JPH042321A - Endoscope apparatus - Google Patents

Abstract

PURPOSE:To facilitate the insertion of an inserting section by rotating the inserting section finely by a fine rotation means while operating condition of a fine rotation control means is selected by a selection means. CONSTITUTION:A bending, advance or retraction and rotation control circuit 20 is built into a controller 16 connected to an endoscope 1 and a switch 25 provided on an external wall of the controller 16 is made up of a bending fine vibration changeover switch 25a, a bending, advance/retraction, rotation and turning setting changeover switch 25b, an angle specifying switch 25c, a speed specifying switch 25d and a fully free switch 25e. Advance or retraction of an inserting section 2, an advance/retraction speed and angle of rotation fine vibration and a rotation speed and angle thereof are set by turning the switch 25b to an advance/retraction or rotation mode using the switches 25c and 25d. When a bending fine vibration switch 10a and a rotation fine vibration switch 10c are turned ON, a direction of rotation specifying circuit outputs a pulse in a narrow angle mode and a speed control circuit outputs a pulse in a low speed mode. Thus, the inserting section 21 makes fine bending vibration while rotating.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to an endoscope device with improved insertion operability.

BACKGROUND ART Conventionally, endoscopes (also called scopes or fiberscopes) are capable of diagnosing or inspecting internal organs in a body cavity by inserting an elongated insertion portion into the body cavity.

) is widely used.

Moreover, it is used not only for medical purposes but also for industrial purposes to observe and inspect objects such as inside pipes of boilers, machines, chemical plants, etc., or inside machines.

Furthermore, various endoscopes are also used that use solid-state imaging devices such as charge-coupled devices (CCDs) as imaging means.

The endoscope includes, for example, an elongated and visible insertion section and a large-diameter grip section connected to the rear end of the insertion section. The insertion section includes a rigid tip component, a curved portion that can be bent vertically/left and right, for example, connected to the rear end of the tip component, and a visible curved portion connected to the rear end of the curved portion. It is composed of a flexible tube section.

For the outer skin member of the curved portion, a curved rubber made of a member such as rubber is used, for example.

[Problems to be Solved by the Invention] However, there is a problem in that when the curved rubber strongly contacts the object to be examined, for example, the wall of a body cavity, the contact resistance increases and it becomes difficult to insert the insertion section.

Therefore, the applicant filed the previously filed patent application No. 123023.
No. 5 proposes an endoscope device that is provided with means for slightly vibrating the insertion section in a direction perpendicular to the axial direction of the insertion section.

However, depending on the insertion site, it may be difficult to generate slight vibrations in a direction perpendicular to the axial direction of the insertion portion, or the effect of reducing contact resistance may not be obtained due to such minute vibrations.

The present invention has been made in view of the above circumstances, and even when it is difficult or ineffective to produce slight vibrations in a direction perpendicular to the axial direction of the insertion portion, the present invention reduces contact resistance and provides a vibration-resistant device for the insertion portion. An object of the present invention is to provide an endoscope device that can be easily inserted.

[Means for Solving the Problems] An endoscope apparatus of the present invention has an insertion section inserted into a subject, and includes means for slightly rotating the insertion section;
A fine rotation control means for controlling the fine rotation means and a selection means for selecting an operating state of the fine rotation control means are provided.

[Operation] In the present invention, the contact resistance of the insertion portion is reduced by slightly rotating the insertion portion using the means for slightly rotating the insertion portion. Further, by selecting the operating state of the fine rotation control means by the selection means, conditions such as on/off of fine rotation, speed, angle, etc. are selected.

"Example] Hereinafter, the present invention will be described in detail with reference to the drawings.

1 to 19 relate to a first embodiment of the present invention, in which FIG. 1 is a block diagram showing the configuration of an endoscope device, FIG. 2 is an explanatory diagram showing the external appearance of the endoscope device, and FIG. The figure is a block diagram showing the configuration of the bending, forward/backward, and rotation control circuits, Figure 4 is a timing chart to explain the operation of the endoscope device during normal bending operation, and Figure 5 is the same direction micro-vibration mode. FIG. 6 is a timing chart for explaining the operation of the endoscope device when bending is not operated, and FIG. 7 is a timing chart for explaining the operation of the endoscope device when bending is operated in the same direction micro-vibration mode. 8 is a timing chart for explaining the operation of the endoscope device in the right-angle vibration mode, FIG. 8 is a timing chart for explaining the operation of the endoscope device during rotational movement, and FIG. 9 is a rotational vibration mode. and a timing chart for explaining the operation of the endoscope device during bending micro-vibration operation,
Fig. 10 is a timing chart for explaining the operation of the endoscope device when changing the conditions of rotational micro-vibration, and Fig. 11 is a timing chart for explaining the operation of the endoscope device during forward/backward micro-vibration and bending micro-vibration operations. Fig. 12 is a timing chart for explaining the operation of the endoscope device when changing the conditions of forward and backward micro-vibrations, Fig. 13 is an explanatory diagram showing micro-vibrations in the vertical direction, and Fig. 14 The figure is an explanatory diagram showing fine vibrations in the left-right direction, Fig. 15 is an explanatory diagram showing right-handed turning movement, Fig. 16 is an explanatory drawing showing left-handed turning movement, and Fig. 17 is an explanation showing forward and backward minute vibrations. FIG. 18 is an explanatory diagram showing rotational vibration, and FIG. 19 is an explanatory diagram showing a part of the mode display section of the monitor.

As shown in FIGS. 1 and 2, the endoscope apparatus includes an endoscope 1, a control device 16 to which this endoscope is connected, and a monitor 40 connected to this control device 16. We are prepared.

The endoscope 1 includes an elongated and flexible insertion section 2, a large-diameter operation section 6 connected to the rear end of the insertion section 2, and an operation section 6 extending from the side of the operation section 6. universal cable 1
4. A connector 15 is provided at the end of the universal cable 14 and is detachably connected to the control device 16. The insertion section 2 includes a dry section 43 connected to the operation section 6, a bendable bending section 7 connected to the tip of the flexible section 43, and a tip connected to the tip of the bending section 7. It is composed of part 3 and ν). Also,
Attached to the base side of the insertion section 2 are forward and backward rollers 23 that sandwich the insertion section 2 and move it forward and backward, and rotating rollers 23 that sandwich and rotate the insertion section 2.

The tip portion 3 includes an observation window 5a and an illumination window 41a.

Also, an air/water supply port (not shown) is provided. An objective lens 5 is provided in the observation window 5a, and a solid-state image sensor 4 is disposed at the imaging position of the objective lens 5. The signal line connected to the solid-state image sensor 4 is connected to the insertion section 2. It is inserted through the operating section 6 and the universal cable 14 and connected to the connector 15. In addition, the lighting window 41a
A light distribution lens 41 is attached to the light distribution lens 41.
A light guide 42 is connected to the rear end of the light guide 42 . This light guide 42 is connected to the insertion portion 2. It is inserted through the operating section 6 and the universal cable 14, and its input end is connected to a light guide pipe 26 provided on the connector 15.

Further, an air and water supply tube is connected to the air and water supply port, and this air and water supply tube is connected to the insertion portion 2. It is inserted through the operating section 6 and the universal cable 14 and connected to an air supply pipe 27 provided on the connector 15 .

Further, a contact pressure sensor 19a is provided on the outer peripheral portion of the curved portion 7.
is provided. A signal line connected to this contact pressure sensor 19a is connected to the insertion portion 2. It is inserted through the operating section 6 and the universal cable 14 and connected to the connector 15.

The operating section 6 is provided with a joystick 8 for bending the bending section 7, a joystick 9 for moving the insertion section 2 forward, backward, and rotating, and switches 10.11 to be described later.

Further, within the operation section 6, a bending drive motor 12a is provided.

12b is provided. This bending drive motor 12 (
12a and 12b are represented. ), each insert part 2
A bending wire 13 inserted therein is attached, and the tip of this bending wire 13 is fixed to the tip of the bending portion 7 . Then, by rotating the bending drive motor 12, the bending wire 13 is pushed and pulled, and the bending portion 7
is curved vertically and horizontally. Further, an encoder 18a is attached to the bending drive motor 12. The signal line connected to this encoder 18a is connected to the insertion section 2. It is inserted through the operating section 6 and the universal cable 14 and connected to the connector 15.

Also, in the control device 16, a video processor (hereinafter referred to as
It is written as VP. ) 17, a bending angle detection circuit 18 connected to the encoder 18a via the connector 15, one bending resistance detection circuit connected to the contact pressure sensor 19a via the connector 15, and a bending/forward/backward/rotation control circuit 20. A lamp 21 and a pump 22 are built in.

The VP 17 is configured to perform video signal processing on the output signal of the solid-state image sensor 4 and output the video signal to the monitor 40. A subject image is displayed on this monitor 40. Further, the bending angle detection circuit 18 includes:
The bending angle of the bending portion 7 is detected by the output of the encoder 18a, and the bending angle can be displayed on the monitor 40 via the VP 17. Also, curved angle detection diagram! Information on the bending angle from @18 is also sent to the bending, forward/backward, and rotation control circuit 20. Also,
The bending resistance detection circuit 19 detects bending resistance from the output from the contact pressure sensor 19a provided on the bending portion 7, and can display this bending resistance on the monitor 40 via the VP 17. In addition, the bending resistance detection circuit 19
The information on the bending resistance is also sent to the bending/advancing/retracting/rotation control circuit 20. The lamp 21 is connected to the light guide 4 in the light guide pipe 26.
The illumination light is made to enter the input end of No. 2. Further, the pump 22 is adapted to supply air to the air supply pipe 27.

As shown in FIG.
0 includes the bending drive motors 12a and 12b, a forward/backward motor 23a that drives the forward/backward roller 23 attached to the insertion section 2, and a rotation motor 24a that drives the rotation roller 24 attached to the insertion section 2. It is meant to be controlled.

Further, as shown in FIG. 2, on the outer wall of the control device 16,
A switch 25, which will be described later, is provided.

As shown in FIG.
0, the joysticks 8, 9, the switch 10,
11.25 is connected, and this bending/forward/backward/rotation control circuit 20 includes the joysticks 8, 9, the switch 10,
11.25 operation status can be displayed on the monitor 4o via the VP17.

As shown in FIG.
0 is the joystick 8, 9, switch 10, 1
1, 25, a control circuit 28 that inputs information from the bending angle detection circuit 8 and the bending resistance detection circuit 19, and a motor 12.
a, ], 2 b, 23 a.

Drivers 32a, 32b, 32c, 3 that drive 24a
2d, speed control circuits 29a to 29d that control the drivers 32a, 32b, 32c, and 32d based on information from the control circuit 28, and a rotation direction instruction circuit 30a.
30d and free/lock circuits 31a to 31d.

As shown in FIG. 1, the switch 10 includes a curved micro-vibration on/off switch 10a, a forward/backward micro-vibration on/off switch 10b, and a rotation m-vibration on/off switch 10c.
It is made up of. The switches 11 include a bending free/lock switch lla, a forward/backward free/lock switch llb, and a rotation free/lock switch llc.
It is made up of. Further, the switch 25 includes a bending slight vibration changeover switch 25a, a bending/forward/backward/rotation/turning setting changeover switch 25b, an angle designation switch 25c, a speed designation switch 25d, and an all-free switch 2.
5e.

The angle designation switch 25c is, for example, a narrow angle (N),
The angle or length of the microvibration can be specified in three stages: medium angle (M) and wide angle (W). Further, the speed designation switch 25d is, for example, a low speed 1
), medium speed (M), and high speed (H).

The joysticks 8 and 9 output information about the direction and degree of the tilt by tilting the levers up, down, left, and right, and this information is input to the control circuit FI@28.

Next, the operation of this embodiment will be explained. The endoscope device of this embodiment can perform various operations by combining the bending, one rotation of forward and backward movement, and the micro vibrations of bending and one rotation of forward and backward movement. The following typical operations will be explained in order with reference to the figures.

(I> Operation during normal bending operation (Figure 4) (I) Operation when bending is not operated in the same direction slight vibration mode (Figure 5) <m> Operation during bending operation in the same direction slight vibration mode ( (Fig. 6) (IV) Operation in right-angle micro-vibration mode (Fig. 7) (, V
) Rotating motion, forward and backward micro-vibration, motion of single rotation micro-vibration (Fig. 8) (VI) Motion of rotational micro-vibration and bending micro-vibration (Fig. 9) (
Vl) Behavior when changing the conditions of rotational vibration (Figure 10) (■) Behavior of forward/backward minute vibration and curved minute vibration (Figure 11) NX) Operation when changing the conditions of forward/backward minute vibration (Figure 11) (Fig. 12) In Fig. 4, (a) and (b) show the operations of the joysticks 8 and 9, respectively.

Further, (c) or e) shows the operation of the speed control circuit 29a, rotation direction instruction circuit 30a, and free/lock circuit 31a for the bending drive motor 12a, and similarly, (f
) or h) is a circuit 29 for the bending drive motor 12b.
b, 30 b, 3 l b, (i)
or k) is a circuit 29c for the motor 23a for advancing and retracting;
30c, 31c, (J) or n> is the circuit 29d, 30d, 31d for the rotation motor 24a.
shows the operation.

In addition, in FIGS. 5 to 12, (a) to c) respectively indicate the operations of the switches] and Oa to 10c, and (d) and (e) respectively indicate the operations of the joysticks 8 and 9.
(f) to h) indicate the operations of the switches 25a, 25c, and 25d, respectively. (i> and (j>) indicate the operation of the speed control circuit 29a and rotation direction indicating circuit 30a for the bending drive motor 12a, and similarly, (k) and (1) indicate the circuit for the bending drive motor 12b. 29b and 30b, (m) and (n> show the operation of the circuits 29c and 30c for the motor 23a for advancing and retracting, and (o) and (p) show the circuit 2 for the motor 24a for rotation.
9d and 30d are shown.

First, with reference to FIG. 4, (I) operation during normal bending operation will be described.

As shown in FIG. 4(a), the joystick 8 is in the upper position (
Hereinafter, it will be referred to as U. ) side, a voltage corresponding to the degree of inclination is applied from the control circuit 28 to the speed control circuit 29a.
sent to. This speed control circuit 29a outputs a pulse with a frequency corresponding to the voltage value, as shown in (c). That is, when the voltage is low, a low frequency pulse is output, and when the voltage is high, a high frequency pulse is output. Then, the motor 12a rotates in the U direction at an increasingly faster speed.

Note that the motors 12a, 12b, 23a, and 24a are stepping motors. Further, the rotation direction indicating circuit 30a is
When the joystick 8 is operated downward (hereinafter referred to as D), a high level (hereinafter referred to as H) is output,
At other times, it is at Low level (hereinafter referred to as L).
When used with respect to a signal, it means 1-OW level, and when used with a direction, it means the left. ) is output. This rotational direction indicating circuit 30a (d
), the motor 12a is controlled so that when the output is L, it rotates in the normal direction, and when the output is H, it rotates in the reverse direction. Further, the free/lock circuit 31a outputs L when bending free is instructed by the bending free/lock switch lla or the all free switch 25e, and outputs H in other cases.

The free/lock circuit 3], a controls the motor 12a so that the motor 12a is locked when the output is H, and free when the output is L, as shown in (e).

In addition, as shown in (a) and (c) to h), D,
The same applies to the right (hereinafter referred to as R) and left (hereinafter referred to as L) directions, so the explanation will be omitted.

Next, when the joystick 9 is operated in the forward direction (denoted as Pu5h in the figure), a voltage corresponding to the degree of inclination is sent from the control circuit 28 to the speed control circuit 29c, as shown in (i). The motor 23a rotates normally, and the insertion portion 2 is drawn out by the reciprocating roller 23. Incidentally, as shown in (j), the rotation direction instruction turn B50c becomes H when the joystick 9 is operated in the pull direction (denoted as Full in the figure), and becomes L in other cases. Incidentally, as shown in (b) and (i) to k), the same applies to the pulling operation, so the explanation will be omitted.

Next, when the joystick 9 is operated in the R-rotation direction, as shown in (1), a voltage corresponding to the degree of inclination is sent from the control circuit 28 to the speed control circuit 29d, causing the motor 24a to rotate forward. , the insertion section 2 is rotated by the rotating roller 24.
is rotated to the right. As shown in (m), the rotational direction indicating circuit 30d indicates 4 when the joystick 9 is operated in the L-rotational direction, and otherwise indicates L.

In addition, as shown in (b) and (J)) or n),
The same applies to the operation in the L rotation direction, so the explanation will be omitted.

Also, free/lock switches lla, lb.

11c is operated together, the free/lock circuit 31
a to 31d have L output, and motors 12a12b, 23
a and 24a become free. The same applies when the all-free switch 25e is turned on.

Further, the bending micro-vibration mode changeover switch 25a is a switch for switching between the micro-vibration direction and the turning movement direction, and each time it is pressed, the micro-vibration in the same direction as the bending direction (hereinafter referred to as same-direction micro-vibration) and the bending direction , microvibration in the right angle direction (hereinafter referred to as "microvibration in the right angle direction"), clockwise rotation of the rotational motion, and counterclockwise rotation of the rotational motion are cyclically switched. Also,
Each time the bending/forward/backward/rotation/swivel setting changeover switch 25b is pressed, it becomes possible to set the slight vibration angle and the slight vibration speed for each state. For example, when you want to set the angle and speed of the rotational vibration, press the switch 25b twice to enter the rotation setting state, and then press the speed designation switch 25d and the angle designation switch 25c to set the rotational vibration at the desired speed and angle. will be held. Note that the switch 25b is curved, advances and retreats 4
It is designed to switch cyclically in the order of rotation and turning.

Next, with reference to FIG. 5, the operation when bending is not performed in (n) same-direction micro-vibration mode will be described.

As shown in FIG. 5(a), a curved micro-vibration switch 10
When the switch a is turned on, the bending portion 7 slightly vibrates (reciprocating motion) under the conditions set by the switches 25a and 25C25d. That is, as shown in (f), the setting of the switch 25a is the same direction micro vibration mode, as shown in (g), the speed setting of the switch 25c is low speed, and as shown in (h), the setting of the switch 25d is the same direction vibration mode. When the angle setting is a narrow angle, as shown in (j), the rotation direction indicating circuit 30a for the UD motor 12a takes H and outputs alternately and sequentially.
As shown in (i), the speed control circuit 29a outputs a pulse with a pulse width corresponding to the speed setting value of the switch 25c. Therefore, the motor 12a repeats forward and reverse rotation, and the curved portion 7
vibrates slightly in the tJD direction. Also, as shown in (g), when the speed setting by switch 25C is high speed, (
As shown in i), the pulse width of the output pulse of the speed control circuit 29a becomes shorter, and the bending portion 7 vibrates slightly at a high speed. Further, when the angle is set to a wide angle, the bending portion 7 vibrates greatly.

In this embodiment, the bending angle is set using the output frequency of the rotation direction indicating circuit 30a as shown in (, j), but the bending angle is determined by detecting the rotation angle of the motor 12a using the output of the encoder 18a. The angle may also be controlled.

In addition, when the right-angle vibration mode is set by the switch 25a, when the switch 10a is turned on, the R
, the L motor 12b operates, and the bending portion 7 slightly vibrates in the RL force direction.

Note that the above explanation is for the case where the switch 10a is operated while the joystick 8 is not operated.

Next, with reference to FIG. 6, the operation during the bending operation in the (III) same-direction micro-vibration mode will be described. That is, while operating the joystick 8, the switch 10a
The case where is pressed will be explained. To simplify the explanation, the joystick 8 can only be operated on/off (
In other words, the degree of inclination of the joystick 8 is not considered), the speed of the micro-vibration is a low speed, and the angle of the micro-vibration is a narrow angle. According to
Speed (high speed/low speed, etc.), angle (wide angle/narrow angle, etc.)
It is possible to set

As shown in FIG. 6(f), when the same direction micro vibration mode is set, the switch 10a is turned on and the U
When the joystick 8 is operated in the direction, the rotation direction indicating circuit 30a outputs H and L alternately as shown in (j), but L is longer than F(. That is, it is longer than D direction. The U direction is driven longer.At this time, the speed control circuit 29a outputs a pulse according to the specified speed as shown in (i).Therefore, the bending portion 7 is driven in the U direction.
It vibrates slightly in the D force direction and then curves in the U direction.

Also, when the joystick 8 is turned off, the curved portion 7
vibrates slightly in the direction of the UD force.

Further, when the joystick 8 is operated to the D side, the rotation direction indicating circuit 30a outputs an H output, and the speed control circuit 29a outputs a pulse according to the specified speed, so that the bending portion 7 is bent to the D side.

At this time, when the switch 10a is turned on, the rotation direction indicating circuit 30a outputs a pulse with H longer than I-, and the speed control circuit 29a outputs a pulse corresponding to the designated speed. Therefore, the curved portion 7 curves in the D direction while undergoing slight vibration 17 in the UD force direction.

Similarly, when the joystick 8 is operated in the R direction,
The curved part vibrates slightly in one direction of R1, and then curves in the R direction,
When the joystick 8 is operated in one direction, the curved part vibrates slightly in the RL force direction.

curve in the direction.

Next, with reference to FIG. 7, the operation in the case of (IV) vertical vibration mode will be described.

Again, to simplify the explanation, joystick 8
The explanation will be based on the assumption that the operation is only on/off, the speed of the micro-vibration is low, and the angle of the micro-vibration is a narrow angle.

As shown in FIG. 7 (a>, l), the joystick 8
When the switch 10a is operated without being operated, the bending portion 7 slightly vibrates in the RL direction, as described above.

In this state, when the joystick 8 is operated in the U direction, the bending part 7 vibrates slightly in the RL force direction as shown in (k) and (ρ), and as shown in (i) and (j). U
curve in the direction. Similarly, when the joystick 8 is operated in the D direction, the bending portion 7 vibrates slightly in the RL direction and then curves in the D direction.

Furthermore, when the joystick 8 is operated in the L direction, the bending part 7 slightly vibrates in the UD force direction as shown in (i) and (j), and changes in the direction as shown in (k) and (ρ). curved to Similarly, when the joystick 8 is operated in the R direction, the bending portion 7 vibrates slightly in the UD force direction, and then curves in the R direction.

In the above explanation, the operation in only one direction of U, D, R, and L was explained, but one of UD and one of R1 may be operated at the same time. In that case, The curved portion 7 is
It curves between the two operated directions while vibrating slightly in both the UD and RL directions.

Next, with reference to FIG. 8, the operation of (V) turning motion, forward and backward micro-vibration, and one-rotation micro-vibration will be explained.

Here, as shown in (f), the case where the switch 25a is set to the turning movement clockwise rotation mode or the turning movement left rotation mode will be explained, but one forward and backward rotation will also be explained.

As shown in (a), when the switch 10a is turned on,
As shown in (i) and (k), the speed control circuit 29
a and 29b output pulses according to the speed set by the switch 25c. At this time, (j) and (fJ
), the rotational direction indicating circuits 30a, 30b,
Outputs pulses with a phase shift of 90 degrees. In addition, switch 2
5a determines whether the rotation is clockwise or counterclockwise; in the case of clockwise rotation, the output pulse of the rotation direction indicating circuit 30a leads the output pulse of the rotation direction indicating circuit 30b by 90 degrees in phase, and in the case of counterclockwise rotation, The opposite is true. As a result, the curved portion 7
performs a right-handed or left-handed turning motion. Note that this turning motion is also a form of microvibration (reciprocating motion) in the present invention. This is because the turning motion is a combination of a linear micro-vibration in the UD force direction and a linear micro-vibration in the R1 direction. Therefore, by appropriately setting the phase difference between the output pulses of the rotation direction indication diagrams 130a and 30b, an elliptical turning motion is also possible.

During this turning movement, when the joystick 8 is operated, for example, in the R direction, the H output of the switch 30b becomes shorter than the I-output, and as a result, the bending portion 7 does not make the turning movement but curves in the R direction. . Similarly, in other directions, the bending portion 7 bends while making a turning movement according to the operating direction of the joystick 8, but a description thereof will be omitted.

Next, the movement and rotational vibrations will be explained. The forward/backward speed/angle (length) and rotational speed/angle can be set by setting the switch 25b to the forward/backward or rotation mode and using the switches 25c and 25d. In the example shown in FIG. 8, both are set to low speed and narrow angle mode.

As shown in (b) and (C), the advance/retreat micro-vibration switch 1
0b7 When the rotational slight vibration switch 10c is off, (e)
As shown in , the joystick 9 advances (P
) and in the R7-rotational direction (i.e. in the diagonal direction between the Pu5h direction and the R-rotational direction), <n>
and (p>, rotation direction indicating circuits 30c, 30
The speed control circuits 29c and 29d output low speed pulses as shown in (m) and (0). Therefore, the insertion section 2 advances while rotating to the right.

Further, as shown in (b) and (C), when the advance/retreat micro-vibration switch 10b2 and the rotation micro-vibration switch 10c are turned on,
As shown in (n) and (p), the rotation direction indicating circuit 30c
, 30d output pulses in narrow angle mode. Then, as shown in (m) and (0), the speed control law F4
29c and 29d output pulses in low speed mode.

Therefore, the insertion section 2 rotates slightly while vibrating (slightly rotating).
Slight vibrations (slight movement).

Next, when the joystick 9 is operated in the pull and R-rotational directions during rotational slight vibration and forward/backward slight vibration, the speed control circuit 29C929d outputs a pulse at a low speed, and the rotational direction indicating circuits 30c, 30d are each ■
4 outputs, L output outputs long pulses. Therefore, the insertion portion 2 rotates in the R direction without causing slight rotational vibrations, and retreats while making slight vibrations in forward and backward movements.

Furthermore, when the joystick 9 is operated in the push and L-rotation directions during the rotational slight vibration and forward/backward slight vibration, the insertion portion 2 similarly rotates L while making a slight rotational vibration, and also causes the forward/backward slight vibration. Proceed while doing so.

The nine-rotation micro-vibration of the bending vibration and the forward-backward micro-vibration have been described above, but it goes without saying that these operations can be performed in combination. It goes without saying that a bending motion can also be performed during each micro-vibration motion.

Next, with reference to FIG. 9, the operations of (VI) rotational vibration and bending vibration will be described. In order to simplify the explanation, in the same direction micro-vibration mode as shown in (f), (
As shown in g) and (h), examples are shown in which both the rotational vibration and the bending vibration are set at a narrow angle and at a low speed.

As shown in (a> and (c), the curved micro-vibration switch 1
0a and the rotational slight vibration switch 10c are turned on, (
j>, as shown in (p), the rotation direction indicating circuits 30a, 3
0d outputs pulses in narrow angle mode, and as shown in (i) and (o), speed control ports g29a and 29d output pulses in low speed mode. Therefore, the insertion portion 2 slightly vibrates in a curved manner while rotating slightly. Note that when the switch 10a or the switch 10c is operated alone, as already explained, the bending microvibration or the rotational microvibration is performed independently.

Next, when the joystick 8 is operated in the U direction as shown in (d) with the bending vibration switch 10a and the rotation vibration switch 10c turned on, the rotation direction indicating circuit is activated as shown in (j). 30a outputs a pulse whose output is longer than the H output. Others are joystick 8
It is the same as when is not operated. Therefore, the insertion portion 2 curves in the U direction while making slight rotational vibrations and slight bending vibrations.

Similarly, when the joystick 8 is operated in the R and L directions, the insertion portion 2 undergoes slight rotational vibrations and slight bending vibrations, and curves in the R and L directions.

Next, with reference to FIG. 10, (■) the operation when changing the conditions of rotational vibration will be described.

When the rotation slight vibration switch 10c is turned on as shown in (c) in the narrow angle, low speed mode as shown in (g) and (h), the rotation direction indicating circuit 30d is activated in the narrow angle low speed mode as shown in (p). The speed control circuit 29d outputs pulses in the low speed mode as shown in (0). Therefore, the insertion section 2 performs rotational slight vibration at a narrow angle and at a low speed.

Here, when the switch 25d is operated to switch to the high speed mode, the speed control circuit 29d
outputs pulses in high speed mode.

That is, the frequency of the pulse increases. As a result, the insertion portion 2 performs slight rotational vibration at a narrow angle and at a high speed.

Further, when the switch 25c is operated to switch to the wide angle mode, the rotation direction indicating circuit 30d outputs a pulse in the wide angle mode, as shown in (p).

That is, the frequency of the pulse becomes lower. As a result, the insertion section 2 performs slight rotational vibrations at a wide angle and at a high speed. Furthermore, when the switch 25d is operated to switch to low speed mode,
As shown in (o), the speed control circuit 29d outputs pulses in the low speed mode. As a result, the insertion section 2 performs slight rotational vibration at a wide angle and at a low speed.

Next, with reference to FIG. 11, the operations of (■) forward/backward micro-vibration and bending micro-vibration will be described. In order to simplify the explanation, in the same direction micro-vibration mode as shown in (f), (
As shown in g> and (h>, an example is shown in which both forward and backward microvibrations and bending microvibrations are set at narrow angles and at a low speed.

As shown in (a) and (b), a curved micro-vibration switch 1
0a and forward/backward slight vibration switch], when Ob is turned on, the rotation direction indicating circuit 30a as shown in (j) and (n)
, 30c output pulses in narrow angle mode, (i), (m
), the speed control circuits 29a and 29c output pulses in the low speed mode. Therefore, the insertion portion 2 slightly vibrates in a curved manner while slightly vibrating forward and backward. In addition, when the switch 10a or the switch 10b is operated alone, as already explained, the bending micro-vibration or the advancing/retreating micro-vibration is performed independently.

Next, when the joystick 8 is operated in the U direction as shown in FIG. 30a outputs a pulse that is longer than the H output by - specific output.Others are the same as when the joystick 8 is not operated.Therefore, the insertion portion 2
curves in the U direction while making forward/backward slight vibrations and bending slight vibrations.

Similarly, joystick 8 goes up, R,! - Even when operated in the force direction, the insertion portion 2 does not vibrate forward or backward or bend slightly, but curves in the R and L directions.

Next, with reference to FIG. 12, the operation when changing the conditions of (rX) forward and backward microvibration will be described.

(As shown in g> and (h), in the narrow angle, low speed mode, when the forward/backward slight vibration switch 10b is turned on as shown in (b), the rotation direction indication turn B50C is set at a narrow angle as shown in (n). As shown in (m>, the speed control circuit 29C outputs pulses in the low speed mode. Therefore, the insertion section 2 performs minute vibrations of forward and backward movement at a narrow angle (short distance) and at a low speed. Here, when the switch 25d is operated to switch to the high speed mode, the speed control circuit 29c outputs pulses in the high speed mode as shown in (m).

That is, the frequency of the pulse increases. As a result, the insertion portion 2 performs minute vibrations of forward and backward movement at a narrow angle (short distance) and at high speed.

Furthermore, when the switch 25c is operated to switch to the wide angle mode, the rotation direction indication concave B 30 as shown in (n>
c outputs pulses in wide angle mode.

That is, the frequency of the pulse becomes lower. As a result, the insertion portion 2 performs minute vibrations of forward and backward movement at a wide angle (long distance) and at high speed. Furthermore, when the switch 25d is operated to switch to the low speed mode, the speed control circuit 29c is activated as shown in (m>).
outputs pulses in low speed mode. As a result, the insertion portion 2 performs minute vibrations of forward and backward movement at a wide angle (long distance) and at a low speed.

In addition, FIGS. 13 to 18 respectively show the state of UD direction bending vibration, RL direction bending vibration, right rotation of turning movement, left rotation of turning movement, forward and backward movement vibration, and rotational vibration. There is.

Further, FIG. 19 shows a part of the mode display section of the screen of the monitor 40. That is, this mode display section shows the insertion length of the insertion section 2, the rotation angle of the insertion section 2, and the curved section 7.
The bending angle and the bending resistance of the bending portion 7 are displayed. Also,
This mode display section shows the forward/backward micro-vibration, single-rotation micro-vibration, on/off of curved micro-vibration, and the mode of curved micro-vibration (same direction micro-vibration, right-angle direction micro-vibration, rotational movement to the left, rotational movement to the right). Is displayed. Further, the mode display section displays the speed (eg, 3 levels of L, M, and H), length, or angle (eg, 3 levels of N, M, and W) of each microvibration.

Furthermore, if the output of the bending resistance detection circuit 19 exceeds a predetermined dangerous value, a warning is issued and the bending, advance or retreat is performed.

It is designed to stop the operation of each slight vibration of rotation.

As explained above, according to this embodiment, by slightly vibrating the insertion section 2, the contact resistance of the insertion section 2 is reduced.
Improves insertability. Further, when the bending micro-vibration is performed, the rear of the curved portion 7, that is, the tip side portion of the flexible portion 43 is also micro-vibrated, and the contact resistance of this portion is also reduced.

Furthermore, since the micro-vibration state can be selected and operated as appropriate depending on the condition of the part to be examined, the part to be inserted, etc., the bending part 7 can be operated without damaging the part to be examined, the part to be inserted, etc. The contact resistance of the insertion portion 2 can be reduced, and the insertability can be further improved.

Furthermore, since the angle (length) and direction of each microvibration can be selected as appropriate, the optimal microvibration conditions can be selected depending on the size, shape, etc. of the lumen that is the inserted portion. Furthermore, since the speed of each microvibration can be selected as appropriate, the speed can be selected as appropriate depending on the case.

In addition, regarding the bending micro-vibration, the direction of the micro-vibration can be switched to the same direction or a direction perpendicular to the bending direction, and further rotation movement to the right.

Since the rotation movement can be switched to the left as appropriate, the optimum mode can be selected depending on the state of the lumen.

Also, the switches 10a to 10c turn on/off the slight vibration.
Because it can be turned off, it is possible to turn off minute vibrations that may cause perforation, such as in the diverticulum part of the body wall, making it extremely safe. Furthermore, when inserting the test object while observing the internal state in detail, by turning off the microvibration, an easy-to-see image without image blur or noise can be obtained.

In addition, since the bending micro-vibration is performed using the motors 12a and 12b for bending drive, there is no need to newly provide a motor for performing micro-vibration separately from the bending motor, and the endoscope becomes larger and weighs less. There's nothing to do.

In addition, since it is possible to make forward/backward slight vibrations and rotational slight vibrations of the insertion section 2, even when it is difficult to perform curved minute vibrations or when curved minute vibrations are ineffective, these forward/backward minute vibrations and rotational minute vibrations can be applied. By doing so, the contact resistance of the insertion portion 2 can be reduced and the insertability can be improved.

In addition, in the right-angle vibration mode of the curved vibration,
Even if the bending is stopped midway through the bending, the bending can be reliably continued. That is, when bending is stopped midway through bending, a large starting torque is required when bending is resumed because tension is acting on the bending portion 7 in the direction opposite to the bending direction. Therefore, in such a case, bending may become difficult, but by slightly vibrating the bending portion 7 in a direction perpendicular to the bending direction, bending can be made easier when bending is resumed.

In addition, since the curved portion 7 can be bent while making various kinds of slight vibrations, it is possible to insert the bending portion 7 while making slight vibrations along the curved lumen, which improves insertability especially in the bent portion. be able to.

Further, since the insertion section 2 can be moved forward/backward and/or rotated by the joystick 9, operability is very good.

In addition, various types of micro-vibration, namely curved micro-vibration (same direction micro-vibration, perpendicular direction micro-vibration, rotation movement to the right).

Since it is possible to operate in combination of one or more of the following: rotational movement (left rotation), slight vibration of the insertion part moving forward and backward, and slight vibration of rotation of the insertion part, the optimal vibration can be selected according to the condition of the lumen. be able to.

Further, when the insertion section 2 has drawn a loop, if a slight vibration is applied to the insertion section 2, a force to straighten the insertion section 2 is applied, so that the loop can be easily released.

Note that each micro-vibration may be performed at least once (reciprocating motion). The micro-vibration angle is 1 to 1, except for the slight vibration when advancing and retracting.
80 degrees, the length of micro vibration during forward and backward vibration is 1 to 5 cm, the micro vibration speed is 1 to 90 degrees / second, excluding the slight vibration of forward and backward movement, and the micro vibration speed during forward and backward vibration is 1 to 50 m n17 seconds. Although the range is preferable, it may be changed as appropriate depending on the judgment of the operator.

In addition, if the micro-vibration is set to an extremely fast speed or an extremely large angle, it will become extremely difficult to see the two viewing angles of the endoscope, but in this case, make good use of the freeze function and display it intermittently. This can be improved by

Furthermore, as shown in FIG. 19, if the micro-vibration mode and the like are displayed on the same screen as the observation image, the micro-vibration state can be confirmed at a glance, resulting in very good operability.

Note that the speed of the micro-vibration may be gradually changed from a low speed to a high speed, or the angle of the micro-vibration may be gradually changed from a narrow angle to a wide angle. In addition, the direction of the bending vibration can be changed from the vertical direction to the horizontal direction.
Alternatively, the turning movement may be switched from clockwise rotation to counterclockwise rotation, etc.

Furthermore, when the micro-vibration switch is turned off, the insertion section 2 may return to the state before the micro-vibration.

20 and 21 relate to a second embodiment of the present invention, FIG. 20 is a block diagram showing the configuration of an endoscope device, and FIG. 21 is an explanatory diagram showing the external appearance of the endoscope device.

Incidentally, members similar to those in the first embodiment are given the same reference numerals and explanations thereof will be omitted.

As shown in FIG. 21, the endoscope apparatus of this embodiment includes an endoscope 1, a light source to which the endoscope 1 is connected, a bending/advancing/retracting/rotation control device 50, and a device 50 connected to the device 50. VP to be
17, a monitor 40 connected to this VP 17, and an advancing/retracting/rotating device 5 attached to the insertion section 2 of the endoscope 1.
3.

The endoscope 1 in this embodiment is not provided with an operating section, and the connector 15 is provided directly at the base of the insertion section 2. As shown in FIG. 20, motors 12a and 12b are provided within the connector 15. As shown in FIG. This connector 15 is connected to a light source and a bending/advancing/retracting/rotating control device 50. This device 50 is equipped with the bending/forward/backward/rotation control circuit 20, the bending angle detection circuit 18, the bending resistance detection circuit 9, two lamps, a pump 22, and a switch 25 in the first embodiment.

That is, the device 50 is the control device 16 of the first embodiment.
The configuration is such that VP ] and 7 are removed.

The device 50 is connected to VF) 1.7. The device 50 also includes a bending section 5.
1 and the forward/backward/rotation operation section 52 are connected via connection cables 55 and 56, respectively. The bending operation section 51 includes a joystick 8 and a switch 1.
0 is provided, and the forward/backward/rotation operation section 52 is provided with a joystick 9 and a switch 11.

Furthermore, a forward/backward/rotating device 53 is attached to the insertion section 2. Inside this advancing/retracting/rotating device 53, there is provided the advancing/retracting roller 23 of the first embodiment. Motor 23a, rotating roller 24
．． A motor 24a is provided. The advancing/retracting/rotating device 53 is connected to the device 50 via a connecting cable 54.

In addition, the connectors provided on the connection cables between each device are
It is removable.

According to this embodiment, the motors 12a, 1 are provided in the connector 15.
2b, there is no need to provide an operating section in the middle of the insertion section 2. In addition, there is no need to hold a heavy operation section containing a motor, etc., and it is only necessary to hold the light operation sections 51 and 52, so the operation is easy.

Further, when the advancing/retracting/rotating device 53 is not provided, only bending operation is possible. At this time, for example, the operator holds the operating section 51 in his left hand and operates the insertion section 2 in his right hand.

Further, since the operating parts 51 and 52 can be held with one hand and operated with both hands, the operability is very good. For example, holding the bending operation section 51 with your left hand,
If you hold and operate the advancing/retracting/rotating operation part 52 with your right hand, the role that is shared with Jinbei during manual operation, that is, your left hand operates the bending operation knob, and your right hand plays the role of advancing/retracting and rotating (twisting) the insertion part. Because it is close, it can be operated without any confusion.

Furthermore, if there is no advancement/retraction/rotation device 53, only the bending can be motorized. Of course, curved microvibration is also possible.

Other functions and effects of Structure 2 are the same as those of the first embodiment.

FIGS. 22 and 23 relate to a third embodiment of the present invention, with FIG. 22 being a block diagram showing the configuration of an endoscope device, and FIG. 23 being an explanatory diagram showing the external appearance of the endoscope device.

Incidentally, members similar to those in the first or second embodiment are given the same reference numerals, and explanations thereof will be omitted.

As shown in FIG. 23, the endoscope apparatus of this embodiment includes an endoscope 1 and a bending device 65. It is equipped with a light source device 72 and a VP 17, a monitor 40 connected to the VP 17, and an advancing/retracting/rotating device 53 attached to the insertion section 2.

The endoscope 1 in this embodiment is not provided with an operating section, as in the second embodiment, and a connector 15 is provided directly at the base of the insertion section 2. As shown in FIG. 22, transmission gears 61 and 62 are provided in the connector 15,
The rotation shaft of this transmission gear 6162 has a pulley 6, respectively.
3.64 is installed. And this pulley 6
364, each curved wire 13 is attached. On the other hand, inside the bending device 65, there are provided motors 68.69, transmission gears 66.67 attached to the output shafts of the respective motors 68.69, and a control circuit 70 for controlling the motors 6869. And the connector 15
are connected to the bending device 65, the gears 61, 62 in the connector 15 are connected to the gears 66, 6 in the bending device 65, respectively.
It is designed to mesh with 7. Further, the bending device 6
5 is connected to a bending operation section 51 similar to that in the second embodiment. The control circuit 70 controls the motor 6869 in accordance with the operation of the bending operation section 51, and performs control regarding bending (including bending microvibration) in the first embodiment.

The connector 15 is connected to a light source device 72 via a connection cable 71.

Inside this light source device 72, an air supply bong 173. Water pump 74. A suction pump 74 and a lamp 76 are built-in. In addition, this light source device 72 includes switches 1 to 77.
is connected, and this frame 1. By stepping on pedals 78, 79, and 80 provided on the tosui and 77, air supply, water supply, and suction are performed, respectively.

Also, the connector 7 in the light source device 72 of the cable 71
], a connection cable 81 is extended from a, and this connection cable 81 is connected to the VP 17.

Further, the forward/backward/rotating device 53 is connected to a forward/backward/rotating operation section 52 similar to that of the second embodiment.

The advancing/retracting/rotating device 53 has a built-in control circuit 82 and a display section 83. The control circuit 82 is
In response to the operation of the forward/backward/rotation operation section 52, the forward/backward motor 23
The a1 rotation motor 24a is controlled to perform control related to forward/backward movement and rotation, including the fine vibration of forward/backward movement in the first embodiment. In addition, the display section 83 includes
Insertion length of insertion section 2, rotation angle of insertion section 2, on/off of forward/backward micro-vibration, speed of forward/backward micro-vibration (L, M, H), length of forward/backward micro-vibration (N, M, W), rotational micro-vibration Vibration on/off, rotational vibration speed (1-, M,) () rotational vibration angle (N, M, W) are displayed.

On the other hand, the monitor 40 displays the bending angle, the on/off of the bending resistance bending micro-vibration, the speed of the bending micro-vibration (L, M, H),
The angle (N, M, W) of the curved microvibration is displayed.

In this embodiment, since a foot switch 77 is provided, air and water can be supplied by the foot switch 77 even if the operation parts 51 and 52 are held with both hands.

Suction control is possible.

In addition, when only the advancing/retracting/rotating device 53 is provided, it becomes possible to electrify the advancing/retracting/rotating endoscope and to cause the slight vibration of advancing/retracting to vibrate one revolution in contrast to a normal manual bending type endoscope.

According to this embodiment, the bending device 65 and the advancing/retracting/rotating device 53
Since they are separate units, you can use either one or a combination of the two as needed.

Furthermore, since the bending motors 12a and 12b are not present within the endoscope body, it is possible to reduce the weight and cost of the endoscope.

Other functions and effects of Structure 2 are similar to those of the first or second embodiment.

24 and 25 relate to the fourth embodiment of the present invention, FIG. 24 is a process diagram showing the configuration of an endoscope apparatus, and FIG.
The figure is an explanatory diagram showing the appearance of the endoscope device.

Incidentally, members similar to those in the first embodiment are given the same reference numerals and explanations thereof will be omitted.

In the endoscope apparatus of this embodiment, the insertion section 2 is guided to the insertion opening of the subject by a flexible cylindrical guide 90. The base of the guide 90 is connected to a central control device 91 . Inside this control device 91, there are two rails 92.9 parallel to the longitudinal direction of the insertion section 2.
2, and a base 93 that moves forward and backward while being guided by the rails 92 and 92. A rotating drum 94 is provided on the base 93-F. And this drum 9
4 holds the curved light source ■P device 95 rotatably.

The curved light source VP device 95 is the curved device 65 of the third embodiment. The light source device 72 and the VP 17 are combined into one. Note that the connector 15 has a built-in transmission gear like the third connector, and is detachable from the device 95.

Said bag! A control box 96 is detachably connected to 95 . This control box 96 includes curving buttons 97 for each direction of the UDRL, and for advancing/retracting the insertion section.
A rotation button 98 and a curve/advance/retreat/rotation micro-vibration control switch 99 are provided.

Further, the guide 90 has a cylindrical shape and can be divided into two parts.

In this embodiment, the operation when the curved button 97 is pressed is the same as that in the third embodiment, so a description thereof will be omitted. When a forward/backward switch among the forward/backward/rotate buttons 98 is pressed, the base 93 moves back and forth along the rail 92. At this time,
Because of the guide 90, the insertion section 2 will not loosen. Further, when the rotation switch of the forward/backward rotation buttons 98 is pressed, the drum 94 rotates, and therefore the entire device 95 and the insertion section 2 rotate.

Each movement of bending micro-vibration, advance/retreat micro-vibration, 9-rotation micro-vibration is the first
Since it is similar to the third embodiment, the explanation will be omitted.

According to this embodiment, since the endoscope and the device for driving the endoscope are integrated, handling becomes easy. Also,
Since the guide 90 is provided, the insertion portion 2 will not loosen.

Further, since the control box 96 is operated by a push button, it can be operated with one finger.

The other functions and effects of the configuration 9 are the same as those of the first or third embodiment.

26 to 28 relate to the fifth embodiment of the present invention,
FIG. 26 is a block diagram showing the configuration of the endoscope device, and FIG.
The figures are timing charts 1 to 1 for explaining the operation of this embodiment, and FIG. 28 is an explanatory diagram showing the external appearance of the endoscope apparatus.

Incidentally, members similar to those in the first embodiment are given the same reference numerals and explanations thereof will be omitted.

As shown in FIG. 26, the endoscope apparatus of this embodiment includes an insertion section 2 and a curved control light source device 1 to which the insertion section 2 is connected.
00, a monitor 40 connected to this curved control light source device 100, and a reciprocating roller 2 attached to the insertion section 2.
3.

As shown in FIGS. 26 and 28, the endoscope 1 in this embodiment is not provided with an operating section as in the second embodiment, and a connector 15 is provided directly at the base of the insertion section 2. It is being Further, the bending drive motor 12 is provided within the bending control light source device 100, and a bending wire 123 inserted into the insertion portion 2 is attached to this motor 12. Further, in the curved control light source device 100, the motor 1
A motor driver 101 for driving 2 is built-in.

Further, a lamp 21 and a pump 22 are provided inside the curved control light source device 1.00.

Further, separately from the device 100, a control box 103 not connected to the motor driver 10 and a motor driver 102 that is controlled by the control box 103 and controls a motor that drives the advance/retreat roller 23 are provided. It is provided. The control box 103 is provided with a joystick 8, a forward switch 104, and a backward switch 105. The joystick 8 is tJ with respect to the motor driver 101.
It is designed to indicate the direction of bending of the DRL.

Next, the operation of this embodiment will be explained with reference to FIG. 27.

As shown in FIG. 27(a), the control box 1
When the advance switch 104 of 03 is turned on, the control box 103 instructs the motor driver ]01 to perform a slight bending vibration. As a result, as shown in FIG. 27(c), the motor 1 driven by the motor driver 101
2 alternately repeats rotation in the U direction and rotation in the D direction, resulting in a curved microvibration mode. Further, the control I/roll box 103 instructs the motor driver 102 to rotate the advancing/retracting roller 23 in the advancing direction. In this way, the curved portion 7 vibrates slightly when the insertion portion 2 advances.

On the other hand, as shown in FIG. 27(b), when the retraction switch 105 is turned on, the control box 303 instructs the motor driver 102 to rotate the advancing/retracting roller 23 in the side direction. Do not indicate slight vibrations. As a result, the curved portion 7 does not vibrate slightly when the insertion portion 2 retreats. In addition, the curved part 7 may be made to vibrate slightly even when the insertion part 2 is retreated.

In this embodiment, during normal times when the insertion section is not advanced, the visual field remains stationary because no microvibrations are performed. Therefore, the subject can be observed reliably and the eyes will not get tired.

In addition, since the microvibration is automatically turned on when advancing the insertion section 2, the operator does not have to turn on and off the microvibration one by one, making operation easy. . Although not shown, the microvibration can be turned off using a switch when the insertion section is advanced.

Note that the micro-vibration is not limited to the bending micro-vibration, but may also be a forward/backward micro-vibration or a υj turning machine micro-vibration, or a combination of these micro-vibrations as appropriate. Furthermore, the micro-vibration may be performed not only during the insertion section advancing operation but also during the bending operation or the rotation operation, and each of these operations and each of the above-mentioned micro-vibrations may be appropriately combined.

29 and 30 relate to a sixth embodiment of the present invention; FIG. 29 is an explanatory diagram showing the configuration of an endoscope device, and FIG. 30 is an explanatory diagram showing the external appearance of the endoscope device.

The endoscope apparatus of this embodiment includes an endoscope 1, a control device 17 to which the endoscope 1 is connected, a monitor 40 connected to the control device 117, and a control device for inserting the endoscope 1. It is equipped with an advancing/retracting device 112 and a rotating device M113 attached to the section 2.

The endoscope 3 includes an insertion section 2, an operation section 111 connected to the rear end of the insertion section 2, a universal cable 14 connected to the rear end of the operation section 111, and the universal cable 14. A connector 15 provided at the end of the connector 15 is provided. A joystick 114 is connected to the operation unit]]-1. Similar to the eleventh embodiment, a bending drive motor 12 is provided within the operating section 111.

The joystick] 14 is the motor 12.
It is designed to give instructions for curving. In the control circuit 117, VP17. lamp 21 and pump 2
2 is built-in.

Further, a forward/backward switch 115 and a rotation switch 116 are connected to the forward/backward device 112 and the rotating device 113, respectively, and each switch 11.5, 116 instructs the forward/backward device 112 and the rotating device W113 to make seven forward/backward rotations. It is supposed to be done.

Note that the operation section 111. Advance/retreat device 112 and rotation device 1
13 shows the curvature, advance and retreat, and
Parts of the rotation control circuit 20 are provided for bending control, advancing/retracting control, and seven-rotation control, and by operating a switch (not shown), bending micro-vibration, advancing/retracting micro-vibration, two-rotation micro-vibration are possible, respectively.

In this way, in this embodiment, the devices for driving and controlling each of the bending and six forward/backward rotations are provided separately. Therefore, these devices can be selected and used as required, which is efficient.

Other functions and effects of the configuration 1 are the same as those of the first embodiment.

FIG. 31 is an explanatory diagram showing the configuration of an endoscope apparatus according to a seventh embodiment of the present invention.

The appearance of the endoscope apparatus of this embodiment is substantially the same as that of the sixth embodiment, except for the joystick 114 in the sixth embodiment.
Instead of the switches 115, 116, one central control joystick 120 is provided.

Further, an operating section 21 is provided in place of the operating section 111 in the sixth embodiment. This operation part 121 is the recessed part 1
22, and within these four parts 122, a wire guide 123 is provided in parallel to the longitudinal direction of the insertion part 2. This wire guide 123 is a cylindrical member having a slit, and a slider 124 is provided therein so that it can slide forward and backward. A curved wire 13 is attached to this slider 124. A convex portion] 24a formed on the slider 124 protrudes from the slit of the wire guide 123. A motor unit 125 is fitted into the four parts 122. Inside this motor unit 125, a rotatable guide 127 having a male thread is provided in parallel to the longitudinal direction of the insertion portion 2. A recessed member 126 is screwed into the second guide 127 .

Further, the guide [27] is rotated by a motor 128, and an encoder 129 is attached to this motor [28]. and the motor]
By rotating the guide 127 using the guide 28, the surface layer concave member 126 is moved forward and backward. Furthermore, when the motor units 1 to 125 are fitted into the recesses 22 of the working part 121, the recesses 126a of the recessed member 126 are fitted into the protrusions 124a of the slider 124.

In addition, the operating section 12]-, the advancing/retracting device 112, and the rotating device]13 each have the curved and
Curving control and forward/backward control 2 of the forward/backward/rotation control circuit 20
Sections related to rotational control are provided, and these are configured to perform bending control, advance/retreat control, and two-rotation control by operating a centrally controlled joystick 120, respectively.

Note that the position of the recessed member 126 is recognized by the 12 encoders, and the operation unit 1 is
A control circuit provided at 21 performs bending control and bending micro-vibration control such as micro-vibration angle.

Other functions and effects of Configuration 1 are the same as those of the first or sixth embodiment.

Below, 8th to 10th items shown in FIGS. 32 to 34.
The embodiment is an example in which the contact pressure, that is, the bending resistance of the bending portion 7 is detected, and when this bending resistance is equal to or greater than a predetermined value, a slight vibration is automatically performed. In addition, Figures 32 to 3
In FIG. 4, (a) shows the output of the bending resistance detection circuit 19, and <b> to d) respectively indicate the output of the bending resistance detection circuit 19.
10c, (e) and (f) show the actions of the joysticks 8 and 9, respectively, and (g) to i) show the actions of the switches 25a, 25c, and 25d, respectively. In addition, (, j) and (k) are the speed control circuit n29a and rotation direction instruction circuit 30 for the bending drive motor 12a.
Similarly, (, ll) and (m) indicate the operation of the circuits 29b and 30b for the bending drive motor 12b, and (n) and (0) indicate the operation of the circuit 2 for the motor 23a for advancing and retracting.
9c and 30c, and (p) and (q) show the operations of circuits 29d and 30d for the rotation motor 24a.

FIG. 32 is a timing chart for explaining the operation of the endoscope apparatus according to the eighth embodiment of the present invention.

This embodiment is an example in which bending microvibration is performed when bending resistance is equal to or greater than a predetermined value.

The configuration of this embodiment is substantially the same as that of the second embodiment.

In this embodiment, the output of the bending resistance detection circuit 19 shown in FIGS. This control circuit 28 controls the speed control circuits 29a, 29b and the rotation direction instruction circuit 30a for bending when the output of the navigation bending resistance detection circuit 19 is equal to or higher than a predetermined value.

301) to cause a slight curved vibration.

In order to simplify the explanation, in FIG. 32, as shown in (g), the vibration mode is in the same direction (h).

As shown in (i), an example is shown in which the microvibration is set at a narrow angle and at a low speed.

As shown in FIG. 32<a) and (e), when the joystick 8 is not operated and the output of one bending resistance detection circuit exceeds a predetermined value, as shown in FIG. 32(k), the rotation direction indicating circuit 30a outputs pulses in narrow angle mode and (
As shown in j), the speed control circuit 29a outputs pulses in the low speed mode. Therefore, the bending portion 7 performs a slight bending vibration in the 1JD direction at a narrow angle and at a low speed.

On the other hand, if the joystick 8 is operated, for example, in the R direction and the output of the bending resistance detection circuit 19 is less than the predetermined value,
As shown in (if) and (m>, the bending portion 7 bends in the R direction due to the operation of the two speed control circuits and the rotation direction instruction circuit 30b. However, as shown in (,0) In addition, the speed of bending is faster than the speed during bending vibration. The same is true when bending in the other UD and L directions.

Next, when the joystick 8 is operated, for example, in the R direction, and the output of the bending resistance detection circuit 19 exceeds a predetermined value, the rotation direction indicating circuit 30b outputs a pulse in the narrow angle mode, as shown in (m). However, as shown in (1), the speed control circuit 29b outputs pulses in the low speed mode. Therefore, the bending portion 7 performs slight bending vibration in the RL force direction at a narrow angle and at a low speed. The same applies when the output of the bending resistance detection circuit 19 exceeds a predetermined value during the bending operation in the other U, D, and L directions.

In addition, as shown in (a>, (f)), when the joystick 9 is operated to advance, retreat or rotate, and the output of the bending resistance detection circuit 19 exceeds a predetermined value, (j), (
As shown in k) and (n> to q), the bending portion 7 slightly vibrates in the UD force direction independently of the forward/backward or rotational movement.

It goes without saying that when the right-angle micro-vibration mode is set, when the output of the bending resistance detection circuit 19 exceeds a predetermined value, the bending micro-vibration is performed in a direction perpendicular to the bending operation direction.

In addition, instead of the control circuit 28 determining whether the output of the bending resistance detection diagram #I]9 is greater than or equal to a predetermined value, the bending resistance detection circuit 19 outputs H when the bending resistance is greater than or equal to a predetermined value. However, L may be output at other times.

As described above, according to this embodiment, when the bending resistance of the bending portion 7 exceeds a predetermined value, bending microvibrations are automatically performed to reduce contact resistance, thereby further improving insertability.

Other functions and effects of the configuration 1 are the same as those of the first embodiment.

FIG. 33 is a timing chart for explaining the operation of the endoscope apparatus according to the ninth embodiment of the present invention.

This embodiment is an example in which rotational vibration is performed when the bending resistance is greater than or equal to a predetermined value.

The configuration of this embodiment is substantially the same as that of the first embodiment.

In this embodiment, as in the eighth embodiment, the output of the bending resistance detection circuit 19 shown in FIGS. This control circuit 28 controls the rotational speed control circuit 29d and the rotational direction indicating circuit 30d to cause rotational slight vibration when the output of one of the bending resistance detection circuits is equal to or higher than a predetermined value. There is.

In addition, in order to simplify the explanation, in FIG. 33, (h),
As shown in (i), an example is shown in which the microvibration is set at a narrow angle and at a low speed.

As shown in FIG. 33(a), when the output of the bending resistance detection circuit 19 exceeds a predetermined value, the rotation direction indicating circuit 30d outputs a pulse in the narrow angle mode as shown in (q>), and (
As shown in p), the speed control circuit 29d outputs pulses in the low speed mode. Therefore, the insertion section 2 performs rotational slight vibration at a narrow angle and at a low speed.

Furthermore, as shown in (e) and (f), the joystick 8
, 9, when the output of the bending resistance detection circuit 19 exceeds a predetermined value, the insertion is performed independently of the bending or forward/backward operation, as shown in Part 2 rotates and vibrates slightly.

On the other hand, as shown in (f>), when a rotation operation is performed using the joystick 9 and the output of the bending resistance detection circuit 19 reaches a predetermined value "-", normal rotation is not performed and rotation @ vibration is performed. be exposed.

As described above, according to this embodiment, when the bending resistance of the bending portion 7 exceeds a predetermined value, rotational vibration is automatically performed to reduce the contact resistance, thereby further improving the insertability.

Other functions and effects of Configuration 1 are similar to those of the first or eighth embodiment.

FIG. 34 is a timing chart for explaining the operation of the endoscope apparatus according to the tenth embodiment of the present invention.

This embodiment is an example in which forward and backward slight vibrations are performed when the bending resistance is greater than or equal to a predetermined value.

This embodiment is substantially the same as the first embodiment.

In this embodiment, similarly to the eighth embodiment, the output of one bending resistance detection circuit shown in FIGS. 1 and 3 is input to the control circuit 28 in the bending forward/backward/rotation control port 120. When the output of the bending resistance detection circuit 19 is equal to or higher than a predetermined value, the control circuit 28 controls the speed control circuit 29c for advancing and the rotation direction indicating circuit 30c to cause slight vibrations in advancing and retreating. ing.

In addition, in order to simplify the explanation, in FIG. 34, (b),
As shown in (i), an example is shown in which the microvibration is set at a narrow angle and at a low speed.

As shown in FIG. 34(a), when the output of the bending resistance detection circuit 19 exceeds a predetermined value, the rotation direction indicating circuit 30c outputs a pulse in the narrow angle mode as shown in FIG. 34(o).
As shown in n), the speed control circuit B29c outputs pulses in the low speed mode. Therefore, the insertion section 2 performs minute vibrations of forward and backward movement at a narrow angle and at a low speed.

Furthermore, as shown in (e) and (f), the joystick 8
, 9, and if the output of the bending resistance detection circuit 19 exceeds a predetermined value, the bending or rotation is performed as shown in (j), (k), (n) or q>. The insertion portion 2 slightly vibrates as it moves forward and backward, independently of the rotational movement.

On the other hand, as shown in (f), when the joystick 9 performs a push operation and the output of one bending resistance detection circuit exceeds a predetermined value, as shown in (o), the rotation direction indicating circuit 30c outputs a pulse whose L level is longer than its H level. As a result, the insertion section 2 advances while slightly vibrating forward and backward.

As described above, according to this embodiment, when the bending resistance of the bending portion 7 becomes equal to or greater than a predetermined value, slight forward and backward vibrations are automatically performed to reduce contact resistance, thereby further improving insertability.

The other functions and effects of the second configuration are the same as those of the eighth embodiment.

Below, 11th to 1st shown in FIGS. 35 to 39
The fourth embodiment is an example in which slight vibrations are automatically generated during bending, forward/backward, or rotational operations.

In addition, in FIGS. 36 to 39, (a) to C) respectively indicate the operation of the switches 10a to 10c,
(d) and (e) show the operation of the joysticks 8 and 9, respectively, and (f) or h) respectively show the operation of the switch 25.
The operations of a, 25c, and 25d are shown. Also, (i) and (
j) shows the operation of the speed control circuit 29a and rotation direction indicating circuit 30a for the bending drive motor 12b, and similarly, (k) and (ρ) show the operation of the circuits 29b to 30b for the bending drive motor 12b. (m) and (n> show the operation of the circuits 29c and 30c for the motor 23a for forward and backward movement, and (o) and (p) show the operation of the circuits 29d and 30d for the motor 24a for rotation.

35 and 36 relate to the eleventh embodiment of the present invention, FIG. 35 is an explanatory diagram showing the main parts of the control device, and FIG. 36 is a timing chart for explaining the operation of the endoscope device. It is.

This embodiment is an example in which rotational slight vibration is performed during a bending operation.

As shown in FIG. 35, in this embodiment, the switches 25a to 25 of the control device 16 in the first embodiment are
In addition to the switch 25e, a curve following rotational vibration mode setting switch 25f is provided. When the bending follow-up rotational slight vibration mode is set by this switch 25f, the control circuit 28 in the bending advancement/retraction/rotation control circuit 20 controls the rotational slight vibration during the bending operation. The other configurations are the same as in the first embodiment.

Next, the operation of this embodiment will be explained with reference to FIG.

In order to simplify the explanation, in FIG. 36, the switch 25f is set to the curve following rotational vibration mode, and (g),
As shown in (h), an example is shown in which the microvibration is set at a narrow angle and at a low speed.

When a bending operation is performed using the joystick 8 as shown in FIG. 30d outputs pulses in narrow angle mode, and as shown in (0), speed control circuit 29d outputs pulses in low speed mode. Therefore, during the bending operation of the bending section 7, the insertion section 2 performs slight rotational vibration at a narrow angle and at a low speed.

As described above, according to this embodiment, when the bending portion 7 is bent, rotational slight vibrations are automatically performed to reduce contact resistance, thereby further improving insertability.

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

FIG. 37 is a timing chart for explaining the operation of the endoscope apparatus in the twelfth embodiment of the present invention.

This embodiment is an example in which slight vibrations in forward and backward movements are performed during forward and backward operations.

The configuration of this embodiment is such that the switch 25f in FIG. 35 is used as a forward/backward tracking forward/backward fine vibration mode setting switch, and the other configurations are as follows. This is the same as the eleventh embodiment.

In this embodiment, when the switch 35f sets the forward/backward following forward/backward slight vibration mode, the control circuit 28 in the curved forward/backward/rotation control circuit 20 causes the forward/backward slight vibration to be performed during the forward/backward operation. There is.

As shown in FIG. 37(e), when the joystick 9 is used to move forward or backward, the speed control circuit 29c, as shown in (m), generates a pulse according to the mode set by the switch 25d, as shown in (h). Further, as shown in (n), when the joystick 9 is operated in the forward direction, the rotation direction indicating circuit 30c outputs a pulse that is longer in L than F (when the joystick 9 is operated in the forward direction. When operated in the direction, the H outputs a longer pulse than the H output.The frequency of the output pulse of the rotation direction indicating circuit 30c is set to the mode set by the switch 25c as shown in (g). This changes accordingly.
During forward and backward operations, the insertion portion 2 advances and retreats while making slight vibrations.

As described above, according to this embodiment, when the insertion portion 2 is advanced or retreated, slight vibrations are automatically performed to reduce the contact resistance, thereby further improving the insertability.

The other functions and effects of Structure 4 are the same as those of the first embodiment.

FIG. 38 is a timing chart for explaining the operation of the endoscope apparatus in the thirteenth embodiment of the present invention.

This embodiment is an example in which slight vibrations of forward and backward movement are performed during rotational operation.

The configuration of this embodiment is such that the switch 25f in FIG. 35 is used as a rotation follow-up forward/backward vibration mode setting switch, and the other configurations are the same as those of the first or eleventh embodiment.

In this embodiment, when the rotation following forward/backward slight vibration mode is set by the switch 35f, the forward/backward slight vibration is performed during rotation operation under the control of the control circuit 28 in the curved advance/backward/rotation control circuit 20. There is.

When the joystick 9 is rotated as shown in FIG. 38(e), normal rotation is performed as shown in (o) and (p>), and the speed control circuit 29c is activated as shown in (m). , as shown in (h), outputs a pulse according to the mode set by the switch 25d.Also, as shown in (n), the rotation direction indicating circuit 30c outputs a pulse according to the mode set by the switch 25d.
As shown in g), a pulse with a frequency corresponding to the mode set by the switch 25c is output. This results in
During the rotation operation, the insertion section 2 rotates while moving forward and backward with slight vibrations.

As described above, according to this embodiment, when the insertion portion 2 is rotated, slight vibrations of forward and backward movements are automatically performed to reduce contact resistance, thereby further improving insertion performance.

The other functions and effects of the configuration 9 are the same as those of the first embodiment.

FIG. 39 is a timing chart for explaining the operation of the endoscope apparatus in the fourteenth embodiment of the present invention.

This embodiment is an example in which slight vibrations of forward and backward movement are performed during a bending operation.

The configuration of this embodiment is such that the switch 25f in FIG. 35 is used as a bending follow-up advance/retreat micro-vibration mode setting switch, and the other configurations are the same as those of the first or eleventh embodiment.

In this embodiment, when the bending follow-up forward/backward slight vibration mode is set by the switch 35f, the forward/backward slight vibration is performed during the bending operation under the control of the control circuit 1128 in the bending/forward/backward/rotation control circuit 20. ing.

In order to simplify the explanation, FIG. 39 shows an example in which the microvibration mode in the same direction is set as shown in (f>).

When a bending operation is performed using the joystick 9 as shown in FIG. 39(d), normal bending is performed as shown in (i) to N), and the speed control circuit 29c is , as shown in (h), the switch 25
Outputs pulses according to the mode set by d. Further, as shown in (n), the rotation direction indicating circuit 30c outputs a pulse of a frequency according to the mode set by the switch 25c, as shown in (g). As a result, during the bending operation, the insertion portion 2 bends while slightly vibrating forward and backward.

As described above, according to this embodiment, when the insertion portion 2 is bent, the forward and backward slight vibrations are automatically performed to reduce the contact resistance, thereby further improving the insertability.

Other functions and effects of the configuration 1 are the same as those of the first embodiment.

In addition, in combinations other than those shown in the eleventh to fourteenth embodiments, the bending, forward/backward, or rotational slight vibrations may be automatically performed during the bending, forward/backward, or rotational operations.

FIG. 40 is a circuit diagram showing a motor and its control circuit in a fifteenth embodiment of the present invention.

In this embodiment, the bending motors 12a, 12b, the forward/backward motor 32a and the rotating motor 24a in the first to fourteenth embodiments are used.
In this case, a direct current (DC) motor 131 is used instead of a stepping motor.

One input end of the DC motor 131 has stop/normal rotation/
It is connected to the movable contact 132a of the reverse changeover switch]-32, and the other input end is grounded.

The first of the three fixed contacts of the changeover switch 132
The fixed contact 132b is connected to the positive pole of a variable voltage DC power supply 133, and the negative pole of this power supply 133 is grounded. Also, the second fixed contact 132 of the changeover switch 132
C is grounded via a free/open/link changeover switch 134. Further, the third fixed contact 132d of the changeover switch 132 is connected to the negative pole of a variable voltage DC power supply 135, and the positive pole of this power supply 138 is grounded.

The changeover switch 132 is switched by rotation direction indicating circuits 30a to 30d shown in FIG.
By selecting 32b or 132d, the DC motor 131 rotates forward or reverse, and by selecting the fixed contact 132C, the DC motor 131 is stopped. Further, the voltage of the power supplies 133 and 135 is controlled by the speed control circuit 29a.
~29d. That is, this power supply 13
By increasing or decreasing the voltage of 3135, the DC motor 13
1 speed changes. Further, the free/lock changeover switch 134 is the free/lock switch 31a to 3
1d.

That is, when the identification contact 132C of the switch 132 is selected, if the free/lock changeover switch 134 is turned on, the DC motor 131 will be locked by the back electromotive force, and if the switch 134 is turned off, the DC motor 131 will be locked.
becomes free.

The other functions and effects of Structure 1 are the same as those of the first to fourteenth embodiments.

Note that the present invention is not limited to an electronic endoscope in which a solid-state image sensor is provided at the distal end of the insertion section, and the object image formed by the objective lens is transmitted to the base side of the insertion section by an image guide, and this image is transmitted to the base side of the insertion section. The present invention can also be applied to endoscopes of the type in which images are observed with the naked eye through an eyepiece or images are taken with an imaging means.

[Effects of the Invention] As explained above, according to the present invention, a means for slightly rotating the insertion portion is provided, so that by slightly rotating the insertion portion, contact resistance is reduced and the insertion portion can be easily inserted. Furthermore, since the operating state of fine rotation can be selected, it is possible to turn on/off fine rotation and select appropriate conditions depending on the insertion site.

[Brief explanation of drawings]

1 to 19 relate to a first embodiment of the present invention, in which FIG. 1 is a block diagram showing the configuration of an endoscope device, FIG. 2 is an explanatory diagram showing the external appearance of the endoscope device, and FIG. The figure is a block diagram showing the configuration of the bending advancement/retraction/rotation control circuit, Figure 4 is a timing chart to explain the operation of the endoscope device during normal bending operation, and Figure 5 is the same-direction micro-vibration mode. FIG. 6 is a timing chart for explaining the operation of the endoscope device when the bending operation is not performed, and FIG. 6 is a timing chart for explaining the operation of the endoscope device during the bending operation in the same direction micro vibration mode.
FIG. 7 is a timing chart for explaining the operation of the endoscope device in the right-angle micro-vibration mode, FIG. 8 is a timing chart for explaining the operation of the endoscope device during turning motion, and FIG. A timing chart for explaining the operation of the endoscope device during rotational micro-vibration and bending micro-vibration operations, and FIG. 10 is a timing chart for explaining the operation of the endoscope device when the conditions of rotational micro-vibration are changed. Chart, 11th
Figure 12 is a timing chart to explain the operation of the endoscope device during forward/backward micro-vibration and bending micro-vibration operations, and Figure 12 explains the operation of the endoscope device when the conditions of forward/backward micro-vibration are changed. Fig. 13 is an explanatory diagram showing slight vibrations in the vertical direction, Fig. 14 is an explanatory diagram showing micro vibrations in the left-right direction, Fig. 15 is an explanatory diagram showing clockwise rotation movement, Fig. 16 is an explanatory diagram showing micro vibrations in the horizontal direction. Figure 17 is an explanatory diagram showing counterclockwise turning motion, Figure 17 is an explanatory diagram showing forward and backward vibrations, Figure 18 is an explanatory diagram showing rotational vibrations, and Figure 19 is a part of the mode display section of the monitor. The explanatory drawings, FIG. 20, and FIG. 21 relate to the second embodiment of the present invention, FIG. 20 is a block diagram showing the configuration of the endoscope device, and FIG. 21 is an explanatory diagram showing the external appearance of the endoscope device. , FIG. 22 and FIG. 23 relate to a third embodiment of the present invention, FIG. 22 is a block diagram showing the configuration of the endoscope device, FIG. 23 is an explanatory diagram showing the external appearance of the endoscope device, and FIG. 24 and 25 relate to a fourth embodiment of the present invention, in which FIG. 24 is a block diagram showing the configuration of the endoscope device, FIG. 25 is an explanatory diagram showing the external appearance of the endoscope device, and FIG. 26 28 to 28 relate to a fifth embodiment of the present invention, and FIG. 26 is a block diagram showing the configuration of an endoscope device;
FIG. 27 is a timing chart for explaining the operation of this embodiment, FIG. 28 is an explanatory diagram showing the external appearance of the endoscope device,
29 and 30 relate to a sixth embodiment of the present invention, in which FIG. 29 is an explanatory diagram showing the configuration of an endoscope device, FIG. 30 is an explanatory diagram showing the external appearance of the endoscope device, and FIG. The figure shows the seventh aspect of the present invention.
An explanatory diagram showing the configuration of an endoscope apparatus according to an embodiment, FIG. 32 is a timing chart for explaining the operation of an endoscope apparatus according to an eighth embodiment of the present invention, and FIG. 33 is a diagram showing a ninth embodiment of the present invention. FIG. 34 is a timing chart for explaining the operation of the endoscope apparatus according to the tenth embodiment of the present invention. FIGS. 35 and 36 are timing charts for explaining the operation of the endoscope apparatus according to the tenth embodiment of the present invention. Regarding the eleventh embodiment of the present invention, FIG. 35 is an explanatory diagram showing the main parts of the control device, FIG. 36 is a timing chart for explaining the operation of the endoscope device, and FIG. 37 is an explanatory diagram showing the main parts of the control device. FIG. 38 is a timing chart for explaining the operation of the endoscope apparatus in the 12th embodiment.
39 is a timing chart for explaining the operation of the endoscope apparatus in the 14th embodiment of the present invention, and FIG. 40 is a timing chart for explaining the operation of the endoscope apparatus in the 14th embodiment of the present invention. It is a circuit diagram showing a motor and its control circuit in a 15th example. 1. Endoscope 2. Insertion section operation section
7...Bending portion 9...Joystick 0.11.25...Switches 2a, 12b...Bending drive motor 6...Control device 0...Bending/backward/backward/rotation control circuit 3...Advance/backward roller 23a... Advance/retract motor 4...
Rotating roller 24a... Rotating motor 9a to 29d.
・・Speed control circuit Oa~30d ・Rotation direction indicating circuit Fig. 20 Fig. 2 rd Cp eIv Fig. 21 o:) Fig. 24 Fig. 26 Fig. 27 (C) [-7 try 8 IOl Figure 29 Figure 31 Figure 30 Figure I4

Claims (1)

[Scope of Claims] An endoscope apparatus having an insertion section inserted into a subject, comprising: means for slightly rotating the insertion section; a fine rotation control means for controlling the means for fine rotation; and the fine rotation control. 1. An endoscope apparatus comprising a selection means for selecting an operating state of the means.