Medical manipulator system, control device and control method

Abstract

This medical manipulator system is provided with: a medical manipulator comprising an insertion portion having a curved portion, and a curved wire connected to the curved portion; and a drive device that is connected to the medical manipulator and drives the curved wire to bend the curved portion. The drive device pulls the curved wire at higher speed when the curved wire is slackened, compared to when the curved wire is slackened.

Description

[Technical Field]

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 314,579, filed February 28, 2022, the contents of which are incorporated herein by reference. [Background technology]

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

[0003] Patent Document 1 describes a medical system equipped with an electrically driven endoscope. In the medical system described in Patent Document 1, the endoscope is electrically driven, which reduces fatigue of the surgeon. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2021 / 145411 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the conventional medical manipulator system shown in Patent Document 1 and the like is not necessarily easy to use, and is not a system that allows treatment using a manipulator (endoscope) to be carried out more efficiently.

[0006] In view of the above circumstances, an object of the present invention is to provide a medical manipulator system, a control device, and a control method that enable observation and treatment using a manipulator (endoscope) to be performed more efficiently. [Means for solving the problem]

[0007] In order to solve the above problems, the present invention proposes the following means. A medical manipulator system according to a first aspect of the present invention comprises: a medical manipulator including an insertion section having a bending portion and a bending wire connected to the bending portion; and a drive device connected to the medical manipulator and configured to drive the bending wire to bend the bending portion, wherein the drive device pulls the bending wire at a higher speed when the bending wire is slack compared to when the bending wire is not slack, and performs a loosening determination of whether the bending wire is slack based on a comparison between a threshold tension estimated from the shape of the insertion section and the tension of the bending wire, The threshold tension is the tension of the bending wire when the bending wire starts to bend the bending portion. . [Effects of the Invention]

[0008] According to the medical manipulator system, the control device, and the control method of the present invention, observation and treatment using a manipulator can be carried out more efficiently. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is an overall view of an electric endoscope system according to a first embodiment. [Figure 2] 2 is a diagram showing an endoscope and an operating device of the electric endoscope system used by an operator. FIG. [Figure 3] FIG. 2 is a view showing an insertion portion of the endoscope. [Figure 4] FIG. 2 is a cross-sectional view of a portion of the bending portion of the insertion portion. [Figure 5] 5 is an enlarged view of a node ring in an area E shown in FIG. [Figure 6] 6 is a cross-sectional view of the curved portion taken along line C1-C1 in FIGS. 4 and 5. FIG. [Figure 7] FIG. 2 is a perspective view of a connecting portion of the endoscope. [Figure 8] FIG. [Figure 9]FIG. [Figure 10] FIG. 2 is a perspective view of a cylindrical member and a bearing portion of the connecting portion. [Figure 11] 10 is a diagram showing a first detachable part of the endoscope before being attached to the drive device of the electric endoscope system. FIG. [Figure 12] 10 is a view showing the vertical bending wire detachable portion of the first detachable portion before being attached to the drive device. FIG. [Figure 13] 10 is a view showing the vertical bending wire attaching / detaching part attached to the driving device. FIG. [Figure 14] FIG. 2 is a functional block diagram of the drive device. [Figure 15] 10A and 10B are diagrams showing an endoscope adapter of the driving device. [Figure 16] FIG. [Figure 17] FIG. 2 is a perspective view of the operating device as seen from the back. [Figure 18] FIG. 2 is a functional block diagram of a video control device of the electric endoscope system. [Figure 19] 3 is a control flowchart of a drive controller of the drive device. [Figure 20] FIG. 2 shows the drive unit operating in double mode. [Figure 21] FIG. 2 is a view showing the drive device with the first endoscope removed. [Figure 22] 10 is another control flowchart of the drive controller. [Figure 23] FIG. 10 is an overall view of an electric endoscope system according to a second embodiment. [Figure 24] 10 is a diagram showing a first detachable part of the endoscope of the electric endoscope system. FIG. [Figure 25] FIG. 10 is an overall view of an electric endoscope system according to a third embodiment. [Figure 26] 2 is a cross-sectional view showing a part of a bending portion of the endoscope of the electric endoscope system. FIG. [Figure 27] 27 is a cross-sectional view of a second bending portion of the bending portion taken along line C2-C2 in FIG. 26. FIG. [Figure 28]10 is a view showing the first detachable part of the endoscope before being attached to the drive device. FIG. [Figure 29] FIG. 10 is an overall view of an electric endoscope system according to a fourth embodiment. [Figure 30] FIG. 2 is a perspective view of a connecting portion of an endoscope in the electric endoscope system. [Figure 31] FIG. [Figure 32] FIG. 2 is a perspective view of an operating device in the electric endoscope system. [Figure 33] FIG. [Figure 34] FIG. [Figure 35] FIG. [Figure 36] FIG. [Figure 37] FIG. 10 is a view showing the operating device fitted with the connecting portion. [Figure 38] FIG. 10 is a view showing the operating device fitted with the connecting portion. [Figure 39] FIG. 39 is a cross-sectional view of the operating device taken along line C3-C3 shown in FIGS. 37 and 38. [Figure 40] FIG. 2 is a diagram showing a first operating position of the operating device. [Figure 41] 10 is a view showing the connecting portion with a treatment tool inserted into the forceps opening. FIG. [Figure 42] FIG. 10 is a diagram showing a treatment tool operated by the left hand. [Figure 43] FIG. 2 is a diagram showing a second operating position of the operating device. [Figure 44] FIG. 10 is a diagram showing a third operating position of the operating device. [Figure 45] FIG. 4 is a diagram showing the operating device disposed at the third operating position. [Figure 46] 10A and 10B are diagrams showing modified examples of the forceps opening. [Figure 47] FIG. 10 is an overall view of an electric endoscope system according to a fifth embodiment. [Figure 48] 10 is a diagram showing an operation device attachment / detachment section to which an operation device is attached in the electric endoscope system. FIG. [Figure 49] FIG. 10 is a diagram showing an operating cable restrained by an extracorporeal flexible section. [Figure 50] 10A and 10B are diagrams showing modified examples of the operating device attachment / detachment part. [Figure 51] 10 is a diagram showing the modified example of the operating device attachment / detachment section to which the operating device is attached. FIG. [Figure 52] FIG. 13 is an overall view of an electric endoscope system according to a sixth embodiment. [Figure 53] FIG. 2 is a perspective view of a connecting portion of the electric endoscope system. [Figure 54] FIG. 10 is a view showing the same connecting portion with a stopper attached thereto. [Figure 55] 10A and 10B are diagrams showing modified examples of the stopper. [Figure 56] FIG. 10 is a diagram showing a modified example of the endoscope. [Figure 57] FIG. 13 is an overall view of an electric endoscope system according to a seventh embodiment. [Figure 58] 10 is a control flowchart of a main controller of the control device of the electric endoscope system. [Figure 59] FIG. 1 shows a suspended endoscope. [Figure 60] FIG. 2 is a diagram showing a reference model used by a drive controller of the control device. [Figure 61] FIG. 19 is an overall view of an electric endoscope system according to an eighth embodiment. [Figure 62] 10A and 10B are diagrams showing a pair of bending wires inserted through a bending insertion section of the endoscope of the electric endoscope system. [Figure 63] FIG. [Figure 64] FIG. [Figure 65] FIG. [Figure 66] FIG. [Figure 67] 10 is a control flowchart of a first bending control. [Figure 68] 10 is a diagram showing the relationship between the displacement and tension of the pair of bending wires. FIG. [Figure 69] 10 is a control flowchart of a second bending control. [Figure 70] 10 is a diagram showing the relationship between the displacement and tension of the pair of bending wires. FIG. [Figure 71] 10 is a control flowchart of a third bending control. [Figure 72] FIG. 10 is a view showing the pair of bending wires in a third state of another embodiment. [Figure 73] 10 is a control flowchart of parameter control. [Figure 74] FIG. 10 is a diagram showing a model of a flexible section in which the sheath is a coil. [Figure 75] FIG. 10 is a diagram showing a model of a flexible section in which the sheath is a tube. [Figure 76] FIG. 13 is an overall view of an electric endoscope system according to a ninth embodiment. [Figure 77] FIG. 2 is a front view of the operating device of the electric endoscope system. [Figure 78] 10A and 10B are diagrams showing a display image output to a display device by a video control device of the electric endoscope system. [Figure 79] FIG. 10 is a diagram showing an operation information image. [Figure 80] 10 is a control flowchart of a drive controller of the control device of the electric endoscope system. [Figure 81] FIG. 10 is a diagram illustrating a difference vector. [Figure 82] FIG. 10 is a diagram illustrating an input vector. [Figure 83] 10A and 10B are diagrams illustrating determination of a curvature drive amount by a vector method. [Figure 84] FIG. 10 is a diagram showing the restriction of the direction of the input vector. [Figure 85] FIG. 10 is a diagram showing a guide image including a curvature limit display. [Figure 86] 3A and 3B are diagrams showing an operation guide of the operation unit main body of the operating device. [Figure 87] 10A and 10B are diagrams showing other aspects of the operation guide. [Figure 88] 10A and 10B are diagrams showing other aspects of the operation guide. [Figure 89]10A and 10B are diagrams showing other aspects of the operation guide. [Figure 90] FIG. 10 is an overall view of an electric endoscope system according to a tenth embodiment. [Figure 91] FIG. 10 is an overall view of another aspect of the electric endoscope system. [Figure 92] 10 is a control flowchart of a drive controller of the control device of the electric endoscope system. [Figure 93] 10A and 10B are diagrams illustrating updating of an operation information image using operation information. [Figure 94] 10A and 10B are diagrams illustrating updating of an operation information image using operation information. [Figure 95] FIG. 23 is a diagram showing an operating device of an electric endoscope system according to an eleventh embodiment. [Figure 96] FIG. 2 is a diagram showing an external flexible portion of the electric endoscope system. [Figure 97] FIG. 10 shows the outer extracorporeal flexible portion removed. [Figure 98] FIG. 2 is a diagram showing an endoscope of the electric endoscope system. [Figure 99] FIG. 2 is a view showing the endoscope during transportation. DETAILED DESCRIPTION OF THE INVENTION

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

[0011] [Electric Endoscope System 1000] As shown in Fig. 1, the electric endoscope system 1000 is a medical system for observing and treating the inside of the body of a patient P lying on an operating table T. The electric endoscope system 1000 includes an endoscope 100, a driving device 200, an operating device 300, a treatment tool 400, an image control device 500, and a display device 900.

[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 unit 200. An internal path 101 is formed inside the endoscope 100. In the following description, the side of the endoscope 100 that is inserted into the lumen of the patient P is referred to as the "tip side (distal side) A1," and the side that is attached to the drive unit 200 is referred to as the "base side (proximal side) A2."

[0013] The drive unit 200 is detachably connected to the endoscope 100 and the operation unit 300. The drive unit 200 drives a built-in motor to electrically drive the endoscope 100 based on operations input to the operation unit 300. The drive unit 200 also drives a built-in pump, etc., based on operations input to the operation unit 300, to cause the endoscope 100 to perform air supply and suction. 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 wirelessly rather than by wired communication. The surgeon S can electrically drive the endoscope 100 by operating the operation device 300.

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

[0016] The image control device 500 is detachably connected to the endoscope 100 and acquires captured images from the endoscope 100. The image control device 500 causes the display device 900 to display the captured images acquired from the endoscope 100, as well as GUI images and CG images intended to provide information to the operator.

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

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

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

[0020] [Endoscope 100] 1, the endoscope 100 includes an insertion section 110, a connecting section 120, an extracorporeal flexible section 140, a detachable section 150, a bending wire 160 (see FIG. 6), and an internal member 170 (see FIG. 6). The insertion section 110, the connecting section 120, the extracorporeal flexible section 140, and the detachable section 150 are connected in this order from the tip side.

[0021] FIG. 3 is a diagram showing the insertion section 110 of the endoscope 100. As shown in FIG. An internal passage 101 is formed inside the endoscope 100, extending from the tip of the insertion section 110 to the base end of the detachable section 150 along the longitudinal direction A of the endoscope 100. The bending wire 160 and the built-in object 170 are inserted into the internal passage 101.

[0022] The built-in part 170 has 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 section 110 is a long, thin member that can be inserted into a lumen. The insertion section 110 has a tip section 111, a bending section 112, and an internal flexible section 119. The tip section 111, the bending section 112, and the internal flexible section 119 are connected in this order from the tip side.

[0024] As shown in Fig. 3, the tip portion 111 has an opening 111a, an illumination unit 111b, an imaging unit 111c, and an air / water supply nozzle 111d. The opening 111a is an opening that communicates with the channel tube 171. As shown in Fig. 3, a treatment unit 410 such as grasping forceps provided at the tip of a treatment tool 400 that passes through the channel tube 171 protrudes and retracts from the opening 111a. The air / water supply nozzle 111d is an opening that communicates with the air / water supply tube 175. Water or air from a tank installed near the control device 600 is supplied from the air / water supply nozzle 111d via the air / water supply tube 175.

[0025] The illumination unit 111b is connected to a light guide 174 that guides illumination light, and emits illumination light that illuminates the imaging target. The imaging unit 111c includes an imaging element such as a CMOS, and captures an image of the imaging target. An imaging signal is sent to the video control device 500 via an imaging cable 173.

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

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

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

[0029] In adjacent node rings 115, the second node ring 115b in the node ring 115 on the tip side and the first node ring 115a in the node ring 115 on the base side are connected by a second pivot pin 115q so as to be rotatable in the left-right direction (also referred to as the "LR direction") perpendicular to the longitudinal direction A and the UD direction.

[0030] The first nodal rings 115a and the second nodal rings 115b are alternately connected by first pivot pins 115p and second pivot pins 115q, and the bending portion 112 is free to bend in any desired direction.

[0031] FIG. 6 is a cross-sectional view of the curved portion 112 taken along the line C1-C1 in FIGS. An upper wire guide 115u and a lower wire guide 115d are formed on the inner circumferential surface of the second nodal ring 115b. The upper wire guide 115u and the lower wire guide 115d are arranged on both sides in the UD direction with the central axis O in the longitudinal direction A between them. A left wire guide 115l and a right wire guide 115r are formed on the inner circumferential surface of the first nodal ring 115a. The left wire guide 115l and the right wire guide 115r are arranged on both sides in the LR direction with the central axis O in the longitudinal direction A between them.

[0032] The upper wire guide 115u, the lower wire guide 115d, the left wire guide 115l, and the right wire guide 115r have through holes formed along the longitudinal direction A through which the bending wire 160 is inserted.

[0033] The bending wire 160 is a wire that bends the bending portion 112. The bending wire 160 extends through the internal path 101 to the detachable portion 150. As shown in FIGS. 4 and 6, the bending wire 160 has an upper bending wire 161u, a lower bending wire 161d, a left bending wire 161l, a right bending wire 161r, and four wire sheaths 161s.

[0034] 4, the upward bending wire 161u, the downward bending wire 161d, the left bending wire 161l, and the right bending wire 161r are each inserted through a wire sheath 161s. The tip of the wire sheath 161s is attached to the node ring 115 at the base end of the bending portion 112. The wire sheath 161s extends to the detachable portion 150.

[0035] The upper bending wire 161u and the lower bending wire 161d are wires that bend the bending portion 112 in the UD direction. The upper bending wire 161u is inserted through the upper wire guide 115u. The lower bending wire 161d is inserted through the lower wire guide 115d.

[0036] 4, the tips of the upward bending wire 161u and the downward bending wire 161d are fixed to the tip portion 116 at the tip of the bending portion 112. The tips of the upward bending wire 161u and the downward bending wire 161d fixed to the tip portion 116 are arranged on both sides in the UD direction with the central axis O in the longitudinal direction A between them.

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

[0038] 4, the tips of the left bending wire 161l and the right bending wire 161r are fixed to the tip portion 116 of the bending section 112. The tips of the left bending wire 161l and the right bending wire 161r fixed to the tip portion 116 are arranged on both sides in the L-R direction with the central axis O in the longitudinal direction A between them.

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

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

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

[0042] [Connection part 120] Fig. 7 is a perspective view of the coupling portion 120. Fig. 8 is a perspective view of a portion of the coupling portion 120. The connecting section 120 is a member that connects the internal flexible section 119 and the external flexible section 140 of the insertion section 110. The connecting section 120 includes a cylindrical member 121, a connecting section main body 122, a seal section 123, a bearing section 124, a cover member 125, a forceps port 126, and a three-way branch tube 127.

[0043] FIG. 9 is a cross-sectional view of the connecting portion 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 internal flexible portion 119 and forms part of the internal path 101. A bending wire 160, a channel tube 171, an imaging cable 173, a light guide 174, and an 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 circumferential surface of the cylindrical member 121 along the circumferential direction.

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

[0045] The seal portion 123 has a housing 123h and a ring 123r. The inside of the housing 123h is fixed to the outer periphery of the cylindrical member 121. The outside of the housing 123h is in contact with the inner circumferential surface of the tip 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. As shown in FIG. The bearing 124 connects the connecting portion main body 122 and the cylindrical member 121 to be rotatable about a rotation axis RO extending in the longitudinal direction A. Specifically, the bearing 124 is fixed to the connecting portion main body 122. The bearing 124 supports the cylindrical member 121 to be rotatable about the rotation axis RO extending in the longitudinal direction A.

[0047] The connecting portion main 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 relative to the connecting portion main body 122. The detected rotation angle is transmitted to the control device 600 via a transmission cable (not shown).

[0048] The base end 119b of the internal flexible part 119 is fixed to the outside of the housing 123h. Therefore, the internal flexible part 119, the housing 123h, and the cylindrical member 121 rotate together relative to the connecting part main body 122. The base end 119b of the internal flexible part 119, the housing 123h, and the cylindrical member 121 are also referred to as a "passive rotation part."

[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 opening 126 passes. The gap between the first opening 125b and the extracorporeal flexible portion 140 is sealed by a sealing member. The gap between the second opening 125c and the forceps opening 126 is sealed by a sealing member.

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

[0051] The three-way branch tube 127 connects the base end 171b of the channel tube 171, the tip end 126a of the forceps opening 126, and the tip end 172a of the suction tube 172. The channel tube 171 and the suction tube 172 are connected via the three-way branch tube 127. The forceps opening 126 and the channel tube 171 are also connected via the three-way branch tube 127. The surgeon S can insert the treatment tool 400 from the base end 126b of the forceps opening 126 and pass the treatment tool 400 through the channel tube 171.

[0052] The internal flexible part 119 and the external flexible part 140 are connected by the connecting part 120 so as to be rotatable about a rotation axis RO extending in the longitudinal direction A. Therefore, as shown in Fig. 2, when the surgeon S rotates the internal flexible part 119 of the insertion part 110 about the rotation axis RO extending in the longitudinal direction A, it is possible to rotate only the internal flexible part 119 without rotating the external flexible part 140 which extends to the vicinity of the drive device 200. Therefore, it is easy for the surgeon S to rotate the internal flexible part 119.

[0053] On the other hand, frictional force is generated when the internal flexible part 119 and the external flexible part 140 rotate relative to each other, and therefore 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 surgeon S rotates the internal flexible part 119 of the insertion section 110. Therefore, for example, even if the surgeon S removes his / her right hand R from the internal flexible part 119 to operate the treatment tool 400, the internal flexible part 119 does not rotate relative to the external flexible part 140.

[0054] Furthermore, when the surgeon S rotates the internal flexible portion 119 of the insertion section 110 around the rotation axis RO extending in the longitudinal direction A, the forceps port 126 attached to the connecting section main body 122, which is a portion that does not rotate in conjunction with the internal flexible portion 119, does not rotate. Because the position of the forceps port 126 through which the treatment tool 400 is inserted does not change, the surgeon S can easily operate the treatment tool 400.

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

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

[0057] [Detachable part 150] 1, the detachable unit 150 includes a first detachable unit 1501 that is attached to the drive device 200, and a second detachable unit 1502 that is attached to the video control device 500. Note that the first detachable unit 1501 and the second detachable unit 1502 may be an integrated detachable unit.

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

[0059] FIG. 11 is a diagram showing the first detachable part 1501 before being attached to the driving device 200. As shown in FIG. The first detachable section 1501 has a vertical bending wire detachable section 151, a horizontal bending wire detachable section 152, and a scope ID storage section 158.

[0060] The up-and-down bending wire attaching / detaching section 151 is a mechanism that detachably connects to the driving device 200 wires (upward bending wire 161u and downward bending wire 161d) that bend the bending section 112 in the UD direction.

[0061] The left / right bending wire attaching / detaching section 152 is a mechanism that detachably connects to the driving device 200 wires (a left bending wire 161l and a right bending wire 161r) that bend the bending section 112 in the LR direction.

[0062] The left-right bending wire attaching / detaching section 152 has the same structure as the up-down bending wire attaching / detaching section 151, and therefore illustration and description thereof will be omitted.

[0063] Fig. 12 is a diagram showing the vertical bending wire attaching / detaching part 151 before being attached to the driving device 200. Fig. 13 is a diagram showing the vertical bending wire attaching / detaching part 151 attached to the driving device 200. The vertical bending wire attaching / detaching part 151 has a support member 155, a first driven part 156, a second driven part 157, and a tension sensor 159.

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

[0065] The bend pulley 155p changes the transport direction of the upward bending wire 161u inserted through the extracorporeal flexible portion 140, and guides the upward bending wire 161u to the first driven portion 156. In addition, the bend pulley 155p changes the transport direction of the downward bending wire 161d inserted through the extracorporeal flexible portion 140, and guides the downward bending wire 161d to the second driven portion 157.

[0066] The first driven part (driving force transmission part) 156 is a member to which a driving force that drives the curved part 112 (movable part) is input. In this embodiment, the first driven part 156 is a rotating drum. The first driven part 156 is supported by the 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 take-up pulley 156a rotates around the first drum rotation shaft 156r to pull or feed the upward bending wire 161u. When viewed from the distal end to the proximal end, the first take-up pulley 156a rotates clockwise, causing the upward bending wire 161u to be wound around the first take-up pulley 156a and pulled. Conversely, when the first take-up pulley 156a rotates counterclockwise, the upward bending wire 161u is fed from the first take-up pulley 156a. With this configuration, even if the upward bending wire 161u moves back and forth a large distance, the pulled portion can be stored compactly and does not take up much space.

[0068] The first coupling portion 156c is a disk member that rotates around the first drum rotation shaft 156r. The first coupling portion 156c is fixed to the base end of the first winding pulley 156a and rotates integrally with the first winding pulley 156a. The first coupling portion 156c is exposed on the base end side of the vertical bending wire attaching / detaching portion 151. Two first mating protrusions 156d are formed on the surface on the base end side of the first coupling portion 156c. The two first mating protrusions 156d are formed on both sides of the first drum rotation shaft 156r.

[0069] The second driven part 157 is a member to which a driving force that drives the curved part 112 (movable part) is input. In this embodiment, the second driven part 157 is a rotating drum. The second driven part 157 is supported by the support member 155 so as to be rotatable about a second drum rotation shaft 157r extending along the longitudinal direction A. The second 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 rotating drum.

[0070] The second take-up pulley 157a rotates around the second drum rotation shaft 157r to pull or feed the downward bending wire 161d. When viewed from the distal end to the proximal end, the second take-up pulley 157a rotates counterclockwise, causing the downward bending wire 161d to be wound around and pulled by the second take-up pulley 157a. Conversely, when the second take-up pulley 157a rotates clockwise, the downward bending wire 161d is fed from the second take-up pulley 157a.

[0071] The second coupling portion 157c is a disk member that rotates around the second drum rotation shaft 157r. The second coupling portion 157c is fixed to the base end of the second winding pulley 157a and rotates integrally with the second winding pulley 157a. The second coupling portion 157c is exposed on the base end side of the vertical bending wire attaching / detaching portion 151. Two second mating protrusions 157d are formed on the surface on the base end side of the second coupling portion 157c. The two second mating protrusions 157d are formed on both sides of the second drum rotation shaft 157r.

[0072] In the following description, when there is no need to distinguish between the first driven portion 156 and the second driven portion 157, they will be referred to as the “driven portion 15X.” The number of driven portions 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 that indicates the type and specifications 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, the arrangement of the driven parts 15X, and the like.

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

[0075] [Driver 200] FIG. 14 is a functional block diagram of the driving device 200. The driving device 200 includes an adapter 210, an operation receiving unit 220, an air supply / suction driving unit 230, a wire driving unit (actuator) 250, and a driving controller 260.

[0076] 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] FIG. 15 is a diagram showing the endoscope adapter 212. As shown in FIG. 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 driving part 250. When the first detachable part 1501 is connected to the endoscope adapter 212, the up-down bending wire detachable part 151 and the left-right bending wire detachable part 152 can be coupled to the wire driving part 250.

[0078] The operation receiving unit 220 receives operation input from the operation device 300 via the operation cable 301. When the operation device 300 and the drive device 200 communicate with each other wirelessly rather than by wire, the operation receiving unit 220 has a known wireless receiving module.

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

[0080] The wire driving section (actuator) 250 is coupled with the up-down bending wire attaching / detaching section 151 and the left-right bending wire attaching / detaching section 152 to drive the bending wire 160.

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

[0082] In the following description, when there is no need to distinguish between the first driving unit 251, the second driving unit 252, the third driving unit 253, the fourth driving unit 254, the fifth driving unit 255, the sixth driving unit 256, the seventh driving unit 257, and the eighth driving unit 258, they will be referred to as "driving units 25X." The number of driving units 25X (eight) is greater than the number of driven units 15X (four) required to drive the endoscope 100. Note that the number of driving units 25X included in the wire driving unit 250 is not limited to eight.

[0083] The plurality of drive units 25X are arranged in a lattice pattern when viewed from the distal end side A1. In this embodiment, the eight drive units 25X are arranged in four rows along the horizontal direction and two rows along the vertical direction. However, the arrangement of the plurality of drive units 25X is not limited to this.

[0084] The endoscope adapter 212 can be connected to the first detachable part 1501 in various ways. The endoscope adapter 212 shown in Fig. 1 is connected to the first detachable part 1501 so 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. The endoscope adapter 212 may also be connected to the first detachable part 1501 so 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. In other words, two first detachable parts 1501 can be connected to the endoscope adapter 212 at the same time.

[0085] A plurality of drive units 25X to which one first detachable unit 1501 is attached are referred to as a "drive unit group 25G." In this 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 units 1501 that can be attached to the endoscope adapter 212 is attached are referred to as a "first drive unit group 25G1." Furthermore, 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 unit 1501 is attached are referred to as a "second drive unit group 25G2."

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

[0087] The first driving unit 251 and the second driving unit 252 are provided adjacent to each other in the vertical direction. The first driving unit 251 and the second driving unit 252 are coupled to the up / down bending wire attaching / detaching unit 151, for example, and can drive wires (upward bending wire 161u and downward 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 in the vertical direction. The third drive unit 253 and the fourth drive unit 254 are coupled to the left / right bending wire attaching / detaching unit 152, for example, and can drive wires (left bending wire 161l and right bending wire 161r) that bend the bending portion 112 in the LR directions.

[0089] 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, and therefore illustration and description thereof will be omitted.

[0090] The fifth driving unit 255 and the sixth driving unit 256 have the same structure as the first driving unit 251 and the second driving unit 252, and therefore will not be illustrated or described.

[0091] 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, and therefore will not be illustrated or described.

[0092] 12 is coupled to the first driven portion 156 of the up-down bending wire attaching / detaching portion 151 to drive the upward bending wire 161u. The first driving portion 251 has a first shaft 251a, a first motor portion 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 the support member 250a so as to be rotatable around a first shaft rotation axis 251r and so as to be movable back and forth in the longitudinal direction A. When the first detachable part 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 that drives the first motor, and a first motor encoder. The first motor rotates the first shaft 251a around a first shaft rotation axis 251r. The first motor driver is controlled by a drive controller 260.

[0095] The first coupled portion 251c is a disk member that rotates around the first shaft rotation axis 251r. The first coupled portion 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 coupled portion 251c is exposed at the tip side A1 of the wire driving unit 250. Two first fitting recesses 251d are formed on the surface of the tip side A1 of the first coupled portion 251c. The two first fitting recesses 251d are formed on both sides of the first shaft rotation axis 251r.

[0096] 13, the first mating convex portion 156d and the first mating concave portion 251d are mated, and the first coupling portion 156c and the first coupled portion 251c are coupled. As a result, the rotation of the first shaft 251a by the first motor portion 251b is transmitted to the first driven portion 156. When viewed from the distal end side A1 toward the proximal end side A2, the first shaft 251a rotates clockwise, thereby pulling the upward bending wire 161u. Conversely, when the first shaft 251a rotates counterclockwise, the upward bending wire 161u is fed out.

[0097] The first torque sensor 251e detects the rotation torque of the first shaft 251a about the first shaft rotation axis 251r. 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, and its tip end is in contact with the first coupled portion 251c and its base end is in contact with the support member 250a. The first elastic member 251s urges 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 side A2 together with the first shaft 251a.

[0099] 12 is coupled to the second driven portion 157 of the up-down bending wire attaching / detaching portion 151 to drive the downward bending wire 161d. The second driving portion 252 has a second shaft 252a, a second motor portion 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 around a second shaft rotation axis 252r and so as to be movable back and forth in the longitudinal direction A. When the first detachable part 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 around a second shaft rotation axis 252r. The second motor driver is controlled by a drive controller 260.

[0102] The second coupled portion 252c is a disk member that rotates around 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 at the tip side A1 of the wire driving unit 250. Two second mating recesses 252d are formed on the surface of the tip side A1 of the second coupled portion 252c. The two second mating recesses 252d are formed on both sides of the second shaft rotation axis 252r.

[0103] 13, the second mating convex portion 157d and the second mating concave portion 252d are mated, 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 viewed from the distal end side A1 toward the proximal end side A2, the second shaft 252a rotates counterclockwise, thereby pulling the downward bending wire 161d. Conversely, when the second shaft 252a rotates clockwise, the downward bending wire 161d is fed out.

[0104] The second torque sensor 252e detects the rotational torque of the second shaft 252a about the second shaft rotation axis 252r. 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 end 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 urges 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 side A2 together with the second shaft 252a.

[0106] 13, the attachment / detachment sensor 259 detects attachment / detachment of the first detachable unit 1501 to / from the wire driving unit 250 by detecting engagement and disengagement with the attachment / detachment detection dog 155a. The attachment / detachment sensor 259 is provided individually for each of the eight driving units 25X, and can detect the driving unit 25X used by the attached first detachable unit 1501. The detection result of the attachment / detachment sensor 259 is acquired by the driving controller 260.

[0107] With the above mechanism, when the up-down bending wire attaching / detaching unit 151 is attached to the first driving unit 251 and the second driving unit 252, the first driving unit 251 can independently drive the up bending wire 161u, and the second driving unit 252 can independently drive the down bending wire 161d. Similarly, when the left-right bending wire attaching / detaching unit 152 is attached to the third driving unit 253 and the fourth driving unit 254, the third driving unit 253 can independently drive the left bending wire 161l, and the fourth driving unit 254 can independently drive the right bending wire 161r. Therefore, even if the distance from the bending portion 112 of the endoscope 100 to the driving device 200 is longer than in conventional flexible endoscopes, the bending operation of the bending portion 112 can be controlled with high precision.

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

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

[0110] The drive controller 260 preferably has high calculation performance in order to control the plurality of motors that drive the plurality of bending wires 160 with high precision.

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

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

[0113] Note that drive controller 260 may further include components other than processor 261, memory 262, storage unit 263, and input / output control unit 264. For example, drive controller 260 may further include an image calculation unit that performs some or all of the image processing and image recognition processing. By including the image calculation unit, drive controller 260 can execute specific image processing and image recognition processing at high speed. The image calculation unit may be mounted on a separate hardware device connected via a communication line.

[0114] [Operation device 300] FIG. 16 is a perspective view of the operating device 300. As shown in FIG. The operation device 300 is a device into which an operation for driving the endoscope 100 is input. The input operation input is transmitted to the driving device 200 via an operation cable 301. The operation device 300 may be capable of communicating with the driving device 200 wirelessly instead of by wired communication.

[0115] FIG. 17 is a perspective view of the operating device 300 as seen from the rear. 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 generally rectangular pillar shape that can be held by the surgeon S in his / her left hand L. The operation unit main body 310 has a touchpad support part 314 provided on the top, a grip part 316 provided on the bottom, and a handle 317 provided on the rear. As shown in Fig. 16 , the surgeon S can operate the touchpad 380 with the thumb FT of his / her left hand L while holding the grip part 316 with his / her left hand L.

[0117] The touchpad 380 is a touch-sensitive interface that inputs bending operations and the like to the bending portion 112. The touchpad 380 may be a touch panel.

[0118] [Video control device 500] FIG. 18 is a functional block diagram of the video control device 500. As shown in FIG. The image control device 500 controls the electric endoscope system 1000. The image control device 500 includes a first endoscope adapter 510A, a second endoscope adapter 510B, an image capturing 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 of the tip portion 111 via the imaging cable 173 into a captured image.

[0121] The light source unit 530 generates illumination light to be irradiated onto the imaging target. The illumination light generated by the light source unit 530 is guided to the illumination unit 111b of the distal end portion 111 via the light guide 174.

[0122] The main controller 560 is a computer capable of executing programs, including a processor 561, a memory 562, a storage unit 563 capable of storing programs and data, and an input / output control unit 564. The functions of the main controller 560 are realized by the processor 561 executing the programs. At least some of the functions of the main controller 560 may be realized by a dedicated logic circuit.

[0123] The main controller 560 includes a processor 561, a program-readable memory 562, 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-mentioned programs and necessary data. The storage unit 563 is configured with, for example, a ROM, a hard disk, etc. The programs recorded in the storage unit 563 are read into the memory 562 and executed by the processor 561.

[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). Based on the control of the processor 561, the input / output control unit 564 transmits and receives data and control signals to and from the connected devices.

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

[0127] The main controller 560 is not limited to being an integrated hardware device. For example, the main controller 560 may be configured by separating some parts into separate hardware devices and connecting the separated hardware devices via a communication line. For example, the main controller 560 may be a cloud system in which separated storage units 563 are connected via a communication line.

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

[0129] [Operation of the electric endoscope system 1000] Next, a description will be given of the operation of the electric endoscope system 1000 of this embodiment. Specifically, a description will be given of the operation of the drive controller 260 of the control device 600 of the electric endoscope system 1000.

[0130] The following description will be given in accordance with the control flowchart of drive controller 260 of control device 600 shown in Fig. 19. When control device 600 is started, drive controller 260 performs initialization and then starts the control flow shown in Fig. 19 (step S100). Next, drive controller 260 (mainly processor 261) executes step S110.

[0131] <Step S110> In step S110, the drive controller 260 detects whether the first detachable unit 1501 of the endoscope 100 is attached to the wire driving unit 250. If the first detachable unit 1501 of the endoscope 100 is attached to the wire driving 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 attachment / detachment unit 1501 of the attached endoscope 100. When multiple endoscopes 100 are attached to the wire drive unit 250, the drive controller 260 reads out the scope IDs from all of the endoscopes 100. The drive controller 260 then executes step S130.

[0133] <Step S130> In step S130, the drive controller 260 recognizes the type of attached endoscope 100, the number of attached endoscopes 100, etc., based on the acquired scope ID. If the number of attached endoscopes 100 is one, the drive controller 260 then executes step S140. If the number of 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 the "single mode." The drive controller 260 operating in the single mode drives one endoscope 100 attached to the drive device 200 based on an operation input acquired from the operation device 300.

[0135] 1 is attached to one endoscope 100 and one operation device 300. The first detachable unit 1501 of the endoscope 100 is attached to a first operation unit group 25G1 (first operation unit 251, second operation unit 252, third operation unit 253, and fourth operation unit 254). The operation device 300 is connected to a first operation adapter 211A.

[0136] The drive controller 260 controls the first drive unit 251 and the second drive unit 252 based on input to the touchpad 380 of the operation device 300, and drives the wires (the upward bending wire 161u and the downward bending wire 161d) that bend the bending portion 112 of the endoscope 100 in the UD directions. Furthermore, the drive controller 260 controls the third drive unit 253 and the fourth drive unit 254 based on input to the touchpad 380 of the operation device 300, and drives 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 directions.

[0137] <Step S150: Double Mode> FIG. 20 shows a drive unit 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 the two endoscopes 100 attached to the drive device 200 separately and independently based on operation inputs acquired from two different operation devices 300.

[0138] 20 is mounted with two endoscopes 100 and two operating devices 300. In the following description, one of the two endoscopes 100 will be referred to as a first endoscope 100X, and the other will be referred to as a second endoscope 100Y. In addition, one of the two operating devices 300 will be referred to as a first operating device 300X, and the other will be referred to as a second operating device 300Y.

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

[0140] The first detachable 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 detachable 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 operating adaptor 211A. The second operating device 300Y is connected to the second operating adaptor 211B.

[0141] The drive controller 260 controls the first drive unit 251 and the second drive unit 252 based on an input to the touchpad 380 of the first operating device 300X to drive the wires (upward bending wire 161u and downward bending wire 161d) that bend the bending portion 112 of the first endoscope 100X in the UD directions. Also, the drive controller 260 controls the third drive unit 253 and the fourth drive unit 254 based on an input to the touchpad 380 of the first operating device 300X to drive the wires (left bending wire 161l and right bending wire 161r) that bend the bending portion 112 of the first endoscope 100X in the LR directions.

[0142] Furthermore, the drive controller 260 controls the fifth drive unit 255 and the sixth drive unit 256 based on input to the touchpad 380 of the second operating device 300Y to drive the wires (upward bending wire 161u and downward bending wire 161d) that bend the bending portion 112 of the second endoscope 100Y in the UD directions. Furthermore, the drive controller 260 controls the seventh drive unit 257 and the eighth drive unit 258 based on input to the touchpad 380 of the second operating device 300Y 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 directions.

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

[0144] FIG. 21 is a diagram showing the driving device 200 from which the first endoscope 100X has been removed. When the first endoscope 100X is removed, the drive controller 260 changes the operation mode from "double mode" to "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 operating device 300Y.

[0145] [Example 1 of using the electric endoscope system 1000] Next, a description will be given of an example of how to use the electric endoscope system 1000. Specifically, a description will be given of an example of how to use one of the two endoscopes 100 to treat a patient P and the other to check the equipment before use.

[0146] First, the surgeon 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 units 25X of the first drive unit group 25G1 using a "normal operation program." The normal operation program is a program that drives the endoscope 100 based on operation input obtained 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 operating mode from "single mode" to "double mode." The drive controller 260 controls the drive units 25X of the second drive unit group 25G2 using a "check program." The assistant executes the check program to perform a pre-use equipment check on the second endoscope 100Y. The check program is a program that performs various pre-use inspections, performs initialization operations on the connected second endoscope 100Y and drive device 200, calibrates the bending operation, etc.

[0148] When treatment for 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 operating mode from "double mode" to "single mode." The drive controller 260 changes the program controlling the drive unit 25X of the second drive unit group 25G2 to the "normal operation program." When the operating mode changes from "double mode" to "single mode," the drive controller 260 may select whether to change the program controlling the drive unit 25X to the "normal operation program" or leave it as the "check program" based on an instruction input from the user (surgeon S or assistant).

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

[0150] The second endoscope 100Y can be used to treat the second patient P without removing it from the second drive unit group 25G2 to which it was attached during the pre-use equipment check. Therefore, the surgeon can use the second endoscope 100Y attached to the second drive unit group 25G2 for which the pre-use equipment check was performed, for the treatment of the second patient P.

[0151] [Example 2 of using the electric endoscope system 1000] Next, a description will be given of another use example of the electric endoscope system 1000. Specifically, a description will be given of a use example in which the drive unit group 25G is changed when an abnormality in the drive unit 25X is detected.

[0152] The following description will be made in accordance with the control flowchart of the drive controller 260 of the control device 600 shown in Fig. 22. When the control device 600 detects an abnormality in the endoscope 100, the drive controller 260 starts the control flow shown in Fig. 22 (step S200). The surgeon or assistant may start the control flow shown in Fig. 22 when they sense an abnormality in the endoscope 100 during surgery or when checking the equipment before use. Next, the drive controller 260 (mainly the processor 261) executes step S210.

[0153] <Step S210> In step S210, drive controller 260 changes the motor command value for the motor of wire driver 250. For example, drive controller 260 changes the motor command value and transmits a test pattern to the motor of wire driver 250. 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, it is highly likely that an abnormality has occurred in the drive unit 25X to which the endoscope 100 is attached. In this case, the drive controller 260 then executes step S230. If the output of the tension sensor 159 has changed normally, it is highly likely 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 then executes step S250.

[0155] <Step S230> In step S230, the drive controller 260, in cooperation with the main controller 560, displays on the display device 900 a GUI image instructing (notifying) the operator and assistant to change the drive unit group 25G to which the endoscope 100 is attached. For example, if the endoscope 100 is attached to the first drive unit group 25G1 when an abnormality is detected, the drive controller 260 displays on the display device 900 a GUI image instructing the user to attach the endoscope 100 to the second drive unit group 25G2. The operator or assistant follows the instruction and attaches the endoscope 100 to the second drive unit group 25G2. The drive controller 260 then 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 necessary to drive the endoscope 100 (control parameters, current position of the motor encoder, etc.) is passed from the program that controls the first drive unit group 25G1 to the program that controls the second drive unit group 25G2. This allows the surgeon to 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 then 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 and motor encoder output of the wire drive unit 250 to further investigate the cause of the abnormality.

[0158] The electric endoscope system 1000 according to this embodiment enables more efficient observation and treatment using the endoscope 100. Since multiple endoscopes 100 can be attached to the drive unit 200, the time required for checking the equipment before use and for replacing the equipment when an abnormality is detected is significantly reduced.

[0159] Although the first embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment and includes design modifications within the scope of the present invention. Furthermore, the components shown in the above embodiment and modifications can be configured by appropriately combining them.

[0160] Second Embodiment An electric endoscope system 1000B according to a second embodiment of the present invention will be described with reference to Figs. 23 and 24. In the following description, components common to those already described will be assigned the same reference numerals and redundant description will be omitted.

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

[0162] [Endoscope 100B] The endoscope 100B includes an insertion section 110, a connecting section 120, an extracorporeal flexible section 140, a detachable section 150B, a bending wire 160, and an internal member 170.

[0163] [Detachable part 150B] FIG. 24 is a diagram showing the first detachable part 1503. As shown in FIG. The detachable unit 150B includes a first detachable unit 1503 attached to the driving device 200, and a second detachable unit 1502 attached to the video control device 500. The first detachable unit 1503 includes a vertical bending wire detachable unit 151B, a horizontal bending wire detachable unit 152B, and a scope ID storage unit 158.

[0164] The up / down bending wire detachable portion 151B is a mechanism that detachably connects to the drive device 200 wires (upward bending wire 161u and downward bending wire 161d) that bend the bending portion 112 in the UD direction.

[0165] The vertical bending wire attaching / detaching portion 151B has a support member 155, a first driven portion 156B, and a tension sensor 159.

[0166] The support member 155 supports the first driven portion 156B. The support member 155 has an attachment / detachment detection dog 155a exposed on the base end side of the vertical bending wire attachment / detachment portion 151B, and a plurality of bend pulleys 155p.

[0167] The bend pulley 155p changes the feeding direction of the upward bending wire 161u inserted through the extracorporeal flexible portion 140, and guides the upward bending wire 161u to the first driven portion 156B. In addition, the bend pulley 155p changes the feeding direction of the downward bending wire 161d inserted through the extracorporeal flexible portion 140, and guides the downward bending wire 161d to the first driven portion 156B.

[0168] The first driven part 156B is a member to which a driving force that drives the curved part 112 (movable part) is input. In this embodiment, the first driven part 156B is a rotating drum. The first driven part 156B is supported by the support member 155 so as to be rotatable around a first drum rotation shaft 156r that extends along the longitudinal direction A. The first driven part 156B has a first take-up pulley 156a and a first coupling part 156c.

[0169] The first take-up pulley 156a rotates about the first drum rotation shaft 156r to pull or feed the upward bending wire 161u and the downward bending wire 161d. When viewed from the distal end side A1 toward the proximal end side A2, the first take-up pulley 156a rotates clockwise, so that the upward bending wire 161u is wound around the first take-up pulley 156a and pulled, and the downward bending wire 161d is fed from the first take-up pulley 156a. Conversely, when the first take-up pulley 156a rotates counterclockwise, the upward bending wire 161u is fed from the first take-up pulley 156a and the downward bending wire 161d is wound around the first take-up pulley 156a and pulled.

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

[0171] The left-right bending wire attaching / detaching portion 152B has 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 an attachment / detachment detection dog 155a exposed on the base end side of the left-right bending wire attachment / detachment portion 152B, and a plurality of bend pulleys 155p.

[0173] The bend pulley 155p changes the feeding direction of the left bending wire 161l inserted through the extracorporeal flexible portion 140, and guides the left bending wire 161l to the second driven portion 157B. In addition, the bend pulley 155p changes the feeding direction of the right bending wire 161r inserted through the extracorporeal flexible portion 140, and guides the right bending wire 161r to the second driven portion 157B.

[0174] The second driven part 157B is a member to which a driving force that drives the curved part 112 is input. In this embodiment, the second driven part 157B is a rotating drum. The second driven part 157B is supported by the support member 155 so as to be rotatable around a second drum rotation shaft 157r that extends along the longitudinal direction A. The second driven part 157B has a second take-up pulley 157a and a second coupling part 157c.

[0175] The second take-up pulley 157a rotates about the second drum rotation shaft 157r to pull or feed the left bending wire 161l and the right bending wire 161r. When viewed from the distal end side A1 toward the proximal end side A2, the second take-up pulley 157a rotates clockwise, so that the left bending wire 161l is wound around and pulled by the second take-up pulley 157a, and the right bending wire 161r is fed from the second take-up pulley 157a. Conversely, when the second take-up pulley 157a rotates counterclockwise, the left bending wire 161l is fed from the second take-up pulley 157a, and the right bending wire 161r is wound around and pulled by the second take-up pulley 157a.

[0176] In the following description, when there is no need to distinguish between the first driven portion 156B and the second driven portion 157B, they will be referred to as the “driven portion 15X.” The number of driven portions 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 drive unit 251 and the second drive unit 252 drive the bending wire 160. The endoscope adapter 212 may also be connected to the first detachable part 1503 so that the third drive unit 253 and the fourth drive unit 254 drive the bending wire 160. The endoscope adapter 212 may also be connected to the first detachable part 1503 so that the fifth drive unit 255 and the sixth drive unit 256 drive the bending wire 160. The endoscope adapter 212 may also be connected to the first detachable part 1503 so that the seventh drive unit 257 and the eighth drive unit 258 drive the bending wire 160. In other words, four first detachable parts 1503 can be connected to the endoscope adapter 212 at the same time.

[0178] The electric endoscope system 1000B according to this embodiment allows observation and treatment using the endoscope 100 to be performed more efficiently. The electric endoscope system 1000B can be used by attaching an endoscope 100B having a different number of driven parts 15X to the drive unit 200 from the endoscope 100. Furthermore, as in the first embodiment, multiple endoscopes 100B can be attached to the drive unit 200, which significantly reduces the time required for checking the equipment before use and for replacing the equipment when an abnormality is detected.

[0179] Although the second embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment and includes design modifications within the scope of the present invention. Furthermore, the components shown in the above embodiment and modified examples can be configured by appropriately combining them.

[0180] (Third embodiment) An electric endoscope system 1000C according to a third embodiment of the present invention will be described with reference to Fig. 25 to Fig. 28. In the following description, components that are common to those already described will be assigned the same reference numerals, and duplicated description will be omitted.

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

[0182] [Endoscope 100C] The endoscope 100C includes an insertion section 110C, a connecting section 120, an extracorporeal flexible section 140, a detachable section 150C, a bending wire 160C, and an internal structure 170.

[0183] FIG. 26 is a cross-sectional view of a portion of the curved portion 112C. The insertion section 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 side bending portion) 113 has a plurality of node rings (also referred to as bending pieces) 115, and a first tip portion 116 connected to the tips of the plurality of node rings 115. The plurality of node rings 115 and the first tip portion 116 are connected inside the outer sheath 118 in the longitudinal direction A. Note that the shape and number of node rings 115 that the first bending portion 113 has are not limited to the shape and number of node rings 115 shown in FIG.

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

[0186] The bending wire 160C is a wire that bends the bending portion 112C. The bending wire 160C has a first bending wire 161 that bends the first bending portion 113 and a second bending wire 162 that bends the second bending portion 114. The first bending wire 161 and the second bending wire 162 extend through the internal path 101 to the detachable portion 150C.

[0187] As shown in FIG. 26, the first bending wire 161 has 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] 26, the first upward bending wire 161u, the first downward bending wire 161d, the first left bending wire 161l, and the first right bending wire 161r are each inserted through a 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 curved portion 114 taken along the line C2-C2 in FIG. Like 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] 26, the second upward bending wire 162u, the second downward bending wire 162d, the second left bending wire 162l, and the second right bending wire 162r are each inserted through a second wire sheath 162s. The tip of the second wire sheath 162s is attached to the node 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 upward bending wire 162u and the second downward 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 upward bending wire 162u is inserted through the upper wire guide 115u. In addition, in the second bending portion 114, the second downward bending wire 162d is inserted through the lower wire guide 115d.

[0192] 26, the tips of the second upward bending wire 162u and the second downward bending wire 162d are fixed to a second tip portion 117 at the tip of the second bending portion 114. The tips of the second upward bending wire 162u and the second downward bending wire 162d fixed to the second tip portion 117 are arranged on both sides in the UD direction with the central axis O in the longitudinal direction A between them.

[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 L-R direction. As shown in Fig. 27 , the second left bending wire 162l is inserted through a left wire guide 115l in the second bending portion 114. Furthermore, the second right bending wire 162r is inserted through a right wire guide 115r in the second bending portion 114.

[0194] 26, the distal ends of the second left bending wire 162l and the second right bending wire 162r are fixed to a second distal end portion 117 at the distal end of the second bending portion 114. The distal ends of the second left bending wire 162l and the second right bending wire 162r fixed to the second distal end portion 117 are arranged on both sides in the L-R direction with the central axis O in the longitudinal direction A between them.

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

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

[0197] The first up-down bending wire attaching / detaching portion 151 is a mechanism that detachably connects to the driving device 200 wires (a first up bending wire 161u and a first down bending wire 161d) that bend the first bending portion 113 in the UD direction.

[0198] The first left / right bending wire attaching / detaching portion 152 is a mechanism that detachably connects to the driving device 200 wires (a first left bending wire 161l and a first right bending wire 161r) that bend the first bending portion 113 in the LR direction.

[0199] The second up-down bending wire attachment / detachment unit 153 has a mechanism similar to that of the first up-down bending wire attachment / detachment unit 151, and is a mechanism that detachably connects the wires (the second up-down bending wire 162u and the second down-down bending wire 162d) that bend the second bending unit 114 in the UD direction to the drive device 200.

[0200] The second left / right bending wire attachment / detachment section 154 has a mechanism similar to that of the first left / right bending wire attachment / detachment section 152, and is a mechanism that detachably connects wires (a second left bending wire 162l and a second right bending wire 162r) that bend the second bending section 114 in the LR direction to the drive 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 so that the first drive part 251, the second drive part 252, the third drive part 253, the fourth drive part 254, the fifth drive part 255, the sixth drive part 256, the seventh drive part 257, and the eighth drive part 258 drive the bending wire 160.

[0203] The first driving section 251 and the second driving section 252 are coupled to the first up-down bending wire attaching / detaching section 151, and can drive the wires (the first up bending wire 161u and the first down bending wire 161d) that bend the first bending section 113 in the UD direction.

[0204] The third driving section 253 and the fourth driving section 254 are coupled with the first left / right bending wire attaching / detaching section 152, and can drive the wires (first left bending wire 161l and first right bending wire 161r) that bend the first bending section 113 in the LR directions.

[0205] The fifth driving section 255 and the sixth driving section 256 are coupled to the second up-down bending wire attaching / detaching section 153, and can drive the wires (the second up-down bending wire 162u and the second down-down bending wire 162d) that bend the second bending section 114 in the UD direction.

[0206] The seventh driving section 257 and the eighth driving section 258 are coupled with the second left / right bending wire attaching / detaching section 154, and can drive the wires (the second left bending wire 162l and the second right bending wire 162r) that bend the second bending section 114 in the LR directions.

[0207] According to the electric endoscope system 1000C of this embodiment, the electric endoscope system 1000C can be used by attaching an endoscope 100C having a different number of driven parts 15X from the endoscope 100 to the driving device 200.

[0208] Although the third embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment and includes design modifications within the scope of the present invention. Furthermore, the components shown in the above embodiment and modifications can be configured by appropriately combining them.

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

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

[0211] [Endoscope 100D] The endoscope 100D includes an insertion section 110, a connecting section 120D, an extracorporeal flexible section 140, a detachable section 150, a bending wire 160, and an internal structure 170.

[0212] 30 and 31 are perspective views of the coupling portion 120D. Compared to the connecting portion 120 of the first embodiment, the connecting portion 120D further includes a fitting portion 128. The fitting portion 128 is a portion into which the operating device 300D fits.

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

[0214] 31 , a flat surface 128p is formed on the outer circumferential surface of the fitting portion 128. The flat surface 128p is a surface facing a radial direction R perpendicular to the longitudinal direction A. The flat surface 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] 32 and 33 are perspective views of the operating device 300D. The operation device (controller) 300D is a device to which the operation of the surgeon S who controls the electric endoscope system 1000D (particularly, the operation for driving the endoscope 100D) is input. The input operation input is transmitted to the drive device 200 and the like by wireless communication.

[0216] The operating device 300D includes an operating 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 touchpad 380 is defined as the "front-rear direction," and the direction in which the touchpad 380 is provided relative to the operation unit main body 310D is defined as the "forward FR." The opposite direction is defined as the "rear RR." Furthermore, the longitudinal direction of the operation unit main body 310D is defined as the "up-down direction," and the direction in which the touchpad 380 is provided relative to the operation unit main body 310D is defined as the "upper UPR." The opposite direction is defined as the "lower LWR." The direction to the right as facing the rear RR is defined as the "right RH." The opposite direction is defined as the "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 allows the surgeon S to hold it in his left hand L. The operation unit main body 310D has a touchpad support part 314 provided on the upper UPR, a button support part 315 provided on the rear RR, a grip 316 provided on the lower LWR, and a guide groove 319 provided on the left LH.

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

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

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

[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 of the operation unit main body 310D facing the left side LH, 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 of the tapered portion 319a in the vertical direction. The tapered portion 319a is formed in a tapered shape whose diameter increases from the upper UPR to the lower LWR. The tapered portion 319a can be fitted onto the outer peripheral surface of the fitting portion 128.

[0223] FIG. 36 is a bottom view of the operating device 300D. Guide groove 319 is a groove formed in a D-shape when viewed from the top-bottom direction. Guide groove 319 extending in the top-bottom direction is arranged alongside grip 316 in the front-to-back direction when viewed from the top-bottom direction, and is provided at a position that does not overlap with grip 316.

[0224] The air and water supply button 351 is attached to the rear RR of the button support part 315, and is a push button that inputs an operation to supply air and water from the opening 111a of the tip part 111 of the endoscope 100D. When the air and water supply button 351 is pressed, the operation device 300D transmits an operation input to the drive device 200 to supply air and water.

[0225] The suction button 352 is attached to the rear RR of the button support part 315, and is a push button to input an operation to perform suction from the opening 111a of the tip part 111 of the endoscope 100D. When the suction button 352 is pressed, the operation device 300D transmits an operation input to the drive device 200 to perform suction.

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

[0227] The touchpad 380 is a touch-sensitive interface that inputs bending operations and the like to the bending portion 112. The touchpad 380 may be a touch panel.

[0228] 32, the surgeon S can operate the touch pad 380 with the thumb FT of the left hand L while holding the grip 316 with the ring finger F3 and little finger F4 of the left hand L. The surgeon S can also 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 this embodiment will be described. Specifically, a method of using the electric endoscope system 1000D by fitting the operation device 300D into the connecting portion 120D will be described.

[0230] 37 and 38 are diagrams showing the operating device 300D engaged with the connecting portion 120D. The surgeon S holds the operating device 300D and the connecting portion 120D with the left hand L in a state in which the guide groove 319 of the operating device 300D is engaged with the engaging portion 128 of the connecting portion 120D.

[0231] Specifically, the surgeon S aligns the up-down 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 base end side A2 of the connecting portion 120D. The lower side LWR of the operating device 300D faces the tip side A1 of the connecting portion 120D.

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

[0233] As described above, the guide groove 319 and the fitting portion 128 are tapered. Therefore, the surgeon S can easily fit the guide groove 319 into the fitting portion 128 by sliding the operating device 300D toward the distal end side 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 up-down direction is aligned with the grip 316 in the front-rear direction when viewed from the top-down direction, and is located so as not to overlap with other parts of the operating device 300D, including the grip 316. Therefore, when the guide groove 319 is engaged with the engaging portion 128, the connecting portion 120D is aligned with the grip 316 of the operating device 300D in the front-rear direction. This allows the surgeon S to hold the grip 316 of the operating device 300D and the connecting portion 120D together with the ring finger F3 and little finger F4 of the left hand L. It is desirable that the grip 316 be positioned adjacent to the connecting portion 120D.

[0235] FIG. 39 is a cross-sectional view of the operating device 300D taken along line C3-C3 shown in FIGS. 37 and 38. The surgeon S fits the fitting portion 128 into the guide groove 319 so 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 into the inner peripheral surface of the guide groove 319, which is D-shaped when viewed from the top and bottom. The outer peripheral surface of the fitting portion 128 other than the flat portion 128p fits into 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 D-shaped. Therefore, when the guide groove 319 fits into the fitting portion 128, the operating device 300D does not rotate in the circumferential direction C relative to the connecting portion 120D. 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] The operating device 300D is attached to the connecting part 120D by fitting the guide groove 319 of the operating device 300D into the fitting part 128 of the connecting part 120D. Therefore, the surgeon S can easily remove the operating device 300D from the connecting part 120D by simply releasing the ring finger F3 and little finger F4 of the left hand L from the grip 316 and moving the operating device 300D to the right RH with the right hand R.

[0237] <First operation position OP1> FIG. 40 is a diagram showing the first operating position OP1 of the operating device 300D. The position of the operating device 300D where 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." When the operating device 300D is arranged in the first operating position OP1, the up-down direction of the operating device 300D is approximately aligned with the longitudinal direction A of the connecting portion 120D, and the guide groove 319 of the operating device 300D is fitted into the fitting portion 128 of the connecting portion 120D. The upper side UPR of the operating device 300D faces the base end side A2 of the connecting portion 120D. The lower side LWR of the operating device 300D faces the tip end side A1 of the connecting portion 120D.

[0238] 40, the surgeon S holds the operating device 300D and the connecting portion 120D arranged at the first operating position OP1 together with the left hand L, and holds the internal flexible portion 119 with the right hand R. While observing the captured image displayed on the display device 900, the surgeon S moves the insertion portion 110 while operating (advancing / retreating operation and twisting operation) the internal flexible portion 119 with the right hand R. The surgeon S also operates (angle operation) the touch pad 380 of the operating device 300D with the left hand L to bend the bending portion 112 as necessary.

[0239] When moving the insertion section 110 while operating the internal flexible section 119 with the right hand R, the surgeon S holds the connecting section 120D with the left hand L. Therefore, the surgeon S can perform a twisting operation on the internal flexible section 119 with the left hand L. In addition, the surgeon S can advance and retract the connecting section 120D with the left hand L to assist the advance and retraction operation of the internal flexible section 119 by the right hand R. As a result, the surgeon S can operate the internal flexible section 119 more preferably than when operating the internal flexible section 119 with only the right hand R.

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

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

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

[0243] <Second operation position OP2> FIG. 43 is a diagram showing the second operating position OP2 of the operating device 300D. The surgeon S can engage the guide groove 319 of the operating device 300D with the internal flexible portion 119. The position of the operating device 300D where the operating device 300D is engaged with the internal flexible portion 119 is called the "second operating position OP2." When the operating device 300D is placed at the second operating position OP2, the up-down direction of the operating device 300D is aligned approximately with the longitudinal direction A of the internal flexible portion 119, and the guide groove 319 of the operating device 300D engages with the internal flexible portion 119. The upper UPR of the operating device 300D faces the distal end side A1 of the internal flexible portion 119. The lower LWR of the operating device 300D faces the proximal end side A2 of the internal flexible portion 119.

[0244] As shown in Fig. 43, the surgeon S holds the connecting portion 120D with the left hand L, and holds the operation device 300D placed at the second operation position OP2 and the internal flexible portion 119 together with the right hand R. The surgeon S presses the internal flexible portion 119 against the operation device 300D with the ring finger F3 and little finger F4 of the right hand R. The surgeon S moves the insertion section 110 while operating (advancing and retreating) the internal flexible portion 119 with the right hand R while observing the captured image displayed on the display device 900. The surgeon S also operates (angles) the touch pad 380 of the operation device 300D with the right hand R to bend the bending portion 112 as necessary.

[0245] The surgeon S can operate the treatment tool 400 inserted into the forceps port 126 with the left hand L while holding the connecting portion 120D with the left hand L. Therefore, the surgeon S can coordinate the operation of the insertion portion 110 (advancement / retreat operation and angle operation) and the operation of the treatment tool 400. In addition, because the surgeon S holds the connecting portion 120D with the left hand L, the surgeon S can perform a twisting operation on the internal flexible portion 119 with the left hand L.

[0246] The second operating position OP2 is a position where the operating device 300D is disposed that is particularly effective when treating the patient P with the treatment tool 400.

[0247] <Third operation position OP3> FIG. 44 is a diagram showing the third operating position OP3 of the operating device 300D. The surgeon S can engage the guide groove 319 of the operating device 300D with the breakage prevention portion 119c provided at the end of the proximal side A2 of the internal flexible portion 119. The position of the operating device 300D where the operating device 300D is engaged with the breakage prevention portion 119c of the internal flexible portion 119 is referred to as the "third operating position OP3." When the operating device 300D is placed in the third operating position OP3, the up-down direction of the operating device 300D is approximately aligned with the longitudinal direction A of the internal flexible portion 119, and the guide groove 319 of the operating device 300D engages with the breakage prevention portion 119c of the internal flexible portion 119. The upper UPR of the operating device 300D faces the distal side A1 of the internal flexible portion 119. The lower LWR of the operating device 300D faces the proximal side A2 of the internal flexible portion 119.

[0248] FIG. 45 is a diagram showing the operating device 300D disposed at the third operating position OP3. 45, the surgeon S holds the operating device 300D and the connecting portion 120D arranged at the third operating position OP3 together with the left hand L, and holds the internal flexible portion 119 with the right hand R. Even when inserting the insertion portion 110 into the patient P up to near the base, the surgeon S can hold the operating device 300D arranged at the third operating position OP3 in a natural state.

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

[0250] The electric endoscope system 1000D according to this embodiment enables more efficient observation and treatment using the endoscope 100D. By arranging the operation device 300D in various positions, the surgeon S can coordinate various operations (advance / retreat operation, angle operation, and twist operation).

[0251] Although the fourth embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment and includes design modifications within the scope of the present invention. Furthermore, the components shown in the above-described embodiment and modifications can be configured by appropriately combining them.

[0252] Fifth Embodiment An electric endoscope system 1000E according to a fifth embodiment of the present invention will be described with reference to FIGS.

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

[0254] [Endoscope 100E] The endoscope 100E includes an insertion section 110, a connection section 120, an operation device attachment / detachment section 130, an extracorporeal flexible section 140, a detachable section 150, a bending wire 160, and an internal structure 170.

[0255] The operation device detachable section 130 allows the operation device 300E to be attached and detached, and is provided on the extracorporeal flexible section 140. The operation device detachable section 130 has an electrical contact 131 that electrically connects the attached operation device 300E and the operation cable 301.

[0256] The operation cable 301 passes through an internal passage of the extracorporeal flexible portion 140. The distal end of the operation cable 301 is connected to the electrical contact 131. The proximal end of the operation cable 301 is connected to the operation receiving unit 220 via the endoscope adapter 212.

[0257] [Operation device 300E] The operation device (controller) 300E is a device into which operations (particularly operations for driving the endoscope 100E) of the surgeon S who controls the electric endoscope system 1000E are input. The operation device 300E has an operation unit main body 310E, various buttons 350, and a touch pad 380.

[0258] 48 is a diagram showing the operation device attachment / detachment unit 130 to which the operation device 300E is attached. By attaching the operation device 300E to the operation device attachment / detachment unit 130, the operation device 300E becomes capable of communicating with the drive device 200 and the like via an operation cable 301. The operation cable 301 passes through an internal path of the extracorporeal flexible portion 140 and is not exposed to the outside. Therefore, the operation cable 301 does not interfere with the work of the surgeon S.

[0259] When the operating device 300E can communicate with the driving device 200 and the like via wireless communication, the operating device 300E can communicate with the driving device 200 and the like regardless of whether it is attached to or detached from the operating device attachment / detachment section 130. In this case, the operating cable 301 and the electrical contacts 131 are not necessary.

[0260] FIG. 49 is a diagram showing the operation cable 301 restrained by the extracorporeal flexible portion 140. As shown in FIG. When the operation cable 301 is fixed to the operation device 300E, the operation cable 301 arranged outside the extracorporeal flexible portion 140 may be restrained by the extracorporeal flexible portion 140 and a restraining band 302.

[0261] 50 is a diagram showing an operation device attachment / detachment part 130E which is a modified example of the operation device attachment / detachment part 130. The operation device attachment / detachment part 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 the air / water supply and suction without communicating with the drive device 200.

[0263] The forceps port 126 is an insertion port through which a treatment tool 400 is inserted into the internal path 101 of the endoscope 100E, similar to the forceps port 126 of the first embodiment.

[0264] 51 is a diagram showing the operating device attachment / detachment section 130E to which the operating device 300E is attached. When the operating device 300E is attached to the operating device attachment / detachment section 130E, the air / water supply button 351, the suction button 352, and the release button 353 are provided on the right RH of the operating device 300E. The forceps port 126 is provided on the lower right of the operating device 300E. Therefore, the surgeon S can operate the operating device 300E and the treatment tool 400 in the same way as operating an existing endoscope and treatment tool.

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

[0266] Although the fifth embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment and includes design modifications within the scope of the present invention. Furthermore, the components shown in the above-described embodiment and modifications can be configured by appropriately combining them.

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

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

[0269] [Endoscope 100F] The endoscope 100F includes an insertion section 110, a connecting section 120F, a stopper 129, an extracorporeal flexible section 140, a detachable section 150, a bending wire 160, and an internal structure 170.

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

[0271] The cover member 125F is a member that covers the outer periphery of the connecting portion main body 122. The cover member 125F has a flat portion 125p that is horizontal with respect to the rotation axis RO that extends in the longitudinal direction A. The outer periphery 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 diagram showing the connecting part 120F to which the stopper 129 is attached. The stopper 129 is formed in a U-shape and is detachable from the connecting part 120F. The stopper 129 attached to the connecting part 120F engages with the flat part 125p of the cover member 125F and a groove 119g formed in the base end part 119b of the internal flexible part 119. Therefore, when the stopper 129 is attached to the connecting part 120F, the passive rotation part (the base end part 119b of the internal flexible part 119, the housing 123h, and the cylindrical member 121) does not rotate in the circumferential direction C relative to the cover member 125F.

[0273] The passive rotation portion (the base end portion 119b of the internal flexible portion 119, the housing 123h, and the cylindrical member 121) does not rotate in the circumferential direction C relative to the cover member 125F unless a force equal to or greater than a predetermined value is applied thereto. However, if 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, causing the passive rotation portion to rotate. In this case, the surgeon S can restrict the passive rotation portion from rotating in the circumferential direction C relative to the cover member 125F by attaching a stopper 129 to the connecting portion 120F.

[0274] FIG. 55 shows a modified example of the stopper 129. In FIG. The stopper may be an operating device 300F having a groove 319F with a structure similar to that of stopper 129. As shown in Fig. 55, by attaching operating device 300F to coupling portion 120F, it is possible to restrict the passive rotation portion from rotating in circumferential direction C relative to cover member 125F.

[0275] FIG. 56 is a diagram showing a modified example of the endoscope 100. In FIG. The endoscope shown in Fig. 56 has a line 100s provided on the insertion section 110. The line 100s is provided, for example, in the U direction. By looking at the line 100s, the surgeon S can roughly determine in which direction the bending section 112 is facing. The line 100s may be a straight line or a broken line.

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

[0277] Although the sixth embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment and includes design modifications within the scope of the present invention. Furthermore, the components shown in the above-described embodiment and modifications can be configured by appropriately combining them.

[0278] Seventh Embodiment An electric endoscope system 1000G according to a seventh embodiment of the present invention will be described with reference to FIGS.

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

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

[0281] The adapter 210G includes a first operation adapter 211A and an endoscope adapter 212G, but does not include a second operation adapter 211B.

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

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

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

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

[0286] The drive unit 200G, the image control unit 500G, and the display unit 900 are housed in a housing rack 700. The housing rack 700 is equipped with wheels to make it easy to move. The housing rack 700 is equipped with a hanger (trolley) 710 on which the endoscope 100 can be hung and installed.

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

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

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

[0290] The "pre-use inspection information" is information relating to the progress of the pre-use inspection of the endoscope 100. For example, if at least part of the pre-use inspection has been performed by another control device 600G in a backyard or the like, the progress of the pre-use inspection, the inspection results, etc. 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 have not been performed, the main controller 560 then executes step S330. If all of the pre-use inspection items have been performed, the main controller 560 skips the pre-use inspection in step S320 and then executes step S340.

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

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

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

[0295] For example, the main controller 560 instructs the user to input an operation to perform a function assigned to the operation device 300 or the various buttons 350. The main controller 560 checks whether or not an operation to perform the instructed function has been input.

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

[0297] For example, the main controller 560 instructs the user to input, from the operation device 300, an operation to perform air / water supply using the air / water supply button 351 and an operation to perform suction using the suction button 352. 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 malfunction or other problem, the main controller 560 notifies the user of the details of the problem.

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

[0299] For example, main controller 560 checks whether the display content of display device 900, which is changed in response to the above-mentioned operation input, has been changed correctly.

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

[0301] <Step S340> In step S340, main controller 560 calibrates the bending operation by communicating with drive controller 260. Note that calibration of the bending operation does not necessarily have to be performed for each use, and may be performed periodically.

[0302] FIG. 59 is a diagram showing the suspended endoscope 100 and 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 tip portion 180 of the endoscope 100, including the bending section 112, from the hanger 710. The user suspends the tip portion 180 from the hanger 710 in accordance with the instructions displayed on the GUI image.

[0303] FIG. 60 is a diagram showing the reference model NM used by the drive controller 260. The main controller 560 updates the parameters of the reference model NM by calibrating the bending motion. The reference model NM is a model that estimates the bending motion of the endoscope 100. The reference model NM has 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 a marker M for calibrating the bending operation. The marker M shown in Fig. 59 is a marker board M1. The marker M has a known marker pattern m from which relative position information can be identified. The marker pattern m is a pattern from which relative position information can be identified by observing it from different locations.

[0305] The electric endoscope system 1000G according to this embodiment allows more efficient observation and treatment using the endoscope 100. The user can efficiently check the equipment before use.

[0306] Although the seventh embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment and includes design modifications within the scope of the present invention. Furthermore, the components shown in the above-described embodiment and modifications can be configured by appropriately combining them.

[0307] Eighth Embodiment An electric endoscope system 1000H according to an eighth embodiment of the present invention will be described with reference to FIGS.

[0308] [Electric Endoscope System 1000H] FIG. 61 is an overall view of an 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, an image 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 the insertion section 110 has a built-in magnetic coil (not shown) along the longitudinal direction A. The magnetic coil is attached in a spiral shape along the inner circumferential surface of the internal passage 101 of the insertion section 110, for example.

[0310] The observation device 800 is a device that uses a magnetic field to observe the insertion shape of the endoscope 100H. The observation device 800 receives, via an antenna, a magnetic field generated from a magnetic coil built into the insertion section 110 of the endoscope 100H. The observation results of the observation device 800 are also acquired by the main controller 560.

[0311] 62 to 66 are diagrams showing a pair of bending wires 160 inserted through the bending insertion section 110. Hereinafter, a pair of bending wires (an upper bending wire 161u and a lower bending wire 161d) that bend the bending section 112 in the UD direction will be described. The virtual marker VM1 and the virtual marker VM2 are virtual markers that indicate the position of the internal distance from the leading edge of the bending wires (the upper bending wire 161u and the lower bending wire 161d). Note that the pair of bending wires 160 (a left bending wire 161l and a right bending wire 161r) that bend the bending section 112 in the LR direction have the same structure, and therefore illustrations and descriptions thereof will be omitted.

[0312] The pair of bending wires 160 shown in FIG. 62 is in a state (also referred to as a first state S1) in which the lower bending wire 161d bends the bending portion 112 most in the D direction. The pair of bending wires 160 shown in FIG. 63 is in a state (also referred to as a second state S2) in which the lower bending wire 161d starts to bend the bending portion 112 in the D direction. The pair of bending wires 160 shown in FIG. 64 is in a state (also referred to as a third state S3) in which the pair of bending wires 160 make the bending portion 112 have an unbent, straight shape. The pair of bending wires 160 shown in FIG. 65 is in a state (also referred to as a fourth state S4) in which the upper bending wire 161u starts to bend the bending portion 112 in the U direction. The pair of bending wires 160 shown in FIG. 66 is in a state (also referred to as a fifth state S5) in which the upper bending wire 161u has bent the bending portion 112 most in the U direction.

[0313] The path length of the pair of bending wires 160 changes due to bending of the flexible section (the insertion section 110 and the extracorporeal flexible section 140). Therefore, the pair of bending wires 160 have excess length that can absorb the change in path length, and have "slack SL" in the third state S3 shown in FIG.

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

[0315] [First bending control] FIG. 67 is a control flowchart of the first bending control. As shown in Fig. 62 to Fig. 66, when the bending portion 112 facing the D direction is bent in the U direction by the upward bending wire 161u, the drive controller 260 (mainly the processor 261) 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 the U direction in the D direction by the downward bending wire 161d is the same control, and therefore description thereof will be omitted.

[0316] <Step S410> In step S410, the drive controller 260 communicates with the main controller 560 and acquires the shape of the insertion section 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 tension of the pair of bending wires 160. As shown in FIG. In step S420, the drive controller 260 estimates the threshold tension TT from the acquired shape of the insertion section 110. The threshold tension TT is the tension of the upward bending wire 161u in a state (fourth state S4) in which the upward bending wire 161u starts to bend the bending section 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 upward bending wire 161u at high speed until the tension of the upward bending wire 161u acquired from the tension sensor 159 becomes the threshold tension TT. The upward bending wire 161u is slack (excessive) until the tension of the upward bending wire 161u becomes the threshold tension TT. Therefore, the drive controller 260 can shorten the period in which the bending portion 112 does not move (dead period) by pulling the upward bending wire 161u at high speed. The drive controller 260 then executes step S440.

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

[0320] According to the first bending control, the bending wire 160 is driven at high speed so as to compensate for the movement amount corresponding to the excess length of the bending wire 160, thereby improving the bending responsiveness of the bending portion 112.

[0321] [Second bending control] FIG. 69 is a control flowchart of the second bending control. As shown in Fig. 62 to Fig. 66, when the bending portion 112 facing the D direction is bent in the U direction by the upward bending 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 bending portion 112 facing the U direction in the D direction by the downward bending wire 161d is the same control, and therefore description thereof will be omitted.

[0322] <Step S410> In step S410, the drive controller 260 communicates with the main controller 560 and acquires the shape of the insertion section 110, which is the observation result of the observation device 800. The drive controller 260 then executes step S420B.

[0323] <Step S420B> FIG. 70 is a diagram showing the relationship between the displacement and tension of the pair of bending wires 160. As shown in FIG. In step S420B, the drive controller 260 estimates the amount of change in path length from the acquired shape of the insertion section 110, and corrects the loosening range SR. The loosening range (dead zone) SR is the range in which the bending wire 160 being pulled loosens, as shown in Figs. 63 to 65. The length of the loosening range SR is the excess length of the bending wire 160. The drive controller 260 then executes step S430B.

[0324] <Step S430B> In step S430B, the drive controller 260 pulls the upward bending wire 161u at high speed until the displacement of the upward bending wire 161u falls outside the loosening range SR. The upward bending wire 161u is loose (excess) until the displacement of the upward bending wire 161u falls outside the loosening range SR. Therefore, the drive controller 260 can shorten the period in which the bending portion 112 does not move (dead period) by pulling the upward bending wire 161u at high speed. The drive controller 260 then executes step S440.

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

[0326] According to the second bending control, the bending wire 160 is driven at high speed so as to compensate for the movement amount corresponding to the excess length of the bending wire 160, thereby improving the bending responsiveness of the bending portion 112.

[0327] [Third curvature control] FIG. 71 is a control flowchart of the third bending control. As shown in Fig. 62 to Fig. 66, when the bending portion 112 facing the D direction is bent in the U direction by the upward bending wire 161u, the drive controller 260 (mainly the processor 261) performs the third bending control shown in Fig. 71. Note that the third bending control in which the drive controller 260 bends the bending portion 112 facing the U direction in the D direction by the downward bending wire 161d is a similar control, and therefore description thereof will be omitted.

[0328] <Step S420C> In step S420C, the drive controller 260 corrects the slack range SR based on the amount of change in displacement and tension when the downward bending wire 161d, which is a relaxation wire, is relaxed. The drive controller 260 corrects the slack range SR by estimating the amount of change in slack of the upward bending wire 161u, which is a traction wire, based on the amount of change in slack of the downward bending wire 161d, which is a relaxation wire. Specifically, the drive controller 260 acquires the amount of change in slack SL (amount of change in excess length) of the downward bending wire 161d relative to the initial state when the tension of the upward bending wire 161u falls below the threshold tension TT, and estimates the amount of change in slack SL (amount of change in excess length) of the upward bending wire 161u relative to the initial state. The upward bending wire 161u and the downward bending wire 161d use a characteristic that they slacken by the same amount relative to their initial states. The subsequent control is the same as the second bending control.

[0329] According to the third bending control, the bending wire 160 is driven at high speed so as to compensate for the movement amount equivalent to the excess length of the bending wire 160, thereby improving the bending responsiveness of the bending portion 112.

[0330] [Slack control] FIG. 72 shows a pair of bending wires 160 in a third state S3 according to another embodiment. In accordance with the bending controls (first bending control, second bending control, and third bending control), the drive controller 260 may perform slack amount control to control the amount of slack in the pair of bending wires 160. In the slack amount control, the drive controller 260 adjusts the amount of slack in the pair of bending wires 160 by pulling or feeding the pair of bending wires 160.

[0331] For example, by estimating the threshold tension TT and the slack range SR in the first bending control, second bending control, and third bending control, the drive controller 260 can detect that the path length of the pair of bending wires 160 has increased due to bending of the flexible section (the insertion section 110 and the extracorporeal flexible section 140) and that the "slack SL" has decreased in the third state S3. In this case, the drive controller 260 may feed the pair of bending wires 160 to match the "slack amount" of the pair of bending wires 160 with the "slack amount" in a predetermined state (for example, the initial state shown in FIG. 64). The drive controller 260 can perform bending control with the excess length of the bending wires 160 kept constant, regardless of the bending shape of the flexible section (the insertion section 110 and the extracorporeal flexible section 140).

[0332] 64 is a state in which the flexible section (the insertion section 110 and the extracorporeal flexible section 140) is not bent and the path length is the shortest. The amount of slack in the pair of bending wires 160 in the initial state is preferably 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 "amount of slack" of the pair of bending wires 160 is such that it does not generate tension in the bending piece 115 even when the flexible portion (the insertion portion 110 and the extracorporeal flexible portion 140) is bent to the greatest extent and the path length is the longest.

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

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

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

[0337]

number

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

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

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

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

[0342] Although the eighth embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment and includes design modifications within the scope of the present invention. Furthermore, the components shown in the above-described embodiment and modifications can be configured by appropriately combining them.

[0343] Ninth embodiment An electric endoscope system 1000I according to a ninth embodiment of the present invention will be described with reference to Fig. 76 to Fig. 89. In the following description, components common to those already described will be assigned the same reference numerals, and duplicated description will be omitted.

[0344] [Electric Endoscope System 1000I] FIG. 76 is an overall view of an electric endoscope system 1000I according to this embodiment. The electric endoscope system 1000I includes an endoscope 100, a driving device 200I, an operation device 300, a treatment tool 400, an image control device 500I, and a display device 900. The driving device 200I and the image 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 related to operation input 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, etc. Furthermore, the drive controller 260 switches the input mode based on the operation input from the operation device 300 that switches the input mode.

[0346] FIG. 77 is a front view of the operating device 300. FIG. 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.

[0347] The touchpad 380 is a touch-sensitive interface into which bending operations and the like are input to the bending portion 112. For example, an input in the upward direction (Y1 direction) in the vertical direction (Y direction) on the touchpad 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 touchpad 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 touchpad 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 touchpad 380 is associated with an operation of bending the bending portion 112 in the R direction.

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

[0349] The operating device 300 has a button (hereinafter also referred to as an "input mode switching button") for switching the input mode of the driving device 200I. The input mode switching button is, for example, one of various buttons 350 assigned as the input mode switching button. If the touchpad 380 is a pressure-sensitive touchpad, the touchpad 380 may be assigned as an input mode switching button that detects pressing when pressed 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 that it generates a display image IMG.

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

[0353] The guide image IMG2 is an image that assists the surgeon S in operating the endoscope 100. 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 a CG image IMG3, a passive rotation information image IMG4, and an operation information image IMG5.

[0354] The CG image IMG3 is a CG image of the insertion section 110 including the bending section 112. The main controller 560 generates the CG image IMG3 based on the drive state of the bending wire 160 acquired from the drive controller 260. By looking at the CG image IMG3, the surgeon S can visually recognize the shape of the bending section 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 internal flexible part 119, the housing 123h, and the cylindrical member 121) in the connecting part 120 using a circular gauge. The main controller 560 generates the passive rotation information image IMG4 based on the rotation angle of the magnetic ring 121s obtained from the magnetic sensor of the connecting part 120. By looking at the passive rotation information image IMG4, the surgeon S can intuitively grasp the angle by which the passive rotation part has rotated in the circumferential direction C relative to the cover member 125F.

[0356] FIG. 79 is a diagram showing an operation information image IMG5. The operation information image IMG5 is an image that visualizes the operation input of the operation device 300 by the surgeon S. The main controller 560 generates a 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 surgeon S can visually confirm the operation input that he or she has input to the operation device 300. By looking at the second operation information image IMG7, the surgeon S can understand the currently set motion scale without actually performing an operation to bend the bending section 112.

[0357] [Operation of the Electric Endoscope System 1000I] Next, the operation of the electric endoscope system 1000I of this embodiment will be described. Hereinafter, the description will be made according to the control flowchart of the drive controller 260 of the control device 600I shown in Fig. 80. When the control device 600I is started, 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: Determine whether bending drive has started> In step S610, the drive controller 260 periodically checks for an operational input to the touchpad 380 and determines whether to start driving the bending portion 112 to bend. If an operational input to the touchpad 380 has been received, the drive controller 260 then executes step S620.

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

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

[0361] <Step S640: Curved section 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 in the direction of the difference vector D by a bending drive amount that is proportional to the magnitude 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 bending portion 112 in the direction of the difference vector D acquired from the operation input. By selecting the first input as the input mode, the surgeon S can easily input an operation to move the tip of the bending portion 112 in a circular motion in order to observe every corner of the inside of a lumen, for example.

[0363] <Step S650: Determining Input Vector A> In step S650, the drive controller 260 determines the input direction DI based on the operation input to the touchpad 380. Specifically, the drive controller 260 determines the input vector A based on the direction in which the thumb FT starts to move along the touchpad 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 touchpad 380 when a single operation input is started. The second position D2 is the position of the thumb FT on the touchpad 380 immediately after a single operation input is started (immediately after movement starts) When the first position D1 (x1, y1) and the second position D2 (x2, y2) are present, 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 touchpad 380 immediately after the movement starts, and is, for example, a position that is a predetermined distance d away from the first position D1. The predetermined distance d is, for example, 1 mm to 10 mm. The predetermined distance d may be 5 mm to 10 mm, which corresponds to 50% to 100% of the width of the thumb FT. The predetermined distance d may be a length that corresponds to 15% to 25% of the width (40 mm to 60 mm) of the touchpad 380.

[0366] The second position D2 is, for example, the position of the thumb FT on the touchpad 380 immediately after starting the movement, and is, for example, the position of the thumb FT after a predetermined time t has elapsed. The predetermined time t is, for example, 0.5 to 1 second.

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

[0368] After determining the input direction DI in step S650, the drive controller 260 then executes step S660.

[0369] <Step S660: Determining the Curvature Drive Amount> In step S660, the drive controller 260 determines the curvature drive amount. The drive controller 260 determines the curvature drive amount by the vector method or the touch method.

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

[0371]

number

[0372]

number

[0373] The curvature drive amount V in the vector method 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 the movement starts).

[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 is in contact with the touch pad 380.

[0375] After determining the curvature drive amount V in step S660, the drive controller 260 then executes step S670.

[0376] <Step S670: Curved section drive> In step S670, the drive controller 260 drives the bending portion 112 based on the determined input vector A and bending drive amount V. Specifically, the drive controller 260 drives the bending portion 112 by the bending drive amount V in the direction of the input vector A. In other words, the drive controller 260 only drives the bending portion 112 in the direction of the input vector A immediately after the operation input is started (immediately after movement begins). The drive controller 260 then executes step S680.

[0377] <Step S680: Completion Determination> In step S680, the drive controller 260 determines whether one operation input has been completed. The drive controller 260 determines that one operation input has been completed when the thumb FT is released from the touchpad 380. Alternatively, the drive controller 260 may determine that one operation input has been completed when it detects an operation input in which the touchpad 380 is pressed by the thumb FT or an operation input in which part of one of the various buttons 350 is pressed. If the drive controller 260 determines that one operation input has been completed, it next executes step S690. If the drive controller 260 determines that one operation input has not been completed, it executes step S660 and subsequent steps again.

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

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

[0380] [Direction limit of input vector A] FIG. 84 is a diagram showing the restriction of the direction of the input vector A. By moving the thumb FT along the touchpad 380, the surgeon S can intuitively input to the touchpad 380 an operation to bend the bending portion 112 in any direction. On the other hand, it is difficult for the surgeon S to input to the touchpad 380 an operation to bend the bending portion 112 only in one of the U, D, and L directions. The operation unit of a conventional endoscope having an angle knob can easily input an operation to bend the bending portion only in one of the U, D, and L directions. For this reason, it is desirable to be able to easily input to the touchpad 380 an operation to bend the bending portion 112 only in one of the U, D, and L directions. Therefore, 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 input vector A to eight directions. For example, if the direction of input vector A is ±30 degrees in the Y1 direction, the drive controller 260 considers the direction of input vector A to be "Y1 direction ±0 degrees." For example, if the direction of input vector A is ±30 degrees in the X1 direction, the drive controller 260 considers the direction of input vector A to be "X1 direction ±0 degrees." Note that the drive controller 260 may also limit the direction of input vector A to four directions or 16 directions.

[0382] The Y1 direction of the touchpad is associated with the U direction of the bending portion 112. By increasing the angle range of the input vector A that is regarded as the Y1 direction of the touchpad, it becomes easier to input an operation to bend the bending portion 112 only in the U direction.

[0383] The Y2 direction of the touchpad is associated with the D direction of the bending portion 112. By increasing the angle range of the input vector A that is regarded as the Y2 direction of the touchpad, it becomes easier to input an operation to bend the bending portion 112 only in the D direction.

[0384] The X1 direction of the touchpad corresponds to the L direction of the bending portion 112. By increasing the angle range of the input vector A that is regarded as the X1 direction of the touchpad, it becomes easier to input an operation to bend the bending portion 112 only in the L direction.

[0385] The X2 direction of the touchpad is associated with the R direction of the bending portion 112. By increasing the angle range of the input vector A that is regarded as the X2 direction of the touchpad, it becomes easier to input an operation to bend the bending portion 112 only in the R direction.

[0386] 84, the angle 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 angle range (15 degrees) of the input vector regarded as the other directions. In this case, the surgeon S can more easily input to the touchpad 380 an operation to bend the bending portion 112 only in one of the UDLR directions.

[0387] [Bend 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 bending limit display IMG8. The bending limit display IMG8 is a display that notifies that the bending portion 112 is bent to the maximum extent. The main controller 560 generates the bending limit display IMG8 based on the drive state of the bending wire 160 acquired from the drive controller 260.

[0388] The bending limit display IMG8 is a display in which a conspicuous color (e.g., a fluorescent color) is colored in a strip-shaped area at the top, bottom, left, and right ends of the guide image IMG2, and indicates that the bending portion 112 is bent to the maximum in at least one of the UDLR directions.

[0389] When the bending portion 112 is bent to the maximum in the U direction, as shown in FIG. 85, the bending limit display IMG8 is displayed in a strip-shaped region at the top end of the guide image IMG2.

[0390] When the bending portion 112 is bent to the maximum in the direction D, the bending limit display IMG8 is displayed in a strip-shaped area at the bottom end of the guide image IMG2.

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

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

[0393] By looking at the bending limit display IMG 8, the surgeon S can easily understand that the bending portion 112 is bent to the maximum in at least one of the UDLR directions. The main controller 560 may also display the bending limit display IMG 8 when the bending portion 112 approaches a state where it is bent to the maximum.

[0394] [Operation Guide] FIG. 86 is a diagram showing the operation guide 325 of the operation unit main body 310. As shown in FIG. The operation unit main body 310 of the operation device 300 may have an operation guide 325 on a frame 311 that surrounds the touchpad 380. The operation guide 325 is formed in a shape that allows the surgeon S to tactilely sense the difference in height between the operation guide 325 and the touchpad 380. The height H3 of the operation guide 325 from the touchpad 380 is, for example, 0.5 mm to 2 mm.

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

[0396] Even when the input mode is the first mode, the surgeon S can easily input a straight operation onto the touchpad 380 by using the thumb FT as a guide along the operation guide 325 and the convex portion 326 and moving the finger FT along the touchpad 380. The surgeon S can also rest the thumb FT by placing the thumb FT against the convex portion 326 and then releasing the finger FT from the touchpad 380. Note that the gloves worn by the surgeon S are not shown in Figures 86 and 87.

[0397] FIG. 88 is a diagram showing another aspect of the operation guide 325. In FIG. Operation guide 325 may be a portion provided on the edge of touchpad 380. Operation guide 325 shown in Fig. 88 is a portion that has a different tactile sensation from other portions of touchpad 380, such as a different material or surface roughness.

[0398] FIG. 89 is a diagram showing another aspect of the operation guide 325. As shown in FIG. Operation guide 325 may be a protrusion provided by embossing or the like on touchpad 380. In this case, operation guide 325 may be provided in the center of touchpad 380, rather than at the end of touchpad 380.

[0399] The electric endoscope system 1000I according to this embodiment allows for more efficient observation and treatment using the endoscope 100. By selectively using the first input mode and the second input mode, the surgeon S can easily input operations using the touchpad 380. Furthermore, the surgeon S can more appropriately operate the bending portion 112 and the like by observing the guide image IMG2.

[0400] Although the ninth embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment and includes design modifications within the scope of the present invention. Furthermore, the components shown in the above-described embodiment and modifications can be configured in any suitable combination.

[0401] In the above embodiment, the finger that operates the touchpad 380 may be a finger other than the thumb FT.

[0402] Tenth Embodiment An electric endoscope system 1000J according to a tenth embodiment of the present invention will be described with reference to Figures 90 to 94. In the following description, components that are common to those already described will be assigned the same reference numerals, and duplicated description will be omitted.

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

[0404] The electric endoscope system 1000J is a system to which different types of operation devices, such as operation device 300J and operation device 300K, can be connected instead of the operation device 300. The operation device 300J is an operation device that includes an angle knob instead of the touchpad 380. The operation device 300K is a game pad type operation device.

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

[0406] The operation device 300, the operation device 300J, and the operation device 300K each 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 made up of, for example, a plurality of alphanumeric characters, and stores a model number indicating the type of operation device 300 or the like.

[0408] The operation parameters of the operation device are parameters required when the drive device 200J operates the endoscope 100 including the bending portion 112 based on operation input received from the operation device 300 etc. The operation parameters are part of the software for the operation device.

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

[0410] The operating device software is software necessary for the drive device 200J to communicate with the operating device 300 etc. and receive operation input from the operating device 300 etc. The operating device software is 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 this embodiment will be described. Hereinafter, the description will be made along with the control flowchart of the drive controller 260 of the control device 600J shown in Fig. 92. When the operation 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. The drive controller 260 then executes step S820.

[0413] <Step S820> In step S820, drive controller 260 determines whether the program controlling drive controller 260 needs to be updated based on the acquired operation device information. For example, if the operation device ID in the acquired operation device information is unregistered, drive controller 260 determines that the program controlling drive controller 260 needs to be updated. Even if the operation device ID in the acquired operation device information has already been registered or the operation device information does not include an operation device ID, drive controller 260 determines that the program controlling drive controller 260 needs to be updated if the operation device information includes new information that needs to be updated (operation parameters, operation information, operation device software). If an update is necessary, drive controller 260 then executes step S830. If an update is not necessary, drive controller 260 then executes step S840.

[0414] <Step S830> In step S830, if the operation device information includes new operation device 300 software to be updated, drive controller 260 updates the program that controls drive controller 260 using the operation device 300 software.

[0415] When the operation device information includes new operation parameters to be updated, the drive controller 260 uses the operation parameters to update the program that controls the drive controller 260. For example, when the size of the touchpad 380 of the operation device 300 is changed, the amount of bending drive of the bending portion 112 in response to an operation input to the touchpad 380 is included in the operation device information as a new operation parameter. In this case, the drive controller 260 can correctly receive an operation input from the operation device 300 by updating some of the operation parameters using the new operation parameters without updating the software for the operation device 300.

[0416] 93 and 94 are diagrams illustrating updating 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, if the placement of the touch sensor 381 of the operation device 300 is changed to the right side of the touchpad 380, the placement 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, drive controller 260 ends the control flow shown in Fig. 92. Drive controller 260 becomes able to receive operation input from operation device 300. Even when operation device 300J or operation device 300K is connected to drive device 200J, by executing the control flow shown in Fig. 92, drive controller 260 becomes able to receive operation input from operation device 300J or operation device 300K.

[0418] The electric endoscope system 1000J according to this embodiment allows more efficient observation and treatment using the endoscope 100. The surgeon S can connect a new, unregistered operating device to the drive device 200J and use it.

[0419] Although the tenth embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment and includes design modifications within the scope of the present invention. Furthermore, the components shown in the above-described embodiment and modifications can be configured by appropriately combining them.

[0420] Eleventh Embodiment An electric endoscope system 1000L according to an eleventh embodiment of the present invention will be described with reference to Fig. 95 to Fig. 99. In the following description, components common to those already described will be assigned the same reference numerals, and duplicated description will be omitted.

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

[0422] FIG. 95 is a diagram showing an operating device 300L. The operating device 300L is the operating device 300 of the first embodiment with the operating cable 301 removed, and communicates with the drive device 200 via wireless communication. A cover 390 can be attached to the operating device 300L. The cover 390 has an upper cover 390A made of rubber or the like, and a hard rear cover 390B. By sandwiching the operating device 300L between the upper cover 390A and the rear cover 390B, the entire operating device 300L can be covered. The surgeon S can operate the touchpad 380 and various buttons 350 by pressing the upper cover 390A. After surgery, the surgeon S or an assistant only needs to reprocess or discard the cover 390, thereby reducing the effort required to reprocess the operating device 300L.

[0423] The endoscope 100L includes an insertion section 110L, a connecting section 120, an extracorporeal flexible section 140L, a detachable section 150L, ​​a bending wire 160, and an internal member 170.

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

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

[0426] FIG. 97 shows the outer extracorporeal flexible portion 140Y removed. The outer extracorporeal flexible portion 140Y is inserted through a suction tube 172 and an air / water supply tube 175. After surgery, the surgeon S and assistants only need to focus on reprocessing or discarding the outer extracorporeal flexible portion 140Y, thereby reducing the effort required to reprocess the extracorporeal flexible portion 140L.

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

[0428] FIG. 99 is a diagram showing the endoscope 100L during transportation. Compared to the first detachable part 1501 of the first embodiment, the first detachable part 1503 further has an engagement part 1505. When the surgeon S or an assistant detaches the endoscope 100L from the control device 600 and carries it, the surgeon S or an assistant hooks the connecting part 120 and the second detachable part 1502 onto the engagement part 1505 of the first detachable part 1503. The surgeon S or an 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 this embodiment, the endoscope 100 can be carried and reprocessed more efficiently.

[0430] Although the eleventh embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment and includes design modifications within the scope of the present invention. Furthermore, the components shown in the above-described embodiment and modifications can be configured by appropriately combining them.

[0431] The programs in each embodiment may be recorded on a computer-readable recording medium, and then loaded and executed by a computer system. The term "computer system" includes hardware such as an OS and peripheral devices. The term "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, as well as storage devices such as hard disks built into a computer system. The term "computer-readable recording medium" may also include devices that dynamically store programs for a short period of time, such as communication lines used when transmitting programs via networks such as the Internet or telephone lines, or devices that store programs for a fixed period of time, such as volatile memory within a computer system serving as a server or client. The program may also be designed to implement some of the functions described above, or may be capable of implementing the functions described above in combination with a program already stored in the computer system. [Industrial Applicability]

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

[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 Route 1101, 10C, 110L insertion section 111 Tip 111a opening 111b Lighting section 111c Imaging unit 111d Air / Water Supply Nozzle 112,112C curved section 113 First curved part (tip side curved part) 114 Second curved part (proximal curved part) 115 joint ring (curved piece) 115a First node ring 115b Second node ring 115u Upper Wire Guide 115d Lower Wire Guide 115l Left Wire Guide 115r Right Wire Guide 115p First pivot pin 115q Second Pivot Pin 116 Tip (first tip) 117 Second tip 118 Outer sheath 119 Soft parts of the body 119b Proximal end 120,120D,120F connection part 121 Cylindrical member 121s Magnetic Ring 122 Connection body 123 Seal part 123h Housing 123r Ring 124 Bearing section 125,125F Cover material 126,126B Forceps mouth 127 Three-pronged tube 128 Fitting part 128p flat part 129 Stopper 130,130E Operation device attachment / detachment part 131 Electrical contacts 140,140L Extracorporeal soft part 140X Medial External Soft Part 140Y External Extracorporeal Soft Part 150, 150B, 150C, 150L Detachable part 1501 First attachment / detachment part 1502 Second detachable part 1503 First attachment / detachment part 1504 First attachment / detachment part 1505 Engagement part 151, 151B Upper and lower bending wire attachment / detachment part (first upper and lower bending wire attachment / detachment part) 152, 152B Left and right bending wire attachment / detachment part (first left and right bending wire attachment / detachment part) 153 Second upper and lower bending wire attachment / detachment part 154 Second left and right bending wire attachment / detachment part 155 Support member 15X Driven part (driving force transmission part) 156, 156B First driven part (first driving force transmission part) 156a First winding pulley 156c First coupling part 156d First fitting protrusion 156r First drum rotation shaft 157, 157B Second driven part (second driving force transmission part) 157a Second winding pulley 157c Second coupling part 157d Second fitting protrusion 157r Second drum rotation shaft 158 Scope ID storage section 159 Tension Sensor 160,160C curved wire 161 First curved wire 161u Upper Curved Wire (First Upper Curved Wire) 161d Lower Curved Wire (First Lower Curved Wire) 161l Left curved wire (first left curved wire) 161r Right Curved Wire (First Right Curved Wire) 161s Wire Sheath (First Wire Sheath) 162 Second curved wire 162u Second upper curved wire 162d Second Lower Curved Wire 162l Second left curved wire 162r Second Right Curved Wire 162s Second Wire Sheath 170 Internal organs 171 channel tube 172 Suction tube 173 Imaging cable 174 Light Guide 175 Air and water supply tube 180 Tip part 200, 200C, 200G, 200I, 200J drive unit 210,210G adapter 211A First operating adapter 211B Secondary Operation Adapter 212,212G Endoscope Adapter 220 Operation receiving unit 230 Air supply and suction drive unit 250,250G Wire drive unit (actuator) 250a support member 25X drive unit 251 First drive unit (first actuator) 251a First Shaft 251b First motor section 251c First coupled part 251d First fitting recess 251e First Torque Sensor 251r First shaft rotation axis 251s First elastic member 252 Second drive unit (second actuator) 252a Second shaft 252b Second motor section 252c Second coupling part 252d Second fitting recess 252e Second torque sensor 252r Second shaft rotation axis 252s Second elastic member 253 Third drive unit (third actuator) 254 Fourth drive unit (fourth actuator) 255 Fifth drive unit (fifth actuator) 256 Sixth drive unit (sixth actuator) 257 Seventh Drive Unit (Seventh Actuator) 258 Eighth Drive Unit (Eighth Actuator) 25G Drive Group 25G1 First Drive Group 25G2 Second Drive Group 259 Attachment / detachment sensor 260 Drive Controller 261 processor 262 memory 263 Storage section 264 Input / Output Control Unit 300, 300D, 300E, 300F, 300J, 300K, 300L Operating device (controller) 300X First operating device 300Y 2nd operating device 301 Control cable 302 Restraint Band 310,310D,310E Operation unit body 311 Frame 314 Touchpad support 315 Button support 316 Gripping part 316 Grip (holding part) 317 Handle 318 left side 319 Guide groove 325 Operation Guide 326 Convex 350 Various Buttons 351 Air and water supply button 352 Suction button 353 release button 380 Touchpad 381 Touch Sensor 390 Cover 390A Top Cover 390B rear cover 400 Treatment tools 410 Treatment Department 500, 500G, 500I Video control device 510A First Endoscope Adapter 510B Second Endoscope Adapter 520 Imaging processing unit 530 Light source section 560 Main Controller 561 processor 562 memory 563 Storage section 564 Input / Output Control Unit 600, 600G, 600I, 600J control device 700 capacity rack 710 Hanger (Trolley) 800 Observation Device 900 Display device 901 Display Cable 902 screens

Claims

1. a medical manipulator including an insertion section having a bending portion and a bending wire connected to the bending portion; a driving device connected to the medical manipulator and configured to drive the bending wire to bend the bending portion; Equipped with The drive device is When the bending wire is slack, the bending wire is pulled at a higher speed than when the bending wire is not slack; a loosening determination is performed to determine whether the bending wire is loosened based on a comparison between a threshold tension estimated from the shape of the insertion portion and the tension of the bending wire; The threshold tension is the tension of the bending wire when the bending wire begins to bend the bending portion. Medical manipulator system.

2. the driving device performs the loosening determination based on a range in which the bending wire is loosened, which range is estimated from the shape of the insertion portion. The medical manipulator system according to claim 1 .

3. the bending wire includes a first wire and a second wire fixed to both sides of a central axis in the longitudinal direction of the bending portion, the first wire and the second wire have slack even when the curved portion is in a straight state; The medical manipulator system according to claim 1 .

4. the driving device estimates an amount of change in slack of the second wire based on an amount of change in slack of the first wire, and estimates a range in which the second wire will slack. The medical manipulator system according to claim 3 .

5. the driving device adjusts the amount of slack in the first wire and the second wire by pulling or feeding the first wire and the second wire. The medical manipulator system according to claim 3 .

6. when determining that the insertion section is bent and path lengths of the first wire and the second wire are increased, the drive device delivers the first wire and the second wire by an amount corresponding to the increased path length. The medical manipulator system according to claim 5 .

7. the driving device estimates an excess length of the bending wire together with the loosening determination, and estimates a total bending angle of the insertion section from the excess length. The medical manipulator system according to claim 1 .

8. A control device connected to a medical manipulator including an insertion section having a bending portion and a bending wire connected to the bending portion, the control device controlling a drive device that bends the bending portion by driving the bending wire, When the bending wire is slack, control is executed to cause the drive device to pull the bending wire at a higher speed than when the bending wire is not slack; a loosening determination is performed to determine whether the bending wire is loosened based on a comparison between a threshold tension estimated from the shape of the insertion portion and the tension of the bending wire; The threshold tension is the tension of the bending wire when the bending wire begins to bend the bending portion. Control device.

9. The loosening determination is performed based on a range in which the bending wire is loosened, which range is estimated from the shape of the insertion portion. The control device according to claim 8.

10. an excess length of the bending wire is estimated together with the loosening determination, and a total bending angle of the insertion portion is estimated from the excess length; The control device according to claim 8.

11. A control method in which a control device controls a medical manipulator including an insertion section having a bending portion and a bending wire connected to the bending portion, comprising: the control device executes control to pull the bending wire at a higher speed when the bending wire is slackened compared to when the bending wire is not slackened; The control device executes a loosening determination as to whether the bending wire is loosened based on a comparison between a threshold tension estimated from the shape of the insertion portion and the tension of the bending wire; Including, The threshold tension is the tension of the bending wire when the bending wire begins to bend the bending portion. Control method.

12. The control device further includes performing the loosening judgment based on a range of loosening of the curved wire estimated from the shape of the insertion portion. The control method according to claim 11.

13. The control device further includes estimating an excess length of the bending wire together with the loosening judgment, and estimating a total bending angle of the insertion portion from the excess length. The control method according to claim 11.

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