JPH067286A - Endoscope device - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide an endoscopic device capable of shortening examination time and preventing generation of an unreasonable force even for peristalsis of the intestinal tract. [Structure] The scope is formed by connecting a plurality of segments to form a flexible tube with an exoskeleton, and each segment 2
The contact surfaces of a and 2b have a contact surface perpendicular to the scope axis and an oblique contact surface having a normal line forming a finite angle with respect to the scope axis. An ultrasonic motor is provided at the end of each segment, multiple pressure sensors are provided on the outer circumference of each segment, the magnitude of the force acting on each segment is calculated from the pressure detected by each pressure sensor, and the magnitude of the force acting on each segment is calculated. When the value exceeds a certain value, the scope is bent and controlled in a direction to mitigate this force.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope apparatus for inserting a scope into a body cavity of a patient and diagnosing and treating a disease,
In particular, the present invention relates to an endoscope device that can be actively and smoothly inserted into an intestinal tract such as the large intestine while being bent.

[0002]

2. Description of the Related Art For endoscope devices, there is known a technique of actively bending and moving the scope itself in order to efficiently insert the scope into a bent intestine such as the large intestine.
For example, it is a device to which the invention disclosed in JP-A-63-136014 is applied. In such a device, a shape memory alloy material is used as an actuator for bending a flexible tube that constitutes a scope, and the shape memory alloy material itself is heated by an electric current passing through the shape memory alloy material of each flexible segment, The contraction control is performed so that the flexible tube can be inserted while bending along the shape of the intestinal tract.

[0003]

However, in the above endoscope apparatus, the shape memory alloy material is stretched by passing an electric current through the shape memory alloy material stretched over each flexible segment and removing the heat of itself. However, since the scope is returned to its original shape or extended, it takes a long time to bend the scope, resulting in a long examination time, resulting in a heavy burden on the patient. Also, there is no treatment for peristalsis of the intestinal tract,
There is a problem that unreasonable force acts on the intestinal wall and the like, and there is a high risk of damaging the intestinal tract.

The present invention has been made to solve these problems, and can shorten the inspection time,
It is an object of the present invention to provide an endoscope device that can prevent the generation of an unreasonable force even with respect to peristalsis of the intestinal tract.

[0005]

In the endoscope apparatus according to the present invention, a scope is inserted into a body cavity of a patient and an image taken by a video camera provided at the distal end of the scope is displayed on a monitor to diagnose or treat a disease. In the endoscope apparatus used for, the scope is formed by connecting a plurality of cylindrical segments to form a flexible tube by an exoskeleton, and the contact surface of each segment is a contact surface perpendicular to the scope axis. And a diagonal contact surface having a normal line forming a finite angle with respect to the scope axis, each segment is in contact with each other, the ring-shaped stator of the ultrasonic motor is provided at one segment end,
A rotor is provided in pressure contact with the stator at the end of the other segment, a plurality of pressure sensors is provided on the outer circumference of each segment, and means for calculating the magnitude of the force acting on each segment from the pressure detected by each pressure sensor, When the magnitude of the force acting on each segment exceeds a certain value, a means for bending and controlling the scope in a direction of relaxing this force is provided.

In such an endoscope apparatus, an encoder for detecting the rotation angle of the rotor is provided at the ultrasonic motor installation portion of each segment, and a drum cassette for pushing or rewinding the scope to control the advance / retreat of the scope is provided. It is preferable to provide means for shifting the bending angle of each segment to the subsequent segment in the traveling direction based on the rotation angle of each segment recognized by the encoder as the scope moves forward and backward in segment units.

[0007]

In the endoscope apparatus of the above means, after the scope is inserted to the bent portion of the intestinal tract, the ultrasonic motor provided in the segment connecting portion corresponding to the bent portion is driven to match the bent shape of the intestinal tract. The scope can be bent. At this time, when the ultrasonic motor is driven at the segment connecting portion, which is a diagonal contact surface, the scope bends, while when the ultrasonic motor is driven at the segment connecting portion, which is a right angle contact surface, the segment is moved. The scope can be bent coaxially to change the bending direction of the scope to a desired direction. Further, an abnormal force due to peristalsis of the intestinal tract is detected by the pressure sensor, and the scope is bent in the direction of the force so that the abnormal force is prevented from acting on the intestinal tract.

If an encoder is provided in such an endoscope apparatus, a drum cassette for controlling the advance / retreat of the scope is provided, and a means for shifting the bending angle of each segment to the subsequent segment in the traveling direction is provided, the scope is At the time of insertion, it is only necessary to remotely control the bending of the segment on the front end side, and it is not necessary to perform the bending operation on the segment at the rear stage. Further, when the scope is removed, the scope can be automatically bent according to the shape of the intestinal tract or the like by driving the drum cassette, so there is no need to remotely control the scope bending.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the endoscope of the present invention will be described below with reference to the drawings.

FIG. 1 is an overall view showing an embodiment of an endoscope apparatus to which the present invention is applied. (A) is a front view and (b) is a side view.

The endoscope apparatus 1 includes a scope 2 having a video camera at its tip, a monitor 3 for displaying an image photographed by the video camera, and pushing or rewinding the scope 2 to move the scope 2 forward or backward. It has a drum cassette 4 to be controlled, a function switch 5 for selecting various functions such as image processing, an operation panel 7 having a joystick 6 for controlling driving of the drum cassette 4, and the like.

FIG. 2 is a view showing a segment which constitutes a guiding center portion of the scope 2.

The guiding center portion of the scope 2 is composed of an exoskeleton formed by connecting a plurality of plastic cylindrical segments 2a and 2b, and although illustration is omitted at appropriate places on the outer peripheral portions of the respective segments 2a and 2b. A pressure sensor or the like is provided which is used to detect the pressure contact force of the scope, which acts on the intestinal tract, and the like. In addition, the guiding center portion of the scope 2 fits the outer shape of the exoskeleton so that the exoskeleton does not come into direct contact with the patient's body.
It is covered with a rubber tube.

The contact surfaces of these segments 2a, 2b are
It has a tangent surface perpendicular to the scope axis and an oblique tangent surface having a normal line forming a finite angle with respect to the scope axis. Then, the respective segments 2a and 2b are combined by joining the respective contact surfaces at a contact surface perpendicular to the scope axis and joining the contact surfaces at an oblique contact surface with respect to the scope axis.

FIG. 4 is a partial cross-sectional view showing the assembled structure of the pair of segments 2a and 2b. Each segment joining end has a small cylindrical portion 2 having a ring-shaped brim at one end.
c is provided, and the other side is provided with a circumferential groove 2d having a substantially U-shaped cross section. A piezoelectric element (not shown) is attached to a predetermined portion of the ring-shaped collar portion, and functions as the stator 8 of the ultrasonic motor. The rotor 9 of the ultrasonic motor is formed in a ring shape and is attached to the wall surface of the circumferential groove 2d of the segment. When the segments 2a and 2b are combined, the rotor 9 is pressed against the stator 8 by the elastic force of the O-ring 10 provided on the joint surface of the segments 2a and 2b. It receives and rotates. During such rotation,
The rotor-side segment 2a rotates together with the rotor 9 of the ultrasonic motor.

Each of the segments 2a and 2b is formed in a hollow shape, and a lead wire for a CCD of a video camera,
An optical fiber that guides the light used to irradiate the target site in the body cavity, an operation wire that is used to remotely operate the forceps provided at the distal end of the scope, and an air / water supply tube that is used to clean the video camera lens are arranged. There is.

The ultrasonic motor 15 provided at the joint portion of each segment 2a, 2b is driven by controlling the number of drive pulses sent to the piezoelectric element. Each stator 8
A control signal for vibrating the piezoelectric element so that a traveling wave is generated on the surface of the is transmitted from the control system of the endoscope apparatus main body by the lead wire 14. The lead wire 14 is embedded in the exoskeleton formed by the segments 2a and 2b, and at each segment joint, the ring electrode 11 provided on the back side surface of the stator 8 and the inner wall surface of the circumferential groove 2d on the rotor side. It is made conductive by contact with the brush electrode 12 provided at. A detecting portion 13a of the encoder 13 for detecting the rotation angle of the rotor is provided on the stator side of the segments 2a, 2b, and a detected portion of the encoder 13 is provided on the rotor side at a position facing the detecting portion 13a. 13b is provided. In addition, the switch circuit 16 configured by the segment SW 16a for selecting the ultrasonic motor 15 and the encoder 13 to be driven and the pressure sensor SW 16b for selecting reception of the output signal of the pressure sensor 17 is provided for each segment 2
Each of a and 2b is arranged on the inner wall surface.

When the ultrasonic motor is driven and the segment 2a on the rotor side, whose joint portion is an oblique contact surface, rotates together with the rotor 9, the scope 2 bends as shown in FIG. This bending angle is 2α at the maximum with respect to the central axis of one segment at the joint where the central axis of the segment is inclined by an angle α.
On the other hand, when the rotor-side segment 2b in which the joint part is a tangential surface rotates together with the rotor 9, the segment turns coaxially, and the bending direction can be changed while maintaining the bending angle of the scope 2. It is like this.

Next, a main circuit used when operating the endoscope apparatus will be described.

FIG. 5 is a block diagram showing the main circuit of the endoscope apparatus of this embodiment.

In this endoscope apparatus, the joysticks 6a, 6a are used to remotely control bending and insertion of the scope 2.
b is provided, and one joystick 6a is used for bending the scope 2 up and down and right and left, and the other joystick 6b is used for operating the forward and backward movement of the scope 2. The forward and backward movement of the scope 2 can be performed segment by segment by rotating the drum cassette 4.

A video processor 20, a shape display processor 21, and an angle calculation processor 22 are provided as a data processing device of the endoscope apparatus.

The video processor 20 receives an input signal from the CCD of the video camera provided at the tip of the scope, forms a video signal of an image to be displayed on the monitor 3, and irradiates the target portion with the optimum amount of light. Light source 2
Control 3 Then, the image captured by the video camera and the shape image of the scope 2 animated by the shape processor 21 described later are simultaneously displayed on the monitor 3.

The angle calculation processor 22 performs calculation based on the operation signals input from the joysticks 6a and 6b, and outputs a predetermined drive signal to the ultrasonic motor drive circuit 24.
Send to. As a result, when the ultrasonic motor drive circuit 24 receives this drive signal, the corresponding segment 2a,
Rotate 2b by the corresponding angle.

When the ultrasonic motor 15 is rotated and the scope 2 is bent, a signal output from the encoder 13 is received, the angle information actually bent is detected by the angle detection circuit 25, and the angle calculation processor 22 receives it. To be fed back. Then, the angle calculation processor 22 calculates the angle at which the scope 2 is actually bent, and the data regarding the bent shape of the scope 2 is sent to the shape display processor 21. At this time, in the ultrasonic motor drive circuit 24,
Data indicating the difference between the bending angle of the scope 2 and the bending angle designated by the joysticks 6a and 6b is sent, and a drive signal is sent to the ultrasonic motor 15 so as to eliminate this difference, and the same sequence is repeated again to give the designated angle. The ultrasonic motor 15 is rotated up to. Further, in the angle calculation processor 22, when the scope 2 drives the drum cassette 4 to perform forward retreat for each segment unit, control data for shifting the bending angle of each segment to the subsequent segment with respect to the traveling direction is obtained. , This control signal is
It is sent to the ultrasonic motor drive circuit 24.

In the shape display processor 21, the bending angle data of each segment is fetched from the angle calculation processor 22, and the calculation processing is carried out to form image data showing the bending shape of the scope 2 and then sent to the video processor 20.

When the scope 2 pushes the scope 2 when inserting the scope 2 into the intestinal tract or the like, a pressure signal is input to the pressure detection circuit 25 from the pressure sensor 17 attached to each segment of the scope 2. In this pressure detection circuit 26, the pressure acting on each segment 2a, 2b and the direction in which the pressure acts are calculated, and when the pressure is equal to or greater than a preset threshold value, the scope 2 is bent so as to avoid the pressure. A control signal is sent to the angle calculation processor 22. Upon receiving this control signal, the angle calculation processor 22 causes the ultrasonic motor drive circuit 2 to bend the scope 2 in a direction to avoid pressure.
The drive signal is sent to 4.

Next, control of the ultrasonic motor, encoder, pressure sensor, etc. of each segment will be described.

FIG. 6 is a diagram showing a circuit configuration of the first segment to the nth segment, and FIG. 7 is a concrete circuit diagram of each segment.

The segment SW (switch) 16a switches on / off the drive of the ultrasonic motor 15 of each segment, and switches on / off the pressure sensor SW16b of the pressure sensor 17 of each segment. A rectangular wave having a voltage corresponding to each segment is used as the segment selection signal. When the rectangular wave corresponding to the segment is input, the photo coupler 33 and the switching element 34 are turned on via the comparator 31 and the EXOR gate 32. To As a result, high frequency voltages φ0 and φ1 having different phases are applied to the piezoelectric element of the ultrasonic motor 15,
A traveling wave is generated on the surface of the stator 8 to rotate the rotor 9, and the encoder 13 and the pressure sensor 17 are powered on.

The pressure sensor SW16b selects, for each segment, one of the four pressure sensors 17 attached to the outer peripheral portion at four positions. A sawtooth wave is used for this sensor selection signal, and
When the voltage corresponding to one of the two is received, the comparator 31, EX
The switching element 34 is turned on via the OR gate 32. Thereby, the output signal can be received from the predetermined pressure sensor 17.

R11, R12, R21, R22, R31, R3
2, R41, R42, ... are voltage dividing resistors and are used for turning on / off each comparator 31 with an appropriate input voltage.

Next, a method of detecting the force acting on the scope from the intestinal tract will be described.

8 to 10 are views showing a first embodiment of the pressure detecting device using the pressure sensor 17. In FIG.

As shown in FIG. 9, each segment 2a, 2b
Is divided into four air chambers 40, and a pressure sensor 17 is provided at the center of the air chambers 40.

As shown in FIG. 10, each segment 2a, 2
On the side wall of b, a spring 41 is deformed by contact with the outside.
Are provided so as to surround the central axis. One end of each spring 41 is fixed, and the other end is bent to be in contact with the pressure sensor 17. These springs 41 are covered with a deformable waterproof cover 42. When the intestinal tract moves, the shape of the duct deforms, and the intestinal wall presses the scope 2 into contact, pressure is applied to the side wall of the midway duct, and the spring 41 deforms.
The pressure sensor 17 is brought into pressure contact, and the pressure acting on the side wall and its direction can be detected by the pressure detection circuit 26.

FIG. 11 is a diagram showing a second embodiment of the pressure detecting device using the pressure sensor 17. Each segment 2a,
A spring 43 similar to that of the first embodiment is mounted on the side wall of 2b, and a protrusion 44 is provided at the center of the spring 43, and the pressure sensor 17 is provided so as to be in pressure contact with the protrusion 44. I am The subsequent operation is similar to that of the first embodiment.

In the pressure detection circuit 26, of the pressures acting on the four pressure sensors for one segment, the pressures equal to or higher than the threshold value are converted to obtain the resultant force of the forces acting on the segment. Then, in the angle calculation processor 22, the ultrasonic motors 15 of the segment receiving pressure so as to be deformed in the direction in which the resultant force acts and bent in the direction in which the magnitude of the resultant force decreases and the segments on both sides adjacent to this segment. A signal for controlling the rotation of the ultrasonic motor 15 is sent to the ultrasonic motor drive circuit 24, and when the pressure acting on each segment becomes equal to or less than the threshold value, the ultrasonic motor 15 is controlled to stop the rotation of the ultrasonic motor 15. It is sent to the motor drive circuit 24.

Next, a method of examining the large intestine using the endoscope device will be described.

First, after inserting the tip of the scope 2 into the anus of the patient, the scope is moved forward using the joystick 6a in the forward mode. At this time, the image taken by the video camera provided at the tip of the scope 2 is observed on the monitor 3 to determine the direction of the lumen, and the bent shape of the scope 2 in the patient's body is changed to the shape of the digestive tract of the large intestine. So that
Using the joystick 6b, several segments 2a and 2b at the tip of the scope are bent to perform an angle operation.
Then, with the forward movement of one segment of the scope 2, each bending angle is shifted to the bending angle of the subsequent segment. In addition, when the scope 2 is compressed or moved by the movement of the intestinal tract due to peristalsis or the like, the deformation of bending the joint of the scope 2 is repeated in the direction in which the force generated by the movement of the intestinal tract is avoided. By repeating this operation, the scope 2 is inserted to a predetermined position. After the inspection is completed, the joysticks 6a and 6b are used to set the traveling state of the scope 2 to the backward mode. As a result, the drum cassette 4 is driven, and the scope 2 is wound one segment at a time while bending, and is automatically removed from the large intestine along the bent shape of the large intestine.

As a control method of the endoscope apparatus at the time of withdrawal, the ultrasonic motor 15 of each segment may be completely freed except for the segments 2a and 2b on the tip side. As a result, when pressure acts on the midway pipe portion of the scope 2, the rotor 9 can be rotated in a direction in which the pressure is avoided without sending a drive pulse to the ultrasonic motor 15. Even in this case, the encoder 13 is made to function and the rotation angle of the ultrasonic motor 15 is constantly monitored.

[0042]

In the endoscope apparatus according to the present invention, the ultrasonic motor provided for each connecting portion of the segments is rotated so that the scope itself can be bent and inserted into the body. It is not necessary to use a sliding tube or the like to guide the scope even when it is inserted into the body. Further, in an endoscope device provided with a drum cassette or the like, when the scope is inserted, the bending angle of the segment provided on the distal end side is shifted to the segment in the subsequent stage,
Since it is not necessary to perform bending operation for each segment, the operation load on the operator is reduced.

Further, the abnormal force due to peristalsis of the intestinal tract is caused by
Since the scope is bent in the direction in which the force is applied by being sensed by the pressure sensor, it is possible to prevent an accident that may damage the intestinal tract by exerting an unreasonable force on the intestinal wall or the like.
Further, since the scope runs along the shape of the digestive tract, the pain to the patient when inserting the scope is reduced, and the examination time is shortened.

[Brief description of drawings]

FIG. 1 is an overall view showing an embodiment of an endoscope apparatus to which the present invention is applied.

FIG. 2 is a diagram showing a main part of a structure of a scope.

FIG. 3 is a diagram showing a bent state of the flexible tube of the same embodiment.

FIG. 4 is a partial cross-sectional view showing an assembly structure of a set of segments.

FIG. 5 is a block diagram showing a main circuit of the endoscope apparatus of this embodiment.

FIG. 6 is a diagram showing a circuit configuration of first to n-th segments.

FIG. 7 is a circuit diagram showing a specific circuit configuration of each segment.

FIG. 8 is a diagram showing an appearance of a segment of the first embodiment to which a sensor and the like are attached.

FIG. 9 is a cross-sectional view showing the outer peripheral portion of the segment of the embodiment.

FIG. 10 is a vertical sectional view showing an outer peripheral portion of a segment according to the embodiment.

FIG. 11 is a vertical sectional view showing an outer peripheral portion of a segment according to a second embodiment.

[Explanation of symbols]

 1 Endoscope Device 2 Scope 2a, 2b Segment 3 Monitor 4 Drum Cassette 5 Function Switch 6, 6a, 6b Joystick 8 Stator 9 Rotor 10 O-ring 11 Ring Electrode 12 Brush Electrode 13 Encoder 14 Lead Wire 16a Segment SW 16b Pressure Sensor SW 20 Video Processor 21 Shape Display Processor 22 Angle Calculation Processor 23 Light Source 24 Ultrasonic Motor Drive Circuit 25 Angle Detection Circuit 26 Pressure Detection Circuit

Claims (2)

[Claims] 1. An endoscope apparatus for inserting a scope into a body cavity of a patient, displaying an image captured by a video camera provided at the distal end of the scope on a monitor, and diagnosing or treating a disease, wherein the scope is a cylinder. A flexible tube is formed by an exoskeleton, which is formed by connecting multiple segment-shaped segments, and the contact surface of each segment forms a finite angle with the tangent surface that is perpendicular to the scope axis. An oblique contact surface having a line, each segment is in contact with each other, a ring-shaped stator of an ultrasonic motor is provided at one segment end, and a rotor for press-contacting the stator is provided at the other segment end, A means for calculating the magnitude of the force acting on each segment from the pressure detected by each pressure sensor by providing multiple pressure sensors on the outer circumference of each segment, and the magnitude of the force acting on each segment Is when a exceeds a predetermined value, the endoscope apparatus characterized by comprising a means for bending controlling a scope in a direction to relieve this force. 2. An ultrasonic motor installation portion of each segment is provided with an encoder for detecting a rotation angle of a rotor, and a drum cassette for pushing or rewinding the scope to control forward and backward movement of the scope is provided. 2. A means for shifting the bending angle of each segment to a subsequent stage segment in the traveling direction is provided based on the rotation angle of each segment recognized by the encoder in accordance with the forward and backward movement of 1. The endoscopic device described.