JP4599177B2 - Electric bending endoscope - Google Patents

Description

  The present invention relates to an electric bending endoscope in which a bending tube portion of an endoscope insertion portion can be driven to be bent by an actuator such as an electric motor.

Conventionally, the bending tube part of the endoscope insertion part can be bent with the driving force of an electric motor, in order to reduce the complexity of the operator when bending the bending tube part and to improve the operability of the bending operation. An electric bending endoscope has been proposed.
In general, an electric bending endoscope is configured such that an angle wire is disposed in an insertion portion, and a bending tube portion is bent by pulling the angle wire by driving a pulley with the angle wire rotated by an electric motor. ing.

  By the way, in the above-described conventional bending method, the angle at which the bending tube portion bends is determined by the pulling movement amount of the angle wire arranged in the insertion portion. Here, if the bending tube portion of the endoscope insertion portion is frequently used and abused, the angle wire extends and affects the amount of traction movement. For this reason, it is known that as the angle wire extends, a so-called angle-down phenomenon occurs in which the amount of bending is reduced compared to the initial use.

Therefore, an endoscope corresponding to this angle-down phenomenon has been proposed (see, for example, Patent Document 1). This endoscope adjusts the pulling amount of the angle wire by controlling the servo motor using the variable potentiometer means, and also adjusts the variable potentiometer by mechanical adjustment. Configuration to adjust.
U.S. Pat. No. 4,941,454

However, the following problems remain in the conventional method.
In other words, the endoscope described in Patent Document 1 requires a dedicated tool for adjusting the variable potentiometer by performing mechanical adjustment, and vibration, impact, or ambient temperature change. For example, the value of the variable potentiometer may be shifted.

  The present invention has been made in view of such circumstances, and the object thereof is that a tool or the like is unnecessary, and even when used for a long time or frequently, the occurrence of an angle down phenomenon can be suppressed as much as possible. It is to provide an electric bending endoscope.

In order to achieve the above object, the present invention provides the following means.
The invention according to claim 1 is directed to a bending instruction means for instructing a bending direction or a bending position of a bending portion arranged at the distal end of the endoscope, and a control means for controlling a bending amount of the bending portion based on the bending instruction means. An electric bending endoscope comprising: a driving unit that is driven and controlled by the control unit; and an angle wire that is connected to the driving unit and performs a bending operation on the bending portion, wherein the control unit includes the bending instruction unit There is provided an electric bending endoscope characterized in that it comprises a bending motion storage means for storing the number of operations , and controls the amount of bending of the bending portion based on the number of operations stored in the bending motion storage means. To do.

In the electric bending endoscope according to the present invention, for example, when the bending direction is instructed by the bending instructing unit, the driving unit is controlled to pull the angle wire by a predetermined amount based on the instructed bending amount. To do. Thereby, the bending portion bends in the direction instructed by the bending instruction means. Further, each time a bending operation is performed, the bending operation storage means stores the bending operation of the bending portion.
The control unit controls the amount of bending based on the number of operations of the bending unit stored in the bending operation storage unit when bending.
Therefore, even if the angle wire extends from the initial state due to long-term use or frequent use, the pulling amount of the angle wire is adjusted according to this extension, so that the occurrence of the angle down phenomenon is suppressed as much as possible. be able to.
In addition, when performing the adjustment as in the prior art, it is not a mechanical adjustment using a dedicated tool, so a tool is unnecessary and simple.
Further, the control unit controls the amount of bending based on the number of operations of the bending instruction means. Therefore, the occurrence of the angle down phenomenon can be reliably suppressed.

According to a second aspect of the present invention, in the electric bending endoscope according to the first aspect, the control unit is configured to increase the traction amount of the angle wire as the number of operations increases. An electric bending endoscope is provided in which the bending amount of the bending portion is controlled by controlling the driving of the bending portion .

  According to a third aspect of the present invention, in the electric bending endoscope according to the first or second aspect, the bending motion storage means stores a total bending instruction operation count immediately after production as the operation count. An electric bending endoscope is provided.

  According to a fourth aspect of the present invention, in the electric bending endoscope according to any one of the first to third aspects, the control unit is configured to perform the operation based on the number of operations stored in the bending operation storage unit. Parameter storage means for preliminarily storing operation parameters for driving the drive means is provided, and the bending amount of the bending portion is controlled by taking out the operation parameters corresponding to the number of operations from the parameter storage means. An electric bending endoscope is provided.

  In the electric bending endoscope according to the present invention, the operation parameter corresponding to the bending operation (number of operations) is stored in advance in the parameter storage unit, and the control unit stores the parameter when performing the bending operation of the bending portion. The bending amount is controlled based on the operation parameter stored in the means. Therefore, the amount of bending can be controlled more reliably, and the occurrence of the angle down phenomenon can be suppressed.

  According to a fifth aspect of the present invention, in the electric bending endoscope according to any one of the first to third aspects, the control unit is configured to perform the operation based on the number of operations stored in the bending operation storage unit. An electric bending endoscope comprising an operation means for calculating an operation parameter for driving the drive means, and controlling a bending amount of the bending portion based on the operation parameter calculated by the operation means. provide.

  In the electric bending endoscope according to the present invention, when performing the bending operation of the bending portion, the calculation means calculates the operation parameter based on the bending operation (number of operations) and the operation calculated by the control unit. The amount of bending is controlled based on the parameter. Therefore, the amount of bending can be controlled more reliably, and the occurrence of the angle down phenomenon can be suppressed.

  According to a sixth aspect of the present invention, there is provided a bending instruction means for instructing a bending direction or a bending position of a bending portion arranged at the distal end of the endoscope, and a control means for controlling a bending amount of the bending portion based on the bending instruction means. An electric bending endoscope comprising: a driving unit that is driven and controlled by the control unit; and an angle wire that is connected to the driving unit and performs a bending operation on the bending unit. The control unit includes: Provided is an electric bending endoscope characterized by comprising a bending motion storage means for storing the number of bending times, and controlling the amount of bending of the bending portion based on the number of bending times stored in the bending motion storage means. .

  In the electric bending endoscope according to the present invention, the control unit controls the amount of bending based on the number of times the bending portion is bent. Therefore, the occurrence of the angle down phenomenon can be suppressed more reliably.

  According to a seventh aspect of the present invention, in the electric bending endoscope according to the sixth aspect, the control means is configured such that the pulling amount of the angle wire increases as the number of times of bending increases. An electric bending endoscope is provided in which the bending amount of the bending portion is controlled by controlling the driving of the bending portion.

  The invention according to claim 8 is the electric bending endoscope according to claim 6 or 7, wherein the bending action storage means stores a total bending action immediately after production as the number of times of bending. An electric bending endoscope is provided.

  The invention according to claim 9 is the electric bending endoscope according to any one of claims 6 to 8, wherein the control unit is configured to perform the bending operation based on the number of bendings stored in the bending operation storage unit. Parameter storage means for preliminarily storing operation parameters for driving the drive means is provided, and the bending amount of the bending portion is controlled by taking out the operation parameters corresponding to the number of times of bending from the parameter storage means. An electric bending endoscope is provided.

  In the electric bending endoscope according to the present invention, the operation parameter corresponding to the number of times of bending is stored in advance in the parameter storage unit, and the control unit is stored in the parameter storage unit when performing the bending operation of the bending unit. The amount of bending is controlled based on the operating parameters. Therefore, the amount of bending can be controlled more reliably, and the occurrence of the angle down phenomenon can be suppressed.

  According to a tenth aspect of the present invention, in the electric bending endoscope according to any one of the sixth to eighth aspects, the control means is based on the number of times of bending stored in the bending action storage means. An electric bending endoscope comprising an operation means for calculating an operation parameter for driving the drive means, and controlling a bending amount of the bending portion based on the operation parameter calculated by the operation means. provide.

  In the electric bending endoscope according to the present invention, when performing the bending operation of the bending portion, the calculation means calculates the operation parameter based on the number of times of bending, and the control unit calculates based on the calculated operation parameter. Controls the amount of bending. Therefore, the amount of bending can be controlled more reliably, and the occurrence of the angle down phenomenon can be suppressed.

  According to the electric bending endoscope according to the present invention, even if the angle wire is extended from the initial state due to long-term use or frequent use, the pulling amount of the angle wire is reduced according to the extension. Since the adjustment is performed, the occurrence of the angle down phenomenon can be suppressed as much as possible. Further, since the mechanical adjustment is not performed using a dedicated tool, a tool is unnecessary and simple.

A first embodiment of an electric bending endoscope according to the present invention will be described with reference to FIGS.
As shown in FIG. 1, an endoscope system (electric bending endoscope) 1 according to the present embodiment indicates a bending direction or a bending position of a bending tube portion (curving portion) 2 disposed at the distal end of the endoscope. A bending instruction section (bending instruction means) 3, an endoscope control section (control means) 4 that controls the bending amount of the bending tube section 2 based on the bending instruction section 3, and the endoscope control section 4. Drive means 5 that is driven and controlled, angle wires 6a and 6b that are connected to the drive means 5 and operate to bend the bending tube portion 2, and an endoscope insertion portion 7 are provided.
The endoscope insertion portion 7 is composed of a thin and flexible flexible tube portion 8 and the bending tube portion 2 connected to the distal end of the flexible tube portion 8.

The angle wires 6a and 6b are inserted into the endoscope insertion portion 7. When one of the angle wires 6a and 6b is selected and pulled, the direction of the selected angle wires 6a and 6b is determined. For example, the bending tube portion 2 can be bent in the up / down / left / right directions. Further, the angle wires 6a and 6b are wound around pulleys 10a and 10b, respectively, and the pulleys 10a and 10b are connected to motors (for example, servo motors) 11a and 11b that can rotate forward and backward.
The motors 11 a and 11 b are driven by a motor drive circuit 13 controlled by the processing circuit unit 12. Then, the pulleys 10a and 10b are rotated by the motors 11a and 11b, and the bending tube portion 2 is bent through the angle wires 6a and 6b. The motors 11a and 11b operate in a PWM system based on the pulse width output from the motor drive circuit 13.
The pulleys 10a and 10b and the motors 11a and 11b that pull the angle wires 6a and 6b constitute the drive means 5.

The bending instruction section 3 is a bending position input means, and designates in which direction the bending pipe section 2 is bent up, down, left and right. In the present embodiment, the bending instructing unit 3 includes, for example, a joystick 14a for specifying to bend the bending tube unit 2 in the vertical direction and a joystick 14b for specifying to bend the bending tube unit 2 in the left-right direction. Yes.
The bending instruction unit 3 (bending position input means) is not limited to the above joystick method, and may use other methods such as a pad-type bending switch that is specified by the pressing time, the number of times of pressing, and the like. I do not care.

The endoscope control unit 4 includes a digital converter (ADC) that converts an electrical signal from the bending instruction unit 3 from an analog signal to a digital signal in addition to the driving unit 5, the processing circuit unit 12, and the motor driving circuit 13. 15 is provided.
Furthermore, the endoscope control unit 4 includes a bending operation storage unit 16 that stores the bending operation of the bending tube unit 2 and a parameter storage unit 17 that stores in advance an operation parameter corresponding to the bending operation of the bending tube unit 2. The amount of bending of the bending tube portion 2 is controlled by taking out the operation parameter corresponding to the bending operation of the bending tube portion 2 from the parameter storage means 17.
In the present embodiment, the bending operation is the number of times the bending instruction unit 3 is bent, and the operation parameter is a pulse width of a pulse voltage applied to the motors 11a and 11b.

That is, the parameter storage means 17 stores data of the total number of bending instruction operations: n immediately after the production of the endoscope system 1 as to which direction the up / down / left / right direction is operated in the bending instruction unit 3. . This data is read by the processing circuit unit 12.
The parameter storage means 17 shows the operation parameters corresponding to the bending operation of the bending tube section 2, that is, the pulse width information for the total number of bending instruction operations: n stored in the parameter storage means 17 is shown in FIG. The table 18 is stored in advance. This information is also read out by the processing circuit unit 12 in the same manner.

A case where the bending tube portion 2 is bent by the endoscope system 1 configured as described above will be described below with reference to the flowchart shown in FIG.
First, the bending direction of the bending tube portion 2 is designated by the bending instruction portion 3. The electric signal from the bending instruction unit 3 is converted from an analog signal to a digital signal by the digital converter 15 and input to the processing circuit unit 12. When a digital signal is input, the processing circuit unit 12 detects that a bending instruction has been made (S1), and also detects in which direction the bending operation is performed (S2).

Next, the processing circuit unit 12 reads data of the total number of bending instruction operations: n of the bending instruction unit 3 from the bending operation storage unit 16 (S3). Next, the processing circuit unit 12 reads the table 18 of the parameter storage means 17 (S4), and reads the pulse width information for the total bending instruction operation number: n from the table 18. Then, the processing circuit unit 12 outputs the read pulse width information to the motor drive circuit 13 as a motor drive signal (S5).
In addition, the newly detected bending operation data in the specific direction is stored in the bending operation storage unit 16 again by incrementing (n + 1) the data of the total bending instruction operation number: n of the bending operation storage unit 16 as needed ( S6).

The motor drive circuit 13 drives and controls the motors 11 a and 11 b according to the pulse width information read by the processing circuit unit 12 from the parameter storage unit 17.
For example, when the motors 11a and 11b are servo motors, the servo motor is increased by increasing the pulse width in the order of FIGS. 4A, 4B, and 4C when the total number of bending instruction operations increases. It becomes possible to change the rotation angle.

As described above, according to the endoscope system 1 of the present embodiment, the pulse width of the motors 11a and 11b is changed according to the total number of bending instruction operations immediately after production, and the rotation angles of the motors 11a and 11b are changed. By controlling, the pulling amount of the angle wires 6a and 6b is adjusted. Therefore, even if the angle wires 6a and 6b are extended from the initial state by performing long-term use or frequent use, the pulling amount of the angle wires 6a and 6b can be adjusted according to the extension. As shown in FIG. 5, the occurrence of the angle down phenomenon can be suppressed as much as possible. In particular, it is simple because mechanical adjustment using a dedicated tool is not required as in the prior art.
Further, since the amount of bending can be adjusted based on the pulse width information stored in advance in the table 18 of the parameter storage means 17, the angle down phenomenon can be reliably avoided. Further, since the motors 11a and 11b are of the PWM system, it is easy to handle because they can suppress excessive power consumption and can be controlled only by the pulse width.

Next, a second embodiment of the electric bending endoscope according to the present invention will be described below with reference to FIGS. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.
The difference between the second embodiment and the first embodiment is that, in the endoscope system 1 of the first embodiment, the processing circuit unit 12 includes the total number of bending instruction operations and the pulse width information applied to the motors 11a and 11b. The pulse width information is read from the parameter storage means 17 that stores the corresponding table 18 and output to the motor drive circuit 13, but the endoscope system 20 of the second embodiment does not have the parameter storage means 17. It is.
That is, in the endoscope system 20 of the present embodiment, the processing circuit unit 12 has a function of a calculation unit that calculates the pulse width information (operation parameter) based on the bending operation of the bending tube unit 2 and is calculated. The bending amount of the bending tube portion 2 is controlled based on the pulse width information.

A case where the bending tube section 2 is bent by the endoscope system 20 configured as described above will be described below with reference to the flowchart shown in FIG.
As described above, the processing circuit unit 12 reads the data of the total bending instruction operation number: n of the bending instruction unit 3 from the bending operation storage unit 16 (S3), and then outputs the pulse to the motor driving circuit 13. Calculation (calculation) of width information: P = P (n) is performed (S10). The calculation method of the pulse width information P = P (n) output to the motor drive circuit 13 may be changed according to various characteristics of the endoscope system.
For example, in an endoscope system in which the angle down characteristic is expressed by a linear function,
P = P (n) = Po + k · n
(Po: pulse width immediately after production, k: arbitrary coefficient, n: total number of bending instruction operations immediately after production).
For example, in an endoscope system in which the angle down characteristic is expressed by a quadratic function,
P = P (n) = Po + k · n + 1 · n ²
(Po: pulse width immediately after production, k, l: arbitrary coefficient, n: total number of bending instruction operations immediately after production)
In addition, when the angle-down characteristic is represented by an exponential function or the like, the processing circuit unit 12 may similarly process using the exponential function.

  According to the endoscope system 20 of the present embodiment, since the rotation angles of the motors 11a and 11b are controlled every time the total bending instruction operation is performed, the angle down phenomenon can be eliminated with high accuracy. In particular, since the parameter storage means 17 is unnecessary, the memory area to be used can be reduced.

Next, a third embodiment of the electric bending endoscope according to the present invention will be described below with reference to FIGS. In the third embodiment, the same components as those in the second embodiment are denoted by the same reference numerals, and the description thereof is omitted.
The difference between the third embodiment and the second embodiment is that in the endoscope system 20 of the second embodiment, the data stored in the bending operation storage means 16 is the total number of bending instruction operations: n. On the other hand, in the endoscope system of the third embodiment, the data stored in the bending motion storage means 16 is the total bending motion: N.

For this total bending operation: N, for example, a case where the motors 11a and 11b are PWM controlled is shown in FIG. When there is an instruction to bend in the U (upward) direction by the bending instruction unit 3, pulses 31 a to 31 d are output to the motor drive circuit 13 with respect to the basic pulses 30 a to 30 f that are basic. At this time, the difference amounts 32a to 32d (shaded portions in FIG. 8) between the basic pulses 30a to 30f and the pulses 31a to 31d are the total bending operation: N.
In the case of PWM control, since the pulse width is constant, the difference between the basic pulse pulse application time: Ta and the sum of the differences: Tb, Tc, Td, Te may be the total bending operation: N.
Also, as shown in FIG. 9, the amount of bending angle with respect to time (33a, 33b, 33a + 33b) may be set to the total bending operation: N.
10 and 11 are examples in which the bending tube portion 2 is bent in the D (downward) direction, this is also the same.

A case where the bending tube portion 2 is bent by the endoscope system configured as described above will be described below with reference to the flowchart shown in FIG.
The processing circuit unit 12 reads the data of the total bending operation: N from the bending operation storage means 16 (S11), and then calculates the pulse width information: P = P (N) to be output to the motor drive circuit 13 ( (Calculation) is performed (S12). The calculation method of the pulse width information P = P (N) output to the motor drive circuit 13 may be changed according to various characteristics of the endoscope system.
For example, in an endoscope system in which the angle down characteristic is expressed by a linear function,
P = P (N) = Po + k · N
(Po: pulse width immediately after production, k: arbitrary coefficient, N: total bending operation immediately after production).
For example, in an endoscope system in which the angle down characteristic is expressed by a quadratic function,
P = P (N) = Po + k · N + 1 · N ²
(Po: pulse width immediately after production, k, l: arbitrary coefficient, N: total bending operation immediately after production).
Further, the total bending operation: N is stored in the bending operation storage means 16 as needed (S13).
Similarly to the first embodiment, the parameter storage unit 17 may be provided, and a correspondence table of the total bending operation: N and pulse width may be used.

  In the endoscope system 1 according to the first embodiment and the endoscope system 20 according to the second embodiment, the amount of bending is changed depending on the number of operations. However, according to the endoscope system of the present embodiment, the case where the bending tube portion 2 is bent largely is distinguished from the case where the bending tube portion 2 is bent slightly, so that the angle down can be eliminated with high accuracy.

The technical scope of the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention.
For example, in the endoscope system of the first embodiment, the pulse width information for the total number of bending instruction operations: n stored in the parameter storage means is stored in the table as an operation parameter corresponding to the bending operation of the bending tube section. However, it is not limited to this combination.
For example, as shown in FIG. 13, a table in which the total number of bending instruction operations and the pulse duty ratio information applied to the motor are associated with each other may be used.
Further, as shown in FIG. 14, a table in which the total number of bending instruction operations and the voltage value information applied to the motor are associated with each other may be used.
Further, as shown in FIG. 15, a table in which the total number of curves is associated with the pulse width information applied to the motor may be used.
Further, as shown in FIG. 16, a table in which the total number of bendings and pulse duty ratio information applied to the motor are associated with each other may be used.
Furthermore, as shown in FIG. 17, a table in which the total number of bendings and the voltage value information applied to the motor are associated with each other may be used.

1 is an overall configuration diagram showing a first embodiment of an endoscope system (electrically curved endoscope) according to the present invention. It is an example of the table which the parameter memory | storage means shown in FIG. 1 has, Comprising: It is a figure which shows the table with which the total curvature instruction | indication frequency | count and pulse width information matched. It is the flowchart which showed an example in the case of bending a bending pipe part by the endoscope system shown in FIG. It is a figure explaining changing with the endoscope system shown in FIG. 1 so that a pulse width may also increase as the total curvature instruction | indication operation frequency increases. It is a figure which compares the bending characteristic of the bending tube part by the conventional endoscope system, and the bending characteristic of the bending tube part by the endoscope system shown in FIG. It is a whole lineblock diagram showing a 2nd embodiment of an endoscope system (electrical bending type endoscope) concerning the present invention. It is the flowchart which showed an example in the case of bending a bending pipe part by the endoscope system shown in FIG. It is a figure which shows 3rd Embodiment of the endoscope system (electrical bending type endoscope) which concerns on this invention, Comprising: An example which employ | adopted the pulse as a total bending operation | movement when a bending pipe part was bent in the U direction FIG. In the case of FIG. 8, it is a figure which shows an example which employ | adopted the bending angle amount with respect to time as a total bending operation | movement. It is a figure which shows 3rd Embodiment of the endoscope system (electrical bending type | mold endoscope) which concerns on this invention, Comprising: An example which employ | adopted the pulse as a total bending operation | movement when a bending pipe part was bent in the D direction FIG. In the case of FIG. 10, it is a figure which shows an example which employ | adopted the bending angle amount with respect to time as a total bending operation | movement. 12 is a flowchart illustrating an example of bending a bending tube portion by the endoscope system of the third embodiment illustrated in FIGS. 8 to 11. It is another example of the table which the parameter storage means has, and is a diagram showing a table in which the total number of bending instruction operations corresponds to the pulse duty ratio information. It is a figure which shows another example of the table which a parameter memory | storage means has, Comprising: The total curvature instruction | indication frequency | count and the motor drive voltage respond | correspond. It is a figure which is another example of the table which a parameter memory | storage means has, Comprising: The table | surface with which the total frequency | count and the pulse width information respond | corresponded. It is a figure which shows another example of the table which a parameter memory | storage means has, Comprising: The total number of times of curvature and the pulse duty ratio information respond | correspond. It is a figure which shows another example of the table which a parameter memory | storage means has, Comprising: The table | surface with which the total frequency | count and the motor drive voltage respond | corresponded.

Explanation of symbols

1,20 Endoscope system (electrically curved endoscope)
2 Curved tube (curved portion)
3 Curving instruction section (curving instruction means)
4 Endoscope control unit (control means)
5 Drive means 6a, 6b Angle wire 11a, 11b Motor 12 Processing circuit section (calculation means)
16 bending motion storage means 17 parameter storage means

Claims (10)

A bending instruction means for instructing a bending direction or a bending position of a bending portion arranged at the distal end of the endoscope;
Control means for controlling the bending amount of the bending portion based on the bending instruction means;
Drive means driven and controlled by the control means;
An electric bending endoscope comprising an angle wire connected to the driving means and bending the bending portion,
The control means includes a bending action storage means for storing the number of operations of the bending instruction means, and controls the amount of bending of the bending portion based on the number of operations stored in the bending action storage means. Electric bending endoscope.   The electric bending endoscope according to claim 1,
  The control means controls the amount of bending of the bending portion by controlling the driving means so that the pulling amount of the angle wire increases as the number of operations increases. Endoscope.   The electric bending endoscope according to claim 1 or 2,
  The electric bending endoscope characterized in that the bending movement storage means stores the total number of bending instruction operations immediately after production as the number of operations. The electric bending endoscope according to any one of claims 1 to 3 ,
The control means includes parameter storage means for storing in advance an operation parameter for driving the drive means based on the number of operations stored in the bending operation storage means, and the operation parameter corresponding to the number of operations is An electric bending endoscope characterized in that the bending amount of the bending portion is controlled by taking out from the parameter storage means. The electric bending endoscope according to any one of claims 1 to 3,
The control means includes calculation means for calculating an operation parameter for driving the drive means based on the number of operations stored in the bending action storage means, and based on the operation parameter calculated by the calculation means. An electric bending endoscope characterized by controlling the bending amount of the bending portion.   A bending instruction means for instructing a bending direction or a bending position of a bending portion arranged at the distal end of the endoscope;
  Control means for controlling the bending amount of the bending portion based on the bending instruction means;
  Drive means driven and controlled by the control means;
  An electric bending endoscope comprising an angle wire connected to the driving means and bending the bending portion,
  The control means includes a bending operation storage means for storing the number of times of bending of the bending portion, and controls the amount of bending of the bending portion based on the number of times of bending stored in the bending operation storage means. Electric curved endoscope.   The electric bending endoscope according to claim 6, wherein
  The control means controls the amount of bending of the bending portion by drivingly controlling the driving means so that the pulling amount of the angle wire increases as the number of times of bending increases. Endoscope.   The electric bending endoscope according to claim 6 or 7,
  The electric bending endoscope characterized in that the bending movement storage means stores a total bending movement immediately after production as the number of bendings.   The electric bending endoscope according to any one of claims 6 to 8,
  The control means includes parameter storage means for storing in advance an operation parameter for driving the drive means based on the number of times of bending stored in the bending action storage means, and the operation parameter corresponding to the number of times of bending is An electric bending endoscope characterized in that the bending amount of the bending portion is controlled by taking out from the parameter storage means.   The electric bending endoscope according to any one of claims 6 to 8,
  The control means includes a calculation means for calculating an operation parameter for driving the drive means based on the number of times of bending stored in the bending action storage means, and based on the operation parameter calculated by the calculation means. An electric bending endoscope characterized by controlling the bending amount of the bending portion.

Images