Medical manipulator system, method and device for controlling medical manipulator

Abstract

This medical manipulator system comprises: a medical manipulator that has a bending portion and a bending wire which bends the bending portion; an actuator that bends the bending portion by driving the bending wire; a sensor that detects tension of the bending wire; and a control device that controls the actuator, wherein the bending wire has a pair of first bending wires for bending the bending portion in a first direction, and, when the tension difference between the pair of first bending wires is greater than a first threshold value, the control device performs first tension control for driving at least one wire of the pair of first bending wires so that the tension difference becomes less than or equal to the first threshold value.

Description

[Technical field]

[0001] The present invention relates to a medical manipulator system, a control method and a control device for a medical manipulator. This application claims priority to U.S. Provisional Patent Application No. 63 / 281,796 provisionally filed in the United States on November 22, 2021, and U.S. Provisional Patent Application No. 63 / 314,579 provisionally filed in the United States on February 28, 2022, the contents of which are incorporated herein by reference. [Background technology]

[0002] Conventionally, a medical manipulator system has been used for observing and treating the inside of a hollow organ such as the digestive tract. In the medical manipulator system, an insertion part, which is inserted into the hollow organ, can be driven to bend electrically. A user can control the bending operation of the insertion part from an operation part arranged outside the body.

[0003] Patent Documents 1 and 2 describe endoscopes that, when an external force is applied to a bending portion driven electrically, control the bending portion to which the external force is applied. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 3549434 [Patent Document 2] Patent No. 3233373 Summary of the Invention [Problem to be solved by the invention]

[0005] However, conventional medical manipulator systems (e.g., electric endoscope systems) shown in Patent Documents 1 and 2, etc., distinguish between control that actively drives the bending part by electricity (active control) and control that passively drives the bending part when an external force is applied (passive control), and therefore require the addition of an additional mechanism or make it difficult to seamlessly switch between active control and passive control.

[0006] In consideration of the above circumstances, an object of the present invention is to provide a medical manipulator system, a control method and a control device for a medical manipulator that can suitably handle control for actively driving a bending portion by electricity and control for passively driving a bending portion when an external force is applied. [Means for solving the problem]

[0007] In order to solve the above problems, the present invention proposes the following means. A medical manipulator system according to a first aspect of the present invention includes a medical manipulator having a bending portion and a bending wire that bends the bending portion, an actuator that bends the bending portion by driving the bending wire, a sensor that detects tension of the bending wire, and a control device that controls the actuator, wherein the bending wire has a pair of first bending wires that bend the bending portion in a first direction, and when a tension difference between the pair of first bending wires is greater than a first threshold value, the control device executes first tension control to drive at least one wire of the pair of first bending wires so that the tension difference is equal to or less than the first threshold value. Effect of the Invention

[0008] The medical manipulator system, and the control method and control device for the medical manipulator of the present invention can suitably handle control that actively drives the bending portion by electrical power (active control), and control that passively drives the bending portion when an external force is applied (passive control). [Brief description of the drawings]

[0009] [Figure 1] 1 is an overall view of a medical manipulator system according to a first embodiment. FIG. [Diagram 2] 2A and 2B are diagrams showing an endoscope and an operating device of the medical manipulator system used by an operator. [Diagram 3] FIG. 2 is a diagram showing an insertion portion of the endoscope. [Figure 4] 13 is a cross-sectional view showing a part of a curved portion of the insertion portion. FIG. [Diagram 5] 5 is an enlarged view of a node ring of the curved portion in a region E shown in 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] 13 is a view showing the first detachable part before being attached to the driving device of the medical manipulator system. FIG. [Figure 8] 13 is a diagram showing the up and down bending wire attaching / detaching part before being attached to the driving device. FIG. [Figure 9] 13 is a view showing the vertical bending wire attaching / detaching portion 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 perspective view of an operating device of the medical manipulator system. [Figure 12] FIG. 2 is a functional block diagram of a video control device of the medical manipulator system. [Figure 13] 4 is a control flowchart of a drive controller of the control device of the medical manipulator system. [Figure 14] FIG. 2 shows the same insertion part inserted into the large intestine. [Figure 15] FIG. 2 is a diagram showing the curved portion. [Figure 16] 13 is a diagram showing an example of the curved portion in which a tension difference equal to or greater than a predetermined threshold occurs. FIG. [Figure 17] 13 is a diagram showing another example of the curved portion in which a tension difference equal to or greater than a predetermined threshold occurs. FIG. [Figure 18] 13 is a diagram showing a first detachable part before being attached to a drive device of a medical manipulator system according to a second embodiment. FIG. [Figure 19] 13 is a diagram showing the first detachable portion (up-down bending wire detachable portion) before being attached to the drive device. FIG. [Figure 20] 13 is a diagram showing the first detachable portion (up-down bending wire detachable portion) attached to the drive device. FIG. [Figure 21] FIG. 11 is an overall view of a medical manipulator system according to a third embodiment. [Figure 22] 13A and 13B are views showing a curved bending portion of the medical manipulator system. [Figure 23] 13 is a view showing the first detachable part before being attached to the driving device of the medical manipulator system. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] First embodiment An electric endoscope system 1000 according to a first embodiment of the present invention will be described with reference to Fig. 1 to Fig. 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.

[0011] [Electric endoscope system 1000] 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 drive device 200, an operation device 300, a treatment tool 400, an image control device 500, and a display device 900.

[0012] The endoscope 100 is a device that is inserted into the lumen of a patient P to observe and treat an affected area. The endoscope 100 is detachable from a driving unit 200. An internal passage 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 is referred to as the "tip side A1," and the side that is attached to the driving unit 200 is referred to as the "base side A2."

[0013] The drive unit 200 is detachably connected to the endoscope 100 and the operation unit 300. The drive unit 200 drives a built-in motor to electrically drive the endoscope 100 based on an operation input to the operation unit 300. The drive unit 200 also drives a built-in pump, etc., based on an operation input to the operation unit 300 to cause the endoscope 100 to perform air supply and suction.

[0014] The operation device 300 is detachably connected to the drive device 200 via an operation cable 301. The operation device 300 may be capable of communicating with the drive device 200 by wireless communication instead of wired communication. The surgeon S can electrically drive the endoscope 100 by operating the operation device 300.

[0015] The treatment tool 400 is a device that is inserted through the internal passage 101 of the endoscope 100 into a 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] FIG. 2 is a diagram showing an endoscope 100 and an operating device 300 used by an operator S. As shown in FIG. For example, while observing a captured image displayed on the display device 900, the surgeon S operates the endoscope 100 inserted into the cavity from the anus of the patient P with his right hand R, and operates the operation device 300 with his left hand L. 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 being affected by each other.

[0020] [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 structure 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.

[0021] 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 along the longitudinal direction A of the endoscope 100 from the tip of the insertion section 110 to the base end of the detachable section 150. The bending wire 160 and the built-in object 170 are inserted into the internal passage 101.

[0022] 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.

[0023] [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.

[0024] As shown in Fig. 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 a 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.

[0025] The illumination unit 111b is connected to a light guide 174 that guides the illumination light, and emits the 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 image control device 500 via an imaging cable 173.

[0026] 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 node rings (also referred to as bending pieces) 115, a tip portion 116 connected to the tips of the plurality of node rings 115, and an outer sheath 118 (see FIG. 3). The plurality of node rings 115 and the tip portion 116 are connected inside the outer sheath 118 in the longitudinal direction A. Note that the shape and number of node rings 115 included in the bending section 112 are not limited to the shape and number of node rings 115 shown in FIG.

[0027] FIG. 5 is an enlarged view of the node ring 115 in a region E shown in FIG. The joint rings 115 are short cylindrical members made of metal. The joint rings 115 are connected to each other so that the internal spaces of the adjacent joint rings 115 are continuous.

[0028] The joint ring 115 has a first joint ring 115a on the distal end side and a second joint ring 115b on the proximal end side. The first joint ring 115a and the second joint ring 115b are connected to each other by a first pivot pin 115p so as to be rotatable in the up-down direction (also called the "UD direction") perpendicular to the longitudinal direction A.

[0029] In adjacent joint rings 115, the second joint ring 115b in the joint ring 115 on the tip side and the first joint ring 115a in the joint 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 called the "LR direction") perpendicular to the longitudinal direction A and the UD direction.

[0030] 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 freely bendable in a desired direction.

[0031] 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 peripheral surface of the second nodal ring 115b. The upper wire guide 115u and the lower wire guide 115d are disposed on both sides in the UD direction with the central axis O in the longitudinal direction A in between. A left wire guide 115l and a right wire guide 115r are formed on the inner peripheral surface of the first nodal ring 115a. The left wire guide 115l and the right wire guide 115r are disposed on both sides in the LR direction with the central axis O in the longitudinal direction A in between.

[0032] 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 passes.

[0033] 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.

[0034] 4, the upward bending wire 161u, the downward bending wire 161d, the left bending wire 161l, and the right bending wire 161r are 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.

[0035] 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.

[0036] 4, the tips of the upward bending wire 161u and the downward bending wire 161d are fixed to a 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 in between.

[0037] 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 passes through the left wire guide 115l. The right bending wire 161r passes through the right wire guide 115r.

[0038] 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 disposed on both sides in the LR direction with the central axis O in the longitudinal direction A in between.

[0039] The bending portion 112 can be bent freely in a desired direction by pulling or relaxing the bending wires 160 (an upward bending wire 161u, a downward bending wire 161d, a left bending wire 161l, and a right bending wire 161r).

[0040] As shown in FIG. 6, in an internal path 101 formed inside the bending portion 112, a bending wire 160, a channel tube 171, an imaging cable 173, and a light guide 174 are inserted.

[0041] The internal flexible portion 119 is a long, flexible tubular member. In the internal path 101 formed in the internal flexible portion 119, a bending wire 160, a channel tube 171, an imaging cable 173, and a light guide 174 are inserted.

[0042] [Connection part 120] 1, the connecting portion 120 is a member that connects the internal soft portion 119 and the external soft portion 140 of the insertion portion 110. The connecting portion 120 includes a forceps port 126 that is an insertion port through which the treatment tool 400 is inserted.

[0043] [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 therein.

[0044] [Detachable part 150] 1, the attachment / detachment unit 150 includes a first attachment / detachment unit 1501 that is attached to the drive device 200, and a second attachment / detachment unit 1502 that is attached to the video control device 500. Note that the first attachment / detachment unit 1501 and the second attachment / detachment unit 1502 may be an integrated attachment / detachment unit.

[0045] 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.

[0046] 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 .

[0047] The up-down bending wire attaching / detaching portion 151 is a mechanism that detachably connects the wires (the up-down bending wire 161u and the down-down bending wire 161d) that bend the bending portion 112 in the UD direction to the driving device 200.

[0048] 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.

[0049] 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 will not be illustrated or described.

[0050] Fig. 8 is a diagram showing the up-down bending wire attaching / detaching part 151 before being attached to the driving device 200. Fig. 9 is a diagram showing the up-down bending wire attaching / detaching part 151 attached to the driving device 200. The up-down 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.

[0051] 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 up / down bending wire attachment / detachment portion 151, and a plurality of bend pulleys 155p.

[0052] The bend pulley 155p changes the conveying direction of the upper bending wire 161u passing 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 conveying direction of the lower bending wire 161d passing through the extracorporeal flexible portion 140, and guides the lower bending wire 161d to the second rotating drum 157.

[0053] 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 winding pulley 156a and a first coupling portion 156c.

[0054] The first winding pulley 156a rotates around the first drum rotation shaft 156r to pull or send out the upward bending wire 161u. When viewed from the tip end to the base end, the first winding pulley 156a rotates clockwise, so that the upward bending wire 161u is wound around the first winding pulley 156a and pulled. Conversely, when the first winding pulley 156a rotates counterclockwise, the upward bending wire 161u is sent out from the first winding pulley 156a. With this configuration, even if the upward bending wire 161u moves back and forth a large amount, the pulled portion is stored compactly and does not take up space.

[0055] 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 attachment / detachment portion 151. Two first fitting protrusions 156d are formed on the surface on the base end side of the first coupling portion 156c. The two first fitting protrusions 156d are formed on both sides of the first drum rotation shaft 156r.

[0056] The second rotating drum 157 is supported by the 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 winding pulley 157a and a second coupling portion 157c.

[0057] The second winding pulley 157a rotates around the second drum rotation shaft 157r to pull or send out the downward bending wire 161d. When viewed from the tip end to the base end, the second winding pulley 157a rotates counterclockwise, so that the downward bending wire 161d is wound around the second winding pulley 157a and pulled. Conversely, when the second winding pulley 157a rotates clockwise, the downward bending wire 161d is sent out from the second winding pulley 157a.

[0058] 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 attachment / detachment portion 151. Two second fitting protrusions 157d are formed on the surface on the base end side of the second coupling portion 157c. The two second fitting protrusions 157d are formed on both sides of the second drum rotation shaft 157r.

[0059] 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.

[0060] [Drive unit 200] FIG. 10 is a functional block diagram of the driving device 200. The driving device 200 includes an adaptor 210, an operation receiving unit 220, an air supply / suction driving unit 230, a wire driving unit (actuator) 250, and a driving controller 260.

[0061] 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.

[0062] The operation receiving unit 220 receives an operation input from the operation device 300 via an operation cable 301. When the operation device 300 and the drive device 200 communicate with each other by wireless communication rather than by wired communication, the operation receiving unit 220 has a known wireless reception module.

[0063] 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 and 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.

[0064] 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.

[0065] As shown in FIG. 7, the wire driving section 250 has a vertical bending wire driving section (first actuator) 251 and a horizontal bending wire driving section (second actuator) 252.

[0066] 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 (the up-down bending wire 161u and the down-down bending wire 161d) that bend the bending section 112 in the UD direction.

[0067] 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.

[0068] The left-right bending wire driving section 252 has the same structure as the up-down bending wire driving section 251, and therefore will not be illustrated or described.

[0069] As shown in FIG. 8, the up-down bending wire driving section 251 has a support member 255, an up-down bending wire driving section 256, a down-down bending wire driving section 257, and an attachment / detachment sensor 259.

[0070] The upward bending wire driving part 256 is coupled with the first rotating drum 156 of the upward / downward bending wire attaching / detaching part 151 to drive the upward bending wire 161u. The upward bending wire driving part 256 has a first shaft 256a, a first motor part 256b, a first coupled part 256c, a first torque sensor 256e, and a first elastic member 256s.

[0071] The first shaft 256a is supported by the support member 255 so as to be rotatable around a first shaft rotation axis 256r and movable forward and backward in the longitudinal direction A. When the first attachment / detachment part 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.

[0072] The first motor unit 256b includes a first motor such as a DC motor, a first motor driver that drives the first motor, and a first motor encoder. The first motor rotates the first shaft 256a around the first shaft rotation axis 256r. The first motor driver is controlled by the drive controller 260.

[0073] 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-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.

[0074] As shown in Fig. 9, the first fitting convex portion 156d and the first fitting concave portion 256d are fitted together, and the first coupling portion 156c and the first coupled portion 256c are coupled together. 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 tip end to the base end, the first shaft 256a rotates clockwise, so that the upward bending wire 161u is pulled. Conversely, when the first shaft 256a rotates counterclockwise, the upward bending wire 161u is fed out.

[0075] The first torque sensor 256e detects the rotational torque of the first shaft 256a about the first shaft rotation axis 256r. The detection result of the first torque sensor 256e is acquired by the drive controller 260.

[0076] The first elastic member 256s is, for example, a compression spring, and has a tip end in contact with the first coupled portion 256c and a base end in contact with the support member 255. The first elastic member 256s biases 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] The lower bending wire driving part 257 is coupled with the second rotating drum 157 of the upper and lower bending wire attaching / detaching part 151 to drive the lower bending wire 161d. The lower bending wire driving part 257 has a second shaft 257a, a second motor part 257b, a second coupled part 257c, a second torque sensor 257e, and a second elastic member 257s.

[0078] The second shaft 257a is supported by the support member 255 so as to be rotatable around a second shaft rotation axis 257r and movable forward and backward in the longitudinal direction A. When the first attachment / detachment part 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.

[0079] The second motor unit 257b includes a second motor such as a DC motor, a second motor driver that drives the second motor, and a second motor encoder. The second motor rotates the second shaft 257a around the second shaft rotation axis 257r. The second motor driver is controlled by the drive controller 260.

[0080] 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-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.

[0081] As shown in Fig. 9, the second fitting convex portion 157d and the second fitting concave portion 257d are fitted together, and the second coupling portion 157c and the second coupled portion 257c are coupled together. 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 tip end to the base end, the second shaft 257a rotates counterclockwise, so that the downward bending wire 161d is pulled. Conversely, when the second shaft 257a rotates clockwise, the downward bending wire 161d is fed out.

[0082] 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.

[0083] The second elastic member 257s is, for example, a compression spring, and has a tip end in contact with the second coupled portion 257c and a base end in contact with the support member 255. The second elastic member 257s biases 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.

[0084] 9, the attachment / detachment sensor 259 detects the attachment / detachment of the up-down bending wire attachment / detachment part 151 to the up-down bending wire drive part 251 by detecting engagement and disengagement with the attachment / detachment detection dog 155a. The detection result of the attachment / detachment sensor 259 is acquired by the drive controller 260.

[0085] 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 wire 161u, and the down-down bending wire driving section 257 can independently drive the down-down bending wire 161d. Therefore, even if the distance from the bending section 112 of the endoscope 100 to the driving device 200 is longer than that of a conventional flexible endoscope, the bending operation of the bending section 112 can be controlled with high precision.

[0086] The drive controller 260 controls the entire drive device 200. The drive controller 260 acquires the operation input received by the operation receiving unit 220. The drive controller 260 controls the air supply / suction drive unit 230 and the wire drive unit 250 based on the acquired operation input.

[0087] Drive controller 260 is a computer capable of executing a program, 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 a program. At least a portion of the functions of drive controller 260 may be realized by a dedicated logic circuit.

[0088] The drive controller 260 desirably has high calculation performance in order to control the multiple motors that drive the multiple bending wires 160 with high precision.

[0089] It should be noted 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 part or all of the image processing and image recognition processing. By further 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.

[0090] [Operation device 300] FIG. 11 is a perspective view of the operating device 300. As shown in FIG. The operation device 300 is a device to which an operation for driving the endoscope 100 is input. The input operation input is transmitted to the drive device 200 via an operation cable 301. The operation device 300 may be capable of communicating with the drive device 200 by wireless communication instead of wired communication.

[0091] 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.

[0092] The operation unit body 310 is formed in a generally rod-like shape that can be held by the surgeon S in his / her left hand L. The operation unit body 310 has a touch pad support part 314 provided on the upper part, a grip part 316 provided on the lower part, and a handle 317 provided on the rear part. As shown in Fig. 11, the surgeon S can operate the touch pad 380 with the thumb FT of the left hand L while gripping the grip part 316 with the left hand L.

[0093] The touch pad 380 is a touch-sensitive interface through which a bending operation or the like is input to the bending portion 112. The touch pad 380 may be a touch panel.

[0094] [Video control device 500] FIG. 12 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.

[0095] The third adaptor 510 is an adaptor to which the second detachable portion 1502 of the endoscope 100 is detachably connected.

[0096] 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.

[0097] The light source unit 530 generates illumination light to be irradiated onto an imaging target. The illumination light generated by the light source unit 530 is guided to the illumination unit 111b of the tip portion 111 via the light guide 174.

[0098] The main controller 560 is a computer capable of executing a program, 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 a program. At least a part of the functions of the main controller 560 may be realized by a dedicated logic circuit.

[0099] The main controller 560 includes a processor 561, a memory 562 from which a program can be loaded, a storage unit 563, and an input / output control unit 564.

[0100] The storage unit 563 is a non-volatile recording medium that stores the above-mentioned programs and necessary data. The storage unit 563 is composed of, 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.

[0101] 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). The input / output control unit 564 transmits and receives data and control signals to and from the devices connected thereto under the control of the processor 561.

[0102] 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.

[0103] The main controller 560 is not limited to an integrated hardware device. For example, the main controller 560 may be configured by separating a part of the main controller 560 into a separate hardware device and connecting the separated hardware devices via a communication line. For example, the main controller 560 may be a cloud system that connects the separated storage unit 563 via a communication line.

[0104] 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 performed by processor 561. By further 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.

[0105] [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 a lumen wall in the large intestine using the electric endoscope system 1000 will be described.

[0106] Hereinafter, a description will be given along the control flowchart of the drive controller 260 of the control device 600 shown in Fig. 13. When the control device 600 is started, the drive controller 260 performs initialization and then starts angle-free control (also called tension control) (step S100). Next, the drive controller 260 (mainly the processor 261) executes step S110.

[0107] Note that the angle-free control may be disabled when the control device 600 is started. The angle-free control described below may be enabled only when a predetermined operation input is made by the surgeon S to a control button for angle-free control assigned to the various buttons 352 of the operation device 300.

[0108] FIG. 14 is a diagram showing the insertion section 110 inserted into the large intestine. 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 moves the insertion section 110 while operating the internal flexible section 119 with the right hand R, and moves the tip section 111 closer to the affected area. The surgeon S also operates the operation device 300 with the left hand L to input a bending operation for the bending section 112.

[0109] FIG. 15 is a diagram showing the curved portion 112. As shown in FIG. The drive controller 260 executes bending control for the bending portion 112 based on the received bending operation, and controls the wire drive unit (actuator) 250 to bend the bending wire 160. The bending portion 112 is subjected to a restoring force f due to rubber or the like that forms the outer sheath 118, which tends to return the bending portion 112 to a straight state. G comes into effect.

[0110] <Step S110> In step S110, the drive controller 260 acquires the tension of the bending wire 160 from the tension sensor 159. The drive controller 260 may estimate the tension of the bending wire 160 from the torque acquired from the torque sensors (first torque sensor 256e, second torque sensor 257e) of the drive device 200 or the motor current values ​​of the motor sections (first motor section 256b, second motor section 257b). The drive controller 260 then executes step S120.

[0111] <Step S120> In step S110, the drive controller 260 compares the tension difference (absolute value) of the pair of bending wires 160 (the upper bending wire 161u and the lower bending wire 161d) that bend the bending portion 112 in the up and down directions (UD directions) with a predetermined threshold value Tth.

[0112] FIG. 16 is a diagram showing an example of a curved portion 112 where a tension difference equal to or greater than a predetermined threshold occurs. In the example shown in FIG. 16, an external force f is applied in a direction in which the bending portion 112 is returned to a straight state. O By applying the tension Td of the downward bending wire 161d, the tension difference between the tension Tu of the upward bending wire 161u and the tension Td of the downward bending wire 161d becomes larger than the predetermined threshold value Tth.

[0113] FIG. 17 is a diagram showing another example of a curved portion 112 in which a tension difference equal to or greater than a predetermined threshold value occurs. In the example shown in FIG. 17, an external force f is applied in a direction to further bend the bending portion 112. O By applying the tension Tu to the upward bending wire 161u, the tension difference between the tension Tu of the upward bending wire 161u and the tension Td of the downward bending wire 161d becomes greater than the predetermined threshold Tth.

[0114] When the tension difference is equal to or less than the predetermined threshold Tth, the drive controller 260 next executes step S110. When the tension difference is greater than the predetermined threshold Tth, the drive controller 260 next executes step S130.

[0115] <Step S130> In step S130, the drive controller 260 drives the pair of bending wires 160 until the tension difference between the pair of bending wires 160 becomes equal to or less than a predetermined threshold Tth (first tension control). O The curve will bend in the direction in which it is applied.

[0116] In the angle-free control, the drive controller 260 drives the bending wires 160 by, for example, substantially matching the feed amount of one bending wire 160 having a larger tension of the pair of bending wires 160 with the pull amount of the other bending wire 160 (Push-Pull control). In the example shown in Fig. 16, the drive controller 260 pulls the upper bending wire 161u and delivers the lower bending wire 161d. In the example shown in Fig. 17, the drive controller 260 pulls the lower bending wire 161d and delivers the upper bending wire 161u.

[0117] In the angle-free control, the drive controller 260, for example, sends out one of the pair of bending wires 160 having a larger tension, and drives the bending wire 160 so as to keep the tension of the other bending wire 160 constant (antagonistic control). In the example shown in Fig. 16, the drive controller 260 sends out the lower bending wire 161d and keeps the tension of the upper bending wire 161u constant. In the example shown in Fig. 17, the drive controller 260 sends out the upper bending wire 161u and keeps the tension of the lower bending wire 161d constant.

[0118] In angle-free control, the drive controller 260 drives the wire drive unit (actuator) 250 so that the bending portion 112 bends at a constant speed (constant speed control), for example. Since the bending portion 112 bends at a constant speed, the surgeon S can easily recognize the bending motion of the bending portion 112.

[0119] In angle-free control, the drive controller 260 drives the wire drive section (actuator) 250 so that the speed at which the bending section 112 moves changes based on the tension difference between the pair of bending wires 160 (variable speed control). The drive controller 260 increases the speed at which the bending section 112 moves as the tension difference between the pair of bending wires 160 increases. As the tension difference between the pair of bending wires 160 decreases, the drive controller 260 decreases the speed at which the bending section 112 moves. This makes the movement of the electrically driven insertion section 110 closer to the same movement as the insertion section of an existing endoscope that is operated by manual drive.

[0120] <Step S140> In step S140, the drive controller 260 executes a determination as to whether or not to end the angle-free control. If the drive controller 260 determines not to end the angle-free control, it executes step S110. If the drive controller 260 determines to end the angle-free control, it executes step S150 and ends the angle-free control.

[0121] external force f O When the tension difference between the pair of bending wires 160 is greater than a predetermined threshold Tth, the external force f O Therefore, for example, when the surgeon S moves the insertion portion 110 and the tip portion 111 of the insertion portion 110 comes into contact with the wall of a lumen of the large intestine or the like, the external force f O Since the bending portion 112 bends in the direction in which the external force f is applied, excessive force is unlikely to be applied to the lumen of the large intestine, etc. In addition, when the surgeon S contacts the bent portion of the large intestine when removing the insertion portion 110 from the large intestine, the external force f O Since the bending portion 112 bends in the direction in which the pressure is applied, the bending portion 112 bends to match the shape of the curved portion of a lumen such as the large intestine, the surgeon S can easily remove the insertion portion 110.

[0122] The drive controller 260 executes angle-free control by driving the wire drive unit (actuator) 250 in a manner similar to bending control for the bending portion 112 based on a bending operation for the bending portion 112 input from the surgeon S to the operation device 300. Therefore, the electric endoscope system 1000 does not require an additional mechanism or the like to execute angle-free control. Furthermore, in angle-free control, the drive controller 260 drives the bending portion 112 without slackening the bending wire 160, as in bending control, so that it is possible to seamlessly switch between angle-free control and bending control.

[0123] The drive controller 260 may also execute angle-free control when executing bending control on the bending portion 112 based on a bending operation on the bending portion 112 inputted from the surgeon S. When bending the bending portion 112 based on a bending operation inputted from the surgeon S, the drive controller 260 may execute angle-free control when the bending portion 112 comes into contact with a tubular wall of a lumen such as the large intestine and an external force f is applied. O When the tension difference between the pair of bending wires 160 becomes greater than a predetermined threshold Tth due to the application of a predetermined external force f, the drive controller 260 drives the pair of bending wires 160 so that the tension difference between the pair of bending wires 160 becomes equal to or less than the predetermined threshold Tth. In other words, the drive controller 260 can only drive the pair of bending wires 160 within a range in which the tension difference between the pair of bending wires 160 becomes equal to or less than the predetermined threshold Tth (limiter function). As a result, even when the bending portion 112 is bent based on a bending operation input by the surgeon S, the bending portion 112 is bent by the application of a predetermined external force f O Since the catheter does not bend further against the force, excessive force is unlikely to be applied to the lumen of the large intestine, etc.

[0124] In angle-free control, the drive controller 260 may change the predetermined threshold value Tth based on the presence or absence of a bending operation on the operation device 300 by the surgeon S. For example, when a bending operation is input by the surgeon S, the drive controller 260 increases the predetermined threshold value Tth compared to when a bending operation is not input by the surgeon S. In this way, the drive controller 260 sets the predetermined threshold value Tth to a value lower than the external force f at which the limiter function by angle-free control operates. O The lower limit can be adjusted.

[0125] The drive controller 260 calculates the restoring force f G The predetermined threshold value Tth may be set small so that the tension difference between the pair of bending wires 160 becomes larger than the predetermined threshold value Tth when the restoring force f G When the bending portion 112 reaches a predetermined position or more, the wire driving portion (actuator) 250 is driven to return the bending portion 112 to a straight state. This makes the operation of the electrically driven insertion portion 110 closer to the operation of the insertion portion of an existing endoscope that is manually operated.

[0126] The drive controller 260 also performs a similar angle-free control (second tension control) on a pair of bending wires 160 (the left bending wire 161l and the right bending wire 161r) that bend the bending portion 112 in the left-right direction (LR direction). The initialization operation on the left bending wire 161l and the right bending wire 161r may be performed simultaneously with the angle-free control on the upper bending wire 161u and the lower bending wire 161d, or may be performed separately.

[0127] The angle-free control for the pair of bending wires 160 (the pair of bending wires 160 bent in the up-down direction and the pair of bending wires 160 bent in the left-right direction) may be changeable by the surgeon S. For example, the angle-free control for one or both of the pair of bending wires 160 may be enabled based on a predetermined operation input from the surgeon S to a control button for angle-free control assigned to the various buttons 352 of the operation device 300. The surgeon S can appropriately set the enablement of the angle-free control for the pair of bending wires 160 according to the type of treatment for the affected area.

[0128] Furthermore, the predetermined threshold value Tth may be changed based on a predetermined operation input from the surgeon S to a control button for angle-free control assigned to the various buttons 352 of the operation device 300. The surgeon S can appropriately set the predetermined threshold value Tth according to the type of treatment for the affected area.

[0129] The above-mentioned angle-free control may be implemented by the main controller 560 (mainly the processor 561) controlling the wire driving unit (actuator) 250.

[0130] The electric endoscope system 1000 according to this embodiment can suitably handle bending control (active control) that actively drives the bending section electrically, and angle-free control (passive control) that passively drives the bending section when an external force is applied. The electric endoscope system 1000 can seamlessly switch between bending control (active control) and angle-free control (passive control). Furthermore, the electric endoscope system 1000 can also simultaneously perform bending control (active control) and angle-free control (passive control).

[0131] 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 design modifications and the like that do not depart from the gist of the present invention are also included. Also, the components shown in the above embodiment and modified examples can be appropriately combined to form a configuration.

[0132] Second Embodiment An electric endoscope system 1000B according to a second embodiment of the present invention will be described with reference to Fig. 18 to Fig. 20. In the following description, the same components as those already described will be denoted by the same reference numerals, and duplicated description will be omitted.

[0133] [Electric endoscope system 1000B] 1, the electric endoscope system 1000B includes an endoscope 100B, a driving device 200B, an operation device 300, a treatment tool 400, an image control device 500, and a display device 900. The driving device 200B and the image control device 500 configure a control device 600B that controls the electric endoscope system 1000B.

[0134] [Endoscope 100B] The endoscope 100B includes an insertion section 110, a connection section 120, an extracorporeal flexible section 140, a detachable section 150B, a bending wire 160, and an internal structure 170.

[0135] [Detachable part 150B] FIG. 18 is a diagram showing the first detachable part 1503 before being attached to the driving device 200B. The detachable part 150B includes a first detachable part 1503 attached to the driving device 200B, and a second detachable part 1502 attached to the video control device 500. The first detachable part 1503 includes a top-bottom bending wire detachable part 151B and a left-right bending wire detachable part 152B.

[0136] The up-down bending wire attaching / detaching portion 151B is a mechanism that detachably connects the wires (the up-down bending wire 161u and the down-down bending wire 161d) that bend the bending portion 112 in the UD direction to the driving device 200B.

[0137] The left / right bending wire attaching / detaching portion 152B is a mechanism that detachably connects the wires (left bending wire 161l and right bending wire 161r) that bend the bending portion 112 in the LR direction to the driving device 200B.

[0138] The left-right bending wire attaching / detaching section 152B has the same structure as the up-down bending wire attaching / detaching section 151B, and therefore will not be illustrated or described.

[0139] Fig. 19 is a diagram showing the vertical bending wire attaching / detaching part 151B before being attached to the driving device 200B. Fig. 20 is a diagram showing the vertical bending wire attaching / detaching part 151B attached to the driving device 200B. The vertical bending wire attaching / detaching part 151B has a support member 155, a rotating drum 156, and a tension sensor 159.

[0140] [Driver 200B] The driving device 200B includes an adaptor 210B, an operation receiving unit 220, an air supply / suction driving unit 230, a wire driving unit 250B, and a driving controller 260B.

[0141] 18, the adapter 210B includes a first adapter 211 and a second adapter 212B. The first adapter 211 is an adapter to which the operation cable 301 is detachably connected. The second adapter 212B is an adapter to which the first detachable portion 1503 of the endoscope 100 is detachably connected.

[0142] The wire driving section 250B drives the bending wire 160 by being coupled with the up-down bending wire attaching / detaching section 151B and the left-right bending wire attaching / detaching section 152B.

[0143] As shown in FIG. 18, the wire driving section 250B has a vertical bending wire driving section 251B and a horizontal bending wire driving section 252B.

[0144] The up-down bending wire driving section 251B is a mechanism that drives wires (the up-down bending wire 161u and the down-down bending wire 161d) that are coupled with the up-down bending wire attaching / detaching section 151B and bend the bending section 112 in the UD direction.

[0145] The left / right bending wire driving section 252B is a mechanism that drives wires (left bending wire 161l and right bending wire 161r) that are coupled with the left / right bending wire attaching / detaching section 152B and bend the bending section 112 in the LR directions.

[0146] The left / right bending wire driving section 252B has the same structure as the up / down bending wire driving section 251B, and therefore will not be illustrated or described.

[0147] The up-down bending wire driving section 251B has a support member 255, a bending wire driving section 256A, an engagement member 258, and an attachment / detachment sensor 259, as shown in FIG.

[0148] The bending wire driving unit 256A is coupled to the rotating drum 156 of the upper and lower bending wire attaching / detaching unit 151B to drive the upper bending wire 161u and the lower bending wire 161d. The bending wire driving unit 256A has a shaft 256a, a motor unit 256b, a coupled unit 256c, a torque sensor 256e, and an elastic member 256s.

[0149] With the above mechanism, when the up-down bending wire attaching / detaching portion 151B is attached to the up-down bending wire driving portion 251B, the bending wire driving portion 256A can drive the upward bending wire 161u and the downward bending wire 161d in conjunction with each other.

[0150] The drive controller 260B has a configuration similar to that of the drive controller 260 in the first embodiment, and performs bending control on the bending portion 112 based on a bending operation for the bending portion 112 input from the surgeon S to the operation device 300.

[0151] The drive controller 260B executes angle-free control in the same manner as the drive controller 260 of the first embodiment. In step S130, the drive controller 260B drives the bending wires 160 until the tension difference between the pair of bending wires 160 becomes equal to or less than a predetermined threshold Tth. The bending portion 112 is driven by the wire driving portion (actuator) 250 to apply an external force f O The curve will bend in the direction in which it is applied.

[0152] In angle-free control, the drive controller 260B drives the bending wires 160 by substantially matching the pulling amount of one bending wire 160 having a greater tension of the pair of bending wires 160 with the feeding amount of the other bending wire 160 (Push-Pull control).

[0153] According to the electric endoscope system 1000B of this embodiment, like the electric endoscope system 1000 of the first embodiment, it is possible to suitably handle bending control (active control) in which the bending section is actively driven electrically, and angle-free control (passive control) in which the bending section is passively driven when an external force is applied. Compared with the electric endoscope system 1000 of the first embodiment, the electric endoscope system 1000B can reduce costs by simplifying the configuration of the drive unit 200B, etc.

[0154] 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 design modifications and the like that do not depart from the gist of the present invention are also included. Also, the components shown in the above embodiment and modified examples can be appropriately combined to form a configuration.

[0155] Third embodiment An electric endoscope system 1000C according to a third embodiment of the present invention will be described with reference to Fig. 21 to Fig. 23. In the following description, components common to those already described will be denoted by the same reference numerals, and duplicated description will be omitted.

[0156] [Electric endoscope system 1000C] FIG. 21 is an overall view of an electric endoscope system 1000C according to this embodiment. 21, the electric endoscope system 1000C includes an endoscope 100C, a driving device 200C, an operation device 300, a treatment tool 400, an image control device 500, and a display device 900. The driving device 200C and the image control device 500 configure a control device 600C that controls the electric endoscope system 1000C.

[0157] [Endoscope 100C] The endoscope 100C includes an insertion section 110C, a connection section 120, an extracorporeal flexible section 140, a detachable section 150C, a bending wire 160C, and an internal structure 170.

[0158] FIG. 22 is a diagram showing the curved portion 112C. The insertion section 110C has a tip section 111, a bending section 112C, and an internal flexible section 119. The bending section 112C has a first bending section 113 on the tip side A1 of the bending section 112C, a second bending section 114 on the base end side A2 of the bending section 112C, and an outer sheath 118. The first bending section 113 and the second bending section 114 can be bent in different directions.

[0159] The bending wire 160C is a wire that bends the bending portion 112C. The bending wire 160C has a first bending wire 161 that bends the first bending portion 113 and a second bending wire 162 that bends the second bending portion 114. The first bending wire 161 and the second bending wire 162 extend through the internal path 101 to the detachable portion 150C.

[0160] The second bending wire 162, like the first bending wire 161, includes a second upper bending wire 162u, a second lower bending wire 162d, a second left bending wire 162l, and a second right bending wire 162r.

[0161] FIG. 23 is a diagram showing the first detachable part 1504 before being attached to the driving device 200C. The detachable part 150C includes a first detachable part 1504 attached to the driving device 200C and a second detachable part 1502 attached to the video control device 500. The first detachable part 1504 includes a first up-down bending wire detachable part 151, a first left-right bending wire detachable part 152, a second up-down bending wire detachable part 153, and a second left-right bending wire detachable part 154.

[0162] The first up-down bending wire attaching / detaching portion 151 is a mechanism that detachably connects wires (a first up bending wire 161u and a first down bending wire 161d) that bend the first bending portion 113 in the UD direction to the driving device 200C.

[0163] The first left / right bending wire attaching / detaching portion 152 is a mechanism that detachably connects wires (a first left bending wire 161l and a first right bending wire 161r) that bend the first bending portion 113 in the LR direction to the driving device 200C.

[0164] The second up-down bending wire attachment / detachment portion 153 has a mechanism similar to that of the first up-down bending wire attachment / detachment portion 151, and is a mechanism for detachably connecting the wires (the second up-down bending wire 162u and the second down-down bending wire 162d) that bend the second bending portion 114 in the UD direction to the drive device 200C.

[0165] The second left / right bending wire attachment / detachment portion 154 has a mechanism similar to that of the first left / right bending wire attachment / detachment portion 152, and is a mechanism for detachably connecting the wires (the second left bending wire 162l and the second right bending wire 162r) that bend the second bending portion 114 in the LR direction to the drive device 200C.

[0166] [Driver 200C] The driving device 200C includes an adaptor 210C, an operation receiving unit 220, an air supply / suction driving unit 230, a wire driving unit 250C, and a driving controller 260C.

[0167] 23, the adapter 210C includes a first adapter 211 and a second adapter 212C. The first adapter 211 is an adapter to which the operation cable 301 is detachably connected. The second adapter 212C is an adapter to which the first detachable portion 1504 of the endoscope 100C is detachably connected.

[0168] The wire driving section 250C is coupled with the first up-down bending wire attaching / detaching section 151, the first left-right bending wire attaching / detaching section 152, the second up-down bending wire attaching / detaching section 153 and the second left-right bending wire attaching / detaching section 154 to drive the bending wire 160C.

[0169] As shown in FIG. 23, the wire driving section 250C has a first up-down bending wire driving section 251, a first left-right bending wire driving section 252, a second up-down bending wire driving section 253, and a second left-right bending wire driving section 254.

[0170] The first up-down bending wire driving section 251 is a mechanism that is coupled with the first up-down bending wire attaching / detaching section 151 and drives wires (the first up-down bending wire 161u and the first down-down bending wire 161d) that bend the first bending section 113 in the UD direction.

[0171] The first left / right bending wire driving section 252 is a mechanism that is coupled with the first left / right bending wire attaching / detaching section 152 and drives wires (the first left bending wire 161l and the first right bending wire 161r) that bend the first bending section 113 in the LR directions.

[0172] The second up-down bending wire driving unit 253 has a mechanism similar to that of the first up-down bending wire driving unit 251, and is a mechanism that drives wires (the second up-down bending wire 162u and the second down-down bending wire 162d) that bend the second bending portion 114 in the UD direction by coupling with the second up-down bending wire attachment / detachment unit 153.

[0173] The second left / right bending wire driving unit 254 has a mechanism similar to that of the first left / right bending wire driving unit 252, and is a mechanism that drives wires (the second left bending wire 162l and the second right bending wire 162r) that are coupled with the second left / right bending wire attachment / detachment unit 154 and bend the second bending portion 114 in the LR direction.

[0174] The drive controller 260C has a configuration similar to that of the drive controller 260 of the first embodiment, and performs bending control on the bending portion 112 based on a bending operation on the bending portion 112C input from the surgeon S to the operation device 300. The drive controller 260C can independently control the first bending portion 113 and the second bending portion 114, and can bend the first bending portion 113 and the second bending portion 114 in different directions (multi-stage bending control).

[0175] The drive controller 260C executes angle-free control in the same manner as the drive controller 260 of the first embodiment. Specifically, the drive controller 260C executes angle-free control when the tension difference between the tension T1u of the first upward bending wire 161u and the tension T1d of the first downward bending wire 161d becomes larger than a predetermined threshold Tth, or when the tension difference between the tension T2u of the second upward bending wire 162u and the tension T2d of the second downward bending wire 162d becomes larger than a predetermined threshold Tth.

[0176] In the angle-free control, the drive controller 260C drives the bending wire 160C by either the push-pull control or the antagonistic control, similarly to the drive controller 260 in the first embodiment.

[0177] The drive controller 260C also performs similar angle-free control on the pair of bending wires 160 (the first left bending wire 161l and the first right bending wire 161r) that bend the first bending portion 113 in the left-right direction (LR direction).

[0178] The drive controller 260C also performs similar angle-free control on the pair of bending wires 160 (the second left bending wire 162l and the second right bending wire 162r) that bend the second bending portion 114 in the left-right direction (LR direction).

[0179] The angle-free control for the bending wire 160C may be changeable by the surgeon S. For example, based on a predetermined operation input from the surgeon S to a control button for angle-free control assigned to the various buttons 352 of the operation device 300, the angle-free control for the first bending portion 113 may be enabled and the angle-free control for the second bending portion 114 may be disabled. For example, in the angle-free control for the first bending portion 113, the angle-free control for the pair of bending wires 160 that bend in the up-down direction may be enabled and the angle-free control for the pair of bending wires 160 that bend in the left-right direction may be disabled. The surgeon S can appropriately set the enablement of the angle-free control for the pair of bending wires 160 according to the type of treatment for the affected area.

[0180] The predetermined threshold value Tth may be changed based on a predetermined operation input from the surgeon S to a control button for angle-free control assigned to the various buttons 352 of the operation device 300. The surgeon S can set the predetermined threshold value Tth appropriately depending on the type of treatment for the affected area. Furthermore, the predetermined threshold value Tth of the tension difference of the first bending wire 161 bending the first bending portion 113 and the predetermined threshold value Tth of the tension difference of the second bending wire 162 bending the second bending portion 114 may be set to different threshold values.

[0181] According to the electric endoscope system 1000C of this embodiment, similarly to the electric endoscope system 1000 of the first embodiment, it is possible to suitably handle bending control (active control) in which the bending section is actively driven electrically, and angle-free control (passive control) in which the bending section is passively driven when an external force is applied.

[0182] Although the third 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 design modifications and the like that do not depart from the gist of the present invention are also included. Also, the components shown in the above embodiment and modified examples can be appropriately combined to form a configuration.

[0183] The programs in each embodiment may be recorded on a computer-readable recording medium, and the programs recorded on the recording medium may be read into a computer system and executed to realize the above. 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, and storage devices such as hard disks built into a computer system. The term "computer-readable recording medium" may also include a medium that dynamically holds a program for a short period of time, such as a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line, and a medium that holds a program for a certain period of time, such as a volatile memory inside a computer system that is a server or client in such a case. The above-mentioned program may be a program for realizing a part of the above-mentioned functions, or may be a program that can realize the above-mentioned functions in combination with a program already recorded in the computer system. [Industrial Applicability]

[0184] The present invention can be applied to a medical system for observing and treating the inside of a hollow organ or the like. [Explanation of symbols]

[0185] 1000, 1000B, 1000C Electric Endoscope System (Medical Manipulator System) 100, 100B, 100C Endoscope (medical manipulator) 110,110C Insertion section 111 Tip 112,112C Curved section 113 First curved part 114 Second curved part 118 Outer sheath 119 Soft parts of the body 120 Connection section 126 Forceps mouth 140 Extracorporeal soft parts 150, 150B, 150C Detachable part 151 First upper and lower bending wire attachment / detachment part 151,151B Up and down bending wire attachment and detachment part 152 First left and right bending wire attachment / detachment part 152,152B Left and right curved wire attachment / detachment part 153 Second upper and lower bending wire attachment / detachment part 154 Second left and right bending wire attachment / detachment part 159 Tension Sensor 160,160C curved wire 161 First curved wire 161d Lower Curved Wire (First Lower Curved Wire) 161l Left curved wire (first left curved wire) 161r Right curved wire (first right curved wire) 161u Upper curved wire (first upper curved wire) 162 Second curved wire 162d Second Lower Curved Wire 162l Second left curved wire 162r Second right curved wire 162u Second upper curved wire 200, 200B, 200C Drive unit 250, 250B, 250C Wire drive unit (actuator) 251 Up-down bending wire driving unit (first up-down bending wire driving unit, first actuator) 251,251B Up and down bending wire drive unit 252 Left and right bending wire driving unit (first left and right bending wire driving unit, second actuator) 252,252B Right and left bending wire drive unit 253 Second up-down bending wire drive unit 254 Second left and right bending wire drive unit 256 Upper curved wire drive unit 257 Lower curved wire drive unit 256A Curved Wire Drive Unit 260, 260B, 260C Drive Controller 300 Operating device 500 Image control device 600,600B,600C Control Unit 900 Display device

Claims

1. A medical manipulator having a bending portion and a bending wire for bending the bending portion; An actuator that drives the bending wire to bend the bending portion; A sensor for detecting tension of the bending wire; A control device for controlling the actuator; Equipped with The bending wire includes a pair of first bending wires that bend the bending portion in a first direction, When a tension difference between the pair of first bending wires is greater than a first threshold value, the control device executes a first tension control to drive at least one of the pair of first bending wires so that the tension difference becomes equal to or less than the first threshold value. Medical manipulator system.

2. An operation device capable of inputting an operation instruction to bend the bending portion is further provided, The control device also performs the first tension control when performing bending control on the bending portion based on a bending operation on the bending portion input to the operation device. The medical manipulator system according to claim 1 .

3. When a tension difference between the pair of first bending wires is greater than the first threshold value, the control device executes the first tension control by feeding out one of the pair of first bending wires having a greater tension and pulling the other wire. The medical manipulator system according to claim 1 .

4. The actuator includes a first actuator that drives one of the pair of first bending wires and a second actuator that drives the other of the pair of first bending wires, When the tension difference is equal to or greater than the first threshold value, the control device executes the first tension control by feeding one of the pair of first bending wires having a larger tension and keeping the tension of the other wire constant. The medical manipulator system according to claim 1 .

5. The control device executes the first tension control such that the movement speed of the bending portion becomes slower as the tension difference becomes smaller. The medical manipulator system according to claim 1 .

6. The bending wire includes a pair of second bending wires that bend the bending portion in a second direction different from the first direction, When a tension difference between the pair of second bending wires is greater than a second threshold value, the control device executes a second tension control to drive at least one of the pair of second bending wires so that the tension difference becomes equal to or less than the second threshold value. The medical manipulator system according to claim 1 .

7. An operation device capable of inputting an operation instruction to bend the bending portion is further provided, The control device can disable at least one of the first tension control and the second tension control based on a predetermined operation input input to the operation device. The medical manipulator system according to claim 6.

8. An operation device capable of inputting an operation instruction to bend the bending portion is further provided, The control device is capable of changing at least one of the first threshold value and the second threshold value based on a predetermined operation input input to the operation device. The medical manipulator system according to claim 6.

9. The curved portion has a first curved portion and a second curved portion, The pair of first bending wires bend the first bending portion in the first direction, The bending wire includes a pair of third bending wires that bend the second bending portion in the first direction, When a tension difference between the pair of third bending wires is greater than a third threshold value, the control device executes a third tension control to drive at least one of the pair of third bending wires so that the tension difference becomes equal to or less than the third threshold value. The medical manipulator system according to claim 6.

10. The bending wire includes a pair of fourth bending wires that bend the second bending portion in the second direction, The control device executes a fourth tension control for driving at least one of the pair of fourth bending wires so that the tension difference becomes equal to or less than the fourth threshold value when the tension difference between the pair of fourth bending wires is greater than a fourth threshold value. The medical manipulator system according to claim 9.

11. An operation device capable of inputting an operation instruction to bend the bending portion is further provided, the control device can disable at least one of the first tension control, the second tension control, the third tension control, and the fourth tension control based on a predetermined operation input input to the operation device. The medical manipulator system according to claim 10.

12. An operation device capable of inputting an operation instruction to bend the bending portion is further provided, The control device is capable of changing at least one of the first threshold value, the second threshold value, the third threshold value, and the fourth threshold value based on a predetermined operation input input to the operation device. The medical manipulator system according to claim 10.

13. 1. A method for controlling a bending motion of a medical manipulator, comprising: When a tension difference between a pair of first bending wires that bend the medical manipulator in a first direction is greater than a first threshold value, a first tension control is executed to drive at least one of the pair of first bending wires so that the tension difference becomes equal to or less than the first threshold value. A method for controlling a medical manipulator.

14. When a tension difference between the pair of first bending wires is greater than the first threshold value, the first tension control is executed by feeding one of the pair of first bending wires having a greater tension and pulling the other wire. The method for controlling a medical manipulator according to claim 13.

15. When the tension difference is equal to or greater than the first threshold value, one of the pair of first bending wires having a larger tension is fed out, and the tension of the other wire is kept constant, thereby executing the first tension control. The method for controlling a medical manipulator according to claim 13.

16. The first tension control is executed so that the bending motion speed of the medical manipulator becomes slower as the tension difference becomes smaller. The method for controlling a medical manipulator according to claim 13.

17. A control device for controlling a bending operation of a medical manipulator, the control device is capable of outputting a control instruction for a pair of first bending wires that bend the medical manipulator in a first direction, and when a tension difference between the pair of first bending wires is greater than a first threshold value, a first tension control is executed to drive at least one of the pair of first bending wires so that the tension difference becomes equal to or less than the first threshold value. Control device.

18. The control device receives an operation input, and also performs the first tension control when controlling the bending of the medical manipulator based on the operation input.

20. The control device of claim 17.

19. When a tension difference between the pair of first bending wires is greater than the first threshold value, the control device executes the first tension control by feeding out one of the pair of first bending wires having a greater tension and pulling the other wire.

20. The control device of claim 17.

20. the control device is capable of controlling a first actuator connected to one of the pair of first bending wires and a second actuator connected to the other of the pair of first bending wires, and when the tension difference is equal to or greater than the first threshold value, executes the first tension control by feeding out one of the pair of first bending wires having a greater tension and keeping the tension of the other wire constant.

20. The control device of claim 17.

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