Endoscope device

A technology for endoscopes and input devices, applied in the fields of endoscopes, medical science, surgery, etc., can solve the problems of decreased control accuracy, poor action efficiency, and low position accuracy, and achieve high-efficiency drive, action efficiency, and position Effect of Accuracy Improvement

Active Publication Date: 2009-12-30
OLYMPUS CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 independen

Method used

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Examples

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Embodiment Construction

[0042] Below, refer to Figure 1 to Figure 9 A first embodiment of the present invention will be described. image 3 A schematic configuration of the entire system of the endoscope apparatus 1 according to the present embodiment is shown. The system of the endoscope device 1 is composed of an endoscope 2 and its peripheral devices. The peripheral device has: a light source device 3; a display processor 4; a display device 5; one or more (in this embodiment, two (first, second)) active treatment instruments 6, 7; 1. Second) active mechanism (operating device) 8, 9; and treatment instrument control unit 10. The light source device 3 generates illumination light for an endoscope. The display processor 4 is an image processing device that performs various image processing on image data captured by the imaging unit of the endoscope 2 . The first active mechanism 8 is a drive device for the first active treatment instrument 6 , and the second active mechanism 9 is a drive device...

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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...

Claims

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Application Information

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IPC IPC(8): A61B19/00A61B1/00
CPCA61B2019/507A61B2019/2242A61B2019/508A61B19/22A61B1/018A61B2019/5255A61B19/5212A61B19/5244A61B1/04A61B2034/2055A61B34/20A61B34/70A61B34/71A61B90/361A61B2034/107A61B2034/108
Inventor 梅本义孝高桥和彦野波徹绪
Owner OLYMPUS CORP
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