JP3030130B2 - Endoscope device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope capable of selectively setting one of a plurality of bending driving states when a plurality of bending driving operation means for a driving means for driving a bending portion is changed. Related to the device.

[0002]

2. Description of the Related Art Endoscopes capable of observing a deep portion of a body cavity or the like by inserting the body into a body cavity or the like and performing a medical treatment or the like by using a treatment tool as necessary are widely used in the medical field. Became used. or,
In the industrial field as well, endoscopes are widely used for inspection inside jet engines and plants. This endoscope is formed in a flexible insertion portion so that it can be inserted into a bent body cavity, and is provided with a bending portion that can be bent freely by operation on the hand side.

[0003] An electric bending type endoscope which is provided with an electric drive means for the bending portion so that the bending portion can be easily bent, and which can be bent in a desired direction by operating a switch or the like on the hand side. Has also been proposed. In this electric bending type endoscope, there is a type in which a plurality of bending operation means on the hand side are provided so as to be easy for an operator to use. For example, a bending operation means such as a bending operation switch provided on an operation section or a gripping section of the endoscope and a bending operation means formed by a remote control unit are provided side by side, and one of them can be selectively selected by an operator. The bending operation can be performed by the selected bending operation means by setting to an active state that can be used for the operation.

In the case of a plurality of bending operation means, the selected bending operation means may be switched and used during use or the like .

[0005]

[Invention is a problem to be solved, however curved Misao
It was not taken into account when switching the method of operation
Therefore, the surgeon selects the setting state at the time of switching appropriately according to the situation.
There was a drawback that the operability was poor because it could not be determined.

[0006]

The present invention has been made in view of the above points, and has as its object to provide an endoscope apparatus which can realize operability capable of coping with a selection desired by an operator when switching is performed. .

[0008]

Means for Solving the Problems and Function A driving means for driving a bending portion which is bendable, a control means for controlling the driving of the driving means, and an independent operation signal for controlling the driving of the driving means. At least two outputs to the control means
In an endoscope apparatus provided with two operation signal output units and a priority setting unit that gives priority to one of the operation signal output units, a switch that gives priority to one of the operation signal output units from another of the operation signal output units In this case, by providing selection setting means for selectively setting one of a plurality of drive control states including a drive control state of the operation signal output means before and after the switching, the setting state when the switching is performed can be changed by the operator. Can be freely changed, and the transition to the bending drive state after the switching can be performed by a desired process.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be specifically described below with reference to the drawings. 1 to 3 relate to a first embodiment of the present invention, FIG. 1 shows an appearance of an endoscope apparatus of the first embodiment, FIG. 2 shows a specific configuration of the first embodiment, and FIG. 3 shows control contents of a control circuit for a bending operation means in the first embodiment.

As shown in FIG. 1, an endoscope apparatus 1 according to a first embodiment supplies an electronic endoscope (hereinafter referred to as an electronic scope) 2 having built-in image pickup means, and illumination light to the electronic scope 2. A light source device 3, a video processor (hereinafter, referred to as VP) 4 for performing signal processing, a motor control unit (hereinafter, referred to as MCU) 5 for controlling the electric bending drive means of the electronic scope 2, and VP4 And a monitor 6 such as a CRT for displaying a standard video signal to be output.

The electronic scope 2 has an elongated and flexible insertion section 7 so that it can be inserted into a body cavity or the like, and a wide grip section (operation section) 8 connected to the rear end of the insertion section 7. When,
The universal cable 9 extends from the side of the grip portion 8, and the connector 11 attached to the end of the universal cable 9 can be detachably connected to the light source device 3.

The insertion portion 7 is a hard distal end 1 from the distal end side.
2, a bendable portion 13 which can be freely bent, and a flexible tube portion 14 which is flexible.
Consists of The connector 11 can be detachably connected to the VP 4 via the connection cable 15. Connectors 15a and 15b are provided at both ends of the connection cable 15, and can be connected to the connector 11 and the VP4, respectively. This VP4 is connected to the MCU5 via the connection code 16.
It is detachably connected to. That is, this connection code 16
Are provided at both ends thereof with connectors 16a and 16b, respectively, and can be detachably connected to the VP4 and the MCU 5, respectively.

A remote control unit (hereinafter abbreviated as a remote controller) 17 as a second operating means can be detachably connected to the MCU 5 via a connector 18a provided at an end of a remote control cable 18. ing. The video output of the VP 4 is input to the monitor 6 via the connection cable 19.

The connector 1 of the universal cable 9
1 is connected to the light source device 3, the white light of a lamp (not shown) in the light source device 3 is applied to the end face of the light guide, and the illumination light transmitted by the light guide is transmitted to the distal end 12 of the insertion portion 7. The light is emitted forward from the side end face, and illuminates the subject (not shown) in front.

The illuminated subject is imaged by an objective lens 23 shown in FIG. 2 provided at the distal end portion 12 on a CCD 24 as a solid-state image pickup device arranged on its focal plane, and is photoelectrically converted by the CCD 24.

The image signal photoelectrically converted by the CCD 24 is amplified by an amplifier 25 and then input to a video processing circuit 26 in the VP 4, where the video processing circuit 26 performs signal processing to generate a standard video signal. Then, the subject image is displayed on the display screen of the monitor 6.

The bending portion 13 formed adjacent to the rear end of the front end portion 12 so as to be freely bendable includes a large number of bending pieces (not shown).
The upper and lower bending wires 27 and the left and right bending wires 28 are fixed to the leading end of a bending piece or the like. These bending wires 27 and 28 are inserted through the bending portion 13 and the flexible tube portion 14, and the rear ends are wound around pulleys 29 and 31 in the grip portion 8, respectively.

The pulleys 29 and 31 are fixed to shafts 32a and 33a of, for example, DC motors 32 and 33 as electric bending driving means, respectively.
By the rotation of the C motors 32 and 33, the pulley 2
9 and 31 will also be rotated, and pulleys 29 and 3
Due to the rotation of one, one of the bending wires 27 and 28 is pulled, the other is relaxed, and the bending portion 13 is placed on the pulled side.
Is curved.

Rotary encoders 34 and 35 are attached to shafts of the respective bending drive DC motors 32 and 33 which project from the opposite sides of the pulleys 29 and 31 so that the rotation amounts of the DC motors 32 and 33 can be detected. I have. The operation section 8 includes a bending switch section 36 and a switch unit section 37 as first bending operation means.
Is provided. The bending switch section 36 includes an up / down bending switch 38 and a left / right bending switch 39.

When the DC motors 32 and 33 are driven (via the control circuit 48) by operating the bending switch section 36, the amount of rotation is detected by the rotary encoders 34 and 35, and the bending angle detection circuits 40 and 50 are provided. Is input to
The bending angle detection circuits 40 and 50 convert the data into bending angle data of the bending portion 13 and output the data to the control circuit 48.

On the other hand, the switch unit section 37 has a switching mode selection switch 41 for selecting three (curving) setting modes at the time of switching, a speed setting switch 42 for setting a bending speed, and a bending section 13 having a small angle range. Vibration (AV) ON / OFF
A switch 43, an AV setting switch 44 for setting an angular range of vibration, an AV cycle setting switch 45 for setting a period of vibration, an AV mode setting switch 46 for setting a mode of vibration, and a straight switch for setting the bending portion 13 to a straight state. 47 are provided.

Each switch signal of the bending switch section 36 and the switch unit section 37 is input to a control circuit 48 via an input / output interface (I / O) 51 in the MCU 5. As shown in FIG. 2, the contacts on the I / O 51 side of the switches 38, 39, 41 to 47 are each pulled up to the power supply terminal by a resistor.
When N is set, an ON signal of "0" is output.

The control circuit 48 controls the forward / reverse rotation of the motor 32 via the I / O 51 and the driver 52, that is, controls the up / down bending, and controls the I / O 51 and the driver 54.
, The control of the forward / reverse rotation of the motor 33, that is, the control of the right / left bending. Drive currents for driving the motors 32 and 33 are detected by current detection circuits 57 and 58 via current probes 55 and 56, respectively.
9 to the control circuit 48. This control circuit 4
Under the control of 8, for example, the driver 52 supplies the motor 32 with a positive power in the case of the upward bending and a negative power in the case of the downward bending. This supplied power is detected by a current probe 55, and furthermore, by a current detection circuit 57.
After being converted to a current value and A / D converted, the control circuit 48
Is output to

The output of the control circuit 48 is input to a control circuit 61 in the VP 4, and the control circuit 61 controls the video process circuit 26. For example, when a freeze switch (not shown) is operated, an operation signal of the freeze switch is input to the control circuit 61 in the VP 4 via the control circuit 48, and the control circuit 61 writes the frame memory in the video process circuit 26. In a prohibited state, a still image is displayed on the monitor 6. Further, the control circuit 48 outputs information indicating the bending control state to the video process circuit 26 via the control circuit 61, and displays the information in, for example, a corner of the display screen of the monitor 6, so that the operator can control the current bending control. The state can be known.

The remote controller 17 as the second operation means includes a bending switch section 36a and a switch unit section 37a.
Is provided. The bending switch portion 36a is formed by joysticks 64 and 65 for performing a bending operation in four directions. When the joysticks 64 and 65 (equivalently shown by two potentiometers in FIG. 2) are tilted in a direction such as upward or downward, left or right, the potentiometers (64 and 65) correspond to the inclination angles. ) Changes, and the potential divided by the resistance value is input to the control circuit 48 via the A / D converter 59. In the example of FIG. 2, the higher potential side is up (up) or right (write).
An operation signal instructing bending in the direction is obtained, and an operation signal instructing bending in a downward (down) or left (left) direction is a low-potential side.

On the other hand, the switch unit 37a has the same switches as the switches provided on the switch unit 37 of the grip unit 8, that is, the speed setting switch 42a, the AV ON / OFF switch 43a, and the AV switch.
Setting switch 44a, AV cycle setting switch 45a, A
V mode setting switch 46a, straight switch 47
a, and a priority switch 66 is additionally provided. In FIG. 2, the pull-up of the switches 42a to 47a and 66 is indicated by, for example, the symbol ▽.

When the priority switch 66 is turned on, the operation means on the remote controller 17 side, that is, the settings of the switches 42a to 47a and the setting of the bending switch section 36a have priority over the setting of the operation means on the electronic scope 2 side. The control circuit 48 controls various switches 42 on the remote controller 17 side.
The control corresponding to (47) and the bending operation (operation related to) set by the bending switch unit 36a is performed. When the priority switch 66 is turned off, the operation means on the electronic scope 2 side, that is, (various switches 42 to 47)
The switch unit 37 (comprising) and the bending switch 36 (comprising the up-down bending switch 38 and the left-right bending switch 39) have priority over the operation means on the remote controller 17 side.

The control circuit 48 includes, for example, a CP (not shown).
U, a ROM, a RAM, and the like, and a storage unit 6 formed in the RAM or a RAM external to the control circuit 48 or the like.
7 is provided. This storage section 67 stores the initial bending control state of the bending operation means, that is, the switch unit section 37.
(Or 37a) switches 42 to 47 (or 4
The initial setting state of 2a to 47a) and the initial setting state of the bending switch unit 36 or 36a are stored, and the current bending control state is stored. Further, the selection setting state of the switching mode selection switch 41 is stored.

When the priority switch 66 is switched during use, the control circuit 48 detects this switching and, in accordance with the selected state of the switching mode selection switch 41,
The bending section 13 is set such that the bending drive state immediately after the switching is set to a state corresponding to the selection state of the switching mode selection switch 41.
Is controlled to bend. Switching mode selection switch 4
In a state 1, the common contact c can be selectively turned on with the contacts a and b pulled up so that the three modes can be selected, and neither of these two contacts a and b conducts (the state shown in FIG. 2). ) Can be selected.

For example, when the common contact c is electrically connected to the contact a, the level of the contacts a and b is "0" and "1", so that it is determined that the switching mode 1 is selected, and the common contact c is set. When conducting with the contact b, it is determined that the switching mode 2 is selected because the levels of the contacts a and b are “1” and “0”, and the common contact c is conducted with both the contacts a and b. If not selected, it is determined that the switching mode 3 is selected because the levels of the contacts a and b are "1" and "1".

In this case, the switching mode 1 is the priority switch 6
When the switching of No. 6 is performed, this is a switching mode in which the setting state before the switching is held, and after the setting state before the switching is held, an input from the operating means having a higher priority is received, and the input corresponding to the input is accepted. Set (change) the status. The switching mode 2 is a switching mode for setting an initial state when the priority switch 66 is switched. After setting the initial state, an input from a newly prioritized operating means is received, and the input is received. Set (change) to the corresponding state.

Further, in the switching mode 3, the priority switch 66
Is a switching mode for setting to the setting state of the newly prioritized operating means when an input from the prioritized operating means is received, and a state corresponding to this input (from the setting state before switching) Set (change) to.

Therefore, the operator can select a desired switching mode 1 to 3 by using the switching mode selection switch 41. In this embodiment, when the switching is performed, the selected switching mode is set. It is characterized in that the bending drive state immediately after the switching can be set.

For example, when the bending operation means to be preferentially used is switched by switching the priority switch 66 (when the bending operation means on the electronic scope 2 is switched to the remote controller 17 or vice versa), the control circuit is switched. The control circuit 48 detects that the switching has been performed by detecting the switching based on the output level of the priority switch 66, and the control circuit 48 uses the selection mode information of the switching mode selection switch 41 stored in the storage section 67 immediately after the switching. The control of the setting of the bending drive is performed.

In this case, when the switching mode 1 or 2 has been selected, the setting information stored in the storage section 67 is referred to as necessary, and control is performed to set the state before switching or to the initial setting. Further, when the switching mode 3 is selected, the setting (input) from the operating means having priority in the switching is accepted,
Curve drive control is performed according to the contents.

The operation of the first embodiment will be described below with reference to the flowchart of FIG. When the power switch (not shown) is turned on to use the apparatus in the connected state as shown in FIG. 1, the control circuit 48 executes step S1 in FIG.
As shown in (5), the switching (selection) mode is determined by the switching mode selection switch 41.

When it is determined that the switching mode 1 has been selected by the switching mode determination (when the switching is performed, the control circuit 4 operates in the mode for maintaining the setting state before the switching).
8 is instructed), and in step 2a, it is determined which of the first and second (bending) operation means is selected, for example, based on whether or not the priority switch 66 is ON.

For example, if the priority switch 66 is ON (that is, if YES), the remote controller 17 as the second operation means is selected. On the other hand, if it is OFF (that is, in the case of NO), the gripper 8 side as the first operation means is selected. As shown in step S3a (when the gripper 8 side as the first operating means is selected), the control circuit 48
Prohibits input on the remote controller 17 side, and then proceeds to step S4a.
As shown in (1), the input from the bending switch section 6 and the switch unit section 37 on the grip section 8 side is permitted, and the operation is performed according to the input instruction. At the time of this switching, the setting state before the switching is maintained, and if there is no switch input from the bending switch section 6 and the switch unit section 37 on the gripping section 8 side which has been newly prioritized, the apparatus operates in the previous setting state, and If there is, the operation corresponding to the input is performed.

On the other hand, when the remote controller 17 is selected, as shown in step S3b, the input on the gripper 8 is prohibited, and then the input (setting) on the remote controller 17 is permitted as shown in step S4b. Input from the bending switch unit 6 and the switch unit unit 37 on the 17 side is permitted, and operation is performed according to this input instruction.

For example, in the state where priority is given to the gripper 8 side,
Assuming that the ON / OFF switch 43 is ON and the remote controller 17 is subsequently switched so that the remote controller 17 is prioritized, the AV ON / OFF switch 43a remains ON immediately after the switching (the control circuit 48 is This switch 43a is considered to be ON.) Thereafter, when the AV ON / OFF switch 42 of the remote controller 17 is pressed, the control circuit 48 determines that the AV ON / OFF switch 42 has been turned off, and performs control corresponding to the AV ON operation.

Next, when it is determined in step S1 that the mode is the mode 2 (the control circuit 48 is instructed to operate in the mode of setting to the initial setting state at the time of switching), furthermore, in step 2b, for example, whether the priority switch 66 is ON or not. It is determined whether or not the first or second (bending) operation means is selected based on whether or not it is determined.

For example, if the priority switch 66 is ON (that is, if YES), the remote controller 17 as the second operating means is selected. On the other hand, if it is OFF (that is, in the case of NO), the gripper 8 side as the first operation means is selected. As shown in step S3c (when the gripper 8 side as the first operating means is selected), the control circuit 48
Prohibits the input on the remote controller 17 side, and then proceeds to step S4c
Initial state setting is performed as shown in FIG. In this case, the control circuit 48 reads out the initial setting information stored in the storage section 67, and sets the bending state of the bending section 13 to the initial setting state corresponding to the initial setting information. When the operation of the initial setting is completed, an input (setting) from the gripper 8 is permitted as shown in step S5c, and a bending driving state corresponding to the input is set. Return to S1.

As the initial setting state, for example, AV
ON / OFF switch 43 is OFF, speed setting switch 42 is Min, AV cycle setting switch 45 is Mi
n, the state in which the AV mode setting switch 46 is set to UD (up / down direction) and the straight switch 47 is set to OFF.

On the other hand, if it is determined in step S2b that the remote controller 17 has been selected, as shown in step S3d, input from the gripper 8 is prohibited, and then step S3d is executed.
As shown in 4d, the initial setting information stored in the storage section 67 is read out, and the bending state of the bending section 13 is set to the initial setting state (corresponding to the initial setting information). After the bending section 13 returns to the initial setting of the bending drive state, the input (setting) of the remote controller 17 is permitted and read as shown in step S5d, and the process is shifted to the bending drive state corresponding to this reading. Or return to step S1.

For example, in a state where priority is given to the gripper 8 side, A
Assuming that the V ON / OFF switch 43 is ON and the remote controller 17 is subsequently switched so that the remote controller 17 is prioritized, the AVO in the initial setting state immediately after the switching is performed.
It becomes FF.

Next, if it is determined in step S1 that the mode is mode 3 (the control circuit 48 is instructed to operate in the mode of setting to the initial setting state at the time of switching), then in step 2c, for example, whether the priority switch 66 is ON or not is determined. It is determined whether or not the first or second (bending) operation means is selected based on whether or not it is determined.

For example, if the priority switch 66 is ON (that is, if YES), the remote controller 17 as the second operating means is selected. On the other hand, if it is OFF (that is, in the case of NO), the gripper 8 side as the first operation means is selected. As shown in step S3e (when the gripper 8 side as the first operating means is selected), the control circuit 48
Prohibits input on the remote controller 17 side, and then proceeds to step S4e
As shown in (5), the (operation) settings of the bending switch section 6 and the switch unit section 37 on the grip section 8 side are read, and the drive state is set to a new setting state corresponding to this read, and then the grip section is further held in step S5e. When the input of the unit 8 is permitted and an operation is performed after this new setting state, an operation corresponding to the operation is performed.

On the other hand, when the remote controller 17 is selected, as shown in step S3f, input from the gripper 8 is prohibited, and then (operation) settings on the remote controller 17 are read as shown in step S4f. After setting the driving state to a new setting state corresponding to
As shown in 5f, input from the remote controller 17 is permitted, and if an operation is performed after this new setting state, an operation corresponding to the operation is performed.

That is, in the mode 3, when the priority switch 66 is switched, the operation is performed in accordance with the setting of the operation means that has been newly given priority.

For example, in the state where priority is given to the gripper 8 side, A
If it is assumed that the V ON / OFF switch 43 is OFF and the remote controller 17 is switched to be used after that, and that the AV ON / OFF switch 43a of the remote controller 17 is set to ON, Immediately after the switching, the AV ON operation is performed immediately.

According to the first embodiment, the switching mode selection switch 41 is provided.
Set (determine) the operation at the time of switching in the switching mode selected in.
Therefore, the operator can select a desired operation at the time of switching, and can realize a device with good operability.

Further, it is also possible to set an appropriate switching mode according to the environment to be used. For this reason, it is also possible to operate in a switching mode suitable for a use state. In addition,
The state of the initial setting may be variably set by the operator.

FIG. 4 shows a second embodiment of the present invention. The same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted. In the second embodiment, the bending drive DC motors 32 and 33 and the rotary encoders 34 and 35 are configured by an MCU.
5, the shafts 32a and 3d respectively.
The transmission gears 71 and 72 attached to 3a transmit driving force to transmission gears 75 and 76 provided in the connector of the electronic scope 2. These transmission gears 75
And 76 are connected to pulleys 29 and 31, respectively, by shaft 73.
And 74 are connected.

The bending wires 27 and 28 wound on the pulleys 29 and 31, respectively, are connected to the universal cord 9,
The grip portion 8, the flexible tube portion 14, and the inside of the bending portion 13 are inserted and fixed to the distal end portion 12. Further, in this embodiment, a second remote controller 77 is used instead of the curved switch section 36 and the switch unit section 37 provided on the grip section 8 in the first embodiment.
Can be detachably connected to the MCU 5 similarly to the other remote controller 17 (referred to as a first remote controller).

The second remote controller 77 has a switch unit 37b having the same function as the switch unit 37 provided on the grip 8 and a joystick 64a similar to the joysticks 64 and 65 of the first remote controller 17.
And 65a form a curved switch unit 36b, and the switch unit unit 37b is connected to the control circuit 48 via the I / O 51.
And the joysticks 64a and 65a are A /
It is input to the control circuit 48 via the D converter 59.

In this embodiment, for example, the electronic scope 2 has the grip portion 8, but may have a structure without the grip portion. (In the case of a structure not having the flexible tube portion, the flexible tube portion 14 is extended, and a connector containing transmission gears 75 and 76 is attached to the rear end thereof.) The first remote controller 17 is the first embodiment. Similarly, a priority switch 66 is provided. The outputs of the bending angle detection circuits 38 and 39 are input to the control circuit 48 via the I / O 51.

The operation of this embodiment is shown in FIG. 3 in steps S3b, S3d, S3f, S4a, S4e, S5c,
This is the same as the expression in which “the second remote controller” is replaced with the expression “the second remote controller” instead of the “gripping part” in S5e, and thus the description thereof is omitted. The effect of the second embodiment is similar to that of the first embodiment. In this embodiment, two remote controllers 1
7, 77, but three or more remote controllers may be used.

FIG. 5 shows a third embodiment of the present invention. This endoscope apparatus has an automatic insertion function. In the third embodiment, the bending switch unit 36 provided on the grip unit 8 includes a joystick 64c for bending up and down and a joystick 65c for bending left and right. A priority switch 66 is provided in the switch unit 37 provided in the grip 8. In this embodiment, the bending switch section 36 of the remote controller 17 is used.
a and the signals of the switch unit 37a are multiplexed by the signal multiplexing circuit 91, and the I / F 9 in the MCU 5 is multiplexed.
2 is input. After being restored by the I / F 92, it is input to the control circuit 48.

The output of the video process circuit 26 in the VP 4 is input to a bending direction detection circuit 93, which detects the direction of the darkest dark portion in the output image of the video process circuit 26, and detects this dark portion. Is output to the control circuit 48 via the I / O 51 in the MCU 5. The control circuit 48 outputs a control signal for controlling the operation of the driver 52 and / or 53 so as to bend the bending portion 13 in the direction of the dark part based on the signal indicating the position direction of the dark part, and outputs the motor 32 and / or 53 The rotation drive of the control unit 33 is controlled so that, for example, the position of the dark part is located near the center of the image.

Further, although not shown in FIG. 5, in this embodiment, there is provided a motor for rotating the pulley which comes into contact with the outer peripheral surface of the insertion portion 7, and the control circuit 48 controls the rotational operation of this motor via a driver. In the automatic insertion (auto insertion) mode, control is performed so that the position of the dark portion is located near the center of the image, and the motor is rotated so that the insertion portion 7 can be automatically inserted. It is. When this motor is not provided, the function of the automatic bending is provided.

An insertion mode selection switch 94 for switching between an automatic insertion mode for performing automatic insertion and a manual insertion mode for performing manual insertion is provided. The insertion mode selection switch 94 is connected to the switch unit 3 for example.
7 may be provided.

In this embodiment, when the insertion mode selection switch 94 is set to the manual insertion mode, the setting at the time of switching corresponding to the switching mode by the selection of the switching mode selection switch 41 and the gripping portion by the switching of the priority switch 66 The control operation of the control circuit 48 for the 8-side operation unit and the remote controller 17-side operation unit is the same as that of the first embodiment.

On the other hand, the priority switch 66 is turned on or off.
When the insertion mode selection switch 94 is switched in the state of
The same control operation is performed between the remote controller 17 side or the gripper 8 side operation unit (that is, the manual bending operation unit) and the automatic bending operation unit, which are given priority when the priority switch 66 is turned on or off.

Note that the bending direction detection circuit 93 is V in FIG.
Although provided in P4, it may be separate. The operation of this embodiment will be described below. As described above, the switching of the priority switch 66 is the same as in the first embodiment.
The operation for switching the insertion mode selection switch 94 will be described with reference to the flow of FIG.

When the apparatus is set to the operation state, the control circuit 48 determines the mode selected by the switching mode selection switch 41 as shown in step S1 of FIG. When it is determined that the switching mode 1 is selected by the determination of the selection mode (when the switching is performed, the control circuit 48 is instructed to operate in the mode for maintaining the setting state before the switching), and further, manually at step S2a. Whether or not there is, for example, ON of the insertion mode selection switch 94
(Or OFF) and the level is determined as “0” (or “1”). If it is determined to be a manual, step S
As shown in 3a, the operation by the automatic input is prohibited, that is, the operation by the input from the bending direction detection circuit 93 is prohibited.

Then, as shown in step S4a, the remote controller 17 or the gripper 8 side operation means which has been prioritized on the manual side (the remote controller 17 when the priority switch 66 is ON).
Side operation means, if OFF, input from the gripper 8 side operation means) is permitted, and if there is no input, the state before switching is continued, and if there is an input, the operation corresponding to the input from the state before switching is performed. I do.

On the other hand, if it is determined that the automatic mode is selected, the manual input is prohibited as shown in step S3b, and the automatic input is permitted as shown in step S4b. That is, the input from the bending direction detection circuit 93 is permitted, and the control circuit 48 controls the bending operation according to the signal output from the bending direction detection circuit 93.

Next, when it is determined in step S1 that the mode is the mode 2 (the control circuit 48 is instructed to operate in the mode for setting to the initial setting state at the time of switching), it is further determined in step 2b whether or not the mode is manual. If it is determined that the operation is manual, the automatic input is prohibited as shown in step 3c, and then the state is set to the initial setting state (by the initial setting information stored in the storage section 67) as shown in step 4c. The operation of the initial setting is performed. Thereafter, as shown in step S5c, manual input, that is, input of the operating means on the remote controller 17 side or the holding unit 8 side which is prioritized by the priority switch 66 is permitted, and the operation corresponding to this input is performed.

On the other hand, if it is determined that the mode is auto, manual input is prohibited as shown in step S3d, and an initial setting operation is performed as shown in step S4d.
Thereafter, as shown in step S5d, automatic input is permitted. That is, the input from the bending direction detection circuit 93 is permitted, and the control circuit 48 controls the bending operation according to the signal output from the bending direction detection circuit 93. That is, in this mode 2, after the initial setting at the time of switching, an operation corresponding to the newly selected manual input (setting) is performed.

Next, if it is determined in step S1 that the mode is mode 3 (at the time of switching, the control circuit 48 is instructed to operate in the newly selected mode), it is further determined in step 2c whether the mode is manual. If it is determined that the setting is manual, the automatic input is prohibited as shown in step 3e, and then the setting on the manual side is read as shown in step 4e, and the bending corresponding to the read setting (operation) state is performed. The operation state is set, and then the manual input is permitted as shown in step 5e. When an input for changing the manual setting is performed, an operation corresponding to the input is performed.

On the other hand, if it is determined that the automatic mode is set, the manual input is prohibited as shown in step S3f, and the automatic setting is read as shown in step S4f. The bending operation state is set, and then, as shown in step 5f, an input on the automatic side is permitted. When an input for changing the setting on the automatic side is performed, an operation corresponding to the input is performed.

In the mode 3, when the insertion mode is switched, the bending operation is set to the setting of the insertion mode newly selected at the time of the switching, and if the setting is further changed, the operation following the setting is performed. .

Although the flow of FIG. 6 shows the operation content only for the switching of the insertion mode under the selection of the switching mode, the switching in the manual (that is, the switching of the priority switch 66) is performed. Is performed, the same operation is performed at the time of the switching. For example, when it is determined that the mode 1 is selected in the flow of FIG.
As shown in (2), whether or not the priority switch is ON is determined as shown in step 2a of FIG. 5, and a process corresponding to this determination result is performed. . Other modes 2 and 3 have the same processing content.

In the first and second embodiments, the bending operation signals from the first bending operation means and the second bending operation means are input to the control circuit 48, and the bending operation on the side selected by the priority switch 66 is performed. When the bending switch is controlled according to the signal and the priority switch 66 is switched, the switching mode selection switch 4
While operating in the setting mode at the time of switching selected in step 1,
In the third embodiment, in addition to the function, a manual bending operation signal and an automatic bending operation signal are input to the control circuit 48, and two bending operations are performed according to the switching of the insertion (bending) mode switch 94. A similar action is performed on the signal. Therefore, the effect of the third embodiment is the same as that of the first embodiment. In addition, when the manual bending operation and the automatic bending operation are switched, the setting mode at the time of switching selected by the switching mode selection switch 41 is also set. The drive setting of the bending portion 13 can be performed.

It should be noted that the present invention is not limited to the above-described one, and various modifications can be made. For example, the first
In the embodiment, instead of the DC motors 32 and 33, AC
A motor, a stepping motor, an ultrasonic motor, or the like may be used. Also, the rotary encoders 34 and 35
May be replaced by a potentiometer. Further, track balls may be used instead of the joysticks 64 and 65. Further, the present invention can be applied to a case having three or more bending operation means. Further, each of the above-described embodiments may be partially combined.

Further, the present invention is not limited to the one using the electric bending driving means, but may be one which controls the expansion and contraction of the shape memory metal by an electric or fluid or the like. It may be one that is driven to bend by sending air.

In the first embodiment, for example, the priority switch 66 is connected to any one of the switch units 37 and 37.
For example, the switch unit 37 or 37a that is operated later in time may be prioritized. Further, the switching mode selection switch 41
May also be provided on the remote controller 17 side.

Further, a switching mode automatic setting function for automatically setting (selecting) the switching mode may be provided. For example, the setting information before and after the switching is compared. If the setting information is within a preset setting value (in the case of comparison, appropriate weighting is performed), the operation is performed in mode 3; Operate in mode 1 or 2. Further, when the set value is exceeded, the setting before switching is compared with the initial setting, and the setting after switching is compared with the initial setting. When the value exceeds, the operation may be performed by operating in mode 1 or the like. Another switching mode automatic setting function may be used.

[0079]

As described above, according to the present invention, at least two independent output means for outputting a bending operation signal are provided. Since the setting means for performing the selection setting of the drive control state is provided, the setting state after the switching suitable for the operator's preference and the use can be set, and the operability and the like can be improved.

[Brief description of the drawings]

FIG. 1 is an external view of an endoscope apparatus according to a first embodiment of the present invention.

FIG. 2 is a configuration diagram showing a specific configuration of the first embodiment.

FIG. 3 is a flowchart showing the processing contents of a control circuit for two bending operation means in the first embodiment.

FIG. 4 is a configuration diagram showing a specific configuration of a second embodiment of the present invention.

FIG. 5 is a configuration diagram showing a specific configuration of a third embodiment of the present invention.

FIG. 6 is a flowchart showing processing contents of a control circuit for a plurality of bending operation signals.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Endoscope apparatus 2 ... Electronic scope 4 ... VP (video processor) 5 ... MCU (Motor control unit) 6 ... Monitor 7 ... Insertion part 8 ... Grip part 13 ... Bending part 17 ... Remote control 27, 28 ... Bending wire 32 33, motor 36, 36a bending switch 37, 37a switch unit 41 switching mode selection switch 42 speed setting switch 43 AV (angle vibration) switch 48 control circuit 64, 65 joystick 66 priority switch 67 ... Storage unit

Claims (1)

(57) [Claims] 1. A bending section provided in an insertion section, a driving section for bending and driving the bending section, a control section for controlling the driving of the driving section, and a driving section for controlling the driving of the driving section. At least two operation signal output means for outputting independent operation signals to the control means, priority setting means for giving priority to one of the operation signal output means, and one of the operation signal output means And selecting and setting means for selecting and setting one of a plurality of drive control states including a drive control state of the operation signal output means before and after the switching when one of the above is switched. Endoscope device.