JPH10314971A - Laser beam probe - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a laser beam probe capable of irradiating the laser beam with excellent accuracy over the extensive surface area, and efficiently performing the medical treatment or welding. SOLUTION: A laser beam reflection mirror 22 and lamination type piezoelectric elements 24a, 24b as an oscillating means to oscillate the reflection mirror 22 are provided on a tip part of a laser beam probe having a laser beam guide fiber 20 in an insertion part 2, and a control circuit 16 to control the laminated piezoelectric elements 24a, 24b in an arbitrary pattern is provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention provides treatment by repairing a broken portion at the inner surface of a plant pipe or a narrow portion of a structure by laser welding, or by irradiating a lesion to a lesion in a body cavity of a living body. Related to a laser probe.

[0002]

2. Description of the Related Art A welding apparatus for repairing a broken portion of an inner surface of a plant pipe or a narrow portion of a structure by laser welding is known, for example, from JP-A-1-112141. Further, a laser endoscope for performing treatment by irradiating a lesion to a lesion in a body cavity of a living body is disclosed in, for example, Japanese Patent Application Laid-Open No. 8-215
No. 209 gazette.

[0003] Japanese Patent Application Laid-Open No. 1-112141 discloses an endoscope for finding and observing a portion to be welded,
It comprises a laser probe for guiding the laser light to a distant place, and a moving means for guiding the tip of the laser probe, which serves as an emission port of the laser light, to the position of the welded portion together with the tip of the insertion portion.

[0004] Japanese Patent Application Laid-Open No. Hei 8-215209 discloses that when an optical sight tube and a sheath constituting an insertion portion of a laser endoscope are inserted into a body cavity and laser light is emitted, the laser light propagates through a laser probe. The light is emitted from the emission end of the laser probe. The emitted laser light is reflected by the laser reflecting surface, changes its direction at a substantially right angle, and is supplied to a living tissue.The laser reflecting surface can be adjusted to an arbitrary angle by a wire, and It can be irradiated in any direction.

[0005]

However, in Japanese Patent Application Laid-Open No. 1-112141, it is necessary to combine the rotation of the laser probe and the forward and backward movement of the bogie in order to irradiate a laser beam onto a wide welding work area. There is
There is a problem that welding accuracy is poor.

The device disclosed in Japanese Patent Laid-Open No. 8-215209 can scan a laser beam linearly.
Since scanning cannot be performed in a planar manner, a large area in the planar shape cannot be irradiated with laser light.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a laser probe capable of accurately irradiating a wide area of a plane with a laser beam to perform treatment or welding. It is in.

[0008]

In order to achieve the above object, the present invention provides a laser probe having laser light guide means in an insertion portion, comprising: a laser light reflecting mirror provided at a tip end of the insertion portion; It is characterized by comprising swing movement means for swinging the reflection mirror, and control means for controlling the swing movement means in an arbitrary pattern.

By controlling the oscillating motion means by the control means, the laser light reflecting mirror is oscillated, and the laser light guided by the laser light guiding means is directed to the target wide area by the laser light reflecting mirror. Can be irradiated.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 7 show a first embodiment, and FIG. 1 is a perspective view showing an entire configuration of an industrial endoscope 1 for welding. The endoscope 1 is inserted, a broken portion is found while the inner surface of the pipe 10 is visually observed and inspected, and repair is performed using a laser welding function provided in the endoscope 1.

The endoscope 1 has an insertion portion 2 and a bending portion 3 and a distal end portion 4 provided near the distal end of the insertion portion 2 and an insertion portion 2.
And an operation unit 5 provided near the hand.
The operation unit 5 is provided with an operation knob 6. By rotating the operation knob 6, the wire can be pulled to bend the bending portion 3 in an arbitrary direction. An observation optical system 7, an illumination optical system 8, and a welding window 9 are provided in the distal end component 4. An external illumination light source 12 and a camera control unit 13 are connected to the operation unit 5, and the camera control unit 13 is connected to a CC included in the observation optical system 7.
The D signal can be imaged and displayed on the monitor 14. The laser welding system is connected to an external welding device 15.

FIG. 2 is a sectional view of the distal end component 4 of the endoscope 1, in which only a laser welding system is shown. A group of condenser lenses 18 is fixed to the lens frame 19 at the distal end component 4, and the laser light guide fiber 2 is directed toward the condenser lens 18.
0 is open. Laser guide fiber 20 is base 2
1 fixed to the distal end component 4. The distal end component 4 is provided with a space 4a, and a laser light reflection mirror 22 (hereinafter simply referred to as a mirror) is arranged in the space 4a so as to face the condenser lens 18. Mirror 22
Is obliquely cut, and three laminated piezoelectric elements 24a to 24c are provided on the back surface at intervals of 120 degrees in the circumferential direction. The piezoelectric elements 24 a to 24 c are fixed to a drive circuit 25 fixed to the distal end component 4.

The drive circuit 25 is electrically connected to a control circuit 16 outside the endoscope 1 via a signal line 26. The laser light guide fiber 20 is connected to an external laser light source 17 through the inside of the endoscope 1, and the control circuit 16 and the laser light source 17 constitute a welding device 15. A YAG laser is used as the laser light source 17, and the reflection surface 23 of the condenser lens 18 and the mirror 22 is coated with an anti-reflection coating.

FIG. 3A is a perspective view of a swinging unit 30 as swinging means. The swing unit 30 includes a mirror 22, piezoelectric elements 24a to 24c, and a drive circuit 25. The piezoelectric elements 24a to 24c expand and contract in the stacking direction by applying or canceling a voltage. Moreover, since they are stacked, they have a feature that displacement is large.
3B to 3E are performed by sequentially expanding and contracting the three piezoelectric elements 24a to 24c.

That is, FIG. 3B shows a state in which no voltage is applied to the three piezoelectric elements 24a to 24c, and the piezoelectric elements 24a to 24c are all in the same length. Here, the mirror 22 and the drive circuit 25 are represented by a parallel positional relationship for easy understanding. Actually mirror 22
The reflection surface 23 is not parallel to the drive circuit 25 because the reflection surface 23 is cut obliquely.

FIG. 3C shows a state where a voltage is applied to only the piezoelectric element 24b and expanded. The mirror 22 is inclined forward in the drawing. FIG. 3D shows a state where only the piezoelectric element 24a is expanded by applying a voltage. The mirror 22 tilts to the right in the drawing.

FIG. 3E shows a state where only the piezoelectric element 24c is expanded by applying a voltage. The mirror 22 tilts to the left in the drawing. By sequentially applying a voltage to the piezoelectric elements 24a to 24c, the mirror 22 performs an oscillating motion. A time chart of the applied voltage at this time is shown in FIG. The laser beam reflected from the reflecting surface 23 of the mirror 22 and emitted from the welding window 9 is caused by the swinging motion of the mirror 22, as shown in FIG.
As shown by, the top of the ring is irradiated. The welding area is annular.

In the time chart of FIG. 5A, the applied voltage is changed with time. Thereby, the mirror 22
Since the tilt angle of the rocking motion gradually increases, the area irradiated with the laser beam can irradiate the area within the circle as shown in FIG.

In the time chart of FIG. 6A, the set of the piezoelectric elements 24b and the piezoelectric elements 24a and 24c is extended alternately, so that the laser beam can be irradiated on the line. Next, the principle will be described more simply with reference to FIG. FIG.
It is a dimensional model.

FIG. 7A shows that the piezoelectric elements 24a and 24b have the same length without voltage applied. The laser light is reflected in the direction of the arrow. The reflection angle at this time is defined as θ1. In FIG. 7B, only the piezoelectric element 24a is expanded by applying a voltage. The mirror 22 is tilted rightward on the paper, and the laser light is reflected in the direction of the arrow. The reflection angle is θ2.

FIG. 7C shows that only the piezoelectric element 28 is applied with a voltage to expand it. The mirror 22 tilts to the left in the drawing. The laser light is reflected in the direction of the arrow. At this time, the reflection angle is θ3
And The relationship between the reflection angles is θ3 <θ1 <θ2. Therefore, a certain area of the object can be laser-welded.

According to the present embodiment, various control patterns can be created in accordance with the shape of the welding location by controlling the piezoelectric element with various time charts. Therefore, when the welding location is on a point, a plane, or a line, it is possible to realize laser light irradiation in accordance with the welding location. Rather than welding the bending function of the endoscope itself and the endoscope itself back and forth, it is possible to perform welding by operating the swing unit while the distal end component of the endoscope is fixed. Therefore, the welding area can be welded with high precision. In addition, as we make anti-reflection coating on lens, mirror,
The heat generated by the laser in the lens and mirror can be suppressed.

FIGS. 8 and 9 show a second embodiment. The basic configuration is the same as that of the first embodiment, and the same components are denoted by the same reference numerals and description thereof is omitted. FIG. 8 is a cross-sectional view of the distal end component 4 of the industrial endoscope 1 for welding.
In the space 4a, a mirror 22 is provided so as to face the condenser lens 18 at an oblique position. The mirror 22 is the rotation axis 3
1 is connected to the rotation motor 32. The rotary motor 32 is electrically connected to an external motor drive circuit 33.

FIG. 9A shows the swinging motion of the mirror 22 in this embodiment. The reflection surface 23 of the mirror 22 has a certain inclination with respect to the rotation axis 31. The rotation axis 31 also has an inclination with respect to the incident direction of the laser light. With the rotation of the rotation shaft 31, the reflection surface 23 of the mirror 22
Gradually changes from the state of (a) to the state of (b) and repeats this position change. This is an oscillating motion. Along with this, the reflected light of the laser light changes from (A) to (B). The welding area has an annular shape as shown in FIG.

According to the present embodiment, although the welding area is only annular, it can be realized by controlling one rotary motor, so that the number of signal lines can be reduced as compared with the first embodiment.
Therefore, there is an effect that the welding probe can be made thin. By arbitrarily setting the angle of the reflection surface of the mirror with respect to the rotation axis in advance, it is possible to freely set the size of the annular shape as the welding area. Other effects are the same as those of the first embodiment.

FIG. 10 shows a third embodiment. The basic configuration is the same as that of the first embodiment, and the same components are denoted by the same reference numerals and description thereof is omitted. FIG. 10A is a sectional view of the distal end component 4 of the industrial endoscope 1 for welding.
(B) is a perspective view of the distal end component 4. Condensing lens 18
The first mirror 34 on the optical path of the laser light emitted from the
Are provided facing each other and at an angle. The swing unit 30 having the configuration of the first embodiment is provided on the same surface as the condenser lens 18. Further, the welding window 9 is provided on the distal end surface of the distal end component 4.

Accordingly, the laser light emitted from the condenser lens 18 is reflected by the first mirror 34, then reflected by the mirror 22 of the swing unit 30, and emitted from the welding window 9 forward of the endoscope. The swing unit 30 is controlled as in the first embodiment, and the welding area is the same as in the first embodiment.

According to this embodiment, a laser beam for welding can be applied to the front surface of the endoscope, so that a direct-view welding endoscope can be realized. Depending on the location of the repaired part, there are situations where the direct-view endoscope shown in the present embodiment is more effective than the side-view endoscope as in the first and second embodiments.

FIGS. 11 and 12 show a fourth embodiment, in which the same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted. FIG. 11 is an overall configuration diagram. 41 is an industrial endoscope. An observation optical system 7 and an illumination optical system 8 are provided at the distal end component 4 of the insertion section 2 of the endoscope 41, and a forceps insertion port 42 is provided for inserting treatment tools. In FIG. 11, a welding probe 43 is inserted into the forceps insertion port 42.
Is inserted.

A welding window 9 is provided on the side surface of the tip of the welding probe 43. The configuration of the distal end portion of the welding probe 43 is obtained by removing the observation optical system, the illumination optical system, and the bending mechanism from the welding endoscope 1 described in the first embodiment.
It is a thin probe with only a laser welding system. The rear end portion of the welding probe 43 passes through the branch portion 45, and the light guide fiber 20 is connected to the laser light source 17 through the signal line 26.
Are connected to the control circuit 16. The welding probe 43 can be freely inserted and removed from the forceps insertion port 42.

FIG. 12 shows the structure of the flaw detection probe 47.
The flaw detection probe 47 is connected to the forceps insertion port 42 of the endoscope 41 described above.
It is a size that can be inserted through. An eddy current detection type flaw detection device 48 is mounted on the tip of the flaw detection probe 47. An opening 49 is provided on the side surface of the probe near the flaw detection device 48, and a tube 50 arranged in the flaw detection device 48 is connected to the opening 49. The tube 50 is connected to an external pump 51. The pump is controlled by the controller 52. The flaw detection device 48 is connected to a flaw detection drive display device 54 via a signal line 53. The paint is stored in the pump 62 in advance, and the paint can be ejected from the opening 60 via the tube 59 as necessary. The paint may be any substance that can be optically confirmed, such as a pigment paint, a fluorescent paint, or a luminescent substance.

Next, the operation of the present embodiment will be described. The flaw detection probe 47 is inserted through the endoscope 41 in advance, and the endoscope is made to enter the pipe in this state. At this time, the presence of the flaw is inspected using the flaw detection device 58.

When the wound is found, the insertion of the endoscope 41 is stopped, and the paint is jetted toward the wound. Immediately at this time, repair such as welding is not performed, and the endoscope 41 is further penetrated to detect another flaw. After finding the wounds and applying the paint, the endoscope 41 is gradually removed.

At that time, the welding probe 43 is replaced with a laser probe. The position of the paint is confirmed by the optical system of the endoscope 41, and welding repair is performed on the spot using the welding probe 43.

According to the present embodiment, when a repaired part is found, the repair is performed while checking the repaired part with an endoscope later because the paint is applied instead of welding each time. Can be. Therefore, the efficiency of inspection and repair is improved. When fluorescent paint is used as the paint, repaired parts can be confirmed even inside a large-diameter pipe where illumination does not reach sufficiently.

Note that, instead of the paint, a heat-sensitive paint may be applied to the repair site as a paint. in this case,
When welding is performed, the heat-sensitive paint discolors, so that there is an advantage that the welding area after welding can be confirmed. Immediately before welding, instead of paint, a solvent can be sprayed to wash the surface of the welding portion in advance.

According to the above embodiment, the following configuration is obtained. (Supplementary Note 1) In a laser probe having a laser light guiding means in an insertion portion, a laser light reflection mirror provided at a tip end of the insertion portion, a rocking motion means for rocking the reflection mirror, and the rocking motion Control means for controlling the means in an arbitrary pattern.

(Supplementary Note 2) The swing drive means is a plurality of piezoelectric elements provided on the back surface of the mirror. Supplementary note 1
The laser probe as described. (Supplementary note 3) The laser probe according to supplementary note 1, wherein the swing driving means is a rotary motor connected to a mirror. (Supplementary note 4) The laser probe according to supplementary note 1, wherein the laser light guiding means is a fiber. (Supplementary note 5) The laser probe according to supplementary note 1, wherein the welding probe is an endoscope having an observation optical system and an illumination optical system. (Supplementary note 6) The laser probe according to supplementary note 1, wherein the welding probe is a probe that can be inserted into a channel of the endoscope. (Supplementary Note 7) The laser light reflecting mirror includes a first mirror provided with an oscillating motion device, and a second mirror that defines an arbitrary emission direction in combination with the first mirror. 2. The laser probe according to 1.

FIG. 13 shows a disclosed example of a repair device for an endoscope for repairing a damaged portion in a narrow place such as the inner surface of a plant pipe or the inside of a structure through the endoscope. An endoscope repair device that does not have the possibility of damaging the endoscope due to an erroneous operation by an operator because the repair operation can be performed after the repair operation is performed.

In the figure, reference numeral 61 denotes an endoscope apparatus for inspecting the inside of a plant piping 62. An inspection is performed by inserting an endoscope 64 from an endoscope insertion hole 63 provided on a side wall of the plant piping 62. The operator inspects the image displayed on the monitor device 65 for damages such as scratches and cracks. If the detected scratch or crack is minute, repair is performed endoscopically using the welding repair device 66.

The endoscope device 61 is a normal industrial endoscope system, and includes an endoscope 64, a light source device 67, an image processor 68, and a monitor device 65. FIG. 14 shows a welding repair device 66. The welding repair device 66
A control device 69 comprising a laser light source and its control circuit;
Probe 70 for guiding laser light and probe 7
The apparatus comprises an insertion amount detection device 71 for detecting the insertion amount of 0, and a foot switch 72 for inputting emission and stop of laser light.

The probe 70 is composed of a fiber (not shown) for guiding a laser beam and an outer tube 73 for protecting the fiber. The probe tip 74 has a built-in lens (not shown) for collecting laser light emitted from the fiber. on the other hand,
At the base end of the probe, a connector 75 for connecting to the control device 69 is provided. A bar code 76 is printed on the outer tube 73 according to the length of the endoscope 64. Specifically, when the distance from the endoscope treatment instrument insertion port 77 to the distal end of the endoscope 64 is L, a barcode 76 is provided at a position of a length L from the probe distal end 74.

The insertion amount detecting device 71 has a cylindrical shape, and is connected to the control device 69 via a cable 78. A bar code reading unit (not shown) is provided on the inner surface of the insertion amount detecting device 71, and a signal of the reading unit is transmitted to the control device 69 via a cable 78.
The distal end 79 of the insertion amount detecting device 71 is connected to the endoscope 64.
Of the treatment tool insertion opening 88.

The control device 69 is provided with a control circuit for controlling the output of the laser light, so that the laser light cannot be output until the bar code reading signal is input.

Next, a method of using the endoscope repair apparatus configured as described above will be described. An endoscope 64 is inserted through an endoscope insertion hole 63 provided on a side surface of the plant piping 62, and the state inside the plant piping 62 is inspected from an image displayed on a monitor device 65. Plant piping 62
When the flaws and cracks detected on the inner surface of the steel are minute ones of several mm or less, the present welding repair device is used.

First, the insertion amount detecting device 71 is attached to the treatment tool insertion port 77 of the endoscope 64. Next, the probe 70 is guided through the insertion amount detecting device 71 to the distal end of the endoscope through the treatment instrument insertion channel of the endoscope 64.

When the probe 70 is guided to the distal end of the endoscope, the barcode 76 passes through the insertion amount detecting device 71 when the distal end of the probe 70 just projects from the distal end of the endoscope. Therefore, the time when the barcode reading section provided on the inner surface of the insertion amount detecting device 71 reads the barcode 76 of the probe 70 is the time when the probe 70 protrudes from the endoscope end. The bar code reading signal is transmitted to the control device 69 via the cable 78, and the control device 69 is ready for laser emission.

The operator operates the foot switch 72 to irradiate the portion to be repaired with laser light to perform a welding operation. Therefore, even if the foot switch 72 is operated by mistake before the probe 70 protrudes from the distal end of the endoscope, the laser light is not emitted, and there is no possibility that the endoscope 64 or the like may be damaged.

According to the disclosed example, the following configuration is obtained. (Supplementary note 8) An endoscope device having a channel for inserting a treatment tool, an energy generating device for repairing a wound, a control unit for controlling an output of the energy generating device, and an insertion device for the channel. A probe having a possible elongated insertion portion and guiding the energy to the endoscope end, and an endoscope repair device including a device for detecting an insertion amount of the probe into the endoscope, wherein the probe Until is inserted into the endoscope over a certain length,
A repair device for an endoscope, wherein the energy generation device is controlled so as not to operate.

(Supplementary note 9) The endoscope repair apparatus according to supplementary note 8, wherein the energy generating device is a laser light source. (Supplementary note 10) The repair device for an endoscope according to Supplementary note 8, wherein the insertion amount detection device is a barcode reader.

FIG. 15 shows an apparatus for endoscopically inspecting a narrow place such as the inner surface of a plant pipe or the inside of a structure. The inspector is notified of a region where inspection has already been performed and a region where inspection has not been performed. An example of the disclosure of an endoscopic in-pipe inspection system capable of efficiently and efficiently inspecting a non-inspection object having a complicated structure by displaying the information in an easily understandable manner will be described.

FIG. 15 shows an endoscopic in-pipe inspection system 80.
The appearance of is shown. The inspection system 80 includes an endoscope 81,
An endoscope light source device 82, a control center 83, a first monitor device 84, and a second monitor device 85 are provided.

The endoscope 81 is a CCD image pickup device (not shown)
An electronic endoscope equipped with an acceleration sensor (not shown) for detecting acceleration inside the distal end and a gyro (not shown) for detecting angular acceleration; and The gyro can obtain signals corresponding to three axes of x, y, and z axes. The acceleration sensor and the gyro are electrically connected to the control center 83 by wiring, and can process respective signals inside the control center 83. Others have the same function as a normal endoscope, but the description is omitted.

The light source device 82 is a normal light source for an endoscope having a lamp such as a xenon lamp or a halogen lamp. It is connected to the endoscope 81 via the light guide cable 86, and can illuminate the endoscope end.

FIG. 16 is a block diagram showing the inside of the control center 83. The control center 83 is connected to the endoscope 81 via a universal cable 87. The universal cable 87 includes a CCD 88, an acceleration sensor 89, and a gyro 90 mounted on the endoscope end.
Is transmitted to the control center 83.

The control center 83 contains an image generation circuit 91, a position / posture calculation circuit 92, and a map memory 93. The image generating circuit 91 is connected to the CCD 88 at the end of the endoscope, converts the image captured by the CCD 88 into an image, and displays the image on the first monitor device 84. The position / posture calculation circuit 92 is connected to the endoscope distal end acceleration sensor 89 and the gyro 90, and calculates the position and posture (direction) of the endoscope distal end from these signals.
Specifically, by integrating the acceleration signal from the acceleration sensor 89 twice, the amount of movement of the endoscope end can be known. By integrating the angular acceleration signal from the gyro 90 twice, the direction of the endoscope end can be known. As described above, the position and orientation of the distal end of the endoscope can be known by the position / posture calculation circuit 92.

The map memory 93 is a memory for storing map information of the piping and the inside of the plant to be inspected. Map information can be input to the map memory 93 from input means 94.

The map information stored in the map memory 93 and the position / posture of the endoscope tip obtained from the position / posture calculation circuit 92 are superimposed and displayed on the second monitor 85. At this time, by displaying the trajectory of the endoscope on the map to be inspected, the inspector can recognize the inspected region and the unexamined region. The inspected area and the uninspected area may be displayed in different colors.

Next, the operation of the endoscopic pipe inspection system 80 configured as described above will be described. First,
The inspector inputs map information of the plant piping 95 to be inspected into the control center 83. The map information is displayed on the screen of the second monitor device 85. Next, an inspection is performed by inserting the endoscope 81 into the inside through the endoscope insertion hole 96 of the plant pipe 95. Since the image obtained by the endoscope 81 is displayed on the screen of the first monitor device 84, the inspection is performed by observing the image.

At this time, the trajectory of the endoscope tip is displayed on the second monitor device 85. Therefore, even within the complicated plant piping 95, it is possible to recognize the area that has been inspected and the area that has not been inspected from the image of the second monitor device 85.

The examiner determines the direction in which the endoscope 81 is advanced from the image on the second monitor device 85, and inspects the area from the image on the first monitor device 84. After confirming that the second monitor device 85 has observed all the areas requiring the inspection, the inspection is completed.

Therefore, even within a complicated pipe, the inspector can recognize the inspected / uninspected area, so that there is no area where the inspection is missed. In addition, the inspection can be efficiently performed without performing the inspection repeatedly.

According to the above disclosed example, the following configuration is obtained. (Supplementary Note 11) In an endoscope apparatus having means for obtaining map information of an inspection target and means for obtaining the position and orientation of an endoscope with respect to the map information, the position (trajectory) of the endoscope is added to the map information. An endoscope apparatus characterized by being displayed in an overlapping manner.

(Supplementary Note 12) The means for detecting the position / posture includes an acceleration sensor mounted on the distal end of the endoscope, a gyro,
12. The endoscope apparatus according to claim 11, wherein the endoscope apparatus is a circuit that performs arithmetic processing on those signals.

FIGS. 17 and 18 show a first disclosed example of a flexible tube device with a curved portion which has a simple structure and can reliably perform observation and treatment even in a narrow and complicated body cavity.
FIG. 17 shows the internal structure of the insertion portion 101 of the flexible tube with a bending portion. A bending portion 102 is provided at a distal end portion of the insertion portion 101. The bending portion 102 includes a plurality of bending joint pieces (hereinafter referred to as bending pieces) 10 along the axial direction of the insertion portion 101.
3 are arranged in series, and each adjacent bending piece 103 is
It is configured so as to be pivotally connected via a pin 04. Each bending piece 10
Numeral 3 is connected by a shaft pin 104 so that its front end and rear end rotate in different directions with respect to the adjacent bending piece 103, respectively. By connecting a plurality of bending pieces 103, the bending portion 102 can be bent in any direction.

In the bending portion 102, the outer peripheral portions of the plurality of connected bending pieces 103 are made of a braided tube 10 made of a metal wire material.
5 is fitted, and the outer periphery of the stitched tube 105 is covered with an elastic tube 106 made of rubber or the like. A front end member 107 of the insertion portion 101 is provided at a front end of the bending portion 102.
The flexible tube 108 of the insertion portion 101 is connected to the rear end of the bending portion 102.

In each of the bending pieces 103 of the bending portion 102, a predetermined position on the inner peripheral surface of the plurality of bending pieces 103a located on the tip side (usually, the shaft pin 1 serving as the rotation center of the bending piece 103)
A wire guide 109 made of an annular member is provided at a position 90 ° away from the position 04. The wire guides 109 at the same vertical and horizontal positions are alternate bending pieces 10.
It is provided every 3a.

The wire guide 109 in FIG. 17 is attached to the inner peripheral surface of the bending piece 103a as a separate member. The wall guide of the bending piece 103a is cut and raised inward to form a wire guide. Is also good.

On the other hand, a plurality of bending pieces 103b located behind the bending piece 103a provided with the wire guide 109 are provided.
A flexible sheath 110 is provided on the inner peripheral surface of the flexible member 110. The flexible sheath 110 is fixed to the foremost bending piece 103b at the distal end. The flexible sheath 110 also has the wire guide 1
09 are arranged at the same position as 09.

The bending piece 103a located on the tip side
Wire guides 1 arranged at each of the top, bottom, left and right positions
09, and the angle wires 111 are individually inserted into the respective rows of the flexible sheath 110 located on the rear end side thereof, and the distal end of the angle wire 111 is fixed to the bending piece 103a at the foremost end. ing.

A sphere 112 having an outer diameter substantially the same as the outer diameter of the flexible sheath 110 is fixed to the angle wire 111 between the last wire guide 109 and the flexible sheath 110. The distance between the spherical body 112 and the distal end of the flexible sheath 110 when the bending portion 102 is in a straight state is equal to or less than the stroke required for the bending piece 103a to bend completely. further,
The distance between the wire guide 109 at the rear end and the sphere 112 is
It must be longer than the distance between the spherical body 112 and the distal end of the flexible sheath 110. Note that FIG. 17 does not show the right and left rows of each angle wire, wire guide, and flexible sheath, but shows only the upper and lower rows.

Next, the operation of the flexible tube device with a curved portion configured as described above will be described. FIG.
Of the angle wires in a row, only one in the upper row is shown. In FIG. 18A, when the angle wire 111 is towed from the hand side by a pulling means (not shown), first, the bending piece 103a at the foremost end where the tip of the angle wire 111 is fixed is pulled backward.

Each bending piece 103 in the bending portion 102 attempts to rotate about the shaft pin 104, and as a result, the entire bending portion 102 bends in a predetermined direction. However, even if the angle wire 111 is pulled, the flexible sheath 110 becomes a resistance to bending until the sphere 112 on the angle wire 111 comes into contact with the distal end portion of the flexible sheath 110, and the presence of the flexible sheath 110 Only the portion not to be bent is curved as shown in FIG. As shown in FIG.
1 is further pulled, the sphere 112 is
Is pushed, and the flexible sheath 110 is pulled to the rear together with the angle wire 111.

When the flexible sheath 110 is pulled backward,
Bending piece 103 fixed at the distal end of flexible sheath 110
b is pulled backward and bends in a predetermined direction similarly to the bending piece 103a. In addition, the bending angle of the tip portion can be adjusted depending on the position of the sphere 112.

Therefore, the bending operation of the bending portion 102 is started from the distal end portion thereof, and the observation and treatment of the body cavity are easy, and a good observation image can be obtained. Note that the sphere 112 is not limited to a sphere, and does not need to be particularly spherical as long as the maximum diameter is larger than the inner diameter of the flexible sheath 110. The flexible sheath 110 is not limited to a tube shape, and may be a coil shape.

FIGS. 19 and 20 show a second disclosed example of a flexible tube device with a curved portion. FIG. 19 shows the internal structure of the insertion portion 101 of the flexible tube with a bending portion. A bending portion 102 is provided at a distal end portion of the insertion portion 101, and the insertion portion 101 is formed of a flexible tube. This tube has a multi-lumen tube structure in which a plurality of sub lumens 113 are provided in a wall. Functional components such as an image guide and a light guide (not shown) and an air supply / water supply tube are incorporated in the central main lumen 114. Three sub-lumens 113 are provided at equal intervals in the insertion portion 101, and an angle wire 111, a first flexible sheath 115, and a second flexible sheath 116 are provided in each sub-lumen 113 in the axial direction. It is arranged along. The angle wire 111 is inserted through the first flexible sheath 115 and the first flexible sheath 115
Is the second flexible sheath 1 together with the angle wire 111
16 is inserted. The distal end of the angle wire 111 is fixed to the distal end of the bending portion 102, and the distal end of the first flexible sheath 115 is located behind the sub-lumen 11.
It is fixed to 3. The distal end of the second flexible sheath 116 is further fixed to the sublumen 113 at the rear. Each angle wire 111 and the first flexible sheath 115 are attached to the sub-lumen 113 by an adhesive 117.
Is fixed inside.

The flexibility of the multi-lumen tube of the insertion portion 101 is different from that of the bending portion 102 at the proximal side. The flexible tube 108 at the proximal side is harder than the tube of the bending portion 102.

A first sphere 118 is provided on the angle wire 111 at a position before the fixing portion between the first flexible sheath 115 and the sub-lumen 113. Also,
The first flexible sheath 115 includes a second flexible sheath 115
A second sphere 119 is provided at a position before the fixing portion between the second sphere 119 and the sublumen 113. Angle wire 11
A traction means (not shown) is provided on the near side of the device 1.

FIG. 20 is a diagram showing an outline of the operation. FIG.
0 (a) shows only one of the upper rows of the three rows of angle wires. In FIG. 20A, when the angle wire 111 is towed from the near side by a pulling means (not shown), first, the distal end of the curved portion 102 to which the tip of the angle wire 111 is fixed is pulled backward. When the foremost portion of the bending portion 102 is pulled backward, the bending portion 102 as a whole tends to bend in a predetermined direction. However, even if the angle wire 111 is pulled, the flexible sheaths 115 and 116 become a resistance to bending until the first sphere 118 on the angle wire 111 and the distal end of the first flexible sheath 115 come into contact with each other. Only the portion where the flexible sheaths 115 and 116 are not present is curved as shown in FIG.

The angle wire 1 as shown in FIG.
When the torch 11 is further pulled, the first sphere 118 pushes the distal end portion of the first flexible sheath 115, and the first flexible sheath 115 is pulled backward together with the angle wire 111. When the first flexible sheath 115 is pulled rearward, only the portion where the second flexible sheath 116 does not exist bends. When the angle wire 111 is further pulled, as shown in FIG.
The second sphere 119 on the top 15 hits the distal end of the second flexible sheath 116 and pushes the second flexible sheath 116, so that the portion where the second flexible sheath 116 exists also curves. Further, the bending angle can be adjusted depending on the position where the spheres 118 and 119 are fixed.

Therefore, the bending operation of the bending portion is started from the distal end portion of the bending portion, and the observation and treatment in the body cavity are easy, and a good observation image can be obtained. The spheres 118 and 119 are not limited to spheres, and need not be spheres as long as the maximum diameter is larger than the inner diameter of the corresponding flexible sheath 115 or 116. The flexible sheaths 115 and 116 are not limited to tubes, but may be coils. Further, the curvature is not limited to three stages, but may be more.

According to the disclosed example, the following configuration is obtained. (Supplementary Note 13) In the flexible tube device with a bending portion having a bending portion to be bent by the insertion portion, the bending portion is provided along the longitudinal direction inside the bending portion, and a distal end portion is closer to a hand side than a distal end of the bending portion. An engaged sheath, a wire slidably inserted through the sheath, and a distal end attached to the distal end of the bending portion, a means for pulling the wire, and a wire extending from the sheath to the distal end of the bending portion. A flexible tube device with a bending portion, characterized in that it is fixed to a part of the protruding wire, and comprises locking means having an outer diameter larger than an inner diameter of the sheath.

(Supplementary note 14) The flexible tube device with a curved portion according to supplementary note 13, wherein the sheath is in a tubular shape. (Supplementary note 15) The flexible tube device with a curved portion according to supplementary note 13, wherein the sheath is coil-shaped. (Supplementary note 16) Supplementary note 13 in which the sheath is made of a superelastic alloy
A flexible tube device with a bending portion according to the above. (Supplementary Note 17) The flexible tube device with a curved portion according to supplementary note 13, wherein the sheath is made of resin.

(Supplementary note 18) The flexible tube device with a curved portion according to supplementary note 13, wherein the wire is made of a shape memory alloy. (Supplementary note 19) The flexible tube device with a curved portion according to supplementary note 13, wherein the locking means is a sphere. (Supplementary note 20) The flexible tube device with a curved portion according to Supplementary note 13, wherein the locking means has a columnar shape. (Supplementary note 21) The flexible tube device with a curved portion according to supplementary note 13, wherein the locking means is made of glass.

(Supplementary note 22) The flexible tube device with a curved portion according to supplementary note 13, wherein the locking means is made of metal. (Supplementary note 23) The flexible tube device with a curved portion according to supplementary note 13, wherein the locking means is made of resin. (Supplementary note 24) The flexible tube device with a bending portion according to supplementary note 13, wherein the traction means is a shape memory alloy actuator. (Supplementary note 25) The flexible tube device with a bending portion according to supplementary note 13, wherein the traction means is an angle knob manually operated. (Supplementary note 26) The flexible tube device with a bending portion according to supplementary note 13, wherein the traction means is a motor.

[0086]

As described above, according to the present invention, a laser light reflecting mirror and a rocking movement means for rocking the reflecting mirror are provided at the tip of a laser probe having laser light guide means in the insertion portion. By providing control means for controlling the oscillating movement means in an arbitrary pattern,
There is an effect that laser light can be irradiated to a wide planar area with high accuracy to perform treatment or welding efficiently.

[Brief description of the drawings]

FIG. 1 is a perspective view of a laser probe according to a first embodiment of the present invention in a used state.

FIG. 2 is a vertical side view of a distal end component of the endoscope according to the embodiment.

FIG. 3 is an explanatory view of the operation of the swing unit of the embodiment.

FIG. 4 is a time chart of a voltage applied to the multilayer piezoelectric element of the embodiment.

FIG. 5 is a time chart of a voltage applied to the multilayer piezoelectric element of the embodiment.

FIG. 6 is a time chart of a voltage applied to the multilayer piezoelectric element of the embodiment.

FIG. 7 is an explanatory view of the operation of the swing unit of the embodiment.

FIG. 8 is a longitudinal side view of a distal end component of an endoscope according to a second embodiment of the present invention.

FIG. 9 is an operation explanatory view of the embodiment.

FIGS. 10A and 10B show a third embodiment of the present invention, wherein FIG. 10A is a longitudinal sectional side view of a distal end portion of an endoscope, and FIG.

FIG. 11 is a perspective view of an endoscope showing a fourth embodiment of the present invention.

FIG. 12 is a vertical side view of the flaw detection probe of the embodiment.

FIG. 13 is an overall configuration diagram showing a disclosed example of an endoscope repair device.

FIG. 14 is a perspective view of a welding repair apparatus according to the disclosed example.

FIG. 15 is an overall configuration diagram showing a disclosure example of an endoscope apparatus.

FIG. 16 is a block diagram of a control center according to the disclosure example.

FIG. 17 is a longitudinal sectional side view of an insertion portion showing a first disclosure example of a flexible tube device with a bending portion.

FIGS. 18A to 18C are explanatory diagrams of the operation of the disclosure example.

FIG. 19 is a perspective view of an insertion portion showing a second disclosure example of the flexible tube device with a bending portion.

FIGS. 20A to 20D are diagrams illustrating the operation of the disclosure example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Endoscope 2 ... Insertion part 4 ... Tip constituent part 16 ... Control circuit 20 ... Laser guide fiber 22 ... Mirror 24a-24c ... Stacked piezoelectric element

Claims (1)

[Claims] 1. A laser probe having laser light guide means in an insertion part, a laser light reflection mirror provided at a tip end of the insertion part, a rocking movement means for rocking the reflection mirror, and the rocking means And a control means for controlling the movement means in an arbitrary pattern.