Endoscope system, control device, and control method

Abstract

An endoscope system includes an endoscope including an insertion section having a bending section, and a first wire and a second wire fixed to both sides at a distal end section of the bending section across a center axis in a length direction of the bending section; a driving device connected to the endoscope, which bends the bending section by driving the first wire and the second wire; and a control device which controls the driving device, the control device performing position control that controls a pulling amount or a feeding amount of one of the first wire and the second wire based on a target position at which the bending section is bent, and tension control that controls the pulling amount or the feeding amount so that a tension of the other of the first wire and the second wire coincides with a prescribed set value.

Description

Technical Field

[0001] This invention relates to an endoscope system, control device, and control method equipped with an endoscope. This application claims priority based on U.S. Provisional Application No. 62 / 961,872, filed January 16, 2020, and PCT Application No. PCT / JP2020 / 040874, filed October 30, 2020, the contents of which are incorporated herein by reference. Background Technology

[0002] Previously, endoscopes were used for observation or treatment within luminal organs such as the digestive tract. There is a desire for medical systems that can more effectively perform endoscopic observation or treatment. For example, there is a desire for a medical system that reduces the fatigue of surgeons using endoscopes and is easy to use even for inexperienced surgeons.

[0003] Patent Document 1 describes an electrically driven bending endoscope with an insertion section that bends electrically. The electrically driven bending endoscope described in Patent Document 1 reduces surgeon fatigue because its insertion section bends electrically.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent No. 4823697 Summary of the Invention

[0007] The problem the invention aims to solve

[0008] However, the electric bending endoscope described in Patent Document 1 is a medical system that can reduce surgeon fatigue to some extent by electrically driving the bending part, but the bending control part equipped with the motor is held in the endoscope fixing arm, which sometimes hinders the operation and is not always easy for surgeons to use. It is not an endoscope system (medical system) that can more effectively perform insertion observation or treatment.

[0009] In view of the above, the object of the present invention is to provide an endoscopic system (medical system) that can more effectively perform observation or treatment using an endoscope.

[0010] means for solving problems

[0011] To address the above problems, the present invention proposes the following solution.

[0012] The first aspect of the endoscopic system of the present invention comprises: an endoscope having an insertion portion and a first wire and a second wire, the insertion portion having a curved portion, the first wire and the second wire being fixed on both sides of the front end of the curved portion across a central axis in the length direction of the curved portion; a driving device connected to the endoscope, which drives the first wire and the second wire to bend the curved portion; and a control device controlling the driving device, the control device performing the following controls: position control, controlling the traction or delivery amount of one of the first wire and the second wire based on a target position for bending the curved portion; and tension control, controlling the traction or delivery amount so that the tension of the other of the first wire and the second wire is consistent with a predetermined set value.

[0013] The effects of the invention

[0014] The endoscope system according to the present invention enables more efficient observation or treatment using an endoscope. Attached Figure Description

[0015] Figure 1 This is an overall diagram of the electric endoscope system according to the first embodiment.

[0016] Figure 2 This is a diagram showing the endoscope and operating device of the electric endoscope system used by a surgeon.

[0017] Figure 3 This is a diagram showing the insertion portion of the endoscope.

[0018] Figure 4 This is a cross-sectional view of a portion of the curved section of the endoscope.

[0019] Figure 5 yes Figure 4 An enlarged view of the joint ring of the bend in region E shown.

[0020] Figure 6 It is along Figure 4 and Figure 5 A cross-sectional view of the curved section cut along line C1-C1.

[0021] Figure 7 It is along Figure 4 A cross-sectional view of the curved portion (second curved portion) cut along line C2-C2.

[0022] Figure 8 This is a three-dimensional view of the endoscope's connecting parts.

[0023] Figure 9 This is a three-dimensional view of a part of the connecting section.

[0024] Figure 10This is a cross-sectional view of the connection.

[0025] Figure 11 This is a perspective view of the cylindrical component and bearing part of the connecting section.

[0026] Figure 12 This is a diagram showing the first assembly / disassembly section before the drive unit of the electric endoscope system is assembled.

[0027] Figure 13 This is a diagram showing the first vertical bending line assembly / disassembly section before assembly into the drive unit.

[0028] Figure 14 This is a diagram showing the first upper and lower curved line assembly / disassembly part attached to the drive unit.

[0029] Figure 15 This is a functional block diagram of the drive unit of the electric endoscope system.

[0030] Figure 16 This is a diagram showing the first vertical bending line drive unit equipped with the first vertical bending line loading and unloading part.

[0031] Figure 17 This is a perspective view of the operating device of the electric endoscope system.

[0032] Figure 18 This is a perspective view of the operating device as seen from the rear.

[0033] Figure 19 This is a side view of the operating device.

[0034] Figure 20 This is a perspective view of the operating device equipped with a second clamp jaw fixing device.

[0035] Figure 21 This is a functional block diagram of the control device of the electric endoscope system.

[0036] Figure 22 This is a functional block diagram of the main controller of the control device.

[0037] Figure 23 This is a perspective view of a modified example of the operating device.

[0038] Figure 24 This is a perspective view of the operating device with the second clamp jaw fixing device installed in different positions.

[0039] Figure 25 It is shown Figure 24 The diagram shows an example of the use of this operating device.

[0040] Figure 26 This is an overall diagram of the electric endoscope system according to the second embodiment.

[0041] Figure 27 This is a functional block diagram of the drive unit of the electric endoscope system.

[0042] Figure 28 This is a diagram showing the migration of the bending pattern of the curved section in the electric endoscope system.

[0043] Figure 29 This is a diagram showing the switching switch of the operating device in the electric endoscope system.

[0044] Figure 30 This is a diagram showing the bend controlled in the coordinated bend control mode.

[0045] Figure 31 This is an overall diagram of the electric endoscope system according to the third embodiment.

[0046] Figure 32 This is a diagram showing the first assembly / disassembly section before the drive unit of the electric endoscope system is assembled.

[0047] Figure 33 This is a diagram showing the first vertical bending line assembly / disassembly section before assembly into the drive unit.

[0048] Figure 34 This is a diagram showing the first upper and lower curved line assembly / disassembly part attached to the drive unit.

[0049] Figure 35 This is a functional block diagram of the drive unit.

[0050] Figure 36 This is a diagram showing the first up-down bending line drive unit equipped with the first up-down bending line loading and unloading part.

[0051] Figure 37 This is a diagram illustrating an example of the use of the curved section in the electric endoscope system.

[0052] Figure 38 This is an overall diagram of the electric endoscope system according to the fourth embodiment.

[0053] Figure 39 This is a perspective view of the cylindrical component and bearing section of the electric endoscope system.

[0054] Figure 40 This is an exploded perspective view of the cylindrical component and the bearing section.

[0055] Figure 41 This is a diagram illustrating the procedure using the electric endoscope system.

[0056] Figure 42 This is a diagram showing a modified example of the connection part of the electric endoscope system.

[0057] Figure 43 This is an overall diagram of the electric endoscope system according to the fifth embodiment.

[0058] Figure 44 This is a cross-sectional view of the soft tissue inside the body of the electric endoscope system.

[0059] Figure 45 This is a cross-sectional view of the external flexible part of the electric endoscope system.

[0060] Figure 46 It is a diagram showing the sheaths of two bundled wires.

[0061] Figure 47 It is a cross-sectional view of the curved internal soft part and the external soft part.

[0062] Figure 48 This is a diagram showing the insertion portion of the electrically powered endoscope system inserted into the large intestine.

[0063] Figure 49 This is a diagram showing a variation of the fastener.

[0064] Figure 50 This is a diagram showing a modified example of two wire sheaths.

[0065] Figure 51 This is an overall diagram of the billing system for the electric endoscope system including the sixth embodiment.

[0066] Figure 52 This is a flowchart illustrating the steps involved in the billing process within the electric endoscope system.

[0067] Figure 53 This is a flowchart illustrating the steps involved in the billing process within the electric endoscope system.

[0068] Figure 54 This is an overall diagram of the electric endoscope system according to the seventh embodiment.

[0069] Figure 55 This is a flowchart illustrating the processing steps for displaying three-dimensional images in the electric endoscope system.

[0070] Figure 56 This is a diagram showing the positional relationship between the endoscope and the display device in the electric endoscope system.

[0071] Figure 57 This is a diagram showing the positional relationship between the endoscope and the display device in the electric endoscope system.

[0072] Figure 58 This is a diagram illustrating an example of a three-dimensional image displayed by a display device in the electric endoscope system.

[0073] Figure 59 This is a diagram illustrating an example of a three-dimensional image displayed by a display device in the electric endoscope system.

[0074] Figure 60 This is a diagram showing the positional relationship between the surgeon, endoscope, and display device in the electric endoscope system.

[0075] Figure 61 This is a diagram showing the positional relationship between the surgeon, endoscope, and display device in the electric endoscope system.

[0076] Figure 62 This is a diagram showing the positional relationship between the surgeon, endoscope, and display device in the electric endoscope system.

[0077] Figure 63 This is a diagram showing the relationship between the first and second directions in the electric endoscope system.

[0078] Figure 64 This is a diagram showing the relationship between the first and second directions in the electric endoscope system.

[0079] Figure 65 This is a diagram showing the relationship between the first and second directions in the electric endoscope system.

[0080] Figure 66 This is a diagram illustrating an example of an image displayed by a display device in this electric endoscope system.

[0081] Figure 67 This is a diagram illustrating an example of an image displayed by a display device in this electric endoscope system.

[0082] Figure 68 This is a diagram illustrating an example of an image displayed by a display device in this electric endoscope system.

[0083] Figure 69 This is a diagram illustrating an example of an image displayed by a display device in this electric endoscope system.

[0084] Figure 70 This is a diagram illustrating an example of an image displayed by a display device in this electric endoscope system.

[0085] Figure 71 This is a diagram illustrating an example of an image displayed by a display device in this electric endoscope system.

[0086] Figure 72 This is a diagram illustrating an example of an image displayed by a display device in this electric endoscope system.

[0087] Figure 73This is an overall diagram of the electric endoscope system according to the eighth embodiment.

[0088] Figure 74 This is a top view of the electric endoscope system.

[0089] Figure 75 This is the control flowchart of the control device for the electric endoscope system.

[0090] Figure 76 This is an overall diagram of the electric endoscope system according to the ninth embodiment.

[0091] Figure 77 This is a functional block diagram of the drive unit of the electric endoscope system.

[0092] Figure 78 This is a diagram showing the restoring force acting on the bending portion of the electric endoscope system.

[0093] Figure 79 This is a diagram showing other frictional forces acting on the bending portion of the electric endoscope system.

[0094] Figure 80 This is a graph showing the relationship between the bending angle and the restoring force of the curved section in this electric endoscope system.

[0095] Figure 81 This is the control flowchart of the control device for the electric endoscope system.

[0096] Figure 82 This is a diagram showing the bending section controlled by the control device.

[0097] Figure 83 This is a diagram showing the bending section controlled by the control device.

[0098] Figure 84 This is a diagram showing the bending section controlled by the control device.

[0099] Figure 85 This is a diagram showing the bending section controlled by the control device.

[0100] Figure 86 This is a diagram showing the bending section controlled by the control device.

[0101] Figure 87 This is a diagram showing the bending section controlled by the control device.

[0102] Figure 88 This is an overall diagram of the electric endoscope system according to the tenth embodiment.

[0103] Figure 89 This is a perspective view of the operating device of the electric endoscope system.

[0104] Figure 90 This is a side view of the operating device with the touchpad set to the first mode.

[0105] Figure 91 This is a side view of the operating device with the touchpad set to the second mode.

[0106] Figure 92 This is a perspective view showing a modified example of the operating device.

[0107] Figure 93 This is an overall diagram of the electric endoscope system according to the eleventh embodiment.

[0108] Figure 94 This is a perspective view of the operating device of the electric endoscope system.

[0109] Figure 95 This is an overall diagram of the electric endoscope system according to the twelfth embodiment.

[0110] Figure 96 This is a perspective view of the operating device as seen from the rear.

[0111] Figure 97 This is a perspective view of the operating device installed on a soft external part of the body.

[0112] Figure 98 This diagram illustrates how to use the electric endoscope system.

[0113] Figure 99 This diagram illustrates different mounting methods for the mounting adapter of the operating device.

[0114] Figure 100 This is a diagram showing a modified example of the operating device. Detailed Implementation

[0115] (First Implementation)

[0116] Reference Figures 1 to 25 The electric endoscope system 1000 according to the first embodiment of the present invention will be described. Figure 1 This is an overall view of the electric endoscope system 1000 of this embodiment.

[0117] [Electric Endoscope System 1000]

[0118] like Figure 1 As shown, the electric endoscope system 1000 is a medical system for observing and treating the body of a patient P lying horizontally on an operating table T. The electric endoscope system 1000 includes an endoscope 100, a drive unit 200, an operating unit 300, a treatment instrument 400, an image control unit 500, and a display unit 900.

[0119] Endoscope 100 is a device that is inserted into the lumen of patient P to observe and treat the affected area. Endoscope 100 is detachable from drive unit 200. An internal path 101 is formed inside endoscope 100. In the following description, the side of endoscope 100 that is inserted into the lumen of patient P is referred to as the "front end side (A1)" and the side that is attached to drive unit 200 is referred to as the "base end side (A2)".

[0120] The drive unit 200 is detachably connected to the endoscope 100 and the operating device 300. Based on operations input to the operating device 300, the drive unit 200 drives a built-in motor to electrically drive the endoscope 100. Furthermore, based on operations input to the operating device 300, the drive unit 200 drives a built-in pump or similar device to perform air delivery and suction on the endoscope 100.

[0121] The operating device 300 is detachably connected to the drive device 200 via the operating cable 301. The operating device 300 can also communicate with the drive device 200 wirelessly, without a wired connection. The surgeon S can electrically drive the endoscope 100 by operating the operating device 300.

[0122] The treatment device 400 is a device that penetrates the internal path 101 of the endoscope 100 and is inserted into the lumen of the patient P to treat the affected area. Figure 1 In this process, the instrument 400 is inserted into the internal path 101 of the endoscope 100 via the extension channel tube 130. Alternatively, the instrument 400 may be inserted directly into the internal path 101 of the endoscope 100 from the forceps opening 126 without going through the extension channel tube 130.

[0123] The image control device 500 is detachably connected to the endoscope 100 and acquires camera images from the endoscope 100. The image control device 500 displays the camera images acquired from the endoscope 100, GUI images for the purpose of providing information to the operator, and CG images on the display device 900.

[0124] The drive unit 200 and the image control unit 500 constitute a control unit 600 for controlling the electric endoscope system 1000. The control unit 600 may also include peripheral equipment such as a video printer. The drive unit 200 and the image control unit 500 may also be an integrated unit.

[0125] The control device 600 can connect to the hospital's intranet and retrieve information such as electronic medical records from the server. Furthermore, the control device 600 can also connect to the Internet, enabling maintenance of the endoscope 100 via the Internet.

[0126] The display device 900 is a device capable of displaying images such as those on an LCD. The display device 900 is connected to the image control device 500 via a display cable 901.

[0127] Figure 2 This is a diagram showing the endoscope 100 and operating device 300 used by the surgeon S.

[0128] Surgeon S, for example, observes the camera image displayed on display device 900 while using right hand R to operate endoscope 100 inserted into the lumen through patient P's anus, and uses left hand L to operate operating device 300. Because endoscope 100 and operating device 300 are separate, surgeon S can operate them independently without affecting each other.

[0129] [Endoscope 100]

[0130] like Figure 1 As shown, the endoscope 100 includes an insertion part 110, a connecting part 120, an external flexible part 140, an loading and unloading part 150, and a curved wire 160 (see reference). Figure 6 ), and built-in 170 (see reference) Figure 6 The insertion part 110, the connecting part 120, the external flexible part 140, and the loading and unloading part 150 are connected sequentially from the front end side. The connecting part 120 can be connected to the extension channel tube 130.

[0131] Figure 3 This is a diagram showing the insertion portion 110 of the endoscope 100.

[0132] Inside the endoscope 100, an internal path 101 is formed, extending from the front end of the insertion portion 110 along the length direction A of the endoscope 100 to the base end of the loading and unloading portion 150. The curved line 160 and the insert 170 are inserted into the internal path 101.

[0133] The built-in component 170 has a channel tube 171 and an air delivery suction tube 172 (see reference). Figure 10 ), camera cable 173, and optical fiber 174.

[0134] [Insertion Section 110]

[0135] The insertion part 110 is a slender strip member that can be inserted into the lumen. The insertion part 110 has a front end 111, a curved part 112, and a soft inner part 119. The front end 111, the curved part 112, and the soft inner part 119 are connected sequentially from the front end side.

[0136] like Figure 3As shown, the front end portion 111 has an opening 111a, an illumination portion 111b, and a camera portion 111c. The opening 111a is an opening that communicates with the channel tube 171. Figure 3 As shown, a handling part 410, such as a gripping plier, is provided at the front end of the handling device 400 that penetrates the insertion channel tube 171 and emerges from the opening 111a.

[0137] The illumination unit 111b is connected to the light guide 174 that guides the illumination light, and emits illumination light to illuminate the object being photographed. The camera unit 111c is equipped with a camera element such as a CMOS sensor and is used to capture images of the object being photographed. The camera signal is transmitted to the image control device 500 via the camera cable 173.

[0138] Figure 4 The figure shows a portion of the curved section 112 as a cross-sectional view.

[0139] The curved portion 112 has a first curved portion 113 on the front end side of the curved portion 112, a second curved portion 114 on the base end side of the curved portion 112, and an outer sheath 118 (see reference). Figure 3 The first curved portion 113 and the second curved portion 114 can be bent in different directions.

[0140] The first curved portion (front end curved portion) 113 has a plurality of segmental rings (also referred to as curved blocks) 115 and a first front end portion 116 connected to the front ends of the plurality of segmental rings 115. The plurality of segmental rings 115 and the first front end portion 116 are connected in the longitudinal direction A inside the outer sheath 118. Furthermore, the shape and number of segmental rings 115 in the first curved portion 113 are not limited to… Figure 4 The shape and number of the segment rings 115 are shown.

[0141] Figure 5 yes Figure 4 An enlarged view of the nodal ring 115 in region E shown.

[0142] The joint ring 115 is a short cylindrical component made of metal. Multiple joint rings 115 are connected in such a way that the internal space of adjacent joint rings 115 becomes a continuous space.

[0143] The ring 115 has a first ring 115a on the front end side and a second ring 115b on the base end side. The first ring 115a and the second ring 115b are connected by a first rotating pin 115p in a manner that allows them to rotate about a rotation axis extending in a vertical direction (also known as the "UD direction") perpendicular to the length direction A.

[0144] In adjacent rings 115, the second ring 115b in the front end side ring 115 and the first ring 115a in the base end side ring 115 are connected by a second rotating pin 115q in a manner that allows them to rotate around a rotation axis extending in a left-right direction (also known as the "LR direction") perpendicular to the length directions A and UD.

[0145] The first ring 115a and the second ring 115b are alternately connected by a first rotating pin 115p and a second rotating pin 115q, and the bent portion 112 can be bent freely in the desired direction.

[0146] Figure 6 It is along Figure 4 and Figure 5 A cross-sectional view of the curved portion 112 cut along line C1-C1.

[0147] An upper wire guide 115u and a lower wire guide 115d are formed on the inner circumferential surface of the second ring 115b. The upper wire guide 115u and the lower wire guide 115d are arranged on both sides of the central axis O in the length direction A in the UD direction. A left wire guide 115l and a right wire guide 115r are formed on the inner circumferential surface of the first ring 115a. The left wire guide 115l and the right wire guide 115r are arranged on both sides of the central axis O in the length direction A in the LR direction.

[0148] A through hole for the bending line 160 to be inserted is formed along the length direction A in the upper wire guide 115u, lower wire guide 115d, left wire guide 115l and right wire guide 115r.

[0149] The second curved portion (base end side curved portion) 114 has multiple joints (also called curved blocks) 115 and a second front end portion 117 connected to the front ends of the multiple joints 115. The multiple joints 115 and the second front end portion 117 are connected in the longitudinal direction A inside the outer sheath 118. The second front end portion 117 is connected to the joint 115 at the base end of the first curved portion 113. The joint 115 at the base end of the second curved portion 114 is mounted at the front end of the soft portion 119 inside the body.

[0150] The length of the first curved portion 113 in the longitudinal direction A is shorter than the length of the second curved portion 114 in the longitudinal direction A. Even with the same bending angle, the shorter the length of the curved portion in the longitudinal direction A, the higher the precision of the tip. By making the length of the first curved portion 113 in the longitudinal direction A shorter than that of conventional endoscopes, the tip 111 can move more precisely. Therefore, the bending operation at the tip of the curved portion 112 can be performed more precisely. The ratio of the length of the first curved portion 113 in the longitudinal direction A to the length of the second curved portion 114 in the longitudinal direction A is, for example, 2:3 to 1:4. In addition, the shape and number of the segmental rings 115 in the second curved portion 114 are not limited to... Figure 4 The shape and number of the segment rings 115 are shown.

[0151] The bending line 160 is a line that bends the bending portion 112. The bending line 160 has a first bending line 161 that bends the first bending portion 113 and a second bending line 162 that bends the second bending portion 114. The first bending line 161 and the second bending line 162 extend to the loading and unloading portion 150 through the internal path 101.

[0152] like Figure 4 and Figure 6 As shown, the first curved line 161 has a first upper curved line 161u, a first lower curved line 161d, a first left curved line 161l, a first right curved line 161r, and four first line sheaths 161s.

[0153] like Figure 4 and Figure 7 As shown, the first upper curved line 161u, the first lower curved line 161d, the first left curved line 161l, and the first right curved line 161r are respectively inserted through the first thread sheath 161s. The front end of the first thread sheath 161s is installed on the second front end 117. The first thread sheath 161s extends to the loading and unloading part 150.

[0154] The first upper bend line 161u and the first lower bend line 161d are lines that bend the first bend 113 in the UD direction. The first upper bend line 161u passes through and is inserted into the upper wire guide 115u. The first lower bend line 161d passes through and is inserted into the lower wire guide 115d.

[0155] like Figure 4 As shown, the front ends of the first upper curved line 161u and the first lower curved line 161d are fixed to the first front end portion 116 of the front end portion 113. The front ends of the first upper curved line 161u and the first lower curved line 161d, which are fixed to the first front end portion 116, are arranged on both sides of the UD direction, separated by the central axis O in the length direction A.

[0156] The first left-curved line 161l and the first right-curved line 161r are lines that cause the first curved portion 113 to bend in the LR direction. The first left-curved line 161l passes through and is inserted into the left line guide portion 115l. The first right-curved line 161r passes through and is inserted into the right line guide portion 115r.

[0157] like Figure 4 As shown, the front ends of the first left curved line 161l and the first right curved line 161r are fixed to the first front end 116 of the first curved portion 113. The front ends of the first left curved line 161l and the first right curved line 161r, which are fixed to the first front end 116, are arranged on both sides of the LR direction, separated by the central axis O in the length direction A.

[0158] By pulling or relaxing the first bending line 161 (first upper bending line 161u, first lower bending line 161d, first left bending line 161l, and first right bending line 161r) respectively, the first bending portion 113 can be bent freely in the desired direction.

[0159] Figure 7 It is along Figure 4 A cross-sectional view of the second curved portion 114 cut along line C2-C2.

[0160] like Figure 4 and Figure 7 As shown, the second curved line 162 has a second upper curved line 162u, a second lower curved line 162d, a second left curved line 162l, a second right curved line 162r, and four second line sheaths 162s.

[0161] like Figure 4 As shown, the second upper bend 162u, the second lower bend 162d, the second left bend 162l, and the second right bend 162r are respectively inserted through the second wire sheath 162s. The front end of the second wire sheath 162s is mounted on the joint ring 115 at the base end of the second bend portion 114. The second wire sheath 162s extends to the loading / unloading portion 150.

[0162] The second upper bending line 162u and the second lower bending line 162d are lines that cause the second bent portion 114 to bend in the UD direction. For example... Figure 7 As shown, in the second bend 114, the second upper bend line 162u is inserted through the upper wire guide 115u. Furthermore, in the second bend 114, the second lower bend line 162d is inserted through the lower wire guide 115d.

[0163] like Figure 4 As shown, the front ends of the second upper curved line 162u and the second lower curved line 162d are fixed to the second front end portion 117 of the front end portion 114. The front ends of the second upper curved line 162u and the second lower curved line 162d, which are fixed to the second front end portion 117, are arranged on both sides of the UD direction, separated by the central axis O in the length direction A.

[0164] The second left-curving line 162l and the second right-curving line 162r are lines that cause the second curved portion 114 to bend in the LR direction. For example... Figure 7 As shown, in the second bend 114, the second left bend line 162l is inserted through the left guide line 115l. Furthermore, in the second bend 114, the second right bend line 162r is inserted through the right guide line 115r.

[0165] like Figure 4As shown, the front ends of the second left bend 162l and the second right bend 162r are fixed to the second front end 117 of the front end of the second bend 114. The front ends of the second left bend 162l and the second right bend 162r, which are fixed to the second front end 117, are arranged on both sides of the LR direction, separated by the central axis O in the length direction A.

[0166] By pulling or relaxing the second bending line 162 (second upper bending line 162u, second lower bending line 162d, second left bending line 162l, and second right bending line 162r) respectively, the second bending portion 114 can be bent freely in the desired direction.

[0167] like Figure 6 and Figure 7 As shown, a curved line 160, a channel tube 171, a camera cable 173, and a light guide 174 are inserted through the internal path 101 formed inside the curved portion 112.

[0168] The internal soft part 119 is a long and flexible tubular component. A curved line 160, a channel tube 171, a camera cable 173, and a light guide 174 are inserted through the internal path 101 formed in the internal soft part 119.

[0169] [Link 120]

[0170] Figure 8 This is a perspective view of connector 120. Figure 9 This is a perspective view of a part of the connecting part 120. Figure 10 This is a cross-sectional view of the connecting part 120.

[0171] The connecting part 120 is a component that connects the inner flexible part 119 of the insertion part 110 to the outer flexible part 140. The connecting part 120 includes a cylindrical component 121, a connecting part body 122, a sealing part 123, a bearing part 124, a cover component 125, a clamp jaw 126, and a three-pronged branch pipe 127.

[0172] The cylindrical component 121 is formed in a cylindrical shape. For example... Figure 10 As shown, the internal space of the cylindrical member 121 communicates with the internal space of the flexible part 119, forming part of the internal path 101. A curved wire 160, a channel tube 171, a camera cable 173, and a light guide 174 are inserted through the internal space of the cylindrical member 121. A magnetic ring 121s is installed circumferentially on the outer peripheral surface of the cylindrical member 121.

[0173] The main body 122 of the connecting part is formed in a generally cylindrical shape. For example... Figure 10As shown, the connecting body 122 has a front end portion 122a and a base end portion 121b. The base end portion 121b of the cylindrical member 121 is inserted into the front opening of the front end portion 122a. The front end portion 140a of the external flexible part 140 is joined to the base end portion 122b by means of adhesive or heat fusion. The internal space of the connecting body 122 communicates with the internal space of the external flexible part 140, forming part of the internal path 101.

[0174] The sealing part 123 has a housing 123h and a ring 123r. The inner side of the housing 123h is fixed to the outer periphery of the cylindrical member 121. The outer side of the housing 123h contacts the inner peripheral surface of the front end portion 125a of the cover member 125 via the ring 123r.

[0175] Figure 11 This is a perspective view of the cylindrical component 121 and the bearing part 124.

[0176] The bearing portion 124 connects the connecting body 122 and the cylindrical member 121 in a manner that allows them to rotate about a rotation axis extending along the length direction A. Specifically, the bearing portion 124 is fixed to the connecting body 122. The bearing portion 124 supports the cylindrical member 121 so that it can rotate about a rotation axis extending along the length direction A.

[0177] The connecting part body 122 has a magnetic sensor (not shown) that detects the rotation of the magnetic ring 121s, and is capable of detecting the rotation angle of the cylindrical member 121 relative to the connecting part body 122. The detected rotation angle is transmitted to the control device 600 via a transmission cable (not shown).

[0178] The base end 119b of the inner flexible part 119 is fixed to the outside of the outer shell 123h. Therefore, the inner flexible part 119, the outer shell 123h, and the cylindrical member 121 become a single unit and rotate relative to the connecting body 122.

[0179] The cover member 125 is a member that covers the outer periphery of the connecting part body 122. The cover member 125 has a first opening 125b for the external flexible part 140 to pass through and a second opening 125c for the pliers jaw 126 to pass through. The gap between the first opening 125b and the external flexible part 140 is sealed by a sealing member. The gap between the second opening 125c and the pliers jaw 126 is sealed by a sealing member.

[0180] The jaw 126 is an insertion port for inserting the treatment device 400. The jaw 126 is cylindrical and mounted on the cover member 125. The base end 126b of the jaw 126 protrudes from the second opening 125c of the cover member 125. An extension channel tube 130 (see reference) can be connected to the base end 126b of the jaw 126. Figure 1 ).

[0181] The three-way branch 127 connects the base end 171b of the channel tube 171, the front end 126a of the forceps jaw 126, and the front end 172a of the air supply and suction tube 172. The channel tube 171 and the air supply and suction tube 172 are connected via the three-way branch 127. Furthermore, the forceps jaw 126 is connected to the channel tube 171 via the three-way branch 127. The surgeon S can insert the treatment instrument 400 through the base end 126b of the forceps jaw 126, allowing the treatment instrument 400 to penetrate the channel tube 171.

[0182] The internal soft part 119 and the external soft part 140 are connected by a connecting part 120 in a manner that allows them to rotate around a rotation axis extending along the length direction A. Therefore, as Figure 2 As shown, when the surgeon S rotates the internal soft part 119 of the insertion part 110 around a rotation axis extending along the length direction A, it is possible to rotate only the internal soft part 119 without rotating the external soft part 140 extending to the vicinity of the drive device 200. Therefore, the surgeon S can easily perform rotation operations on the internal soft part 119.

[0183] On the other hand, friction is generated when the internal soft part 119 and the external soft part 140 rotate relative to each other, so they will not rotate relative to each other unless a specified force is applied. This friction is adjusted so that the internal soft part 119 will not rotate relative to the external soft part 140 unless the surgeon S rotates it. Therefore, even if the surgeon S removes his right hand R from the internal soft part 119 to operate the treatment instrument 400, the internal soft part 119 will not rotate relative to the external soft part 140.

[0184] Furthermore, when the surgeon S rotates the internal soft part 119 of the insertion part 110 around a rotation axis extending along the length direction A, the forceps jaw 126, which rotates in conjunction with the internal soft part 119, i.e., the part installed on the connecting body 122, does not rotate. Since the position of the forceps jaw 126 for inserting the treatment instrument 400 does not change, the surgeon S can easily operate the treatment instrument 400.

[0185] The base end portion 121b of the cylindrical member 121 is inserted inside the connecting body 122. Therefore, the bending line 160, etc., that penetrates the cylindrical member 121 and the connecting body 122 mainly passes through the internal space of the cylindrical member 121, making it difficult for it to contact the connecting body 122, which rotates relative to the cylindrical member 121. Therefore, even when the cylindrical member 121 and the connecting body 122 rotate relative to each other, the bending line 160, etc., twists along the relatively long internal path 101, thus preventing the concentration of torsional stress.

[0186] [External soft tissue 140]

[0187] The external flexible part 140 is an elongated tubular component. A curved wire 160, a camera cable 173, a light guide 174, and an air delivery / suction tube 172 (see reference) are inserted through the internal path 101 formed within the external flexible part 140. Figure 10 ).

[0188] [Loading and Unloading Section 150]

[0189] like Figure 1 As shown, the loading / unloading unit 150 includes a first loading / unloading unit 1501 mounted on the drive unit 200 and a second loading / unloading unit 1502 mounted on the image control unit 500. Alternatively, the first loading / unloading unit 1501 and the second loading / unloading unit 1502 may be an integral loading / unloading unit.

[0190] An internal path 101 formed inside the external flexible part 140 branches into a first loading / unloading part 1501 and a second loading / unloading part 1502. A curved wire 160 and an air supply suction tube 172 are inserted through the first loading / unloading part 1501. A camera cable 173 and an optical guide 174 are inserted through the second loading / unloading part 1502.

[0191] Figure 12 This is a diagram showing the first loading / unloading section 1501 before the drive unit 200 is assembled.

[0192] The first loading and unloading section 1501 includes a first vertical curved line loading and unloading section 151, a first horizontal curved line loading and unloading section 152, a second vertical curved line loading and unloading section 153, and a second horizontal curved line loading and unloading section 154.

[0193] The first upper and lower bending line loading and unloading section 151 is a mechanism that freely loads and unloads the lines (first upper bending line 161u and first lower bending line 161d) that bend the first bending section 113 in the UD direction to the drive device 200.

[0194] The first left and right curved line loading and unloading section 152 is a mechanism that freely loads and unloads the lines (first left curved line 161l and first right curved line 161r) that cause the first curved section 113 to bend in the LR direction to the drive device 200.

[0195] The second upper and lower bending line loading and unloading section 153 is a mechanism that freely connects the line (second upper bending line 162u and second lower bending line 162d) that bends the second bending section 114 in the UD direction to the drive device 200.

[0196] The second left and right curved line loading and unloading section 154 is a mechanism that freely loads and unloads the lines (second left curved line 162l and second right curved line 162r) that cause the second curved section 114 to bend in the LR direction to the drive device 200.

[0197] The first left-right curved line loading and unloading part 152, the second up-down curved line loading and unloading part 153, and the second left-right curved line loading and unloading part 154 have the same structure as the first up-down curved line loading and unloading part 151, therefore, the illustrations and descriptions are omitted.

[0198] Figure 13 This is a diagram showing the first vertical bending line loading and unloading section 151 before the drive unit 200 is assembled. Figure 14 This is a diagram showing the first vertical bending line loading and unloading section 151 assembled to the drive unit 200. The first vertical bending line loading and unloading section 151 has a support member 155, a rotating roller 156, and a tension sensor 159.

[0199] The support member 155 supports the rotating drum 156. The support member 155 has a loading and unloading detection protrusion 155a exposed at the base end of the loading and unloading section 151 on the first vertical bending line, and a plurality of redirecting wheels 155p.

[0200] The deflector 155p changes the transport direction of the first upper curved line 161u through the flexible insert 140, guiding it to the rotating drum 156. Furthermore, the deflector 155p changes the transport direction of the first lower curved line 161d through the flexible insert 140, guiding it to the rotating drum 156.

[0201] The rotating drum 156 is supported on the support member 155 in such a way that it can rotate about a drum rotation axis 156r extending along the length direction A. The rotating drum 156 has a winding wheel 156a and a connecting part 156c.

[0202] The winding wheel 156a rotates around the roller rotation shaft 156r, thereby drawing or feeding out the first upper curved line 161u and the first lower curved line 161d. When viewed from the front end side towards the base end side, the winding wheel 156a rotates clockwise, causing the first upper curved line 161u to wind onto the winding wheel 156a and be drawn out, while the first lower curved line 161d is fed out from the winding wheel 156a. Conversely, by rotating the winding wheel 156a counterclockwise, the first upper curved line 161u is fed out from the winding wheel 156a, while the first lower curved line 161d winds onto the winding wheel 156a and is drawn out.

[0203] The diameters of the portions of the first upper curved line 161u and the first lower curved line 161d wound on the winding wheel 156a are larger than the diameters of the other portions. Therefore, it is possible to properly prevent the first upper curved line 161u and the first lower curved line 161d from being caught between the winding wheel 156a and the support member 155. Furthermore, it is possible to properly prevent elongation associated with the traction or slack of the first upper curved line 161u and the first lower curved line 161d.

[0204] The first upper bend 161u and the first lower bend 161d can also be such that the diameter of the wire passing through the external soft part 140 is larger than the diameter of the wire passing through the insertion part 110. This allows the insertion part 110 inserted into the body to be thinner. Furthermore, by making the diameter of the wire passing through the external part thicker, the elongation of the first upper bend 161u and the first lower bend 161d can be suppressed, improving controllability of the bending operation of the bend 112.

[0205] The connecting part 156c is a circular plate component that rotates around the roller rotation shaft 156r. The connecting part 156c is fixed to the base end of the winding wheel 156a and rotates integrally with the winding wheel 156a. The connecting part 156c is exposed on the base end side of the first up-and-down bending line loading and unloading part 151. Two fitting protrusions 156d are formed on the base end side surface of the connecting part 156c. The two fitting protrusions 156d are formed on both sides, separated by the roller rotation shaft 156r.

[0206] Tension sensor 159 detects the tension of the first upper bending line 161u and the first lower bending line 161d. The detection result of tension sensor 159 is obtained by drive controller 260.

[0207] [Driver 200]

[0208] Figure 15 This is a functional block diagram of the drive unit 200.

[0209] The drive unit 200 includes an adapter 210, an operation receiver 220, an air delivery and suction drive unit 230, a line drive unit 250, and a drive controller 260.

[0210] like Figure 12 As shown, adapter 210 has a first adapter 211 and a second adapter 212. The first adapter 211 is an adapter that can be detachably connected to the operating cable 301. The second adapter 212 is an adapter that can be detachably connected to the first mounting / unmounting part 1501 of the endoscope 100.

[0211] The operation receiving unit 220 receives operation input from the operation device 300 via the operation cable 301. When the operation device 300 and the drive device 200 communicate wirelessly instead of via wired communication, the operation receiving unit 220 has a known wireless receiving module.

[0212] The air supply and suction drive unit 230 is connected to the air supply and suction tube 172 inserted into the internal path 101 of the endoscope 100. The air supply and suction drive unit 230 includes a pump or the like to supply air to the air supply and suction tube 172. In addition, the air supply and suction drive unit 230 draws air from the air supply and suction tube 172.

[0213] The line drive unit 250 is connected to the first vertical bending line loading and unloading unit 151, the first horizontal bending line loading and unloading unit 152, the second vertical bending line loading and unloading unit 153, and the second horizontal bending line loading and unloading unit 154 to drive the bending line 160.

[0214] like Figure 12 As shown, the line drive unit 250 has a first vertical bending line drive unit 251, a first horizontal bending line drive unit 252, a second vertical bending line drive unit 253, and a second horizontal bending line drive unit 254.

[0215] The first upper and lower bending line drive unit 251 is a mechanism connected to the first upper and lower bending line loading and unloading unit 151 to drive the lines (first upper bending line 161u and first lower bending line 161d) that bend the first bending section 113 in the UD direction.

[0216] The first left-right bending line drive unit 252 is a mechanism that drives the lines (first left bending line 161l and first right bending line 161r) that bend the first bending section 113 in the LR direction, connected to the first left-right bending line loading and unloading unit 152.

[0217] The second upper and lower bending line drive unit 253 is a mechanism that is connected to the second upper and lower bending line loading and unloading unit 153 to drive the line (second upper bending line 162u and second lower bending line 162d) that bends the second bending section 114 in the UD direction.

[0218] The second left-right bending line drive unit 254 is a mechanism connected to the second left-right bending line loading and unloading unit 154 to drive the line (second left bending line 162l and second right bending line 162r) that bends the second bending section 114 in the LR direction.

[0219] The first left-right bending line drive unit 252, the second up-down bending line drive unit 253, and the second left-right bending line drive unit 254 have the same structure as the first up-down bending line drive unit 251, therefore, the illustrations and descriptions are omitted.

[0220] like Figure 13As shown, the first up-and-down bending line drive unit 251 includes a support member 255, a bending line drive unit 256A, a locking member 258, and a loading / unloading sensor 259.

[0221] The bending line drive unit 256A is connected to the rotating roller 156 of the first upper and lower bending line loading and unloading unit 151 to drive the first upper bending line 161u and the first lower bending line 161d. The bending line drive unit 256A includes a shaft 256a, a motor unit 256b, a connected part 256c, a torque sensor 256e, a fitting detection sensor 256f, and an elastic member 256s.

[0222] The shaft 256a is supported on the support member 255 in a manner that allows it to rotate about the shaft rotation axis 256r and to move forward and backward in the length direction A. When the first loading and unloading part 1501 of the endoscope 100 is assembled to the drive device 200, the shaft rotation axis 256r is aligned with the roller rotation axis 156r.

[0223] The motor unit 256b includes a DC motor or other motor, a motor driver for driving the motor, and a motor encoder. The motor causes shaft 256a to rotate about the shaft rotation axis 256r. The motor driver is controlled by the drive controller 260.

[0224] The connected part 256c is a circular plate component that rotates around the axis of rotation 256r. The connected part 256c is fixed to the front end of the shaft 256a and rotates integrally with the shaft 256a. Figure 13 As shown, the connected portion 256c is exposed at the front end of the first vertical bending line drive portion 251. Two fitting recesses 256d are formed on the surface of the front end of the connected portion 256c. The two fitting recesses 256d are formed on both sides of the axis of rotation 256r.

[0225] like Figure 14 As shown, the fitting protrusion 156d engages with the fitting recess 256d, and the connecting portion 156c connects with the connected portion 256c. As a result, the rotation of the shaft 256a driven by the motor portion 256b is transmitted to the rotating roller 156. When viewed from the front end side towards the base end side, the shaft 256a rotates clockwise, thereby pulling the first upper curved line 161u and sending out the first lower curved line 161d. Conversely, by rotating the first shaft 256a counterclockwise, the first upper curved line 161u is sent out, and the first lower curved line 161d is pulled.

[0226] The torque sensor 256e detects the rotational torque of shaft 256a about the shaft rotation axis 256r. The detection result of the torque sensor 256e is obtained by the drive controller 260.

[0227] The mating detection sensor 256f detects the mating of the mating protrusion 156d and the mating recess 256d. For example... Figure 14 As shown, the connected portion 256c moves towards the base end side (A2) together with the shaft 256a by being pressed into the connecting portion 156c. The engagement detection sensor 256f detects the engagement of the engagement protrusion 156d and the engagement recess 256d by detecting the approach of the engagement detection protrusion 256g provided on the shaft 256a. The detection result of the engagement detection sensor 256f is obtained by the drive controller 260.

[0228] The elastic member 256s is, for example, a compression spring, with its front end in contact with the connected portion 256c and its base end in contact with the supporting member 255. The elastic member 256s applies a force to the connected portion 256c towards its front end (A1). Figure 14 As shown, when the connecting part 156c is disassembled, the connected part 256c moves together with the shaft 256a toward the base end side (A2). As a result, the engagement detection sensor 256f cannot detect the engagement between the engagement protrusion 156d and the engagement recess 256d.

[0229] like Figure 14 As shown, the loading / unloading sensor 259 detects the engagement and disengagement of the first vertical curved line loading / unloading section 151 relative to the first vertical curved line drive section 251 by detecting engagement and disengagement with the loading / unloading detection protrusion 155a. The detection result of the loading / unloading sensor 259 is obtained by the drive controller 260.

[0230] Figure 16 This diagram shows the first vertical bending line drive unit 251 equipped with the first vertical bending line loading and unloading unit 151. Figure 16 In the process, the loading and unloading sensor 259 detects that the first upper and lower bending line loading and unloading part 151 is assembled onto the first upper and lower bending line drive part 251.

[0231] like Figure 16 As shown, when the connecting portion 156c contacts the connected portion 256c but the engaging protrusion 156d and engaging recess 256d are not engaged, the engagement detection sensor 256f cannot detect the engagement of the engaging protrusion 156d and engaging recess 256d. In this case, the drive controller 260 rotates the connected portion 256c to a position where the engaging recess 256d and engaging protrusion 156d can engage. As a result, the connected portion 256c moves towards the base end side (A2) via the elastic member 256s, thereby engaging the engaging protrusion 156d and engaging recess 256d. The engagement detection sensor 256f detects the engagement of the engaging protrusion 156d and engaging recess 256d.

[0232] The drive controller 260 controls the entire drive unit 200. The drive controller 260 receives operation input from the operation receiving unit 220. Based on the received operation input, the drive controller 260 controls the air delivery / suction drive unit 230 and the linear drive unit 250. Additionally, the drive controller 260 can also perform other processing such as image processing or image recognition processing.

[0233] The drive controller 260 is an executable program computer that includes a processor, a memory, a storage unit capable of storing programs and data, and an input / output control unit. The functions of the drive controller 260 are implemented by the processor executing the program. At least a portion of the functions of the drive controller 260 can also be implemented by dedicated logic circuitry.

[0234] The drive controller 260 is expected to have high computing performance, enabling high-precision control of multiple motors driving multiple curved lines 160.

[0235] Furthermore, the drive controller 260 may also have structures other than a processor, memory, storage unit, and input / output control unit. For example, the drive controller 260 may also have part or all of an image processing unit that performs image processing or image recognition processing. By also having an image processing unit, the drive controller 260 can perform specific image processing or image recognition processing at high speed. The image processing unit may also be mounted on a separate hardware device connected via a communication line.

[0236] [Operating device 300]

[0237] Figure 17 This is a perspective view of the operating device 300. Figure 18 This is a perspective view of the operating device 300 as seen from the rear 311. Figure 19 This is a side view of the operating device 300.

[0238] The operating device 300 is a device that receives input for operating the endoscope 100. The input operating input is sent to the driving device 200 via the operating cable 301.

[0239] The operating device 300 includes an operating unit body 310, a first angle knob 320, a second angle knob 330, a switch 340, an air supply button 350, a suction button 351, and various buttons 352.

[0240] The main body 310 of the operating section is shaped into a roughly cylindrical form that can be held by the surgeon S with his left hand L. For example... Figure 18 As shown, a back surface 311 of the palm of the surgeon's left hand L is formed on the main body 310 of the operating unit. An operating cable 301 is connected to the end of the main body 310 in the longitudinal direction.

[0241] The first angle knob 320 and the second angle knob 330 are rotatably mounted on the main body 310 of the operating section. The first angle knob 320 and the second angle knob 330 are mounted on the front side 312, opposite to the rear side 311. The first angle knob 320 and the second angle knob 330 rotate around the same rotation axis 300r. Rotational operations input to the first angle knob 320 and the second angle knob 330 are sent to the drive unit 200.

[0242] In the following description, the direction of the rotation axis 300r of the first angle knob 320 and the second angle knob 330 is defined as the "front-back direction," and the direction in which the first angle knob 320 and the second angle knob 330 are mounted relative to the operating unit body 310 is defined as "forward (FR)." The opposite direction is defined as "rearward (RR)." Furthermore, the length direction of the operating unit body 310 is defined as the "vertical direction," and the direction in which the operating cable 301 is mounted relative to the operating unit body 310 is defined as "downward (LWR)." The opposite direction is defined as "upward (UPR)." The right direction when facing rearward (RR) is defined as "rightward (RH)," and the opposite direction is defined as "leftward (LH)." The direction facing rightward (RH) or leftward (LH) is defined as the "left-right direction."

[0243] In this embodiment, the direction (front-back direction) of the rotation axis 300r of the first angle knob 320 and the second angle knob 330 is approximately perpendicular to the back surface 311 of the operating part body 310.

[0244] The switch 340 is mounted on the upper part of the operating unit body 310, such as... Figure 18 As shown, it is operated using the thumb of the left hand (L). The switch 340 switches the bending mode of the bending section 112 of the endoscope 100. The switch 340 has a lever switch 341 and a push-button switch 342. When the lever switch 341 of the switch 340 is tilted upwards (UPR), the bending mode becomes "First Bending Section Control Mode (Front End Side Bending Section Control Mode) M1". When the lever switch 341 of the switch 340 is tilted downwards (LWR), the bending mode becomes "Second Bending Section Control Mode (Base End Side Bending Section Control Mode) M2". Alternatively, the bending mode can also be selected via the push-button switch 342. The selected bending mode is sent to the drive unit 200.

[0245] The air supply button 350 is mounted on the upper part of the operating unit body 310, such as... Figure 18 As shown, it is operated using the index or middle finger of the left hand (L). When the air supply button 350 is pressed, air is supplied through the opening 111a of the front end 111 of the endoscope 100. The operation of the air supply button 350 is transmitted to the drive unit 200.

[0246] The suction button 351 is mounted on the upper part of the operating unit 310, such as UPR. Figure 18 As shown, it is operated using the index or middle finger of the left hand (L). When the suction button 351 is pressed, suction is performed through the opening 111a of the front end 111 of the endoscope 100. The operation of the suction button 351 is transmitted to the drive unit 200.

[0247] The drive controller 260 of the drive unit 200 receives the operation input sent by the operating device 300 and controls the air delivery and suction drive unit 230 and the line drive unit 250.

[0248] When the bending mode is the first bending section control mode M1, the drive controller 260 controls the first up-down bending line drive unit 251 based on the rotation operation of the first angle knob 320, thereby driving the lines that bend the first bending section 113 in the UD direction (first up bending line 161u and first down bending line 161d). Furthermore, the drive controller 260 controls the first left-right bending line drive unit 252 based on the rotation operation of the second angle knob 330, thereby driving the lines that bend the first bending section 113 in the LR direction (first left bending line 161l and first right bending line 161r).

[0249] When the bending mode is the second bending section control mode M2, the drive controller 260 controls the second vertical bending line drive unit 253 based on the rotation operation of the first angle knob 320, thereby driving the line that bends the second bending section 114 in the UD direction (second upper bending line 162u and second lower bending line 162d). Furthermore, the drive controller 260 controls the second left and right bending line drive unit 254 based on the rotation operation of the second angle knob 330, thereby driving the line that bends the second bending section 114 in the LR direction (second left bending line 162l and second right bending line 162r).

[0250] When the lever switch 341 is tilted upwards (UPR), the bending mode becomes "first bending section control mode M1," where the first bending section 113 on the front end side bends. On the other hand, when the lever switch 341 is tilted downwards (LWR), the bending mode becomes "second bending section control mode M2," where the second bending section 114 on the base end side bends. Therefore, the surgeon S can intuitively switch between bending modes.

[0251] When the upper UPR of the operating device 300 is aligned with the front end (A1) of the endoscope 100 along its length A, the rotation directions of the first angle knob 320 and the second angle knob 330 are consistent with the bending direction of the curved portion 112 at the front end of the endoscope 100. Furthermore, the operation mode where the first curved portion 113 on the front end (A1) bends in accordance with the upward tilting of the lever switch 341 towards the UPR provides a consistent correspondence and facilitates intuitive operation. Similarly, the operation mode where the second curved portion 114 on the base end (A2) bends in accordance with the downward tilting of the lever switch 341 towards the LWR direction also provides an intuitive correspondence for the operator, resulting in good operability.

[0252] The operating device 300 lacks a drive mechanism for actuating the curved portion 112 of the endoscope 100, thus it is small and lightweight. Furthermore, the first angle knob 320, the second angle knob 330, the air supply button 350, the suction button 351, and various buttons 352 are positioned so that the surgeon S can operate them effectively using only his left hand L. Therefore, as... Figure 2 As shown, surgeon S can easily operate the device 300 using only his left hand L.

[0253] Figure 20 This is a perspective view of the operating device 300 equipped with the second clamp jaw fixing device 360.

[0254] The second jaw retainer 360 can be installed on the operating device 300. The second jaw retainer 360 is installed on the operating device 300 by means of fastening or adhesive tabs, magnets, etc. The second jaw retainer 360 has a second jaw 361 formed in a generally cylindrical shape.

[0255] The second forceps jaw 361 has a first opening 362 and a second opening 363 communicating with the internal space. An extension channel tube 130 is connected to the second opening 363. The second opening 363 can be connected to the forceps jaw 126 of the connecting part 120 via the extension channel tube 130. The surgeon S can insert the treatment instrument 400 through the first opening 362 of the second forceps jaw 361, and the treatment instrument 400 passes through the insertion channel tube 171 via the extension channel tube 130 and the forceps jaw 126.

[0256] Figure 20 The second clamp jaw fixation device 360 ​​shown is installed in the same position as the clamp jaw in the operating section of a conventional flexible endoscope. Therefore, the surgeon S can operate the operating device 300 and the treatment instrument 400 with the same operating feel as the operating section of a conventional flexible endoscope.

[0257] The second forceps jaw fixation device 360 ​​can also be installed at any location on the operating device 300. The second forceps jaw fixation device 360 ​​is installed in a position that is easily accessible to the surgeon S for handling the instrument 400. Two or more second forceps jaw fixation devices 360 can also be installed on the operating device 300.

[0258] [Image Control Device 500]

[0259] Figure 21 This is a functional block diagram of the image control device 500.

[0260] The image control device 500 controls the electric endoscope system 1000. The image control device 500 includes a third adapter 510, an image processing unit 520, a light source unit 530, and a main controller 560.

[0261] The third adapter 510 is an adapter that can be attached to and detached from the second mounting / unmounting section 1502 of the endoscope 100.

[0262] The camera processing unit 520 converts the camera signal obtained from the camera unit 111c at the front end 111 via the camera cable 173 into a camera image.

[0263] The light source unit 530 generates illumination light that shines onto the photographed object. The illumination light generated by the light source unit 530 is guided to the illumination unit 111b of the front end 111 via the light guide 174.

[0264] Figure 22 This is the functional block diagram of the main controller 560.

[0265] The main controller 560 is a computer containing an executable program, including a processor 561 and a memory 562. The functions of the main controller 560 are implemented by the processor 561 executing the program. At least some of the functions of the main controller 560 can also be implemented by dedicated logic circuitry.

[0266] The main controller 560 includes a processor 561, a memory 562 capable of reading programs, a storage unit 563, and an input / output control unit 564.

[0267] Storage unit 563 is a non-volatile recording medium that stores the aforementioned program or required data. Storage unit 563 may be configured as, for example, ROM or hard disk. The program recorded in storage unit 563 is read into memory 562 and executed by processor 561.

[0268] The input / output control unit 564 is connected to the camera processing unit 520, the light source unit 530, the driving device 200, the display device 900, the input device (not shown), and the network device (not shown). Based on the control of the processor 561, the input / output control unit 564 performs data transmission and reception, and control signal transmission and reception for the connected devices.

[0269] The main controller 560 is capable of performing image processing on the camera images acquired by the camera processing unit 520. The main controller 560 is capable of generating GUI images and CG images for the purpose of providing information to the surgeon S. The main controller 560 is capable of displaying the camera images, GUI images, and CG images on the display device 900.

[0270] The main controller 560 connects to the hospital's intranet and can retrieve information such as electronic medical records from the server. Furthermore, the main controller 560 can also connect to the Internet, enabling maintenance of the endoscope 100 via the Internet.

[0271] The main controller 560 is not limited to being an integrated hardware device. For example, the main controller 560 may also be configured by connecting the separate hardware devices, which are set up separately, via communication lines. For example, the main controller 560 may also be a cloud system in which the separate storage unit 563 is connected via communication lines.

[0272] The main controller 560 also has Figure 22 The structure shown includes components other than the processor 561, memory 562, storage unit 563, and input / output control unit 564. For example, the main controller 560 also includes an image processing unit that performs some or all of the image processing or image recognition processing performed by the processor 561. By also including an image processing unit, the main controller 560 can perform specific image processing or image recognition processing at high speed. The image processing unit can also be mounted in a separate hardware device connected via a communication line.

[0273] The electric endoscope system 1000 according to this embodiment enables more efficient observation or treatment using the endoscope 100. Since the endoscope 100 is separate from the operating device 300, the surgeon S can operate the endoscope 100 and the operating device 300 independently without affecting each other.

[0274] When the surgeon S rotates the internal soft portion 119 of the insertion part 110 about a rotation axis extending along the length direction A, only the internal soft portion 119 can be rotated. Therefore, the surgeon S can easily rotate the internal soft portion 119. On the other hand, as long as the surgeon S does not rotate the internal soft portion 119 of the insertion part 110, the internal soft portion 119 will not rotate relative to the external soft portion 140. Therefore, for example, even if the surgeon S removes his right hand R from the internal soft portion 119 in order to operate the treatment instrument 400, the internal soft portion 119 will not rotate relative to the external soft portion 140.

[0275] The drive mechanism that drives the curved portion 112 may be provided in the drive device 200 instead of the operating device 300. Therefore, the operating device 300 can be miniaturized, and the surgeon S can easily operate the operating device 300 with one hand.

[0276] The surgeon S switches the bending mode via switch 340, thereby enabling operation of the bending section 112, which has a two-stage bending function (multi-stage bending function) with the first bending section 113 and the second bending section 114, using only the first angle knob 320 and the second angle knob 330. The operating device 300 may also include separate angle knobs for operating the first bending section 113 and the second bending section 114. Therefore, the operating device 300 can be easily miniaturized, allowing the surgeon S to easily operate it with one hand.

[0277] The first embodiment of the present invention has been described in detail above with reference to the accompanying drawings. However, the specific structure is not limited to this embodiment, and design changes that do not depart from the spirit of the present invention are also included. Furthermore, the structural elements shown in the above embodiments and variations can be appropriately combined to form a configuration.

[0278] (Variation Example 1-1)

[0279] In the above embodiment, the surgeon S operates the endoscope 100 with his right hand R and the operating device 300 with his left hand L. However, the use of the electric endoscope system 1000 is not limited to this. The surgeon S may also operate the endoscope 100 with his left hand L and the operating device 300 with his right hand R. In this case, the operating device 300 is optimized for easy operation with the right hand R.

[0280] (Variations 1-2)

[0281] In the above embodiment, the bending portion 112 has a bending function (multi-stage bending function) in which the first bending portion 113 and the second bending portion 114 bend in two stages. However, the bending portion 112 is not limited to this. The bending portion 112 may also not have the first bending portion 113, but only have the second bending portion 114. The bending portion 112 may also have a third bending portion, which can bend in three stages.

[0282] (Variations 1-3)

[0283] In the above embodiment, the operation cable 301 is installed at the end of the operation unit body 310 along its length. However, the connection position of the operation cable 301 in the operation unit body 310 is not limited to this. Figure 23 This is a perspective view of an operating device 300A, which is a variation of the operating device 300. The operating device 300A includes an operating unit body 310A, a first angle knob 320, a second angle knob 330, a switch 340, an air supply button 350, a suction button 351, and various buttons 352.

[0284] Compared to the operation unit body 310 of the operation device 300 described above, the operation unit body 310A differs in the position where the operation cable 301 is connected. The operation unit body 310A has an operation cable connector 313 for connecting the operation cable 301.

[0285] The operation cable connector 313 is located on the upper part of the operation unit body 310A, near the switch 340. The operation cable connector 313 extends to the left from the back side 311 of the operation unit body 310A. The operation cable connector 313 may also extend to the left from the side of the operation unit body 310A.

[0286] The operating cable connector 313 is located in the same position as the universal cable connector in the operating section of a conventional flexible endoscope. Therefore, the surgeon S can hold the operating device 300A stably by inserting the operating cable connector 313 with the thumb and forefinger of his left hand L, just as with the operating section of a conventional flexible endoscope.

[0287] The operating device 300A can also communicate with the drive device 200 wirelessly, without the operating cable 301 connected to it. This wireless communication allows the left hand (L) to hold the operating device 300 more freely. Furthermore, even with wireless communication, an operating cable connector 313, without the operating cable 301 connected, can be provided in the main body 310A of the operating unit to easily hold the operating device 300 between the thumb and forefinger of the left hand (L). The surgeon (S) can stably hold the operating device 300A by clamping it between the thumb and forefinger of the left hand (L).

[0288] (Variations 1-4)

[0289] In the above embodiment, the second clamp jaw fixing device 360 ​​is installed in the same position as the clamp jaw in the operating part of a conventional flexible endoscope. However, the installation position of the second clamp jaw fixing device 360 ​​is not limited to this. Figure 24 It is a perspective view of an operating device 300 with a second clamp jaw fixing device 360 ​​installed in different positions. Figure 24 The second clamp jaw fixing device 360 ​​shown is mounted on the back 311 of the operating part body 310. Figure 24 The first opening 362 of the illustrated second clamp jaw retainer 360 is located near the suction button 351 of the operating body 310.

[0290] Figure 25 It is shown Figure 24 The diagram shows an example of the use of the operating device 300.

[0291] The surgeon S inserts the treatment instrument 400 through the first opening 362, and through the extension channel tube 130 and forceps jaw 126, the treatment instrument 400 passes through the insertion channel tube 171. The surgeon S can hold the operating device 300 with his left hand L, and grasp the treatment instrument 400 inserted through the first opening 362 with the index and middle fingers of his left hand L. The surgeon S can rotate the first angle knob 320 and the second angle knob 330 with the thumb of his left hand L, while simultaneously moving the treatment instrument 400 forward and backward with the index and middle fingers of his left hand L. The surgeon S can also grasp the treatment instrument 400 with fingers other than the index and middle fingers of his left hand L.

[0292] If the second forceps retainer 360 is mounted on the operating device 300 in a position where the instrument 400 can be operated with the left hand L, the surgeon S can operate the instrument 400 with his left hand L. Therefore, the surgeon S does not need to remove his right hand R from the endoscope 100 to operate the instrument 400. When operating the operating device 300 or the instrument 400, the surgeon S can maintain the position where his right hand R supports the insertion portion 110 of the endoscope 100. The second forceps retainer 360 can be mounted in an optimal position for the surgeon S, matching the size of his left hand L.

[0293] (Variations 1-5)

[0294] In the above embodiments, the electric endoscope system 1000 may also include a known endoscope assembly device such as "smart shooter (registered trademark)". By using the endoscope assembly device, the surgeon S can perform the advance and retraction of the treatment device 400 while holding the insertion part 110 with his right hand R.

[0295] (Second Implementation)

[0296] Reference Figures 26 to 30 The second embodiment of the electric endoscope system 1000B of the present invention will now be described. In the following description, structures that are common to those already described will be labeled with the same reference numerals and repeated descriptions will be omitted. Figure 26 This is an overall view of the electric endoscope system 1000B of this embodiment.

[0297] [Electric Endoscope System 1000B]

[0298] like Figure 26 As shown, the electric endoscope system 1000B is a medical system for observing and treating the body of a patient P lying horizontally on an operating table T. The electric endoscope system 1000B includes an endoscope 100, a drive unit 200B, an operating unit 300B, a treatment instrument 400, an image control unit 500, and a display unit 900. The drive unit 200B and the image control unit 500 constitute a control unit 600B for controlling the electric endoscope system 1000B.

[0299] [Drive Unit 200B]

[0300] Figure 27 This is a functional block diagram of the drive unit 200B.

[0301] The drive unit 200B includes an adapter 210, an operation receiver 220, an air delivery and suction drive unit 230, a line drive unit 250, and a drive controller 260B.

[0302] Figure 28 It is a migration graph of the bending mode.

[0303] The drive controller 260B has the same structure as the drive controller 260 of the first embodiment, except that the bending mode of the controlled bending portion 112 is different. In addition to the "first bending portion control mode (front end side bending portion control mode) M1" and the "second bending portion control mode (base end side bending portion control mode) M2", the drive controller 260B also has a "coordinated control mode M3" that coordinates the control of the first bending portion 113 and the second bending portion 114. The bending modes in the coordinated control mode M3 are further classified into a "simulated single bending control mode M4 (first mode)" where the bending portion 112 bends as a single bending portion, a "coordinated bending control mode M5 (second mode)" where the first bending portion 113 and the second bending portion 114 bend in coordination, and a "simulated single bending transition mode M6 (third mode)".

[0304] When the bending mode is the simulated single-bending control mode M4, the drive controller 260B simultaneously controls the first bending section 113 and the second bending section 114. The drive controller 260B drives the first bending line 161 and the second bending line 162, causing the first bending section 113 and the second bending section 114 to bend in the same direction relative to the length direction A. The drive controller 260B treats the bending section 112, which has the first bending section 113 and the second bending section 114 and bends in two stages, as a single bending section. The bending section 112 is controlled to become the bending shape of the bending section in an existing flexible endoscope that does not have the bending function of bending sections bending in multiple stages (multi-stage bending function) (hereinafter referred to as the "single-bending shape").

[0305] When the bending mode is the coordinated bending control mode M5, the drive controller 260B simultaneously controls the first bending section 113 and the second bending section 114. The drive controller 260B drives the first bending line 161 and the second bending line 162, causing the first bending section 113 and the second bending section 114 to bend in opposite directions relative to the length direction A.

[0306] Specifically, when the bending mode is either the simulated single bending control mode M4 or the coordinated bending control mode M5, the drive controller 260B controls the first upper and lower bending line drive unit 251 and the second upper and lower bending line drive unit 253 based on the rotation operation of the first angle knob 320, thereby driving the lines that bend the first bending part 113 in the UD direction (first upper bending line 161u and first lower bending line 161d) and the lines that bend the second bending part 114 in the UD direction (second upper bending line 162u and second lower bending line 162d). Furthermore, the drive controller 260B controls the first left and right bending line drive unit 252 and the second left and right bending line drive unit 254 based on the rotation operation of the second angle knob 330, thereby driving the lines that bend the first bending part 113 in the LR direction (first left bending line 161l and first right bending line 161r) and the lines that bend the second bending part 114 in the LR direction (second left bending line 162l and second right bending line 162r).

[0307] When the bending mode is the simulated single-bend transformation mode M6, the drive controller 260B controls at least one of the first bending portion 113 and the second bending portion 114. The drive controller 260B drives at least one of the first bending line 161 and the second bending line 162, causing the bending portion 112 to transform into a single-bend shape.

[0308] When the bending mode is the simulated single-bend transition mode M6, the drive controller 260B can also drive the second bending section 114 based on the bending rate of the first bending section 113, thereby making the bending rates of the first bending section 113 and the second bending section 114 approximately the same. Conversely, the drive controller 260B can also drive the first bending section 113 based on the bending rate of the second bending section 114, thereby making the bending rates of the first bending section 113 and the second bending section 114 approximately the same. By driving the first bending section 113 based on the bending rate of the second bending section 114, the amount of movement at the front end can be reduced, and the bending rates can be made as consistent as possible with maximum safety. That is, the bending shapes of the first bending section 113 and the second bending section 114 can be made consistent. It is also possible to determine whether to use the bending rate of the first bending section 113 or the bending rate of the second bending section 114 as the reference based on the immediately preceding bending mode. For example, when the bending mode immediately preceding the simulated single bending transition mode M6 is the first bending section control mode (front-end side bending section control mode) M1, the second bending section 114 is driven and controlled based on the bending rate of the first bending section 113.

[0309] When the bending mode transitions from other bending modes to the simulated single-bend control mode M4, the bending portion 112 may sometimes be a multi-level bending shape instead of a single-bend shape. A multi-level bending shape refers, for example, a bending shape in which the first bending portion 113 and the second bending portion 114 bend in different directions relative to the length direction A, or a bending shape in which the bending rates are different even when the first bending portion 113 and the second bending portion 114 bend in the same direction. In this case, the drive controller 260B transitions the bending mode to the simulated single-bend transition mode M6, transforming the bending portion 112 into a single-bend shape.

[0310] When the bending mode transitions from other bending modes to the simulated single bending control mode M4, if the bending part 112 is already in a single bending shape, the drive controller 260B causes the bending mode to transition to the simulated single bending control mode M4 without going through the simulated single bending transition mode M6.

[0311] When the bending mode is the simulated single bending transition mode M6, the drive controller 260B disables the rotation operation of the first angle knob 320 and the second angle knob 330. The drive controller 260B transforms the bending portion 112 into a single bending shape independently of the rotation operation of the first angle knob 320 and the second angle knob 330.

[0312] In addition, when the bending mode is the simulated single bending transformation mode M6, the drive controller 260B may not disable the rotation operation of the first angle knob 320 or the second angle knob 330, but only when the rotation operation is performed, cause at least one of the first bending part 113 and the second bending part 114 to operate and transform into a single bending shape.

[0313] After transforming the shape of the bent portion 112 into a single-bend shape, the drive controller 260B switches the bending mode from the simulated single-bend transformation mode M6 to the simulated single-bend control mode M4. The drive controller 260B also enables the rotational operation of the first angle knob 320 and the second angle knob 330.

[0314] [Operating Device 300B]

[0315] The operating device 300B includes an operating unit body 310, a first angle knob 320, a second angle knob 330, a switch 340B, an air supply button 350, a suction button 351, and various buttons 352. Figure 26 The operating device 300B shown is equipped with a second clamp jaw fixing device 360.

[0316] Figure 29 This is a diagram showing the toggle switch 340B.

[0317] The switch 340B is mounted on the upper part of the operation unit body 310, similar to the switch 340 in the first embodiment, and is operated by the thumb of the left hand L. The switch 340B switches the bending mode of the bending portion 112 of the endoscope 100. The switch 340B has a lever switch 341B and a push-button switch 342B.

[0318] like Figure 29 As shown, lever switch 341B can move to three positions: upward (first position) L1, downward (second position) L2, and center (third position) L3. Push-button switch 342B can move to two positions: standard position B1 and pressed position B2 (from standard position B1). Push-button switch 342B has a locking mechanism that holds push-button switch 342B in the pressed position B2 until it is pressed again.

[0319] When lever switch 341B tilts upwards (UPR) to move to the upper position L1, the bending mode becomes the first bending control mode M1. When lever switch 341B tilts downwards (LWR) to move to the lower position L2, the bending mode becomes the second bending control mode M2. When lever switch 341B is positioned in the central position L3, the bending mode becomes the coordinated control mode M3. In the coordinated control mode M3, when push-button switch 342B is positioned in the standard position B1, the bending mode becomes the simulated single bending control mode M4. In the coordinated control mode M3, when push-button switch 342B is positioned in the pressed position B2, the bending mode becomes the coordinated bending control mode M5. The selected bending mode is sent to the drive controller 260B of the drive unit 200B.

[0320] The central position (third position) L3 is located on the path of the lever switch 341B moving from one of the upper position (first position) L1 and the lower position (second position) L2 to the other. Therefore, when the surgeon S switches the bending mode from one of the first bending control mode M1 and the second bending control mode M2 ​​to the other, the bending mode must be controlled via the coordination control mode M3.

[0321] A first bending control mode M1 corresponds to the bending of the first bending portion 113 on the front end side (A1) corresponding to the movement of the lever switch 341 to the upward position L1. A second bending control mode M2 ​​corresponds to the bending of the second bending portion 114 on the base end side (A2) corresponding to the movement of the lever switch 341 to the downward position L3. Furthermore, a coordinated control mode M3 corresponds to the movement of the lever switch 341 to the center position L3. In the coordinated control mode M3, where the first bending portion 113 and the second bending portion 114 are bent, the center position L3 is located between the upper position L1 and the lower position L2, thus allowing the operator to easily and intuitively operate the lever switch 341.

[0322] Next, the method of using the electric endoscope system 1000B of this embodiment will be described. Specifically, a surgical procedure for observing and treating a lesion on the wall of the large intestine using the electric endoscope system 1000B will be described.

[0323] Surgeon S inserts the insertion part 110 of endoscope 100 into the large intestine of patient P through the anus. (The text abruptly ends here.) Figure 2 As shown, while observing the camera image displayed on the display device 900, the surgeon S uses his right hand R to operate the soft part 119 inside the body, and moves the insertion part 110 so that the front end 111 approaches the affected area. In addition, the surgeon S uses his left hand L to operate the first angle knob 320 and the second angle knob 330 of the operating device 300B, so that the bending part 112 bends as needed.

[0324] For example, when inserting the insertion part 110 into the large intestine, the surgeon S sets the bending mode of the bending part 112 to a simulated single-bending control mode M4. The drive controller 260B causes the bending part 112 to bend as a bending part. By moving the bending part 112 as in a conventional endoscope, the surgeon S can hook the large intestine and shorten it. Therefore, the surgeon S can operate the operating device 300B to insert the insertion part 110 into the large intestine in the same way as a conventional flexible endoscope that does not have a bending function (multi-stage bending function) for bending the bending part in multiple stages.

[0325] In existing single-bend endoscopes, after the affected area enters the field of view, the degree of freedom of the bend is used to approach the affected area. Then, the bend is manipulated for further treatment (treatment). However, since the degree of freedom for approaching the affected area and the degree of freedom for treatment after approach are operated by the same bend, complex coordination is required during treatment. In the electric endoscope system 1000B of this embodiment, the surgeon S, for example, sets the bending mode of the bend 112 to the second bend control mode M2 ​​when wanting to bring the camera unit 111c closer to the affected area. The drive controller 260B bends only the second bend 114. Since the bend 112 bends only at its base, the affected area can be approached without narrowing the range of motion of the first bend 113 at its tip. Then, when switching to the first bend control mode M1, the first bend 113 can be operated while maintaining the shape of the second bend 114. Therefore, surgeon S can perform the procedure while close to the affected area, making the operation easier.

[0326] Figure 30 This is a diagram showing the bending portion 112 controlled in the coordinated bending control mode M5.

[0327] For example, if the surgeon S wants to shift the field of vision laterally, they can set the bending mode of the curved section 112 to the coordinated bending control mode M5. Figure 30 As shown, the drive controller 260B causes the first curved portion 113 and the second curved portion 114 to bend in opposite directions relative to the length direction A. That is, when the second curved portion 114 bends at an angle α relative to the length direction A, the first curved portion 113 bends at an angle -α relative to the length direction A. As a result, the field of view of the camera unit 111c is maintained at a substantially fixed position. The surgeon S can easily change the position of the front end 111 while maintaining the field of view of the camera unit 111c at a substantially fixed position.

[0328] For example, when the surgeon S cuts around the affected area using the treatment instrument 400, the bending mode of the bending portion 112 is set to the first bending control mode M1. The drive controller 260B only bends the first bending portion 113. Since the bending portion 112 bends only at its front end, its radius of rotation is small. Therefore, the surgeon S can easily move the treatment portion 410 of the treatment instrument 400, which protrudes from the opening 111a at the front end 111, to the desired position with high precision as the bending portion 112 bends, making it easier to treat the affected area.

[0329] For example, if the surgeon S removes the insertion part 110 from the large intestine after the surgical procedure, the surgeon sets the bending mode of the bending part 112 to the simulated single bending control mode M4. If the bending part 112 is not a single bending shape but a multi-level bending shape, the drive controller 260B shifts the bending mode to the simulated single bending control mode M4 via the simulated single bending transition mode M6. As a result, after setting the bending mode to the simulated single bending control mode M4, the surgeon S can smoothly process the bending part 112 as a single bending shape.

[0330] The electric endoscope system 1000B according to this embodiment enables more efficient observation or treatment using the endoscope 100. Since the drive controller 260B can drive the bending section 112 through multiple bending modes, the surgeon S can appropriately control the bending section 112 according to each scenario in various surgical procedures using the endoscope 100. Therefore, the workload of the surgeon S during surgery can be reduced, and the surgical procedure time can be shortened.

[0331] The surgeon S can switch the bending mode using the toggle switch 340B, thereby operating the bending section 112, which has a two-stage bending function (multi-stage bending function) with the first bending section 113 and the second bending section 114, using only the first angle knob 320 and the second angle knob 330. The operating device 300B can also be equipped with separate angle knobs for operating the first bending section 113 and the second bending section 114. Therefore, the operating device 300B can be easily miniaturized, and the surgeon S can easily operate the operating device 300B with one hand.

[0332] The second embodiment of the present invention has been described in detail above with reference to the accompanying drawings. However, the specific structure is not limited to this embodiment, and design changes that do not depart from the spirit of the present invention are also included. Furthermore, the structural elements shown in the above embodiments and variations can be appropriately combined to form a configuration.

[0333] (Variation Example 2-1)

[0334] In the above embodiment, when the bending mode is the coordinated bending control mode M5, the drive controller 260B causes the first bending portion 113 and the second bending portion 114 to bend in opposite directions relative to the length direction A. However, the driving method of the bending portion 112 controlled in the coordinated bending control mode M5 is not limited to this. For example, the drive controller 260B may also bend the first bending portion 113 and the second bending portion 114 while maintaining the posture of the front end of the bending portion 112. The bending angle of the first bending portion 113 and the second bending portion 114 relative to the length direction A is calculated by the drive controller 260B based on the posture of the front end of the bending portion 112. For example, when the drive controller 260B bends the first bending portion 113 and the second bending portion 114 while maintaining the position of the front end of the bending portion 112 as much as possible, the drive controller 260B calculates the bending angle of the first bending portion 113 and the second bending portion 114 by inverse kinematics.

[0335] (Third Implementation)

[0336] Reference Figures 31 to 37 The electric endoscope system 1000C according to the third embodiment of the present invention will be described. In the following description, the same reference numerals will be used for structures that are common to those already described, and repeated descriptions will be omitted. Figure 31 This is an overall view of the electric endoscope system 1000C of this embodiment.

[0337] [Electric Endoscope System 1000C]

[0338] like Figure 31As shown, the electric endoscope system 1000C is a medical system for observing and treating the body of a patient P lying horizontally on an operating table T. The electric endoscope system 1000C includes an endoscope 100C, a drive unit 200C, an operating device 300, a treatment instrument 400, an image control unit 500, and a display device 900. The drive unit 200C and the image control unit 500 constitute a control unit 600C for controlling the electric endoscope system 1000C.

[0339] [Endoscope 100C]

[0340] The endoscope 100C includes an insertion part 110, a connecting part 120, an external flexible part 140, a loading and unloading part 150C, a curved wire 160, and an internal object 170. The insertion part 110, the connecting part 120, the external flexible part 140, and the loading and unloading part 150C are connected sequentially from the front end side.

[0341] [Loading / Unloading Section 150C]

[0342] like Figure 31 As shown, the loading / unloading unit 150C includes a first loading / unloading unit 1503 mounted on the drive unit 200C and a second loading / unloading unit 1502 mounted on the image control unit 500. Alternatively, the first loading / unloading unit 1503 and the second loading / unloading unit 1502 may be an integral loading / unloading unit.

[0343] An internal path 101 formed inside the external flexible part 140 branches into a first loading / unloading part 1503 and a second loading / unloading part 1502. A curved wire 160 and an air supply suction tube 172 are inserted through the first loading / unloading part 1503. A camera cable 173 and an optical guide 174 are inserted through the second loading / unloading part 1502.

[0344] Figure 32 This is a diagram showing the first loading / unloading section 1503 before the drive unit 200C is assembled.

[0345] The first loading and unloading section 1503 includes a first vertical curved line loading and unloading section 151C, a first horizontal curved line loading and unloading section 152C, a second vertical curved line loading and unloading section 153C, and a second horizontal curved line loading and unloading section 154C.

[0346] The first upper and lower bending line loading and unloading part 151C is a mechanism that allows the line (first upper bending line 161u and first lower bending line 161d) that bends the first bending part 113 in the UD direction to be freely loaded and unloaded from the drive device 200C.

[0347] The first left and right bending line loading and unloading section 152C is a mechanism that allows the lines (first left bending line 161l and first right bending line 161r) that bend the first bending section 113 in the LR direction to be freely loaded and unloaded from the drive device 200C.

[0348] The second upper and lower bending line loading and unloading section 153C is a mechanism that allows the line (second upper bending line 162u and second lower bending line 162d) that bends the second bending section 114 in the UD direction to be freely loaded and unloaded from the drive device 200C.

[0349] The second left and right bending line loading and unloading section 154C is a mechanism that allows the line (second left bending line 162l and second right bending line 162r) that bends the second bending section 114 in the LR direction to be freely loaded and unloaded from the drive device 200C.

[0350] The first left-right curved line loading and unloading part 152C, the second up-down curved line loading and unloading part 153C, and the second left-right curved line loading and unloading part 154C have the same structure as the first up-down curved line loading and unloading part 151C, therefore, the illustrations and descriptions are omitted.

[0351] Figure 33 This is a diagram showing the first vertical bending line loading and unloading section 151C before the drive unit 200C is assembled. Figure 34 This is a diagram showing the first vertical bending line loading and unloading part 151C assembled to the drive unit 200C. The first vertical bending line loading and unloading part 151C has a support member 155, a first rotating roller 156, a second rotating roller 157, a connecting member 158, and a tension sensor 159.

[0352] The support member 155 supports the first rotating roller 156, the second rotating roller 157, and the connecting member 158. The support member 155 has a loading and unloading detection protrusion 155a exposed at the base end of the first vertical bending line loading and unloading section 151C, and a plurality of redirecting wheels 155p.

[0353] The deflector 155p changes the transport direction of the first upper curved line 161u through the flexible insert 140, guiding it to the first rotating roller 156. Furthermore, the deflector 155p changes the transport direction of the first lower curved line 161d through the flexible insert 140, guiding it to the second rotating roller 157.

[0354] The first rotating roller 156 is supported on the support member 155 in such a way that it can rotate about a first roller rotation axis 156r extending along the length direction A. The first rotating roller 156 has a first winding wheel 156a, a first gear 156b, and a first connecting part 156c.

[0355] The first winding wheel 156a rotates around the first roller rotation shaft 156r, thereby drawing or feeding out the first upper curved line (first curved line) 161u. When viewed from the front end side towards the base end side, the first winding wheel 156a rotates clockwise, causing the first upper curved line 161u to wind around it and be drawn. Conversely, by rotating the first winding wheel 156a counterclockwise, the first upper curved line 161u is fed out from the first winding wheel 156a. With this structure, even if the advance or retreat of the first upper curved line 161u is large, the drawn portion is compactly stored without occupying space.

[0356] The first gear 156b is a spur gear that rotates around the first roller rotating shaft 156r. The first gear 156b is fixed to the first winding wheel 156a and rotates integrally with the first winding wheel 156a.

[0357] The first connecting portion 156c is a circular plate component that rotates around the first roller rotation shaft 156r. The first connecting portion 156c is fixed to the base end of the first winding wheel 156a and rotates integrally with the first winding wheel 156a. The first connecting portion 156c is exposed on the base end side of the first up-down curved line loading and unloading portion 151C. Two first fitting protrusions 156d are formed on the surface of the base end side of the first connecting portion 156c. The two first fitting protrusions 156d are formed on both sides, separated by the first roller rotation shaft 156r.

[0358] The second rotating roller 157 is supported on the support member 155 in such a way that it can rotate about a second roller rotation axis 157r extending along the length direction A. The second rotating roller 157 has a second winding wheel 157a, a second gear 157b, and a second connecting part 157c.

[0359] The second winding wheel 157a pulls or feeds the first downward curved line (second curved line) 161d by rotating around the second roller rotation shaft 157r. When viewed from the front end side towards the base end side, the second winding wheel 157a rotates counterclockwise, causing the first downward curved line 161d to be wound around and pulled. Conversely, by rotating the second winding wheel 157a clockwise, the first downward curved line 161d is fed out from the second winding wheel 157a.

[0360] The second gear 157b is a spur gear that rotates around the second roller rotating shaft 157r. The second gear 157b is fixed to the second winding wheel 157a and rotates integrally with the second winding wheel 157a.

[0361] The second connecting portion 157c is a circular plate component that rotates around the second roller rotation shaft 157r. The second connecting portion 157c is fixed to the base end of the second winding wheel 157a and rotates integrally with the second winding wheel 157a. The second connecting portion 157c is exposed on the base end side of the first up-and-down bending line loading and unloading portion 151C. Two second fitting protrusions 157d are formed on the surface of the base end side of the second connecting portion 157c. The two second fitting protrusions 157d are formed on both sides, separated by the second roller rotation shaft 157r.

[0362] The connecting component (switching mechanism) 158 is a component that connects the first rotating roller 156 and the second rotating roller 157. The connecting component 158 ​​has a cylindrical component 158a, a linkage gear 158b, and an elastic component 158c.

[0363] The cylindrical member 158a is supported on the support member 155 in a manner that allows it to rotate about a third rotation axis 158r extending along the length direction A and to move forward and backward along the length direction A. The third rotation axis 158r is parallel to the first roller rotation axis 156r and the second roller rotation axis 157r. The base end of the cylindrical member 158a is exposed on the base end side of the first up-down curved line loading and unloading part 151C.

[0364] The linkage gear 158b is a spur gear that rotates around the third rotating shaft 158r. The linkage gear 158b is fixed to the cylindrical member 158a and rotates integrally with the cylindrical member 158a.

[0365] The elastic member 158c, such as a spring, applies a force to the cylindrical member 158a and the linkage gear 158b towards their base ends. After being forced by the elastic member 158c, the cylindrical member 158a and the linkage gear 158b are positioned at their base ends (first position) within a range of forward and backward movement. Figure 34 As shown, when the first upper and lower bending line loading and unloading part 151C is assembled to the drive device 200C, the base end of the cylindrical member 158a contacts the drive device 200C, thereby overcoming the reaction force of the elastic member 158c and pressing the cylindrical member 158a into the base end side position (second position).

[0366] like Figure 33 As shown, when the linkage gear 158b is configured in the first position, the linkage gear 158b meshes with the first gear 156b and the second gear 157b. As a result, the first rotating roller 156 and the second rotating roller 157 rotate in conjunction, and the first upper curved line 161u and the first lower curved line 161d are pulled or sent out in conjunction in a loop (loop state).

[0367] like Figure 34As shown, when the linkage gear 158b is configured in the second position, the linkage gear 158b does not mesh with the first gear 156b and the second gear 157b. As a result, the first rotating roller 156 and the second rotating roller 157 rotate without linkage, and the first upper curved line 161u and the first lower curved line 161d are independently pulled or sent out (opposing state).

[0368] When the first upper and lower bending line mounting / unmounting part 151C is not mounted on the drive device 200C, the first rotating roller 156 and the second rotating roller 157 rotate in conjunction. Specifically, when the linkage gear 158b rotates counterclockwise when viewed from the front end side toward the base end side, the first rotating roller 156 rotates clockwise, and the second rotating roller 157 also rotates clockwise. When the linkage gear 158b rotates clockwise when viewed from the front end side toward the base end side, the first rotating roller 156 rotates counterclockwise, and the second rotating roller 157 also rotates counterclockwise. Thus, even when the bending portion 112 is bent by external force, the first upper bending line 161u and the first lower bending line 161d do not loosen, and the relationship between the rotation of the rotating rollers (the first rotating roller 156 and the second rotating roller 157) and the bending of the bending portion 112 in the UD direction can be maintained.

[0369] For example, even if the first upper curved line 161u is pulled towards the front end due to the bending of the curved portion 112 by some external force, causing the first rotating roller 156 to rotate counterclockwise, the second rotating roller 157 will also rotate counterclockwise in conjunction, winding the first lower curved line 161d that has loosened due to the bending of the curved portion 112. As a result, no loosening of the curved line 160 occurs.

[0370] [Drive Unit 200C]

[0371] Figure 35 This is a functional block diagram of the drive unit 200C.

[0372] The drive unit 200C includes an adapter 210C, an operation receiver 220, an air delivery and suction drive unit 230, a line drive unit 250C, and a drive controller 260C.

[0373] like Figure 32 As shown, adapter 210C has a first adapter 211 and a second adapter 212C. The first adapter 211 is an adapter that can be detachably connected to the operating cable 301. The second adapter 212C is an adapter that can be detachably connected to the first mounting / unmounting part 1503 of the endoscope 100C.

[0374] The line drive unit 250C is connected to the first vertical bending line loading and unloading unit 151C, the first horizontal bending line loading and unloading unit 152C, the second vertical bending line loading and unloading unit 153C, and the second horizontal bending line loading and unloading unit 154C to drive the bending line 160.

[0375] like Figure 32 As shown, the line drive unit 250C has a first vertical bending line drive unit 251C, a first horizontal bending line drive unit 252C, a second vertical bending line drive unit 253C, and a second horizontal bending line drive unit 254C.

[0376] The first upper and lower bending line drive unit 251C is a mechanism that is connected to the first upper and lower bending line loading and unloading unit 151C to drive the lines (first upper bending line 161u and first lower bending line 161d) that bend the first bending section 113 in the UD direction.

[0377] The first left-right bending line drive unit 252C is a mechanism connected to the first left-right bending line loading and unloading unit 152C to drive the lines (first left bending line 161l and first right bending line 161r) that cause the first bending section 113 to bend in the LR direction.

[0378] The second upper and lower bending line drive unit 253C is a mechanism that is connected to the second upper and lower bending line loading and unloading unit 153C to drive the line (second upper bending line 162u and second lower bending line 162d) that bends the second bending section 114 in the UD direction.

[0379] The second left-right bending line drive unit 254C is a mechanism that is connected to the second left-right bending line loading and unloading unit 154C to drive the line (second left bending line 162l and second right bending line 162r) that causes the second bending section 114 to bend in the LR direction.

[0380] The first left-right bending line drive unit 252C, the second up-down bending line drive unit 253C, and the second left-right bending line drive unit 254C have the same structure as the first up-down bending line drive unit 251C, therefore, the illustrations and descriptions are omitted.

[0381] like Figure 33 As shown, the first upper and lower bending line drive unit 251C has a support member 255, a first upper bending line drive unit 256, a first lower bending line drive unit 257, a locking member 258, and a loading and unloading sensor 259.

[0382] The first upper bending line drive unit 256 is connected to the first rotating roller 156 of the first upper and lower bending line loading and unloading unit 151C to drive the first upper bending line 161u. The first upper bending line drive unit 256 includes a first shaft 256a, a first motor unit 256b, a first connected part 256c, a first torque sensor 256e, a first engagement detection sensor 256f, and a first elastic member 256s.

[0383] The first shaft 256a is supported on the support member 255 in a manner that allows it to rotate about the first shaft rotation axis 256r and to move forward and backward along the length direction A. When the first loading and unloading part 1503 of the endoscope 100C is assembled to the drive device 200C, the first shaft rotation axis 256r is aligned with the first roller rotation axis 156r.

[0384] The first motor unit 256b includes a first motor such as a DC motor, a first motor driver that drives the first motor, and a first motor encoder. The first motor causes the first shaft 256a to rotate about the first shaft rotation axis 256r. The first motor driver is controlled by a drive controller 260C.

[0385] The first connected part 256c is a circular plate component that rotates around the first shaft rotation axis 256r. The first connected part 256c is fixed to the front end of the first shaft 256a and rotates integrally with the first shaft 256a. Figure 32 As shown, the first connected portion 256c is exposed at the front end of the first vertical bending line drive portion 251C. Two first fitting recesses 256d are formed on the surface of the front end of the first connected portion 256c. The two first fitting recesses 256d are formed on both sides, separated by the first axis of rotation 256r.

[0386] like Figure 34 As shown, the first engaging protrusion 156d engages with the first engaging recess 256d, and the first connecting portion 156c connects with the first connected portion 256c. As a result, the rotation of the first shaft 256a based on the first motor portion 256b is transmitted to the first rotating roller 156. When viewed from the front end side towards the base end side, the first upper curved line 161u is pulled by rotating the first shaft 256a clockwise. Conversely, by rotating the first shaft 256a counterclockwise, the first upper curved line 161u is fed out.

[0387] The first torque sensor 256e detects the rotational torque of the first shaft 256a about the first shaft rotation axis 256r. The detection result of the first torque sensor 256e is obtained by the drive controller 260C.

[0388] The first mating detection sensor 256f detects the mating between the first mating protrusion 156d and the first mating recess 256d. For example... Figure 34 As shown, the first connected portion 256c moves towards the base end side (A2) together with the first shaft 256a by being pressed into the first connecting portion 156c. The first engagement detection sensor 256f detects the engagement between the first engagement protrusion 156d and the first engagement recess 256d by detecting the approach of the first engagement detection protrusion 256g disposed on the first shaft 256a. The detection result of the first engagement detection sensor 256f is obtained by the drive controller 260C.

[0389] The first elastic member 256s is, for example, a compression spring, with its front end in contact with the first connected portion 256c and its base end in contact with the support member 255. The first elastic member 256s applies a force to the first connected portion 256c toward its front end (A1). Figure 33 As shown, when the first connecting part 156c is disassembled, the first connected part 256c moves together with the first shaft 256a toward the base end side (A2). As a result, the first engagement detection sensor 256f cannot detect the engagement between the first engagement protrusion 156d and the first engagement recess 256d.

[0390] The first lower bending line drive unit 257 is connected to the second rotating roller 157 of the first upper and lower bending line loading and unloading unit 151C to drive the first lower bending line 161d. The first lower bending line drive unit 257 includes a second shaft 257a, a second motor unit 257b, a second connected part 257c, a second torque sensor 257e, a second engagement detection sensor 257f, and a second elastic member 257s.

[0391] The second shaft 257a is supported on the support member 255 in a manner that allows it to rotate about the second shaft rotation axis 257r and to move forward and backward along the length direction A. When the first loading and unloading part 1501 of the endoscope 100C is assembled to the drive device 200C, the second shaft rotation axis 257r is aligned with the second roller rotation axis 157r.

[0392] The second motor unit 257b includes a second motor such as a DC motor, a second motor driver that drives the second motor, and a second motor encoder. The second motor causes the second shaft 257a to rotate around the second shaft rotation axis 257r. The motor driver is controlled by the drive controller 260C.

[0393] The second connected part 257c is a circular plate component that rotates around the second shaft rotation axis 257r. The second connected part 257c is fixed to the front end of the second shaft 257a and rotates integrally with the second shaft 257a. Figure 32As shown, the second connected portion 257c is exposed at the front end of the first vertical bending line drive portion 251C. Two second fitting recesses 257d are formed on the surface of the front end of the second connected portion 257c. The two second fitting recesses 257d are formed on both sides, separated by the second axis of rotation 257r.

[0394] like Figure 34 As shown, the second fitting protrusion 157d engages with the second fitting recess 257d, and the second connecting portion 157c connects with the second connected portion 257c. As a result, the rotation of the second shaft 257a based on the second motor portion 257b is transmitted to the second rotating roller 157. By rotating the second shaft 257a counterclockwise when viewed from the front end side towards the base end side, the first downward curved line 161d is pulled. Conversely, by rotating the second shaft 257a clockwise, the first downward curved line 161d is fed out.

[0395] The second torque sensor 257e detects the rotational torque of the second shaft 257a about the rotation axis 257r of the second shaft. The detection result of the second torque sensor 257e is obtained by the drive controller 260C.

[0396] The second mating detection sensor 257f detects the mating of the second mating protrusion 157d and the second mating recess 257d. For example... Figure 34 As shown, the second connected portion 257c moves towards the base end side (A2) together with the second shaft 257a by being pressed into the second connected portion 157c. The second engagement detection sensor 257f detects the engagement of the second engagement protrusion 157d and the second engagement recess 257d by detecting the approach of the second engagement detection protrusion 257g provided on the second shaft 257a. The detection result of the second engagement detection sensor 257f is obtained by the drive controller 260C.

[0397] The second elastic member 257s is, for example, a compression spring, with its front end in contact with the second connected portion 257c and its base end in contact with the support member 255. The second elastic member 257s applies a force to the second connected portion 257c toward its front end (A1). Figure 33 As shown, when the second connecting part 157c is disassembled, the second connected part 257c moves together with the second shaft 257a toward the base end side (A2). As a result, the second engagement detection sensor 257f cannot detect the engagement between the second engagement protrusion 157d and the second engagement recess 257d.

[0398] like Figure 33 As shown, the engaging member 258 is a cylindrical member exposed at the front end of the first vertical bending line driving portion 251C. Figure 34As shown, when the first upper and lower curved line loading and unloading part 151C is assembled to the drive device 200C, the engaging member 258 contacts the base end of the cylindrical member 158a, thereby overcoming the reaction force of the elastic member 158c and pressing the cylindrical member 158a into the second position. As a result, the first rotating roller 156 and the second rotating roller 157 can rotate independently.

[0399] like Figure 34 As shown, the loading / unloading sensor 259 detects the loading / unloading of the first vertical curved line loading / unloading section 151C relative to the first vertical curved line drive section 251C by detecting engagement and disengagement with the loading / unloading detection protrusion 155a. The detection result of the loading / unloading sensor 259 is obtained by the drive controller 260C.

[0400] Figure 36 This diagram shows the first vertical bending line drive unit 251C equipped with the first vertical bending line loading and unloading unit 151C. Figure 36 In the process, the loading and unloading sensor 259 detects that the first upper and lower bending line loading and unloading part 151C is assembled onto the first upper and lower bending line drive part 251C.

[0401] like Figure 36 As shown, when the first connecting portion 156c contacts the first connected portion 256c but the first engaging protrusion 156d and the first engaging recess 256d are not engaged, the first engagement detection sensor 256f cannot detect the engagement of the first engaging protrusion 156d and the first engaging recess 256d. In this case, the drive controller 260C rotates the first connected portion 256c to a position where the first engaging recess 256d and the first engaging protrusion 156d can engage. As a result, the first connected portion 256c moves towards the front end side (A1) via the first elastic member 256s, thereby engaging the first engaging protrusion 156d and the first engaging recess 256d. The first engagement detection sensor 256f detects the engagement of the first engaging protrusion 156d and the first engaging recess 256d.

[0402] In the engagement operation described above, the drive controller 260C preferably rotates the first connected portion 256c clockwise when viewed from the front end side toward the base end side. Even if the first connecting portion 156c rotates due to the contact friction between the first engaging protrusion 156d and the first connected portion 256c, the first winding wheel 156a rotates in the direction of pulling the first upper curved line 161u, so the first upper curved line 161u will not become slack.

[0403] like Figure 36As shown, even when the second connecting portion 157c contacts the second connected portion 257c but the second engaging protrusion 157d and the second engaging recess 257d are not engaged, the drive controller 260C can still engage the second engaging protrusion 157d and the second engaging recess 257d by rotating the second connected portion 257c.

[0404] In the engagement operation described above, the drive controller 260C preferably rotates the second connected portion 257c counterclockwise when viewed from the front end side toward the base end side. Even if the second connecting portion 157c rotates due to the contact friction between the second engaging protrusion 157d and the second connected portion 257c, the first lower bending line 161d will not slack because the second winding wheel 157a rotates in the direction of pulling the first lower bending line 161d.

[0405] The drive controller 260C compares the values ​​of the first torque sensor 256e and the second torque sensor 257e. When the value of the first torque sensor 256e is larger, the drive controller 260C rotates the first motor section 256b and the second motor section 257b by sending out the first upper bending line 161u and pulling the first lower bending line 161d.

[0406] Conversely, when the value of the second torque sensor 257e is large, the drive controller 260C rotates the first motor section 256b and the second motor section 257b by pulling the first upper bending line 161u and sending out the first lower bending line 161d.

[0407] If the values ​​of the first torque sensor 256e and the second torque sensor 257e are equal, the drive controller 260C stops the first motor unit 256b and the second motor unit 257b. As a result, the tension of the opposing lines (the first upper curved line 161u and the first lower curved line 161d) becomes equal, enabling the insertion part 110 to become a straight shape.

[0408] The drive controller 260C references the values ​​of the first torque sensor 256e and the second torque sensor 257e. When the referenced value is lower than the predetermined torque sensor value, the drive controller 260C rotates the first motor section 256b and the second motor section 257b by pulling the first upper bending line 161u and the first lower bending line 161d.

[0409] Conversely, if the referenced value is higher than the predetermined torque sensor value, the drive controller 260C rotates the first motor section 256b and the second motor section 257b by sending out the first upper bending line 161u and the first lower bending line 161d.

[0410] If the values ​​of the first torque sensor 256e and the second torque sensor 257e are equal to the predetermined torque sensor values, the drive controller 260C stops the first motor unit 256b and the second motor unit 257b. As a result, the line tension can be adjusted to a predetermined value.

[0411] With the above structure, when the first upper and lower bending line loading and unloading part 151C is assembled to the first upper and lower bending line driving part 251C, the first upper bending line driving part 256 can independently drive the first upper bending line 161u, and the first lower bending line driving part 257 can independently drive the first lower bending line 161d. Therefore, even when the distance from the bending part 112 of the endoscope 100C to the driving device 200C is longer than that of conventional flexible endoscopes, it is difficult to cause slack during delivery due to the elongation of the line during line traction, and the bending operation of the bending part 112 can be controlled with high precision.

[0412] The drive controller 260C controls the entire drive unit 200C. The drive controller 260C receives operation inputs from the operation receiving unit 220. Based on the received operation inputs, the drive controller 260C controls the air delivery / suction drive unit 230 and the linear drive unit 250C.

[0413] The drive controller 260C is an executable program computer that includes a processor, memory, a storage unit capable of storing programs and data, and an input / output control unit. The functions of the drive controller 260C are implemented by the processor executing the program. At least some of the functions of the drive controller 260C can also be implemented by dedicated logic circuitry.

[0414] The drive controller 260C is expected to have high computing performance, enabling high-precision control of multiple motors driving multiple curved lines 160.

[0415] Next, the method of using the electric endoscope system 1000C of this embodiment will be described. Specifically, a surgical procedure for observing and treating a lesion on the wall of the large intestine using the electric endoscope system 1000C will be described.

[0416] Surgeon S inserts the insertion part 110 of endoscope 100C into the large intestine of patient P through the anus. (The text abruptly ends here.) Figure 2 As shown, the surgeon S observes the camera image displayed on the display device 900 while using his right hand R to manipulate the soft part 119 inside the body, and moves the insertion part 110 so that the front end 111 approaches the affected area.

[0417] Figure 37 This is a diagram showing an example of the use of the curved portion 112 of the electric endoscope system 1000C.

[0418] Surgeon S sets the bending mode to the second bending section control mode M2. Surgeon S operates the first angle knob 320, pulling the second upper bending line 162u and extending the second lower bending line 162d. Furthermore, S operates the second angle knob 330, pulling the second left bending line 162l and extending the second right bending line 162r. The result is as follows: Figure 37 As shown, the second curved portion 114 is bent significantly to form a so-called "J-shaped turn" shape.

[0419] The electric endoscope system 1000C can independently drive a pair of curved lines that bend the curved portion 112 in the UD direction, pulling one and extending the other. Furthermore, the electric endoscope system 1000C can independently drive a pair of curved lines that bend the curved portion 112 in the LR direction, pulling one and extending the other without loosening. Therefore, compared to the electric endoscope system 1000 of the first embodiment, the electric endoscope system 1000C can accurately and without delay bend the curved portion 112.

[0420] When the second curved portion 114 is bent and as shown Figure 37 When the second bend 114 is brought into contact with the wall IW of the opposite large intestine as shown, space can be ensured by the contact between the second bend 114 and the wall IW of the opposite large intestine, even if air is expelled. In this state, the surgeon S can independently move the first bend 113 located at the front end of the fixed second bend 114. Therefore, while ensuring space through the second bend 114, the first bend 113 can be operated to operate the treatment section 410 of the treatment instrument 400, thus facilitating the treatment of the affected area.

[0421] The electric endoscope system 1000C according to this embodiment enables more efficient observation or treatment using the endoscope 100C. The drive mechanism for driving the bending section 112 is not provided in the operating device 300 but in the drive device 200C. Therefore, a dedicated bending line drive unit can be provided for each bending line 160. The drive controller 260C can drive the bending lines 160 independently, thus enabling high-precision control of the bending operation of the bending section 112.

[0422] According to the electric endoscope system 1000C of this embodiment, when the mounting and dismounting part 150C of the endoscope 100C is not mounted on the drive device 200C, a pair of curved lines corresponding to the UD direction or LD direction become a loop. For example, even if the curved part 112 is bent by some external force and any curved line 160 is pulled towards the front end, the curved line 160 will not become loose.

[0423] According to this embodiment, the electric endoscope system 1000C, when the loading and unloading part 150C of the endoscope 100C is mounted on the drive device 200C, becomes a state (opposing state) in which a pair of curved lines corresponding to the UD direction or LD direction are independently pulled or sent out, without the need for additional operation.

[0424] The third embodiment of the present invention has been described in detail above with reference to the accompanying drawings. However, the specific structure is not limited to this embodiment, and design changes that do not depart from the spirit of the present invention are also included. Furthermore, the structural elements shown in the above embodiments and variations can be appropriately combined to form a configuration.

[0425] (Variation 3-1)

[0426] In the above embodiment, the connecting member 158 connects the first rotating roller 156 and the second rotating roller 157 via the linkage gear 158b. However, the manner in which the connecting member 158 connects is not limited to this. For example, the linkage gear 158b may always be connected to the first rotating roller 156, and the linkage gear 158b may be connected to or disconnected from the second rotating roller 157. Furthermore, for example, the connecting member 158 may connect the first rotating roller 156 and the second rotating roller 157 via a belt, wherein when the connection is made, the idler pulley of the tension belt disengages, and the first rotating roller 156 and the second rotating roller 157 can no longer be connected.

[0427] (Variation Example 3-2)

[0428] In the above embodiment, the drive device 200C of the electric endoscope system 1000C drives the endoscope 100C. However, the drive device 200C is not limited to this. The drive device 200C can also drive medical devices such as robotic arms.

[0429] (Fourth Implementation)

[0430] Reference Figures 38 to 42 The electric endoscope system 1000D according to the fourth embodiment of the present invention will be described. In the following description, the same reference numerals will be used for structures that are common to those already described, and repeated descriptions will be omitted. Figure 38 This is an overall view of the electric endoscope system 1000D of this embodiment.

[0431] [Electric Endoscope System 1000D]

[0432] like Figure 38As shown, the electric endoscope system 1000D is a medical system for observing and treating the body of a patient P lying horizontally on an operating table T. The electric endoscope system 1000D includes an endoscope 100D, a drive unit 200, an operating unit 300, treatment instruments 400, an image control unit 500, and a display unit 900. Furthermore, in Figure 38 The second clamp jaw fixing device 360 ​​is not installed in the operating device 300 shown.

[0433] [Endoscope 100D]

[0434] like Figure 38 As shown, the endoscope 100D includes an insertion section 110, a connecting section 120D, an external flexible section 140, a loading and unloading section 150, a curved wire 160, and an internal component 170. The insertion section 110, the connecting section 120D, the external flexible section 140, and the loading and unloading section 150 are connected sequentially from the front end side. The connecting section 120D can be connected to an extension channel tube 130.

[0435] [Connector 120D]

[0436] The connecting part 120D is a component that connects the inner flexible part 119 of the insertion part 110 to the outer flexible part 140. The connecting part 120D includes a cylindrical component 121, a connecting part body 122, a sealing part 123, a bearing part 124D, a cover component 125, a clamp jaw 126, and a three-pronged branch pipe 127.

[0437] Figure 39 This is a perspective view of the cylindrical component 121 and the bearing part 124D.

[0438] The bearing portion 124D connects the connecting body 122 and the cylindrical member 121 in a manner that allows them to rotate about a rotation axis extending along the length direction A. Specifically, the bearing portion 124D is fixed to the connecting body 122. The bearing portion 124D supports the cylindrical member 121 so that it can rotate about a rotation axis extending along the length direction A.

[0439] Figure 40 This is an exploded perspective view of the cylindrical component 121 and the bearing part 124D.

[0440] The bearing part 124D has a first bearing member 124a, a first screw 124c, a second bearing member 124d, and a second screw 124f.

[0441] The first bearing member 124a is formed in a cylindrical shape. The inner circumferential surface of the first bearing member 124a fits into the outer circumferential surface of the cylindrical member 121. A first groove 124b extending along the circumferential direction C is formed in the first bearing member 124a. The first groove 124b is a groove that penetrates the first bearing member 124a radially R. The circumferential length C of the first groove 124b is approximately 3 / 4 of the circumference.

[0442] The first screw 124c is a screw installed on the outer circumferential surface of the cylindrical member 121, passing through the first groove 124b. The first bearing member 124a is restricted in its rotation angle in the circumferential direction C by the first screw 124c. The position of the first bearing member 124a, in which the first screw 124c is positioned at the middle of the first groove 124b, is defined as the "first reference position". The first bearing member 124a can rotate in the circumferential direction C to ±135 degrees with reference to the first reference position.

[0443] The second bearing member 124d is formed in a cylindrical shape. The outer peripheral surface of the second bearing member 124d is fixed to the connecting body 122. The inner peripheral surface of the second bearing member 124d fits into the outer peripheral surface of the first bearing member 124a. A second groove 124e extending along the circumferential direction C is formed in the second bearing member 124d. The second groove 124e is a groove that penetrates the second bearing member 124d radially R. The circumferential length C of the second groove 124e is approximately 3 / 4 of the circumference.

[0444] The second screw 124f is a screw installed on the outer peripheral surface of the first bearing member 124a, passing through the second groove 124e. In the first bearing member 124a, which is positioned at the first reference position, the second screw 124f is located on the opposite side from the first screw 124c, separated by the central axis O in the length direction A. The second bearing member 124d's rotation angle in the circumferential direction C is restricted by the second screw 124f. The position of the second bearing member 124d, where the second screw 124f is positioned at the middle of the second groove 124e, is defined as the "second reference position." The second bearing member 124d can rotate in the circumferential direction C to ±135 degrees with respect to the second reference position.

[0445] The position of the bearing portion 124D, where the first bearing member 124a is located at the first reference position and the second bearing member 124d is located at the second reference position, is defined as the "reference position". The bearing portion 124D can rotate to ±270 degrees in the circumferential direction C with reference to the reference position.

[0446] Next, the method of using the electric endoscope system 1000D of this embodiment will be described. Specifically, a surgical procedure for observing and treating a lesion on the wall of the large intestine using the electric endoscope system 1000D will be described.

[0447] Figure 41 This is a diagram illustrating the procedure using the 1000D electric endoscope system.

[0448] The surgeon S inserts the insertion part 110 of the endoscope 100D into the large intestine of the patient P through the anus. While observing the camera image displayed on the display device 900, the surgeon S uses his right hand R to operate the soft part 119 inside the body, moving the insertion part 110 so that the front end 111 approaches the affected area. In addition, the surgeon S uses his left hand L to operate the first angle knob 320 and the second angle knob 330 of the operating device 300, bending the bending part 112 as needed.

[0449] Assistant AS holds the base end of extension channel tube 130. Assistant AS inserts treatment device 400 through the base end opening, and through extension channel tube 130 and clamp jaw 126, inserts treatment device 400 through insertion channel tube 171. Assistant AS operates treatment device 400 while observing the camera image displayed on display device 900.

[0450] Because the operating device 300 is separated from the forceps jaw 126 and the extension tube 130 for inserting the treatment instrument 400, the surgeon S can focus on operating the insertion part 110 of the endoscope 100D, and the assistant AS can focus on operating the treatment instrument 400. Even without close coordination, the surgeon S and the assistant AS can operate the insertion part 110 and the treatment instrument 400.

[0451] The electric endoscope system 1000D according to this embodiment enables more efficient observation or treatment using the endoscope 100D. Since the endoscope 100D is separate from the operating device 300, the surgeon S can operate the endoscope 100D and the operating device 300 independently without affecting each other.

[0452] When the surgeon S rotates the internal soft part 119 of the insertion section 110 around a rotation axis extending along the length direction A, only the internal soft part 119 can be rotated. Therefore, the surgeon S can easily perform rotation operations on the internal soft part 119. Furthermore, since the endoscope 100D is separate from the operating device 300, it is not necessary to coordinate the operation of the operating device 300 with the rotation (torsion) operation of the internal soft part 119. Therefore, the surgeon S does not have to impose unreasonable postures on his muscles and bones, and is less prone to fatigue.

[0453] On the other hand, as long as the surgeon S does not rotate the internal soft part 119 of the insertion part 110, the internal soft part 119 will not rotate relative to the external soft part 140. Therefore, even if the surgeon S removes his right hand R from the internal soft part 119 in order to operate the treatment device 400, the internal soft part 119 will not rotate relative to the external soft part 140.

[0454] The bearing portion 124D limits rotation to ±270 degrees in the circumferential direction C with reference to the reference position. Therefore, it is possible to prevent the bearing portion 124D from rotating unrestricted relative to the cylindrical member 121 and the soft part 119 inside the body, which would cause the built-in 170 to twist significantly.

[0455] like Figure 8 As shown, the forceps jaw 126 for inserting the treatment instrument 400 is provided in the cover member 125 within the connecting portion 120D. Even when the soft part 119 inside the body is rotated about a rotation axis extending along the length direction A, the forceps jaw 126 does not rotate. Therefore, even when the surgeon S rotates the soft part 119 inside the body, the assistant AS can stably operate the treatment instrument 400.

[0456] The operating device 300 is separated from the extension channel tube 130 into which the treatment instrument 400 is inserted. Therefore, the extension channel tube 130 can be disposed of as a consumable (disposable item) that can be discarded after the operation. If the extension channel tube 130 is disposed of as a consumable, the number of areas in the electric endoscope system 1000D that require washing of surgical gowns can be reduced.

[0457] The fourth embodiment of the present invention has been described in detail above with reference to the accompanying drawings. However, the specific structure is not limited to this embodiment, and design changes that do not depart from the spirit of the present invention are also included. Furthermore, the structural elements shown in the above embodiments and variations can be appropriately combined to form a configuration.

[0458] (Variation Example 4-1)

[0459] In the above embodiment, the connecting portion 120D that connects the internal flexible portion 119 and the external flexible portion 140 is provided in a part of the endoscope 100D. However, the manner in which the connecting portion 120D is connected is not limited to this. Figure 42This diagram shows a modified example of the connecting part 120D, namely the connecting part 120DA. The connecting part (retaining rotation part, external connecting part) 120DA retains the connection between the inner soft part 119 and the outer soft part 140. The connecting part 120DA supports the connection between the inner soft part 119 and the outer soft part 140 so that it can rotate freely about a rotation axis extending along the length direction A. Therefore, when the surgeon S rotates the inner soft part 119 of the insertion part 110 about the rotation axis extending along the length direction A, the inner soft part 119 and the outer soft part 140 are allowed to rotate in conjunction. Furthermore, since the connecting part 120DA has friction, the position rotated about the rotation axis extending along the length direction A is maintained even when the hand is removed from the insertion part. The arm 129 can be easily switched between fixed and free movement, so the position of the arm 129 can be changed according to the progress of insertion into the body.

[0460] The connecting part 120DA may also have an electric unit that enables the internal soft part 119 and the external soft part 140 to move forward and backward along the length direction A. Even without directly manipulating the internal soft part 119 with his right hand R, the surgeon S can electrically control the movement of the internal soft part 119.

[0461] (Variation Example 4-2)

[0462] In the above embodiment, the treatment device 400 is operated by the assistant AS. In the first embodiment, the treatment device 400 is operated by the surgeon S. However, the operation of the treatment device 400 is not limited to this. The treatment device 400 can also be operated assistedly using a treatment device retraction device that electrically moves the treatment device 400 forward and backward. The treatment device retraction device is a device appropriately selected from known retraction devices capable of moving the treatment device 400 forward and backward. By using the treatment device retraction device, the burden on the surgeon S and the assistant AS can be reduced, and the forward and backward operation of the treatment device 400 can be performed accurately.

[0463] (Fifth Implementation)

[0464] Reference Figures 43 to 48 The fifth embodiment of the electric endoscope system 1000E of the present invention will be described. In the following description, the same reference numerals will be used for structures that are common to those already described, and repeated descriptions will be omitted. Figure 43 This is an overall view of the electric endoscope system 1000E of this embodiment.

[0465] [Electric Endoscope System 1000E]

[0466] like Figure 43As shown, the electric endoscope system 1000E is a medical system for observing and treating the body of a patient P lying horizontally on an operating table T. The electric endoscope system 1000E includes an endoscope 100E, a drive unit 200, an operating unit 300, a treatment instrument 400, an image control unit 500, and a display unit 900.

[0467] [Endoscope 100E]

[0468] like Figure 43 As shown, the endoscope 100E includes an insertion part 110E, a connecting part 120, an external flexible part 140E, a loading and unloading part 150, a curved wire 160, and an internal object 170. The insertion part 110E, the connecting part 120, the external flexible part 140E, and the loading and unloading part 150 are connected sequentially from the front end side.

[0469] [Insertion section 110E]

[0470] The insertion part 110E is a slender strip member that can be inserted into the lumen. The insertion part 110E has a front end 111, a curved part 112, and a soft inner part 119E. The front end 111, the curved part 112, and the soft inner part 119E are connected sequentially from the front end side.

[0471] Figure 44 This is a cross-sectional view of the soft tissue 119E inside the body.

[0472] The internal soft part 119E is a long and flexible tubular component. A curved line 160, a channel tube 171, a camera cable 173, and a light guide 174 are inserted through the internal path 101 formed in the internal soft part 119E.

[0473] [External soft tissue 140E]

[0474] Figure 45 This is a cross-sectional view of the external soft part 140E.

[0475] The external flexible part 140E is a long tubular component. A curved wire 160, an air supply and suction tube 172, a camera cable 173, and a light guide 174 are inserted through the internal path 101 formed inside the external flexible part 140E.

[0476] The curved line 160 that penetrates the internal path 101 formed in the internal soft part 119E and the external soft part 140E is a first curved line 161 that bends the first curved part 113 and a second curved line 162 that bends the second curved part 114.

[0477] The first thread sheath 161s through which the first upper curved line 161u and the first thread sheath 161d are inserted are bound together at at least one location by fasteners 163. Therefore, as Figure 6 As shown, the first upper curved line 161u and the first lower curved line 161d are arranged on both sides of the central axis O in the first curved portion 113 in the UD direction, but are arranged adjacent to each other in the inner soft portion 119E and the outer soft portion 140E.

[0478] The first thread sheath 161s through which the first left-curved thread 161l penetrates and the first thread sheath 161s through which the first right-curved thread 161r penetrates are bound together at at least one location by fasteners 163. Therefore, as Figure 6 As shown, the first left curved line 161l and the first right curved line 161r are arranged on both sides of the central axis O in the first curved portion 113 in the LR direction, but are arranged adjacent to each other in the inner soft portion 119E and the outer soft portion 140E.

[0479] The second thread sheath 162s, through which the second upper curved line 162u and the second thread sheath 162s, through which the second lower curved line 162d are inserted, are bound together at at least one location by fasteners 163. Therefore, as... Figure 7 As shown, the second upper curved line 162u and the second lower curved line 162d are arranged on both sides of the central axis O in the second curved portion 114 in the UD direction, but are arranged adjacent to each other in the inner soft portion 119E and the outer soft portion 140E.

[0480] The second thread sheath 162s inserted through the second left-curved line 162l and the second thread sheath 162s inserted through the second right-curved line 162r are fastened together at at least one location by fasteners 163. Therefore, as Figure 7 As shown, the second left curve 162l and the second right curve 162r are arranged on both sides of the central axis O in the second curve portion 114 in the LR direction, but are arranged adjacent to each other in the inner soft portion 119E and the outer soft portion 140E.

[0481] In the following description, without making a special distinction between the first line sheath 161s and the second line sheath 162s, they will be referred to as "line sheath 160s".

[0482] Figure 46 This is a diagram showing the sheaths of two bundled wires at 160s.

[0483] Two wire sheaths 160s are bundled together by a plurality of fasteners 163. The fasteners 163 that bundle the two wire sheaths 160s are arranged from the front end side (A1) to the base end side (A2) at a specified interval P.

[0484] The fastener 163 is formed in a ring shape and is arranged along the circumferential direction C of the two wire sheaths 160s. The two wire sheaths 160s are inserted through the fastener 163. Thus, the fastener 163 binds the two wire sheaths 160s together so that they do not separate in a direction perpendicular to the length direction A.

[0485] Fastener 163 is fixed to one of the two paired wire sheaths 160s (pair of sheaths) by riveting, brazing, or heat shrinking. On the other hand, fastener 163 is not fixed to the other of the two paired wire sheaths 160s (pair of sheaths). Therefore, the other wire sheath 160s (pair of sheaths) can move forward and backward in the longitudinal direction A and rotate about the circumference C relative to fastener 163.

[0486] Figure 47 It is a cross-sectional view of the curved internal soft part 119E and the external soft part 140E.

[0487] When the inner soft part 119E and the outer soft part 140E are bent, the pair of wire sheaths 160s (pair of sheaths) bound by the fastener 163 become approximately bent. The bending shape of the two bent wires 160 inserted through the pair of wire sheaths 160s (pair of sheaths) is also approximately bent.

[0488] One side of the sheath is fixed to fastener 163, but the other side of the sheath is not fixed to fastener 163. Therefore, even if a difference in the inner and outer wheel diameters of the sheath occurs when the inner soft part 119E and the outer soft part 140E bend, the sheath 160s will not twist or deform because the other side of the sheath moves relative to fastener 163.

[0489] The two wires inserted through the sheath are a pair of opposing curved wires 160 (opposite wires) that bend the curved portion 112 in the UD or LR direction. Therefore, even when the opposing wires are inserted through the sheath and extend long from the insertion portion 110E to the inner flexible portion 119E and the outer flexible portion 140E of the drive device 200, the bending shape of the opposing wires is approximately the same. As a result, the drive controller 260 can easily estimate the tension (tension difference, tension ratio, etc.) of the opposing wires and easily bend the curved portion 112 accurately.

[0490] Figure 48 This is a diagram showing the insertion part 110E inserted into the large intestine.

[0491] In particular, the sheath of the soft part 119E inserted into the body is expected to be fastened by fasteners 163 at a spacing P that matches the assumed curved shape. The soft part 119E inserted into the large intestine passes through a large curved region RB1 that bends at a large angle (α1) and a small curved region RB2 that bends at a smaller angle (α2) than the large curved region RB1.

[0492] Assuming that the sheaths positioned in the large bending region RB1 are to be bound with fasteners 163 at a narrow interval P during treatment of the affected area, large bending of the sheaths in the large bending region RB1 can be limited, preventing a decrease in the transmission efficiency of the opposing lines. When the sheaths are bound with fasteners 163 at a wider interval P in the large bending region RB1, the opposing lines tend to have different bending shapes. On the other hand, when the sheaths are bound with fasteners 163 at a narrower interval P in the large bending region RB1, the bending shapes of the opposing lines are similar, making it easier to estimate the tension of the opposing lines.

[0493] Assuming that the sheath located in the small bending region RB2 is intended to be bound by fastener 163 with a wider spacing P during treatment of the affected area. Since no significant bending of the sheath is assumed in the small bending region RB2, it is desirable to reduce the impact of the fastener 163 itself on the transmission of the opposite line by further widening the spacing P.

[0494] The electric endoscope system 1000E according to this embodiment enables more efficient observation or treatment using the endoscope 100E. Since the endoscope 100E is separate from the operating device 300, the surgeon S can operate the endoscope 100E and the operating device 300 independently without affecting each other.

[0495] As the drive unit 200 separates from the operating unit 300, the path of the curved line 160 of the endoscope 100E from the insertion part 110E to the drive unit 200 may sometimes become longer, but the drive controller 260 can easily estimate the tension of the opposing line (tension difference, tension ratio, etc.) and can easily make the curved part 112 bend accurately.

[0496] The fifth embodiment of the present invention has been described in detail above with reference to the accompanying drawings. However, the specific structure is not limited to this embodiment, and design changes that do not depart from the spirit of the present invention are also included. Furthermore, the structural elements shown in the above embodiments and variations can be appropriately combined to form a configuration.

[0497] (Variation Example 5-1)

[0498] In the above embodiment, the bending portion 112 has a bending function (multi-stage bending function) in which the first bending portion 113 and the second bending portion 114 bend in two stages. However, the bending portion 112 is not limited to this. The bending portion 112 may also not have the first bending portion 113, but only have the second bending portion 114. The bending portion 112 may also have a third bending portion, which can bend in three stages.

[0499] (Variation 5-2)

[0500] In the above embodiment, one side of the sheath is fixed to fastener 163, but the other side of the sheath is not fixed to fastener 163. However, the method of fixing the sheath is not limited to this. It is also possible to fix both sides of the sheath to fastener 163. Alternatively, it is also possible to leave both sides of the sheath unfixed to fastener 163.

[0501] (Variation 5-3)

[0502] In the above embodiment, the wire sheath 160s penetrating the inner flexible portion 119E and the outer flexible portion 140E is bound by the fastener 163. However, the method of binding the wire sheath 160s is not limited to this. Alternatively, only a portion of the wire sheath 160s penetrating the inner flexible portion 119E and the outer flexible portion 140E may be bound by the fastener 163.

[0503] (Variation 5-4)

[0504] In the above embodiment, the sheath is bound together by a ring-shaped fastener 163. However, the fastener 163 is not limited to this. Figure 49 This is a diagram showing a modified example of fastener 163, namely fastener 163B. Fastener (third line sheath) 163B is longer in the length direction A than fastener 163 and is formed in the shape of a sheath.

[0505] (Variation Example 5-5)

[0506] In the above embodiment, the two wire sheaths 160s (to each other) are separated and bound together by fasteners 163. However, the arrangement of the two wire sheaths 160s (to each other) is not limited to this. Figure 50 This is a diagram showing a modified example of a pair of sheaths 160s (pair sheaths), specifically a pair of sheaths 161B. In the pair of sheaths 161B, the two sheaths 160s are integrally formed.

[0507] (Sixth Implementation Method)

[0508] With features like the M5 coordinated bending control mode, the cost of a motorized endoscope system tends to increase, thus raising its price. Consequently, users (hospitals) may hesitate to adopt such a system.

[0509] The sixth embodiment of the present invention provides an electric endoscope system capable of using a function only when it is necessary to coordinate functions such as the bending control mode M5, and generating billing information for billing purposes when the function can be used. This reduces the cost for users when adopting an electric endoscope system. Hereinafter, the function subject to billing will be referred to as an additional function.

[0510] Reference Figure 51A billing system 2000 including the electric endoscope system of the sixth embodiment will be described. Figure 51 This is an overall diagram of the billing system 2000 of this embodiment.

[0511] Billing System 2000

[0512] like Figure 51 As shown, the billing system 2000 includes a billing server SV1, a hospital server SV2, and an electric endoscope assembly 2100.

[0513] [Billing Server SV1]

[0514] The billing server SV1 manages the information used for billing. The billing server SV1 is an executable program computer equipped with a processor, memory, storage unit capable of storing programs and data, and input / output control unit. The functions of the billing server SV1 are implemented by the processor executing programs. At least some of the functions of the billing server SV1 can also be implemented by dedicated logic circuitry.

[0515] Billing server SV1 and hospital server SV2 communicate with each other via external network NW1 and internal network NW2. For example, external network NW1 is the Internet. Internal network NW2 is a LAN (Local Area Network) built within the hospital. Billing server SV1 communicates with the electric endoscope assembly 2100 via external network NW1 and internal network NW2, receiving information related to the use of additional functions. Based on the received information, billing server SV1 performs billing processing.

[0516] [Hospital Server SV2]

[0517] The Hospital Server SV2 is integrated into the hospital's system and manages electronic medical records, among other things. The Hospital Server SV2 is an executable computer equipped with a processor, memory, storage for programs and data, and input / output control. The functions of the Hospital Server SV2 are implemented through the execution of programs by the processor. At least some of the functions of the Hospital Server SV2 can also be implemented using dedicated logic circuitry.

[0518] [Electric Endoscope Set 2100]

[0519] The motorized endoscope assembly 2100 has multiple motorized endoscope systems. For example, the motorized endoscope assembly 2100 includes a motorized endoscope system comprising a control device 600a and an endoscope 100a, a motorized endoscope system comprising a control device 600b and an endoscope 100b, a motorized endoscope system comprising a control device 600c and an endoscope 100c, and an endoscope 100d. Control device 600a and endoscope 100a are used in treatment chamber RM100, control device 600b and endoscope 100b are used in treatment chamber RM101, and control device 600c and endoscope 100c are used in treatment chamber RM102. Endoscope 100d is not used.

[0520] Control devices 600a, 600b, and 600c have the same characteristics as... Figure 26 The control device 600B shown has the same structure. Endoscopes 100a, 100b, and 100c have the same... Figure 1 The endoscope 100 shown has the same structure. Endoscope 100a is connected to control device 600a. Endoscope 100a can also be connected to control device 600b or control device 600c. Endoscope 100b is connected to control device 600b. Endoscope 100b can also be connected to control device 600a or control device 600c. Endoscope 100c is connected to control device 600c. Endoscope 100c can also be connected to control device 600a or control device 600b. When using endoscope 100d, endoscope 100d can be connected to any one of control device 600a, control device 600b, and control device 600c. In each motorized endoscope system, structures other than the control device and endoscope are not shown.

[0521] The following describes an electric endoscope system included in the electric endoscope assembly 2100, using... Figure 26 The electric endoscope system 1000B is shown. Hereinafter, control device 600B will be used instead of control device 600a, control device 600b and control device 600c.

[0522] The hospital intranet to which the hospital server SV2 and the motorized endoscope assembly 2100 are connected is not shown. Personal computers (PCs) and other devices connected to the hospital intranet are not shown.

[0523] The functions of the billing system 2000 are described. The sixth implementation is not limited to the following examples.

[0524] The drive controller 260B of the drive unit 200B detects the state of the switch 340B and sends state information indicating this state to the processor 561 of the image control unit 500 of the control unit 600B. The processor 561 receives the state information from the drive controller 260B and detects the bending mode of the bending section 112 based on the state information. If the bending mode is a mode for using additional functions, the processor 561 generates usage status information indicating the use of the additional functions. This usage status information is billing information used for billing purposes.

[0525] The electric endoscope system 1000B has two or more functions, including basic functions and additional functions. For example, the mode using the basic functions is the simulated single-bend control mode M4. The modes using the additional functions are at least one of the following: first bend control mode M1, second bend control mode M2, coordinated bend control mode M5, and simulated single-bend transition mode M6. The combination of modes included in the basic and additional functions can be configured, and the manufacturer can freely set the modes included in each function. Basic functions are not billed, while additional functions are.

[0526] The processor 561 is communicatively connected to the billing server SV1. The processor 561 outputs the generated usage information to the input / output control unit 564 of the image control device 500 included in the control device 600B. The input / output control unit 564 has communication circuitry and is connected to the internal network NW2. The input / output control unit 564 communicates with the billing server SV1 via the internal network NW2 and the external network NW1, sending the usage information to the billing server SV1. The billing server SV1 receives the usage information from the input / output control unit 564 and performs billing processing based on the usage information.

[0527] The processor 561 may also record a system log containing usage information in the memory 562 of the image control device 500 included in the control device 600B. For example, during maintenance of the electric endoscope system 1000B, the maintenance operator may retrieve the system log from the memory 562. In this case, the input / output control unit 564 does not need to send the usage information to the billing server SV1.

[0528] In a system where billing is based solely on the number of times or the duration of additional function usage, surgeon S might speed up surgical procedures to reduce the number of times or the duration of additional function usage. In the following example, even if an additional function is used more than twice to observe or treat a case, the billing amount is the same as for a single use. Therefore, the likelihood of surgeon S speeding up surgical procedures to reduce billing decreases. Each case is associated with a patient. Case treatment may also include surgery.

[0529] Many cases may be observed or treated throughout the day. Furthermore, for cases requiring additional functions and those not requiring additional functions, accurate recording of the usage status of additional functions is necessary. During the observation or treatment of a case, the surgeon S may switch the power supply of the electric endoscope system 1000B on and off. Alternatively, during the observation or treatment of a case, the surgeon S may remove and reassemble the endoscope 100, but the processor 561 has the function of detecting changes in the case and generating usage information for each case, independent of these actions.

[0530] Processor 561 generates a case identification code. A case identification code is assigned to a case. Case identification codes are not repeated among multiple cases. Processor 561 associates the case identification code with usage information and records the case identification code and usage information in memory 562.

[0531] The processor 561 is communicatively connected to the hospital server SV2. The input / output control unit 564 communicates with the hospital server SV2 via the internal network NW2, receiving a predefined identification code for identifying medical records. Alternatively, the input / output control unit 564 obtains a predefined identification code input to an input device (e.g., a keyboard) not shown. This predefined identification code may be a patient ID, date ID, or examination form ID prepared in the hospital. The input / output control unit 564 outputs the predefined identification code to the processor 561. The processor 561 generates a medical record identification code based on the predefined identification code, thereby obtaining the medical record identification code.

[0532] Processor 561 can detect changes in patient records by detecting changes in identification codes provided by the hospital. By combining two or more identification codes, processor 561 can accurately detect changes in patient records. For example, in addition to the IDs mentioned above, endoscope IDs assigned to each endoscope 100 can also be used. Sometimes two or more different endoscopes 100 are used for the same patient. For example, the endoscope 100 used for upper digestive tract examination and the endoscope 100 used for lower digestive tract examination are different. When the patient ID remains unchanged but the endoscope ID changes, processor 561 can detect changes in patient records. It is also possible to set a usage period for the identification codes provided by the hospital, with identification codes that have expired becoming invalid.

[0533] For example, after observing or treating a case, the endoscope 100 is cleaned. An identification code corresponding to this cleaning history can also be used in a system that records this cleaning history.

[0534] By using endoscope IDs in addition to the identification code provided by the hospital, or by setting a usage period for the identification code provided by the hospital, it is possible to suppress the improper use of the identification code provided by the hospital.

[0535] The billing method is determined based on the type of contract between the provider and user of the electric endoscope system 1000B. The processor 561 suppresses communication via the internal network NW2 during observation or treatment.

[0536] For example, contract types include comprehensive contracts, pay-as-you-go contracts, and long-term contracts. In a comprehensive contract, the fee is fixed throughout the contract period, regardless of whether additional features are used. In a pay-as-you-go contract, if additional features are used for a particular case, a charge is incurred for the use of those features. Additional features are unavailable to the user at the end of the contract period for either a comprehensive or pay-as-you-go contract. In a long-term contract, no charge is incurred even if additional features are used. Contract information indicating the contract type is recorded in memory 562.

[0537] Users with long-term contracts can also equip the image control device 500 with a hardware dongle. The processor 561 can also detect the hardware dongle via the input / output control unit 564 to determine if the contract is a long-term contract. In the case of a long-term contract, usage information can also be recorded in the system log.

[0538] The aforementioned electric endoscope system 1000B outputs billing information corresponding to the user's usage of the endoscope 100. The processor 561 acquires a case identification code corresponding to the case using the endoscope 100. The processor 561 detects the usage status of the function that is subject to billing. If billing information associated with the case identification code is generated, the processor 561 does not generate new billing information associated with the case identification code. If the processor detects that a function that is subject to billing is being used but no billing information associated with the case identification code has been generated, the processor 561 generates and outputs new billing information associated with the case identification code.

[0539] Reference Figure 52 and Figure 53 This section explains the processing used for billing. Figure 52 and Figure 53 This is a flowchart illustrating the steps of the processing performed by processor 561.

[0540] When the electric endoscope system 1000B is started, the processor 561 begins... Figure 52 The process is as shown. The processor 561 refers to the contract information recorded in the memory 562 to confirm the type of contract (step S100). The processor 561 can also enable the input / output control unit 564 to communicate with the hospital server SV2 and receive contract information from the hospital server SV2.

[0541] In step S100, if the contract type is a pay-as-you-go contract, proceed to step S105. In step S100, if the contract type is a comprehensive contract or a long-term contract, Figure 52 The processing shown is now complete.

[0542] In step S100, if the contract type is a pay-as-you-go contract, the processor 561 enables the input / output control unit 564 to communicate with the hospital server SV2 and receive the specified identification code A provided by the hospital from the hospital server SV2. The processor 561 then obtains the identification code A received by the input / output control unit 564 (step S105).

[0543] In step S100, if the contract type is a pay-as-you-go contract, the display device 900 may also display a screen for the surgeon S to confirm the use commitment. If the surgeon S has authorized the use of additional functions, step S105 may also be executed. If the surgeon S has not authorized the use of additional functions, only the basic functions may be used.

[0544] After obtaining the identification code A in step S105, the processor 561 calculates the hash value h(A) by applying the identification code A to the hash function h(x). By using an irreversible transformation function as the hash function, the information is protected even if the hospital's inherent information is used as the identification code A. The processor 561 refers to the hash value Xh recorded in the memory 562 to determine whether the hash value Xh is the same as the hash value h(A). If two or more hash values ​​Xh are recorded in the memory 562, the processor 561 performs this determination for each hash value Xh (step S110).

[0545] When the append function is used, the hash value Xh is recorded in memory 562 in step S120 (described later). Processor 561 determines, by executing step S110, whether the hash value Xh previously recorded in memory 562 is the same as hash value h(A). If the hash value Xh is the same as hash value h(A), processor 561 can determine that a case identical to a past case is being processed. In this case, the billing information has already been recorded in memory 562. Therefore, processor 561 does not need to record the billing information again in memory 562. On the other hand, if the hash value Xh is different from hash value h(A), processor 561 can determine that a case different from a past case is being processed. In this case, the billing information is not recorded in memory 562. Therefore, when the append function is used, processor 561 records the billing information in memory 562 in step S120 (described later).

[0546] In step S110, if a hash value Xh is the same as a hash value h(A), Figure 52 The processing shown is now complete. In step S110, if all hash values ​​Xh are different from hash value h(A), then step S115 is executed.

[0547] In step S110, if all hash values ​​Xh differ from hash value h(A), processor 561 detects the bending pattern of the bent portion 112 based on the status information received from drive controller 260B. Based on the detected bending pattern, processor 561 determines whether an additional function has been used (step S115).

[0548] If the append function is used in step S115, proceed to step S120. If the append function is not used in step S115, proceed to step S125.

[0549] If the append function is used in step S115, the processor 561 increments the usage count N by 1. Furthermore, the processor 561 processes the hash value h(A) of the identification code A as a new hash value Xh. The processor 561 establishes a correlation between the usage count N and the hash value Xh, and records the combination [N, Xh] of the usage count N and the hash value Xh in the memory 562 (step S120).

[0550] The number of uses N is usage status information, representing the number of times the additional function was used. The initial value of the number of uses N is 0. The hash value Xh is the case identification code corresponding to the identification code A. The processor 561 obtains the case identification code by calculating the hash value Xh corresponding to the identification code A (ID) output from the hospital server SV2. The case identification code is not limited to the hash value. The hash value Xh corresponding to the identification code A is different from all the hash values ​​Xh recorded in the memory 562 when executing step S110. The processor 561 records the combination [N, Xh] of the new case identification code that is different from the case identification code recorded in the memory 562 in the memory 562. The combination [N, Xh] indicates that the additional function was used for the case corresponding to the identification code A. The combination [N, Xh] functions as billing information. When the combination [N, Xh] is recorded in the memory 562 in step S120, Figure 52 The processing shown is now complete.

[0551] If the additional function is not used in step S115, the processor 561 determines whether the observation or treatment for a case has ended (step S125).

[0552] When the observation or treatment of a case in step S125 is completed, Figure 52 The process shown is now complete. If the observation or treatment of a case in step S125 is not yet complete, proceed to step S115.

[0553] If no additional functions are used during the observation or treatment of a case, step S120 is not executed. Figure 52 The processing shown is now complete.

[0554] When the additional function is first used for a case, the processor 561 records the combination [N, Xh] in the memory 562 in step S120. If the additional function is used for a case more than twice, the combination [N, Xh] is not updated.

[0555] For example, after using additional functions for a case, surgeon S sometimes disconnects the power supply to the electric endoscope system 1000B and then reconnects it. After the power is reconnected, processor 561 executes again... Figure 52The processing is as shown. If the case does not change during the power state change, the processor 561 determines in step S110 that a hash value Xh is the same as hash value h(A). In this case, the combination [N, Xh] is not updated, therefore, the number of times the additional function is used does not increase, and the processor 561 is able to generate usage information for each case.

[0556] When a combination [N, Xh] associated with a case identification code is generated, processor 561 records the generated combination [N, Xh] in memory 562. If the combination [N, Xh] associated with the case identification code is already recorded in memory 562, processor 561 does not generate a new combination [N, Xh] associated with the case identification code. If an append function is detected and the combination [N, Xh] associated with the case identification code is not recorded in memory 562, processor 561 generates a new combination [N, Xh] associated with the case identification code.

[0557] Processor 561 can also detect states that only use basic functions. If the state is detected and the combination [N, Xh] associated with the case identification code is recorded in memory 562, processor 561 does not need to generate a new combination [N, Xh] associated with the case identification code.

[0558] exist Figure 52 In the example shown, if the contract type is a comprehensive contract or a long-term contract, the number of uses N is not recorded in memory 562. However, to inform the provider of the electric endoscope system 1000B about the usage of additional functions in the comprehensive or long-term contract, the number of uses of the additional functions in the comprehensive or long-term contract may also be recorded in memory 562. In this case, no billing amount is generated for the use of the additional functions.

[0559] Figure 53 This illustrates the treatment performed upon completion of observation or care for a case. For example, in Figure 52 After the processing shown is completed, execute Figure 53 The processing shown.

[0560] Processor 561 generates mode usage information indicating whether additional functions have been used. If additional functions have been used, the mode usage information also indicates the type of additional function used. Processor 561 enables input / output control unit 564 to communicate with hospital server SV2, sending image data acquired from endoscope 100 and mode usage information to hospital server SV2 (step S200). Processor 561 can also cause input / output control unit 564 to send mode usage information along with observation or diagnostic reports to hospital server SV2.

[0561] The hospital server SV2 receives image data and mode usage information from the input / output control unit 564. For example, the hospital server SV2 displays the mode usage information on a display device (not shown). Hospital stakeholders can then verify the usage status of the additional functions.

[0562] After sending image data and mode usage information in step S200, processor 561 generates usage status information based on the combination [N, Xh] recorded in memory 562. The usage status information indicates that the additional function has been used. The usage status information may also be information indicating the number of times N has been used. Processor 561 enables input / output control unit 564 to communicate with billing server SV1, sending system maintenance information and usage status information to billing server SV1 (step S205).

[0563] When the number of uses N is 0, processor 561 does not need to send usage information to billing server SV1. Alternatively, when the number of uses N is 0, processor 561 may send usage information indicating that the additional function has not been used to billing server SV1.

[0564] Billing server SV1 receives system maintenance information and usage information from input / output control unit 564. Based on the usage information, billing server SV1 performs billing processing. For example, in the case of a pay-as-you-go contract, billing server SV1 calculates the billing amount based on the usage of additional functions. If additional functions are used for M cases (M being an integer greater than or equal to 1), billing server SV1 calculates the billing amount corresponding to the M uses of additional functions.

[0565] Processor 561 may also refrain from sending (outputting) billing information to billing server SV1 (external server) during the duration of observation or treatment of the case corresponding to the case identification code. Processor 561 may also send (output) billing information to billing server SV1 when the observation or treatment of the case corresponding to the case identification code ends.

[0566] In a system where the maintenance operator retrieves the system log from memory 562, processor 561 does not need to perform [operations / tasks]. Figure 53 The processing shown.

[0567] Alternatively, processor 561 can increment the usage count by 1 each time the additional function is used on a case. Processor 561 can also generate usage status information representing the usage count for each case.

[0568] When the additional function is used, processor 561 can also calculate the time the additional function was used. Processor 561 can also generate usage information representing that time. For example, processor 5611 calculates the cumulative time the additional function was used in the observation or treatment of a case corresponding to a case identification code. The cumulative time is the sum of the times the additional function was used in the observation or treatment of a case. For example, if the additional function was used in two different periods, a first period and a second period, processor 561 calculates the cumulative time by summing the lengths of the first period and the second period. Processor 561 outputs information related to the cumulative time along with the usage information.

[0569] The modes using additional functions are not limited to those related to bending control. Modes using additional functions can also be diagnostic modes utilizing artificial intelligence (AI). Modes using additional functions can also be navigation modes.

[0570] In the example above, processor 561 generates information indicating the use of additional functions on a case-by-case basis. Processor 561 can also generate information indicating the use of additional functions independently of the case.

[0571] In the example above, processor 561 executes... Figure 52 and Figure 53 The process shown can also be performed by the drive controller 260B of the drive unit 200B included in the control device 600B. Figure 52 and Figure 53 The processing shown.

[0572] The processor 561 or drive controller 260B can also read and execute a program. This program can be provided, for example, by a computer-readable recording medium such as flash memory. The program can also be transmitted from the computer holding the program to the control device 600B via a transmission medium or by transmission waves in the transmission medium. The "transmission medium" for transmitting the program is a medium capable of transmitting information. Media capable of transmitting information include networks (communication networks) such as the Internet and communication lines (communication lines) such as telephone lines. The program described above can also implement a portion of the functions described above. Furthermore, the program described above can also be a differential file (differential program). The functions described above can also be implemented by combining a program already recorded in the computer with a differential program.

[0573] In the electric endoscope system 1000B of the sixth embodiment, hospitals can use additional functions when performing difficult surgical procedures, thereby reducing the cost of introducing the electric endoscope system 1000B. For example, this cost can be equivalent to the cost of introducing a conventional endoscope system.

[0574] By using the add-on feature, hospitals can shorten the time required for time-consuming surgical procedures. For example, hospitals can also use the add-on feature on days with a high volume of cases. This allows hospitals to flexibly respond to changes in case volume, improving operational efficiency.

[0575] Even if the additional function is used more than twice for the observation or treatment of a single case, the billing amount does not increase based on the number of uses. Figure 52 In the process shown, a prescribed identification code was obtained. This identification code is... Figure 52 The identification code is used in the process shown, but after the process is completed, the memory 562 does not need to retain the identification code. The electric endoscope system 1000B does not need to maintain a list of various IDs provided by the hospital, thus protecting personal information. By combining the identification code provided by the hospital with the endoscope ID, etc., the usage status of the additional functions can be accurately detected.

[0576] Furthermore, in this embodiment, previously accumulated usage information can also be used to provide useful information to the surgeon S operating the electric endoscope system 1000B.

[0577] Surgeon S needs to select the function to use from the multiple functions available in the electric endoscope system 1000B, based on the needs of the surgeon.

[0578] In addition to the "First Bending Control Mode (Front-End Side Bending Control Mode) M1" and the "Second Bending Control Mode (Base-End Side Bending Control Mode) M2", the system also has a "Coordinated Control Mode M3" that coordinates the control of the first bending portion 113 and the second bending portion 114. The bending modes in the Coordinated Control Mode M3 are classified as the following bending modes: "Simulated Single Bending Control Mode M4 (First Mode)" in which the bending portion 112 bends as a single bending portion; "Coordinated Bending Control Mode M5 (Second Mode)" in which the first bending portion 113 and the second bending portion 114 bend in coordination; and "Simulated Single Bending Transition Mode M6 (Third Mode)".

[0579] The hospital server SV2 stores patient information (electronic medical records) for multiple patients. In addition to the case identification code generated by processor 561, the patient information includes biological information and case information. The biological information includes the patient's age, gender, height, weight, body type, blood pressure, and past surgical history. The case information includes the lesion classification, location, and size.

[0580] The hospital server SV2 stores usage information in association with the case identification code contained in the patient information. This usage information includes not only billing information used for billing purposes, but also the identification information of the surgeon S who was in charge of the case, the type of surgical procedure (medical act) performed in the case, the type of bending pattern used in the surgical procedure, and information indicating the time the bending pattern was used.

[0581] The identification information of the surgeon S related to the case and the type of surgical procedure (medical act) performed in the case are input to the input / output control unit 564 from an input device (e.g., a keyboard) that is not shown in the figure, as usage status information.

[0582] The surgeon S operates the switch 340 to select a bending mode. The switch 340 is a selection unit that allows the surgeon S to clearly select the bending mode related to the endoscope during operation without releasing their hand from the operating device 300. The display device 900 displays information to confirm whether to use the newly selected bending mode, and the surgeon S inputs confirmation information using various buttons 352, etc. Thus, the bending mode related to the endoscope is switched to the newly selected bending mode by operating the switch 340. Therefore, the selection of the bending mode becomes a two-stage process, thereby preventing misuse and incorrect billing.

[0583] The drive controller 260B of the drive unit 200B detects the state of the switch 340B and sends state information (bending mode information) indicating this state to the processor 561 of the image control device 500 of the control unit 600B. The processor 561 receives the state information from the drive controller 260B, detects the bending mode of the bending section 112 based on the state information, and controls the bending. The processor 561 generates usage status information indicating the bending mode being used.

[0584] The processor 561 is connected to the hospital server SV2 in a communicative manner, and therefore sends the patient identification code and usage information to the hospital server SV2 in association. The hospital server SV2 receives the patient identification code and usage information from the input / output control unit 564, and stores the patient identification code and usage information in association with the stored patient information.

[0585] When surgeon S reviews the accumulated usage information, the surgeon inputs the case identification code of the case that surgeon S wants to review to the input / output control unit 564 through an input device not shown in the figure.

[0586] The hospital server SV2 receives the patient identification code input to the input / output control unit 564. Based on the patient identification code, the hospital server SV2 determines usage status information from a database of accumulated patient information. Specifically, the hospital server SV2 determines usage status information associated with the same patient identification code input to the input / output control unit 564. The hospital server SV2 then sends the determined usage status information to the input / output control unit 564.

[0587] The display device 900 displays usage status information received by the input / output control unit 564.

[0588] In this embodiment, useful information can be provided to the surgeon S, allowing the surgeon S to review the surgical procedures he / she performed.

[0589] In addition, the types of bending patterns used in the case can be accumulated in relation to the time of their use, providing useful information indicating when and for how long a particular bending pattern was used. This allows the surgeon to review the surgical procedure and improve their skills. Furthermore, it is effective not only for reviewing surgical procedures but also for investigating potential accidents.

[0590] Typically, nurses and other staff record the surgical procedure and medications used during surgery. In this embodiment, information representing the usage of bending patterns by the surgeon S without the cooperation of staff can be automatically accumulated, thus reducing the recording effort required by nurses and staff.

[0591] As explained above, effectively utilizing the usage information generated by the electric endoscope system can help improve the efficiency of surgical procedures, contribute to improved outcomes, and reduce costs.

[0592] (Seventh Implementation)

[0593] The electric endoscope system of the seventh embodiment of the present invention has the function of displaying a three-dimensional image of the curved portion 112. This three-dimensional image is a computer graphic (CG) representing the shape of the curved portion 112. To display the three-dimensional image, it is necessary to determine the direction of the surgeon's line of sight. The direction of the surgeon's line of sight is from the viewpoint toward the endoscope 100. It is desirable to determine the direction of the line of sight in a way that allows the surgeon to easily grasp the direction of the curved portion. When using a coordinated curved portion control mode M5, etc., the surgeon may find it difficult to grasp the direction of the curved portion through the three-dimensional image display method. Therefore, it is necessary to determine the direction of the surgeon's line of sight and appropriately display the three-dimensional image.

[0594] The seventh embodiment provides an electrically powered endoscope system (surgical support system) that displays a three-dimensional image for the surgeon S to easily grasp the direction of curvature.

[0595] Reference Figure 54 The electric endoscope system 1000G of the seventh embodiment will be described. In the following description, the same reference numerals will be used for structures that are common to those already described, and repeated descriptions will be omitted.

[0596] like Figure 54 As shown, the electric endoscope system 1000G is a medical system for observing and treating the body of a patient P lying horizontally on an operating table T. The electric endoscope system 1000G includes an endoscope 100, a drive unit 200B, an operating unit 300B, a treatment instrument 400, and an image control unit 500 (see reference). Figure 1 ), camera 570, and display device 900 (monitor).

[0597] Camera 570 is installed in the operating room. Camera 570 is an imaging device equipped with an image sensor (such as a CCD sensor or a CMOS sensor). Camera 570 generates an image encompassing the surgeon's field of view, the endoscope 100, and the display device 900. Camera 570 is connected to the input / output control unit 564 of the image control unit 500. Camera 570 sends the generated image to the input / output control unit 564. Two or more cameras can also be configured.

[0598] The input / output control unit 564 communicates with the camera 570 and receives images. The processor 561 of the image control device 500 obtains the images received by the input / output control unit 564. The processor 561 processes the images and detects a first direction and a second direction. The first direction is the direction associated with the endoscope 100 (insertion part 110). The second direction is the direction associated with the display device 900. The first direction and the second direction are both linear directions. Based on the first direction and the second direction, the processor 561 determines the direction of the line of sight for displaying a three-dimensional image representing the shape of the curved part 112.

[0599] The drive controller 260B of the drive unit 200B communicates with the input / output control unit 564, sending the bending amount in the UD direction of the first bending portion 113, the bending amount in the LR direction of the first bending portion 113, the bending amount in the UD direction of the second bending portion 114, and the bending amount in the LR direction of the second bending portion 114. The input / output control unit 564 receives each bending amount and outputs it to the processor 561. Based on each bending amount, the processor 561 generates a three-dimensional image (three-dimensional model) of the endoscope 100 observed in a determined direction. The processor 561 displays the three-dimensional image on the display device 900.

[0600] Reference Figure 55 The processing used to display three-dimensional images is explained. Figure 55 This is a flowchart illustrating the steps of the processing performed by processor 561.

[0601] The processor 561 enables the input / output control unit 564 to communicate with the camera 570 and receive images from the camera 570. The processor 561 obtains the images received by the input / output control unit 564 (step S300).

[0602] After acquiring the image in step S300, the processor 561 processes the image to detect a first direction and a second direction (step S305). Specifically, the processor 561 detects the tilt of the endoscope 100 by using object detection or three-dimensional measurement methods, thereby detecting the first direction. Furthermore, the processor 561 detects the second direction by detecting the orientation of the display device 900.

[0603] Figure 56 and Figure 57 This is a diagram showing the positional relationship between the endoscope 100 and the display device 900.

[0604] exist Figure 56 and Figure 57 The diagram illustrates a first direction DR1 and a second direction DR2. For example, the first direction DR1 is the direction in which the endoscope 100 is inserted into the lumen of the patient P. The second direction DR2 is related to the direction of the surgeon S's line of sight. Figure 56 and Figure 57 In the example shown, the second direction DR2 is a direction that is parallel to the horizontal plane and perpendicular to the screen of the display device 900.

[0605] exist Figure 56 In the example shown, the second direction DR2 is approximately parallel to the first direction DR1. Figure 57 In the example shown, the second direction DR2 is close to the direction perpendicular to the first direction DR1.

[0606] Processor 561 does not need to accurately detect the first and second directions. Processor 561 can distinguish them sufficiently. Figure 56 The state shown and Figure 57 The accuracy of the state shown is used to detect the first and second directions.

[0607] After detecting the first direction and the second direction in step S305, the processor 561 determines the direction of the gaze used to display the three-dimensional image based on the first direction and the second direction (step S310).

[0608] For example, the viewpoint for displaying a three-dimensional image is set at a position where at least the front end 111 and the curved portion 112 are included in the field of view. Figure 56 In the example shown, the second direction DR2 is close to the direction parallel to the insertion direction of the endoscope 100. Therefore, the processor 561 sets the direction of the line of sight from the soft part 119 side to the anterior part 111 side (the length direction A of the endoscope 100). Figure 57 In the example shown, the second direction DR2 is close to the direction perpendicular to the insertion direction of the endoscope 100. Therefore, the processor 561 sets the direction of the line of sight to be the direction intersecting the length direction A of the endoscope 100.

[0609] The processor 561 determines the orientation of the endoscope 100 in the three-dimensional image based on the angle (relative angle) between the first direction DR1 and the second direction DR2. Figure 56 In the example shown, the first direction DR1 and the second direction DR2 are the same, with a relative angle of 0. Therefore, the processor 561 sets the orientation of the endoscope 100 in the three-dimensional image to be the same as the reference direction. The reference direction is defined as the orientation of the endoscope 100 in the three-dimensional image displayed when the relative angle is 0.

[0610] exist Figure 57 In the example shown, the first direction DR1 and the second direction DR2 are almost perpendicular, with a relative angle of approximately 90 degrees. Therefore, the processor 561 changes the orientation of the endoscope 100 in the three-dimensional image from the reference direction. Figure 57 In the example shown, processor 561 rotates the orientation of endoscope 100 in the three-dimensional image by 90 degrees.

[0611] exist Figure 56 and Figure 57 In the example shown, the surgeon S is directly facing the display device 900. Therefore, the position of the surgeon S is included in the orientation of the display device 900, and the processor 561 does not need to detect the position of the surgeon S.

[0612] After determining the direction of the line of sight in step S310, the processor 561 enables the input / output control unit 564 to communicate with the drive controller 260B and obtains the bending amounts of the first bending portion 113 and the second bending portion 114 from the input / output control unit 564 (step S315).

[0613] After obtaining the bending amounts of the first curved portion 113 and the second curved portion 114 in step S315, the processor 561 generates a three-dimensional image of the endoscope 100 observed in the direction determined in step S310 based on the bending amounts. At this time, the processor 561 determines the orientation of the endoscope 100 in the three-dimensional image (step S320).

[0614] After generating the 3D image in step S320, the processor 561 outputs the 3D image to the display device 900 via the input / output control unit 564. The display device 900 displays the 3D image (step S325).

[0615] Figure 58 and Figure 59 An example of a three-dimensional image displayed by display device 900 is shown. Figure 58 In the example shown, the 3D image IMG1 is displayed on screen 902 of display device 900. Figure 59 In the example shown, the three-dimensional image IMG2 is displayed on screen 902 of the display device 900. The three-dimensional images IMG1 and IMG2 represent the state of the curved portion 112 as observed in a direction close to the line of sight of the surgeon S. Therefore, the surgeon S can easily grasp the direction of the curvature.

[0616] The processor 561 can also be used with Figure 55 The timing of step S315 is different from the timing shown, and the bending amounts of the first curved portion 113 and the second curved portion 114 are obtained. For example, the processor 561 may also execute step S315 before executing any one of steps S300, S305 and S310.

[0617] The drive controller 260B of the drive unit 200B can also communicate with the input / output control unit 564 to send the rotation angle of the cylindrical member 121. The input / output control unit 564 can also receive the rotation angle and output it to the processor 561. The processor 561 can also generate a three-dimensional image of the endoscope 100 based on each bending amount and rotation angle.

[0618] In the example above, processor 561 executes... Figure 55 The process shown can also be performed by the drive controller 260B of the drive unit 200B. Figure 55 The processing is shown. The processor 561 or the drive controller 260B can also read in a program and execute the read program.

[0619] In the example above, one display device is configured, but two display devices can also be configured. For example, one display device could display images obtained by the endoscope, while the other display device could display a three-dimensional image. In this case, it would be desirable to use the display device that displays the three-dimensional image to determine the direction of the surgeon S's line of sight.

[0620] In the example above, the first and second directions are detected by camera 570, but the direction of the line of sight can also be set manually without using a camera.

[0621] Another method for the processor 561 to determine the direction of the gaze in step S310 will be described. In the following method, the second direction is related to the direction of the surgeon S's gaze and varies depending on the positional relationship between the display device 900 and the surgeon S.

[0622] One or more cameras 570 are positioned to capture the surgeon S, endoscope 100, and display device 900 within the camera's field of view. Alternatively, one or more cameras 570 are positioned on the display device 900 and fixed in a position that allows the surgeon S and endoscope 100 to be captured within the camera's field of view.

[0623] The processor 561 detects a first direction corresponding to the tilt of the endoscope 100 using the same method as described above. Furthermore, the processor 561 detects a second direction as the direction from the surgeon S toward the display device 900 using object detection or three-dimensional measurement techniques.

[0624] Figure 60 , Figure 61 as well as Figure 62 This is a diagram showing the positional relationship between the surgeon S, the endoscope 100, and the display device 900.

[0625] exist Figure 60 , Figure 61 as well as Figure 62 The diagram illustrates a first direction DR1 and a second direction DR2. For example, the first direction DR1 is the direction in which the endoscope 100 is inserted into the lumen of the patient P. The second direction DR2 is related to a direction determined based on the position of the display device 900 and the position of the surgeon S. In other words, the second direction DR2 is related to the direction of the surgeon S's line of sight. Figure 60 , Figure 61 as well as Figure 62 In the example shown, the second direction DR2 is the direction from the surgeon's position S toward the display device 900. For example, the surgeon's position S is the surgeon's viewpoint position. For example, the display device 900 is the center position of the screen displayed on the display device 900.

[0626] exist Figure 60 In the example shown, the second direction DR2 is approximately parallel to the first direction DR1. Figure 61 and Figure 62 In the examples shown, the second direction DR2 is different from the first direction DR1.

[0627] Figure 63 , Figure 64 as well as Figure 65 This is a diagram showing the relationship between the first direction DR1 and the second direction DR2. Figure 63In the example shown, the first direction DR1 is the same as the second direction DR2. Figure 65 The angle ANG2 shown is... Figure 64 The angle ANG1 shown is larger. Angles ANG1 and ANG2 represent the angles (relative angles) between the first direction DR1 and the second direction DR2. The processor 561 determines the direction of the line of sight in such a way that the angle between the length direction A (major axis direction) of the endoscope 100 in the three-dimensional image and the direction of the line of sight used to display the three-dimensional image is the same as the angle between the first direction DR1 and the second direction DR2.

[0628] exist Figure 63 , Figure 64 as well as Figure 65 In this configuration, the length direction A of the endoscope 100 is the same as the first direction DR1 and also the same as the reference direction used to display the three-dimensional image. The processor 561 determines the orientation of the endoscope 100 in the three-dimensional image based on the relative angle between the first direction DR1 and the second direction DR2. Figure 63 In the example shown, the first direction DR1 and the second direction DR2 are the same, with a relative angle of 0. Therefore, the processor 561 sets the orientation of the endoscope 100 in the three-dimensional image to be the same as the reference direction. The reference direction is defined as the orientation of the endoscope 100 in the three-dimensional image displayed when the relative angle is 0.

[0629] exist Figure 64 and Figure 65 In the example shown, the first direction DR1 differs from the second direction DR2, with a relative angle greater than 0. Therefore, the processor 561 changes the orientation of the endoscope 100 in the three-dimensional image from the reference direction. Figure 64 In the example shown, processor 561 rotates the orientation of endoscope 100 in the three-dimensional image by an angle ANG1. Figure 65 In the example shown, processor 561 rotates the orientation of endoscope 100 in the three-dimensional image by an angle ANG2.

[0630] The processor 561 can also process the image generated by the camera 570 to obtain the position of the display device 900 and the position of the surgeon S. The processor 561 can also determine a second direction DR2 based on the position of the display device 900 and the position of the surgeon S. Specifically, the second direction DR2 is the direction from the position of the surgeon S toward the position of the display device 900.

[0631] Figure 60 The image shown is IMG11. Figure 61 The image shown is IMG12 and Figure 62Image IMG13 illustrates an example of a three-dimensional image displayed by display device 900. The direction from the surgeon S toward display device 900 varies depending on the positional relationship between display device 900 and surgeon S. Therefore, the orientation of endoscope 100 in the three-dimensional image displayed by display device 900 varies.

[0632] As described above, the processor 561 generates a three-dimensional model representing the curved shape of the insertion part 110 and displays the generated three-dimensional model on the display device 900. The processor 561 acquires first information (first direction DR1) related to a first straight line representing the insertion direction of the insertion part 110, and acquires second information (second direction DR2) related to a second straight line representing the direction of the operator's gaze. Based on the first and second information, the processor 561 determines the orientation of the three-dimensional model displayed by the display device 900.

[0633] Processor 561 calculates the relative angle between the second line and the first line. Based on the calculated relative angle, processor 561 changes the orientation of the 3D model from the reference direction.

[0634] The processor 561 obtains first information and second information from the image generated by the camera 570 in the operating room.

[0635] The processor 561 also obtains first position information related to the position of the display device 900 and second position information related to the position of the surgeon S (operator) from the image. Based on the first and second position information, the processor 561 obtains the second information.

[0636] The processor 561 can also display the current value and the maximum value (limit value) of the bending amount on the display device 900. For example, the processor 561 generates an image (CG) for displaying the current value and the maximum value, and displays the image on the display device 900.

[0637] Figures 66 to 72 This is an example diagram showing an image used to display the current value and the maximum value.

[0638] Figure 66The first example is shown. Measuring instruments MT1, MT2, MT3, and MT4 are displayed on the display device 900. Each measuring instrument is circular. Measuring instrument MT1 shows the bending amount of the first bend 113 in the UD direction. The angle of needle ND1 on measuring instrument MT1 indicates the current value of the bending amount. Measuring instrument MT2 shows the bending amount of the first bend 113 in the LR direction. The angle of needle ND2 on measuring instrument MT2 indicates the current value of the bending amount. Measuring instrument MT3 shows the bending amount of the second bend 114 in the UD direction. The angle of needle ND3 on measuring instrument MT3 indicates the current value of the bending amount. Measuring instrument MT4 shows the bending amount of the second bend 114 in the LR direction. The angle of needle ND4 on measuring instrument MT4 indicates the current value of the bending amount. The end of the range displayed by needle ND1 or needle ND3 indicates the maximum value of the bending amount in the UD direction. The end of the range displayed by needle ND2 or needle ND4 indicates the maximum value of the bending amount in the LR direction.

[0639] Figure 67 A second example is shown. Measuring instruments MT5 and MT6 are displayed in the display device 900. Measuring instruments MT5 and MT6 are circular. Measuring instrument MT5 includes display bars BR1 and BR2. Display bar BR1 shows the bending amount of the first bend 113 in the UD direction. The angle AG1 of display bar BR1 indicates the current value of the bending amount. Display bar BR2 shows the bending amount of the first bend 113 in the LR direction. The angle AG2 of display bar BR2 indicates the current value of the bending amount. Measuring instrument MT6 includes display bars BR3 and BR4. Display bar BR3 shows the bending amount of the second bend 114 in the UD direction. The angle AG3 of display bar BR3 indicates the current value of the bending amount. Display bar BR4 shows the bending amount of the second bend 114 in the LR direction. The angle AG4 of display bar BR4 indicates the current value of the bending amount. The end of the range displayed by display bar BR1 or display bar BR3 indicates the maximum value of the bending amount in the UD direction. The end of the range displayed by display bar BR2 or display bar BR4 indicates the maximum value of the bending amount in the LR direction.

[0640] exist Figure 66 or Figure 67 In the example shown, the current and maximum values ​​of the bending amount are displayed as angles. Therefore, the surgeon S can easily understand the current and maximum values ​​of the bending amount. Figure 67 In the example shown, a measuring instrument displays the bending amounts in the UD direction and the LR direction. Therefore, with Figure 66 Compared to the example shown, this saves the area needed to display the image.

[0641] Figure 68The third example is shown. Data bars DB1, DB2, DB3, and DB4 are displayed in the display device 900. Each data bar is bar-shaped. Data bar DB1 shows the bending amount of the first bend 113 in the UD direction. Data bar DB2 shows the bending amount of the first bend 113 in the LR direction. Data bar DB3 shows the bending amount of the second bend 114 in the UD direction. Data bar DB4 shows the bending amount of the second bend 114 in the LR direction. The end of the range displayed by data bar DB1 or data bar DB3 represents the maximum bending amount in the UD direction. The end of the range displayed by data bar DB2 or data bar DB4 represents the maximum bending amount in the LR direction.

[0642] The first curved portion 113 and the second curved portion 114 are curved in the UD direction based on the rotation operation of the first angle knob 320. Therefore, data bars DB1 and DB3 are associated with the rotation operation of the first angle knob 320. The first curved portion 113 and the second curved portion 114 are curved in the LR direction based on the rotation operation of the second angle knob 330. Therefore, data bars DB2 and DB4 are associated with the rotation operation of the second angle knob 330. Data bars DB1 and DB2 are arranged in the left-right direction in the image. Similarly, data bars DB3 and DB4 are arranged in the left-right direction in the image. The vertical length of the area displaying each data bar is longer than the horizontal length of that area. Each data bar extends in the vertical direction in the image.

[0643] When the first angle knob 320 is rotated, the outer periphery of the first angle knob 320, which is separated from the rotation axis 300r, rotates in a manner that faces upward (UPR) or downward (LWR). The upward UPR is correlated with the upward direction in the image, and the downward LWR is correlated with the downward direction in the image. Therefore, the surgeon S can easily and intuitively grasp the rotation direction of the first angle knob 320 and the direction of extension of data bars DB1 and DB3. That is, the surgeon S can easily and intuitively grasp the rotation direction of the first angle knob 320 and the amount of bending in the UD direction of each of the first curved portion 113 and the second curved portion 114.

[0644] Similarly, when the second angle knob 330 is rotated, the outer periphery of the second angle knob 330, which is separated from the rotation axis 300r, rotates in a manner towards the upward UPR or the downward LWR. The upward UPR is associated with the upward direction in the image, and the downward LWR is associated with the downward direction in the image. Therefore, the surgeon S can easily and intuitively grasp the rotation direction of the second angle knob 330 and the extension direction of data bars DB2 and DB4. That is, the surgeon S can easily and intuitively grasp the rotation direction of the second angle knob 330 and the bending amount in the LR direction of the first curved portion 113 and the second curved portion 114, respectively.

[0645] Figure 72 The fourth example is shown. Data bars DB5, DB6, DB7, and DB8 are displayed in the display device 900. Each data bar is bar-shaped. Data bar DB5 shows the bending amount of the first bend 113 in the UD direction. Data bar DB6 shows the bending amount of the first bend 113 in the LR direction. Data bar DB7 shows the bending amount of the second bend 114 in the UD direction. Data bar DB8 shows the bending amount of the second bend 114 in the LR direction. The end of the range displayed by data bar DB5 or data bar DB7 represents the maximum bending amount in the UD direction. The end of the range displayed by data bar DB6 or data bar DB8 represents the maximum bending amount in the LR direction.

[0646] exist Figure 68 or Figure 72 In the example shown, surgeon S can easily understand how to observe each data bar, saving space that would otherwise be needed for display. Figure 72 In the example shown, the amount of curvature in the UD direction is displayed using data bars extending vertically, and the amount of curvature in the LR direction is displayed using data bars extending horizontally. Therefore, compared to... Figure 68 Compared to the example shown, surgeon S can more easily and intuitively grasp the bending state.

[0647] When displaying a three-dimensional image of the curved portion 112, the electric endoscope system 1000G (processor 561) can also emphasize the image corresponding to the curved portion based on the surgeon's operation S. That is, the electric endoscope system 1000G (processor 561) can also emphasize the image of the curved portion that is associated with the curved pattern.

[0648] For example, when the bending mode is "first bending section control mode (front end side bending section control mode) M1", the first bending section 113 bends. Therefore, for example, the processor 561 will... Figure 69 The image IMG21 shown is displayed on the display device 900. At this time, the processor 561 emphasizes the first curved portion 113 by changing the color of the first curved portion 113 to a color different from the colors of the other parts of the insertion portion 110 (the front end portion 111, the second curved portion 114, and the soft portion 119 inside).

[0649] When the bending mode is "Second Bending Control Mode (Base End Side Bending Control Mode) M2", the second bending portion 114 bends. Therefore, for example, the processor 561 will... Figure 70The image IMG22 shown is displayed on the display device 900. At this time, the processor 561 emphasizes the second curved portion 114 by changing the color of the second curved portion 114 to a color different from the colors of the other parts of the insertion portion 110 (the front end portion 111, the first curved portion 113, and the soft portion 119 inside).

[0650] When the bending mode is "coordinated control mode M3", the first bending portion 113 and the second bending portion 114 bend. Therefore, for example, the processor 561 will... Figure 71 The image IMG23 shown is displayed on the display device 900. At this time, the processor 561 emphasizes the first curved portion 113 and the second curved portion 114 by changing the color of the first curved portion 113 and the second curved portion 114 to a color different from the color of the other parts of the insertion portion 110 (the front end portion 111 and the soft inner portion 119).

[0651] The electric endoscope system 1000G of the seventh embodiment displays a three-dimensional image on the display device 900 showing the state of the bend 112 as observed in a direction close to the line of sight of the surgeon S. Therefore, the surgeon S can easily grasp the direction of the bend.

[0652] The electric endoscope system 1000G displays the current and maximum values ​​of the bending amount on the display device 900. Therefore, the surgeon S can monitor both the current and maximum values ​​of the bending amount.

[0653] The electric endoscope system 1000G emphasizes the image of the curved portion associated with the curved pattern. Therefore, even when the electric endoscope system 1000G has multiple curved portions and multiple curved patterns, the surgeon S can grasp the relationship between the operation of the operating device 300 and the curved portion based on that operation while directly observing the display device 900.

[0654] (Eighth Implementation Method)

[0655] Reference Figures 73 to 75 The electric endoscope system 1000H according to the eighth embodiment of the present invention will be described below. In the following description, the same reference numerals will be used for structures that are common to those already described, and repeated descriptions will be omitted. Figure 73 This is an overall view of the electric endoscope system 1000H of this embodiment. Figure 74 This is a top view of the 1000H electric endoscope system.

[0656] [Electric Endoscope System 1000H]

[0657] like Figure 73As shown, the electric endoscope system 1000H is a medical system for observing and treating the body of a patient P lying horizontally on an operating table T. The electric endoscope system 1000H includes an endoscope 100H, a drive unit 200, an operating unit 300, a treatment instrument 400, an image control unit 500, a support unit 700, an observation unit 800, and a display unit 900.

[0658] [Endoscope 100H]

[0659] like Figure 73 As shown, the endoscope 100H includes an insertion part 110H, a connecting part 120, an external flexible part 140, a loading and unloading part 150H, a curved wire 160, and an internal object 170. The insertion part 110H, the connecting part 120, the external flexible part 140, and the loading and unloading part 150H are connected sequentially from the front end side.

[0660] [Insertion section 110H]

[0661] The only difference between the insertion part 110H and the insertion part 110 of the first embodiment is that a magnetic coil (not shown) is built in along the length direction A. The magnetic coil is installed in a spiral shape, for example, along the inner circumferential surface of the internal path 101 of the insertion part 110H.

[0662] [Loading and Unloading Section 150H]

[0663] like Figure 73 As shown, in addition to the first loading / unloading unit 1501 mounted on the drive unit 200 and the second loading / unloading unit 1502 mounted on the image control unit 500, the loading / unloading position attitude sensor 1504 is also provided in the loading / unloading unit 150H.

[0664] The loading / unloading position and attitude sensor 1504 is a sensor that detects the position and attitude of the base end of the connected external flexible part 140. For example, the loading / unloading position and attitude sensor 1504 detects the position of the base end of the external flexible part 140 relative to the control device 600, and the attitude of the base end of the external flexible part 140. The detection results of the loading / unloading position and attitude sensor 1504 are acquired by the main controller 560.

[0665] [Support device 700]

[0666] The support device 700 is a device that supports the endoscope 100H so that it can move. The support device 700 has a base 710, an arm 720, and an endoscope support portion 730.

[0667] The base 710 is an elongated member and is positioned on the ground. The base 710 extends to a position higher than the operating table T. The arm 720 is an elongated member, with one end connected to the front end of the base 710. The arm 720 is connected to the base 710, for example, via a two-degree-of-freedom joint, and the other end is movable in the longitudinal direction A and the vertical direction (the direction in which the base 710 extends) of the endoscope 100H.

[0668] The endoscope support 730 includes a support body 731 that supports the external flexible part 140 of the endoscope 100H and an endoscope position and attitude sensor 732. The support body 731 is connected to the other end of the arm 720 in a manner that allows it to rotate about the length axis of the arm 720. The support body 731 is generally cylindrical and is detachably mounted on the outer periphery of the external flexible part 140. In this embodiment, the endoscope support 730 is mounted near the front end of the external flexible part 140.

[0669] The endoscope position and attitude sensor 732 is a sensor that detects the position and attitude of the supported external flexible part 140. For example, the endoscope position and attitude sensor 732 detects the position of the vicinity of the front end of the external flexible part 140 relative to the control device 600, and the attitude of the vicinity of the front end of the external flexible part 140. The detection results of the endoscope position and attitude sensor 732 are obtained by the main controller 560 via the transmission cable 701. Alternatively, the main controller 560 can obtain the joint values ​​of the arm 720 via an encoder, calculate the position and attitude based on these values, and can also calculate the position and attitude via a camera 570.

[0670] The arm 720 will not move relative to the base 710 unless a specified force is applied. Furthermore, the endoscope support 730 will not rotate relative to the arm 720 unless a specified force is applied. Therefore, even if the surgeon S removes his right hand R from the internal soft part 119 to operate the instrument 400, the position and orientation of the external soft part 140 supported by the support device 700 will not change.

[0671] [Observation Device 800]

[0672] The observation device 800 is a device that uses a magnetic field to observe the insertion shape of the endoscope 100H. The observation device 800 receives magnetic fields generated by a magnetic coil built into the insertion portion 110H of the endoscope 100H via an antenna. Figure 74 As shown, the observation device 800 is configured such that the internal part inserted into the body in the insertion part 110H enters the receiving range of the observation device 800, and thus, it is able to receive the magnetism generated from the internal part inserted into the body in the insertion part 110H.

[0673] The observation device 800 infers the shape (first inferred shape) SS1 of the internal portion inserted into the body through the internal path 101 of the insertion section 110H based on the received magnetic field. The observation device 800 generates a three-dimensional graphic image of the shape SS1 and displays it on the display device 900. Alternatively, the observation device 800 can also be a device for observing the shape SS1 of the endoscope 100H by other methods such as X-ray photography. The observation results of the observation device 800 are also acquired by the main controller 560.

[0674] The shapes of the insertion portion 110H and the external flexible portion 140 are used, for example, to improve the precision of bending operations. Typically, the ratio of the line tension Tin at the base of the flexible portion to the line tension Tout at the front end is expressed as Tout / Tin = exp(-μθ) using the sum of the bending angles θ of the flexible portion path and the coefficient of friction μ between the line and the sheath. For example, the precision of bending operations can be achieved by correcting the traction tension and traction amount of the line using the relationship stated on the left.

[0675] Next, the method of using the electric endoscope system 1000H of this embodiment will be described. Specifically, a surgical procedure for observing and treating a lesion on the wall of the large intestine using the electric endoscope system 1000H will be described.

[0676] From now on, according to Figure 75 The control flowchart of the main controller 560 of the control device 600 is explained below. When the control device 600 is started, the main controller 560 performs initialization and then begins control (step S800). Next, the main controller 560 (mainly the processor 561) executes step S810.

[0677] The surgeon S inserts the insertion part 110H of the endoscope 100H into the large intestine of the patient P through the anus. While observing the camera image displayed on the display device 900, the surgeon S uses his right hand R to operate the soft part 119 inside the body and moves the insertion part 110H so that the front end 111 is close to the affected area. In addition, the surgeon S uses his left hand L to operate the first angle knob 320 and the second angle knob 330 of the operating device 300, bending the bending part 112 as needed.

[0678] In step S810, the main controller 560 obtains the shape SS1 of the internal portion inserted into the body in the insertion part 110H from the observation device 800. Then, based on the shape SS1 of the internal portion inserted into the body in the internal path 101, and the total length of the internal path 101 including the insertion part 110H and the external flexible part 140, the length SS2L of the external portion located outside the body in the internal path 101 is obtained. Next, the main controller 560 executes step S820.

[0679] In step S820, the main controller 560 obtains the position and attitude of the base end of the external flexible part 140 from the loading / unloading position and attitude sensor 1504. Then, the main controller 560 executes step S830.

[0680] In step S830, the main controller 560 obtains the position and attitude of the area near the front end of the external soft part 140 from the endoscope position and attitude sensor 732. Then, the main controller 560 executes step S840.

[0681] In step S840, the main controller 560 infers the shape (second inferred shape) SS2 of the external portion located outside the internal path 101 based on the position and orientation, length SS2L, and rigidity of the flexible parts (insertion part 110H and external flexible part 140) obtained from the loading / unloading position and orientation sensor 1504 and the endoscope position and orientation sensor 732. The main controller 560 infers the position and orientation of other parts of the external flexible part 140 based on the position and orientation of the base end of the external flexible part 140, the position and orientation near the front end of the external flexible part 140, the length SS2L (i.e., the length of shape SS2), and the rigidity of the flexible parts (insertion part 110H and external flexible part 140), thereby inferring the shape SS2. Next, the main controller 560 executes step S850.

[0682] In step S850, the main controller 560 generates or updates the path (predicted path) SR of the curved line 160 based on the estimated shape of the external portion of the internal path 101 (first predicted shape, internal shape information) SS1 and the shape of the external portion of the internal path 101 (second predicted shape, external shape information) SS2.

[0683] The main controller 560 then executes step S860. In step S860, the main controller 560 determines whether to terminate control. If control has not terminated, the main controller 560 again executes step S810. If control has terminated, the main controller 560 then executes step S870 and terminates control.

[0684] The estimated path SR of the generated or updated curved line 160 is obtained by the drive controller 260. When the drive controller 260 controls the line drive unit 250 to operate the curved section 112 based on the operation input obtained from the operating device 300, it calculates the transmission efficiency of the curved line 160 based on the estimated path SR, and calculates the actual traction and delivery amount of the curved line 160. As a result, the drive controller 260 can operate the curved section 112 more accurately.

[0685] The electric endoscope system 1000H according to this embodiment enables more efficient observation or treatment using the endoscope 100H. Since the endoscope 100H and the operating device 300 are separate, the surgeon S can operate the endoscope 100H and the operating device 300 independently without affecting each other.

[0686] As the drive unit 200 separates from the operating unit 300, the path of the curved line 160 from the insertion part 110H of the endoscope 100H to the drive unit 200 may sometimes become longer. However, the drive controller 260 can easily make the curved part 112 bend accurately by calculating the transmission efficiency of the curved line 160 based on the predicted path SR.

[0687] When the external flexible portion 140 becomes longer, it is difficult to generate the path estimation path SR of the curved line 160 solely based on the observation results of the observation device 800. The motorized endoscope system 1000H uses not only the shape SS1 of the internal portion of the internal path 101 observed by the observation device 800, but also the shape SS2 of the external portion of the internal path 101 inferred from the position and attitude obtained from the loading / unloading position attitude sensor 1504 and the endoscope position attitude sensor 732. As a result, the motorized endoscope system 1000H can generate a more accurate path estimation path SR.

[0688] The eighth embodiment of the present invention has been described in detail above with reference to the accompanying drawings. However, the specific structure is not limited to this embodiment, and design changes that do not depart from the spirit of the present invention are also included. Furthermore, the structural elements shown in the above embodiments and variations can be appropriately combined to form a configuration.

[0689] (Variation 8-1)

[0690] In the above embodiment, the endoscope support 730 supports the external flexible part 140 of the endoscope 100H. However, the endoscope support 730 is not limited to this. The endoscope support 730 may also support the internal flexible part 119 of the endoscope 100H to detect the position and orientation of the internal flexible part 119. In addition, the endoscope support 730 may also support the connecting part 120 of the endoscope 100H to detect the position and orientation of the connecting part 120.

[0691] Alternatively, the length of the flexible part can be appropriately set to be as short as possible to avoid the flexible part (insertion part 110H and external flexible part 140) coiling outside the body. The external bending shape can then be estimated based on the relative position of the endoscope attachment / removal part to the anus, the length of the external part SS2L, and the rigidity of the flexible part (insertion part 110H and external flexible part 140). The attenuation of linear tension can be calculated based on the sum of these bending angles, and control parameters can be set. The relative position of the endoscope attachment / removal part to the anus can also be estimated from a mark placed at or near the anus captured by a camera installed on the drive unit 200.

[0692] (Variation Example 8-2)

[0693] In the above embodiment, the main controller 560 infers the shape SS2 of the external portion of the internal path 101 based on the position and attitude obtained from the loading / unloading position attitude sensor 1504 and the endoscope position attitude sensor 732. However, the method for inferring the shape of the external portion of the internal path 101 is not limited to this. The main controller 560 may also infer the shape SS2 based solely on the output of either the loading / unloading position attitude sensor 1504 or the endoscope position attitude sensor 732. Furthermore, the main controller 560 infers the shape SS2 by considering not only the position obtained from the loading / unloading position attitude sensor 1504 and the endoscope position attitude sensor 732, but also the length of the external flexible part 140, thereby enabling more accurate inference. In addition, the main controller 560 may also infer the shape SS2 based on the sum of the bending angles of the external flexible part 140 and the amount of roller rotation.

[0694] (Variation 8-3)

[0695] The main controller 560 can also infer the shape SS2 of the external portion of the internal path 101 based on the image of the external flexible part 140, etc., obtained from the camera 570. If markers are pre-installed at the front end and the base end of the external flexible part 140, the main controller 560 can infer the shape SS2 of the external portion of the internal path 101 with higher accuracy.

[0696] (Ninth Implementation)

[0697] Reference Figure 76 and Figure 81 The electric endoscope system 1000I according to the ninth embodiment of the present invention will be described. In the following description, the same reference numerals will be used for structures that are common to those already described, and repeated descriptions will be omitted. Figure 76 This is an overall view of the electric endoscope system 1000I of this embodiment.

[0698] [Electric Endoscope System 1000I]

[0699] like Figure 76 As shown, the electric endoscope system 1000I is a medical system for observing and treating the body of a patient P lying horizontally on an operating table T. The electric endoscope system 1000I includes an endoscope 100C, a drive unit 200I, an operating unit 300, a treatment instrument 400, an image control unit 500, and a display unit 900. The drive unit 200I and the image control unit 500 constitute a control unit 600I for controlling the electric endoscope system 1000I.

[0700] [Drive Unit 200I]

[0701] Figure 77 This is a functional block diagram of the drive unit 200I.

[0702] The drive unit 200I includes an adapter 210C, an operation receiver 220, an air delivery and suction drive unit 230, a line drive unit 250C, and a drive controller 260I.

[0703] Like the drive device 200C in the third embodiment, the drive device 200I can independently drive a pair of curved lines that bend the curved portion 112 in the UD direction. Furthermore, the electric endoscope system 1000I can independently drive a pair of curved lines 160 that bend the curved portion 112 in the LR direction.

[0704] [Drive Controller 260I]

[0705] The drive controller 260I controls the entire drive unit 200I. The control method of the line drive unit 250C differs from that of the drive controller 260C in the third embodiment. The drive controller 260I switches the drive mode of the line drive unit 250C based on the bending shape of the bending portion 112. The drive controller 260I can switch the drive mode of the line drive unit 250C to either a first drive mode or a second drive mode.

[0706] [Restoring force F1 and frictional force F2]

[0707] In the bent portion 112, there are restoring forces F1 and frictional forces F2. The restoring force F1 is the force that makes the bent portion 112 return to a straight state through the rubber or the like that forming the outer sheath 118. The frictional force F2 is the force that tries to overcome the restoring force F1 and maintain the shape.

[0708] Figure 78 This is a diagram showing the restoring force F1 acting on the bent portion 112.

[0709] The restoring force F1 is the repulsive force F11, the contraction force F12 of the elastic components such as rubber forming the outer sheath 118, and the bending reaction force F13 of the inner part 170.

[0710] Figure 79 This is a diagram showing the frictional force F2 acting on the bent portion 112.

[0711] Frictional force F2 includes frictional force F21 between joint rings 115 and joint rings 115, and frictional force F22 between curved line 160 and conductors (upper conductor 115u, lower conductor 115d, left conductor 115l and right conductor 115r).

[0712] Figure 80 It is a graph showing the relationship between the bending angle θ of the bent portion 112 and the restoring force F1.

[0713] The bending angle θ is the bending angle of the curved portion 112 measured from the central axis O of the length direction A in the straight state. The larger the bending angle θ, the larger the restoring force F1. On the other hand, the smaller the bending angle θ, the smaller the restoring force F1. When the bending angle θ is less than a specified angle, the restoring force F1 is less than the frictional force F2.

[0714] The bending shape of the bending portion 112 where the restoring force F1 is greater than the frictional force F2 (restoring force F1 > frictional force F2) is defined as the "first shape". The bending shape of the bending portion 112 where the restoring force F1 is less than or equal to the frictional force F2 (restoring force F1 ≦ frictional force F2) is defined as the "second shape".

[0715] [First Drive Mode]

[0716] When the bending portion 112 is bent by increasing the bending angle θ, the drive controller 260I switches the drive mode of the line drive unit 250C to the first drive mode. Furthermore, when the bending portion 112 is bent by decreasing the bending angle θ and the bending shape of the bending portion 112 is a first shape, the drive controller 260I switches to the first drive mode. In the first drive mode, the drive controller 260I performs position control on the inner diameter side of the pair of opposing bending lines 160 (opposite lines) that bend the bending portion 112 in the UD or LR direction, and performs tension control on the outer diameter side of the bending line 160.

[0717] The inner diameter side of the opposing line 160 is the inner curve 160 when viewed from the center of curvature in the curved portion 112. The outer diameter side of the opposing line 160 is the outer curve 160 when viewed from the center of curvature in the curved portion 112.

[0718] Position control is a control method that controls the traction or delivery amount of the bending line 160 based on the target position that causes the bending part 112 to bend and move.

[0719] Tension control is a control method that controls the traction or delivery of the bending line 160 in a way that makes the tension of the bending line 160 consistent with a specified set value.

[0720] When the drive mode of the online drive unit 250C is the first drive mode, the drive controller 260I performs position control on the bending line 160 on the inner diameter side, thereby accurately controlling the bending angle θ to overcome the restoring force F1. On the other hand, the drive controller 260I performs tension control on the bending line 160 on the outer diameter side, thereby maintaining the tension of the bending line 160 at a predetermined set value.

[0721] When the drive mode of the online drive unit 250C is the first drive mode, the drive controller 260I performs position control on the bending line 160 on the inner diameter side, thereby strongly resisting the external reaction force in the direction where the bending angle θ increases. Therefore, the drive controller 260I can easily cause the bending section 112 to bend significantly, even inside the narrow interior of the large intestine.

[0722] [Second Drive Mode]

[0723] When the bending portion 112 is bent by decreasing the bending angle θ and the bending shape of the bending portion 112 is the second shape, the drive controller 260I switches the drive mode of the line drive unit 250C to the second drive mode. In the second drive mode, the drive controller 260I performs tension control on the inner diameter side of the bending line 160 of the pair of opposing bending lines 160 (opposite lines) that bend the bending portion 112 in the UD direction or the LR direction, and performs position control on the outer diameter side of the bending line 160.

[0724] When the bending shape of the bending section 112 is the second shape, the drive controller 260I performs position control on the bending line 160 on the outer diameter side, thereby assisting the restoring force F1, which is smaller than the frictional force F2, to prevent a decrease in the bending control speed. On the other hand, the drive controller 260I performs tension control on the bending line 160 on the inner diameter side, thereby maintaining the tension of the bending line 160 at a predetermined set value.

[0725] When the bending shape of the bending section 112 changes from the first shape to the second shape, the driving mode of the line drive section 250C is switched from the first driving mode to the second driving mode. As a result, the drive controller 260I can prevent the decrease in the bending speed caused by the decrease in the restoring force F1, and can smoothly control the bending action.

[0726] Next, the method of using the electric endoscope system 1000I of this embodiment will be described. From now on, according to... Figure 81 The control flow diagram of the drive controller 260I of the control device 600I shown will be explained. When the control device 600I is started, the drive controller 260I performs initialization and then begins control (step S900). During initialization, the drive controller 260I adjusts the curved line 160 so that the curved portion 112 is in a straight state, eliminating the slack of the curved line 160. Next, the drive controller 260I (mainly the processor) executes step S910.

[0727] In step S910, the drive controller 260I calculates the bending angle θ. The drive controller 260I calculates the bending angle θ based on feedback information such as the operation history of the bending line 160 and the tension of the bending line 160. The drive controller 260I can also infer the bending angle θ using the observation device 800 shown in the eighth embodiment. Next, the drive controller 260I executes step S920.

[0728] In step S920, the drive controller 260I switches the drive mode of the line drive unit 250C to either the first drive mode or the second drive mode based on the bending angle θ. Next, the drive controller 260I executes step S930.

[0729] In step S930, the drive controller 260I receives an operation input from the operating device 300. Upon receiving the operation input from the operating device 300, the drive controller 260I executes step S940.

[0730] In step S940, the drive controller 260I controls the line drive unit 250C based on the drive mode to drive the curved line 160 and cause the curved section 112 to bend.

[0731] The drive controller 260I then executes step S950. In step S950, the drive controller 260I determines whether to terminate control. If control is not terminated, the drive controller 260I again executes step S910. If control is terminated, the drive controller 260I then executes step S960 and terminates control.

[0732] A portion of the control flow diagram of the aforementioned drive controller 260I can also be implemented by the main controller 560.

[0733] Figures 82 to 87 This is a diagram showing the controlled bending portion 112.

[0734] like Figure 82As shown, when the bending section is bent by increasing the bending angle θ, the drive mode of the wire drive unit 250C is set to the first drive mode, the position of the wire on the traction side is controlled, and the tension of the wire on the delivery side is controlled.

[0735] like Figure 83 As shown, when the bending section 112 is bent by reducing the bending angle θ and the bending shape of the bending section 112 is a first shape, the drive controller 260I sets the drive mode of the line drive unit 250C to the first drive mode, performs tension control on the line on the traction side, and performs position control on the line on the delivery side.

[0736] like Figure 84 As shown, when the bending section 112 is bent by reducing the bending angle θ and the bending shape of the bending section 112 is the second shape, the drive controller 260I sets the drive mode of the line drive unit 250C to the second drive mode, performs position control on the line on the traction side, and performs tension control on the line on the delivery side.

[0737] like Figure 85 As shown, when the curved section 112, which is in a straight state, bends to the opposite side, the drive controller 260I sets the drive mode of the line drive unit 250C to the first drive mode, performs position control on the line on the traction side, and performs tension control on the line on the delivery side.

[0738] From the bend 112 Figure 84 The state shown Figure 85 When the bending motion is continuous as shown, the position of the wire on the traction side is controlled, and the tension of the wire on the delivery side is controlled. Therefore, the drive controller 260I can prevent a decrease in the bending speed and smoothly control the bending motion.

[0739] like Figure 86 As shown, when the bending section 112 is bent by reducing the bending angle θ and the bending shape of the bending section 112 is a first shape, the drive controller 260I sets the drive mode of the line drive unit 250C to the first drive mode, performs tension control on the line on the traction side, and performs position control on the line on the delivery side.

[0740] like Figure 87 As shown, when the bending section 112 is bent by reducing the bending angle θ and the bending shape of the bending section 112 is the second shape, the drive controller 260I sets the drive mode of the line drive unit 250C to the second drive mode, performs position control on the line on the traction side, and performs tension control on the line on the delivery side.

[0741] According to the electric endoscope system 1000I of this embodiment, observation or treatment using the endoscope 100C can be performed more effectively. Since the endoscope 100C is separate from the operating device 300, the surgeon S can operate the endoscope 100C and the operating device 300 independently without affecting each other.

[0742] As the drive unit 200I separates from the operating unit 300, the path of the curved line 160 from the insertion portion 110 of the endoscope 100C to the drive unit 200I may sometimes become longer. However, the drive controller 260I can easily make the curved portion 112 bend accurately by controlling the position of one side of the opposing line and the tension of the other side. For example, when the position of both sides of the opposing line is controlled, slack may occur on one side of the opposing line due to the difference in the path of the opposing line. However, since the drive controller 260I controls the tension of the other side of the opposing line, such slack does not occur.

[0743] The drive controller 260I can determine, based on the bending shape (bending angle θ) of the bending section 112, which force, the restoring force F1 or the frictional force F2, is dominant in controlling the shape of the bending section 112. Based on this determination, the drive controller 260I switches the drive mode of the line drive unit 250C. Therefore, the drive controller 260I can smoothly control the bending action of the bending section 112.

[0744] In this embodiment, the target tension in tension control is based on the initial tension at system startup. The initial tension can also be set to a low tension that slightly exceeds the friction of the longer sheath but does not cause the bending line 160 to slacken. That is, the target tension in tension control can also be set lower than the traction tension generated during position control.

[0745] The ninth embodiment of the present invention has been described in detail above with reference to the accompanying drawings. However, the specific structure is not limited to this embodiment, and design changes that do not depart from the spirit of the present invention are also included. Furthermore, the structural elements shown in the above embodiments and variations can be appropriately combined to form a configuration.

[0746] (Variation 9-1)

[0747] In the above embodiment, the shape of the bent portion 112 is determined solely based on the bending angle θ, classifying it as a "first shape" where the restoring force F1 is greater than the frictional force F2, and a "second shape" where the restoring force F1 is less than the frictional force F2. However, the method of determining the first and second shapes is not limited to this. In addition to the bending angle θ, the shape of the bent portion 112 can also be determined based on the traction state of all bending lines 160. For example, when the first bent portion 113 and the second bent portion 114 bend in the same direction, the restoring force F1 for the bending angle θ increases compared to the case where only one side bends. In this case, the drive controller 260I can also be changed to a threshold value of the bending angle θ used as a reference for determining the first and second shapes.

[0748] (Variation 9-2)

[0749] In the above embodiment, the shape of the bent portion 112 is determined solely based on the bending angle θ, either as a "first shape" where the restoring force F1 is greater than the frictional force F2, or as a "second shape" where the restoring force F1 is less than the frictional force F2. However, the method of determining the first shape and the second shape is not limited to this. In addition to the bending angle θ, the shape of the bent portion 112 can also be determined based on the tension of the opposing line. For example, if the tension of the bending line 160 on the inner diameter side, which performs position control in the first drive mode, is lower than a predetermined set value for the bending line 160 on the outer diameter side, it can also be determined that it has changed to the second shape and the drive mode is changed.

[0750] (Tenth Implementation)

[0751] Reference Figures 88 to 91 The electric endoscope system 1000J according to the tenth embodiment of the present invention will be described. In the following description, the same reference numerals will be used for structures that are common to those already described, and repeated descriptions will be omitted. Figure 88 This is an overall view of the electric endoscope system 1000J of this embodiment.

[0752] [Electric Endoscope System 1000J]

[0753] like Figure 88 As shown, the electric endoscope system 1000J is a medical system for observing and treating the body of a patient P who is lying horizontally on an operating table T. The electric endoscope system 1000J includes an endoscope 100, a drive unit 200, an operating unit 300J, a treatment instrument 400, an image control unit 500, and a display unit 900.

[0754] [Operating device 300J]

[0755] Figure 89 This is a 3D view of the operating device 300J.

[0756] The operating device 300J is a device for inputting operations to drive the endoscope 100. The input operations are transmitted to the drive device 200 via the operating cable 301. The operating device 300J can also communicate with the drive device 200 wirelessly without wired communication. The operating device 300J has an input unit different from that of the operating device 300 in the first embodiment.

[0757] The operating device 300J includes an operating unit body 310J and a touch panel 380. The operating device 300J does not include a first angle knob 320, a second angle knob 330, a switch 340, an air delivery button 350, a suction button 351, or various buttons 352. Additionally, in... Figure 88 The operating device 300J shown is equipped with a second clamp jaw fixing device 360.

[0758] The main body of the operating section 310J is shaped into a roughly cylindrical form that the surgeon S can hold with his left hand L. For example... Figure 88 As shown, a back surface 311 is formed on the main body 310J of the operating unit, allowing the palm of the surgeon's left hand L to traverse along it. The main body 310J of the operating unit has a touchpad support 314 extending from the front surface 312 on the side opposite to the back surface 311. An operating cable 301 is connected to the end of the main body 310J in the longitudinal direction.

[0759] In the following description, the direction in which the touchpad support 314 extends relative to the operation unit body 310J is defined as the "front-rear direction," and the direction in which the touchpad support 314 is provided relative to the operation unit body 310J is defined as "front FR." The opposite direction is defined as "rear RR." Furthermore, the length direction of the operation unit body 310J is defined as the "vertical direction," and the direction in which the operation cable 301 is mounted relative to the operation unit body 310J is defined as "lower LWR." The opposite direction is defined as "upper UPR." The right direction towards rear RR is defined as "right RH." The opposite direction is defined as "left LH." The direction towards right RH or left LH is defined as the "left-right direction."

[0760] In this embodiment, the direction in which the touchpad support portion 314 extends relative to the operation portion body 310J (front-back direction) is approximately perpendicular to the back surface 311 of the operation portion body 310J.

[0761] The touchpad support 314 supports the touchpad 380. When viewed from the front FR towards the rear RR, the touchpad support 314 is located on the left side LH of the front 312 of the operation unit body 310J.

[0762] The touchpad 380 is located on the left side (LH) of the touchpad support 314. The touchpad 380 faces left (LH). The touchpad 380 is positioned for easy operation by the thumb of the surgeon's left hand (L) holding the operating unit body 310J.

[0763] The touchpad 380 has a divided operating area. The division of the operating area in the touchpad 380 can be changed through mode settings. In this embodiment, the touchpad 380 can be set to either a first mode or a second mode.

[0764] Figure 90 This is a side view of the operating device 300J with the touchpad 380 set to the first mode. In the first mode, the touchpad 380 is divided into a first angle operating area R11, a second angle operating area R12, a switching operating area R13, an air supply operating area R14, a suction operating area R15, and various operating areas R16.

[0765] The first angle operation area R11 and the second angle operation area R12 are rectangular areas extending in the vertical direction. The first angle operation area R11 and the second angle operation area R12 are arranged in the front-back direction. The first angle operation area R11 is located at the rear (RR), and the second angle operation area R12 is located at the front (FR).

[0766] The first angle operation area R11 is the area for inputting operations equivalent to those performed on the first angle knob 320 in the first embodiment. By moving the thumb, which is in contact with the first angle operation area R11, upward (UPR), an operation equivalent to rotating the first angle knob 320 clockwise when viewing from the front (FR) to the rear (RR) is input. By moving the thumb, which is in contact with the first angle operation area R11, downward (LWR), an operation equivalent to rotating the first angle knob 320 counterclockwise when viewing from the front (FR) to the rear (RR) is input. Operations input to the first angle operation area R11 are sent to the drive device 200.

[0767] The second angle operation area R12 is the area for inputting operations equivalent to those performed on the second angle knob 330 in the first embodiment. By moving the thumb, which is in contact with the second angle operation area R12, upward (UPR), an operation equivalent to rotating the second angle knob 330 clockwise when viewing from the front (FR) to the rear (RR) is input. By moving the thumb, which is in contact with the second angle operation area R12, downward (LWR), an operation equivalent to rotating the second angle knob 330 counterclockwise when viewing from the front (FR) to the rear (RR) is input. The operations input to the second angle operation area R12 are sent to the drive device 200.

[0768] like Figure 19 and Figure 90 As shown, when viewed from left (LH) towards right (RH), the first angle operation area R11 is positioned equivalent to the position of the first angle knob 320 of the operating device 300 in the first embodiment. Furthermore, when viewed from left (LH) towards right (RH), the second angle operation area R12 is positioned equivalent to the position of the second angle knob 330 of the operating device 300 in the first embodiment. Therefore, the surgeon S can operate the first angle operation area R11 and the second angle operation area R12 in the same way as operating the first angle knob 320 and the second angle knob 330.

[0769] The switching operation area R13, the air supply operation area R14, the suction operation area R15, and various operation areas R16 are positioned FR forward of the second angle operation area R12. The switching operation area R13, the air supply operation area R14, the suction operation area R15, and various operation areas R16 are arranged sequentially from UPR at the top to LWR at the bottom.

[0770] The switching operation area R13 is the area where operations equivalent to those performed on the switching switch 340 in the first embodiment are input. Operations input to the switching operation area R13 are sent to the drive device 200.

[0771] The air supply operation area R14 is the area where operations equivalent to those performed on the air supply button 350 in the first embodiment are input. Operations input to the air supply operation area R14 are sent to the drive device 200.

[0772] The suction operation area R15 is the area where operations equivalent to those performed on the suction button 351 in the first embodiment are input. Operations input to the suction operation area R15 are sent to the drive device 200.

[0773] The various operation areas R16 are areas for inputting operations equivalent to those performed on the various buttons 352 in the first embodiment. Operations input to the various operation areas R16 are sent to the drive device 200.

[0774] Figure 91 This is a side view of the operating device 300J with the touchpad 380 set to the second mode. In the second mode, the touchpad 380 is divided into an angle operation area R10, a switching operation area R13, an air delivery operation area R14, a suction operation area R15, and various operation areas R16.

[0775] The angle operation area R10 is a rectangular area. The angle operation area R10 is the area where operations equivalent to those performed on the first angle knob 320 and the second angle knob 330 in the first embodiment are input. Operations input to the angle operation area R10 are sent to the drive device 200.

[0776] By moving the thumb, which is in contact with the angle operation area R10, in the direction (first direction) D1 along the vertical direction, an operation equivalent to the operation of the first angle knob 320 in the first embodiment is input. The touchpad 380 corresponds the input in the direction (first direction) D1 in the angle operation area R10 to the operation of bending the first curved portion 113 or the second curved portion 114 in the UD direction. By moving the thumb, which is in contact with the angle operation area R10, upward along direction D1 (UPR), an operation of bending the first curved portion 113 or the second curved portion 114 upward in the UD direction is input. By moving the thumb, which is in contact with the angle operation area R10, downward along direction D1 (LWR), an operation of bending the first curved portion 113 or the second curved portion 114 downward in the UD direction is input.

[0777] By moving the thumb, which is in contact with the angle operation area R10, in the direction (second direction) D2 along the front-back direction, an operation equivalent to the operation of the second angle knob 330 in the first embodiment is input. The touchpad 380 corresponds the input in the direction (second direction) D2 in the angle operation area R10 to the operation of bending the first curved portion 113 or the second curved portion 114 in the LR direction. By moving the thumb, which is in contact with the angle operation area R10, forward FR (right side of the touchpad 380) along direction D2, an operation of bending the first curved portion 113 or the second curved portion 114 to the right in the LR direction is input. By moving the thumb, which is in contact with the angle operation area R10, backward RR (left side of the touchpad 380) along direction D2, an operation of bending the first curved portion 113 or the second curved portion 114 to the left in the LR direction is input.

[0778] The surgeon S can intuitively bend the first curved portion 113 or the second curved portion 114 by moving the thumb, which is in contact with the angle operation area R10, in directions D1 and D2. Furthermore, direction D1 is not limited to the vertical and horizontal directions, but may also include directions inclined from the vertical direction. Similarly, direction D2 is not limited to the front-back and horizontal directions, but may also include directions inclined from the front-back direction.

[0779] The switching operation area R13, the air supply operation area R14, the suction operation area R15, and various operation areas R16 are positioned below the angle operation area R10 at the LWR position. The switching operation area R13, the air supply operation area R14, the suction operation area R15, and various operation areas R16 are arranged sequentially from rear RR to front FR.

[0780] The electric endoscope system 1000J according to this embodiment enables more efficient observation or treatment using the endoscope 100. Since the endoscope 100 is separate from the operating device 300J, the surgeon S can operate the endoscope 100 and the operating device 300J independently without affecting each other.

[0781] Alternatively, an operation area can be provided on the touchpad 380 to switch the mode setting to either the first mode or the second mode. The surgeon S can switch the mode setting of the touchpad 380 by operating the touchpad 380.

[0782] According to the electric endoscope system 1000J of this embodiment, the operating device 300J has no moving parts such as buttons or switches, making it easy to clean. Furthermore, the operating device 300J is small and lightweight due to its few parts. Therefore, the surgeon S can easily operate the system by holding the operating device 300J with only their left hand L.

[0783] The electric endoscope system 1000J according to this embodiment can switch between a first mode and a second mode. In the first mode, it can be operated using a method equivalent to that of conventional endoscopes. In the second mode, the input of the bending operation in the UD / LR direction corresponds to the bending direction of the bending section 112, allowing for intuitive operation. For example, skilled physicians accustomed to conventional endoscope operation methods or physicians who wish to independently input the bending operation in the UD / LR direction can set the mode to the first mode and use the operating device 300J. Furthermore, interns who will be learning endoscope operation in the future can switch to the appropriate operating mode and use the operating device 300J.

[0784] For example, when the display device 900 has a touch panel, the surgeon needs to touch the screen of the display device 900 displaying the endoscopic image. Sometimes, the endoscopic image is difficult to observe due to the fingers used for touching. On the other hand, since the electric endoscope system 1000J has a touchpad 380 on the operating device 300J, the aforementioned difficulty in observing the endoscopic image does not occur. Furthermore, the surgeon can move the touchpad 380 in coordination with the endoscopic image displayed on the screen of the display device 900. For example, directions D1 and D2 can be easily aligned with the vertical and horizontal directions in the endoscopic image of the endoscope 100. In addition, the surgeon can freely touch the touchpad 380 in a position separate from the screen of the display device 900. For these reasons, the surgeon can operate the touchpad 380 of the operating device 300J more intuitively.

[0785] The tenth embodiment of the present invention has been described in detail above with reference to the accompanying drawings. However, the specific structure is not limited to this embodiment, and design changes that do not depart from the spirit of the present invention are also included. Furthermore, the structural elements shown in the above embodiments and variations can be appropriately combined to form a configuration.

[0786] (Variation Example 10-1)

[0787] In the above embodiment, the operating device 300J has a touchpad 380 for input operations. However, the operating device 300J is not limited to this. The touchpad 380 of the operating device 300J may also be a touchpad equipped with a display such as an LCD panel. By displaying the operating areas (R11 to R16) of the touchpad 380 on the display, the surgeon S can easily grasp the position of the operating areas (R11 to R16).

[0788] (Variation Example 10-2)

[0789] In the above embodiment, the operating device 300J does not have movable buttons or switches. However, the manner in which the operating device 300J is operated is not limited to this. Figure 92 This is a perspective view showing an operating device 300JA, a modified example of the operating device 300J. The operating device 300JA, relative to the operating device 300J, also includes a switch 340, an air supply button 350, a suction button 351, and various buttons 352.

[0790] (Eleventh Implementation Method)

[0791] Reference Figures 93 to 94 The electric endoscope system 1000K according to the eleventh embodiment of the present invention will be described. In the following description, the same reference numerals will be used for structures that are common to those already described, and repeated descriptions will be omitted. Figure 93 This is an overall view of the electric endoscope system 1000K of this embodiment.

[0792] [Electric Endoscope System 1000K]

[0793] like Figure 93 As shown, the electric endoscope system 1000K is a medical system for observing and treating the body of a patient P lying horizontally on an operating table T. The electric endoscope system 1000K includes an endoscope 100, a drive unit 200, an operating unit 300K, a treatment instrument 400, an image control unit 500, and a display unit 900. The treatment instrument 400 is inserted into the channel tube 171 of the endoscope 100 through the forceps jaw 126 of the connecting part 120 without passing through the extension channel tube 130.

[0794] [Operating Device 300K]

[0795] Figure 94 This is a 3D view of the operating device 300K.

[0796] The operating device 300K is a device for inputting operations to drive the endoscope 100. The input operations are transmitted to the drive device 200 via the operating cable 301. The operating device 300K can also communicate with the drive device 200 wirelessly without wired communication. The operating device 300K has an input unit different from that of the operating device 300 in the first embodiment.

[0797] The operating device 300K includes an operating unit body 310K, a first control lever 321, a second control lever 322, a third control lever 323, a first button 350K, a second button 351K, and a third button 352K.

[0798] The main body of the control unit 310K is shaped similarly to a game controller. The main body 310K includes a main body 315, a right handle 316, and a left handle 317. The main body 315 is positioned between the right handle 316 and the left handle 317. The surgeon S supports the control device 300K by gripping the right handle 316 with their right hand R and the left handle 317 with their left hand L.

[0799] In the following description, the direction in which the surgeon S is facing when holding the right handle 316 with his right hand R and the left handle 317 with his left hand L is defined as "forward FR". The opposite direction is defined as "rearward RR". The direction towards forward FR or rearward RR is defined as "front-back direction". The direction in which the right handle 316 is mounted relative to the main body of the operating unit 310K is defined as "right RH". The direction in which the left handle 317 is mounted relative to the main body of the operating unit 310K is defined as "left LH". The direction in which the right handle RH or left handle LH is defined as "left-right direction". The upward direction when facing rearward RR is defined as "upward UPR". The opposite direction is defined as "downward LWR". The direction in which the surgeon faces upward UPR or downward LWR is defined as "up-down direction".

[0800] The main body 315 has a first joystick 321, a second joystick 322, a third joystick 323, a switch 340K, a first button 350K, a second button 351K, and a third button 352K arranged on the front 312. The surgeon S mainly operates the first joystick 321 and the first button 350K with his thumb.

[0801] The first joystick 321 is the same joystick used in the first bending section control mode M1 of the second embodiment, inputting operations to bend the first bending section 113 in the UD and LD directions. The surgeon S moves the first joystick 321 vertically to input the operation to bend the first bending section 113 in the UD direction. When the surgeon S moves the first joystick 321 horizontally, the surgeon inputs the operation to bend the first bending section in the LR direction. The operations input to the first joystick 321 are sent to the drive device 200.

[0802] The second joystick 322 is the same joystick used in the second bending section control mode M2 ​​of the second embodiment, inputting operations to bend the second bending section 114 in the UD and LD directions. The surgeon S moves the second joystick 322 vertically to input the operation to bend the second bending section 114 in the UD direction. When the surgeon S moves the second joystick 322 horizontally, the surgeon inputs the operation to bend the second bending section 114 in the LR direction. The operations input to the second joystick 322 are sent to the drive unit 200.

[0803] The third joystick 323 is the same joystick used in the coordinated control mode M3 of the second embodiment, inputting an operation to coordinately bend the first curved portion 113 and the second curved portion 114 in the UD and LD directions. The surgeon S moves the third joystick 323 vertically, inputting an operation to coordinately bend the first curved portion 113 and the second curved portion 114 in the UD direction. When the surgeon S moves the third joystick 323 horizontally, an operation to coordinately bend the first curved portion 113 and the second curved portion 114 in the LR direction is input. The operation input to the third joystick 323 is sent to the drive unit 200.

[0804] The first button 350K is a button that inputs an operation equivalent to that of the air supply button 350 in the first embodiment. The operation input to the first button 350K is sent to the drive device 200.

[0805] The second button 351K is a button for inputting an operation equivalent to that of the suction button 351 in the first embodiment. The operation input to the second button 351K is sent to the drive device 200.

[0806] The third button 352K is a button that inputs an operation equivalent to that of the various buttons 352 in the first embodiment. The operation input to the third button 352K is sent to the drive device 200.

[0807] The first joystick 321 and the second joystick 322 are positioned so that the surgeon S can operate them with the thumb of his left hand L when holding the left handle 317 with his left hand L. Therefore, even when the surgeon S removes his right hand R from the operating device 300K to operate the insertion part 110 of the endoscope 100, he can still input an operation to bend the first bending part 113 and the second bending part 114.

[0808] The first joystick 321, which operates the first curved section 113, is positioned above the second joystick 322, which operates the second curved section 114, and is located distally to the surgeon S. Therefore, the surgeon S can visually distinguish between using the first joystick 321 and the second joystick 322.

[0809] According to the electric endoscope system 1000K of this embodiment, operation inputs corresponding to each bending mode can be input to the operating device 300K without switching bending modes. The surgeon S, familiar with operation inputs for the first joystick 321, can quickly input complex operation inputs without switching bending modes.

[0810] The eleventh embodiment of the present invention has been described in detail above with reference to the accompanying drawings. However, the specific structure is not limited to this embodiment, and design changes that do not depart from the spirit of the present invention are also included. Furthermore, the structural elements shown in the above embodiments and variations can be appropriately combined to form a configuration.

[0811] (Variation 11-1)

[0812] In the above embodiment, the operation inputs assigned to the first joystick 321 or the first button 350K are fixed. However, the method of assigning operation inputs to the first joystick 321 or the first button 350K is not limited to this. The method of assigning operation inputs to the first joystick 321 or the first button 350K can also be changed. For example, the operation input assignment can be changed according to the surgeon's preference by switching the switch 340K, so that an operation to bend the second bending portion 114 is input to the first joystick 321 and an operation to bend the first bending portion 113 is input to the second joystick 322. In addition, the operation input assignment can also be changed according to the surgeon's preference by switching the switch 340K, so that an operation equivalent to the operation of the suction button 351 in the first embodiment is input to the first button 350K and an operation equivalent to the operation of the air delivery button 350 in the first embodiment is input to the second button 351K.

[0813] (Variation 11-2)

[0814] In the above embodiment, the operating device 300K includes a joystick and buttons. However, the operating input unit of the operating device 300K is not limited to these. For example, the operating device 300K may also include sensors such as a gyroscope sensor and an accelerometer sensor as operating input units.

[0815] (Variation 11-3)

[0816] The shape of the operating device 300K and the configuration of its operation input sections (joystick, buttons) are not limited to the embodiments described above. The operating device 300K may also have multiple variations with different shapes and configurations of the operation input sections. The surgeon S can select and use the easy-to-use operating device 300K from multiple variations.

[0817] When multiple modified operating devices 300K are connected to the drive unit 200, the operating devices 300K are expected to have a safety mechanism, which indicates that the operating devices 300K are certified for compatibility and safety with the drive unit 200. The safety mechanism is an appropriate selection from known safety mechanisms such as safety chips. The drive unit 200 can determine whether the operating devices 300K connected to the drive unit 200 are certified based on the presence or absence of the safety mechanism. If the operating devices 300K have a safety mechanism, it is possible to prevent operating devices 300K that are not certified for compatibility and safety with the drive unit 200 from being connected to and used by the drive unit 200.

[0818] (Twelfth Implementation)

[0819] Reference Figures 95 to 100 The electric endoscope system 1000L according to the twelfth embodiment of the present invention will be described. In the following description, the same reference numerals will be used for structures that are common to those already described, and repeated descriptions will be omitted. Figure 95 This is an overall view of the electric endoscope system 1000L of this embodiment.

[0820] [Electric Endoscope System 1000L]

[0821] like Figure 95 As shown, the electric endoscope system 1000L is a medical system for observing and treating the body of a patient P lying horizontally on an operating table T. The electric endoscope system 1000L includes an endoscope 100, a drive unit 200, an operating unit 300L, a treatment instrument 400, an image control unit 500, and a display unit 900. The treatment instrument 400 is inserted into the channel tube 171 of the endoscope 100 through the forceps jaw 126 of the connecting part 120 without passing through the extension channel tube 130.

[0822] [Operating device 300L]

[0823] The operating device 300L is a device for inputting operations to drive the endoscope 100. The input operations are transmitted to the drive device 200 wirelessly. The operating device 300L is not connected to the drive device 200 via the operating cable 301.

[0824] Figure 96 This is a perspective view of the operating device 300L as seen from the rear 311.

[0825] The operating device 300L includes an operating unit body 310, a first angle knob 320, a second angle knob 330, a switch 340, an air supply button 350, a suction button 351, various buttons 352, and a mounting adapter 390.

[0826] The mounting adapter 390 is an adapter that allows the operating unit body 310 to be detachably mounted to the external flexible part 140. When the operating device 300L is not mounted to the external flexible part 140 and is held by the surgeon S, the mounting adapter 390 is removed from the operating unit body 310. The mounting adapter 390 has a first mounting part 391 and a second mounting part 392.

[0827] The first mounting part 391 can be used to mount the mounting adapter 390 to the back 311 of the operating part body 310, for example, by using screws 391a. The first mounting part 391 can also be used to mount the mounting adapter 390 to the back 311 of the operating part body 310 by means of adhesive tape or the like.

[0828] Figure 97 This is a perspective view of the operating device 300L installed on the external soft part 140.

[0829] The second mounting part 392 detachably mounts the adapter 390 to the external flexible part 140. The second mounting part 392 is formed as a generally cylindrical shape capable of holding the external flexible part 140 on its inner circumferential surface, and has a slit 392b extending along its length axis. The surgeon S elastically deforms the second mounting part 392 to widen the gap of the slit 392b, allowing the external flexible part 140 to pass through, thereby enabling the second mounting part 392 to be mounted and detached relative to the external flexible part 140.

[0830] Figure 98 This diagram illustrates how to use the 1000L electric endoscope system.

[0831] Next, the method of using the electric endoscope system 1000L of this embodiment will be described. The surgeon S attaches the operating device 300L to the external flexible part 140. The surgeon S can hold the operating device 300L with his left hand L and at the same time hold the external flexible part 140.

[0832] While observing the camera image displayed on the display device 900, the surgeon S uses his right hand R to operate the soft part 119 inside the body and moves the insertion part 110. In addition, the surgeon S uses his left hand L to operate the first angle knob 320 and the second angle knob 330 of the operating device 300L to bend the bending part 112 as needed.

[0833] like Figure 98 As shown, while the surgeon S manipulates the internal soft part 119 with his right hand R and moves the insertion part 110, he uses his left hand L to hold the external soft part 140. Therefore, the surgeon S can use his left hand L to move the external soft part 140 forward and backward, thus assisting his right hand R in manipulating the internal soft part 119. As a result, compared to manipulating the internal soft part 119 solely with his right hand R, the surgeon S is able to manipulate the internal soft part 119 more appropriately.

[0834] According to the electric endoscope system 1000L of this embodiment, observation or treatment using the endoscope 100 can be performed more effectively. Although the endoscope 100 is separate from the operating device 300L, the operating device 300L is mounted to the endoscope 100 via an adapter 390. The surgeon S can simultaneously hold the operating device 300L and the external flexible part 140 with his left hand L. Furthermore, the surgeon S can use his left hand L to move the external flexible part 140 forward and backward to assist the right hand R in operating the internal flexible part 119. In addition, since the operating device 300L is mounted on the external flexible part 140, the surgeon S can remove his left hand L from the operating device 300L and perform other tasks using his left hand L.

[0835] The twelfth embodiment of the present invention has been described in detail above with reference to the accompanying drawings. However, the specific structure is not limited to this embodiment, and design changes that do not depart from the spirit of the present invention are also included. Furthermore, the structural elements shown in the above embodiments and variations can be appropriately combined to form a configuration.

[0836] (Variation Example 12-1)

[0837] In the above embodiment, the mounting adapter 390 is detachably mounted to the external flexible part 140. However, the mounting method of the mounting adapter 390 is not limited to this. Figure 99 This diagram illustrates different mounting methods for the mounting adapter 390 of the operating device 300L. For example, the mounting adapter 390 can also be mounted on the flexible part 119 inside the body in a detachable manner.

[0838] (Variation 12-2)

[0839] In the above embodiment, the operation unit body 310 and the mounting adapter 390 are formed separately. However, the operation unit body 310 and the mounting adapter 390 can also be formed integrally.

[0840] (Variation 12-3)

[0841] In the above embodiment, the operating device 300L is obtained by mounting an adapter 390 on the operating device 300 of the first embodiment. However, the operating device 300L is not limited to this. Figure 100 This diagram shows an operating device 300LA, a modified example of the operating device 300L. The operating device 300LA includes an operating unit body 310LA, a joystick 320LA, and a mounting adapter 390. The operating unit body 310LA is compact and easily gripped with only the left hand L. The joystick 320LA is mounted on the operating unit body 310LA and inputs operations equivalent to those performed on the first joystick 321 or the second joystick 322. The mounting adapter 390 detachably mounts the operating unit body 310LA to the external flexible part 140. Because the operating device 300LA is compact, the surgeon S can easily operate the joystick 320LA even while simultaneously holding both the operating device 300LA and the external flexible part 140 with their left hand L.

[0842] Because the operating device 300LA is easily held with the left hand (L), the surgeon (S) can easily assist the right hand (R) in inserting the soft part 119 into the body by applying a twisting force with the left hand (L). On the other hand, after the insertion part 110 reaches the affected area, the surgeon (S) can also use the operating device 300L instead of the operating device 300LA for manipulation. When observing and treating the affected area, the multi-functional operating device 300L is more suitable than the smaller operating device 300LA. Thus, by using the operating device differently according to each scenario of the surgical procedure, the insertability and therapeutic capabilities of the endoscope 100 can be balanced.

[0843] (Variation 12-4)

[0844] The electric endoscope system 1000L may also include a second operating device with an input unit different from the operating device 300L (the first operating device). The operating device 300L and the second operating device can simultaneously receive operating inputs. By providing the second operating device, for example, when an intern uses the operating device 300L, the supervising physician can intervene using the second operating device. The drive device 200 can simultaneously receive inputs from the operating device 300L and the second operating device. While the operating device 300L and the second operating device can receive operating inputs simultaneously, the drive device 200 can also be configured to prioritize the supervising physician's input when both are received simultaneously. The drive device 200 can also selectively receive operating signals from the operating device 300L and the second operating device. The selection of the aforementioned operating signals can be changed through the settings of the drive device 200.

[0845] Alternatively, the programs in each embodiment can be recorded on a computer-readable recording medium, and the computer system can read and execute the program recorded on that recording medium. Furthermore, "computer system" includes hardware such as an operating system and peripheral devices. Additionally, "computer-readable recording medium" refers to removable media such as floppy disks, optical disks, ROMs, and CD-ROMs, and storage devices such as hard disks built into the computer system. Furthermore, "computer-readable recording medium" can also include recording media that dynamically maintains the program for a short period of time, such as communication lines used when sending programs via networks such as the Internet or telephone lines, or recording media that maintain the program for a fixed period of time, such as volatile memory within a computer system acting as a server or client in this case. Moreover, the above-described program can be used to implement a part of the above-described functions, or it can be combined with programs already recorded in the computer system to achieve the above-described functions.

[0846] Industrial utilization

[0847] This invention can be applied to medical systems for observing and treating lumbar organs.

[0848] Label Explanation

[0849] 1000, 1000I Electric Endoscope System, Surgical Support System, Medical System

[0850] 100, 100C endoscope

[0851] 200 drive unit

[0852] 300 Operating Device

[0853] 400 treatment equipment

[0854] 500 Image Control Device

[0855] 600, 600I control devices

[0856] 900 display device

Claims

1. An endoscope system comprising: An endoscope having an insertion portion and a first and a second wire, the insertion portion having a curved portion, the first and second wires being fixed on both sides at the front end of the curved portion, separated by the central axis of the curved portion in the length direction. A driving device, connected to the endoscope, bends the curved portion by driving the first and second lines; as well as Control device, which controls the drive device The control device is capable of performing the following controls: Position control, based on the target position for bending the curved portion, controls the traction or delivery amount of one of the first and second lines; and Tension control controls the traction or feed rate to ensure that the tension of the other line (the first or second line) matches a predetermined set value. The control device is capable of implementing a drive mode that controls the position of one of the first and second lines and controls the tension of the other line. The control device switches the driving mode according to the bending angle of the bending portion, so that the driving mode switches between a mode that controls the position of the first line and controls the tension of the second line, and a mode that controls the position of the second line and controls the tension of the first line.

2. The endoscope system according to claim 1, wherein, When the bending portion is bent in a manner that increases the bending angle, the control device switches the drive mode to a mode in which the traction wire of the first and second wires is controlled by the position control, and the delivery wire of the first and second wires is controlled by the tension control. When the bending portion is bent in a manner that reduces the bending angle and is in a state where the bending angle is greater than a predetermined angle, i.e., a first shape, the control device switches the drive mode to the following mode: in this mode, the tension control is used to control the traction line of the first line and the second line, and the position control is used to control the delivery line.

3. The endoscope system according to claim 2, wherein, When the bending portion is bent in a manner that reduces the bending angle and is in a state where the bending angle is less than a predetermined angle, i.e., the second shape, the control device switches the drive mode to the following mode: in this mode, the traction line of the first line and the second line is controlled by the position control, and the delivery line of the first line and the second line is controlled by the tension control.

4. The endoscope system according to claim 3, wherein, As the specified angle, the control device switches the drive mode by switching the angle at which the magnitude of the restoring force and the frictional force changes, wherein the restoring force is the force that restores the curved portion to a straight state, and the frictional force is the force that resists the restoring force and attempts to maintain the shape of the curved portion.

5. The endoscope system according to claim 3, wherein, The control device sets the target tension in the tension control to be smaller than the traction tension generated during the position control.

6. A control device for controlling a drive mechanism of an endoscope system, the endoscope system comprising: an endoscope having an insertion portion and a first wire and a second wire, the insertion portion having a curved portion, the first wire and the second wire being fixed on opposite sides of the front end of the curved portion, separated by a central axis in the longitudinal direction of the curved portion; and the drive mechanism connected to the endoscope, which drives the first wire and the second wire to bend the curved portion. The control device is capable of performing the following controls: Position control, based on the target position for bending the curved portion, controls the traction or delivery amount of one of the first and second lines; and Tension control controls the traction or feed rate to ensure that the tension of the other line (the first or second line) matches a predetermined set value. The control device is capable of implementing a drive mode that controls the position of one of the first and second lines and controls the tension of the other line. The control device switches the driving mode according to the bending angle of the bending portion, so that the driving mode switches between a mode that controls the position of the first line and controls the tension of the second line, and a mode that controls the position of the second line and controls the tension of the first line.

7. The control device according to claim 6, wherein, When the bending portion is bent in a manner that increases the bending angle, the control device switches the drive mode to a mode in which the traction wire of the first and second wires is controlled by the position control, and the delivery wire is controlled by the tension control. When the bending portion is bent in a manner that reduces the bending angle and is in a state where the bending angle is greater than a predetermined angle, i.e., a first shape, the control device switches the drive mode to the following mode: in this mode, the tension control is used to control the traction line of the first line and the second line, and the position control is used to control the delivery line.

8. The control device according to claim 7, wherein, When the bending portion is bent in a manner that reduces the bending angle and is in a state where the bending angle is less than a predetermined angle, i.e., the second shape, the control device switches the drive mode to the following mode: in this mode, the traction line of the first line and the second line is controlled by the position control, and the delivery line is controlled by the tension control.

9. The control device according to claim 8, wherein, As the specified angle, the control device switches the drive mode by switching the angle at which the magnitude of the restoring force and the frictional force changes, wherein the restoring force is the force that restores the curved portion to a straight state, and the frictional force is the force that resists the restoring force and attempts to maintain the shape of the curved portion.

10. The control device according to claim 9, wherein, The control device sets the target tension in the tension control to be smaller than the traction tension generated during the position control.

11. A computer-readable recording medium, the recording medium containing a program that, when executed by a computer system, enables a control method for an endoscope system. The control method includes the following steps: Position control is implemented, based on the target position of the bending portion of the endoscope insertion section, the traction or delivery amount of one of the first line and the second line of the endoscope is controlled, the first line and the second line are fixed on both sides of the front end of the bending portion across the central axis of the bending portion in the length direction. Tension control is implemented to control the traction or delivery amount so that the tension of the other of the first and second lines is consistent with the specified set value; The drive mode performs the position control on one of the first line and the second line, and the tension control on the other line; as well as Based on the bending angle of the bent portion, the driving mode is switched, such that the driving mode switches between a mode that controls the position of the first line and controls the tension of the second line, and a mode that controls the position of the second line and controls the tension of the first line.

12. The recording medium according to claim 11, wherein, The drive mode is switched according to the bending angle of the curved portion, including: When bending the curved portion in a manner that increases the bending angle, the drive mode is switched to a mode in which the traction wire of the first and second wires is controlled by the position control, and the delivery wire is controlled by the tension control; and When the bending portion is bent in a manner that reduces the bending angle and is in a state where the bending angle is greater than a predetermined angle, i.e., a first shape, the driving mode is switched to the following mode: in this mode, the tension control is used to control the traction line of the first line and the second line, and the position control is used to control the delivery line.

13. The recording medium according to claim 12, wherein, According to the bending angle of the bending portion, the drive mode is switched, including: when the bending portion is bent in a way that reduces the bending angle and is in a state where the bending angle is less than a predetermined angle, i.e., a second shape, the drive mode is switched to the following mode: in this mode, the traction line of the first line and the second line is controlled by the position control, and the delivery line is controlled by the tension control.

14. The recording medium according to claim 13, wherein, As the specified angle, the driving mode is switched by utilizing the angle at which the magnitude of the restoring force and the frictional force changes. The restoring force is the force that restores the curved portion to a straight state, and the frictional force is the force that resists the restoring force and attempts to maintain the shape of the curved portion.

15. The recording medium according to claim 14, wherein, The target tension in the tension control is set to be smaller than the traction tension generated during the position control.

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