Medical Manipulator System and Operating Device

Abstract

This medical manipulator system comprises: a medical manipulator including an insertion portion that is inserted into a body; a drive device to which the medical manipulator is detachably connected; and an operating device that is communicatively connected to the drive device and to which an operation for driving the medical manipulator is input. The operating device has a groove that engages a part of the medical manipulator.

Description

Technical Field

[0001] The present invention relates to a medical manipulator system. This application claims priority based on U.S. Provisional Patent Application No. 63 / 314,579, which was provisionally filed in the United States on February 28, 2022, and the content thereof is incorporated herein by reference.

Background Art

[0002] Conventionally, medical manipulator systems used for observing and treating luminal organs such as the digestive tract have been used. In a medical manipulator system, an insertion portion or the like inserted into a luminal organ can be driven electrically. A user can control the operation of the insertion portion or the like from an operation unit disposed outside the body.

[0003] Patent Document 1 describes a medical system including an endoscope driven electrically. Since the endoscope described in Patent Document 1 is driven electrically, the fatigue of an operator can be reduced.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the conventional medical manipulator systems shown in Patent Document 1 and the like are not necessarily easy to use, and are not systems that can more efficiently perform procedures using a manipulator (endoscope).

[0006] In view of the above circumstances, an object of the present invention is to provide a medical manipulator system and an operating device that can more efficiently perform observations and procedures using a manipulator (endoscope).

Means for Solving the Problems

[0007] 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 an insertion portion to be inserted into a body, a driving device to which the medical manipulator is detachably connected, and an operation device communicably connected to the driving device and into which an operation for driving the medical manipulator is input. The operation device has a groove that engages with a part of the medical manipulator. The medical manipulator has a connecting part and an extracorporeal flexible part. The connecting part connects the insertion part and the extracorporeal flexible part so as to be rotatable about a rotation axis extending in the longitudinal direction of the medical manipulator. The connecting part has a fitting part that fits into the groove of the operating device. do.

Effect of the Invention

[0008] According to the medical manipulator system and the operation device of the present invention, observation and treatment using the manipulator can be carried out more efficiently.

Brief Description of the Drawings

[0009]

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Mode for Carrying Out the Invention

[0010] (First Embodiment) The electric endoscope system 1000 according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 22. FIG. 1 is an overall view of the electric endoscope system 1000 according to the present embodiment. The electric endoscope system 1000 is an example of a medical manipulator system. The medical manipulator includes an endoscope driven by electricity, a catheter, a treatment tool, an endoluminal device, etc. that are inserted into the body.

[0011] [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 drive device 200, an operation device 300, a treatment tool 400, a video 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 the affected area. The endoscope 100 is detachable from the drive device 200. An internal path 101 is formed inside the endoscope 100. In the following description, in the endoscope 100, the side inserted into the lumen of the patient P is referred to as the "tip side (distal side) A1", and the side attached to the drive device 200 is referred to as the "base end side (proximal side) A2".

[0013] The drive device 200 is detachably connected to the endoscope 100 and the operation device 300. The drive device 200 drives a built-in motor based on an operation input to the operation device 300 to electrically drive the endoscope 100. Also, the drive device 200 drives a built-in pump or the like based on an operation input to the operation device 300 to perform air supply and suction on the endoscope 100. Note that in the following description, "air supply" may include not only air supply but also water supply.

[0014] 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 by wireless communication instead of wired communication. The operator S can electrically drive the endoscope 100 by operating the operation device 300.

[0015] The treatment tool 400 is a device that is inserted into the lumen of the patient P through the internal path 101 of the endoscope 100 to treat the affected area. In FIG. 1, the treatment tool 400 is inserted into the internal path 101 of the endoscope 100 from the forceps port 126.

[0016] The video control device 500 is detachably connected to the endoscope 100 and acquires captured images from the endoscope 100. The video control device 500 causes a display device 900 to display the captured images acquired from the endoscope 100, GUI images for the purpose of providing information to the operator, and CG images.

[0017] The drive device 200 and the video control device 500 constitute a control device 600 that controls the electric endoscope system 1000. The control device 600 may further include peripheral devices such as a video printer. The drive device 200 and the video control device 500 may be an integrated device.

[0018] The display device 900 is a device capable of displaying an image such as an LCD. The display device 900 is connected to the video control device 500 via a display cable 901.

[0019] FIG. 2 is a diagram showing the endoscope 100 and the operation device 300 used by the operator S. For example, while observing the captured image displayed on the display device 900, the operator S operates the operation device 300 with the left hand L while operating the endoscope 100 inserted into the lumen from the anus of the patient P with the right hand R. Since the endoscope 100 and the operation device 300 are separated, the operator S can operate them independently without affecting each other.

[0020] [Endoscope 100] As shown in FIG. 1, the endoscope 100 includes an insertion portion 110, a connection portion 120, an extracorporeal flexible portion 140, a detachable portion 150, a bending wire 160 (see FIG. 6), and a built-in object 170 (see FIG. 6). The insertion portion 110, the connection portion 120, the extracorporeal flexible portion 140, and the detachable portion 150 are connected in order from the distal end side.

[0021] FIG. 3 is a diagram showing the insertion portion 110 of the endoscope 100. Inside the endoscope 100, an internal path 101 extending along the longitudinal direction A of the endoscope 100 from the distal end of the insertion portion 110 to the proximal end of the detachable portion 150 is formed. The bending wire 160 and the built-in object 170 are inserted into the internal path 101.

[0022] The built-in object 170 includes a channel tube 171, a suction tube 172 (see FIG. 9), an imaging cable 173, a light guide 174, and an air / water supply tube 175.

[0023] [Insertion part 110] The insertion part 110 is an elongated member that can be inserted into the lumen. The insertion part 110 has a tip part 111, a bending part 112, and a body flexible part 119. The tip part 111, the bending part 112, and the body flexible part 119 are connected in order from the tip side.

[0024] As shown in FIG. 3, the tip part 111 has an opening part 111a, a lighting part 111b, an imaging part 111c, and an air / water supply nozzle 111d. The opening part 111a is an opening that communicates with the channel tube 171. As shown in FIG. 3, a treatment part 410 such as gripping forceps provided at the tip of the treatment tool 400 inserted through the channel tube 171 protrudes from and retracts into the opening part 111a. The air / water supply nozzle 111d is an opening that communicates with the air / water supply tube 175. Water or air in a tank installed near the control device 600 is sent out from the air / water supply nozzle 111d via the air / water supply tube 175.

[0025] The lighting part 111b is connected to a light guide 174 that guides illumination light and emits illumination light for illuminating the imaging target. The imaging part 111c includes an imaging element such as a CMOS and images the imaging target. The imaging signal is sent to the video control device 500 via the imaging cable 173.

[0026] FIG. 4 is a view showing a cross-section of a part of the bending part 112. The bending part 112 has a plurality of joint rings (also referred to as bending pieces) 115, a tip part 116 connected to the tips of the plurality of joint rings 115, and an outer sheath 118 (see FIG. 3). The plurality of joint rings 115 and the tip part 116 are connected in the longitudinal direction A inside the outer sheath 118. Note that the shape and number of the joint rings 115 included in the bending part 112 are not limited to the shape and number of the joint rings 115 shown in FIG. 4.

[0027] FIG. 5 is an enlarged view of the joint ring 115 in the region E shown in FIG. 4. The joint ring 115 is a short cylindrical member formed of metal. A plurality of joint rings 115 are connected such that the internal spaces of adjacent joint rings 115 become a continuous space.

[0028] The joint ring 115 has a first joint ring 115a on the tip side and a second joint ring 115b on the base end side. The first joint ring 115a and the second joint ring 115b are rotatably connected by a first rotation pin 115p in the vertical direction (also referred to as 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 end side are rotatably connected by a second rotation pin 115q in the left - right direction (also referred to as the "LR direction") perpendicular to the longitudinal direction A and the UD direction.

[0030] The first joint ring 115a and the second joint ring 115b are alternately connected by the first rotation pin 115p and the second rotation pin 115q, and the curved portion 112 can be curved in a desired direction.

[0031] FIG. 6 is a cross - sectional view of the curved portion 112 along the line C1 - C1 in FIGS. 4 and 5. On the inner peripheral surface of the second joint ring 115b, an upper wire guide 115u and a lower wire guide 115d are formed. 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 interposed therebetween. On the inner peripheral surface of the first joint ring 115a, a left wire guide 115l and a right wire guide 115r are formed. 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 interposed therebetween.

[0032] Through - holes through which the curved wire 160 is inserted are formed along the longitudinal direction A in the upper wire guide 115u, the lower wire guide 115d, the left wire guide 115l, and the right wire guide 115r.

[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 includes 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] The upper bending wire 161u, the lower bending wire 161d, the left bending wire 161l, and the right bending wire 161r are each inserted through a wire sheath 161s as shown in FIG. 4. The tip of the wire sheath 161s is attached to the joint ring 115 at the proximal 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] As shown in FIG. 4, the tips of the upper bending wire 161u and the lower bending wire 161d are fixed to the tip portion 116 at the tip of the bending portion 112. The tips of the upper bending wire 161u and the lower 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 interposed therebetween.

[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 is inserted through the left wire guide 115l. The right bending wire 161r is inserted through the right wire guide 115r.

[0038] As shown in FIG. 4, the tips of the left bending wire 161l and the right bending wire 161r are fixed to the tip portion 116 at the tip of the bending portion 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 LR direction with the central axis O in the longitudinal direction A interposed therebetween.

[0039] The bending section 112 is bendable in a desired direction by pulling or relaxing the bending wires 160 (upper bending wire 161u, lower bending wire 161d, left bending wire 161l, right bending wire 161r), respectively.

[0040] As shown in FIG. 6, the bending wire 160, the channel tube 171, the imaging cable 173, the light guide 174, and the air / water supply tube 175 are inserted into the internal path 101 formed inside the bending section 112.

[0041] The in-vivo flexible section 119 is a long and flexible tubular member. The bending wire 160, the channel tube 171, the imaging cable 173, the light guide 174, and the air / water supply tube 175 are inserted into the internal path 101 formed in the in-vivo flexible section 119.

[0042] [Connector 120] FIG. 7 is a perspective view of the connector 120. FIG. 8 is a partial perspective view of the connector 120. The connector 120 is a member that connects the in-vivo flexible section 119 and the out-of-vivo flexible section 140 of the insertion section 110. The connector 120 includes a cylindrical member 121, a connector body 122, a seal section 123, a bearing section 124, a cover member 125, a forceps opening 126, and a three-way branch tube 127.

[0043] FIG. 9 is a cross-sectional view of the connector 120. The cylindrical member 121 is formed in a cylindrical shape. The internal space of the cylindrical member 121 communicates with the internal space of the in-vivo flexible section 119 and forms a part of the internal path 101. The bending wire 160, the channel tube 171, the imaging cable 173, the light guide 174, and the air / water supply tube 175 are inserted into the internal space of the cylindrical member 121. A magnetic ring 121s is attached to the outer peripheral surface of the cylindrical member 121 along the circumferential direction.

[0044] The connecting portion body 122 is formed in a substantially cylindrical shape. The connecting portion body 122 has a tip end portion 122a and a base end portion 122b. The base end portion 121b of the cylindrical member 121 is inserted into the tip end opening of the tip end portion 122a. The tip end portion 140a of the extracorporeal flexible portion 140 is joined to the base end portion 122b by an adhesive, heat fusion, or the like. The internal space of the connecting portion body 122 communicates with the internal space of the extracorporeal flexible portion 140 and forms a part of the internal path 101.

[0045] The seal portion 123 has a housing 123h and a ring 123r. The inner side of the housing 123h is fixed to the outer circumference of the cylindrical member 121. The outer side of the housing 123h is in contact with the inner circumferential surface of the tip end portion 125a of the cover member 125 via the ring 123r.

[0046] FIG. 10 is a perspective view of the cylindrical member 121 and the bearing portion 124. The bearing portion 124 rotatably connects the connecting portion body 122 and the cylindrical member 121 about a rotation axis RO extending in the longitudinal direction A. Specifically, the bearing portion 124 is fixed to the connecting portion body 122. The bearing portion 124 rotatably supports the cylindrical member 121 about a rotation axis RO extending in the longitudinal direction A.

[0047] The connecting portion body 122 has a magnetic sensor (not shown) that detects the rotation of the magnetic ring 121s, and can detect the rotation angle of the cylindrical member 121 with respect to the connecting portion body 122. The detected rotation angle is transmitted to the control device 600 via a transmission cable (not shown).

[0048] The base end portion 119b of the intracorporeal flexible portion 119 is fixed to the outside of the housing 123h. Therefore, the intracorporeal flexible portion 119, the housing 123h, and the cylindrical member 121 rotate integrally with respect to the connecting portion body 122. The base end portion 119b of the intracorporeal flexible portion 119, the housing 123h, and the cylindrical member 121 are also referred to as a "passive rotation portion".

[0049] The cover member 125 is a member that covers the outer periphery of the connecting portion main body 122. The cover member 125 has a first opening 125b through which the extracorporeal flexible portion 140 passes and a second opening 125c through which the forceps port 126 passes. The gap between the first opening 125b and the extracorporeal flexible portion 140 is sealed by a seal member. The gap between the second opening 125c and the forceps port 126 is sealed by a seal member.

[0050] The forceps port 126 is an insertion port for inserting the treatment instrument 400. The forceps port 126 is formed in a cylindrical shape and is attached to the cover member 125. The proximal end portion 126b of the forceps port 126 protrudes from the second opening 125c of the cover member 125.

[0051] The three-way branch tube 127 connects the proximal end portion 171b of the channel tube 171, the distal end portion 126a of the forceps port 126, and the distal end portion 172a of the suction tube 172. The channel tube 171 and the suction tube 172 are connected via the three-way branch tube 127. Also, the forceps port 126 and the channel tube 171 are connected via the three-way branch tube 127. The operator S can insert the treatment instrument 400 from the proximal end portion 126b of the forceps port 126 and insert the treatment instrument 400 through the channel tube 171.

[0052] The intracorporeal flexible portion 119 and the extracorporeal flexible portion 140 are rotatably connected by the connecting portion 120 about the rotation axis RO extending in the longitudinal direction A. Therefore, as shown in FIG. 2, when the operator S rotates the intracorporeal flexible portion 119 of the insertion portion 110 about the rotation axis RO extending in the longitudinal direction A, only the intracorporeal flexible portion 119 can be rotated without rotating the extracorporeal flexible portion 140 extending to the vicinity of the drive device 200. Therefore, the operator S can easily perform a rotation operation on the intracorporeal flexible portion 119.

[0053] On the one hand, since friction is generated when the internal flexible part 119 and the external flexible part 140 rotate relative to each other, they do not rotate relative to each other unless a force equal to or greater than a predetermined value is applied. The frictional force is adjusted so that the internal flexible part 119 does not rotate relative to the external flexible part 140 unless the operator S rotates the internal flexible part 119 of the insertion part 110. Therefore, for example, even when the operator S releases the right hand R from the internal flexible part 119 to operate the treatment instrument 400, the internal flexible part 119 does not rotate relative to the external flexible part 140.

[0054] Further, when the operator S rotates the internal flexible part 119 of the insertion part 110 about the rotation axis RO extending in the longitudinal direction A, the forceps mouth 126 attached to the connecting part main body 122, which is a part that does not rotate in conjunction with the internal flexible part 119, does not rotate. Since the position of the forceps mouth 126 into which the treatment instrument 400 is inserted does not change, the operator S can easily operate the treatment instrument 400.

[0055] The proximal end portion 121b of the cylindrical member 121 is inserted into the inside of the connecting part main body 122. Therefore, the bending wire 160 and the like that pass through the cylindrical member 121 and the connecting part main body 122 mainly pass through the internal space of the cylindrical member 121 and are less likely to come into contact with the connecting part main body 122 that rotates relative to the cylindrical member 121. Therefore, even when the cylindrical member 121 and the connecting part main body 122 rotate relative to each other, the bending wire 160 and the like are twisted throughout the long internal path 101, so that the torsional stress is less likely to concentrate.

[0056] [External flexible part 140] The external flexible part 140 is a long tubular member. The internal path 101 formed inside the external flexible part 140 has a bending wire 160, an imaging cable 173, a light guide 174, a suction tube 172 (see FIG. 9), and an air / water supply tube 175 inserted therethrough.

[0057] [Detachable part 150] As shown in FIG. 1, the detachable part 150 includes a first detachable part 1501 attached to the drive device 200 and a second detachable part 1502 attached to the video control device 500. Note that the first detachable part 1501 and the second detachable part 1502 may be an integral detachable part.

[0058] The internal path 101 formed inside the extracorporeal flexible part 140 branches into a first detachable part 1501 and a second detachable part 1502. The curved wire 160, the suction tube 172, and the air / water supply tube 175 are inserted through the first detachable part 1501. The imaging cable 173 and the light guide 174 are inserted through the second detachable part 1502.

[0059] FIG. 11 is a diagram showing the first detachable part 1501 before being attached to the drive device 200. The first detachable part 1501 has an up / down curved wire detachable part 151, a left / right curved wire detachable part 152, and a scope ID storage part 158.

[0060] The up / down curved wire detachable part 151 is a mechanism for detachably connecting the wires (the upper curved wire 161u and the lower curved wire 161d) that bend the bending part 112 in the UD direction to the drive device 200.

[0061] The left / right curved wire detachable part 152 is a mechanism for detachably connecting the wires (the left curved wire 161l and the right curved wire 161r) that bend the bending part 112 in the LR direction to the drive device 200.

[0062] Since the left / right curved wire detachable part 152 has the same structure as the up / down curved wire detachable part 151, the illustration and description thereof are omitted.

[0063] FIG. 12 is a diagram showing the up / down curved wire detachable part 151 before being attached to the drive device 200. FIG. 13 is a diagram showing the up / down curved wire detachable part 151 attached to the drive device 200. The up / down curved wire detachable part 151 has a support member 155, a first driven part 156, a second driven part 157, and a tension sensor 159.

[0064] The support member 155 supports the first driven part 156, the second driven part 157, and the scope ID storage part 158. The support member 155 has a detachment detection dog 155a exposed on the proximal end side of the up / down curved wire detachable part 151 and a plurality of bend pulleys 155p.

[0065] The bend pulley 155p changes the conveyance direction of the upper bending wire 161u that passes through the extracorporeal flexible part 140, and guides the upper bending wire 161u to the first driven part 156. Further, the bend pulley 155p changes the conveyance direction of the lower bending wire 161d that passes through the extracorporeal flexible part 140, and guides the lower bending wire 161d to the second driven part 157.

[0066] The first driven part (driving force transmission part) 156 is a member into which the driving force for driving the bending part 112 (movable part) is input. In the present embodiment, the first driven part 156 is a rotating drum. The first driven part 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 driven part 156 has a first winding pulley 156a and a first coupling part 156c. Note that the first driven part 156 is not limited to a rotating drum.

[0067] The first winding pulley 156a pulls or feeds out the upper bending wire 161u by rotating about the first drum rotation shaft 156r. When the first winding pulley 156a rotates clockwise as viewed from the tip side toward the base end side, the upper bending wire 161u is wound around the first winding pulley 156a and pulled. Conversely, when the first winding pulley 156a rotates counterclockwise, the upper bending wire 161u is fed out from the first winding pulley 156a. With this configuration, even if the amount of advance and retreat of the upper bending wire 161u is large, the pulled part is compactly stored and does not take up space.

[0068] The first coupling part 156c is a disk member that rotates about the first drum rotation shaft 156r. The first coupling part 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 part 156c is exposed on the base end side of the upper and lower bending wire attachment / detachment part 151. Two first fitting convex parts 156d are formed on the surface of the base end side of the first coupling part 156c. The two first fitting convex parts 156d are formed on both sides with the first drum rotation shaft 156r interposed therebetween.

[0069] The second driven part 157 is a member to which a driving force for driving the bending part 112 (movable part) is input. In the present embodiment, the second driven part 157 is a rotary drum. The second driven part 157 is supported by a support member 155 so as to be rotatable about a second drum rotation axis 157r extending along the longitudinal direction A. The second driven part 157 has a second winding pulley 157a and a second coupling part 157c. Note that the second driven part 157 is not limited to a rotary drum.

[0070] The second winding pulley 157a pulls or feeds out the lower bending wire 161d by rotating about the second drum rotation axis 157r. When the second winding pulley 157a rotates counterclockwise as viewed from the tip side toward the base end side, the lower bending wire 161d is wound around the second winding pulley 157a and pulled. Conversely, when the second winding pulley 157a rotates clockwise, the lower bending wire 161d is fed out from the second winding pulley 157a.

[0071] The second coupling part 157c is a disk member that rotates about the second drum rotation axis 157r. The second coupling part 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 part 157c is exposed on the base end side of the upper and lower bending wire attaching / detaching part 151. Two second fitting convex parts 157d are formed on the surface of the base end side of the second coupling part 157c. The two second fitting convex parts 157d are formed on both sides with the second drum rotation axis 157r interposed therebetween.

[0072] In the following description, when the first driven part 156 and the second driven part 157 are not distinguished, these are referred to as "driven part 15X". The number of driven parts 15X required to drive the endoscope 100 is four.

[0073] The scope ID storage unit 158 has a non-volatile memory that stores the scope ID of the endoscope 100. The scope ID is an ID indicating the type, specifications, etc. of the endoscope 100. The scope ID is acquired by the drive controller 260 via electrical wiring (not shown). Based on the acquired scope ID, the drive controller 260 can recognize the number of driven parts 15X that need to be driven in the attached first detachable part 1501 and the arrangement of the driven parts 15X.

[0074] The tension sensor 159 detects the tension of the upper bending wire 161u and the lower bending wire 161d. The detection result of the tension sensor 159 is acquired by the drive controller 260 via electrical wiring (not shown).

[0075] [Drive device 200] Figure 14 is a functional block diagram of the drive device 200. The drive device 200 includes an adapter 210, an operation reception unit 220, an air supply and suction drive unit 230, a wire drive unit (actuator) 250, and a drive controller 260.

[0076] As shown in FIG. 11, the adapter 210 has a first operation adapter 211A, a second operation adapter 211B, and an endoscope adapter 212. The first operation adapter 211A and the second operation adapter are adapters to which the operation cable 301 is detachably connected.

[0077] Figure 15 is a diagram showing the endoscope adapter 212. The endoscope adapter 212 is an adapter to which the first detachable part 1501 of the endoscope 100 is detachably connected. The endoscope adapter 212 is provided so as to surround the wire drive unit 250. When the first detachable part 1501 is connected to the endoscope adapter 212, the upper and lower bending wire detachable parts 151 and the left and right bending wire detachable parts 152 can be coupled to the wire drive unit 250.

[0078] The operation reception unit 220 receives operation inputs from the operation device 300 via the operation cable 301. When the operation device 300 and the drive device 200 communicate with each other by wireless communication instead of wired communication, the operation reception unit 220 has a known wireless reception module.

[0079] The air supply and suction drive unit 230 is connected to the suction tube 172 and the air supply / water supply tube 175 inserted into the internal path 101 of the endoscope 100. The air supply and suction drive unit 230 includes a pump or the like, and supplies air or water to the air supply / water supply tube 175. Further, the air supply and suction drive unit 230 sucks air from the suction tube 172.

[0080] The wire drive unit (actuator) 250 is coupled to the vertical bending wire attachment / detachment unit 151 and the horizontal bending wire attachment / detachment unit 152 to drive the bending wire 160.

[0081] As shown in FIGS. 10 and 12, the wire drive unit 250 includes a support member 250a, a first drive unit (first actuator) 251, a second drive unit (second actuator) 252, a third drive unit (third actuator) 253, a fourth drive unit (fourth actuator) 254, a fifth drive unit (fifth actuator) 255, a sixth drive unit (sixth actuator) 256, a seventh drive unit (seventh actuator) 257, an eighth drive unit (eighth actuator) 258, and an attachment / detachment sensor 259.

[0082] In the following description, when the first drive unit 251, the second drive unit 252, the third drive unit 253, the fourth drive unit 254, the fifth drive unit 255, the sixth drive unit 256, the seventh drive unit 257, and the eighth drive unit 258 are not distinguished, they are referred to as "drive unit 25X". The number of drive units 25X (eight) is larger than the number of driven units 15X (four) required to drive the endoscope 100. Note that the number of drive units 25X included in the wire drive unit 250 is not limited to eight.

[0083] The plurality of drive units 25X are arranged in a grid pattern when viewed from the tip side A1. In the present embodiment, eight drive units 25X are arranged in four in the horizontal direction and two in the vertical direction. Note that the arrangement pattern of the plurality of drive units 25X is not limited to this.

[0084] The endoscope adapter 212 can be connected to the first detachable portion 1501 in various manners. The endoscope adapter 212 shown in FIG. 1 is connected to the first detachable portion 1501 such that the first drive unit 251, the second drive unit 252, the third drive unit 253, and the fourth drive unit 254 drive the bending wire 160. Further, the endoscope adapter 212 may be connected to the first detachable portion 1501 such that the fifth drive unit 255, the sixth drive unit 256, the seventh drive unit 257, and the eighth drive unit 258 drive the bending wire 160. That is, two first detachable portions 1501 can be simultaneously connected to the endoscope adapter 212.

[0085] The plurality of drive units 25X to which one first detachable portion 1501 is attached are referred to as a "drive unit group 25G". In the present embodiment, the first drive unit 251, the second drive unit 252, the third drive unit 253, and the fourth drive unit 254 to which one of the two first detachable portions 1501 that can be attached to the endoscope adapter 212 is attached are referred to as a "first drive unit group 25G1". Also, the fifth drive unit 255, the sixth drive unit 256, the seventh drive unit 257, and the eighth drive unit 258 to which the other first detachable portion 1501 is attached are referred to as a "second drive unit group 25G2".

[0086] Note that the connection manner between the endoscope adapter 212 and the first detachable portion 1501 is not limited to this. For example, the endoscope adapter 212 may be connected to the first detachable portion 1501 such that any four drive units 25X selected from the eight drive units 25X drive the bending wire 160.

[0087] The first drive unit 251 and the second drive unit 252 are provided adjacent to each other along the vertical direction. The first drive unit 251 and the second drive unit 252 are coupled to, for example, the vertical bending wire attachment / detachment unit 151 to drive wires (the upper bending wire 161u and the lower bending wire 161d) that bend the bending portion 112 in the UD direction.

[0088] The third drive unit 253 and the fourth drive unit 254 are provided adjacent to each other along the vertical direction. The third drive unit 253 and the fourth drive unit 254 are coupled to, for example, the left-right bending wire attachment / detachment unit 152 to drive wires (the left bending wire 161l and the right bending wire 161r) that bend the bending portion 112 in the LR direction.

[0089] Since the third drive unit 253 and the fourth drive unit 254 have the same structure as the first drive unit 251 and the second drive unit 252, illustration and description thereof are omitted.

[0090] Since the fifth drive unit 255 and the sixth drive unit 256 have the same structure as the first drive unit 251 and the second drive unit 252, illustration and description thereof are omitted.

[0091] Since the seventh drive unit 257 and the eighth drive unit 258 have the same structure as the first drive unit 251 and the second drive unit 252, illustration and description thereof are omitted.

[0092] The first drive unit 251 illustrated in FIG. 12 is coupled to the first driven unit 156 of the vertical bending wire attachment / detachment unit 151 to drive the upper bending wire 161u. The first drive unit 251 includes a first shaft 251a, a first motor unit 251b, a first coupled portion 251c, a first torque sensor 251e, and a first elastic member 251s.

[0093] The first shaft 251a is supported by a support member 250a so as to be rotatable about the first shaft rotation axis 251r and movable forward and backward in the longitudinal direction A. When the first attachment / detachment unit 1501 of the endoscope 100 is attached to the drive device 200, the first shaft rotation axis 251r coincides with the first drum rotation axis 156r.

[0094] The first motor unit 251b includes a first motor such as a DC motor, a first motor driver for driving the first motor, and a first motor encoder. The first motor rotates the first shaft 251a about the first shaft rotation axis 251r. The first motor driver is controlled by the drive controller 260.

[0095] The first coupling part 251c is a disc member that rotates about the first shaft rotation axis 251r. The first coupling part 251c is fixed to the tip of the first shaft 251a and rotates integrally with the first shaft 251a. As shown in FIG. 12, the first coupling part 251c is exposed on the tip side A1 of the wire drive part 250. Two first fitting recesses 251d are formed on the surface of the tip side A1 of the first coupling part 251c. The two first fitting recesses 251d are formed on both sides with the first shaft rotation axis 251r interposed therebetween.

[0096] As shown in FIG. 13, the first fitting convex part 156d and the first fitting recess 251d are fitted together, and the first coupling part 156c and the first coupling part 251c are coupled. As a result, the rotation of the first shaft 251a by the first motor unit 251b is transmitted to the first driven part 156. When the first shaft 251a rotates clockwise when viewed from the tip side A1 toward the base end side A2, the upper curved wire 161u is pulled. Conversely, when the first shaft 251a rotates counterclockwise, the upper curved wire 161u is fed out.

[0097] The first torque sensor 251e detects the rotational torque about the first shaft rotation axis 251r of the first shaft 251a. The detection result of the first torque sensor 251e is acquired by the drive controller 260.

[0098] The first elastic member 251s is, for example, a compression spring, with its tip in contact with the first coupled portion 251c and its base end in contact with the support member 250a. The first elastic member 251s biases the first coupled portion 251c toward the tip side A1. As shown in FIG. 13, when the first coupling portion 156c is attached, the first coupled portion 251c moves toward the base end side A2 together with the first shaft 251a.

[0099] The second drive unit 252 illustrated in FIG. 12 is coupled to the second driven portion 157 of the vertical bending wire attachment / detachment portion 151 to drive the lower bending wire 161d. The second drive unit 252 includes a second shaft 252a, a second motor unit 252b, a second coupled portion 252c, a second torque sensor 252e, and a second elastic member 252s.

[0100] The second shaft 252a is supported by the support member 250a so as to be rotatable about the second shaft rotation axis 252r and movable forward and backward in the longitudinal direction A. When the first attachment / detachment portion 1501 of the endoscope 100 is attached to the drive device 200, the second shaft rotation axis 252r coincides with the second drum rotation axis 157r.

[0101] The second motor unit 252b 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 252a about the second shaft rotation axis 252r. The second motor driver is controlled by the drive controller 260.

[0102] The second coupled portion 252c is a disk member that rotates about the second shaft rotation axis 252r. The second coupled portion 252c is fixed to the tip of the second shaft 252a and rotates integrally with the second shaft 252a. As shown in FIG. 12, the second coupled portion 252c is exposed on the tip side A1 of the wire drive unit 250. Two second fitting recesses 252d are formed on the surface of the tip side A1 of the second coupled portion 252c. The two second fitting recesses 252d are formed on both sides with the second shaft rotation axis 252r interposed therebetween.

[0103] As shown in FIG. 13, the second fitting convex portion 157d and the second fitting concave portion 252d are fitted together, and the second coupling portion 157c and the second coupled portion 252c are coupled. As a result, the rotation of the second shaft 252a by the second motor portion 252b is transmitted to the second driven portion 157. When the second shaft 252a rotates counterclockwise as viewed from the tip side A1 toward the base end side A2, the lower curved wire 161d is pulled. Conversely, when the second shaft 252a rotates clockwise, the lower curved wire 161d is fed out.

[0104] The second torque sensor 252e detects the rotational torque about the second shaft rotation axis 252r of the second shaft 252a. The detection result of the second torque sensor 252e is acquired by the drive controller 260.

[0105] The second elastic member 252s is, for example, a compression spring, and its tip is in contact with the second coupled portion 252c and its base end is in contact with the support member 250a. The second elastic member 252s biases the second coupled portion 252c toward the tip side A1. As shown in FIG. 13, when the second coupling portion 157c is attached, the second coupled portion 252c moves toward the base end side A2 together with the second shaft 252a.

[0106] As shown in FIG. 13, the attachment / detachment sensor 259 detects the attachment / detachment of the first attachment portion 1501 to the wire drive portion 250 by detecting the engagement and disengagement with the attachment / detachment detection dog 155a. The attachment / detachment sensor 259 is provided individually for eight drive portions 25X, and can detect the drive portion 25X used by the attached first attachment portion 1501. The detection result of the attachment / detachment sensor 259 is acquired by the drive controller 260.

[0107] With the above mechanism, when the vertical bending wire attachment / detachment part 151 is attached to the first drive part 251 and the second drive part 252, the first drive part 251 can drive the upper bending wire 161u independently, and the second drive part 252 can drive the lower bending wire 161d independently. Similarly, when the left-right bending wire attachment / detachment part 152 is attached to the third drive part 253 and the fourth drive part 254, the third drive part 253 can drive the left bending wire 161l independently, and the fourth drive part 254 can drive the right bending wire 161r independently. Therefore, even when the distance from the bending part 112 of the endoscope 100 to the drive device 200 is longer compared with that of the conventional flexible endoscope, the bending operation of the bending part 112 can be controlled with high precision.

[0108] The drive controller 260 controls the entire drive device 200. The drive controller 260 acquires the operation input received by the operation reception part 220. The drive controller 260 controls the air supply / suction drive part 230 and the wire drive part 250 based on the acquired operation input.

[0109] The drive controller 260 is a program-executable computer including a processor 261, a memory 262, a storage part 263 capable of storing programs and data, and an input / output control part 264. The functions of the drive controller 260 are realized by the processor 261 executing a program. At least some of the functions of the drive controller 260 may be realized by dedicated logic circuits.

[0110] Since the drive controller 260 controls a plurality of motors for driving a plurality of bending wires 160 with high precision, it is desirable to have high computing performance.

[0111] The program for controlling the drive controller 260 stored in the storage part 263 can drive a plurality of endoscopes 100 connected to the wire drive part 250 independently.

[0112] The storage unit 263 stores a database of the endoscope 100 in which the scope ID of the endoscope 100 is associated with information of the endoscope 100 such as the type and specifications of the endoscope 100. The drive controller 260 can recognize the information of the endoscope 100 from the scope ID by referring to the database.

[0113] Note that the drive controller 260 may further include a configuration other than the processor 261, the memory 262, the storage unit 263, and the input / output control unit 264. For example, the drive controller 260 may further include an image calculation unit that performs part or all of image processing and image recognition processing. By further including the image calculation unit, the 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 by a communication line.

[0114] [Operation device 300] FIG. 16 is a perspective view of the operation device 300. The operation device 300 is a device for inputting an operation for driving the endoscope 100. The input operation input is transmitted to the drive device 200 via the operation cable 301. The operation device 300 may be communicable with the drive device 200 by wireless communication instead of wired communication.

[0115] FIG. 17 is a perspective view of the operation device 300 as viewed from the back. The operation device 300 includes an operation unit main body 310, an air / water supply button 351, a suction button 352, various buttons 350, a touch pad 380, and a touch sensor 381.

[0116] The operation unit main body 310 is formed in a substantially prismatic shape that can be held by the operator S's left hand L. The operation unit main body 310 has a touch pad support portion 314 provided above, a grip portion 316 provided below, and a handle 317 provided at the rear. As shown in FIG. 16, the operator S can operate the touch pad 380 with the thumb FT of the left hand L while gripping the grip portion 316 with the left hand L.

[0117] The touch pad 380 is a touch-sensitive interface to which a bending operation or the like with respect to the bent portion 112 is input. The touch pad 380 may be a touch panel.

[0118] [Video control device 500] FIG. 18 is a functional block diagram of the video control device 500. The video control device 500 controls the electric endoscope system 1000. The video control device 500 includes a first endoscope adapter 510A, a second endoscope adapter 510B, an imaging processing unit 520, a light source unit 530, and a main controller 560.

[0119] The first endoscope adapter 510A and the second endoscope adapter 510B are adapters to which the second detachable portion 1502 of the endoscope 100 is detachably connected.

[0120] The imaging processing unit 520 converts an imaging signal acquired from the imaging unit 111c at the distal end portion 111 via the imaging cable 173 into an imaging image.

[0121] 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 at the distal end portion 111 via the light guide 174.

[0122] The main controller 560 is a program-executable computer 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 some of the functions of the main controller 560 may be realized by a dedicated logic circuit.

[0123] The main controller 560 has a processor 561, a memory 562 capable of reading a program, a storage unit 563, and an input / output control unit 564.

[0124] The storage unit 563 is a non-volatile recording medium that stores the above-described programs and necessary data. The storage unit 563 is composed of, for example, a ROM, a hard disk, or the like. The program recorded in the storage unit 563 is read into the memory 562 and executed by the processor 561.

[0125] 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 performs data transmission / reception and control signal transmission / reception to / from the connected devices based on the control of the processor 561.

[0126] 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 a GUI image and a CG image for the purpose of providing information to the operator S. The main controller 560 can display the captured image, the GUI image, and the CG image on the display device 900.

[0127] 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 as 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.

[0128] The main controller 560 may further have a configuration other than the processor 561, the memory 562, the storage unit 563, and the input / output control unit 564. For example, the main controller 560 may further have an image operation unit that performs part or all of the image processing and image recognition processing performed by the processor 561. By further having the image operation unit, the main controller 560 can execute specific image processing and image recognition processing at high speed. The image operation unit may be mounted on a separate hardware device connected via a communication line.

[0129] [Operation of the Electric Endoscope System 1000] Next, the operation of the electric endoscope system 1000 of the present embodiment will be described. Specifically, the operation of the drive controller 260 of the control device 600 of the electric endoscope system 1000 will be described.

[0130] Hereinafter, the description will be made along the control flowchart of the drive controller 260 of the control device 600 shown in FIG. 19. When the control device 600 is activated, after the drive controller 260 performs initialization, it starts the control flow shown in FIG. 19 (step S100). Next, the drive controller 260 (mainly the processor 261) executes step S110.

[0131] <Step S110> In step S110, the drive controller 260 detects whether the first detachable portion 1501 of the endoscope 100 is attached to the wire drive unit 250. If the first detachable portion 1501 of the endoscope 100 is attached to the wire drive unit 250, the drive controller 260 then executes step S120.

[0132] <Step S120> In step S120, the drive controller 260 reads out the scope ID stored in the first detachable portion 1501 of the attached endoscope 100. If a plurality of endoscopes 100 are attached to the wire drive unit 250, the drive controller 260 reads out the scope ID from all the endoscopes 100. The drive controller 260 then executes step S130.

[0133] <Step S130> In step S130, based on the acquired scope ID, the drive controller 260 recognizes the type of the attached endoscope 100 and the number of the attached endoscopes 100, etc. When the number of the attached endoscopes 100 is one, the drive controller 260 then executes step S140. When the number of the attached endoscopes 100 is two, the drive controller 260 then executes step S150.

[0134] <Step S140: Single Mode> In step S140, the drive controller 260 sets the operation mode to "Single Mode". The drive controller 260 operating in Single Mode drives one endoscope 100 mounted on the drive device 200 based on the operation input acquired from the operation device 300.

[0135] One endoscope 100 and one operation device 300 are mounted on the drive device 200 shown in FIG. 1. The first detachable portion 1501 of the endoscope 100 is mounted on the first drive unit group 25G1 (the first drive unit 251, the second drive unit 252, the third drive unit 253, and the fourth drive unit 254). The operation device 300 is connected to the first operation adapter 211A.

[0136] Based on the input to the touch pad 380 of the operation device 300, the drive controller 260 controls the first drive unit 251 and the second drive unit 252 to drive the wires (the upper bending wire 161u and the lower bending wire 161d) that bend the bending portion 112 of the endoscope 100 in the UD direction. Also, based on the input to the touch pad 380 of the operation device 300, the drive controller 260 controls the third drive unit 253 and the fourth drive unit 254 to drive the wires (the left bending wire 161l and the right bending wire 161r) that bend the bending portion 112 of the endoscope 100 in the LR direction.

[0137] <Step S150: Double Mode> FIG. 20 is a diagram showing the drive device 200 operating in Double Mode. In step S150, the drive controller 260 sets the operation mode to "Double Mode". The drive controller 260 operating in Double Mode drives two endoscopes 100 mounted on the drive device 200 separately and independently based on the operation inputs acquired from two different operation devices 300.

[0138] The drive device 200 shown in Fig. 20 is equipped with two endoscopes 100 and two operating devices 300. In the following description, one of the two endoscopes 100 is referred to as the first endoscope 100X, and the other is referred to as the second endoscope 100Y. Also, one of the two operating devices 300 is referred to as the first operating device 300X, and the other is referred to as the second operating device 300Y.

[0139] When the second endoscope 100Y is further attached to the drive device 200 with only the first endoscope 100X attached, the drive controller 260 changes the operation mode from the "single mode" to the "double mode" (step S150).

[0140] The first attachment / detachment part 1501 of the first endoscope 100X is attached to the first drive unit group 25G1 (the first drive unit 251, the second drive unit 252, the third drive unit 253, and the fourth drive unit 254). The first attachment / detachment part 1501 of the second endoscope 100Y is attached to the second drive unit group 25G2 (the fifth drive unit 255, the sixth drive unit 256, the seventh drive unit 257, and the eighth drive unit 258). The first operating device 300X is connected to the first operation adapter 211A. The second operating device 300Y is connected to the second operation adapter 211B.

[0141] Based on the input to the touch pad 380 of the first operating device 300X, the drive controller 260 controls the first drive unit 251 and the second drive unit 252 to drive the wires (the upper bending wire 161u and the lower bending wire 161d) that bend the bending part 112 of the first endoscope 100X in the UD direction. Also, based on the input to the touch pad 380 of the first operating device 300X, the drive controller 260 controls the third drive unit 253 and the fourth drive unit 254 to drive the wires (the left bending wire 161l and the right bending wire 161r) that bend the bending part 112 of the first endoscope 100X in the LR direction.

[0142] Further, based on the input to the touch pad 380 of the second operation device 300Y, the drive controller 260 controls the fifth drive unit 255 and the sixth drive unit 256 to drive the wires (upper bending wire 161u and lower bending wire 161d) that bend the bending portion 112 of the second endoscope 100Y in the UD direction. Also, based on the input to the touch pad 380 of the second operation device 300Y, the drive controller 260 controls the seventh drive unit 257 and the eighth drive unit 258 to drive the wires (left bending wire 161l and right bending wire 161r) that bend the bending portion 112 of the second endoscope 100Y in the LR direction.

[0143] <Step S160> The drive controller 260 then executes step S160. In step S160, it is determined whether the drive controller 260 ends the control flow. If the control flow is not ended, the drive controller 260 performs step S110 again. If the control flow is ended, the drive controller 260 then performs step S170 to end the control flow.

[0144] FIG. 21 is a diagram showing the drive device 200 with the first endoscope 100X removed. When the first endoscope 100X is removed, the drive controller 260 changes the operation mode from the "double mode" to the "single mode" (step S140). The drive controller 260 operating in the single mode drives the second endoscope 100Y based on the operation input acquired from the second operation device 300Y.

[0145] [Usage Example 1 of the Electric Endoscope System 1000] Next, a usage example of the electric endoscope system 1000 will be described. Specifically, a usage example will be described in which one of the two endoscopes 100 is used for treating the patient P, and the other is used for pre-use equipment checking.

[0146] First, the operator uses the first endoscope 100X attached to the first drive unit group 25G1 of the drive device 200 to treat the first patient P as shown in FIG. 2. The drive controller 260 operates in single mode. The drive controller 260 controls the drive unit 25X of the first drive unit group 25G1 according to the "normal operation program". The normal operation program is a program for driving the endoscope 100 based on the operation input acquired from the operation device 300.

[0147] Next, the assistant further attaches the second endoscope 100Y to the second drive unit group 25G2 of the drive device 200. The drive controller 260 changes the operation mode from "single mode" to "double mode". The drive controller 260 controls the drive unit 25X of the second drive unit group 25G2 according to the "check program". The assistant performs a pre-use equipment check on the second endoscope 100Y by executing the check program. The check program is a program for performing various inspections before use, performing an initialization operation on the connected second endoscope 100Y and the drive device 200, and performing calibration of the bending operation, etc.

[0148] When the treatment of the first patient P is completed, the assistant removes the first endoscope 100X from the first drive unit group 25G1 of the drive device 200 for reprocessing. The drive controller 260 changes the operation mode from "double mode" to "single mode". The drive controller 260 changes the program for controlling the drive unit 25X of the second drive unit group 25G2 to the "normal operation program". When the operation mode changes from "double mode" to "single mode", the drive controller 260 may select whether to change the program for controlling the drive unit 25X to the "normal operation program" or to keep the "check program" based on an instruction input from the user (operator S or assistant).

[0149] The assistant prepares for treating the second patient P. Since the pre-use equipment check for the second endoscope 100Y used for treating the second patient P was carried out in parallel with the treatment of the first patient P, the preparation time for treating the second patient P is significantly shortened.

[0150] The second endoscope 100Y can be used for treating the second patient P without being removed from the second drive unit group 25G2 that was attached during the pre-use equipment check. Therefore, the operator can directly use the second endoscope 100Y attached to the second drive unit group 25G2 for which the pre-use equipment check has been carried out to treat the second patient P.

[0151] [Usage Example 2 of the Electric Endoscope System 1000] Next, another usage example of the electric endoscope system 1000 will be described. Specifically, a usage example of changing the drive unit group 25G when an abnormality of the drive unit 25X is detected will be described.

[0152] Hereinafter, the description will be made along the control flowchart of the drive controller 260 of the control device 600 shown in FIG. 22. When the control device 600 detects an abnormality of the endoscope 100, the drive controller 260 starts the control flow shown in FIG. 22 (step S200). The operator or the assistant may start the control flow shown in FIG. 22 when feeling an abnormality of the endoscope 100 during the operation or during the pre-use equipment check. Next, the drive controller 260 (mainly the processor 261) executes step S210.

[0153] [Step S210] In step S210, the drive controller 260 changes the motor command value for the motor of the wire drive unit 250. For example, the drive controller 260 changes the motor command value to send a test pattern to the motor of the wire drive unit 250. The drive controller 260 then executes step S220.

[0154] [Step S220] In step S220, the drive controller 260 acquires the output of the tension sensor 159. The drive controller 260 checks whether the output of the tension sensor 159 has changed normally in response to the change in the motor command value. If the output of the tension sensor 159 has not changed normally, there is a high possibility that an abnormality has occurred in the drive unit 25X to which the endoscope 100 is attached. In this case, the drive controller 260 next executes step S230. If the output of the tension sensor 159 has changed normally, there is a possibility that no abnormality has occurred, or that an abnormality has occurred in a part other than the drive unit 25X (for example, the endoscope 100). In this case, the drive controller 260 next executes step S250.

[0155] <Step S230> In step S230, the drive controller 260 cooperates with the main controller 560 and causes the display device 900 to display a GUI image for instructing (notifying) the user to change the drive unit group 25G to which the endoscope 100 is attached for the operator and the assistant. For example, when the endoscope 100 is attached to the first drive unit group 25G1 when an abnormality is detected, the drive controller 260 causes the display device 900 to display a GUI image for instructing the user to attach the endoscope 100 to the second drive unit group 25G2. The operator or the assistant attaches the endoscope 100 to the second drive unit group 25G2 according to the instruction. The drive controller 260 next executes step S240.

[0156] <Step S240> In step S240, the drive controller 260 switches the drive unit group 25G that drives the endoscope 100 from the first drive unit group 25G1 to the second drive unit group 25G2. Information (control parameters, current position of the motor encoder, etc.) necessary for driving the endoscope 100 is transferred from the program that controls the first drive unit group 25G1 to the program that controls the second drive unit group 25G2. Therefore, the operator can immediately use the endoscope 100 attached to the second drive unit group 25G2 without imposing a burden on the patient P. The drive controller 260 next executes step S250.

[0157] <Step S250> In step S250, the drive controller 260 ends the control flow shown in FIG. 22. Note that the drive controller 260 may detect the motor current value of the wire drive unit 250 and the output of the motor encoder, and execute further investigation of abnormal factors.

[0158] According to the electric endoscope system 1000 according to the present embodiment, observation and treatment using the endoscope 100 can be more efficiently performed. Since a plurality of endoscopes 100 can be attached to the drive device 200, the time required for equipment check before use and equipment replacement at the time of abnormality detection is significantly shortened.

[0159] As described above, the first embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and design changes and the like within the scope not departing from the gist of the present invention are also included. In addition, the components shown in the above-described embodiments and modified examples can be configured by being appropriately combined.

[0160] (Second Embodiment) The electric endoscope system 1000B according to the second embodiment of the present invention will be described with reference to FIGS. 23 to 24. In the following description, the same reference numerals are given to the configurations common to those already described, and redundant descriptions are omitted.

[0161] [Electric Endoscope System 1000B] FIG. 23 is an overall view of the electric endoscope system 1000B according to the present embodiment. The electric endoscope system 1000B includes an endoscope 100B, a drive device 200, an operation device 300, a treatment tool 400, a video control device 500, and a display device 900.

[0162] [Endoscope 100B] The endoscope 100B includes an insertion portion 110, a connection portion 120, an extracorporeal flexible portion 140, a detachable portion 150B, a bending wire 160, and a built-in object 170.

[0163] [Detachable part 150B] FIG. 24 is a diagram showing the first detachable part 1503. The detachable part 150B includes a first detachable part 1503 attached to the driving device 200 and a second detachable part 1502 attached to the video control device 500. The first detachable part 1503 has an up-and-down curved wire detachable part 151B, a left-and-right curved wire detachable part 152B, and a scope ID storage part 158.

[0164] The up-and-down curved wire detachable part 151B is a mechanism for detachably connecting wires (an upper curved wire 161u and a lower curved wire 161d) that bend the bending part 112 in the UD direction to the driving device 200.

[0165] The up-and-down curved wire detachable part 151B has a support member 155, a first driven part 156B, and a tension sensor 159.

[0166] The support member 155 supports the first driven part 156B. The support member 155 has a detachment detection dog 155a exposed on the proximal end side of the up-and-down curved wire detachable part 151B and a plurality of bend pulleys 155p.

[0167] The bend pulley 155p changes the conveyance direction of the upper curved wire 161u passing through the extracorporeal flexible part 140 and guides the upper curved wire 161u to the first driven part 156B. Further, the bend pulley 155p changes the conveyance direction of the lower curved wire 161d passing through the extracorporeal flexible part 140 and guides the lower curved wire 161d to the first driven part 156B.

[0168] The first driven part 156B is a member to which a driving force for driving the bending part 112 (movable part) is input. In the present embodiment, the first driven part 156B is a rotary drum. The first driven part 156B is rotatably supported by the support member 155 around a first drum rotation axis 156r extending along the longitudinal direction A. The first driven part 156B has a first winding pulley 156a and a first coupling part 156c.

[0169] The first take-up pulley 156a pulls or feeds out the upper curved wire 161u and the lower curved wire 161d by rotating about the first drum rotation axis 156r. When the first take-up pulley 156a rotates clockwise as viewed from the tip side A1 toward the base end side A2, the upper curved wire 161u is wound around the first take-up pulley 156a and pulled, and the lower curved wire 161d is fed out from the first take-up pulley 156a. Conversely, when the first take-up pulley 156a rotates counterclockwise, the upper curved wire 161u is fed out from the first take-up pulley 156a, and the lower curved wire 161d is wound around the first take-up pulley 156a and pulled.

[0170] The left and right curved wire attaching / detaching portion 152B is a mechanism for detachably connecting the wires (left curved wire 161l and right curved wire 161r) that bend the bending portion 112 in the LR direction to the drive device 200.

[0171] The left and right curved wire attaching / detaching portion 152B includes a support member 155, a second driven portion 157B, and a tension sensor 159.

[0172] The support member 155 supports the second driven portion 157B. The support member 155 has a dog 155a for attachment / detachment detection that is exposed on the base end side of the left and right curved wire attaching / detaching portion 152B, and a plurality of bend pulleys 155p.

[0173] The bend pulley 155p changes the conveyance direction of the left curved wire 161l that passes through the extracorporeal flexible portion 140 and guides the left curved wire 161l to the second driven portion 157B. Further, the bend pulley 155p changes the conveyance direction of the right curved wire 161r that passes through the extracorporeal flexible portion 140 and guides the right curved wire 161r to the second driven portion 157B.

[0174] The second driven part 157B is a member to which a driving force for driving the bending part 112 is input. In the present embodiment, the second driven part 157B is a rotary drum. The second driven part 157B is supported by a support member 155 so as to be rotatable about a second drum rotation axis 157r extending along the longitudinal direction A. The second driven part 157B has a second winding pulley 157a and a second coupling part 157c.

[0175] The second winding pulley 157a pulls or feeds out the left bending wire 161l and the right bending wire 161r by rotating about the second drum rotation axis 157r. When the second winding pulley 157a rotates clockwise as viewed from the tip side A1 toward the base end side A2, the left bending wire 161l is wound around the second winding pulley 157a and pulled, and the right bending wire 161r is fed out from the second winding pulley 157a. Conversely, when the second winding pulley 157a rotates counterclockwise, the left bending wire 161l is fed out from the second winding pulley 157a, and the right bending wire 161r is wound around the second winding pulley 157a and pulled.

[0176] In the following description, when the first driven part 156B and the second driven part 157B are not distinguished, these are referred to as "driven part 15X". The number of driven parts 15X required to drive the endoscope 100B is two.

[0177] The endoscope adapter 212 can be connected to the first detachable part 1501 in various ways. The endoscope adapter 212 shown in Fig. 23 is connected to the first detachable part 1503 so that the first driving part 251 and the second driving part 252 drive the bending wire 160. Also, the endoscope adapter 212 may be connected to the first detachable part 1503 so that the third driving part 253 and the fourth driving part 254 drive the bending wire 160. Further, the endoscope adapter 212 may be connected to the first detachable part 1503 so that the fifth driving part 255 and the sixth driving part 256 drive the bending wire 160. Additionally, the endoscope adapter 212 may be connected to the first detachable part 1503 so that the seventh driving part 257 and the eighth driving part 258 drive the bending wire 160. That is, four first detachable parts 1503 can be simultaneously connected to the endoscope adapter 212.

[0178] According to the electric endoscope system 1000B according to this embodiment, observation and treatment using the endoscope 100 can be carried out more efficiently. The electric endoscope system 1000B can be used by attaching an endoscope 100B, which differs in the number of the endoscope 100 and the driven part 15X, to the driving device 200. Also, as in the first embodiment, since a plurality of endoscopes 100B can be attached to the driving device 200, the time required for equipment check before use and equipment replacement at the time of abnormality detection is significantly shortened.

[0179] As described above, the second embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and design changes and the like within the scope not departing from the gist of the present invention are also included. Also, the components shown in the above-described embodiments and modified examples can be combined as appropriate.

[0180] (Third Embodiment) The electric endoscope system 1000C according to the third embodiment of the present invention will be described with reference to Figs. 25 to 28. In the following description, for components common to those already described, the same reference numerals are given and redundant descriptions are omitted.

[0181] [Electric Endoscope System 1000C] FIG. 25 is an overall view of the electric endoscope system 1000C according to the present embodiment. The electric endoscope system 1000C includes an endoscope 100C, a driving device 200, an operating device 300, a treatment instrument 400, a video control device 500, and a display device 900.

[0182] [Endoscope 100C] The endoscope 100C includes an insertion portion 110C, a connection portion 120, an extracorporeal flexible portion 140, a detachable portion 150C, a bending wire 160C, and a built-in component 170.

[0183] FIG. 26 is a diagram showing a cross section of a part of the bending portion 112C. The insertion portion 110C has a distal end portion 111, a bending portion 112C, and an intracorporeal flexible portion 119. The bending portion 112C has a first bending portion 113 on the distal end side A1 of the bending portion 112C, a second bending portion 114 on the proximal end side A2 of the bending portion 112C, and an outer sheath 118. The first bending portion 113 and the second bending portion 114 can be bent in different directions.

[0184] The first bending portion (distal end side bending portion) 113 has a plurality of joint rings (also referred to as bending pieces) 115 and a first distal end portion 116 connected to the distal ends of the plurality of joint rings 115. The plurality of joint rings 115 and the first distal end portion 116 are connected in the longitudinal direction A inside the outer sheath 118. Note that the shape and number of the joint rings 115 included in the first bending portion 113 are not limited to the shape and number of the joint rings 115 shown in FIG. 26.

[0185] The second bending portion (proximal end side bending portion) 114 has a plurality of joint rings (also referred to as bending pieces) 115 and a second distal end portion 117 connected to the distal ends of the plurality of joint rings 115. The plurality of joint rings 115 and the second distal end portion 117 are connected in the longitudinal direction A inside the outer sheath 118. The second distal end portion 117 is connected to the joint ring 115 at the proximal end of the first bending portion 113. The joint ring 115 at the proximal end of the second bending portion 114 is attached to the distal end of the intracorporeal flexible portion 119.

[0186] The bending wire 160C is a wire that bends the bending portion 112C. The bending wire 160C includes 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.

[0187] As shown in FIG. 26, the first bending wire 161 includes a first upper bending wire 161u, a first lower bending wire 161d, a first left bending wire 161l, a first right bending wire 161r, and four first wire sheaths 161s.

[0188] As shown in FIG. 26, the first upper bending wire 161u, the first lower bending wire 161d, the first left bending wire 161l, and the first right bending wire 161r respectively pass through the first wire sheath 161s. The tip of the first wire sheath 161s is attached to the second tip portion 117. The first wire sheath 161s extends to the detachable portion 150C.

[0189] FIG. 27 is a cross-sectional view of the second bending portion 114 along the line C2-C2 of FIG. 26. Similar to the first bending wire 161, the second bending wire 162 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.

[0190] As shown in FIG. 26, the second upper bending wire 162u, the second lower bending wire 162d, the second left bending wire 162l, and the second right bending wire 162r respectively pass through the second wire sheath 162s. The tip of the second wire sheath 162s is attached to the joint ring 115 at the base end of the second bending portion 114. The second wire sheath 162s extends to the detachable portion 150C.

[0191] The second upper bending wire 162u and the second lower bending wire 162d are wires that bend the second bending portion 114 in the UD direction. As shown in FIG. 27, in the second bending portion 114, the second upper bending wire 162u is inserted through the upper wire guide 115u. Also, in the second bending portion 114, the second lower bending wire 162d is inserted through the lower wire guide 115d.

[0192] As shown in FIG. 26, the tips of the second upper bending wire 162u and the second lower bending wire 162d are fixed to the second tip portion 117 at the tip of the second bending portion 114. The tips of the second upper bending wire 162u and the second lower bending wire 162d fixed to the second tip portion 117 are arranged on both sides in the UD direction with the central axis O of the longitudinal direction A interposed therebetween.

[0193] The second left bending wire 162l and the second right bending wire 162r are wires that bend the second bending portion 114 in the LR direction. As shown in FIG. 27, in the second bending portion 114, the second left bending wire 162l is inserted through the left wire guide 115l. Also, in the second bending portion 114, the second right bending wire 162r is inserted through the right wire guide 115r.

[0194] As shown in FIG. 26, the tips of the second left bending wire 162l and the second right bending wire 162r are fixed to the second tip portion 117 at the tip of the second bending portion 114. The tips of the second left bending wire 162l and the second right bending wire 162r fixed to the second tip portion 117 are arranged on both sides in the LR direction with the central axis O of the longitudinal direction A interposed therebetween.

[0195] The second bending portion 114 can be bent in a desired direction by respectively pulling or relaxing the second bending wires 162 (the second upper bending wire 162u, the second lower bending wire 162d, the second left bending wire 162l, the second right bending wire 162r).

[0196] FIG. 28 is a view showing the first detachable portion 1504 before being attached to the drive device 200C. The detachable part 150C includes a first detachable part 1504 attached to the driving device 200 and a second detachable part 1502 attached to the video control device 500. The first detachable part 1504 has a first up-and-down bending wire detachable part 151, a first left-and-right bending wire detachable part 152, a second up-and-down bending wire detachable part 153, and a second left-and-right bending wire detachable part 154.

[0197] The first up-and-down bending wire detachable part 151 is a mechanism for detachably connecting wires (a first upper bending wire 161u and a first lower bending wire 161d) that bend the first bending part 113 in the UD direction to the driving device 200.

[0198] The first left-and-right bending wire detachable part 152 is a mechanism for detachably connecting wires (a first left bending wire 161l and a first right bending wire 161r) that bend the first bending part 113 in the LR direction to the driving device 200.

[0199] The second up-and-down bending wire detachable part 153 has the same mechanism as the first up-and-down bending wire detachable part 151 and is a mechanism for detachably connecting wires (a second upper bending wire 162u and a second lower bending wire 162d) that bend the second bending part 114 in the UD direction to the driving device 200.

[0200] The second left-and-right bending wire detachable part 154 has the same mechanism as the first left-and-right bending wire detachable part 152 and is a mechanism for detachably connecting wires (a second left bending wire 162l and a second right bending wire 162r) that bend the second bending part 114 in the LR direction to the driving device 200.

[0201] The number of driven parts 15X required to drive the endoscope 100C is eight.

[0202] The endoscope adapter 212 is connected to the first detachable part 1504 such that the first driving part 251, the second driving part 252, the third driving part 253, the fourth driving part 254, the fifth driving part 255, the sixth driving part 256, the seventh driving part 257, and the eighth driving part 258 drive the bending wire 160.

[0203] The first drive unit 251 and the second drive unit 252 are coupled to the first vertical bending wire attachment / detachment unit 151 to drive wires (the first upper bending wire 161u and the first lower bending wire 161d) that bend the first bending portion 113 in the UD direction.

[0204] The third drive unit 253 and the fourth drive unit 254 are coupled to the first left - right bending wire attachment / detachment unit 152 to drive wires (the first left bending wire 161l and the first right bending wire 161r) that bend the first bending portion 113 in the LR direction.

[0205] The fifth drive unit 255 and the sixth drive unit 256 are coupled to the second vertical bending wire attachment / detachment unit 153 to drive wires (the second upper bending wire 162u and the second lower bending wire 162d) that bend the second bending portion 114 in the UD direction.

[0206] The seventh drive unit 257 and the eighth drive unit 258 are coupled to the second left - right bending wire attachment / detachment unit 154 to drive 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.

[0207] According to the electric endoscope system 1000C according to this embodiment, the electric endoscope system 1000C can be used by mounting an endoscope 100C, which has a different number of the endoscope 100 and the driven part 15X, on the driving device 200.

[0208] As described above, the third embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and design changes and the like within the scope not departing from the gist of the present invention are also included. Also, the components shown in the above - mentioned embodiments and modification examples can be configured by being appropriately combined.

[0209] (Fourth Embodiment) The electric endoscope system 1000D according to the fourth embodiment of the present invention will be described with reference to FIGS. 29 to 45.

[0210] [Electric Endoscope System 1000D] FIG. 29 is an overall view of the electric endoscope system 1000D according to the present embodiment. The electric endoscope system 1000D includes an endoscope 100D, a drive device 200, an operation device 300D, a treatment instrument 400, an image control device 500, and a display device 900.

[0211] [Endoscope 100D] The endoscope 100D includes an insertion portion 110, a connection portion 120D, an extracorporeal flexible portion 140, a detachable portion 150, a bending wire 160, and a built-in object 170.

[0212] FIGS. 30 and 31 are perspective views of the connection portion 120D. The connection portion 120D further has a fitting portion 128 as compared with the connection portion 120 of the first embodiment. The fitting portion 128 is a portion where the operation device 300D is fitted.

[0213] The fitting portion 128 is attached to the proximal end side A2 of the cover member 125. The fitting portion 128 is formed in a substantially cylindrical shape, and the extracorporeal flexible portion 140 is inserted into the internal space. The outer peripheral surface of the fitting portion 128 is formed in a tapered shape in which the diameter dimension increases from the proximal end side A2 toward the distal end side A1. The outer peripheral surface of the fitting portion 128 is formed in a D shape in a cross section perpendicular to the longitudinal direction A (see FIG. 39).

[0214] As shown in FIG. 31, a flat portion 128p is formed on the outer peripheral surface of the fitting portion 128. The flat portion 128p is a surface facing the radial direction R perpendicular to the longitudinal direction A. The flat portion 128p is provided on the opposite side of the forceps opening 126 with respect to the rotation axis RO of the cylindrical member 121 extending in the longitudinal direction A.

[0215] [Operation device 300D] FIGS. 32 and 33 are perspective views of the operation device 300D. The operating device (controller) 300D is a device into which operations of the operator S for controlling the electric endoscope system 1000D (particularly, operations for driving the endoscope 100D) are input. The input operation input is transmitted to the driving device 200 and the like by wireless communication.

[0216] The operating device 300D includes an operation unit main body 310D, an air / water supply button 351, a suction button 352, a release button 353, and a touch pad 380.

[0217] In the following description, the direction perpendicular to the touch pad 380 is defined as the "front-rear direction", the direction in which the touch pad 380 is provided with respect to the operation unit main body 310D is defined as "front FR", and the opposite direction is defined as "rear RR". Also, the longitudinal direction of the operation unit main body 310D is defined as the "vertical direction", the direction in which the touch pad 380 is attached with respect to the operation unit main body 310D is defined as "upper UPR", and the opposite direction is defined as "lower LWR". The rightward direction toward the rear RR is defined as "right RH", and the opposite direction is defined as "left LH". The direction toward the right RH or left LH is defined as the "left-right direction".

[0218] The operation unit main body 310D is formed in a shape that can be held by the left hand L of the operator S. The operation unit main body 310 has a touch pad support portion 314 provided in the upper UPR, a button support portion 315 provided in the rear RR, a grip 316 provided in the lower LWR, and a guide groove 319 provided in the left LH.

[0219] The touch pad support portion 314 is formed in a substantially rectangular shape when viewed from the front FR toward the rear RR and supports the touch pad 380.

[0220] The button support portion 315 is a convex portion that protrudes rearward RR from the touch pad support portion 314. The button support portion 315 supports the air / water supply button 351, the suction button 352, and the release button 353.

[0221] Figure 34 is a front view of the operating device 300D. The grip (holding part) 316 is formed in a substantially rectangular parallelepiped shape extending in the vertical direction, and is the part held by the ring finger (third finger) F3 and the little finger (fourth finger) F4 of the left hand L of the operator S. The first central axis O1 along the vertical direction of the grip 316 is offset to the left LH as viewed from the front FR with respect to the second center line O2 along the vertical direction passing through the center O of the touch pad 380. Therefore, as shown in FIG. 32, the operator S can easily operate the touch pad 380 with the thumb FT of the left hand L by bringing the palm of the left hand L into contact with the grip 316.

[0222] FIG. 35 is a left side view of the operating device 300D. The guide groove 319 is a groove formed in the left side surface 318 facing the left LH of the operation unit main body 310D, and extends in the vertical direction. The guide groove 319 has a tapered portion 319a extending in the vertical direction and openings 319b formed at both ends in the vertical direction of the tapered portion 319a. The tapered portion 319a is formed in a tapered shape with a larger diameter dimension from the upper UPR to the lower LWR. The tapered portion 319a can be fitted to the outer peripheral surface of the fitting portion 128.

[0223] FIG. 36 is a bottom view of the operating device 300D. The guide groove 319 is a groove formed in a D shape when viewed from the vertical direction. The guide groove 319 extending in the vertical direction is arranged side by side with the grip 316 in the front-rear direction when viewed from the vertical direction, and is provided at a position where it does not overlap with the grip 316.

[0224] The air and water supply button 351 is attached to the rear RR of the button support portion 315, and is a push button for inputting an operation of supplying air and water from the opening 111a of the distal end portion 111 of the endoscope 100D. When the air and water supply button 351 is pushed in, the operating device 300D transmits an operation input for performing air and water supply to the drive device 200.

[0225] The suction button 352 is attached to the rear RR of the button support portion 315 and is a push button for inputting an operation to perform suction from the opening 111a at the distal end portion 111 of the endoscope 100D. When the suction button 352 is pushed in, the operation device 300D transmits an operation input for performing suction to the drive device 200.

[0226] The release button 353 is attached to the upper UPR of the button support portion 315 and is a push button for inputting an operation to save the captured image acquired by the video control device 500 from the imaging unit 111c of the endoscope 100D. When the release button 353 is pushed in, the operation device 300D transmits an operation input for saving the captured image to the drive device 200.

[0227] The touch pad 380 is a touch-sensitive interface for inputting a bending operation or the like with respect to the bending portion 112. The touch pad 380 may be a touch panel.

[0228] As shown in FIG. 32, the operator S can operate the touch pad 380 with the thumb FT of the left hand L while gripping the grip 316 with the ring finger F3 and the little finger F4 of the left hand L. Further, the operator S can operate the air / water supply button 351, the suction button 352, and the release button 353 with the index finger (first finger) F1 or the middle finger (second finger) F2 of the left hand L.

[0229] [Operation of the Electric Endoscope System 1000D] Next, the operation of the electric endoscope system 1000D of the present embodiment will be described. Specifically, a method of using the operation device 300D of the electric endoscope system 1000D by fitting it to the connecting portion 120D will be described.

[0230] FIGS. 37 and 38 are diagrams showing the operation device 300D fitted to the connecting portion 120D. The operator S holds the operation device 300D and the connecting portion 120D with the left hand L in a state where the guide groove 319 of the operation device 300D is fitted to the fitting portion 128 of the connecting portion 120D.

[0231] Specifically, the operator S aligns the vertical direction of the operating device 300D substantially with the longitudinal direction A of the connecting portion 120D, and fits the guide groove 319 of the operating device 300D into the fitting portion 128 of the connecting portion 120D. The upper side UPR of the operating device 300D faces the proximal end side A2 of the connecting portion 120D. The lower side LWR of the operating device 300D faces the distal end side A1 of the connecting portion 120D.

[0232] The guide groove 319 is a groove formed in the left side surface 318 facing the left side LH of the operating unit main body 310D. Therefore, the operator S can firmly hold the operating device 300D and the connecting portion 120D without using the right hand R by fitting the fitting portion 128 into the guide groove 319 from the left side LH and holding the operating device 300D from the left side LH with the left hand L.

[0233] The guide groove 319 and the fitting portion 128 are formed in a tapered shape as described above. Therefore, the operator S can easily fit the guide groove 319 into the fitting portion 128 by sliding the operating device 300D in the distal end direction A1 while aligning the guide groove 319 of the operating device 300D along the extracorporeal flexible portion 140.

[0234] The guide groove 319 extending in the vertical direction is arranged side by side with the grip 316 in the front-rear direction when viewed from the vertical direction, and is provided at a position that does not overlap with other parts of the operating device 300D including the grip 316. Therefore, when the guide groove 319 is fitted into the fitting portion 128, the connecting portion 120D is arranged side by side with the grip 316 of the operating device 300D in the front-rear direction. Therefore, the operator S can hold the grip 316 of the operating device 300D and the connecting portion 120D together with the ring finger F3 and the little finger F4 of the left hand L. Note that it is desirable that the grip 316 be arranged adjacent to the connecting portion 120D.

[0235] FIG. 39 is a cross-sectional view of the operating device 300D along the C3-C3 line shown in FIGS. 37 and 38. The operator S fits the fitting portion 128 into the guide groove 319 such that the flat portion 128p of the fitting portion 128 faces the left side LH of the operating device 300D. As a result, the outer peripheral surface of the fitting portion 128 other than the flat portion 128p fits with the inner peripheral surface of the guide groove 319 formed in a D shape when viewed from the vertical direction. The outer peripheral surface of the fitting portion 128 other than the flat portion 128p fits with the inner peripheral surface of the guide groove 319, for example, by an interference fit. As shown in FIG. 39, in a cross-section perpendicular to the longitudinal direction A, the outer peripheral surface of the fitting portion 128 is formed in a D shape. Therefore, when the guide groove 319 is fitted to the fitting portion 128, the operating device 300D does not rotate in the circumferential direction C with respect to the connecting portion 120D. Note that the fitting portion 128 may further include an elastic member such as rubber so that the guide groove 319 can be press-fitted into the fitting portion 128.

[0236] When the guide groove 319 of the operating device 300D fits into the fitting portion 128 of the connecting portion 120D, the operating device 300D is attached to the connecting portion 120D. Therefore, the operator S can easily remove the operating device 300D from the connecting portion 120D only by separating the ring finger F3 and the little finger F4 of the left hand L from the grip 316 and moving the operating device 300D to the right side RH with the right hand R.

[0237] <First operating position OP1> FIG. 40 is a view showing the first operating position OP1 of the operating device 300D. The arrangement position of the operating device 300D in which the guide groove 319 of the operating device 300D is fitted into the fitting portion 128 of the connecting portion 120D is referred to as the "first operating position OP1". The operating device 300D arranged at the first operating position OP1 aligns the vertical direction of the operating device 300D substantially with the longitudinal direction A of the connecting portion 120D, and the guide groove 319 of the operating device 300D fits into the fitting portion 128 of the connecting portion 120D. The upper part UPR of the operating device 300D faces the proximal end side A2 of the connecting portion 120D. The lower part LWR of the operating device 300D faces the distal end side A1 of the connecting portion 120D.

[0238] As shown in FIG. 40, the operator S holds the operating device 300D disposed at the first operating position OP1 and the connecting portion 120D together with the left hand L, and holds the in-vivo flexible portion 119 with the right hand R. While observing the captured image displayed on the display device 900, the operator S moves the insertion portion 110 while operating (advancing / retreating operation and twisting operation) the in-vivo flexible portion 119 with the right hand R. Further, the operator S operates (angle operation) the touch pad 380 of the operating device 300D with the left hand L to bend the bending portion 112 as needed.

[0239] When the operator S moves the insertion portion 110 while operating the in-vivo flexible portion 119 with the right hand R, the operator S holds the connecting portion 120D with the left hand L. Therefore, the operator S can perform a twisting operation on the in-vivo flexible portion 119 with the left hand L. Further, the operator S advances and retreats the connecting portion 120D with the left hand L to assist the advancing and retreating operation of the in-vivo flexible portion 119 by the right hand R. As a result, the operator S can more suitably operate the in-vivo flexible portion 119 as compared with the case where the in-vivo flexible portion 119 is operated only with the right hand R.

[0240] The first operating position OP1 is a position where the operating device 300D is disposed, which is particularly effective when inserting the insertion portion 110 into the patient P.

[0241] FIG. 41 is a diagram showing the connecting portion 120D with the treatment instrument 400 inserted into the forceps opening 126. The forceps opening 126 of the connecting portion 120D and the flat portion 128p of the fitting portion 128 are provided on both sides with the rotation axis RO of the cylindrical member 121 extending in the longitudinal direction A interposed therebetween. Therefore, when the operating device 300D is disposed at the first operating position OP1, the forceps opening 126 is disposed below the lower right of the operating device 300D. Therefore, the operator S can operate the operating device 300D with the left hand L and operate the treatment instrument 400 inserted into the forceps opening 126 with the right hand R in the same manner as the method of operating an existing endoscope and a treatment instrument.

[0242] FIG. 42 is a diagram showing a treatment instrument operated by the left hand L. The operator S may operate the treatment instrument 400 inserted into the forceps opening 126 with the ring finger F3 and the little finger F4 of the left hand holding the operating device 300D. The operator S can operate the treatment instrument 400 with the left hand L while operating (angle operation) the touch pad 380 of the operating device 300D with the left hand L.

[0243] <Second operation position OP2> FIG. 43 is a diagram showing the second operation position OP2 of the operating device 300D. The operator S can engage the guide groove 319 of the operating device 300D with the internal flexible part 119. The arrangement position of the operating device 300D engaged with the internal flexible part 119 is referred to as the "second operation position OP2". The operating device 300D arranged at the second operation position OP2 aligns the vertical direction of the operating device 300D substantially with the longitudinal direction A of the internal flexible part 119, and the guide groove 319 of the operating device 300D engages with the internal flexible part 119. The upper part UPR of the operating device 300D faces the distal end side A1 of the internal flexible part 119. The lower part LWR of the operating device 300D faces the proximal end side A2 of the internal flexible part 119.

[0244] As shown in FIG. 43, the operator S holds the connecting part 120D with the left hand L and holds the operating device 300D arranged at the second operation position OP2 and the internal flexible part 119 together with the right hand R. The operator S presses the internal flexible part 119 against the operating device 300D with the ring finger F3 and the little finger F4 of the right hand R. While observing the captured image displayed on the display device 900, the operator S moves the insertion part 110 while operating (forward and backward operation) the internal flexible part 119 with the right hand R. Also, the operator S operates (angle operation) the touch pad 380 of the operating device 300D with the right hand R to bend the bending part 112 as needed.

[0245] In a state where the operator S holds the connecting part 120D with the left hand L, the treatment instrument 400 inserted into the forceps opening 126 can be operated with the left hand L. Therefore, the operator S can perform the operations (forward and backward operation and angle operation) of the insertion part 110 and the operation of the treatment instrument 400 in cooperation. Also, since the operator S holds the connecting part 120D with the left hand L, the left hand L can perform a twisting operation on the internal flexible part 119.

[0246] The second operation position OP2 is the arrangement position of the operating device 300D that is particularly effective when treating the patient P with the treatment instrument 400.

[0247] <Third operation position OP3> FIG. 44 is a diagram showing the third operation position OP3 of the operating device 300D. The operator S can engage the guide groove 319 of the operating device 300D with the folding prevention portion 119c provided at the end of the proximal end side A2 of the in-vivo flexible portion 119. The arrangement position of the operating device 300D with the operating device 300D engaged with the folding prevention portion 119c of the in-vivo flexible portion 119 is referred to as the "third operation position OP3". The operating device 300D arranged at the third operation position OP3 aligns the vertical direction of the operating device 300D substantially with the longitudinal direction A of the in-vivo flexible portion 119, and the guide groove 319 of the operating device 300D engages with the folding prevention portion 119c of the in-vivo flexible portion 119. The upper part UPR of the operating device 300D faces the distal end side A1 of the in-vivo flexible portion 119. The lower part LWR of the operating device 300D faces the proximal end side A2 of the in-vivo flexible portion 119.

[0248] FIG. 45 is a diagram showing the operating device 300D arranged at the third operation position OP3. As shown in FIG. 45, the operator S holds the operating device 300D arranged at the third operation position OP3 and the connecting portion 120D together with the left hand L, and holds the in-vivo flexible portion 119 with the right hand R. Even when the operator S inserts the insertion portion 110 into the patient P up to near the root, the operator S can hold the operating device 300D arranged at the third operation position OP3 in a natural state.

[0249] FIG. 46 is a diagram showing a forceps mouth 126B which is a modified example of the forceps mouth 126. The forceps jaw 126B is rotatably attached to the cover member 125. The forceps jaw 126B is rotatable from a first position PO1 where the base end portion 126b faces the base end side A2 to a second position PO2 where the base end portion 126b faces the tip side A1. When the operating device 300D is disposed at the first operation position OP1 as shown in FIG. 40, the forceps jaw 126B is disposed at the first position PO1. On the other hand, when the operating device 300D is disposed at the third operation position OP3 as shown in FIG. 46, the forceps jaw 126B is disposed at the second position PO2. The forceps jaw 126B is rotated so that the base end portion 126b faces the position where the operating device 300D is disposed, in accordance with the position where the operating device 300D is disposed. As a result, the operator S can operate the operating device 300D with the left hand L and operate the treatment instrument 400 inserted into the forceps jaw 126 with the right hand R, in the same manner as the method of operating the existing endoscope and the treatment instrument.

[0250] According to the electric endoscope system 1000D according to the present embodiment, observation and treatment using the endoscope 100D can be more efficiently performed. By disposing the operating device 300D at various positions, the operator S can coordinate various operations (forward / backward operation, angle operation, and twisting operation).

[0251] As described above in detail with reference to the drawings for the fourth embodiment of the present invention, the specific configuration is not limited to this embodiment, and design changes and the like within the scope not departing from the gist of the present invention are also included. Further, the components shown in the above-described embodiments and modified examples can be combined as appropriate.

[0252] (Fifth Embodiment) The electric endoscope system 1000E according to the fifth embodiment of the present invention will be described with reference to FIGS. 47 to 51.

[0253] [Electric Endoscope System 1000E] FIG. 47 is an overall view of the electric endoscope system 1000E according to the present embodiment. The electric endoscope system 1000E includes an endoscope 100E, a driving device 200, an operating device 300E, a treatment instrument 400, an image control device 500, and a display device 900.

[0254] [Endoscope 100E] The endoscope 100E includes an insertion portion 110, a connection portion 120, an operating device attachment / detachment portion 130, an extracorporeal flexible portion 140, an attachment / detachment portion 150, a bending wire 160, and a built-in object 170.

[0255] The operating device attachment / detachment portion 130 can attach and detach the operating device 300E and is provided on the extracorporeal flexible portion 140. The operating device attachment / detachment portion 130 has an electrical contact 131 that electrically connects the attached operating device 300E and the operating cable 301.

[0256] The operating cable 301 passes through the internal path of the extracorporeal flexible portion 140. The tip of the operating cable 301 is connected to the electrical contact 131. The base end of the operating cable 301 is connected to the operation receiving portion 220 via the endoscope adapter 212.

[0257] [Operating device 300E] The operating device (controller) 300E is a device into which an operation of an operator S for controlling the electric endoscope system 1000E (particularly, an operation for driving the endoscope 100E) is input. The operating device 300E has an operating portion main body 310E, various buttons 350, and a touch pad 380.

[0258] FIG. 48 is a diagram showing the operating device attachment / detachment portion 130 to which the operating device 300E is attached. By attaching the operating device 300E to the operating device attachment / detachment portion 130, it can communicate with the driving device 200 and the like via the operating cable 301. The operating cable 301 passes through the internal path of the extracorporeal flexible portion 140 and is not exposed outside. Therefore, the operating cable 301 does not interfere with the work of the operator S.

[0259] When the operating device 300E can communicate with the driving device 200 etc. by wireless communication, the operating device 300E can communicate with the driving device 200 etc. regardless of being attached to or detached from the operating device attachment / detachment unit 130. In this case, the operation cable 301 and the electrical contact 131 are unnecessary.

[0260] FIG. 49 is a diagram showing the operation cable 301 restrained by the extracorporeal flexible part 140. When the operation cable 301 is fixed to the operating device 300E, the operation cable 301 disposed outside the extracorporeal flexible part 140 may be restrained by the extracorporeal flexible part 140 and the restraint band 302.

[0261] FIG. 50 is a diagram showing an operation device attachment / detachment unit 130E which is a modified example of the operation device attachment / detachment unit 130. The operation device attachment / detachment unit 130E further has an air / water supply button 351, a suction button 352, a release button 353, and a forceps port 126.

[0262] The air / water supply button 351 and the suction button 352 are physical buttons that physically open and close the internal paths of the suction tube 172 and the air / water supply tube 175 that pass through the internal path 101 of the endoscope 100E. The air / water supply button 351 and the suction button 352 can control air / water supply and suction without communicating with the driving device 200.

[0263] The forceps port 126 is an insertion port for inserting the treatment instrument 400 into the internal path 101 of the endoscope 100E, similar to the forceps port 126 of the first embodiment.

[0264] FIG. 51 is a diagram showing the operation device attachment / detachment unit 130E to which the operating device 300E is attached. When the operating device 300E is attached to the operation device attachment / detachment unit 130E, the air / water supply button 351, the suction button 352, and the release button 353 are provided on the right side RH of the operating device 300E. Also, the forceps port 126 is provided at the lower right of the operating device 300E. Therefore, the operator S can operate the operating device 300E and the treatment instrument 400 in the same manner as the method of operating an existing endoscope and treatment instrument.

[0265] According to the electric endoscope system 1000E according to this embodiment, observation and treatment using the endoscope 100E can be more efficiently performed.

[0266] As described above, the fifth embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and design changes and the like within the scope not departing from the gist of the present invention are also included. In addition, the constituent elements shown in the above-described embodiments and modified examples can be configured by being appropriately combined.

[0267] (Sixth Embodiment) The electric endoscope system 1000F according to the sixth embodiment of the present invention will be described with reference to FIGS. 52 to 55.

[0268] [Electric Endoscope System 1000F] FIG. 52 is an overall view of the electric endoscope system 1000F according to this embodiment. The electric endoscope system 1000F includes an endoscope 100F, a drive device 200, an operation device 300, a treatment tool 400, a video control device 500, and a display device 900.

[0269] [Endoscope 100F] The endoscope 100F includes an insertion portion 110, a connection portion 120F, a stopper 129, an extracorporeal flexible portion 140, a detachable portion 150, a bending wire 160, and a built-in object 170.

[0270] FIG. 53 is a perspective view of the connection portion 120F. The connection portion 120F includes a cylindrical member 121, a connection portion main body 122, a seal portion 123, a bearing portion 124, a cover member 125F, a forceps port 126, and a three-way branch tube 127.

[0271] The cover member 125F is a member that covers the outer periphery of the connection portion main body 122. The cover member 125F has a flat surface portion 125p that is horizontal with respect to the rotation axis RO extending in the longitudinal direction A. The outer peripheral surface of the cover member 125F is formed in a D shape in a cross section perpendicular to the longitudinal direction A.

[0272] FIG. 54 is a view showing the connecting portion 120F to which the stopper 129 is attached. The stopper 129 is formed in a U shape and is detachable from the connecting portion 120F. The stopper 129 attached to the connecting portion 120F engages with the flat portion 125p of the cover member 125F and the groove 119g formed at the base end portion 119b of the in-vivo flexible portion 119. Therefore, when the stopper 129 is attached to the connecting portion 120F, the passive rotation portion (the base end portion 119b of the in-vivo flexible portion 119, the housing 123h, the cylindrical member 121) does not rotate in the circumferential direction C with respect to the cover member 125F.

[0273] The passive rotation portion (the base end portion 119b of the in-vivo flexible portion 119, the housing 123h, the cylindrical member 121) does not rotate in the circumferential direction C with respect to the cover member 125F unless a force equal to or greater than a predetermined value is applied. However, when the torsional reaction force from the insertion portion 110 inserted into the body of the patient P is large, a force equal to or greater than a predetermined value is applied to the passive rotation portion and the passive rotation portion rotates. In this case, the operator S can restrict the passive rotation portion from rotating in the circumferential direction C with respect to the cover member 125F by attaching the stopper 129 to the connecting portion 120F.

[0274] FIG. 55 is a view showing a modified example of the stopper 129. An operating device 300F having a groove 319F with the same structure as the stopper 129 may be used as a stopper. As shown in FIG. 55, by attaching the operating device 300F to the connecting portion 120F, the passive rotation portion can be restricted from rotating in the circumferential direction C with respect to the cover member 125F.

[0275] FIG. 56 is a view showing a modified example of the endoscope 100. In the endoscope shown in FIG. 56, a line 100s is provided on the insertion portion 110. The line 100s is provided, for example, in the U direction. By looking at the line 100s, the operator S can roughly grasp which direction the bending portion 112 is facing. The line 100s may be linear or dashed.

[0276] According to the electric endoscope system 1000F according to this embodiment, observation and treatment using the endoscope 100F can be more efficiently performed.

[0277] As described above in detail with reference to the drawings for the sixth embodiment of the present invention, the specific configuration is not limited to this embodiment, and design changes and the like within the scope not departing from the gist of the present invention are also included. In addition, the constituent elements shown in the above-described embodiments and modified examples can be combined as appropriate.

[0278] (Seventh Embodiment) The electric endoscope system 1000G according to the seventh embodiment of the present invention will be described with reference to FIGS. 57 to 60.

[0279] [Electric Endoscope System 1000G] FIG. 57 is an overall view of the electric endoscope system 1000G according to this embodiment. The electric endoscope system 1000G includes an endoscope 100, a drive device 200G, an operation device 300, a treatment tool 400, a video control device 500G, a storage rack 700, and a display device 900.

[0280] The drive device 200G includes an adapter 210G, an operation reception unit 220, an air supply and suction drive unit 230, a wire drive unit (actuator) 250G, and a drive controller 260.

[0281] The adapter 210G has a first operation adapter 211A and an endoscope adapter 212G. The adapter 210G does not have a second operation adapter 211B.

[0282] The endoscope adapter 212G is an adapter to which the first attachment / detachment part 1501 of the endoscope 100 is detachably connected. The endoscope adapter 212G is provided so as to surround the wire drive unit 250G. One first attachment / detachment part 1501 is connected to the endoscope adapter 212G.

[0283] The wire drive unit (actuator) 250G includes a support member 250a, a first drive unit (first actuator) 251, a second drive unit (second actuator) 252, a third drive unit (third actuator) 253, a fourth drive unit (fourth actuator) 254, and a detachment sensor 259.

[0284] The video control device 500G includes a first endoscope adapter 510A, an imaging processing unit 520, a light source unit 530, and a main controller 560. The video control device 500G does not have a second endoscope adapter 510B.

[0285] The drive device 200G and the video control device 500G constitute a control device 600G that controls the electric endoscope system 1000G. The control device 600G may further include peripheral devices such as a video printer. The drive device 200G and the video control device 500G may be an integrated device.

[0286] The drive device 200G, the video control device 500G, and the display device 900 are housed in a storage rack 700. The storage rack 700 is equipped with tires and is easy to move. The storage rack 700 is provided with a hanger (trolley) 710 on which the endoscope 100 can be hung and installed.

[0287] [Operation of the Electric Endoscope System 1000G] Next, the operation of the electric endoscope system 1000G of the present embodiment will be described. Specifically, the operation related to the equipment check before using the endoscope 100 will be described.

[0288] Hereinafter, the description will be made along the control flowchart of the main controller 560 of the control device 600G shown in FIG. 58. When the user starts a "check program" in the control device 600G to perform an equipment check before use, the main controller 560 starts the control flow shown in FIG. 58 (step S300). Next, the main controller 560 (mainly the processor 561) executes step S310.

[0289] <Step S310> In step S310, the main controller 560 communicates with the drive controller 260 to obtain the scope ID and pre - use inspection information stored in the scope ID storage unit 158 of the first attachment / detachment unit 1501 of the endoscope 100 attached to the drive device 200G. The main controller 560 then executes step S320.

[0290] The "pre - use inspection information" is information regarding the progress of the pre - use inspection of the endoscope 100. For example, when at least a part of the pre - use inspection is performed by another control device 600G in the backyard or the like, the progress of the pre - use inspection and the inspection results are stored in the scope ID storage unit 158 as pre - use inspection information.

[0291] <Step S320> In step S320, the main controller 560 checks the pre - use inspection information of the endoscope 100. If some of the pre - use inspection items are not implemented, the main controller 560 then executes step S330. If all of the pre - use inspection items have been implemented, the main controller 560 skips the pre - use inspection in step S320 and then executes step S340.

[0292] <Step S330> In step S330, the main controller 560 instructs (notifies) the user to perform the unimplemented pre - use inspection. Specifically, the main controller 560 displays on the display device 900 a GUI image instructing (notifying) the user to perform the pre - use inspection exemplified below.

[0293] The main controller 560, for example, instructs the user to input an operation to bend the bending section 112 from the operation device 300. The main controller 560 checks whether the instructed bending operation has been input.

[0294] The main controller 560 instructs the user, for example, to input an operation to perform air / water supply by the air / water supply button 351 and an operation to perform suction by the suction button 352 from the operation device 300. The main controller 560 checks whether the instructed operations to perform air / water supply and suction have been input.

[0295] The main controller 560 instructs the user, for example, to input an operation to perform the functions assigned to the operation device 300 or various buttons 350. The main controller 560 checks whether the instructed operation to perform the function has been input.

[0296] The main controller 560 instructs the user, for example, to input an operation to bend the bending portion 112 from the operation device 300. The main controller 560 checks, based on the tension sensor 159 or the like, whether the instructed bending operation is being performed by the drive device 200G. If there is a problem such as a failure, the main controller 560 presents the details of the problem to the user.

[0297] The main controller 560 instructs the user, for example, to input an operation to perform air / water supply by the air / water supply button 351 and an operation to perform suction by the suction button 352 from the operation device 300. The main controller 560 checks, based on a flow rate sensor or the like, whether the instructed air / water supply or suction is being performed by the drive device 200G. If there is a problem such as a failure, the main controller 560 presents the details of the problem to the user.

[0298] The main controller 560 instructs the user, for example, to input an operation to perform the functions assigned to the operation device 300 or various buttons 350. The main controller 560 checks whether the instructed function is being performed. If there is a problem such as a failure, the main controller 560 presents the details of the problem to the user.

[0299] The main controller 560 checks, for example, whether the display content of the display device 900 that is changed according to the above operation input is correctly changed.

[0300] The main controller 560 may cause the user to perform the above check. The main controller 560 displays, on the display device 900, a message instructing (notifying) the user to check. The main controller 560 displays a GUI image necessary for the user to input the check result, and acquires the user's check result by having the user input the check result.

[0301] <Step S340> In step S340, the main controller 560 performs calibration of the bending operation by communicating with the drive controller 260. Note that the calibration of the bending operation does not necessarily have to be performed every time it is used, and may be performed periodically.

[0302] FIG. 59 is a diagram showing the suspended endoscope 100 or the like. The main controller 560 displays, on the display device 900, a GUI image instructing the user to hang the endoscope 100 on the hanger 710 and suspend the distal end portion 180 including the bending portion 112 of the endoscope 100 from the hanger 710. The user suspends the distal end portion 180 from the hanger 710 according to the instruction displayed in the GUI image.

[0303] FIG. 60 is a diagram showing the standard model NM used by the drive controller 260. The main controller 560 updates the parameters of the standard model NM by calibration of the bending operation. The standard model NM is a model for estimating the bending operation of the endoscope 100. The standard model NM includes a drive unit model NM1 that models the drive unit 25X, a detachable unit model NM2 that models the first detachable unit 1501, a flexible unit model NM3 that models the extracorporeal flexible unit 140 and the intracorporeal flexible unit 119, and a bending unit model NM4 that models the bending unit 112.

[0304] The main controller 560 may use the marker M for the calibration of the bending operation. The marker M shown in FIG. 59 is the marker board M1. The marker M has a known marker pattern m that can identify relative position information. The marker pattern m is a pattern that can identify relative position information by observing from different locations.

[0305] According to the electric endoscope system 1000G according to this embodiment, observation and treatment using the endoscope 100 can be carried out more efficiently. The user can efficiently perform equipment checks before use.

[0306] As described above, the seventh embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and design changes and the like within the scope not departing from the gist of the present invention are also included. In addition, the components shown in the above-described embodiments and modified examples can be combined as appropriate.

[0307] (Eighth Embodiment) The electric endoscope system 1000H according to the eighth embodiment of the present invention will be described with reference to FIGS. 61 to 75.

[0308] [Electric Endoscope System 1000H] FIG. 61 is an overall view of the electric endoscope system 1000H according to this embodiment. The electric endoscope system 1000H includes an endoscope 100H, a driving device 200, an operating device 300, a treatment tool 400, a video control device 500, an observation device 800, and a display device 900.

[0309] The endoscope 100H is the same as the endoscope 100 of the first embodiment except that a magnetic coil (not shown) is built into the insertion portion 110 along the longitudinal direction A. The magnetic coil is attached in a spiral shape, for example, along the inner peripheral surface in the internal path 101 of the insertion portion 110.

[0310] Observation device 800 is a device that observes the insertion shape of endoscope 100H using a magnetic field. Observation device 800 receives the magnetism generated from the magnetic coil built in the insertion section 110 of endoscope 100H by means of an antenna. The observation result of observation device 800 is also acquired by main controller 560.

[0311] Figures 62 to 66 are diagrams showing a pair of bending wires 160 that penetrate through the bending insertion section 110. Hereinafter, a pair of bending wires (upper bending wire 161u and lower bending wire 161d) that bend the bending section 112 in the UD direction will be described. Virtual markers VM1 and VM2 are virtual markers indicating positions at a certain distance from the tip of the bending wires (upper bending wire 161u and lower bending wire 161d). Note that since a pair of bending wires 160 (left bending wire 161l, right bending wire 161r) that bend the bending section 112 in the LR direction have the same structure, illustration and description thereof are omitted.

[0312] The pair of bending wires 160 shown in Figure 62 is in a state (also referred to as the first state S1) where the lower bending wire 161d bends the bending section 112 most in the D direction. The pair of bending wires 160 shown in Figure 63 is in a state (also referred to as the second state S2) where the lower bending wire 161d starts to bend the bending section 112 in the D direction. The pair of bending wires 160 shown in Figure 64 is in a state (also referred to as the third state S3) where the pair of bending wires 160 is in a straight shape without bending the bending section 112. The pair of bending wires 160 shown in Figure 65 is in a state (also referred to as the fourth state S4) where the upper bending wire 161u starts to bend the bending section 112 in the U direction. The pair of bending wires 160 shown in Figure 66 is in a state (also referred to as the fifth state S5) where the upper bending wire 161u bends the bending section 112 most in the U direction.

[0313] The path lengths of the pair of curved wires 160 change due to the bending of the flexible portions (the insertion portion 110 and the extracorporeal flexible portion 140). Therefore, the pair of curved wires 160 have a surplus length capable of absorbing the change in the path length, and have a "slack SL" in the third state S3 shown in FIG. 64.

[0314] [Operation of the electric endoscope system 1000H] Next, the operation of the electric endoscope system 1000H of the present embodiment will be described. Specifically, the bending control (first bending control, second bending control, and third bending control) for bending the bending portion 112 will be described.

[0315] [First bending control] FIG. 67 is a control flowchart of the first bending control. As shown in FIGS. 62 to 66, when the drive controller 260 (mainly the processor 261) bends the bending portion 112 facing in the D direction in the U direction by the upper bending wire 161u, the drive controller 260 performs the first bending control shown in FIG. 67. Note that the first bending control in which the drive controller 260 bends the bending portion 112 facing in the U direction in the D direction by the lower bending wire 161d is the same control, and thus the description thereof is omitted.

[0316] [Step S410] In step S410, the drive controller 260 communicates with the main controller 560 to acquire the shape of the insertion portion 110, which is the observation result of the observation device 800. The drive controller 260 then executes step S420.

[0317] [Step S420] FIG. 68 is a diagram showing the relationship between the displacement and the tension of the pair of curved wires 160. In step S420, the drive controller 260 estimates the threshold tension TT from the acquired shape of the insertion portion 110. The threshold tension TT is the tension of the upper bending wire 161u in the state (fourth state S4) in which the upper bending wire 161u starts to bend the bending portion 112 in the U direction, as shown in FIG. 65. The drive controller 260 then executes step S430.

[0318] <Step S430> In step S430, the drive controller 260 pulls the upwardly curved wire 161u at high speed until the tension of the upwardly curved wire 161u acquired from the tension sensor 159 reaches the threshold tension TT. The upwardly curved wire 161u is slack (surplus) until the tension of the upwardly curved wire 161u reaches the threshold tension TT. Therefore, the drive controller 260 can shorten the period (dead zone) during which the curved portion 112 does not operate by pulling the upwardly curved wire 161u at high speed. Next, the drive controller 260 executes step S440.

[0319] <Step S440> In step S440, the drive controller 260 pulls the upwardly curved wire 161u at a normal speed until it reaches the fifth state S5. The curved portion 112 bends in the U direction.

[0320] According to the first bending control, the bending responsiveness of the curved portion 112 is improved by driving the bending wire 160 at high speed so as to compensate for the movement amount corresponding to the surplus length of the bending wire 160.

[0321] [Second Bending Control] FIG. 69 is a control flowchart of the second bending control. As shown in FIGS. 62 to 66, when bending the curved portion 112 facing the D direction in the U direction by the upwardly curved wire 161u, the drive controller 260 (mainly the processor 261) performs the second bending control shown in FIG. 69. Note that the second bending control in which the drive controller 260 bends the curved portion 112 facing the U direction in the D direction by the downwardly curved wire 161d is the same control, and thus the description thereof is omitted.

[0322] <Step S410> In step S410, the drive controller 260 communicates with the main controller 560 to acquire the shape of the insertion portion 110, which is the observation result of the observation device 800. Next, the drive controller 260 executes step S420B.

[0323] <Step S420B> Figure 70 is a diagram showing the relationship between the displacement and the tension of a pair of curved wires 160. In step S420B, the drive controller 260 estimates the path length change amount from the acquired shape of the insertion portion 110 and corrects the slack range SR. The slack range (dead zone) SR is the range in which the curved wire 160 to be pulled slackens as shown in FIGS. 63 to 65. The length of the slack range SR becomes the surplus length of the curved wire 160. Next, the drive controller 260 executes step S430B.

[0324] <Step S430B> In step S430B, the drive controller 260 pulls the upper curved wire 161u at high speed until the displacement of the upper curved wire 161u goes outside the slack range SR. The upper curved wire 161u is slack (surplus) until the displacement of the upper curved wire 161u goes outside the slack range SR. Therefore, the drive controller 260 can shorten the period (dead period) during which the curved portion 112 does not operate by pulling the upper curved wire 161u at high speed. Next, the drive controller 260 executes step S440.

[0325] <Step S440> In step S440, the drive controller 260 pulls the upper curved wire 161u at a normal speed until it reaches the fifth state S5. The curved portion 112 bends in the U direction.

[0326] According to the second bending control, by driving the curved wire 160 at high speed so as to compensate for the movement amount corresponding to the surplus length of the curved wire 160, the bending responsiveness of the curved portion 112 is improved.

[0327] [Third Bending Control] Figure 71 is a control flowchart of the third bending control. As shown in FIGS. 62 to 66, when the drive controller 260 (mainly the processor 261) bends the curved portion 112 facing in the D direction by the upper curved wire 161u in the U direction, it performs the third bending control shown in FIG. 71. Note that since the third bending control in which the drive controller 260 bends the curved portion 112 facing in the U direction by the lower curved wire 161d in the D direction is the same control, the description thereof is omitted.

[0328] <Step S420C> In step S420C, the drive controller 260 corrects the slack range SR based on the displacement and the change amount of the tension when relaxing the lower curved wire 161d which is a relaxation wire. The drive controller 260 corrects the slack range SR by estimating the change amount of the slack of the upper curved wire 161u which is a traction wire based on the change amount of the slack of the lower curved wire 161d which is a relaxation wire. Specifically, the drive controller 260 obtains the change amount (change amount of the excess length) of the slack SL of the lower curved wire 161d with respect to the initial state when the tension of the upper curved wire 161u is lower than the threshold tension TT, and estimates the change amount (change amount of the excess length) of the slack SL of the upper curved wire 161u with respect to the initial state. The characteristics that the upper curved wire 161u and the lower curved wire 161d relax by the same amount with respect to the initial state are used. The subsequent control is the same as the second bending control.

[0329] According to the third bending control, by driving the bending wire 160 at high speed so as to compensate for the movement amount corresponding to the excess length of the bending wire 160, the bending responsiveness of the curved portion 112 is improved.

[0330] [Slack amount control] FIG. 72 is a diagram showing a pair of bending wires 160 in the third state S3 of another aspect. The drive controller 260 may perform a slack amount control for controlling the slack amount of the pair of bending wires 160 in accordance with the bending control (the first bending control, the second bending control, and the third bending control). In the slack amount control, the drive controller 260 adjusts the slack amount of the pair of bending wires 160 by pulling or feeding out the pair of bending wires 160.

[0331] For example, the drive controller 260 can detect that when the flexible part (the insertion part 110 and the extracorporeal flexible part 140) bends, the path length of the pair of bending wires 160 becomes longer and the "slack SL" in the third state S3 becomes smaller by estimating the threshold tension TT and the relaxation range SR in the first bending control, the second bending control, and the third bending control. In this case, the drive controller 260 may send out the pair of bending wires 160 and make the "slack amount" of the pair of bending wires 160 coincide with the "slack amount" in a predetermined state (for example, the initial state as shown in FIG. 64). Regardless of the bending shape of the flexible part (the insertion part 110 and the extracorporeal flexible part 140), the drive controller 260 can execute bending control while keeping the excess length of the bending wire 160 constant.

[0332] The initial state of the pair of bending wires 160 as shown in FIG. 64 is a state in which the flexible part (the insertion part 110 and the extracorporeal flexible part 140) is not bent and the path length is the shortest. It is desirable that the slack amount of the pair of bending wires 160 in the initial state is 0.1% or more and less than 1% of the wire length of the pair of bending wires 160.

[0333] It is desirable that the "slack amount" of the pair of bending wires 160 is such that even when the flexible part (the insertion part 110 and the extracorporeal flexible part 140) is most bent and the path length is the longest, no tension is generated on the bending piece 115.

[0334] [Parameter Control] FIG. 73 is a control flowchart of parameter control. The drive controller 260 may perform parameter control to control the bending operation parameters of the bending part 112 by the pair of bending wires 160 in accordance with the bending control (the first bending control, the second bending control, and the third bending control).

[0335] <Step S510> The drive controller 260 estimates the excess length of the curved wire 160 by estimating the threshold tension TT and the relaxation range SR in the first curvature control, the second curvature control, and the third curvature control. The drive controller 260 then executes step S520.

[0336] <Step S520> FIG. 74 is a diagram showing a model of a flexible portion where the sheath is the coil CO. FIG. 75 is a diagram showing a model of a flexible portion where the sheath is the tube TU. In step S520, the drive controller 260 estimates the total bending angle of the flexible portion (the insertion portion 110 and the extracorporeal flexible portion 140). The total bending angle is calculated by Equation 1. The drive controller 260 then executes step S530.

[0337]

Equation

[0338] In Equation 1, δL is the change in the path length of the curved wire 160. δR is the distance between the neutral axis NA of the curved wire 160 and the central axis CA of the curved wire 160. Here, the neutral axis NA is an axis equal in length to the straight state length in the curved curved wire 160. θ is the total bending angle of the flexible portion (the insertion portion 110 and the extracorporeal flexible portion 140).

[0339] Since δR is determined by the dimensions of the curved wire 160 and the sheath, the drive controller 260 can estimate the total bending angle θ from the path length change δL. As shown in FIGS. 74 and 75, whether the sheath is the coil CO (for example, a round wire coil) or the tube TU, the drive controller 260 can estimate the total bending angle θ.

[0340] <Step S530> In step S520, the drive controller 260 changes the bending operation parameters (such as the bending limit amount and the hysteresis compensation amount) based on the estimated total bending angle.

[0341] According to the electric endoscope system 1000H according to this embodiment, observation and treatment using the endoscope 100H can be carried out more efficiently. The electric endoscope system 1000H improves the bending responsiveness of the bending portion 112 by controlling the bending wire 160 in accordance with the bending shape of the flexible portion (the insertion portion 110 and the extracorporeal flexible portion 140).

[0342] As described above, the eighth embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and design changes and the like within the scope not departing from the gist of the present invention are also included. In addition, the components shown in the above-described embodiments and modified examples can be configured by appropriately combining them.

[0343] (Ninth Embodiment) The electric endoscope system 1000I according to the ninth embodiment of the present invention will be described with reference to FIGS. 76 to 89. In the following description, the same reference numerals are given to the configurations common to those already described, and the overlapping description is omitted.

[0344] [Electric Endoscope System 1000I] FIG. 76 is an overall view of the electric endoscope system 1000I according to this embodiment. The electric endoscope system 1000I includes an endoscope 100, a drive device 200I, an operation device 300, a treatment tool 400, a video control device 500I, and a display device 900. The drive device 200I and the video control device 500I constitute a control device 600I that controls the electric endoscope system 1000I.

[0345] The drive device 200I is the same as the drive device 200 of the first embodiment, except that it has a plurality of input modes for operation inputs received from the operation device 300. The drive controller 260 of the drive device 200I has two types of input modes, a first input mode and a second input mode. Based on the selected input mode, the drive controller 260 associates the operation input received from the operation device 300 with a bending operation of the bending portion 112 or the like. Further, the drive controller 260 switches the input mode based on an operation input for switching the input mode from the operation device 300.

[0346] FIG. 77 is a front view of the operation device 300. The operation device 300 includes an operation unit main body 310, an air and water supply button 351, a suction button 352, various buttons 350, a touch pad 380, and a touch sensor 381.

[0347] The touch pad 380 is a touch-sensitive interface for inputting a bending operation or the like for the bending portion 112. For example, an input in the upward direction (Y1 direction) in the vertical direction (Y direction) on the touch pad 380 is associated with an operation of bending the bending portion 112 in the U direction. An input in the downward direction (Y2 direction) in the vertical direction (Y direction) on the touch pad 380 is associated with an operation of bending the bending portion 112 in the D direction. An input in the left direction (X1 direction) in the horizontal direction (X direction) on the touch pad 380 is associated with an operation of bending the bending portion 112 in the L direction. An input in the right direction (X2 direction) in the horizontal direction (X direction) on the touch pad 380 is associated with an operation of bending the bending portion 112 in the R direction.

[0348] The touch sensor 381 is a touch-sensitive interface for inputting any operation. The touch sensor 381 is used, for example, to adjust the ratio of the driving amount of the bending portion 112 to the operation input amount of the touch pad 380 (hereinafter also referred to as "motion scale").

[0349] The operating device 300 has a button for switching the input mode of the driving device 200I (hereinafter also referred to as the "input mode switching button"). The input mode switching button is, for example, various buttons 350 assigned as the input mode switching button. When the touch pad 380 is a pressure-sensitive touch pad, it may be assigned as an input mode switching button that detects depression by pressing the touch pad 380 with a predetermined strength or more.

[0350] The drive controller 260 may switch the input mode by detecting that the input mode switching button has been pressed, or may switch the input mode only while the input mode switching button is being pressed.

[0351] The video control device 500I is the same as the video control device 500 of the first embodiment except for generating the display image IMG.

[0352] FIG. 78 is a diagram showing a display image IMG output from the video control device 500I to the display device 900. The video control device 500I generates the display image IMG and outputs it to the display device 900. The display image IMG includes the captured image IMG1 acquired from the endoscope 100 and the guide image IMG2. The display device 900 displays the display image IMG on the screen 902.

[0353] The guide image IMG2 is an image for assisting the operation of the endoscope 100 by the operator S. The guide image IMG2 is generated by the main controller 560 (mainly the processor 561) of the video control device 500I. The guide image IMG2 includes the CG image IMG3, the passive rotation information image IMG4, and the operation information image IMG5.

[0354] The CG image IMG3 is a CG image of the insertion portion 110 including the bending portion 112. The main controller 560 generates the CG image IMG3 based on the driving state of the bending wire 160 acquired from the drive controller 260. By looking at the CG image IMG3, the operator S can visually recognize the shape of the bending portion 112 inside the patient P's body.

[0355] The passive rotation information image IMG4 is an image that displays the rotation angle of the passive rotation part (the base end part 119b of the in-vivo flexible part 119, the housing 123h, the cylindrical member 121) in the connection part 120 with a circular gauge. The main controller 560 generates the passive rotation information image IMG4 based on the rotation angle of the magnetic ring 121s acquired from the magnetic sensor of the connection part 120. By looking at the passive rotation information image IMG4, the operator S can intuitively grasp the angle by which the passive rotation part rotates in the circumferential direction C with respect to the cover member 125F.

[0356] Figure 79 is a diagram showing the operation information image IMG5. The operation information image IMG5 is an image that visualizes the operation input of the operation device 300 by the operator S. The main controller 560 generates the passive rotation information image IMG4 based on the operation input received from the operation device 300. The operation information image IMG5 includes a first operation information image IMG6 that displays the position input to the touch pad 380 and a second operation information image IMG7 that displays the position input to the touch sensor 381. By looking at the operation information image IMG5, the operator S can visually recognize the operation input that he / she has input to the operation device 300. By looking at the second operation information image IMG7, the operator S can grasp the currently set motion scale without actually performing the operation of curving the curved part 112.

[0357] [Operation of the Electric Endoscope System 1000I] Next, the operation of the electric endoscope system 1000I of the present embodiment will be described. Hereinafter, the description will be made along the control flowchart of the drive controller 260 of the control device 600I shown in FIG. 80. When the control device 600I is activated, the drive controller 260 starts the control flow shown in FIG. 80 (step S600). Next, the drive controller 260 (mainly the processor 261) executes step S610.

[0358] <Step S610: Determination of the start of bending drive> In step S610, the drive controller 260 periodically checks for operation inputs to the touch pad 380 and determines whether to start the bending drive of the bending portion 112. If there is an operation input to the touch pad 380, the drive controller 260 then executes step S620.

[0359] <Step S620: Determination of Input Mode> In step S620, the drive controller 260 determines the selected input mode. If the first input mode is selected, the drive controller 260 then executes step S630. If the second input mode is selected, the drive controller 260 then executes step S650.

[0360] <Step S630: Acquisition of Difference Vector D> FIG. 81 is a diagram showing the difference vector D. In step S630, the drive controller 260 obtains the difference vector D from the difference between the start position DS and the end position DE. The start position DS is the position of the thumb FT on the touch pad 380 when the operation input starts within a predetermined period. The end position DE is the position of the thumb FT on the touch pad 380 when the operation input ends within a predetermined period. When the start position is DS(x1, y1) and the end position is DE(x2, y2), the difference vector D(dx, dy) is (x2 - x1, y2 - y1). The drive controller 260 then executes step S640.

[0361] <Step S640: Bending Portion Drive> In step S640, the drive controller 260 drives the bending portion 112 based on the determined difference vector D. Specifically, the drive controller 260 drives the bending portion 112 by a bending drive amount proportional to the magnitude of the difference vector D in the direction of the difference vector D. The drive controller 260 then executes step S690.

[0362] When the input mode is the first input mode, the direction of the difference vector D is not limited to a specific direction. Therefore, when the input mode is the first input mode, the drive controller 260 can drive the curved portion 112 in the direction of the difference vector D obtained from the operation input. By selecting the first input as the input mode, the operator S can easily input an operation for causing the tip of the curved portion 112 to move in a circular motion, for example, to observe every corner inside the lumen.

[0363] <Step S650: Determination of Input Vector A> In step S650, the drive controller 260 determines the input direction DI based on the operation input to the touch pad 380. Specifically, the drive controller 260 determines the input vector A based on the direction of the start of the movement of the thumb FT along the touch pad 380.

[0364] FIG. 82 is a diagram showing the input vector A. The drive controller 260 determines the input vector A from the difference between the first position D1 and the second position D2. The first position D1 is the position of the thumb FT on the touch pad 380 when the operation input is started in one operation input. The second position D2 is the position of the thumb FT on the touch pad 380 immediately after the start of the operation input (immediately after the start of the movement) in one operation input. When the first position D1 is (x1, y1) and the second position D2 is (x2, y2), the input vector A (dx, dy) is (x2 - x1, y2 - y1).

[0365] The second position D2 is, for example, the position of the thumb FT on the touch pad 380 immediately after the start of the movement, and is, for example, a position separated from the first position D1 by a predetermined distance d. The predetermined distance d is, for example, from 1 mm to 10 mm. The predetermined distance d may be from 5 mm to 10 mm corresponding to 50% to 100% of the width of the thumb FT. The predetermined distance d may be a length corresponding to 15% to 25% of the width (40 mm to 60 mm) of the touch pad 380.

[0366] The second position D2 is, for example, the position of the thumb FT on the touch pad 380 immediately after starting to move, and is, for example, the position of the thumb FT when a predetermined time t has elapsed. The predetermined time t is, for example, from 0.5 seconds to 1 second.

[0367] The range from the first position D1 to the second position D1, or the range where the thumb FT is located when a predetermined time t has elapsed starting from the first position D1, is defined as the "input start range RI". The input vector A is determined from the movement of the thumb FT within the input start range RI.

[0368] When the drive controller 260 determines the input direction DI in step S650, it then executes step S660.

[0369] <Step S660: Determination of the bending drive amount> The drive controller 260 determines the bending drive amount in step S660. The drive controller 260 determines the bending drive amount by a vector method or a touch method.

[0370] <<Vector method>> FIG. 83 is a diagram for explaining the determination of the bending drive amount by the vector method. In the vector method, the drive controller 260 determines the input vector B based on the movement of the thumb FT along the touch pad 380 outside the input start range RI. The drive controller 260 determines the input vector B by the same method as the method for determining the input vector A. The drive controller 260 calculates the bending drive amount V using Equation 2 and Equation 3. In Equation 2, e A is the unit vector of the input vector A. In Equation 3, θ is the angle formed by the input vector A and the input vector B. In Equation 3, sgn(α) is the sign function, which outputs +1 if the input α is positive, -1 if the input α is negative, and zero if the input α is zero.

[0371]

Equation

[0372]

Number

[0373] In the vector method, the bending drive amount V corresponds to the movement amount of the thumb FT when it is assumed that the thumb FT continues to move in the direction of the input vector A immediately after the operation input is started (immediately after starting to move).

[0374] <<Touch method>> In the touch method, the drive controller 260 increases the bending drive amount V in proportion to the period during which the thumb FT touches the touch pad 380.

[0375] When the drive controller 260 determines the bending drive amount V in step S660, it then executes step S670.

[0376] <Step S670: Bending part drive> In step S670, the drive controller 260 drives the bending part 112 based on the determined input vector A and the bending drive amount V. Specifically, the drive controller 260 drives the bending part 112 by the bending drive amount V in the direction of the input vector A. That is, the drive controller 260 drives the bending part 112 only in the direction of the input vector A immediately after the operation input is started (immediately after starting to move). The drive controller 260 then executes step S680.

[0377] <Step S680: Completion determination> The drive controller 260 determines, in step S680, whether one operation input has been completed. When the thumb FT is released from the touch pad 380, the drive controller 260 determines that one operation input has been completed. Also, when the drive controller 260 detects an operation input in which the touch pad 380 is pushed in by the thumb FT or an operation input in which a part of the various buttons 350 is pushed in, the drive controller 260 may determine that one operation input has been completed. When the drive controller 260 determines that one operation input has been completed, it then executes step S690. When the drive controller 260 determines that one operation input has not been completed, it executes steps S660 and subsequent steps again.

[0378] When the input mode is the second input mode, in steps S660 and S670 that are executed again, the input vector A is not changed. Therefore, when the input mode is the second input mode, the drive controller 260 continuously drives the bending portion 112 only in the direction of the input vector A immediately after the operation input is started (immediately after starting to move). By selecting the second input as the input mode, the operator S can easily input an operation of moving the tip of the bending portion 112 straight, for example, when excising the submucosa in endoscopic submucosal dissection (ESD).

[0379] <Step S690> In step S690, the drive controller 260 determines whether to continue controlling the bending drive of the bending portion 112. When continuing to control the bending drive of the bending portion 112, the drive controller 260 then executes step S610. When not controlling the bending drive of the bending portion 112, the drive controller 260 then executes step S700 to end the control flow shown in FIG. 80.

[0380] [Limitation of the direction of the input vector A] FIG. 84 is a diagram showing the limitation of the direction of the input vector A. By moving the thumb FT along the touch pad 380, the operator S can intuitively input an operation to bend the curved portion 112 in any direction with respect to the touch pad 380. On the other hand, it is difficult for the operator S to input an operation to bend the curved portion 112 only in any one of the UDLR directions with respect to the touch pad 380. The operation unit of a conventional endoscope having an angle knob can easily input an operation to bend the curved portion only in any one of the UDLR directions. Therefore, it is desired that an operation to bend the curved portion 112 only in any one of the UDLR directions can also be easily input with respect to the touch pad 380. Thus, the drive controller 260 can limit the direction of the input vector A to several directions.

[0381] For example, as shown in FIG. 84, the drive controller 260 limits the direction of the input vector A to 8 directions. For example, when the direction of the input vector A is ±30 degrees in the Y1 direction, the drive controller 260 regards the direction of the input vector A as "±0 degrees in the Y1 direction". For example, when the direction of the input vector A is ±30 degrees in the X1 direction, the drive controller 260 regards the direction of the input vector A as "±0 degrees in the X1 direction". Note that the drive controller 260 may limit the direction of the input vector A to 4 directions or 16 directions.

[0382] The Y1 direction of the touch pad is associated with the U direction of the curved portion 112. By increasing the angular range of the input vector A regarded as the Y1 direction of the touch pad, an operation to bend the curved portion 112 only in the U direction can be easily input.

[0383] The Y2 direction of the touch pad is associated with the D direction of the curved portion 112. By increasing the angular range of the input vector A regarded as the Y2 direction of the touch pad, an operation to bend the curved portion 112 only in the D direction can be easily input.

[0384] The X1 direction of the touch pad is associated with the L direction of the curved portion 112. By increasing the angular range of the input vector A regarded as the X1 direction of the touch pad, an operation to bend the curved portion 112 only in the L direction can be easily input.

[0385] The X2 direction of the touchpad is associated with the R direction of the curved portion 112. By increasing the angular range of the input vector A regarded as the X2 direction of the touchpad, the operation of bending the curved portion 112 only in the R direction can be easily input.

[0386] For example, as shown in FIG. 84, the angular range (30 degrees) of the input vector A regarded as the Y1 direction, Y2 direction, X1 direction, and X2 direction of the touchpad is larger than the angular range (15 degrees) of the input vector regarded as the other directions. In this case, the operator S can more easily input the operation of bending the curved portion 112 only in any one of the UDLR directions to the touchpad 380.

[0387] [Curvature limit display] FIG. 85 is a diagram showing a guide image IMG2 including a curvature limit display IMG8. The guide image IMG2 may include a curvature limit display IMG8. The curvature limit display IMG8 is a display for notifying that the curved portion 112 is maximally curved. The main controller 560 generates the curvature limit display IMG8 based on the driving state of the bending wire 160 acquired from the driving controller 260.

[0388] The curvature limit display IMG8 is a display in which a prominent color (for example, a fluorescent color) is applied to the strip-shaped regions at the upper, lower, left, and right ends of the guide image IMG2, indicating that the curved portion 112 is maximally curved in at least one direction of the UDLR directions.

[0389] When the curved portion 112 is maximally curved in the U direction, as shown in FIG. 85, the curvature limit display IMG8 is displayed in the strip-shaped region at the upper end of the guide image IMG2.

[0390] When the curved portion 112 is maximally curved in the D direction, the curvature limit display IMG8 is displayed in the strip-shaped region at the lower end of the guide image IMG2.

[0391] When the bending part 112 is bent to the maximum in the L direction, the bending limit display IMG8 is displayed in the strip-shaped area at the left end of the guide image IMG2.

[0392] When the bending part 112 is bent to the maximum in the R direction, the bending limit display IMG8 is displayed in the strip-shaped area at the right end of the guide image IMG2.

[0393] By looking at the bending limit display IMG8, the operator S can easily grasp that the bending part 112 is bent to the maximum in at least one direction of the UDLR directions. The main controller 560 may also display the bending limit display IMG8 even when the bending part 112 approaches the state of being bent to the maximum.

[0394] [Operation Guide] FIG. 86 is a diagram showing the operation guide 325 of the operation unit main body 310. The operation unit main body 310 of the operation device 300 may have an operation guide 325 in a frame portion 311 surrounding the touch pad 380. The operation guide 325 is formed in a shape such that the operator S can tactilely feel the height difference from the touch pad 380. The height H3 of the operation guide 325 from the touch pad 380 is, for example, 0.5 mm to 2 mm.

[0395] FIG. 87 is a diagram showing another aspect of the operation guide 325. The operation guide 325 may further have a convex portion 326. The convex portion 326 is a convex portion that protrudes in a direction away from the touch pad 380 from the operation guide 325. The height H4 of the operation guide 325 including the convex portion 326 is, for example, 2 mm to 4 mm.

[0396] Even when the input mode is the first mode, the operator S can easily input a straight operation to the touch pad 380 by guiding the thumb FT along the touch pad 380 with the operation guide 325 and the convex portion 326 as a guide. Also, the operator S can rest the thumb FT by pressing the thumb FT against the convex portion 326 and separating the finger FT from the touch pad 380. Note that the illustration of the glove worn by the operator S in FIGS. 86 and 87 is omitted.

[0397] FIG. 88 is a diagram showing another aspect of the operation guide 325. The operation guide 325 may be a portion provided at an end of the touch pad 380. The operation guide 325 shown in FIG. 88 is a portion having a different tactile sensation such as material and surface roughness from other portions of the touch pad 380.

[0398] FIG. 89 is a diagram showing another aspect of the operation guide 325. The operation guide 325 may be a convex portion provided on the touch pad 380 by embossing or the like. In this case, the operation guide 325 may be provided at the center of the touch pad 380 instead of at the end of the touch pad 380.

[0399] According to the electric endoscope system 1000I according to the present embodiment, observation and treatment using the endoscope 100 can be more efficiently performed. The operator S can easily input operations by the touch pad 380 by properly using the first input mode and the second input mode. Further, the operator S can more suitably operate the bending portion 112 and the like by observing the guide image IMG2.

[0400] As described above, the ninth embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and design changes and the like within the scope not departing from the gist of the present invention are also included. Further, the components shown in the above-described embodiments and modified examples can be combined as appropriate.

[0401] In the above embodiment, the finger operating the touch pad 380 may be a finger other than the thumb FT.

[0402] (Tenth Embodiment) The electric endoscope system 1000J according to the tenth embodiment of the present invention will be described with reference to FIGS. 90 to 94. In the following description, components common to those already described will be denoted by the same reference numerals and redundant description will be omitted.

[0403] [Electric Endoscope System 1000J] Figs. 90 and 91 are overall views of the electric endoscope system 1000J according to the present embodiment. The electric endoscope system 1000J includes an endoscope 100, a drive device 200J, an operation device 300 or an operation device 300J or an operation device 300K, a treatment instrument 400, a video control device 500I, and a display device 900. The drive device 200J and the video control device 500I constitute a control device 600J that controls the electric endoscope system 1000J.

[0404] The electric endoscope system 1000J is a system that can connect different types of operation devices such as the operation device 300J and the operation device 300K instead of the operation device 300. The operation device 300J is an operation device provided with an angle knob instead of the touch pad 380. The operation device 300K is a game pad type operation device.

[0405] The drive device 200J is the same as the drive device 200 of the first embodiment, except that it has a function of connecting to an unregistered type of operation device that is not registered in the drive device 200J.

[0406] The operation device 300, the operation device 300J, and the operation device 300K have a non-volatile memory that stores operation device information. The operation device information is at least one of an operation device ID, operation parameters of the operation device, operation information of the operation device, and software for the operation device.

[0407] The operation device ID is composed of, for example, a plurality of alphanumeric characters, and stores a model number indicating the type of the operation device 300 or the like.

[0408] The operation parameters of the operation device are parameters necessary when operating the endoscope 100 including the bending portion 112 based on an operation input received by the drive device 200J from the operation device 300 or the like. The operation parameters are a part of the software for the operation device.

[0409] The operation information of the operating device is information that defines the display mode of the operation information image IMG5 of the guide image IMG2 generated by the video control device 500I based on the operation input received from the operating device 300 or the like.

[0410] The software for the operating device is software necessary for the drive device 200J to communicate with the operating device 300 or the like and receive an operation input from the operating device 300 or the like. The software for the operating device is a part of the program that controls the drive controller 260.

[0411] [Operation of the electric endoscope system 1000J] Next, the operation of the electric endoscope system 1000J of the present embodiment will be described. Hereinafter, the description will be made along the control flowchart of the drive controller 260 of the control device 600J shown in FIG. 92. When the operating device 300 is connected to the drive device 200J, the drive controller 260 starts the control flow shown in FIG. 92 (step S800). Next, the drive controller 260 (mainly the processor 261) executes step S810.

[0412] <Step S810> In step S810, the drive controller 260 acquires operation device information from the connected operation device 300. Next, the drive controller 260 executes step S820.

[0413] <Step S820> In step S820, the drive controller 260 determines whether an update of a program or the like for controlling the drive controller 260 is necessary from the acquired operating device information. For example, when the operating device ID in the acquired operating device information is not registered, the drive controller 260 determines that an update of a program or the like for controlling the drive controller 260 is necessary. Even when the operating device ID in the acquired operating device information is registered or the operating device information does not include an operating device ID, if the operating device information includes new information (operation parameters, operation information, software for the operating device) to be updated, the drive controller 260 determines that an update of a program or the like for controlling the drive controller 260 is necessary. If an update is necessary, the drive controller 260 then executes step S830. If an update is not necessary, the drive controller 260 then executes step S840.

[0414] <Step S830> In step S830, when the operating device information includes new software for the operating device 300 to be updated, the drive controller 260 updates the program for controlling the drive controller 260 using the software for the operating device 300.

[0415] When the operating device information includes new operation parameters to be updated, the drive controller 260 updates the program for controlling the drive controller 260 using the operation parameters. For example, when the size of the touch pad 380 of the operating device 300 is changed, the bending drive amount of the bending portion 112 with respect to the operation input to the touch pad 380 is included in the operating device information as new operation parameters. In this case, even if the software for the operating device 300 is not updated, the drive controller 260 can correctly receive operation inputs from the operating device 300 by updating a part of the operation parameters using the new operation parameters.

[0416] Figures 93 and 94 are diagrams for explaining the update of the operation information image IMG5 using operation information. When new operation information to be updated is included in the operation device information, the drive controller 260 causes the main controller 560 to update the display mode of the operation information image IMG5 using the operation information. For example, as shown in FIG. 93, when the arrangement of the touch sensor 381 of the operation device 300 is changed to the right side of the touch pad 380, the arrangement information of the touch sensor 381 is included in the operation device information as new operation information. In this case, as shown in FIG. 94, the main controller 560 updates the display mode of the operation information image IMG5 generated using the new operation information.

[0417] <Step S840> In step S840, the drive controller 260 ends the control flow shown in FIG. 92. The drive controller 260 can receive operation inputs from the operation device 300. Even when the operation device 300J or the operation device 300K is connected to the drive device 200J, by executing the control flow shown in FIG. 92, the drive controller 260 can receive operation inputs from the operation device 300J or the operation device 300K.

[0418] According to the electric endoscope system 1000J according to this embodiment, observation and treatment using the endoscope 100 can be carried out more efficiently. The operator S can connect and use a new operation device that is not registered to the drive device 200J.

[0419] As described above, the tenth embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and design changes and the like within the scope not departing from the gist of the present invention are also included. In addition, the components shown in the above-described embodiments and modifications can be combined as appropriate.

[0420] (Eleventh Embodiment) The electric endoscope system 1000L according to the eleventh embodiment of the present invention will be described with reference to FIGS. 95 to 99. In the following description, components common to those already described will be given the same reference numerals and redundant descriptions will be omitted.

[0421] The electric endoscope system 1000L includes an endoscope 100L, a drive device 200, an operation device 300L, a treatment instrument 400, an image control device 500, and a display device 900.

[0422] FIG. 95 is a diagram showing the operation device 300L. The operation device 300L is obtained by removing the operation cable 301 from the operation device 300 of the first embodiment and communicates with the drive device 200 by wireless communication. A cover 390 can be attached to the operation device 300L. The cover 390 has an upper surface cover 390A formed of rubber or the like and a hard back cover 390B. By sandwiching the operation device 300L between the upper surface cover 390A and the back cover 390B, the entire operation device 300L can be covered. The operator S can operate the touch pad 380 and various buttons 350 by pushing in the upper surface cover 390A. The operator S or the assistant only needs to reprocess or discard the cover 390 with emphasis after the operation, and the labor of reprocessing the operation device 300L can be reduced.

[0423] The endoscope 100L includes an insertion portion 110L, a connection portion 120, an extracorporeal flexible portion 140L, a detachable portion 150L, a bending wire 160, and a built-in object 170.

[0424] FIG. 96 is a diagram showing the extracorporeal flexible portion 140L. The extracorporeal flexible portion 140L has a double structure and includes an inner extracorporeal flexible portion 140X and an outer extracorporeal flexible portion 140Y. The outer extracorporeal flexible portion 140Y is detachably attached to the outer peripheral portion of the inner extracorporeal flexible portion 140X.

[0425] The bending wire 160, the imaging cable 173, and the light guide 174 are inserted through the inner extracorporeal flexible portion 140X.

[0426] FIG. 97 is a diagram showing the removed outer extracorporeal flexible portion 140Y. The outer body flexible part 140Y has a suction tube 172 and an air / water supply tube 175 inserted therethrough. The operator S and the assistant only need to focus on reprocessing or discarding the outer body flexible part 140Y after the operation, which can reduce the labor of reprocessing the body external flexible part 140L.

[0427] FIG. 98 is a diagram showing the endoscope 100L. The detachable part 150L has a first detachable part 1503 attached to the driving device 200 and a second detachable part 1502 attached to the video control device 500.

[0428] FIG. 99 is a diagram showing the endoscope 100L during transportation. The first detachable part 1503 further has an engaging part 1505 compared with the first detachable part 1501 of the first embodiment. When the operator S or the assistant removes the endoscope 100L from the control device 600 for transportation, the connecting part 120 and the second detachable part 1502 are hooked on the engaging part 1505 of the first detachable part 1503. The operator S and the assistant can hold the connecting part 120, the first detachable part 1503 and the second detachable part 1502 together.

[0429] According to the electric endoscope system 1000L according to the present embodiment, the carrying and reprocessing of the endoscope 100 can be carried out more efficiently.

[0430] As described above, the eleventh embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and design changes and the like within the scope not departing from the gist of the present invention are also included. In addition, the components shown in the above-described embodiments and modified examples can be combined as appropriate.

[0431] The programs in the embodiments may be recorded on a computer-readable recording medium, and the programs recorded on this recording medium may be read into a computer system and executed. Here, the "computer system" includes hardware such as an OS and peripheral devices. Further, the "computer-readable recording medium" refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, a CD-ROM, etc., and a storage device such as a hard disk incorporated in a computer system. Furthermore, the "computer-readable recording medium" also includes a medium that dynamically holds a program for a short 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 volatile memory inside a computer system that serves as a server or a client in that case, which holds a program for a certain period of time. Also, the above program may be for realizing a part of the aforementioned functions, and may further be realized in combination with a program already recorded in the computer system for realizing the aforementioned functions.

Industrial Applicability

[0432] The present invention can be applied to a medical system for observing and treating inside a luminal organ or the like.

Explanation of Signs

[0433] 1000, 1000B, 1000C, 1000D, 1000E, 1000F, 1000G, 1000H, 1000I, 1000J, 1000L Electric endoscope system (medical manipulator system) 100, 100B, 100C, 100D, 100E, 100F, 100H, 100L Endoscope (medical manipulator) 100X First endoscope 100Y Second endoscope 101 Internal path 1101, 10C, 110L Insertion portion 111 Tip portion 111a Opening 111b Lighting portion 111c Imaging unit 111d Air / water supply nozzle 112, 112C Bending part 113 First bending part (tip-side bending part) 114 Second bending part (base-side bending part) 115 Joint ring (bending piece) 115a First joint ring 115b Second joint ring 115u Upper wire guide 115d Lower wire guide 115l Left wire guide 115r Right wire guide 115p First rotating pin 115q Second rotating pin 116 Tip part (first tip part) 117 Second tip part 118 Outer sheath 119 Soft part inside the body 119b Base end part 120, 120D, 120F Connecting part 121 Cylindrical member 121s Magnetic ring 122 Connecting part body 123 Sealing part 123h Housing 123r Ring 124 Bearing part 125, 125F Cover member 126, 126B Forceps mouth 127 T-shaped bifurcated tube 128 Fitting part 128p Flat part 129 Stopper 130, 130E Operating device attachment / detachment part 131 Electrical contact 140, 140L Soft part outside the body 140X Inner soft part outside the body 140Y Outer soft part outside the body 150, 150B, 150C, 150L Attachment / detachment part 1501 First attachment / detachment part 1502 Second attachment / detachment part 1503 First detachable part 1504 First detachable part 1505 Engagement part 151, 151B Upper and lower bending wire detachable parts (First upper and lower bending wire detachable parts) 152, 152B Left and right bending wire detachable parts (First left and right bending wire detachable parts) 153 Second upper and lower bending wire detachable part 154 Second left and right bending wire detachable part 155 Support member 15X Driven part (Drive force transmission part) 156, 156B First driven part (First drive force transmission part) 156a First winding pulley 156c First coupling part 156d First fitting convex part 156r First drum rotation shaft 157, 157B Second driven part (Second drive force transmission part) 157a Second winding pulley 157c Second coupling part 157d Second fitting convex part 157r Second drum rotation shaft 158 Scope ID memory part 159 Tension sensor 160, 160C Bending wire 161 First bending wire 161u Upper bending wire (First upper bending wire) 161d Lower bending wire (First lower bending wire) 161l Left bending wire (First left bending wire) 161r Right bending wire (First right bending wire) 161s Wire sheath (First wire sheath) 162 Second bending wire 162u Second upper bending wire 162d Second lower bending wire 162l Second left bending wire 162r Second right bending wire 162s Second wire sheath 170 Built-in object 171 Channel Tube 172 Suction Tube 173 Imaging Cable 174 Light Guide 175 Air and Water Supply Tube 180 Tip Portion 200, 200C, 200G, 200I, 200J Driving Device 210, 210G Adapter 211A First Operation Adapter 211B Second Operation Adapter 212, 212G Endoscope Adapter 220 Operation Receiver 230 Air Suction Driving Unit 250, 250G Wire Driving Unit (Actuator) 250a Support Member 25X Driving Unit 251 First Driving Unit (First Actuator) 251a First Shaft 251b First Motor Unit 251c First Be Coupled Portion 251d First Fitting Recess 251e First Torque Sensor 251r First Shaft Rotation Axis 251s First Elastic Member 252 Second Driving Unit (Second Actuator) 252a Second Shaft 252b Second Motor Unit 252c Second Be Coupled Portion 252d Second Fitting Recess 252e Second Torque Sensor 252r Second Shaft Rotation Axis 252s Second Elastic Member 253 Third Driving Unit (Third Actuator) 254 Fourth Driving Unit (Fourth Actuator) 255 Fifth Driving Unit (Fifth Actuator) 256 Sixth Driving Unit (Sixth Actuator) 257 Seventh Driving Unit (Seventh Actuator) 258 Eighth drive unit (eighth actuator) 25G Drive unit group 25G1 First drive unit group 25G2 Second drive unit group 259 Detachment sensor 260 Drive controller 261 Processor 262 Memory 263 Storage unit 264 Input / output control unit 300, 300D, 300E, 300F, 300J, 300K, 300L Operating device (controller) 300X First operating device 300Y Second operating device 301 Operating cable 302 Restraint band 310, 310D, 310E Main body of operating unit 311 Frame part 314 Touch pad support part 315 Button support part 316 Gripping part 316 Grip (gripping part) 317 Handle 318 Left side surface 319 Guide groove 325 Operation guide 326 Protrusion 350 Various buttons 351 Air supply and water supply button 352 Suction button 353 Release button 380 Touch pad 381 Touch sensor 390 Cover 390A Upper cover 390B Rear cover 400 Treatment instrument 410 Treatment part 500, 500G, 500I Image control device 510A First endoscope adapter 510B Second endoscope adapter 520 Imaging processing unit 530 Light source unit 560 Main controller 561 Processor 562 Memory 563 Storage unit 564 Input / output control unit 600, 600G, 600I, 600J Control device 700 Storage rack 710 Hanger (trolley) 800 Observation device 900 Display device 901 Display cable 902 Screen

Claims

1. A medical manipulator having an insertion part to be inserted into the body, a driving device to which the medical manipulator is detachably connected, an operating device communicably connected to the driving device and into which an operation for driving the medical manipulator is input, comprising: the operating device has a groove that engages with a part of the medical manipulator, the medical manipulator has a connecting part and an extracorporeal flexible part, the connecting part rotatably connects the insertion part and the extracorporeal flexible part about a rotation axis extending in the longitudinal direction of the medical manipulator, the connecting part has a fitting part that fits into the groove of the operating device, a medical manipulator system.

2. the fitting part is provided on a member that rotates in conjunction with the extracorporeal flexible part, the medical manipulator system according to Claim 1.

3. the connecting part has a forceps opening communicating with an internal path of the medical manipulator, the forceps opening is provided on a member that rotates in conjunction with the extracorporeal flexible part, the medical manipulator system according to Claim 1.

4. The forceps opening has a joint structure, the medical manipulator system according to Claim 3.

5. an outer peripheral surface of the fitting part is formed in a D shape in a cross section perpendicular to the longitudinal direction, a flat part formed on the outer peripheral surface of the fitting part is provided on a side opposite to the forceps opening with respect to the rotation axis, the medical manipulator system according to Claim 3.

6. The outer peripheral surface of the fitting part is formed of a flat part and other parts, the flat part is provided on a side opposite to the forceps opening with respect to the rotation axis, the medical manipulator system according to Claim 3.

7. the forceps opening is rotatably provided on the member, the medical manipulator system according to Claim 3.

8. the groove of the operating device is a groove extending in the vertical direction formed on a left side surface facing leftward, the groove of the operating device is formed in a D shape when viewed from the vertical direction, the medical manipulator system according to Claim 1.

9. The groove of the operating device is a groove extending in the vertical direction formed on a left side surface facing leftward, the groove of the operating device has a tapered part extending in the vertical direction and openings formed at both ends in the vertical direction of the tapered part, the medical manipulator system according to Claim 1.

10. The groove of the operating device is provided at a position that does not overlap with other parts of the operating device when viewed from the vertical direction. The medical manipulator system according to claim 8.

11. The operating device has a grip. When the groove is fitted into the fitting portion, the grip is arranged side by side with the connecting portion. The medical manipulator system according to claim 8.

12. The operating device has a touch pad. A first central axis along the vertical direction of the grip is offset to the left of a second central line along the vertical direction passing through the center of the touch pad. The medical manipulator system according to claim 11.

13. An operating device for driving a medical manipulator having an insertion portion to be inserted into the body and a connecting portion that rotatably connects the insertion portion around a longitudinal axis, The operating device has a groove that engages with the connecting portion of the medical manipulator. The connecting portion has a fitting portion that fits into the groove of the operating device. The operating device further has a grip. When the groove is fitted into the fitting portion, the grip is arranged side by side with the connecting portion. Operating device.

14. The groove is a vertically extending groove formed on a left side surface facing left. The groove is formed in a D shape when viewed from the vertical direction. The operating device according to claim 13.

15. The groove is a vertically extending groove formed on a left side surface facing left. When viewed from the vertical direction, the groove is arranged side by side with the grip in the front-rear direction. The operating device according to claim 13.

16. The groove is provided at a position that does not overlap with other parts of the operating device when viewed from the vertical direction. The operating device according to claim 14.

17. The operating device further has a touch pad. A first central axis along the vertical direction of the grip is offset to the left of a second central line along the vertical direction passing through the center of the touch pad. The operating device according to claim 13.

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