MEDICAL MANIPULATOR SYSTEM AND CONTROL METHOD AND PROCESSOR FOR MEDICAL MANIPULATOR SYSTEM

A medical manipulator system includes a medical manipulator comprising a bending portion, an actuator configured to bend the bending portion, a controller comprising an interface configured to which a bending manipulation for bending the bending portion is input, and configured to detect a movement amount of the interface, and a processor configured to control the actuator. The processor calculates displacement of a bending amount of the bending portion for a reference bending amount and causes the actuator to be driven on the basis of a ratio of a second bending amount to the movement amount of the interface calculated so that a difference between a first bending amount calculated on the basis of a driving amount of the actuator and the second bending amount calculated on the basis of the movement amount of the interface is eliminated.

TECHNICAL FIELD

The present disclosure relates to a medical manipulator system and a control method and a processor for the medical manipulator system.

BACKGROUND

Conventionally, medical manipulator systems used for observation and treatment in a luminal organ such as a digestive tract are used. In the medical manipulator system, an insertion portion inserted into the luminal organ and the like can be electrically bent and driven. A user can control a bending operation of the insertion portion or the like from a manipulation portion arranged outside of a body.

SUMMARY

For example, Japanese Unexamined Patent Application, First Publication No. 2013-27466 (hereinafter referred to as Patent Document 1) describes an endoscope that controls switching between a free state in which a bending portion passively bends with respect to an external force when an external force is applied to the bending portion driven electrically and a short-circuit state in which a shape of the bending portion is maintained even if the external force is applied.

However, in the case of a medical manipulator system in which a control device controls the bending portion by driving a motor or the like according to a bending manipulation input from a manipulation portion, when an external force is applied to the bending portion and the bending portion is bent, an input element of the manipulation portion does not follow the movement of the bending portion, and a bending amount based on the bending manipulation input to the manipulation portion and an actual bending amount are different, and manipulability is likely to deteriorate.

The present disclosure relates to a medical manipulator system and a control method and a processor for a medical manipulator system with improved manipulability.

In an example, a medical manipulator system including: a medical manipulator comprising a bending portion capable of being bent; an actuator configured to bend the bending portion; a controller comprising an interface to which a bending manipulation for bending the bending portion is input, and configured to detect a movement amount from an origin of the interface, the interface being capable of moving at least in a first direction away from the origin and a second direction returning to the origin; and a processor communicatively connected to the controller and configured to control the actuator on the basis of the bending manipulation, wherein the processor calculates displacement of a bending amount of the bending portion for a reference bending amount to be taken by the bending portion when the interface is located at the origin and compares a first bending amount that is displacement of the bending amount calculated on the basis of a driving amount of the actuator with a second bending amount that is displacement of the bending amount calculated on the basis of the movement amount of the interface, calculates a ratio of the second bending amount to the movement amount of the interface so that a difference between the first bending amount and the second bending amount is eliminated, and causes the actuator to be driven on the basis of the ratio.

DETAILED DESCRIPTION

First Embodiment

A motorized endoscope system1000according to the first embodiment of the present invention will be described with reference toFIGS.1to19.FIG.1is an overall view of the motorized endoscope system1000according to the present embodiment. The motorized endoscope system1000is an example of a medical manipulator system. Medical manipulators include electrically driven endoscopes, catheters, treatment tools, endoluminal devices, and the like that are inserted into the body.

The motorized endoscope system1000is a medical system that observes and treats the inside of a body of a patient P lying on an operating table T. The motorized endoscope system1000includes an endoscope100, a drive device200, a controller300, a treatment tool400, a video control device500, and a display device900.

The endoscope100is a device that is inserted into the lumen of the patient P to observe and treat an affected area, and is an example of a medical manipulator. The endoscope100is removably attached to the drive device200. An internal path101is formed inside of the endoscope100. In the following description, in the endoscope100, the side inserted into the lumen of the patient P is referred to as a “distal end side (distal side) A1” and the side attached to the drive device200is referred to as a “proximal end side (proximal side) A2.”

The drive device200is removably connected to the endoscope100and the controller300. The drive device200drives a built-in motor to electrically drive the endoscope100on the basis of a manipulation input to the controller300. Also, the drive device200drives a built-in pump or the like to cause the endoscope100to perform air supply/suction on the basis of the manipulation input to the controller300.

The controller300is removably connected to the drive device200via a manipulation cable301. The controller300may be able to communicate with the drive device200through wireless communication instead of wired communication. The physician S can electrically drive the endoscope100by manipulating the controller300.

The treatment tool400is a device that passes through the internal path101of the endoscope100and is inserted into the lumen of the patient P to treat an affected area. InFIG.1, the treatment tool400is inserted from a forceps port126into the internal path101of the endoscope100.

The video control device500is removably connected to the endoscope100and acquires an image captured from the endoscope100. The video control device500causes the display device900to display the captured image acquired from the endoscope100or a GUI image or a CG image for the purpose of providing information to a manipulator.

The drive device200and the video control device500constitute a control device600that controls the motorized endoscope system1000. The control device600may further include a peripheral device such as a video printer. The drive device200and the video control device500may be an integrated device.

The display device900is a device capable of displaying an image such as an LCD. The display device900is connected to the video control device500via the display cable901.

FIG.2is a diagram showing the endoscope100and the controller300used by the physician S.

For example, while observing the imaging image displayed on the display device900, the physician S manipulates the endoscope100inserted into the lumen from the anus of the patient P with his or her right hand R and manipulates the controller300with his or her left hand L. Because the endoscope100and the controller300are separated, the physician S can independently manipulate the endoscope100and the controller300without either affecting the other.

As shown inFIG.1, the endoscope100includes an insertion portion110, a connection portion120, an extracorporeal soft portion140, an attachment/detachment portion150, a bending wire160(seeFIG.6), and a built-in object170(seeFIG.6). The insertion portion110, the connection portion120, the extracorporeal soft portion140, and the attachment/detachment portion150are connected in order from the distal end side A1.

FIG.3is a diagram showing the insertion portion110of the endoscope100.

Inside the endoscope100, the internal path101extending in a longitudinal direction A of the endoscope100from the distal end of the insertion portion110to the proximal end of the attachment/detachment portion150is formed. The bending wire160and the built-in object170are inserted into the internal path101.

The built-in object170includes a channel tube171, an air supply/suction tube172(seeFIG.10), an imaging cable173, and a light guide174.

The insertion portion110is an elongated long member that can be inserted into the lumen. The insertion portion110includes a distal end portion111, a bending portion112, and an intracorporeal soft portion119. The distal end portion111, the bending portion112, and the intracorporeal soft portion119are connected in order from the distal end side A1.

As shown inFIG.3, the distal end portion111includes an opening111a, an illumination portion111b, and an imaging portion111c. The opening111ais an opening that communicates with the channel tube171. As shown inFIG.3, a treatment portion410such as a gripping forceps provided at the distal end of the treatment tool400passing through the channel tube171protrudes from the opening111a.

The illumination portion111bis connected to the light guide174that guides illumination light and emits illumination light for illuminating an imaging target. The imaging portion111cincludes an imaging element such as a CMOS and is an imaging device that captures an image of the imaging target. An imaging signal is sent to the video control device500via the imaging cable173.

FIG.4is a diagram showing a part of the bending portion112in a cross-sectional view.

The bending portion112includes a plurality of joint rings (also referred to as bending pieces)115, a distal end portion116connected to the distal ends of the plurality of joint rings115, and an outer sheath118(seeFIG.3). The plurality of joint rings115and the distal end portion116are connected in the longitudinal direction A inside the outer sheath118. Also, the shape and number of the joint rings115provided in the bending portion112are not limited to the shape and number of the joint rings115shown inFIG.4.

FIG.5is an enlarged view of joint rings115in an area E shown inFIG.4.

The joint ring115is a short tubular member formed of metal. The plurality of joint rings115are connected to have a space where internal spaces of the adjacent joint rings115are continuous.

The joint ring115includes a first joint ring115aon the distal end side A1and a second joint ring115bon the proximal end side A2. The first joint ring115aand the second joint ring115bare rotatably connected by a first rotation pin115pin an upward/downward direction (also referred to as a “UD direction”) perpendicular to a longitudinal direction A.

Also, the first joint ring115aand the second joint ring115bare rotatably connected by a second rotation pin115qin a left/right direction (also referred to as an “LR direction”) perpendicular to the longitudinal direction A and the UD direction.

The first joint ring115aand the second joint ring115bare alternately connected by the first rotation pin115pand the second rotation pin115qand the bending portion112is bendable in a desired direction.

FIG.6is a cross-sectional view of the bending portion112along line C1-C1ofFIGS.4and5.

On an inner circumferential surface of the second joint ring115b, an upper wire guide115uand a lower wire guide115dare formed. The upper wire guide115uand the lower wire guide115dare arranged on both sides in the UD direction across a central axis O in the longitudinal direction A. On an inner circumferential surface of the first joint ring115a, a left wire guide1151and a right wire guide115rare formed. The left wire guide1151and the right wire guide115rare arranged on both sides in the LR direction across the central axis O in the longitudinal direction A.

The upper wire guide115u, the lower wire guide115d, the left wire guide1151, and the right wire guide115rhave through-holes into which the bending wire160is inserted in the longitudinal direction A.

The bending wire160is a wire that bends the bending portion112. The bending wire160extends to the attachment/detachment portion150through the internal path101. As shown inFIGS.4and6, the bending wire160has an upper bending wire161u, a lower bending wire161d, a left bending wire161l, a right bending wire161r, and four wire sheaths161s.

As shown inFIG.4, the upper bending wire161u, the lower bending wire161d, the left bending wire161l, and the right bending wire161reach pass through wire sheaths161s. The distal end of the wire sheath161sis attached to the joint ring115at the proximal end of the bending portion112. The wire sheath161sextends to the attachment/detachment portion150.

The upper bending wire161uand the lower bending wire161dare wires that bend the bending portion112in the UD direction. The upper bending wire161upasses through the upper wire guide115u. The lower bending wire161dpasses through the lower wire guide115d.

The distal ends of the upper bending wire161uand the lower bending wire161dare fixed to the distal end portion116of the distal end of the bending portion112, as shown inFIG.4. The distal ends of the upper bending wire161uand the lower bending wire161dfixed to the distal end portion116are arranged on both sides in the UD direction across the central axis O in the longitudinal direction A.

The left bending wire161land the right bending wire161rare wires that bend the bending portion112in the LR direction. The left bending wire161lpasses through the left wire guide1151. The right bending wire161rpasses through the right wire guide115r.

The distal ends of the left bending wire161land the right bending wire161rare fixed to the distal end portion116of the bending portion112as shown inFIG.4. The distal ends of the left bending wire161land the right bending wire161rfixed to the distal end portion116are arranged on both sides in the LR direction across the central axis O in the longitudinal direction A.

The bending portion112can be bent in the desired direction by pulling or relaxing the bending wires160(the upper bending wire161u, the lower bending wire161d, the left bending wire161l, and the right bending wire161r).

As shown inFIG.6, a bending wire160, a channel tube171, an imaging cable173, and a light guide174are inserted into the internal path101formed inside of the bending portion112.

The intracorporeal soft portion119is a long and flexible tubular member. The bending wire160, the channel tube171, the imaging cable173, and the light guide174are inserted into the internal path101formed in the intracorporeal soft portion119.

As shown inFIG.1, the connection portion120is a member that connects the intracorporeal soft portion119of the insertion portion110and the extracorporeal soft portion140. The connection portion120includes the forceps port126that is an insertion port for inserting the treatment tool400.

The extracorporeal soft portion140is a long tubular member. The bending wire160, the imaging cable173, the light guide174, and the air supply/suction tube172(seeFIG.10) are inserted into the internal path101formed inside of the extracorporeal soft portion140.

As shown inFIG.1, the attachment/detachment portion150includes a first attachment/detachment portion1501attached to the drive device200and a second attachment/detachment portion1502attached to the video control device500. Also, the first attachment/detachment portion1501and the second attachment/detachment portion1502may be an integrated attachment/detachment portion.

The internal path101formed inside of the extracorporeal soft portion140branches into the first attachment/detachment portion1501and the second attachment/detachment portion1502. The bending wire160and the air supply/suction tube172pass through the first attachment/detachment portion1501. The imaging cable173and the light guide174pass through the second attachment/detachment portion1502.

FIG.7is a diagram showing the first attachment/detachment portion1501before attachment to the drive device200.

The upper/lower bending wire attachment/detachment portion151is a mechanism that removably connects wires (the upper bending wire161uand the lower bending wire161d), which bend the bending portion112in the UD direction, to the drive device200.

The left/right bending wire attachment/detachment portion152is a mechanism that removably connects wires (the left bending wire161land the right bending wire161r), which bend the bending portion112in the LR direction, to the drive device200.

Because the left/right bending wire attachment/detachment portion152has a structure similar to that of the upper/lower bending wire attachment/detachment portion151, illustration and description thereof are omitted.

FIG.8is a diagram showing the upper/lower bending wire attachment/detachment portion151before attachment to the drive device200.FIG.9is a diagram showing the upper/lower bending wire attachment/detachment portion151attached to the drive device200. The upper/lower bending wire attachment/detachment portion151includes a support member155, a rotation drum156, and a tension sensor159.

The support member155supports the rotation drum156. The support member155includes an attachment/detachment detection dog155a, which is exposed on the proximal end side of the upper/lower bending wire attachment/detachment portion151, and a plurality of bend pulleys155p.

The bend pulley155pchanges a transport direction of the upper bending wire161upassing through the extracorporeal soft portion140and guides the upper bending wire161uto the rotation drum156. Also, the bend pulley155pchanges a transport direction of the lower bending wire161dpassing through the extracorporeal soft portion140and guides the lower bending wire161dto the rotation drum156.

The rotation drum156is supported by the support member155rotatably around the drum rotation shaft156rextending in the longitudinal direction A. The rotation drum156includes a winding pulley156aand a coupling portion156c.

The winding pulley156apulls or sends out the upper bending wire161uand the lower bending wire161dby rotating around the drum rotation shaft156r. When the winding pulley156arotates clockwise as seen from the distal end side A1toward the proximal end side A2, the upper bending wire161uis wound around the winding pulley156aand pulled and the lower bending wire161dis sent out from the winding pulley156a. In contrast, when the winding pulley156arotates counterclockwise, the upper bending wire161uis sent out from the winding pulley156aand the lower bending wire161dis wound around the winding pulley156aand pulled. With this configuration, even if an advance/retreat amount of the upper bending wire161uand the lower bending wire161dis large, the pulled portion is compactly stored and does not take up space.

In the upper bending wire161uand the lower bending wire161d, a portion wound around the winding pulley156ahas a larger diameter than other portions. Therefore, the upper bending wire161uand the lower bending wire161dcan be suitably prevented from being sandwiched between the winding pulley156aand the support member155. Also, elongation of the upper bending wire161uand the lower bending wire161dassociated with traction or relaxation can be suitably prevented.

The upper bending wire161uand the lower bending wire161dmay have a diameter of a wire of a portion passing through the extracorporeal soft portion140that is larger than a diameter of a wire of a portion passing through the insertion portion110. Thereby, the insertion portion110inserted into the body can be thinned. Also, by increasing the diameter of the wire of the portion passing outside the body, the elongation of the upper bending wire161uand the lower bending wire161dis suppressed and controllability in the bending manipulation for the bending portion112is improved.

The coupling portion156cis a disk member that rotates around the drum rotation shaft156r. The coupling portion156cis fixed to the proximal end of the winding pulley156aand rotates integrally with the winding pulley156a. The coupling portion156cis exposed on the proximal end side A2of the upper/lower bending wire attachment/detachment portion151. Two mating convex portions156dare formed on the surface of the proximal end side A2of the coupling portion156c. The two mating convex portions156dare formed on both sides across the drum rotation shaft156r.

The tension sensor159detects the tension of the upper bending wire161uand the lower bending wire161d. A detection result of the tension sensor159is acquired by the drive controller260.

FIG.10is a functional block diagram of the drive device200.

The drive device200includes an adapter210, a manipulation reception portion220, an air supply/suction drive portion230, a wire drive portion (actuator)250, and a drive controller260.

The adapter210includes a first adapter211and a second adapter212as shown inFIG.7. The first adapter211is an adapter to which the manipulation cable301is removably connected. The second adapter212is an adapter to which the first attachment/detachment portion1501of the endoscope100is removably connected.

The manipulation reception portion220receives a manipulation input from the controller300via the manipulation cable301. When the controller300and the drive device200perform communication based on wireless communication instead of wired communication, the manipulation reception portion220has a known wireless reception module.

The air supply/suction drive portion230is connected to the air supply/suction tube172inserted into the internal path101of the endoscope100. The air supply/suction drive portion230includes a pump and the like and supplies air to the air supply/suction tube172. The air supply/suction drive portion230suctions air from the air supply/suction tube172.

The wire drive portion (actuator)250drives the bending wire160by coupling with the upper/lower bending wire attachment/detachment portion151and the left/right bending wire attachment/detachment portion152.

As shown inFIG.7, the wire drive portion250includes an upper/lower bending wire drive portion (first actuator)251and a left/right bending wire drive portion (second actuator)252.

The upper/lower bending wire drive portion251is a mechanism for driving wires (the upper bending wire161uand the lower bending wire161d) that bend the bending portion112in the UD direction by coupling with the upper/lower bending wire attachment/detachment portion151.

The left/right bending wire drive portion252is a mechanism for driving wires (the left bending wire161land the right bending wire161r) that bend the bending portion112in the LR direction by coupling with the left/right bending wire attachment/detachment portion152.

Because the left/right bending wire drive portion252has a structure similar to that of the upper/lower bending wire drive portion251, illustration and description thereof are omitted.

As shown inFIG.8, the upper/lower bending wire drive portion251includes a support member255, a bending wire drive portion256, and an attachment/detachment sensor259.

The bending wire drive portion256drives the upper bending wire161uand the lower bending wire161dby coupling with the rotation drum156of the upper/lower bending wire attachment/detachment portion151. The bending wire drive portion256includes a shaft256a, a motor portion256b, a coupled portion256c, a torque sensor256e, and an elastic member256s.

The shaft256ais supported by the support member255that can rotate around the shaft rotation shaft256rand can move forward and rearward in the longitudinal direction A. When the first attachment/detachment portion1501of the endoscope100is attached to the drive device200, the shaft rotation shaft256rcoincides with the drum rotation shaft156r.

The motor portion256bincludes a motor such as a DC motor, a motor driver configured to drive the motor, and a motor encoder. The motor rotates the shaft256aaround the shaft rotation shaft256r. The motor driver is controlled by the drive controller260.

The coupled portion256cis a disk member that rotates around the shaft rotation shaft256r. The coupled portion256cis fixed to the distal end of the shaft256aand rotates integrally with the shaft256a. As shown inFIG.8, the coupled portion256cis exposed on the distal end side A1of the upper/lower bending wire drive portion251. Two mating concave portions256dare formed on the surface of the distal end side A1of the coupled portion256c. The two mating concave portions256dare formed on both sides across the shaft rotation shaft256r.

As shown inFIG.9, the mating convex portion156dand the mating concave portion256dare mated and the coupling portion156cand the coupled portion256care coupled. As a result, the rotation of the shaft256aby the motor portion256bis delivered to the rotation drum156. When the shaft256arotates clockwise as seen from the distal end side A1toward the proximal end side A2, the upper bending wire161uis pulled and the lower bending wire161dis sent out. In contrast, when the shaft256arotates counterclockwise, the upper bending wire161uis sent out and the lower bending wire161dis pulled.

The torque sensor256edetects rotational torque centered on the shaft rotation shaft256rof the shaft256a. A detection result of the torque sensor256eis acquired by the drive controller260.

The elastic member256sis, for example, a compression spring, the distal end portion is in contact with the coupled portion256c, and the proximal end portion is in contact with the support member255. The elastic member256sbiases the coupled portion256cto the distal end side A1. As shown inFIG.9, when the coupling portion156cis detached, the coupled portion256cmoves to the proximal end side A2together with the shaft256a.

As shown inFIG.9, the attachment/detachment sensor259detects attachment/detachment with the upper/lower bending wire drive portion251in the upper/lower bending wire attachment/detachment portion151by detecting engagement and non-engagement with an attachment/detachment detection dog155a. A detection result of the attachment/detachment sensor259is acquired by the drive controller260.

The drive controller260controls the entire drive device200. The drive controller260acquires the manipulation input received by the manipulation reception portion220. The drive controller260controls the air supply/suction drive portion230and the wire drive portion250on the basis of the acquired manipulation input.

The drive controller260is a computer capable of executing a program and includes a processor261, a memory262, a storage portion263capable of storing programs and data, and an input/output control portion264. The function of the drive controller260is implemented by the processor executing the program. At least some functions of the drive controller260may be implemented by a dedicated logic circuit.

Because the drive controller260controls a plurality of motors driving a plurality of bending wires160with high accuracy, it is desirable to have high calculation performance.

Also, the drive controller260may further have a component other than the processor261, the memory262, the storage portion263, and the input/output control portion264. For example, the drive controller260may further include an image calculation portion that performs a part or all of image processing or image recognition processing. By further including an image calculation portion, the drive controller260can perform specific image processing or image recognition processing at a high speed. The image calculation portion may be mounted on a separate hardware device connected by a communication circuit.

FIG.11is a perspective view of the controller300.FIG.12is a perspective view of the controller300seen from a back surface311.FIG.13is a side view of the controller300.

The controller300is a device in which a manipulation for driving the endoscope100is input. The input manipulation input is transmitted to the drive device200via the manipulation cable301.

The controller300includes a manipulation portion body310, a first angle knob320, a second angle knob330, an air supply button350, a suction button351, and various buttons352.

The manipulation portion body310is formed in a substantially cylindrical shape that the physician S can hold with his or her left hand L. As shown inFIG.12, in the manipulation portion body310, the back surface311along which the palm of the left hand L of the physician S can be aligned is formed. The manipulation cable301is connected to the end portion of the manipulation portion body310in the longitudinal direction.

The first angle knob320and the second angle knob330are interfaces to which a bending manipulation to bend the bending portion112is input.

The first angle knob320and the second angle knob330are rotatably attached to the manipulation portion body310. The first angle knob320and the second angle knob330are attached to a front surface312opposite the back surface311. The first angle knob320and the second angle knob330rotate in a rotation direction M around the same rotation axis300r.

The first angle knob320and the second angle knob330have an encoder (not shown) that detects a rotation angle, a rotation speed, and the like in the rotation manipulation input to the first angle knob320and the second angle knob330. The detection result of the encoder is transmitted to the drive device200.

In the following description, a direction of the rotation axis300rof the first angle knob320and the second angle knob330is defined as a “forward/rearward direction” and a direction in which the first angle knob320and the second angle knob330are attached to the manipulation portion body310is defined as a “forward direction FR.” A direction opposite the forward direction FR is defined as a “rearward direction RR.” Also, a longitudinal direction of the manipulation portion body310is defined as an “upward/downward direction” and a direction in which the manipulation cable301is attached to the manipulation portion body310is defined as a “downward direction LWR.” A direction opposite the downward direction LWR is defined as an “upward direction UPR.” A right direction toward the rearward direction RR is defined as a “right direction RH.” A direction opposite the right direction RH is defined as a “left direction LH.” A direction toward the right direction RH or the left direction LH is defined as a “left/right direction.”

In the present embodiment, the direction (the forward/rearward direction) of the rotation axis300rof the first angle knob320and the second angle knob330is a direction substantially perpendicular to the back surface311of the manipulation portion body310.

The air supply button350is attached to the manipulation portion body310in the upward direction UPR and is manipulated by the index finger or the middle finger of the left hand L as shown inFIG.12. When the air supply button350is pushed, air is supplied from the opening111aof the distal end portion111of the endoscope100. The manipulation of the air supply button350is transmitted to the drive device200. Here, the air supply button350may receive a manipulation for supplying a liquid such as water from the distal end portion111of the endoscope100. When the air supply button350has a water supply function, for example, when the air supply button350(air supply/water supply button) is pushed, water is supplied from the opening111aof the distal end portion111of the endoscope100. At this time, for example, the drive device200has a water supply drive portion (not shown) including a pump or the like and the manipulation of the air supply button350is transmitted to the water supply drive portion, so that water is supplied from the distal end portion111of the endoscope100.

When water is supplied from the opening111aby manipulating the air supply button350, for example, the endoscope100is connected to the above-described water supply drive portion and includes a water supply tube (not shown) in which a liquid such as water flows from the water supply drive portion. Also, at this time, the air supply/suction tube172may function as an air supply/water supply tube capable of supplying air and water. In this case, the air supply/suction drive portion230in the drive device200is preferably divided into an air supply drive portion that performs air supply and a suction drive portion that performs suction.

For example, the above-described air supply/water supply tube branches into a water supply tube and an air supply tube at the proximal end side A2of the insertion portion110. A liquid such as water flows from the water supply drive portion to the air supply/water supply tube via the water supply tube and air is sent from the above-described air supply drive portion to the air supply/water supply tube via the air supply tube.

At this time, the channel tube171may function as a suction tube capable of performing suction. In this case, the suction tube (the channel tube171) is connected to the above-described suction drive portion and suction is performed from the opening111avia the suction tube when the suction drive portion is driven. Also, on the proximal end side A2of the insertion portion110, the channel tube171branches into a portion connected to the forceps port126that is an insertion port of the treatment tool400and a portion connected to the suction drive portion.

That is, the tube that performs air supply and suction is not limited to an integrated tube (the air supply/suction tube172). Air supply may be carried out by the above-described air supply tube and air suction may be carried out by the channel tube171(the suction tube). Also, the endoscope100may have the water supply tube that performs water supply at the proximal end side A2of the insertion portion110and may have the air supply/water supply tube into which the air supply tube and the water supply tube merge and which can perform air supply and water supply at the insertion portion110.

The suction button351is attached to the manipulation portion body310in the upward direction UPR and is manipulated by the index finger or the middle finger of the left hand L as shown inFIG.12. When the suction button351is pushed, suction is performed from the opening111aof the distal end portion111of the endoscope100. The manipulation of the suction button351is transmitted to the drive device200. Also, the suction performed from the opening111amay be performed by the air supply/suction tube172capable of performing air supply and suction or may be performed by the channel tube171(the suction tube) as described above when the air supply and the suction are performed by different tubes.

The various buttons352are attached to the manipulation portion body310in the upward direction UPR and are manipulated by the thumb of the left hand L as shown inFIG.12. Any functions can be assigned to the various buttons352. For example, when the various buttons352are pushed, the bending portion112may be configured to switch the control to angle-free control for passively making bending with respect to an external force. Also, when there is no function to be assigned to the various buttons352and the various buttons352are not required, the controller300may not include the various buttons352.

The drive controller260of the drive device200acquires the manipulation input transmitted by the controller300and controls the air supply/suction drive portion230and the wire drive portion250.

The drive controller260controls the upper/lower bending wire drive portion251on the basis of the rotation manipulation input to the first angle knob320so that wires (the upper bending wire161uand the lower bending wire161d) that bend the bending portion112in the UD direction are driven. Also, the drive controller260controls the left/right bending wire drive portion252on the basis of the rotation manipulation input to the second angle knob330so that wires (the left bending wire161land the right bending wire161r) that bend the bending portion112in the LR direction are driven.

FIG.14is a front view of the first angle knob320as seen from the forward direction FR. As shown inFIG.14, an initial position of the first angle knob320is a position where the origin OP and the reference point L1at the first angle knob320are aligned. The first angle knob320can be rotated with the rotation axis300ras the rotation center and is rotated in a direction in which the reference point L1is away from the origin OP (a first direction M1) and a direction in which the reference point L1returns to the origin OP (a second direction M2) so that a bending manipulation is input.

FIG.15is a diagram showing the bending portion112that is bent. A bending amount of the bending portion112is, for example, a bending angle of the bending portion that is bent, curvature of bending of the bending portion that is bent, a traction amount and a relaxation amount of a wire that inputs motive power for the bending of the bending portion, or a control amount of the drive portion (the motor, the actuator, or the like) that generates a driving force for the bending of the bending portion. In the following description, a case where a bending amount of the bending portion112is a bending angle of the bending portion112will be described. A bending angle ϕ shown inFIG.15indicates an angular displacement amount (the displacement of the bending amount) from the reference angle (the reference bending amount) at the bending portion112. Here, the reference angle is an angle to be taken by the bending portion112when the first angle knob320is located at the origin OP (the initial position). The reference angle in the present embodiment is an angle of a case where the bending portion112is not bent and has a straight shape.

The bending portion112bends in a +ϕ direction shown inFIG.15by rotating the first angle knob320in a +θ direction shown inFIG.14. The bending portion112bends in a −ϕ direction shown inFIG.15by rotating the first angle knob320in a −θ direction shown inFIG.14.

Like the first angle knob320, the second angle knob330is rotated in a direction in which the reference point L1is away from the origin OP (the first direction M1) using the rotation axis300ras the rotation center and a direction in which the reference point L1returns to the origin OP (the second direction M2) so that a bending manipulation is input. In the present embodiment, the initial position of the second angle knob330is a position where the origin OP and the reference point (not shown) at the second angle knob330are aligned. The origin in the first angle knob320and the origin in the second angle knob330may not be located at the same position.

In the controller300, the interface to which the bending manipulation of bending the bending portion112is input may be a lever, a knob, or a dial. For example, the interface may be a lever-type knob or a sliding knob. The controller300has a sensor (for example, an encoder) that matches the form of the interface of the controller300and detects movement amounts (for example, rotation angles) and movement directions of interfaces of the controller300(for example, the first angle knob320and the second angle knob330) from the origin OP to transmit the detected movement amounts and the detected movement directions to the drive device200.

When the upward direction UPR of the controller300is associated with the distal end side A1of the endoscope100in the longitudinal direction A, the rotation direction of the first angle knob320or the second angle knob330coincides with the bending direction of the bending portion112of the distal end of the endoscope100. Therefore, it becomes an intuitive corresponding relationship for the physician S and suitable manipulability may be provided.

Because the controller300does not include a drive mechanism for driving the bending portion112of the endoscope100, it is small and lightweight. The first angle knob320, the second angle knob330, the air supply button350, the suction button351, and the various buttons352are arranged at a position where the physician S can sufficiently perform a manipulation with only his or her left hand L. Therefore, as shown inFIG.2, the physician S performs an easy manipulation by holding the controller300only with his or her left hand L.

FIG.16is a functional block diagram of the video control device500.

The video control device500controls a motorized endoscope system1000. The video control device500includes a third adapter510, an imaging processing portion520, a light source portion530, and a main controller560.

The third adapter510is an adapter to which the second attachment/detachment portion1502of the endoscope100is removably attached.

The imaging processing portion520converts an imaging signal acquired from the imaging portion111cof the distal end portion111via the imaging cable173into a captured image.

The light source portion530generates illumination light applied to an imaging target. The illumination light generated by the light source portion530is guided to the illumination portion111bof the distal end portion111via the light guide174.

The main controller560is a computer capable of executing a program and includes a processor561, a memory562, a storage portion563capable of storing programs and data, and an input/output control portion564. The function of the main controller560is implemented by the processor561executing a program. At least some functions of the main controller560may be implemented by a dedicated logic circuit.

The main controller560includes the processor561, the memory562from which a program can be read, the storage portion563, and the input/output control portion564.

The storage portion563is a non-volatile recording medium that stores the above-described program and necessary data. The storage portion563includes, for example, a ROM, a hard disk, and the like. The program recorded in the storage portion563is read into the memory562and executed by the processor561.

The input/output control portion564is connected to the imaging processing portion520, the light source portion530, the drive device200, the display device900, an input device (not shown), and a network device (not shown). The input/output control portion564performs the transmission/reception of data or the transmission/reception of a control signal to/from the connected device on the basis of control of the processor561.

The main controller560can perform image processing on the captured image acquired by the imaging processing portion520. The main controller560can generate a GUI image or a CG image for the purpose of providing information to the physician S. The main controller560can cause the display device900to display the captured image, the GUI image, or the CG image.

The main controller560is not limited to an integrated hardware device. For example, the main controller560may be configured by partially separating it as a separate hardware device and connecting the separated hardware device through a communication circuit. For example, the main controller560may be a cloud system that connects the storage portion563, which is separated, through a communication circuit.

The main controller560may further have a component other than the processor561, the memory562, the storage portion563, and the input/output control portion564shown inFIG.16. For example, the main controller560may further include an image calculation portion that performs a part or all of the image processing or image recognition processing performed by the processor561. By further including the image calculation portion, the main controller560can perform specific image processing and image recognition processing at a high speed. The image calculation portion may be mounted on a separate hardware device connected by a communication circuit.

Next, an operation of the motorized endoscope system1000of the present embodiment will be described. Specifically, a procedure for observing and treating an affected area formed in a canal wall in the large intestine using the motorized endoscope system1000will be described.

In the following description, the description will be given with reference to the control flowchart of the drive controller260of the control device600shown inFIG.17. When the control device600is activated, the drive controller260performs initialization (step S100). Subsequently, the drive controller260(mainly the processor261) executes step S110.

FIG.18is a diagram showing the insertion portion110inserted into the large intestine.

The physician S inserts the insertion portion110of the endoscope100into the large intestine from the anus of the patient P. While observing the captured image displayed on the display device900, the physician S moves the insertion portion110while manipulating the intracorporeal soft portion119with his or her right hand R and brings the distal end portion111closer to the affected area. Also, the physician S manipulates the controller300with his or her left hand L to input a bending manipulation for the bending portion112.

The drive controller260performs bending control on the bending portion112on the basis of the received bending manipulation and controls the wire drive portion (actuator)250to bend the bending wire160.

In the following description, control in the drive controller260when a bending manipulation is input to the first angle knob320will be described. The drive controller260performs similar control for the bending manipulation input to the second angle knob330.

In step S110, the drive controller260acquires an angular displacement amount from a reference angle at the bending portion112.

The drive controller260acquires a first angle ϕ (a first bending amount) calculated on the basis of a rotation angle (a driving amount) of the motor portion256bdetected by the motor encoder. An acquisition means for acquiring the first angle ϕ is not limited to this and the drive controller260, for example, may acquire an angle calculated on the basis of the strain detected by a strain sensor arranged on the outer sheath118in the bending portion112.

Also, the drive controller260acquires a second angle ϕref(a second bending amount), which is an angular displacement amount from the reference angle in the bending portion112calculated on the basis of a rotation angle θ (a movement amount) of the first angle knob320in step S110.

As shown in Eq. (1), the second angle ϕrefis calculated by the processor261of the drive controller260on the basis of the rotation angle θ of the first angle knob320detected by the encoder provided in the controller300and a conversion factor knob. The conversion factor knobcan be appropriately set to any value according to the configuration of the motorized endoscope system1000or the like.

The drive controller260subsequently performs step S120.

In step S120, the drive controller260compares the first angle ϕ and the second angle ϕrefacquired in step S110. When the first angle ϕ and the second angle ϕrefacquired in step S110are different angles, the drive controller260subsequently executes step S130.

When the first angle ϕ and the second angle ϕrefcompared in step S120are different angles, the actual bending angle and the bending angle in a gripping process of the physician S are likely to be different from each other in the bending angle in the bending portion112. Here, the actual bending angle indicates the first angle ϕ calculated on the basis of the rotation angle of the motor portion256b.

For example, when angle-free control in which the bending portion112is passively bent with respect to an external force has been performed, the first angle knob320does not follow the bending operation of the bending portion112bent by the external force because the controller300does not have a drive mechanism for driving the bending portion112. Therefore, when the bending manipulation has been input to the controller300, the actual bending angle and the bending angle indicated by the controller300are different from each other and the manipulability of the motorized endoscope system1000is likely to deteriorate.

The drive controller260controls the wire drive portion250so that a difference between the first angle ϕ and the second angle ϕrefis eliminated by increasing or decreasing the ratio of the second angle ϕrefto the rotation angle θ of the first angle knob320. The calculation of the ratio of the second angle ϕrefto the rotation angle θ of the first angle knob320will be described below.

The drive controller260first executes step S131in step S130. The drive controller260compares sign(ϕref−ϕ) with sign(Δθ) in step S131.

Here, sign(x) is a sign function of returning a number corresponding to the sign (positive or negative) of the variable x. When x is positive, sign(x) returns 1. When x is 0, sign(x) returns 0. When x is negative, sign(x) returns −1.

Also, Δθ indicates an angular displacement amount of the first angle knob320input according to the bending manipulation. That is, in step S131, the drive controller260compares the positive/negative sign of a value obtained by subtracting the first angle ϕ from the second angle ϕrefwith the positive/negative sign of an angular displacement amount of the first angle knob320.

When sign(ϕref−ϕ) and sign(Δθ) are equal, the drive controller260executes step S132.

In step S132, the drive controller260acquires a ratio of the second angle ϕrefto the rotation angle θ of the first angle knob320(a correction gain s) according to Eq. (2).

Here, ksis a correction factor stored in advance in the storage portion263. The processor261of the drive controller260acquires the correction factor ksfrom the storage portion263and calculates the ratio according to Eq. (2). Also, abs(y) indicates an absolute value of a variable y.

When an absolute value of the first angle ϕ is smaller than an absolute value of the second angle ϕrefand the first angle knob320is rotated in a direction away from the origin OP (the first direction M1), sign(ϕref−ϕ) and sign(Δθ) are equal.

In this case, the actual bending angle (the first angle ϕ) of the bending portion112is closer to the reference angle than the bending angle (the second angle ϕref) indicated by the controller300. Therefore, even if the physician S rotates the first angle knob320in the first direction M1so that the bending angle is farther away from the reference angle, the bending portion112does not bend to the bending angle assumed by the physician S. At this time, the drive controller260uses Eq. (2) to increase the ratio of the second angle ϕrefto the rotation angle θ of the first angle knob320. When the ratio is increased, the bending portion112can be bent so that the difference between the first angle ϕ and the second angle ϕrefis eliminated.

Also, when the absolute value of the first angle ϕ is larger than the absolute value of the second angle ref and the first angle knob320is rotated in the direction returning to the origin OP (the second direction M2), sign(ϕref−ϕ) and sign(Δθ) are equal.

In this case, the actual bending angle (the first angle ϕ) of the bending portion112is further away from the reference angle than the bending angle (the second angle ϕref) indicated by the controller300. Therefore, even if the physician S rotates the first angle knob320in the second direction M2so that the bending angle approaches the reference angle, the bending portion112does not return to the bending angle assumed by the physician S. At this time, the drive controller260uses Eq. (2) to increase the ratio of the second angle ϕrefto the rotation angle θ of the first angle knob320. When the ratio is increased, the bending portion112can be bent so that the difference between the first angle ϕ and the second angle ϕrefis eliminated.

Subsequently, in step S131, a case where sign(ϕref−ϕ) and sign(Δθ) are different will be described. The drive controller260executes step S133when sign(ϕref−ϕ) and sign(Δθ) are different in step S131.

In step S133, the drive controller260acquires the ratio of the second angle ϕrefto the rotation angle θ of the first angle knob320(the correction gain s) according to Eq. (3).

When the absolute value of the first angle ϕ is smaller than the absolute value of the second angle ϕrefand the first angle knob320is rotated in the direction returning to the origin OP (the second direction M2), sign(ϕref−ϕ) and sign(Δθ) are different.

In this case, the actual bending angle (the first angle ϕ) of the bending portion112is closer to the reference angle than the bending angle (the second angle ϕref) indicated by the controller300. Therefore, when the physician S rotates the first angle knob320in the second direction M2so that the bending angle approaches the reference angle, the bending portion112returns to an angle closer to the reference angle than the bending angle assumed by the physician S. At this time, the drive controller260uses Eq. (3) to reduce the ratio of the second angle ϕrefto the rotation angle θ of the first angle knob320. When the ratio is decreased, the bending portion112can be bent so that the difference between the first angle ϕ and the second angle ϕrefis eliminated.

Also, when the absolute value of the first angle ϕ is larger than the absolute value of the second angle ϕrefand the first angle knob320is rotated in the direction away from the origin OP (the first direction M1), sign(ϕref−ϕ) and sign(Δθ) are different.

In this case, the actual bending angle (the first angle ϕ) of the bending portion112is further away from the reference angle (the second angle ϕref) indicated by the controller300. Therefore, when the physician S rotates the first angle knob320in the first direction M1so that the bending angle is further away from the reference angle, the bending portion112is bent to an angle further away from the reference angle than the bending angle assumed by the physician S. At this time, the drive controller260uses Eq. (3) to reduce the ratio of the second angle ϕrefto the rotation angle θ of the first angle knob320. When the ratio is decreased, the bending portion112can be bent so that the difference between the first angle ϕ and the second angle ϕrefis eliminated.

Also, in the processing of step S130, a combination of different positive/negative signs of the first angle ϕ and the second angle ϕrefis excluded.

After the ratio (the correction gain s) is calculated in step S130, the drive controller260drives the wire drive portion250(the actuator) on the basis of the calculated ratio (step S140). Subsequently, the drive controller260executes step S150.

When a bending manipulation is not input to the first angle knob320in step S150, the drive controller260moves to step S160and ends control. When a bending manipulation is input to the first angle knob320, the process returns to step S110and continues control.

Although a control flow when the first angle ϕ and the second angle pref are different in step S120has been described, the drive controller260executes step S140and causes the wire drive portion250(the actuator) to be driven on the basis of the rotation angle θ of the first angle knob320when the first angle ϕ and the second angle ϕrefare equal in step S120. At this time, the drive controller260may cause the wire drive portion250to be driven using the ratio stored in advance in the storage portion263in the ratio of the second angle ϕrefto the rotation angle θ.

Also, the drive controller260may control the wire drive portion250so that the bending portion112is bent to the maximum bending angle when the first angle knob320rotates to a rotation limit.

Here, the rotation limit of the first angle knob320indicates a position (an angle) in which the first angle knob320can only rotate up to the angle due to an abutting structure or the like. For example, in the first angle knob320shown inFIG.14, the first angle knob320has the abutting structure that regulates the rotation angle of the first angle knob320. When the first angle knob320is regulated by the abutting structure and the rotation angle θ can only rotate to the position of 150°, a position where the rotation angle θ is 150° is set as the rotation limit of the first angle knob320.

Also, the maximum bending angle of the bending portion112is a maximum angle at which the bending portion112is bendable, and is, for example, any angle set in advance. The maximum bending angle of the bending portion112is, for example, the angle to be taken by the bending portion112when the first angle knob320is rotated to the rotation limit. Also, the maximum bending angle may be set according to a material, a structure, or the like of the bending portion112.

The physician S rotates the first angle knob320to the rotation limit and makes the first angle knob320stationary at the rotation limit position. The drive controller260controls the wire drive portion250so that the bending portion112continues to bend until it bends to the maximum bending angle when the first angle knob320is located at the rotation limit. The bending portion112bends to the maximum bending angle and stops the bending operation.

For example, when the ratio of the second angle ϕrefto the rotation angle θ of the first angle knob320(the correction gain s) is less than 1, even if the first angle knob320is rotated to the rotation limit, the bending portion112is bent only to an angle smaller than the maximum bending angle.

When the first angle knob320rotates to the rotation limit, the bending portion112can be bent to the maximum bending angle and manipulability can be improved even if the ratio of the second angle ϕrefto the rotation angle θ of the first angle knob320(the correction gain s) is less than 1 by controlling the wire drive portion250so that the bending portion112is continuously bent until it bends to the maximum bending angle.

According to the motorized endoscope system1000according to the present embodiment, when the first angle ϕ, which is the angular displacement amount of the bending portion112calculated on the basis of the driving amount of the wire drive portion250, is different from the second angle ϕref, which is the angular displacement amount of the bending portion112calculated on the basis of the movement amount (40) of the first angle knob320or the second angle knob330, the wire drive portion250can be controlled so that the difference between the first angle ϕ and the second angle ϕrefis eliminated. As a result, the motorized endoscope system1000with improved manipulability can be provided.

Although the first embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to the first embodiment and design changes and the like are also included without departing from the scope and spirit of the present invention. Also, the components shown in the above-described embodiments and modified examples can be appropriately combined and configured.

In the above-described embodiment, the physician S manipulates the controller300with his or her left hand L while manipulating the endoscope100with his or her right hand R. However, the usage mode of the motorized endoscope system1000is not limited to this. The physician S may manipulate the controller300with his or her right hand R while manipulating the endoscope100with his or her left hand L. In this case, the controller300is optimized so that a manipulation is easily performed with his or her right hand R.

In the above-described embodiment, the endoscope100has the bending portion112that is bent. However, aspects of the endoscope100are not limited to this. The endoscope100may have a bending function (a multistage bending function) in which the first bending portion and the second bending portion are bent in two stages. In this case, the controller may have a changeover switch that switches the bending manipulation of the first bending portion or the second bending portion. Also, the drive device may control the actuator so that a difference between an angular displacement amount of each bending portion calculated on the basis of the driving amount of the actuator and an angular displacement amount of each bending portion calculated on the basis of the angle of the first angle knob or the second angle knob is eliminated with respect to the first bending portion and the second bending portion.

In the above-described embodiment, the manipulation cable301is attached to the end portion of the manipulation portion body310in the longitudinal direction. However, a connection position of the manipulation cable301in the manipulation portion body310is not limited to this.FIG.19is a perspective view of the controller300A, which is a modified example of the controller300. The controller300A includes a manipulation portion body310A, a first angle knob320, a second angle knob330, an air supply button350, a suction button351, and various buttons352.

When the manipulation portion body310A is compared with the manipulation portion body310of the controller300of the above-described embodiment, a position to which the manipulation cable301is connected is different. The manipulation portion body310A includes a manipulation cable connection portion313to which the manipulation cable301is connected.

The manipulation cable connection portion313is provided near the various buttons352in the upward direction UPR of the manipulation portion body310A. The manipulation cable connection portion313extends from the back surface311of the manipulation portion body310A in the left direction LH. The manipulation cable connection portion313may extend from the side surface of the left direction LH of the manipulation portion body310A in the left direction LH.

The manipulation cable connection portion313is provided at a position equivalent to a position where the universal cable is connected in the manipulation portion of a conventional flexible endoscope. Therefore, the physician S can stably hold the controller300A by sandwiching the manipulation cable connection portion313between a thumb and an index finger of his or her left hand L like the manipulation portion of the conventional flexible endoscope.

The controller300A may communicate with the drive device200through wireless communication and the manipulation cable301may not be connected to the controller300A. With wireless communication, the left hand L can hold the controller300A more freely. Even if communication is wireless, in order to make it easier to hold the controller300A between the thumb and the index finger of the left hand L, the manipulation cable connection portion313to which the manipulation cable301is not connected may be provided in the manipulation portion body310A. The physician S can stably hold the controller300A by sandwiching the manipulation cable connection portion313between the thumb and the index finger of his or her left hand L.

In the above-described embodiment, the motorized endoscope system1000may further include a known endoscope mounting instrument such as a smart shooter (registered trademark). By using the endoscope mounting instrument, the physician S can perform a forward/rearward manipulation of the treatment tool400while holding the insertion portion110with his or her right hand R.

In the above-described embodiment, according to the motorized endoscope system1000, the wire drive portion250can be controlled so that the difference between the first angle ϕ and the second angle ϕrefis eliminated when the first angle ϕ (the first bending amount), which is an angular displacement amount of the bending portion112calculated on the basis of the driving amount of the wire drive portion250is different from the second angle ϕref(the second bending amount), which is an angular displacement amount of the bending portion112calculated on the basis of the movement amount (Δθ) of the first angle knob320or the second angle knob330. However, a parameter used for controlling the wire drive portion250is not limited to the angle. For example, the motorized endoscope system1000can control the wire drive portion250so that the difference between the first bending amount and the second bending amount is eliminated when the driving amount of the wire drive portion250is designated as the first driving amount (the first bending amount) and the first driving amount (the first bending amount) is different from the second driving amount (the second bending amount) that is the driving amount of the wire drive portion250calculated on the basis of the movement amount (Δθ) of the first angle knob320or the second angle knob330. Also, the motorized endoscope system1000can control the wire drive portion250so that the difference between the first wire displacement amount and the second wire displacement amount is eliminated when a displacement amount (a traction amount or a relaxation amount) of the bending wire160is designated as a first wire displacement amount (a first bending amount) and the first wire displacement amount (the first bending amount) is different from a second wire displacement amount (a second bending amount) that is a displacement amount of the bending wire160calculated on the basis of the movement amount (Δθ) of the first angle knob320or the second angle knob330. The present invention is not limited to this, if a parameter can used to identify a change in a bending shape of the bending portion112, it can be employed as the first bending amount or the second bending amount.

In the above-described embodiment, the motorized endoscope system1000may further include a function for adjusting the responsiveness of the bending portion112to a manipulation input to the first angle knob320or the second angle knob330.

For example, there may be a delay between the time when the physician S rotates the first angle knob320or the second angle knob330and the time when the bending portion112begins to bend. In particular, a delay may occur when the bending angle ϕ of the bending portion112is inverted or when the bending portion112is close to a straight shape. Here, the reversal of the bending angle ϕ indicates that it is bent in the opposite direction from an immediately previous bending direction and a bending direction is switched. The above-described responsiveness indicates a degree of this delay. For example, when the bending portion112is close to the straight shape and the bending wire160is slack, there may be a delay between the time when the physician S rotates the first angle knob320or the second angle knob330and the time when the bending portion112begins to bend. Also, in a state in which the bending portion112is bent, when it returns to a straight shape after bending or when it is bent again before returning to the straight shape, the operation of the bending portion112is delayed due to hysteresis when the bending angle ϕ is inverted.

For example, the controller includes a switch for adjusting responsiveness (a responsiveness adjustment switch). The various buttons352provided in the controller300of the above-described embodiment may be used as the responsiveness adjustment switch. For example, when the physician S presses the various buttons352of the controller300, the motorized endoscope system1000performs control for adjusting the responsiveness of the bending portion112for the manipulation input to the first angle knob320or the second angle knob330.

The drive controller260changes a control parameter and changes responsiveness when the responsiveness adjustment switch is pressed. Examples of the control parameter for changing the responsiveness include the ratio of the traction amount of the bending wire160to the movement amount (the rotation amount) of the first angle knob320or the second angle knob330.

By manipulating the responsiveness adjustment switch and adjusting the responsiveness, the physician S can manipulate the motorized endoscope system1000in a state in which any responsiveness is set and manipulability is improved. The responsiveness may be adjusted quick or slow on the basis of the manipulation input to the responsiveness adjustment switch.

For example, the controller device may include a lever or sliding knob as a responsiveness adjustment switch and the responsiveness may be adjusted quick or slow according to the manipulation direction of the knob. Also, the controller may include a plurality of responsiveness adjustment switches, a responsiveness adjustment switch for quick response, and a responsive adjustment switch for slow response.

Also, a responsiveness adjustment may be performed in combination with an adjustment automatically performed by the drive controller260and an adjustment performed by the drive controller260on the basis of a manipulation input by the physician S to the responsiveness adjustment switch. For example, in the responsiveness adjustment, a rough (coarse) adjustment may be performed automatically and a fine adjustment may be performed by the physician S manipulating the responsiveness adjustment switch.

For example, an offset may be set and controlled in accordance with the manipulation input by the physician S to the responsiveness adjustment switch with respect to a control parameter automatically estimated by the drive controller260to adjust the responsiveness.

When the controller includes the responsiveness adjustment switch, manipulability can be improved because the physician S can adjust the responsiveness of the bending portion112for the manipulation input to the first angle knob320or the second angle knob330to any degree (quickly, slowly, or the like).

Second Embodiment

A motorized endoscope system1000B according to a second embodiment of the present invention will be described with reference toFIGS.20to27. In the following description, components identical to the already described components are denoted by reference signs and description thereof will be omitted.

As shown inFIG.1, the motorized endoscope system1000B includes an endoscope100, a drive device200B, a controller300B, a treatment tool400, a video control device500, and a display device900. The drive device200B and the video control device500constitute a control device600B that controls the motorized endoscope system1000B.

FIG.20is a perspective view of the controller300B. The controller300B includes a manipulation portion body310, a first angle knob320B, a second angle knob330B, an air supply button350, a suction button351, and various buttons352.

Like the first angle knob320and the second angle knob330of the first embodiment, the first angle knob320B and the second angle knob330B are rotationally attached to the front surface312with respect to the manipulation portion body310and are interfaces to which a bending manipulation of bending the bending portion112is input. The first angle knob320B and the second angle knob330B rotate in a rotation direction M around the same rotation axis300r.

The first angle knob320B and the second angle knob330B have an encoder (not shown) that detects a rotation angle, the number of rotations, and the like in the rotation manipulation input to the first angle knob320B and the second angle knob330B. A detection result of the encoder is transmitted to the drive device200B.

FIG.21is a cross-sectional view of the first angle knob320B and the second angle knob330B.FIG.22is a perspective view showing a part of the first angle knob320B.FIG.23is a perspective view showing a back surface of the first upper cover321of the first angle knob320B.

In the following description, as shown inFIG.21, a direction perpendicular to the rotation axis300ris defined as a “radial direction RD,” a direction away from the rotation axis300ris defined as an “outer side OU,” and a direction approaching the rotation axis300ris defined as an “inner side IN.”

When the first angle knob320B and the second angle knob330B rotate in a direction away from the origin OP (a first direction M1) using the rotation axis300ras the rotation center and have an elastic member (a first elastic member326and a second elastic member336) biased in a direction returning to the origin OP (a second direction M2).

The first angle knob320B and the second angle knob330B are attached to the front surface312of the controller300via a knob fixing portion312a. The first angle knob320B and the second angle knob330B may be directly attached to the front surface312without going through the knob fixing portion312a, but the first angle knob320B and the second angle knob330B can be easily removed from the controller300when components are replaced or the like through the knob fixing portion312a.

The first angle knob320B includes a first upper cover321, a first lower cover322, a first knob shaft323, a first O-ring324, a first spring base325, a first elastic member326, a fixed shaft327, and a third O-ring328.

The first upper cover321has a substantially cylindrical shape with the rotation axis300ras the central axis and forms the outer shape of the first angle knob320B that the physician S touches when performing a manipulation with his or her left hand L. As shown inFIGS.21and23, the first upper cover321has a substantially cylindrical concave shape that opens in a rearward direction RR. The first spring base325and the first elastic member326are stored in this concave shape.

The first lower cover322is a substantially disk shape centered on the rotation axis300rand has a substantially circular opening centered on the rotation axis300r. The first lower cover322is attached to the first upper cover321in the rearward direction RR and covers a part of the outer side OU in the radial direction RD in the opening of the rearward direction RR in the concave shape formed on the first upper cover321.

The first knob shaft323is a rotation shaft portion for the first angle knob320B to rotate using the rotation axis300ras the rotation center. The first knob shaft323has a substantially cylindrical shape with the rotation axis300ras the central axis and is connected to the knob fixing portion312avia the first O-ring324attached to an outer circumferential surface. The first O-ring324and the knob fixing portion312aare in contact in the radial direction RD. The first knob shaft323causes the first O-ring324to slide with respect to the knob fixing portion312aand can rotate with respect to the knob fixing portion312awith the rotation axis300ras the rotation center.

Because the end portion of the first upper cover321in the rearward direction RR and the end portion of the first knob shaft323in the forward direction FR are connected, the first upper cover321and the first lower cover322can rotate in the rotation direction M with respect to the knob fixing portion312awith the rotation axis300ras the rotation center together with the first knob shaft323.

The first spring base325has a substantially cylindrical shape with the rotation axis300ras the central axis and covers a part of the inner side IN in the radial direction RD at the opening of the rearward direction RR in the concave shape formed on the first upper cover321. The first spring base325is connected to the knob fixing portion312a. Because the rotation operation is regulated in the rotation direction M by a regulation pin (not shown) protruding from the knob fixing portion312ain the forward direction FR, the first spring base325does not rotate in the rotation direction M with respect to the knob fixing portion312a.

As shown inFIG.22, the first spring base325has a first regulation portion325aand a second regulation portion325bprotruding from the forward direction FR. The first regulation portion325ais provided at the end portion of the first spring base325in the upward direction UPR. The second regulation portion325bis provided at the end portion of the first spring base325in the downward direction LWR.

As shown inFIG.22, the first elastic member326is a spring member (a torsion coil spring) provided on the first spring base325in the forward direction FR. The first elastic member326has a first arm portion326aand a second arm portion326bextended in the upward direction UPR at both ends of a coil portion wound around the rotation axis300r. The first arm portion326aand the second arm portion326bare arranged to sandwich the first regulation portion325aof the first spring base325in the rotation direction M of the first angle knob320B. Therefore, the rotation operation of the first elastic member326in the rotation direction M is regulated by the first regulation portion325aand does not rotate with respect to the first spring base325.

When a bending manipulation is input to the first angle knob320B, the first upper cover321, the first lower cover322, the first knob shaft323, and the first O-ring324rotate in the rotation direction M with respect to the knob fixing portion312awith the rotation axis300ras the rotation center. On the other hand, the first spring base325and the first elastic member326do not rotate.

Here, as shown inFIG.23, a first contact portion321aextending in the radial direction RD is provided in the concave shape of the first upper cover321in the upward direction UPR. Also, as shown inFIG.24, in the first angle knob320B, the first contact portion321aof the first upper cover321is arranged on the first regulation portion325ain the first spring base325in the upward direction UPR. Therefore, the first contact portion321aof the first upper cover321is arranged to be sandwiched between the first arm portion326aand the second arm portion326bof the first elastic member326in the rotation direction M.

In the present embodiment, the first angle knob320B when the first contact portion321ais located at the position shown inFIG.24(directly above the rotation axis300rin the upward direction UPR) is located at an initial position where the origin OP and the reference point L1at the first angle knob320B are aligned.

When the first angle knob320B rotates in the direction away from the origin OP (the first direction M1), the first contact portion321acomes into contact with the first arm portion326aor the second arm portion326bof the first elastic member326in the rotation direction M. When the first arm portion326aor the second arm portion326bis pushed by the first contact portion321ain the first direction M1, the coil portion of the first elastic member326is deformed and the first arm portion326aor the second arm portion326bmoves together with the first contact portion321ain the first direction M1.

At this time, the first contact portion321ais biased in the direction returning to the origin OP (the second direction M2) according to the elasticity possessed by the coil portion of the first elastic member326. Therefore, when the physician S rotates the first angle knob320B in the first direction M1with his or her left hand L and releases his or her left hand L from the first angle knob320B, the first angle knob320B is biased by the first elastic member326and rotates in the second direction M2.

Although the force (elastic force) with which the first elastic member326biases the first angle knob320B in the second direction M2can be adjusted as appropriate by changing the material and shape of the first elastic member326, a force required to rotate the first angle knob320B in the first direction M1also becomes large if the biasing force is strong. Therefore, it is desirable that the force with which the first elastic member326biases the first angle knob320B in the second direction M2be a force that is not strong to return the reference point L1of the first angle knob320B to the origin OP and has a degree to which the biased first angle knob320B is stopped near the origin OP.

When the first angle knob320B rotates about 180° from the origin OP, the first angle knob320B does not rotate anymore because the first arm portion326aor the second arm portion326bcomes into contact with the second regulation portion325bin the rotation direction M. Therefore, a deformation amount of the first elastic member326can be suppressed and the first elastic member326can be prevented from being damaged.

The fixed shaft327has a substantially cylindrical shape with the rotation axis300ras the central axis. The fixed shaft327is arranged on the inner side IN of the first upper cover321and the first knob shaft323as shown inFIG.21. The end portion of the fixed shaft327in the rearward direction RR is connected to the knob fixing portion312a(not shown). Because the fixed shaft327is fixed to the knob fixing portion312aby a screw or the like, it does not rotate in the rotation direction M with respect to the knob fixing portion312a.

The third O-ring328is attached to the outer circumferential surface of the fixed shaft327and is in contact with the first knob shaft323in the radial direction RD. When the first angle knob320B rotates, the inner circumferential surface of the first knob shaft323and the third O-ring328slide and the first knob shaft323rotates.

The second angle knob330B includes a second upper cover331, a second lower cover332, a second knob shaft333, a second O-ring334, a second spring base335, and a second elastic member336. The second angle knob330B basically includes components having functions similar to those of the components of the first angle knob320B.

The second upper cover331has a substantially cylindrical shape with the rotation axis300ras the central axis and forms the outer shape of the second angle knob330B that the physician S touches when performing a manipulation with his or her left hand L. As shown inFIG.21, the second upper cover331has a substantially cylindrical concave shape opened in the rearward direction RR. The second spring base335and the second elastic member336are stored in this concave shape.

The second lower cover332has a substantially disk shape centered on the rotation axis300rand has a substantially circular opening centered on the rotation axis300r. The second lower cover332is attached to the second upper cover331in the rearward direction RR and covers a part of the outer side OU in the radial direction RD at the opening in the concave shape formed in the second upper cover331in the rearward direction RR.

The second knob shaft333is a rotating shaft portion for the second angle knob330B to rotate using the rotation axis300ras the rotation center. The second knob shaft333has a substantially cylindrical shape with the rotation axis300ras the central axis and is arranged on the inner side IN of the fixed shaft327. The second knob shaft333is connected to the fixed shaft327via the second O-ring334attached to the outer circumferential surface. The second O-ring334and the fixed shaft327are in contact in the radial direction RD. The second knob shaft333causes the second O-ring334to slide with respect to the fixed shaft327and can rotate with respect to the fixed shaft327with the rotation axis300ras the rotation center.

The second upper cover331is connected to the second knob shaft333and can be rotated together with the second knob shaft333with the rotation axis300ras the rotation center. Therefore, the first upper cover321and the first lower cover322can rotate in the rotation direction M with respect to the fixed shaft327with the rotation axis300ras the rotation center together with the first knob shaft323.

The second spring base335has a substantially cylindrical shape with the rotation axis300ras the central axis and covers a part of the inner side IN in the radial direction RD at the opening in the concave shape formed in the second upper cover331in the rearward direction RR. The second spring base335is connected to the fixed shaft327and does not rotate in the rotation direction M with respect to the fixed shaft327.

Like the first spring base325, the second spring base335has a third regulation portion (not shown) and a fourth regulation portion (not shown) protruding in the forward direction FR. The third regulation portion is provided at the end portion of the second spring base335in the upward direction UPR. The fourth regulation portion is provided at the end portion of the second spring base335in the downward direction LWR.

The second elastic member336is a spring member (a torsion coil spring) provided on the second spring base335in the forward direction FR. Like the first elastic member326, the second elastic member336has a third arm portion (not shown) and a fourth arm portion (not shown) extended in the upward direction UPR at both ends of the coil portion wound around the rotation axis300r. The third arm portion and the fourth arm portion are arranged by sandwiching the third regulation portion of the second spring base335in the rotation direction M of the second angle knob330B. Therefore, the rotation operation of the second elastic member336is regulated by the third regulation portion in the rotation direction M and does not rotate with respect to the second spring base335.

When a bending manipulation is input to the second angle knob330B, the second upper cover331, the second lower cover332, the second knob shaft333, and the second O-ring334rotate in the rotation direction M with respect to the fixed shaft327with the rotation axis300ras the rotation center. On the other hand, the second spring base335and the second elastic member336do not rotate.

Like the first upper cover321, a second contact portion (not shown) extending in the radial direction RD is provided in the concave shape of the second upper cover331in the upward direction UPR. Also, in the second angle knob330B, the second contact portion of the second upper cover331is arranged on the third regulation portion in the second spring base335in the upward direction UPR. Therefore, the second contact portion of the second upper cover331is arranged to be sandwiched between the third arm portion and the fourth arm portion of the second elastic member336in the rotation direction M.

In the present embodiment, when the second contact portion of the second upper cover331is located directly above the rotation axis300rin the upward direction UPR like the first angle knob320B, the second angle knob330B is located at an initial position where the origin OP and the reference point (not shown) at the second angle knob330B are aligned.

When the second angle knob330B rotates in a direction away from the origin OP (the first direction M1) like the first angle knob320B, the second contact portion comes into contact with the third arm portion or the fourth arm portion of the second elastic member336in the rotation direction M. When the third arm portion or fourth arm portion is pushed by the second contact portion in the first direction M1, the coil portion of the second elastic member336is deformed and the third arm portion or fourth arm portion moves in the first direction M1together with the second contact portion.

At this time, the second contact portion is pushed in a direction returning to the origin OP (the second direction M2) by the elasticity possessed by the coil portion of the second elastic member336. Therefore, when the physician S rotates the second angle knob330B in the first direction M1with his or her left hand L and releases his or her left hand L from the second angle knob330B, the second angle knob330B is biased by the second elastic member336and rotates in the second direction M2.

Although the force (elastic force) with which the second elastic member336biases the second angle knob330B in the second direction M2can be adjusted as appropriate by changing the material and shape of the second elastic member336, the force required to rotate the second angle knob330B in the first direction M1also becomes large if the biasing force is strong. Therefore, it is desirable that the force with which the second elastic member336biases the second angle knob330B in the second direction M2be a force that is not strong to cause the second angle knob330B to return to the origin OP and has a degree to which the biased second angle knob330B is stopped near the origin OP.

When the second angle knob330B rotates about 180° from the origin OP like the first angle knob320B, the second angle knob330B does not rotate anymore because the third arm portion or the fourth arm portion comes into contact with the fourth regulation portion in the rotation direction M. Therefore, a deformation amount of the second elastic member336can be suppressed and the second elastic member336can be prevented from being damaged.

The second knob shaft333of the second angle knob330B is arranged on the inner side IN of the fixed shaft327of the first angle knob320B as shown inFIG.21. Therefore, the rotation operations of the first angle knob320B and the second angle knob330B do not communicate with each other and only the angle knob rotated by the physician S rotates and the angle knob not manipulated by the physician S does not rotate when the physician S rotates the first angle knob320B or the second angle knob330B. As a result, it is possible to prevent the physician S from inputting an unintended bending manipulation to the controller300B.

In the conventional flexible endoscope, when the physician releases his or her hand from the angle knob of the manipulation portion and no bending manipulation is input to the angle knob, a restoring force for returning the bent bending portion to a linear state is applied by a rubber or the like that forms an outer sheath. Also, the angle knob rotates in a direction returning to the origin in accordance with an operation of the bending portion that tries to return to the linear state by the restoring force.

When the first angle knob320B and the second angle knob330B have elastic members (the first elastic member326and the second elastic member336), the physician S releases his or her hand from the first angle knob320B and the second angle knob330B and the first angle knob320B and the second angle knob330B are biased by the elastic members and rotate in a direction returning to the origin OP (the second direction M2). As a result, the motorized endoscope system1000B can provide the physician S with manipulability close to that of the conventional flexible endoscope.

FIG.25is a functional block diagram of the drive device200B.

The drive device200B includes an adapter210, a manipulation reception portion220, an air supply/suction drive portion230, a wire drive portion250, and a drive controller260B.

The drive controller260B has a configuration similar to that of the drive controller260of the first embodiment and a method of controlling the wire drive portion250is different from that of the drive controller260.

Next, an operation of the motorized endoscope system1000B of the present embodiment will be described. Specifically, a procedure for observing and treating an affected area formed in the canal wall in the large intestine using the motorized endoscope system1000B will be described.

FIG.26is a control flowchart of the drive controller260B in the motorized endoscope system1000B. The control flowchart of the drive controller260B further includes steps S170to S210with respect to the control flowchart of the drive controller260of the first embodiment shown inFIG.17.

In the following description, the description will be given with reference to the control flowchart of the drive controller260B of the control device600B shown inFIG.26. When the control device600B is activated, the drive controller260B performs initialization (step S100). Subsequently, the drive controller260B (mainly the processor261) executes step S170.

In the following description, a control process of the drive controller260B when a bending manipulation is input to the first angle knob320B will be described. The drive controller260B also performs a similar control process for the bending manipulation input to the second angle knob330B.

The drive controller260B acquires a detection result of the encoder provided by the controller300B in step S170. At this time, it is acquired whether the first angle knob320B is in a stationary or rotating state from information such as a rotation angle and a rotation direction of the first angle knob320B acquired from the encoder.

When a bending manipulation is input to the first angle knob320B and rotated in the first direction M1or the second direction M2, the first angle knob320B is in the rotating state. Also, when the first angle knob320B rotated in the first direction M1is biased to the first elastic member326and is rotating in the second direction M2, the first angle knob320B is in the rotating state.

When a bending manipulation is not input to the first angle knob320B and the reference point L1in the first angle knob320B is stopped near the origin OP, the first angle knob320B is in a stopped state. Also, after the bending manipulation is input to the first angle knob320B, when the first angle knob320B is stopped at a certain angle by the left hand L or the like of the physician S, the first angle knob320B is in the stopped state.

The drive controller260B moves to step S110when the first angle knob320B is in the rotating state in step S170. Because the control step after step S110is similar to a control step described usingFIG.17in the first embodiment, description thereof will be omitted.

The drive controller260B moves to step S180when the first angle knob320B is in the stopped state in step S170.

The drive controller260B acquires a setting state of an angle lock mode in step S180. Here, the angle lock mode indicates a control mode (angle lock control) in which the wire drive portion250is controlled on the basis of the position (angle) of the first angle knob320B or the second angle knob330B. On the other hand, there is angle-free control as a control mode other than the angle lock control. During angle-free control, the bending portion112passively bends with respect to an external force applied to the bending portion112.

In the present embodiment, the drive controller260B switches control between the angle lock control and the angle-free control by pushing the various buttons352. By doing so, the physician S can easily switch the control between the angle lock control and the angle-free control when observing or treating the affected area. Also, a switching instruction between the angle lock control and the angle-free control may be input by the input device connected to the drive device200B or the video control device500or the like.

When the drive controller260B is set in the angle lock mode, the process moves to step S190.

The drive controller260B controls the wire drive portion250on the basis of the rotation angle of the first angle knob320B in step S190. At this time, because the first angle knob320B is stopped, the drive controller260B controls the wire drive portion250so that the bending angle is maintained in the bending portion112based on the rotation angle of the first angle knob320B.

The drive controller260B executes step S150after executing step S190. When control of the wire drive portion250continues in step S150, the drive controller260B returns to step S170and continues control of the wire drive portion250. When the observation or treatment by the motorized endoscope system1000B is completed, the drive controller260B moves to step S160and ends the process shown inFIG.26.

The drive controller260B executes step S200when the angle lock mode is not set in step S180.

FIG.27is a front view showing a rotation operation in the rotation direction M of the first angle knob320B.

In step S200, the drive controller260B compares an absolute value of a rotation angle θ of the first angle knob320B shown inFIG.27with an absolute value of an angle θfree. The rotation angle θ is a rotation angle from the origin OP in the first angle knob320B.

Here, a range of ±θfreeis referred to as a passive control range F. The passive control range F is a range (angle) in the vicinity of the origin OP in the first angle knob320B or the second angle knob330B. Also, the first angle knob320B and the second angle knob330B, which have rotated outside of the range of the passive control range F, are biased by the first elastic member326and the second elastic member336and return to the range that is the passive control range F.

When the absolute value of the rotation angle θ is larger than the absolute value of the angle θfree, the rotation angle θ is outside of the range that is the passive control range F. At this time, the drive controller260B executes step S190and executes angle lock control.

When the absolute value of the rotation angle θ is smaller than the absolute value of the angle θfree, the rotation angle θ is within the range that is the passive control range F. At this time, the drive controller260B executes step S210.

The drive controller260B executes angle-free control in step S210. When the drive controller260B is executing the angle-free control, the bending portion112is passively bent by an external force applied to the bending portion112.

As the control method for the angle-free control, for example, there is tension control for performing control so that a tension difference between a pair of bending wires160(the upper bending wire161uand the lower bending wire161dor the left bending wire161land the right bending wire161r) is eliminated. Also, a mechanism for preventing the driving force of the wire drive portion250from being transmitted to the bending wire160is provided and angle-free control may be implemented by switching a state between a state in which the driving force is transmitted and a state in which the driving force is not transmitted.

In the conventional flexible endoscope, the angle knob of the manipulation portion returns to the vicinity of the origin in accordance with the operation of the bending portion that tries to return to the linear state using the restoring force of the rubber or the like that forms the outer sheath when the physician releases his or her hand from the angle knob and no bending manipulation is input to the angle knob. Furthermore, when an external force is applied to the bending portion while the physician is releasing his or her hand from the angle knob, the bending portion is passively bent with respect to the applied external force.

By switching the control to the angle-free control when the rotation angle θ of the angle knob (the first angle knob320B and the second angle knob330B) is stopped within the range that is the passive control range F, the physician S releases his or her hand from the angle knob and the bending portion112is passively bent with respect to an external force applied to the bending portion112when the angle knob biased by the elastic member (the first elastic member326and the second elastic member336) returns to the vicinity of the origin OP and is stopped. Therefore, the motorized endoscope system1000B can provide manipulability close to that of the conventional flexible endoscope to the physician S.

In the passive control range F, any angle can be appropriately set and may be ±90° or ±60° and it is desirable that any angle be about ±45° from the viewpoint of manipulability. Also, the passive control range F in the first angle knob320B and the passive control range F in the second angle knob330B may be different angles.

The drive controller260B executes step S150after executing step S210. When continuing control of the wire drive portion250in step S150, the drive controller260B returns to step S170and continues control of the wire drive portion250. When the observation or treatment by the motorized endoscope system1000B is completed, the drive controller260B moves to step S160and ends the process shown inFIG.26.

According to the motorized endoscope system1000B according to the present embodiment, the first angle knob320B and the second angle knob330B are biased in a direction returning to the origin OP (the second direction M2) by the first elastic member326and the second elastic member336and return to the inside of the range that is the passive control range F when they rotate outside of the passive control range F. Also, when the first angle knob320B and the second angle knob330B are in a rotating state or is stopped outside of the range that is the passive control range F, the wire drive portion250is controlled on the basis of the rotation angle θ and the bending portion112passively bends with respect to the external force applied to the bending portion112when they are stopped within the range that is the passive control range F. As a result, the motorized endoscope system1000B with improved manipulability can be provided.

Although the second embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to the second embodiment and design changes and the like are also included without departing from the scope and spirit of the present invention. Also, the components shown in the above-described embodiments and modified examples can be appropriately combined and configured.

Although the first elastic member326and the second elastic member336that bias the first angle knob320B and the second angle knob330B are torsion coil springs in the above-described embodiment, the aspects of the first elastic member and the second elastic member are not limited thereto. Each of the first elastic member and the second elastic member may be an elastic member such as a rubber material.

Also, a damper such as a rotary damper may be used to adjust a force with which the first elastic member and the second elastic member bias the first angle knob and the second angle knob.

Also, a flat spiral spring may be employed for the first elastic member and the second elastic member. By using the flat spiral spring for the first elastic member and the second elastic member, the torque required to rotate the first angle knob320B and the second angle knob330B in the first direction M1can be lightened, and, further, the torque required for rotation can be substantially uniform. Also, after the first angle knob320B and the second angle knob330B are rotated in the first direction M1, manipulability can be improved because the first angle knob320B and the second angle knob330B return to the second direction M2when the physician S loosens the force of the finger (for example, the thumb).

Although the rotation angles θ of the first angle knob320B and the second angle knob330B are detected by an encoder provided in the controller300B in the above-described embodiment, the form of the controller is not limited thereto. The controller may detect the rotation angles of the first angle knob and the second angle knob using a sensor other than an encoder such as a potentiometer.

Also, when the rotation angles of the angle knobs (the first angle knob and the second angle knob) are detected by a sensor that detects a relative angle rather than an absolute angle (for example, an incremental encoder), the angle knob can be adjusted to the origin (initial position) when the use of the motorized endoscope system starts and the tension of the bending wire can be initialized to detect the accurate rotation angle.

In this case, alignment can be easily performed by providing a marker (for example, the reference point L1or the like) between the angle knob and the manipulation portion body. Also, alignment may be performed by providing the angle knob and the manipulation portion body with a protrusion shape that regulates the rotation operation of the angle knob located at the origin to some extent or alignment may be performed with an optical sensor or the like that can detect the position of the angle knob without contact.

Although the controller300B is provided separately from the endoscope100in the above-described embodiment, the form of the controller is not limited thereto. The controller may be connected to the connection portion of the endoscope.

FIG.28is a perspective view showing a controller300C and a connection portion120C.FIG.29is a perspective view showing a controller300C and a connection portion120C as seen from a direction different fromFIG.28. Also,FIG.30is an exploded perspective view of the controller300C and the connection portion120C.

As shown inFIGS.28and29, the controller300C and the connection portion120C are connected and integrated. Also, as shown inFIG.30, the controller300C is removably connected to the connection portion120C.

The controller300C includes a manipulation portion body310C, a first angle knob320B, a second angle knob330B, an air supply button350, a suction button351, a first button352a, a second button352b, a third button352c, a fourth button352d, and a fifth button352e.

The manipulation portion body310C includes a manipulation cable connection portion313C to which the manipulation cable301is removably connected. Also, a cover portion314C in which a substantially U-shaped cross-sectional shape extends in the upward/downward direction is formed on the manipulation portion body310C in the downward direction LWR.

The controller300C is removably connected to the drive device200B via the manipulation cable301connected to the manipulation cable connection portion313C. The controller300C shown inFIG.30is the controller300C in which the manipulation cable301is disconnected from the manipulation cable connection portion313C.

The manipulation cable connection portion313C is an adapter in which the manipulation cable301is removably connected to the manipulation portion body310C. One end portion of the manipulation cable301is connected to the manipulation cable connection portion313C and the other end portion is connected to the drive device200B.

The cover portion314C is provided on the manipulation portion body310C in the downward direction LWR and is a substantially U-shaped portion having an opening in the left direction LH. The cover portion314C extends from a portion located in the downward direction LWR slightly below the end portion of the first angle knob320B in the downward direction LWR to the end portion of the controller300C in the downward direction LWR.

The first button352a, the second button352b, the third button352c, the fourth button352d, and the fifth button352eare buttons (switches) to which any function can be assigned. The first button352aand the second button352bare provided on the manipulation portion body310C in the right direction RH. The third button352c, the fourth button352d, and the fifth button352eare provided on the manipulation portion body310C in the left direction LH. Also, the air supply button350and the suction button351are provided on the manipulation portion body310C in the right direction RH.

The connection portion120C is a member that connects the intracorporeal soft portion119and the extracorporeal soft portion140. The connection portion120C includes the forceps port126that is an insertion port for inserting the treatment tool400. Also, as shown inFIG.30, a connection portion body127C has a substantially L-shaped shape. Therefore, the intracorporeal soft portion119and the extracorporeal soft portion140are connected at substantially right angles.

The intracorporeal soft portion119is connected to the end portion of the connection portion120C in the downward direction LWR. Also, the extracorporeal soft portion140is connected to the connection portion120C in the upward direction UPR so that it extends to the left direction LH.

Here, as shown inFIGS.28and29, both the manipulation cable301connected to the manipulation portion body310C and the extracorporeal soft portion140connected to the connection portion body127C extend in the left direction LH. Therefore, as shown inFIGS.28and29, when the physician S manipulates the controller300C by bundling the manipulation cable301and the extracorporeal soft portion140using a bundling member360C, the interference of the manipulation cable301or the extracorporeal soft portion140can be suppressed.

The bundling member360C is, for example, a string-shaped member formed of rubber or the like.

In the vicinity of the portion bent at a substantially right angle of the connection portion body127C, a gripped portion128C is formed. As shown inFIG.28, the gripped portion128C is formed in the vicinity of a site to which the extracorporeal soft portion140is connected.

In the controller300C connected to the connection portion120C, the physician S puts the palm of his or her left hand L along the surface of the rearward direction RR and manipulates the first angle knob320B or the second angle knob330B with the thumb of his or her left hand L. At this time, the physician S manipulates the gripped portion128C with the base of the thumb and the base of the index finger in support of the gripped portion128C in the connection portion120C bent at a substantially right angle. Therefore, the physician S can manipulate the controller300C with manipulability (a hold feeling) close to that of the conventional flexible endoscope. Also, by providing the gripped portion128C, a bending radius of the bending wire160inserted into the connection portion120C can be increased.

By using the controller300C and the connection portion120C, the state can be easily switched between a state in which the controller300C, the manipulation cable301, and the connection portion120C are connected (FIGS.28and29) and a state in which each of the controller300C, the manipulation cable301, and the connection portion120C is separated (FIG.30).

The above-described components are implemented by recording a program in each embodiment on a computer-readable recording medium and causing a computer system to read and execute the program recorded on the recording medium. Also, the “computer system” used herein is assumed to include an operating system (OS) and hardware such as peripheral equipment. Also, the “computer-readable recording medium” refers to a flexible disk, a magneto-optical disc, a read-only memory (ROM), a portable medium such as a compact disc (CD)-ROM, or a storage device such as a hard disk embedded in the computer system. Furthermore, the “computer-readable recording medium” may include a computer-readable recording medium for dynamically holding the program for a short time period as in a communication line when the program is transmitted via a network such as the Internet or a communication circuit such as a telephone circuit and a computer-readable recording medium for holding the program for a given time period as in a volatile memory inside the computer system serving as a server or a client when the program is transmitted. Also, the above-described program may be a program for implementing some of the above-described functions. Furthermore, the above-described program may be a program capable of implementing the above-described function in combination with a program already recorded on the computer system.