Medical system, endoscope control device, control device, endoscope control method, medical device control method, storage medium, and computer program product

Abstract

The present invention provides a medical system, an endoscope control device, a control device, an endoscope control method, a medical device control method, a storage medium, and a computer program product, the endoscope control device controlling a drive device connected to an endoscope, this endoscope control device is provided with a drive device for driving at least one wire for bending a bending section of the tip of an endoscope, and is provided with at least one processor. The processor controls the drive device in such a manner that the wire is loosened from a state in which the wire is pulled to bend the bent portion to a first angle, and the bending angle of the bent portion is returned to a second angle smaller than the first angle. Bending maintenance control for pulling the wire within a range in which the bending angle is maintained at the second angle is performed.

Description

Technical Field

[0001] This invention relates to medical systems, endoscope control devices, control devices, endoscope control methods, medical device control methods, storage media storing control programs for executing the endoscope control methods or medical device control methods, and computer program products containing the control programs. Background Technology

[0002] Conventionally, as an example of a medical device that uses a wire to drive the bending motion of the tip of the insertion section, an endoscope is known (for example, see Patent Document 1). This endoscope has a position sensor mounted on the tip, which detects the positional displacement of the tip caused by the insertion load of the treatment device inserted into the channel, and controls the tension of the wire to return it to the position before the displacement occurred.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: U.S. Patent Application Publication No. 2019 / 000568 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] However, in methods that detect and control the tip's positional deviation to return it to its original position, the presence of a flexible section delays power transmission, potentially causing displacement of the camera optical system positioned at the tip of the insertion section and resulting in a change in the field of view. Therefore, it is desirable to prevent the endoscope's tip positional deviation from occurring even when the insertion device is inserted.

[0008] Methods for solving problems

[0009] One aspect of the present invention is an endoscope control device that controls a drive device connected to an endoscope, wherein the drive device drives at least one wire for bending a curved portion of the endoscope's tip, and the endoscope control device has at least one processor that controls the drive device to perform bending maintenance control by pulling the wire within the range of maintaining the bending angle at the second angle when the wire is relaxed from a state where the bending portion is bent to a first angle by pulling the wire, and the bending angle of the bending portion returns to a second angle smaller than the first angle.

[0010] Another aspect of the present invention is an endoscope control method that controls a drive device connected to an endoscope, wherein the drive device drives at least one wire for bending a curved portion of the endoscope's tip, and when the wire is relaxed from a state in which the curved portion is bent to a first angle by pulling the wire, causing the bending angle of the curved portion to return to a second angle smaller than the first angle, at least one processor controls the drive device to perform bending maintenance control by pulling the wire within the range of maintaining the bending angle at the second angle.

[0011] Another aspect of the invention is a computer-readable, non-transitory storage medium that stores an endoscope control program that enables a computer to execute the above-described endoscope control method.

[0012] Another aspect of the invention is a medical system comprising: an endoscope having a curved portion disposed at the front end of an insertion portion inserted into the body, and at least one wire connected to the curved portion; a drive device connected to the endoscope for driving the wire; and an endoscope control device for controlling the drive device, the endoscope control device having at least one processor that, when the wire is relaxed from a state in which the curved portion is bent to a first angle by traction, causing the bending angle of the curved portion to return to a second angle smaller than the first angle, the processor controls the drive device to perform bending maintenance control to traction the wire within the range of maintaining the bending angle at the second angle.

[0013] One aspect of the invention is a control device that controls a drive device connected to a medical device having a bendable portion, wherein the drive device drives at least one wire for bending the bend of the medical device, and the control device has at least one processor that controls the drive device to perform bend-maintaining control by pulling the wire within the range of maintaining the bend angle at the second angle when the wire is relaxed from a state where the bend is bent to a first angle by pulling the wire, causing the bend angle to return to a second angle smaller than the first angle.

[0014] Another aspect of the present invention is a medical device control method that controls a drive device connected to a medical device having a bendable portion, wherein the drive device drives at least one wire for bending the bend of the medical device, and when the wire is relaxed from a state in which the bend is bent to a first angle by pulling the wire, causing the bending angle of the bend to return to a second angle smaller than the first angle, at least one processor controls the drive device to perform bend maintenance control by pulling the wire within the range of maintaining the bending angle at the second angle.

[0015] Another aspect of the present invention is a medical system comprising: a medical device having a curved portion disposed at the front end of an insertion portion inserted into the body, and at least one wire connected to the curved portion; a drive device connected to the medical device for driving the wire; and a control device for controlling the drive device, the control device having at least one processor that, when the wire is relaxed from a state in which the curved portion is bent to a first angle by traction, causing the bending angle of the curved portion to return to a second angle smaller than the first angle, the processor controls the drive device to perform bending maintenance control to traction the wire within a range that maintains the bending angle at the second angle.

[0016] One aspect of the present invention is a computer program product comprising a control program that causes a computer to perform the aforementioned endoscope control method or medical device control method.

[0017] One aspect of the present invention is a computer-readable, non-transitory storage medium that stores a control program that enables a computer to execute the aforementioned medical device control method. Attached Figure Description

[0018] Figure 1 This is an overall structural diagram showing the structure of the medical system according to the first embodiment.

[0019] Figure 2 It is shown Figure 1 A diagram of the insertion part of an endoscope in a medical system.

[0020] Figure 3 It is shown Figure 1 A cross-sectional view of the insertion section of an endoscope in a medical system.

[0021] Figure 4 This shows the installation to Figure 1 A perspective view of the first loading and unloading section before the drive unit of the medical system.

[0022] Figure 5AThis shows the installation to Figure 1 The diagram shows the wire loading / unloading section and the wire drive section before the drive unit of the medical system.

[0023] Figure 5B It shows the installation at Figure 1 A diagram showing the status of the drive unit of a medical system, including the loading / unloading section and the drive unit.

[0024] Figure 6 It is shown Figure 1 A longitudinal sectional view of the connection point of the endoscope in a medical system.

[0025] Figure 7 This is a block diagram illustrating the endoscope control device of this embodiment.

[0026] Figure 8 It is a graph showing the relationship between the driving force of the line, tension, and bending angle.

[0027] Figure 9A It is shown Figure 2 The diagram shows the bent portion of the insertion part in a state where it is not being pulled.

[0028] Figure 9B It is shown Figure 9A The diagram shows the state of the bending part being pulled and the bending angle of the bending part becoming the first angle.

[0029] Figure 9C It is shown Figure 9B The diagram shows the state where the bending part is relaxed and the bending angle of the bending part changes from the first angle to the second angle.

[0030] Figure 9D It is shown Figure 9C The diagram shows the state where the curved part is relaxed and the curved part becomes the second angle.

[0031] Figure 9E It is shown Figure 9D The diagram shows the curved part being pulled while maintaining the curved part at the second angle.

[0032] Figure 10 This is an explanation Figure 7 A flowchart of the endoscope control method performed by the endoscope control device.

[0033] Explanation of reference numerals in the attached figures

[0034] 10: Endoscope (medical equipment);

[0035] 16: Line;

[0036] 21: Curved section;

[0037] 30: Drive unit;

[0038] 40: Endoscopic control device (control device);

[0039] 41: Processor;

[0040] 42: Memory;

[0041] 43: Storage section (storage medium);

[0042] 44: Input / output control unit (interface);

[0043] 80: Handling equipment;

[0044] 100: Healthcare system;

[0045] θ1: First angle;

[0046] θ2: Second angle. Detailed Implementation

[0047] A medical system 100, an endoscope control device 40, an endoscope control method, and a storage medium according to one embodiment of the present invention will be described with reference to the accompanying drawings.

[0048] like Figure 1 As shown, the medical system 100 of this embodiment is a system for observing and treating the body of a patient lying on an operating table T. The medical system 100 includes an endoscope 10, a drive unit 30, and an endoscope control unit 40. In this embodiment, the drive unit 30 and the endoscope control unit 40 are housed in the same cabinet. Additionally, the medical system 100 also includes an operating device 50, an image control device 60, and a display device 70.

[0049] Endoscope 10 is a flexible endoscope inserted into the patient's lumen. Endoscopic images obtained by endoscope 10 are input to display device 70 via image control device 60 and displayed on display device 70. Furthermore, while an endoscope is listed as an example of a medical device in this embodiment, the term "medical device" is not limited to this, and also includes medical instruments inserted into the body. For example, it could be a electrically driven sheath or a medical robotic arm. These medical devices generally have a channel for inserting treatment instruments. Moreover, these medical devices need to prevent displacement of the tip and do not necessarily need to be equipped with a camera.

[0050] The operating device 50 is connected to the adapter 40a of the endoscope control device 40 via the operating cable 51. Operating inputs are input from the operating device 50 to the endoscope control device 40. The endoscope control device 40 controls the drive device 30 based on the operating inputs input to the operating device 50. Thus, the endoscope 10 is operated according to the operating inputs.

[0051] The endoscope 10 is detachably connected to the drive unit 30. In the following description, the side of the endoscope 10 that is inserted into the lumen of the patient is referred to as the anterior end side, and the side that is mounted on the drive unit 30 is referred to as the basal end side.

[0052] like Figure 1 As shown, the endoscope 10, from its front end side, sequentially comprises an insertion part 11, a connecting part 12, an external flexible part 13, a first loading / unloading part 14, and a second loading / unloading part 15. The insertion part 11 is a flexible, elongated component, such as... Figure 2 As shown, an internal path 11a is formed inside the insertion part 11.

[0053] The internal path 11a of the endoscope 10 extends from the front end of the insertion part 11 along the length direction A of the endoscope 10 to the base end of the first loading / unloading part 14. For example... Figure 3 As shown, the internal path 11a contains the wire 16, channel tube 17, light guide 18, and camera cable 19, which will be described later.

[0054] The insertion part 11 has a front end 20, a curved part 21 and a soft part inside the body in sequence from the front end side.

[0055] like Figure 2 As shown, the front end portion 20 has an opening 20a communicating with the channel tube 17, an illumination part 20b, and a camera part 20c. A handling part 81, such as a gripping clamp, located at the front end of the handling device 80, extends from the opening 20a, wherein the handling device 80 is inserted into a channel within the channel tube 17. A light guide 18 is connected to the illumination part 20b, and a camera cable 19 is connected to the camera part 20c.

[0056] The curved portion 21 has a first curved portion 21a and a second curved portion 21b disposed on the base end side of the first curved portion 21a. The first curved portion 21a and the second curved portion 21b are respectively capable of bending upward, downward, leftward and rightward.

[0057] like Figure 3 As shown, four lines 16 are connected to the first curved portion 21a to bend it upwards, downwards, leftwards, and rightwards respectively. Similarly, four more lines 16 are connected to the second curved portion 21b to bend it upwards, downwards, leftwards, and rightwards respectively. The first curved portion 21a and the second curved portion 21b can bend independently in different directions.

[0058] The connecting part 12 connects the inner flexible part 22 and the outer flexible part 13 of the insertion part 11. Furthermore, the connecting part 12 is provided with an insertion port 12a for inserting the treatment device 80 into the channel tube 17 in the internal path 11a.

[0059] like Figure 4As shown, the first loading / unloading unit 14 has four wire loading / unloading units 23, which are mechanisms for connecting the wires 16 to the drive device 30 in a detachable manner. Each wire loading / unloading unit 23 is provided at the base end of two wires 16 as a pair, and loads / unloads the wires 16 to the drive device 30. For example, the four wire loading / unloading units 23 load / unload a pair of wires 16 for the vertical bending of the first bending section 21a, a pair of wires 16 for the horizontal bending of the first bending section 21a, a pair of wires 16 for the vertical bending of the second bending section 21b, and a pair of wires 16 for the horizontal bending of the second bending section 21b to the drive device 30, respectively.

[0060] The second mounting / unmounting section 15 is detachably connected to the adapter 60a of the image control device 60. The light guide 18 and the camera cable 19 are connected to the image control device 60 via the second mounting / unmounting section 15.

[0061] The drive unit 30 is connected to a power source (not shown) and operates using power supplied from the power source. The drive unit 30 has four wire drive sections 31 that serve as mechanisms for driving the wires 16. Through the connection of the first loading / unloading section 14, the four wire drive sections 31 are respectively connected to four wire loading / unloading sections 23, enabling each to drive a pair of wires 16. For example, the four wire drive sections 31 can respectively drive a pair of wires 16 for vertical bending of the first bending section 21a, a pair of wires 16 for horizontal bending of the first bending section 21a, a pair of wires 16 for vertical bending of the second bending section 21b, and a pair of wires 16 for horizontal bending of the second bending section 21b.

[0062] Figure 5A and Figure 5B The structure of the wire loading / unloading unit 23 and the wire driving unit 31 is shown. Figure 5A The wire loading / unloading unit 23 and the wire drive unit 31 are shown in a separated state. Figure 5B The wire loading / unloading unit 23 and the wire driving unit 31 are shown in a state of interconnection.

[0063] Figure 5A and Figure 5B For example, a wire loading / unloading section 23 and a wire drive section 31 are shown, including a pair of wires 16 for bending up and down in the first bending section 21a. Other wire loading / unloading sections 23 and other wire drive sections 31 also have Figure 5A and Figure 5B The structure is such that repeated explanations are omitted.

[0064] Each line loading / unloading section 23 has a rotating roller 24 and a support member 25 that supports the rotating roller 24. The support member 25 is a part that is fixed relative to the support member 32 of the line drive section 31 when the line loading / unloading section 23 is connected to the line drive section 31.

[0065] The rotating roller 24 is supported by the support member 25 and is supported so that it can rotate about a rotation axis B extending along the length direction A of the insertion part 11. The rotating roller 24 has a winding wheel 24a arranged coaxially with the rotation axis B and a connecting part 24b fixed to the winding wheel 24a.

[0066] Two wires 16, forming a pair, are guided to a winding wheel 24a via one or more pulleys 26 of the guide wires 16, and wound around the outer circumference of the winding wheel 24a. The winding wheel 24a rotates about the axis of rotation B, thereby pulling or feeding the two wires 16 as a pair.

[0067] The connecting part 24b is a circular plate component fixed to the base end of the winding wheel 24a and coaxially arranged with the rotation axis B, and is exposed on the base end side of the line loading and unloading part 23. On the base end side surface of the connecting part 24b, two fitting protrusions 24c are formed on both sides separated by the rotation axis B.

[0068] In addition, each line loading / unloading section 23 has a chuck 27 provided on the support member 25 for detecting loading / unloading between the line loading / unloading section 23 and the line drive section 31.

[0069] The chuck 27 is a component that protrudes from the support member 25 toward the outside of the wire loading / unloading section 23 and is exposed at the base end of the wire loading / unloading section 23; for example, it is a pin-shaped component extending parallel to the rotation axis B. Figure 5B As shown, when the online loading / unloading unit 23 is connected to the online drive unit 31, the chuck 27 penetrates the support member 32 of the online drive unit 31 and inserts into the interior of the online drive unit 31.

[0070] The line drive unit 31 has a shaft 33, a motor 34 connected to the shaft 33, and a support member 32 that supports the shaft 33 so that it can rotate.

[0071] Shaft 33 is supported by support member 32 and is supported so that it can rotate about rotation axis C and move forward and backward along length direction A. Rotation axis C is the central axis of shaft 33. When the first loading and unloading part 14 is connected to the drive device 30, rotation axis C is aligned with rotation axis B of rotating drum 24.

[0072] Motor 34 is, for example, a DC motor. Motor 34 generates rotational force as a driving force by using electricity supplied from the power source, causing shaft 33 to rotate about the rotation axis C. The in-line drive unit 31 is equipped with an encoder 34a for detecting the rotational speed and rotation angle of motor 34. Encoder 34a is connected to the base of motor 34.

[0073] In addition, the line drive unit 31 has a connected part 33a, which is a mechanism provided on the shaft 33 and connecting the motor 34 to the rotating drum 24.

[0074] The connected portion 33a is a circular plate component fixed to the front end of the shaft 33 and coaxially arranged with the rotation axis C, and rotates integrally with the shaft 33. The front end side of the connected portion 33a is exposed. On the front end side surface of the connected portion 33a, two fitting recesses 33b are formed on both sides of the rotation axis C.

[0075] like Figure 5B As shown, the connecting part 24b and the connected part 33a are connected to each other through the mutual engagement of the fitting protrusion 24c and the fitting recess 33b, thereby connecting the motor 34 to the line 16 via the rotating roller 24. In this state, the rotating roller 24, the connecting part 24b, the connected part 33a, and the shaft 33 can rotate as a whole around the rotation axes B and C. Therefore, the rotational force (driving force) generated by the motor 34 is transmitted to the line 16 via the rotating roller 24 as a force in the length direction A.

[0076] When motor 34 rotates in one direction around rotation axis C, rotating roller 24 rotates in the same direction around rotation axis B. As a result, for example, one of a pair of wires 16 arranged on opposite sides in the vertical direction is pulled while the other is slack. Conversely, when motor 34 is rotated in the other direction, the pulled and slack wires 16 are swapped. Therefore, by switching the rotational drive direction of motor 34, the bent portion 21 can be bent in either the vertical or horizontal direction. The same applies to the left and right directions.

[0077] The medical system 100 also includes a tension sensor (first sensor) 35a, a torque sensor 35b, a loading / unloading sensor 35c, a connection sensor 35d, a current sensor (not shown) and a treatment device sensor (second sensor) 35e.

[0078] Tension sensors 35a are respectively installed in four wire loading / unloading sections 23, while torque sensors 35b, loading / unloading sensors 35c, connection sensors 35d, and current sensors are respectively installed in four wire drive sections 31. A treatment device sensor 35e is installed, for example, in the connection section 12. Each sensor 35a, 35b, 35c, 35d, and 35e is connected to the endoscope control device 40, and the outputs of each sensor 35a, 35b, 35c, 35d, and 35e are sequentially sent to the endoscope control device 40.

[0079] Tension sensors 35a are provided for each wire 16, and may be, for example, strain sensors mounted on the support 26a of the wheel 26, to detect the tension of the wire 16 by means of the strain of the support 26a. By using tension sensors 35a to detect the tension for each drive amount of the wire 16, information related to the tension change of the wire 16 can be obtained.

[0080] Torque sensor 35b is provided for each motor 34 to detect the torque of the motor 34. For example, torque sensor 35b is mounted on shaft 33 and detects the torque about the rotation axis C as the torque of motor 34.

[0081] The loading / unloading sensor 35c detects the loading / unloading of the line loading / unloading section 23 relative to the line drive section 31. When the line loading / unloading section 23 is connected to the line drive section 31, the loading / unloading sensor 35c engages with the claw 27 that passes through the support member 32 and is inserted into the interior of the line drive section 31. The loading / unloading sensor 35c may have, for example, an optical sensor that detects contact or proximity with the claw 27, and the engagement with the claw 27 is detected by the optical sensor.

[0082] The coupling sensor 35d is provided for each motor 34. The coupling sensor 35d detects the engagement between the coupling part 24b and the coupled part 33a based on the displacement of the shaft 33, thereby detecting whether the motor 34 is connected to the line 16.

[0083] like Figure 5B As shown, the coupled portion 33a is pressed by the coupled portion 24b and moves together with the shaft 33 toward the base end side A2. The coupling sensor 35d is, for example, an optical sensor that detects the approach of the pawl 33c provided on the shaft 33, and detects the engagement of the coupling portion 24b and the coupled portion 33a based on the approach of the pawl 33c.

[0084] The connected portion 33a is subjected to force towards the front end A1 by an elastic member 36, such as a compression spring, disposed between the connected portion 33a and the support member 32. Figure 5A As shown, when the online loading / unloading unit 23 is separated from the line drive unit 31, the coupled part 33a moves towards the front end A1 together with the shaft 33 under the force of the elastic member 36, and the pawl 33c is positioned away from the coupling sensor 35d. In this state, the coupling sensor 35d cannot detect the engagement between the coupling part 24b and the coupled part 33a.

[0085] Current sensors are provided for each motor 34 to detect the current flowing through the motor 34.

[0086] like Figure 6 As shown, the treatment device sensor 35e is disposed, for example, radially outside the transparent portion 17a, and is a sensor for detecting the treatment device 80 passing inside. The transparent portion 17a is a part of the channel tube 17 disposed at the connecting portion 12. The treatment device sensor 35e is, for example, an optical sensor. The treatment device sensor 35e can be disposed at any position along the length of the channel tube 17, such as at the base end, the front end, or at any other position.

[0087] The endoscope control device 40 receives operation input from the operating device 50 via the adapter 40a. The endoscope control device 40 controls the drive device 30 based on the received operation input.

[0088] like Figure 7 As shown, the endoscope control device 40 is a computer capable of executing programs, which includes at least one processor 41, at least one memory 42, a storage unit 43 capable of storing programs and data, and an input / output control unit (interface) 44.

[0089] Storage unit 43 is a non-transitory, non-volatile recording medium that stores programs and necessary data, such as ROM or hard disk. The functions of the endoscope control device 40, described later, are implemented by reading the endoscope control program stored in storage unit 43 into memory 42 and executing it through processor 41. At least some functions of the endoscope control device 40 can also be implemented using dedicated logic circuitry.

[0090] The operating device 50 is a device for operators such as surgeons to input operations to drive the endoscope 10. The input operations are sent to the endoscope control device 40 via the operating cable 51.

[0091] like Figure 1 As shown, the operating device 50 includes a main body 52, a first angle knob 53, and a second angle knob 54. Additionally, the operating device 50 includes a switch 55 and a sound sensor 56.

[0092] The main body 52 is shaped so that operators, such as surgeons, can hold it with their left hand.

[0093] The first angle knob 53 and the second angle knob 54 are mounted on the main body 52 in such a way that they rotate about the same rotation axis 52a.

[0094] The operator, for example, uses their right hand to rotate the first angle knob 53, thereby driving the line 16 that bends the curved portion 21 in the up-down direction. Alternatively, for example, rotating the second angle knob 54, thereby driving the line 16 that bends the curved portion 21 in the left-right direction.

[0095] The input / output control unit 44 is connected to the drive device 30, the operation device 50, and the display device 70. Based on the control of the processor 41, the input / output control unit 44 performs the transmission and reception of data and control signals for the connected devices.

[0096] Next, the endoscope control method executed by the endoscope control device 40 of this embodiment will be described.

[0097] In the endoscope control device 40 of this embodiment, the processor 41 controls the drive device 30 by obtaining the operation input generated by the operator such as the surgeon operating the operation device 50 through the first angle knob 53 or the second angle knob 54.

[0098] Specifically, the processor 41 pulls and relaxes the wire 16 by activating one of the motors 34 of the drive device 30 corresponding to the operation input. This allows the curved section 21 to bend in the desired direction at a desired bending angle. Here, the bending angle refers to the angle of displacement relative to the straight state when the curved section 21 is bent with its straight state set to 0 degrees. Alternatively, it can be determined based on the camera direction at the front end of the curved section 21; when the camera direction of the curved section 21 in its straight state is set to 0 degrees and the curved section 21 is bent, it is the angle between the camera direction of the curved section 21 in its straight state and the camera direction after bending.

[0099] like Figure 9A and Figure 9B As shown, the processor 41 controls the drive device 30 to pull the cable 16, causing the bent portion 21 to bend in any direction. Additionally, as... Figure 9C As shown, the processor 41 controls the drive device 30 to bend the traction line 16 and the bending portion 21 in any direction at any first angle θ1 from state P1, causing the line 16 to relax and become state P2. Further, as... Figure 9D As shown, when the processor 41 controls the drive device 30 to further relax the line 16 and reduce the bending angle of the bent portion 21 to a second angle θ2 smaller than the first angle θ1, thus reaching state P3, bending maintenance control is implemented. Bending maintenance control is... Figure 9E The state P4 shown represents the control of traction on the slack line 16 within the range of maintaining the bending angle at the second angle θ2. The first angle θ1 and the second angle θ2 are arbitrary.

[0100] Figure 8 These represent the relationship between the driving amount of line 16 and the tension of line 16, and the relationship between the driving amount of line 16 and the bending angle of the bending portion 21, respectively. For example, when line 16 is pulled from the origin position where the driving amount of line 16 is zero, as shown by arrow Y1, the tension of line 16 and the bending angle increase approximately linearly in proportion to the driving amount of line 16, respectively.

[0101] However, after the bending angle of the bending section 21 reaches an arbitrary first angle θ1, when it is desired to relax the line 16 and reduce the bending angle, as shown by arrow Y2, the tension of the line 16 decreases sharply and disproportionately to the driving amount of the line 16 until the driving amount of the line 16 decreases to a specified point S.

[0102] That is, the operator first rotates the first angle knob 53 or the second angle knob 54 in one direction, thereby increasing the driving amount of a wire 16 and causing the bending angle of the bending section 21 to reach the first angle θ1. Then, when the operator rotates the first angle knob 53 or the second angle knob 54 in the other direction to reduce the driving amount of the wire 16, the bending angle does not change, and the tension of the wire 16 is greatly reduced.

[0103] Furthermore, when the driving amount of line 16 decreases to a predetermined point S, at that moment, as the driving amount of line 16 decreases, as shown by arrow Y3, the bending angle begins to decrease, and the tension and bending angle of line 16 again begin to decrease approximately linearly and proportionally to the driving amount of line 16. Therefore, the relationship between the driving amount of line 16 and the tension, and the relationship between the driving amount of line 16 and the bending angle, depict hysteresis curves with different paths when line 16 is being pulled and when line 16 is being relaxed.

[0104] Furthermore, after the driving amount of line 16 is reduced to T2, which is smaller than the tension at the specified point S, and the bending angle becomes the second angle θ2, when the driving amount of line 16 is increased again to T3, which is larger than T2, as shown by arrow Y4, the bending angle remains unchanged while the tension of line 16 increases.

[0105] Therefore, in this embodiment, when the second angle θ2 is reached from a first angle θ1 that is larger than the second angle θ2, the processor 41 controls the drive device 30 to perform bending maintenance control. Thus, as... Figure 8 As indicated by the middle arrow Y4, the tension of line 16 can be increased within a range without changing the bending angle.

[0106] Reference Figure 10 The flowchart below provides a more detailed explanation of the endoscope control method of the endoscope control device 40 in this embodiment.

[0107] First, when the control of the endoscope 10 is started, it is determined whether the start conditions for bending maintenance control are met (step S1).

[0108] The starting conditions for bending sustaining control are, for example, any one of the following C1 to C3.

[0109] (C1) After the bending angle of the bent portion 21 changes from the first angle θ1 to the second angle θ2, a predetermined time has elapsed.

[0110] (C2) Inputs requiring the initiation of bending maintenance control were made by operators such as surgeons.

[0111] (C3) The insertion of the treatment device 80 into the channel tube 17 is detected by the treatment device sensor 35e.

[0112] When an operation input is input to reduce the bending angle from the first angle θ1 to the second angle θ2, for example, the timing of the timer (not shown) provided by the endoscope control device 40 is started, and if a predetermined time has elapsed, the starting condition C1 is satisfied.

[0113] When the switch 55 provided on the operating device 50 is switched, or when the sound sensor 56 provided on the operating device 50 detects the sound of the operator requesting to start the bending maintenance control, the starting condition C2 is met.

[0114] When the treatment device sensor 35e provided at the connection part 12 detects the treatment device 80 passing through the channel tube 17, the start condition C3 is met. In addition, when the channel tube 17 is used for drainage of the suction body, etc., in order to avoid misdetecting the drainage as the treatment device 80, the start condition C3 for bending maintenance control is not met when the suction button (not shown) is pressed.

[0115] If none of the starting conditions C1 to C3 are met in step S1, the processor 41 of the endoscope control device 40 performs normal bending control of the bending section 21, which is executed by the drive device 30, corresponding to the operation input to the operation device 50 (step S2). Then, the processor 41 stores the driving state of the line 16 in the memory 42 (step S3).

[0116] The driving state of line 16 is used to obtain Figure 8 The data shown relates the amount of drive of line 16 to tension and bending angle. For example, if the endoscope 10 is equipped with a shape sensor (not shown) for detecting its shape, a data pair of the bending angle determined by the shape detected by the shape sensor and the amount of drive of line 16 determined by the amount of rotation of motor 34 detected by encoder 34a can be provided. As the shape sensor, any sensor such as a magnetic sensor (UPD) or a fiber optic sensor (FBG) can be used. Alternatively, the drive state of line 16 can also be a data pair of the tension detected by tension sensor 35a and the amount of drive of line 16 determined by the amount of rotation of motor 34 detected by encoder 34a.

[0117] Next, it is determined whether to end control (step S4). If not, the process from step S1 onwards is repeated. By repeatedly performing steps S1 to S4 without ending control, multiple data pairs of the rotation amount of motor 34 and bending angle or tension of line 16 are stored. This allows for estimation... Figure 8 At least a portion of the relationship between the driving amount of the line 16 shown and the tension and bending angle of the line 16. Figure 8The hysteresis curve shown can also be estimated by linear interpolation based on the start of bending as measured by the endoscopic image or the rate of change of tension when the bending angle returns to the second angle θ2.

[0118] If any of the starting conditions C1 to C3 are met in step S1, the processor 41 stores the driving quantity of line 16 at that moment in memory 42 (step S5).

[0119] Then, based on the driving state of line 16 stored in step S3 and the current driving amount of line 16, the so-called insensitive zone is calculated (step S6), and line 16 is pulled with a driving amount smaller than the insensitive zone (step S7).

[0120] For example, in the insensitive area Figure 8 The difference ΔD in the hysteresis curve of the bending angle of line 16 relative to the driving amount is the driving amount up to the intersection of the straight line drawn parallel to the horizontal axis from the second angle θ2 and the hysteresis curve when the tension of line 16 increases along arrow Y1. If the driving amount of line 16 is less than the difference ΔD, the tension of line 16 can be increased without changing the bending angle. However, it is preferable to drive with a driving amount that is as close as possible to the difference ΔD, not exceeding it.

[0121] Alternatively, instead of increasing the driving amount by the difference ΔD, the tension of line 16 can be increased to a tension not exceeding a third tension T3, which is determined based on the first tension T1 when the traction line 16 bends to the first angle θ1 and the second tension T2 when the slack line 16 returns to the second angle θ2.

[0122] Then, it is determined whether the release condition for bending maintenance control has been met (step S8).

[0123] The release condition for bending maintenance control is, for example, any one of the following C4 to C6.

[0124] (C4) A new operation input indicating the bending action was entered in the bending maintenance control state.

[0125] (C5) The operator, such as the surgeon, made an input requesting the release of the bending maintenance control.

[0126] (C6) The treatment device 80 was detected by the treatment device sensor 35e as being pulled out of the channel tube 17.

[0127] If any of the release conditions C4 to C6 are met, the wire 16 is relaxed to the drive amount of the wire 16 stored in step S5 (step S9), and the process from step S1 is repeated. In the case of release condition C4, the switching switch 55 used under start condition C2 needs to be an instantaneous switch.

[0128] Thus, according to the medical system 100, endoscope control device 40, and endoscope control method of this embodiment, when the bending angle is reduced by slackening the wire 16, the processor 41 performs bending maintenance control. When the bending angle is reduced, the tension of the wire 16 decreases sharply, but by performing bending maintenance control, the tension of the wire 16 can be increased without changing the bending angle.

[0129] As a result, when the treatment device 80 is inserted into the channel tube 17 with the bending angle reduced, changes in the bending angle caused by the rigidity of the treatment device 80 can be prevented. That is, when a highly rigid treatment device 80 is inserted into the channel tube 17, the bending portion 21 is subjected to a force from the treatment device 80 in a direction that reduces the bending angle, but the tension of the line 16 is increased by bending maintenance control, thereby preventing changes in the bending angle.

[0130] Therefore, it has advantages such as preventing changes in the bending angle, i.e., changes in the field of view of the endoscope 10, even after the procedure instrument 80 is inserted into the channel tube 17, once the second angle θ2 has been reached from the first angle θ1. Operators such as surgeons can easily perform procedures using the procedure instrument 80 with an unchanging field of view.

[0131] Furthermore, in this embodiment, in step S8, if any one of the release conditions C4 to C6 is satisfied, in step S9, the wire 16 is relaxed to the driving amount of the wire 16 stored at the start of the bend maintenance control. This returns to the state where the operator had performed the operation at the start of the bend maintenance control, thus allowing the operator to operate the endoscope with the same feeling as when bend maintenance control was not performed.

[0132] Furthermore, when the hysteresis (insensitive zone) of the bending action is large, compensation control is performed to estimate the insensitive zone and drive the line 16 at high speed. In this case, if the tension of the line 16 is increased by maintaining the bending sustaining control, the estimation error of the insensitive zone becomes larger. By relaxing the line 16 to the state at the start of the bending sustaining control when the bending sustaining control is released, the line 16 can be driven with high responsiveness in compensation control, unaffected by the estimation error of the insensitive zone.

[0133] In this embodiment, a tension sensor 35a is exemplified as the first sensor for detecting the tension of the cable 16, but it is not limited to this. Alternatively, a torque sensor 35b, which acquires information related to changes in the tension of the cable 16, or a current sensor, which acquires the current value of the motor 34, may be used as the first sensor, and the acquired drive torque or current value may be converted into the tension of the cable 16.

Claims

1. An endoscope control device that controls a drive mechanism connected to an endoscope, wherein, The drive device drives at least one wire used to bend the curved portion of the tip of the endoscope. The endoscope control device has at least one processor. When the line is relaxed from a state where the bending portion is bent to a first angle by pulling the line, and the bending angle of the bending portion returns to a second angle smaller than the first angle, the processor controls the drive device to perform bending maintenance control by pulling the line within the range of maintaining the bending angle at the second angle.

2. The endoscope control device according to claim 1, wherein, The processor implements the bend maintenance control based on information related to the tension change of the line obtained during the period when the bend is bent from the first angle to the second angle.

3. The endoscope control device according to claim 1, wherein, The endoscope control device has an interface for receiving bending operation instructions input by the operator. After implementing the bending maintenance control, the processor releases the bending maintenance control if it receives a new bending control instruction or an input requesting the release of the bending maintenance control via the interface.

4. The endoscope control device according to claim 1, wherein, The processor implements the bending maintenance control in response to insertion of the treatment instrument into the channel of the endoscope, and releases the bending maintenance control in response to removal of the treatment instrument from the channel.

5. The endoscope control device according to claim 1, wherein, The endoscope control device has at least one memory that stores the amount of drive of the wire when the bending maintenance control is initiated. When the bending maintenance control is released, the processor controls the drive device to relax the line to the drive amount stored in the memory.

6. An endoscope control method, which controls a drive device connected to an endoscope, wherein, The drive device drives at least one wire used to bend the curved portion of the tip of the endoscope. When the line is relaxed from a state where the bending portion is bent to a first angle by pulling the line, and the bending angle of the bending portion returns to a second angle smaller than the first angle, at least one processor controls the drive device to perform bending maintenance control by pulling the line within the range of maintaining the bending angle at the second angle.

7. The endoscope control method according to claim 6, wherein, The processor implements the bending maintenance control based on information related to the tension change of the line obtained during the period when the bent portion is bent from the first angle to the second angle.

8. The endoscope control method according to claim 6, wherein, After implementing the bending maintenance control, the processor releases the bending maintenance control if it receives a new bending control instruction from the operator or an input requesting the release of the bending maintenance control.

9. The endoscope control method according to claim 6, wherein, The processor implements the bending maintenance control in response to insertion of the treatment instrument into the channel of the endoscope, and releases the bending maintenance control in response to removal of the treatment instrument from the channel.

10. The endoscope control method according to claim 6, wherein, The amount of drive force of the line at the start of the bending maintenance control is stored in memory. When the bending maintenance control is released, the processor controls the drive device to relax the line to the drive amount stored in the memory.

11. A computer-readable, non-transitory storage medium storing an endoscope control program that enables a computer to execute the endoscope control method of any one of claims 6 to 10.

12. A medical system, wherein, This medical system has the following features: An endoscope having a curved portion disposed at the front end of an insertion portion inserted into a body, and at least one wire connected to the curved portion; A drive device, which is connected to the endoscope, drives the wire; as well as An endoscope control device that controls the drive mechanism. The endoscope control device has at least one processor. When the line is relaxed from a state where the bending portion is bent to a first angle by pulling the line, and the bending angle of the bending portion returns to a second angle smaller than the first angle, the processor controls the drive device to perform bending maintenance control by pulling the line within the range of maintaining the bending angle at the second angle.

13. The medical system according to claim 12, wherein, The medical system has a first sensor that acquires information related to changes in the tension of the wire. During the process of bending the curved portion from the first angle to the second angle, the processor implements the bending maintenance control based on information related to the tension change of the line obtained by the first sensor.

14. The medical system according to claim 13, wherein, The first sensor is a tension sensor disposed on the base end side of the wire and for detecting the tension of the wire.

15. The medical system according to claim 12, wherein, The medical system has an interface for inputting the operator's bending operation instructions. After implementing the bending maintenance control, the processor releases the bending maintenance control if it receives a new bending control instruction or an input requesting the release of the bending maintenance control via the interface.

16. The medical system according to claim 12, wherein, The endoscope has a channel for inserting treatment instruments. The medical system has a second sensor that detects the insertion or removal of the treatment device relative to the channel. The processor implements the bending maintenance control when the second sensor detects the insertion of the treatment device, and releases the bending maintenance control when the second sensor detects the removal of the treatment device.

17. The medical system according to claim 16, wherein, The second sensor is positioned at any point along the length of the channel.

18. The medical system according to claim 12, wherein, The endoscope control device has at least one memory. The memory stores the amount of drive force on the line when the bending maintenance control is initiated. When the bending maintenance control is released, the processor controls the drive device to relax the line to the driving amount of the line stored in the memory.

19. A control device for controlling a drive device that drives a medical device having a bendable curved portion, wherein, The drive device drives at least one wire used to bend the curved portion of the medical device. The control device has at least one processor. When the line is relaxed from a state where the bending portion is bent to a first angle by pulling the line, and the bending angle of the bending portion returns to a second angle smaller than the first angle, the processor controls the drive device to perform bending maintenance control by pulling the line within the range of maintaining the bending angle at the second angle.

20. A method for controlling a medical device, comprising controlling a drive device connected to a medical device having a bendable portion, wherein, The drive device drives at least one wire used to bend the curved portion of the medical device. When the line is relaxed from a state where the bending portion is bent to a first angle by pulling the line, and the bending angle of the bending portion returns to a second angle smaller than the first angle, at least one processor controls the drive device to perform bending maintenance control by pulling the line within the range of maintaining the bending angle at the second angle.

21. A medical system, wherein, This medical system has the following features: A medical device having a curved portion and at least one wire connected to the curved portion; A driving device, which is connected to the medical device, drives the wire; as well as A control device that controls the drive device. The control device has at least one processor. When the line is relaxed from a state where the bending portion is bent to a first angle by pulling the line, and the bending angle of the bending portion returns to a second angle smaller than the first angle, the processor controls the drive device to perform bending maintenance control by pulling the line within the range of maintaining the bending angle at the second angle.

22. A computer program product comprising a control program that causes a computer to perform the endoscope control method of any one of claims 6 to 10, or the medical device control method of claim 20.

23. A computer-readable, non-transitory storage medium storing a control program that enables a computer to execute the medical device control method of claim 20.

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