JP2009207670A - Endoscope - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an endoscope which permits the neutral point of a curving portion to be reset in a curving condition. <P>SOLUTION: The endoscope includes a curving means to curve the curving portion, an operating means to cure the curving portion by operating the curving means, a driving means to curve the curving portion by the curving means, and a resetting means to reset the neutral point of the curving portion, thereby solving the problem by maintaining the curving portion by a prescribed curving amount by the driving means in accordance with a reset instruction by the resetting means. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an endoscope used for medical purposes and the like, and more specifically, it is possible to set a neutral point of a bending portion provided in the vicinity of the distal end of an insertion portion, thereby enabling easy and safe operation. It relates to an endoscope that can be used.

As is well known, an endoscope is connected to an insertion portion to be inserted into a human body, an operation portion for operating the insertion portion, operation of an endoscope such as air supply / water supply, an air supply source, a suction pump, and the like. Connector (LG (Light Guide) connector), and a universal cord (supply hose) for connecting the connector to the operation unit and the insertion unit.
Further, as shown in Patent Documents 1 to 3 and the like, normally, a bending portion (angle portion) is provided near the distal end of the insertion portion of the endoscope, and an operation knob (operation) provided on the operation portion is provided. By turning the knob), it can be bent up and down and left and right.

The bending of the bending portion is generally performed by pulling the bending portion with a wire.
Specifically, the bending portion has a configuration in which a large number of rings are arranged and connected in a cylindrical shape. The rings are alternately connected so as to be able to rotate (swing) in the vertical direction and the horizontal direction (two directions perpendicular to each other). A total of four wires, two wires spaced in the vertical direction and two wires spaced in the left-right direction, are inserted into the connected ring, and the tip of the wire is placed at the most distal side. Fasten to the ring that is placed on.

On the other hand, the operation knob includes a UD (up / down) knob for bending the bending portion in the vertical direction and an LR (left-right) knob for bending in the left-right direction.
Two wires that are inserted in the ring of the bending portion and are separated in the vertical direction are hung around a pulley that rotates integrally with the UD knob. Similarly, two wires spaced apart in the left-right direction are hung around a pulley that rotates integrally with the LR knob.
Therefore, by rotating the operation knob, one of the wires connected to the bending portion can be pulled and the other can be sent out to bend the bending portion. Further, by operating both the UD knob and the LR knob, the bending portion can be bent in any direction, up, down, left, and right.

The bending portion of the endoscope is a neutral point where the state of being not bent (straight state) is a normal state.
Therefore, when the bending portion is bent, a reaction force works so as to return to the straight state, and when the operation knob is released, the reaction state automatically returns to the straight state. Further, as the amount of bending increases, the reaction force increases, that is, a large force is also required for the bending operation (rotation of the operation knob).
Therefore, depending on the type of examination by the endoscope, the burden on the doctor (operator) becomes very large.

JP 11-47082 A JP 2000-229061 A JP 2001-346756 A

For example, the examination of the stomach fundus is performed by rotating the insertion portion while the bending portion is largely bent, as conceptually shown in FIG.
That is, the doctor who operates the endoscope needs to rotate the insertion part while holding the heavy operation part and holding the operation knob against the strong reaction force so as not to return. Very burdensome. In addition, if the operation knob is unexpectedly released, the bending portion returns to a straight state at a stretch with a strong reaction force, which may damage the human body.

On the other hand, as shown in Patent Documents 1 to 3, the endoscope has a so-called brake that can fix the bending portion in a curved state.
The brake normally holds the curved portion in a curved state by stopping the rotation of the operation knob by frictional force, and the fixed state in which the operation knob is not moved completely due to the difference in frictional force. While the bending state of the bending portion is maintained, it is possible to achieve a half brake state in which the operation knob can be turned to change the angle angle (bending amount) of the bending portion.
Therefore, by using the brake, it is possible to eliminate the burden of rotating the insertion portion with the operation knob pressed. However, in order to adjust the angle angle with the half brake applied, it is necessary to rotate / operate the operation knob with a force that exceeds the frictional force to maintain the half brake state. Yes, the burden on doctors is also great.

  An object of the present invention is to solve the above-mentioned problems of the prior art, and the bending portion is curved at the neutral point of the bending portion of the insertion portion of the endoscope other than the straight state where the bending portion is not curved. Even if it is necessary to rotate the insertion part or adjust the amount of bending when the bending part is greatly bent, such as when examining the fundus, the burden on the doctor is greatly increased. It is an object of the present invention to provide an endoscope that can be easily and safely operated.

  In order to achieve the above object, an endoscope according to the present invention is an endoscope having a bending portion in the vicinity of a distal end of an insertion portion, and is configured to bend the bending portion and operate the bending means. An operating means for bending the bending portion, a driving means for bending the bending portion by the bending means, a neutral point resetting means for making the bending portion a neutral point in the bent state, There is provided an endoscope having a control means for driving the drive means so as to maintain a corresponding curved state in accordance with the neutral point reset by the resetting means.

  In the endoscope of the present invention as described above, the endoscope has an operation force detection unit that detects an operation force applied to the operation unit, and the control unit performs the operation according to the operation force detected by the operation force detection unit. It is preferable that the bending of the bending portion by the bending means is assisted by the driving means with a force at a predetermined ratio to the operating force.

In addition, an operation force detection unit that detects an operation force applied to the operation unit is provided, and the control unit performs an operation applied to the operation unit at that time in response to a neutral point resetting instruction by the resetting unit. It is preferable to know the force from the operation force detection means and control the drive of the drive means so that the bending portion is bent with a force corresponding to the operation force, or corresponds to the bending amount of the bending portion. Displacement detecting means for detecting a displacement amount of the bending means, and a table indicating a relationship between the displacement amount and a bending force necessary to bend the bending portion by the bending amount corresponding to the displacement amount. Then, in response to the neutral point resetting instruction from the resetting unit, the control unit learns the displacement amount corresponding to the bending amount at that time from the displacement detection unit, and the bending force corresponding to the displacement amount. From the table And, so as to bend the bending portion with a force corresponding to this bending force, it is preferable to control the driving of said driving means.
Further, the resetting means includes a bending amount instruction means for the bending portion, and the control means sets the neutral point resetting instruction by the resetting means and the bending amount set by the instruction means. Accordingly, it is preferable to control the driving of the driving means so that the bending portion is bent by the bending amount.

The endoscope of the present invention having the above-described configuration is provided with a motor that pulls a pulley that pulls a wire that bends a bending portion in response to a neutral point resetting instruction (instruction input) by a doctor (an endoscope operator). The bending state is set (reset) as a neutral point by driving the bending unit that bends the bending portion by the driving unit and maintaining the desired bending state.
Therefore, according to the present invention, even when it is necessary to rotate the insertion portion or adjust the amount of bending in a state where the bending portion is greatly bent, as in the aforementioned endoscopic examination of the stomach fundus, this bending is performed. Since the endoscope can be operated with the state as the neutral point, the insertion portion can be rotated and the angle angle (bending amount) can be changed in the same manner as in the state where the bending portion is not bent. In this case, the burden can be reduced as compared with an endoscope in which the neutral point cannot be reset.
Therefore, according to the endoscope of the present invention, it is possible to easily and safely operate the endoscope in response to various types of examinations and medical treatments using the endoscope, reducing the burden on the doctor. it can.

  Hereinafter, the endoscope of the present invention will be described in detail based on a preferred embodiment shown in the accompanying drawings.

FIG. 1 shows a schematic diagram of an example of the endoscope of the present invention.
An endoscope 10 shown in FIG. 1 is inserted into an examination site such as a body cavity (gastrointestinal tract, otolaryngology, etc.) to observe the examination site, take a photograph or a movie, collect a tissue, and the like. .
The endoscope 10 sets the neutral point of the angle portion 24 (the bending operation is not performed with the operation knob, a steady state) from a state where the angle portion 24 is not curved (a straight state) to a desired curved state. Basically, it is the same as a known endoscope (endoscope apparatus) except that it has a function of resetting the neutral point of the angle portion 24.
In the illustrated example, the endoscope 10 includes an insertion unit 12, an operation unit 14, a connector 16, and a universal cord 18 in the same manner as a normal endoscope.

  The insertion part 12 is a long part to be inserted into an examination part such as a body cavity. The tip part 22 at the tip (tip on the insertion side = the opposite end to the operation part 14), the angle part 24, and the flexible part 26 And have.

The distal end portion 22 has illumination glass for illuminating with a light guide, an air supply / water supply nozzle for inhaling, supplying air, and supplying water to the examination site, and forceps for collecting tissue etc. into the examination site. A forceps port or the like is provided.
The endoscope 10 shown in the drawing is a so-called electronic scope that images an examination site using an image sensor such as a CCD sensor as an example. Therefore, an imaging objective lens or CCD sensor is provided at the distal end portion 22. A substrate for processing an image signal of an image taken by the CCD sensor is also arranged. Note that the endoscope of the present invention is not limited to an electronic scope, and may be a so-called fiberscope that directly observes an examination site using an optical fiber or the like. Are provided with an observation lens and an observation window.

The angle portion (curved portion) 24 is moved up and down by operation of operation knobs (LR knob 36 and UD knob 38) to be described later in order to insert the distal end portion 22 into the target position or to position it at the target position. This is a region that curves to the left and right (four orthogonal directions).
The flexible portion 26 is a portion that connects the distal end portion 22 and the angle portion 24 and the operation portion 14, and is a long portion having sufficient flexibility for insertion into the examination portion. The flexible portion 26 (and the angle portion 24) includes a forceps channel (tube) for inserting forceps, an air / water supply channel connected to an air / water supply nozzle, a light guide for illuminating an examination site, A cable or the like for transferring an image (image signal) taken by the CCD sensor is accommodated.

The operation unit 14 is a part that operates the endoscope 10.
Similar to a normal endoscope, a forceps port 28 for inserting a forceps, a suction button 30 for performing suction from an air / water supply nozzle at the distal end portion 22, and an air / water supply for performing air / water supply. A water supply button 32 and the like are arranged. Since the endoscope 10 is an electronic scope, the operation unit 14 is also provided with various operation means such as a zoom switch and an imaging switch for imaging the examination site.

As described above, the operation portion 14 is provided with an operation knob (curving operation means) for bending the angle portion 24 of the insertion portion 12.
Specifically, an LR knob (left / right knob) 36 that bends the angle portion 24 leftward and rightward, and a UD knob that curves the angle portion 24 upward and downward perpendicular to the left-right direction ( An up / down knob 38 is disposed. In the endoscope 10, like the various endoscopes, the angle portion 24 of the insertion portion 12 is bent (bent) in the left-right direction by turning the LR knob 36, and the angle portion 24 is turned by turning the UD knob 38. Can be curved in the vertical direction (a direction perpendicular to the horizontal direction).
Further, the LR brake 40 for fixing the angle portion 24 (LR knob 36) in a state bent in the left-right direction and the angle portion 24 (UD knob 38) fixed in a state bent in the up-down direction are fixed to the operation portion 14. A UD brake 42 is provided.

Further, the operation unit 14 has a reset switch 44 for resetting the neutral point of the angle unit 24 from the normal straight state to a desired curved state, and the reset neutral point is returned to the steady straight state. A release switch 46 is also provided.
The configuration of the operation knob and brake of the operation unit 14, the configuration of the angle unit 24 and the bending action, and the reset switch 44 and the release switch 46 will be described in detail later.

A connector (LG (Light Guide) connector) 16 is a part for connecting the endoscope 10 to a water supply means, an air supply means, a suction means, etc. installed in the endoscope processor. In addition to the suction connector 50 for connecting the facility suction means and the facility suction means, a water supply connector for connection to the facility water supply (water supply) means, a ventilation connector for connection to the facility air supply means, and the like are arranged. .
In addition, when the connector 16 uses an LG rod 52 for connecting an illumination light guide and a light source installed in the endoscope processor, a high-frequency treatment instrument (a so-called electric knife such as a snare or a knife) is used. In addition, an S terminal 54 or the like for connecting an S cord for escaping the current leaked to the endoscope 10 is also provided.
Further, the connector 16 is connected with a video connector 56 for connecting the endoscope 10 with a video processor that processes and displays an image taken by the endoscope 10 (its CCD sensor).

The universal cord (LG soft part) 18 is a part for connecting the connector 16 and the operation part 18.
The light guide, the air / water supply channel, and the like are connected from the connector 16 through the universal cord 18 to the operation unit 14, and from the operation unit 14 through the flexible portion 26 of the insertion unit 12 as described above, the distal end portion 22. Connected to.

As described above, the operation unit 14 includes the LR knob 36 that bends the angle portion 24 of the insertion portion 12 in the left-right direction, the UD knob 38 that is bent in the same vertical direction, and the angle portion 24 that is bent in the left-right direction. An LR brake 40 for holding, and a UD brake 42 for holding in a curved state in the same vertical direction are arranged.
FIG. 2 shows a schematic diagram (schematic partial cross-sectional view) of an example of the configuration of the LR knob 36, the UD knob 38, the LR brake 40, and the UD brake 42 in the operation unit 14. The endoscope of the present invention is not limited to this configuration, and all known configurations used in various endoscopes can be used.

The housing (non-movable part) 60 of the operation part 14 is provided with a cylindrical insertion part 60a so as to stand up through the wall surface of the housing 60, and the lower end of the insertion part 60a (the inner side of the housing 60). The end portion is provided with a substantially C-shaped fixing portion 60b.
A cylindrical central shaft 62 is erected on the fixed portion 60b so as to pass through the insertion portion 60a and protrude from the housing 60 to the outside.

A connecting pipe (rotating shaft) 64 is fixed to the lower surface of the LR knob 36, and a pulley 68 is fixed to the lower end of the connecting pipe 64. Two wires 70 and 72 for bending the angle portion 24 are wound around the pulley 68 (or the ends of the wires 70 and 72 are fixed).
The wires 70 and 72 are wires (angle wires / operation wires) for bending the angle portion 24 in the left-right direction, and are inserted into the angle portion 24 while being separated in the left-right direction by a wire guide or the like, as will be described later. The end on the side of the portion 22 is fixed to the tip ring 112 of the angle portion 24.
The pulley 68 is also formed with a gear that is rotated by an LR neutral point resetting motor 74 (hereinafter referred to as LR motor 74) for resetting the neutral point in the left-right direction of the angle portion 24. The

The connecting pipe 64 has a cylindrical shape, is inserted through the central shaft 62, and is rotatably supported by the central shaft 62.
Therefore, the LR knob 36 and the pulley 68 are also rotatably supported on the central axis 62 with the central axis 62 (center line thereof) as the rotation center. When the LR knob 36 is rotated by the operator, the pulley 68 is rotated. Are rotated by the same amount, one of the wires 70 or 72 is pulled, and the other is sent out (the wire is advanced or retracted).

The upper surface of the LR knob 36 has a concave shape, and the lower portion of the LR brake 40 is inserted into the concave portion. An LR brake member 76 for fixing the rotation of the LR knob 36 is disposed on the lower surface of the LR brake 40.
The LR brake 40 is rotatably supported on the center shaft 62. On the other hand, the LR brake member 76 has a cylindrical shape, is inserted into the central shaft 62, cannot be rotated, and can be moved up and down (movable in the longitudinal (vertical) direction of the central shaft 62). Supported.

When the LR brake 40 rotates, the LR brake member 76 moves up and down along the central axis 62 by a known means such as a cam mechanism or a screw mechanism according to the rotation direction.
When the LR brake member 76 is positioned above, the LR brake member 76 is completely separated from the LR knob 36. However, the LR brake member 76 contacts / presses the LR knob 36 when lowered. As described above, since the LR brake member 76 is supported by the central shaft 62 so as not to rotate, the rotation of the LR knob 36 can be stopped by the frictional force by pressing the LR brake member 76 (the brake is applied to the LR knob 36). ). Further, since the LR brake member 76 can be moved up and down but cannot rotate, the LR knob 36 is not rotated by the operation of applying the brake.

Here, the LR brake 40 can adjust the pressing force of the LR brake member 76 to the LR knob 36 according to the amount of rotation. The brake applied to the LR knob 36 can be set in two types, a fixed state and a half brake state. It can be in the state.
The fixed state is a state where the LR brake member 76 is strongly pressed against the LR knob 36 and the LR knob 36 cannot be rotated. On the other hand, in the half brake state, the LR knob 36 is pressed by the LR brake 94, and the automatic rotation of the LR knob 36 due to the reaction force of the curved angle portion 24 is stopped, but it is rotated by the frictional force. The LR knob 36 can be rotated only by being heavy.

As described above, the pulley 68 is fixed to the lower end of the connecting pipe 64.
The pulley 68 is connected to the angle portion 24 and is wound around wires 70 and 72 that bend the angle portion 24 in the left-right direction. A gear for being rotated by the LR motor 74 is also formed.
On the other hand, the LR motor 74 is fixed to the housing 60 of the operation unit 14 by a stay or the like (not shown). A gear 78 is fixed to the rotation shaft of the LR motor 74. A gear 80 is pivotally supported by the housing 60 (a stay (not shown) fixed here). The gear 80 meshes with the gear 78 formed on the rotating shaft gear 78 of the LR motor 74 and the pulley 68.

Accordingly, when the LR motor 74 is driven, a rotational force is transmitted to the pulley 68, and as will be described later, one of the wires 70 and 72 is pulled and the other is sent out, the angle portion 24 is bent in the left-right direction, and It is possible to apply a rotational force to the pulley 68 and keep it in a curved state (that is, to apply a torque to the pulley 68 and keep the angle portion 24 curved in the left-right direction).
Further, the operation of the LR knob 36 directly connected to the pulley 68 by the connecting pipe 64, that is, the operation of bending the angle portion 24 in the left-right direction can be assisted.

In the operation unit 14 of the endoscope 10, the UD knob 38 is disposed between the LR knob 36 and the housing 60 (below the LR knob 36).
The UD knob 38 has a recess on the lower surface side. A connecting pipe (rotating shaft) 84 is fixed to the ceiling surface of the recess, and a pulley 86 is fixed to the lower end of the connecting pipe 84. Two wires 88 and 90 that are connected to the angle portion 24 and that pull the angle portion 24 to bend in the vertical direction are wound around the pulley 86. The wires 88 and 90 are wires for bending the angle portion 24 in the vertical direction. The wires 88 and 90 are spaced apart by the wire guide in the vertical direction and inserted into the angle portion 24, and the end portion on the tip portion 22 side is the tip ring of the angle portion 24. 112 is fixed.
Similarly to the pulley 68 described above, the pulley 86 is also rotated by a UD neutral point resetting motor 92 (hereinafter referred to as a UD motor 92) that assists the vertical bending of the assist portion 24. Is formed.

The connecting pipe 84 is cylindrical, is inserted through the connecting pipe 64 fixed to the LR knob 36, is inserted into the insertion portion 60a of the housing 60, and is rotatably supported by the connecting pipe 64. Since the connecting pipe 84 passes through the connecting pipe 64, the pulley 86 at the lower end of the connecting pipe 84 is positioned above the pulley 68 at the lower end of the connecting pipe 64 of the LR knob 36.
Accordingly, the UD knob 38 and the pulley 86 are also rotatably supported by the connecting pipe 64 with the connecting pipe 64 as the rotation center. When the UD knob 38 is rotated by the operator, the pulley 86 also rotates by the same amount. Then, one of the wires 88 and 90 is pulled and the other is sent out.
Here, as described above, the connecting pipe 64, that is, the LR knob 36 rotates around the central axis 62. Accordingly, the connecting pipe 84, that is, the UD knob 38 also rotates around the central axis 62. That is, the LR knob 36 and the UD knob 38 that are the operation knobs for bending the angle portion 24 rotate coaxially.

The UD brake 42 includes an operation lever 42a and a cylindrical portion 42b.
The cylindrical portion 42b is a cylindrical member that is inserted through the insertion portion 60a so as to be inserted into the concave portion of the UD knob 38 and is rotatably supported by the insertion portion 60a. The operation lever 42a is like a lever handle, with one end fixed to the cylindrical portion 42b and the other end protruding from the UD knob 38. Therefore, the cylindrical portion 42b can be rotated by swinging the operation lever 42a.
A UD brake member 94 for fixing the rotation of the UD knob 38 is disposed on the cylindrical portion 42b of the UD brake 42. The UD brake member 94 has a cylindrical shape having the same inner and outer diameters as the cylindrical portion 42b, and is inserted through the insertion portion 60a so that it cannot rotate and can be raised and lowered, like the LR brake member 76. It is supported by the insertion part 60a.

When the UD brake 42 (cylindrical portion 42b) rotates, the UD brake member 94 moves up and down along the insertion portion 60a by a known means such as a cam mechanism or a screw mechanism.
As described above, the UD brake member 94 is supported by the insertion portion 60a so as not to rotate and freely move up and down. Like the LR brake member 76, the UD brake member 94 is positioned below. The UD knob 38 is completely separated from the UD knob 38. However, when the UD knob 38 is lifted, the UD knob 38 abuts / presses against the UD knob 38 without rotating, and brakes the rotation of the UD knob by a frictional force.
Further, like the previous LR brake 40, this UD brake 42 can also adjust the pressing force of the UD brake member 94 to the UD knob 38 by the rotation amount, that is, the operation amount of the operation lever 42a. The brake applied to 38 can be set in two states, a fixed state and a half brake state.

As described above, the pulley 86 is fixed to the lower end of the connecting pipe 84.
Wires 88 and 90 that are connected to the angle portion 24 and pull the angle portion 24 to bend in the vertical direction are fixed to the pulley 86, and a gear that is rotated by the UD motor 92 is also formed.
The UD motor 92 is fixed to the housing 60 of the operation unit 14, and a gear 96 is fixed to the rotation shaft thereof. A gear 98 is pivotally supported on the housing 60. The gear 98 meshes with the gear 96 of the rotating shaft of the UD motor 92 and the gear formed on the pulley 86.

Accordingly, when the UD motor 92 is driven, a rotational force is transmitted to the pulley 86, pulling one of the wires 88 and 790 and feeding the other, bending the angle portion 24 in the vertical direction, and keeping the curved state. (That is, it becomes possible to apply torque to the pulley 86 to keep the angle portion 24 curved in the vertical direction).
Furthermore, it is possible to assist the operation of the UD knob 38 directly connected to the pulley 86 by the connecting pipe 84, that is, the operation of bending the angle portion 24 in the vertical direction.

In the operation portion 14 (angle portion bending operation), a torque sensor 100 that detects the torque applied to the connecting pipe 64 is disposed at a position indicated by a diagonal line of the connecting pipe 64. As described above, the LR knob 36, the connecting pipe 64, and the pulley 68 rotate integrally. Therefore, the torque sensor 100 detects the operating force (rotational torque) applied to the LR knob 36.
Further, a torque sensor 102 that detects the torque applied to the UD knob 38 is disposed at a position indicated by the oblique line of the connecting pipe 84. Similarly, the UD knob 38, the connecting pipe 84, and the pulley 86 rotate integrally. Therefore, the torque sensor 102 detects the operating force applied to the UD knob 38.

As will be described in detail later, in the endoscope 10 in the illustrated example, the operation force applied to the operation knob at that time is detected in response to an input instruction from the reset switch 44, and the same force as this operation force is detected. The neutral point of the angle portion 24 is reset by driving the motor so as to rotate the pulley (by applying torque to the pulley with the motor).
That is, in the illustrated operation section 14, as a preferred mode, a part of a cylindrical connection pipe that is directly connected to the curved operation knob and rotates integrally with the operation knob is used as a torque sensor (or connection pipe). The operation force for bending the angle portion 24 applied to the operation knob is directly detected.

In addition, as a torque sensor arrange | positioned in such a connection pipe 64 or the connection pipe 84, various well-known torque sensors, such as a torque sensor using a strain gauge and a magnetostriction type torque sensor, can be used.
In the present invention, it is not limited to detecting the bending operation force in the connecting pipe 64 and the connecting pipe 84. For example, angle detection such as torque detection at the pulley 68 and torque detection at the gear 80 is possible. Detection at various positions and parts that can directly or indirectly detect the bending operation force of the unit 24 can be used. In addition to the torque sensor, various force detection means can be used as the operation force detection means.

  In the example shown in FIG. 2, the number of revolutions by the motor is reduced by providing gears 80 and 98 between the motors 74 and 92 for keeping the angle portion 24 in a curved state. The number of rotations by the motor may be reduced by providing a planetary gear or a harmonic drive in the auxiliary motor (motor head), or the reduction by the gear may be used in combination with this.

Further, in the example shown in FIG. 2, the rotation of the motor is transmitted by a gear and the pulley (connection pipe = operation knob) is rotated to assist the bending. However, the present invention is not limited to this, and the direct drive You may assist bending using a motor (DD motor).
For example, as shown in FIG. 3 with reference to the configuration shown in FIG. 2, a cylindrical portion 68a is provided at the lower portion of the pulley 68 for bending the angle portion 24 to the left and right. An inner rotor DD motor is used as the LR motor 106, and the rotor of the LR motor 106 is engaged with the cylindrical portion 68a. By rotating the cylindrical portion 68a with the LR motor 106, the angle portion 24 is bent in the left-right direction, and a rotational force is applied to the pulley 68 to keep it in a bent state.
In addition, the auxiliary assist in bending in the vertical direction is similarly achieved by using the DD motor of the inner rotor as the UD motor 108 and inserting the connecting tube 84 through the rotor of the UD motor 108. By rotating the connecting tube 84 with the UD motor 108, the angle portion 24 is bent in the vertical direction, and a rotational force is applied to the pulley 86 to keep it in a bent state.

FIG. 4 conceptually shows a configuration of a mechanism for bending the angle portion 24 in the left-right direction by the LR knob 36 in the example shown in FIG.
In the illustrated example, the angle portion 24 has a configuration in which a large number of circular rings are connected in the same manner as the angle portion of a known endoscope, and is bent in the left-right direction by wires 70 and 72 operated by the LR knob 36. Then, it is bent in the vertical direction by the wires 88 and 90 operated by the UD knob 38 which is omitted in FIG.

FIG. 5 shows a schematic diagram of an example of the angle portion 24.
In the endoscope of the present invention, the configuration of the angle portion 24 is not limited to the illustrated example, and all configurations employed in various endoscopes can be used.

The angle portion 24 in the illustrated example is configured by connecting nine rings, for example, eight circular rings 110 and one tip ring 112.
The circular ring 110 is a substantially cylindrical member having a slightly bent shape when viewed from the side. The tip ring 112 is a substantially cylindrical member, and is disposed on the most tip portion 22 side of the angle portion 24.

The circular ring 110 and the tip ring 112 are connected by a connecting pin 114a and a connecting pin 114b.
The circular rings 110 are alternately arranged in the longitudinal direction of the insertion portion 12 in the bending direction (the direction of the unevenness of bending). The connecting pin 114a connects the circular ring 110 at the center on the convex side so as to be able to rotate (swing) in the left-right direction (arrow a direction). On the other hand, the connecting pin 114b connects each circular ring 110 and the circular ring 110 at the tip and the tip ring 112 so as to be rotatable in the vertical direction (arrow b direction) at both ends on the concave side.
Further, the connection pins 114 a and the connection pins 114 b are alternately arranged to connect the circular ring 110. That is, the circular rings 110 are alternately connected so as to be rotatable in the vertical direction and the horizontal direction.

The wires 70 and 72 that bend the angle portion 24 in the left-right direction are guided by a wire guide (not shown) and are spaced apart in the left-right direction (up and down in the drawing) and inserted through the circular ring 110. As an example, the wires 70 The tip of the wire 72 is fixed to the right inner surface of the tip ring 112 and the tip of the wire 72 is fixed to the left inner surface of the tip ring 112, respectively.
Further, although omitted in FIG. 5, in the angle portion 24, the two wires 88 and 90 that bend the angle portion 24 in the vertical direction are guided by the wire guide and separated in the vertical direction (perpendicular to the paper surface). As an example, the tip of the wire 88 is fixed to the upper side of the inner surface of the tip ring 112, and the tip of the wire 90 is fixed to the lower side of the inner surface of the tip ring 112.

As described above, the operation portion 14 is provided with an LR knob 36 for bending the angle portion 24 in the left-right direction.
A connecting pipe 64 is fixed to the LR knob 36, and a pulley 68 is fixed to the lower end of the connecting pipe 64. The connecting pipe 64 is rotatably supported by the center shaft 62. Further, wires 70 and 72 are wound around the pulley 68.

Accordingly, the connecting pipe 64 and the pulley 68 are rotated by rotating the LR knob 36 which is a bending operation knob. Depending on the rotation direction of the pulley 68, one of the wires 70 and 72 is pulled and the other is fed out.
As described above, the circular ring 110 constituting the angle portion 24 is connected by the connecting pins 114a and 114b so as to be alternately rotatable in the left-right direction and the up-down direction. Therefore, when the pulley 68 is rotated by the LR knob 36, one of the wires 70 and 72 is pulled and the other is sent out according to the direction of rotation, and the angled portion 24 is turned to the left with the pulled wire inside. Or it curves to the right.

As the pulling amount of the wire 70 or 72 increases, that is, as the amount of rotation of the pulley 68 increases, the angle portion 24 is bent more greatly. Therefore, the angle angle (bending amount) of the angle portion 24 can be adjusted by the rotation amount of the LR knob 36.
Here, when the angle portion 24 is bent, the angle portion 24 tries to return to a straight state that is not bent, that is, a straight state by the reaction force that the angle portion 24 has, and when the hand is released from the LR knob 36, , Automatically return to the straight state. The bending reaction force of the angle portion 24 is stronger as the angle angle is larger. Therefore, the greater the angle angle, the stronger the force to return to the straight due to the reaction force, and a greater force is required for the bending operation of the angle portion 24.

Further, as described above, when the connecting pipe 84 and the pulley 86 are directly coupled to the UD knob 38 and the UD knob 38 is rotated, the pulley 86 is also rotated. The pulley 86 is wound around wires 88 and 90 that are spaced apart in the vertical direction and are inserted through the angle portion 24 (circular ring 110) and connected to the upper and lower surfaces of the tip ring.
Therefore, by rotating the UD knob 38 and rotating the pulley 86, one of the wires 88 and 90 is pulled and the other is sent out, and the wire is pulled, according to the rotation direction, like the LR knob 36. The angle portion 24 can be curved upward or downward with the side inward.
Further, the angle angle of the angle portion 24 in the vertical direction can be adjusted by the amount of rotation of the UD knob 38. Further, when the angle portion 24 is bent, the angle portion 24 tries to return to the straight state by the reaction force, and the angle angle The larger the is, the stronger the reaction force becomes, and the more force is required for the bending operation, as in the operation using the LR knob 36.

Therefore, the doctor operates the LR knob 36 and the UD knob 38 to move the angle portion 24 by a desired angle angle (below the limit of bending) in the up and down direction, the left and right direction, and the combined direction of the up and down and left and right directions. It can be bent to perform observation and imaging of the examination site, collection of tissue, and the like.
In the present invention, the bending mechanism of the angle portion of the endoscope is not limited to the illustrated mechanism, and there are various bending means (curving mechanism) of the angle portion used in various endoscopes. Is available.

As described above, the gear 68 meshes with the pulley 68 around which the wires 70 and 72 for bending the angle portion 24 in the left-right direction are wound, and the gear 80 is fixed to the rotating shaft of the LR motor 74. 78 meshes. That is, in the illustrated endoscope 10, the angle portion 24 can be bent in the lateral direction by rotating the pulley 68 and moving the wires 70 and 72 forward and backward by the LR motor 74.
Similarly, since the gear 96 of the UD motor 92 meshes with the pulley 86 around which the wires 88 and 90 for bending the angle portion 24 in the vertical direction are wound, the pulley 86 is moved by the UD motor 92. By rotating, the wires 88 and 90 can be advanced and retracted, and the angle portion 24 can be bent in the vertical direction.

Here, the connecting pipe 64 is provided with a torque sensor 100 for detecting a torque applied to the connecting pipe 64 (that is, an operating force by turning the LR knob 36). A similar torque sensor 102 is also provided on the connecting pipe 84 of the UD knob 38.
The torque detection result by the torque sensor 100 (and the torque sensor 102) is output to the control means 118 that controls the driving of the LR motor 74 (and the UD motor 92).
Further, the control means 118 is also supplied with signals according to input instructions from the reset switch 44 and the release switch 46. As described above, the reset switch 44 is a switch for resetting the neutral point of the angle portion 24 from a normal straight state to a desired curved state. On the other hand, the release switch 46 is a switch for returning the reset neutral point to a steady straight state.

When the reset switch 44 is pressed and receives a signal from the torque sensor 100, the control means 118 generates the torque applied to the connecting pipe 64 at that time, that is, the bending operating force applied to the LR knob 36 from the torque sensor 100. To detect.
Next, the control means 118 drives the LR motor 74 to rotate the pulley 68 so that the same torque as this torque is applied to the connecting pipe 64 (giving a rotational force). In other words, the LR motor 74 applies the same torque to the pulley 68, that is, the connecting pipe 64 as the torque applied when the reset switch 44 is pressed.

As described above, when the angle portion 24 is bent, the angle portion 24 tends to return to a straight state by its own reaction force.
Therefore, by driving the LR motor 74 that rotates the pulley 68 so that the same torque as the operating force that is applied to the connecting pipe 64 is applied to the connecting pipe 64 for turning the LR knob 36, this bending is achieved. The angle portion 24 can be maintained in the state. That is, by applying the same torque to the connecting pipe 64 by the bending operation, the balance between the reaction force of the angle portion 24 and the torque of the LR motor 74 is achieved, and the reset switch 44 is The angle portion 24 can be curved and maintained in the same state as when it is pressed.
Further, since the reaction force of the angle portion 24 due to the bending and the torque applied to the connecting pipe 64 by the LR motor 74 are in a balanced state, if the angle portion 24 is further bent, the angle angle increases and increases. As a result of the reaction force, the angle portion 24 tries to return to the reset neutral point, and when the LR knob 36 is operated in a direction to return the curvature of the angle portion 24, a reaction force is generated by the LR motor 74, and similarly The angle portion 24 attempts to return to the reset neutral point.

Thereby, as conceptually shown in FIG. 6A, the neutral point of the angle portion 24, which is normally in a straight state, can be reset to a curved state.
Further, at the neutral point in the normal straight state, the relationship between the angle angle and the bending torque (load by the endoscope itself) is in the state shown on the left in FIG. In order to reset the neutral point with θ being the angle angle of the angle portion, when the torque is applied by the LR motor 74 (same center), both are added and the neutral point is reset. The relationship between the angle angle and the torque (total load on the hand) is as shown on the right side of FIG. That is, the load is shifted upward by the amount of torque by the LR motor 74.
Therefore, for example, if the angle angle of the angle portion 24 is changed by the angle α from the state of the angle angle θ, the load is heavy as shown on the left side of FIG. It is necessary to operate within the range. On the other hand, as shown on the right side of FIG. 6C, when the neutral point is reset at the angle angle θ, the operation is performed with the same load as the operation at the neutral point in the normal straight state with a small load. Can reduce the burden on the doctor. In particular, as described above, the greater the angle angle, the more force is required for the operation. Therefore, when operating in the direction of increasing the amount of bending, the operation force can be greatly reduced.

Therefore, according to the endoscope of the present invention, the neutral point is reset even when it is necessary to rotate the insertion portion in a state where the bending portion is largely bent, for example, as in the above-mentioned examination of the fundus. As a result, the insertion portion can be rotated while the hand is released from the operation knob. Further, unlike the state where the half brake is applied, even when the angle angle is adjusted from the reset neutral point, the operation can be performed with a small force as in the normal neutral point operation.
Furthermore, if the neutral point is reset, the angle portion 24 can be held in a greatly curved state, so that the angle portion 24 suddenly returns to the straight state due to the reaction force by suddenly releasing the operation knob in the curved state. Accidents such as damaging the human body can also be prevented.

As described above, the operation unit 14 is also provided with the release switch 46 for releasing the reset neutral point and returning the neutral point to the normal straight state.
When the release switch 46 is pressed and receives the signal, the control means 118 stops the driving of the LR motor 74 and releases the torque applied to the connecting pipe 64, and the neutral point of the angle portion 24 is set in a normal straight state. Return to.
Here, the control means 118 does not immediately stop driving the LR motor 74 in response to a signal from the release switch 46, but gradually (preferably gradually) so that the angle portion 24 gradually returns to the straight state. It is preferable to reduce the output of the LR motor 74, that is, the torque applied to the connecting pipe 64 by the LR motor 74, and stop the driving of the LR motor 74. Thereby, the damage of a human body etc. by the angle part 24 returning to a straight state rapidly can be prevented.

  In the above example, in response to an instruction input from the reset switch 44, the torque applied to the connecting pipe 64 at that time (the operating force applied to the LR knob 36) is detected by the torque sensor 100, and this torque and The neutral point of the angle portion 24 is reset by driving the LR motor 74 so that the same torque is applied to the connecting pipe 64. However, the present invention is limited to this by various means. You can reset the neutral point.

As an example, the resetting of the neutral point of the angle portion 24 is instructed using the relationship between the displacement of the bending means by the operation of the operation knob and the force necessary for bending at the angle angle when the displacement occurs. The neutral point of the angle part 24 may be reset by calculating a force necessary for resetting the neutral point from the displacement at the time point and bending the angle part 24 with this force.
Similar to the above, description will be made with reference to FIG.

When the LR knob 36 is operated (rotated) to bend the angle portion 24, the position of the wire such as the position of a certain point of the wire 70 (or the wire 72) changes according to the angle angle of the angle portion 24. Also, the pulley 68 rotates and the rotation angle changes.
Further, in the endoscope 10, the angle angle of the angle portion 24 and an operation force necessary to realize the angle angle, for example, the LR knob 36 is rotated to the connecting pipe 64 (the pulley 68 and the LR knob 36). The relationship with the torque that needs to be applied can be known in advance.

By utilizing this, as shown in FIG. 7, the displacement amount (pulley rotation angle displacement or wire displacement) due to the bending operation by the LR knob 36 and the connecting pipe 64 at the time of bending corresponding to this displacement are previously applied. A displacement-torque conversion table showing the relationship with the applied torque is prepared.
In other words, the displacement-torque conversion table is a table showing the relationship between the displacement of the bending means when a certain angle angle is reached and the torque necessary to realize this displacement, that is, the angle angle.

In this embodiment, a displacement sensor that detects the rotational angular displacement of the pulley 68 or the displacement of the wire 70 is provided in place of the torque sensor 100. These displacement sensors may be known ones.
As in the previous example, when the reset switch 44 instructs the resetting of the neutral point of the angle portion 24, the control means 118 responds to the curving of the angle portion 24 at that time detected by the displacement sensor. Detect the displacement to be.
Next, the control means 118 uses the displacement-torque conversion table to calculate the torque applied to the connecting pipe 64 at the time of bending corresponding to this displacement. That is, the torque (necessary torque) applied to the connecting pipe 64 necessary to realize the angle angle that causes this displacement is calculated.
Next, the control means 118 drives the LR motor 74 so that the calculated necessary torque is applied to the connecting pipe 64. Accordingly, as in the previous example, the angle portion 24 is maintained in a curved state by the torque applied to the connecting pipe 64 by the LR motor 74, that is, the neutral point of the angle portion 24 is reset.

As another method of resetting the neutral point in the present invention, the neutral point of the angle portion 24 may be reset to this angle angle in accordance with the input angle angle.
Similarly, with reference to FIG. 4, as described above, the angle of the angle portion 24 and the operation force necessary to realize the angle, for example, rotation of the LR knob 36, The relationship with the torque that needs to be applied can be known in advance.
Using this, at various angle angles, the relationship between the angle angle and the torque that needs to be applied to the connecting pipe 64 is known and tabulated, and for example, the reset switch 44 is reset to the neutral point. In addition to the setting instruction function, an angle angle input function such as 60 °, 90 °, and 180 ° is provided. Alternatively, the angle angle may be arbitrarily set using a dial or the like.
When the neutral point is reset and the angle angle is instructed (input), the control means 118 reads the torque necessary for the instructed angle angle from the table, and the torque necessary to realize the angle angle is connected to the connecting pipe. 64, the neutral point of the angle portion 24 is reset by driving the LR motor 74 by the control means 118.

  The neutral point resetting mechanism having the angle angle input means detects the torque applied to the connecting pipe 64, and resets the neutral point of the angle portion 24 according to the detection result. It is also possible to use this together with a mechanism that detects the displacement of the angle portion 24 and resets the neutral point of the angle portion 24 according to the detection result.

In the above description, the neutral point in the left-right direction corresponding to the operation by the LR knob 36 is reset and released as an example. However, in the endoscope 10 of the illustrated example, the bending by the UD knob 38 is also performed. In the same manner, the neutral point is reset and the reset neutral point is canceled.
Further, when the angle portion 24 is curved by both the LR knob 36 and the UD knob 38, the neutral point is reset and the reset neutral point is released with respect to the bending in both directions.
In this regard, the same is true for bending assistance by a motor, which will be described in detail later.

Moreover, although the endoscope 10 of the example of illustration enables resetting of a neutral point with respect to 4 directions of up-down / left-right as a preferable aspect, this invention is not limited to this.
In other words, in the endoscope of the present invention, the neutral point may be reset in only one direction such as only the upward curve or the rightward curve, or only in the vertical direction, only in the horizontal direction. There may be two directions such as only a curve. However, in the endoscope of the present invention, it is preferable that at least the upward (so-called up-angle) curve can reset the neutral point, and further, at least the vertical curve can be reset at the neutral point. More preferably, it is particularly preferable that it can be reset at a neutral point by bending in the four directions of up / down / left / right as in the illustrated example.

  Furthermore, in the illustrated endoscope 10, the motor is used as the driving means for resetting the neutral point of the angle portion 24. However, the present invention is not limited to this, and as the driving means, for example, Various things such as a solenoid that assists traction by fluid pressure or electromagnetic force can be used.

By the way, the endoscope 10 has an LR motor 74 corresponding to the bending in the left-right direction and a UD motor 92 corresponding to the bending in the up-down direction for resetting the neutral point of the angle portion 24 in the bent state. Furthermore, the endoscope 10 includes a torque sensor 100 that detects a torque applied to the connecting pipe 64, that is, an operating force applied to the LR knob 36, and a torque sensor that detects a torque applied to the connecting pipe 84, that is, an operating force applied to the UD knob 38. 102.
In the endoscope 10 of the illustrated example, the bending operation of the angle portion 24 may be assisted (assisted) using these.

  Similarly, with reference to FIG. 4, the bending assist by the LR motor 74 will be described by taking the operation of the LR knob 36 that bends the angle portion 24 in the left-right direction as an example.

In the endoscope 10, when the bending of the angle portion 24 is assisted by the LR motor 74, the control unit 118 always has a torque applied to the connecting pipe 64 (that is, an operating force applied to the LR knob 36. ) Is detected from the torque sensor 100.
Then, the control means 118 drives the LR motor 74 so that a predetermined ratio of the torque is applied to the connecting pipe 64. As a result, the rotational force of the LR knob 36 required to bend the angle portion 24 (= the force required for pulling the wire) is assisted by some percent by the LR motor 74, and the rotation of the LR knob 36 with a small operating force, that is, The bending operation of the angle portion 24 can be performed.

As an example, the control means 118 always applies an equal amount (100%) of torque to the connecting pipe 64 with respect to the torque applied to the connecting pipe 64 detected by the torque sensor 100, that is, the operating force of the LR knob 36. Thus, the LR motor 74 is driven.
That is, when a torque is applied to the LR knob 36, the LR motor 74 applies an equal amount of torque to the connecting pipe 64. For example, if the doctor operates the LR knob 36 with 50 forces, the LR motor 74 also applies the same 50 forces to the connecting pipe 64, resulting in a bending operation with a total of 100 forces. In other words, the rotation of the LR knob 36 is assisted by half (50%) of the torque (force) required for bending.
Therefore, the operating force necessary for the doctor to perform the bending operation on the angle portion 24 is an operating force obtained by subtracting the assisting force from the operating force actually required for the target angle angle, and a half torque (operating force). ), The angle portion 24 can be bent with a very small force.

  In this case, the assist by the LR motor 74 is not limited to 100% of the torque applied to the connecting pipe 64. For example, 30% or 80% of the torque applied to the connecting pipe 64 is not limited. % May be assisted by various ratios such as a configuration in which the LR motor 74 assists the bending.

  As another assist method, the LR motor 74 assists the torque applied to the connecting pipe 64 (that is, the operation force applied to the LR knob 36 by the bending operation) by a predetermined coefficient. A method for controlling the assist force is exemplified.

For example, if the force (load) required for bending the angle portion 24 is W, the torque applied to the connecting pipe 64 by the bending operation is F, and the assist force applied to the connecting pipe 64 by the LR motor 74 is T. The relationship between the three forces in the endoscope 10 is
W = T + F
It becomes. Here, if the auxiliary coefficient (gain) is k,
T = kF
The drive of the LR motor 74 is controlled so that
In this case,
F (1 + k) = W
F = (1 / (1 + k)) W
Therefore, the torque F applied to the connecting pipe 64 can be reduced to 1 / k of the force actually required for bending according to this coefficient. That is, in this case, by setting the coefficient k to 1, it is the same as the example in which 50% of the operating force is assisted by the LR motor 74.

As previously shown in FIG. 6B, in the endoscope 10, in a state where the neutral point of the angle portion 24 is not reset, the relationship between the angle angle and the torque for bending is shown in FIG. ) In a state indicated by a dotted line. In order to reset the neutral point with the angle angle θ, a constant torque is applied by the LR motor 74, resulting in a state indicated by a one-dot chain line in FIG. Therefore, in the state where the neutral point is reset, the relationship between the angle angle and the torque for bending is in a state indicated by a solid line in FIG.
On the other hand, when the LR motor 74 applies a predetermined ratio of assist according to the operation force of the LR knob 36 (operation knob) to the bending operation of the angle portion 24, the neutral point is reset by setting the angle angle to θ. As a result, the torque of the LR motor 74 is inclined upward as shown in the dashed line in FIG. 8B around the torque of the LR motor 74 at the angle angle θ. The relationship with the torque for bending is in a state indicated by a solid line in FIG. 8B, and the operating force can be reduced.

In this way, the doctor performs a basic bending operation, and pulls the wires 70 and 72 by auxiliary means such as the LR motor 74 according to the torque (operating force applied to the operating means) by which the doctor rotates the LR knob 36. That is, by assisting the bending of the angle portion 24, even if a power failure or a failure of the LR motor 74 occurs, the insertion portion 12 can be safely pulled out by operating the bending of the angle portion 24 with the LR knob 36. . In addition, the bending of the angle portion 24 is basically performed by pulling the wires 70 and 72 by the operating means such as the LR knob 36, so that the operator can perform the bending operation while feeling the reaction force applied to the angle portion 24 from the examination site. Therefore, it is possible to appropriately prevent a drilling accident and to perform a safe bending operation. Moreover, since the angle portion 24 is immediately bent by the operation of the LR knob 36 or the like, it is easy to perform a delicate operation.
Further, bending assist by the LR motor 74 is performed in accordance with torque (operation force) applied to operation means such as the LR knob 36. Therefore, for example, when the operation force necessary for the bending operation has increased due to deterioration over time or the use state of the endoscope, such as an increase in the frictional force of the wires 70 and 72, or the state of the examination site Even if the required operation force increases even with a small amount of bending due to the state of the endoscope at the examination site or the like, if the operation force applied to the LR knob 36 or the like by the operator increases, the wires 70 and 72 accordingly Therefore, the operation of the LR knob 36 (force necessary for operation) can be assisted stably according to the operation force necessary for bending the angle portion 24.

Here, in order to accurately detect the operation force applied to each operation knob that bends the angle portion 24, between the motor and the operation knob that assists the bending (the transmission direction of the operation force from the operation knob toward the motor). In this case, it is necessary to detect the operation force applied to the operation knob on the upstream side of the motor.
Accordingly, in the operation unit shown in FIGS. 2 and 3, a torque sensor 100 that detects an operation force (torque) applied to the LR knob 36 is disposed at a position indicated by a diagonal line of the connecting pipe 64. In addition, a torque sensor 102 that detects an operating force applied to the UD knob 38 is disposed at a position indicated by the oblique line of the connecting pipe 84.
That is, in the illustrated operation section 14, as a preferred mode, a part of a cylindrical connection pipe that is directly connected to the curved operation knob and rotates integrally with the operation knob is used as a torque sensor (or connection pipe). The operation force for bending the angle portion 24 applied to the operation knob is directly detected.

  As described above, when assisting the bending operation by the motor for resetting the neutral point of the angle portion 24, a certain percentage of assist is applied to the detected operation force as in the above example. In addition, various modes (variations) can be used.

  For example, as described above, the operation force required for bending the angle portion 24 generally increases as the angle angle (bending amount) increases. Correspondingly, the ratio of assist by the LR motor 74 may be increased continuously or stepwise in accordance with an increase in operating force applied to the LR knob 36.

In the vicinity of the center where the bending of the angle portion 24 is small, the control system tends to oscillate with respect to the change of the assist angle, and the necessary operation force is very small and no assist is required. Correspondingly, when the operating force applied to the LR knob 36 is small, the LR motor 74 does not need to assist. That is, a region such as a dead zone may be provided in a region where the operating force is small, and assist according to the operating force may be performed when an operating force exceeding the dead zone is applied without assisting in the dead zone.
Alternatively, a region where the operating force is smaller than a predetermined value may be a region where the ratio of the assist force to the operating force is small compared to other regions. For example, instead of the dead zone, an area where the operation force is small is made a low sensitivity area where the response (sensitivity) to the operation force is low, and in this low sensitivity area, another area (an area where the operation force exceeds a predetermined value) ), The ratio of the assist force by the LR motor 74 to the operation force may be reduced.

On the contrary, when the operating force applied to the LR knob 36 becomes very large, the angle portion 24 (tip portion 22) may be caught in the body or may be strongly pressed into the body. There is sex. At this time, if the angle portion 24 is forcibly bent, the human body may be damaged such as a drilling accident. Correspondingly, when the operating force applied to the LR knob 36 exceeds a predetermined value, the assist by the LR motor 74 may not be performed (canceled).
Alternatively, when the operating force applied to the LR knob 36 exceeds a predetermined value, the assist force by the LR motor 74 may not be increased any more, but may be made constant. In other words, the assisting force by the LR motor 74 may be limited according to the operating force applied to the LR knob 36.

Furthermore, in the present invention, when assisting bending (operation) with a motor, the invention is not limited to performing these modes individually, and a plurality of modes may be combined to assist bending.
For example, a mode in which a dead zone is provided in a region where the operating force is small may be combined with a mode in which the assist by the motor is terminated in a region where the operating force exceeds a predetermined value, or a mode in which a limit is provided in the assist force.
In addition, a mode in which a dead zone is provided and a mode in which a low sensitivity range is provided are combined as a dead zone up to the first operating force, and a low sensitivity zone up to a second operating force exceeding the first operating force. When the operating force is exceeded, a higher percentage of assisting force may be applied.
Further, by combining a mode in which the assist force is limited and a mode in which the assist is discontinued, the first operation force is assisted with a predetermined ratio of force according to the operation force, and the first operation force is exceeded. Up to an operating force of 2, the assisting force in the first operating force may be limited, and the assisting force may be constant, and if the second operating force is exceeded, the assist may not be performed.

  Further, in the endoscope of the present invention, the assist of bending by the motor for resetting the neutral point may be performed constantly, or may be performed only in a state where the neutral point is not reset, or neutral. It may be performed only in a state where the points are reset, or a doctor may arbitrarily select the presence / absence of assist using an assist selection switch.

  Although the endoscope of the present invention has been described in detail above, the present invention is not limited to the above-described embodiments, and various improvements and modifications may be made without departing from the gist of the present invention. Of course.

It is a perspective view which shows notionally an example of the endoscope of this invention. It is a partial schematic diagram of an example of the operation unit in the endoscope of the present invention. It is a partial schematic diagram of another example of the operation unit in the endoscope of the present invention. It is a figure which shows notionally the bending mechanism of the angle part of the endoscope shown in FIG. It is the schematic of an example of the angle part which can be utilized for the endoscope of this invention. (A) is a conceptual diagram for explaining resetting of the neutral point of the angle portion in the endoscope shown in FIG. 1, and (B) and (C) are neutral views of the angle portion in the endoscope shown in FIG. It is a graph for demonstrating operation at the time of resetting a point. It is a conceptual diagram for demonstrating another example of the reset of the neutral point of the angle part in the endoscope of this invention. (A) And (B) is a graph for demonstrating another example of the effect | action in the endoscope shown in FIG. It is a conceptual diagram for demonstrating the examination of the stomach fundus by an endoscope.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Endoscope 12 Insertion part 14 Operation part 16 Connector 18 Universal code 22 Tip part 24 Angle part 26 Soft part 28 Forceps port 30 Suction button 32 Air supply / water supply button 36 LR knob 38 UD knob 40 LR brake 42 UD brake 44 Setting button 46 Release button 50 Suction connector 52 LG bar 54 S terminal 60 Housing 60a Insertion part 60b Fixing part 62 Center shaft 64,84 Connection pipe 68,86 Pulley 70,72,88,90 Wire 74,106 LR Setting) Motor 76 LR brake member 78, 80, 96, 98 Gear 92, 108 UD (neutral point resetting) motor 94 UD brake member 100, 102 Torque sensor 110 Circular ring 112 End ring 114a, 114b Connecting pin 118 Control means

Claims (5)

An endoscope having a curved portion near the distal end of the insertion portion,
Bending means for bending the bending portion;
Operating means for operating the bending means to bend the bending portion;
Driving means for bending the bending portion by the bending means;
A means for resetting the neutral point of the bending portion for setting the bending portion as a neutral point in a curved state;
An endoscope comprising: a control unit that drives the driving unit so as to maintain a corresponding curved state according to the neutral point reset by the resetting unit. An operation force detecting means for detecting an operation force applied to the operation means;
The said control means assists the bending of the said bending part by the said drive means by the said drive means with the force of the predetermined ratio with respect to this operation force according to the operation force detected by the said operation force detection means. Endoscope. An operation force detecting means for detecting an operation force applied to the operation means;
In response to the neutral point resetting instruction from the resetting unit, the control unit learns the operating force applied to the operating unit at that time from the operating force detection unit, and the force corresponding to the operating force The endoscope according to claim 1, wherein the driving of the driving unit is controlled so as to bend the bending portion. Displacement detecting means for detecting a displacement amount of the bending means corresponding to the bending amount of the bending portion; and the displacement amount; and a bending force required to bend the bending portion by the bending amount corresponding to the displacement amount; And a table showing the relationship between
In response to the neutral point resetting instruction from the resetting unit, the control unit learns the displacement amount corresponding to the bending amount at that time from the displacement detection unit, and the bending force corresponding to the displacement amount is The endoscope according to claim 1, wherein the driving of the driving unit is controlled so as to bend the bending portion with a force corresponding to the bending force as found from a table. The resetting means includes means for indicating the amount of bending of the bending portion;
The control means drives the driving means so as to bend the bending portion by the amount of bending according to the neutral point resetting instruction by the resetting means and the amount of bending set by the instruction means. The endoscope according to claim 1, wherein the endoscope is controlled.

Images