JPH04246322A - Endoscope device - Google Patents

Abstract

PURPOSE:To prevent the generation of angle-down even in the case a curvature wire in the endoscope device is extended by a repeated load. CONSTITUTION:When the curvature operating knob 23 of an operating part 4 of an endoscope 1 is rotated and operated backward or forward and curvature angle data is inputted to a central processor 35, the necessary output value of a tension sensor 20 corresponding to curvature angle data is set from the relation of tension and a curvature angle stored in a storage circuit 36, and a motor 21 is driven through a motor driving circuit 38. Thus, for instance, when a curvature part 8 being in a linear state is raised or lowered gradually, and an output value from the tension sensor 20 coincides with the necessary output value, driving of the motor 21 is stopped and the curvature part 8 is held at a prescribed curvature angle, therefore, angle-down caused by the elongation of operating wires 19a, 19b is not generated, and the curvature can be controlled exactly.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope device that prevents angle-down during bending operations.

0002

[Prior Art] In recent years, by inserting an elongated insertion section into a body cavity, organs within the body cavity can be observed, and if necessary, in-vivo tissue can be collected using forceps inserted through a forceps channel to remove the affected area. Endoscopes are widely used to make detailed diagnoses. This endoscope can be used not only for medical purposes but also for industrial purposes, such as inside pipes such as boilers and chemical plants.
It is also used to observe and inspect objects inside machines, etc. Furthermore, various electronic endoscopes are used that use solid-state imaging devices such as charge-coupled devices (CCDs) as imaging means. There is.

[0003] An endoscope including this electronic endoscope includes, for example, an elongated insertion section to be inserted into a subject, and an operation section that serves as a large-diameter grip section connected to the rear end of the insertion section. A universal cord extends from the operation section, and is detachably connected to, for example, a light source device through a connector provided at the end of the universal cord.

[0004] The insertion portion includes a hard tip, a curved portion connected to the rear end of the tip and capable of bending, for example, vertically/left and right, and an elongated portion connected to the rear end of the curved portion. The flexible tube section is connected to the operating section. Further, an entrance window is provided at the distal end of the endoscope through which a subject image such as a subject to be inspected enters, and an objective optical system is disposed in this entrance window, and an image formation of this objective optical system is provided. An incident end face of the image guide or a solid-state image sensor is disposed at the position.

[0005] Then, in order to insert the aforementioned endoscope into a subject and direct the objective optical system toward, for example, the subject, the bending section can be bent up and down/left and right using a bending wire. , the driving method for this curved part is as follows:
When the surgeon rotates the bending control knob etc. provided on the operating section, power is transmitted to the wire that moves in synchronization with the rotation of the pulley linked to this knob, causing the tip to curve in the direction in which the wire is pulled. The most common method was to

In this case, the required amount of movement of the wire is different depending on whether the insertion section of the endoscope is straight or bent, and the rotational position of the bending operation knob corresponding to the bending angle is unique. Therefore, the amount of curvature can be accurately confirmed by detecting the tension generated in the wire, and a prior example thereof is disclosed in, for example, Japanese Patent Laid-Open No. 63-294825.

By the way, when using an endoscope, the operator often places one hand on the insertion section and grasps the operation section with the other hand, and there are cases where there are multiple bending operation knobs. However, operating these multiple bending operation knobs with one hand requires considerable skill, and a significant improvement in the bending operation system has been desired.

[0008] For this reason, the present applicant, for example,
As shown in Japanese Patent No. 76126, an endoscope angle operation device that performs a bending operation using the driving force of a motor has been proposed. Operability is improved by controlling the rotation of the motor so that the target value given by the operating position of the motor coincides with the detected value given by the potentiometer that detects the rotational position of the motor.

[0009]

[Problem to be Solved by the Invention] However, it is difficult to control the motor in a one-to-one correspondence so that the instruction value (target value) given by the operating position of the operating panel matches the detected value of the motor rotational position from the potentiometer. When the bending wire is stretched by repeated loads,
There has been a problem in that the elongation of the wire is not absorbed and the correspondence between the indicated value and the actual bending angle becomes incorrect (hereinafter referred to as angle down). Furthermore, if the bending angle is set based on the output value of a potentiometer, rotary encoder, or the like that detects the rotational position of the motor, a problem arises in that the maximum bending angle cannot be achieved due to elongation of the wire.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an endoscope device that can prevent the occurrence of angle down even if the bending wire is stretched due to repeated loads. There is.

[0011]

[Means for Solving the Problems] An endoscope apparatus according to the present invention includes: an angle operating means for instructing the angle of a curved portion of an endoscope; a bending drive means for operating a bending wire; A tension detection means for detecting the tension generated in the wire, and a control circuit for controlling the bending drive means so that the output value of the tension detection means coincides with the instruction value of the angle operation means. It is something.

0012

[Operation] In the endoscope apparatus of the present invention, when the angle of the bending section is specified by the angle operation means, this instruction value matches the output value of the tension detection means for detecting the tension of the bending wire. , the curving drive means are controlled.

[0013]

Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 to 7 relate to the first embodiment of the present invention, and FIG.
2 is an explanatory diagram showing the general configuration of the endoscope device, FIG. 2 is an explanatory diagram showing the configuration of the distal end, FIGS. 3 to 5 are explanatory diagrams showing the configuration of the tension sensor, and FIGS. FIG.

In FIG. 1, the endoscope device includes a solid-state image sensor, such as a charge-coupled device (hereinafter referred to as CCD).
A light source device (not shown) that supplies illumination light to the endoscope 1 and C of the electronic endoscope 1 are installed in the endoscope 1.
An image processing device (not shown) that drives the CD and processes imaging signals from the CCD is connected via a universal cord 5, and a bending control device 2 that controls the angle (curving) of the bending section 8, which will be described later, is connected. Connected and configured.

The endoscope 1 includes an insertion section 3 formed to be elongated so as to be insertable into a subject, and a large-diameter operation section 4 connected to the rear end of the insertion section 3 and serving also as a grip section. , this operation section 4
For example, the universal cord 5 is branched in the middle and connected to the light source device and the image processing device.

The insertion section 3 of the endoscope 1 is rigid and has a CC
A top/bottom/left/right joint is constructed of a distal end 6 on which D, etc. are arranged, and a plurality of short tubular joint members 7 connected to the rear end of the distal end 6 and pivoted to each other along the axial direction. It is composed of a bending section 8 that can be bent into a shape, and a long flexible tube section 9 connected to the rear end of the bending section 8. The flexible tube section 9 is connected to the operating section 4. They are installed consecutively.

As shown in FIG. 2, an air/water supply nozzle 10, an illumination lens 11, and an objective lens 12 are disposed on the distal end surface of the distal end portion 6, and a light is provided inside the illumination lens 11. The exit end face of the guide 13 is arranged to constitute an illumination optical system, and the objective lens 12 is provided with a lens group 12a to constitute an objective optical system.

The light guide 13 includes the insertion portion 3,
The operating section 4 is inserted and guided through the universal cord 5, and the incident end surface side thereof can be connected to the light source device, and the illumination light from the light source of this light source device is directed to the incident end surface of the light guide 13. supplied and guided,
The light is irradiated from the output end surface to the test subject 14 and the like via the illumination lens 11.

[0019] Furthermore, a CCD is provided at the imaging position of the objective optical system.
15, and an image transmission cable 16 connected to the CCD 15 is inserted through the insertion section 3 and the operation section 4, branches from the middle of the universal cord 5, and is connected to the image processing device. And the CCD
15 is driven by the image processing device, and when a subject image such as the subject 14 formed on the photoelectric conversion surface of the CCD 15 via the objective optical system is photoelectrically converted, this photoelectrically converted signal becomes an imaging signal. The signal is input to the image processing device and converted into an image signal, and as a result, an image of the subject to be examined is displayed on a monitor (not shown).

Here, the optical axes of the illumination lens 11 and the objective lens 12 are both inclined by an angle of deviation α in the opposite direction to the air/water supply nozzle 10 with respect to the axial direction of the tip portion 6. , the distance between the illumination lens 11 and the air/water supply nozzle 10 is laid out smaller than before, and the diameter of the tip 6 is reduced.

That is, in the conventional system in which the optical axes of the illumination optical system and the objective optical system are arranged parallel to the axial direction of the tip 6, the illumination light is vignetted by the air/water supply nozzle 10. In order to prevent this, the illumination lens 11 and the air/water supply nozzle 10 had to be laid out with a certain distance from each other, which resulted in a thicker diameter of the tip 6. However, in this embodiment, the field of view can be secured. It is possible to reduce the diameter of the distal end portion 6 while also improving insertability.

On the other hand, as shown in FIG. 1, the operating section 4 is provided with a switch 17 at the end thereof.
A signal line (not shown) from the universal cord 5 is inserted through the universal cord 5 and connected to the image processing device. By operating this switch 17, a switch signal is sent to the image processing device via the signal line and processed, and an image is recorded.

Furthermore, the operation section 4 includes the insertion section 3.
A bending mechanism 18 for remotely controlling the bending portion 8 of
is provided. This bending mechanism 18 includes a pair of upper and lower operation wires 19a, 19b, and each of these operation wires 19a.
, 19b, each operating wire 19a, 19
a tension sensor 20 as a tension detection means for detecting the tension generated in b; a motor 21 capable of forward and reverse rotation as a bending drive means for operating each operating wire 19a, 19b;
The drum 22 is interposed between the rotating shaft of the drum 22 and the output shaft of the motor 21, and is composed of a speed reduction mechanism 22a made of, for example, two gears. The drum 22 can be rotated in forward and reverse directions under reduced rotation speed. Although only the vertical bending mechanism 18 is shown in the drawing, left and right bending mechanisms are also provided.

Then, in addition to winding the proximal ends of the operating wires 19a and 19b around the drum 22 from opposite sides, each distal end is guided through the insertion section 3 to the bending section 8, and each distal end is connected to the most advanced joint member. 7, as the drum 22 is rotated by the drive of the motor 21, one of the operating wires 19a, 19b is wound around the drum 22 and pulled, while the other operating wire 19a , 19b are extended so that they can be bent in the direction in which the bending portion 8 is pulled.

Further, as an angle operation means for instructing the angle of the bending portion 8, a bending operation knob 23 having, for example, a potentiometer (not shown) or the like provided on the rotating shaft is used.
is rotatably provided on the operating section 4 which also serves as a gripping section, and the bending operation knob 23, the motor 21, and the tension sensor 20 are electrically connected to the bending control device 2.

As shown in FIG. 3, the tension sensor 20 has a base 24 made of a material with a small Young's modulus interposed between the operating wires 19a and 19b.
A strain gauge 25 having temperature compensation characteristics is adhered thereon. The change in electrical resistance of the strain gauge 25 due to the tension of each operating wire 19a, 19b is detected by a bridge circuit 26, and a signal generated at the resistance change output ends 26a, 26b of this bridge circuit 26 is sent to the bending control device 2. sent and processed. This strain gauge type has features such as being able to be miniaturized and having excellent temperature characteristics, and is extremely easy to use.

Here, the tension sensor 20 is not limited to the above-mentioned strain gauge type, but for example, the tension sensor 20 shown in FIGS.
A pressure sensor type or an optical type as shown in the figure may be used. That is, in the pressure sensor type shown in FIG.
A ring-shaped pressure sensor 30 is interposed between the end surface 28 of 7 and the retainer 29. A pressure-sensitive conductive material, a piezoelectric element, etc. is used as the pressure sensor 30, and signals such as changes in resistance and changes in potential due to the tension of the wire are processed by the bending control device 2, and the tension of the wire is detected with good responsiveness. can do.

Furthermore, in the optical type shown in FIG. 5, the tension sensor 20 is not interposed in the middle of each operating wire 19a, 19b, and each operating wire 19a, 19b is marked with two gauge lines 31 at a predetermined interval. 19b, one-dimensional CCD row 3
2 is installed. In this one-dimensional CCD array 32, even if the operating wires 19a, 19b are stretched by tension and the position of each marked line 31 changes, some pixel in the one-dimensional CCD array 32 always moves along each marked line 31. Imaging. Then, the tension of each operating wire 19a, 19b is detected by converting the length between each marked line 31 into tension based on the marked line detection signal from the pixel 33 that images each marked line 31 in the arithmetic unit 34. can do.

In this optical system, for example, necessary portions of each operation wire 19a, 19b are made black by plating, etc., and each gauge line 31 is made white with high reflectance, so that the one-dimensional CCD array 32 It is also possible to use a photo reflector instead.

Further, as shown in FIG. 1, the control circuit in the bending control device 2 receives bending angle data from a potentiometer (not shown) provided on the bending operation knob 23 and a tension signal from the tension sensor 20. , a storage circuit 36 connected to the central processing unit 35 , a main switch 37 , and a motor drive circuit 38 for driving the motor 21 .

When bending angle data is input into the central processing unit 35 by rotating the bending operation knob 23 of the operating section 4 backwards or forwards, the bending angle data is input from the relationship between the tension and the bending angle stored in the memory circuit 36. , a necessary output value of the tension sensor 20 corresponding to the bending angle data is set, and the motor 21 is driven via the motor drive circuit 38. As a result, for example, the bending portion 8 in a straight line state is gradually raised or lowered, and when the output value from the tension sensor 20 matches the required output value, the driving of the motor 21 is stopped and the bending portion 8 is moved to a predetermined position. The curved angle is maintained at .

The bending control device 2 can be made compatible with different types of endoscopes by connecting an input device such as a keyboard and inputting the relationship between tension and bending angle into the memory circuit 36. However, the endoscope may have a built-in memory circuit that stores the relationship between tension and bending angle corresponding to the type of endoscope.

Furthermore, the signal from the tension sensor 20 may be used not only to drive and control the motor 21, but also to display the bending state, bending angle, bending direction, etc. Text display, LE, in easy-to-see locations
The operability can be further improved by providing notification using light such as D, vibration, sound, etc.

Next, this bending control operation will be explained according to the flowcharts of FIGS. 6 and 7. First, when the main switch 37 of the bending control device 2 is turned on, in step S100 in FIG. The data is assigned to the variable θ. Next, when the process advances to step S110, the central processing unit 3
In step 5, the bending angle data θ is compared with the variable θ' indicating the previous bending angle data, and it is determined whether the data is newly input. In this step S110,
If θ=θ', that is, if no new data has been input, the process jumps to step S170 and holds the current bending angle; if θ≠θ', that is, if new data has been input If so, the process advances to step S120.

In step S120, the output value V0 of the tension sensor 20 necessary to realize the bending angle specified by the bending angle data θ is calculated from the tension (sensor required output value) stored in advance in the storage circuit 36. It is determined from the relationship between and the curvature angle. This relationship may be stored as an arithmetic expression in the storage circuit 36, or may be stored as a table of required sensor output values in which the curvature angle is used as a parameter.

When the required output value V0 of the tension sensor 20 is determined, steps S120 to S1 are performed.
30, the motor 21 is driven by the motor drive circuit 38, and in step S140, the output value V of the tension sensor 20 corresponding to the tension change that occurs in the operating wires 19a, 19b due to the rotation of the motor 21 is read out, and the step Proceed to S150. In step S150, the output value V of the tension sensor 20 and the required output value V0 obtained in step S120 are determined.
If V≠V0, the motor 21 continues to be driven in a loop that returns to step S130, and when V=V0, the process advances to step S160 and the drive of the motor 21 is stopped. After the motor 21 stops, step S1
60, the process proceeds to step S170, where the rotation of the motor 21 is locked to prevent the bending from returning, and the current bending angle is maintained.In step S180, the bending angle data θ is substituted into the variable θ', and the process waits for input of new data. becomes.

In other words, in the conventional bending drive system in which the rotational position of the motor, which corresponds one-to-one to the bending angle, is detected and controlled by a potentiometer or rotary encoder, the angle changes due to the stretching of the wire due to repeated loads. However, in the present invention, the operating wires 19a, 19
Since the desired bending angle is controlled based on the relationship between the tension b and the bending angle, precise bending control is possible without causing angle down.

Furthermore, as a function to be added to this system, if a tension corresponding to the maximum bending angle θMAX of the bending portion 8 is detected due to some malfunction or accident, an abnormality will be detected on the front surface of the operation panel (not shown) of the bending control device 2. A function is provided to display the status and immediately stop the motor 21. This control operation will be explained below according to the flowchart of FIG.

The flowchart in FIG. 7 is obtained by adding step S145 between step S140 and step S150 in FIG. , it is determined whether this output value V is greater than or equal to the tension sensor output value VMAX corresponding to the maximum bending angle θMAX of the bending portion 8.

[0040] Then, in step S145, V≧
If it is VMAX, a signal indicating an abnormal state is output, etc., and the process jumps from step S145 to step S160, and the driving of the motor 21 is immediately stopped to ensure safety. On the other hand, in step S145, V<VM
AX, the process proceeds from step S145 to step S150, and the rotation of the motor 21 is controlled in the same manner as the bending angle instructed by the bending operation knob 23.

[Second Embodiment] FIGS. 8 to 10 relate to a second embodiment of the present invention, in which FIG. 8 is an explanatory diagram showing the configuration of an endoscope apparatus, and FIG. 9 is an explanatory diagram showing the configuration of an observation optical system. 10 are block diagrams of image condition selection.

As shown in FIG. 8, the endoscope apparatus in this embodiment includes an endoscope 50, a bending control device 51, a camera control unit (hereinafter referred to as CCU) 52, a light source device (not shown), etc. The video endoscope device is connected to each other, and the endoscope 50 does not have a built-in motor for driving the bending, but the motor is provided in the bending control device 51.

[0043] The endoscope 50 includes an elongated insertion section 53;
A large-diameter operating section 54 is connected to the insertion section 53, and a universal cord 55 extends from the operating section 54 to which the bending control device 51, the CCU 52, and a light source device (not shown) are connected. The insertion section 53 is composed of a distal end section 56 on which a CCD or the like is disposed, a curved section 57, and a flexible tube section 58.

Each channel of the distal end portion 56 is provided with an illumination optical system, an observation optical system, etc. In the illumination optical system, a light guide (not shown) connects the insertion portion 53, the operation portion 54, the universal The cord 55 is inserted through the cord 55, and illumination light is supplied from a light source device (not shown).

In addition, in the observation optical system, as shown in FIG. 9, at the end of the holder 61 in which the objective lens group 59, the crystal filter 60, etc. are housed, there is a hardened material with relatively low viscosity but high adhesive strength. The CCD 62 is fixed with an adhesive 64 so that its cover glass 63 and the crystal filter 60 are brought into close contact with each other. Then, an image transmission cable (not shown) is extended from the board 65 to which the terminal section of the CCD 62 is connected, and is inserted through the insertion section 53, the operation section 54, and the universal cord 55, and connected to the CCU 52, and is connected to the CCU 52. It is now processed.

The crystal filter 60 is also fixed with the same hardening adhesive 64 that fixes the CCD 62 between the inner peripheral surface of the holder 61 and the outer peripheral surface of the crystal filter 60.
is fixed, and in this case, a groove 66 formed on the inner circumferential surface of the holder 61 into which the crystal filter 60 is fitted.
The hardened adhesive 64 with low viscosity accumulates in the objective lens group 5.
Flow into the 9 side is prevented.

That is, conventionally, the cover glass 63 of the CCD 62 is fixed with a hardened adhesive 64 having high adhesive strength in order to ensure the precision of the image formation position from the objective lens group 59. In order to prevent the adhesive from flowing into the objective lens group 59 side, the crystal filter 60 had to be fixed with an elastic adhesive having a high viscosity but a relatively weak adhesive force.

For this reason, conventionally, when a temperature/humidity difference occurs, C
Although the cover glass 63 of the CD was firmly fixed, the crystal filter 60 moved relatively freely due to expansion, and there was a risk that the cover glass 63 would be damaged.However, in this embodiment, this objective lens group This prevents the adhesive from flowing into the 59 side, and also prevents the CCD cover glass 63 from being damaged due to expansion caused by differences in temperature and humidity.

On the other hand, as shown in FIG. 8, a pulley 68 for changing the direction of the bending operation wires 67a and 67b is provided in the operation section 54, and each operation wire 6
7a and 67b have their tips similar to the first embodiment described above.
The wires are connected to the most advanced joint member (not shown) of the bending portion 57 and inserted through the insertion portion 53, and a tension sensor 20 for detecting the tension of the wire is interposed therebetween. Each of the operating wires 67a, 67b is inserted through the universal cord 55 via the direction change pulley 68, and connected to a motor (not shown) in the bending control device 51.

That is, in this second embodiment, the operating section 54 of the endoscope 50 does not have a built-in motor for bending drive, but is provided in the external bending control device 51.
It has the advantages of reduced weight and improved operability. Of course, other functions and effects are the same as those of the first embodiment described above.

By the way, in recent years, in endoscope devices,
In addition to improving operation by electrifying the bending mechanism, the transition from visual observation using fiberscopes to video endoscopy devices such as the one shown in this example is progressing. , the way of thinking about image quality has changed significantly with respect to the image conditions of fiberscopes, which are determined by the distribution of light to the observation section due to the arrangement of the image guide and light guide at the tip. In other words, it is now possible to easily perform image processing such as changing the composite ratio of red, green, and blue, adjusting brightness, and adjusting contours, allowing surgeons to observe and take photographs under image conditions appropriate to the situation. Now it is possible to do it.

However, as this type of image condition adjustment becomes common, unique image conditions are created that are determined by the operator's unique image conditions and the purpose of use of the photographed photograph. When a large number of surgeons share an endoscopic device, the troublesome task of adjusting image conditions is added before starting an endoscopic examination.

Therefore, as shown in FIG. 10, the CCU 52 of the endoscope apparatus in this embodiment has image processing information such as R, G, and B color balance information 70, brightness information 71, and presence/absence of contour enhancement. An A/D converter 73 that digitizes various image condition items such as 72, and a memory synthesizer 74 that combines the data digitized by this A/D converter 73 and synthesizes it as one image condition and allocates it to memory.
, a plurality of memories 75 for storing data synthesized by this memory synthesizer 74, and these plural memories 7
A plurality of memory playback buttons 76 are provided that allow the data of No. 5 to be recalled with a single touch.

The plurality of memory playback buttons 76 are provided, for example, on the front panel 52a of the CCU 52,
By pressing the memory playback button 76 corresponding to the desired image condition, the desired image condition can be immediately set. This not only greatly reduces the troublesome work of adjusting image conditions before starting an endoscopy, but also improves operability and facilitates the sharing of endoscopic equipment, increasing operating rates. It is possible to achieve this.

[0055]

[Effects of the Invention] As explained above, according to the present invention, even if the bending wire is stretched due to repeated loads, angle down does not occur, and accurate bending control can always be performed. is obtained.

[Brief explanation of the drawing]

[Fig. 1] Explanatory diagram showing the schematic configuration of an endoscope device

[Figure 2] Explanatory diagram showing the configuration of the tip part

[Figure 3] Explanatory diagram showing the configuration of the tension sensor

[Figure 4] Explanatory diagram showing the configuration of the tension sensor

[Figure 5] Explanatory diagram showing the configuration of the tension sensor

[Figure 6] Flowchart showing bending control operation

[
Figure 7: Flowchart showing bending control operation

FIG. 8 is an explanatory diagram showing the configuration of an endoscope device according to a second embodiment of the present invention.

FIG. 9 is an explanatory diagram showing the configuration of the observation optical system according to the second embodiment of the present invention.

FIG. 10 is a block diagram of image condition selection according to the second embodiment of the present invention.

[Explanation of symbols]

1 Endoscope 2 Curving control device 8 Curved part 19a Operation wire 19b Operation wire 20 Tension sensor 21 Motor 23 Curved operation knob

Claims (1)

[Claims] 1. Angle operation means for instructing the angle of a bending portion of an endoscope, a bending drive means for operating a bending wire, and a tension detection means for detecting tension generated in the wire. and a control circuit for controlling the bending drive means so that the output value of the tension detection means matches the instruction value of the angle operation means.