JPS6187529A - Endoscope - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an endoscope in which a bending operation mechanism is driven by a motor to bend an insertion section.

[Technical background of the invention and its problems] In recent years, in order to improve the operability of bending the insertion section of an endoscope, a motor has been used to drive the bending operation tjllfif to bend the insertion section. Some methods have been proposed (for example, Japanese Utility Model Application Publication No. 53-457.9Q, Japanese Patent Application Publication No. 58-78635). However, when the bending drive of the insertion section is motorized in this way, when performing a bending operation, the bending state of the insertion section and the magnitude of the load at that time cannot be easily recognized by the feeling of the hand. For this reason, the insertion tube may be curved more than necessary within the body cavity, and the tip of the insertion tube may press strongly against the body cavity wall, and in the worst case, it may cause damage to the body cavity wall, and there remains a risk. was.

In this regard, with conventional endoscopes, the curved state of the insertion tube and the magnitude of the load at that time can be easily detected by the feel of the hand operating the angle knob, so the above-mentioned danger can be avoided for the time being. However, this electric endoscope had the problem of not being able to achieve this.

[Purpose of the invention]

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to provide an endoscope in which the bending drive of the insertion section is motorized, when an abnormal load is applied during the bending operation of the insertion section. The purpose is to ensure safety by providing a means to warn of this.

[Summary of the invention]

The present invention provides a bending operation mechanism for bending an insertion section, a motor connected to the bending operation mechanism via a transmission shaft to drive the bending operation mechanism, and a motor that is manually operated to drive the bending operation mechanism. a first rotation detector connected to the bending operation member to detect the rotation amount of the rotation shaft; and a first rotation detector connected to the transmission shaft to detect the rotation amount of the transmission shaft. 2 rotation detectors, and a first rotation detector.
a rotation difference detection means for receiving each detection signal of the rotation detector and the second rotation detector and detecting the difference in rotation speed; An endoscope that is equipped with a danger detection means for detecting when curving is dangerous, and a warning device that receives a signal from the danger detection means and changes the illumination light of the illumination system when it is dangerous if the insertion section bends any further. be.

[Embodiments of the invention]

Embodiments of the present invention will be described below based on the drawings.

In FIG. 1, reference numeral 1 denotes an electric endoscope, and the endoscope main body 2 consists of an operating section 3, an insertion section 4, and a light guide cable 5, and the insertion section 4 is a flexible tube. A tip member 8 is attached to the tip of the section 6 via a curved tube section 7. The bending tube section 7 is formed by connecting a plurality of short tube-shaped joint members 9 arranged along the axial direction of the tube section 7 by mutually supporting each other, so that the bending tube section 7 can be bent vertically and horizontally. Furthermore, the output tip 12 of the light guide 11 and the objective lens 13 are arranged on the tip member 8, and furthermore, the input tip 15 of the image guide 14 is arranged opposite to the objective lens 13. The other end of the light guide 11 is guided into the light guide cable 5 through the insertion section 4 and the operation section 3, and is further connected to a light source device (not shown). Also, image guide 1
The other end side of 4 is guided through the insertion section 4 and the operation section 3 to an eyepiece section 16 provided on the operation section 3, and is disposed opposite to the eyepiece lens 17.

On the other hand, the operating section 3 is provided with a bending operation mechanism 20 for remotely operating the bending tube section 7 of the insertion section 4 . In the drawing, only the vertical bending operation mechanism 20 is shown. However, a bending operation mechanism in the left and right directions is also provided. That is, the bending operation device 20 includes a drum 22 driven by a motor 21 that can freely rotate in forward and reverse directions, and on the outer periphery of the drum 22, the base ends of a pair of upper and lower operation wires 23A and 22E3 are respectively attached. It is wrapped from the opposite side. A pair of upper and lower operation wires 23A, 22B
are guided into the curved tube section 7 through the insertion section 4 and connected to corresponding upper and lower portions of the most distal joint member 9 of the curved tube section 7. When the drum 22 is rotated, one of the operating wires 23A and 123B is caught and pulled.
The other operating wires 23A and 23B are let out and curved in the direction in which the curved tube section 7 is pulled. In addition, there is a slack remover 2 in the middle of the operation wires 23A and 23B.
4.25 are inserted respectively.

Also, gears 26 and 27 are attached to the rotating shaft of the motor 21 and the rotating shaft of the drum 22, respectively.
．． 27 are intermeshed with each other.

Therefore, when the motor 21 rotates, the rotation is transmitted to the drum 22. Further, a first potentiometer 28 is connected to the transmission shaft 33 of the drum 22 . The first potentiometer 28 has a built-in sliding contact that rotates in conjunction with the transmission shaft 33 of the drum 22. Therefore, the output voltage of the first potentiometer 28 is determined by the amount of rotational movement of the drum 22. changes in response to.

Further, the operating section 3 is rotatably provided with a bending operation knob 30 as a bending operation member. This curved operation lever 30 protrudes to the outside of the operation section 3, and is adapted to be rotated back and forth by the operator's hand. That is, when raising the bending tube section 7, the bending operation knob 30 is rotated backward, when lowering the bending tube section 7, the bending operation knob 30 is rotated forward, and when the bending tube section 7 is in a straight state, the bending operation knob 30 is rotated backward. It is designed to be located at a neutral position. Further, the rotation shaft 34 of the bending operation knob 30 has a second
A potentiometer 31 is connected. This second potentiometer 31 is also the same as the first potentiometer 2.
It is configured similarly to 8.

That is, this second potentiometer 31 has a built-in sliding contact that rotates in conjunction with the rotating shaft 34 of the bending operation knob 30. Therefore, the output voltage of this second potentiometer 31 is the same as that of the bending operation lever 30.
It changes in response to the amount of rotational movement. □ By the way, as shown in FIG. 2, the first and second potentiometers 28 and 31 are connected to a drive circuit 32. This drive circuit 32 has a built-in servo circuit such as an operational amplifier that compares the voltage values input from the first and second potentiometers 28.31 and outputs an output according to the difference.

The motor 21 is rotated in both forward and reverse directions depending on the direction and amount of rotation of the bending operation knob 30.

Furthermore, the rotating shaft 34 of the bending operation knob 30 has a first
A first encoder 35 is attached as a rotation detector. This first encoder 35 is configured to detect the amount of rotation of the rotating shaft 34 of the bending operation lever 30. A second encoder 36 serving as a second rotation detector is connected to the transmission shaft 33 portion of the drum 22. This second encoder 36 is configured to detect the amount of rotation of the transmission shaft 33 that rotates in response to rotational force from the motor 21.

Then, the first encoder 35 and the second encoder 36
Each detection signal is detected by a rotation difference detection means for detecting the difference in rotational speed, and a danger detection means for determining a signal emitted by the rotation difference detection means and detecting when it is dangerous to bend the insertion portion 4 any further. are input to the arithmetic unit 37 which has a built-in arithmetic unit 37. Further, this arithmetic unit 37 is connected to an alarm device drive circuit 39 that changes the illumination light of the illumination system when it is dangerous if the insertion portion 4 bends any further.

As shown in FIG. 2, the alarm device 38 has a rotary plate 43 inserted between the incident end surface 41 of the light guide 11 of the illumination system of the endoscope 1 and the light source 42. A plurality of through holes 44 are provided along the circumferential direction of the circumferential surface. The rotary plate 43 is connected to the drive circuit 39
It is designed to be rotated by a motor 45 which is activated in response to a command. Also, during normal endoscopic observation,
The rotating plate 43 is stopped, and the through hole 44 of the rotating plate 43 is located between the incident end surface 41 of the light guide 11 and the light source 42, and cannot completely block the illumination light.

Note that the arithmetic unit 37 is configured as shown in FIG. That is, each encoder 35, 36 is connected to a different rotation speed detection circuit 46, 47, respectively. Further, the rotation speed detection circuits 46 and 47 are connected to different counters 48 and 49, respectively. Furthermore, each counter 48.49 has a different division circuit 50.51.
It is connected to the. Furthermore, timers 52 and 53 are connected to each of the division circuits 5.0 and 51, respectively. The division circuits 50 and 51 calculate the number of rotations per unit time, that is, the rotation speed. These rotational speeds are compared by a comparator 54, and the speed difference is detected. Then, due to the reaction when the peripheral surface of the distal end member 8 of the insertion section 4 strongly presses against the body cavity wall, the load applied to the transmission shaft 33 portion increases, and the rotational speed becomes lower than the rotational speed of the rotational shaft 34 of the bending operation knob 30. However, the drive circuit 39 is actuated based on the signal value when the rotational speed difference reaches this rotational speed difference at which a danger is expected if the insertion section 4 bends any further.

Next, the operation of the above-mentioned congratulation &Il will be explained.

When bending the bending tube section 7 of the insertion section 4, the bending operation knob 30 is operated. The output from the second potentiometer 31 changes depending on the amount of rotation from the neutral position, and this output value differs from the output value of the first potentiometer 28. The drive circuit 32 calculates this value and servo drives the motor 21 of the bending operation device 120 so that this value becomes zero. Then, by rotating the drum 22 and pushing and pulling the operating wires 23A and 23B, the bending tube portion 7 is bent. When the difference between the output values of the potentiometers 28 and 31 becomes zero, the operation of the motor 21 stops, and the bending action of the bending tube section 7 also stops.

By the way, when performing a bending operation, the magnitude of the load in the curved state of the insertion section 4 cannot be easily determined by the touch of the hand depending on the operation itself. However, if the insertion section 4 is bent more than necessary within the body cavity and a danger is expected, the tip member 9 of the insertion section 4 will strongly press against the body cavity wall, increasing the amount of operating force required. A load is generated on the transmission shaft 33 that transmits power to the drum 22. Due to the load at this time, the rotation speed of the transmission shaft 33 becomes slower than the rotation speed of the rotation shaft 34 of the bending operation knob 30, resulting in a speed difference. When this rotational speed difference reaches a certain dangerous value as described above, that is, the curved tube section 7 in the insertion section 4 curves and the circular surface of the tip member 8 strongly presses against the body cavity wall, causing When a danger is predicted if the insertion portion 4 bends, the drive circuit 39 operates the motor 45 to rotate the rotating plate 43 in response to the signal. Therefore, light guide 1
The illumination light incident on 1 is intermittent, and the illuminated field of view blinks. Therefore, the operator who looks into the field of view knows that it is dangerous to curve the lens any further, and prevents dangerous operations from occurring. In this way, this abnormality can be detected visually, and the bending operation knob 30 will not be rotated unnecessarily. In this way, danger can be avoided. In addition, when returning it, the bending operation knob 30 is rotated in the opposite direction.

In the above embodiment, although the difference between each rotation speed may be used, since the rotation speed difference is detected in particular, successive loads can be detected accurately, there is no detection delay, and it is safer. It is. Also, I made the illumination light blink,
A motor for driving a bending operation mechanism for operating the bending operation mechanism to change the color via a transmission shaft, and a bending operation member for manually moving and controlling the driving operation of the bending operation mechanism are provided. A first rotation detector that detects the amount of rotation of the rotation shaft and a second rotation detector that detects the amount of rotation of the transmission shaft of the transmission shaft are provided, and further, the first rotation detector and the second rotation detector are provided. A rotation difference detection means receives each detection signal from the detector and detects the difference in rotation speed, and a danger detection means detects when it is dangerous to bend the insertion portion any further by determining the signal emitted by the rotation difference detection means. A detection means is provided, and in response to a signal from the danger detection means, the insertion portion is no longer inserted.
It is equipped with a warning device that changes the illumination light of the lighting system when it is dangerous to bend the vehicle. Therefore, if the insertion tube is bent any further, the operator who looks into the observation field will notice this and immediately know that there is an abnormality -13. Danger can be avoided and safety can be ensured. Furthermore, since each rotational speed difference is detected, successive loads can be detected accurately, there is no detection delay, and it is safer.

[Brief explanation of the drawing]

FIG. 1 is a partially cutaway perspective view of one embodiment, FIG. 2 is a schematic perspective view of the main part thereof, and FIG. 3 is an electric circuit diagram thereof. 1... Endoscope, 4... Insertion section, 7... Curved tube section,
11... Light guide, 20... Curving operation mechanism, 2
1... Motor, 30... Curving operation knob, 33...
Transmission shaft, 34... Rotating shaft, 35... First encoder, 36... Second encoder, 37... Arithmetic circuit, 38... Alarm device, 39... Drive circuit, 42・・・
- Light source, 43... rotating plate, 45... motor. Applicant's agent: Patent attorney Jun Tsuboi 1, Indication of the case: Patent Application No. 1982-209480 2, Name of the invention: Endoscope 3, Person making the amendment: Relationship with the case: Patent applicant's name (037): Olympus Optical Industry Co., Ltd. 4. Agent 6. Specification to be amended Drawing 7. Contents of amendment (1) Each l on page 5, line 18 and line 20 of the specification
Correct each -22BJ to 23BJ. (2) Change "knob" in the 9th line of page 8 to "L knob" □
to correct. (3) Same item] Correct the "speed difference" on the 12th line of page 2 to "speed difference". (4) Correct the code ``27'' in Figure 1 of the drawings to ``24'' so that it is written in red in the attached drawing.

Claims (1)

[Claims] A bending operation mechanism for bending the insertion section, a motor connected to the bending operation mechanism via a transmission shaft to drive the bending operation mechanism, and a motor that is manually operated to control the driving operation of the bending operation mechanism. a bending operation member; a first rotation detector connected to the bending operation member to detect the rotation amount of the rotation shaft; and a second rotation detector connected to the transmission shaft to detect the rotation amount of the transmission shaft. a rotation difference detection means for receiving each detection signal of the first rotation detector and the second rotation detector and detecting the difference in rotation speed thereof; It is equipped with a danger detection means that detects when it is dangerous to bend the insertion part any further, and an alarm device that receives a signal from the danger detection means and changes the illumination light of the illumination system when it is dangerous to bend the insertion part any further. An endoscope that is characterized by: