 84 is moved in the arrow Y25 direction. When the contact resistance changing member 84 moves, the convex inclined side surface 84 a comes close to the concave inclined side surface 83 a of the rotating body 83.
- the operator performs the tilting operation of the operator 5 again.
- the rotating body 83 is elastically deformed, and the concave inclined side surface 83a of the rotating body 83 comes into contact with the convex inclined side surface 84a of the contact resistance changing member 84 to generate a frictional force. For this reason, a light operation feeling can be obtained compared to the state before the operation lever 90 is moved.
- the operation lever 90 is further operated to bring the inclined cam surface 93c closer to the pulley shaft center.
- the inclined cam surface 93c moves the pressing member 85 in the direction of the arrow Y25.
- the pressing portion 85a of the pressing member 85 presses the flat side surface 84b of the contact resistance changing member 84
- the contact resistance changing member 84 is moved in the arrow Y25 direction
- the convex inclined side surface 84a of the contact resistance changing member 84 is a rotating body. It is arranged closer to the concave inclined side surface 83a of 83.
- the rotating body 83 is elastically deformed along with the tilting operation, and the concave inclined side surface 83a of the rotating body 83 and the convex inclination of the contact resistance changing member 84 are obtained.
- the contact area with the side surface 84a increases and a larger frictional force is generated.
- the inclined cam surface 93c is brought into contact with the pressing member 85 by operating the operation lever 90 to bring the inclined cam surface 93c closer to the pulley shaft center. Then, the pressing member 85 and the contact resistance changing member 84 are moved along the pulley shaft 81 with the movement of the inclined cam surface 93c. Then, the convex inclined side surface 84a of the contact resistance changing member 84 is disposed on the concave inclined side surface 83a of the rotating body 83, and the frictional force generated between the rotating body 83 and the contact resistance changing member 84 is changed to assist force amount. Adjustments can be made.
- the pressing member 85 is provided with a bearing portion 85 b so that the pressing member 85 slides with respect to the pulley shaft 81.
- the operation lever 90 can be operated while the pulley shaft 81 is rotating, and the position of the contact resistance changing member 84 can be adjusted to change the frictional force, so that the workability can be improved.
- the pressing member 85 includes a bearing portion 85b.
- the pulley 20F of this embodiment it is comprised so that a pair of rotary body 83 may be arrange
- the pair of pulleys 20F are arranged in parallel on the operation portion.
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- General Health & Medical Sciences (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biophysics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Radiology & Medical Imaging (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Astronomy & Astrophysics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Endoscopes (AREA)
Abstract
Description
湾曲ワイヤー牽引力量=操作指示レバー傾倒操作力量+アシスト力量
となる。
この構成の内視鏡では、操作指示レバーを傾倒操作する際の操作力量を減少させて操作者の負担の軽減を図れる。
なお、アシスト力量とは、回転するプーリーから得られる湾曲ワイヤーを移動させる補助動力である。
しかしながら、前記特開2003-325437号公報の内視鏡および前記特開2009-5836号公報の内視鏡では、操作指示レバーを傾倒操作して湾曲部を湾曲操作する際に得られるアシスト力量が内視鏡毎に一定値である。このため、内視鏡操作者が男性、女性、力の強い人、力の弱い人、手が大きな人、手が小さな人等、様々であるため、操作者毎に操作感が異なる。
つまり、操作力量について最適であると感じる操作者がいる一方で、もう少し大きな力で操作したい、或いは、もう少し小さな力で操作したい等、操作者毎に異なる要望がある。
図1-図10を参照して本発明の第1実施形態を説明する。
図1、図2に示すように本実施形態の内視鏡1は、細長な挿入部2と、操作部3と、ユニバーサルコード4とを備えて構成されている。操作部3は、挿入部2の基端に連設する。ユニバーサルコード4は、操作部3の側部から延出する。ユニバーサルコード4の基端は、内視鏡1の外部装置である湾曲制御装置9に接続される。
操作部本体3bの外装には、操作子5の他に、スイッチ6a、送気送水ボタン6b、吸引ボタン6cが予め定めた位置に設けられている。スイッチ6aは、例えば先端部2a内に設けられた撮像装置1aの各種撮像動作を指示するためのスイッチである。
本実施形態のモーター13は、モーターアンプ9fから出力される制御信号にしたがって回転数が設定されるようになっている。モーター13は、予め、初期状態(電源投入時)において、回転速度V(回転数N)で動作するように設定されている。
ガイドローラー15は、操作部3内においてワイヤー11の走行経路を変更するワイヤー走行経路変更部材である。ガイドローラー15は、吊り枠14に対して予め定めた位置に配設されている。ガイドローラー15は、ローラー軸15aと、ローラー軸15aに回動自在に配置される4つのガイドローラー15rとで構成されている。
光源部9aは、ライトガイドファイバー束1fに照明光を供給するLED(不図示)或いはランプ(不図示)等を備える。プロセッサ部9bは、撮像ケーブル1bを介して撮像素子を駆動する信号を出力する一方、撮像素子で光電変換された信号を受けて映像信号を生成して図示しない表示装置に出力する。
また、ライトガイドファイバー束1fを設ける代わりに、先端部にLED等の発光素子を配置する構成であってもよい。
記憶部9cには、操作子5の軸部5aの傾斜角度と、該傾斜角度における例えば上方向湾曲角度と、当該傾斜角度に対応するモーター回転速度との関係を設定したテーブルデーターが登録されている。テーブルデーターは、図4に示すように軸部5aの傾倒角度が0度(一面に対して垂直な状態)から図2の角度θが例えば10度までのときの回転速度を基準にして例えば予め定めた割合で回転数が上昇するように設定されている。
なお、上述したようにアシスト力量と、湾曲ワイヤー牽引力量と、操作指示レバー傾倒操作力量との間には、
湾曲ワイヤー牽引力量=操作指示レバー傾倒操作力量+アシスト力量
の関係がある。
上述したように構成した内視鏡1によれば、モーター13を駆動させてプーリー20を回転させた状態において、操作子5の軸部5aが直立状態であるとき、プーリー20に配置されている上下左右方向に対応する4つの回転体12にそれぞれ巻回されている湾曲ワイヤー11は全て所定の弛緩状態である。この結果、全ての回転体12がプーリー20に対して滑り状態になって、湾曲部2bは直線状態に保持される。
この結果、操作者は、湾曲部2bの湾曲角度を、例えば120度を超えて大きく湾曲させる場合であっても、操作子5の傾倒操作をスムーズに行うことができる。言い換えれば、操作者は、操作子5の傾倒角度が大きくなって、操作する指に力を入れ難くなる状況下においても、操作子5を容易に傾倒操作することが可能である。
その場合、例えば、モーター13に流れる電流値が一定時間以上、記憶部9cに記憶された閾値の範囲内の振れ幅である場合に、モーター回転数を増加させて操作子5の傾倒状態を維持するのに必要な操作力量を補助する。この際、湾曲部2bの湾曲角度が記憶部9cに記憶された閾値角度よりも大きい場合、前述のように操作子5の傾倒状態が維持されているか判断するように構成してもよい。
或いは、角度センサー8aで検出した軸部5aの傾倒角度の振れ幅が一定時間以上、記憶部9cに記憶された閾値の範囲内である場合に、モーター回転数を増加させて操作子5の傾倒状態を維持するのに必要な操作力量を補助する。この際、角度センサー8aで検出された軸部5aの傾倒角度が記憶部9cに記憶された閾値角度よりも大きい場合、前述のように操作子5の傾倒状態が維持されているかどうかを判断するように構成してもよい。
また、湾曲制御装置9に、例えば図7の符号9gに示す第1設定スイッチおよび切換部9hを設けるようにしてもよい。第1設定スイッチ9gは、制御部9eの切換部9hを介してモーター13の初期回転速度を設定するスイッチである。第1設定スイッチ9gは、押し込み操作する毎に初期回転速度を初期状態に対して例えば1.1倍、1.2倍、0.9倍、0.8倍等に切り換えて、設定変更を行う。なお、第1設定スイッチ9gは、操作部3に配置するようにしてもよい。
これとは逆に、操作者がもう少し大きな力で操作したいと要望する場合には、初期回転速度を例えば0.8倍に設定する。このことによって、操作子5の傾倒操作開始時から湾曲部2bを大きく湾曲操作するまでの間、最適な操作感を得て傾倒操作を行うことができる。
なお、軸部5aの傾倒角度を測定する代わりに、Cリング回転量を測定して、ワイヤー移動量を測定して、或いはワイヤー張力を測定してモーター13の回転速度を切り換えるようにしてもよい。
この構成によれば、電流値検出装置を湾曲制御装置9内に設けることによって、内視鏡1の操作部3からセンサーを削減することができる。その他の作用及び効果は上述した実施形態と同様である。
なお、内周面12i全体の摩擦抵抗は、第1の内周面12icから周方向に連続的に摩擦抵抗が高くなる設定であっても良い。
このように、本実施形態においては、湾曲部2bが湾曲されていくにしたがって、内周面12iにおける摩擦係数の高い内面が最大推力抗力発生位置に移動されていく。この結果、湾曲角度の増大に伴って湾曲操作に必要な操作力量に対する補助を増加させて、挿入部側に配置されている湾曲ワイヤー11がスムーズに牽引移動させて操作者の負担の低減を図ることができる。
しかし、以下に示す構成を採ることによって、操作者のこれらの要望に応えることができる。
本実施形態の内視鏡1は、図11に示すように操作部3内に、力量調整部を兼ねるプーリー20Aを有する牽引部材操作装置10Aを備えている。その他の牽引部材操作装置10Aの構成は前記第1実施形態と同様であり、同部材には同符号を付して説明を省略する。
図12、図13に示すようにプーリー20Aは、プーリー本体21と、移動プーリー片22と、プーリー片位置調整棒(以下、調整棒と略記する)23と、調整軸24と、を主に備えて構成されている。
第1プーリー本体21Aと第2プーリー本体21Bとは、例えば、ネジ、或いは接着等によって一体に固定される。第1プーリー本体21Aと第2プーリー本体21Bとが一体に固定されると、断面形状が円形の胴部25、プーリー軸20a、支持軸20b、及びフランジ部28を備えるプーリー本体21が構成される。
カム部31は、調整棒23の外周面の周方向に対して等間隔で4つ、胴部25の長手方向に対して等間隔で4つ設けられている。カム部31は、移動プーリー片22の斜面22sに当接する傾斜面であるカム面31cを有している。図13に示す初期状態において、カム面31cは、斜面22sに対して僅かに離間して対向配置されている。
さらに、符号3d、3eは、枠体であり、操作部本体3b内に設けられている。第1枠体3dには第1支持体配置孔が形成されている。第1支持体配置孔には、プーリー本体21のプーリー軸20aを回動自在に支持する第1支持体35が配置される、第2枠体3eには第2支持体配置孔が形成されている。第2支持体配置孔には、プーリー本体21の支持軸20bを回動自在に支持する第2支持体36が配置される、
ここで、操作部3内に、力量調整部を兼ねるプーリー20Aを有して構成された、牽引部材操作装置10Aを備える内視鏡1の作用を説明する。
操作者は、内視鏡1を操作するにあたって、まず、移動プーリー片22の移動孔27の胴部25側開口からの突出量を調整して、所望する操作子傾倒操作力量で操作子5の傾倒操作を行えるようにする。
本実施形態においては、図13に示す状態、即ち、係入溝23aを有する調整棒23の係入溝側端面がモーター13から最も離間している状態のとき、移動プーリー片22の外周面がプーリー本体21の軸中心に対して最も近い状態である。
調整棒23の位置調整完了後、操作者は、内視鏡1による検査を開始する。このとき、上述した第1実施形態でも説明したようにモーター13を駆動させてプーリー20Aを回転させた状態において、操作子5の軸部5aが直立状態であるとき、湾曲部2bは直線状態に保持される。このとき、上述したようにプーリー20Aに配置されている上下左右方向にそれぞれ対応する4つの回転体12にそれぞれ巻回されている湾曲ワイヤー11は全て所定の弛緩状態である。この結果、全ての回転体12は、プーリー20に対して滑り状態である。
この結果、上用の回転体12と移動プーリー片22との間に摩擦抵抗が発生して上用の回転体12がプーリー20Aの回転方向と同方向に回転される。この上用の回転体12の回転に伴って、上用の回転体12より挿入部2側に配置されている上用の湾曲ワイヤー11が牽引移動されて湾曲部2bが上方向に湾曲する動作を開始する。
したがって、操作者の力が強い又は弱い、或いは、操作者の手が大きい又は小さい、等の違いがある場合でも、操作者自身が調整作業を行うことによって、操作者にとって最適な操作感を得て傾倒操作を行うことが可能になる。
図17に示すプーリー20Bでは、移動プーリー片22の外周面40にプーリー側ストレート面41とプーリー側傾斜面42とを含める構成にしている。そして、回転体12の内周面45側に回転体ストレート面46と回転体傾斜面47とを設けている。回転体ストレート面46は、プーリー側ストレート面41に面接触し、回転体傾斜面47はプーリー側傾斜面42に面接触する。
その他の作用及び効果は上述した第2実施形態と同様である。
しかし、調整棒23をプーリー本体21の軸方向に進退移動させて図18に示すプーリー20Cのようにアシスト力量を二段階で変更するようにしても良い。
μ2>μ1
の関係を設定している。
その他の作用及び効果は上述した第2実施形態と同様である。
これに対して、本実施形態のプーリー20Dは、図19Aに示すように調整棒23Dの位置を軸方向に移動させてアシスト力量を三段階で切り換え可能な構成にしている。このため、雌ネジ部26f及び移動ネジ部32の代わりに、後述する位置決め孔53a、53b、53c、固定ピン56、及び貫通孔57aを備えている。
本実施形態のプーリー20Dは、プーリー本体21Dと、移動プーリー片22Dと、調整棒23Dとを備えて主に構成されている。本図においては、4つの移動プーリー片22Dのうち2つの移動プーリー片22Dに対応するプーリー本体21Dの部分及び調整棒23Dの部分を記載してその他を省略している。
移動プーリー片22Dは、回転体12を兼ね、斜面48及び当接面49を有して構成されている。その他の構成は前記第2実施形態と同様であり、同部材に同符号を付して説明を省略している。
このように、調整棒23Dを、軸方向に異なる第1の位置、第2の位置、第3の位置に固定配置することによってアシスト力量を三段階で切り換えることができる。
図20に示すように本実施形態のプーリー20Eは、第1プーリー部61と、複数の第2プーリー部62と、取付具63とを備えて主に構成されている。第1プーリー部61は、操作部3内に配設され。複数の第2プーリー部62は、交換自在であり、取付具63によって操作部3の操作部本体3bに対して取り付け、取り外しされる。
本実施形態において、一方のフランジ部28Eは、複数のフランジ形状部65によって構成されている。つまり、フランジ部28Eは、後述する接触抵抗部66が配置される図示されない切り欠きを周方向に等間隔で有している。
μ3>μ2>μ1
の関係を設定している。
取付部68は、円板部67の他面側の中央部から突設する凸部であり、例えばEリング70が配置される周溝69を有する。
連結部71は、前記第2プーリー部62の取付部68に対して回動自在に連結される。取付具本体72は、細径部74と、太径部75とを備えている。細径部74は、操作部3に備えられた雌ネジ部3fを有する段付き孔3gに配置される。細径部74には雌ネジ部3fに螺合する雄ネジ部76が形成されている。摘み73は、太径部75の端面から突出した凸部である。摘み73は、操作者の取り扱い性を考慮して予め定めた形状で形成されている。
この構成においては、外径が最も大きな第2プーリー部を第1プーリー部に装着することによって、プーリー軸中心から摩擦力発生箇所までの距離を最も長くして最も大きなトルクを得て、より大きなアシスト力量を得られる。ここで、摩擦力発生箇所は、第2プーリー部の外周面と回転体12の内周面との接触面である。
図23に示すように本実施形態のプーリー20Fは、操作部3内に配設されるプーリー部80と、操作レバー90とを主に備えて構成されている。
一対の接触抵抗変更部材84は、凸傾斜側面84aを備えている。凸傾斜側面84aは、回転体83の凹傾斜側面83aに当接する当接面である。接触抵抗変更部材84は、平面で構成された平側面84bを備えている。平側面84bは、凸傾斜側面84aの反対面に形成されている。接触抵抗変更部材84は、プーリー軸81に摺動自在に配置されている。
一対の押圧部材85は、押圧部85a、および軸受部85bを備えている。押圧部85aは、接触抵抗変更部材84の平側面84bを押圧する。軸受部85bは、プーリー軸81の外周面に配置される。
操作者は、図示しないモーターを駆動状態にしてプーリー20Fを回転させて、操作子5の傾倒操作を行う。操作中、操作者は、操作感が重いと感じたなら、上述したように操作レバー90を操作して傾斜カム面93cをプーリー軸中心に予め定めた量だけ近づける。
Claims (15)
- 被写体像を撮像する撮像素子を設けた先端部、複数の湾曲駒を連設して湾曲自在な湾曲部、及び細長で可撓性を有する可撓管部を連設する挿入部の基端側に設けられた操作部と、
前記湾曲部を構成する湾曲駒から延出されて前記操作部内に導かれ、相対的な移動により前記湾曲部を湾曲させる少なくとも一対の牽引部材と、
前記操作部内に設けられ、該操作部に設けられたモーターによって前記牽引部材の牽引方向に回転されるプーリーと、
弾性変形可能で外周面に前記牽引部材が巻回配置される、前記プーリーの外周面側に遊嵌状態に配置される回転体と、
前記操作部の一面から突設し、傾倒操作可能な軸部を有する操作子と、
前記操作子の軸部に設けられ、前記操作部内に導かれた少なくとも一対の牽引部材がそれぞれ固設される取付部を、前記操作子を挟んで互いに対向する位置に有する吊り枠と、
前記操作子を傾倒操作して前記プーリーより該操作子側の牽引部材を牽引して、前記回転体を縮径させて内周面を前記モーターによって回転されているプーリーの外周面に接触させることによって発生する摩擦抵抗を変化させて該プーリーより挿入部側の当該牽引部材を牽引する力量を調整する力量調整部と、
を具備することを特徴とする内視鏡。 - 前記力量調整部は、前記駆動モーターの回転速度を変更して前記プーリーの外周面と前記回転体との内周面との接触抵抗を変化させることを特徴とする請求項1に記載の内視鏡。
- 前記力量調整部は、
前記操作部に備えられた、前記操作子の軸部の傾倒操作角度を検出する傾倒操作角度検出装置及び、前記モーターの回転数或いは回転速度を検出するモーター回転状態検出装置と、
前記内視鏡の外部装置である湾曲制御装置に備えられた、前記操作子の軸部の傾斜角度と、その傾斜角度に対応するモーター回転速度との関係を設定したテーブルデーターが登録された記憶部、前記傾倒操作角度検出装置で検出した前記軸部の傾倒角度及び前記モーター回転状態検出装置で検出した回転数或いは回転速度が入力され、前記記憶部に登録されているテーブルデーターとの比較を行い、その比較結果をモーター制御情報として出力する比較部、及び前記比較部から入力されたモーター制御情報に基づいて前記モーターの回転数の制御を行う制御部と、を備えて構成されることを特徴とする請求項2に記載の内視鏡。 - 前記湾曲制御装置は、前記駆動モーターの初期状態の回転速度を変更する変更設定スイッチを備えることを特徴とする請求項3に記載の内視鏡。
- 前記記憶部に複数のテーブルデーターを登録する構成において、
前記湾曲制御装置は、前記記憶部に登録された複数のテーブルデーターの中から1つのテーブルデーターを選択する選択スイッチを備えることを特徴とする請求項3に記載の内視鏡。 - 前記プーリーは、
プーリー軸、軸方向空間を有する胴部、及び前記軸方向空間と外部とを連通する複数の移動孔を備える第1プーリー部と、
前記複数の移動孔内にそれぞれ摺動自在に配置され、外周面側に前記回転体が遊嵌状態に配置される複数の第2プーリー部と、
前記第1プーリー部が備える軸方向空間内に摺動自在に配置され、軸方向への摺動によって前記第2プーリー部をそれぞれ該プーリー軸側から外周方向、又はその逆方向に移動させる外周面から突出する複数の凸部を備える力量調整部と、を備え、
前記力量調整部を移動開始前の初期位置から軸方向に摺動させることによって、前記プーリーの軸中心から前記モーターによって回転される前記プーリーの外周面と、前記回転体の内周面とが接触する接触面までの距離を変更して、該プーリーより挿入部側の当該牽引部材を牽引する力量を調整することを特徴とする請求項1に記載の内視鏡。 - 前記力量調整部は、前記凸部にカム面を備え、前記第2プーリー部は、前記カム面に接触する斜面を有し、
前記力量調整部の軸方向への摺動によって、該第2プーリー部の外周面と、前記回転体の内周面とが接触する接触面までの距離を連続的に変更することを特徴とする請求項6に記載の内視鏡。 - 前記第2プーリー部の外周面と前記回転体の内周面との接触面は、斜面を有することを特徴とする請求項7に記載の内視鏡。
- 前記プーリーを構成する前記第1プーリー部の胴部の外周面を第1の摩擦係数で構成し、前記第2プーリー部の外周面を第2の摩擦係数で構成し、前記凸部にカム面を設け、前記第2プーリー部に前記カム面に接触する斜面を設ける構成において、
前記力量調整部が移動開始前の初期位置おいて、前記回転体の内周面は、前記第2プーリー部の外周面と前記回転体との内周面とが離間した状態で前記胴部の外周面上に配置され、
前記力量調整体が軸方向に移動された移動後の位置において、前記回転体の内周面は、前記第2プーリー部の外周面に当接して、前記胴部の外周面から離間して、 前記プーリーの外周面と前記回転体の内周面との接触抵抗を複数段階で変更することを特徴とする請求項6に記載の内視鏡。 - 前記プーリーは、
プーリー軸、軸方向空間を有する胴部、前記軸方向空間と外部とを連通する複数の移動孔、前記胴部の外周面から突出する傾斜面を有する複数の凸部及び少なくとも2つの位置決め孔を備える第1プーリー部と、
前記凸部の傾斜面に当接して配置される斜面を有し、各凸部の傾斜面に対して摺動自在に配置される、前記回転体を兼ねる複数の第2プーリー部と、
前記第1プーリー部が備える軸方向空間内に摺動自在に配置され、軸方向への摺動によって前記第2プーリー部をそれぞれ該プーリー軸側から外周方向、又はその逆方向に移動させる押圧面を有する前記第1プーリー部の外周面から突出する複数の凸部を備える力量調整部と、を備え、
前記力量調整部を移動開始前の初期位置から軸方向に前記複数の位置決め孔に合わせて段階的に軸方向に移動させて固定することによって、前記プーリーの軸中心から前記モーターによって回転される前記プーリーの外周面と、前記回転体の内周面とが接触する接触面までの距離を少なくとも二段階で変更して、該プーリーより挿入部側の当該牽引部材を牽引する力量を調整することを特徴とする請求項1に記載の内視鏡。 - 前記プーリーは、
操作部に固設され、プーリー軸、回転体が予め定めた距離離間して配置される胴部、及び前記回転体が前記胴部から脱落することを防止する周方向に等間隔で配置されたフランジ部を一端側に備える第1プーリー部と、
前記第1プーリー部に着脱自在で、前記等間隔で離間したフランジ部の間を通過して前記胴部の外周面上に配置される摩擦係数を予め定めた値に設定した外周面を備える複数の接触抵抗部、前記複数の接触抵抗部が一面側から立設する円板部、及び前記円板部の他面側中央部から突設する取付部を備え、前記接触抵抗部の摩擦係数が異なる複数の第2プーリー部と、 前記第2プーリー部の取付部と回動自在に連結される連結部、前記操作部に備えられた取付孔の雌ネジ部に螺合する雄ネジ部を備えた取付具本体、及び取付具本体を回動するための摘みを備える取付具と、を備え、
前記摩擦係数の異なる第2プーリー部を前記第1プーリー部に取り替え配置することによって、前記第2プーリー部の外周面と前記回転体の内周面との接触抵抗を段階的に変更することを特徴とする請求項1に記載の内視鏡。 - 前記プーリーは、
プーリー軸、プーリー軸の予め定めた位置に突出して設けられた一対のフランジ部、前記プーリー軸に遊嵌状態で配設される弾性変改可能な一対の回転体、該プーリー軸に摺動自在に配置され、前記回転体の側面に当接する当接面を備える一対の接触抵抗変更部材、当該プーリー軸に摺動自在に配置され、前記接触抵抗変更部材の側面を押圧する押圧部、および前記プーリー軸の外周面に当接する軸受部を備える一対の押圧部材、を備えるプーリー部と、 前記プーリー部のプーリー軸に対して直交して配置され、その直交する軸に沿って移動することによって前記プーリー部の押圧部材をそれぞれ回転体側に移動させる傾斜カム面を備えたカム部をレバー一端側に備えた操作レバーと、を備え、
前記操作レバーを移動開始前の初期位置から前記プーリー軸に直交する軸方向に移動させることによって、前記カム部の傾斜カム面を前記押圧部材に当接させて前記プーリー軸上を移動させて前記接触抵抗変更部材の側面をそれぞれの回転体の側面に当接させて前記プーリー部と前記回転体との接触抵抗を連続的に変更することを特徴とする請求項1に記載の内視鏡。 - 前記回転体の内周面の摩擦係数を、周方向に沿って段階的に変化させること特徴とする請求項1に記載の内視鏡。
- 前記モーターに流れる電流値が一定時間以上、前記記憶部に記憶された閾値の範囲内の振れ幅である場合に、前記モーターの回転数を増加させることを特徴する請求項3に記載の内視鏡。
- 前記操作子の傾倒角度の振れ幅が一定時間以上、前記記憶部に記憶された閾値の範囲内である場合に、前記モーターの回転数を増加させることを特徴する請求項3に記載の内視鏡。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP12835763.9A EP2671499B1 (en) | 2011-09-26 | 2012-09-11 | Endoscope |
JP2013511195A JP5330625B1 (ja) | 2011-09-26 | 2012-09-11 | 内視鏡 |
CN201280014543.8A CN103458758B (zh) | 2011-09-26 | 2012-09-11 | 内窥镜 |
US13/791,962 US9339171B2 (en) | 2011-09-26 | 2013-03-09 | Endoscope |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011-209367 | 2011-09-26 | ||
JP2011209367 | 2011-09-26 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US13/791,962 Continuation US9339171B2 (en) | 2011-09-26 | 2013-03-09 | Endoscope |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2013047186A1 true WO2013047186A1 (ja) | 2013-04-04 |
Family
ID=47995221
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2012/073146 WO2013047186A1 (ja) | 2011-09-26 | 2012-09-11 | 内視鏡 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9339171B2 (ja) |
EP (1) | EP2671499B1 (ja) |
JP (1) | JP5330625B1 (ja) |
CN (1) | CN103458758B (ja) |
WO (1) | WO2013047186A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9743827B2 (en) | 2013-11-07 | 2017-08-29 | Olympus Corporation | Endoscope |
TWI840233B (zh) * | 2023-04-26 | 2024-04-21 | 榮晶生物科技股份有限公司 | 具有離軸視角的內視鏡設備 |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5341261B2 (ja) | 2011-02-28 | 2013-11-13 | オリンパスメディカルシステムズ株式会社 | 湾曲装置 |
WO2014010347A1 (ja) * | 2012-07-09 | 2014-01-16 | オリンパスメディカルシステムズ株式会社 | 導入装置システム |
WO2016024414A1 (ja) * | 2014-08-11 | 2016-02-18 | オリンパス株式会社 | 内視鏡システム |
US10415965B2 (en) | 2014-10-03 | 2019-09-17 | Texas Instruments Incorporated | Method and apparatus for tilt sensing using eccentric motor |
WO2016199485A1 (ja) * | 2015-06-08 | 2016-12-15 | オリンパス株式会社 | 湾曲操作装置および内視鏡 |
CN109068949A (zh) * | 2016-04-25 | 2018-12-21 | 奥林巴斯株式会社 | 内窥镜 |
CN105942958B (zh) * | 2016-05-30 | 2018-06-19 | 上海熠达光电科技有限公司 | 内窥镜弯角操纵摇杆及内窥镜 |
JP6395989B1 (ja) * | 2016-11-17 | 2018-09-26 | オリンパス株式会社 | 医療器具 |
WO2018131134A1 (ja) * | 2017-01-13 | 2018-07-19 | オリンパス株式会社 | 可撓管挿入装置 |
WO2018154824A1 (ja) * | 2017-02-22 | 2018-08-30 | オリンパス株式会社 | 内視鏡操作部およびこれを具備する内視鏡 |
JP6792725B2 (ja) * | 2017-12-18 | 2020-11-25 | オリンパス株式会社 | 内視鏡用外付機構および内視鏡システム |
JP7049366B2 (ja) * | 2017-12-19 | 2022-04-06 | オリンパス株式会社 | 挿入機器の操作部、操作部を有する内視鏡、操作部を有する処置具 |
CN113056225A (zh) * | 2018-08-27 | 2021-06-29 | 驱动医疗公司 | 用于体腔的设备和系统以及使用的方法 |
CN109730623B (zh) * | 2019-02-01 | 2023-07-21 | 上海熠达光电科技有限公司 | 缩径装置和弯角锁定装置 |
CN110840378A (zh) * | 2019-12-05 | 2020-02-28 | 重庆金山医疗技术研究院有限公司 | 一种内窥镜用操作部和内窥镜 |
WO2023038581A2 (en) * | 2021-09-10 | 2023-03-16 | Singapore Health Services Pte Ltd | An endoscopy device |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003325437A (ja) | 2002-05-17 | 2003-11-18 | Olympus Optical Co Ltd | 牽引部材操作装置 |
JP2008035882A (ja) * | 2006-08-01 | 2008-02-21 | Olympus Corp | 内視鏡 |
JP2009005836A (ja) | 2007-06-27 | 2009-01-15 | Olympus Corp | 内視鏡 |
JP2011019548A (ja) * | 2009-07-13 | 2011-02-03 | Fujifilm Corp | 内視鏡装置及び内視鏡システム並びに内視鏡装置の制御方法 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6569086B2 (en) * | 2000-03-27 | 2003-05-27 | Olympus Optical Co., Ltd. | Controllable bending endoscope |
JP4681709B2 (ja) * | 2000-04-05 | 2011-05-11 | オリンパス株式会社 | 内視鏡装置 |
JP2003230536A (ja) * | 2002-02-07 | 2003-08-19 | Olympus Optical Co Ltd | 電動湾曲内視鏡 |
JP4323210B2 (ja) * | 2003-04-28 | 2009-09-02 | オリンパス株式会社 | 内視鏡 |
JP4434640B2 (ja) * | 2003-06-27 | 2010-03-17 | オリンパス株式会社 | 内視鏡 |
CN100525699C (zh) * | 2004-09-27 | 2009-08-12 | 奥林巴斯株式会社 | 弯曲控制装置 |
US8808166B2 (en) * | 2006-06-06 | 2014-08-19 | Olympus Corporation | Endoscope |
US20090076330A1 (en) * | 2007-09-19 | 2009-03-19 | Fujifilm Corporation | Endoscope |
JP2009101076A (ja) * | 2007-10-25 | 2009-05-14 | Olympus Corp | 牽引部材操作装置及び内視鏡装置 |
-
2012
- 2012-09-11 JP JP2013511195A patent/JP5330625B1/ja active Active
- 2012-09-11 WO PCT/JP2012/073146 patent/WO2013047186A1/ja active Application Filing
- 2012-09-11 EP EP12835763.9A patent/EP2671499B1/en not_active Not-in-force
- 2012-09-11 CN CN201280014543.8A patent/CN103458758B/zh not_active Expired - Fee Related
-
2013
- 2013-03-09 US US13/791,962 patent/US9339171B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003325437A (ja) | 2002-05-17 | 2003-11-18 | Olympus Optical Co Ltd | 牽引部材操作装置 |
JP2008035882A (ja) * | 2006-08-01 | 2008-02-21 | Olympus Corp | 内視鏡 |
JP2009005836A (ja) | 2007-06-27 | 2009-01-15 | Olympus Corp | 内視鏡 |
JP2011019548A (ja) * | 2009-07-13 | 2011-02-03 | Fujifilm Corp | 内視鏡装置及び内視鏡システム並びに内視鏡装置の制御方法 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9743827B2 (en) | 2013-11-07 | 2017-08-29 | Olympus Corporation | Endoscope |
TWI840233B (zh) * | 2023-04-26 | 2024-04-21 | 榮晶生物科技股份有限公司 | 具有離軸視角的內視鏡設備 |
Also Published As
Publication number | Publication date |
---|---|
CN103458758A (zh) | 2013-12-18 |
EP2671499A4 (en) | 2015-03-04 |
CN103458758B (zh) | 2016-03-09 |
EP2671499A1 (en) | 2013-12-11 |
US20130267775A1 (en) | 2013-10-10 |
JP5330625B1 (ja) | 2013-10-30 |
JPWO2013047186A1 (ja) | 2015-03-26 |
EP2671499B1 (en) | 2016-12-14 |
US9339171B2 (en) | 2016-05-17 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5330625B1 (ja) | 内視鏡 | |
JP5583860B2 (ja) | 操作入力部を備える挿入装置 | |
JP5826862B2 (ja) | 挿入装置 | |
JP5238099B2 (ja) | 湾曲部付医療装置 | |
JP5364868B1 (ja) | 内視鏡 | |
JP5851139B2 (ja) | 医療装置 | |
JP5331507B2 (ja) | 内視鏡 | |
JP5274727B2 (ja) | 内視鏡 | |
JP2009136566A (ja) | 保持用ケーブル、保持用ケーブルを備える観察装置及び内視鏡装置 | |
JP5309265B2 (ja) | 湾曲操作装置 | |
WO2006098190A1 (ja) | 電動湾曲内視鏡装置及び内視鏡保持装置 | |
JP4102320B2 (ja) | 内視鏡 | |
JP2008092968A (ja) | 内視鏡 | |
JP2017500116A (ja) | 内視鏡ツールの位置ホルダ | |
JP4454956B2 (ja) | 内視鏡 | |
JP4323210B2 (ja) | 内視鏡 | |
US20140066710A1 (en) | Devices and methods for intraoperative control of endoscopic imaging | |
JP4970844B2 (ja) | 医療装置、および、ねじり力解放方法 | |
JP6063773B2 (ja) | 挿入装置 | |
JP2012100683A (ja) | 内視鏡の湾曲操作装置、及びそれを用いた内視鏡装置 | |
JP2723491B2 (ja) | 内視鏡 | |
JP3776816B2 (ja) | 内視鏡 | |
JP4689962B2 (ja) | 内視鏡 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 201280014543.8 Country of ref document: CN |
|
ENP | Entry into the national phase |
Ref document number: 2013511195 Country of ref document: JP Kind code of ref document: A |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 12835763 Country of ref document: EP Kind code of ref document: A1 |
|
REEP | Request for entry into the european phase |
Ref document number: 2012835763 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2012835763 Country of ref document: EP |
|
NENP | Non-entry into the national phase |
Ref country code: DE |