WO2019198373A1 - Endoscope system and motor control system - Google Patents

Endoscope system and motor control system Download PDF

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Publication number
WO2019198373A1
WO2019198373A1 PCT/JP2019/007913 JP2019007913W WO2019198373A1 WO 2019198373 A1 WO2019198373 A1 WO 2019198373A1 JP 2019007913 W JP2019007913 W JP 2019007913W WO 2019198373 A1 WO2019198373 A1 WO 2019198373A1
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WO
WIPO (PCT)
Prior art keywords
endoscope
motor
driven
gear
unit
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PCT/JP2019/007913
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French (fr)
Japanese (ja)
Inventor
豊 正木
Original Assignee
オリンパス株式会社
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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
Publication of WO2019198373A1 publication Critical patent/WO2019198373A1/en

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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
    • 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

Definitions

  • the present invention relates to an endoscope system and a motor control system, and more particularly to an endoscope system and a motor control system in which a driven mechanism is driven by a motor provided in an endoscope body.
  • an acceleration sensor is fixed in a case incorporating the rotational drive system, and the output signal of the acceleration sensor is converted into a fast Fourier transform (hereinafter, The state of the rotary drive system is diagnosed by analyzing with an analyzer (referred to as FFT).
  • FFT fast Fourier transform
  • a rotation drive system is used based on a spectrum signal obtained by FFT with a current signal flowing through a drive source such as a motor without using an acceleration sensor or the like.
  • a method for diagnosing abnormalities has also been proposed.
  • endoscopes have been widely used in the medical field and industrial field.
  • Some endoscopes utilize the rotational driving force of a driving source such as a motor.
  • a driving source such as a motor is used for, for example, an insertion assisting operation for the insertion portion to push the inside of a lumen, a bending operation of a bending portion provided in the insertion portion, and the like.
  • the rotational speed of the rotation drive system may change depending on the insertion speed. Further, when the resistance between the insertion portion and the inner wall of the lumen increases, a large load may be applied to the motor used for the insertion assisting tool of the endoscope. In the prior art, in consideration of such a case, it is impossible to diagnose the state of the rotary drive system when a load is actually applied to the motor during the endoscopic examination.
  • the endoscopy will be redone, so it is preferable to make frequent diagnoses such as deterioration of the rotational drive system.
  • the state of the rotary drive system in use could not be diagnosed.
  • an object of the present invention is to provide an endoscope system and a motor control system capable of easily diagnosing a state such as deterioration of the rotational drive system of the endoscope.
  • An endoscope system includes an endoscope main body, devices connected when the endoscope main body is used, a motor provided in the endoscope main body, and the endoscope A driven mechanism having a plurality of gears provided in a mirror body and driven by the motor, and disposed in one of the endoscope body and the device, or connection between the endoscope body and the device
  • a current detector for detecting a current flowing in the motor when the driven mechanism is driven by the motor; and a time passage of a current flowing in the motor obtained by the current detector provided in the device
  • a frequency analysis unit that performs a Fourier transform on a waveform indicating a change caused by the frequency and analyzes an amplitude change according to a frequency, and determines the state of the driven mechanism based on the amplitude change obtained by the frequency analysis unit Do It has a tough, a.
  • An endoscope motor control system is an endoscope motor control system in which a driven mechanism is driven by a motor provided in an endoscope body. An electric current flowing through the motor is detected when the driven mechanism is driven by the motor, which is disposed in a device to which the endoscope main body is connected at the time of use or provided in a connection portion between the endoscope main body and the device.
  • a current detection unit, and a frequency analysis unit that is provided in the device and performs a Fourier transform on a waveform indicating a change with time of the current flowing in the motor obtained by the current detection unit, and analyzes a change in amplitude according to the frequency And having.
  • FIG. 1 is a configuration diagram illustrating a configuration of an endoscope system according to the present embodiment.
  • an endoscope system 1 according to this embodiment is connected to an endoscope main body (hereinafter also referred to as an endoscope) 11 inserted into a lumen of a subject and the endoscope 11.
  • a control system 12 composed of a plurality of units.
  • the endoscope 11 includes an elongated insertion portion 21, an operation portion 22 provided on the proximal end side of the insertion portion 21, and a universal cable 23 extending from the operation portion 22.
  • the control system 12 and the endoscope 11 are connected by a universal cable 23 extending from the operation unit 22.
  • the insertion part 21 has an elongated insertion part main body 31 extending along the longitudinal axis direction and a rotating member 32.
  • the insertion portion main body 31 includes a distal end hard portion 31a, a bending portion 31b, and a flexible tube portion 31c in order from the distal end.
  • the flexible tube portion 31c has flexibility according to the bent shape of the lumen of the subject.
  • the bending portion 31b is formed with a known structure having a plurality of bending pieces.
  • the bending portion 31b can be bent in four directions, up, down, left, and right, according to the operation of the operation unit 22.
  • the distal end hard part 31a of the insertion part 21 is provided with an observation window (not shown) and an illumination window (not shown).
  • An imaging unit (not shown) is provided behind the observation window of the distal end hard portion 31a.
  • the imaging unit has an observation optical system and an imaging element.
  • a light guide 41 composed of a plurality of optical fiber bundles and a signal cable 42 for imaging signals are inserted through the insertion portion 21, the operation portion 22, and the universal cable 23 of the endoscope 11.
  • the motor drive cable 43 is inserted through the operation unit 22 and the universal cable 23.
  • a connector 23 a is provided at the end of the universal cable 23.
  • the connector 23a is provided with a light guide connector 41a, a processor cable 41b, and a controller cable 41c.
  • the connector 23a has a substrate inside, and a memory 23b is mounted on the substrate.
  • the memory 23b is a rewritable nonvolatile memory.
  • the controller 12d of the control system 12 can access the memory 23b through the controller cable 41c, and can write data through a signal line (not shown).
  • the controller 12d constitutes an endoscope motor control system.
  • the signal cable 42 is inserted into the processor cable 41b and can be connected to the processor 12b.
  • the motor drive cable 43 is inserted into the controller cable 41c and can be connected to the controller 12d.
  • the operation unit 22 includes a grip 51, a bend preventing portion 52 that supports the proximal end of the flexible tube 31 c of the insertion portion 21, two knobs 51 a and 51 b provided on the grip 51, and various instructions. And an operation member portion 53 having a plurality of buttons to be assigned.
  • the operation member unit 53 includes a release button, a suction button, an air / water supply button, and the like.
  • the bending prevention part 52 prevents the flexible tube 31c of the insertion part 21 from bending.
  • an operator who is a user of the endoscope 11 can bend the bending portion 31b of the insertion portion 21 shown in FIG. 1 in the vertical direction by rotating the knob 51a.
  • the user can bend the bending portion 31b in the left-right direction by turning the knob 51b.
  • the rotating member 32 is disposed in the insertion portion 21 of the endoscope 11. More specifically, the rotating member 32 is detachably attached from the distal end side of the insertion portion main body 31 to the outer peripheral surface near the distal end portion of the flexible tube 31c, for example, on the proximal end side of the bending portion 31b. Yes.
  • the rotating member 32 has a fin 32a protruding in a spiral shape on the outer peripheral portion.
  • the rotating member 32 can be attached to and detached from a predetermined position of the flexible tube 31c through the distal end hard portion 31a and the bending portion 31b of the insertion portion main body 31.
  • the rotating member 32 constitutes a driven member that rotates around the longitudinal axis of the insertion portion 21 by the driving force of the motor 71.
  • a drive unit 61 for driving the rotating member 32 is provided in a region from the vicinity of the boundary between the insertion portion 21 and the operation portion 22 to, for example, the distal end portion of the flexible tube 31c.
  • the rotating member 32 can be rotated by the driving force of the driving unit 61.
  • the rotation direction of the rotation member 32 is both directions around the central axis CO of the insertion portion main body 31.
  • the rotating member 32 is used as an auxiliary tool for insertion / extraction with respect to the duct, which assists the insertion of the insertion portion main body 31 into the lumen and assists the removal from the inserted state.
  • the drive unit 61 includes a motor unit 62 disposed near the boundary between the insertion unit 21 and the operation unit 22, a gear 63 disposed at, for example, the distal end of the flexible tube 31c, the motor unit 62, and the gear 63.
  • Drive shaft 64 disposed between the two.
  • the motor unit 62 is a rotational driving force generator.
  • the gear 63 is a rotational driving force output unit.
  • the drive shaft 64 is inserted through the flexible tube 31c.
  • the drive shaft 64 which is a rotational driving force transmission part has a support part 65 at its base end part.
  • the support portion 65 is supported through the output end 62 a of the motor unit 62.
  • the support portion 65 is formed longer than the length of the output end 62a in the axial direction.
  • a saddle channel 66 is disposed outside the drive shaft 64.
  • the channel 66 has a tube main body 66a and a fixing portion 66b.
  • a drive shaft 64 is inserted through the tube body 66a, and the tube body 66a protects the outside of the drive shaft 64 over substantially the entire length.
  • the fixing portion 66b is fixed to the proximal end of the tube main body 66a and is fixed to the hard tube 84 (see FIG. 2).
  • the hard tube 84 (see FIG. 2) is fixed to the base 31c4 (see FIG. 2) fixed to the base end of the flexible tube 31c in the bend preventing portion 52.
  • the drive shaft 64 is inserted not only into the tube main body 66a but also into the cylindrical fixing portion 66b.
  • the tube main body 66a is formed of a resin material having electrical insulation properties and flexibility having wear resistance.
  • the support section 65 has a cross section formed in, for example, a D shape.
  • the front end side of the drive shaft 64 relative to the portion supported by the output end 62a has an appropriate stiffness and is flexible.
  • a gear 63 is fixed to the tip of the drive shaft 64.
  • a gear 90 (FIG. 2) is fixed to the support portion 65.
  • the support part 65 is inserted into a D-shaped hole formed in the gear 90 and fixed to the gear 90.
  • the gear 90 rotates, and as a result, the drive shaft 64 rotates around the axis of the drive shaft 64.
  • the rotating member 32 has a cylindrical shape, and has a tooth portion (hereinafter referred to as an inner peripheral tooth portion) 32b on the inner peripheral surface.
  • the inner peripheral tooth portion 32 b may be formed on the inner peripheral surface of the rotating member 32, or may be formed on the inner peripheral surface of a cylindrical member fixed to the inner peripheral surface of the rotating member 32.
  • the gear 63 meshes with the inner peripheral tooth portion 63b. Therefore, when the drive shaft 64 rotates around the axis, the rotating member 32 rotates around the longitudinal axis of the flexible tube 31c as the gear 63 rotates.
  • FIG. 2 is a schematic longitudinal sectional view of the motor unit 62 along the longitudinal axis direction of the operation unit according to the embodiment.
  • the motor unit 62 includes a motor 71 as a drive source and a gear train 72.
  • the motor 71 and the gear train 72 are disposed on the proximal end side of the insertion portion 21.
  • the motor unit 62 is housed in a gear box 73 that is a gear support frame in a state of projecting in the direction orthogonal to the longitudinal direction of the insertion portion 21 from the vicinity of the boundary between the insertion portion 21 and the operation portion 22.
  • a circuit board 74 is also disposed in the gear box 73.
  • the motor 71 is provided in the endoscope 11 which is the endoscope body.
  • the gear train 72 has a plurality of gears that transmit the rotational driving force from the motor 71 built in the endoscope 11.
  • the rotational speed of the drive shaft 71a of the motor 71 is converted into an appropriate torque and an appropriate rotational speed of the drive shaft 64 at the output end 62a.
  • the gear train 72 constitutes a driven mechanism having a plurality of gears provided in the endoscope 11 and driven by the motor 71.
  • the gear box 73 includes a base plate 81, a support 82, and an outer case 83.
  • the exterior case 83 includes a case main body 83a and a cap 83b.
  • the support 82 is fixed to the base plate 81 with screws.
  • the base plate 81 and the support 82 cooperate to support each gear of the gear train 72 and the motor 71.
  • the support body 82 is fixed to the rigid tube 84 in the folding preventing portion 52.
  • the motor 71 is fixed to the support 82 by an insulating plate 85 described later.
  • the large gear 92a of the first gear assembly 92 of the gear train 72 which is a driven mechanism, is meshed with the pinion gear 91 attached to the drive shaft 71a of the motor 71.
  • the first gear assembly 92 has a large gear 92a and a small gear 92b.
  • the first gear assembly 92 is supported by both the base plate 81 and the support body 82.
  • the large gear 93 a of the second gear assembly 93 of the gear train 72 is meshed with the small gear 92 b that rotates together with the large gear 92 a of the first gear assembly 92.
  • the second gear assembly 93 has a large gear 93a and a small gear 93b.
  • the second gear assembly 93 is supported by both the base plate 81 and the support body 82.
  • the third gear assembly 94 of the gear train 72 is meshed with the small gear 93b that rotates together with the large gear 93a of the second gear assembly 93.
  • the third gear assembly 94 is supported by the support body 82.
  • a cylindrical gear 90 as a fourth gear assembly of the gear train 72 is meshed with the third gear assembly 94.
  • the gear 90 is supported by the support body 82.
  • the large gear 92a of the first gear assembly 92 is formed of an electrically insulating material such as a hard resin material.
  • the motor 71 is supported by the support 82 via an insulating plate 85 having electrical insulation. For this reason, the motor 71 and the endoscope 11 are electrically insulated.
  • the ground (GND) of the imaging unit of the endoscope 11 and the ground (GND) of the motor 71 are electrically insulated and separated.
  • One end and the other end of the rotating shaft of the third gear assembly 94 are supported by a support 82 with ball bearings.
  • One end and the other end of the gear 90 are supported on the support 82 by sliding bearings made of a ceramic material.
  • the central axis of the rotation shaft of the third gear assembly 94 to which the rotational driving force is transmitted from the second gear assembly 93 is also the center axis of the rotation shaft of the first gear assembly 92 and the center of the rotation shaft of the second gear assembly 93. Parallel to the axis.
  • the rotational driving force of the motor 71 rotates the drive shaft 64 by the gear train 72.
  • the gear 63 meshes with the inner peripheral tooth portion 32 b of the rotating member 32.
  • the rotating drive shaft 64 rotates the rotating member 32 by the gear 63.
  • the gear train 72 which is a driven mechanism is interposed between the rotating member 32 provided in the endoscope 11 and the motor 71, and transmits the rotational driving force of the motor 71 to the rotating member 32.
  • the control system 12 includes a light source unit 12a, a processor 12b, a monitor 12c, a controller 12d, and an input unit 12e.
  • the light source unit 12a and the processor 12b are connected.
  • a processor 12b and a monitor 12c are also connected.
  • a light source unit 12a and a controller 12d are also connected.
  • a controller 12d and an input unit 12e are also connected.
  • the light source unit 12a emits illumination light for illuminating the observation target. Illumination light from the light source unit 12a enters the light guide connector 41a.
  • the processor 12b includes an image processing unit that processes an image captured by the imaging unit of the observation optical system to generate an endoscopic image.
  • the processor 12b is connected to the imaging unit of the endoscope 11 via the processor cable 41b.
  • the monitor 12c is a display unit that displays the generated endoscopic image.
  • the controller 12d controls the entire endoscope system 1.
  • the controller 12d is a peripheral device connected when the endoscope 11 that is the endoscope body is used.
  • the input unit 12e is a device that inputs instructions and the like to the controller 12d.
  • the input unit 12e is, for example, a keyboard or a foot switch (not shown).
  • the input unit 12e includes a forward switch FS and a backward switch BS that control the motor 71 described above and instruct an advance / retreat operation of the insertion portion 21 with respect to the body cavity.
  • the controller 12d is not limited to a dedicated device, and may be a general-purpose processing device such as a personal computer on which an arbitrary program is mounted.
  • the circuit on the circuit board 74 of the motor unit 62 controls the rotation speed of the motor 71 by servo control or the like in accordance with a command from the controller 12d.
  • the controller 12d controls the rotation direction and the rotation direction of the motor 71.
  • FIG. 3 is a block diagram showing the configuration of the controller 12d.
  • the controller 12d includes a control unit 101, a motor drive control circuit 102, a current sensor 103, a memory 104, and three interface circuits (hereinafter abbreviated as I / F) 105, 106, and 107.
  • the control unit 101 and the three I / Fs 105, 106, and 107 are connected by a bus 108 so that signals can be transmitted and received.
  • the control unit 101 is a processor including a central processing unit (hereinafter referred to as CPU), ROM, ROM and the like.
  • CPU central processing unit
  • ROM read only memory
  • ROM read only memory
  • the control unit 101 including software stored in the memory 104 may be configured by a hardware circuit such as an FPGA (Field Programmable Gate Array).
  • FPGA Field Programmable Gate Array
  • the motor drive control circuit 102 receives an instruction signal corresponding to the depression of the forward switch FS or the reverse switch BS from the input unit 12e, generates a drive signal corresponding to the instruction signal, and sends it to the motor drive cable 43. This is a hardware circuit to output.
  • the drive signal generated by the motor drive control circuit 102 is supplied to the motor 71 via the current sensor 103.
  • the current sensor 103 is arranged in the middle of the motor driving cable 43 and detects a current flowing through the motor driving cable 43.
  • the detection signal of the current sensor 103 is fed back to the motor drive control circuit 102 and supplied to the control unit 101 via the I / F 105.
  • the current sensor 103 is provided in the controller 12d, it may be provided in the endoscope 11 as the current sensor 103a as shown by a one-dot chain line in FIG. As indicated by a dashed line, the current sensor 103b may be provided in a connection device 12f provided between the endoscope 11 and the controller 12d.
  • the current sensor 103 is disposed in either the endoscope 11 or the controller 12d, or provided in the connecting device 12f that is a connecting portion between the endoscope 11 and the controller 12d.
  • a current detection unit that detects a current flowing through the motor 71 during driving is configured.
  • the control unit 101 receives the detection value of the current sensor 103 via the I / F 105 and the bus 108.
  • the control unit 101 executes various processing programs stored in the memory 104, controls the entire endoscope system 1, and executes a rotational drive system diagnosis program described later. Note that data of a threshold value TH described later is also stored in the memory 104.
  • Various commands generated by the control unit 101 are supplied to the light source unit 12a through the I / F 106.
  • the image signal generated by the control unit 101 is supplied from the light source unit 12a to the processor 12b, and is supplied from the processor 12b to the monitor 12c. Since the processor 12b is connected to the controller 12d via the light source unit 12a, the image signal generated by the control unit 101 can be displayed on the monitor 12c via the controller 12d.
  • control unit 101 can write data to the memory 23b of the endoscope 11 through the I / F 107 as will be described later.
  • FIG. 4 is a block diagram showing the configuration of the rotational drive system diagnostic unit.
  • the rotational drive system diagnostic unit P is a rotational drive system diagnostic program that includes an FFT unit 111, a determination unit 112, a notification unit 113, and a writing unit 114.
  • the rotational drive system diagnosis unit P is stored in the memory 104.
  • Each of the FFT unit 111, the determination unit 112, the notification unit 113, and the writing unit 114 is read by the CPU of the control unit 101, and the functions of the respective units are realized.
  • the data of the current value I of the current sensor 103 is supplied to the FFT unit 111 and the determination unit 112. As described above, the current sensor 103 detects the magnitude of the current flowing through the motor 71.
  • the FFT unit 111 performs fast Fourier transform processing on the data of the current value I and outputs spectrum data.
  • the FFT unit 111 is provided in the controller 12d, and constitutes a frequency analysis unit that Fourier-transforms a waveform indicating a change with time of the current flowing through the motor 71 and analyzes a change in amplitude according to the frequency.
  • the FFT unit 111 has a function of analyzing the frequency by Fourier transforming the waveform by software.
  • the determination unit 112 determines the state of the gear train 72 based on the change in the amplitude of the spectrum data obtained by the FFT unit 111. Here, the determination unit 112 determines whether there is a frequency that exceeds a predetermined threshold TH from the output of the FFT unit 111, and identifies a gear that indicates a deterioration state.
  • the threshold value TH read from the memory 104 is input to the determination unit 112.
  • Each gear has a rotational speed corresponding to an operation instruction from the input unit 12e.
  • FIG. 5 is a table showing the number of rotations of each gear when the motor 71 is fully rotated.
  • the rotation speed is the rotation speed per second.
  • the gear A corresponds to the gear 90 described above.
  • the gear B corresponds to the gear assembly 94 described above.
  • the gear C corresponds to the small gear 93b described above.
  • the gear D corresponds to the large gear 93a described above.
  • the gear E corresponds to the small gear 92b described above.
  • the gear F corresponds to the large gear 92a described above.
  • the gear G corresponds to the pinion gear 91 described above.
  • the motor 71 rotates fully.
  • the rotation speed of the gear A is f1
  • the rotation speed of the gear B is f2
  • the rotation speed of the gear C is f3
  • the rotation speed of the gear D is f4
  • the rotation speed of E is f5
  • the rotation speed of the gear F is f6, and the rotation speed of the gear G is f7.
  • FIG. 6 is a graph of the current value output by the current sensor when the motor 71 is rotating at a certain number of rotations.
  • the horizontal axis is time
  • the vertical axis is current value.
  • the time is seconds (s)
  • the current value is milliamperes (mA).
  • the current value of the current supplied to the motor 71 detected by the current sensor 103 changes with time.
  • FIG. 7 shows spectral peak data output from the FFT unit 111 when there is no deteriorated gear.
  • the horizontal axis represents frequency
  • the vertical axis represents the normalized amplitude value (A) of the spectrum peak data.
  • A normalized amplitude value
  • FIG. 8 shows spectral peak data output from the FFT unit 111 when there is a deteriorated gear.
  • the horizontal axis represents the frequency
  • the vertical axis represents the normalized amplitude value (A) of the spectrum peak data.
  • the amplitude of the spectrum peak data of a specific frequency is large and exceeds the threshold value TH.
  • the user can change the rotation amount of the rotation member 32 in accordance with, for example, the pressing amount of the forward switch FS or the reverse switch BS.
  • the current rotation speed of each gear is equal to or less than the rotation speed when the motor 71 shown in FIG.
  • the determination unit 112 can detect the rotation speed of the motor 71 from the detection signal of the current sensor 103. Therefore, the determination unit 112 can calculate the current rotation speed f of each gear based on the detection signal of the current sensor 103.
  • FIG. 5 shows parameter data of the rotation speed of each gear at the time of full output of the motor 71, so that the determination unit 112 detects the current detection signal detected by the current sensor 103 and the full output of the motor 71. Based on the current detection signal of the current sensor 103, the current rotational speed of each gear can be determined.
  • the determination unit 112 calculates the current rotation speed of each gear based on the detection signal of the current sensor 103, and the spectral data thereof.
  • the gear corresponding to the frequency exceeding the middle threshold value TH can be specified.
  • the FFT unit 111 calculates the amplitude corresponding to the frequency using the parameter data of each of the plurality of gears shown in FIG.
  • f1 is the current rotational speed of the gear A, that is, the gear 90
  • f2 is the current rotational speed of the gear B, that is, the gear assembly 94.
  • the determination unit 112 can determine that the gears A and B are deteriorated. That is, the determination unit 112 can determine a deteriorated gear by comparing the rotation frequency of each of the plurality of gears with the frequency at which the change in amplitude occurs. The determination unit 112 determines the deterioration of each gear in the gear train 72 based on the magnitude of the change in amplitude at the rotation frequency of each of the plurality of gears. In particular, the determination unit 112 determines whether or not the state of the gear train 71 is in a deteriorated state by comparing the amplitude with a predetermined threshold value TH.
  • the determination unit 112 determines that the gears A and B are deteriorated, it notifies the notification unit 113 that the deteriorated gears are the gears A and B.
  • the notification unit 113 generates message data for notifying the user of the gear indicating deterioration when the determination result of the determination unit 112 determines that the gear indicates deterioration, and outputs the message data to the processor 12b.
  • the writing unit 114 performs processing for recording in the memory 23b of the endoscope 11 that there is a gear indicating deterioration in the determination result of the determination unit 112. Therefore, the writing unit 114 constitutes a writing unit that writes information about the state of the gear train 72 determined by the determination unit 112 to the memory 23 b provided in the endoscope 11. For example, information specifying a deteriorated gear may be stored in the memory 23b.
  • the notification unit 113 When the notification unit 113 receives data indicating that the gears A and B are deteriorated, for example, the notification unit 113 generates a message to be displayed on the monitor 12c.
  • the message is, for example, the text “Gears A and B are deteriorated. Check.”
  • the text may be a code indicating deterioration and its location.
  • the notification unit 113 constitutes a display information generation unit that generates display information for displaying the state of the gear train 72 determined by the determination unit 112.
  • the message data is supplied to the processor 12d via the light source unit 12a, and the processor 12d generates an image signal for displaying the message or generates an image signal on which the message is superimposed and outputs it to the monitor 12c. To do.
  • the user can know that there is a gear deterioration during the operation of the endoscope system 1 and can instruct the related person to inspect.
  • the user may be able to know the presence or absence of deterioration immediately after the operation by operating the rotational drive system as a test immediately after the operation of the endoscope system 1 is started.
  • the user can know the presence or absence of deterioration of the rotary drive system immediately after the operation of the endoscope system 1 is started. In that case, the user can also take a selection means of exchanging the endoscope and performing an inspection using another endoscope.
  • the processor 12b since data indicating the presence or absence of deterioration is written in the memory 23b, immediately after the operation of the endoscope system 1 is started, the processor 12b reads the data from the memory 23b, and the deterioration occurs in the past operation. If there is, a predetermined message can be displayed.
  • the predetermined message is, for example, “Since the rotational drive system of the endoscope is deteriorated, please request the manufacturer's service.”

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Abstract

This endoscope system 1 comprises: an endoscope 11; a controller 12d; a motor 71; a gear train 72 which comprises multiple gears and which is provided in the endoscope 11 and is driven by the motor 71; a current sensor 103 which is provided in the controller 12d and which detects the current flowing in the motor 71 when the gear train 72 is driven by the motor 71; a fast Fourier transform unit 111 which Fourier-transforms a waveform indicating change over time of the current flowing in the motor 71 and which analyzes changes in amplitude corresponding to frequency; and a determination unit 112 which determines the state of the gear train 72 on the basis of change in the amplitude obtained by the fast Fourier transform unit 111.

Description

内視鏡システム及びモータ制御システムEndoscope system and motor control system
　本発明は、内視鏡システム及びモータ制御システムに関し、特に、内視鏡本体に設けられたモータにより被駆動機構が駆動される内視鏡システム及びモータ制御システムに関する。 The present invention relates to an endoscope system and a motor control system, and more particularly to an endoscope system and a motor control system in which a driven mechanism is driven by a motor provided in an endoscope body.
　従来、複数の歯車からなる回転駆動系の異常の有無を診断する場合、回転駆動系を内蔵するケースなどに、例えば加速度センサを固定し、その加速度センサの出力信号を、高速フーリエ変換（以下、ＦＦＴという）アナライザーにより解析して、回転駆動系の状態を診断することが行われている。 Conventionally, when diagnosing the presence or absence of an abnormality in a rotational drive system composed of a plurality of gears, for example, an acceleration sensor is fixed in a case incorporating the rotational drive system, and the output signal of the acceleration sensor is converted into a fast Fourier transform (hereinafter, The state of the rotary drive system is diagnosed by analyzing with an analyzer (referred to as FFT).
　また、例えば日本国特開２０１５－２２７８８９号公報に開示のように、加速度センサなどを用いないで、モータ等の駆動源に流れる電流信号をＦＦＴにより得られたスペクトル信号に基づいて、回転駆動系の異常診断をする方法も提案されている。 Further, as disclosed in, for example, Japanese Patent Application Laid-Open No. 2015-227889, a rotation drive system is used based on a spectrum signal obtained by FFT with a current signal flowing through a drive source such as a motor without using an acceleration sensor or the like. A method for diagnosing abnormalities has also been proposed.
　ところで、従来から内視鏡は医療分野や工業分野において広く利用されている。内視鏡には、モータなどの駆動源の回転駆動力を利用する内視鏡もある。このような内視鏡では、モータなどの駆動源を、例えば管腔内を挿入部が推し進めるための挿入補助動作や、挿入部に設けられた湾曲部の湾曲動作等のために用いている。 Incidentally, endoscopes have been widely used in the medical field and industrial field. Some endoscopes utilize the rotational driving force of a driving source such as a motor. In such an endoscope, a driving source such as a motor is used for, for example, an insertion assisting operation for the insertion portion to push the inside of a lumen, a bending operation of a bending portion provided in the insertion portion, and the like.
　内視鏡に用いられる回転駆動系の状態の診断のために、上述したような加速度センサを用いて、加速度センサの出力信号を解析したり、駆動源に流れる電流信号を解析したりすることはされていなかった。 In order to diagnose the state of the rotary drive system used in an endoscope, it is possible to analyze the output signal of the acceleration sensor or analyze the current signal flowing through the drive source using the acceleration sensor as described above. Was not.
　しかし、上述したような方法により内視鏡の回転駆動系の状態を診断するためには、診断設備を有する会社に内視鏡を送って診断を依頼しなければならず、時間が掛かってしまう。あるいは、内視鏡が使用される病院などの場所に診断設備を設置すれば、直ぐに診断をできるが、コストが掛かってしまう。 However, in order to diagnose the state of the rotational drive system of the endoscope by the method as described above, it is necessary to send the endoscope to a company having diagnostic equipment and request diagnosis, which takes time. . Alternatively, if a diagnosis facility is installed in a place such as a hospital where an endoscope is used, diagnosis can be performed immediately, but the cost is increased.
　内視鏡の挿入補助機能のための挿入補助具の場合、挿入速度に応じて、回転駆動系の回転数が変化する場合がある。また、挿入部と管腔内壁との抵抗が大きくなるとき、内視鏡の挿入補助具に用いられるモータに大きな負荷が掛かる場合がある。　
　従来の技術では、このような場合も考慮して、内視鏡検査中に実際にモータに負荷が掛かったときの回転駆動系の状態を診断することはできない。 In the case of an insertion assisting tool for an insertion assisting function of an endoscope, the rotational speed of the rotation drive system may change depending on the insertion speed. Further, when the resistance between the insertion portion and the inner wall of the lumen increases, a large load may be applied to the motor used for the insertion assisting tool of the endoscope.
In the prior art, in consideration of such a case, it is impossible to diagnose the state of the rotary drive system when a load is actually applied to the motor during the endoscopic examination.
　内視鏡の使用中に回転駆動系が故障すると、内視鏡検査のやり直しとなってしまうため、回転駆動系の劣化などの診断を頻繁に行う方が好ましいが、従来は、内視鏡の使用中の回転駆動系の状態を診断することは出来なかった。 If the rotational drive system breaks down while the endoscope is in use, the endoscopy will be redone, so it is preferable to make frequent diagnoses such as deterioration of the rotational drive system. The state of the rotary drive system in use could not be diagnosed.
　そこで、本発明は、内視鏡の回転駆動系の劣化などの状態の診断を簡易にできる内視鏡システム及びモータ制御システムを提供することを目的とする。 Therefore, an object of the present invention is to provide an endoscope system and a motor control system capable of easily diagnosing a state such as deterioration of the rotational drive system of the endoscope.
　本発明の一態様の内視鏡システムは、内視鏡本体と、前記内視鏡本体が使用されるときに接続される機器と、前記内視鏡本体に設けられたモータと、前記内視鏡本体に設けられかつ前記モータにより駆動される、複数の歯車を有する被駆動機構と、前記内視鏡本体と前記機器のいずれかに配置された若しくは前記内視鏡本体と前記機器との接続部に設けられた、前記モータによる前記被駆動機構の駆動時に前記モータに流れる電流を検出する電流検出部と、前記機器に設けられ、前記電流検出部により得られる前記モータに流れる電流の時間経過に伴う変化を示す波形をフーリエ変換し、周波数に応じた振幅の変化を分析する周波数分析部と、前記周波数分析部により得られた前記振幅の変化に基づいて、前記被駆動機構の状態を判定する判定部と、を有する。 An endoscope system according to an aspect of the present invention includes an endoscope main body, devices connected when the endoscope main body is used, a motor provided in the endoscope main body, and the endoscope A driven mechanism having a plurality of gears provided in a mirror body and driven by the motor, and disposed in one of the endoscope body and the device, or connection between the endoscope body and the device A current detector for detecting a current flowing in the motor when the driven mechanism is driven by the motor; and a time passage of a current flowing in the motor obtained by the current detector provided in the device A frequency analysis unit that performs a Fourier transform on a waveform indicating a change caused by the frequency and analyzes an amplitude change according to a frequency, and determines the state of the driven mechanism based on the amplitude change obtained by the frequency analysis unit Do It has a tough, a.
　本発明の一態様の内視鏡のモータ制御システムは、内視鏡本体に設けられたモータにより被駆動機構を駆動する内視鏡のモータ制御システムであって、前記内視鏡本体または前記内視鏡本体が使用時に接続される機器に配置された若しくは前記内視鏡本体と前記機器との接続部に設けられた、前記モータによる前記被駆動機構の駆動時に前記モータに流れる電流を検出する電流検出部と、前記機器に設けられ、前記電流検出部により得られる前記モータに流れる電流の時間経過に伴う変化を示す波形をフーリエ変換し、周波数に応じた振幅の変化を分析する周波数分析部と、を有する。 An endoscope motor control system according to one aspect of the present invention is an endoscope motor control system in which a driven mechanism is driven by a motor provided in an endoscope body. An electric current flowing through the motor is detected when the driven mechanism is driven by the motor, which is disposed in a device to which the endoscope main body is connected at the time of use or provided in a connection portion between the endoscope main body and the device. A current detection unit, and a frequency analysis unit that is provided in the device and performs a Fourier transform on a waveform indicating a change with time of the current flowing in the motor obtained by the current detection unit, and analyzes a change in amplitude according to the frequency And having.
本発明の実施形態に係わる内視鏡システムの構成を示す構成図である。It is a block diagram which shows the structure of the endoscope system concerning embodiment of this invention. 本発明の実施形態に係わる、操作部の長手軸方向に沿ったモータユニットの概略的な縦断面図である。It is a schematic longitudinal cross-sectional view of the motor unit along the longitudinal-axis direction of the operation part concerning embodiment of this invention. 本発明の実施形態に係わるコントローラの構成を示すブロック図である。It is a block diagram which shows the structure of the controller concerning embodiment of this invention. 本発明の実施形態に係わる回転駆動系診断部の構成を示すブロック図である。It is a block diagram which shows the structure of the rotational drive system diagnostic part concerning embodiment of this invention. 本発明の実施形態に係わる、モータがフルで回転した時における各歯車の回転数を示す表である。It is a table | surface which shows the rotation speed of each gear when the motor rotates fully concerning embodiment of this invention. 本発明の実施形態に係わる、ある回転数でモータが回転しているときの電流センサの出力する電流値のグラフである。It is a graph of the electric current value which a current sensor outputs when a motor rotates with a certain rotation speed concerning embodiment of this invention. 本発明の実施形態に係わる、劣化した歯車がないときの高速フーリエ変換部の出力するスペクトルデータである。It is the spectrum data which a fast Fourier transform part outputs when there is no deteriorated gear concerning an embodiment of the present invention. 本発明の実施形態に係わる、劣化した歯車があるときの高速フーリエ変換部の出力するスペクトルデータである。It is the spectrum data which a fast Fourier transform part outputs when there exists a degraded gear concerning embodiment of this invention.
　以下、図面を参照して本発明の実施形態を説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
（構成）
　図１は、本実施形態に係わる内視鏡システムの構成を示す構成図である。図１に示すように、本実施形態の内視鏡システム１は、被検体の管腔内に挿入される内視鏡本体（以下、内視鏡ともいう）１１と、内視鏡１１に接続される複数のユニットからなるコントロールシステム１２とを有する。 (Constitution)
FIG. 1 is a configuration diagram illustrating a configuration of an endoscope system according to the present embodiment. As shown in FIG. 1, an endoscope system 1 according to this embodiment is connected to an endoscope main body (hereinafter also referred to as an endoscope) 11 inserted into a lumen of a subject and the endoscope 11. And a control system 12 composed of a plurality of units.
　内視鏡１１は、細長の挿入部２１と、挿入部２１の基端側に設けられた操作部２２と、操作部２２から延出するユニバーサルケーブル２３とを有する。コントロールシステム１２と内視鏡１１とは、操作部２２から延出されたユニバーサルケーブル２３により接続される。 The endoscope 11 includes an elongated insertion portion 21, an operation portion 22 provided on the proximal end side of the insertion portion 21, and a universal cable 23 extending from the operation portion 22. The control system 12 and the endoscope 11 are connected by a universal cable 23 extending from the operation unit 22.
　挿入部２１は、長手軸方向に沿って延設される細長い挿入部本体３１と、回転部材３２とを有する。挿入部本体３１は、先端から順に、先端硬質部３１ａと、湾曲部３１ｂと、可撓管部３１ｃを有している。 The insertion part 21 has an elongated insertion part main body 31 extending along the longitudinal axis direction and a rotating member 32. The insertion portion main body 31 includes a distal end hard portion 31a, a bending portion 31b, and a flexible tube portion 31c in order from the distal end.
　可撓管部３１ｃは、被検体の管腔の曲がり形状に従う可撓性を有している。湾曲部３１ｂは、複数の湾曲駒を有する公知の構造で形成されている。湾曲部３１ｂは、操作部２２の操作に応じて、上下左右方向の４方向に湾曲可能である。 The flexible tube portion 31c has flexibility according to the bent shape of the lumen of the subject. The bending portion 31b is formed with a known structure having a plurality of bending pieces. The bending portion 31b can be bent in four directions, up, down, left, and right, according to the operation of the operation unit 22.
　挿入部２１の先端硬質部３１ａには、図示しない観察窓と、図示しない照明窓が設けられている。先端硬質部３１ａの観察窓の後ろ側には、図示しない撮像部が設けられている。撮像部は、観察光学系と撮像素子を有する。 The distal end hard part 31a of the insertion part 21 is provided with an observation window (not shown) and an illumination window (not shown). An imaging unit (not shown) is provided behind the observation window of the distal end hard portion 31a. The imaging unit has an observation optical system and an imaging element.
　複数の光ファイバ束からなるライトガイド４１と撮像信号用の信号ケーブル４２が、内視鏡１１の挿入部２１、操作部２２及びユニバーサルケーブル２３に挿通されている。モータ駆動用ケーブル４３は、操作部２２及びユニバーサルケーブル２３に挿通されている。 A light guide 41 composed of a plurality of optical fiber bundles and a signal cable 42 for imaging signals are inserted through the insertion portion 21, the operation portion 22, and the universal cable 23 of the endoscope 11. The motor drive cable 43 is inserted through the operation unit 22 and the universal cable 23.
　ユニバーサルケーブル２３の先端には、コネクタ２３ａが設けられている。コネクタ２３ａは、ライトガイドコネクタ４１ａ、プロセッサ用ケーブル４１ｂ及びコントローラ用ケーブル４１ｃが設けられている。 A connector 23 a is provided at the end of the universal cable 23. The connector 23a is provided with a light guide connector 41a, a processor cable 41b, and a controller cable 41c.
　コネクタ２３ａは、内部に基板を有し、その基板にはメモリ２３ｂが搭載されている。メモリ２３ｂは、書き換え可能な不揮発性メモリである。後述するように、コントロールシステム１２のコントローラ１２ｄは、コントローラ用ケーブル４１ｃを介してメモリ２３ｂにアクセス可能であり、図示しない信号線を介してデータを書き込むことができる。コントローラ１２ｄは、内視鏡のモータ制御システムを構成する。 The connector 23a has a substrate inside, and a memory 23b is mounted on the substrate. The memory 23b is a rewritable nonvolatile memory. As will be described later, the controller 12d of the control system 12 can access the memory 23b through the controller cable 41c, and can write data through a signal line (not shown). The controller 12d constitutes an endoscope motor control system.
　信号ケーブル４２は、プロセッサ用ケーブル４１ｂ内に挿通され、プロセッサ１２ｂに接続可能となっている。モータ駆動用ケーブル４３は、コントローラ用ケーブル４１ｃに挿通され、コントローラ１２ｄに接続可能となっている。 The signal cable 42 is inserted into the processor cable 41b and can be connected to the processor 12b. The motor drive cable 43 is inserted into the controller cable 41c and can be connected to the controller 12d.
　操作部２２は、把持部５１と、挿入部２１の可撓管３１ｃの基端部を支持する折れ止め部５２と、把持部５１に設けられた２つのノブ５１ａ，５１ｂと、各種の指示が割り当てられる複数のボタンを有する操作部材部５３とを有する。操作部材部５３は、レリーズボタン、吸引ボタン、送気／送水ボタン等を含む。 The operation unit 22 includes a grip 51, a bend preventing portion 52 that supports the proximal end of the flexible tube 31 c of the insertion portion 21, two knobs 51 a and 51 b provided on the grip 51, and various instructions. And an operation member portion 53 having a plurality of buttons to be assigned. The operation member unit 53 includes a release button, a suction button, an air / water supply button, and the like.
　折れ止め部５２は、挿入部２１の可撓管３１ｃが折れ曲がるのを防止する。内視鏡１１のユーザである、例えば術者は、ノブ５１ａを回動操作することにより、図１に示す挿入部２１の湾曲部３１ｂを上下方向に湾曲させることができる。ユーザは、ノブ５１ｂを回動操作することにより、湾曲部３１ｂを左右方向に湾曲させることができる。 The bending prevention part 52 prevents the flexible tube 31c of the insertion part 21 from bending. For example, an operator who is a user of the endoscope 11 can bend the bending portion 31b of the insertion portion 21 shown in FIG. 1 in the vertical direction by rotating the knob 51a. The user can bend the bending portion 31b in the left-right direction by turning the knob 51b.
　図１に示すように、回転部材３２は、内視鏡１１の挿入部２１に配置されている。より具体的には、回転部材３２は、湾曲部３１ｂの基端側であって、可撓管３１ｃの例えば先端部近傍の外周面に、挿入部本体３１の先端側から着脱可能に取り付けられている。回転部材３２は、外周部に、螺旋状に突出したフィン３２ａを有する。回転部材３２は、挿入部本体３１の先端硬質部３１ａ及び湾曲部３１ｂを通して可撓管３１ｃの所定の位置に着脱可能である。回転部材３２は、モータ７１の駆動力によって挿入部２１の長手軸周りに回動する被駆動部材を構成する。 As shown in FIG. 1, the rotating member 32 is disposed in the insertion portion 21 of the endoscope 11. More specifically, the rotating member 32 is detachably attached from the distal end side of the insertion portion main body 31 to the outer peripheral surface near the distal end portion of the flexible tube 31c, for example, on the proximal end side of the bending portion 31b. Yes. The rotating member 32 has a fin 32a protruding in a spiral shape on the outer peripheral portion. The rotating member 32 can be attached to and detached from a predetermined position of the flexible tube 31c through the distal end hard portion 31a and the bending portion 31b of the insertion portion main body 31. The rotating member 32 constitutes a driven member that rotates around the longitudinal axis of the insertion portion 21 by the driving force of the motor 71.
　挿入部２１と操作部２２との境界付近から可撓管３１ｃの例えば先端部にかけての部位には、回転部材３２を駆動するための駆動ユニット６１が設けられている。回転部材３２は、駆動ユニット６１の駆動力により回転可能である。回転部材３２の回転方向は、挿入部本体３１の中心軸ＣＯの軸周りの両方向である。そして、回転部材３２は、挿入部本体３１の管腔内への挿入を補助するとともに、挿入した状態から抜去するのを補助する、管路に対する挿抜用の補助具として用いられる。 A drive unit 61 for driving the rotating member 32 is provided in a region from the vicinity of the boundary between the insertion portion 21 and the operation portion 22 to, for example, the distal end portion of the flexible tube 31c. The rotating member 32 can be rotated by the driving force of the driving unit 61. The rotation direction of the rotation member 32 is both directions around the central axis CO of the insertion portion main body 31. The rotating member 32 is used as an auxiliary tool for insertion / extraction with respect to the duct, which assists the insertion of the insertion portion main body 31 into the lumen and assists the removal from the inserted state.
　駆動ユニット６１は、挿入部２１と操作部２２との境界付近に配設されるモータユニット６２と、可撓管３１ｃの例えば先端部に配設される歯車６３と、モータユニット６２と歯車６３との間に配設されるドライブシャフト６４とを有する。モータユニット６２は、回転駆動力発生部である。歯車６３は、回転駆動力出力部である。 The drive unit 61 includes a motor unit 62 disposed near the boundary between the insertion unit 21 and the operation unit 22, a gear 63 disposed at, for example, the distal end of the flexible tube 31c, the motor unit 62, and the gear 63. Drive shaft 64 disposed between the two. The motor unit 62 is a rotational driving force generator. The gear 63 is a rotational driving force output unit.
　図１に示すように、ドライブシャフト６４は、可撓管３１ｃ内に挿通されている。回転駆動力伝達部であるドライブシャフト６４は、その基端部に支持部６５を有する。支持部６５は、モータユニット６２の出力端６２ａを貫通して支持される。支持部６５は、出力端６２ａの軸方向の長さに対して長く形成されている。 As shown in FIG. 1, the drive shaft 64 is inserted through the flexible tube 31c. The drive shaft 64 which is a rotational driving force transmission part has a support part 65 at its base end part. The support portion 65 is supported through the output end 62 a of the motor unit 62. The support portion 65 is formed longer than the length of the output end 62a in the axial direction.
　ドライブシャフト６４の外側には チャンネル６６が配設されている。チャンネル６６は、チューブ本体６６ａと固定部６６ｂとを有する。チューブ本体６６ａには、ドライブシャフト６４が挿通され、チューブ本体６６ａは、ドライブシャフト６４の外側を略全長にわたって保護する。固定部６６ｂは、チューブ本体６６ａの基端に固定されるとともに、硬質管８４（図２参照）に固定される。 A saddle channel 66 is disposed outside the drive shaft 64. The channel 66 has a tube main body 66a and a fixing portion 66b. A drive shaft 64 is inserted through the tube body 66a, and the tube body 66a protects the outside of the drive shaft 64 over substantially the entire length. The fixing portion 66b is fixed to the proximal end of the tube main body 66a and is fixed to the hard tube 84 (see FIG. 2).
　硬質管８４（図２参照）は、折れ止め部５２内において、可撓管３１ｃの基端に固定された口金３１ｃ４（図２参照）に対して固定されている。ドライブシャフト６４は、チューブ本体６６ａだけでなく、円筒状の固定部６６ｂ内にも挿通されている。チューブ本体６６ａは電気絶縁性を有するとともに、耐摩耗性を有するフレキシブル性を有する樹脂材で形成されている。 The hard tube 84 (see FIG. 2) is fixed to the base 31c4 (see FIG. 2) fixed to the base end of the flexible tube 31c in the bend preventing portion 52. The drive shaft 64 is inserted not only into the tube main body 66a but also into the cylindrical fixing portion 66b. The tube main body 66a is formed of a resin material having electrical insulation properties and flexibility having wear resistance.
　支持部６５は、その横断面が例えばＤ形状に形成されている。ドライブシャフト６４のうち、出力端６２ａにより支持された部分よりも先端側は、適宜のコシを有するとともに可撓性を有する。ドライブシャフト６４の先端に、歯車６３が固定されている。 The support section 65 has a cross section formed in, for example, a D shape. The front end side of the drive shaft 64 relative to the portion supported by the output end 62a has an appropriate stiffness and is flexible. A gear 63 is fixed to the tip of the drive shaft 64.
　支持部６５には、歯車９０（図２）が固定されている。支持部６５は、歯車９０に形成されたＤ形状の孔に挿通されて歯車９０に固定されている。モータユニット６２内のモータが回転すると、歯車９０が回転し、その結果、ドライブシャフト６４が、ドライブシャフト６４の軸周りに回転する。 A gear 90 (FIG. 2) is fixed to the support portion 65. The support part 65 is inserted into a D-shaped hole formed in the gear 90 and fixed to the gear 90. When the motor in the motor unit 62 rotates, the gear 90 rotates, and as a result, the drive shaft 64 rotates around the axis of the drive shaft 64.
　回転部材３２は、円筒形状を有しており、内周面に歯部（以下、内周歯部という）３２ｂを有している。内周歯部３２ｂは、回転部材３２の内周面に形成されていてもよいし、回転部材３２の内周面に固定された円筒部材の内周面に形成されていてもよい。 The rotating member 32 has a cylindrical shape, and has a tooth portion (hereinafter referred to as an inner peripheral tooth portion) 32b on the inner peripheral surface. The inner peripheral tooth portion 32 b may be formed on the inner peripheral surface of the rotating member 32, or may be formed on the inner peripheral surface of a cylindrical member fixed to the inner peripheral surface of the rotating member 32.
　回転部材３２が可撓管３１ｃの所定位置に配置されたときに、歯車６３は、内周歯部６３ｂと噛み合う。よって、ドライブシャフト６４が軸周りに回転すると、歯車６３の回転に伴い、回転部材３２は、可撓管３１ｃの長手軸周りに回転する。 When the rotating member 32 is disposed at a predetermined position of the flexible tube 31c, the gear 63 meshes with the inner peripheral tooth portion 63b. Therefore, when the drive shaft 64 rotates around the axis, the rotating member 32 rotates around the longitudinal axis of the flexible tube 31c as the gear 63 rotates.
　図２は、実施形態に係る、操作部の長手軸方向に沿ったモータユニット６２の概略的な縦断面図である。 FIG. 2 is a schematic longitudinal sectional view of the motor unit 62 along the longitudinal axis direction of the operation unit according to the embodiment.
　図１及び図２に示すように、モータユニット６２は、駆動源としてのモータ７１と、歯車列７２とを有する。モータ７１及び歯車列７２は、挿入部２１の基端側に配置されている。 1 and 2, the motor unit 62 includes a motor 71 as a drive source and a gear train 72. The motor 71 and the gear train 72 are disposed on the proximal end side of the insertion portion 21.
　モータユニット６２は、挿入部２１と操作部２２との境界付近から挿入部２１の長手方向に対して直交する方向に突出した状態で、歯車支持フレームであるギアボックス７３内に収納されている。ギアボックス７３内には、回路基板７４も配設されている。 The motor unit 62 is housed in a gear box 73 that is a gear support frame in a state of projecting in the direction orthogonal to the longitudinal direction of the insertion portion 21 from the vicinity of the boundary between the insertion portion 21 and the operation portion 22. A circuit board 74 is also disposed in the gear box 73.
　図１及び図２に示すように、モータ７１は、内視鏡本体である内視鏡１１に内蔵されて設けられている。歯車列７２は、内視鏡１１に内蔵されたモータ７１からの回転駆動力を伝達する、複数の歯車を有している。歯車列７２の複数の歯車の歯車比の調整により、モータ７１の駆動軸７１ａの回転速度は、出力端６２ａにおけるドライブシャフト６４の適宜のトルク及び適宜の回転速度に変換される。 As shown in FIGS. 1 and 2, the motor 71 is provided in the endoscope 11 which is the endoscope body. The gear train 72 has a plurality of gears that transmit the rotational driving force from the motor 71 built in the endoscope 11. By adjusting the gear ratio of the plurality of gears in the gear train 72, the rotational speed of the drive shaft 71a of the motor 71 is converted into an appropriate torque and an appropriate rotational speed of the drive shaft 64 at the output end 62a.
　すなわち、歯車列７２は、内視鏡１１に設けられかつモータ７１により駆動される、複数の歯車を有する被駆動機構を構成する。 That is, the gear train 72 constitutes a driven mechanism having a plurality of gears provided in the endoscope 11 and driven by the motor 71.
　ギアボックス７３は、ベースプレート８１、支持体８２及び外装ケース８３を有する。外装ケース８３は、ケース本体８３ａとキャップ８３ｂにより構成されている。支持体８２は、ネジによりベースプレート８１に固定されている。ベースプレート８１及び支持体８２は、協働して、歯車列７２の各歯車及びモータ７１を支持する。支持体８２は、折れ止め部５２内の硬質管８４に固定される。 The gear box 73 includes a base plate 81, a support 82, and an outer case 83. The exterior case 83 includes a case main body 83a and a cap 83b. The support 82 is fixed to the base plate 81 with screws. The base plate 81 and the support 82 cooperate to support each gear of the gear train 72 and the motor 71. The support body 82 is fixed to the rigid tube 84 in the folding preventing portion 52.
　なお、モータ７１は、後述する絶縁プレート８５により支持体８２に固定される。 The motor 71 is fixed to the support 82 by an insulating plate 85 described later.
　モータ７１の駆動軸７１ａに取り付けられたピニオンギア９１には、被駆動機構である歯車列７２の第１ギアアッセンブリ９２の大歯車９２ａが噛み合わせられる。第１ギアアッセンブリ９２は、大歯車９２ａと小歯車９２ｂとを有する。第１ギアアッセンブリ９２は、ベースプレート８１及び支持体８２の両者に支持されている。 The large gear 92a of the first gear assembly 92 of the gear train 72, which is a driven mechanism, is meshed with the pinion gear 91 attached to the drive shaft 71a of the motor 71. The first gear assembly 92 has a large gear 92a and a small gear 92b. The first gear assembly 92 is supported by both the base plate 81 and the support body 82.
　第１ギアアッセンブリ９２の大歯車９２ａと一緒に回転する小歯車９２ｂには歯車列７２の第２ギアアッセンブリ９３の大歯車９３ａが噛み合わせられる。第２ギアアッセンブリ９３は、大歯車９３ａと小歯車９３ｂとを有する。第２ギアアッセンブリ９３は、ベースプレート８１及び支持体８２の両者に支持されている。 The large gear 93 a of the second gear assembly 93 of the gear train 72 is meshed with the small gear 92 b that rotates together with the large gear 92 a of the first gear assembly 92. The second gear assembly 93 has a large gear 93a and a small gear 93b. The second gear assembly 93 is supported by both the base plate 81 and the support body 82.
　第２ギアアッセンブリ９３の大歯車９３ａと一緒に回転する小歯車９３ｂには、歯車列７２の第３ギアアッセンブリ９４が噛み合わせられる。第３ギアアッセンブリ９４は、支持体８２に支持されている。 The third gear assembly 94 of the gear train 72 is meshed with the small gear 93b that rotates together with the large gear 93a of the second gear assembly 93. The third gear assembly 94 is supported by the support body 82.
　第３ギアアッセンブリ９４には歯車列７２の第４ギアアッセンブリとしての筒状の歯車９０が噛み合わせられる。歯車９０は、支持体８２に支持されている。 A cylindrical gear 90 as a fourth gear assembly of the gear train 72 is meshed with the third gear assembly 94. The gear 90 is supported by the support body 82.
　なお、第１ギアアッセンブリ９２の大歯車９２ａは、電気絶縁性を有する、例えば硬質の樹脂材等で形成されている。モータ７１は電気絶縁性を有する絶縁プレート８５を介して支持体８２に支持されている。 このため、モータ７１及び内視鏡１１は電気的に絶縁されている。そして、内視鏡１１の撮像部のグランド（ＧＮＤ）とモータ７１のグランド（ＧＮＤ）とを電気的に絶縁し、分離している。 The large gear 92a of the first gear assembly 92 is formed of an electrically insulating material such as a hard resin material. The motor 71 is supported by the support 82 via an insulating plate 85 having electrical insulation. For this reason, the motor 71 and the endoscope 11 are electrically insulated. The ground (GND) of the imaging unit of the endoscope 11 and the ground (GND) of the motor 71 are electrically insulated and separated.
　第１ギアアッセンブリ９２の回転軸の一端及び第２ギアアッセンブリ９３の回転軸の一端は、ベースプレート８１に対してボールベアリングにより支持されている。このため、第１ギアアッセンブリ９２の回転軸の中心軸と第２ギアアッセンブリ９３の回転軸の中心軸とが平行となる。 One end of the rotation shaft of the first gear assembly 92 and one end of the rotation shaft of the second gear assembly 93 are supported by a ball bearing with respect to the base plate 81. For this reason, the central axis of the rotation shaft of the first gear assembly 92 and the central axis of the rotation shaft of the second gear assembly 93 are parallel to each other.
　なお、第１ギアアッセンブリ９２の回転軸の他端及び第２ギアアッセンブリ９３の回転軸の他端は、支持体８２に対してボールベアリングで支持されている。 It should be noted that the other end of the rotation shaft of the first gear assembly 92 and the other end of the rotation shaft of the second gear assembly 93 are supported by a support 82 with ball bearings.
　第３ギアアッセンブリ９４の回転軸の一端及び他端は、支持体８２に対してボールベアリングで支持されている。歯車９０の一端及び他端は、支持体８２に対して セラミック材の滑り軸受で支持されている。 One end and the other end of the rotating shaft of the third gear assembly 94 are supported by a support 82 with ball bearings. One end and the other end of the gear 90 are supported on the support 82 by sliding bearings made of a ceramic material.
　なお、第２ギアアッセンブリ９３から回転駆動力が伝達される第３ギアアッセンブリ９４の回転軸の中心軸も、第１ギアアッセンブリ９２の回転軸の中心軸と第２ギアアッセンブリ９３の回転軸の中心軸と平行となる。 The central axis of the rotation shaft of the third gear assembly 94 to which the rotational driving force is transmitted from the second gear assembly 93 is also the center axis of the rotation shaft of the first gear assembly 92 and the center of the rotation shaft of the second gear assembly 93. Parallel to the axis.
　以上のように、モータ７１の回転駆動力は、歯車列７２によりドライブシャフト６４を回転させる。歯車６３は、回転部材３２の内周歯部３２ｂと噛み合っている。回転するドライブシャフト６４は、歯車６３により回転部材３２を回転させる。 As described above, the rotational driving force of the motor 71 rotates the drive shaft 64 by the gear train 72. The gear 63 meshes with the inner peripheral tooth portion 32 b of the rotating member 32. The rotating drive shaft 64 rotates the rotating member 32 by the gear 63.
　すなわち、被駆動機構である歯車列７２は、内視鏡１１に設けられた回転部材３２とモータ７１との間に介在し、モータ７１の回転駆動力を回転部材３２に伝達する。 That is, the gear train 72 which is a driven mechanism is interposed between the rotating member 32 provided in the endoscope 11 and the motor 71, and transmits the rotational driving force of the motor 71 to the rotating member 32.
　コントロールシステム１２は、光源ユニット１２ａと、プロセッサ１２ｂと、モニタ１２ｃと、コントローラ１２ｄと、入力ユニット１２ｅとを有する。光源ユニット１２ａとプロセッサ１２ｂは接続されている。プロセッサ１２ｂとモニタ１２ｃも接続されている。光源ユニット１２ａとコントローラ１２ｄも接続されている。コントローラ１２ｄと入力ユニット１２ｅも接続されている。 The control system 12 includes a light source unit 12a, a processor 12b, a monitor 12c, a controller 12d, and an input unit 12e. The light source unit 12a and the processor 12b are connected. A processor 12b and a monitor 12c are also connected. A light source unit 12a and a controller 12d are also connected. A controller 12d and an input unit 12e are also connected.
　光源ユニット１２ａは、観察対象を照明するための照明光を出射する。光源ユニット１２ａの照明光は、ライトガイドコネクタ４１ａに入射する。 The light source unit 12a emits illumination light for illuminating the observation target. Illumination light from the light source unit 12a enters the light guide connector 41a.
　プロセッサ１２ｂは、観察光学系の撮像部により撮像された画像を処理して内視鏡画像を生成する画像処理ユニットを有する。プロセッサ１２ｂは、プロセッサ用ケーブル４１ｂを介して内視鏡１１の撮像部と接続される。　
　モニタ１２ｃは、生成された内視鏡画像を表示する表示部である。 The processor 12b includes an image processing unit that processes an image captured by the imaging unit of the observation optical system to generate an endoscopic image. The processor 12b is connected to the imaging unit of the endoscope 11 via the processor cable 41b.
The monitor 12c is a display unit that displays the generated endoscopic image.
　コントローラ１２ｄは、内視鏡システム１全体を制御する。コントローラ１２ｄは、内視鏡本体である内視鏡１１が使用されるときに接続される周辺機器である。 The controller 12d controls the entire endoscope system 1. The controller 12d is a peripheral device connected when the endoscope 11 that is the endoscope body is used.
　入力ユニット１２ｅは、コントローラ１２ｄに指示等を入力する装置である。入力ユニット１２ｅは、例えば図示しないキーボードやフットスイッチ等である。入力ユニット１２ｅは、上述したモータ７１を制御し、挿入部２１の体腔内に対する進退動作を指示する、前進スイッチＦＳ及び後退スイッチＢＳを有する。 The input unit 12e is a device that inputs instructions and the like to the controller 12d. The input unit 12e is, for example, a keyboard or a foot switch (not shown). The input unit 12e includes a forward switch FS and a backward switch BS that control the motor 71 described above and instruct an advance / retreat operation of the insertion portion 21 with respect to the body cavity.
　コントローラ１２ｄは、専用装置だけではなく、例えば、任意のプログラムを搭載するパーソナルコンピュータ等の汎用的な処理装置であってもよい。 The controller 12d is not limited to a dedicated device, and may be a general-purpose processing device such as a personal computer on which an arbitrary program is mounted.
　モータユニット６２の回路基板７４の回路は、コントローラ１２ｄからのコマンドに応じて、モータ７１の回転速度をサーボ制御などにより制御する。コントローラ１２ｄは、モータ７１の回転方向及び回転方向を制御する。術者が、前進スイッチＦＳあるいは後退スイッチＢＳを押下することにより、挿入部２１は、被検体の管腔内を前進あるいは後退する。 The circuit on the circuit board 74 of the motor unit 62 controls the rotation speed of the motor 71 by servo control or the like in accordance with a command from the controller 12d. The controller 12d controls the rotation direction and the rotation direction of the motor 71. When the operator presses the forward switch FS or the backward switch BS, the insertion unit 21 advances or retracts in the lumen of the subject.
　図３は、コントローラ１２ｄの構成を示すブロック図である。 FIG. 3 is a block diagram showing the configuration of the controller 12d.
　コントローラ１２ｄは、制御部１０１と、モータ駆動制御回路１０２と、電流センサ１０３と、メモリ１０４と、３つのインターフェース回路（以下、Ｉ／Ｆと略す）１０５，１０６，１０７を有する。制御部１０１と、３つのＩ／Ｆ１０５，１０６，１０７は、バス１０８により信号の送受信が可能に接続されている。 The controller 12d includes a control unit 101, a motor drive control circuit 102, a current sensor 103, a memory 104, and three interface circuits (hereinafter abbreviated as I / F) 105, 106, and 107. The control unit 101 and the three I / Fs 105, 106, and 107 are connected by a bus 108 so that signals can be transmitted and received.
　制御部１０１は、中央処理装置（以下、ＣＰＵという）、ＲＯＭ、ＲＯＭなどを含むプロセッサである。 The control unit 101 is a processor including a central processing unit (hereinafter referred to as CPU), ROM, ROM and the like.
　なお、メモリ１０４に記憶されるソフトウエアを含めて制御部１０１は、ＦＰＧＡ（Ｆｉｅｌｄ　Ｐｒｏｇｒａｍｍａｂｌｅ　Ｇａｔｅ　Ａｒｒａｙ）などのハードウエア回路により構成してもよい。 The control unit 101 including software stored in the memory 104 may be configured by a hardware circuit such as an FPGA (Field Programmable Gate Array).
　モータ駆動制御回路１０２は、入力ユニット１２ｅからの前進スイッチＦＳ又は後退スイッチＢＳの押下に応じた指示信号を受信して、その指示信号に応じた駆動信号を生成して、モータ駆動用ケーブル４３へ出力するハードウエア回路である。モータ駆動制御回路１０２により生成された駆動信号は、電流センサ１０３を介してモータ７１へ供給される。 The motor drive control circuit 102 receives an instruction signal corresponding to the depression of the forward switch FS or the reverse switch BS from the input unit 12e, generates a drive signal corresponding to the instruction signal, and sends it to the motor drive cable 43. This is a hardware circuit to output. The drive signal generated by the motor drive control circuit 102 is supplied to the motor 71 via the current sensor 103.
　電流センサ１０３は、モータ駆動用ケーブル４３の途中に配置され、モータ駆動用ケーブル４３に流れる電流を検出する。電流センサ１０３の検出信号は、モータ駆動制御回路１０２にフィードバックされると共に、Ｉ／Ｆ１０５を介して制御部１０１に供給される。 The current sensor 103 is arranged in the middle of the motor driving cable 43 and detects a current flowing through the motor driving cable 43. The detection signal of the current sensor 103 is fed back to the motor drive control circuit 102 and supplied to the control unit 101 via the I / F 105.
　なお、ここでは、電流センサ１０３は、コントローラ１２ｄ内に設けられているが、図１において一点鎖線で示すように、電流センサ１０３ａとして内視鏡１１内に設けてもよく、あるいは図１において二点鎖線で示すように、電流センサ１０３ｂとして内視鏡１１とコントローラ１２ｄの間に設けられた接続装置１２ｆ内に設けてもよい。 Here, although the current sensor 103 is provided in the controller 12d, it may be provided in the endoscope 11 as the current sensor 103a as shown by a one-dot chain line in FIG. As indicated by a dashed line, the current sensor 103b may be provided in a connection device 12f provided between the endoscope 11 and the controller 12d.
　よって、電流センサ１０３は、内視鏡１１とコントローラ１２ｄのいずれかに配置された若しくは内視鏡１１とコントローラ１２ｄとの接続部である接続装置１２ｆに設けられた、モータ７１による歯車列７２の駆動時にモータ７１に流れる電流を検出する電流検出部を構成する。 Therefore, the current sensor 103 is disposed in either the endoscope 11 or the controller 12d, or provided in the connecting device 12f that is a connecting portion between the endoscope 11 and the controller 12d. A current detection unit that detects a current flowing through the motor 71 during driving is configured.
　制御部１０１は、Ｉ／Ｆ１０５及びバス１０８を介して、電流センサ１０３の検出値を受信する。制御部１０１は、メモリ１０４に記憶された各種処理プログラムを実行し、内視鏡システム１全体の制御を行うと共に、後述する回転駆動系診断プログラムを実行する。なお、後述する閾値ＴＨのデータもメモリ１０４に記憶されている。 The control unit 101 receives the detection value of the current sensor 103 via the I / F 105 and the bus 108. The control unit 101 executes various processing programs stored in the memory 104, controls the entire endoscope system 1, and executes a rotational drive system diagnosis program described later. Note that data of a threshold value TH described later is also stored in the memory 104.
　制御部１０１で生成された各種コマンドは、Ｉ／Ｆ１０６を通して光源ユニット１２ａへ供給される。後述するように、制御部１０１で生成された画像信号などは、光源ユニット１２ａからプロセッサ１２ｂへ供給され、プロセッサ１２ｂからモニタ１２ｃへ供給される。プロセッサ１２ｂは、光源ユニット１２ａを介してコントローラ１２ｄと接続されているので、制御部１０１で生成された画像信号は、コントローラ１２ｄを介してモニタ１２ｃに表示可能となっている。 Various commands generated by the control unit 101 are supplied to the light source unit 12a through the I / F 106. As will be described later, the image signal generated by the control unit 101 is supplied from the light source unit 12a to the processor 12b, and is supplied from the processor 12b to the monitor 12c. Since the processor 12b is connected to the controller 12d via the light source unit 12a, the image signal generated by the control unit 101 can be displayed on the monitor 12c via the controller 12d.
　さらに、制御部１０１は、後述するように、Ｉ／Ｆ１０７を通して内視鏡１１のメモリ２３ｂにデータを書き込むことができる。 Further, the control unit 101 can write data to the memory 23b of the endoscope 11 through the I / F 107 as will be described later.
（作用）
　次に、コントローラ１２ｄの制御部１０１における回転駆動系診断処理について説明する。 (Function)
Next, the rotational drive system diagnosis process in the control unit 101 of the controller 12d will be described.
　図４は、回転駆動系診断部の構成を示すブロック図である。 FIG. 4 is a block diagram showing the configuration of the rotational drive system diagnostic unit.
　回転駆動系診断部Ｐは、ＦＦＴ部１１１、判定部１１２、告知部１１３及び書き込み部１１４を有する回転駆動系診断プログラムである。回転駆動系診断部Ｐは、メモリ１０４に格納される。ＦＦＴ部１１１、判定部１１２、告知部１１３及び書き込み部１１４の各々は、制御部１０１のＣＰＵにより読み込まれて、各部の機能が実現される。 The rotational drive system diagnostic unit P is a rotational drive system diagnostic program that includes an FFT unit 111, a determination unit 112, a notification unit 113, and a writing unit 114. The rotational drive system diagnosis unit P is stored in the memory 104. Each of the FFT unit 111, the determination unit 112, the notification unit 113, and the writing unit 114 is read by the CPU of the control unit 101, and the functions of the respective units are realized.
　電流センサ１０３の電流値Ｉのデータは、ＦＦＴ部１１１及び判定部１１２に供給される。上述したように、電流センサ１０３は、モータ７１に流れる電流の大きさを検出する。 The data of the current value I of the current sensor 103 is supplied to the FFT unit 111 and the determination unit 112. As described above, the current sensor 103 detects the magnitude of the current flowing through the motor 71.
　ＦＦＴ部１１１は、電流値Ｉのデータに対して高速フーリエ変換処理を行い、スペクトルデータを出力する。 The FFT unit 111 performs fast Fourier transform processing on the data of the current value I and outputs spectrum data.
　ここでは、ＦＦＴ部１１１は、コントローラ１２ｄに設けられ、モータ７１に流れる電流の時間経過に伴う変化を示す波形をフーリエ変換し、周波数に応じた振幅の変化を分析する周波数分析部を構成する。ＦＦＴ部１１１は、波形をフーリエ変換して周波数分析する機能はソフトウエアで構築されている。 Here, the FFT unit 111 is provided in the controller 12d, and constitutes a frequency analysis unit that Fourier-transforms a waveform indicating a change with time of the current flowing through the motor 71 and analyzes a change in amplitude according to the frequency. The FFT unit 111 has a function of analyzing the frequency by Fourier transforming the waveform by software.
　判定部１１２は、ＦＦＴ部１１１により得られたスペクトルデータの振幅の変化に基づいて、歯車列７２の状態を判定する。ここでは、判定部１１２は、ＦＦＴ部１１１の出力から、所定の閾値ＴＨを超える周波数があるか否かを判定すると共に、劣化状態を示す歯車を特定する。判定部１１２には、メモリ１０４から読み出された閾値ＴＨが入力される。 The determination unit 112 determines the state of the gear train 72 based on the change in the amplitude of the spectrum data obtained by the FFT unit 111. Here, the determination unit 112 determines whether there is a frequency that exceeds a predetermined threshold TH from the output of the FFT unit 111, and identifies a gear that indicates a deterioration state. The threshold value TH read from the memory 104 is input to the determination unit 112.
　各歯車は、入力ユニット１２ｅからの動作指示に応じた回転数となる。 Each gear has a rotational speed corresponding to an operation instruction from the input unit 12e.
　図５は、モータ７１がフルで回転した時における各歯車の回転数を示す表である。ここでは、回転数は、１秒間の回転数である。図５において、歯車Ａは、上述した歯車９０に対応する。歯車Ｂは、上述したギアアッセンブリ９４に対応する。歯車Ｃは、上述した小歯車９３ｂに対応する。歯車Ｄは、上述した大歯車９３ａに対応する。歯車Ｅは、上述した小歯車９２ｂに対応する。歯車Ｆは、上述した大歯車９２ａに対応する。歯車Ｇは、上述したピニオンギア９１に対応する。 FIG. 5 is a table showing the number of rotations of each gear when the motor 71 is fully rotated. Here, the rotation speed is the rotation speed per second. In FIG. 5, the gear A corresponds to the gear 90 described above. The gear B corresponds to the gear assembly 94 described above. The gear C corresponds to the small gear 93b described above. The gear D corresponds to the large gear 93a described above. The gear E corresponds to the small gear 92b described above. The gear F corresponds to the large gear 92a described above. The gear G corresponds to the pinion gear 91 described above.
　よって、ユーザが、入力ユニット１２ｅの前進スイッチＦＳあるいは後退スイッチＢＳを最も深く押下したときモータ７１はフルで回転する。モータ７１はフルで回転するとき、歯車Ａの回転数はｆ１であり、歯車Ｂの回転数はｆ２であり、歯車Ｃの回転数はｆ３であり、歯車Ｄの回転数はｆ４であり、歯車Ｅの回転数はｆ５であり、歯車Ｆの回転数はｆ６であり、歯車Ｇの回転数はｆ７である。 Therefore, when the user presses the forward switch FS or the reverse switch BS of the input unit 12e most deeply, the motor 71 rotates fully. When the motor 71 rotates at full speed, the rotation speed of the gear A is f1, the rotation speed of the gear B is f2, the rotation speed of the gear C is f3, the rotation speed of the gear D is f4, The rotation speed of E is f5, the rotation speed of the gear F is f6, and the rotation speed of the gear G is f7.
　図６は、ある回転数でモータ７１が回転しているときの電流センサの出力する電流値のグラフである。図６において、横軸は、時間であり、縦軸は、電流値である。図６では、時間は、秒（ｓ）であり、電流値は、ミリアンペア（ｍＡ）である。図６に示すように、電流センサ１０３の検出したモータ７１へ供給される電流の電流値は、時間経過と共に変化する。 FIG. 6 is a graph of the current value output by the current sensor when the motor 71 is rotating at a certain number of rotations. In FIG. 6, the horizontal axis is time, and the vertical axis is current value. In FIG. 6, the time is seconds (s) and the current value is milliamperes (mA). As shown in FIG. 6, the current value of the current supplied to the motor 71 detected by the current sensor 103 changes with time.
　図７は、劣化した歯車がないときのＦＦＴ部１１１の出力するスペクトルピークデータである。図７において、横軸は、周波数であり、縦軸は、スペクトルピークデータの正規化された振幅値（Ａ）である。図７に示すように、閾値ＴＨを超えているスペクトルピークデータはない。 FIG. 7 shows spectral peak data output from the FFT unit 111 when there is no deteriorated gear. In FIG. 7, the horizontal axis represents frequency, and the vertical axis represents the normalized amplitude value (A) of the spectrum peak data. As shown in FIG. 7, there is no spectral peak data exceeding the threshold value TH.
　内視鏡１１の場合、挿入部２１と管腔内壁との抵抗が大きくなったり、小さくなったりするため、モータ７１に掛かる負荷は変化する。しかし、ある回転数でモータ７１が回転しているとき、回転駆動系に劣化がなければ、モータに掛かる負荷が変化しても、閾値ＴＨを超えるスペクトルピークデータは、現れない。 In the case of the endoscope 11, since the resistance between the insertion portion 21 and the inner wall of the lumen is increased or decreased, the load applied to the motor 71 changes. However, when the motor 71 is rotating at a certain rotational speed, if the rotational drive system is not deteriorated, spectrum peak data exceeding the threshold TH does not appear even if the load applied to the motor changes.
　図８は、劣化した歯車があるときのＦＦＴ部１１１の出力するスペクトルピークデータである。図８において、横軸は、周波数であり、縦軸は、スペクトルピークデータの正規化された振幅値（Ａ）である。図８に示すように、特定の周波数のスペクトルピークデータの振幅が大きく、閾値ＴＨを超えている。 FIG. 8 shows spectral peak data output from the FFT unit 111 when there is a deteriorated gear. In FIG. 8, the horizontal axis represents the frequency, and the vertical axis represents the normalized amplitude value (A) of the spectrum peak data. As shown in FIG. 8, the amplitude of the spectrum peak data of a specific frequency is large and exceeds the threshold value TH.
　なお、上述したように、ユーザは、例えば前進スイッチＦＳあるいは後退スイッチＢＳの押下量に応じて、回転部材３２の回転量を変化させることができる。 Note that, as described above, the user can change the rotation amount of the rotation member 32 in accordance with, for example, the pressing amount of the forward switch FS or the reverse switch BS.
　入力ユニット１２ｅからの動作指示に応じた回転数でモータ７１が回転しているとき、歯車列７２中のある歯車が劣化すると、その歯車の現時点の回転数に対応するスペクトルデータの振幅が大きくなる。各歯車の現時点の回転数は、図５に示すモータ７１がフルで回転した時の回転数以下である。 When the motor 71 is rotating at a rotational speed corresponding to the operation instruction from the input unit 12e, if a certain gear in the gear train 72 is deteriorated, the amplitude of the spectrum data corresponding to the current rotational speed of the gear increases. . The current rotation speed of each gear is equal to or less than the rotation speed when the motor 71 shown in FIG.
　判定部１１２は、電流センサ１０３の検出信号から、モータ７１の回転数を検出することができる。よって、判定部１１２は、電流センサ１０３の検出信号に基づいて、各歯車の現時点の回転数ｆを算出することができる。 The determination unit 112 can detect the rotation speed of the motor 71 from the detection signal of the current sensor 103. Therefore, the determination unit 112 can calculate the current rotation speed f of each gear based on the detection signal of the current sensor 103.
　例えば、図５は、モータ７１のフル出力時の各歯車の回転数のパラメータデータを示しているので、判定部１１２は、電流センサ１０３により検出された現時点の検出信号と、モータ７１のフル出力時おける電流センサ１０３の検出信号とに基づいて、各歯車の現時点の回転数を決定することができる。 For example, FIG. 5 shows parameter data of the rotation speed of each gear at the time of full output of the motor 71, so that the determination unit 112 detects the current detection signal detected by the current sensor 103 and the full output of the motor 71. Based on the current detection signal of the current sensor 103, the current rotational speed of each gear can be determined.
　すなわち、入力ユニット１２ｅからの指示信号に応じて各歯車の回転数は変わるので、判定部１１２は、電流センサ１０３の検出信号に基づいて、各歯車の現時点の回転数を算出し、そのスペクトルデータ中の閾値ＴＨを超えた周波数に対応する歯車を特定することができる。 That is, since the rotation speed of each gear changes according to the instruction signal from the input unit 12e, the determination unit 112 calculates the current rotation speed of each gear based on the detection signal of the current sensor 103, and the spectral data thereof. The gear corresponding to the frequency exceeding the middle threshold value TH can be specified.
　よって、ＦＦＴ部１１１は、図５に示す、複数の歯車の各々のパラメータデータを用いて、周波数に応じた振幅を算出する。 Therefore, the FFT unit 111 calculates the amplitude corresponding to the frequency using the parameter data of each of the plurality of gears shown in FIG.
　図８においては、周波数ｆ１とｆ２において、振幅が大きく、閾値ＴＨを超えている。ｆ１は、算出された歯車Ａすなわち歯車９０の現時点の回転数であり、ｆ２は、算出された歯車Ｂすなわちギアアッセンブリ９４の現時点の回転数である。 In FIG. 8, at frequencies f1 and f2, the amplitude is large and exceeds the threshold value TH. f1 is the current rotational speed of the gear A, that is, the gear 90, and f2 is the current rotational speed of the gear B, that is, the gear assembly 94.
　よって、判定部１１２は、歯車ＡとＢが劣化していると判定することができる。すなわち、判定部１１２は、複数の歯車の各々の回転周波数と、振幅の変化が起こっている周波数とを比較することによって、劣化している歯車を判定することができる。判定部１１２は、複数の歯車の各々の回転周波数における振幅の変化の大きさに基づいて、歯車列７２の各歯車の劣化を判定する。特に、判定部１１２は、振幅と所定の閾値ＴＨとを比較することにより、歯車列７１の状態が、劣化状態であるかを判定する。 Therefore, the determination unit 112 can determine that the gears A and B are deteriorated. That is, the determination unit 112 can determine a deteriorated gear by comparing the rotation frequency of each of the plurality of gears with the frequency at which the change in amplitude occurs. The determination unit 112 determines the deterioration of each gear in the gear train 72 based on the magnitude of the change in amplitude at the rotation frequency of each of the plurality of gears. In particular, the determination unit 112 determines whether or not the state of the gear train 71 is in a deteriorated state by comparing the amplitude with a predetermined threshold value TH.
　判定部１１２が、歯車ＡとＢが劣化していると判定すると、告知部１１３へ劣化歯車が歯車ＡとＢであることを通知する。 If the determination unit 112 determines that the gears A and B are deteriorated, it notifies the notification unit 113 that the deteriorated gears are the gears A and B.
　告知部１１３は、判定部１１２の判定結果において劣化を示す歯車が判定されたときに、劣化を示す歯車をユーザに告知するためのメッセージデータを生成し、プロセッサ１２ｂへ出力する。 The notification unit 113 generates message data for notifying the user of the gear indicating deterioration when the determination result of the determination unit 112 determines that the gear indicates deterioration, and outputs the message data to the processor 12b.
　書き込み部１１４は、判定部１１２の判定結果において劣化を示す歯車があることを、内視鏡１１のメモリ２３ｂに記録する処理を行う。よって、書き込み部１１４は、判定部１１２において判定された歯車列７２の状態についての情報を、内視鏡１１に設けられたメモリ２３ｂに書き込む書き込み部を構成する。例えば、メモリ２３ｂには、劣化した歯車を特定する情報を格納してもよい。 The writing unit 114 performs processing for recording in the memory 23b of the endoscope 11 that there is a gear indicating deterioration in the determination result of the determination unit 112. Therefore, the writing unit 114 constitutes a writing unit that writes information about the state of the gear train 72 determined by the determination unit 112 to the memory 23 b provided in the endoscope 11. For example, information specifying a deteriorated gear may be stored in the memory 23b.
　告知部１１３は、歯車ＡとＢが劣化しているとのデータを受けると、例えば、モニタ１２ｃに表示するメッセージを生成する。そのメッセージは、例えば「歯車ＡとＢが劣化しています。点検して下さい。」のテキストである。なお、テキストは、劣化及びその箇所を示すコードでもよい。 When the notification unit 113 receives data indicating that the gears A and B are deteriorated, for example, the notification unit 113 generates a message to be displayed on the monitor 12c. The message is, for example, the text “Gears A and B are deteriorated. Check.” The text may be a code indicating deterioration and its location.
　よって、告知部１１３は、判定部１１２において判定された歯車列７２の状態を表示するための表示情報を生成する表示情報生成部を構成する。 Therefore, the notification unit 113 constitutes a display information generation unit that generates display information for displaying the state of the gear train 72 determined by the determination unit 112.
　そのメッセージデータは、光源ユニット１２ａを介してプロセッサ１２ｄへ供給され、プロセッサ１２ｄは、そのメッセージを表示する画像信号を生成して、あるいはそのメッセージを重畳した画像信号を生成して、モニタ１２ｃに出力する。 The message data is supplied to the processor 12d via the light source unit 12a, and the processor 12d generates an image signal for displaying the message or generates an image signal on which the message is superimposed and outputs it to the monitor 12c. To do.
　その結果、ユーザは、内視鏡システム１の動作中に歯車の劣化があることを知って、関連する者に点検などを指示することができる。 As a result, the user can know that there is a gear deterioration during the operation of the endoscope system 1 and can instruct the related person to inspect.
　歯車の故障まで至っていない、歯車が劣化している状態が検出されるので、ユーザが内視鏡検査中に、回転駆動系が故障して内視鏡検査ができなくなる確率は低下する。 Since it is detected that the gear is not broken or the gear is deteriorated, the probability that the user cannot perform the endoscopic inspection due to the failure of the rotary drive system during the endoscopic inspection is reduced.
　例えば、ユーザは、内視鏡システム１の動作を開始した直後に、回転駆動系を試しに動作させることで、動作直後における劣化の有無を知ることができる場合がある。 For example, the user may be able to know the presence or absence of deterioration immediately after the operation by operating the rotational drive system as a test immediately after the operation of the endoscope system 1 is started.
　よって、ユーザは、内視鏡システム１の動作を開始した直後に、回転駆動系の劣化の有無を知ることができる。その場合、ユーザは、内視鏡を交換して別の内視鏡を用いて検査を行うという選択手段をとることもできる。 Therefore, the user can know the presence or absence of deterioration of the rotary drive system immediately after the operation of the endoscope system 1 is started. In that case, the user can also take a selection means of exchanging the endoscope and performing an inspection using another endoscope.
　また、メモリ２３ｂには、劣化の有無のデータが書き込まれているので、内視鏡システム１の動作を開始した直後に、プロセッサ１２ｂがメモリ２３ｂからデータを読み出して、過去の動作時において劣化があれば、所定のメッセージを表示することができる。所定のメッセージは、例えば、「本内視鏡の回転駆動系に劣化がみられるので、メーカのサービスを依頼して下さい。」である。 In addition, since data indicating the presence or absence of deterioration is written in the memory 23b, immediately after the operation of the endoscope system 1 is started, the processor 12b reads the data from the memory 23b, and the deterioration occurs in the past operation. If there is, a predetermined message can be displayed. The predetermined message is, for example, “Since the rotational drive system of the endoscope is deteriorated, please request the manufacturer's service.”
　あるいは、劣化の有無のデータ等がメモリ２３ｂにログデータとして書き込まれているので、内視鏡１１のメーカのサービスマンが、内視鏡１１のメンテナンスを行うときに、劣化の進行具合を確認することもできる。 Alternatively, since data indicating the presence / absence of deterioration is written as log data in the memory 23b, the serviceman of the manufacturer of the endoscope 11 checks the progress of the deterioration when performing maintenance of the endoscope 11. You can also.
　以上のように、上述した実施形態によれば、内視鏡の回転駆動系の劣化などの状態の診断を簡易にできる内視鏡システム及びモータ制御システムを提供することができる。 As described above, according to the above-described embodiment, it is possible to provide an endoscope system and a motor control system that can easily diagnose a state such as deterioration of the rotational drive system of the endoscope.
　本発明は、上述した実施形態に限定されるものではなく、本発明の要旨を変えない範囲において、種々の変更、改変等が可能である。 The present invention is not limited to the above-described embodiment, and various changes and modifications can be made without departing from the scope of the present invention.
　本出願は、２０１８年４月１１日に日本国に出願された特願２０１８－７６０３３号を優先権主張の基礎として出願するものであり、上記の開示内容は、本願明細書、請求の範囲に引用されるものとする。 This application is filed on the basis of the priority claim of Japanese Patent Application No. 2018-76033 filed in Japan on April 11, 2018. The above disclosure is included in the present specification and claims. Shall be quoted.

Claims (16)

  1. 　内視鏡本体と、
    　前記内視鏡本体が使用されるときに接続される機器と、
    　前記内視鏡本体に設けられたモータと、
    　前記内視鏡本体に設けられかつ前記モータにより駆動される、複数の歯車を有する被駆動機構と、
    　前記内視鏡本体と前記機器のいずれかに配置された若しくは前記内視鏡本体と前記機器との接続部に設けられた、前記モータによる前記被駆動機構の駆動時に前記モータに流れる電流を検出する電流検出部と、
    　前記機器に設けられ、前記電流検出部により得られる前記モータに流れる電流の時間経過に伴う変化を示す波形をフーリエ変換し、周波数に応じた振幅の変化を分析する周波数分析部と、
    　前記周波数分析部により得られた前記振幅の変化に基づいて、前記被駆動機構の状態を判定する判定部と、
    を有する、内視鏡システム。     An endoscope body,
    A device connected when the endoscope body is used;
    A motor provided in the endoscope body;
    A driven mechanism having a plurality of gears provided in the endoscope body and driven by the motor;
    Detects a current flowing in the motor when the driven mechanism is driven by the motor, which is disposed in either the endoscope main body and the device, or provided at a connection portion between the endoscope main body and the device. A current detector to
    A frequency analysis unit that is provided in the device and Fourier-transforms a waveform indicating a change with time of the current flowing through the motor obtained by the current detection unit, and analyzes a change in amplitude according to the frequency;
    A determination unit that determines a state of the driven mechanism based on the change in the amplitude obtained by the frequency analysis unit;
    An endoscope system.
  2. 　前記判定部は、前記複数の歯車の各々の回転周波数と、前記振幅の変化が起こっている周波数とを比較することによって、劣化している歯車を判定する、請求項１に記載の内視鏡システム。 The endoscope according to claim 1, wherein the determination unit determines a deteriorated gear by comparing a rotation frequency of each of the plurality of gears with a frequency at which the change in the amplitude occurs. system.
  3. 　前記判定部は、前記複数の歯車の各々の回転周波数における前記振幅の変化の大きさに基づいて、前記被駆動機構の劣化を判定する、請求項２に記載の内視鏡システム。 3. The endoscope system according to claim 2, wherein the determination unit determines deterioration of the driven mechanism based on a magnitude of change in the amplitude at each rotation frequency of the plurality of gears.
  4. 　前記被駆動機構は、前記内視鏡本体に設けられた被駆動部材と前記モータとの間に介在し、前記モータの駆動力を前記被駆動部材に伝達する、請求項１に記載の内視鏡システム。 The endoscope according to claim 1, wherein the driven mechanism is interposed between a driven member provided in the endoscope main body and the motor, and transmits a driving force of the motor to the driven member. Mirror system.
  5. 　前記被駆動部材は、前記内視鏡本体の挿入部に配置されており、前記モータ及び前記被駆動機構は前記挿入部の基端側に配置されている、請求項３に記載の内視鏡システム。 The endoscope according to claim 3, wherein the driven member is disposed in an insertion portion of the endoscope main body, and the motor and the driven mechanism are disposed on a proximal end side of the insertion portion. system.
  6. 　前記被駆動部材は、前記モータの駆動力によって前記挿入部の長手軸周りに回動する、請求項５に記載の内視鏡システム。 The endoscope system according to claim 5, wherein the driven member is rotated around a longitudinal axis of the insertion portion by a driving force of the motor.
  7. 　前記被駆動部材は、外周部に螺旋状のフィンを備えている、請求項６に記載の内視鏡システム。 The endoscope system according to claim 6, wherein the driven member includes a spiral fin on an outer peripheral portion.
  8. 　前記周波数分析部は、前記波形をフーリエ変換して周波数分析する機能はソフトウエアで構築され、
    　前記ソフトウエアは、前記複数の歯車の各々のパラメータデータを用いて、前記周波数に応じた前記振幅を算出する、請求項１に記載の内視鏡システム。     The frequency analysis unit is configured by software to perform frequency analysis by Fourier transforming the waveform,
    The endoscope system according to claim 1, wherein the software calculates the amplitude corresponding to the frequency using parameter data of each of the plurality of gears.
  9. 　前記判定部は、前記振幅と所定の閾値とを比較することにより、前記被駆動機構の状態が、劣化状態であるかを判定する、請求項１に記載の内視鏡システム。 The endoscope system according to claim 1, wherein the determination unit determines whether or not the state of the driven mechanism is a deteriorated state by comparing the amplitude with a predetermined threshold value.
  10. 　前記判定部において判定された前記被駆動機構の状態を表示するための表示情報を生成する表示情報生成部を有する、請求項１に記載に内視鏡システム。 The endoscope system according to claim 1, further comprising: a display information generation unit that generates display information for displaying the state of the driven mechanism determined by the determination unit.
  11. 　前記判定部において判定された前記被駆動機構の状態についての情報を、前記内視鏡本体に設けられた不揮発性メモリに書き込む書き込み部を有する、請求項１に記載の内視鏡システム。 The endoscope system according to claim 1, further comprising a writing unit that writes information on the state of the driven mechanism determined by the determination unit in a nonvolatile memory provided in the endoscope main body.
  12. 　内視鏡本体に設けられたモータにより被駆動機構を駆動する内視鏡のモータ制御システムであって、
    　前記内視鏡本体または前記内視鏡本体が使用時に接続される機器に配置された若しくは前記内視鏡本体と前記機器との接続部に設けられた、前記モータによる前記被駆動機構の駆動時に前記モータに流れる電流を検出する電流検出部と、
    　前記機器に設けられ、前記電流検出部により得られる前記モータに流れる電流の時間経過に伴う変化を示す波形をフーリエ変換し、周波数に応じた振幅の変化を分析する周波数分析部と、
    を有する、内視鏡のモータ制御システム。     An endoscope motor control system for driving a driven mechanism by a motor provided in an endoscope body,
    When the driven mechanism is driven by the motor, which is disposed in the endoscope main body or a device to which the endoscope main body is connected at the time of use, or provided at a connection portion between the endoscope main body and the device. A current detection unit for detecting a current flowing through the motor;
    A frequency analysis unit that is provided in the device and Fourier-transforms a waveform indicating a change with time of the current flowing through the motor obtained by the current detection unit, and analyzes a change in amplitude according to the frequency;
    An endoscope motor control system.
  13. 　前記被駆動機構は、前記内視鏡本体に設けられた被駆動部材と前記モータとの間に介在し、前記モータの駆動力を前記被駆動部材に伝達する、請求項１２に記載の内視鏡のモータ制御システム。 The endoscope according to claim 12, wherein the driven mechanism is interposed between a driven member provided in the endoscope body and the motor, and transmits a driving force of the motor to the driven member. Mirror motor control system.
  14. 　前記被駆動部材は、前記内視鏡本体の挿入部に配置されており、前記モータ及び前記被駆動機構は前記挿入部の基端側に配置されている、請求項１３に記載の内視鏡のモータ制御システム。 The endoscope according to claim 13, wherein the driven member is disposed in an insertion portion of the endoscope main body, and the motor and the driven mechanism are disposed on a proximal end side of the insertion portion. Motor control system.
  15. 　前記被駆動部材は、前記モータの駆動力によって前記挿入部の長手軸周りに回動する、請求項１４に記載の内視鏡のモータ制御システム。 The endoscope motor control system according to claim 14, wherein the driven member is rotated around a longitudinal axis of the insertion portion by a driving force of the motor.
  16. 　前記被駆動部材は、外周部に螺旋状のフィンを備えている、請求項１５に記載の内視鏡のモータ制御システム。 The endoscope motor control system according to claim 15, wherein the driven member includes a spiral fin on an outer peripheral portion.
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Citations (4)

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JPH11311591A (en) * 1998-04-28 1999-11-09 Nissan Motor Co Ltd Diagnostic apparatus for machine using motor as driving source
JP2013158569A (en) * 2012-02-07 2013-08-19 Olympus Medical Systems Corp Endoscope
WO2017010128A1 (en) * 2015-07-15 2017-01-19 オリンパス株式会社 Drive force transmission mechanism for medical device
WO2017168796A1 (en) * 2016-03-31 2017-10-05 株式会社高田工業所 Abnormality detection method for rotary mechanical system, abnormality monitoring method for rotary mechanical system using said abnormality detection method, and abnormality monitoring device for rotary mechanical system using said abnormality detection method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11311591A (en) * 1998-04-28 1999-11-09 Nissan Motor Co Ltd Diagnostic apparatus for machine using motor as driving source
JP2013158569A (en) * 2012-02-07 2013-08-19 Olympus Medical Systems Corp Endoscope
WO2017010128A1 (en) * 2015-07-15 2017-01-19 オリンパス株式会社 Drive force transmission mechanism for medical device
WO2017168796A1 (en) * 2016-03-31 2017-10-05 株式会社高田工業所 Abnormality detection method for rotary mechanical system, abnormality monitoring method for rotary mechanical system using said abnormality detection method, and abnormality monitoring device for rotary mechanical system using said abnormality detection method

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