JPH04256724A - Endoscope - Google Patents

Abstract

PURPOSE:To offer the endoscope which is small is size and light in weight, and also, capable of executing surely a lock state and a free state by a simple structure, in the endoscope in which a motor, etc., are used as a driving source of a curvature device. CONSTITUTION:The endoscope is provided with clutch means 41, 51 which can engage and separate freely each driving side gear 45, 46 connected to motors 40, 39 for a curvature operation, and each driven side gear 29, 30 formed integrally with sprockets 27, 28 to an engaging point in the roughly normal direction to a pitch circle, and comes to a lock state and a free state when they are engaged or separated, respectively.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope whose curved portion at the distal end of an insertion portion of the endoscope is operated by a drive device.

0002

[Prior Art] Recently, an electric motor has been incorporated into an endoscope operation section, and the power of this electric motor is used to pull a traction member for bending operation to remotely control the bending section of the insertion section. An endoscope has been proposed. According to such an electric type bending operation device, the operability is significantly improved compared to the conventional manual type.

[0003] Furthermore, since the drive source of such an electric endoscope requires high torque to bend the curved portion,
For example, in West German Patent No. 2504663, an endoscope has been devised in which a motor is combined with a gear having a large reduction ratio.

However, in an endoscope that combines gears, even when the curved section presses against the inside of the body cavity when the insertion section is inserted into and removed from the human body, the power transmission mechanism using the gears with a large reduction ratio cannot be used. Because of this, the curved portion could not be bent by a weak external force, that is, it would not be in a free state, and there was a risk of injury to the inside of the body cavity.

[0005] Therefore, Japanese Unexamined Patent Publication No. 53-39685 discloses a system in which a clutch mechanism is incorporated into a power transmission mechanism for transmitting power from a motor to realize a free state.

That is, one of the two gears connected in the axial direction of the transmission gear train constituting the power transmission mechanism is mechanically moved in the axial direction to release the connection and bend the endoscope. This is to make the section free.

However, since the gears constituting the transmission gear train are moved in the axial direction to mesh and separate, there are cases where the teeth of the gears cannot mesh smoothly when actually meshing again after being separated. This causes a problem in that it is not possible to reliably achieve a locked state in which power from the motor can be transmitted. Also, when separating meshing gears, if a particularly large load is applied to the teeth of the gears, the friction on the tooth surfaces of the meshing gears is large, and a large force is required to separate them. This poses a problem of poor operability.

Furthermore, in Japanese Patent Publication No. 63-59329, a worm gear is provided on the motor shaft of a motor for bending operation, and by rotating the motor, the worm gear and the gear on the driven side are engaged, By separating the motor, a locked state is established in which power can be transmitted from the motor.
A free state in which the curved portion is bent by an external force is disclosed.

[0009] However, in general, the endoscope operating section is small and the internal space is limited, so the motor shaft of the motor has to be shortened.
The worm gear cannot be completely separated from the driven gear, and as a result, a problem arises in that a reliable free state cannot be achieved. Additionally, if the motor shaft is lengthened to ensure a reliable free state, the space created by this motor shaft and the space for the worm gear to move together with the motor will also become larger, making the endoscope larger and heavier. This results in poor operability.

0010

[Problems to be Solved by the Invention] As described above, in order to achieve reliable locking and freeing in an endoscope that is operated by a conventional drive device, a large space is required for the clutch mechanism. As endoscopes become larger, their weight increases, resulting in poor operability.

[0011] Furthermore, when attempting to downsize and reduce the weight of an endoscope, it has been difficult to achieve reliable locking and free states.

The present invention has been made in view of the above circumstances, and is an endoscope that uses a motor or the like as a drive source for bending operation, which is small and lightweight, has a simple structure, and provides reliable locking and free states. The aim is to provide an endoscope that can achieve the following.

[0013]

[Means for Solving the Problems] In order to achieve the above object, an endoscope according to the present invention includes: a traction operation means for bending a curved portion provided in an insertion section with a traction member; a curvature operation drive means; In an endoscope having a plurality of gears for transmitting power from a bending operation drive means to the traction operation means, a clutch means for freely engaging and disengaging the meshing gears in a direction substantially normal to a pitch circle with respect to a meshing point. It is equipped with the following.

[0014]

[Operation] In the above configuration, first, when inserting the insertion portion of the endoscope into a body cavity or the like and performing a bending operation, the bending operation drive means is rotated, and the gear connected to this bending operation drive means is rotated. and rotates at least one gear meshing with this gear. Then, the traction operation means connected to the rotated gear pulls and relaxes the traction member to curve the curved portion provided in the endoscope insertion portion.

In this state, when the endoscope is to be brought from the locked state to the free state, the clutch means is operated to move the gear apart from the meshing point in a direction substantially normal to the pitch circle, and perform the bending operation. Transmission of power from the drive means is canceled.

Further, when the endoscope is to be changed from the free state to the locked state again, the clutch means is operated to engage the gear in a direction substantially normal to the pitch circle with respect to the engagement point, and the bending operation drive means The state is such that power can be transmitted from the

[0017]

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

{First Embodiment} FIGS. 1 to 4 show a first embodiment of the present invention, in which FIG. 1 is a sectional view of a main part of a bending operation section, FIG. 2 is a schematic diagram of the overall configuration of an endoscope device, FIG. 3 is an explanatory diagram of the clutch operation, and FIG. 4 is a front view of the curved portion traction section.

(Configuration) In these figures, reference numeral 1 indicates an electronic endoscope device, and this electronic endoscope device 1 supplies an electronic endoscope 2 and illumination light to this electronic endoscope 2. A light source device 3, a video processor 4 that performs signal processing for the electronic endoscope 2, and a monitor 5 that receives video signals output from the video processor 4 and displays a subject image.
and a curved portion 1 provided in the insertion portion 7 of the electronic endoscope 2.
A curve motor control device 6 for controlling the curve of the curve 6 is provided.

The electronic endoscope 2 includes an insertion section 7 formed to be elongated so as to be insertable into a subject, a large-diameter operation section 8 connected to the rear end of the insertion section 7, and an operation section 8 connected to the rear end of the insertion section 7. 8, and a connector 10 provided at the end of the universal cord 9 and detachably connected to the light source device 3. This connector 1
0, a video processor cord 11 and a motor control device cord 13 extend from the side. The end of the video processor cord 11 is provided with a connector 12 that is detachably connected to the video processor 4, and the end of the motor control device cord 13 is provided with a connector 12 that is detachably connected to the motor control device 6. Connector 1 connected to
4 are provided.

The insertion section 7 of the electronic endoscope 2 has a rigid tip structure 15 and is connected to the rear end of the tip structure 15, and is curved in each of the up, down, left and right directions, and in a combination thereof. It is composed of a bendable portion 16 and a long flexible tube portion 17 connected to the rear end of the curved portion 16, and the rear end of the flexible tube portion 17 is connected to the operating portion. 8 is connected.

The operation section 8 also includes an air supply/water supply button 18, a suction button 19, a bending operation switch section 20 for bending operation, and a clutch for turning the bending section 16 into a free state or a locked state. A F/L lever 51 constituting means is provided. Above air supply and water supply button 1
8, air or water is supplied from the air and water ports (not shown) provided in the distal end component 15, and by operating the suction button 19, the electronic endoscope 2 is supplied with air or water. Suction is performed using an internal suction channel (not shown). Also,
The bending operation switch section 20 is of a joystick type having a lever 21, and by operating the lever 21 two-dimensionally, the bending section 16 can be bent in a desired direction. There is. Furthermore, by operating the F/L lever 51, the curved portion 16 can be brought into a free state or a locked state.

The tip component 15 is provided with an illumination window and an observation window (not shown). An output end face of a light guide (not shown) is arranged inside this illumination window. This light guide is inserted through the insertion section 7, the operation section 8, and the universal cord 9, and its input end is connected to the connector 10. A light source (not shown) is provided in the light source device 3 to which this connector 10 is connected, and the illumination light emitted from this light source is incident on the incident end surface of the light guide, passes through this light guide, and passes through the illumination window. The object to be examined is irradiated from the source.

Although not shown, an objective optical system and a solid-state image pickup device, for example, a CCD, are provided inside the observation window, and are arranged at the imaging position of the objective optical system. The signal lines (not shown) connected to this CCD include the insertion section 7, the operation section 8, the universal cord 9, the connector 10,
It is inserted through the cord 11 and connected to the connector 12.

The video processor 4 to which the connector 12 is connected is provided with a video signal processing circuit (not shown), and the input terminal of this video signal processing circuit is connected to the connector 1.
2, and the output end of the video signal processing circuit is connected to the monitor 5.
It is connected to the. The above-mentioned CCD is driven by the above-mentioned video signal processing circuit, and an image of a subject such as a subject to be examined formed on a photoelectric conversion surface of the above-mentioned CCD by the above-mentioned objective optical system is photoelectrically converted and processed as an image signal through the above-mentioned video signal processing. input to the circuit. The image signal is converted into a video signal by the video signal processing circuit, and an image of the subject to be examined is displayed on the monitor 5 using this video signal.

The inside of the operation section 8 is connected to the main frame 2.
Shafts 23 and 24 are provided on both sides of the operating portion 8 so as to be offset in the axial direction of the operating portion 8, and are fixed thereto by, for example, caulking. is fixed with means such as screws (not shown).

Between each of the subframes 25, 26 and the main frame 22, sprockets 27, 2 as an example of traction operation means are installed from the main frame 22 side.
8, driven side gears 29 and 30 fixed to each sprocket 27 and 28 by means such as adhesive, and a spacer 31,
32 is rotatably provided on each of the shafts 23 and 24.

Each of the sprockets 27 and 28 constitutes a traction member, and the chain 3 is an example of the traction member.
3 and 34 are wound around each other, and at the end of each chain 33 and 34, a traction wire is connected to the tip structure part 15 to form a traction member and connect curved wires 35 and 36 as an example of the traction member. Wire connection members 37, 38 constituting the members are provided.

Further, a motor slider 41 constituting a clutch means is provided on the sub-frame 25, and a drive means for driving the operating portion 8 to bend in the axial direction is provided on the outer case 42 side of the motor slider 41. Motors 39 and 40, as an example, are fixed in parallel to the motor slider 41 by means such as screws. In addition, each of the above motors 4
Drive side gears 45 and 46 are fixed to the motor shafts 43 and 44 extending from the motor shafts 0 and 39 by, for example, press fitting,
Each of the driving side gears 45 and 46 is connected to each of the driven side gears 29 and 3.
It meshes with 0.

Further, a spring stopper 47 is provided at the end of the motor slider 41 on the side of the insertion portion, and the spring stopper 47
A spring stopper 48 is provided at the end of the insertion portion 5 . Here, a spring 49 is hooked to the spring stop 47 and the spring stop 48, and the motor slider 41 is moved toward the insertion part, that is, the drive side gears 45 and 46 are moved toward the driven side gears 29, 30 in the direction of meshing.

Further, a cam groove 50 is formed on the side of the motor slider 41, and a cam groove 50 extends from the F/L lever 51 provided outside the outer case 42 into the cam groove 50. A cam 5 constituting a clutch means is fixed to the shaft end of a protruding camshaft 52 by caulking or the like.
3 is arranged so that it can act on the cam groove 50.

Further, due to the rotation of the cam 53, the motor slider 41 is slidable in the axial direction of the operating section 8, and the slider guides 54, 55 are connected to the subframe 25.
It is fixedly installed.

The F/L lever 51 may be colored in a conspicuous color, for example red, so that the operator can quickly respond in an emergency.

(Operation) Next, the operation of the embodiment with the above configuration will be explained.

When the operator inserts the insertion section 7 of the electronic endoscope 2 into a body cavity or the like and curves the curved section 16 in the vertical direction, for example, the operator tilts the lever 21 of the curve operation switch section 20 in a specified direction. As a result, the upper/lower motor 39 is driven, and the motor shaft 44 and the driving gear 46 fixed to the motor shaft 44 are rotated. This driving side gear 4
6 is transmitted to the driven gear 30 and the sprocket 28 fixed to the driven gear 30, and the chain 34 wound around the sprocket 28 moves and connects the curved wire 36 via the wire connection member 38. traction, relaxation,
The curved portion 16 is curved in the vertical direction.

Similarly, when the curved portion 16 is curved in the left-right direction, the lever 2 of the curve operation switch portion 20
By tilting motor 1 in the specified direction, motor 4 for left/right
0 to rotate the motor shaft 43 and the driving gear 45 fixed to the motor shaft 43. The rotation of the driving side gear 45 is transmitted to the driven side gear 29 and the sprocket 27 fixed to the driven side gear 29, and the chain 33 wound around this sprocket 27 moves and is transmitted through the wire connecting member 37. and pull the curved wire 35.
It is relaxed and the curved portion 16 is curved in the left-right direction.

Further, when removing the insertion section 7 of the electronic endoscope 2 from within the body cavity, rotate the F/L lever 51,
A cam 5 fixed to this camshaft 52 is connected via a camshaft 52 fixed to this F/L lever 51.
Rotate 3. As the cam 53 rotates, the cam crest of the cam 53 acts on the cam groove 50 to release the motor slider 41 from the engagement between the driving gears 45 and 46 and the driven gears 29 and 30. slide it in the direction you want.

Therefore, the sprockets 27 and 28 fixed to the driven gears 29 and 30 are free to rotate due to the external force applied to the curved portion 16. By making this free state, the insertion portion 7
is removed from the body cavity, etc.

When the curved portion 16 is to be brought into a state where it can be bent again, that is, into a locked state, the F/L lever 51 is rotated in the opposite direction to the above-mentioned direction. Then,
The position of the cam ridge of the cam 53 is at a position where it does not act on the cam groove 50, and the spring 49 causes the motor slider 41 to engage the driving side gears 45, 46 with the driven side gears 29, 30. In order to return to the position, the curved portion 16 becomes in a bendable state.

Here, the spring 49 always biases the motor slider 41 in the direction in which the respective driving side gears 45, 46 and the respective driven side gears 29, 30 mesh with each other. Gears 45, 46 and each of the driven gears 29
, 30 engage and operate, the force generated by this operation does not cause the engagement to be released.

[0041] Furthermore, in the case where the driving side gears 45, 46 and the driven side gears 29, 30 are in a bendable state, even if the tooth crests of the driving side gears 45, 46 and the driving side gears 29, 30 overlap and cannot mesh, the driving side gears 45, 46 As the two rotate, they are automatically engaged by the biasing force of the spring 49.

[0042] In this way, since both sides of the main frame 22 are used to arrange and operate the traction operation means, traction members, etc., the endoscope can be made smaller than conventional endoscopes.

Furthermore, since the F/L lever 51 can be mechanically brought into a free state by rotating, the insertion section 7 of the electronic endoscope 2 can be safely removed from the body cavity, etc. even in the event of a power outage.

Furthermore, by making the F/L lever 51 a conspicuous color such as red, the operator can quickly adjust the F/L lever.
Since the L lever 51 can be recognized and operated, safety can be improved.

{Second Embodiment} FIGS. 5 to 11 show a second embodiment of the present invention, in which FIG. 5 is a schematic diagram of the overall configuration of the fiberscope device, FIG. 6 is a schematic diagram of the rear part of the operating section, and FIG. FIG. 8 is an explanatory diagram of the arrangement of switches in the bending operation section, FIG. 8 is an explanatory diagram of the action of the clutch means, FIG. 9 is a sectional view taken along line IX-IX in FIG. 8, and FIG. 10
is a sectional view taken along line XX in FIG. 8, and FIG. 11 is a sectional view taken along line XI-XI in FIG.

The second embodiment is a fiberscope system by changing the configuration of the bending operation switch and motor slider from the first embodiment.

(Structure) The fiberscope 61 has an eyepiece section 60 on the side opposite to the insertion section 7 of the operation section 8, and has an eyepiece section 60 for air supply,
The water supply button 18 and the suction button 19 are provided on a sloped surface 62 formed on the operating section 8 for ease of operation. Further, the curved operation switch section 63 is connected to the operation section 8.
A seesaw switch 64 that can be operated in the axial direction of Operable seesaw switch 6
It consists of 5. Further, each of the seesaw switches 64 and 65 can be arbitrarily set as a switch for up, down, left, or right directions by the motor control device 6, and furthermore, the amount of operating force can also be set arbitrarily.

The internal structure of the operating section 8 is such that the moving direction of the motor slider in the first embodiment is changed from the axial direction of the operating section 8 to a substantially perpendicular direction. This is the direction of the slope portion 62. Further, since the other parts are the same as those in the first embodiment, the explanation thereof will be omitted.

Motor 3 as an example of bending operation driving means
9 and 40 are arranged in the axial direction of the operating section 8 and are fixed to a motor slider 64 constituting the clutch means by means such as screws. The eyepiece section 6 of this motor slider 64
The operation section 8 is provided at both ends of the 0 side and the insertion section 7 side.
Rail guides 65 and 66 are fixed to the motor slider 64 with screws or the like in the direction perpendicular to the axis. In the axial direction of each of these rail guides 65 and 66 are rails 67 and 6.
8 is inserted through the rails 67 and 68, and one end of each of these rails 67 and 68 is fixed to the rail stoppers 69 and 70 fixed to the bending operation switch section 63 side on the subframe 63 by means such as screws.
For example, it is fixed by means such as press fitting. Further, the other ends of each of the rails 67 and 68 are supported by rail support portions 73 and 74 that are bent to correspond to the rail stops 69 and 70 on the slope portion 62 side of the subframe 63. Further, on the outer periphery of each of the rails 67 and 68, each of the above-mentioned rail guides 65 and 66 and each of the above-mentioned rail support parts 73,
Springs 71, 72 are interposed between the rail guides 65, 66 and the rail supports 73, 74, and the springs 71, 72 bias the rail guides 65, 66 and the rail supports 73, 74 in a direction that widens the distance between them. ing. With such a configuration, the motor slider 64 can be moved in a direction perpendicular to the axis of the operating section 8 by the rails 67 and 68.

Further, a cam groove 75 having a flat portion 77 is formed at the end of the motor slider 64 on the side of each of the rail stops 69 and 70. F/L lever 5 constituting the means
A cam 53 constituting a clutch means is provided so as to be operable via a camshaft 52 extending from the clutch member 1 . That is, when the cam 53 is rotated, the cam crest of the cam 53 acts on the cam groove 75, and moves the motor slider 64 in the direction perpendicular to the axis of the operating section 8, thereby moving the motor slider 64 into the cam groove 75. The sliding of the motor slider 64 can be stopped when the cam peak reaches the flat portion 77 of the motor slider 64.

[0051] Also, main drive side gears 45, 4 fixed to the motor shafts 43, 44 of each of the motors 40, 39,
6 meshes with the driven side gears 29 and 30 in the direction perpendicular to the axis of the operating section 8, and is disposed so as to be able to engage and separate as the motor slider 64 moves.

It should be noted that the other constituent parts are the same as those of the first embodiment, and therefore will not be described here.

(Operation) Next, the operation of the embodiment with the above configuration will be explained.

For example, when the curved portion 16 is curved in the vertical direction, the seesaw switch 6 of the curve operation switch portion 63
When 5 is operated, the upper/lower motor 39 is driven, and the motor shaft 44 and the driving gear 46 fixed to the motor shaft 44 are rotated. The rotation of the driving side gear 46 is transmitted to the driven side gear 30 and the sprocket 28, which is an example of a traction operation means fixed to the driven side gear 30, and constitutes a traction member wound around the sprocket 28. The chain 34 moves and the wire connecting member 38
The curved wire 36 constituting the traction member is pulled and relaxed through the traction member, thereby bending the curved portion 16 in the vertical direction.

Similarly, when the curved section 16 is curved in the left-right direction, the seesaw switch 64 of the curve operation switch section 63 is operated to drive the left/right motor 40, and the motor shaft 43 and A driving side gear 45 fixed to this motor shaft 43 is rotated. The rotation of the driving gear 45 is caused by the rotation of the driven gear 29 and the driven gear 29.
The transmission is transmitted to a sprocket 27, which is an example of a traction operation means fixed to the sprocket 27, and the chain 33, which constitutes the traction member and is wound around this sprocket 27, moves, and the curved wire configuring the traction member is connected via the wire connection member 37. 35 is pulled and relaxed to curve the curved portion 16 in the left-right direction.

To set the free state, rotate the F/L lever 51 and move the cam 53 fixed to the camshaft 52 via the camshaft 52 fixed to the F/L lever 51. Rotate. Due to the rotation of this cam 53, the cam crest of this cam 53 acts on the cam groove 75,
The motor slider 64 is moved in the direction perpendicular to the axis of the operating portion 8 toward the slope portion 62 of the outer case 76 . For this reason, each of the above-mentioned motors 39, which were fixed to the motor slider 64,
40 also moves, and the respective driving side gears 45, 46 fixed to these respective motors 40, 39 via motor shafts 43, 44 also move, and the respective driven side gears 29, 30 move.
Release the engagement with. And each of the driven side gears 29,
Each of the sprockets 27 and 28 fixed to the sprocket 30 becomes rotatable due to an external force applied to the curved portion 16 and becomes free.

Furthermore, when the cam crest of the cam 53 reaches the flat surface 77 of the cam groove 75, the motor slider 6
4 slide stops.

When the curved portion 16 is to be brought into a state where it can be bent again, that is, into a locked state, the F/L lever 51 is rotated in the opposite direction to the above-mentioned direction. Then,
The position of the cam ridge of the cam 53 is at a position where it does not act on the cam groove 75, and the springs 71 and 72 allow the motor slider 64 to move between the driving side gears 45 and 46 and the driven side gears 29 and 30. In order to return to the meshing position, the curved portion 16 is in a bendable state.

Here, the motor slider 64 is moved by the respective springs 71 and 72 to the respective driving side gears 45 and 46.
Since the driven side gears 29 and 30 are always biased in the direction in which they mesh, even if the driven side gears 45 and 46 and the driven side gears 29 and 30 mesh and operate, this operation does not occur. The force generated by this will not disengage the mesh.

Furthermore, by positioning the cam ridge of the cam 53 on the flat surface 77 of the cam groove 75, the motor slider 64 can be fixed and kept in a free state.

In this manner, by sliding the motor slider 64 toward the slope portion 62 of the operation portion 8, it is possible to effectively utilize the space formed in the slope portion 62, and the operation portion 8 can be made smaller.

Furthermore, since the curved operation switch section 63 is arranged using the rear slope section 200 of the operation section 8,
Since it can be operated with natural finger movements, operability can be improved.

Furthermore, by supporting one end of the rails 67 and 68 by bending the subframe 63, the number of parts can be reduced.

{Third Embodiment} FIGS. 12 to 16 show a third embodiment of the present invention, and FIG. 12 is a sectional view of the main part of the bending operation section;
13 is an explanatory diagram of the clutch means, FIG. 14 is an explanatory diagram of the traction of the curved portion, FIG. 15 is a schematic explanatory diagram of the exterior of the curved operation portion, and FIG. 16 is an explanatory diagram of the traction member structure.

The third embodiment incorporates an encoder for detecting the bending angle, a chain running support member, and an excessive bending prevention member in the second embodiment, and also changes the structure of the cam. , which has a three-piece outer case.

(Structure) The driven gears 90 and 91 are driven gears 46 and 45 connected to motors 39 and 40 as an example of curved drive means via motor shafts 44 and 43.
and are engaged with each other in a direction substantially perpendicular to the axis of the operating portion 8. moreover,
Each of the driven gears 90 and 91 meshes with encoder gears 96 and 97 provided on shafts 94 and 95 of encoders 92 and 93 in the axial direction of the operation section 8 . Further, each of the encoders 92 and 93 is connected to each of the motors 3 and 3.
Amplifying circuit boards 99 and 100 are disposed so as to protrude on the side opposite to the protruding sides of the encoders 9 and 40, and have circuits for amplifying the outputs from the encoders 92 and 93 on the main frame 22 and sub-frame 98, respectively. In addition, the support 10
1 and 102 are fixed by screws or the like. Incidentally, each of the encoders 92 and 93 is connected to each of the driven gears 90 and 9.
No particular specification is required as long as the position can be engaged with 1.

Furthermore, on the surface of each of the driven gears 90 and 91, zero point output grooves 103 and 104 for a photoreflector are provided.
is formed.

The configuration of the photoreflector is the same for each of the driven gears 90 and 91, so only the configuration of the photoreflector in the driven gear 91 will be illustrated here, and the same applies to the traction member. Due to the configuration, only the driven gear 91 side will be specifically described below.

That is, so that the photoreflector 105 is positioned on the rotational trajectory of the zero point output groove 104,
A photoreflector support substrate 106 is supported on the subframe 98 by a fixture 107. Note that the photoreflector 105 may be fixed to the photoreflector support substrate 106 by, for example, adhesive.

Further, as shown in FIG. 14, when the photoreflector 105 is positioned on the zero point output groove 104, the wire connecting members 37 at both ends of the chain 33 constituting the traction member are in the same position. The chain 3 is attached to the sprocket 27 as an example of a traction operation means.
3 has been wound in advance.

Furthermore, a cable 114 is extended from the photoreflector support board 106 and connected to the motor 3.
It is connected to a photoreflector amplification circuit 115 arranged in the space created by 9 and 40.

Chain guides 108 and 109 are fixed to both sides of the main frame 22 with screws or the like, and an L-shaped portion is formed on the insertion portion 7 side of the main frame 22. L-shaped coil pipe stopper plates 110 and 111 that match the mold portions are fixed together with the chain guides 108 and 109 using screws or the like. Furthermore, a curved wire 35 constituting the traction member
A coil pipe stop plate 113 to which the inserted coil pipe 112 is fixed is fixed to the insertion portion 7 side end of each of the coil pipe stop plate holders 110 and 111 with screws or the like.

Further, a stopper claw 122 is formed on the wire connection member 37 at the end of the chain 33 so as to protrude toward the side end of the main frame 22. A chain guide 123 is provided which is bent into a U-shape so as to sandwich the main frame 33 from above and below with the lower side thereof, and prevents the chain 33 from moving in the direction of lifting from the main frame 22 side. . Further, on the sprocket 27 side of the chain guide 123, a chain stopper 124 is fixed to the main frame 22 with screws or the like so as to be sandwiched between the chain guide 123. Furthermore, the chain stopper 124 has a pawl 126.
is formed to protrude in the direction of the chain 33 and comes into contact with the stopper pawl 122, so that the chain 33
It is possible to regulate the movement of

On the other hand, the operation section 8 includes a grip 116,
Main body 117, side cover 118 and motor cover 1
19, the motor cover 11 of the main body 117
A rib 121 is provided in the opening 120 on the 9 side to prevent the main body 117 from deforming. In addition, the main body 11
In addition to 7, an operation switch may be provided on the side cover 118 and the motor cover 119.

Furthermore, from the F/L lever 51 which is located outside the motor cover 119 and constitutes the clutch means,
A camshaft 52 that is integral with this F/L lever 51 is connected to the subframe 9 with respect to the main frame 22.
It extends toward the sub-frame 63 side arranged on the opposite side from 8, and is fixed to a cam 83 constituting a clutch means by means such as caulking. Further, a cam pin 80 constituting a clutch means is fixed from this cam 83 toward the subframe 63 by means such as caulking. A roller 81 constituting a clutch means is rotatably inserted into the subframe 63 side of the cam pin 80, and a motor slider 64 constituting the clutch means can be pressed by the side surface of the roller 81. Incidentally, the cam pin 80 and the roller 81 may be integrally formed by deforming the shaft end of the cam pin 80.

Further, the camshaft 52 is inserted into a cylindrical shaft support member 127 whose one end is fixed to the subframe 63 with a screw or the like, and the shaft support member 127 is used as a bearing. This allows the camshaft 52 to rotate smoothly. Further, a screw 128 is formed at the end of the shaft support member 127 on the motor cover 119 side, and a nut 1
29 fixes the motor cover 119 to the main body 117.

[0077] The camshaft 52 and the motor cover 119 have O-ring grooves 1 on their contact surfaces with other members.
30, 131, 132 and O-rings 133, 134, 13
5 is provided. In addition, the side cover 118,
The grip 116 and the main body 117 are similarly provided with an O-ring groove and an O-ring (not shown).

(Operation) Next, the operation of the embodiment having the above configuration will be explained.

It should be noted that since the actions of the motor 39 and the actions of the motor 40 are almost the same, only the action of the motor 40 will be explained here.

When the motor 40 is driven and the driven gear 91 rotates, the encoder gear 97 meshed with the driven gear 91 rotates, and the encoder 93 is driven. Therefore, a signal representing the rotation angle of the sprocket 27 that is integrated with the driven gear 91 is detected. This signal is amplified by the amplifier circuit board 100, sent to a motor control device (not shown), and after calculation processing, is notified to the surgeon as the curve angle of the curved portion 16, for example, by a monitor or sound.

[0081] Also, the 0
When the point output groove 104 passes over the photoreflector 105, a signal is generated. Here, the above-mentioned 0 point output groove 10
4 and the chain 33, the generation of this signal indicates that the curved portion 16 is not curved and is in a so-called straight state. This signal is amplified by a photoreflector amplifier circuit 115 via a cable 114, then sent to a motor control device (not shown) and notified to the operator.

Furthermore, as the sprocket 27 rotates, the chain 33 pulls and relaxes the curved wire 35 via the wire connecting member 37. At this time, the chain guide 108 and the chain guide 123 restrict the chain 33 from moving only in the axial direction of the operating section 8, so the movement of the chain 33 is smooth and the curved wire 35 is It is also possible to prevent the wire from coming off the wire connecting member 37.

Furthermore, even if the operator accidentally bends the wire excessively, the stopper claw 1 of the wire connecting member 37
22 hits the pawl 126 of the chain stopper 124,
Since the fiberscope cannot be bent, excessive force can be prevented from being applied to the fiberscope, improving reliability and safety.

Next, when the surgeon wants to free the curved portion 16, he rotates the F/L lever 51 and moves the F/L
A cam 83 is rotated via a camshaft 52 fixed to a lever 51. Therefore, the cam pin 80 fixed to the cam 83 and the roller 81 inserted into the cam pin 80 also rotate. This roller 81 rotates and pushes a cam groove (not shown) of the motor slider 64, so that the motor slider 64 moves, and the driving side gear 4
6, 45 and the driven gears 90, 91 are disengaged,
The curved portion 16 is in a free state.

As described above, according to this embodiment, the angle of curvature can be detected by the encoder, and information effective for the operator's operation can be provided.

Further, the straight state of the curved portion can be detected by the photoreflector, and information useful for the operator's operation can be provided.

Furthermore, the stopper can prevent excessive curvature, thereby improving the reliability and safety of the endoscope.

Furthermore, by arranging the photoreflector amplifier circuit in the space created by the motor, the operating section can be made smaller.

Furthermore, by constructing the operating section from the grip, the main body, the side cover, and the motor cover, the opening becomes wider and the ease of assembly work can be improved.

Furthermore, by forming a rib at the opening of the main body, deformation of the main body can be prevented.

Furthermore, since the motor slider is pushed by the rollers, frictional resistance is reduced, allowing smooth operation of the F/L lever, preventing the motor slider and cam from being scraped, and improving durability. Can be done.

Furthermore, since the camshaft bearing is also used as a motor cover holder, the structure can be simplified.

Furthermore, since the encoder meshes with the driven gear that is integrated with the sprocket, the angle of curvature can be stably detected regardless of whether the driving gear is attached or detached.

[0094]

[Effects of the Invention] As explained above, according to the present invention, an endoscope using a motor or the like as a drive source for bending operation is provided with a clutch means that can effectively engage and disengage the power transmission gear for bending operation. Therefore, it is small, lightweight, and has a simple structure.
It is possible to realize an endoscope that can be reliably locked and freed.

[Brief explanation of the drawing]

FIG. 1 is a sectional view of a main part of a bending operation section according to a first embodiment of the present invention.

FIG. 2 is a schematic diagram of the overall configuration of an endoscope apparatus according to a first embodiment of the present invention.

FIG. 3 is an explanatory diagram of clutch operation according to the first embodiment of the present invention.

FIG. 4 is a front view of the curved section traction section according to the first embodiment of the present invention.

FIG. 5 is a schematic diagram of the overall configuration of a fiberscope device according to a second embodiment of the present invention.

FIG. 6 is a schematic rear view of the operating section according to the second embodiment of the present invention.

FIG. 7 is an explanatory diagram of the arrangement of switches in the curved operation section according to the second embodiment of the present invention.

FIG. 8 is an explanatory diagram of the action of the clutch means according to the second embodiment of the present invention.

FIG. 9 is a sectional view taken along line IX-IX in FIG. 8 according to a second embodiment of the present invention.

FIG. 10 is a sectional view taken along line XX in FIG. 8 according to a second embodiment of the present invention.

FIG. 11: XI-XI of FIG. 8 according to a second embodiment of the present invention;
Cross-sectional view.

FIG. 12 is a sectional view of a main part of a bending operation section according to a third embodiment of the present invention.

FIG. 13 is an explanatory diagram of a clutch means according to a third embodiment of the present invention.

FIG. 14 is an explanatory diagram for towing a curved portion according to a third embodiment of the present invention.

FIG. 15 is a schematic explanatory diagram of the exterior of the bending operation section according to the third embodiment of the present invention.

FIG. 16 is an explanatory diagram of a traction member structure according to a third embodiment of the present invention.

[Explanation of symbols]

8 Endoscope operation section 27 Towing operation means 28 Towing operation means 29 Gear 30 Gear 33 Traction member 34 Traction member 35 Traction member 36 Traction member 37 Traction member 38 Traction member 39 Curved operation drive means 40 Curved operation drive means 41 Clutch means 45 Gear 46 Gear 51 Clutch means

Claims (1)

[Claims] 1. A traction operation means for bending a curved portion provided in an insertion section with a traction member, a curvature operation drive means, and a plurality of gears for transmitting power from the curvature operation drive means to the traction operation means. What is claimed is: 1. An endoscope comprising: a clutch means for causing the meshing gears to engage and disengage freely in a direction substantially normal to the pitch circle with respect to the engagement point.