JPH0212571B2 - - Google Patents
Info
- Publication number
- JPH0212571B2 JPH0212571B2 JP56176236A JP17623681A JPH0212571B2 JP H0212571 B2 JPH0212571 B2 JP H0212571B2 JP 56176236 A JP56176236 A JP 56176236A JP 17623681 A JP17623681 A JP 17623681A JP H0212571 B2 JPH0212571 B2 JP H0212571B2
- Authority
- JP
- Japan
- Prior art keywords
- motor
- amount
- bending
- potentiometer
- endoscope
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000005452 bending Methods 0.000 claims description 27
- 238000003780 insertion Methods 0.000 claims description 13
- 230000037431 insertion Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00039—Operational features of endoscopes provided with input arrangements for the user
- A61B1/00042—Operational features of endoscopes provided with input arrangements for the user for mechanical operation
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biophysics (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Physics & Mathematics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Mechanical Engineering (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Endoscopes (AREA)
Description
【発明の詳細な説明】
本発明はモータにより彎曲機構を駆動し挿入部
を彎曲操作する内視鏡装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an endoscope device that drives a bending mechanism using a motor to bend an insertion section.
近年、内視鏡の彎曲操作の操作性向上のため、
挿入部に結合される彎曲機構をモータによつて駆
動するように構成された内視鏡装置が提案されて
いる。しかし操作者が挿入部の彎曲角を的確に把
握しなければ、体腔内で挿入部を必要以上に彎曲
させてしまい、先端部が体腔内壁に当接し、最悪
の場合には体腔を傷つけたり欠切する等の危険性
がある。このため、従来においては、例えば実開
昭53−45790に開示されるように、モータ駆動制
御部材に近接した部位に挿入部の彎曲角に応じて
機械的に変位する部材を設け、この変位により内
視鏡操作者に彎曲角を告知するように構成されて
いた。しかしながら、上記部材を設けることによ
り内視鏡本体部の構造が複雑化され且つ製造コス
トが増大するという欠点があつた。 In recent years, in order to improve the operability of bending the endoscope,
An endoscope device has been proposed in which a motor drives a bending mechanism coupled to an insertion section. However, if the operator does not accurately grasp the curvature angle of the insertion tube, the insertion tube may be curved more than necessary inside the body cavity, causing the tip to come into contact with the inner wall of the body cavity, and in the worst case, damage the body cavity or damage the body cavity. There is a risk of cutting. For this reason, conventionally, as disclosed in Utility Model Application Publication No. 53-45790, for example, a member that is mechanically displaced in accordance with the curvature angle of the insertion portion is provided in a region close to the motor drive control member, and this displacement causes It was configured to notify the endoscope operator of the bending angle. However, the provision of the above-mentioned members has the disadvantage that the structure of the endoscope main body becomes complicated and the manufacturing cost increases.
本発明は上記事情を鑑みてなされたものであつ
て、その目的は彎曲操作部の操作量及び彎曲機構
の動作量を電気的に検出し彎曲操作部の操作量に
応じて彎曲機構の動作量を正確に制御し且つ構造
が簡単で安価な内視鏡を提供するにある。 The present invention has been made in view of the above circumstances, and its purpose is to electrically detect the amount of operation of the bending operation section and the amount of operation of the bending mechanism, and to detect the amount of operation of the bending mechanism according to the amount of operation of the bending operation section. The object of the present invention is to provide an endoscope that can be accurately controlled, has a simple structure, and is inexpensive.
以下、図面を参照して本発明の一実施例を説明
する。 Hereinafter, one embodiment of the present invention will be described with reference to the drawings.
第１図及び第２図において、内視鏡本体部２内
には２個のモータ例えば正逆回転可能なモータ
４，６が収納されている。これらのモータ４，６
の回転シヤフトにはドラム体８，１０が夫々固定
され、ドラム体８，１０の周縁にはワイヤ１２，
１４が夫々巻装されている。一方のモータ（第１
のモータ）４に連動するワイヤ１２は、挿入部１
６内を挿通され、その２個の端部１２ａ，１２ｂ
は彎曲部１８の先端部位に互いに対向して固定さ
れている。他方のモータ（第２のモータ）６に連
動するワイヤ１４の端部１４ａ，１４ｂも同様に
して彎曲部の先端部位で且つ上記ワイヤ１２の端
部１２ａ，１２ｂと略直角をなすように互いに対
向固定される。 In FIGS. 1 and 2, two motors, for example motors 4 and 6, which can rotate in forward and reverse directions, are housed within the endoscope main body 2. As shown in FIG. These motors 4, 6
Drum bodies 8 and 10 are fixed to the rotating shafts, respectively, and wires 12 and 10 are attached to the peripheral edges of the drum bodies 8 and 10, respectively.
14 are wound respectively. One motor (first
A wire 12 interlocked with the motor) 4 is connected to the insertion part 1
6 and its two ends 12a, 12b
are fixed to the distal end portion of the curved portion 18 so as to face each other. Similarly, the ends 14a and 14b of the wire 14 linked to the other motor (second motor) 6 are opposite to each other at the tip of the curved part and at substantially right angles to the ends 12a and 12b of the wire 12. Fixed.
上記挿入部１６の彎曲部１８は複数の関節部材
１８ａ，１８ｂ，１８ｃ，１８ｄ…によつて構成
され、第１及び第２のモータ４，６に連動してワ
イヤ１２，１４が夫々引かれることにより彎曲部
１８は上下左右方向を含む任意の方向に彎曲し、
先端部２０を任意の方向に向けることができる。 The curved part 18 of the insertion part 16 is composed of a plurality of joint members 18a, 18b, 18c, 18d..., and the wires 12, 14 are pulled in conjunction with the first and second motors 4, 6, respectively. Accordingly, the curved portion 18 is curved in any direction including up, down, left and right directions,
The tip 20 can be oriented in any direction.
而して、上記ドラム体８，１０にはポテンシヨ
メータ２２，２４が夫々装着されている。一方の
ポテンシヨメータ２２は端子２２ａ，２２ｂ，２
２ｃを有し、その摺動接触子は上記第１のモータ
４に連動して回転するように構成されている。従
つて該ポテンシヨメータ２２の出力電圧は、第１
のモータ４に連動して回転するドラム体８の動作
量に対応して変化する。他方のポテンシヨメータ
２４も同様に構成されているので説明は省略す
る。 Potentiometers 22 and 24 are mounted on the drum bodies 8 and 10, respectively. One potentiometer 22 has terminals 22a, 22b, 2
2c, and its sliding contact is configured to rotate in conjunction with the first motor 4. Therefore, the output voltage of the potentiometer 22 is
The amount of movement of the drum body 8, which rotates in conjunction with the motor 4, changes accordingly. The other potentiometer 24 is similarly configured, so its explanation will be omitted.
第１図において、参照符号２６は彎曲操作部材
を示している。該彎曲操作部材２６の操作レバー
２８をニユートラル位置を中心にして前後左右方
向を含む任意の方向へ手動により操作すると、そ
の移動量即ち操作量に対応して上記第１及び第２
のモータ４，６が駆動されるように構成されてい
る。即ち、上記操作レバー２８は、第２図に更に
詳細に示されるように、支点３０に装着され、同
時に２個の回動枠体３２，３４に形成される細長
状の開口３６，３８を貫通している。これらの回
動枠体３２，３４は例えば互いに直交して設けら
れ、上記操作レバー２８に応動して軸４０，４２
を中心に夫々回動する。該軸４０，４２にはポテ
ンシヨメータ４４，４６が装着されており、上記
回動枠体３２，３４の移動量に対応する出力電圧
が得られるように構成されている。 In FIG. 1, reference numeral 26 indicates a bending operation member. When the operating lever 28 of the bending operating member 26 is manually operated in any direction including the front, rear, left, and right directions from the neutral position, the first and second
The motors 4 and 6 are configured to be driven. That is, as shown in more detail in FIG. 2, the operating lever 28 is mounted on a fulcrum 30 and simultaneously passes through elongated openings 36 and 38 formed in the two rotating frames 32 and 34. are doing. These rotating frames 32 and 34 are provided, for example, orthogonally to each other, and in response to the operation lever 28, the shafts 40 and 42 are rotated.
Each rotates around the center. Potentiometers 44, 46 are attached to the shafts 40, 42, and are configured to provide an output voltage corresponding to the amount of movement of the rotating frames 32, 34.
上記本体部２内には更にライトガイド５０及び
イメージガイド５２が収納されている。ライトガ
イド５０は挿入部１６内を挿通延在され、その一
方端即ち光射出端５４は内視鏡先端部２０内に配
置されている。ライトガイド５０は更に本体部２
に結合されるユニバーサルコード５６内を挿通延
在され、図示しない公知の光源装置に導びかれて
いる。一方、イメージガイド５２は挿入部１６内
を挿通され、その一端即ち光入射端５２ａは対物
レンズ５８に近接対向するように上記内視鏡先端
部２０内に配置されている。従つて上記ライトガ
イド５０の光射出端５４から射出される光束６０
は体腔内壁６２で反射され、対物レンズ５８を介
してイメージガイド５２の光入射端５２ａに入射
される。尚、イメージガイド５２は、本体部２に
結合される接眼部６４内に導びかれており、その
光射出端５２ｂは、接眼レンズ６６に近接対向す
るように配置されている。尚、参照符号７０，７
１，７２，７３は、ワイヤ１２，１４が弛み本体
部２内の他の部品に接触することを防止するよう
に、ワイヤの弛みを吸収する弛緩器を示してい
る。 A light guide 50 and an image guide 52 are further housed within the main body 2. The light guide 50 is inserted and extended within the insertion portion 16, and one end, that is, the light exit end 54, is disposed within the endoscope distal end portion 20. The light guide 50 further includes the main body 2
The universal cord 56 is inserted and extended through the universal cord 56 connected to the universal cord 56, and is led to a known light source device (not shown). On the other hand, the image guide 52 is inserted through the insertion portion 16, and one end, that is, a light incident end 52a thereof, is disposed within the endoscope distal end portion 20 so as to closely face the objective lens 58. Therefore, the light beam 60 emitted from the light exit end 54 of the light guide 50
is reflected by the body cavity inner wall 62 and enters the light incident end 52a of the image guide 52 via the objective lens 58. The image guide 52 is guided into an eyepiece 64 that is coupled to the main body 2, and its light exit end 52b is arranged to closely face the eyepiece 66. In addition, reference numeral 70,7
Reference numerals 1, 72, and 73 designate relaxers that absorb slack in the wires to prevent the wires 12, 14 from coming into contact with other components in the main body 2.
第３図に、モータ例えば第１のモータ４に連動
するポテンシヨメータ２２と、彎曲操作部２６に
連動するポテンシヨメータ例えばポテンシヨメー
タ４６とを含む電気回路図を示す。上記ポテンシ
ヨメータ４６は端子４６ａ，４６ｃを介して直流
電源７４の両極間に接続されている。中間端子４
６ｂは抵抗７６を介して演算増幅器７８に接続さ
れると共に、更に帰還抵抗８０を介して第１のモ
ータに接続される。上記ポテンシヨメータ４６と
並列に他のポテンシヨメータ２２が接続され、そ
の中間端子２２ｂは抵抗８２を介して上記演算増
幅器７８に接続されている。また該演算増幅器７
８の出力端は、電流増幅器８３を構成し互いに反
対極性の２個のトランジスタ８４，８６のベース
に接続されている。NPNトランジスタ８４及び
PNPトランジスタ８６のエミツタは互いに共通
接続されて上記第１のモータ４に接続されてい
る。これらのトランジスタ８４，８６のコレクタ
間には例えば２個の直流電源８８，９０が接続さ
れている。また、上記演算増幅器７８及びトラン
ジスタ８４，８６から成る電流増幅器８３により
サーボ制御回路９２が形成されている。尚、上記
第２のモータ６と、該モータ６及び回動枠体３４
に連動するポテンシヨメータ２４，４４とを含む
回路構成も上述と同様であるからその説明を省略
する。 FIG. 3 shows an electrical circuit diagram including a potentiometer 22 that is coupled to a motor, for example the first motor 4, and a potentiometer, for example potentiometer 46, that is coupled to the bending operation section 26. The potentiometer 46 is connected between both poles of a DC power source 74 via terminals 46a and 46c. Intermediate terminal 4
6b is connected to an operational amplifier 78 via a resistor 76, and further connected to the first motor via a feedback resistor 80. Another potentiometer 22 is connected in parallel with the potentiometer 46, and its intermediate terminal 22b is connected to the operational amplifier 78 via a resistor 82. Also, the operational amplifier 7
The output terminal of 8 is connected to the bases of two transistors 84 and 86 which constitute a current amplifier 83 and have opposite polarities. NPN transistor 84 and
The emitters of the PNP transistors 86 are commonly connected to each other and connected to the first motor 4. For example, two DC power supplies 88 and 90 are connected between the collectors of these transistors 84 and 86. Further, a servo control circuit 92 is formed by the operational amplifier 78 and a current amplifier 83 made up of transistors 84 and 86. Note that the second motor 6, the motor 6, and the rotating frame 34
The circuit configuration including the potentiometers 24 and 44 which are interlocked with each other is also the same as described above, so a description thereof will be omitted.
このように構成された一実施例の動作を説明す
る。今、操作レバー２８を第２図に参照符号９４
で示された矢印の方向にたおすと、回動枠体３２
も上記操作レバー２８に押されて矢印９４の方向
へ回動する。このとき、ポテンシヨメータ４６の
摺動接触子も上記回動枠体３２の操作量に応じて
端子４６ｃ側へ移動するから、第３図に示される
中間端子の端子電圧V1は上昇し、ポテンシヨメ
ータ２２の中間端子２２ｂの端子電圧V2よりも
高くなる。この結果、演算増幅器７８の出力端に
は負電圧が生成され、PNPトランジスタ８６が
導通し、第１のモータ４には出力電圧に比例する
電圧が供給されて該モータ４は回転駆動される。
これにより、例えばドラム体８は第２図に参照符
号９６で示される矢印の方向に回転しワイヤ１２
が矢印９８方向に引かれる。この結果、該ワイヤ
１２の一端部例えば端部１４ｂが引かれて挿入部
１６の彎曲部１８は下方へ彎曲する。この状況に
おいて、第１のモータ４のドラム体８に装着され
ているポテンシヨメータ２２の摺動接触子も連動
して端子２２ｃ側へ摺動するから、その中間端子
２２ｂの端子電圧V2（第３図）も上昇している。 The operation of one embodiment configured in this way will be explained. Now, the operating lever 28 is shown at 94 in FIG.
When tilted in the direction of the arrow shown, the rotating frame 32
is also pushed by the operating lever 28 and rotates in the direction of arrow 94. At this time, the sliding contact of the potentiometer 46 also moves toward the terminal 46c in accordance with the amount of operation of the rotating frame 32, so the terminal voltage V 1 of the intermediate terminal shown in FIG. 3 increases, It becomes higher than the terminal voltage V 2 of the intermediate terminal 22b of the potentiometer 22. As a result, a negative voltage is generated at the output terminal of the operational amplifier 78, the PNP transistor 86 becomes conductive, and a voltage proportional to the output voltage is supplied to the first motor 4, so that the motor 4 is driven to rotate.
As a result, for example, the drum body 8 rotates in the direction of the arrow indicated by reference numeral 96 in FIG.
is pulled in the direction of arrow 98. As a result, one end, for example, the end 14b of the wire 12 is pulled, and the curved portion 18 of the insertion portion 16 is curved downward. In this situation, since the sliding contact of the potentiometer 22 mounted on the drum body 8 of the first motor 4 also slides toward the terminal 22c side, the terminal voltage V 2 ( Figure 3) is also rising.
而して、上記中間端子２２ｂの端子電圧V2が
上記端子電圧V1と実質的に等価となると、演算
増幅器７８の出力電圧は略OVとなるから、PNP
トランジスタ８６は遮断され、第１のモータ４は
駆動停止する。このように、彎曲操作部材２６に
設けられたポテンシヨメータ４４の出力電圧V1
は、操作レバー２８の操作量に応じて変化し、こ
の間第１のモータ４も上記操作レバー２８に応じ
て回転駆動する。この時、ポテンシヨメータ２２
は該モータ４に連動し、モータ４の動作量に応じ
て出力電圧V2を変化する。そして上記出力電圧
V1，V2間の差がゼロになると直ちにモータ４は
駆動停止される。 When the terminal voltage V 2 of the intermediate terminal 22b becomes substantially equivalent to the terminal voltage V 1 , the output voltage of the operational amplifier 78 becomes approximately OV, so that the PNP
The transistor 86 is cut off and the first motor 4 stops driving. In this way, the output voltage V 1 of the potentiometer 44 provided on the bending operation member 26
changes depending on the amount of operation of the operating lever 28, and during this time, the first motor 4 is also rotationally driven in accordance with the operating lever 28. At this time, potentiometer 22
is interlocked with the motor 4, and changes the output voltage V2 according to the amount of operation of the motor 4. And the above output voltage
As soon as the difference between V 1 and V 2 becomes zero, the motor 4 is stopped.
上述したように上記一実施例によれば、彎曲操
作部２６の操作量をポテンシヨメータ４４，４６
により電気的に検出し、モータ４，６に夫夫直結
されるドラム体８，１０の動作量をポテンシヨメ
ータ２２，２４により電気的に検出するように構
成される。従つて内視鏡の全体としての構造を大
幅に簡単化することができ、またその製造コスト
も低減することができる。更に、上記彎曲操作部
２６のポテンシヨメータ４４，４６及び第１及び
第２のモータ４，６のポテンシヨメータ２２，２
４の夫々の出力電圧を演算増幅器７８を含むサー
ボ制御回路９２で電気的に処理することにより、
彎曲操作部２６で設定された操作量に正確に追従
した第１及び第２のモータ４，６の動作量を決定
することができる。従つて、内視鏡の挿入部１６
の彎曲動作を時間損失無く正確に制御することが
できる。 As described above, according to the embodiment, the amount of operation of the bending operation section 26 is controlled by the potentiometers 44, 46.
The operating amount of the drum bodies 8, 10, which are directly connected to the motors 4, 6, is electrically detected by the potentiometers 22, 24. Therefore, the overall structure of the endoscope can be significantly simplified, and its manufacturing cost can also be reduced. Furthermore, the potentiometers 44, 46 of the bending operation section 26 and the potentiometers 22, 2 of the first and second motors 4, 6
By electrically processing the respective output voltages of 4 with the servo control circuit 92 including the operational amplifier 78,
It is possible to determine the amount of operation of the first and second motors 4 and 6 that accurately follows the amount of operation set by the bending operation section 26. Therefore, the insertion section 16 of the endoscope
The bending motion of the can be controlled accurately without any time loss.
尚、本発明は上記一実施例に限定されるもので
はなく、種々変形することができる。例えば彎曲
操作部は必ずしも内視鏡本体部に設けられる必要
はなく、光源装置に設けても良く、又は彎曲操作
部を別構成体として遠隔操作ができるように構成
しても良い。 Note that the present invention is not limited to the above-mentioned embodiment, and can be modified in various ways. For example, the bending operation section does not necessarily need to be provided in the endoscope main body, but may be provided in the light source device, or the bending operation section may be configured as a separate component so that it can be remotely controlled.
以上述べたように本発明によれば、彎曲操作部
の操作量に応じて彎曲機構の動作量を正確に制御
し且つ構造が簡単で安価な内視鏡を提供すること
ができる。 As described above, according to the present invention, it is possible to provide an endoscope that accurately controls the amount of operation of the bending mechanism according to the amount of operation of the bending operation section, and that is simple in structure and inexpensive.
第１図は本発明の一実施例の全体構成を概略的
に示す斜視図、第２図は第１図の内視鏡本体部内
に設けられる主要構成部分を拡大して示す斜視
図、第３図は本発明の一実施例の電気回路図であ
る。
２……本体部、４，６……モータ、８，１０…
…ドラム体、１６……挿入部、１８……彎曲部、
２２，２４，４４，４６……ポテンシヨメータ、
２６……彎曲操作部、２８……操作レバー、３
２，３４……回動枠体、７８……演算増幅器、９
２……サーボ制御回路。
FIG. 1 is a perspective view schematically showing the overall configuration of an embodiment of the present invention, FIG. 2 is an enlarged perspective view showing the main components provided in the endoscope main body of FIG. 1, and FIG. The figure is an electrical circuit diagram of one embodiment of the present invention. 2... Main body, 4, 6... Motor, 8, 10...
...Drum body, 16...Insertion part, 18...Curved part,
22, 24, 44, 46... potentiometer,
26... Curved operation section, 28... Operation lever, 3
2, 34... Rotating frame body, 78... Operational amplifier, 9
2... Servo control circuit.
Claims (1)
ータを有し、湾曲操作部材の操作量に応じて前記
湾曲機構が前記モータにより駆動される内視鏡に
おいて、 前記湾曲操作部材の操作量を電気的に検出する
検出手段と、 前記湾曲機構の動作量を電気的に検出し、かつ
前記湾曲操作部材の操作量に追従するように前記
モータを駆動するモータ制御手段と を具備することを特徴とする内視鏡装置。 ２ 前記検出手段は、前記湾曲操作部材の操作量
に対応して動作する第１のポテンシヨンメータを
含んで構成され、前記モータ制御手段は、前記モ
ータと連動する第２のポテンシヨンメータと前記
第１のポテンシヨンメータの出力電圧間の差に応
じて作動するサーボ制御回路を含んで構成される
ことを特徴とする特許請求の範囲第１項記載の内
視鏡装置。[Scope of Claims] 1. An endoscope having a bending mechanism and a motor that changes the direction of the distal end of the insertion section, the bending mechanism being driven by the motor according to the amount of operation of the bending operation member, comprising: detection means for electrically detecting the amount of operation of the bending mechanism; and motor control means for electrically detecting the amount of operation of the bending mechanism and driving the motor so as to follow the amount of operation of the bending operation member. An endoscope device characterized by: 2. The detection means includes a first potentiometer that operates in accordance with the amount of operation of the bending operation member, and the motor control means includes a second potentiometer that operates in conjunction with the motor; 2. The endoscope apparatus according to claim 1, further comprising a servo control circuit that operates in response to a difference between the output voltages of the first potentiometers.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56176236A JPS5878635A (en) | 1981-11-02 | 1981-11-02 | Endoscope apparatus |
| DE8282109478T DE3277287D1 (en) | 1981-10-15 | 1982-10-13 | Endoscope system with an electric bending mechanism |
| AT82109478T ATE29655T1 (en) | 1981-10-15 | 1982-10-13 | ENDOSCOPE SYSTEM WITH ELECTRICALLY CONTROLLED BENDING. |
| EP82109478A EP0077526B1 (en) | 1981-10-15 | 1982-10-13 | Endoscope system with an electric bending mechanism |
| US06/434,233 US4499895A (en) | 1981-10-15 | 1982-10-14 | Endoscope system with an electric bending mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56176236A JPS5878635A (en) | 1981-11-02 | 1981-11-02 | Endoscope apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5878635A JPS5878635A (en) | 1983-05-12 |
| JPH0212571B2 true JPH0212571B2 (en) | 1990-03-22 |
Family
ID=16010012
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP56176236A Granted JPS5878635A (en) | 1981-10-15 | 1981-11-02 | Endoscope apparatus |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5878635A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012050557A (en) * | 2010-08-31 | 2012-03-15 | Fujifilm Corp | Endoscope and hardness adjuster |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58133301U (en) * | 1982-03-03 | 1983-09-08 | 株式会社町田製作所 | Endoscope head bending device |
| JPH0619493B2 (en) * | 1984-09-21 | 1994-03-16 | オリンパス光学工業株式会社 | Angle control device for endoscope |
| US5060632A (en) * | 1989-09-05 | 1991-10-29 | Olympus Optical Co., Ltd. | Endoscope apparatus |
| US5469840A (en) * | 1991-12-10 | 1995-11-28 | Olympus Optical, Ltd. | Electromotive warping type endoscope with velocity control |
| JP4681709B2 (en) * | 2000-04-05 | 2011-05-11 | オリンパス株式会社 | Endoscope device |
| US20040199052A1 (en) | 2003-04-01 | 2004-10-07 | Scimed Life Systems, Inc. | Endoscopic imaging system |
| US7578786B2 (en) | 2003-04-01 | 2009-08-25 | Boston Scientific Scimed, Inc. | Video endoscope |
| US7241263B2 (en) | 2004-09-30 | 2007-07-10 | Scimed Life Systems, Inc. | Selectively rotatable shaft coupler |
| US7597662B2 (en) | 2004-09-30 | 2009-10-06 | Boston Scientific Scimed, Inc. | Multi-fluid delivery system |
| US7479106B2 (en) | 2004-09-30 | 2009-01-20 | Boston Scientific Scimed, Inc. | Automated control of irrigation and aspiration in a single-use endoscope |
| US8052597B2 (en) | 2005-08-30 | 2011-11-08 | Boston Scientific Scimed, Inc. | Method for forming an endoscope articulation joint |
| US8888684B2 (en) | 2006-03-27 | 2014-11-18 | Boston Scientific Scimed, Inc. | Medical devices with local drug delivery capabilities |
| US8202265B2 (en) | 2006-04-20 | 2012-06-19 | Boston Scientific Scimed, Inc. | Multiple lumen assembly for use in endoscopes or other medical devices |
| US7955255B2 (en) | 2006-04-20 | 2011-06-07 | Boston Scientific Scimed, Inc. | Imaging assembly with transparent distal cap |
| JP5174842B2 (en) * | 2010-02-22 | 2013-04-03 | オリンパス株式会社 | Endoscope device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5869523A (en) * | 1981-10-22 | 1983-04-25 | オリンパス光学工業株式会社 | Endoscope |
-
1981
- 1981-11-02 JP JP56176236A patent/JPS5878635A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5869523A (en) * | 1981-10-22 | 1983-04-25 | オリンパス光学工業株式会社 | Endoscope |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012050557A (en) * | 2010-08-31 | 2012-03-15 | Fujifilm Corp | Endoscope and hardness adjuster |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5878635A (en) | 1983-05-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPH0212571B2 (en) | ||
| US4503842A (en) | Endoscope apparatus with electric deflection mechanism | |
| US20040054424A1 (en) | Multi-finger hand device | |
| JP5309265B2 (en) | Bending operation device | |
| ATE159446T1 (en) | SERVO PLIERS | |
| JPS6359329B2 (en) | ||
| US4870951A (en) | Endoscope having varying diameter contents in the insertable part | |
| JP3222190B2 (en) | Bending control device for endoscope | |
| JP3831579B2 (en) | Lens drive device | |
| JPH1099261A (en) | Endoscope device | |
| JP2921681B2 (en) | Endoscope | |
| JP3181703B2 (en) | Electric curved endoscope device | |
| JP2723491B2 (en) | Endoscope | |
| JPS5866904A (en) | Control circuit for servocontrol module | |
| JP4185316B2 (en) | Endoscope actuator support structure | |
| JP3635525B2 (en) | Endoscope system | |
| JPH03109021A (en) | Bending apparatus | |
| JP3420577B2 (en) | Linear actuator and lens driving device using linear actuator | |
| JP2845255B2 (en) | Endoscope bending operation device | |
| JPH0244213B2 (en) | ||
| JP3030131B2 (en) | Endoscope device | |
| JP3356296B2 (en) | Endoscope device | |
| JP2962516B2 (en) | Endoscope device | |
| JPH0682Y2 (en) | Endoscope bending operation device | |
| JP2563296B2 (en) | Motor drive controller |