JP3356296B2 - 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 apparatus provided with setting means for setting an initial drive control state when a plurality of bending drive operation means for a drive means for bending a bending portion are switched. About.

[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 which can be freely bent by operation on a hand side.
An electric bending type endoscope that can be bent in a desired direction by providing an electric driving means of the bending portion and operating a switch or the like at a hand side to easily bend the bending portion has also been proposed. ing.

There is an electric bending type endoscope in which a plurality of bending operation means are provided on the hand side so that an operator can use the endoscope easily. 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, there is a case where the selected bending operation means is switched and used during use .

[0006]

Problems to be Solved by the Invention Since the case where the bending operation means was switched was not considered, the operator's intention was not considered.
If you cannot move quickly to the action
The drawback is that you may move to an unintended operation
there were.

[0007]

The present invention has been made in view of the above-mentioned points. In the case of switching, a predetermined bending drive setting state is set once, and then a transition to a new bending operation means is performed. It is an object of the present invention to provide an endoscope apparatus which is easy to predict the transition to the environment and is suitable for ensuring safety and the like.

[0009]

Means for Solving the Problems and Actions A driving means for driving a bending portion which can be bent freely, a control means for controlling the driving of the driving means, and an operation signal for controlling the driving of the driving means are controlled by the control means. At least 2 outputs independently to the 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 the setting means for setting the drive control state after the switching to the initial setting state, the setting means when the switching is performed becomes a fixed setting state, and therefore, the desired bending drive control state can be set. The transition can be easily predicted and safety can be ensured.

[0010]

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 a 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 imaging device arranged on the 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 bent can include 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.

By operating the bending switch section 36 and outputting a bending operation signal, the DC motors 32 and 33 are output.
Is driven, the rotation amounts of the DC motors 32 and 33 are detected by the rotary encoders 34 and 35 and input to the bending angle detection circuits 40 and 50, respectively. The data is converted into bending angle data of the bending portion 13 by the bending angle detection circuits 40 and 50 and is input to the control circuit 48.

On the other hand, the switch unit 37 includes a speed setting switch 41 for setting the bending speed, and the bending portion 13.
(AV) ON / OFF switch 42 for vibrating the vibration in a small angle range, an AV setting switch 43 for setting the vibration angle range, an AV cycle setting switch 44 for setting the vibration cycle, and an AV mode for setting the vibration mode. The setting switch 45 includes a straight switch 46 for setting the bending portion 13 to a straight state.

Each switch signal of the bending switch section 36 and the switch unit section 37 is input to the 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 46 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 forward / reverse rotation of the motor 32, that is, up / down bending, via the I / O 51 and the driver 52, 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 at, 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 a second operating means has 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 section 37a has the same switches as the switches provided on the switch unit section 37 of the grip section 8, that is, the speed setting switch 41a, the AV ON / OFF switch 42a, and the AV switch.
Setting switch 43a, AV cycle setting switch 44a, A
V mode setting switch 45a, straight switch 46
a, and a priority switch 66 is additionally provided. In FIG. 2, the fact that the switches 41a to 46a and 66 are pulled up is indicated by, for example, the symbol ▽.

When the priority switch 66 is turned on, the operation means of the remote controller 17, that is, the setting of the various switches 41a to 46a and the setting of the bending switch section 36a have priority over the setting of the operation means of the electronic scope 2. The control circuit 48 controls the various switches 41 on the remote controller 17 side.
The control corresponding to the setting of (46) 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 41 to 46)
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.

In the first embodiment, the control circuit 48 includes, for example, a CPU, a ROM, and a RAM (not shown), and has a storage section 67 formed in the RAM or a RAM external to the control circuit 48. The storage section 67 stores the initial bending control state of the bending operation means, that is, the initial setting state of the switch unit section 37 or 37a and the bending switch section 36 or 36a, and when the priority switch 66 is switched on the way, The control circuit 48 sets the bending section 13 to the bending drive state corresponding to the common initial setting state.
Is set.

When the operation of setting the bending section 13 to the bending drive state corresponding to the initial setting state is completed, the control circuit 48 fetches the setting of the bending operation means which has been newly prioritized by switching, and adds the setting to the fetched contents. Control for setting a corresponding bending drive state is performed.

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 switching is performed. The priority switch 66
At the output level to detect that switching has been performed,
The control circuit 48 controls the driving of the motors 32, 33 and the like after the switching according to the information such as the initial setting switch state stored in the storage section 67 and changes the bending state of the bending section 13 to the state corresponding to the initial setting state. Control to be set.
After that, a bending driving state corresponding to the bending operation means on the remote controller 17 side or the electronic scope 2 side which is newly prioritized is set.

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 (1), it is determined whether the first or second (curved) operation means is selected by determining whether 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 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 S2a, 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 as shown in step S3a (stored in the storage unit 67). The initial setting information 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) from the gripper 8 is permitted as shown in step S4a, and the bending drive state corresponding to this input is set. This process ends or returns to step S1.

In this case, the initial setting (state) is desirably a state that can be regarded as a central state with respect to all settable states. In other words, when changing from one state to another state, if the central state of these states is the initial setting state, these changes can be made smoothly,
Each of these transitions (changes) can be safely performed. As the initial setting state, for example, AV ON / O
FF switch 42 is OFF, speed setting switch 41
Is Min, the AV cycle setting switch 44 is Min, the AV mode setting switch 45 is UD (up / down direction),
The state in which the straight switch 46 is set to OFF can be set.

On the other hand, the remote controller 1
If it is determined that the side 7 has been selected, as shown in step S2b, the input on the gripper 8 side is prohibited, and then step S3
As shown in b, the initial setting information stored in the storage section 67 is read, 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 S4b, and the process is shifted to the bending drive state corresponding to this reading. Or return to step S1.

According to the first embodiment, the storage section 67 for storing information on the initial setting state of the bending drive is provided, and the priority switch 66 is switched so that the operation signal from one bending operation means to the other bending operation means is provided. Is prioritized, the bending section 13 is once set to the default initial setting state, and then is set to the bending drive state corresponding to the setting of the new other bending operation means. Even for an operation in which there is a large change in the case of a direct transition to, the temporal change amount can be reduced, and each transition can be made safe.

The state of the initial setting may be variably set by the operator. By doing so, it is possible to set an initial setting state that is optimal for the intended use, such as when the intended use is determined or when the operator to use is limited.

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 the electronic scope 2 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 the same as that in FIG. 3 in which the expression "subject to the grip" is replaced by "second remote control" in steps S2b and S3a, and a description thereof will be omitted. The effect of the second embodiment is similar to that of the first embodiment.

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.

A 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 in the switch unit 37, for example. In this embodiment, when the mode selection switch 94 is set to the manual insertion mode, the control operation of the control circuit 48 for the gripping unit 8 side operation means and the remote control 17 side operation means is performed by switching the priority switch 66. The operation is similar to that of the embodiment.

On the other hand, the priority switch 66 is turned on or off.
When the mode selection switch 94 is switched in the state of, the priority switch 66 is turned on or off, and
A similar control operation is performed between the 7-side or grip portion 8-side operation means (that is, manual bending operation means) and the automatic bending operation means.

Note that the bending direction detecting 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 mode selection switch 94 will be described with reference to the flow of FIG.

When the apparatus is set to the operating state, the control circuit 48 determines whether or not the operation is manual as shown in step S1, for example, by setting the mode selection switch 94 to ON (or OFF) at level "0" (or "1"). 1)). If it is determined that the input is manual, the input of the automatic input to the control circuit 48 is prohibited as shown in step S2a, that is, the input from the bending direction detection circuit 93 is prohibited.

Then, as shown in step S3a, the initial setting information stored in the storage section 67 is read, and the operation of setting the initial setting state is performed. After that, as shown in step S4a, manual input, that is, reading of setting information of the operating means of the remote controller 17 or the holding unit 8 which is prioritized by the priority switch 66 is permitted,
When the bending section 13 is driven to bend in the bending drive state corresponding to the read content, and the processing is completed or further manual input is performed, the operation is controlled so as to perform an operation according to the input content.

For example, when the operation means on the grip portion 8 side is prioritized, the setting states of the bending switch section 36 and the switch unit section 37 are read after the end of the initial setting operation. The bending drive state corresponding to the operation is set.

On the other hand, if the determination in step S1 is "auto", manual input is prohibited as shown in step S2b.
6 and the switch unit section 37) are prohibited, the initialization information stored in the storage section 67 is read out as shown in step S3b, and the operation of setting the initialization state is controlled. Thereafter, as shown in step S4a, an automatic input, that is, an input (setting) from the bending direction detection circuit 93 is permitted and read, and a bending driving state corresponding to the read content is set.

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 in accordance with the signal and the priority switch 66 is switched, after setting to the initial setting state, the initial setting state is set to the bending driving state corresponding to the new bending operation signal. 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. Performs the action of 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 bending portion 13 is once set to the initial setting state, and then the new bending operation is performed. Set the operation settings.

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.

For example, in the first embodiment, the priority switch 66 is connected to any one of the switch unit sections 37 and 37.
For example, the switch unit 37 or 37a that is operated later in time may be prioritized. In the first embodiment, for example,
For example, in a case where only the bending switch sections 36 and 36a are provided without both the bending switch sections 36 and 36a and the switch unit sections 37 and 37a, when the switching is performed, the bending switch sections 36 and 36a are initialized. Is set.

The present invention is not limited to the electric driving means, but may be a device which bends by expanding and contracting a shape memory member or the like, or a device which bends using a fluid.

[0056]

As described above, according to the present invention, when a switch is performed to give priority to one of the at least two independent bending operation signals, the signal is once set to the initial setting state after switching, and then the new one is set. Since the means for driving to bend to the setting state corresponding to the bending operation signal is provided, when the switching is performed, the bending state of the bending portion can be safely set to the state corresponding to the new bending operation signal state.

[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 speed setting switch 42 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 Setting means for setting a drive control state of an initial setting when a switch is made to give priority to one of the endoscope apparatuses.