Endoscope device

Abstract

In inputting of operation instructions by first and second control output instruction input devices (25, 26), trajectory calculation means (70) calculates the trajectories of the first and second active treatment devices (6, 7) based on any one of joints (A1-A4) that are instructed to operate. Operation of the first and second active treatment devices (6, 7) by first and second active mechanisms (8, 9) is controlled by treatment device operation control means (69) based on the result of the calculation by the trajectory calculation means (70). In an endoscope device, the treatment devices have improved operation efficiency and positional accuracy.

Description

technical field [0001] The invention relates to an endoscope device for diagnosing and treating lesions in a body cavity by using a treatment instrument inserted into an insertion channel of the endoscope. Background technique [0002] In general, a lesion in a body cavity is diagnosed and treated using a treatment instrument inserted into a treatment instrument insertion channel of an endoscope. In order to improve the operability of the treatment equipment, techniques for making the treatment equipment multi-degree-of-freedom and dynamic are also being studied. [0003] Japanese Unexamined Patent Application Publication No. 2003-127076 (Patent Document 1) discloses a vertical multi-joint type six-degree-of-freedom manipulator that holds a scope body so that it can move to an arbitrary position. Here, the position and posture of the scope are calculated from the angles of the joints of the arms of the vertical multi-joint six-degree-of-freedom manipulator. [0004] As a t...

AI Technical Summary

Problems solved by technology

Therefore, the errors existing in individual joints accumulate into the error amount of the joints used, resulting in lower positional accuracy during control.

Moreover, the operating efficiency also deteriorates

As a result, since the multi-joint bending mechanism makes each bending piece of the bending part independently bend toward any direction of each bending piece through its own operating wire, in the case of an active treatment instrument that adopts a multi-joint bending mechanism, multiple In the case of multi-joint control by one operation line, if the number of moving joints increases, the control accuracy will decrease

Images