Driving device for medical manipulator, medical manipulator system, and motor device for medical manipulator

Abstract

To provide a driving device or the like of a medical manipulator capable of sensing torque of a motor for driving the medical manipulator and facilitating replacement of the motor.SOLUTION: A driving device for a medical manipulator includes a housing, a motor having a driving shaft that rotates in a circumferential direction and drives the wire, a support member that supports the motor, a first coupling portion that is fixed to the housing, a second coupling portion that is detachably coupled to the support member, and a strain body including a strain generation portion provided between the first coupling portion and the second coupling portion, and a strain sensor disposed in the strain generation portion. The second connection portion fixes a relative position with the support member in the circumferential direction when the support member is mounted.SELECTED DRAWING: Figure 11

Description

[Technical Field]

[0001] This application claims the benefit of U.S. Provisional Application No. 63 / 663,772, filed Jun. 25, 2024, the entire contents of which are incorporated herein by reference. [Background technology]

[0002] Conventionally, medical manipulator systems have been used for observing and treating the inside of hollow organs such as the digestive tract. In medical manipulator systems, the insertion section and bending section inserted into the hollow organ can be electrically driven to bend. The user can control the bending movement of the insertion section and bending section from an operating section located outside the body.

[0003] Wires or the like are attached to the insertion section or the like. The insertion section or the like is bent by a motor driving the wires or the like. A drive device (motor assembly) equipped with a motor can control the motor that drives the wires or the like by sensing the torque of the motor that drives the wires or the like. Patent Document 1 describes a torque transducer that can be attached to a motor and can sense torque.

[0004] The motor in the drive device of a medical manipulator needs to accurately bend the insertion portion that is inserted into the body in order to properly perform observation and treatment using the medical manipulator. Therefore, it is desirable for the drive device of a medical manipulator to be able to easily replace the motor with a new motor depending on the motor's deterioration state, etc.

[0005] Patent Document 1 states: [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 2019-144236 Summary of the Invention [Problem to be solved by the invention]

[0007] However, although the conventional drive device described in Patent Document 1 and the like is capable of sensing torque, it is not necessarily structured to make it easy to replace the motor.

[0008] In light of the above circumstances, an object of the present invention is to provide a driving device for a medical manipulator, a medical manipulator system, and a motor device for a medical manipulator that are capable of sensing the torque of a motor that drives a medical manipulator and that allow easy replacement of the motor. [Means for solving the problem]

[0009] In order to solve the above problems, the present invention proposes the following means. A driving device for a medical manipulator according to a first aspect of the present invention is a device for driving a medical manipulator having wires that drive a movable part, and includes a housing, a motor having a drive shaft that rotates in a circumferential direction and that drives the wires, a support member that supports the motor, a strain-generating body having a first connecting portion fixed to the housing, a second connecting portion that is detachably connected to the support member, a strain-generating portion provided between the first connecting portion and the second connecting portion, and a strain sensor arranged on the strain-generating portion, wherein the second connecting portion fixes the relative position of the manipulator to the support member in the circumferential direction when the support member is attached. [Effects of the Invention]

[0010] According to the medical manipulator drive device, medical manipulator system, and medical manipulator motor device of the present invention, it is possible to sense the torque of the motor that drives the medical manipulator, and the motor can be easily replaced. [Brief explanation of the drawings]

[0011] [Figure 1]1 is an overall view of a medical manipulator system according to a first embodiment. [Figure 2] 2 is a diagram showing an endoscope and an operating device of the medical manipulator system used by an operator. FIG. [Figure 3] FIG. 2 is a view showing an insertion portion of the endoscope. [Figure 4] FIG. 2 is a cross-sectional view of a portion of the bending portion of the insertion portion. [Figure 5] 5 is an enlarged view of a node ring of the bending portion in a region E shown in FIG. 4. FIG. [Figure 6] 6 is a cross-sectional view of the curved portion taken along line C1-C1 in FIGS. 4 and 5. FIG. [Figure 7] 10 is a view showing the first detachable part of the medical manipulator system before being attached to the drive device. FIG. [Figure 8] 10 is a diagram showing the vertical bending wire attaching / detaching part before being attached to the driving device. FIG. [Figure 9] 10 is a view showing the vertical bending wire attaching / detaching part attached to the driving device. FIG. [Figure 10] FIG. 2 is a functional block diagram of the drive device. [Figure 11] FIG. 2 is a diagram illustrating a first motor unit and a first torque sensor. [Figure 12] FIG. 2 is a cross-sectional view of the first motor unit and the first torque sensor. [Figure 13] FIG. 4 is a cross-sectional view of the first motor unit removed from the fixing member. [Figure 14] FIG. 4 is a diagram showing a strain generating body of the first torque sensor. [Figure 15] FIG. 2 is a perspective view of an operating device of the medical manipulator system. [Figure 16] FIG. 2 is a functional block diagram of a video control device of the medical manipulator system. [Figure 17] 10 is a control flowchart of a drive controller of the control device of the medical manipulator system. [Figure 18] 10A and 10B are diagrams showing modified examples of the flexure element. [Figure 19] FIG. 10 is a diagram showing another modified example of the flexure element. [Figure 20] FIG. 10 is a diagram showing another modified example of the flexure element. [Figure 21] FIG. 10 is a diagram showing another modified example of the flexure element. [Figure 22] 3A and 3B are diagrams showing a first motor unit and a first torque sensor in the medical manipulator system according to the first embodiment. [Figure 23] FIG. 2 is a cross-sectional view of the first motor unit and the first torque sensor. [Figure 24] FIG. 4 is a cross-sectional view of the first motor unit removed from the fixing member. [Figure 25] FIG. DETAILED DESCRIPTION OF THE INVENTION

[0012] (First embodiment) An electric endoscope system 1000 according to a first embodiment of the present invention will be described with reference to Figs. 1 to 17. Fig. 1 is an overall view of the electric endoscope system 1000 according to this embodiment. The electric endoscope system 1000 is an example of a medical manipulator system. The medical manipulator includes an electrically driven endoscope, a catheter, a treatment tool, an endoluminal device, etc., which are inserted into the body.

[0013] [Electric Endoscope System 1000] As shown in Fig. 1, the electric endoscope system 1000 is a medical system for observing and treating the inside of the body of a patient P lying on an operating table T. The electric endoscope system 1000 includes an endoscope 100, a driving device 200, an operating device 300, a treatment tool 400, an image control device 500, and a display device 900.

[0014] The endoscope 100 is a device that is inserted into the lumen of a patient P to observe and treat the affected area. The endoscope 100 is detachable from the drive unit 200. An internal path 101 is formed inside the endoscope 100. In the following description, the side of the endoscope 100 that is inserted into the lumen of the patient P will be referred to as the "distal side A1," and the side that is attached to the drive unit 200 will be referred to as the "proximal side A2."

[0015] The drive unit 200 is detachably connected to the endoscope 100 and the operation unit 300. Based on operations input to the operation unit 300, the drive unit 200 drives a built-in motor to electrically drive the endoscope 100. Based on operations input to the operation unit 300, the drive unit 200 also drives a built-in pump and the like to cause the endoscope 100 to perform air supply and suction.

[0016] The operation device 300 is detachably connected to the drive device 200 via an operation cable 301. The operation device 300 may be able to communicate with the drive device 200 wirelessly rather than by wired communication. The surgeon S can electrically drive the endoscope 100 by operating the operation device 300.

[0017] The treatment tool 400 is a device that is inserted through the internal passage 101 of the endoscope 100 into the lumen of the patient P to treat an affected area. In FIG. 1, the treatment tool 400 is inserted into the internal passage 101 of the endoscope 100 from the forceps port 126.

[0018] The image control device 500 is detachably connected to the endoscope 100 and acquires captured images from the endoscope 100. The image control device 500 causes the display device 900 to display the captured images acquired from the endoscope 100, as well as GUI images and CG images intended to provide information to the operator.

[0019] The driving device 200 and the image control device 500 constitute a control device 600 that controls the electric endoscope system 1000. The control device 600 may further include a peripheral device such as a video printer. The driving device 200 and the image control device 500 may be integrated into one device.

[0020] The display device 900 is a device capable of displaying images, such as an LCD, etc. The display device 900 is connected to the video control device 500 via a display cable 901.

[0021] FIG. 2 is a diagram showing the endoscope 100 and the operation device 300 used by the surgeon S. As shown in FIG. For example, the surgeon S operates the endoscope 100 inserted into the lumen from the anus of the patient P with his right hand RH while observing the captured image displayed on the display device 900, and operates the operation device 300 with his left hand LH. Because the endoscope 100 and the operation device 300 are separate, the surgeon S can operate the endoscope 100 and the operation device 300 independently without them affecting each other.

[0022] [Endoscope 100] 1, the endoscope 100 includes an insertion section 110, a connecting section 120, an extracorporeal flexible section 140, a detachable section 150, a bending wire 160 (see FIG. 6), and an internal member 170 (see FIG. 6). The insertion section 110, the connecting section 120, the extracorporeal flexible section 140, and the detachable section 150 are connected in this order from the tip side.

[0023] FIG. 3 is a diagram showing the insertion section 110 of the endoscope 100. As shown in FIG. An internal passage 101 is formed inside the endoscope 100, extending from the tip of the insertion section 110 to the base end of the detachable section 150 along the longitudinal direction A of the endoscope 100. The bending wire 160 and the built-in object 170 are inserted into the internal passage 101.

[0024] The built-in component 170 includes a channel tube 171, an air supply / suction tube 172 (see FIG. 10), an imaging cable 173, and a light guide 174.

[0025] [Insertion part 110] The insertion section 110 is a long, thin member that can be inserted into a lumen. The insertion section 110 has a tip section 111, a bending section 112, and an internal flexible section 119. The tip section 111, the bending section 112, and the internal flexible section 119 are connected in this order from the tip side.

[0026] 3, the tip portion 111 has an opening 111a, an illumination portion 111b, and an imaging portion 111c. The opening 111a is an opening that communicates with the channel tube 171. As shown in FIG. 3, a treatment portion 410 such as grasping forceps provided at the tip of a treatment tool 400 that passes through the channel tube 171 protrudes and retracts from the opening 111a.

[0027] The illumination unit 111b is connected to a light guide 174 that guides illumination light, and emits illumination light that illuminates the imaging target. The imaging unit 111c includes an imaging element such as a CMOS, and captures an image of the imaging target. An imaging signal is sent to the video control device 500 via an imaging cable 173.

[0028] FIG. 4 is a cross-sectional view of a portion of the curved portion 112. As shown in FIG. The bending section 112 has a plurality of nodal rings (also referred to as bending pieces) 115, a tip section 116 connected to the tips of the plurality of nodal rings 115, and an outer sheath 118 (see FIG. 3). The plurality of nodal rings 115 and the tip section 116 are connected inside the outer sheath 118 in the longitudinal direction A. Note that the shape and number of the nodal rings 115 included in the bending section 112 are not limited to the shape and number of the nodal rings 115 shown in FIG. 4. The bending section 112 is an example of a movable section of a medical manipulator.

[0029] FIG. 5 is an enlarged view of the node ring 115 in the region E shown in FIG. The node rings 115 are short cylindrical members made of metal. The node rings 115 are connected together so that the internal spaces of adjacent node rings 115 are continuous.

[0030] The nodal ring 115 has a first nodal ring 115a on the distal end side and a second nodal ring 115b on the proximal end side. The first nodal ring 115a and the second nodal ring 115b are connected by a first pivot pin 115p so as to be rotatable in the up-down direction (also referred to as the "UD direction") perpendicular to the longitudinal direction A.

[0031] In adjacent node rings 115, the second node ring 115b in the node ring 115 on the tip side and the first node ring 115a in the node ring 115 on the base side are connected by a second pivot pin 115q so as to be rotatable in the left-right direction (also referred to as the "LR direction") perpendicular to the longitudinal direction A and the UD direction.

[0032] The first nodal rings 115a and the second nodal rings 115b are alternately connected by first pivot pins 115p and second pivot pins 115q, and the bending portion 112 is free to bend in any desired direction.

[0033] FIG. 6 is a cross-sectional view of the curved portion 112 taken along the line C1-C1 in FIGS. An upper wire guide 115u and a lower wire guide 115d are formed on the inner circumferential surface of the second nodal ring 115b. The upper wire guide 115u and the lower wire guide 115d are arranged on both sides in the UD direction with the central axis O in the longitudinal direction A between them. A left wire guide 115l and a right wire guide 115r are formed on the inner circumferential surface of the first nodal ring 115a. The left wire guide 115l and the right wire guide 115r are arranged on both sides in the LR direction with the central axis O in the longitudinal direction A between them.

[0034] The upper wire guide 115u, the lower wire guide 115d, the left wire guide 115l, and the right wire guide 115r have through holes formed along the longitudinal direction A through which the bending wire 160 is inserted.

[0035] The bending wire 160 is a wire that bends the bending portion 112. The bending wire 160 extends through the internal path 101 to the detachable portion 150. As shown in FIGS. 4 and 6, the bending wire 160 has an upper bending wire 161u, a lower bending wire 161d, a left bending wire 161l, a right bending wire 161r, and four wire sheaths 161s.

[0036] 4, the upward bending wire 161u, the downward bending wire 161d, the left bending wire 161l, and the right bending wire 161r are each inserted through a wire sheath 161s. The tip of the wire sheath 161s is attached to the node ring 115 at the base end of the bending portion 112. The wire sheath 161s extends to the detachable portion 150.

[0037] The upper bending wire 161u and the lower bending wire 161d are wires that bend the bending portion 112 in the UD direction. The upper bending wire 161u is inserted through the upper wire guide 115u. The lower bending wire 161d is inserted through the lower wire guide 115d.

[0038] 4, the tips of the upward bending wire 161u and the downward bending wire 161d are fixed to the tip portion 116 at the tip of the bending portion 112. The tips of the upward bending wire 161u and the downward bending wire 161d fixed to the tip portion 116 are arranged on both sides in the UD direction with the central axis O in the longitudinal direction A between them.

[0039] The left bending wire 161l and the right bending wire 161r are wires that bend the bending portion 112 in the LR direction. The left bending wire 161l is inserted through a left wire guide 115l. The right bending wire 161r is inserted through a right wire guide 115r.

[0040] 4, the tips of the left bending wire 161l and the right bending wire 161r are fixed to the tip portion 116 of the bending section 112. The tips of the left bending wire 161l and the right bending wire 161r fixed to the tip portion 116 are arranged on both sides in the L-R direction with the central axis O in the longitudinal direction A between them.

[0041] The bending portion 112 can be bent freely in a desired direction by pulling or loosening the bending wires 160 (upper bending wire 161u, lower bending wire 161d, left bending wire 161l, right bending wire 161r).

[0042] As shown in FIG. 6, the bending wire 160, a channel tube 171, an imaging cable 173, and a light guide 174 are inserted through the internal path 101 formed inside the bending portion 112.

[0043] The internal flexible portion 119 is a long, flexible tubular member. A bending wire 160, a channel tube 171, an imaging cable 173, and a light guide 174 are inserted into an internal path 101 formed in the internal flexible portion 119.

[0044] [Connection part 120] 1, the connecting section 120 is a member that connects the internal flexible section 119 and the external flexible section 140 of the insertion section 110. The connecting section 120 has a forceps opening 126 that is an insertion opening through which the treatment tool 400 is inserted.

[0045] [Extracorporeal soft part 140] The extracorporeal flexible portion 140 is a long tubular member. An internal path 101 formed inside the extracorporeal flexible portion 140 has a bending wire 160, an imaging cable 173, a light guide 174, and an air supply / suction tube 172 (see FIG. 10) inserted therethrough.

[0046] [Detachable part 150] 1, the detachable unit 150 includes a first detachable unit 1501 that is attached to the drive device 200, and a second detachable unit 1502 that is attached to the video control device 500. Note that the first detachable unit 1501 and the second detachable unit 1502 may be an integrated detachable unit.

[0047] The internal path 101 formed inside the extracorporeal flexible portion 140 branches into a first detachable portion 1501 and a second detachable portion 1502. The bending wire 160 and the air supply / suction tube 172 pass through the first detachable portion 1501. The imaging cable 173 and the light guide 174 pass through the second detachable portion 1502.

[0048] FIG. 7 is a diagram showing the first detachable part 1501 before being attached to the driving device 200. As shown in FIG. The first detachable portion 1501 has a vertical bending wire detachable portion 151 and a horizontal bending wire detachable portion 152 .

[0049] The up-and-down bending wire attaching / detaching section 151 is a mechanism that detachably connects to the driving device 200 wires (upward bending wire 161u and downward bending wire 161d) that bend the bending section 112 in the UD direction.

[0050] The left / right bending wire attaching / detaching section 152 is a mechanism that detachably connects to the driving device 200 wires (a left bending wire 161l and a right bending wire 161r) that bend the bending section 112 in the LR direction.

[0051] The left-right bending wire attaching / detaching section 152 has the same structure as the up-down bending wire attaching / detaching section 151, and therefore illustration and description thereof will be omitted.

[0052] Fig. 8 is a diagram showing the vertical bending wire attaching / detaching part 151 before being attached to the driving device 200. Fig. 9 is a diagram showing the vertical bending wire attaching / detaching part 151 attached to the driving device 200. The vertical bending wire attaching / detaching part 151 has a support member 155, a first rotating drum 156, a second rotating drum 157, and a tension sensor 159.

[0053] The support member 155 supports a first rotating drum 156, a second rotating drum 157, and a connecting member 158. The support member 155 has an attachment / detachment detection dog 155a exposed on the base end side of the vertical bending wire attachment / detachment portion 151, and a plurality of bend pulleys 155p.

[0054] The bend pulley 155p changes the transport direction of the upper bending wire 161u that is inserted through the extracorporeal flexible portion 140, and guides the upper bending wire 161u to the first rotating drum 156. In addition, the bend pulley 155p changes the transport direction of the lower bending wire 161d that is inserted through the extracorporeal flexible portion 140, and guides the lower bending wire 161d to the second rotating drum 157.

[0055] The first rotating drum 156 is supported by a support member 155 so as to be rotatable about a first drum rotation shaft 156r extending along the longitudinal direction A. The first rotating drum 156 has a first take-up pulley 156a and a first coupling portion 156c.

[0056] The first take-up pulley 156a rotates around the first drum rotation shaft 156r to pull or feed the upward bending wire 161u. When viewed from the distal end to the proximal end, the first take-up pulley 156a rotates clockwise, causing the upward bending wire 161u to be wound around the first take-up pulley 156a and pulled. Conversely, when the first take-up pulley 156a rotates counterclockwise, the upward bending wire 161u is fed from the first take-up pulley 156a. With this configuration, even if the upward bending wire 161u moves back and forth a large distance, the pulled portion can be stored compactly and does not take up much space.

[0057] The first coupling portion 156c is a disk member that rotates around the first drum rotation shaft 156r. The first coupling portion 156c is fixed to the base end of the first winding pulley 156a and rotates integrally with the first winding pulley 156a. The first coupling portion 156c is exposed on the base end side of the vertical bending wire attaching / detaching portion 151. Two first mating protrusions 156d are formed on the surface on the base end side of the first coupling portion 156c. The two first mating protrusions 156d are formed on both sides of the first drum rotation shaft 156r.

[0058] The second rotating drum 157 is supported by a support member 155 so as to be rotatable about a second drum rotation shaft 157r extending along the longitudinal direction A. The second rotating drum 157 has a second take-up pulley 157a and a second coupling portion 157c.

[0059] The second take-up pulley 157a rotates around the second drum rotation shaft 157r to pull or feed the downward bending wire 161d. When viewed from the distal end to the proximal end, the second take-up pulley 157a rotates counterclockwise, causing the downward bending wire 161d to be wound around and pulled by the second take-up pulley 157a. Conversely, when the second take-up pulley 157a rotates clockwise, the downward bending wire 161d is fed from the second take-up pulley 157a.

[0060] The second coupling portion 157c is a disk member that rotates around the second drum rotation shaft 157r. The second coupling portion 157c is fixed to the base end of the second winding pulley 157a and rotates integrally with the second winding pulley 157a. The second coupling portion 157c is exposed on the base end side of the vertical bending wire attaching / detaching portion 151. Two second mating protrusions 157d are formed on the surface on the base end side of the second coupling portion 157c. The two second mating protrusions 157d are formed on both sides of the second drum rotation shaft 157r.

[0061] The tension sensor 159 detects the tension of the upward bending wire 161u and the downward bending wire 161d. The detection result of the tension sensor 159 is acquired by the drive controller 260.

[0062] [Driver 200] FIG. 10 is a functional block diagram of the driving device 200. The driving device 200 includes an adapter 210, an operation receiving unit 220, an air supply / suction driving unit 230, a wire driving unit (actuator) 250, and a driving controller 260.

[0063] 7, the adapter 210 includes a first adapter 211 and a second adapter 212. The first adapter 211 is an adapter to which the operation cable 301 is detachably connected. The second adapter 212 is an adapter to which the first detachable portion 1501 of the endoscope 100 is detachably connected.

[0064] 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 with each other wirelessly rather than by wire, the operation receiving unit 220 has a known wireless receiving module.

[0065] The air supply / suction drive unit 230 is connected to the air supply / suction tube 172 inserted into the internal path 101 of the endoscope 100. The air supply / suction drive unit 230 includes a pump or the like, and supplies air to the air supply / suction tube 172. The air supply / suction drive unit 230 also sucks air from the air supply / suction tube 172.

[0066] The wire driving section (actuator) 250 is coupled with the up-down bending wire attaching / detaching section 151 and the left-right bending wire attaching / detaching section 152 to drive the bending wire 160.

[0067] As shown in FIG. 7, the wire driving section 250 has an up-down bending wire driving section (first actuator) 251 and a left-right bending wire driving section (second actuator) 252.

[0068] The up-down bending wire driving section 251 is a mechanism that is coupled with the up-down bending wire attaching / detaching section 151 and drives wires (upward bending wire 161u and downward bending wire 161d) that bend the bending section 112 in the UD direction.

[0069] The left / right bending wire driving section 252 is a mechanism that is coupled with the left / right bending wire attaching / detaching section 152 and drives wires (left bending wire 161l and right bending wire 161r) that bend the bending section 112 in the LR directions.

[0070] The left-right bending wire driving section 252 has the same structure as the up-down bending wire driving section 251, and therefore illustration and description thereof will be omitted.

[0071] As shown in FIG. 8, the up / down bending wire driving section 251 has a support member (housing) 255, an up / down bending wire driving section 256, a down / down bending wire driving section 257, and an attachment / detachment sensor 259.

[0072] The upward bending wire driving unit 256 is coupled to the first rotating drum 156 of the upward / downward bending wire attaching / detaching unit 151 to drive the upward bending wire 161u. The upward bending wire driving unit 256 has a first shaft 256a, a first coupled portion 256c, a first elastic member 256s, a first motor unit 256b, and a first torque sensor 256e.

[0073] The first shaft 256a is supported by the first motor unit 256b so as to be rotatable around a first shaft rotation axis 256r and so as to be movable back and forth in the longitudinal direction A. When the first detachable unit 1501 of the endoscope 100 is attached to the drive device 200, the first shaft rotation axis 256r coincides with the first drum rotation axis 156r.

[0074] The first coupled portion 256c is a disk member that rotates around the first shaft rotation axis 256r. The first coupled portion 256c is fixed to the tip of the first shaft 256a and rotates integrally with the first shaft 256a. As shown in FIG. 8, the first coupled portion 256c is exposed on the tip side of the up-and-down bending wire driving portion 251. Two first fitting recesses 256d are formed on the surface on the tip side of the first coupled portion 256c. The two first fitting recesses 256d are formed on both sides of the first shaft rotation axis 256r.

[0075] 9, the first mating convex portion 156d and the first mating concave portion 256d are mated, and the first coupling portion 156c and the first coupled portion 256c are coupled. As a result, the rotation of the first shaft 256a by the first motor portion 256b is transmitted to the first rotating drum 156. When viewed from the distal end to the proximal end, the first shaft 256a rotates clockwise, thereby pulling the upward bending wire 161u. Conversely, when the first shaft 256a rotates counterclockwise, the upward bending wire 161u is fed out.

[0076] The first elastic member 256s is, for example, a compression spring, and has a tip end that contacts the first coupled portion 256c and a base end that contacts the support member 255. The first elastic member 256s urges the first coupled portion 256c toward the tip side A1. As shown in FIG. 9, when the first coupling portion 156c is attached, the first coupled portion 256c moves toward the base side A2 together with the first shaft 256a.

[0077] FIG. 11 is a diagram showing the first motor unit 256b and the first torque sensor 256e. The first motor unit (motor device) 256b rotates the first shaft 256a around a first shaft rotation axis 256r. The first motor unit 256b includes a motor 11, a drive shaft 12, a support member 13, a motor driver 14, and a motor encoder 15.

[0078] FIG. 12 is a cross-sectional view of the first motor unit 256b and the first torque sensor 256e. The motor 11 is, for example, a servo motor, and rotates the connected drive shaft 12. The motor 11 has a motor rotation shaft 11a that rotates the drive shaft 12.

[0079] The drive shaft 12 is a shaft member that extends in the axial direction L and is rotatable in the circumferential direction C. The drive shaft 12 is coupled to the first shaft 256a and rotates the first shaft 256a around a first shaft rotation axis 256r. In the following description, in the axial direction L of the drive shaft 12, the side that is coupled to the first shaft 256a is referred to as the "tip side L1," and the side opposite to the tip side L1 is referred to as the "base side L2."

[0080] The support member 13 supports the motor 11. The support member 13 has a generally cylindrical insertion portion 13a on the tip side L1. A convex or concave engagement portion 13e is formed on the outer periphery of the insertion portion 13a. The drive shaft 12 passes through the insertion portion 13a of the support member 13. That is, the insertion portion 13a of the support member 13 is disposed around the drive shaft 12 along the circumferential direction C of the drive shaft 12.

[0081] In this embodiment, the support member 13 is fixed to a support member (housing) 255 via a fixing member 20, which will be described later.

[0082] The motor driver 14 drives the motor 11. The motor driver 14 is controlled by a drive controller 260.

[0083] The motor encoder 15 detects the rotation angle of the drive shaft 12. The detected rotation angle of the drive shaft 12 is obtained by the drive controller 260.

[0084] The first torque sensor 256e detects the rotational torque of the drive shaft 12 and the first shaft 256a about the first shaft rotation axis 256r. The detection result of the first torque sensor 256e is acquired by the drive controller 260. The first torque sensor 256e has a fixed member 20, a strain element 23, and a strain sensor 27.

[0085] FIG. 13 is a cross-sectional view of the first motor part 256b removed from the fixed member 20. As shown in FIG. The fixed member 20 is a member fixed to the support member (housing) 255, and is connected to the first connecting portion 24 described below. In other words, the fixed member 20 fixes the first connecting portion 24 to the support member (housing) 255.

[0086] In this embodiment, the fixing member 20 detachably supports the support member 13. Specifically, the fixing member 20 has a through hole 20h through which the support member 13 can be inserted along the axial direction L. The through hole 20h has a bearing 20b that supports the attached support member 13 rotatably in the circumferential direction C.

[0087] The fixing member 20 has a first fixing member 21 and a second fixing member 22. The first fixing member 21 and the second fixing member 22 are members of the same shape. The first fixing member 21 is arranged on the tip side L1 of the flexure body 23. The second fixing member 22 is arranged on the base side L2 of the flexure body 23. The first fixing member 21 and the second fixing member 22 are arranged on both sides of the flexure body 23 in the axial direction L. The fixing member 20 may have only one of the first fixing member 21 and the second fixing member 22.

[0088] FIG. 14 is a diagram showing the strain element 23. As shown in FIG. The strain-generating body 23 has a first connecting portion 24, a second connecting portion 25, and a strain-generating portion 26. The strain-generating portion 26 is provided between the first connecting portion 24 and the second connecting portion 25. At least the strain-generating portion 26 of the strain-generating body 23 is formed of an elastically deformable member.

[0089] In this embodiment, the first connecting portion 24 and the second connecting portion 25 of the strain element 23 extend in a radial direction R relative to the axial direction L of the drive shaft 12 and are arranged along the radial direction R. The first connecting portion 24 is disposed on the outer side in the radial direction R, and the second connecting portion 25 is disposed on the inner side in the radial direction R.

[0090] The first connecting portion 24 is formed at one end in the longitudinal direction of the strain body 23. The first connecting portion 24 is connected to the fixing member 20, and is thereby fixed to the support member (housing) 255.

[0091] In this embodiment, the first connecting portion 24 has a connecting rod 24r that is connected to the fixed member 20, and a connecting support portion 24s that supports the connecting rod 24r. The connecting support portion 24s is formed in a ring shape so that the connecting rod 24r can be inserted therethrough.

[0092] The second connecting portion 25 is formed at the other longitudinal end of the strain body 23. The second connecting portion 25 is formed in a ring shape and has an insertion hole 25h into which the insertion portion 13a of the support member 13 can be inserted along the axial direction L.

[0093] The second connecting portion 25 is detachably connected to the insertion portion 13a of the support member 13 by inserting the insertion portion 13a of the support member 13 into the insertion hole 25h. As shown in Fig. 13, the outer diameter D1 of the insertion portion 13a of the support member 13 is smaller than the inner diameter D2 of the insertion hole 25h.

[0094] In the present embodiment, the insertion hole 25h penetrates the second connecting portion 25 in the axial direction L. As shown in Figures 12 and 13, the through hole 20h and the insertion hole 25h are aligned along the axial direction L. Therefore, by attaching the support member 13 to the fixing member 20, the insertion portion 13a of the support member 13 is connected to the second connecting portion 25, and the drive shaft 12 is connected to the first shaft 256a.

[0095] As shown in Figure 12, when the insertion portion 13a of the support member 13 is attached to the second connecting portion 25, the reaction force of the torque of the drive shaft 12 is transmitted to the second connecting portion 25 via the support member 13.

[0096] 13, the first motor unit 256b can be removed from the upper bending wire driving unit 256 by detaching the support member 13 from the fixing member 20 and the second connecting unit 25. When the motor 11 breaks down or wears out, only the first motor unit 256b can be replaced.

[0097] A convex or concave engagement portion 25e is formed on the inner periphery of the insertion hole 25h. When the insertion portion 13a is inserted into the insertion hole 25h, the engagement portion 25e of the insertion hole 25h engages with the engagement portion 13e of the insertion portion 13a, thereby fixing the relative positions of the second connecting portion 25 and the insertion portion 13a in the circumferential direction C.

[0098] The strain-flexing portion 26 is provided between the first connecting portion 24 fixed to the support member (housing) 255 and the second connecting portion 25 to which the reaction force of the torque of the drive shaft 12 is transmitted. Therefore, the strain-flexing portion 26 flexes and distorts in response to the reaction force of the torque of the drive shaft 12, as shown in FIG.

[0099] The strain sensor 27 is provided on the strain-flexing part 26 and detects the strain of the strain-flexing part 26. The detected strain is acquired by the drive controller 260. The drive controller 260 can calculate the torque acting on the drive shaft 12 based on the acquired strain.

[0100] The bottom bending wire driving part 257 is coupled to the second rotary drum 157 of the top / bottom bending wire attaching / detaching part 151 to drive the bottom bending wire 161d. The bottom bending wire driving part 257 has a second shaft 257a, a second coupled part 257c, a second elastic member 257s, a second motor part 257b, and a second torque sensor 257e.

[0101] The second shaft 257a is supported by the second motor unit 257b so as to be rotatable around a second shaft rotation axis 257r and so as to be movable back and forth in the longitudinal direction A. When the first detachable unit 1501 of the endoscope 100 is attached to the drive device 200, the second shaft rotation axis 257r coincides with the second drum rotation axis 157r.

[0102] The second coupled portion 257c is a disk member that rotates around the second shaft rotation axis 257r. The second coupled portion 257c is fixed to the tip of the second shaft 257a and rotates integrally with the second shaft 257a. As shown in FIG. 8, the second coupled portion 257c is exposed on the tip side of the up-and-down bending wire driving portion 251. Two second fitting recesses 257d are formed on the surface on the tip side of the second coupled portion 257c. The two second fitting recesses 257d are formed on both sides of the second shaft rotation axis 257r.

[0103] 9, the second mating convex portion 157d and the second mating concave portion 257d are mated, and the second coupling portion 157c and the second coupled portion 257c are coupled. As a result, the rotation of the second shaft 257a by the second motor portion 257b is transmitted to the second rotating drum 157. When viewed from the distal end to the proximal end, the second shaft 257a rotates counterclockwise, thereby pulling the downward bending wire 161d. Conversely, when the second shaft 257a rotates clockwise, the downward bending wire 161d is let out.

[0104] The second elastic member 257s is, for example, a compression spring, and has a tip end that contacts the second coupled portion 257c and a base end that contacts the support member 255. The second elastic member 257s urges the second coupled portion 257c toward the tip side A1. As shown in Fig. 9, when the second coupling portion 157c is attached, the second coupled portion 257c moves toward the base side A2 together with the second shaft 257a.

[0105] 9, the attachment / detachment sensor 259 detects engagement and disengagement with the attachment / detachment detection dog 155a, thereby detecting attachment / detachment of the up / down bending wire attachment / detachment part 151 to the up / down bending wire driving part 251. The detection result of the attachment / detachment sensor 259 is acquired by the drive controller 260.

[0106] The second motor section (motor device) 257b rotates the second shaft 257a around a second shaft rotation axis 257r. The second motor section 257b includes a motor 11, a drive shaft 12, a support member 13, a motor driver 14, and a motor encoder 15, similar to the first motor section 256b.

[0107] The second torque sensor 257e detects the rotational torque of the second shaft 257a about the second shaft rotation axis 257r. The detection result of the second torque sensor 257e is acquired by the drive controller 260. The second torque sensor 257e has a fixed member 20, a strain element 23, and a strain sensor 27, similar to the first torque sensor 256e.

[0108] With the above mechanism, when the up / down bending wire attaching / detaching section 151 is attached to the up / down bending wire driving section 251, the up / down bending wire driving section 256 can independently drive the up / down bending wires 161u, and the down / down bending wire driving section 257 can independently drive the down / down bending wires 161d. Therefore, even if the distance from the bending section 112 of the endoscope 100 to the driving device 200 is longer than in conventional flexible endoscopes, the bending operation of the bending section 112 can be controlled with high precision.

[0109] Drive controller 260 controls the entire drive device 200. Drive controller 260 acquires the operation input received by operation receiving unit 220. Drive controller 260 controls air supply / suction drive unit 230 and wire drive unit 250 based on the acquired operation input.

[0110] Drive controller 260 is a computer capable of executing programs, including processor 261, memory 262, storage unit 263 capable of storing programs and data, and input / output control unit 264. The functions of drive controller 260 are realized by the processor executing the programs. At least some of the functions of drive controller 260 may be realized by a dedicated logic circuit.

[0111] The drive controller 260 preferably has high calculation performance in order to control the plurality of motors that drive the plurality of bending wires 160 with high precision.

[0112] Note that drive controller 260 may further include components other than processor 261, memory 262, storage unit 263, and input / output control unit 264. For example, drive controller 260 may further include an image calculation unit that performs some or all of the image processing and image recognition processing. By including the image calculation unit, drive controller 260 can execute specific image processing and image recognition processing at high speed. The image calculation unit may be mounted on a separate hardware device connected via a communication line.

[0113] [Operation device 300] FIG. 15 is a perspective view of the operating device 300. As shown in FIG. The operation device 300 is a device into which an operation for driving the endoscope 100 is input. The input operation input is transmitted to the driving device 200 via an operation cable 301. The operation device 300 may be capable of communicating with the driving device 200 wirelessly instead of by wired communication.

[0114] The operation device 300 includes an operation unit main body 310, an air supply button, a suction button, various buttons 352, a touch pad 380, and a touch sensor 381.

[0115] The operation unit main body 310 is formed in a generally rod-like shape that can be held by the surgeon S in his / her left hand LH. The operation unit main body 310 has a touchpad support part 314 provided on the top, a grip part 316 provided on the bottom, and a handle 317 provided on the rear. As shown in FIG. 11 , the surgeon S can operate the touchpad 380 with the thumb FT of his / her left hand LH while holding the grip part 316 with his / her left hand LH.

[0116] The touchpad 380 is a touch-sensitive interface that inputs bending operations and the like to the bending portion 112. The touchpad 380 may be a touch panel.

[0117] [Video control device 500] FIG. 16 is a functional block diagram of the video control device 500. As shown in FIG. The image control device 500 controls the electric endoscope system 1000. The image control device 500 includes a third adapter 510, an image capturing processing unit 520, a light source unit 530, and a main controller 560.

[0118] The third adapter 510 is an adapter to which the second detachable portion 1502 of the endoscope 100 is detachably connected.

[0119] The imaging processing unit 520 converts an imaging signal acquired from the imaging unit 111c of the tip portion 111 via the imaging cable 173 into a captured image.

[0120] The light source unit 530 generates illumination light to be irradiated onto the imaging target. The illumination light generated by the light source unit 530 is guided to the illumination unit 111b of the distal end portion 111 via the light guide 174.

[0121] The main controller 560 is a computer capable of executing programs, including a processor 561, a memory 562, a storage unit 563 capable of storing programs and data, and an input / output control unit 564. The functions of the main controller 560 are realized by the processor 561 executing the programs. At least some of the functions of the main controller 560 may be realized by a dedicated logic circuit.

[0122] The main controller 560 includes a processor 561, a program-readable memory 562, a storage unit 563, and an input / output control unit 564.

[0123] The storage unit 563 is a non-volatile recording medium that stores the above-mentioned programs and necessary data. The storage unit 563 is configured with, for example, a ROM, a hard disk, etc. The programs recorded in the storage unit 563 are read into the memory 562 and executed by the processor 561.

[0124] The input / output control unit 564 is connected to the imaging processing unit 520, the light source unit 530, the driving device 200, the display device 900, an input device (not shown), and a network device (not shown). Based on the control of the processor 561, the input / output control unit 564 transmits and receives data and control signals to and from the connected devices.

[0125] The main controller 560 can perform image processing on the captured image acquired by the imaging processing unit 520. The main controller 560 can generate GUI images and CG images for the purpose of providing information to the surgeon S. The main controller 560 can display the captured image, GUI image, and CG image on the display device 900.

[0126] The main controller 560 is not limited to being an integrated hardware device. For example, the main controller 560 may be configured by separating some parts into separate hardware devices and connecting the separated hardware devices via a communication line. For example, the main controller 560 may be a cloud system in which separated storage units 563 are connected via a communication line.

[0127] Main controller 560 may further include components other than processor 561, memory 562, storage unit 563, and input / output control unit 564 shown in Fig. 12. For example, main controller 560 may further include an image calculation unit that performs part or all of the image processing and image recognition processing that were previously performed by processor 561. By including the image calculation unit, main controller 560 can execute specific image processing and image recognition processing at high speed. The image calculation unit may be mounted on a separate hardware device connected via a communication line.

[0128] [Operation of the electric endoscope system 1000] Next, a description will be given of the operation of the electric endoscope system 1000 of this embodiment. Specifically, a procedure for observing and treating an affected area formed on the wall of the large intestine using the electric endoscope system 1000 will be described.

[0129] The following description will be made in accordance with the control flowchart of the drive controller 260 of the control device 600 shown in Fig. 17. When the control device 600 is started, the drive controller 260 performs initialization and then starts bending drive control of the bending portion 112 (step S100). Next, the drive controller 260 (mainly the processor 261) executes step S110.

[0130] The surgeon S inserts the insertion section 110 of the endoscope 100 into the large intestine from the anus of the patient P. While observing the captured image displayed on the display device 900, the surgeon S operates the internal flexible section 119 with the right hand RH to move the insertion section 110 and bring the tip section 111 closer to the affected area. The surgeon S also operates the operation device 300 with the left hand LH to input a bending operation for the bending section 112.

[0131] <Step S110> In step S110, the drive controller 260 acquires a bending operation for the bending portion 112 from the operation device 300.

[0132] <Step S120> In step S120, the drive controller 260 calculates the torque of the drive shaft 12 from the detection results of the torque sensors and strain sensors 27 provided in the wire drive unit 250, such as the first torque sensor 256e and the second torque sensor 257e.

[0133] <Step S130> In step S130, the drive controller 260 drives the bending wire 160 based on the acquired torque in order to realize the received bending operation.

[0134] <Step S140> In step S140, the drive controller 260 determines whether to end the bending drive control. If the drive controller 260 determines not to end the bending drive control, it executes step S110. If the drive controller 260 determines to end the bending drive control, it executes step S140 and ends the bending drive control.

[0135] The above bending drive control is performed for each of the four bending wires 160 (the upper bending wire 161u, the lower bending wire 161d, the left bending wire 161l, and the right bending wire 161r).

[0136] The above bending drive control may be performed by the main controller 560 (mainly the processor 561) controlling the wire drive unit (actuator) 250.

[0137] The electric endoscope system 1000 according to this embodiment is capable of sensing the torque of the motor 11 that drives the endoscope 100, and is easy to replace the motor 11. The first motor unit 256b does not have a torque sensor directly connected to the drive shaft 12, but can indirectly obtain the torque of the drive shaft 12 from a first torque sensor 256e attached to the support member 13 that supports the motor 11. Furthermore, because the first motor unit 256b can be easily attached to and detached from the first torque sensor 256e, if the motor 11 breaks down or wears out, only the first motor unit 256b can be easily replaced, leaving the first torque sensor 256e intact. Other motor units, such as the second motor unit 257b, can also be easily replaced in a similar manner.

[0138] Although the first embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment and includes design modifications within the scope of the present invention. Furthermore, the components shown in the above embodiment and modifications can be configured by appropriately combining them.

[0139] (Variation 1) FIG. 18 is a diagram showing a flexure element 23A, which is a modified example of the flexure element 23. As shown in FIG. The strain-generating body 23A has a first connecting portion 24, a second connecting portion 25A, and a strain-generating portion 26. The second connecting portion 25A is a modified example of the second connecting portion 25. The second connecting portion 25A is not formed in a ring shape and does not have an insertion hole 25h. The second connecting portion 25A has an engaging portion 25e that engages with the engaging portion 13e of the insertion portion 13a. The second connecting portion 25A is detachably connected to the insertion portion 13a of the support member 13 by the engaging portion 13e of the insertion portion 13a engaging with the engaging portion 25e.

[0140] (Variation 2) FIG. 19 is a diagram showing a flexure element 23B, which is a modified example of the flexure element 23. As shown in FIG. The strain-generating body 23B has a first connecting portion 24, a second connecting portion 25B, and a strain-generating portion 26. The second connecting portion 25B is a modified version of the second connecting portion 25A. The second connecting portion 25B has an engaging portion 25Be, which is a modified version of the engaging portion 25e. The engaging portion 25Be is formed in a convex or concave shape and is inclined with respect to the axial direction L. The engaging portion 13Be, which is a modified version of the engaging portion 13e, is formed in a convex or concave shape and is inclined with respect to the axial direction L. The engaging portions 25Be and 13Be are inclined so as to move away from the distal end L1 toward the proximal end L2 toward the rotation axis of the drive shaft 12 in the radial direction R. Therefore, the engaging portions 13Be and 25Be are easily connected and detached from the proximal end L2 in the axial direction L. This makes it easier to attach and detach the motor portions, including the first motor portion 256b and the second motor portion 257b, etc.

[0141] (Variation 3) FIG. 20 is a diagram showing a flexure element 23C, which is a modified example of the flexure element 23. As shown in FIG. The strain-generating body 23C has a first connecting portion 24C, a second connecting portion 25, and a strain-generating portion 26. The first connecting portion 24C is a modified example of the first connecting portion 24. The first connecting portion 24C has a connecting rod 24r connected to the fixed member 20, and a connecting support portion 24Cs that supports the connecting rod 24r. The connecting support portion 24Cs is formed in a U-shape so that the connecting rod 24r can be inserted therethrough. The connecting support portion 24Cs makes it easier to connect the connecting rod 24r to it than the ring-shaped connecting support portion 24s.

[0142] (Variation 4) FIG. 21 is a diagram showing a flexure element 23D, which is a modified example of the flexure element 23. As shown in FIG. The strain-generating body 23D has a first connecting portion 24C, a second connecting portion 25A, and a strain-generating portion 26. The strain-generating body 23D can be easily removed from the fixing member 20 or the like and replaced, and is therefore highly maintainable.

[0143] Second Embodiment An electric endoscope system 1000E according to a second embodiment of the present invention will be described with reference to Fig. 22 to Fig. 25. In the following description, components that are common to those already described will be assigned the same reference numerals, and duplicated description will be omitted.

[0144] [Electric Endoscope System 1000E] 1, the electric endoscope system 1000E includes an endoscope 100, a driving device 200E, an operation device 300, a treatment tool 400, an image control device 500, and a display device 900. The driving device 200E and the image control device 500 constitute a control device 600E that controls the electric endoscope system 1000E.

[0145] [Driver 200E] The driving device 200E includes an adapter 210, an operation receiving unit 220, an air supply / suction driving unit 230, a wire driving unit (actuator) 250E, and a driving controller 260.

[0146] The wire driving section (actuator) 250E has a different torque sensor compared to the wire driving section 250 of the first embodiment. As shown in Fig. 7, the wire driving section 250E has an up-down bending wire driving section (first actuator) 251E and a left-right bending wire driving section (second actuator) 252E.

[0147] The left-right bending wire driving section 252E has the same structure as the up-down bending wire driving section 251E, and therefore illustration and description thereof will be omitted.

[0148] The up / down bending wire driving section 251E has a support member (housing) 255, an up / down bending wire driving section 256E, a down / down bending wire driving section 257E, and an attachment / detachment sensor 259.

[0149] The upward bending wire driving unit 256E is coupled to the first rotating drum 156 of the upward / downward bending wire attaching / detaching unit 151 to drive the upward bending wire 161u. The upward bending wire driving unit 256E has a first shaft 256a, a first coupled portion 256c, a first elastic member 256s, a first motor unit 256b, and a first torque sensor 256Ee.

[0150] The lower bending wire driving section 257E has the same structure as the upper bending wire driving section 256E, and therefore will not be illustrated or described.

[0151] FIG. 22 is a diagram showing the first motor unit 256b and the first torque sensor 256Ee.

[0152] In this embodiment, the support member 13 is fixed to a support member (housing) 255 via a second fixing member 22E, which will be described later.

[0153] FIG. 23 is a cross-sectional view of the first motor unit 256b and the first torque sensor 256Ee. The first torque sensor 256Ee detects the rotational torque of the drive shaft 12 and the first shaft 256a about the first shaft rotation axis 256r. The detection result of the first torque sensor 256Ee is acquired by the drive controller 260. The first torque sensor 256Ee has a fixed member 20E, a strain element 23E, and a strain sensor 27.

[0154] The fixed member 20E is a member fixed to the support member (housing) 255, and has a first fixed member 21E and a second fixed member 22E.

[0155] In this embodiment, the first fixing member 21E is connected to a first connecting portion 24E, which will be described later. That is, the first fixing member 21E fixes the first connecting portion 24E to a support member (housing) 255.

[0156] FIG. 24 is a cross-sectional view of the first motor portion 256b removed from the fixed member 20E. In this embodiment, the second fixing member 22E detachably supports the support member 13. Specifically, the second fixing member 22E has a through hole 20h through which the support member 13 can be inserted along the axial direction L. The through hole 20h has a bearing 20b that supports the attached support member 13 rotatably in the circumferential direction C.

[0157] If the other members can sufficiently support the support member 13, the second fixing member 22E is not necessary.

[0158] FIG. 25 is a perspective view of the strain element 23E. The strain-generating body 23E has a first connecting portion 24E, a second connecting portion 25E, and a strain-generating portion 26E. The strain-generating portion 26E is provided between the first connecting portion 24E and the second connecting portion 25E. At least the strain-generating portion 26E of the strain-generating body 23E is formed of an elastically deformable material.

[0159] In this embodiment, the flexure element 23E extends in the axial direction L of the drive shaft 12. The first connecting portion 24E and the second connecting portion 25E are arranged along the axial direction L. The first connecting portion 24E is disposed on the tip side L1 in the axial direction L, and the second connecting portion 25E is disposed on the base side L2 in the axial direction L. The flexure element 23E has a through hole 23h that passes through in the axial direction L. The drive shaft 12 can be inserted through the through hole 23h.

[0160] The first connecting portion 24E is formed at one end in the longitudinal direction of the strain body 23E. The first connecting portion 24E is fixed to the support member (housing) 255 by being connected to the first fixing member 21E.

[0161] In this embodiment, the first connecting portion 24E has a notch 24n on its outer circumferential surface, and is connected to the first fixed member 21E so as to be non-rotatable in the circumferential direction C.

[0162] The second connecting portion 25E is formed at the other longitudinal end of the strain body 23E. The second connecting portion 25E is formed in a ring shape and has an insertion hole 25h into which the insertion portion 13a of the support member 13 can be inserted along the axial direction L.

[0163] The second connecting portion 25E is detachably connected to the insertion portion 13a of the support member 13 by inserting the insertion portion 13a of the support member 13 into the insertion hole 25h. As shown in Fig. 24, the outer diameter D1 of the insertion portion 13a of the support member 13 is smaller than the inner diameter D2 of the insertion hole 25h.

[0164] In this embodiment, the insertion hole 25h communicates with a through hole 23h that penetrates the flexure body 23E in the axial direction L. As shown in FIGS. 23 and 24, the through hole 20h and the insertion hole 25h are aligned along the axial direction L. Therefore, by attaching the support member 13 to the second fixing member 22E, the insertion portion 13a of the support member 13 is coupled to the second connecting portion 25E, and the drive shaft 12 penetrates the through hole 23h and is coupled to the first shaft 256a. At this time, the drive shaft 12 penetrates the first connecting portion 24E, the second connecting portion 25E, and the flexure body 23E.

[0165] As shown in Figure 23, when the insertion portion 13a of the support member 13 is attached to the second connecting portion 25E, the reaction force of the torque of the drive shaft 12 is transmitted to the second connecting portion 25E via the support member 13.

[0166] 24, by detaching the support member 13 from the second fixing member 22E and the second connecting portion 25E, the first motor portion 256b can be removed from the upward bending wire driving portion 256. When the motor 11 breaks down or is worn out, only the first motor portion 256b can be replaced.

[0167] A convex or concave engagement portion 25e is formed on the inner periphery of the insertion hole 25h. When the insertion portion 13a is inserted into the insertion hole 25h, the engagement portion 25e of the insertion hole 25h engages with the engagement portion 13e of the insertion portion 13a, thereby fixing the relative positions of the second connecting portion 25E and the insertion portion 13a in the circumferential direction C.

[0168] The strain-flexing portion 26E is provided between a first connecting portion 24E fixed to a support member (housing) 255 and a second connecting portion 25E to which the reaction force of the torque of the drive shaft 12 is transmitted. Therefore, the strain-flexing portion 26E is twisted and distorted in response to the reaction force of the torque of the drive shaft 12.

[0169] The strain sensor 27 is provided on the strain-flexing part 26E and detects the strain of the strain-flexing part 26E. The detected strain is acquired by the drive controller 260. The drive controller 260 can calculate the torque acting on the drive shaft 12 based on the acquired strain.

[0170] The electric endoscope system 1000E according to this embodiment is capable of sensing the torque of the motor 11 that drives the endoscope 100, and is easy to replace the motor 11. The first motor unit 256b does not have a torque sensor directly connected to the drive shaft 12, but can indirectly obtain the torque of the drive shaft 12 from a first torque sensor 256Ee attached to the support member 13 that supports the motor 11. Furthermore, because the first motor unit 256b can be easily attached to and detached from the first torque sensor 256Ee, if the motor 11 breaks down or wears out, only the first motor unit 256b can be easily replaced, leaving the first torque sensor 256Ee. Other motor units, such as the second motor unit 257b, can also be easily replaced.

[0171] Although the second embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment and includes design modifications within the scope of the present invention. Furthermore, the components shown in the above embodiment and modified examples can be configured by appropriately combining them.

[0172] (Variation) In the above embodiment, for example, the upward bending wire 161u and the downward bending wire 161d are driven independently by different motors (the first motor 256b and the second motor 257b). However, the upward bending wire 161u and the downward bending wire 161d may be driven in conjunction with each other by the same motor. The same applies to the left bending wire 161l and the right bending wire 161r.

[0173] The programs in each embodiment may be recorded on a computer-readable recording medium, and then loaded and executed by a computer system. The term "computer system" includes hardware such as an OS and peripheral devices. The term "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, as well as storage devices such as hard disks built into a computer system. The term "computer-readable recording medium" may also include devices that dynamically store programs for a short period of time, such as communication lines used when transmitting programs via networks such as the Internet or telephone lines, or devices that store programs for a fixed period of time, such as volatile memory within a computer system serving as a server or client. The program may also be designed to implement some of the functions described above, or may be capable of implementing the functions described above in combination with a program already stored in the computer system. [Industrial Applicability]

[0174] The present invention can be applied to a driving device for a medical manipulator. [Explanation of symbols]

[0175] 1000, 1000E Electric Endoscope System (Medical Manipulator System) 100 Endoscope (medical manipulator) 110 Insertion section 111 Tip 112 Curved section 118 Outer sheath 119 Soft parts of the body 120 Connection part 126 Forceps port 140 Extracorporeal soft parts 150 Detachable part 151 Upper and lower bending wire attachment / detachment part 152 Left and right bending wire attachment / detachment part 159 Tension Sensor 160 curved wire 161d Lower curved wire 161l Left curved wire 161r Right curved wire 161u Upper curved wire 200,200E drive unit 250 Wire drive unit (actuator) 251, 251E Up and down bending wire drive unit (first actuator) 252, 252E Left and right bending wire drive unit (second actuator) 256 Upper curved wire drive unit 256b First motor unit (motor device) 257 Lower curved wire drive unit 257b Second motor section (motor device) 260 Drive Controller 300 Operating device 500 Video control device 600 control device 900 Display device 11 Motor 12 Drive shaft 13 Support member 13a Insertion part 13e,13Be Engagement part 20 Fixing member 20b bearing 20E Fixing member 20h through hole 21, 21E First fixing member 22, 22E Second fixing member 23,23A,23B,23C,23D,23E Strain body 23h through hole 24, 24C, 24E First connecting section 24r connecting rod 24s, 24Cs Link Support Department 25, 25A, 25B, 25E ​​Second connecting section 25e,25Be series combination 25h Insertion Hole 26,26E (Unclear text - possibly related to a specific part or section) 27 Waisinsu

Claims

1. A device for driving a medical manipulator having a wire for driving a movable part, Housing and a motor having a drive shaft that rotates in a circumferential direction and that drives the wire; a support member that supports the motor; a strain-generating body having a first connecting portion fixed to the housing, a second connecting portion detachably connected to the support member, and a strain-generating portion provided between the first connecting portion and the second connecting portion; a strain sensor disposed on the strain-flexing part; Equipped with The second connecting portion fixes a relative position between the support member and the second connecting portion in the circumferential direction when the support member is attached. A drive unit for a medical manipulator.

2. the second connecting portion has an insertion hole into which an insertion portion that is at least a part of the support member can be inserted, The outer diameter of the insertion portion of the support member is smaller than the inner diameter of the insertion hole. The driving device for a medical manipulator according to claim 1 .

3. The drive shaft passes through the insertion portion of the support member. The driving device for a medical manipulator according to claim 2 .

4. the insertion hole of the second connecting portion has an engaging portion that fixes a relative position with the insertion portion in the circumferential direction when the insertion portion is inserted. The driving device for a medical manipulator according to claim 2 .

5. the support member has an engaging portion that fixes a relative position with respect to the second connecting portion in the circumferential direction when the support member is inserted into the insertion hole of the second connecting portion, The driving device for a medical manipulator according to claim 2 .

6. a fixing member fixed to the housing; the fixing member is connected to the first connecting portion, the fixing member has a through hole through which the support member is inserted, and supports the support member detachably and rotatably in the circumferential direction. The driving device for a medical manipulator according to claim 2 .

7. The insertion hole and the through hole are aligned along the axial direction of the drive shaft. The driving device for a medical manipulator according to claim 6.

8. a fixing member fixed to the housing; the fixing member is connected to the first connecting portion, the fixing member detachably supports the support member and rotatably in the circumferential direction; the first connecting portion and the second connecting portion of the strain generating body are arranged along a radial direction of the drive shaft of the motor, The driving device for a medical manipulator according to claim 1 .

9. the first connecting portion is disposed on the outer side in the radial direction, The second connecting portion is disposed on the inner side in the radial direction. The driving device for a medical manipulator according to claim 8.

10. the second connecting portion has an insertion hole into which an insertion portion that is at least a part of the support member can be inserted, The second connecting portion is formed in a ring shape into which the insertion portion of the support member can be inserted. The driving device for a medical manipulator according to claim 8.

11. The fixing member includes a first fixing member and a second fixing member, the first fixing member and the second fixing member are disposed on both sides of the strain element in the axial direction of the drive shaft. The driving device for a medical manipulator according to claim 8.

12. a first fixing member and a second fixing member fixed to the housing; the first fixing member is connected to the first connecting portion, the second fixing member detachably supports the support member and rotatably in the circumferential direction; The first connecting portion and the second connecting portion of the strain generating body are arranged along the axial direction of the drive shaft. The driving device for a medical manipulator according to claim 1 .

13. the first connecting portion is disposed on a tip side in the axial direction, The second connecting portion is disposed on the base end side in the axial direction. The driving device for a medical manipulator according to claim 12.

14. The drive shaft passes through the first connecting portion and the second connecting portion. The driving device for a medical manipulator according to claim 12.

15. The drive device according to claim 1 ; the medical manipulator; Equipped with Medical manipulator system.

16. A motor device attached to a drive device that drives a medical manipulator having a wire that drives a movable part, a motor having a drive shaft that rotates in a circumferential direction and that drives the wire; a support member that supports the motor; Equipped with the support member is supported by the drive device so as to be detachable and rotatable in the circumferential direction, the support member has an insertion portion that engages with a torque sensor included in the drive device when the support member is attached to the drive device, and fixes the relative positions of the torque sensor and the support member in the circumferential direction. Motor device for medical manipulator.

17. The drive shaft passes through the insertion portion of the support member. The motor device for a medical manipulator according to claim 16.

18. the support member has an engaging portion that fixes a relative position between the support member and the torque sensor in the circumferential direction when the support member engages with the torque sensor. The motor device for a medical manipulator according to claim 16.

Images