WO2015118773A1 - Dispositif d'insertion - Google Patents

Dispositif d'insertion Download PDF

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Publication number
WO2015118773A1
WO2015118773A1 PCT/JP2014/082834 JP2014082834W WO2015118773A1 WO 2015118773 A1 WO2015118773 A1 WO 2015118773A1 JP 2014082834 W JP2014082834 W JP 2014082834W WO 2015118773 A1 WO2015118773 A1 WO 2015118773A1
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WO
WIPO (PCT)
Prior art keywords
unit
state
electric motor
drive
sound
Prior art date
Application number
PCT/JP2014/082834
Other languages
English (en)
Japanese (ja)
Inventor
康弘 岡本
森山　宏樹
Original Assignee
オリンパス株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by オリンパス株式会社 filed Critical オリンパス株式会社
Priority to CN201490000846.9U priority Critical patent/CN205306943U/zh
Publication of WO2015118773A1 publication Critical patent/WO2015118773A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
    • 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
    • A61B1/00148—Holding or positioning arrangements using anchoring means
    • 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
    • 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

Definitions

  • the present invention relates to an insertion device including a driving source that generates a driving force that is provided in an insertion portion or operates an operation portion attached to the insertion portion when electric power is supplied.
  • Patent Document 1 discloses an endoscope apparatus that is an insertion apparatus including an insertion portion that extends along a longitudinal axis.
  • the insertion unit is provided with an image sensor, and an image of the subject imaged by the image sensor is displayed on a monitor which is a display unit.
  • a self-propulsion device which is an operating portion, is attached to the distal end portion of the insertion portion.
  • a driving force is generated in the power device that is a driving source.
  • the insertion portion is covered with an overtube, and a torque wire serving as a part of the driving force transmission unit extends along the longitudinal axis between the insertion portion and the overtube.
  • the driving force generated by the power device is transmitted to the self-propulsion device via the driving force transmission unit, so that the self-propulsion device operates (moves).
  • a propulsive force in the distal direction or the proximal direction acts on the insertion portion.
  • a speaker that is a sound transmission unit is provided in the endoscope apparatus. The sound quality of the sound transmitted from the speaker changes in accordance with the moving direction and moving speed of the self-propelling device.
  • the operation of the operation unit may stop during use.
  • the reason why the operation of the operation unit stops is that an excessively high load is applied to the operation unit, and that a malfunction has occurred in the drive force transmission unit and the drive force is not transmitted to the operation unit. It is done.
  • the image sensor does not move, so the image of the subject displayed on the display unit does not change. For this reason, the cause that the operation of the operation unit stops cannot be recognized from the image of the subject.
  • the present invention has been made paying attention to the above-mentioned problems, and an object of the present invention is to provide an operation of the operation unit in the insertion device in which the operation unit is provided in the insertion unit or the operation unit is attached to the insertion unit.
  • An object of the present invention is to provide an insertion device capable of appropriately recognizing the cause of stopping.
  • an insertion device in an insertion portion that extends along a longitudinal axis and includes an image pickup element that images a subject at a distal end portion, and the insertion portion.
  • an operating part that is attached to the insertion part and operates when a driving force is transmitted, the operating part moving the distal end part of the insertion part by operating, and power being supplied.
  • a drive source that generates the driving force transmitted to the operating unit, an operation input unit that receives an operation for operating the operating unit, and the drive based on an input of the operation in the operation input unit.
  • a power control unit that controls a supply state of the power to the source, and an operating member that is operated by transmitting the driving force from the driving source, and the operating member is connected to the operating unit.
  • a driving force transmission unit that transmits the driving force to the operating unit; a driving state of the driving source that changes in response to a load on the driving source; and the load on the operating member and the driving force
  • a state detector that detects at least one of the operating states of the operating member that changes in response to a state of transmission to the operating member, and a sound transmitter that transmits an indicator sound that serves as an index indicating the detection result of the state detector
  • a transmission control unit that controls a transmission state of the index sound from the sound transmission unit based on the detection result of the state detection unit.
  • an insertion device capable of appropriately recognizing the cause of the movement of the operation unit being stopped in the insertion device in which the operation unit is provided in the insertion unit or the operation unit is attached to the insertion unit. it can.
  • FIG. 1 is a perspective view schematically showing an endoscope apparatus according to a first embodiment of the present invention.
  • 1 is a schematic diagram showing an endoscope apparatus according to a first embodiment. It is sectional drawing which shows schematically the state by which the spiral tube was attached to the relay connection part of the insertion part which concerns on 1st Embodiment.
  • FIG. 4 is a sectional view taken along line IV-IV in FIG. 3.
  • FIG. 5 is a sectional view taken along line VV in FIG. 3. It is the schematic which shows the relationship between the input value of the operation input in the operation input part which concerns on an Example with 1st Embodiment, and the movement displacement of a pedal.
  • FIGS. FIG.1 and FIG.2 is a figure which shows the endoscope apparatus 1 which is an insertion apparatus which concerns on 1st Embodiment.
  • the endoscope apparatus 1 is provided with the endoscope 2 which is an insertion apparatus.
  • the endoscope 2 has a longitudinal axis C.
  • One of the directions parallel to the longitudinal axis C (the direction of the arrow C1 in FIG. 1) is the proximal direction, and the opposite direction (the direction of the arrow C2 in FIG. 1) is the distal direction.
  • the distal direction and the proximal direction are the longitudinal axis directions parallel to the longitudinal axis C.
  • the endoscope 2 includes an insertion portion (endoscope insertion portion) 3 extending along the longitudinal axis C, and a holding portion (endoscope holding portion) 5 provided on the proximal direction side from the insertion portion 3. .
  • the insertion portion 3 extends along the longitudinal axis C and is inserted into the body cavity when the endoscope apparatus 1 is used.
  • the endoscope apparatus 1 includes an image processing unit 11 such as an image processor, a light source unit 12 such as a light source device, a control unit 13 such as a drive control device, an operation input unit 15 such as a foot switch, and a display such as a monitor. And a sound transmitter 17 such as a speaker.
  • the holding unit 5 is connected to the image processing unit 11, the light source unit 12, and the control unit 13 via the universal cord 6.
  • the operation input unit 15 and the sound transmission unit 17 are electrically connected to the control unit 13, and the display unit 16 is electrically connected to the image processing unit 11.
  • the insertion portion 3 includes a distal rigid portion 21 that forms the distal end of the insertion portion 3, a bending portion 22 that is provided on the proximal direction side of the distal rigid portion 21, and a bending portion 22.
  • a relay connection portion 27 is provided between the distal end side serpentine tube portion 23 and the proximal end side serpentine tube portion 25 in the longitudinal axis direction parallel to the longitudinal axis C.
  • a cylindrical spiral tube 30 is provided on the outer peripheral side of the insertion portion 2.
  • the spiral tube 30 extends from the relay connection portion 27 in the distal direction, and the distal-side serpentine tube portion 23 is covered with the spiral tube 30.
  • the spiral tube 30 is attached to the insertion portion 3 in a state where the insertion portion 3 is inserted through the spiral tube 30.
  • the spiral tube 30 rotates about the longitudinal axis C with respect to the insertion portion 3 by transmitting a driving force. That is, the spiral tube 30 is an operating part that is attached to the insertion part 3 and operates by transmitting a driving force.
  • the spiral tube 30 includes a tube body 31 that extends along the longitudinal axis C.
  • a spiral fin 32 is provided on the outer peripheral surface of the tube main body 31.
  • the spiral fin 32 extends in a spiral shape with the longitudinal axis C as the center.
  • a distal end side taper portion 33 is provided on the distal end side of the tube main body portion 31.
  • the distal end side taper portion 33 is formed in a tapered shape whose outer diameter becomes smaller toward the distal direction side.
  • a tubular proximal end taper portion 35 is provided on the proximal direction side of the tube main body 31.
  • the proximal end side taper portion 35 is formed in a tapered shape having an outer diameter that decreases toward the proximal direction side.
  • the spiral tube 32 is pressed in the inner circumferential direction by a lumen wall (lumen paries) or the like, so that the spiral tube 30 rotates in the first rotation direction which is one of the two rotation directions. Propulsive force in the direction of the tip acts. Further, when the spiral fin 30 is pressed in the inner circumferential direction by the lumen wall or the like, the spiral tube 30 is rotated in the second rotation direction opposite to the first rotation direction, whereby the insertion portion 3. Propulsive force in the proximal direction acts on The pushing force in the distal direction improves the insertion property of the insertion portion 3 into the lumen, and the pushing force in the proximal direction improves the removal property of the insertion portion 3 from the lumen.
  • bending operation knobs 36 ⁇ / b> A and 36 ⁇ / b> B for inputting a bending operation of the bending portion 22 are provided on the outer surface of the holding portion 5.
  • the bending operation is input by the bending operation knob 36A
  • the bending portion 22 is bent in the bending Up direction or the bending Down direction.
  • the bending operation knob 36B is bent in the bending left direction or the bending right direction.
  • description of the configuration for transmitting the driving force from the bending operation knob 36A to the bending portion 22 and the configuration for transmitting the driving force from the bending operation knob 36B to the bending portion 22 are omitted.
  • two bending operation knobs 36A and 36B are provided, and the bending portion 22 can be bent in the four directions described above, but only the bending operation knob 36A may be provided. In this case, the bending portion 22 can be bent only in the two directions of the bending Up direction and the bending Down direction.
  • An imaging element 37 such as a CCD is provided inside the hard tip portion 21.
  • An observation window 38 is formed on the distal end surface of the insertion portion 3.
  • the image sensor 37 images the subject through the observation window 38.
  • One end of an imaging cable 39 is connected to the imaging element 37.
  • the imaging cable 39 extends through the insertion unit 3, the holding unit 5, and the universal cord 6, and the other end of the imaging cable 39 is connected to the image processing unit 11.
  • An imaging signal based on the imaged subject is transmitted to the image processing unit 11 from the imaging element 37 via the imaging cable 38.
  • the image processing unit 11 performs image processing based on the transmitted imaging signal. As a result, an image of the captured subject is generated, and the generated image of the subject is displayed on the display unit 16.
  • the insertion portion 3 moves in the direction in which the thrust force is applied.
  • the image sensor 37 moves corresponding to the movement of the insertion unit 3. That is, the imaging element 37 (the tip of the insertion portion 3) moves when the spiral tube 30 as the operation portion operates.
  • the image displayed on the display unit 16 changes.
  • a light guide 41 is extended inside the insertion portion 3.
  • the light guide 41 extends from the inside of the insertion portion 3 through the inside of the holding portion 5 and the inside of the universal cord 6 and is connected to the light source portion 12.
  • An illumination window 42 is provided on the distal end surface of the insertion portion 3. The light emitted from the light source unit 12 is guided by the light guide 41 and irradiated onto the subject from the illumination window 42.
  • a treatment instrument insertion port 43 into which a treatment instrument such as forceps is inserted is provided on the outer surface of the holding portion 3.
  • An opening 45 is provided at the distal end surface of the insertion portion 3.
  • the treatment instrument insertion port 43 and the opening 45 communicate with each other via a treatment instrument channel (not shown).
  • the treatment instrument channel extends through the insertion portion 3 and the holding portion 5.
  • the treatment instrument inserted from the treatment instrument insertion port 43 passes through the inside of the treatment instrument channel and protrudes from the opening 45 of the distal end rigid portion 21 toward the distal end. Then, with the treatment tool protruding from the opening 45, the treatment with the treatment tool is performed.
  • the treatment instrument insertion port 43, the opening 45, and the treatment instrument channel are omitted.
  • a motor housing 51 is connected to the holding portion 5.
  • An electric motor 52 that is a drive source is accommodated in the motor housing 51.
  • One end of two motor wires 53A and 53B is connected to the electric motor 52.
  • the control unit 13 includes a power control unit 55 formed from a power supply and a control circuit.
  • the power control unit 55 is electrically connected to the operation input unit 15.
  • the motor wires 53 ⁇ / b> A and 53 ⁇ / b> B extend through the holding unit 5 and the universal cord 6, and the other ends of the motor wires 53 ⁇ / b> A and 53 ⁇ / b> B are connected to the power control unit 55 of the control unit 13. .
  • the driving force generated by the electric motor 52 is transmitted to the spiral tube 30 via the driving force transmission unit 60.
  • the driving force transmission unit 60 includes a relay gear 61 attached to the electric motor 52 and a drive gear 62 that meshes with the relay gear 61.
  • the drive gear 62 is located inside the holding unit 5.
  • a guide tube 63 extends from the proximal direction to the distal direction inside the proximal-side serpentine tube portion 25.
  • the driving force transmission unit 60 includes a shaft member 65 that extends inside the guide tube 63.
  • the shaft member 65 has a shaft axis S substantially parallel to the longitudinal axis C, and extends along the shaft axis S.
  • the base end of the shaft member 65 is connected to the drive gear 62.
  • the driving force generated by the electric motor 52 is transmitted to the shaft member 65 via the relay gear 61 and the driving gear 62.
  • the shaft member 65 rotates about the shaft axis S. Therefore, the relay gear 61, the drive gear 62, and the shaft member 65 are actuating members that are actuated when a driving force is transmitted from the electric motor 52 that is a driving source.
  • FIG. 3 is a view showing a state in which the spiral tube 30 is attached to the relay connection portion 27 of the insertion portion 3.
  • 4 is a cross-sectional view taken along line IV-IV in FIG. 3
  • FIG. 5 is a cross-sectional view taken along line VV in FIG. 3 to 5, the imaging cable 38, the light guide 41, and the like described above are omitted.
  • the relay connection portion 27 is provided with a base member 71.
  • a proximal end portion of the distal-side serpentine tube portion 23 is connected to a distal end portion of the base member 71 through a relay member 72.
  • the distal side serpentine tube portion 23 and the relay connection portion 27 are connected.
  • proximal end side serpentine tube portion 25 is connected to the proximal end portion of the base member 71 through the relay member 73.
  • the proximal-side serpentine tube portion 25 and the relay connection portion 27 are connected.
  • the direction away from the longitudinal axis C is defined as the outer peripheral direction (separate axis direction), and the direction opposite to the outer peripheral direction is defined as the inner peripheral direction (axial direction).
  • the driving force transmission unit 60 includes a driving gear 77 and a relay gear 78 that meshes with the driving gear 77.
  • the drive gear 77 and the relay gear 78 are disposed in the hollow portion 75 and attached to the base member 71.
  • the distal end of the guide tube 63 is connected to the base member 71.
  • the inside of the guide tube 63 communicates with the cavity 75.
  • the distal end of the shaft member 65 is connected to the drive gear 77 through the hollow portion 75.
  • the driving force transmission unit 60 includes a rotating cylindrical member 80 and three inner sides 82A to 82C attached to the rotating cylindrical member 80.
  • the rotating cylindrical member 80 is attached to the base member 71 in a state where the insertion portion 3 is inserted through the rotating cylindrical member 80.
  • the rotating cylindrical member 80 is rotatable about the longitudinal axis C with respect to the insertion portion 3 (base member 71).
  • An inner peripheral gear portion 81 is provided on the inner peripheral surface of the rotating cylindrical member 80 over the entire circumference in the direction around the longitudinal axis.
  • the inner peripheral gear portion 81 meshes with the relay gear 78.
  • the rotating cylindrical member 80 rotates about the longitudinal axis C with respect to the insertion portion 3. Therefore, the drive gear 77, the relay gear 78, and the rotating cylindrical member 80 are actuated members that are actuated when a driving force is transmitted from the electric motor 52 that is a drive source via the shaft member 65.
  • the inner rollers 82A to 82C are arranged at substantially equal intervals in the direction around the longitudinal axis. Each inner roller 82A to 82C has a corresponding roller shaft (Q1 to Q3). Each of the inner rollers 82A to 82C is rotatable with respect to the rotating cylindrical member 80 about the corresponding roller shaft (Q1 to Q3). The inner rollers 82A to 82C are rotatable about the longitudinal axis C with respect to the insertion portion 3 (base member 71) integrally with the rotating cylindrical member 80.
  • a cylindrical cover member 83 is covered on the outer peripheral side of the rotating cylindrical member 80 and the inner rollers 82A to 82C.
  • the front end of the cover member 83 is fixed to the base member 71 via a locking member 85A
  • the base end of the cover member 83 is fixed to the base member 71 via a locking member 85B.
  • the cover member 83 prevents the liquid from flowing into the cavity 75, the rotating cylindrical member 80, and the inner rollers 82A to 82C located on the inner circumferential direction side of the cover member 83.
  • the cover member 83 protrudes in the outer peripheral direction at a portion where the inner rollers 82A to 82C are located in the direction around the longitudinal axis. Note that the cover member 83 is fixed to the insertion portion 3, and the rotating cylindrical member 80 and the inner rollers 82 A to 82 C are rotatable about the longitudinal axis C with respect to the cover member 83.
  • outer rollers 86A to 86F are attached to the inner peripheral surface of the proximal end side tapered portion 35 of the spiral tube 30.
  • the outer rollers 86A to 86F are located on the outer peripheral direction side of the cover member 83.
  • the inner roller 82A is located between the outer roller 86A and the outer roller 86B
  • the inner roller 82B is located between the outer roller 86C and the outer roller 86D
  • the outer roller 86E and the outer roller 86F The inner roller 82C is positioned between the two.
  • Each of the outer rollers 86A to 86F has a corresponding roller shaft (P1 to P6).
  • Each of the outer rollers 86A to 86F is rotatable with respect to the cover member 83 and the proximal end side taper portion 35 around the corresponding roller shaft (P1 to P6). Further, the outer rollers 86A to 86F can rotate around the longitudinal axis C with respect to the insertion portion 3 (base member 71) integrally with the spiral tube 30.
  • the inner roller 82A presses the outer roller 86A or the outer roller 86B.
  • the inner roller 82B presses the outer roller 86C or the outer roller 86D
  • the inner roller 82C presses the outer roller 86E or the outer roller 86F.
  • the driving force generated by the electric motor 52 is transmitted from the inner rollers 82A to 82C to the spiral tube 30, and the spiral tube 30 is in the first rotational direction or the second rotational direction with respect to the insertion portion 3 and the cover member 83.
  • the inner rollers 82A to 82C rotate about the corresponding roller shafts (Q1 to Q3), so that the friction between the inner rollers 82A to 82C and the cover member 83 is reduced.
  • the outer rollers 86A to 86F rotate around the corresponding roller shafts (P1 to P6), the friction between the outer rollers 86A to 86F and the cover member 83 is reduced. Therefore, the driving force is appropriately transmitted from the inner rollers 82A to 82C to the spiral tube 30, and the spiral tube 30 is appropriately rotated.
  • the control unit 13 includes a state detection unit 56 and a transmission control unit 57.
  • the state detection unit 56 is formed of, for example, a detection circuit, and is electrically connected to the power control unit 55 and the operation input unit 16.
  • the state detection unit 56 includes a drive current detection unit 58.
  • the transmission control unit 57 includes, for example, a control circuit that forms a CPU (Central Processing Unit) or an ASIC (application specific integrated circuit) and a storage unit such as a memory, and is electrically connected to the state detection unit 56 and the sound transmission unit 17. It is connected.
  • a speed sensor 46 is provided inside the motor housing 51.
  • a driving speed V of the electric motor 52 is detected by the speed sensor 46.
  • One end of an electric signal line 47 is connected to the speed sensor 46.
  • the electric signal line 47 extends through the inside of the holding unit 5 and the inside of the universal cord 6, and the other end of the electric signal line 47 is connected to the power control unit 55.
  • the operation input unit 15 and the power control unit 55 controls the power supply state based on the operation input by the operation input unit 15.
  • a first rotation operation for rotating the spiral tube 30 in the first rotation direction and a second rotation operation for rotating the spiral tube 30 in the second rotation direction are input.
  • the operation input unit 15 is a foot switch including two pedals
  • the first rotation operation of the spiral tube 30 is input by one pedal
  • the second rotation operation of the spiral tube 30 is input by the other pedal. Is done.
  • the first rotation operation is input, the direction of the drive current I supplied from the power control unit 55 to the electric motor 52 is opposite to that when the second rotation operation is input.
  • the drive current I is directed from the power control unit 55 to the electric motor 52 in the motor wiring 53A, and the drive current I is transmitted from the electric motor 52 to the power control unit 55 in the motor wiring 53B.
  • the electric motor 52 is driven in the first driving direction which is one of the two driving directions, and the driving force is transmitted as described above, whereby the spiral tube 30 rotates in the first rotating direction.
  • the drive current I is directed from the power control unit 55 to the electric motor 52 in the motor wiring 53B, and the drive current I is transmitted from the electric motor 52 to the power control unit 55 in the motor wiring 53A.
  • the electric motor 52 is driven in the second driving direction opposite to the first driving direction, and the driving force is transmitted as described above, whereby the spiral tube 30 is moved in the second rotating direction. Rotate.
  • the input value W of the operation (first rotation operation and second rotation operation) input by the operation input unit 15 will be described.
  • the operation input unit 15 is a foot switch including a pedal
  • the input value W is determined based on the position of the pedal.
  • the position of the pedal in a state where no operation is input is set as a reference position
  • the displacement of the pedal movement from the reference position is set as ⁇ .
  • the input value W is proportional to the movement displacement ⁇ of the pedal from the reference position. That is, the input value W becomes 0 when the pedal is located at the reference position, and the input value W approaches 1 as the displacement ⁇ of the pedal from the reference position increases.
  • the input value W is 1 in a state where the displacement ⁇ of the pedal from the reference position is maximized.
  • the input value W is either 0 or 1, as shown in FIG. 6B. That is, the input value W is switched between 0 and 1 with the position where the movement displacement ⁇ of the pedal from the reference position is ⁇ 0 as the boundary position.
  • the input value W is 0, and when the pedal movement displacement ⁇ from the reference position is ⁇ 0 or more, the input value W is 1.
  • information on the input value W is transmitted from the operation input unit 15 to the power control unit 55, and the power control unit 55 controls the power supply state based on the input value W.
  • FIG. 7 is a diagram illustrating a relationship between the input value W of the operation input by the operation input unit 15 and the driving speed V of the electric motor 52.
  • the driving speed V of the electric motor 52 is proportional to the input value W. That is, the power supply unit 55 changes the power supply state to the electric motor 52 so that the driving speed V of the electric motor 52 is kept constant as long as the input value W of the operation at the operation input unit 15 is constant. I have control.
  • the drive torque of the electric motor 52 is adjusted by the power control unit 55 so that the drive speed V of the electric motor 52 is constant.
  • the drive torque of the electric motor 52 is proportional to the current value of the drive current I. Therefore, when the input value W is constant, the power control unit 55 adjusts the current value of the drive current I so that the drive speed V of the electric motor 52 is constant.
  • a control method in which the drive current I (drive torque) is adjusted so that the drive speed V of the electric motor 52 is kept constant as described above is called constant speed control. In the constant speed control, since the driving speed V of the electric motor 52 is constant, the rotational speed of the shaft member 65 and the rotational speed of the spiral tube 30 are constant.
  • the current value of the drive current I is adjusted within a range that can be output from the power control unit 55.
  • Information about the driving speed V is transmitted from the speed sensor 46 to the power control unit 55 via the electric signal line 47, and the power control unit 55 performs control based on the fed back information about the driving speed V. ing.
  • the current value (drive torque) of the drive current I of the electric motor 52 changes corresponding to the load ⁇ acting on the electric motor 52.
  • a load acts on the spiral tube 30 from the lumen wall or the like, and the load acting on the spiral tube 30 is transmitted to the electric motor 52 via the driving force transmission unit 60.
  • the load ⁇ acts on the electric motor 52.
  • FIG. 8 is a diagram showing the relationship between the load ⁇ acting on the electric motor 52 and the current value of the driving current I when the driving speed V of the electric motor 52 is kept constant. As shown in FIG.
  • the drive current detection unit 58 of the state detection unit 56 detects the current value of the drive current I to the electric motor 52 based on the power supply state from the power control unit 55. Based on the detected current value of the drive current I, the state detection unit 56 detects the drive state of the electric motor 52.
  • the driving state of the electric motor 52 changes corresponding to the load ⁇ applied to the electric motor 52. Therefore, by detecting the driving state of the electric motor 52 including the driving current I, it is possible to confirm the operating state of the load ⁇ on the electric motor 52.
  • the sound transmitter 17 transmits an indicator sound that serves as an index indicating the detection result of the drive current detector 58 of the state detector 56.
  • the transmission control unit 57 controls the transmission state of the indicator sound from the sound transmission unit 17 based on the detection result of the drive current detection unit 58 of the state detection unit 56.
  • the transmission state of the indicator sound is controlled so that the volume Z of the indicator sound changes corresponding to the current value of the drive current I.
  • FIG. 9 is a diagram showing the relationship between the current value of the drive current I and the volume Z of the indicator sound. As shown in FIG. 9, in this embodiment, the volume Z of the indicator sound increases as the current value of the drive current I increases.
  • the volume Z of the indicator sound increases.
  • the current value of the drive current I decreases, the volume Z of the indicator sound decreases. Therefore, when the load ⁇ acting on the electric motor 52 is small, the volume Z of the indicator sound is small.
  • the transmission control unit 57 controls the transmission state of the indicator sound so that the transmission state of the sound, such as volume, sound quality, and temporal transmission pattern, is different from the alarm sound.
  • the alarm sound is a sound described in IEC medical electrical equipment safety general rule 6060160.
  • an electric knife may be used simultaneously with the endoscope apparatus 1.
  • the alarm sound is transmitted when human life may be affected by a high-frequency current used for treatment with an electric knife, for example.
  • the insertion section 3 is inserted into the lumen while the spiral tube 30 is attached to the insertion section 3. Then, an operation for rotating the spiral tube 30 is input by the operation input unit 15 in a state where the spiral fin 32 is in contact with the lumen wall. Thereby, electric power is supplied from the electric power control unit 55 to the electric motor 52 that is a driving source, and a driving force for rotating the spiral tube 30 is generated. At this time, the power control unit 55 controls the power supply state so that the drive speed V of the electric motor 52 is constant as long as the input value W is constant.
  • the driving force generated by the electric motor 52 is transmitted to the spiral tube 30 via the driving force transmission unit 60 including the shaft member 65.
  • the spiral tube 30 rotates about the longitudinal axis C with respect to the insertion portion 3.
  • a propulsive force in the distal direction or the proximal direction acts on the insertion portion 3.
  • the image sensor 37 is moved. Corresponding to the movement of the image sensor 37, the image displayed on the display unit 16 changes.
  • the rotation (operation) of the spiral tube 30 as the operation unit may stop in the lumen even though the operation is input through the operation input unit 15.
  • the reason why the operation of the spiral tube 30 is stopped is that an excessively high load is applied to the spiral tube 30, and a problem occurs in the driving force transmission unit 60, so that the driving force is not transmitted to the spiral tube 30. It can be mentioned.
  • the insertion portion 3 does not move in the distal direction or the proximal direction, and the insertion portion 3 does not move.
  • the image sensor 37 does not move, and the image of the subject displayed on the display unit 16 does not change.
  • the surgeon can confirm from the image displayed on the display unit 16 that the operation of the spiral tube 30 is stopped.
  • the cause of the stop of the operation of the spiral tube 30 cannot be recognized from only the image displayed on the display unit 16.
  • the drive current detection unit 58 of the state detection unit 56 detects the current value of the drive current I to the electric motor 52 based on the power supply state from the power control unit 55.
  • the load acting on the spiral tube 30 is transmitted to the electric motor 52 through the driving force transmission unit 60. .
  • the load ⁇ acting on the electric motor 52 increases.
  • the constant speed control in which the drive speed V of the electric motor 52 is kept constant as long as the input value W of the operation at the operation input unit 15 is constant, the current of the drive current I when the load ⁇ on the electric motor 52 is large. The value increases.
  • the transmission control unit 57 increases the volume Z of the indicator sound transmitted from the sound transmission unit 17 when the current value of the drive current I is large.
  • the driving force is not transmitted to the spiral tube 30 in a state where the rotation of the spiral tube 30 is stopped due to a failure in the driving force transmission unit 60 such as the shaft member 65 being cut.
  • the load acting on the spiral tube 30 is not transmitted to the electric motor 52 via the driving force transmission unit 60, and the load ⁇ acting on the electric motor 52 becomes small.
  • the drive speed V of the electric motor 52 is kept constant as long as the input value W of the operation at the operation input unit 15 is constant, the current of the drive current I when the load ⁇ on the electric motor 52 is small. The value becomes smaller.
  • the transmission control unit 57 reduces the volume Z of the indicator sound transmitted from the sound transmission unit 17 when the current value of the drive current I is small.
  • the transmission control unit 57 reduces the volume Z of the indicator sound transmitted from the sound transmission unit 17 when the current value of the drive current I is small.
  • the operator detects the driving state of the electric motor 52 and, based on the index sound that serves as an index indicating the current value of the driving current I, the surgeon loads the load ⁇ on the electric motor 52. It becomes possible to confirm the action state of. For this reason, when the operation of the spiral tube 30 is stopped, the operator can appropriately recognize the cause of the stop of the operation of the spiral tube 30 based on the index sound. Thereby, even when the operation of the spiral tube 30 is stopped, it is possible to make an appropriate determination corresponding to the cause of the stop of the operation.
  • the transmission state of the indicator sound is different from the transmission state of the alarm sound that is transmitted when human life may be affected. Therefore, the surgeon can appropriately identify the index sound and the alarm sound.
  • the volume Z of the indicator sound increases as the current value of the drive current I increases.
  • the present invention is not limited to this.
  • the volume Z of the indicator sound may decrease as the current value of the drive current I increases.
  • FIG. 11 as a second modification, when the current value of the drive current I is equal to or less than the first reference value I1, the volume Z is a constant value Z1, and the current value of the drive current I is the first value.
  • the reference value I2 is equal to or greater than 2
  • the volume Z is a constant value Z2 that is greater than the value Z1. Then, between the first reference value I1 and the second reference value I2, the volume Z of the indicator sound increases as the current value of the drive current I increases.
  • the volume Z of the indicator sound changes corresponding to the current value of the drive current I, but the present invention is not limited to this.
  • the sound quality of the index sound may be changed in accordance with the current value of the drive current I.
  • the pitch Y of the index sound is changed corresponding to the current value of the drive current I.
  • the indicator sound increases as the current value of the drive current I increases.
  • the temporal transmission pattern of the indicator sound may change corresponding to the current value of the drive current I.
  • the vertical axis indicates volume Z and the horizontal axis indicates elapsed time t.
  • the period (that is, the interval between the pattern sound part Mn and the pattern sound part Mn + 1) T of the pattern sound part Mn is changed in accordance with the current I of the drive current.
  • the period T of the pattern sound portion Mn increases.
  • the cycle T of the pattern sound portion Mn is T1.
  • the period T of the pattern sound portion Mn becomes T2 longer than T1.
  • the time interval d between the sound element An and the sound element Bn is changed in each pattern sound part Mn in accordance with the current value of the drive current I. Yes.
  • the time interval d between the sound element An and the sound element Bn increases.
  • the time interval d is d1.
  • the time interval d is d2 longer than d1.
  • each pattern sound portion Mn is formed of only one sound element An.
  • the transmission time r of the sound element An is changed in each pattern sound portion Mn in accordance with the current value of the drive current I.
  • the transmission time r of the sound element An increases as the current value of the drive current I increases.
  • FIG. 15A when the current value of the drive current I becomes the first value Ia, the transmission time r of the sound element An is r1.
  • FIG. 15B when the current value of the drive current I becomes a second value Ib larger than the first value Ia, the transmission time r of the sound element An is r2 longer than r1.
  • the number of sound elements (An, Bn, En) forming each pattern sound portion Mn is changed in accordance with the current value of the drive current I. .
  • the number of sound elements (An, Bn, En) that form the pattern sound portion Mn increases.
  • FIG. 16A when the current value of the drive current I becomes the first value Ia, each pattern sound portion Mn is formed from one sound element An.
  • the electric motor 52 is supplied by constant speed control in which the driving speed V of the electric motor 52 is kept constant as long as the input value W of the operation at the operation input unit 15 is constant.
  • the power to be controlled is controlled.
  • the driving state of the electric motor 52 is detected based on the driving current I, and the transmission state of the indicator sound is changed based on the current value of the driving current I. For this reason, based on the index sound that is an index indicating the current value of the drive current I, the surgeon can confirm the action state of the load ⁇ on the electric motor 52.
  • FIG. 17 is a diagram illustrating a configuration of the holding unit 5 and the control unit 13 of the endoscope apparatus 1 according to the second embodiment.
  • a displacement sensor 91 that measures the drive displacement (rotational displacement) ⁇ of the electric motor 52 that is a drive source is provided inside the motor housing 51.
  • One end of an electric signal line 92 is connected to the displacement sensor 91.
  • the electric signal line 92 extends through the inside of the holding unit 5 and the inside of the universal cord 6, and the other end of the electric signal line 92 is connected to the state detection unit 56.
  • the state detection unit 56 formed from a detection circuit or the like includes a drive displacement detection unit 93 and a drive speed detection unit 95.
  • the speed sensor 46, the electric signal line 47, and the drive current detection unit 58 are not provided.
  • the image processing unit 11, the light source unit 12, the display unit 16, the imaging cable 39, and the light guide 41 are omitted.
  • the control of the power supply state by the power control unit 55 will be described. Note that the following description applies to both the case where the electric motor 52 is driven in the first driving direction and the case where the electric motor 52 is driven in the second driving direction. Also in the present embodiment, as in the first embodiment, information regarding the input value W is transmitted from the operation input unit 15 to the power control unit 55, and the power control unit 55 determines the power supply state based on the input value W. I have control. However, in the present embodiment, the constant speed control described above in the first embodiment is not performed.
  • FIG. 18 is a diagram showing the relationship between the input value W of the operation input by the operation input unit 15 and the drive current I to the electric motor 52.
  • the drive torque of the electric motor 52 is proportional to the input value W.
  • the drive torque of the electric motor 52 is proportional to the current value of the drive current I.
  • the current value of the drive current I to the electric motor 52 is proportional to the input value W. That is, the electric power supply unit 55 keeps the driving torque of the electric motor 52 (current value of the driving current I) constant as long as the input value W of the operation at the operation input unit 15 is constant. The power supply state is controlled.
  • the power control unit 55 adjusts the current value of the drive current I supplied to the electric motor 52 to be constant.
  • the control method in which the drive torque of the electric motor 52 (current value of the drive current I) is adjusted to be constant as described above is called constant torque control.
  • the current value of the drive current I is kept constant within a range that can be output from the power control unit 55.
  • FIG. 19 is a diagram showing the relationship between the load ⁇ acting on the electric motor 52 and the drive displacement ⁇ when the current value of the drive current I to the electric motor 52 is kept constant.
  • the state detection unit 56 Information relating to the drive displacement ⁇ of the electric motor 52 measured by the displacement sensor 91 is input to the state detection unit 56.
  • the drive displacement detector 93 of the state detector 56 detects the drive displacement ⁇ of the electric motor 52 based on the measurement information from the displacement sensor 91.
  • the drive speed detecting unit 95 detects the drive speed V of the electric motor 52 based on the measurement information from the displacement sensor 91.
  • the state detection unit 56 Based on the detected drive displacement ⁇ and drive speed V, the state detection unit 56 detects the drive state of the electric motor 52.
  • the driving state of the electric motor 52 changes corresponding to the load ⁇ applied to the electric motor 52. Therefore, by detecting the driving state of the electric motor 52 including the driving displacement ⁇ and the driving speed V, it is possible to confirm the operating state of the load ⁇ on the electric motor 52.
  • the sound transmitter 17 transmits an index sound that serves as an index indicating the detection result of the drive displacement detector 93 of the state detector 56.
  • the transmission control unit 57 controls the transmission state of the index sound from the sound transmission unit 17 based on the detection result of the drive displacement detection unit 93 of the state detection unit 56.
  • the transmission state of the index sound is controlled so that the volume Z of the index sound changes corresponding to the drive displacement ⁇ .
  • FIG. 20 is a diagram showing the relationship between the drive displacement ⁇ and the volume Z of the indicator sound. As shown in FIG. 20, in this embodiment, the volume Z of the index sound increases as the drive displacement ⁇ increases.
  • the transmission control unit 57 controls the transmission state of the indicator sound so that the transmission state of the volume, sound quality, temporal transmission pattern, etc. is different from the alarm sound. is doing.
  • the insertion portion 3 is moved by the propulsive force by rotating the spiral tube 30 in a state where the spiral fin 32 receives a pressing force in the inner circumferential direction from the lumen wall.
  • the image sensor 37 moves and the image displayed on the display unit 16 changes.
  • the power control unit 55 controls the power supply state so that the driving torque of the electric motor 52 is constant as long as the input value W is constant.
  • the rotation (operation) of the spiral tube 30 as the operation unit may stop in the lumen even though the operation is input through the operation input unit 15.
  • the insertion unit 3 and the image sensor 37 do not move, and the image of the subject displayed on the display unit 16 does not change.
  • the drive displacement detector 93 of the state detector 56 detects the drive displacement ⁇ of the electric motor 52 based on the measurement result of the displacement sensor 91.
  • the load ⁇ acting on the electric motor 52 becomes large.
  • the transmission control unit 57 reduces the volume Z of the indicator sound transmitted from the sound transmission unit 17 when the drive displacement ⁇ is small.
  • the driving force is not transmitted to the spiral tube 30 in a state where the rotation of the spiral tube 30 is stopped due to a failure in the driving force transmission unit 60 such as the shaft member 65 being cut.
  • the load acting on the spiral tube 30 is not transmitted to the electric motor 52 via the driving force transmission unit 60, and the load ⁇ acting on the electric motor 52 becomes small.
  • the transmission control unit 57 increases the volume Z of the index sound transmitted from the sound transmission unit 17 when the drive displacement ⁇ is large.
  • the driving state of the electric motor 52 is detected, and based on the index sound serving as an index indicating the driving displacement ⁇ , the operator can apply the load ⁇ to the electric motor 52. Can be confirmed. For this reason, when the operation of the spiral tube 30 is stopped, the operator can appropriately recognize the cause of the stop of the operation of the spiral tube 30 based on the index sound. Thereby, even when the operation of the spiral tube 30 is stopped, it is possible to make an appropriate determination corresponding to the cause of the stop of the operation.
  • an indicator sound serving as an indicator indicating the drive displacement ⁇ of the electric motor 52 is transmitted, but the present invention is not limited to this.
  • an indicator sound serving as an indicator indicating the driving speed V of the electric motor 52 may be transmitted.
  • the current value (drive torque) of the drive current I to the electric motor 52 is kept constant as long as the operation input value W is constant, the load ⁇ to the electric motor 52 is the same as the drive displacement ⁇ . Is large, the driving speed V decreases, and when the load ⁇ to the electric motor 52 is small, the driving speed V increases.
  • the surgeon can confirm the action state of the load ⁇ on the electric motor 52.
  • a speed sensor (not shown) may be provided instead of the displacement sensor 91 and the driving speed V of the electric motor 52 may be measured.
  • the transmission state of the indicator sound may be changed in the same manner as the change described in the modification of the first embodiment (see FIGS. 10 to 16B). That is, if the transmission control unit 57 changes the transmission state of the index sound (at least one of the volume Z, the sound quality, and the temporal transmission pattern) based on the drive displacement ⁇ (drive speed V) of the electric motor 52. Good.
  • a displacement sensor (not shown) that measures an operating displacement (rotational displacement) ⁇ of the driving gear 77 that is one of the operating members forming the driving force transmission unit 60 is provided inside the insertion portion 3. May be.
  • the state detecting unit 56 adds to the driving displacement ⁇ and the driving speed V of the electric motor 52, and the driving gear 77 that is one of the operating members.
  • the operating displacement ⁇ and the operating speed (rotational speed) ⁇ are detected.
  • an indicator sound that is an indicator that indicates the operating displacement ⁇ is transmitted.
  • the operating displacement ⁇ of the driving gear 77 is detected in addition to the driving displacement ⁇ of the electric motor 52. That is, in addition to the drive state of the electric motor 52, the operation state of the drive gear 77 which is one of the operation members is detected.
  • the operating state of the driving gear 77 including the operating displacement ⁇ and the operating speed ⁇ changes in accordance with the load acting on the driving gear 77 and the transmission state of the driving force to the driving gear 77. For this reason, in addition to the indicator sound indicating the driving state of the electric motor 52, the indicator sound indicating the operating state of the drive gear 77 is transmitted, so that the surgeon more appropriately describes the cause of the stop of the operation of the spiral tube 30. It becomes possible to recognize. For example, when the drive displacement ⁇ of the electric motor 52 is small and the operation displacement ⁇ of the drive gear 77 is small, it is recognized that an excessively high load is acting on the spiral tube 30 by two index sounds. .
  • the drive force transmission unit 60 is driven between the electric motor 52 and the drive gear 77 by two index sounds. It is recognized that a fault has occurred that causes the force not to be transmitted.
  • the drive displacement ⁇ of the electric motor 52 is large and the operation displacement ⁇ of the drive gear 77 is large, the drive force transmission unit 60 drives between the drive gear 77 and the spiral tube 30 by two index sounds. It is recognized that a fault has occurred that causes the force not to be transmitted.
  • the indicator sound indicating the operating displacement ⁇ of the drive gear 77 has a different transmission state from the alarm sound, and has a different transmission state from the indicator sound indicating the drive displacement ⁇ of the electric motor 52.
  • an index sound indicating the operating speed ⁇ of the drive gear 77 may be transmitted instead of an index sound indicating the operating displacement ⁇ of the drive gear 77.
  • the operation state of the drive gear 77 not the operation state of the drive gear 77 but the operation state (operation displacement, operation speed, etc.) of the drive shaft 65 may be detected, and the operation state (operation displacement, operation speed, etc.) of the rotating cylindrical member 80 is detected. May be.
  • the electric motor is controlled by constant torque control in which the current value of the drive current I of the electric motor 52 is kept constant as long as the input value W of the operation at the operation input unit 15 is constant.
  • the power supplied to 52 is controlled.
  • the state detection unit 56 detects the driving state of the electric motor 52 based on the driving displacement ⁇ or the driving speed V of the electric motor 52, or the operation member (relay gear 61, relay gear 61, which forms the driving force transmission unit 60).
  • the operating state of the operating member is detected based on the operating displacement ⁇ or the operating speed ⁇ of the driving gear 62, the driving shaft 65, the driving gear 77, the relay gear 78, the rotating cylindrical member 80, and the like.
  • the transmission state of the indicator sound is changed. Therefore, based on the index sound, the surgeon can confirm the action state of the load ⁇ to the electric motor 52 and the driving force transmission state in the driving force transmission unit 60.
  • FIGS. 21 and 22 are views showing an endoscope apparatus 101 that is an insertion apparatus of the present embodiment.
  • the endoscope apparatus 101 includes an endoscope 102 that is an insertion device.
  • the endoscope 102 has a longitudinal axis C ′.
  • One of the directions parallel to the longitudinal axis C ′ (the direction of the arrow C′1 in FIG.
  • the endoscope 102 includes an insertion portion (endoscope insertion portion) 103 that extends along the longitudinal axis C ′, and a holding portion (endoscope holding portion) 105 that is provided on the proximal direction side of the insertion portion 103. And comprising.
  • the insertion portion 103 extends along the longitudinal axis C ′ and is inserted into the body cavity when the endoscope apparatus 101 is used.
  • the endoscope apparatus 101 similarly to the endoscope apparatus 1 of the first and second embodiments, the endoscope apparatus 101 includes an image processing unit 111 such as an image processor and a light source unit such as a light source device. 112, a control unit 113 such as a drive control device, a display unit 116 such as a monitor, and a sound transmission unit 117 such as a speaker. Note that the image processing unit 111, the light source unit 112, and the display unit 116 have the same configuration and functions as those in the first embodiment. In FIG. 22, the image pickup element (37), the image pickup cable (39), the light guide (41) and the like described in the first embodiment are omitted.
  • the insertion portion 103 includes a distal end rigid portion 121 that forms the distal end of the insertion portion 103, a bending portion 122 provided on the proximal direction side from the distal end rigid portion 121, and a serpentine tube portion 123 provided on the proximal direction side from the bending portion 122. And comprising.
  • the bending portion 122 performs a bending operation when the driving force is transmitted.
  • the bending portion 122 is an operating portion that is provided in the insertion portion 103 and operates when a driving force is transmitted.
  • a bending operation knob 125 and a bending operation dial 126 are provided on the outer surface of the holding unit 105.
  • the bending portion 122 When the bending operation is input by the bending operation knob 125, the bending portion 122 is bent in the bending Up direction (the direction of the arrow U in FIG. 21) or the bending Down direction (the direction of the arrow D in FIG. 21). Further, when a bending operation is input through the bending operation dial 126, the bending portion 122 is bent in the bending Left direction (the direction of the arrow L in FIG. 21) or the bending Right direction (the direction of the arrow R in FIG. 21).
  • the bending operation dial 126 is an operation input unit to which an operation for bending the bending unit 122 that is an operation unit is input.
  • Rotating the bending operation knob 125 generates a driving force for bending the bending portion 122 in the bending Up direction or the bending Down direction.
  • a UD pulley (first rotating member) 131A is provided inside the holding unit 105.
  • the proximal ends of the UD bending wires 132U and 132D are connected to the UD pulley 131A.
  • the UD bending wires 132U and 132D are extended along the longitudinal axis C ′ inside the insertion portion 103.
  • the driving force generated by the bending operation knob 125 is transmitted to the bending portion 122 via the UD pulley 131A and the UD bending wires 132U and 132D. Accordingly, the bending portion 122 performs a bending operation and is bent in the bending Up direction or the bending Down direction.
  • An electric motor 152 as a drive source is provided inside the scope connector 107 of the universal cord 106.
  • the electric motor 152 is connected to one end of the electrical wires 153A and 153B.
  • the control unit 113 includes a power control unit 155 formed from a power supply and a control circuit. The other ends of the motor wires 153A and 153B are connected to the power control unit 155 of the control unit 113.
  • an operation input detection unit 133 such as a potentiometer that detects an operation input with the bending operation dial 126 that is an operation input unit is provided.
  • One end of an electric signal line 135 is connected to the operation input detection unit 133.
  • the electric signal line 135 extends through the inside of the universal cord 106, and the other end of the electric signal line 135 is connected to the power control unit 155.
  • the operation input detection unit 133 detects the input of the bending operation by the bending operation dial 126. Is done. As a result, information related to the bending operation with the bending operation dial 126 is transmitted from the operation input detection unit 133 to the power control unit 155 via the electric signal line 135. At this time, the input value W ′ of the bending operation with the bending operation dial 126 is also transmitted.
  • the input value W ′ of the bending operation is a parameter similar to the input value W described above in the first embodiment, and is determined based on the rotational position of the bending operation dial 126 in the present embodiment.
  • electric power is supplied from the power control unit 155 to the electric motor 152 via the motor wires 153A and 153B. That is, the power control unit 155 controls the supply state of power to the electric motor 152 that is a drive source, based on an operation input by the bending operation dial 126 that is an operation input unit.
  • the electric motor 152 is driven, and a driving force is generated to bend the bending portion 122, which is the operation portion, in the bending Left direction or the bending Right direction.
  • the driving force generated by the electric motor 152 is transmitted to the bending portion 122 via the driving force transmission unit 140.
  • the driving force transmission unit 140 includes a relay gear 141 attached to the electric motor 152 and a drive gear 142 that meshes with the relay gear 141.
  • a guide tube 143 is extended inside the universal cord 106.
  • the driving force transmission unit 140 includes a shaft member 145 extending along the shaft axis S ′ inside the guide tube 143. One end of the shaft member 145 is connected to the drive gear 142.
  • the driving force generated by the electric motor 152 is transmitted to the shaft member 145 via the relay gear 141 and the driving gear 142.
  • the shaft member 145 rotates about the shaft axis S ′. Therefore, the relay gear 141, the drive gear 142, and the shaft member 145 are actuating members that are actuated by the driving force transmitted from the electric motor 152 that is a driving source.
  • the driving force transmission unit 140 includes a bevel gear 147 provided inside the holding unit 105 and a spur gear 148 that meshes with the bevel gear 147.
  • the other end of the shaft member 145 is connected to the bevel gear 147.
  • the driving force transmission unit 140 includes an LR pulley (second rotating member) 131B provided inside the holding unit 105.
  • the LR pulley 131B can rotate integrally with the spur gear 148.
  • the driving force generated by the electric motor 152 is transmitted from the shaft member 145 to the LR pulley 131B via the bevel gear 147 and the spur gear 148.
  • the LR pulley 131B rotates. Therefore, the bevel gear 147, the spur gear 148, and the LR pulley 131B are actuating members that are actuated by transmitting a driving force from the electric motor 152 that is a driving source via the shaft member 145.
  • the driving force transmission unit 140 includes LR bending wires 132L and 132R whose base ends are connected to the LR pulley 131B.
  • the LR bending wires 132L and 132R extend along the longitudinal axis C ′ inside the insertion portion 103.
  • a driving force is transmitted from the LR pulley 131B, and the LR bending wires 132L and 132R move along the longitudinal axis C ′. Thereby, the LR bending wire 132L or the LR bending wire 132R is pulled in the proximal direction.
  • the LR bending wires 132L and 132R are actuating members that are actuated when driving force is transmitted from the electric motor 152 as a driving source via the shaft member 145 and the LR pulley 131B.
  • the distal ends of the LR bending wires 132L and 132R are connected to the distal end portion of the bending portion 122.
  • the driving force generated by the electric motor 152 is transmitted to the bending portion 122 via the driving force transmission unit 140.
  • the bending portion 122 performs a bending operation and bends in the bending Left direction or the bending Right direction.
  • the control unit 113 includes a state detection unit 156 and a transmission control unit 157.
  • the transmission control unit 157 includes, for example, a control unit that forms a CPU (Central Processing Unit) or an ASIC (application specific integrated circuit) and a storage unit such as a memory.
  • a displacement sensor 161 that measures the drive displacement (rotational displacement) ⁇ ′ of the electric motor 152 that is a drive source is provided inside the universal cord 106.
  • One end of an electric signal line 162 is connected to the displacement sensor 161.
  • the electric signal line 162 extends through the inside of the universal cord 106, and the other end of the electric signal line 162 is connected to the state detection unit 156.
  • the state detection unit 156 is formed from, for example, a detection circuit, and includes a drive displacement detection unit 163 and a drive speed detection unit 165.
  • the displacement sensor 166 that measures the operating displacement (rotational displacement) ⁇ ′ of the LR pulley (second rotating member) 131B by one of the operating members forming the driving force transmission unit 140 includes the holding unit. 105 is provided inside. One end of an electric signal line 167 is connected to the displacement sensor 166. The electric signal line 167 extends through the inside of the holding unit 105 and the inside of the universal cord 106, and the other end of the electric signal line 167 is connected to the state detection unit 156.
  • the state detection unit 156 includes an operation displacement detection unit 168 and an operation speed detection unit 169.
  • the bending operation dial 126 and the power control unit 155 which are operation input units will be described.
  • the power control unit 155 controls the power supply state based on the operation input with the bending operation dial 126.
  • a Left direction bending operation for bending the bending portion 122 in the bending Left direction and a Right direction bending operation for bending the bending portion 122 in the bending Right direction are input.
  • the direction of the drive current I ′ supplied from the power control unit 155 to the electric motor 152 is opposite to the case where the Right direction bending operation is input.
  • the drive current I ′ is directed from the power control unit 155 to the electric motor 152 in the motor wiring 153A, and the drive current “I” is transmitted from the electric motor 152 to the power control unit 155 in the motor wiring 153B.
  • the electric motor 152 is driven in the first driving direction which is one of the two driving directions, and the driving force is transmitted as described above, whereby the LR pulley (second rotating member) 131B becomes two. It rotates in the first rotation direction which is one of the rotation directions.
  • the LR pulley 131B rotates in the first rotation direction, the LR bending wire 132L is pulled, and the bending portion 122 is bent in the bending Left direction.
  • the drive current I ′ is directed from the power control unit 155 to the electric motor 152 in the motor wiring 153B, and the drive current I is transmitted from the electric motor 152 to the power control unit 155 in the motor wiring 153A.
  • the electric motor 152 is driven in the second driving direction opposite to the first driving direction, and the driving force is transmitted as described above, whereby the LR pulley (second rotating member) 131B. Rotates in a second direction of rotation that is opposite to the first direction of rotation.
  • the LR pulley 131B rotates in the second rotation direction, the LR bending wire 132R is pulled and the bending portion 122 is bent in the bending right direction.
  • the control of the power supply state by the power control unit 155 will be described. Note that the following description applies to both the case where the electric motor 152 is driven in the first driving direction and the case where the electric motor 52 is driven in the second driving direction.
  • information related to the input value W ′ is transmitted from the operation input detection unit 133 to the power control unit 155, and the power control unit 155 controls the power supply state based on the input value W ′.
  • the constant torque control described above in the second embodiment is performed.
  • the current value of the drive current I ′ to the electric motor 152 is proportional to the input value W ′.
  • the power control unit 155 keeps the driving torque of the electric motor 152 (current value of the driving current I ′) constant as long as the input value W ′ of the bending operation with the bending operation dial 126 is constant.
  • the supply state of electric power to the electric motor 152 is controlled.
  • the state detection unit 156 will be described.
  • Information regarding the drive displacement ⁇ ′ of the electric motor 152 measured by the displacement sensor 161 is input to the state detection unit 156.
  • the drive displacement detector 163 of the state detector 156 detects the drive displacement ⁇ ′ of the electric motor 152 as a drive source based on the measurement information from the displacement sensor 161.
  • the drive speed detection unit 165 detects the drive speed V ′ of the electric motor 152 based on the measurement information from the displacement sensor 161. Therefore, in the present embodiment, the state detection unit 156 detects the drive state of the electric motor 152 that is a drive source.
  • the drive speed V ′ and the drive displacement ⁇ ′ of the electric motor 152 change corresponding to the load ⁇ ′ acting on the electric motor 152.
  • a load ⁇ ′ acts on the electric motor 152 due to a load acting on the bending portion 122 or the like.
  • the drive speed V ′ and the drive displacement ⁇ ′ of the electric motor 152 decrease as the load ⁇ ′ to the electric motor 152 increases. .
  • the state detection unit 156 receives information related to the operating displacement ⁇ ′ of the LR pulley (second rotating member) 131B measured by the displacement sensor 166. Based on the measurement information from the displacement sensor 166, the operating displacement detector 168 of the state detector 156 detects the operating displacement ⁇ ′ of the LR pulley 131B that is one of the operating members. Further, the operating speed detector 169 detects the operating speed ⁇ ′ of the LR pulley 131B based on the measurement information from the displacement sensor 166. Therefore, in this embodiment, the state detection unit 156 detects the operating state of the LR pulley 131B that is one of the operating members.
  • the operating state of the LR pulley 131B including the operating displacement ⁇ ′ and the operating speed ⁇ ′ changes corresponding to the load applied to the LR pulley 131B and the transmission state of the driving force to the LR pulley 131B.
  • the sound transmission unit 17 is a first indicator sound that is an index indicating the detection result of the drive displacement detection unit 163 of the state detection unit 56 and a second index that is an index of the detection result of the operation displacement detection unit 168. Transmit indicator sound.
  • the transmission control unit 157 generates the first index sound and the second index from the sound transmission unit 117 based on the detection result of the driving displacement detection unit 163 and the detection result of the operation displacement detection unit 168 of the state detection unit 156. Controls the sound transmission status.
  • the volume Z ′ of the first index sound changes corresponding to the drive displacement ⁇ ′ of the electric motor 152, and the volume Z of the second index sound corresponding to the operating displacement ⁇ ′ of the LR pulley 131B.
  • FIG. 23 shows the relationship between the drive displacement ⁇ ′ of the electric motor 152 and the volume Z ′ of the first index sound, and the relationship between the operating displacement ⁇ ′ of the LR pulley 131B and the volume Z ′ of the second index sound.
  • the volume Z ′ of the first index sound increases as the drive displacement ⁇ ′ of the electric motor 152 increases.
  • the transmission control unit 157 changes the sound quality between the first index sound and the second index sound. For example, the first index sound is higher than the second index sound.
  • the transmission control unit 157 controls the transmission state of the first indicator sound and the second indicator sound so that the transmission state such as the volume Z ′, the sound quality, the temporal transmission pattern, etc. is different from the alarm sound. Yes.
  • the insertion unit 103 is inserted into the lumen. Then, an operation for bending the bending portion 122 in the bending Left direction or the bending Right direction is input by the bending operation dial 126 which is an operation input unit. As a result, electric power is supplied from the power control unit 155 to the electric motor 152 that is a drive source, and a driving force for bending the bending unit 122 is generated. At this time, the power control unit 155 controls the power supply state so that the current value (drive torque) of the drive current I ′ of the electric motor 152 is constant as long as the input value W ′ is constant.
  • the driving force generated by the electric motor 152 is transmitted to the bending portion 122 via the driving force transmission unit 140 including the shaft member 145, the LR pulley 131B, and the LR bending wires 132L and 132R.
  • the imaging element (indicated by reference numeral 37 in the first embodiment) moves as the bending portion 122 is bent.
  • the image displayed on the display unit 116 changes.
  • the bending operation of the bending portion 122 that is the operation portion may stop even though the bending operation is input with the bending operation dial 126.
  • the image sensor (37) does not move, and the image of the subject displayed on the display unit (16) does not change.
  • the drive displacement detector 163 of the state detector 156 detects the drive displacement ⁇ ′ of the electric motor 152 based on the measurement result of the displacement sensor 161.
  • the load ⁇ ′ acting on the electric motor 152 becomes large.
  • the current value (drive torque) of the drive current I ′ to the electric motor 152 is kept constant as long as the input value W ′ of the bending operation with the bending operation dial 126 is constant,
  • the drive displacement ⁇ ′ is small.
  • the transmission control unit 157 reduces the volume Z ′ of the first indicator sound transmitted from the sound transmission unit 117 when the drive displacement ⁇ ′ is small.
  • the surgeon is caused by an excessively high load acting on the bending portion 122 by transmitting the first index sound having a small volume Z ′ in a state where the image displayed on the display unit 116 does not change. It can be recognized that the bending operation has stopped.
  • the driving force is not transmitted to the bending portion 122 in a state where the bending operation of the bending portion 122 is stopped due to the occurrence of a problem in the driving force transmission unit 140.
  • the load acting on the bending portion 122 is not transmitted to the electric motor 152 via the driving force transmission unit 140, and the load ⁇ ′ acting on the electric motor 152 is reduced.
  • the transmission control unit 157 increases the volume Z ′ of the first index sound transmitted from the sound transmission unit 117 when the drive displacement ⁇ ′ is large.
  • the operation displacement detection unit 168 of the state detection unit 156 detects the operation displacement ⁇ ′ of the LR pulley 131B, which is one of the operation members, based on the measurement result of the displacement sensor 166. . Then, the transmission control unit 157 transmits a second index sound indicating the operating displacement ⁇ ′ (operating state) of the LR pulley 131B in addition to the first index sound from the sound transmission unit 117. As a result, the surgeon can specifically recognize the location where the malfunction occurred in the driving force transmission unit 140.
  • the driving force transmission unit 140 there is a problem that causes the driving force not to be transmitted between the electric motor 152 and the LR pulley 131B (for example, the driving shaft 145).
  • the driving force transmission unit In 140 When the first index sound is large (the drive displacement ⁇ ′ of the electric motor 152 is large) and the second index sound is large (the operation displacement ⁇ ′ of the LR pulley 131B is large), the driving force transmission unit In 140, it is recognized that there is a problem that causes the drive force not to be transmitted between the LR pulley 131B and the bending portion 122 (for example, the bending wires 132L and 132R).
  • the surgeon when the bending operation of the bending portion 122 is stopped, the surgeon appropriately recognizes the cause of the stop of the bending operation based on the first index sound and the second index sound. can do. Thereby, even when the bending operation of the bending portion 122 is stopped, it is possible to make an appropriate determination according to the cause of the stopping of the bending operation.
  • the first index sound is an index indicating the drive displacement ⁇ ′ of the electric motor 152, but is not limited thereto.
  • the first indicator sound may be an indicator indicating the drive speed V ′ of the electric motor 152.
  • a speed sensor (not shown) may be provided instead of the displacement sensor 161 and the driving speed of the electric motor 152 may be measured.
  • the second index sound may be an index indicating the operating speed ⁇ ′ of the LR pulley (second rotating member) 131B.
  • a speed sensor (not shown) may be provided instead of the displacement sensor 166 to measure the operating speed ⁇ ′ of the LR pulley 131B.
  • both the first index sound and the second index sound are transmitted, but one of the first index sound and the second index sound may be transmitted. That is, it is sufficient that at least one of the first index sound and the second index sound is transmitted.
  • the power control by the power control unit 155 may be performed by the constant speed control described in the first embodiment.
  • the driving speed V ′ of the electric motor 152 is kept constant as long as the input value W ′ of the bending operation with the bending operation dial 126 that is the operation input unit is constant. Accordingly, the current value of the drive current I ′ to the electric motor 152 changes corresponding to the load acting on the electric motor 152.
  • the state detection unit 156 detects the current value of the drive current I ′ to the electric motor 152 and detects the drive state of the electric motor 152 that is a drive source.
  • the transmitted first index sound is an index indicating the drive current I ′ to the electric motor 152.
  • the transmission states of the first index sound and the second index sound may be changed in the same manner as the change described above in the modification of the first embodiment (see FIGS. 10 to 16B). That is, the transmission control unit 157 transmits the first indicator sound (volume Z ′, sound quality, and sound quality) based on the driving state of the electric motor 52 (driving current I ′, driving displacement ⁇ ′, driving speed V ′, etc.). What is necessary is just to change at least one of the transmission patterns over time. Then, the transmission control unit 157 changes the transmission state of the second indicator sound based on the operation state (operation displacement ⁇ ′, operation speed ⁇ ′, etc.) of the LR pulley (second rotation member) 132B. Good. In this case, the transmission state of the first indicator sound is different from the transmission state of the second indicator sound.
  • the second indicator sound indicates the working state of the LR pulley 131B, which is one of the operating members that form the driving force transmission unit 140, but is not limited thereto.
  • the operation state (operation displacement, operation speed, etc.) of the spur gear 148 may be detected, and in another modification, the operation state (operation displacement, operation speed, etc.) of the shaft member 145 is detected. Also good. That is, one operating state of the operating members (relay gear 141, driving gear 142, driving shaft 145, bevel gear 147, spur gear 148, LR pulley 131B, LR bending wires 132L, 132R, etc.) forming the driving force transmission unit 140 May be detected. And what is necessary is just to transmit the 2nd parameter
  • a driving force that bends the bending portion 122 in the bending Up direction or the bending Down direction may be generated by driving an electric motor (not shown).
  • the same configuration as the configuration in which the bending portion 122 is bent in the bending Left direction or the bending Right direction in the third embodiment is also applied to the bending of the bending portion 122 in the bending Up direction or the bending Down direction.
  • the 1st index sound which shows the drive state of an electric motor, and the 2nd index sound which shows the operation state of an operation member (for example, UD pulley 131A) are transmitted.
  • a tact switch registered trademark
  • a bending operation lever, or the like may be provided as an operation input unit.
  • the state detection unit 156 detects the drive state (drive current I ′, drive displacement ⁇ ′, drive speed V ′, etc.) of the electric motor 152 and transmits the driving force.
  • the operating states (operating displacement ⁇ ′, operating) of the operating members (relay gear 141, driving gear 142, driving shaft 145, bevel gear 147, spur gear 148, LR pulley 131B, LR bending wires 131L, 131R, etc.) forming the unit 140 Or at least one of them is detected.
  • the transmission state of the first indicator sound is changed, and based on the detection result of the operation state of the operating member, the transmission state of the second indicator sound is changed. ing. For this reason, based on the first index sound and the second index sound, the operator can confirm the action state of the load ⁇ ′ to the electric motor 152 and the transmission state of the driving force in the driving force transmission unit 140. It becomes.
  • the spiral tube 30 and the bending portion 122 are shown as the operation unit, but the present invention is not limited to this.
  • the endoscope apparatus (1; 101) has been described as an example of the insertion apparatus, but the insertion apparatus is not limited to the endoscope apparatus (1; 101).
  • the above-described configuration may be applied to an insertion portion of a manipulator device that is an insertion device.
  • the operating part (30; 122) is provided in the insertion part (3; 103) or attached to the insertion part (3; 103), and the driving force is transmitted.
  • the image pick-up element (37) moves by the operation
  • the driving force transmitted to the operating unit (30; 122) is generated by supplying power to the driving source (52; 152), and the operating unit (60; 140) is used to operate the operating unit (60; 140).
  • the power control unit (55; 155) controls the supply state of power to the drive source (52; 152) based on the operation input from the operation input unit (15; 126).
  • the state detection unit (56; 156) includes a drive state of the drive source (52; 152) that changes in response to a load ( ⁇ ; ⁇ ′) to the drive source (52; 152), and an operating member (61, 62, 65, 77, 78, 80; 141, 142, 145, 147, 148, 131B, 132L, 132R) and driving force actuating members (61, 62, 65, 77, 78, 80; 141, 142, 145, 147, 148, 131B, 132L, 132R) actuating members (61, 62, 65, 77, 78, 80; 141, 142, 145, 147, 148, 131B, 132L, 132R) actuating members (61, 62, 65, 77, 78, 80; 141, 142, 145, 147, 148, 131B) that change in response to the transmission state , 132L, 132R) is detected.

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Abstract

　La présente invention concerne un dispositif d'insertion pourvu d'une unité de commande d'énergie électrique permettant de commander l'état dans lequel l'énergie électrique est fournie à une source d'entraînement, et une unité de transmission de force d'entraînement permettant de transmettre une force d'entraînement à une partie d'action par actionnement d'un élément d'actionnement. Le dispositif d'insertion est pourvu : d'une unité de détection d'état destinée à détecter un état d'entraînement de la source d'entraînement qui varie en réponse à la charge sur la source d'entraînement, et/ou un état d'actionnement de l'élément d'actionnement qui varie en réponse à la charge sur l'élément d'actionnement et à l'état de transmission de la force d'entraînement à l'élément d'actionnement ; et une unité de commande de transmission de signal destinée à commander l'état de transmission de signal d'un indicateur sonore sur la base du résultat de détection en provenance de l'unité de détection d'état.
PCT/JP2014/082834 2014-02-06 2014-12-11 Dispositif d'insertion WO2015118773A1 (fr)

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JP2014-021566 2014-02-06

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WO2016009819A1 (fr) * 2014-07-17 2016-01-21 オリンパス株式会社 Dispositif d'introduction
WO2017203909A1 (fr) * 2016-05-24 2017-11-30 オリンパス株式会社 Dispositif de commande pour dispositif d'insertion et dispositif d'insertion
CN109068952A (zh) * 2016-06-13 2018-12-21 奥林巴斯株式会社 插入设备、安装器具以及驱动力传递单元
CN109068946A (zh) * 2016-06-13 2018-12-21 奥林巴斯株式会社 插入器具和插入设备
WO2020017534A1 (fr) 2018-07-17 2020-01-23 富士フイルム株式会社 Composition de tube d'aide à l'insertion, tube d'aide à l'insertion, ensemble tube d'aide à l'insertion/endoscope, dispositif d'endoscope et procédé de production de tube d'aide à l'insertion
EP3626155A4 (fr) * 2017-05-16 2021-01-27 Yonho Park Dispositif d'estimation de forme à partie flexible et système endoscopique le comprenant

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WO2020161913A1 (fr) * 2019-02-08 2020-08-13 オリンパス株式会社 Instrument médical et élément de rotation
US11647896B2 (en) 2019-03-28 2023-05-16 Olympus Corporation Rollerless tubular connector for transferring rotative force from insertion section of endoscope to spiral tube

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JPH05211991A (ja) * 1992-02-07 1993-08-24 Olympus Optical Co Ltd 内視鏡装置
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WO2016009819A1 (fr) * 2014-07-17 2016-01-21 オリンパス株式会社 Dispositif d'introduction
JP5945654B1 (ja) * 2014-07-17 2016-07-05 オリンパス株式会社 挿入装置
WO2017203909A1 (fr) * 2016-05-24 2017-11-30 オリンパス株式会社 Dispositif de commande pour dispositif d'insertion et dispositif d'insertion
JP6289787B1 (ja) * 2016-05-24 2018-03-07 オリンパス株式会社 挿入装置の制御装置及び挿入装置
CN108348141A (zh) * 2016-05-24 2018-07-31 奥林巴斯株式会社 插入装置的控制装置以及插入装置
US11096561B2 (en) 2016-05-24 2021-08-24 Olympus Corporation Control apparatus for insertion device and insertion device
CN109068946A (zh) * 2016-06-13 2018-12-21 奥林巴斯株式会社 插入器具和插入设备
CN109068952B (zh) * 2016-06-13 2020-11-13 奥林巴斯株式会社 插入设备、安装器具以及驱动力传递单元
CN109068946B (zh) * 2016-06-13 2020-12-22 奥林巴斯株式会社 插入器具和插入设备
CN109068952A (zh) * 2016-06-13 2018-12-21 奥林巴斯株式会社 插入设备、安装器具以及驱动力传递单元
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EP3626155A4 (fr) * 2017-05-16 2021-01-27 Yonho Park Dispositif d'estimation de forme à partie flexible et système endoscopique le comprenant
US11896198B2 (en) 2017-05-16 2024-02-13 Yonho PARK Flexible portion shape estimating device and endoscope system having the same
WO2020017534A1 (fr) 2018-07-17 2020-01-23 富士フイルム株式会社 Composition de tube d'aide à l'insertion, tube d'aide à l'insertion, ensemble tube d'aide à l'insertion/endoscope, dispositif d'endoscope et procédé de production de tube d'aide à l'insertion

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