JPS63294825A - Endoscopic apparatus - Google Patents

Abstract

PURPOSE:To accurately confirm actual curve quantity without receiving the effect of an insert state, by detecting the tension applied to an angle wire and detecting the moving quantity of the angle wire on and after the time when the tension reaches a predetermined value or more to measure the cure quantity. CONSTITUTION:An angle operation circuit 37 integrates moving quantity after receives the detection signal of a resistance value detection part 31 to set the same to actual one. Therefore, the slackening of angle wires 14, 15 is removed and an accurate curve angle is detected when curving action is applied actually. By this method, the curve angle of a curved tube part 6 is calculated on the basis of the detection signal of the resistance value detection part 31 and the detection signal of an angle wire moving quantity detection part 36 in the angle operation circuit 37. Then, a TV picture is synthesized so that the calculated curve angle can be displayed on the corner part of the picture of a TV monitor 19 in an image synthesizing circuit 38. Therefore, the accurate curve angle wherein curving action is applied actually is displayed on the TV monitor 19.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an endoscope device that measures the amount of bending operation of an insertion section.

[Prior Art] Generally, the method of bending the insertion tube of an endoscope is to manually operate the angle knob on the operating section on the hand side and push and pull the angle wire inserted into the insertion tube to bend the insertion tube. there were. When using an endoscope, it is important to accurately know the amount of curvature, but conventionally, this is known intuitively from the rotation angle of the angle knob and the degree of operating force.

Therefore, since it is not necessarily accurate, in recent years, the amount of curvature (
It has been proposed to display the angle) on a TV monitor together with the observed image. In this method, the amount of movement of the angle wire from the proximal end of the endoscope is detected using a potentiometer, the amount of curvature is determined from this, and this is displayed on the screen of the TV monitor.

[Problems to be Solved by the Invention] However, since this conventional method detects the amount of curvature based on the amount of movement of the angle wire, the angle wire is different when the insertion section of the endoscope is straight and when it is bent. The required length is different. For example, when setting the neutral position,
The position of the angle knob differs depending on whether the insertion section is straight or bent. Furthermore, as the bending operation was repeated, the angle wire itself stretched due to the amount of pulling force, making it longer than its original length, and the neutral range became wider.

This method of detecting and displaying the amount of curvature based only on the amount of rotation of the angle knob is not reliable.

In particular, in the case of medical endoscopes, they must be operated carefully due to considerations to ensure patient safety, which impairs operability. In addition, in the case of industrial endoscopes,
There is a risk of damaging the pipe line to be inspected or damaging the endoscope itself.

The present invention has been made in view of the above-mentioned problems, and its purpose is to provide an endoscope device that can accurately confirm curved portions.

[Means for Solving the Problems] In order to solve the above problems, the present invention provides an endoscope apparatus in which the curved portion of the insertion section is curved, and includes means for detecting tension applied to the angle wire; A comparison means for comparing the value detected by the detection means with a predetermined value, and a comparison means for detecting the amount of movement of the angle wire after the tension applied to the angle wire exceeds a predetermined value, and calculating the amount of bending. This is an endoscope device equipped with a measuring means.

[Function] The comparison means that compares the value detected by the means for detecting the tension applied to the angle wire with a predetermined value detects the amount of movement of the angle wire after the tension applied to the angle wire exceeds the predetermined value. Since the amount of curvature is measured, the amount of curvature can be accurately confirmed without being affected by the insertion state of the insertion section or the elongation of the angle wire itself.

Embodiment FIGS. 1 and 2 show a first embodiment of the present invention. FIG. 1 shows the stem of this endoscope device. The endoscope 1 consists of an insertion section 2, an operation section 3, and a light guide cable 4. A component 7 is attached. The operation section 3 is provided with an eyepiece section 9 and the like in addition to an angle knob (not shown).

Further, a connector 11 is provided at the extending end of the light guide cable 4, and this connector 11 is connected to the light source device 1.
It is detachably connected to 2.

Although not shown, the endoscope 1 is equipped with an illumination system and an observation system necessary for the endoscope. The illumination system is for guiding the illumination light from the light source device 12 to the illumination window of the tip component 7 and irradiating it within the observation field of view.
The observation system is configured to transmit an observation image obtained by an objective optical system provided at the tip component to the eyepiece section 9.

The curved tube section 6 of the insertion section 2 has a structure that can be bent as a whole by arranging a plurality of curved sections 13 and pivotally connecting adjacent curved sections 13 to each other. And this curved pipe part 6
is forcibly bent by pushing and pulling two sets of angle wires 14 and 15 inserted into the insertion portion 2. That is, each tip of the - set of angle wires 14, 15 is connected to the most extreme bending part 13, so that the bending tube part 6 is bent in the pulling direction. Further, the proximal end sides of each of the angle wires 14, 15 are wound around a drum 16 provided in the operating section 3 from opposite sides. In other words, if this drum 16 is rotated, one angle wire 14.15 is pulled, and the other angle wire 14.15 is pulled.
It's starting to come out. Note that this drum 16 is rotated by the angle knob.

Furthermore, a TV right camera 7 is detachably attached to the eyepiece section 9. The image signal obtained by the TV right camera 7 is processed by the camera controller 18 and sent to the TV monitor 19.
The image is transmitted to the TV monitor 19 and displayed on the TV monitor 19.

In addition, the angle wire 14 is
．． In the middle of the angle wire 15, a slack remover 21.22 is inserted to absorb the slack of the angle wire 14.15. The slack removers 21, 22 are constructed as shown in FIG.

That is, the slack remover 21, 22 is movably inserted into the cylinder 23 with both ends closed, and has two retaining rings 24, 24.
5 is slidably provided, and each retaining ring 24.25
The above angle wire 1 is cut at this slack removing part.
Each end of 4.15 is attached respectively. Each of the cut angle wires 14, 15 passes through each end wall of the cylindrical body 23 and is led out. When the angle wires 14, 15 become slack, the retaining rings 24, 25 move within the cylindrical body 23 in accordance with the slack to absorb the slack.

Furthermore, a ring-shaped pressure sensor 27 is inserted between the loosening device 21 and 22 and the retaining ring 24 on the distal end side and the end wall 26 of the cylindrical body 23. The pressure sensor 27 is made of, for example, pressurized conductive rubber, and has a characteristic of reducing electrical resistance when pressurized. A cable 28, 29 is connected to each pressure sensor 27 of each slack remover 21, 22, respectively. Each of the cables 28 and 29 is led to the connector 11 through the operating section 3 and the light guide cable 4, and is connected to the resistance value detecting section 31 in the light source device 12.

Further, a gear 32 is attached to the rotating shaft of the drum 16 of the angle operating mechanism, and this gear 32 rotates together with the drum 16. This gear 32
A gear 34 of a potentiometer 33 for detecting the rotation angle of the drum 16 is connected to. A cable 35 connected to the potentiometer 33 is led to the connector 11 through the operating section 3 and the light guide cable 4, and is connected to an angle wire movement/detection section 36 in the light source device 12. The angle wire movement amount detection section 36 detects the rotation angle of the potentiometer 33 as the movement amount of the angle wire. After receiving the detection signal from the resistance value detection section 31, the angle calculation circuit 37 receives the detection signal from the angle wire movement amount detection section 36.

Calculate the curvature angle by the number. The bending angle calculated by the angle calculating circuit 37 is combined with the observed image from the TV camera 17 by the image combining circuit 38 in the camera controller 18 and displayed on the TV monitor 19.

In the above-mentioned endoscope apparatus, when bending the bending tube section 6 of the insertion section 2, an angle knob (not shown) of the operation section 3 is rotated. This causes the drum 16 to rotate,
In order to wind in and pull one of the angle wires 14.15 and pay out the other angle wire 14.15, the bending tube section 6 can be bent toward its drawing side.

By the way, in this bending operation process, one of the angle wires 14.15 wound around the drum 16 is pulled, so tension is added to it, and this tension is caused by the retaining ring 24 on the tip side of the slack remover 21.22 and the cylindrical body 23. End wall 26
The pressure is applied to the ring-shaped pressure sensor 27 located between.

For this reason, the electrical resistance value of the pressure sensor 27 changes. In other words, the electrical resistance decreases depending on the magnitude of the tension.

When a pressure greater than the pressure when the angle wires 14 and 15 are loosened is applied to the pressure sensor 27, the electrical resistance becomes smaller, and the resistance value detection section 31 detects this. That is, the angle wire 14.15 on the actuating side
This will remove the slack, and the bending action will actually work.

On the other hand, the rotation angle of the drum 16 is detected by the potentiometer 33, and this signal is sent to the angle wire movement amount detection section 3.
6 is converted into a signal as the amount of movement of the angle wire 14°15. However, the actual data of this amount of movement is the electrical resistance when a pressure greater than the pressure when the angle wire 14.15 is loosened is applied to the pressure sensor 27, that is, less than a predetermined value. This is detected when the electrical resistance decreases. The angle calculation circuit 37 integrates the amount of movement after receiving the detection signal from the resistance value detection section 31, and uses this as the actual amount of movement. Therefore, the slack in the angle wires 14, 15 is taken up, and the accurate bending angle at which the bending action is actually performed is detected.

In this way, the detection signal of the resistance value detection section 31 and the detection signal of the angle wire movement amount detection section 36 are transmitted to the angle calculation circuit 3.
In step 7, the bending angle of the bending tube portion 6 is calculated. and,
This calculated bending angle is determined by the TV in the image synthesis circuit 38.
The TV screen is synthesized so that it can be displayed on the corner of the screen of the monitor 19. Therefore, the TV monitor 19 displays the accurate bending angle at which the bending action is actually being performed.

FIG. 3 shows a second embodiment of the invention. This embodiment is a modification of the slack remover 21.22, and the slack remover 21.22 has a ring-shaped ring located between the stopper ring 24 on the distal end side and the end wall 26 of the cylindrical body 23. In addition to the pressure sensor 27 inserted therein, a ring-shaped pressure sensor 41 is also inserted between the retaining ring 25 on the rear end side and the end wall 26 of the cylindrical body 23. be. That is, two pressure sensors 27, 41 are incorporated into one slack remover 21, 22. and,
The bending angle is counted when one or both of the pressure sensors 27.41 are pressurized and the electrical resistance becomes less than a certain resistance value. The rest is the same as the above embodiment.

FIG. 4 shows a third embodiment of the invention. This embodiment is also a modification of the slack remover 21,22. A magnet 42 is attached to the stopper ring 24 on the tip side of the slack remover 21, 22, and the stopper ring 24 on the tip side is attached with a magnet 42.
A spring 43 is incorporated to bias 4 toward the rear end. Furthermore, a Hall element 44 capable of detecting the strength of magnetism is attached to the retaining ring 25 on the rear end side. And angle wire 1
4.15 is removed or not by separating the magnet 42 and the Hall element 44. The rest is the same as the above embodiment.

FIG. 5 shows a fourth embodiment of the invention. This embodiment is also a modification of the slack remover 21,22. A light emitting element 45 is attached to the stopper ring 24 on the front end side of the slack remover 21, 22, and a spring 43 is incorporated therein to bias the stopper ring 24 on the front end side toward the rear end side. Further, a light receiving element 46 capable of detecting the intensity of light is attached to the retaining ring 25 on the rear end side. And angle wire 1
4.15 is removed or not by optically detecting the disconnection. The rest is the same as the third embodiment.

FIG. 6 shows a fifth embodiment of the present invention. In this embodiment, a non-rotating first platen 48 with a pressure sensor 47 provided in the middle of the angle wire 14, 15 and a rotating second platen adjacent to the first platen 48, without using the slack remover 21, 22, are used. 2 platens are provided, and both platens.

The angle wires 14 and 15 are connected to the circumferential surfaces of 48 and 49. Then, pass the angle wire 14.15 between the platens 48.49 and -
The pressure sensor 47 detects the pressure generated by applying a tension greater than the chamber, and this detection signal is used as a count start signal for the angle calculation circuit 37.

FIG. 7 shows a sixth embodiment of the present invention. In this embodiment, the first observation image is captured at the first curved position A of the curved tube section 6 of the insertion section 2, and while the relative position of the second curved position B with respect to the first position A is detected, the second observation image is captured. position A
The second observation image is taken in at this point. That is, in FIG. 7, the output of the TV right camera 7 is the A/D
The signal is converted into a digital signal by an (analog/digital) converter 50 and input to the first frame memory 51 or the second frame memory 52.

The outputs of the first frame memory 51 and the second frame memory 52 are input to an image processing device 53. Further, the output of the angle calculation circuit 37 is input to a first latch 55 and a second latch 56, and the output from these is input to an image processing device 53. Further, the output of the recording instruction means 58 composed of an operation switch, a timing circuit, etc. is inputted to the first frame memory 51 and the second frame memory 52, and the first latch 55 and the second latch 56. It looks like this.

Then, the curved tube portion 6 of the endoscope 1 is at the first curved position A.
In response to an instruction from the recording instruction means 58, image information is captured by the TV right camera 7 and converted into a digital signal by the A/D converter 50, and is stored in the first frame memory 51.

At the same time, the value of the bending angle at this time is stored in the first latch 55. Next, the curved tube portion 6 of the endoscope 1 is
Curve it to the bending position B. Information on the digitized endoscopic image at the second curved position B is stored in the second frame memory 5 using the recording instruction means 58 at the second curved position B.
2.

At the same time, the value of the output of the angle calculation circuit 37 is stored in the second latch 56. In this way, two types of image positional relationships between the image at the first curved position A and the image at the second curved position B are stored.

Then, the values stored in the first frame memory 51 and the second frame memory 52 are converted into angle information θ in the image processing device 53. Further, based on this information, the image processing device 53 determines the height between two points on the subject and information on the unevenness of the subject, and can display this on the left camera of the TV.

In the above embodiment, the amount of movement of the angle wire is measured by the number of rotations of the drum using a potential meter, but the amount of movement of the angle wire may be measured directly.

[Effects of the Invention] As explained above, the present invention includes a comparison means for comparing the value detected by the means for detecting the tension applied to the angle wire with a predetermined value, and when the tension applied to the angle wire exceeds the predetermined value. Since the amount of curvature of the angle wire is measured by detecting the amount of movement of the angle wire after that time, the actual amount of curvature can be accurately confirmed without being affected by the insertion state of the insertion section or the elongation of the angle wire itself.

[Brief explanation of the drawing]

1 and 2 show a first embodiment of the present invention, FIG. 1 is an overall system configuration diagram thereof, FIG. 2 is a side sectional view of the slack remover, and FIG. 3 is a first embodiment of the present invention. FIG. 4 is a side sectional view of the slack remover according to the second embodiment, FIG. 5 is a side sectional view of the slack remover according to the third embodiment of the present invention, and FIG.
FIG. 6 is a side sectional view of the slack remover in the fifth embodiment of the present invention, and FIG. 7 is the overall system configuration of the sixth embodiment of the present invention. It is a diagram. 1... Endoscope, 2... Insertion section, 6... Curved tube section,
14° 15... Angle wire, 17... TV left camera 18... Camera controller, 19... TV monitor, 21° 22... Slack remover, 27... Pressure sensor, 31... - Resistance value detection section, 33... Potentiometer, 36... Angle wire movement amount detection section, 37
. . . Angle calculation circuit, 38 . . . Image synthesis device.

Claims (1)

[Claims] In an endoscope apparatus in which a curved part of the insertion part is bent by pushing and pulling an angle wire inserted into the insertion part with an operation part on the hand side, means for detecting tension applied to the angle wire; Comparison means for comparing the value detected by the detection means with a predetermined value, and the comparison means detects the amount of movement of the angle wire after the tension applied to the angle wire exceeds the predetermined value, and measures the amount of curvature. An endoscope device characterized by comprising means for.