JP2011019550A - Endoscope apparatus, endoscope system, and method of controlling endoscope apparatus - Google Patents

Abstract

Even when the bending rigidity of a bending portion changes, an operation assisting force for assisting the bending operation is generated according to a desired bending characteristic, and the bending operation of the bending portion is always performed accurately with a desired operational feeling.
An endoscope main body having a bending operation part 37 for bending the bending part 33, a bending driving part for driving the bending part 33 in response to the operation force, and a drive for assisting the bending driving of the bending driving part. Auxiliary drive means for generating force, storage means 75 and 11 for storing information on bending characteristics defining the operating force required for the bending operation of the bending portion 33, and driving force generated by the auxiliary drive means based on the bending characteristics Control means 73 and 77 for bending the bending portion 33 with a desired force characteristic, and when there is a request for correction of the bending characteristic, the bending angle of the bending portion and the bending operation portion The actual curve characteristic is determined by obtaining the relationship with the manual operation force, and the curve characteristic stored in the storage means 75 and 111 is corrected based on the actual curve characteristic.
[Selection] Figure 7

Description

  The present invention relates to an endoscope apparatus, an endoscope system, and an endoscope apparatus control method.

  2. Description of the Related Art Endoscopic devices are widely used as devices for observing the inside of a body cavity or the inside of a structure tube. The endoscope apparatus includes an endoscope insertion portion that is inserted into a subject, and a main body operation portion that is connected to a proximal end of the endoscope insertion portion, and a distal end of the endoscope insertion portion. Some have a bending portion that is bent by a pulling operation of an operation wire inserted through the endoscope insertion portion. The operation wire is pulled in a desired direction by operating an angle knob disposed in the main body operation unit, and the bending unit is bent in a desired direction. In such an endoscope apparatus, in order to reduce the operation force of the angle knob for bending the bending portion, an operation assisting force for assisting the pulling of the operation wire is generated by the assisting drive motor, and the wire pulling member An endoscope apparatus with a power assist function to be applied is described in Patent Document 1. According to this endoscope apparatus, in addition to the operation force of the angle knob by the operator of the endoscope apparatus, the operation assisting force by the drive motor provided in the main body operation unit is applied to the angle knob, so the operation force is reduced. In addition, the bending portion can be bent by a desired amount.

  The operation assisting force is generated based on a predetermined characteristic whose magnitude is preset according to the operation of the angle knob, and is provided as an operation assisting force for the operator. However, the relationship between the operating force applied to the bending operation part and the bending amount of the bending part is due to changes in the material of the endoscope insertion part, changes in physical properties due to environmental temperature, and wear of each driving part such as a pulling mechanism of the operation wire. The bending rigidity of the endoscope insertion portion changes due to various factors such as a change in friction characteristics, and is not always constant. Therefore, depending on the conditions for using the endoscope apparatus, the amount of operation assisting force may be distorted, and the operability of the bending operation may be reduced.

JP 2009-90087 A

  In the present invention, even when the bending rigidity of the bending portion changes, an operation assisting force for assisting the bending operation is generated according to a desired bending characteristic, and the bending operation of the bending portion can always be performed with a desired operational feeling. It is an object of the present invention to provide an endoscope apparatus, an endoscope system, and an endoscope apparatus control method.

The present invention has the following configuration.
(1) An endoscope insertion portion having a bending portion on the distal end side to be inserted into a subject, a bending operation portion that performs a bending operation on the bending portion, and the bending portion is driven in response to an operation force applied to the bending operation portion. An endoscope main body having a bending drive unit;
A bending amount detecting means for detecting a bending amount of the bending portion;
An operation force detecting means for detecting an operation force applied to the bending operation unit;
Auxiliary driving means for generating a driving force for assisting bending driving by the bending driving unit;
Storage means for storing information of a bending characteristic defining a relationship between the operation force required for the bending operation of the bending portion and the bending amount of the bending portion;
Control means for generating the driving force by the auxiliary driving means in accordance with at least information on the bending characteristics stored in the storage means;
A correction instruction means for transmitting a correction execution request for the curvature characteristic to the control means;
When there is a correction execution request from the correction instruction means, a relationship between a bending angle of the bending portion and a manual operation force to the bending operation portion is obtained to determine an actual bending characteristic, and based on the actual bending characteristic Bending characteristic correction means for correcting the bending characteristic stored in the storage means;
An endoscopic apparatus comprising:
(2) the above endoscope apparatus;
An endoscope system comprising an external electronic device connected to be communicable with the endoscope device,
An endoscope system in which the storage unit stores at least a part of information on the bending characteristic in a storage unit built in the external electronic device.
(3) Endoscope insertion portion having a bending portion on the distal end side to be inserted into the subject, bending operation portion for bending operation of the bending portion, and bending driving of the bending portion according to an operation force to the bending operation portion An endoscope main body having a bending drive section, auxiliary driving means for generating a driving force for assisting the bending drive of the bending drive section, the operation force required for the bending operation of the bending section, and the bending amount of the bending section. Storage means for storing information on the bending characteristics that define the relationship between the driving means and the driving force generated by the auxiliary driving means in accordance with at least the information on the bending characteristics stored in the storage means. A control means for bending operation with force characteristics, and a control method for an endoscope apparatus comprising:
When there is an execution request for correction of the bending characteristic, the actual bending characteristic is determined by obtaining the relationship between the bending angle of the bending part and the manual operation force to the bending operation part, and based on the actual bending characteristic, An endoscopic device control method for correcting the bending characteristics stored in the storage means.

  According to the endoscope apparatus, the endoscope system, and the control method of the endoscope apparatus of the present invention, even when the bending rigidity of the bending portion is changed, the operation assisting force for assisting the bending operation is set according to the desired bending characteristics. The bending operation of the bending portion can always be performed with a desired operational feeling accurately.

It is a figure for describing an embodiment of the present invention, and is a block lineblock diagram showing typically an endoscope system. FIG. 2 is an external view schematically showing the endoscope apparatus shown in FIG. 1. It is a block diagram which shows schematically the bending mechanism of a bending part. It is a schematic block diagram which shows typically the drive mechanism which curves a bending part. It is a graph which shows the required torque characteristic TS ((theta)) with respect to the bending angle of a bending part, and the arbitrary torque characteristics TSR ((theta)) which can be defined arbitrarily. FIG. 6 is an explanatory diagram of a bending operation, where (a) is a relationship between the operation torque with respect to the bending angle, (b) is a relationship between the operation torque with respect to the bending angle and the difference between the arbitrary torque characteristics, and (c) is a driving torque with respect to the bending angle. It is explanatory drawing which shows the relationship. It is a principal part block block diagram for updating the information of the bending characteristic with respect to the bending part of an endoscope apparatus. It is a flowchart which shows the procedure which updates a curvature characteristic. It is explanatory drawing of the relationship of the bending amount with respect to operation force, (a) is a mode of bending of the bending part of an endoscope insertion part, (b) is a bending part with respect to the operation amount (rotation angle) to a bending operation part. It is a figure which shows the table of the measurement result of a bending angle and operation force detection value (operation torque). It is a flowchart which shows the procedure which warns this to the operator when the bending amount of a bending part runs short at the time of a measurement of an actual bending characteristic. It is a flowchart which shows the procedure which correct | amends a required torque characteristic according to the temperature at the time of measurement of an actual curvature characteristic. It is a graph explaining a mode that the actual curve characteristic memorized by the storage part is amended based on temperature detected by a temperature sensor. It is a flowchart which shows the procedure which implements correction | amendment of a curvature characteristic after progress for predetermined time.

First, the basic configuration of the endoscope system will be described. FIG. 1 is a block diagram schematically illustrating an endoscope system for explaining an embodiment of the present invention.
The endoscope system 100 includes an endoscope body 11, a signal processing device 13 that performs signal processing on image information output from the endoscope body 11, and a light source device 15 that supplies illumination light to the endoscope body 11. The signal processing device 13 is connected to a monitor 17 that displays image information after image processing. Further, the endoscope apparatus including the endoscope body 11, the signal processing device 13, and the light source device 15 is connected to an external device such as the server 19 through a network as necessary. Note that, although not shown, various network connection devices such as a storage device are connected to the network so that various types of information can be shared.

  As shown in FIG. 2, the endoscope main body 11 includes a main body operation unit 21 and an endoscope insertion unit 23 that is connected to the main body operation unit 21 and is inserted into a subject. Prepare. A universal cord 25 is connected to the main body operation unit 21, and a light guide connector 27 is provided at the tip of the universal cord 25. The light guide connector 27 is detachably connected to the light source device 15 shown in FIG. 1, whereby the illumination light is sent to the illumination optical system in the endoscope insertion portion 23. Further, a video connector 29 is connected to the light guide connector 27, and this video connector 29 is detachably connected to the signal processing device 13 shown in FIG.

  The endoscope insertion portion 23 is covered with a resin material, and includes a flexible portion 31, a bending portion 33, and a distal end portion (also referred to as an endoscope distal end portion) 35 in order from the main body operation portion 21 side. The bending portion 33 is remotely bent by turning the bending operation portion 37 (angle knobs 37A and 37B) of the main body operation portion 21. Specifically, a pulley 41 is coaxially provided on the rotation shafts of the angle knobs 37A and 37B, and an operation wire 43 wound around the pulley 41 is provided between the pulley 41 and the endoscope distal end portion 35. It is disposed along the inner wall of the endoscope insertion portion 23. Both ends of the operation wire 43 are fixed to the endoscope distal end portion 35. Thereby, by rotating each of the angle knobs 37A and 37B, the operation wire 43 can be pulled to bend the bending portion 33 so that the endoscope distal end portion 35 can be directed in a desired direction.

  In the illustrated example, only one system for bending the bending portion in the ± θ direction corresponding to the angle knob 37A is shown, but a direction orthogonal to the above corresponding to the angle knob 37B (perpendicular to the plane of FIG. 2). Another system that is curved in the vertical direction is also incorporated in the main body operation unit 21 and the endoscope insertion unit 23. That is, by operating the angle knobs 37A and 37B, the endoscope distal end portion 35 can be freely bent in the left-right direction and the up-down direction perpendicular thereto.

  In addition to the angle knobs 37A and 37B, the main body operation unit 21 is provided with various buttons 39 such as an air / water supply button, a suction button, and a shutter button, and the operator operates these buttons while operating the buttons. Then, observation or treatment of the object observation region ahead of the endoscope distal end portion 35 is performed.

Returning to FIG. 1 again, the configuration of the endoscope body 11 will be described.
The endoscope distal end portion 35 of the endoscope body 11 includes an observation window 45, an imaging lens 47, and an image pickup device 49 such as a CCD (Charge Coupled Device) type or a CMOS (Complementary Metal Oxide Semiconductor) type image sensor. An optical system 51 is arranged. In addition, an illumination optical system 59 including an irradiation window 53, a diffusion lens 55, and a light guide 57 including an optical fiber bundle is also disposed at the endoscope distal end portion 35.

  Here, an output signal from the image sensor 49 is taken into an analog front end (AFE) circuit 61. The AFE circuit 61 includes a correlated double sampling (CDS) circuit 63, an auto gain control (AGC) circuit 65, and an analog / digital (A / D) converter 67, and a trigger from a timing generator (TG) 69. In response to the signal, the output signal from the image sensor 49 is converted into a digital image signal and output. A drive signal based on a trigger signal from the TG 69 is applied from the drive circuit 71 to the image sensor 49.

  The imaging process by the imaging optical system 51 is controlled by the main body controller 73. The main body controller 73 is communicably connected to the control unit 77 of the signal processing device 13 via the universal cord 25 and the video connector 29 (see FIG. 2). The main body controller 73 is connected to an endoscope main body side storage unit 75 that is connected to the control unit 77 and stores various information. Further, a correction instruction unit 131, which will be described in detail later, is connected.

  The control unit 77 is connected to an image processing unit 79 that performs image processing of the captured image. This image processing unit 79 is connected to the output side of the AFE circuit 61, and in accordance with a command from the control unit 77, information on the captured image after the image processing is displayed on the monitor 17 to enable endoscopic diagnosis based on the observation image. I have to.

  The light guide 57 having one end connected to the illumination optical system 59 has the other end connected to the light source device 15 via the universal cord 25 and the light guide connector 27 (see FIG. 2), and uses a xenon bulb or the like. Light from 81 is introduced through an optical aperture device 83 that adjusts the amount of transmitted light. The lamp 81 is driven and controlled by a lamp driving circuit 85, and the optical aperture device 83 is controlled by an aperture drive unit 87, which are controlled by an illumination controller 89 connected to the control unit 77 of the signal processing device 13. .

FIG. 3 schematically shows a bending mechanism of the bending portion.
The bending portion 33 can be bent in the left-right direction and the up-down direction perpendicular to the left-right direction by rotating the angle knobs 37A, 37B. Like the example of illustration, the bending part 33 has the structure which connected many circular node rings 91A and 91B alternately like the bending part of a well-known endoscope. An operation wire 43A for bending the bending portion 33 in the L and R directions and an operation wire 43B for bending in the U and D directions are arranged on the inner wall surface of each of the node rings 91A and 91B constituting the bending portion 33. The end portions of the operation wires 43A and 43B are fixed to a fixing portion 95 formed on the sleeve 93 on the distal end side of the endoscope.

  The operation wires 43A are arranged side by side along the longitudinal direction of the bending portion 33, and one end and the other end on the sleeve 93 side are arranged in pairs at positions spaced apart in the diameter direction. Similarly, the operation wire 43B is also arranged in pairs at a circumferential position that is 90 degrees out of phase with the operation wire 43A.

  The node rings 91A and 91B are connected to each other by a pair of connecting pins 95A and 95B arranged in the diametrical direction, and the pair of connecting pins 95A and the pair of connecting pins 95B are circumferential positions that are 90 degrees out of phase with each other. Is arranged. That is, the node rings 91A and 91B are connected to be alternately rotatable in the L and R directions and the U and D directions.

  The endoscope system 100 having the above-described basic configuration has the operability to the angle knobs 37A and 37B when the bending portion 33 is bent, that is, the bending angle of the bending portion 33 with respect to the operating force applied to the angle knobs 37A and 37B. Has a power assist function for generating an operation assisting force so that the relationship becomes a desired relationship. The power assist function will be described below.

First, an example of a drive mechanism that generates the operation assisting force will be described.
FIG. 4 is a configuration diagram schematically showing a bending drive section that bends the bending section. The bending drive unit includes a bending operation unit 37 that performs a manual operation for bending the bending unit 33, an operation wire 43 that transmits an operation force from the bending operation unit 37 to the bending unit 33, and a coaxial operation with the bending operation unit 37. And a pulley 41 around which an operation wire 43 is wound. The bending operation unit 37 and the pulley 41 that feeds out the operation wire 43 are pivotally supported around the connection shaft 44, and the rotation operation force to the bending operation unit 37 is directly via the connection shaft 44. It is transmitted to the pulley 41. Accordingly, when the bending operation unit 37 is manually rotated, the pulley 41 is rotated in accordance with the operation, and the operation wire 43 is pulled and drawn out. The bending unit (see FIG. 3) performs the bending unit. 33 is curved.

  In addition, the bending drive unit includes a drive motor 101 for applying an operation assisting torque to the connecting shaft 44. The drive motor 101 functions as auxiliary drive means for supplying a rotational drive force to the connecting shaft 44 via the drive gear 103 and the driven gear 105. Motor drive power necessary for generating operation assist torque is applied to the drive motor 101 from a motor drive circuit 107 (see FIG. 1) connected to the control unit 77. In addition to driving the connecting shaft 44 via the driving gear 103 and the driven gear 105, the driving motor 101 can be appropriately changed such as a configuration in which the connecting shaft 44 is directly driven.

  The connecting shaft 44 is provided with a torque sensor 121 as an operation force detecting means, and the torque sensor 121 detects a rotational torque acting on the connecting shaft 44 by a turning operation of the bending operation portion 37 and uses this as an operating torque. Output to the control unit 77. As the torque sensor 121 arranged on the connecting shaft 44, various known torque sensors such as a torque sensor using a strain gauge and a magnetostrictive torque sensor can be used. In addition to the torque sensor, various force detection means can be used for detecting the operation torque.

  Furthermore, the bending drive unit is provided with an encoder 109 that detects the amount of rotation of the connecting shaft 44, and the encoder 109 sequentially outputs a signal representing the amount of rotation of the connecting shaft 44 to the control unit 77. In the illustrated example, the encoder 109 detects the amount of rotation of the connecting shaft 44 from the displacement of the circumferential portion of the pulley 41. Based on the rotation amount signal of the connecting shaft 44 output from the encoder 109, the control unit 77 obtains the pulling amount of the operation wire 43 using various conditions such as the radial distance of the pulley 41, and bends the bending portion 33 by this pulling. The amount (bending angle) is calculated. That is, the encoder 109 functions as a bending amount detection unit for the bending portion 33.

  The encoder 109 may be configured to detect the amount of displacement of another member driven by the bending operation unit 37 in addition to detecting the amount of rotation of the connecting shaft 44 from the amount of displacement of the pulley 41. For example, a configuration that uses a sensor that detects the amount of movement of the operation wire 43, a rotation angle sensor that detects the rotation angle of the angle knobs 37A and 37B, or the like may be used. Further, if the drive motor 101 is a motor that outputs an encode signal, the encode signal can be used.

  The control unit 77 includes a storage unit that stores bending characteristic information and constant parameters (both will be described later in detail) representing the relationship between the bending amount of the bending unit 33 and the operation torque necessary to bend the bending unit. Connected or built-in. The control unit 77 obtains a required operation assistance torque corresponding to the amount of bending of the bending unit 33, generates the operation assistance torque by the drive motor 101, and performs control to assist the bending drive of the bending unit 33. . That is, the control unit 77 obtains motor drive power for driving the drive motor 101 based on predetermined curvature characteristic information, and causes the motor drive circuit 107 to output the motor drive power.

  With the above configuration, on the basis of the bending amount of the bending portion 33 generated by the operating force applied to the bending operation portion 37, the operation assist torque associated with this bending amount is applied to the connecting shaft 44 by the drive of the drive motor 101, The pulley 41 rotates to assist the bending operation of the bending portion 33.

  Next, a bending characteristic in which the relationship between the operation force applied to the bending operation portion 37 (angle knobs 37A and 37B) and the bending angle θ of the bending portion 33 is defined so that the bending operation by the operator has a desired operation feeling. Information, that is, a bending characteristic that defines an operation assisting force applied to the connecting shaft 44 for each bending angle will be described.

FIG. 5 shows the relationship between the required torque characteristic TS (θ) (first bending characteristic) with respect to the bending angle of the bending portion and the arbitrary torque characteristic TSR (θ) (second bending characteristic) that can be arbitrarily defined.
The required torque characteristic TS (θ) is derived from the bending rigidity of the bending portion 33 determined by the material and structure of the endoscope insertion portion 23, and is thus connected to the connecting shaft to maintain the bending portion 33 at a specific bending angle θ. This is a characteristic that defines a torque value that needs to be applied to 44 for each bending angle.

  The arbitrary torque characteristic TSR (θ) is a torque characteristic that can be arbitrarily set in accordance with the preference and operation method of the operator of the endoscope apparatus, and the operation torque generated in the connecting shaft 44 by the operation to the bending operation unit 37; This represents an arbitrary characteristic of the relationship with the bending angle θ of the bending portion 33 that changes. The control unit 77 performs control so that the actual bending operation of the bending portion 33 is an operation based on the arbitrary torque characteristic TSR (θ).

Here, the breakdown of torque acting on the connecting shaft 44 when the bending operation unit 37 is operated to bend the bending portion 33 to a certain bending angle θa will be described.
As shown in FIG. 5, the torque TN required to bend the bending portion 33 to the bending angle θa is obtained from the required torque characteristic TS (θ). Here, the required torque characteristic TS (θ) has a non-linear characteristic such that, for example, the torque increase rate increases as the bending angle θ increases. On the other hand, the arbitrary torque characteristic TSR (θ) defines a linear relationship in which the torque increase rate is constant over the entire bending angle θ.

  When the bending angle of the bending portion 33 is θa, the torque TN necessary for bending is determined by the operation torque TH that is actually applied to the bending operation portion 37 and the drive torque that is the operation assisting force generated by the drive mechanism described above. obtain. The operating torque TH at that time is controlled to be equal to the arbitrary torque Ti based on the arbitrary torque characteristic TSR (θ). That is, in response to a command from the control unit 77, a difference torque (differential force) ΔT obtained by subtracting an arbitrary torque Ti based on the arbitrary torque characteristic TSR (θ) from a required torque TN based on the required torque characteristic TS (θ) is obtained from the drive motor 101. It is generated as bending assist force. By this control, the operation assisting force is set so as to eliminate the nonlinearity of the required torque TN, and the operation torque TH matches the arbitrary torque characteristic TSR (θ).

  Thereby, the operator of the endoscope apparatus can always perform the bending operation with the bending characteristic as defined by the arbitrary torque characteristic TSR (θ) regardless of the bending rigidity or the like of the bending portion 33 different in each endoscope apparatus. Yes. In the illustrated example, the operating torque TH acting on the connecting shaft 44 by the operation on the bending operation portion 37 is smaller than the required torque TN defined by the required torque characteristic TS (θ), and the arbitrary torque characteristic TSR (θ). Thus, a small torque value defined in (1) is sufficient, and a manual bending operation is assisted.

  In order to perform the above control, the control unit 77 stores each information of the necessary torque characteristic TS (θ) and the arbitrary torque characteristic TSR (θ) in the endoscope main body side storage unit 75 (see FIG. 1) in advance. Then, the bending amount of the bending portion 33 is calculated based on the output signal from the encoder 109, the operation assisting force to be generated is obtained while referring to each information at a predetermined timing, and the driving signal is output to the motor driving circuit 107. Then, the motor drive circuit 107 applies motor drive power for generating the operation assisting force corresponding to the differential torque ΔT to the drive motor 101 based on the input drive signal. In addition, as said each information, the information of TS ((theta))-TSR ((theta)) which is the differential torque of each torque characteristic may be memorize | stored previously, and this differential torque may be referred. In that case, the calculation burden of the control unit 77 is reduced.

Here, the torque acting on the connecting shaft 44 when the actual endoscope apparatus is used is specifically balanced as follows.
The torque acting on the connecting shaft 44 at the time of the bending operation is attributed to the operating torque caused by the operating force applied to the bending operation part 37 by the operator for the bending operation of the bending part 33, and the driving force generated by the drive motor 101. The driving torque is TM, the required torque, which is defined by the required torque characteristic TS (θ), and is a predetermined operating force required to bend the bending portion 33 to the bending angle θ, TS, the endoscope distal end portion 35, etc. When the distal end side of the mirror insertion portion abuts against the inner wall surface of the subject by the bending operation, if the torque resulting from the reaction force received by the bending portion 33 from the subject is TB, the relationship of equation (1) is established.
TH + TM = TS + TB (1)

As described above, the control unit 77 drives the motor with the drive torque TM as the difference (TM = TS−TSR) between the required torque TS and the arbitrary torque TSR based on the previously recorded arbitrary torque characteristic TSR (θ). When a drive signal is output to the circuit 107, the operation torque TH is obtained as a relationship expressed by equation (2).
TH + TS-TSR = TS + TB
TH = TSR + TB (2)
That is, the operating torque TH resulting from the operating force applied to the bending operation unit 37 during the bending operation is the sum of the arbitrary torque TSR and the torque TB resulting from the reaction force received from the subject.

  Therefore, when a reaction force from the subject is applied to the endoscope distal end portion 35, a deviation from the arbitrary torque TSR is generated by the amount of the reaction force, thereby recognizing that the reaction force is generated in the operator. Can be made.

  As described above, according to the endoscope apparatus of the present configuration, the operation torque can be set to the characteristic of the arbitrary torque characteristic TSR (θ) that is arbitrarily set without being aware of the bending rigidity due to the material and structure of the endoscope insertion portion 23. Therefore, the bending operation of the bending portion 33 can be set to the operability according to the operator's preference.

  Furthermore, by setting the arbitrary torque characteristic TSR (θ) to a linear characteristic in which the operation torque and the bending amount are directly proportional, a more natural operation feeling can be obtained. That is, the required torque characteristic TS (θ) is a non-linear characteristic in which the force required for bending increases at an accelerated rate by increasing the amount of bending, but there is an unnatural operability due to this. Corrected.

  In addition, the information on the arbitrary torque characteristic TSR (θ) is selected from a plurality of types of torque characteristics respectively set according to the operator who is assumed to be used and the contents of the diagnosis and treatment techniques by the endoscope apparatus. Can be included as candidates. In that case, it is connected to the control unit 77 of the signal processing device 13, and a desired torque characteristic can be arbitrarily selected by an input instruction from the input unit 123 (see FIG. 1) as characteristic selection means.

  For example, a list of candidate information of a plurality of necessary torque characteristics TS (θ) and arbitrary torque characteristics TSR (θ) stored in advance in the signal processing device side storage unit 111 and the endoscope body side storage unit 75 is displayed on the monitor 17 as a list. Then, the operator selects a desired torque characteristic by using a mouse or a keyboard. Moreover, it is good also as a structure which selects a desired torque characteristic by simple switch switching operation. Note that the input unit 123 is not limited to being arranged in the signal processing device 13 but may be provided in the main body operation unit 21 or the like of the endoscope main body 11. If the selection information can be communicated to the control unit 77, the input unit 123 is arranged anywhere. Also good.

  Thus, by preparing a plurality of types of torque characteristics in advance, for example, when a plurality of operators use the same endoscope body 11, each operator can easily operate according to his / her preference. Can be set. In addition, desired torque characteristics can be selectively set according to the contents of diagnosis and treatment procedures using the endoscope apparatus, and optimum operability can be obtained.

  For example, when the procedure contents are changed sequentially, for example, after the diagnosis by the endoscope apparatus, the treatment contents are sequentially changed, and multiple endoscope apparatuses or different types of endoscope apparatuses are handled in order. Regardless of the type of endoscope device or individual differences, the relationship between the operating force and the amount of bending can always be adjusted to a desired characteristic. Therefore, the operation feeling is not different for each endoscope apparatus, and the operator can perform a stable procedure.

  Endoscope operators have different hand sizes and arm strengths, and even an endoscopic device that is excessive in operating force for one operator and easily causes fatigue is less in operating force for another operator. However, if the above-described endoscope system is configured, the bending operation of the endoscope apparatus can be performed with an operation force that both operators are satisfied with.

  Further, even for the same operator, the optimal operability may differ depending on the purpose of use of the endoscope apparatus. For example, when the endoscope apparatus is used for screening, the bending portion 33 is repetitively greatly moved, so that it is desirable that the operation force to the bending operation portion 37 is light to reduce the operator's fatigue. On the other hand, when the endoscope apparatus is used for treatment, an appropriate operational feeling (operation torque) is required for delicate positioning of the endoscope tip. Even when the optimum operation torque varies depending on the contents of the diagnosis and treatment techniques, the optimum operability can always be easily obtained.

  The information on the above-mentioned arbitrary torque characteristics TSR (θ) and necessary torque characteristics TS (θ) may be stored in separate storage units in addition to recording them in one place. For example, when all of the information is stored in the endoscope main body side storage unit 75 built in the endoscope main body 11, the bending characteristics based on each information can be set on the endoscope main body side, by communication or the like. This saves the trouble of setting from the outside and improves convenience.

  Further, when information of the required torque characteristic TS (θ) is stored in the endoscope main body side storage unit 75 of the endoscope main body 11, the required torque characteristic TS (θ) unique to the endoscope main body is the endoscope. Since it is stored in the main body itself, torque characteristics can be easily set. Furthermore, when the information of the arbitrary torque characteristic TSR (θ) is stored in the signal processing device side storage unit 111 of the signal processing device 13, information on a large number of bending characteristics according to various situations can be managed in an integrated manner. Management of information becomes easier as compared with the case of storing in individual endoscope apparatuses.

  Further, the information of the arbitrary torque characteristic TSR (θ) and the information of the necessary torque characteristic TS (θ), the solid identification information of the endoscope main body 11 (for example, individual information of the endoscope main body 11 such as model and ID) and the like. In addition, it may be configured to be stored in a storage unit of an external electronic device that is communicably connected to the control unit 77.

  As an external electronic device, a server 19 connected to the network, a storage device (not shown), or the like can be used for a network to which the control unit 77 is connected through the interface 113.

  The endoscope apparatus can be simplified by storing at least a part of the information on the bending characteristics in the external electronic device connected to the endoscope apparatus. Further, it becomes possible to extract necessary information through communication with an external electronic device, and the convenience can be improved without complicating the usage pattern of the endoscope apparatus.

  In addition, when stored in a network connection device such as the server 19, it is possible to extract information on the appropriate curvature characteristics by communication as long as it is within a range connected to the network. The range of use is expanded and usability is improved.

  Next, when a bending operation of the bending portion 33 is performed, an operation torque due to an operation force applied to the bending operation portion is detected. From the relationship between the operation torque and the bending amount of the bending portion 33, the endoscope distal end portion is removed from the subject. An endoscope apparatus that can recognize a reaction force to be received will be described.

  Here, control is performed using the torque sensor 121 shown in FIG. The difference between the detected operation torque and the torque value based on the preset arbitrary torque characteristics when the torque sensor 121 detects the operation torque due to the operation force applied to the bending operation unit 37 in order to bend the bending unit 33. Ask for. This difference is considered to be due to the reaction force received by the endoscope distal end 35 from the subject when the endoscope distal end 35 and the subject are in contact with each other, and the drive generated by the drive motor 101 accordingly. Control the torque and tell the surgeon.

  That is, when resistance occurs in the bending operation such that the distal end portion 35 of the endoscope receives a reaction force from the subject, when the bending operation unit 37 is operated to a desired bending angle, the operator performs an operation more than usual. Requires torque and feels resistance to operating torque. Therefore, when a resistance is generated in the bending operation of the bending portion 33, the generation amount of the driving torque during the bending operation is changed so that the surgeon can easily recognize or cannot recognize the generation of the resistance. That is, when the generated resistance is directly transmitted to the surgeon, the driving torque is generated by the driving motor 101 based on the arbitrary torque characteristics, and the torque loss due to the resistance is left as it is. In this case, when operating to a desired bending amount, the operator feels the same resistance as when the assist by the drive motor 101 is not performed, and can easily feel that the bending portion 33 is in contact with the subject. it can.

  Further, when the generated resistance is emphasized and transmitted to the operator, torque loss due to the resistance is reduced from the value of the driving torque based on the arbitrary torque characteristics. In this case, the surgeon feels greater resistance when performing the bending operation to a desired bending angle than when the assist by the drive motor 101 is not performed, and it is easier for the bending portion 33 to be in contact with the subject. I can feel it.

  When reducing the generated resistance and transmitting it to the operator, a part or all of the torque loss due to the resistance is superimposed on the driving torque based on the arbitrary torque characteristics. In this case, the surgeon becomes dull in sensing the generation of resistance to the bending operation.

  In this way, the degree to which the operator recognizes the reaction force received by the endoscope distal end portion 35 can be freely changed.

Here, the drive torque generated by the drive motor 101 will be described in detail.
As described above, the torque acting on the connecting shaft 44 during the bending operation satisfies the relationship of the expression (3).
TH + TM = TS + TB (3)

The control unit 77 detects the bending angle θ and the operation torque TH every moment using the encoder 109 and the torque sensor 121 shown in FIG. 4, and generates the driving torque TM generated by the driving motor 101 according to these values. Obtained from equation (4).
TM = (TS−TSR) + k (TH−TSR) (4)
Here, k is a constant parameter that determines the amount of operation assist torque.

The drive torque TM thus obtained is generated by the drive motor 101. In this case, the balance of the forces around the connecting shaft 44 is expressed by equation (5), and the operation torque TH is expressed by equation (6).
TH + (TS-TSR) + k (TH-TSR)
= TS + TB (5)
TH = TSR + {1 / (1 + k)} TB (6)
As shown in the equation (6), the operation torque TH is obtained by multiplying the torque value by the arbitrary torque characteristic TSR (θ) stored in advance and the torque TB by the reaction force from the subject by a constant 1 / (1 + k). With the torque.

  That is, if 1 / (1 + k) is a constant less than 1, the arbitrary torque TSR based on the arbitrary torque characteristic TSR (θ) can be left as it is, and the reaction force from the subject can be appropriately reduced and transmitted to the operator. If 1 / (1 + k) is a constant exceeding 1, the reaction force from the subject can be emphasized and transmitted to the operator.

  That is, when the reaction torque TH does not occur from the subject (TB = 0), the operation torque TH matches the arbitrary torque characteristic TSR (θ) that can be arbitrarily set, and the reaction force from the subject has occurred. In the case (TB> 0), the value obtained by multiplying the arbitrary torque characteristic TSR (θ) by multiplying the torque TB due to this reaction force by setting the reduction rate 1 / (1 + k) in Equation (6) to an appropriate value is added. To set. Thereby, emphasis and reduction control can be performed independently of the driving torque component for adjusting the magnitude of the reaction force transmitted to the surgeon to the arbitrary torque characteristic TSR (θ).

Here, the bending operation by the endoscope apparatus of this configuration will be described with reference to FIG.
As shown in FIG. 6A, the operating torque TH increases as the bending angle θ of the bending portion 33 increases, but after the bending angle θt at which the distal end side of the endoscope insertion portion 23 comes into contact with the subject. The operating torque TH further increases due to the torque TB generated by the reaction force that the bending portion 33 receives from the subject. When the operating force at this time is detected by the torque sensor 121 and the difference from the torque value defined by the arbitrary torque characteristic TSR (θ) is obtained, as shown in FIG. A difference occurs after the bending angle θt.

  Therefore, as shown in FIG. 6C, when the driving torque by the driving motor 101 is increased or decreased by setting the constant parameter k and k is reduced, the term of k (TH-TSR) in the equation (4) becomes smaller. Thus, the drive torque TM approaches (TS-TSR), and the change in the operation torque TH due to the torque TB due to the reaction force is emphasized. Conversely, when k is increased, the change in the operating torque TH due to the torque TB due to the reaction force is reduced.

  Therefore, when the reaction force from the subject acts on the bending portion 33, the operation torque TH is deviated from the arbitrary torque characteristic TSR (θ) by the amount of the reaction force. Can be recognized. The magnitude of the deviation from the arbitrary torque characteristic TSR (θ) can be arbitrarily set by increasing or decreasing the constant parameter k.

  Incidentally, the required torque characteristic TS (θ) is not always maintained as a constant characteristic, and a deviation may occur. This is because, for example, the endoscope insertion portion 23 is caused by various factors such as a change in the material of the endoscope insertion portion 23 with time, a change in physical properties due to an environmental temperature, and a change in friction characteristics due to wear of each driving part such as a pulling mechanism of the operation wire 43. This is because the bending stiffness of 23 changes. When a deviation between the required torque characteristic TS (θ) and the actual bending characteristic occurs, depending on the conditions under which the endoscope apparatus is used, the amount of operation assisting force may be distorted and the operability of the bending operation may be reduced There is.

  Therefore, in this endoscope apparatus, the information on the required torque characteristic TS (θ) is constantly updated to the latest information, thereby eliminating the deviation from the actual bending characteristic. Hereinafter, a procedure for updating information of the necessary torque characteristic TS (θ) will be described.

  FIG. 7 is a block diagram of a main part for updating the information of the bending characteristic for the bending portion of the endoscope apparatus, and FIG. 8 is a flowchart showing the procedure for updating the bending characteristic. As shown in FIG. 7, information on the required torque characteristic TS (θ) is stored in the endoscope main body side storage unit 75 connected to the main body controller 73 of the endoscope main body 11 or the control unit 77 on the signal processing device 13 side. Is stored in a signal processing device side storage unit 111 (hereinafter, referred to as a storage unit in some cases). The information on the necessary torque characteristic TS (θ) is corrected by the main body controller 73 or the control unit 77 and updated to the latest bending characteristic. The control of each processing below is performed by the main body controller 73 and the control unit 77. Either may be performed, but if information such as the necessary torque characteristic TS (θ) is stored in the signal processing device side storage unit 111, the control is performed when the information is stored in the main body controller 73 and the signal processing device side storage unit 111. It is preferable to carry out in part 77.

  First, the surgeon instructs a correction execution request for correcting information on the necessary torque characteristic TS (θ) by operating the correction instruction unit 131. As the correction instruction unit 131, for example, an input device such as a switch button or a rotation lever can be used. The operator of the endoscope apparatus inputs a correction execution request from the correction instruction unit 131 at a desired timing by pressing a switch or operating a rotary lever.

  When there is a correction instruction from the correction instruction unit 131 (S11), the operation waits for the operation of the bending operation unit 37 by the operator. While the surgeon operates the endoscope operation unit 37, the main body controller 73 or the control unit 77 obtains the bending amount of the bending unit 33 from the encoder 109, and calculates the operation torque due to the operation force to the bending operation unit 37 as a torque sensor. Obtained from 121, the relationship of the bending amount to the operating force is measured (S12).

Here, FIG. 9 shows an explanatory diagram of the relationship of the bending amount with respect to the operating force. (A) is a state of bending of the bending portion 33 of the endoscope insertion portion 23, and (b) is a bending angle θ (..., Θ _m2 ) of the bending portion 33 with respect to an operation amount (rotation angle) to the bending operation portion. , θ _m1 , θ ₀ , θ _p1 , θ _p2 ,...) and operation force detection value (operation torque TH (..., T _m2 , T _m1 , T ₀ , T _p1 , T _p2 ,...) ) Shows a measurement result table.

  As shown in FIG. 9 (a), the operation torque TH by the operation force applied to the bending operation unit 37 at each bending position when the bending unit 33 is bent from the straight neutral state to the left-right direction in the drawing, The relationship with the bending angle θ is measured. The operation of the bending operation section 37 by the operator is performed so as to cover the entire bendable range of both + θ and −θ at a predetermined constant bending angle interval (for example, 1 degree interval).

  Then, each time measurement is performed at a predetermined constant bending angle interval, the relationship between the obtained bending amount (bending angle θ) and operating force (operating torque TH) is temporarily stored in the storage unit as actual bending characteristics (S13).

  The required torque characteristic TS (θ) stored in the storage unit at the timing when the operator releases the correction instruction to the correction instruction unit 131 (S14) during the above measurement and storage of the measurement result. Is replaced with the information of the actual bending characteristic (S15). That is, the information on the necessary torque characteristic TS (θ) is corrected based on the information on the actual bending characteristic.

  As a result, the information on the required torque characteristic TS (θ) is updated to the latest bending characteristic. Therefore, even when the bending rigidity of the bending portion 33 changes, the necessary torque characteristic TS (θ) is updated to the latest information, so that the operation assisting force for assisting the bending operation to the bending operation portion 37 is applied to the drive motor. 101 can be generated in accordance with a desired bending characteristic, and the bending operation of the bending portion 33 can always be performed with a desired operation feeling accurately.

In addition, when the operator performs a reciprocating bending operation of the bending portion 33 after giving the correction instruction to the correction instruction portion 131, the operation torque THi due to the manual operation force at each bending angle θi can be detected a plurality of times. A plurality of pieces of information on the operation force to be stored in the measurement result table are obtained at the same bending angle. In this case, the average manual operating force TH _AV i of the operation torques TH i detected for each bending angle θ i is calculated and obtained, and the relationship between the obtained bending angle θ i and the average manual operating force TH _AV i is obtained. It memorize | stores in a memory | storage part as an actual curve characteristic.

  In this way, by calculating an average value of a plurality of operation torques and registering it in the actual bending characteristics, for example, measurement errors caused by electric noise or the like of the torque sensor 121 can be reduced, and the bending characteristics can be measured with higher accuracy. .

  Further, the actual bending characteristic obtained by measurement can be stored in the storage unit as table information on the relationship between the bending amount and the operating force, and the actual bending characteristic can be expressed and stored using a polynomial function. For example, the bending amount θ and the operation torque TH are stored in a polynomial expression such as the expression (7).

・・・（７）

... (7)

_However, in a 0 ~a _n is a coefficient, n represents a predetermined sufficiently large integer.
In this case, after the correction instruction to the correction instruction unit 131, the encoder 109 and the torque sensor 121 detect the operation torque THi for the bending angle θi at every predetermined interval, and the relationship between the bending angle θi and the operation torque THi is detected. the coefficients a ₀ ~a _n that can appropriately represent, obtained by calculation such as the least squares method, the storage unit as the information of the real curved characteristics.

  By storing the actual bending characteristic as a polynomial expression in this way, a smooth bending characteristic in which the influence of the error included in each detected operation torque THi is reduced can be obtained.

  Here, in the case where the measurement of the actual bending characteristics is performed not with all of the bendable range of the bending portion 33 but with a part of the range being omitted, the necessary torque characteristic TS (θ) is set over the entire bending angle. Since accurate correction cannot be performed, it is desirable to warn the surgeon at the stage of measuring the actual curvature characteristics. Therefore, a procedure for warning the surgeon when there is a missing measurement will be described.

FIG. 10 shows a procedure for warning the surgeon when the bending amount of the bending portion 33 is insufficient when measuring the actual bending characteristics.
Also in this case, as in the case shown in FIG. 8, when a correction instruction is given to the correction instruction section 131 (S21), the relationship between the bending amount of the bending section 33 and the operating force of the bending operation section is measured (S22). . After the surgeon cancels the correction instruction (S23), it is determined whether or not the relationship between the measured bending amount and the operating force includes the entire bendable range of the bending portion 33 (S24). ) If the measurement is not completed in the entire range of the bendable range, a warning is generated from the notification unit 133 shown in FIG. 7 (S25), and the entire bendable range is urged again. The warning method may be the generation of a sound or warning sound from the notification unit 133, or the display of warning information on the monitor 17, or a combination thereof.

  When the relationship between the amount of bending and the operating force with respect to the entire bendable range of the bending portion 33 can be measured, the required torque characteristic TS (θ) is corrected with the actual bending characteristics based on the measurement result and registered in the storage unit (S26). ). Thereby, the required torque characteristic TS (θ) can be reliably corrected for the entire bendable range of the bending portion 33.

  The above is a method in which the surgeon cancels the correction instruction and then warns by judging the lack of measurement. However, a method of always giving a warning during measurement may be used. That is, the warning is started immediately after the correction instruction by the surgeon. Thereafter, during the measurement, the determination whether or not the measurement is completed in all the bendable ranges is repeated, and the warning is continued until the measurement of the entire bendable range is completed.

  When this method is used, the surgeon can always grasp information on whether or not the measurement can be completed during measurement by the surgeon, and there is an effect that the time required for the measurement can be minimized. Further, the warning in this case is preferably a warning on the monitor 17 during the period until the measurement is completed, instead of the warning by the sound from the notification unit 133 or the warning sound.

  After the measurement of the entire bendable range is completed and the warning is released, the correction instruction may be automatically released without waiting for the operator to release the correction instruction, or the operator may receive a correction instruction. Measurement may be continued until release. When the correction instruction is automatically canceled, the operation by the operator can be omitted, and the convenience for the operator is improved. On the other hand, when the measurement is continued, a plurality of operation torques can be measured at the same bending angle, and the effect of reducing the measurement error by averaging can be obtained.

  Furthermore, although the above-described method of performing the warning at all times during the measurement is shown, a method of presenting “measurement complete” to the operator when the measurement covering the entire bendable range is completed. In other words, during the measurement, it is always judged whether or not the measurement is completed in the entire range of the bendable range, and when the measurement of the entire bendable range is completed, the operator is notified that the measurement is complete. To do. The notification method may be the generation of a sound or notification sound from the notification unit 133, or the display of measurement completion information on the monitor 17, or a combination thereof.

  Even when this method is used, during the measurement by the surgeon, the surgeon can always know whether or not the measurement can be completed, and the time required for the measurement can be minimized.

  After completing the measurement of the entire bendable range and notifying the surgeon that the measurement is complete, the correction instruction may be automatically canceled without waiting for the operator to cancel the correction instruction. The measurement may be continued until the correction instruction is canceled. When the correction instruction is automatically canceled, the operation by the operator can be omitted, and the convenience for the operator is improved. On the other hand, when the measurement is continued, a plurality of operation torques can be measured at the same bending angle, and the effect of reducing the measurement error by averaging can be obtained.

Next, a description will be given of a case where the ambient temperature at the time of measuring the actual bending characteristic is measured and the temperature correction of the measured actual bending characteristic is performed.
In the endoscope apparatus, when the endoscope insertion portion 23 is inserted into the body cavity of the human body that is the subject, the environmental temperature of the bending portion 33 becomes the body temperature of the human body. However, when measuring the actual bending characteristic for correcting the necessary torque characteristic TS (θ), the measurement is performed not in the body cavity but in a room temperature environment. Therefore, it is desirable to correct the necessary torque characteristic TS (θ) in consideration of the change in bending rigidity of the endoscope insertion portion 23 caused by the difference between room temperature and body temperature.

FIG. 11 shows a procedure for correcting the required torque characteristic TS (θ) according to the temperature at the time of measuring the actual bending characteristic.
In this case, when the correction instruction is issued to the correction instruction unit 131 (S31), the environmental temperature of the bending portion 33 is detected from the temperature sensor 135 (see FIG. 7) provided on the distal end side of the endoscope insertion unit 23. (S32).

  Then, similarly to the case shown in FIG. 8, the relationship between the bending amount (bending angle θ) of the bending portion 33 and the operating force (operation torque TH) of the bending operation portion is measured (S33), and the obtained bending amount and The relationship with the operating force is stored in the storage unit as an actual bending characteristic, and the temperature T detected by the temperature sensor 135 is also stored in the storage unit (S34).

  Next, at the timing when the surgeon releases the correction instruction to the correction instruction unit 131 (S35), the actual curve characteristic stored in the storage unit is corrected based on the temperature T detected by the temperature sensor 135 (S36). That is, as shown in FIG. 12, the measured actual bending characteristic is a characteristic based on the bending rigidity under the environment of the detection temperature T, and this is the bending characteristic under the environment in the body cavity (in the environment of the body temperature of the human body). The characteristics are corrected based on the rigidity (S37). This corrected characteristic becomes the corrected data of the required torque characteristic TS (θ).

  In this way, by correcting the required torque characteristics TS (θ) in addition to the changes in the bending stiffness characteristics according to the environmental temperature when measuring the actual bending characteristics, it is possible to accurately adjust regardless of the operating environment of the endoscope apparatus. The necessary torque characteristic TS (θ) can be corrected. Note that the timing for detecting the environmental temperature T may be any time immediately before, during, or immediately after the measurement of the actual bending characteristics. May be. Further, the temperature sensor 135 is not limited to one location, and may be provided at a plurality of locations of the endoscope insertion portion 23 to obtain temperature information. More accurate correction is possible by detecting the environmental temperature from multiple locations multiple times.

The correction of the necessary torque characteristic TS (θ) described above is performed after the surgeon makes a correction request to the correction instruction unit 131, but the correction timing is automatically set on the endoscope apparatus side. Can also be configured.
In this case, as shown in FIG. 7, the endoscope main body 11 is provided with a timer 137 as a time measuring means connected to the main body controller 73. The timer 137 measures the elapsed time from the previous correction of the required torque characteristic TS (θ) to the present, and is reset every time correction is completed.

FIG. 13 shows a procedure for correcting the curvature characteristic after a predetermined time has elapsed.
First, when the power of the endoscope apparatus is turned on (S41), the main body controller 73 refers to the count of the timer 137 and confirms the elapsed time since the previous correction of the necessary torque characteristic TS (θ). (S42).

  The main body controller 73 refers to the elapsed time measured by the timer 137, and when the predetermined time is exceeded, the main body controller 73 notifies the notification unit 133 shown in FIG. 7 to urge the correction of the curve characteristic (S44). As notification contents at this time, a notification lamp may be provided in any part of the main body operation unit 21 (see FIG. 2), and the notification lamp may be turned on to notify the operator. Moreover, the notification which produces | generates an audio | voice and a notification sound from the alerting | reporting part 133, the alert | report which displays the information of a correction request | requirement on the monitor 17, may be combined.

  Then, in response to a correction instruction from the operator after the notification, the required torque characteristic TS (θ) is updated (S45). This update process can be performed in the same manner as S11 to S15 shown in FIG.

  When the update of the necessary torque characteristic TS (θ) is completed, the timer 137 is reset (S46), and the procedure of the endoscope apparatus is executed (S47).

  As described above, by prompting the operator to perform correction from the endoscope apparatus side, it is possible to reliably perform correction for an endoscope apparatus that has not been corrected for a long period of time.

  As described above, if the necessary torque characteristic TS (θ) is constantly updated to the latest characteristic and the procedure of the endoscope apparatus is performed, the bending operation of the endoscope apparatus can always be performed with a good operational feeling. In addition, the operator normally performs a trial operation to visually check whether the bending portion 33 performs a bending operation by performing a turning operation of the bending operation portion 37 before the endoscope device is inserted into the body cavity. Is doing. By correcting the above required torque characteristic TS (θ) during this trial operation, the necessary torque characteristic TS (θ) is always adjusted to the latest bending characteristic by simply performing a normal operation without taking time and effort. Can do.

  The above configuration example shows a case where the endoscope apparatus is an electronic scope that images an observation site using an imaging element such as a CCD image sensor. A fiberscope that directly observes an observation site by providing an observation lens, an observation window, and the like in the part may be used. As described above, the present invention is not limited to the above-described embodiments, and modifications and applications by those skilled in the art based on the description of the specification and well-known techniques are also within the scope of the present invention. It is included in the range to calculate.

As described above, the following items are disclosed in this specification.
(1) An endoscope insertion portion having a bending portion on the distal end side to be inserted into a subject, a bending operation portion that performs a bending operation on the bending portion, and the bending portion is driven in response to an operation force applied to the bending operation portion. An endoscope main body having a bending drive unit;
A bending amount detecting means for detecting a bending amount of the bending portion;
An operation force detecting means for detecting an operation force applied to the bending operation unit;
Auxiliary driving means for generating a driving force for assisting bending driving by the bending driving unit;
Storage means for storing information of a bending characteristic defining a relationship between the operation force required for the bending operation of the bending portion and the bending amount of the bending portion;
Control means for generating the driving force by the auxiliary driving means in accordance with at least information on the bending characteristics stored in the storage means;
A correction instruction means for transmitting a correction execution request for the curvature characteristic to the control means;
When there is a correction execution request from the correction instruction means, a relationship between a bending angle of the bending portion and a manual operation force to the bending operation portion is obtained to determine an actual bending characteristic, and based on the actual bending characteristic Bending characteristic correction means for correcting the bending characteristic stored in the storage means;
An endoscopic apparatus comprising:
According to this endoscope apparatus, even when the bending rigidity of the bending portion changes, an operation for assisting the bending operation to the bending operation portion by updating the bending characteristics stored in the storage means to the latest information. The auxiliary force can be generated according to the desired bending characteristic by the auxiliary driving means, and the bending operation of the bending portion can always be performed accurately with a desired operation feeling.

(2) The endoscope apparatus according to (1),
An endoscope apparatus comprising warning means for warning when a bending angle range of the bending portion included in the actual bending characteristics is narrower than a bendable range of the bending portion.
According to this endoscope apparatus, a warning is generated when the entire range of the bendable range of the bending portion is not reached, so that the bending characteristics for the entire range of the bendable range can be reliably corrected.

(3) The endoscope apparatus according to (1),
An endoscope apparatus comprising a notifying unit that notifies when a bending angle range of the bending portion included in the actual bending characteristics covers a bendable range of the bending portion.
According to this endoscope apparatus, since the notification is made when the entire range of the bendable range of the bending portion is covered, the bending characteristics with respect to the entire range of the bendable range can be reliably corrected.
(4) The endoscope apparatus according to any one of (1) to (3),
Time measuring means for measuring an elapsed time after correcting the bending characteristic by the bending characteristic correcting means;
An endoscope apparatus comprising: an informing means for informing an execution of the correction of the bending characteristic when an elapsed time measured by the time measuring means exceeds a predetermined time.
According to this endoscope apparatus, it is possible to prompt the operator to perform correction from the endoscope apparatus side, and to reliably perform correction for an endoscope apparatus that has not been corrected for a long period of time. Can do.

(5) The endoscope apparatus according to any one of (1) to (4);
Comprising temperature detecting means for detecting the temperature of the endoscope insertion portion;
The bending characteristic correction unit corrects the bending characteristic including a change in the actual bending characteristic due to a difference between a temperature detected by the temperature detection unit and a temperature of the subject when the actual bending characteristic is determined. Endoscope device.
According to this endoscope apparatus, it is possible to accurately correct the curvature characteristic regardless of the use environment of the endoscope apparatus.

(6) The endoscope apparatus according to any one of (1) to (5),
At least information on the bending characteristics of the bending portion stored in the storage means; and
The amount of bending detected by the amount of bending detecting means, and
Based on the operation force detected by the operation force detection means,
An endoscope apparatus in which the control means generates the driving force from the auxiliary driving means.
According to this endoscope apparatus, when the bending portion is bent by a bending operation from the operation unit, the bending amount is detected by the bending amount detection unit, and the operation force is detected by the operation force detection unit. A driving force is generated by the auxiliary driving means based on the operating force and the information on the bending characteristics. Thereby, the bending operation of the bending portion can be set to the operability as desired by the operator.

(7) The endoscope apparatus according to (6),
In response to a difference between an arbitrary operation force corresponding to the bending amount detection value based on the second bending characteristic and an operation force detection value obtained by the operation force detection unit, the control unit uses the auxiliary driving unit. An endoscope apparatus that increases or decreases the driving force to be generated.
According to this endoscope apparatus, when there is a difference between the operation force actually applied and the arbitrary operation force, the difference in the driving force by the auxiliary driving means is increased or decreased, that is, the reaction from the subject. Can emphasize and reduce power to the surgeon.

(8) The endoscope apparatus according to any one of (1) to (6);
An endoscope system comprising an external electronic device connected to be communicable with the endoscope device,
An endoscope system in which the storage unit stores at least a part of information on the bending characteristic in a storage unit built in the external electronic device.
According to this endoscope system, it is possible to simplify the endoscope apparatus by storing at least part of the information on the bending characteristics in an external electronic device connected to the endoscope apparatus, and it is possible to simplify the endoscope apparatus through communication. Necessary information can be extracted from the electronic device, and the convenience can be improved without complicating the configuration of the endoscope apparatus.

(9) An endoscope insertion portion having a bending portion on the distal end side to be inserted into the subject, a bending operation portion that performs a bending operation on the bending portion, and drives the bending portion according to an operation force to the bending operation portion. An endoscope main body having a bending drive section, auxiliary driving means for generating a driving force for assisting the bending drive of the bending drive section, the operation force required for the bending operation of the bending section, and the bending amount of the bending section. Storage means for storing information on the bending characteristics that define the relationship between the driving means and the driving force generated by the auxiliary driving means in accordance with at least the information on the bending characteristics stored in the storage means. A control means for bending operation with force characteristics, and a control method for an endoscope apparatus comprising:
When there is an execution request for correction of the bending characteristic, the actual bending characteristic is determined by obtaining the relationship between the bending angle of the bending part and the manual operation force to the bending operation part, and based on the actual bending characteristic, An endoscopic device control method for correcting the bending characteristics stored in the storage means.
According to this control method of the endoscope apparatus, even when the bending rigidity of the bending portion changes, the bending operation stored in the storage unit is updated to the latest information, so that the bending operation to the bending operation portion can be performed. The assisting operation assisting force can be generated according to the desired bending characteristic by the auxiliary driving means, and the bending operation of the bending portion can always be performed accurately with a desired operation feeling.

(10) The method for controlling an endoscope apparatus according to (9),
Reciprocally bending the bending portion to detect the manual operation force at each bending angle a plurality of times,
Calculate an average manual operation force of a plurality of manual operation forces detected for each bending angle,
A control method for an endoscope apparatus, wherein a relationship between the bending angle and the average manual operating force is defined as the actual bending characteristic.
According to the control method of the endoscope apparatus, it is possible to reduce the noise component with respect to the detected value of the manual operation force, and it is possible to measure the bending characteristic with higher accuracy and less measurement error.

(11) The method for controlling an endoscope apparatus according to (9) or (10),
A control method for an endoscope apparatus, wherein the actual curvature characteristic is expressed using a polynomial function, and each coefficient of the polynomial function is determined by a least square method.
According to the control method of the endoscope apparatus, a smooth bending characteristic in which the influence of an error included in the detected operation force on the bending operation unit is reduced can be obtained.

(12) A control method for an endoscope apparatus according to any one of (9) to (11),
A first bending characteristic that defines the operation force required for the bending operation for each bending angle according to the bending rigidity of the bending portion, and a second that defines the arbitrary operation force for each bending angle of the bending portion. Predetermine the bending characteristics of
Detecting a bending amount of the bending portion, and obtaining a required operating force required for a bending operation of the detected bending amount from the first bending characteristic;
An arbitrary operation force for the detected bending amount is obtained from the second bending characteristic,
A method for controlling an endoscope apparatus, wherein a driving force corresponding to a differential force between the required operating force and the arbitrary operating force is generated by the auxiliary driving means.
According to the control method of the endoscope apparatus, when the bending portion is bent by the bending operation from the operation portion, the bending amount is detected by the bending amount detection unit, and the necessary operation force corresponding to the bending amount detection value is obtained. Based on the first bending characteristic, an arbitrary operation force is obtained based on the second bending characteristic. Then, by generating a differential force between the necessary operation force and the arbitrary operation force by the auxiliary driving means, the bending portion bends based on the second bending characteristic according to the operation force applied to the operation portion. . That is, the bending operation can be performed with an arbitrary characteristic regardless of the bending rigidity of the bending portion, and the bending operation of the bending portion can be set to operability as desired by the operator.

(13) A control method of an endoscope apparatus according to (12),
Detecting the bending amount of the bending portion and the operating force applied to the bending operation portion,
An arbitrary operation force for the detected bending amount is obtained from the second bending characteristic,
A control method for an endoscope apparatus that increases or decreases a driving force generated by the auxiliary driving unit in accordance with a difference between the arbitrary operating force and the detected operating force.
According to the control method of the endoscope apparatus, when a difference between the actually applied operation force and the arbitrary operation force based on the second bending characteristic occurs, by increasing or decreasing the drive force by the auxiliary drive unit, The difference, that is, the reaction force from the subject can be emphasized and reduced to the operator.

11 Endoscope body 13 Signal processor 17 Monitor 19 Server (external electronic device)
DESCRIPTION OF SYMBOLS 21 Main body operation part 23 Endoscope insertion part 33 Bending part 35 Tip part 37 Bending operation part 37A, 37B Angle knob 41 Pulley 43 Operation wire 44 Connection shaft 75 Endoscope main body side memory | storage part (memory | storage means)
77 Control unit (control means)
79 Image processing unit 91A, 91B Node ring 93 Sleeve 95A, 95B Connecting pin 100 Endoscope device 101 Drive motor 103 Drive gear 105 Driven gear 107 Motor drive circuit 109 Encoder 111 Signal processing device side storage unit (storage means)
113 Interface 121 Torque sensor (operation force detection means)
123 Input section (characteristic selection means)
131 Correction instruction unit 133 Notification unit 135 Temperature sensor 137 Timer TS (θ) Required torque characteristic (first bending characteristic)
TSR (θ) Arbitrary torque characteristics (second bending characteristics)

Claims (13)

An endoscope insertion part having a bending part on the distal end side to be inserted into the subject, a bending operation part for bending the bending part, and a bending drive for driving the bending part according to an operation force to the bending operation part An endoscope body having a section;
A bending amount detecting means for detecting a bending amount of the bending portion;
An operation force detecting means for detecting an operation force applied to the bending operation unit;
Auxiliary driving means for generating a driving force for assisting bending driving by the bending driving unit;
Storage means for storing information of a bending characteristic defining a relationship between the operation force required for the bending operation of the bending portion and the bending amount of the bending portion;
Control means for generating the driving force by the auxiliary driving means in accordance with at least information on the bending characteristics stored in the storage means;
A correction instruction means for transmitting a correction execution request for the curvature characteristic to the control means;
When there is a correction execution request from the correction instruction means, a relationship between a bending angle of the bending portion and a manual operation force to the bending operation portion is obtained to determine an actual bending characteristic, and based on the actual bending characteristic Bending characteristic correction means for correcting the bending characteristic stored in the storage means;
An endoscopic apparatus comprising: The endoscope apparatus according to claim 1,
An endoscope apparatus comprising warning means for warning when a bending angle range of the bending portion included in the actual bending characteristics is narrower than a bendable range of the bending portion. The endoscope apparatus according to claim 1,
An endoscope apparatus comprising a notifying unit that notifies when a bending angle range of the bending portion included in the actual bending characteristics covers a bendable range of the bending portion. The endoscope apparatus according to claim 1, wherein:
Time measuring means for measuring an elapsed time after correcting the bending characteristic by the bending characteristic correcting means;
An endoscope apparatus comprising: an informing means for informing an execution of the correction of the bending characteristic when an elapsed time measured by the time measuring means exceeds a predetermined time. The endoscope apparatus according to any one of claims 1 to 4,
Comprising temperature detecting means for detecting the temperature of the endoscope insertion portion;
The bending characteristic correction unit corrects the bending characteristic including a change in the actual bending characteristic due to a difference between a temperature detected by the temperature detection unit and a temperature of the subject when the actual bending characteristic is determined. Endoscope device. The endoscope apparatus according to any one of claims 1 to 5,
At least information on the bending characteristics of the bending portion stored in the storage means; and
The amount of bending detected by the amount of bending detecting means, and
Based on the operation force detected by the operation force detection means,
An endoscope apparatus in which the control means generates the driving force from the auxiliary driving means. The endoscope apparatus according to claim 6, wherein
In response to a difference between an arbitrary operation force corresponding to the bending amount detection value based on the second bending characteristic and an operation force detection value obtained by the operation force detection unit, the control unit uses the auxiliary driving unit. An endoscope apparatus that increases or decreases the driving force to be generated. The endoscope apparatus according to any one of claims 1 to 6,
An endoscope system comprising an external electronic device connected to be communicable with the endoscope device,
An endoscope system in which the storage unit stores at least a part of information on the bending characteristic in a storage unit built in the external electronic device. An endoscope insertion part having a bending part on the distal end side to be inserted into the subject, a bending operation part for bending the bending part, and a bending drive for driving the bending part according to an operation force to the bending operation part A relationship between the bending force of the bending portion, the operation force required for the bending operation of the bending portion, the auxiliary driving means for generating a driving force for assisting the bending driving of the bending driving portion, and the bending amount of the bending portion; A storage unit that stores information on the specified bending characteristic, and a driving force that is generated by the auxiliary driving unit according to at least the information on the bending characteristic stored in the storage unit, and the bending unit is configured with a desired force characteristic. A control means for bending operation, and a control method for an endoscope apparatus comprising:
When there is an execution request for correction of the bending characteristic, the actual bending characteristic is determined by obtaining the relationship between the bending angle of the bending part and the manual operation force to the bending operation part, and based on the actual bending characteristic, An endoscopic device control method for correcting the bending characteristics stored in the storage means. A control method for an endoscope apparatus according to claim 9,
Reciprocally bending the bending portion to detect the manual operation force at each bending angle a plurality of times,
Calculate an average manual operation force of a plurality of manual operation forces detected for each bending angle,
A control method for an endoscope apparatus, wherein a relationship between the bending angle and the average manual operating force is defined as the actual bending characteristic. A control method for an endoscope apparatus according to claim 9 or 10, wherein:
A control method for an endoscope apparatus, wherein the actual curvature characteristic is expressed using a polynomial function, and each coefficient of the polynomial function is determined by a least square method. It is a control method of the endoscope apparatus according to any one of claims 9 to 11,
A first bending characteristic that defines the operating force required for the bending operation in accordance with the bending rigidity of the bending portion for each bending angle, and a second that defines the arbitrary operating force for each bending angle of the bending portion. Predetermine the bending characteristics of
Detecting a bending amount of the bending portion, and obtaining a required operating force required for a bending operation of the detected bending amount from the first bending characteristic;
An arbitrary operation force for the detected bending amount is obtained from the second bending characteristic,
A method for controlling an endoscope apparatus, wherein a driving force corresponding to a differential force between the required operating force and the arbitrary operating force is generated by the auxiliary driving means. A control method for an endoscope apparatus according to claim 12,
Detecting the bending amount of the bending portion and the operating force applied to the bending operation portion,
An arbitrary operation force for the detected bending amount is obtained from the second bending characteristic,
A control method for an endoscope apparatus that increases or decreases a driving force generated by the auxiliary driving unit in accordance with a difference between the arbitrary operating force and the detected operating force.

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