Source: https://patents.google.com/patent/JP5085807B2/en
Timestamp: 2020-08-06 13:05:12
Document Index: 679339580

Matched Legal Cases: ['art 22', 'art 21', 'art 26', 'art 26', 'art 26', 'art 22', 'art 26', 'arts 22', 'arts 22', 'art 26', 'art 27', 'art 23', 'art 23', 'art 23', 'art 26', 'art 23', 'art 26', 'art 26', 'art 26', 'art 23', 'art 23', 'art 23', 'art 26', 'arts 22', 'art 26', 'art 26', 'art 23', 'art 26', 'art 15', 'art 43', 'art 45', 'arts 22', 'art 26', 'art 43', 'art 43', 'art 43', 'art 72', 'art 73', 'art 72', 'art 73']

JP5085807B2 - Endoscope - Google Patents
JP5085807B2
JP5085807B2 JP2012520406A JP2012520406A JP5085807B2 JP 5085807 B2 JP5085807 B2 JP 5085807B2 JP 2012520406 A JP2012520406 A JP 2012520406A JP 2012520406 A JP2012520406 A JP 2012520406A JP 5085807 B2 JP5085807 B2 JP 5085807B2
bending operation
JP2012520406A
JPWO2012046605A1 (en
豊 正木
恵二朗 尾本
晴彦 上野
次生 岡崎
利昌 河合
2010-10-08 Priority to JP2010228527 priority Critical
2010-10-08 Priority to JP2010228527 priority
2011-09-28 Application filed by オリンパスメディカルシステムズ株式会社 filed Critical オリンパスメディカルシステムズ株式会社
2011-09-28 Priority to PCT/JP2011/072257 priority patent/WO2012046605A1/en
2011-09-28 Priority to JP2012520406A priority patent/JP5085807B2/en
2012-11-28 Application granted granted Critical
2012-11-28 Publication of JP5085807B2 publication Critical patent/JP5085807B2/en
2014-02-24 Publication of JPWO2012046605A1 publication Critical patent/JPWO2012046605A1/en
238000005452 bending Methods 0.000 claims description 360
238000003780 insertion Methods 0.000 claims description 15
238000006243 chemical reaction Methods 0.000 description 8
The present invention relates to an endoscope including a bending portion that performs a bending operation by an operation at a bending operation input portion.
In general, an endoscope includes a bending portion that performs a bending operation by an operation at a bending operation input unit. As a bending operation mechanism for bending the bending portion, there is one in which a driving member such as a motor is provided in the operation portion on the proximal end side from the insertion portion. In such a bending operation mechanism, the driving member is driven by an operation at the bending operation input unit, and a linear member such as a wire having one end connected to the driving member moves in the longitudinal direction. The other end of the linear member is connected to the curved portion. The bending portion performs a bending operation by the movement of the linear member in the longitudinal direction.
Patent Document 1 discloses an endoscope in which a bending operation switch box (bending operation input unit) including a bending operation switch that is a bending operation input unit is detachably attached to an operation unit main body. In this endoscope, when the bending operation switch box is attached to the operation unit body, the electrical contact provided in the bending operation switch box and the electrical contact provided in the operation unit body are electrically connected. For this reason, an electric signal is transmitted to an ultrasonic motor which is a drive member provided inside the operation unit main body by an operation with the bending operation switch. The ultrasonic motor is driven by the transmitted electrical signal, and the bending portion is bent. In addition, since the bending operation switch box can be attached to and detached from the operation unit main body, it is possible to use an appropriate type of bending operation switch corresponding to the case and the operator's preference.
JP-A-8-224206
When the endoscope is used, the operator's hand becomes dirty or wet with mucus or blood. In the endoscope of the above-mentioned Patent Document 1, by attaching / detaching the bending operation switch box to / from the operation unit main body with a dirty or wet hand, the electric contact of the bending switch box and / or the electric contact of the operation unit main body becomes dirty. May adhere. If dirt or the like adheres to the electrical contacts, a failure may occur in the electrical circuit between the bending operation switch and the driving member. Due to the failure of the electric circuit, the electric signal generated by the operation with the bending operation switch is not transmitted to the driving member, and the driving member is not driven. Therefore, the operation with the bending operation switch is not transmitted to the bending portion.
In addition, by providing an electrical contact on the operation unit main body, the attachment / detachment surface of the operation unit main body with the bending operation switch box is formed in an uneven shape. For this reason, it becomes difficult to clean the attaching / detaching portion of the operation portion main body with the curved switch box after using the endoscope.
The present invention has been made paying attention to the above-mentioned problems, and the object of the present invention is to perform a bending operation without providing an electrical contact between the operation unit main body and the bending operation input unit detachable from the operation unit main body. An object of the present invention is to provide an endoscope in which a driving member is driven by an operation at a bending operation input unit of an input unit.
In order to achieve the above object, in one aspect of the present invention, an insertion portion that includes a bending portion that performs a bending operation, extends in the longitudinal direction, and an operation portion main body that is provided on a proximal end side of the insertion portion; A bending operation input unit for performing a bending operation of the bending portion, a bending operation input unit that is detachably attached to the operation unit main body, and a control that is provided in the bending operation input unit and that inputs a control method of the bending operation A control method detection unit that is provided in the operation unit main body and detects the control method of the bending operation input by the control method input unit, and is electrically connected to the control method input unit. A control method detection unit that is electrically insulated, and an operation unit that is provided in the bending operation input unit and whose operating state changes in response to the bending operation in the bending operation input unit,
An operation state detection unit that is provided in the operation unit main body and detects the operation state of the operation unit , the operation state detection unit being electrically insulated from the operation unit, and the operation unit main body A driving member that is driven based on the control method detected by the control method detection unit and the operation state detected by the operation state detection unit, and that bends the bending portion when driven. An endoscope is provided.
According to the present invention, the drive member is driven by the operation of the bending operation input unit of the bending operation input unit without providing an electrical contact between the operation unit main body and the bending operation input unit detachable from the operation unit main body. An endoscope can be provided.
1 is a schematic perspective view showing an endoscope according to a first embodiment of the present invention. FIG. 3 is a schematic perspective view showing various types of bending operation input units that are detachably attached to the operation unit main body of the endoscope according to the first embodiment. The perspective view which shows schematically the 1st bending operation input unit of the endoscope which concerns on 1st Embodiment. The perspective view which shows schematically the internal structure of the 1st bending operation input unit of the endoscope which concerns on 1st Embodiment. The block diagram which shows the bending operation mechanism of the endoscope which concerns on 1st Embodiment. Schematic which shows the attachment or detachment part of the operation part main body and 1st bending operation input unit of the endoscope which concern on 1st Embodiment. The perspective view which shows roughly the attachment or detachment structure of the operation part main body and 2nd bending operation input unit of the endoscope which concern on the 2nd Embodiment of this invention. The block diagram which shows the bending operation mechanism of the endoscope which concerns on 2nd Embodiment. Schematic which shows the attachment or detachment part of the operation part main body and 2nd bending operation input unit of the endoscope which concern on 2nd Embodiment. Schematic which shows the attachment / detachment part of the operation part main body and 2nd bending operation input unit of the endoscope which concern on the 1st modification of 1st Embodiment and 2nd Embodiment. The schematic perspective view which shows the operation part of the endoscope which concerns on the 2nd modification of 1st Embodiment and 2nd Embodiment. Schematic which shows the attachment / detachment part of the 1st bending operation input unit and input part conversion unit of the endoscope which concerns on a 2nd modification. Schematic which shows the 1st bending operation input unit of the endoscope which concerns on the 3rd modification of 1st Embodiment and 2nd Embodiment. Schematic which shows the state which tilted the joystick of the 1st bending operation input unit of the endoscope which concerns on a 3rd modification. Schematic which shows the 1st bending operation input unit of the endoscope which concerns on the 4th modification of 1st Embodiment and 2nd Embodiment.
A first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a diagram illustrating an endoscope 1 according to the present embodiment. As shown in FIG. 1, the endoscope 1 includes an insertion portion 2 that extends in the longitudinal direction and an operation portion 3 that is connected to the proximal direction side of the insertion portion 2. One end of a universal cord 4 is connected to the operation unit 3. A connector 5 is provided at the other end of the universal cord 4. The connector 5 is connected to the control unit 9.
The insertion portion 2 includes a flexible elongated flexible tube portion 6, a curved portion 7 provided on the distal direction side of the flexible tube portion 6, and a distal end rigid portion 8 provided on the distal direction side of the curved portion 7. The distal end rigid portion 8 is provided with an imaging unit (not shown) for imaging a subject. One end of an imaging cable (not shown) is connected to the imaging unit. The imaging cable passes through the insertion unit 2, the operation unit 3, and the universal cord 4, and the other end is connected to an image processing unit (not shown) via the connector 5. A light guide (not shown) extends in the longitudinal direction inside the insertion portion 2. The light guide passes through the operation unit 3 and the universal cord 4, and one end is connected to a light source unit (not shown) via a connector 5. Light emitted from the light source unit is guided by a light guide, and is irradiated onto a subject from an illumination window (not shown) of the distal end rigid portion 8.
The operation unit 3 includes an operation unit main body 10 and a first bending operation input unit 11A that is detachably attached to the operation unit main body 10. The operation unit main body 10 includes a grasping unit 13 that is grasped by an operator when the endoscope 1 is used, and a unit attaching / detaching unit 15 to which the first bending operation input unit 11A is attached. In addition, the operation unit body 10 is provided with a treatment instrument insertion port 16 into which a treatment instrument such as forceps is inserted. A treatment instrument tube (not shown) that defines a treatment instrument insertion path through which the treatment instrument is inserted extends in the insertion portion 2 in the longitudinal direction. One end of the treatment instrument insertion passage communicates with the treatment instrument insertion port 16.
The first bending operation input unit 11A includes a joystick 18A that is a bending operation input unit. By performing an operation of tilting the joystick 18A, the bending portion 7 is bent in the vertical direction (UD direction) and the horizontal direction (LR direction). Note that the bending operation input unit detachably attached to the operation unit body 10 is not limited to the first bending operation input unit 11A including the joystick 18A as the bending operation input unit. FIG. 2 is a diagram illustrating various types of bending operation input units that are detachably attached to the operation unit main body 10. As shown in FIG. 2, the second bending operation input unit 11B includes a tact switch (registered trademark) 18B as a bending operation input unit. The third bending operation input unit 11C includes a trackball 18C as a bending operation input unit. The fourth bending operation input unit 11D includes a touch pad 18D as a bending operation input unit. The fifth bending operation input unit 11E includes a pointing device 18E as a bending operation input unit. The sixth bending operation input unit 11F includes a jog dial 18F as a bending operation input unit.
Hereinafter, a bending operation mechanism for bending the bending portion 7 of the endoscope 1 will be described. In the following description, a case where the first bending operation input unit 11A including the joystick 18A as the bending operation input unit is attached to the operation unit main body 10 will be described. However, the case where the other bending operation input units 11B to 11F are attached to the operation unit main body 10 is the same as the case where the first bending operation input unit 11A is attached to the operation unit main body 10.
FIG. 3 is a diagram showing the first bending operation input unit 11A. FIG. 4 is a diagram showing an internal configuration of the first bending operation input unit 11A. As shown in FIG. 3, the first bending operation input unit 11 </ b> A includes an exterior case 20. The outer case 20 is made of a relatively soft material such as rubber or elastomer. As shown in FIG. 4, the joystick 18 </ b> A serving as a bending operation input unit is continuous with a cross-shaped base unit 21 inside the exterior case 20. The joystick 18 </ b> A extends from the center of the base portion 21 to the outside of the exterior case 20. The cross-shaped base portion 21 is provided with four first pressing portions 22A to 22D that protrude in the opposite direction to the joystick 18A. 1st press part 22A-22D is provided in each of the four edge parts of the cross-shaped base part 21 1 each. The base portion 21 is provided with a second pressing portion 23 that protrudes from the center in the direction opposite to the joystick 18A.
FIG. 5 is a diagram illustrating a bending operation mechanism of the endoscope 1. FIG. 6 is a diagram showing an attaching / detaching portion between the operation portion main body 10 of the endoscope 1 and the first bending operation input unit 11A. As shown in FIG. 6, the unit attaching / detaching portion 15 of the operation portion main body 10 is provided with a first magnet 25 </ b> A. The first bending operation input unit 11A is provided with a second magnet 25B. The first magnet 25A and the second magnet 25B are arranged in a state where an attractive force acts between them. The first bending operation input unit 11 </ b> A is attached to the unit attaching / detaching portion 15 of the operation portion main body 10 by the attractive force between the first magnet 25 </ b> A and the second magnet 25 </ b> B.
As shown in FIG. 6, a pressure sensitive sheet 26 is provided on the unit attaching / detaching portion 15 of the operation portion main body 10. With the pressure sensitive sheet 26, the attachment / detachment surface of the unit attaching / detaching portion 15 with the first bending operation input unit 11A is formed in a flat shape. The pressure-sensitive sheet 26 includes a first pressure-sensitive part 26A provided in a donut shape and a second pressure-sensitive part 26B provided on the inner peripheral side of the first pressure-sensitive part 26A.
In the neutral state where the joystick 18A is not tilted, the first pressing portions 22A to 22D are separated from the first pressure-sensitive portion 26A, and any of the first pressing portions 22A to 22D is the first pressure-sensitive portion 26A. Is not pressed. When the joystick 18A is tilted by the surgeon, the first pressing portions 22A to 22D located on the tilting direction side of the joystick 18A among the first pressing portions 22A to 22D press the first pressure sensing portion 26A. . For example, when the joystick 18A is tilted in the direction of the arrow A in FIG. 4, the first pressing portion 22A presses the first pressure sensitive portion 26A. Each of the first pressing portions 22A to 22D corresponds to the tilting operation of the joystick 18A, and includes a non-pressing state in which the first pressure-sensitive portion 26A is not pressed and a pressing state in which the first pressure-sensitive portion 26A is pressed. The operating state changes between. That is, each of the first pressing portions 22A to 22D is an operating portion whose operating state changes in response to an operation with the joystick 18A that is a bending operation input portion.
As shown in FIGS. 5 and 6, the first pressure sensing unit 26 </ b> A is electrically connected to a first pressure state detection unit 27 provided in the operation unit body 10. The first pressure state detection unit 27 detects the pressure state of the first pressure sensitive unit 26 </ b> A of the pressure sensitive sheet 26. And the operating state of each 1st press part 22A-22D is detected from the pressure state of 26 A of 1st pressure sensitive parts. For example, when the first pressing portion 22A is in the pressed state, the pressure at the location pressed by the first pressing portion 22A is greater than the other portions of the first pressure-sensitive portion 26A. As described above, the first pressure sensing unit 26A and the first pressure state detection unit 27 serve as an operation state detection unit that detects the operation state of the first pressing units 22A to 22D that are operation units.
Here, no electrical contact is provided between the first pressure-sensitive part 26A and the first pressing parts 22A to 22D. For this reason, the first pressing parts 22A to 22D that are the operating parts and the first pressure sensing part 26A and the first pressure state detecting part 27 that are the operating state detecting parts are electrically insulated.
As shown in FIG. 5, the first pressure state detector 27 is electrically connected to a bending operation detector 30 provided in the control unit 9. The bending operation detection unit 30 performs calculations based on the operating states of the first pressing units 22A to 22D detected by the first pressure sensing unit 26A and the first pressure state detection unit 27, and the joystick 18A performs the calculation. Detects bending operation. The bending operation detection unit 30 is electrically connected to a control unit 31 provided in the control unit 9. The entire endoscope system is controlled by the control unit 31. The control unit 31 is electrically connected to a drive command unit 32 provided in the control unit 9.
The drive command unit 32 is electrically connected to a motor 29 that is a drive member provided in the operation unit main body 10. The drive command unit 32 drives the motor 29 based on the bending operation with the joystick 18 </ b> A detected by the bending operation detection unit 30. One end of a wire 33 that is a linear member is connected to the motor 29. The wire 33 passes through the inside of the serpentine tube 6 and the other end is connected to the bending portion 7. When the motor 29 is driven, the wire 33 moves in the longitudinal direction. By the movement of the wire 33 in the longitudinal direction, the bending portion 7 performs a bending operation.
As shown in FIGS. 5 and 6, in a state where the first bending operation input unit 11 </ b> A is attached to the operation unit main body 10, the second pressure-sensitive portion 26 </ b> B of the pressure-sensitive sheet 26 is moved by the second pressing unit 23. Pressed. Similarly, when the other bending operation input units 11 </ b> B to 11 </ b> F are attached to the operation unit main body 10, the second pressure sensing unit 26 </ b> B is pressed by the second pressing unit 23. The shape of the 2nd press part 23 changes according to the kind of bending operation input unit 11A-11F. The control method of the bending operation in the standard state is determined by the shape of the second pressing portion 23. That is, the 2nd press part 23 is a control system input part which inputs the control system of the bending operation in a standard state.
As shown in FIGS. 5 and 6, the second pressure sensing unit 26 </ b> B is electrically connected to a second pressure state detection unit 37 provided in the operation unit main body 10. The second pressure state detection unit 37 detects the pressure state of the second pressure sensitive unit 26 </ b> B of the pressure sensitive sheet 26. And the shape of the 2nd press part 23 is detected from the pressure state of the 2nd pressure sensitive part 26B. For example, the pressure state of the second pressure-sensitive portion 26B differs between when the second pressing portion 23 is hemispherical and when the second pressing portion 23 is prismatic. That is, the 2nd press part 23 presses the 2nd pressure sensitive part 26B to the state from which the pressure state of the 2nd pressure sensitive part 26B differs according to the kind of bending operation input unit 11A-11F. By detecting the shape of the second pressing portion 23, the control method of the bending operation in the standard state input by the second pressing portion 23 which is a control method input portion is detected. That is, the control unit 31 records the bending control parameters for determining the bending amount of the bending portion 7 with respect to the bending operation by the bending operation input units 11A to 11F for each of the bending operation input units 11A to 11F. . The second pressure state detection unit 37 detects the types of bending operation input units 11 </ b> A to 11 </ b> F attached to the operation unit body 10 from the shape of the second pressing unit 23. And the bending control parameter corresponding to the kind of bending operation input unit 11A-11F attached to the operation part main body 10 is selected. As described above, the second pressure sensing unit 26B and the second pressure state detection unit 37 detect the control method of the bending operation in the standard state input by the second pressing unit 23 which is the control method input unit. This is a control method detection unit.
Here, no electrical contact is provided between the second pressure-sensitive part 26 </ b> B and the second pressing part 23. For this reason, the second pressure unit 23 that is the control method input unit and the second pressure sensing unit 26B and the second pressure state detection unit 37 that are the control method detection units are electrically insulated.
As shown in FIG. 5, the second pressure state detection unit 37 is electrically connected to a control unit 31 provided in the control unit 9. As described above, the control unit 31 is electrically connected to the drive command unit 32. The drive command unit 32 drives the motor 29 based on the control method of the bending operation in the standard state detected by the second pressure sensing unit 26B and the second pressure state detection unit 37. The operation unit body 10 is provided with a control method changeover switch 39 that is electrically connected to the control unit 31 of the control unit 9. The operator switches the control method of the bending operation from the control method in the standard state by an operation with the control method switch 39.
Next, the operation of the endoscope 1 of the present embodiment will be described. When bending the bending portion 7 of the endoscope 1, appropriate types of bending operation input units 11 </ b> A to 11 </ b> F are attached to the unit attaching / detaching portion 15 of the operation portion main body 10 according to the case and the operator's preference. At this time, any one of the bending operation input units 11 </ b> A to 11 </ b> F is attached to the unit attaching / detaching portion 15 of the operation portion main body 10 by the attractive force between the first magnet 25 </ b> A and the second magnet 25 </ b> B.
In a state where any one of the bending operation input units 11 </ b> A to 11 </ b> F is attached to the operation unit main body 10, the second pressure-sensitive portion 26 </ b> B of the pressure-sensitive sheet 26 is pressed by the second pressing unit 23. The shape of the 2nd press part 23 changes according to the kind of bending operation input unit 11A-11F. At this time, the second pressure state detection unit 37 detects the pressure state of the second pressure sensitive unit 26 </ b> B of the pressure sensitive sheet 26. And the shape of the 2nd press part 23 is detected from the pressure state of the 2nd pressure sensitive part 26B. By detecting the shape of the second pressing portion 23, the control method of the bending operation in the standard state input by the second pressing portion 23 which is a control method input portion is detected. The surgeon can switch the control method of the bending operation from the control method in the standard state by operating the control method switch 39 of the operation unit body 10.
When the first bending operation input unit 11A is attached to the operation unit body 10, the bending unit 7 is bent by an operation with the joystick 18A. Corresponding to the tilting operation of the joystick 18A, each of the first pressing parts 22A to 22D has a non-pressing state in which the first pressure-sensitive part 26A is not pressed and a pressing state in which the first pressure-sensitive part 26A is pressed. The operating state changes between. Then, the first pressure state detection unit 27 detects the pressure state of the first pressure sensitive unit 26 </ b> A of the pressure sensitive sheet 26. The operating states of the first pressing portions 22A to 22D are detected from the pressure state of the first pressure sensitive portion 26A. Then, the bending operation detection unit 30 is operated by the joystick 18A based on the operation states of the first pressing units 22A to 22D detected by the first pressure sensing unit 26A and the first pressure state detection unit 27. Detect bending operation.
Based on the bending operation with the joystick 18A detected by the bending operation detection unit 30, the control method or the control method switch in the standard state detected by the second pressure sensing unit 26B and the second pressure state detection unit 37 The drive command unit 32 drives the motor 29 by the control method switched by the operation at 39. When the motor 29 is driven, the wire 33 moves in the longitudinal direction. By the movement of the wire 33 in the longitudinal direction, the bending portion 7 performs a bending operation.
Therefore, the endoscope 1 having the above configuration has the following effects. That is, in the endoscope 1, when the bending portion 7 is bent, one of the bending operation input units 11 </ b> A to 11 </ b> F is detachably attached to the unit attaching / detaching portion 15 of the operation portion main body 10 to perform the bending operation. For this reason, an appropriate kind of bending operation input unit 11A-11F can be used according to a case and an operator's liking.
Further, in the endoscope 1, each first pressing unit corresponding to an operation with the bending operation input unit (joystick 18 </ b> A, TACT switch (registered trademark) 18 </ b> B, etc.) of each bending operation input unit 11 </ b> A to 11 </ b> F. The operating state of 22A to 22D changes between a non-pressed state in which the first pressure sensitive unit 26A is not pressed and a pressed state in which the first pressure sensitive unit 26A is pressed. Then, the first pressure state detection unit 27 detects the pressure state of the first pressure sensitive unit 26 </ b> A of the pressure sensitive sheet 26. The operating states of the first pressing portions 22A to 22D are detected from the pressure state of the first pressure sensitive portion 26A. Then, the bending operation detection unit 30 is operated based on the operation states of the first pressing portions 22A to 22D detected by the first pressure sensing unit 26A and the first pressure state detection unit 27, respectively. Detects bending operation at. Since a bending operation at the bending operation input unit is detected by such a configuration, it is necessary to provide an electrical contact between the operation unit main body 10 and each of the bending operation input units 11A to 11F that can be attached to and detached from the operation unit main body 10. Rather, the first pressing portions 22A to 22D and the first pressure sensitive portion 26A are electrically insulated. For this reason, the bending operation mechanism does not break down due to adhesion of dirt or the like to the electrical contacts between the operation unit main body 10 and the respective bending operation input units 11A to 11F. Therefore, the bending portion 7 can be appropriately bent by an operation at the bending operation input portion. Further, since no electrical contact is provided between the operation unit main body 10 and the respective bending operation input units 11A to 11F, the attachment / detachment surfaces of the respective bending operation input units 11A to 11F of the unit attachment / detachment unit 15 of the operation unit main body 10 are provided. Is formed in a planar shape. For this reason, the unit attaching / detaching portion 15 of the operation portion main body 10 can be easily cleaned after the endoscope 1 is used.
Further, in a state where any one of the bending operation input units 11 </ b> A to 11 </ b> F is attached to the operation unit main body 10, the second pressure sensing unit 26 </ b> B of the pressure sensitive sheet 26 is pressed by the second pressing unit 23. At this time, the second pressure state detection unit 37 detects the pressure state of the second pressure sensitive unit 26 </ b> B of the pressure sensitive sheet 26. And the shape of the 2nd press part 23 is detected from the pressure state of the 2nd pressure sensitive part 26B. By detecting the shape of the second pressing portion 23, the control method of the bending operation in the standard state input by the second pressing portion 23 which is a control method input portion is detected. With such a configuration, the bending operation in the standard state can be performed by a control method suitable for the bending operation input unit of each of the bending operation input units 11A to 11F. Further, the control method of the bending operation can be switched from the control method in the standard state according to the operator's preference by the operation with the control method switch 39 of the operation unit main body 10.
Further, since the control method of the bending operation in the standard state is detected by the above-described configuration, an electrical contact is provided between the operation unit main body 10 and each of the bending operation input units 11A to 11F that can be attached to and detached from the operation unit main body 10. There is no need to provide it, and the second pressing portion 23 and the second pressure-sensitive portion 26B are electrically insulated. For this reason, the mechanism for detecting the control method of the bending operation in the standard state does not break down due to adhesion of dirt or the like to the electrical contact between the operation unit main body 10 and each of the bending operation input units 11A to 11F. . Therefore, it is possible to appropriately detect the control method of the bending operation in the standard state. Further, since no electrical contact is provided between the operation unit main body 10 and the respective bending operation input units 11A to 11F, the attachment / detachment surfaces of the respective bending operation input units 11A to 11F of the unit attachment / detachment unit 15 of the operation unit main body 10 are provided. Is formed in a planar shape. For this reason, the unit attaching / detaching portion 15 of the operation portion main body 10 can be easily cleaned after the endoscope 1 is used.
In the first embodiment, the shape of the second pressing portion 23 differs depending on the type of the bending operation input units 11A to 11F, and the bending operation control method in the standard state depends on the shape of the second pressing portion 23. However, it is not limited to this. For example, the number and height of the second pressing portions 23 may be different depending on the types of the bending operation input units 11A to 11F. In this case, the control method of the bending operation in the standard state is determined by the number and height of the second pressing portions 23. That is, the second pressing portion 23 presses the second pressure-sensitive portion 26B in a state where the pressure state of the second pressure-sensitive portion 26B is different according to the types of the bending operation input units 11A to 11F. I just need it.
Next, a second embodiment of the present invention will be described with reference to FIGS. In addition, the same code | symbol is attached | subjected about the part which has the same function as 1st Embodiment, and the same function, and the description is abbreviate | omitted. Further, in the following description, a case will be described in which the second bending operation input unit 11B including the tact switch (registered trademark) 18B as the bending operation input unit is attached to the operation unit main body 10. However, when the other bending operation input units 11 </ b> A and 11 </ b> C to 11 </ b> F are attached to the operation unit main body 10, the second bending operation input unit 11 </ b> B is the same as when the second bending operation input unit 11 </ b> B is attached to the operation unit main body 10.
FIG. 7 is a diagram illustrating a detachable configuration between the operation unit main body 10 and the second bending operation input unit 11B. As shown in FIG. 7, the unit attaching / detaching portion 15 of the operation portion main body 10 is provided with a concave portion 41. The second bending operation input unit 11B is provided with a convex portion 42 that can be engaged with the concave portion 41. When the convex portion 42 engages with the concave portion 41, the second bending operation input unit 11 </ b> B is detachably attached to the operation portion main body 10. At least a part of the attaching / detaching surface of the unit attaching / detaching part 15 of the operation part main body 10 is formed to be transparent. Similarly, at least a part of the attaching / detaching surface of the second bending operation input unit 11B is formed to be transparent. Therefore, light passes between the transparent part of the attaching / detaching surface of the operation unit body 10 and the transparent part of the attaching / detaching surface of the second bending operation input unit 11B, and the light is transmitted between the operation unit body 10 and the second bending operation input unit 11B. Communicated. The transparent portion of the unit attaching / detaching portion 15 and the transparent portion of the second bending operation unit 11B are made of a relatively hard and transparent resin material such as polycarbonate. Thereby, the damage at the time of washing | cleaning and the attachment or detachment of the 2nd bending unit 11B is prevented.
FIG. 8 is a diagram illustrating a bending operation mechanism of the endoscope 1. FIG. 9 is a diagram showing an attachment / detachment portion between the operation portion main body 10 of the endoscope 1 and the second bending operation input unit 11B. A tact switch (registered trademark) 18B, which is a bending operation input unit, includes four button units 43A to 43D (see FIG. 7). As shown in FIG. 9, each button part 43A-43D is electrically connected to the light emission control part 45 provided in the 2nd bending operation input unit 11B. The second bending operation input unit 11B includes four first LEDs 46A to 46D that are first light emitting members. Each of the first LEDs 46 </ b> A to 46 </ b> D is electrically connected to the light emission control unit 45. In the neutral state where none of the button portions 43A to 43D is pressed, any of the first LEDs 46A to 46D are turned off. When one of the button portions 43A to 43D of the TACT switch (registered trademark) 18B is pressed by the surgeon, the first LEDs 46A to 46D corresponding to the button portions 43A to 43D pressed among the first LEDs 46A to 46D. 46D lights up. For example, when the button portion 43A is pressed, the first LED 46A is turned on. The operation state of each of the first LEDs 46A to 46D changes between a light-off state and a light-on state in response to an operation on the Tact Switch (registered trademark) 18B. That is, each 1st LED46A-46D is an operation part from which an operation state changes corresponding to operation with the tact switch (trademark) 18B which is a bending operation input part.
As shown in FIGS. 8 and 9, the operation unit body 10 includes a power supply unit 47. The power supply unit 47 is electrically connected to a power supply 48 provided in the control unit 9. The second bending operation input unit 11 </ b> B includes a power receiving unit 49 to which power is supplied from the power supply unit 47. The power receiving unit 49 is electrically connected to the light emission control unit 45. With the power supplied to the power receiving unit 49, the light emission control unit 45 lights each of the first LEDs 46A to 46D. The power supply unit 47 and the power receiving unit 49 are electrically insulated. Power is supplied from the power supply unit 47 to the power receiving unit 49 by magnetic induction, photovoltaic power generation, or the like. As a result, power is supplied from the power supply unit 47 to the power receiving unit 49 without providing electrical contacts to the unit attaching / detaching unit 15 and the second bending operation input unit 11B of the operation unit main body 10.
As shown in FIGS. 8 and 9, the operation unit body 10 includes four photodiodes 51 </ b> A to 51 </ b> D that are light receiving members. Each of the photodiodes 51A to 51D receives light from the corresponding first LED 51 to 51D when the first LED 46A to 46D is turned on. For example, the photodiode 51A receives light from the first LED 46A when the first LED 46A is in a lighting state. And the operating state of each 1st LED46A-46D is detected by the presence or absence of light reception with photodiode 51A-51D. As described above, the photodiodes 51 </ b> A to 51 </ b> D serve as an operation state detection unit that detects the operation state of the first LEDs 46 </ b> A to 46 </ b> D that are operation units.
Here, no electrical contact is provided between the photodiodes 51A to 51D and the first LEDs 46A to 46D. Therefore, the first LEDs 46 </ b> A to 46 </ b> D that are the operation units and the photodiodes 51 </ b> A to 51 </ b> D that are the operation state detection units are electrically insulated.
As shown in FIG. 8, each of the photodiodes 51 </ b> A to 51 </ b> D is electrically connected to a bending operation detection unit 52 provided in the operation unit body 10. The bending operation detection unit 52 performs calculation based on the operating state of each of the first LEDs 46A to 46D detected by the photodiodes 51A to 51D, and detects a bending operation at the TACT switch (registered trademark) 18B. The bending operation detection unit 52 is electrically connected to the control unit 31 provided in the control unit 9. The control unit 31 is electrically connected to a drive command unit 32 provided in the control unit 9. The drive command unit 32 is electrically connected to a motor 29 that is a drive member provided in the operation unit main body 10. The drive command unit 32 drives the motor 29 based on the bending operation at the tact switch (registered trademark) 18B detected by the bending operation detection unit 52. One end of a wire 33 that is a linear member is connected to the motor 29. The wire 33 passes through the inside of the serpentine tube 6 and the other end is connected to the bending portion 7. When the motor 29 is driven, the wire 33 moves in the longitudinal direction. By the movement of the wire 33 in the longitudinal direction, the bending portion 7 performs a bending operation.
As shown in FIGS. 8 and 9, the second bending operation input unit 11 </ b> B includes a second LED 53 that is a second light emitting member electrically connected to the light emission control unit 45. The light emission control unit 45 turns on the second LED 53 by the power supplied to the power receiving unit 49. The other bending operation input units 11 </ b> A, 11 </ b> C to 11 </ b> F are similarly provided with the second LED 53. The light color when the second LED 53 is turned on differs depending on the types of the bending operation input units 11A to 11F. That is, the type of light of the second LED 53 differs according to the type of the bending operation input units 11A to 11F. The control method of the bending operation in the standard state is determined by the light color of the second LED 53. That is, the second LED 53 is a control method input unit that inputs a control method of the bending operation in the standard state.
As shown in FIGS. 8 and 9, the operation unit body 10 includes a color sensor 57. The color sensor 57 receives light from the second LED 53 and detects the light color of the received light. That is, the color sensor 57 is a light type detection unit that detects the type of light received from the second LED. By detecting the light color of the light from the second LED 53, the control method of the bending operation in the standard state input by the second LED 53 which is the control method input unit is detected. As described above, the color sensor 57 is a control method detection unit that detects the control method of the bending operation in the standard state input by the second LED 53 that is the control method input unit.
Here, no electrical contact is provided between the color sensor 57 and the second LED 53. Therefore, the second LED 53 that is the control method input unit and the color sensor 57 that is the control method detection unit are electrically insulated.
As shown in FIG. 8, the color sensor 57 is electrically connected to the control unit 31 provided in the control unit 9. As described above, the control unit 31 is electrically connected to the drive command unit 32. The drive command unit 32 drives the motor 29 based on the control method of the bending operation in the standard state detected by the color sensor 57. As in the first embodiment, the surgeon switches the control method of the bending operation from the control method in the standard state by an operation with the control method switch 39.
Next, the operation of the endoscope 1 of the present embodiment will be described. When bending the bending portion 7 of the endoscope 1, appropriate types of bending operation input units 11 </ b> A to 11 </ b> F are attached to the unit attaching / detaching portion 15 of the operation portion main body 10 according to the case and the operator's preference. At this time, any one of the bending operation input units 11 </ b> A to 11 </ b> F is attached to the unit attaching / detaching portion 15 of the operation portion main body 10 by the convex portion 42 engaging with the concave portion 41.
In a state where any of the bending operation input units 11 </ b> A to 11 </ b> F is attached to the operation unit main body 10, light from the second LED 53 is received by the color sensor 57. The light color of the second LED 53 varies depending on the types of the bending operation input units 11A to 11F. At this time, the color sensor 57, which is a light color detection unit, detects the light color of the received light. Then, by detecting the light color of the light received by the color sensor 57, the control method of the bending operation in the standard state input by the second LED 53 which is a control method input unit is detected. The surgeon can switch the control method of the bending operation from the control method in the standard state by operating the control method switch 39 of the operation unit body 10.
When the second bending operation input unit 11B is attached to the operation unit body 10, the bending unit 7 is bent by an operation with a tact switch (registered trademark) 18B. Corresponding to the pressed state of the respective button portions 43A to 43D of the tact switch (registered trademark) 18B, the operating state of each of the first LEDs 46A to 46D changes between the unlit state and the lit state. And each photodiode 51A-51D receives the light from corresponding 1st LED46A-46D at the time of lighting of 1st LED46A-46D. The operating states of the respective first LEDs 46A to 46D are detected based on the presence or absence of light reception by the photodiodes 51A to 51D. Then, the bending operation detection unit 52 detects the bending operation at the TACT switch (registered trademark) 18B based on the operating states of the first LEDs 46A to 46D detected by the photodiodes 51A to 51D.
Based on the bending operation at the tact switch (registered trademark) 18 </ b> B detected by the bending operation detection unit 52, switching is performed by the control method in the standard state detected by the color sensor 57 or the operation at the control method changeover switch 39. The drive command unit 32 drives the motor 29 by the control method. When the motor 29 is driven, the wire 33 moves in the longitudinal direction. By the movement of the wire 33 in the longitudinal direction, the bending portion 7 performs a bending operation.
Further, in the endoscope 1, each of the first LEDs 46 </ b> A to 46 </ b> A corresponds to the operation of the bending operation input unit (joystick 18 </ b> A, Tact Switch (registered trademark) 18 </ b> B) of each of the bending operation input units 11 </ b> A to 11 </ b> F. As for 46D, an operation state changes between a light extinction state and a lighting state. The photodiodes 51A to 51D receive light from the corresponding first LEDs 46A to 46D when the first LEDs 46A to 46D are turned on. The operating states of the respective first LEDs 46A to 46D are detected based on the presence or absence of light reception by the photodiodes 51A to 51D. Then, the bending operation detection unit 52 detects the bending operation at the bending operation input unit based on the operating state of each of the first LEDs 46A to 46D detected by the photodiodes 51A to 51D. Since a bending operation at the bending operation input unit is detected by such a configuration, it is necessary to provide an electrical contact between the operation unit main body 10 and each of the bending operation input units 11A to 11F that can be attached to and detached from the operation unit main body 10. Rather, the first LEDs 46A to 46D and the photodiodes 51A to 51D are electrically insulated. For this reason, the bending operation mechanism does not break down due to adhesion of dirt or the like to the electrical contacts between the operation unit main body 10 and the respective bending operation input units 11A to 11F. Therefore, the bending portion 7 can be appropriately bent by an operation at the bending operation input portion. Further, since no electrical contact is provided between the operation unit main body 10 and the respective bending operation input units 11A to 11F, the attachment / detachment surfaces of the respective bending operation input units 11A to 11F of the unit attachment / detachment unit 15 of the operation unit main body 10 are provided. Is formed in a planar shape. For this reason, the unit attaching / detaching portion 15 of the operation portion main body 10 can be easily cleaned after the endoscope 1 is used.
In a state where any one of the bending operation input units 11 </ b> A to 11 </ b> F is attached to the operation unit main body 10, the color sensor 57 receives light from the second LED 53. At this time, the color sensor 57 detects the light color of the received light. By detecting the color of the light received by the color sensor 57, the control method of the bending operation in the standard state input by the second LED 53 which is a control method input unit is detected. With such a configuration, the bending operation in the standard state can be performed by a control method suitable for the bending operation input unit of each of the bending operation input units 11A to 11F. Further, the control method of the bending operation can be switched from the control method in the standard state according to the operator's preference by the operation with the control method switch 39 of the operation unit main body 10.
Moreover, since the control method of the bending operation in the standard state is detected by the above-described configuration, an electrical contact is provided between the operation unit main body 10 and each of the bending operation input units 11A to 11F that can be attached to and detached from the operation unit main body 10. The second LED 53 and the color sensor 57 are electrically insulated from each other. For this reason, the mechanism for detecting the control method of the bending operation in the standard state does not break down due to adhesion of dirt or the like to the electrical contact between the operation unit main body 10 and each of the bending operation input units 11A to 11F. . Therefore, it is possible to appropriately detect the control method of the bending operation in the standard state. Further, since no electrical contact is provided between the operation unit main body 10 and the respective bending operation input units 11A to 11F, the attachment / detachment surfaces of the respective bending operation input units 11A to 11F of the unit attachment / detachment unit 15 of the operation unit main body 10 are provided. Is formed in a planar shape. For this reason, the unit attaching / detaching portion 15 of the operation portion main body 10 can be easily cleaned after the endoscope 1 is used.
In the endoscope 1, power is supplied to the power receiving unit 49 from the power supply unit 47 that is electrically connected to the power supply 48. With the power supplied to the power receiving unit 49, the light emission control unit 45 turns on the first LEDs 46 </ b> A to 46 </ b> D and the second LED 53. The power supply unit 47 and the power reception unit 49 are electrically insulated, and power is supplied from the power supply unit 47 to the power reception unit 49 by magnetic induction, photovoltaic power generation, or the like. For this reason, it is possible to supply power from the power supply unit 47 to the power receiving unit 49 without providing electrical contacts in the unit attaching / detaching unit 15 and the second bending operation input unit 11B of the operation unit main body 10.
Further, for example, in the first embodiment, the positions, shapes, and the like of the first pressing portions 22A to 22D are set at positions where the first pressure sensitive portion 26A of the pressure sensitive sheet 26 of the operation portion main body 10 can be pressed. There is a need. The bending operation input unit such as the joystick 18A changes the operating state of each of the first pressing units 22A to 22D by a mechanical configuration. For this reason, the position, shape, and the like of the bending operation input unit are also restricted by restricting the position, shape, and the like of the first pressing portions 22A to 22D. On the other hand, in the present embodiment, the operation state of each of the first LEDs 46A to 46D changes between the light-off state and the light-on state by an operation at the bending operation input unit. That is, it is not the structure which changes the operating state of each 1st LED46A-46D by a mechanical structure. For this reason, compared with 1st Embodiment, the freedom degree, such as the position of 1st LED46A-46D, the position of a bending operation input part, a shape, etc. becomes high. Accordingly, the bending operation input unit can be set at a position, shape, etc. that are easy for the operator to operate.
In the second embodiment, the light color of the second LED 53 differs depending on the type of the bending operation input units 11A to 11F, and the control method of the bending operation in the standard state is determined by the light color of the second LED 53. However, it is not limited to this. For example, the light emission period, brightness, number, and the like of the second LED 53 may be different depending on the types of the bending operation input units 11A to 11F. In this case, the control method of the bending operation in the standard state is determined by the light emission cycle, luminance, number, and the like of the second LED 53. In other words, the second LED 53 may have a different type of light corresponding to the types of the bending operation input units 11A to 11F. In this case, the operation unit body 10 includes a light type detection unit that detects the type of light from the second LED 53.
In the first embodiment, the operating state of the first pressing parts 22A to 22D, which are the operating parts, is detected from the pressure state of the first pressure sensing part 26A, and the bending operation at the bending operation input part is detected. ing. In the second embodiment, the operating states of the first LEDs 46A to 46D, which are the operating units, are detected by the photodiodes 51A to 51D, and the bending operation at the bending operation input unit is detected. However, the configuration for detecting the bending operation at the bending operation input unit is not limited to the configuration of the above-described embodiment.
FIG. 10 is a diagram showing an attaching / detaching portion between the operation portion main body 10 and the second bending operation input unit 11B according to the first modification. As illustrated in FIG. 10, the second bending operation input unit 11B includes four first magnets 61A to 61D. Each of the first magnets 61A to 61D is attached to the corresponding button part 43A to 43D of the TACT switch (registered trademark) 18B. When the button portions 43A to 43D are pressed by a bending operation at the TACT switch (registered trademark) 18B, the first magnets 61A to 61D move together with the corresponding button portions 43A to 43D. For example, when the button part 43A is pressed, the first magnet 61A moves integrally with the button part 43A. When the first magnets 61A to 61D move, the first magnets 61A to 61D move between the most proximal state that is closest to the operation unit body 10 and the most distal state that is farthest from the operation unit body 10. The operating state changes with. That is, the first magnets 61 </ b> A to 61 </ b> D serve as an operating portion whose operating state changes in response to a bending operation with a TACT switch (registered trademark) 18 </ b> B.
The operation unit body 10 is provided with four first magnetic sensors 62A to 62D in a fixed state. Each of the first magnetic sensors 62A to 62D detects the strength of the magnetic field formed by the corresponding first magnet 61A to 61D. For example, the first magnetic sensor 62A detects the strength of the magnetic field formed by the first magnet 61A. Since each of the first magnets 61A to 61D moves, the intensity of the magnetic field detected by the corresponding first magnetic sensor 62A to 62D changes due to a change in the operating state of each of the first magnets 61A to 61D. The operating states of the first magnets 61A to 61D are detected by detecting the strength of the magnetic field formed by the first magnets 61A to 61D corresponding to the first magnetic sensors 62A to 62D. That is, the first magnetic sensors 62A to 62D serve as an operation state detection unit that detects the operation state of the first magnets 61A to 61D as the operation unit. Then, based on the operating state of the first magnets 61 </ b> A to 61 </ b> D, the bending operation detection unit 30 detects the bending operation at the TACT switch (registered trademark) 18 </ b> B. Here, the first magnets 61 </ b> A to 61 </ b> D that are the operation units and the first magnetic sensors 62 </ b> A to 62 </ b> D that are the operation state detection units are electrically insulated.
As described above, from the first modification, the endoscope 1 is provided in the bending operation input units 11 </ b> A to 11 </ b> F, and an operating unit whose operating state changes corresponding to the bending operation in the bending operation input unit, What is necessary is just to provide the operation part main body 10 in the state electrically insulated between and the operation state detection part which detects the operation state of an operation part.
In the first embodiment, the control method of the bending operation in the standard state input by the second pressing unit 23 that is the control method input unit is detected from the pressure state of the second pressure sensing unit 26B. Yes. In the second embodiment, the control method of the bending operation in the standard state input by the second LED 53 that is the control method input unit is detected from the light type of light received by the color sensor 57. However, the configuration for detecting the control method of the bending operation in the standard state is not limited to the configuration of the above-described embodiment.
As shown in FIG. 10, the second bending operation input unit 11 </ b> B of the first modification includes a second magnet 63. The other bending operation input units 11 </ b> A and 11 </ b> C to 11 </ b> F similarly include the second magnet 63. The intensity of the magnetic field formed by the second magnet 63 differs depending on the types of the bending operation input units 11A to 11F. The control method of the bending operation in the standard state is determined by the strength of the magnetic field formed by the second magnet 63. That is, the second magnet 63 is a control method input unit that inputs a control method of the bending operation in the standard state.
The operation unit body 10 includes a second magnetic sensor 65 that detects the strength of the magnetic field formed by the second magnet 63. Based on the intensity of the magnetic field detected by the second magnetic sensor 65, the control method of the bending operation in the standard state input by the second magnet 63 which is the control method input unit is detected. As described above, the second magnetic sensor 65 is a control method detection unit that detects the control method of the bending operation in the standard state input by the second magnet 63 that is the control method input unit. Here, the second magnet 63 serving as the control method input unit and the second magnetic sensor 65 serving as the control method detection unit are electrically insulated.
As described above, according to the first modification, the endoscope 1 is provided in the bending operation input units 11 </ b> A to 11 </ b> F and is electrically connected between the control method input unit that inputs the control method of the bending operation and the control method input unit. It is only necessary to include a control method detection unit that is provided in the operation unit main body 10 in an insulated state and detects the control method of the bending operation input by the control method input unit.
FIG. 11 is a diagram illustrating the operation unit 3 of the endoscope 1 according to the second modification of the above-described embodiment. As shown in FIG. 11, in this modification, the input unit conversion unit 70 is detachably attached to the first bending operation input unit 11A including a joystick 18A as a bending operation input unit. The input unit conversion unit 70 includes a pointing device 71 as a bending operation input unit. In a state where the input unit conversion unit 70 is attached to the first bending operation input unit 11 </ b> A, the surgeon performs the bending operation of the bending portion 7 with the pointing device 71.
FIG. 12 is a diagram illustrating an attaching / detaching portion between the first bending operation input unit 11 </ b> A and the input unit conversion unit 70. As shown in FIG. 12, the joystick 18 </ b> A includes a ball part 72 and a lever part 73. The input unit conversion unit 70 includes an exterior case 75. The pointing device 71 is attached to the exterior case 75 via a spring 76. The pointing device 71 is provided with a groove-like portion 77 that can be engaged with the ball portion 72 of the joystick 18A. In addition, the exterior case 75 is provided with a locking portion 79 that is locked by the first bending operation input unit 11A when the input unit conversion unit 70 is attached to the first bending operation input unit 11A. The groove-shaped portion 77 of the pointing device 71 is engaged with the ball portion 72, and the locking portion 79 of the outer case 75 is locked by the first bending operation input unit 11A, whereby the first bending operation input unit 11A. The input unit conversion unit 70 is attached to.
With the above configuration, the bending operation input unit can be converted from the joystick 18A to the pointing device 71 without replacing the bending operation input unit 11A attached to the operation unit main body 10.
FIG. 13 is a diagram illustrating a first bending operation input unit 11A according to a third modification of the above-described embodiment. As shown in FIG. 13, the joystick 18 </ b> A includes a ball part 72 and a lever part 73. The first bending operation input unit 11A has an attachment surface 80 to which the joystick 18A is attached. A knob 81 is attached to the ball portion 72 so as to be rotatable with respect to the ball portion 72. The upper surface 81A of the knob 81 is formed in a shape that can easily fit a fingertip. In the neutral state where the joystick 18A is not tilted, the lower surface 81B of the knob 81 is parallel to the mounting surface 80 of the first bending operation input unit 11A. In the neutral state of the joystick 18A, the angle formed by the lever portion 73 and the mounting surface 80 of the first bending operation input unit 11A is 90 °.
When performing the bending operation, the joystick 18A is tilted from the neutral state of FIG. 13 to the state of FIG. 14, for example. At this time, the angle formed by the lever portion 73 and the mounting surface 80 of the first bending operation input unit 11A is θ. The angle θ decreases as the tilt amount of the joystick 18A increases.
Here, when the knob 81 is fixedly attached to the ball portion 72 of the joystick 18 </ b> A, the knob 81 does not rotate with respect to the ball portion 72. For this reason, when the joystick 18A is tilted, the lower surface 81B of the knob 81 and the mounting surface 80 of the first bending operation input unit 11A are not parallel (dotted line in FIG. 14). Therefore, it becomes difficult for the finger to fit on the upper surface 81 </ b> A of the knob 81.
On the other hand, in this modification, the knob 81 is attached to the ball portion 72 of the joystick 18A so as to be rotatable. Therefore, when the joystick 18A is tilted, the knob 81 rotates with respect to the ball portion 72 in the direction opposite to the tilting direction of the joystick 18A. By rotating the knob 81, the lower surface 81B of the knob 81 is arranged in parallel with the mounting surface 80 of the first bending operation input unit 11A even when the joystick 18A is tilted (solid line in FIG. 14). Therefore, even when the joystick 18A is tilted, the finger can easily fit on the upper surface 81A of the knob 81. By fitting the upper surface 81A of the knob 81, the operator can appropriately apply force to the joystick 18A even when the joystick 18A is tilted. Thereby, the surgeon can stably perform the bending operation, and the operability of the bending operation is improved.
FIG. 15 is a diagram illustrating a first bending operation input unit 11A of the fourth modification example of the above-described embodiment. As shown in FIG. 15, in the first bending operation input unit 11A of the present modification, a leaf spring 83 is attached to the lower surface 81B of the knob 81 similar to that of the third modification. In this modification, the configuration is the same as that of the third modification except that a leaf spring 83 is provided.
In the present modification, since the leaf spring 83 is provided, when the finger is released from the knob 81 with the joystick 18A tilted, an elastic force is applied from the leaf spring 83 to the joystick 18A. Due to the elastic force from the leaf spring 83, the joystick 18A returns to the neutral state. With such a configuration, the joystick 18A is always held in a neutral state when the finger is released from the upper surface 81A of the knob 81. For this reason, the operability of the bending operation is further improved.
In the above-described embodiment, the bending portion 7 bends in four directions, ie, the vertical direction (UD direction) and the horizontal direction (LR direction). However, the configuration for detecting the bending operation at the bending operation input unit described above can also be applied when the bending unit 7 bends in two directions, the vertical direction and the horizontal direction. Similarly, when the bending portion 7 bends in two directions, that is, the up-down direction and the left-right direction, the configuration for detecting the control method of the bending operation in the standard state described above can be applied.
The embodiments of the present invention have been described above. However, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the present invention.
An insertion portion that includes a bending portion that performs a bending operation, and extends in the longitudinal direction;
An operation unit body provided on the proximal direction side of the insertion unit;
A bending operation input unit that includes a bending operation input unit that performs a bending operation of the bending unit, and is detachably attached to the operation unit main body;
A control method input unit provided in the bending operation input unit for inputting a control method of the bending operation;
A control method detection unit that is provided in the operation unit body and detects the control method of the bending operation input by the control method input unit, and is electrically insulated from the control method input unit A control method detector ;
An operating portion provided in the bending operation input unit, the operating state changing in response to the bending operation in the bending operation input unit;
An operation state detection unit that is provided in the operation unit main body and detects the operation state of the operation unit, wherein the operation state detection unit is electrically insulated from the operation unit ;
Driven based on the control method detected by the control method detection unit and the operation state detected by the operation state detection unit, which is provided in the operation unit main body, and bends the bending part by being driven. A drive member;
Further comprising a bending operation detection unit for detecting the bending operation at the bending operation input unit based on the operating state of the operating unit detected by the operating state detection unit;
The drive member is driven based on the bending operation detected by the bending operation detection unit.
The endoscope according to claim 1.
The control method detection unit includes a pressure sensing unit and a pressure state detection unit that detects a pressure state of the pressure sensing unit,
The control method input unit presses the pressure sensing unit in a state where the bending operation input unit is attached to the operation unit main body, and the pressure state of the pressure sensing unit corresponds to the type of the bending operation input unit. A pressing portion that presses the pressure-sensitive portion in a different state;
The operating state detection unit includes a pressure sensing unit and a pressure state detection unit that detects a pressure state of the pressure sensing unit,
In response to the bending operation at the bending operation input unit, the operating unit is a pressing whose operating state changes between a non-pressing state in which the pressure-sensitive unit is not pressed and a pressing state in which the pressure-sensitive unit is pressed. Comprising a part,
The control method input unit includes a light emitting member having a different type of light corresponding to the type of the bending operation input unit,
The control method detection unit includes a light type detection unit that receives light from the light emitting member and detects a type of the received light.
The linear member according to claim 1, further comprising: a linear member having one end connected to the driving member and the other end connected to the bending portion, and being moved in the longitudinal direction when the driving member is driven to bend the bending portion. Endoscope.
JP2012520406A 2010-10-08 2011-09-28 Endoscope Active JP5085807B2 (en)
JP2010228527 2010-10-08
PCT/JP2011/072257 WO2012046605A1 (en) 2010-10-08 2011-09-28 Endoscope
JP2012520406A JP5085807B2 (en) 2010-10-08 2011-09-28 Endoscope
JP5085807B2 true JP5085807B2 (en) 2012-11-28
JPWO2012046605A1 JPWO2012046605A1 (en) 2014-02-24
ID=45927600
JP2012520406A Active JP5085807B2 (en) 2010-10-08 2011-09-28 Endoscope
US (1) US8758233B2 (en)
EP (1) EP2545843B1 (en)
JP (1) JP5085807B2 (en)
CN (1) CN102883649B (en)
WO (1) WO2012046605A1 (en)
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