WO2022195703A1 - Manipulator system and method for driving manipulator - Google Patents

Abstract

The present invention provides a manipulator system and a method for driving a manipulator with which the shape of a movable part can be easily changed into a desired shape by operation input to a touchpad.　This manipulator system is provided with: a manipulator provided with a movable part capable of being warped or bent; a driving device that warps or bends the movable part; and an operation device (300) that is connected communicably with the driving device and has a touchpad (380) for receiving operation input to warp or bend the movable part, wherein the driving device drives the movable part to move the distal end of the movable part to a target position (D1), which corresponds to a position (T1) touched on the touchpad.

Description

Manipulator system and manipulator driving method

The present invention relates to a manipulator system and a manipulator driving method.

Conventionally, manipulator systems have been used to observe and treat the inside of hollow organs such as the digestive tract. A manipulator system includes a movable part that can be driven to bend or bend at an insertion part inserted in a hollow organ. The user can operate the movable section from the operating section arranged outside the body.

Patent Literature 1 describes a manipulator system having an operation unit with a touch pad. A manipulator system described in Patent Document 1 drives a bending portion to bend based on an operation input to a touch pad.

Patent No. 5192898

However, in the manipulator system described in Patent Document 1, it may be difficult for the user to grasp the operation input required to change the shape of the movable part to a desired shape. For example, it is difficult for the user to grasp the operation input required to change the shape of the movable portion from the curved shape to the linear shape.

In view of the above circumstances, it is an object of the present invention to provide a manipulator system and a manipulator driving method that can easily change the shape of a movable part to a desired shape by operating a touch pad.

In order to solve the above problems, the present invention proposes the following means.
A manipulator system according to a first aspect of the present invention includes a manipulator having a bendable or bendable movable portion, a driving device for bending or bending the movable portion, a driving device connected to the driving device so as to be communicable, and the movable and an operation device having a touch pad that receives an operation input for bending or bending a portion, wherein the driving device drives the movable portion to reach a target position associated with the position touched on the touch pad. Move the tip of the movable part toward the moving part.

According to the manipulator system and the manipulator driving method of the present invention, the shape of the movable part can be easily changed to a desired shape by operating the touch pad.

1 is an overall view of an electric endoscope system according to a first embodiment; FIG. FIG. 2 is a diagram showing an endoscope and an operating device of the electric endoscope system used by an operator; It is a figure which shows the insertion part of the same endoscope. It is a figure which shows a part of bending part (movable part) of the same endoscope as sectional drawing. FIG. 5 is an enlarged view of the node ring of the bending portion in the region E shown in FIG. 4; FIG. 6 is a cross-sectional view of the curved portion taken along line C1-C1 of FIGS. 4 and 5; It is a figure which shows the 1st attachment/detachment part before mounting|wearing with the drive device of the electric endoscope system. FIG. 4 is a diagram showing the first up-and-down bending wire attaching/detaching portion before being attached to the same driving device; It is a figure which shows the said 1st up-and-down bending wire attachment/detachment part with which the same drive was mounted|worn. It is a functional block diagram of the drive device of the electric endoscope system. It is a perspective view of the operating device of the electric endoscope system. It is a perspective view of the same operating device operated by the operator's left hand. It is a functional block diagram of the control device of the electric endoscope system. It is a functional block diagram of the main controller of the same control apparatus. 4 is a control flowchart of a drive controller of the same control device; It is a figure explaining the example of coordinate conversion. It is a figure explaining the operation example of a touch pad. FIG. 10 is a diagram showing another method of calculating three-dimensional coordinates of a target position; It is a figure which shows the other driving mode of the same bending part. It is a perspective view which shows the modification of the same touch pad. 9 is a control flowchart of a drive controller in a control device for an electric endoscope system according to a second embodiment; It is a figure which shows drag operation with respect to a touch pad. 9 is a control flowchart of a drive controller in a control device for an electric endoscope system according to a third embodiment; FIG. 10 is a diagram showing a modification of the correspondence between the direction of the touch pad and the bending direction of the bending portion;

(First embodiment)
An electric endoscope system 1000 according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 19. FIG. FIG. 1 is an overall view of an electric endoscope system 1000 according to this embodiment. The electric endoscope system 1000 is an example of a manipulator system. Although an example in which the electric endoscope system 1000 includes an endoscope is shown, the electric endoscope system 1000 may include a manipulator instead of the endoscope. Moreover, although an example in which the bending portion of the endoscope is driven is shown, a movable portion that bends or bends may be driven.

[Electric endoscope system 1000]
The electric endoscope system 1000 is a medical system for observing and treating the inside of the patient P lying on the operating table T, as shown in FIG. The electric endoscope system 1000 includes an endoscope 100 , a driving device 200 , an operating device 300 , a treatment instrument 400 , an image control device 500 and a display device 900 .

The endoscope 100 is a device that is inserted into the lumen of the patient P to observe and treat the affected area. The endoscope 100 is detachable from the driving device 200 . An internal path 101 is formed inside the endoscope 100 . In the following description, in the endoscope 100, the side inserted into the lumen of the patient P is called the "distal side (A1)", and the side attached to the driving device 200 is called the "base end side (A2)".

The driving device 200 is detachably connected to the endoscope 100 and the operating device 300 . The driving device 200 electrically drives the endoscope 100 by driving a built-in motor based on an operation input to the operating device 300 . In addition, the drive device 200 drives a built-in pump or the like based on an operation input to the operation device 300 to cause the endoscope 100 to perform air supply and suction.

The operation device 300 is detachably connected to the driving device 200 via an operation cable 301. The operation device 300 may be capable of communicating with the driving device 200 by wireless communication instead of wired communication. The operator S can electrically drive the endoscope 100 by operating the operating device 300 .

The treatment instrument 400 is a device that is inserted through the internal path 101 of the endoscope 100 and inserted into the lumen of the patient P to treat the affected area. In FIG. 1 , the treatment instrument 400 is inserted into the internal path 101 of the endoscope 100 through the forceps opening 126 .

The image control device 500 is detachably connected to the endoscope 100 and acquires captured images from the endoscope 100 . The image control device 500 causes the display device 900 to display captured images acquired from the endoscope 100 and GUI images and CG images for the purpose of providing information to the operator.

The driving device 200 and the image control device 500 constitute a control device 600 that controls the electric endoscope system 1000 . Controller 600 may further include peripherals such as a video printer. The driving device 200 and the video control device 500 may be an integrated device.

The display device 900 is a device capable of displaying images such as an LCD. A display device 900 is connected to the video control device 500 via a display cable 901 .

FIG. 2 is a diagram showing the endoscope 100 and the operating device 300 used by the operator S. As shown in FIG.
For example, while observing the captured image displayed on the display device 900, the operator S operates the endoscope 100 inserted into the lumen from the anus of the patient P with the right hand R, and operates the operation device 300 with the left hand. Operate with L. Since the endoscope 100 and the operating device 300 are separated, the operator S can operate the endoscope 100 and the operating device 300 independently without being affected by each other.

[Endoscope 100]
As shown in FIG. 1, the endoscope 100 includes an insertion section 110, a connecting section 120, an extracorporeal flexible section 140, an attachment/detachment section 150, a bending wire 160 (see FIG. 6), and an internal object 170 (see FIG. 6). See) and The insertion section 110, the connecting section 120, the extracorporeal soft section 140, and the detachable section 150 are connected in order from the distal end side. The connection part 120 can connect the extension channel tube 130 .

FIG. 3 is a diagram showing the insertion section 110 of the endoscope 100. As shown in FIG.
An internal path 101 extending along the longitudinal direction A of the endoscope 100 from the distal end of the insertion section 110 to the proximal end of the detachable section 150 is formed inside the endoscope 100 . Bent wire 160 and internals 170 are inserted into internal passageway 101 .

The built-in object 170 has a channel tube 171, an air supply/suction tube 172 (see FIG. 10), an imaging cable 173, and a light guide 174.

[Insert part 110]
The insertion section 110 is an elongated elongated member that can be inserted into a lumen. The insertion portion 110 has a distal end portion 111 , a bending portion (movable portion) 112 and an intracorporeal soft portion 119 . The distal end portion 111, the bending portion 112, and the internal soft portion 119 are connected in order from the distal end side.

As shown in FIG. 3, the distal end portion 111 has an opening portion 111a, an illumination portion 111b, and an imaging portion 111c. The opening 111 a is an opening that communicates with the channel tube 171 . As shown in FIG. 3, a treatment section 410 such as grasping forceps provided at the distal end of the treatment instrument 400 through which the channel tube 171 is inserted protrudes from the opening 111a.

The illumination unit 111b is connected to a light guide 174 that guides illumination light, and emits illumination light that illuminates the imaging target. The imaging unit 111c includes an imaging element such as a CMOS, and images an object to be imaged. The imaging signal is sent to the video control device 500 via the imaging cable 173 .

FIG. 4 is a diagram showing a part of the bending portion (movable portion) 112 as a cross-sectional view.
The bending portion 112 has a plurality of joint rings (also referred to as bending pieces) 115, a distal end portion 116 connected to the distal ends of the plurality of joint rings 115, and an outer sheath 118 (see FIG. 3). The multiple node rings 115 and the distal end portion 116 are connected in the longitudinal direction A inside the outer sheath 118 . Note that the shape and number of the node rings 115 included in the bending portion 112 are not limited to the shape and number of the node rings 115 shown in FIG.

FIG. 5 is an enlarged view of node ring 115 in region E shown in FIG.
The node ring 115 is a short cylindrical member made of metal. The plurality of node rings 115 are connected so that the internal spaces of adjacent node rings 115 are continuous spaces.

The node ring 115 has a first node ring 115a on the distal side and a second node ring 115b on the proximal side. The first articulation ring 115a and the second articulation ring 115b are connected by a first pivot pin 115p so as to be rotatable in the vertical direction (also referred to as "UD direction") perpendicular to the longitudinal direction A.

In the neighboring node rings 115, the second node ring 115b of the node ring 115 on the distal side and the first node ring 115a of the node ring 115 on the proximal side are rotated by the second pivot pin 115q in the longitudinal direction A and It is connected so as to be rotatable in the left-right direction (also referred to as “LR direction”) perpendicular to the UD direction.

The first joint ring 115a and the second joint ring 115b are alternately connected by the first turning pin 115p and the second turning pin 115q, and the bending portion 112 can be bent in a desired direction.

FIG. 6 is a cross-sectional view of the curved portion 112 taken along line C1-C1 of FIGS. 4 and 5. FIG.
An upper wire guide 115u and a lower wire guide 115d are formed on the inner peripheral surface of the second node ring 115b. The upper wire guide 115u and the lower wire guide 115d are arranged on both sides in the UD direction with the central axis O in the longitudinal direction A interposed therebetween. A left wire guide 115l and a right wire guide 115r are formed on the inner peripheral surface of the first node ring 115a. The left wire guide 115l and the right wire guide 115r are arranged on both sides in the LR direction with the central axis O in the longitudinal direction A interposed therebetween.

Through holes through which the bending wire 160 is inserted are formed along the longitudinal direction A in the upper wire guide 115u, the lower wire guide 115d, the left wire guide 115l, and the right wire guide 115r.

A bending wire 160 is a wire that bends the bending portion 112 . A bending wire 160 extends through the internal path 101 to the detachable portion 150 . 4 and 6, the bending wire 160 has an upper bending wire 161u, a lower bending wire 161d, a left bending wire 161l, a right bending wire 161r, and four wire sheaths 161s.

As shown in FIG. 4, the upper bending wire 161u, the lower bending wire 161d, the left bending wire 161l, and the right bending wire 161r each pass through a wire sheath 161s. A distal end of the wire sheath 161 s is attached to the node ring 115 at the proximal end of the bending portion 112 . The wire sheath 161 s extends to the detachable portion 150 .

The upward bending wire 161u and the downward bending wire 161d are wires for bending the bending portion 112 in the UD direction. The upper bending wire 161u passes through the upper wire guide 115u. The lower bending wire 161d is inserted through the lower wire guide 115d.

The tips of the upper bending wire 161u and the lower bending wire 161d are fixed to the distal end portion 116 of the bending portion 112, as shown in FIG. The tips of the upper bending wire 161u and the lower bending wire 161d fixed to the tip portion 116 are arranged on both sides in the UD direction with the central axis O in the longitudinal direction A interposed therebetween.

The left bending wire 161l and the right bending wire 161r are wires for bending the bending portion 112 in the LR direction. The left bending wire 161l passes through the left wire guide 115l. The right bending wire 161r passes through the right wire guide 115r.

The distal ends of the left bending wire 161l and the right bending wire 161r are fixed to the distal end portion 116 of the bending portion 112, as shown in FIG. The tips of the left bending wire 161l and the right bending wire 161r fixed to the tip portion 116 are arranged on both sides in the LR direction with the central axis O in the longitudinal direction A interposed therebetween.

The bending portion 112 can be bent in a desired direction by pulling or relaxing the bending wires 160 (the upper bending wire 161u, the lower bending wire 161d, the left bending wire 161l, and the right bending wire 161r).

As shown in FIG. 6 , a bending wire 160 , a channel tube 171 , an imaging cable 173 and a light guide 174 are inserted through the internal path 101 formed inside the bending portion 112 .

The internal soft part 119 is an elongated flexible tubular member. A bending wire 160 , a channel tube 171 , an imaging cable 173 , and a light guide 174 are inserted through the internal path 101 formed in the internal soft part 119 .

[Connecting part 120]
The connecting portion 120 is a member that connects the internal soft portion 119 and the extracorporeal soft portion 140 of the insertion portion 110, as shown in FIG. The connecting portion 120 includes a forceps opening 126 that is an insertion opening into which the treatment instrument 400 is inserted.

[Extracorporeal soft part 140]
The extracorporeal soft section 140 is an elongate tubular member. A bending wire 160, an imaging cable 173, a light guide 174, and an air supply/suction tube 172 (see FIG. 10) are inserted through an internal path 101 formed inside the extracorporeal soft section 140. FIG.

[Detachable part 150]
The detachable section 150 includes a first detachable section 1501 attached to the driving device 200 and a second detachable section 1502 attached to the video control device 500, as shown in FIG. Note that the first detachable portion 1501 and the second detachable portion 1502 may be an integral detachable portion.

The internal path 101 formed inside the extracorporeal soft section 140 branches into a first detachable section 1501 and a second detachable section 1502 . The bending wire 160 and the air supply/suction tube 172 are inserted through the first detachable portion 1501 . The imaging cable 173 and the light guide 174 are inserted through the second detachable portion 1502 .

FIG. 7 is a diagram showing the first attaching/detaching portion 1501 before being attached to the driving device 200. FIG.
The first attaching/detaching portion 1501 has a vertical bending wire attaching/detaching portion 151 and a horizontal bending wire attaching/detaching portion 152 .

The up/down bending wire attachment/detachment part 151 is a mechanism that detachably connects wires (up bending wire 161 u and down bending wire 161 d) for bending the bending part 112 in the UD direction to the driving device 200 .

The left/right bending wire attachment/detachment part 152 is a mechanism for detachably connecting the wires (the left bending wire 161l and the right bending wire 161r) for bending the bending part 112 in the LR direction to the driving device 200 .

The horizontal bending wire attaching/detaching part 152 has the same structure as the vertical bending wire attaching/detaching part 151, so illustration and description thereof are omitted.

FIG. 8 is a diagram showing the vertical bending wire attachment/detachment portion 151 before being attached to the driving device 200. FIG. FIG. 9 is a diagram showing the vertical bending wire attachment/detachment portion 151 attached to the driving device 200. As shown in FIG. The vertical bending wire attaching/detaching section 151 has a support member 155 , a rotating drum 156 and a tension sensor 159 .

The support member 155 supports the rotating drum 156 . The support member 155 has an attachment/detachment detection dog 155a exposed on the base end side of the up/down bending wire attaching/detaching portion 151, and a plurality of bend pulleys 155p.

The bend pulley 155p changes the conveying direction of the upper bending wire 161u inserted through the extracorporeal soft section 140 and guides the upper bending wire 161u to the rotating drum 156. In addition, the bend pulley 155p changes the conveying direction of the lower bending wire 161d inserted through the extracorporeal soft section 140 and guides the lower bending wire 161d to the rotating drum 156. As shown in FIG.

The rotating drum 156 is supported by the supporting member 155 so as to be rotatable around a drum rotating shaft 156r extending along the longitudinal direction A. The rotating drum 156 has a take-up pulley 156a and a coupling portion 156c.

The take-up pulley 156a pulls or feeds the upper bending wire 161u and the lower bending wire 161d by rotating around the drum rotation shaft 156r. As the winding pulley 156a rotates clockwise when viewed from the distal side to the proximal side, the upper bending wire 161u is wound around the winding pulley 156a and pulled, and the lower bending wire 161d is pulled from the winding pulley 156a. sent out. Conversely, when the take-up pulley 156a rotates counterclockwise, the upper bending wire 161u is sent out from the take-up pulley 156a, and the lower bending wire 161d is wound around the take-up pulley 156a and pulled.

The coupling portion 156c is a disk member that rotates about the drum rotation shaft 156r. The coupling portion 156c is fixed to the base end of the take-up pulley 156a and rotates together with the take-up pulley 156a. The coupling portion 156 c is exposed on the base end side of the vertically bending wire attaching/detaching portion 151 . Two fitting projections 156d are formed on the base end side surface of the coupling portion 156c. The two fitting protrusions 156d are formed on both sides of the drum rotating shaft 156r.

The tension sensor 159 detects the tension of the upper bending wire 161u and the lower bending wire 161d. A detection result of the tension sensor 159 is acquired by the drive controller 260 .

[Driving device 200]
FIG. 10 is a functional block diagram of drive device 200. As shown in FIG.
The drive device 200 includes an adapter 210 , an operation reception section 220 , an air supply/suction drive section 230 , a wire drive section 250 and a drive controller 260 .

The adapter 210 has a first adapter 211 and a second adapter 212, as shown in FIG. The first adapter 211 is an adapter to which the operation cable 301 is detachably connected. The second adapter 212 is an adapter to which the first attachment/detachment section 1501 of the endoscope 100 is detachably connected.

The operation reception unit 220 receives operation input from the operation device 300 via the operation cable 301 . When the operation device 300 and the drive device 200 communicate with each other not by wired communication but by wireless communication, the operation reception unit 220 has a known wireless reception module.

The air supply/suction drive unit 230 is connected to the air supply/suction tube 172 inserted into the internal path 101 of the endoscope 100 . The air supply/suction drive unit 230 includes a pump and the like, and supplies air to the air supply/suction tube 172 . Also, the air supply/suction driving section 230 sucks air from the air supply/suction tube 172 .

The wire driving section 250 drives the bending wire 160 by coupling with the vertical bending wire attaching/detaching section 151 and the horizontal bending wire attaching/detaching section 152 .

The wire driving section 250 has a vertical bending wire driving section 251 and a horizontal bending wire driving section 252, as shown in FIG.

The vertical bending wire driving section 251 is a mechanism that is coupled with the vertical bending wire attaching/detaching section 151 to drive the wires (the upward bending wire 161u and the downward bending wire 161d) that bend the bending section 112 in the UD direction.

The left/right bending wire driving section 252 is a mechanism that is coupled with the left/right bending wire attaching/detaching section 152 to drive the wires (the left bending wire 161l and the right bending wire 161r) that bend the bending section 112 in the LR direction.

The left-right bending wire drive unit 252 has the same structure as the up-down bending wire drive unit 251, so illustration and description thereof will be omitted.

The vertical bending wire driving section 251 has a supporting member 255, a bending wire driving section 256A, an engaging member 258, and an attachment/detachment sensor 259, as shown in FIG.

The bending wire driving section 256A is coupled with the rotating drum 156 of the vertical bending wire attaching/detaching section 151 to drive the upper bending wire 161u and the lower bending wire 161d. The bending wire driving portion 256A has a shaft 256a, a motor portion 256b, a coupled portion 256c, a torque sensor 256e, and an elastic member 256s.

The shaft 256a is supported by a support member 255 so as to be rotatable around a shaft rotation axis 256r and to be advanced and retracted in the longitudinal direction A. When the first detachable portion 1501 of the endoscope 100 is attached to the driving device 200, the shaft rotation axis 256r coincides with the drum rotation axis 156r.

The motor unit 256b has a motor such as a DC motor, a motor driver that drives the motor, and a motor encoder. The motor rotates the shaft 256a around the shaft rotation axis 256r. The motor drivers are controlled by drive controller 260 .

The coupled portion 256c is a disc member that rotates around a shaft rotation axis 256r. The coupled portion 256c is fixed to the tip of the shaft 256a and rotates integrally with the shaft 256a. As shown in FIG. 8 , the coupled portion 256 c is exposed at the distal end side of the vertical bending wire driving portion 251 . Two fitting recesses 256d are formed on the front end side surface of the coupled portion 256c. The two fitting recesses 256d are formed on both sides of the shaft rotation axis 256r.

As shown in FIG. 9, the fitting convex portion 156d and the fitting concave portion 256d are fitted to couple the coupling portion 156c and the coupled portion 256c. As a result, the rotation of the shaft 256a by the motor portion 256b is transmitted to the rotating drum 156. As shown in FIG. As the shaft 256a rotates clockwise when viewed from the distal side to the proximal side, the upward bending wire 161u is pulled and the downward bending wire 161d is sent out. Conversely, by rotating the shaft 256a counterclockwise, the upper bending wire 161u is delivered and the lower bending wire 161d is pulled.

The torque sensor 256e detects the rotational torque of the shaft 256a about the shaft rotation axis 256r. A detection result of the torque sensor 256 e is acquired by the drive controller 260 .

The elastic member 256s is, for example, a compression spring, and has a distal end in contact with the coupled portion 256c and a proximal end in contact with the support member 255 . The elastic member 256s urges the coupled portion 256c toward the tip side (A1). As shown in FIG. 9, when the coupling portion 156c is attached, the coupled portion 256c moves to the proximal end side (A2) together with the shaft 256a.

As shown in FIG. 9, the attachment/detachment sensor 259 detects attachment/detachment of the up/down bending wire attaching/detaching portion 151 to/from the up/down bending wire driving portion 251 by detecting engagement and disengagement with the attachment/detachment detection dog 155a. . The detection result of the attachment/detachment sensor 259 is acquired by the drive controller 260 .

The drive controller 260 controls the drive device 200 as a whole. The drive controller 260 acquires the operation input received by the operation reception unit 220 . Drive controller 260 controls air supply/suction drive section 230 and wire drive section 250 based on the acquired operation input. Note that the drive controller 260 may perform other processes such as image processing and image recognition processing.

The drive controller 260 is a program-executable computer including a processor, a memory, a storage section capable of storing programs and data, and an input/output control section. The functions of the drive controller 260 are implemented by the processor executing a program. At least some functions of the drive controller 260 may be realized by dedicated logic circuits.

The drive controller 260 desirably has high computational performance in order to control the plurality of motors that drive the plurality of bending wires 160 with high accuracy.

It should be noted that the drive controller 260 may further have a configuration other than the processor, memory, storage section, and input/output control section. For example, the drive controller 260 may further include an image calculation section that performs part or all of image processing and image recognition processing. By further including an image calculation unit, the drive controller 260 can perform specific image processing and image recognition processing at high speed. The image calculation section may be mounted in a separate hardware device connected via a communication line.

[Operating device 300]
FIG. 11 is a perspective view of the operating device 300. FIG.
The operation device 300 is a device to which an operation for driving the endoscope 100 is input. The input operation input is transmitted to the driving device 200 via the operation cable 301 . The operation device 300 may be capable of communicating with the driving device 200 by wireless communication instead of wired communication.

The operation device 300 includes an operation unit main body 310 , a touch pad 380 , an air supply button 350 and a suction button 351 .

The operation unit main body 310 is formed in a substantially cylindrical shape that can be held by the operator S with the left hand L. The operation section main body 310 has a flat touch pad support section 314 that supports the touch pad 380 . An operation cable 301 is connected to the longitudinal end of the operation unit main body 310 .

In the following description, the direction perpendicular to the touch pad 380 supported by the touch pad support portion 314 is defined as the “forward and backward direction”, and the direction in which the touch pad 380 is provided with respect to the touch pad support portion 314 is defined as the “forward direction”. FR”. The opposite direction is defined as "rear RR". Further, the longitudinal direction of the operation portion main body 310 is defined as the “vertical direction”, and the direction in which the operation cable 301 is attached to the operation portion main body 310 is defined as the “downward LWR”. The opposite direction is defined as "Upward UPR". The right direction toward the rear RR is defined as "right RH". The opposite direction is defined as "left LH". A direction toward the right RH or the left LH is defined as a “left-right direction”.

FIG. 12 is a perspective view of the operating device 300 operated with the left hand L of the operator S. FIG.
The touchpad supporter 314 supports the touchpad 380 . The touch pad support portion 314 is formed in a flat plate shape and provided to extend upward UPR and rightward RH from the operation portion main body 310 . The touch pad 380 is supported at a position where it can be easily operated with the thumb of the left hand L of the operator S holding the operation unit main body 310 .

The touch pad 380 is a pointing device for inputting operations on the bending portion 112 and the like. The touch pad 380 has a rectangular input area, and the long side direction of the input area substantially coincides with the vertical direction, and the short side direction of the input area substantially coincides with the horizontal direction.

The touch pad 380 outputs two-dimensional coordinates of the touch pad 380 corresponding to the touched position in response to an operation input by touching the touch pad 380 . The touch pad 380 is, for example, a resistive touch pad or a capacitive touch pad. It is desirable that the touch pad 380 be capable of detecting the degree of pressing force and touches at multiple points. Touchpad 380 also includes a touch panel with liquid crystal.

As shown in FIG. 11, at the reference point P0 of the touch pad 380 (for example, the center of the touch pad 380), a slightly raised convex undulating portion 380a is formed. The operator S can recognize the reference point P0 of the touch pad 380 without visual confirmation by touching the undulating portion 380a with the thumb. The undulating portion 380a may have any shape as long as it is recognizable by touch, and may be formed in a concave shape, for example.

The air supply button 350 is attached to the rear RR of the operation unit main body 310, and is operated by the index finger and middle finger of the left hand L as shown in FIG. When the air supply button 350 is pushed, air is supplied from the opening 111 a of the distal end portion 111 of the endoscope 100 . Operation of the air supply button 350 is transmitted to the driving device 200 .

The suction button 351 is attached to the rear RR of the operation unit main body 310, and is operated by the index finger and middle finger of the left hand L as shown in FIG. When the suction button 351 is pushed, suction is performed from the opening 111 a of the distal end portion 111 of the endoscope 100 . Operation of the suction button 351 is transmitted to the driving device 200 .

The drive controller 260 of the drive device 200 acquires the operation input transmitted by the operation device 300 and controls the air supply/suction drive section 230 and wire drive section 250 .

[Video control device 500]
FIG. 13 is a functional block diagram of the video control device 500. As shown in FIG.
The image control device 500 controls the electric endoscope system 1000 . The video control device 500 includes a third adapter 510 , an imaging processing section 520 , a light source section 530 and a main controller 560 .

The third adapter 510 is an adapter to which the second detachable section 1502 of the endoscope 100 is detachably connected.

The imaging processing unit 520 converts an imaging signal acquired from the imaging unit 111c of the distal end portion 111 via the imaging cable 173 into a captured image.

The light source unit 530 generates illumination light that irradiates the object to be imaged. The illumination light generated by the light source section 530 is guided to the illumination section 111b of the distal end section 111 via the light guide 174 .

FIG. 14 is a functional block diagram of the main controller 560. As shown in FIG.
The main controller 560 is a program-executable computer having a processor 561, a memory 562, and the like. The functions of the main controller 560 are implemented by the processor 561 executing programs. At least part of the functions of the main controller 560 may be realized by a dedicated logic circuit.

The main controller 560 has a processor 561 , a program-readable memory 562 , a storage section 563 , and an input/output control section 564 .

The storage unit 563 is a non-volatile recording medium that stores the above-described programs and necessary data. The storage unit 563 is composed of, for example, a ROM, a hard disk, or the like. A program recorded in the storage unit 563 is read into the memory 562 and executed by the processor 561 .

The input/output control unit 564 is connected to the imaging processing unit 520, the light source unit 530, the driving device 200, the display device 900, the input device (not shown), and the network device (not shown). Under the control of the processor 561, the input/output control unit 564 transmits and receives data and control signals to and from connected devices.

The main controller 560 can perform image processing on the captured image acquired by the imaging processing section 520 . The main controller 560 can generate GUI images and CG images for the purpose of providing information to the operator S. FIG. The main controller 560 can display captured images, GUI images, and CG images on the display device 900 .

The main controller 560 is not limited to an integrated hardware device. For example, the main controller 560 may be configured by separating a part of it as a separate hardware device and then connecting the separated hardware device with a communication line. For example, the main controller 560 may be a cloud system that connects separated storage units 563 via communication lines.

The main controller 560 may further have a configuration other than the processor 561, memory 562, storage section 563, and input/output control section 564 shown in FIG. For example, the main controller 560 may further have an image calculation unit that performs part or all of the image processing and image recognition processing that the processor 561 has performed. By further having an image calculation unit, the main controller 560 can execute specific image processing and image recognition processing at high speed. The image calculation section may be mounted in a separate hardware device connected via a communication line.

[Operation of the electric endoscope system 1000]
Next, the operation of the electric endoscope system 1000 of this embodiment will be described. Hereinafter, description will be made along the control flowchart of the drive controller 260 of the control device 600 shown in FIG. When the control device 600 is activated, the drive controller 260 starts control after performing initialization (step S100). Drive controller 260 (primarily a processor) then executes step S110.

<Step S110: Determining start of bending drive>
In step S<b>110 , the drive controller 260 periodically confirms an operation input to the touch pad 380 and determines whether to start bending drive of the bending section 112 . If there is an operation input to the touch pad 380, the drive controller 260 next carries out step S120.

<Step S120: Calculate Target Position>
The drive controller 260 obtains the two-dimensional coordinates of the touch pad 380 corresponding to the touched position T1. The drive controller 260 transforms the acquired two-dimensional coordinates of the touch pad 380 into three-dimensional coordinates around the curved portion 112 . Drive controller 260 implements the coordinate transformations described above using known coordinate transformation methods.

FIG. 16 is a diagram illustrating an example of coordinate conversion.
Drive controller 260 transforms the two-dimensional coordinates of position T1 into three-dimensional coordinates on curved surface BS. The curved surface BS is a curved surface that indicates a position where the distal end portion 111 provided at the distal end of the curved portion 112 can be arranged by curving the curved portion 112 . In this embodiment, the curved surface BS is substantially hemispherical. In the coordinate transformation example shown in FIG. 16, the input range TR1 of the touch pad 380 is associated with the driving range DR1 on the curved surface BS. Input range TR2 of touch pad 380 is associated with drive range DR2 on curved surface BS. Input range TR2 is wider than input range TR1, and drive range DR2 is wider than drive range DR1.

The outline of the driving range DR2 is associated with the position of the distal end portion 111 when the bending angle of the bending portion 112 is maximum. The operator S can bend the bending portion 112 until the bending angle of the bending portion 112 reaches the maximum by the operation of touching the contour of the input range TR2.

In this embodiment, the correspondence between the direction of the touch pad 380 and the bending direction of the bending portion 112 is constant. The upward UPR of the touch pad 380 is associated with the upward direction (U direction) of the curved portion 112 in the UD direction. Also, the lower LWR of the touch pad 380 is associated with the downward direction (D direction) of the curved portion 112 in the UD direction. Further, the left LH of the touch pad 380 is associated with the left direction (L direction) of the bending portion 112 in the LR direction. Further, the right RH of the touch pad 380 is associated with the right direction (R direction) in the LR direction of the bending portion 112 .

The reference point P0 of the touch pad 380 provided with the undulating portion 380a is associated with the position D0 of the tip portion 111 when the curved portion 112 is in the initial shape. In this embodiment, the initial shape of the curved portion 112 is a non-curved linear shape as shown in FIG.

17A and 17B are diagrams for explaining an operation example of the touch pad 380. FIG.
If the touch pad 380 is capable of detecting touches at multiple points, the drive controller 260 may adjust the above associations by a pinch-zoom operation or the like. By inputting a pinch zoom operation on the touch pad 380, the operator S can enlarge the input range TR1 of the touch pad 380 associated with the drive range DR1 on the curved surface BS, for example. By touching the expanded input range TR1, the operator S can finely specify the position in the drive range DR1. The operator S can reduce the enlarged input range TR1 to return it to its original size.

The drive controller 260 stores the calculated three-dimensional coordinates in the memory as the three-dimensional coordinates of the "target position D1". Drive controller 260 then performs step S130.

<Step S130: Bending portion drive>
In step S130, the drive controller 260 drives the bending portion 112 to move the distal end portion 111 toward the target position D1 by a predetermined distance or for a predetermined period. The drive controller 260 records, for example, a wire pulling amount and a wire pulling time necessary for the tip portion 111 to reach each target position D1 in a memory or the like, and refers to this to control the tip portion 111. Control. Drive controller 260 then performs step S140.

If the touchpad 380 is a touchpad that can detect the degree of pressing force, the drive controller 260 may adjust the speed at which the bending portion 112 moves based on the degree of pressing force. The drive controller 260 increases the speed at which the bending portion 112 moves, for example, as the pressing force increases. As a result, since the speed can be changed in the middle of the operation input, safe operation according to the treatment situation is possible.

<Step S140: End determination>
The drive controller 260 determines whether the distal end portion 111 has reached the target position D1 in step S130. If the distal end portion 111 has not reached the target position D1, the drive controller 260 re-executes step S110. The drive controller 260 records, in memory or the like, the amount of wire pulling when the distal end portion 111 reaches each target position D1, for example. When the amount of pulling of the wire has reached the amount corresponding to the target position D1, it is determined that the distal end portion 111 has reached the target position D1.

<Step S110: Determining continuation of bending drive>
In step S<b>110 , the drive controller 260 confirms an operation input to the touch pad 380 and determines whether to continue the bending drive of the bending section 112 . If there is no operation input to touch pad 380, drive controller 260 does not perform step S120. That is, if there is no operation input to the touch pad 380 before the distal end portion 111 reaches the target position D1, the drive controller 260 does not continue the bending drive. When the thumb is released from the touch pad 380, the driving of the bending section 112 stops, so the operator S can safely operate the bending section 112 according to the treatment situation.

<Step S120: Calculate Target Position>
The drive controller 260 obtains the two-dimensional coordinates of the touchpad 380 corresponding to the touched position. If the obtained two-dimensional coordinates of the touch pad 380 have not changed since the previous step S120, the drive controller 260 can omit the processing of calculating the three-dimensional coordinates of the target position.

If the touched position on the touch pad 380 has changed from the previous step S120, the drive controller 260 recognizes that the target position has changed in the middle, and converts the three-dimensional coordinates of the new "target position D2". Calculated by That is, the drive controller 260 changes the target position in the middle even if the distal end portion 111 has not reached the target position D1. Drive controller 260 stores the three-dimensional coordinates of target position D2 in memory.

After confirming the latest target position, the drive controller 260 then executes step S130. The latest target position is the target position D1 if the target position has not been changed in the middle, and is the target position D2 if the target position has been changed in the middle.

<Step S130: Bending portion drive>
In step S130, the drive controller 260 drives the bending section 112 to move the tip section 111 toward the latest target position by a predetermined distance or for a predetermined period. Drive controller 260 then performs step S140.

<Step S140>
Drive controller 260 determines whether tip portion 111 has reached the latest target position in step S140. If tip 111 has reached the latest target position, drive controller 260 next executes step S150.

<Step S150>
The drive controller 260 determines whether to continue to control the bending drive of the bending section 112 in step S150. If continuing to control the bending drive of the bending portion 112, the drive controller 260 then performs step S110. If the bending drive of the bending portion 112 is not controlled, the drive controller 260 next executes step S160 to end the control flow shown in FIG.

A part or all of the control flowchart of the drive controller 260 described above may be implemented by the main controller 560 .

According to the electric endoscope system 1000 according to this embodiment, it is possible to easily change the shape of the bending portion 112 to a desired shape by operating the touch pad 380 . Since the two-dimensional coordinates of the touch pad 380 are associated with the three-dimensional coordinates around the bending section 112, the operator S can use the touch pad 380 to change the shape of the bending section 112 to a desired shape. It is easy to grasp the operation input of

The operator S can easily restore the bending portion 112 to its initial shape by touching the reference point P0 of the touch pad 380 provided with the undulating portion 380a. Although the initial shape of the curved portion 112 is linear in this embodiment, the initial shape of the curved portion 112 can be set to any shape. For example, the drive controller 260 may set, as the initial shape, the curved shape of the bending portion 112 that disposes the distal end portion 111 at a position facing the affected area in order to treat the affected area. By touching the reference point P0 of the touch pad 380 provided with the undulating portion 380a, the operator S can easily return the distal end portion 111 to the position facing the affected area. For example, the drive controller 260 executes an initialization step of setting an arbitrary shape as an initial shape when an initialization switch (not shown) is pressed. Note that the initialization step may be executed at any timing.

Also, the operator S can operate while grasping how much the bending portion 112 is bent. For example, it is possible to perform an operation while grasping how much more bending is possible than the bending limit. As a result, there are problems such as the operation assuming that the endoscope can still bend, but it stops halfway due to the bending limit, and the remaining bendable amount is unknown, so it is not possible to judge whether the treatment is possible with the current posture of the endoscope. can be prevented.

As described above, the first embodiment of the present invention has been described in detail with reference to the drawings, but the specific configuration is not limited to this embodiment, and design changes and the like are included within the scope of the present invention. . Also, the constituent elements shown in the above-described embodiment and modifications can be combined as appropriate.

(Modification 1-1)
In the above embodiment, the operating device 300 has a touch pad 380 for inputting operations. However, the aspect of the operating device 300 is not limited to this. The touch pad 380 of the operation device 300 may be a touch panel having a display such as a liquid crystal panel. In this case, the touch panel may display the reference point P0 as an icon instead of the undulating portion 380a of the reference point P0. Further, the touch panel may display, as an icon, a line indicating the vertical and horizontal directions, a representative position P described later, or an input range TR. Also, the touch panel may display the bending section CG of the endoscope so that bending behavior can be confirmed as a tutorial.

(Modification 1-2)
In the above embodiments, the touchpad 380 has a planar input area. However, the aspect of the touchpad 380 is not limited to this. The input area of touchpad 380 may be curved. An input area having a curved surface shape is associated with the curved surface BS. Therefore, the operator S can more intuitively specify the target position of the distal end portion 111 .

(Modification 1-3)
In the above embodiment, the three-dimensional coordinates of the target position are calculated from the two-dimensional coordinates of the touch pad 380 by coordinate conversion. However, the method of calculating the three-dimensional coordinates of the target position is not limited to this. FIG. 18 is a diagram showing another method of calculating the three-dimensional coordinates of the target position. The drive controller 260 stores a plurality of representative positions P (P1, P2, P3, etc.) of the touch pad 380 and corresponding positions C (C1, C2, C3, etc.) of the distal end portion 111 corresponding to the plurality of representative positions P, respectively. , are associated in advance. The drive controller 260 identifies a corresponding position C corresponding to the representative position P close to the touched position. The drive controller 260 sets the corresponding corresponding position C or the vicinity of the corresponding corresponding position C as the target position. The drive controller 260 can reduce the arithmetic processing required for coordinate conversion, although the accuracy of specifying the target position is reduced.

(Modification 1-4)
In the above embodiment, the drive controller 260 drives the bending section 112 using the 3D coordinates of the target position calculated from the 2D coordinates of the touch pad 380 . However, the driving mode of the bending portion 112 is not limited to this. 19A and 19B are diagrams showing another driving mode of the bending portion 112. FIG. The two-dimensional coordinates of the touch pad 380 may be associated with the amount of pulling of the bending wire 160 . The drive controller 260 drives the bending section 112 based on the amount of pulling of the bending wire 160 calculated from the two-dimensional coordinates of the touch pad 380 .

In the example shown in FIG. 19, the coordinate values in the vertical direction of the touch pad 380 are associated with the amount of pulling of the bending wires (the upward bending wire 161u and the downward bending wire 161d) that bend the bending portion 112 in the UD direction. Further, the coordinate values in the left-right direction of the touch pad 380 are associated with the amounts of traction of the bending wires (the left bending wire 161l and the right bending wire 161r) that bend the bending portion 112 in the LR direction. Also, the reference point P0 of the touch pad 380 is associated with zero pulling amount of the bending wire 160 . Therefore, by touching the reference point P0 of the touch pad 380, the operator S can easily return the curved portion 112 to the straight shape.

(Modification 1-5)
In the above embodiment, the reference point P0 of the touch pad 380 is provided with the undulating portion 380a. FIG. 20 is a perspective view showing a touch pad 380B that is a modification of touch pad 380. As shown in FIG. The undulating portion 380a is not provided at the reference point P0 of the touch pad 380B. If the user can recognize the reference point P0, the undulating portion 380a is not essential.

(Second embodiment)
An electric endoscope system 1000B according to a second embodiment of the present invention will be described with reference to FIGS. 21 to 22. FIG. In the following description, the same reference numerals are given to the same configurations as those already described, and redundant descriptions will be omitted.

[Electric endoscope system 1000B]
The electric endoscope system 1000B, as shown in FIG. 1, has the same configuration as the electric endoscope system 1000 of the first embodiment. The electric endoscope system 1000B differs only in operation from the electric endoscope system 1000 of the first embodiment.

Hereinafter, description will be made along the control flowchart of the drive controller 260 of the control device 600 shown in FIG. When the control device 600 is activated, the drive controller 260 starts control after performing initialization (step S200). Next, drive controller 260 (primarily a processor) executes step S210.

<Step S210: Determining Start of Bending Drive>
In step S<b>210 , the drive controller 260 periodically confirms an operation input to the touch pad 380 and determines whether to start bending drive of the bending portion 112 , as in step S<b>110 of the first embodiment. If there is an operation input to the touch pad 380, the drive controller 260 then performs step S220.

<Step S220: Determination of operation input mode>
Drive controller 260 determines the operation input mode based on the manner of operation input to touch pad 380 in step S<b>210 . The drive controller 260 has a “position input mode” and a “difference input mode” as operation input modes.

The position input mode is an operation input mode in which operation input is performed by the method shown in the first embodiment. Drive controller 260 operating in the position input mode moves tip 111 to the target position associated with the position touched on touch pad 380 .

The difference input mode is an operation input mode in which an operation input is performed regarding the amount of change (difference) from the position where the tip portion 111 is arranged. Drive controller 260 operating in differential input mode moves tip 111 according to the direction and amount of movement of the thumb along touchpad 380 .

If the operation input mode acquired in step S210 is a touch operation, the drive controller 260 sets the operation input mode to the position input mode, and then executes step S120. The processing after step S120 is the same as in the first embodiment.

FIG. 22 is a diagram showing a drag operation on touch pad 380. As shown in FIG.
If the mode of operation input acquired in step S210 is an operation of tracing the touch pad 380, such as a drag operation, the drive controller 260 sets the operation input mode to the differential input mode, and then executes step S230.

Note that the operation input mode may be switched by operating a button provided on the operation device 300 or the like. In that case, the drive controller 260 does not need to switch the operation input mode based on the mode of operation input.

<Step S230: Calculate vector>
Drive controller 260 calculates the direction and amount of movement of the thumb along touch pad 380 in step S230. The direction in which the thumb is moved along the touch pad 380 is called "operation direction F". Drive controller 260 then performs step S240.

As in the first embodiment, the correspondence between the direction of the touch pad 380 and the bending direction of the bending portion 112 is constant. The vertical direction of the touch pad 380 corresponds to the vertical direction (UD direction) of the curved portion 112 . The left-right direction of the touch pad 380 corresponds to the left-right direction (LR direction) of the curved portion 112 .

<Step S240: Bending portion drive>
The drive controller 260 drives the bending section 112 to bend the bending section 112 in the bending direction associated with the operation direction F in step S240. Drive controller 260 moves tip 111 a distance corresponding to the amount of movement of the thumb moved along touch pad 380 . Drive controller 260 then performs step S150. The processing after step S150 is the same as in the first embodiment. The amount of movement of the tip portion 111 with respect to the amount of movement of the thumb is determined, for example, so that the ratio of the amount of movement of the thumb to the input range TR1 of the touch pad 380 and the ratio of the amount of bending to the drive range DR1 are the same.

According to the electric endoscope system 1000B according to the present embodiment, it is possible to easily change the shape of the bending portion 112 to a desired shape by operating the touch pad 380 . It is possible to switch between the position input mode and the difference input mode depending on the mode of operation input to the touch pad 380 . For example, after performing rough positioning of the distal end portion 111 in the position input mode, the operator S can perform fine positioning of the distal end portion 111 in the differential input mode.

As described above, the second embodiment of the present invention has been described in detail with reference to the drawings, but the specific configuration is not limited to this embodiment, and design changes and the like are also included within the scope of the present invention. . Also, the constituent elements shown in the above-described embodiment and modifications can be combined as appropriate.

(Third embodiment)
An electric endoscope system 1000C according to a third embodiment of the present invention will be described with reference to FIGS. 23 to 24. FIG. In the following description, the same reference numerals are given to the same configurations as those already described, and redundant descriptions will be omitted.

[Electric endoscope system 1000C]
The electric endoscope system 1000C, as shown in FIG. 1, has the same configuration as the electric endoscope system 1000 of the first embodiment. The electric endoscope system 1000C differs only in operation from the electric endoscope system 1000 of the first embodiment.

In this embodiment, the main controller 560 can acquire the orientation of the distal end portion 111 . For example, the main controller 560 may acquire the orientation of the distal end portion 111 using a sensor such as an acceleration sensor provided at the distal end portion 111 . The main controller 560 may detect the posture of the distal end portion 111 based on the shape of the insertion portion 110 acquired by a magnetic sensor or the like.

The main controller 560 performs image processing on the captured image acquired by the imaging processing unit 520 according to the orientation of the distal end portion 111 . Specifically, the main controller 560 determines the direction of gravity G in the captured image from the orientation of the distal end portion 111 . The main controller 560 rotates the captured image by image processing so that the direction of gravity G faces downward in the image displayed on the display device 900 . The captured image that has undergone rotation processing is displayed on the display device 900 as a display image. Since the direction of gravity G matches the downward direction in the display image of the display device 900, the operator S can easily grasp the target displayed in the display image.

Hereinafter, description will be made along the control flowchart of the drive controller 260 of the control device 600 shown in FIG. When the control device 600 is activated, the drive controller 260 starts control after performing initialization (step S300). Drive controller 260 (primarily a processor) then performs step S310.

<Step S310: Determining Start of Bending Drive>
In step S<b>310 , the drive controller 260 periodically confirms an operation input to the touch pad 380 and determines whether to start bending drive of the bending portion 112 , as in step S<b>110 of the first embodiment. If there is an operation input to the touch pad 380, the drive controller 260 next performs step S315.

<Step S315: Gravitational Direction G of Tip Part 111 Acquired>
The drive controller 260 acquires the direction of gravity G of the distal end portion 111 from the main controller 560 in step S310. Drive controller 260 then performs step S320.

<Step S320: Calculate Target Position>
The drive controller 260 obtains the two-dimensional coordinates of the touch pad 380 corresponding to the touched position T1. The drive controller 260 transforms the acquired two-dimensional coordinates of the touch pad 380 into three-dimensional coordinates around the curved portion 112 .

In this embodiment, the drive controller 260 changes the correspondence between the direction of the touch pad 380 and the bending direction of the bending portion 112 according to the posture change of the distal end portion 111 . Specifically, the drive controller 260 associates the gravity direction G of the distal end portion 111 with the lower LWR of the touch pad 380 .

FIG. 24 is a diagram showing a modification of the correspondence between the direction of the touch pad 380 and the bending direction of the bending portion 112. As shown in FIG. In the example shown in FIG. 24, the curved portion 112 is greatly curved and the U direction of the curved portion 112 matches the gravity direction G. In the example shown in FIG. In this case, the correspondence between the direction of the touch pad 380 and the bending direction of the bending portion 112 is changed. The upward UPR of the touch pad 380 is associated with the downward direction (D direction) of the curved portion 112 in the UD direction. Also, the lower LWR of the touch pad 380 is associated with the upward direction (U direction) of the curved portion 112 in the UD direction. Further, the left LH of the touch pad 380 is associated with the right direction (R direction) in the LR direction of the bending portion 112 . Further, the right RH of the touch pad 380 is associated with the left direction (L direction) of the bending portion 112 in the LR direction. By changing the association described above, the operator S can intuitively bend the bending portion 112 using the touch pad 380 .

Also in the display image displayed on the display device 900, the direction of gravity G matches the downward direction in the display image, and the operator S can intuitively operate the touch pad 380 while looking at the display screen.

It should be noted that the direction of the touch pad 380 associated with the direction of gravity G of the tip portion 111 is not limited to the lower LWR of the touch pad. Depending on how the operator S holds the operation device 300 , the drive controller 260 may associate the direction of gravity G of the distal end portion 111 with an arbitrary direction of the touch pad 380 .

The drive controller 260 performs step S130 after step S320. The processing after step S130 is the same as in the first embodiment.

According to the electric endoscope system 1000C according to this embodiment, it is possible to easily change the shape of the bending portion 112 to a desired shape by operating the touch pad 380 . By changing the correspondence between the direction of the touch pad 380 and the bending direction of the bending portion 112 according to the change in posture of the distal end portion 111 , the operator S can intuitively bend the bending portion 112 using the touch pad 380 . can.

As described above, the third embodiment of the present invention has been described in detail with reference to the drawings, but the specific configuration is not limited to this embodiment, and design changes and the like are included within the scope of the present invention. . Also, the constituent elements shown in the above-described embodiment and modifications can be combined as appropriate.

(Modification 3-1)
In the above embodiment, the bending portion 112 is simply bent. However, the mode of the curved portion 112 is not limited to this. The bending portion 112 may bend in multiple steps. The drive controller 260 may calculate the target position using the curved surface BS that matches the curved aspect of the curved portion 112 .

The program in each embodiment may be recorded in a computer-readable recording medium, and the program recorded in this recording medium may be read into a computer system and executed. Note that the “computer system” includes hardware such as an OS and peripheral devices. The term "computer-readable recording medium" refers to portable media such as flexible discs, magneto-optical discs, ROMs and CD-ROMs, and storage devices such as hard discs incorporated in computer systems. Furthermore, "computer-readable recording medium" means a medium that dynamically retains a program for a short period of time, like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. It may also include something that holds the program for a certain period of time, such as a volatile memory inside a computer system that serves as a server or client in that case. Further, the program may be for realizing part of the functions described above, or may be capable of realizing the functions described above in combination with a program already recorded in the computer system.

The present invention can be applied to a manipulator system for observing and treating the inside of a hollow organ.

1000, 1000B, 1000C Electric endoscope system (manipulator system)
100 endoscope (manipulator)
110 Insertion portion 111 Distal portion 112 Bending portion (movable portion)
119 Internal flexible section 140 External flexible section 150 Detachable section 160 Bending wire 200 Driving device 300 Operating device 400 Treatment tool 500 Image control device 600 Control device 800 Observation device 900 Display device

Claims (18)

1. a manipulator having a bendable or bendable movable part;
   a driving device that bends or bends the movable portion;
   an operating device having a touch pad communicatively connected to the driving device and receiving an operation input for bending or bending the movable portion;
   with
   The drive device drives the movable part to move the tip of the movable part toward a target position associated with the position touched on the touch pad.
   manipulator system.
2. The touch pad has a reference point associated with the position of the tip when the movable part is in a predetermined initial shape,
   A manipulator system according to claim 1.
3. The target position is a position obtained by converting the two-dimensional coordinates of the touch pad into three-dimensional coordinates around the tip of the movable part.
   A manipulator system according to claim 1.
4. The driving device stops the driving of the movable portion when the operation input to the touch pad is lost before the tip of the movable portion reaches the target position.
   A manipulator system according to claim 1.
5. The driving device
   A plurality of representative positions of the touch pad and corresponding positions of the tip of the movable portion are associated in advance,
   determining the target position based on the corresponding position corresponding to the representative position close to the touched position on the touch pad;
   A manipulator system according to claim 1.
6. The driving device
   In addition to a position input mode for moving the tip of the movable part to the target position associated with the touched position on the touch pad,
   A difference input mode for moving the tip of the movable part according to the direction and amount of movement of the finger along the touch pad,
   A manipulator system according to claim 1.
7. The drive device switches between the position input mode and the difference input mode based on the mode of the operation input to the touch pad.
   7. A manipulator system according to claim 6.
8. The driving device changes the correspondence between the direction of the touch pad and the bending direction of the movable portion according to a change in posture of the tip of the movable portion.
   A manipulator system according to claim 1.
9. The driving device associates a predetermined direction of the touch pad with a direction of gravity with respect to the movable portion according to a change in posture of the tip of the movable portion.
   9. A manipulator system according to claim 8.
10. A control device for controlling a manipulator having a movable part that bends or bends,
    Acquire two-dimensional coordinates from a touch pad that allows operation input of movable parts that bend or bend,
    moving the tip of the movable part toward a target position associated with the two-dimensional coordinates;
    Manipulator control device.
11. The touch pad has a reference point associated with the position of the tip when the movable part is in a predetermined initial shape,
    11. A manipulator control device according to claim 10.
12. The target position is a position obtained by converting the two-dimensional coordinates of the touch pad into three-dimensional coordinates around the tip of the movable part,
    11. A manipulator control device according to claim 10.
13. a position input mode for moving the tip of the movable part to a target position associated with a touched position on the touch pad; capable of outputting a differential input mode that moves the tip of the part,
    Switching between the position input mode and the difference input mode based on the mode of the operation input to the touch pad;
    11. A manipulator control device according to claim 10.
14. A method for driving a manipulator having a movable part that curves or bends,
    recognizing the two-dimensional coordinates of the movable part input to the touch pad;
    and driving the movable part on the three-dimensional coordinates around the tip of the movable part based on the two-dimensional coordinates.
    Manipulator drive method.
15. transforming the two-dimensional coordinates into three-dimensional coordinates around the movable part;
    The manipulator driving method according to claim 14.
16. Corresponding any reference point on the touchpad with any initial shape;
    The manipulator driving method according to claim 14.
17. In addition to executing a position input mode for moving the tip of the movable part to a target position associated with the position touched on the touch pad,
    executing a difference input mode in which the tip of the movable part is moved according to the direction and amount of movement of the finger along the touch pad;
    further comprising switching between the positional input mode and the differential input mode based on a mode of operation input to the touchpad;
    The manipulator driving method according to claim 14.
18. further comprising a step of associating a predetermined direction of the touch pad with a direction of gravity with respect to the movable portion according to a change in posture of the tip of the movable portion;
    The manipulator driving method according to claim 14.

Images