JPH03106331A - Curve detecting device for endoscope - Google Patents

Abstract

PURPOSE:To form an insertion part in a thin diameter with an accurate curve amount detected despite whether the insertion part is placed in a curved condition or straight condition by providing a elastic fiber in a curbed part. CONSTITUTION:A subject image is imaged through an objective lens system 16 in a solid camera element 18 in an insertion part 6 inserted into the body cavity. A picture signal is output to a monitor 4 with the subject image displayed on a scope. A curve operation switch 12 is operated for curving a curve part 9, when an ultrasonic 27a is driven, a curve-operating wire 31 is traction- loosened with the curve part 9 curved. While in a light emitting circuit 36, LEDs 24, 24,... are light-emitted with light irradiated to one end surface of elastic fibers 21a, 21b, 21c, 21d. Transmitted light, outgoing from the other end surface, is incident upon a photoransistor 26. An information signal, related to a quantity of incident light, is output to a curve angle detecting circuit 40, and by selecting a signal, which shows the minimum quantity of light, to detect a curve direction, a curve amount is calculated from a relation among this signal, preinput curve amount and a signal level.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a curvature detection device for an endoscope that detects the amount of curvature of a curved portion provided in an insertion portion of an endoscope.

[Problems to be solved by conventional techniques and inventions] In recent years,
2. Description of the Related Art Endoscopes are widely used for observing and treating internal organs in body cavities by inserting an elongated insertion section through the oral cavity or the like.

The insertion section of the endoscope is generally provided with a curved section so that a wide range of sites within the body cavity can be observed and treated, and various methods have been proposed for detecting the amount of curvature of this curved section.

For example, in Japanese Utility Model Application Publication No. 60-106601, a sensor is provided to detect the amount of movement of a curved wire, and the amount of curvature is detected based on the amount of movement of the wire. However, in this conventional example, if the insertion part is bent, the amount of tension of the curved wire is absorbed by the bent part, so the insertion part is bent for a predetermined amount of curvature, which is different from when the insertion part is straight. The amount of wire movement may vary.

The present invention has been made in view of the above circumstances, and provides an endoscope that can accurately detect the amount of curvature whether the insertion section is curved or straight, and that can have a small diameter insertion section. An object of the present invention is to provide a curvature detection device.

[Means and effects for solving the problem] The endoscope curvature detection device of the present invention is arranged in the curved part provided in the endoscope insertion part in the axial direction of the insertion part, and is pressed. a rubber fiber whose light transmission characteristics change by changing the light transmission characteristics; a light emitting means provided on one end surface of the rubber fiber for irradiating light to the one end surface; and a light emitting means provided on the other end surface of the rubber fiber. a light receiving means that receives light emitted from the light emitting means and transmitted within the rubber fiber; a pressing means that is installed adjacent to the rubber fiber and presses the rubber fiber by bending the curved portion; and detection means for detecting the curved state of the curved portion according to the output of the light receiving means.

In the present invention, the pressing means presses the rubber fiber whenever the curved portion is bent. The rubber fiber transmits light provided by the light emitting means from one end face.

The light is emitted from the other end of the rubber fiber and is received by the light receiving means. When the curved portion of the rubber fiber is bent, it is pressed by the suppressing means, thereby changing the light transmission characteristics, and the amount of light received by the light receiving means changes depending on the amount of bending. The light receiving means outputs a signal representing the amount of curvature to the detecting means, and the detecting means detects the state of curvature according to the output of the light receiving means.

[Embodiments] Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings.

FIG. 1 is a block diagram of an endoscope apparatus according to a first embodiment of the present invention.

The endoscope apparatus 1 of this embodiment includes an endoscope 2, a universal control apparatus (hereinafter abbreviated as LICA) 3, and a monitor 4.

The endoscope 2 has an insertion section 6, and an operation section 7 is connected to the rear end of the insertion section 6. The insertion section 6 is provided with a distal end section 8, a curved section 9, and a flexible tube section 10 in this order from the distal side, and the operating section 7 is connected to the flexible tube section 10. A bending operation switch 12 is provided on the operating section 7, and the bending section 9 can be bent in the vertical and horizontal directions. Furthermore, a universal cable 13 is extended from the side of the operating section 7, and this universal cable 13
A connector 4 provided at the rear end is detachably connected to the UCA 3.

The tip portion 8 includes an objective lens system 16 and a light distribution lens system 17.
and is provided. A solid-state image sensor 18 is provided behind the objective lens system 16, and is capable of forming an image of the subject taken in from the objective lens system 16. Further, behind the light distribution lens system 17, an output end face of a light guide fiber 9 for transmitting illumination light is provided, so as to illuminate the subject area.

In the curved part 9, there are nine parts arranged along the axial direction of the insertion part 6.
Rubber fibers 2la and 2'1b are placed at a 0 degree angle.
, 21'c, and 21d are arranged.

When the insertion portion 6 is viewed from the distal end side, for example, the rubber fiber 21a is disposed upward, the rubber fiber 21b is disposed downward, the rubber fiber 21c is disposed rightward, and the rubber fiber 5 and the eyeglass 21d are disposed leftward.

(However, the rubber fibers 21c and 21d are not shown.) The rubber fibers 21a and 77 are adjacent to the rubber fibers 21a and 21b, 21c and 21d. 21b121C121d are provided with pressing members 22, 22, . These pressing members 22, 22,...
is made of a flexible material, and the rubber fiber 2
It has a plurality of protrusions 23, 23, . . . in the axial direction in contact with the peripheral walls of 1a, 2lb, 21c, 21d. The plurality of protrusions 23, 23, .
It is designed to suppress the peripheral wall of 1d.

Com 77 Iha 2 1 a, 2 1 b, 2 1
c, a light emitting diode (hereinafter abbreviated as LED) 24 as a light emitting means facing one end surface of 21d;
24, . . . are provided so as to irradiate the one end face with the light generated. In addition, rubber fibers 2la, 2
On the other end faces of 1b, 2IC, 21d, a pair 6 is connected, and transistors 26, 2 are connected to the photodetector 1 as a light receiving means.
6... are provided, and the LEDs 24, 24, .
..., rubber fibers 21a, 21b, 21
It is possible to receive the light transmitted through G and 21d.

A bending mechanism is provided within the operating section 7.

This bending mechanism is composed of ultrasonic motors 27a, 27b, gears 28a, 28b, pulleys 29, 29, and bending operation wires 31, 31.

The super blind wave motors 27a, 27b are gears 28a128b
The pulleys 29, 29 provided on the gear 28b are rotated through the pulleys 29, 29, and the bending operation wires 31, 31 wound around the pulleys 29, 29 are pulled and loosened. The ends of the bending operation wires 31, 31 are fixed to the tip portion 8, and the bending portion 9 is bent by pulling and relaxing the wires 31, 31.

Inside the UCA 3, there is a video processing circuit which is connected to the solid-state image canceling element 18, reads out the charge converted from the subject image in the solid-state image removing element 18 as an electrical signal, and generates a video signal from this electrical signal. The installation number is 32. Further, inside the UCA 3, there are a bending switch control circuit 33 connected to the bending operation switch 12 and an ultrasonic motor control circuit 34 connected to the bending switch control circuit 33.
a134b has been established.

Further, the bending switch control circuit 33 is connected to a light emitting circuit 36 and a light receiving circuit 37, and outputs a bending signal. The light emitting circuit 36 has the above-mentioned 1 "D 2 4
, 24, ..., and the LEDs 24, 24,
It is designed to control the light emission of ..., and the light receiving circuit 3
Reference numeral 7 is adapted to input an information signal regarding the amount of light from the phototransistors 26, 26, . The light receiving path 37 is connected to a bending angle detection circuit 40 as a detection means, and outputs information on the input light δ1. The bending angle detection circuit 40 is connected to the video processing circuit 32, and calculates the bending amount and bending direction from the information signal regarding the light amount inputted from the light receiving circuit 37, outputs it to the video processing circuit 32, and generates a video signal. It is designed to be superimposed on the

Furthermore, a light source lamp 38 that outputs illumination light is provided in the UCA 3.
is provided so that the outputted illumination light is incident on the light guide fiber 9.

Furthermore, a cleaning water tank 39 for storing cleaning water for cleaning the objective lens system 16, a water supply pump 41 for supplying cleaning water, and an air supply pump 42 are provided in the UCA 3. .

The video processing circuit 32 is connected to the monitor 4 and outputs a video signal on which the bending angle and the bending direction are superimposed to the monitor 4, and the monitor 4 monitors the image of the subject and the bending of the bending portion 9 at this time. The angle and direction of curvature are displayed.

The operation of the endoscope device 1 configured as described above will be explained.

A subject image is formed on the solid-state imaging device 18 of the insertion section 6 inserted into the body cavity via the objective lens system 16. The formed image is photoelectrically converted and input as an electrical signal to a video processing circuit 32, thereby producing a standard video signal such as the 9NTSC system.

The video signal is output to the monitor 4 and the subject image is displayed on the screen.

Here, in order to curve the bending section 9, the bending operation switch 1 is turned on.
Operate 2. For example, to curve upward, move the switch 12 upward. Then, the switch 12 moves to the curved part 9
An information signal to move the switch upward is transmitted to the bending switch control circuit 33. The bending switch control circuit 33 outputs a control signal to the ultrasonic motor control circuit 34a to drive the ultrasonic motor 27a, and also outputs a control signal to the ultrasonic motor control circuit 34a to drive the ultrasonic motor 27a.
A control signal is output to 7 and 7. Ultrasonic motor control circuit 34
When the controller a receives the control signal, it drives the ultrasonic motor 27a. When the ultrasonic motor 27a is driven, the bending operation wire 3
1 is pulled and loosened to curve the curved portion 9 upward.

In addition, when the light emitting circuit 36 receives the control signal, the LED 24
, 24, . . . and transmits the light to the rubber fibers 21a, 24, .
21b, 121c, and 21d. The light transmitted through the rubber fibers 21a, 2lb, 21c, and 1021d exits from the other end face and enters the phototransistor 26. In this case, since the peripheral wall of only the downward rubber fiber 21b is pressed by the plurality of protrusions 23, 23, . Only the transmitted light will be incident on the phototransistor 26 with a reduced amount of light. Each phototransistor 26, 26
, . . . transmit information signals regarding the amount of incident light to the light receiving circuit 3.
Output to 7. The light receiving circuit 37 outputs an information signal regarding this amount of light to the bending angle detection circuit 40. Bending angle detection circuit 4
0 selects the signal indicating the smallest amount of light from the input signals to detect the bending direction, and calculates the bending amount from the relationship between this signal, the bending daughter manually inputted in advance, and the signal level. The calculated bending direction and bending amount are output to the video processing circuit 32 and superimposed on the video signal. The monitor 4 receives a video signal in which the direction of curvature and the outside of curvature are superimposed, and displays the subject image, the direction of curvature, and the amount of curvature on the screen.

As mentioned above, in this embodiment, the amount of curvature of the bending portion 9 is not detected from the bending operation wire 3111, but is detected by the rubber fiber 21, so even if the insertion portion 6 is curved, the amount of curvature of the bending portion 9 can be accurately detected. The amount of curvature can be detected.

Further, since the rubber fiber 21 has elasticity, there is no fear of damage even when the rubber fiber 21 is bent a large amount.

Furthermore, since the rubber fiber 21 has no directionality, assembly is easy.

Furthermore, since the curvature detection mechanism is simple, the insertion portion 6 does not have to have a large diameter.

Furthermore, since the LED 24 and the phototransistor 26 are used, isolation can be achieved.

Although the LED 24 is provided in this embodiment, the light from the light source lamp 38 may be used. Furthermore, other optical sensors may be used instead of the LED 24 and phototransistor 26.

FIG. 2 is a block diagram of an endoscope apparatus according to a second embodiment of the present invention.

Note that the same reference numerals 12 and 12 are used for the same components as in the first embodiment. Add a number and omit the explanation.

This embodiment describes the present invention as an optical endoscope 1 (fiberscope).
It was applied to

In this embodiment, a fiber scope 46, . Universal control device (hereinafter abbreviated as UCA).

47 and a curved display device 48.

The fiber scope 46 includes an elongated insertion section 6, an operation section 7 connected to the rear end of the insertion section 6, and an operation section 7 connected to the rear end of the insertion section 6.
It has an eyepiece part 49 provided at the rear end of the eyepiece. A signal cable 51 extends from the operating section 7, and a connector 52 that is detachably connected to the UCA 47 is provided at the rear end of the signal cable 51.

An objective lens system 16 and a light distribution lens system 17 are provided on the distal end surface of the distal end portion 8 of the fiber scope 46,
An image guide fiber 53 is located behind the objective lens system 16.
An input end face of the light guide fiber 19 is provided behind the light distribution lens system 17, and an output end face of the light guide fiber 19 is provided behind the light distribution lens system 17. The light guide fiber 13 bar 19 is supplied with illumination light from a light source section (not shown) provided in the UCA 47.

The image guide fiber 53 has an insertion section 6 and an operation section 7.
is inserted through the interior of the eyepiece section 49 to reach the eyepiece section 49, and the output end face faces an eyepiece lens system 54 provided in the eyepiece section 49.

Inside the LICA 47, there is a light emitting circuit 36 connected to the LEDs 24, 24, . . . and a phototransistor 26, 2.
6, . . . and the bending angle detection circuit 4 connected to the bending operation switch 12 and the light receiving circuit 37.
0 is provided. Further, the bending angle detection circuit 40 is connected to a bending display device 48 .
8 indicates the amount of curvature of the curved portion 9.

The other configurations are the same as in the first embodiment.

The light emitting circuit 36 of this embodiment always lights the LEDs 24, 24, .
・It emits light. The light output from the EDs 24, 24, . . . is transmitted through the rubber fibers 21a, 2 as in the first embodiment.
lb, 21c, 21d and phototransistor 2
6, 26, etc. Each of the transistors 26, 26, . . . outputs a signal related to the amount of incident light to the light receiving circuit 37. Light receiving circuit 3
7 outputs the input signal to the bending angle detection circuit 40, and the bending angle detection circuit 40 derives the bending angle and the bending direction.

The calculated bending angle and bending direction are output to the bending display device 48, and the bending angle and bending direction are displayed.

Other structures are the same as those of the first embodiment.

This embodiment has the same effects as the first embodiment.

3 and 4 relate to a third embodiment of the present invention, and FIG.
The figure is a schematic view of the curved portion, and FIG. 4 is an external view of the rubber fiber.

In FIG. 3, the curved portion 9 includes a plurality of disc-shaped plate members 56.
, 56, . The plate members 56, 56 are provided at intervals from the distal end side of the insertion section (not shown) toward the proximal side. The center portions of the plate members 56, 56, . . . are provided with insertion holes 57, 57, .
... are provided between the plate members 56, 56, ... as pressing means having an inner diameter larger than the inner diameter of the insertion hole 5157. ←The ends of the bias springs 58, 58, ... are connected to the plate members 56, 56,
... are fixed to the mutually facing board surfaces.

Rubber fibers 21a, 2lb are disposed along the outer periphery of the bias springs 58, 58, . . . and pass through the plate members 56, 56, . When the bias springs 58, 58, . . . are bent, the outer peripheries of the bias springs 58, 58, .
It is adapted to press against the peripheral wall of 21b. LEDs are provided at both ends of the rubber fibers 21a and 21b as in the first embodiment.
24.24,... and phototransistors 26, 26,
... are provided, and rubber fibers 21a, 2l
The end face of the rubber fiber 218.b is irradiated with light, and the light transmitted through the rubber fiber 218.21b is received.

Coil springs 59, 59, . . . formed of a shape memory alloy are provided on the outer peripheral side of the rubber fiber 21812lb, and both ends of the coil springs 59, 59, . ,... are fixed to 16 plates facing each other. Coil springs 59, 59,...
. . , the contracted shape is stored, and the shape is expanded from this state and fixed to the plate members 56, 56, . . . . The coil springs 59, 59, . . . are connected to a power source (not shown) through electric wires (not shown), and are heated by being supplied with electric power.

The other configurations are the same as in the first embodiment.

When the bending portion 9 configured as described above is to be bent upward, the coil spring 59 disposed above is energized and heated. When heated, the coil spring 59 made of a shape memory alloy biases the bias spring 58 and tries to return to the memorized contracted state. This bends the bias spring 58, and by being bent, the outer periphery of the bias spring 58 presses against the peripheral wall of the adjacent rubber fiber 21b. Due to the pressure, the light transmission characteristics of the rubber fiber 21b are reduced, and the light supplied from the LED 24 is transmitted to the phototransistor 26 with a reduced amount of light.

17 Thereafter, similarly to the first embodiment, the bending direction and the bending amount are calculated by the bending angle detection circuit 40 as a detection means, and the monitor 4
displayed above.

Other functions and effects are similar to those of the first embodiment.

Note that the structure of this embodiment may be applied to the fiber scope 46 shown in the second embodiment.

Furthermore, instead of using a plurality of rubber fibers, a single rubber fiber may be disposed within the curved portion as shown in FIG. 4.

In the figure, pressing members 62, 62, . . . are provided in a flange shape at intervals on the outer periphery of one rubber fiber 61. This rubber fiber 61 is provided at the center of the axis of the curved part, and when the curved part is curved, the pressing member 62
, 62, .
It is designed to press against the peripheral wall of No. 1.

By using one rubber fiber 61 as described above, the shape can be made smaller.

18 FIGS. 5 to 10 relate to the '3rd embodiment of the present invention,
Fig. 5 is an explanatory diagram of the bending mechanism of the endoscope device, Fig. 6 is an explanatory diagram of the bending operation of the endoscope, Fig. 7 is a sectional view of the tip of the endoscope, and Fig. 8 is an explanation of the elastic actuator. 9 is an explanatory diagram of the structure of a prosthetic hand having an elastic actuator, and FIG. 10 is a sectional view of the elastic actuator shown in FIG. 9.

In FIGS. 5 and 6, the endoscope [66] is composed of an operating section 67, an insertion section 68, and a universal cord 69. The operating section 67 is provided with an eyepiece section 71, and the distal end of the insertion section 68 is provided with a distal end forming section 72. In addition, the insertion portion 68 includes a flexible portion 73 and a curved portion 7.
4, and the tip forming portion 72 is provided at the tip of this curved portion 74. As shown in FIG. 7, the bending section 74 has a plurality of bending pieces 76, 76, . . . rotatably connected by pivot pins 77, 77, . The outer periphery of . . . is covered with a braid 97 made of thin metal wires. Rubber fibers 19 98a and 98b are provided on the outer diameter side of this blade 97 in contact with the outer periphery in the longitudinal direction of the insertion portion 68. One end of the rubber fibers 98a, 98b has an LE
D24, 24 are provided so that the generated light can be supplied to the rubber fiber 98a198b. Furthermore, phototransistors 26 and 26 are provided at the other ends of the rubber fibers 98a and 198b, so that they can receive light transmitted through the rubber fibers 98a and 98b.

The outer circumferences of the rubber fibers 98a and 98b and the outer circumference of the blade 97 are covered with an outer skin 78.

Wire guides 79, 79, . . . are provided at the inner peripheral portions of the respective bending pieces 76, 76, . . . and at positions corresponding to the rubber fibers 98a, 98b. Angle wires 81a, 8lb are inserted through the wires 79, 79, .

The distal ends of these angle wires 81a and 8lb are connected to the distal end component 72, and the proximal ends extend through the insertion section 68 to the operating section 67. That is, the angle wire 81a. 8120b is installed in the insertion portion 68 together with an observation optical system 82 made of an optical fiber bundle, an illumination optical system 83, and the like.

Also, inside the operating section 67, elastic actuators 84a, 84b are provided as shown in FIGS. 5, 6, and 8.
are stored in parallel. The elastic acticoators 84a, 84b have a rubber tube 86 on the inner layer, the outside of the tube 86 is covered with a mesh tube 87, and bases 88, 89 are connected to both ends.

An air supply line 91 consisting of an air supply tube that communicates with the inside of the tube 86 is connected to one of the bases 88, and the angle wires 81a, 8l are connected to the other base 89.
The other end of b is connected. That is, the angle wire 81a is connected to the elastic actuator 84a, and the angle wire 8lb is connected to the elastic actuator 84b. Moreover, the elastic actuator 8 configured in this way
4a184b connects one cap 88 to the base 9 of the operating section 67.
It is held by fixing it to 2. Furthermore, 21. The air supply conduit 91 includes air supply tubes 93a, 93b, and these air supply tubes 93a, 93b communicate with an air supply pump 96 via a switching valve 94, which will be described later. The lengths of the long axes of the elastic actuators 84a and 84b are expanded and contracted by the fluid pressure supplied therein. In other words, the elastic actuators 84a, 84
When fluid is supplied to b, it expands in the radial direction and the long sleeve length is shortened, and when fluid is discharged from the elastic actuator 84a184b, it contracts in the radial direction and the long axis length increases. .

Next, the operation of this embodiment will be explained.

When fluid is supplied to the elastic actuator 84a, the elastic actuator 84a expands in the radial direction, and the length of the major axis is accordingly shortened. Therefore, the elastic actuator 8
4a is pulled, and the curved portion 74 of the insertion portion 68 is bent upward as shown in FIG.

Further, by selectively operating the switching valve 94, the elastic actuators 84a and 84b can be selectively supplied with and discharged from fluid to inflate and contract.
By pushing and pulling the angle wires 81a and 8lb, the curved portion 7
4 can be bent in any direction.

In this series of operations, when the bending portion 74 is bent, the rubber fiber 98a sandwiched between the blade 97 and the outer skin 78
, 98tN; t The corresponding parts of the bending pieces 76, 76, . . .
, 26. The output voltage of the A phototransistors 26 and 26 decreases as the amount of light incident thereon decreases. The transmission properties of the rubber fibers 98a 198b decrease as the pressing force increases, and therefore the phototransistor 26
The output voltage of will also decrease. This output can be used to determine the bending angle.

In addition. In this case, the bending operation can be performed while monitoring the bending angle.

By providing the rubber fibers 98a and 98b as described above, the bending angle can be detected, so that even when bending is performed using a driving source such as air pressure, excessive bending can be prevented and safe operation can be achieved.

In addition, a positive Ttti bending operation is also possible by feedback control.

Note that an elastic actuator may be applied to the prosthetic hand as shown in FIGS. 9 and 10.

9 and 10, the prosthetic hand 101 has a gripping member 102 corresponding to the palm, and this gripping member 102
are provided with five finger portions 103, 103, . . . . Each finger portion 103, 103, . . . is a skeleton member 104, 1
04, . . . each skeleton member 104, 104.
, . . , and the skeleton members 104, 104, . . . and the gripping member 102 are rotatably connected at joints 106, 106, .

The skeleton members 104, 104, . . . are provided with elastic actuators 107, 107, . The other end is fixed to the fixing member 105 and the gripping member 102 .

The elastic actuators 107, 107, .
The outer periphery of this tube 108 is covered with a mesh tube 109 made of resin fibers, metal wire, or the like. Further, both ends of the chicove 108 are caulked and fixed with a base 111 and a fixing ring 110 to maintain airtightness.

A supply/exhaust pipe 112 such as a synthetic resin pipe communicating with the inside of the tube 108 is connected to one base 111, and the other base 111 is fixed to the fixing member 105. Furthermore, elastic actuators 107, 107,
Knots 113 are provided at positions corresponding to the joints 106, 106, . This joint 113 consists of an inner ring 114 and an outer ring 116, which are caulked and fixed so as to sandwich the tube 108 and the mesh tube 109. Note that the inner ring 114 and the outer ring 116 have a smaller outer diameter than the tube 108, and when fixed by caulking, the joint 113 has a smaller outer diameter than other parts and has a constricted shape.

Further, each finger portion 103 is provided with an elastic actuator 125 O7 and rubber fibers 21, 21, . . . on the opposite side thereof along the skeleton members 104.
L so that it faces one end surface of the rubber fiber 21.
The ED 24 is fixed to the fixing member 105. A phototransistor 26 is provided at the other end of the rubber fiber 21 so as to face this end face, and is fixed to the gripping member 102 with a fixture 118 . One end of each lead wire 119, 119, . . . is connected to each phototransistor 26, and the other end of the lead wire 119, 119, .

In the initial state before pressurized fluid is supplied from the supply/exhaust pipe 112, the prosthetic hand 101 has skeleton members 104, 104, .
... is a straight line. When pressurized fluid is supplied into the supply/exhaust pipe 112, the elastic actuators 107, 107
,... expands in the radial direction, and along with this, a contraction force is generated in the long sleeve direction. Since the skeleton members 104, 104, . . . are rotatably connected by the joints 106, the finger portions 103, 103, .

Thereby, the object can be gripped by the elastic actuators 107, 107 expanded in the 26 radial direction.

In this case, the elastic actuators 107, 107,...
is covered with a reticular tube 109, and can be gripped softly without damaging the object. In addition, it is difficult to slip, so it can be held securely.

On the other hand, when the skeleton members 104, 104, . . . rotate, the rubber fiber 21 is pressed by the protrusion of the joint 106. The rubber fiber 21 receives the light emitted from the LED 24 using a phototransistor 26 and detects a change in the amount of light, and the protrusion of the joint 106 is moved to the rubber fiber 21 by the rotation of the skeleton members 104, 104, . . . The transmitted light is reduced to press the phototransistor 26.
, 26, . . . output decreases. The rotation of the skeletal members 104, 104, . . . can be detected by this change in output, and the skeletal members 104, 104, .
... can be operated.

In addition, in FIGS. 9 and 10, one 27 rubber fiber 21 is provided in one finger portion 103 to detect the amount of rotation, but it may be provided in each skeleton member 104, 104, . . . .

Alternatively, a plurality of rubber fibers 21 may be provided in parallel from the gripping member 102 to each joint 106, and the amount of rotation may be detected from the difference in the output of each rubber fiber 21 to cancel errors caused by temperature changes or the like.

[Effects of the Invention] As explained above, according to the present invention, by providing the rubber fiber in the curved part, the amount of curvature can be accurately detected whether the insertion part is curved or straight. can be made small in diameter.

[Brief explanation of drawings]

FIG. 1 is a block diagram of an endoscope apparatus according to a first embodiment of the present invention, and FIG. 2 is a block diagram of an endoscope apparatus according to a second embodiment of the present invention. The figures relate to the third embodiment of the present invention, in which Figure 3 is a schematic diagram of the curved part, Figure 4 is an external view of the rubber fiber, and Figures 5 to 10 are the third embodiment of the present invention.
Regarding the embodiment, FIG. 5 is an explanatory diagram of the bending mechanism of the endoscope 1 position, FIG. 6 is an explanatory diagram of the bending operation of the endoscope, FIG. Fig. 8 is an explanatory diagram of an elastic actuator, Fig. 9 is an explanatory diagram of the structure of a prosthetic hand with an elastic actuator, and Fig. 1
FIG. 0 is a sectional view of the elastic actuator shown in FIG. 9. 1... Endoscope device 2... Endoscope 9... Curving part 12... Curving operation switch 21a, 2l
b, 21c, 21d...Rubber 77 Ibara 22...Press member 24...Light emitting diode 26...Phototransistor 33...Bending switch control circuit 36...Light emitting circuit 37...Light receiving circuit 40・・・
・Bending angle detection circuit 29

Claims (1)

[Scope of Claims] A rubber fiber disposed in the axial direction of the insertion section within a curved section provided in the insertion section of the endoscope, and whose light transmission characteristics change when pressed; A light emitting means provided on one end surface of the fiber and for irradiating light onto the one end surface; and a light emitting means provided on the other end surface of the rubber fiber for emitting light from the light emitting means and transmitting light within the rubber fiber. a light-receiving means for receiving the light emitted by the light-receiving means; a pressing means provided adjacent to the rubber fiber and pressing the rubber fiber by bending the curved portion; A curvature detection device for an endoscope, comprising: a detection means for detecting a curvature state of the endoscope.