Endoscope system and operation device

Abstract

An endoscope system according to the present invention has: an endoscope device having a bendable insertion part; an operation device; and a control unit. A user interface of the operation device generates a first signal according to a state of the user interface that changes when contact is made with an object. A motion sensor of the operation device generates a second signal according to a physical motion of the operation device. The control unit calculates, on the basis of the first signal, a first control value to be used for first control. The control unit calculates, on the basis of the second signal, a second control value to be used for second control. At least one of the first control and the second control is performed to bend the insertion part.

Description

[Technical Field]

[0001] The present invention relates to an endoscope system and an operation device. This application claims priority based on Japanese Patent Application No. 2022-198676, filed on December 13, 2022, the contents of which are incorporated herein by reference. [Background technology]

[0002] Industrial endoscope devices are used to inspect the interior of boilers, pipes, aircraft engines, and the like for abnormalities and corrosion. The endoscope device has an insertion section for acquiring images. A user inserts the insertion section into a subject to acquire an image of an inspection site within the subject. The user observes the image and inspects the inspection site. The insertion section has a bending section for bending the insertion section. A user can bend the insertion section by performing a bending operation.

[0003] The technology disclosed in Patent Document 1 provides a function for determining a command for a predetermined operation based on the amount of rotation or movement of a housing such as a remote control. For example, a smartphone is used as the remote control. In one example disclosed in Patent Document 1, a user can simultaneously input a bending command in normal mode and a bending command in fine mode by rotating or moving the housing. When the bending command in normal mode is stopped, the tip of the insertion section returns to its initial position. When the bending command in fine mode is stopped, the tip of the insertion section does not return to its initial position, and the insertion section remains bent. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-352 Summary of the Invention [Problem to be solved by the invention]

[0005] In the technology disclosed in Patent Document 1, the user inputs a command for a specific operation by rotating or moving the housing. These operations are similar to gesture operations, allowing the user to perform the operation intuitively. However, it is difficult for the user to finely adjust the amount of rotation or movement of the housing. This makes it difficult for the user to finely adjust control values ​​such as the amount of curvature used for curvature control.

[0006] An object of the present invention is to provide an endoscope system and an operation device that can facilitate fine adjustment of control values. [Means for solving the problem]

[0007] According to a first aspect of the present invention, an endoscopic system includes an endoscopic apparatus having a bendable insertion section, an operation device, and a control unit. The operation device includes a housing, a user interface, and a motion sensor. The user interface is disposed on the housing and generates a first signal in response to a state of the user interface that changes when the user interface comes into contact with an object. The motion sensor generates a second signal in response to physical movement of the operation device. The user interface has a rod-shaped movable member arranged on the surface of the housing, and generates the first signal according to an angle of the movable member relative to the surface. The control unit calculates a first control value used for a first control of the endoscope device based on the first signal. The control unit calculates a second control value used for a second control of the endoscope device based on the second signal. At least one of the first control and the second control is executed to bend the insertion section.

[0008] According to a second aspect of the present invention, in the first aspect, the first control and the second control may be performed to bend the insertion section.

[0009] According to the third aspect of the present invention, in the second aspect, the maximum amount of bending of the insertion portion in the second control may be different from the maximum amount of bending of the insertion portion in the first control.

[0010] According to a fourth aspect of the present invention, in the second aspect, the control unit may calculate the first control value during a first period in which the second signal is not generated but the first signal is generated. After the first period, the control unit may calculate the first control value without calculating the second control value during a second period in which the first signal and the second signal are generated.

[0011] According to a fifth aspect of the present invention, in the second aspect, the control unit may calculate the second control value during a first period in which the first signal is not generated but the second signal is generated. After the first period, the control unit may calculate the second control value without calculating the first control value during a second period in which the first signal and the second signal are generated.

[0012] According to a sixth aspect of the present invention, in the second aspect, a range of the bending amount of the insertion portion in the second control may be different from a range of the bending amount of the insertion portion in the first control.

[0013] According to a seventh aspect of the present invention, in the first aspect, the movement may include a rotation of the operating device.

[0014] According to an eighth aspect of the present invention, in the seventh aspect, the motion sensor may generate a third signal in response to the rotation of the operation device. The control unit may assign one of control of a first function and control of a second function to the first control based on the third signal. The control unit may assign the other of control of the first function and control of the second function to the second control based on the third signal.

[0015] According to a ninth aspect of the present invention, in the seventh aspect, the operation device may have an elongated shape. The motion sensor may generate the second signal in response to the rotation of the operation device around an axis perpendicular to a longitudinal direction of the operation device. The second control may be performed to bend the insertion section.

[0016] According to a tenth aspect of the present invention, in the seventh aspect, the operation device may include a sensor that outputs a signal depending on whether the user is holding the operation device in the left hand or the right hand. The control unit may determine whether the user is holding the operation device in the left hand or the right hand based on the signal output from the sensor. When it is determined that the user is holding the operation device in the left hand, the control unit may calculate the second control value by using first information indicating a relationship between the amount of rotation and the second control value. When it is determined that the user is holding the operation device in the right hand, the control unit may calculate the second control value by using second information indicating a relationship between the amount of rotation and the second control value. The second information may be different from the first information.

[0017] According to an eleventh aspect of the present invention, the endoscope system of the first aspect may include an insertion device that inserts the tip of the insertion section into an object and withdraws the tip from the object. One of the first control and the second control may be executed to bend the insertion section. The other of the first control and the second control may be executed to control the insertion and withdrawal of the tip.

[0018] According to a twelfth aspect of the present invention, in the eleventh aspect, the operation device may have an elongated shape. The motion sensor may generate a third signal in response to rotation of the operation device around an axis parallel to a longitudinal direction of the operation device. The insertion device may rotate the insertion section around a central axis of the insertion section. The control section may calculate a third control value used to control the rotation of the insertion section based on the third signal.

[0019] According to a thirteenth aspect of the present invention, in the first aspect, the operation device may have a switch arranged on the housing. The state of the switch may switch between a first state and a second state. When the state of the switch is the first state, the second signal may be valid. When the state of the switch is the second state, the second signal may be invalid. The control unit may calculate the second control value only when the second signal is valid.

[0021] The present invention 14 According to the aspect, in the first aspect, the operation device may have the control unit.

[0022] The present invention 15 According to this aspect, in the first aspect, the endoscope device may include the control unit.

[0023] The present invention 16 According to the second aspect, the endoscope device may include an image sensor that generates an image based on an optical image acquired by the insertion section, and one of the first control and the second control may be executed to control image processing that changes the state of the image.

[0024] The present invention 17 According to the aspect, in the first aspect, the control unit may select one of three or more control values ​​corresponding to three or more bending amounts of the insertion portion as the first control value based on the first signal.

[0025] The present invention 18 According to the embodiment, in the first embodiment ,before The control unit may convert the second signal generated in response to the movement of the operation device in a first state into the second signal generated in response to the movement of the operation device in a second state. In the first state, a straight line perpendicular to the surface is not parallel to a direction of gravity. In the second state, the straight line is parallel to the direction of gravity.

[0026] The present invention 19 According to the embodiment, in the first embodiment ,before The control unit may convert the second signal generated in response to the movement of the operation device in a first state into the second signal generated in response to the movement of the operation device in a second state. In the first state, a straight line parallel to the surface is not perpendicular to a direction of gravity. In the second state, the straight line is perpendicular to the direction of gravity.

[0027] The present invention 20 According to the aspect of the present invention, an operation device includes a housing, a user interface, and a motion sensor. The user interface is disposed on the housing and generates a first signal in response to a state of the user interface that changes when the user interface comes into contact with an object. The motion sensor generates a second signal in response to a physical movement of the operation device. The user interface has a rod-shaped movable member arranged on the surface of the housing, and generates the first signal according to an angle of the movable member relative to the surface. The first signal is used to calculate a first control value used for first control of an endoscope device having a bendable insertion section, and the second signal is used to calculate a second control value used for second control of the endoscope device, and at least one of the first control and the second control is performed to bend the insertion section. [Effects of the Invention]

[0028] According to the present invention, the endoscope system and operation device can facilitate fine adjustment of control values. [Brief explanation of the drawings]

[0029] [Figure 1] 1 is a block diagram showing a configuration of an endoscope system according to a first embodiment of the present invention. [Figure 2] 2A and 2B are a front view and a side view of an operation device included in the endoscope system according to the first embodiment of the present invention. [Figure 3]1 is a side view of an operation device included in an endoscope system according to a first embodiment of the present invention. FIG. [Figure 4] 2A and 2B are a front view and a side view of an operation device included in the endoscope system according to the first embodiment of the present invention. [Figure 5] FIG. 1 is a block diagram showing a configuration of an endoscope system relating to bending control in a first embodiment of the present invention. [Figure 6] 5A to 5C are diagrams illustrating an example of the relationship between an operation performed by a user and the content of bending control in the first embodiment of the present invention. [Figure 7] 5A to 5C are diagrams illustrating an example of the relationship between an operation performed by a user and the content of bending control in the first embodiment of the present invention. [Figure 8] 5A to 5C are diagrams illustrating an example of the relationship between an operation performed by a user and the content of bending control in the first embodiment of the present invention. [Figure 9] 5A to 5C are diagrams illustrating an example of the relationship between an operation performed by a user and the content of bending control in the first embodiment of the present invention. [Figure 10] 5A to 5C are diagrams illustrating an example of the relationship between an operation performed by a user and the content of bending control in the first embodiment of the present invention. [Figure 11] 3 is a diagram showing a range within which an insertion section of the endoscope system according to the first embodiment of the present invention can be bent. FIG. [Figure 12A] 3A to 3C are diagrams showing examples of states of an operation device and examples of curvature control values ​​calculated in response to operation of a joystick in the first embodiment of the present invention. [Figure 12B] 3A to 3C are diagrams showing examples of states of an operation device and examples of curvature control values ​​calculated in response to operation of a joystick in the first embodiment of the present invention. [Figure 13A] 3A to 3C are diagrams showing examples of states of an operation device and examples of curvature control values ​​calculated in response to operation of a joystick in the first embodiment of the present invention. [Figure 13B]3A to 3C are diagrams showing examples of states of an operation device and examples of curvature control values ​​calculated in response to operation of a joystick in the first embodiment of the present invention. [Figure 14A] 5A to 5C are diagrams showing examples of curvature control values ​​calculated in response to joystick operation in the first embodiment of the present invention. [Figure 14B] 5A to 5C are diagrams showing examples of curvature control values ​​calculated in response to joystick operation in the first embodiment of the present invention. [Figure 15A] 5A to 5C are diagrams showing examples of states of an operation device according to the first embodiment of the present invention, and examples of curvature control values ​​calculated in accordance with the state of inclination of the operation device. [Figure 15B] 5A to 5C are diagrams showing examples of states of an operation device according to the first embodiment of the present invention, and examples of curvature control values ​​calculated in accordance with the state of inclination of the operation device. [Figure 16A] 5A to 5C are diagrams showing examples of states of an operation device according to the first embodiment of the present invention, and examples of curvature control values ​​calculated in accordance with the state of inclination of the operation device. [Figure 16B] 5A to 5C are diagrams showing examples of states of an operation device according to the first embodiment of the present invention, and examples of curvature control values ​​calculated in accordance with the state of inclination of the operation device. [Figure 17A] 5A to 5C are diagrams showing examples of states of an operation device according to the first embodiment of the present invention, and examples of curvature control values ​​calculated in accordance with the state of inclination of the operation device. [Figure 17B] 5A to 5C are diagrams showing examples of states of an operation device according to the first embodiment of the present invention, and examples of curvature control values ​​calculated in accordance with the state of inclination of the operation device. [Figure 18A] 5A to 5C are diagrams illustrating examples of curvature control values ​​calculated in accordance with the state of inclination of the operation device in a fine movement mode according to the first embodiment of the present invention. [Figure 18B] 5A to 5C are diagrams illustrating examples of curvature control values ​​calculated in accordance with the state of inclination of the operation device in a fine movement mode according to the first embodiment of the present invention. [Figure 19]5A to 5C are diagrams illustrating examples of curvature control values ​​calculated in accordance with the state of inclination of the operation device in a fine movement mode according to the first embodiment of the present invention. [Figure 20A] 4A to 4C are diagrams showing examples of states of an operation device according to the first embodiment of the present invention, and examples of curvature control values ​​calculated in accordance with the operation of a joystick and the tilt state of the operation device. [Figure 20B] 4A to 4C are diagrams showing examples of states of an operation device according to the first embodiment of the present invention, and examples of curvature control values ​​calculated in accordance with the operation of a joystick and the tilt state of the operation device. [Figure 21A] 4A to 4C are diagrams showing examples of states of an operation device according to the first embodiment of the present invention, and examples of curvature control values ​​calculated in accordance with the operation of a joystick and the tilt state of the operation device. [Figure 21B] 4A to 4C are diagrams showing examples of states of an operation device according to the first embodiment of the present invention, and examples of curvature control values ​​calculated in accordance with the operation of a joystick and the tilt state of the operation device. [Figure 22A] 4A to 4C are diagrams showing examples of states of an operation device according to the first embodiment of the present invention, and examples of curvature control values ​​calculated in accordance with the operation of a joystick and the tilt state of the operation device. [Figure 22B] 4A to 4C are diagrams showing examples of states of an operation device according to the first embodiment of the present invention, and examples of curvature control values ​​calculated in accordance with the operation of a joystick and the tilt state of the operation device. [Figure 23] 5A to 5C are diagrams illustrating examples of curvature control values ​​calculated in accordance with the operation of a joystick and the tilt state of an operation device in the first embodiment of the present invention. [Figure 24A] 4A to 4C are diagrams showing examples of states of an operation device according to the first embodiment of the present invention, and examples of curvature control values ​​calculated in accordance with the operation of a joystick and the tilt state of the operation device. [Figure 24B] 4A to 4C are diagrams showing examples of states of an operation device according to the first embodiment of the present invention, and examples of curvature control values ​​calculated in accordance with the operation of a joystick and the tilt state of the operation device. [Figure 25] 5A to 5C are diagrams illustrating examples of curvature control values ​​calculated in accordance with the operation of a joystick and the tilt state of an operation device in the first embodiment of the present invention. [Figure 26A] 4 is a graph showing an example of the relationship between the angle of a joystick and a curvature control value in the first embodiment of the present invention. [Figure 26B] 4 is a graph showing an example of the relationship between the angle of a joystick and a curvature control value in the first embodiment of the present invention. [Figure 27] FIG. 10 is a front view of an operation device included in an endoscope system according to a second embodiment of the present invention. [Figure 28] FIG. 10 is a block diagram showing the configuration of an endoscope system according to a third embodiment of the present invention. [Figure 29A] 13A and 13B are diagrams illustrating an example of the relationship between operations performed by a user and the contents of control in the third embodiment of the present invention. [Figure 29B] 13A and 13B are diagrams illustrating an example of the relationship between operations performed by a user and the contents of control in the third embodiment of the present invention. [Figure 30] 10A and 10B are a front view and a side view of an operation device included in an endoscope system according to a third embodiment of the present invention. [Figure 31] FIG. 10 is a block diagram showing the configuration of an endoscope system according to a fourth embodiment of the present invention. [Figure 32] FIG. 10 is a front view of an operation device included in an endoscope system according to a fourth embodiment of the present invention. [Figure 33A] 10 is a graph showing an example of first curvature information and an example of second curvature information in the fourth embodiment of the present invention. [Figure 33B] 10 is a graph showing an example of first curvature information and an example of second curvature information in the fourth embodiment of the present invention. [Figure 34] FIG. 13 is a diagram showing an example of the relationship between an operation performed by a user and the content of control in the fifth embodiment of the present invention. [Figure 35]FIG. 13 is a diagram showing an example of the relationship between an operation performed by a user and the content of control in the fifth embodiment of the present invention. [Figure 36] FIG. 13 is a diagram showing an example of the relationship between an operation performed by a user and the content of control in the fifth embodiment of the present invention. [Figure 37] FIG. 10 is a block diagram showing the configuration of an endoscope system according to a sixth embodiment of the present invention. [Figure 38] FIG. 20 is a diagram showing an example of the relationship between an operation performed by a user and the content of control in the sixth embodiment of the present invention. [Figure 39] 10A and 10B are diagrams showing examples of the relationship between operations performed by a user and the contents of control in the reference embodiment of the present invention. [Figure 40] 10 is a graph showing examples of first and second image processing control values ​​in a reference embodiment of the present invention. [Figure 41] 10A and 10B are diagrams showing examples of the relationship between operations performed by a user and the contents of control in the reference embodiment of the present invention. [Figure 42] 10 is a graph showing examples of first, second, and third image processing control values ​​according to a reference embodiment of the present invention. [Figure 43A] 3A to 3C are diagrams illustrating examples of states of an operation device according to the first embodiment of the present invention. [Figure 43B] 3A to 3C are diagrams illustrating examples of states of an operation device according to the first embodiment of the present invention. [Figure 44] 3A to 3C are diagrams illustrating examples of states of an insertion section of the endoscope system according to the first embodiment of the present invention. [Figure 45A] 3A to 3C are diagrams illustrating examples of states of an operation device according to the first embodiment of the present invention. [Figure 45B] 3A to 3C are diagrams illustrating examples of states of an operation device according to the first embodiment of the present invention. [Figure 46A] 3A to 3C are diagrams illustrating examples of states of an operation device according to the first embodiment of the present invention. [Figure 46B] 3A to 3C are diagrams illustrating examples of states of an operation device according to the first embodiment of the present invention. [Figure 47] 3A to 3C are diagrams illustrating examples of states of an insertion section of the endoscope system according to the first embodiment of the present invention. [Figure 48A] FIG. 13 is a diagram showing an example of a state of an operation device in the seventh embodiment of the present invention. [Figure 48B] FIG. 13 is a diagram showing an example of a state of an operation device in the seventh embodiment of the present invention. [Figure 49A] FIG. 20 is a diagram showing an example of a curvature control value calculated in accordance with the state of inclination of the operation device in a coarse movement mode according to the seventh embodiment of the present invention. [Figure 49B] FIG. 20 is a diagram showing an example of a curvature control value calculated in accordance with the state of inclination of the operation device in a fine movement mode according to the seventh embodiment of the present invention. [Figure 50A] FIG. 13 is a diagram showing an example of a state of an operation device in the seventh embodiment of the present invention. [Figure 50B] FIG. 13 is a diagram showing an example of a state of an operation device in the seventh embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0030] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0031] (First embodiment) Fig. 1 shows the configuration of an endoscope system 1 according to a first embodiment of the present invention. The endoscope system 1 shown in Fig. 1 includes an insertion section 2, a main body section 3, and an operation device 4. The insertion section 2 and the main body section 3 constitute an endoscope apparatus 10.

[0032] The insertion section 2 is inserted into the inside of the subject. The insertion section 2 is a long, thin tube and is bendable. A user performs an insertion operation to insert the insertion section 2 into the subject. The insertion section 2 acquires an optical image of the inside of the subject. The insertion section 2 has an imaging section 20 and a bending section 21.

[0033] The imaging unit 20 is disposed in the tip portion 2a including the tip of the insertion portion 2. The imaging unit 20 is an image sensor such as a CCD (Charge-Coupled Device) sensor or a CMOS (Complementary Metal-Oxide-Semiconductor) sensor. The imaging unit 20 generates an image based on an optical image acquired by the insertion portion 2. The image generated by the imaging unit 20 is output to the main body portion 3. The bending portion 21 bends the insertion portion 2 upward, downward, leftward, or rightward.

[0034] The main body 3 has a control unit 30, an imaging drive circuit 31, a UD motor 32, an LR motor 33, a bending control unit 34, a display 35, a touch panel 36, operation buttons 37, a communication unit 38, and a memory 39. A part of the main body 3 may be configured as a tablet terminal or the like. For example, a tablet terminal may have a part of the main body 3 (such as the display 35).

[0035] The control unit 30 controls each unit of the main body unit 3. The control unit 30 may be configured with at least one of a processor and a logic circuit. For example, the processor is at least one of a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a GPU (Graphics Processing Unit). For example, the logic circuit is at least one of an ASIC (Application Specific Integrated Circuit) and an FPGA (Field-Programmable Gate Array). The control unit 30 may include one or more processors. The control unit 30 may include one or more logic circuits.

[0036] The computer of the endoscope system 1 may load and execute a program. The program includes instructions that define the operation of the control unit 30. In other words, the functions of the control unit 30 may be realized by software.

[0037] The above program may be provided by a "computer-readable recording medium" such as a flash memory. The program may be transmitted from a computer storing the program to the endoscope system 1 via a transmission medium or by transmission waves in the transmission medium. A "transmission medium" that transmits the program is a medium that has the function of transmitting information. Media that have the function of transmitting information include networks (communication networks) such as the Internet and communication lines (communication lines) such as telephone lines. The above program may realize some of the above functions. Furthermore, the above program may be a difference file (difference program). The above functions may be realized by combining a program already recorded on a computer with a difference program.

[0038] The imaging drive circuit 31 controls the imaging unit 20 and outputs the image output from the imaging unit 20 to the control unit 30.

[0039] The UD motor 32 is connected to a UD bending wire for bending the bending portion 21 upward or downward. The UD motor 32 bends the bending portion 21 upward or downward by pulling the UD bending wire. The LR motor 33 is connected to an LR bending wire for bending the bending portion 21 left or right. The LR motor 33 bends the bending portion 21 left or right by pulling the LR bending wire. The bending control unit 34 controls the UD motor 32 and the LR motor 33.

[0040] The display 35 is a monitor such as an LCD (Liquid Crystal Display). The display 35 displays an image generated by the imaging unit 20. The touch panel 36 is arranged on the screen of the display 35. The user can input instructions to the endoscope system 1, such as instructions to change the settings of the endoscope system 1, by operating the touch panel 36. The operation button 37 accepts various instructions from the user. The user can input various instructions to the endoscope system 1 by pressing the operation button 37. The communication unit 38 performs wired or wireless communication with a communication unit 41 included in the operation device 4.

[0041] The memory 39 is a non-volatile recording medium. For example, the memory 39 is at least one of a static random access memory (SRAM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), and a flash memory. The memory 39 may be detachable from the main body 3. For example, the memory 39 stores images generated by the imaging unit 20 and various information processed by the control unit 30.

[0042] The operation device 4 is separate from the main body 3. The operation device 4 has a control unit 40, a communication unit 41, a joystick 42, an ADC (Analog-to-Digital Converter) 43, a motion sensor 44, an ADC 45, operation buttons 46, and a memory 47. The operation device 4 functions as a remote control. The operation device 4 may be an information terminal such as a smartphone or a tablet terminal.

[0043] The control unit 40 controls each unit of the operation device 4. The control unit 40 may be composed of at least one of a processor and a logic circuit. The control unit 40 may include one or more processors. The control unit 40 may include one or more logic circuits. The computer of the endoscope system 1 may load a program and execute the loaded program. The program includes instructions that define the operation of the control unit 40. In other words, the functions of the control unit 40 may be realized by software. The program that realizes the functions of the control unit 40 may be realized in the same way as the program that realizes the functions of the control unit 30.

[0044] The communication unit 41 performs wired or wireless communication with the communication unit 38 of the main body unit 3 .

[0045] The joystick 42 is a rod-shaped movable member and functions as a physical user interface. A user touches the joystick 42 with a finger or the like to apply force to the joystick 42. This allows the user to tilt the joystick 42 upward, downward, leftward, or rightward. The joystick 42 outputs an analog voltage corresponding to the direction and angle at which the joystick 42 is tilted. The ADC 43 converts the analog voltage output from the joystick 42 into a digital value. The joystick 42 may include the ADC 43 and may output a digital value.

[0046] The orientation of the operation device 4 changes according to the physical movement of the operation device 4. The movement is rotation or translation. The user holds the operation device 4 and moves it. For example, the motion sensor 44 is a combination of an acceleration sensor and a gyro sensor. The motion sensor 44 detects the movement of the operation device 4 and outputs an analog voltage corresponding to the movement. The ADC 45 converts the analog voltage output from the motion sensor 44 into a digital value. The motion sensor 44 may include the ADC 45 and may output a digital value.

[0047] The digital value output from the ADC 43 is used for a first control of the endoscope device 10. The digital value output from the ADC 45 is used for a second control of the endoscope device 10. At least one of the first control and the second control is a bending control for bending the insertion portion 2. In the first embodiment, an example will be described in which the first control and the second control are bending controls.

[0048] Two or more modes relating to curvature control are provided. For example, a normal mode and a fine mode are used. Alternatively, a coarse movement mode and a fine movement mode, which will be described later, are used.

[0049] In the first embodiment, the user can bend the insertion section 2 by tilting the joystick 42 or moving the operation device 4. The user may tilt the joystick 42 and move the operation device 4 at the same time.

[0050] The operation button 46 receives various instructions from the user. The user can input various instructions to the endoscope system 1 by pressing the operation button 46.

[0051] The memory 47 is a non-volatile recording medium. For example, the memory 47 is at least one of an SRAM, an EPROM, an EEPROM, and a flash memory. The memory 47 stores various information processed by the control unit 40.

[0052] 2, 3, and 4 show the appearance of the operation device 4. FIG. 2 is a front view and a side view of the operation device 4. The operation device 4 shown in FIG. 2 has an elongated shape. The shape of the operation device 4 is not limited to the example shown in FIG. 2.

[0053] The operation device 4 has a housing 48. The joystick 42 is disposed on the housing 48. When the user is not operating the joystick 42, the joystick 42 is approximately perpendicular to the surface of the operation device 4. The control unit 40, the communication unit 41, the ADC 43, the motion sensor 44, the ADC 45, and the memory 47 shown in FIG. 1 are disposed in the housing 48. The operation button 46 shown in FIG. 1 is not shown in FIG. 2.

[0054] The motion sensor 44 is fixed to the housing 48. The motion sensor 44 detects the direction and amount of rotation of the housing 48 around each of the axes AX1, AX2, and AX3. The axes AX1, AX2, and AX3 are perpendicular to one another. The axis AX1 passes through a reference position of the motion sensor 44 and extends in the longitudinal direction of the housing 48. For example, the reference position is the center of the motion sensor 44. The axes AX2 and AX3 pass through the reference position and are perpendicular to the axis AX1. The axis AX2 is parallel to the surface of the housing 48 on which the joystick 42 is disposed. The axis AX3 is perpendicular to the surface of the housing 48 on which the joystick 42 is disposed.

[0055] For example, the user tilts the operating device 4 in the left direction L1 or the right direction R1. At this time, the motion sensor 44 detects the direction and amount of rotation of the housing 48 around the axis AX3. When the user tilts the operating device 4 in the left direction L1, the insertion section 2 bends to the left. When the user tilts the operating device 4 in the right direction R1, the insertion section 2 bends to the right.

[0056] 3 is a side view of the operation device 4. For example, the user tilts the operation device 4 toward the user's front F1 or the user's back W1. At this time, the motion sensor 44 detects the direction and amount of rotation of the housing 48 around the axis AX2. When the user tilts the operation device 4 toward the user's front F1, the insertion section 2 bends upward. When the user tilts the operation device 4 toward the back W1, the insertion section 2 bends downward.

[0057] As described above, the user can intuitively bend the insertion section 2 by tilting the operation device 4. Hereinafter, the operation of the user tilting the operation device 4 will be referred to as a tilt operation. The endoscope system 1 executes the second control in accordance with the tilt operation. As described above, the second control in the first embodiment is bending control.

[0058] The motion sensor 44 may detect a direction and amount of translational movement of the housing 48 parallel to each of the axes AX1, AX2, and AX3. The endoscope system 1 may perform a first control or a second control based on the direction and amount of translation.

[0059] The direction in which the insertion portion 2 bends (curving direction) corresponds to the direction in the image generated by the imaging unit 20. For example, when the user tilts the operation device 4 in the left direction L1, the insertion portion 2 bends toward an object shown on the left side in the image.

[0060] 4 is a front view and a side view of the operation device 4. The user tilts the joystick 42 upward U2, downward D2, leftward L2, or rightward R2. At this time, the joystick 42 outputs an analog voltage according to the direction and angle of tilt of the joystick 42.

[0061] When the user tilts the joystick 42 in the upward direction U2, the insertion section 2 bends upward. When the user tilts the joystick 42 in the downward direction D2, the insertion section 2 bends downward. When the user tilts the joystick 42 in the left direction L2, the insertion section 2 bends left. When the user tilts the joystick 42 in the right direction R2, the insertion section 2 bends right.

[0062] The user can adjust the angle of the joystick 42 relatively easily. This allows the user to finely adjust the amount of bending of the insertion section 2. Hereinafter, the operation of the user tilting the joystick 42 will be referred to as a joystick operation. The endoscope system 1 executes a first control in accordance with the joystick operation. As described above, the first control in the first embodiment is bending control.

[0063] 5 shows the configuration of the endoscope system 1 related to bending control. Components not necessary for bending control are not shown in FIG.

[0064] The joystick 42 outputs an analog voltage AN1 (first signal) according to the direction and angle at which the joystick 42 is tilted. For example, the range of the analog voltage AN1 is from 0 [V] to V1 [V]. The voltage value V1 is greater than 0 [V]. The ADC 43 converts the analog voltage AN1 into a digital value DI1 and outputs the digital value DI1 to the control unit 40. For example, the range of the digital value DI1 is from 000h to 3FFh in hexadecimal. The range of the analog voltage AN1 and the range of the digital value DI1 are not limited to the above example.

[0065] The motion sensor 44 outputs an analog voltage AN2 (second signal) according to the direction and amount of rotation of the housing 48. For example, the range of the analog voltage AN2 is from 0 [V] to V1 [V]. The ADC 45 converts the analog voltage AN2 to a digital value DI2 and outputs the digital value DI2 to the control unit 40. For example, the range of the digital value DI2 is from 000h to 3FFh in hexadecimal. The range of the analog voltage AN2 and the range of the digital value DI2 are not limited to the above example.

[0066] The control unit 40 calculates a curvature control value CO based on the digital value DI1 and the digital value DI2. The curvature control value CO indicates the curvature direction and curvature amount of the insertion unit 2. The control unit 40 outputs the curvature control value CO to the communication unit 41. The communication unit 41 transmits the curvature control value CO to the communication unit 38. The communication unit 38 outputs the curvature control value CO to the control unit 30.

[0067] The control unit 30 calculates a motor control value MO for driving at least one of the UD motor 32 and the LR motor 33 based on the bending control value CO. The motor control value MO indicates the driving amount of each motor. The control unit 30 may calculate the motor control value MO for driving only the UD motor 32 or the LR motor 33. Alternatively, the control unit 30 may calculate the motor control value MO for driving the UD motor 32 and the LR motor 33. The control unit 30 outputs the motor control value MO to the bending control unit 34.

[0068] The bending control section 34 generates at least one of the control signal UDV and the control signal LRV based on the motor control value MO. The bending control section 34 may generate only the control signal UDV or the control signal LRV. Alternatively, the bending control section 34 may generate the control signal UDV and the control signal LRV. The control signal UDV includes a voltage and current for driving the UD motor 32. The control signal LRV includes a voltage and current for driving the LR motor 33. The bending control section 34 outputs the control signal UDV to the UD motor 32, and outputs the control signal LRV to the LR motor 33.

[0069] The UD motor 32 pulls the UD bending wire based on a control signal UDV, bending the bending portion 21 upward or downward. This causes the insertion portion 2 to bend upward or downward. The LR motor 33 pulls the LR bending wire based on a control signal LRV, bending the bending portion 21 leftward or rightward. This causes the insertion portion 2 to bend leftward or rightward.

[0070] As described above, the control unit 40 calculates the curvature control value CO based on the digital value DI1 and the digital value DI2. Furthermore, the control unit 40 may calculate the motor control value MO based on the curvature control value CO, and may output the motor control value MO to the communication unit 41. The communication unit 41 may transmit the motor control value MO to the communication unit 38. The communication unit 38 may output the motor control value MO to the control unit 30. The control unit 30 may output the motor control value MO to the curvature control unit 34.

[0071] The control unit 40 may output the digital value DI1 and the digital value DI2 to the communication unit 41. The communication unit 41 may transmit the digital value DI1 and the digital value DI2 to the communication unit 38. The communication unit 38 may output the digital value DI1 and the digital value DI2 to the control unit 30. The control unit 30 may calculate a curvature control value CO based on the digital value DI1 and the digital value DI2, and may calculate a motor control value MO based on the curvature control value CO. The control unit 30 may output the motor control value MO to the curvature control unit 34.

[0072] The operation device 4 does not need to have the control unit 40. For example, the main body 3 and the operation device 4 may be connected by a cable, and the digital values ​​DI1 and DI2 may be output directly to the main body 3 from the ADC 43 and ADC 45, respectively.

[0073] In the following description, the tilt state of the housing 48 may be used instead of the rotation amount of the housing 48. For example, the tilt state of the housing 48 is indicated by the angle at which the operation device 4 is tilted. The angle is equivalent to the rotation amount of the housing 48.

[0074] The curvature control in the first embodiment will be described with reference to Figures 6 to 11. Figures 6 to 10 show examples of the relationship between operations performed by the user and the contents of curvature control.

[0075] 6 shows a first example of bending control according to a combination of a joystick operation (JS) and a tilt operation (TL). The joystick operation is associated with bending control (first control) in the fine movement mode (M). The tilt operation is associated with bending control (second control) in the coarse movement mode (C).

[0076] The amount of bending in the coarse movement mode changes according to the angle at which the operation device 4 is tilted. As the angle increases, the amount of bending increases. The amount of bending in the fine movement mode changes according to the angle at which the joystick 42 is tilted. As the angle increases, the amount of bending increases.

[0077] The maximum bending amount in the coarse movement mode is greater than the maximum bending amount in the fine movement mode. For example, when the user tilts the operation device 4 to the maximum angle, the maximum bending amount in the coarse movement mode is Bmax1. For example, when the user tilts the joystick 42 to the maximum angle, the maximum bending amount in the fine movement mode is Bmax2. The bending amount Bmax1 is greater than the bending amount Bmax2.

[0078] When the user performs a tilt operation without performing a joystick operation, the bending direction corresponds to the direction in which the user tilts the operation device 4. For example, when the user tilts the operation device 4 in the left direction L1 shown in FIG. 2, the control unit 40 calculates a bending control value (second control value) for bending the insertion unit 2 to the left in accordance with the tilt operation. The insertion unit 2 bends to the left by the bending amount in the coarse movement mode.

[0079] On the other hand, when the user performs a joystick operation without performing a tilt operation, the bending direction corresponds to the direction in which the user tilts the joystick 42. For example, when the user tilts the joystick 42 to the left direction L2 shown in Fig. 4, the control unit 40 calculates a bending control value (first control value) for bending the insertion unit 2 to the left in accordance with the joystick operation. The insertion unit 2 bends to the left by the bending amount in the fine movement mode.

[0080] When the user performs a tilt operation and a joystick operation, the bending direction corresponds to the direction in which the user tilts the operation device 4 and the direction in which the user tilts the joystick 42. For example, the user tilts the operation device 4 in the left direction L1 shown in FIG. 2 and tilts the joystick 42 in the upward direction U2 shown in FIG. 4. The control unit 40 calculates a bending control value (second control value) for bending the insertion unit 2 leftward in accordance with the tilt operation, and calculates a bending control value (first control value) for bending the insertion unit 2 upward in accordance with the joystick operation. The insertion unit 2 bends leftward by the bending amount in the coarse movement mode and bends upward by the bending amount in the fine movement mode.

[0081] The user can set the operation mode of the endoscope device 10 to normal mode or fine mode by operating the touch panel 36, the operation button 37, or the operation button 46. The normal mode and fine mode cannot be set simultaneously in the endoscope device 10, and only the normal mode or the fine mode can be set in the endoscope device 10. The user can switch the operation mode of the endoscope device 10 between the normal mode and the fine mode.

[0082] When the normal mode is set in the endoscope device 10, the endoscope system 1 may perform the first control and the second control in accordance with the relationship shown in Fig. 6. Alternatively, when the fine mode is set in the endoscope device 10, the endoscope system 1 may perform the first control and the second control in accordance with the relationship shown in Fig. 6.

[0083] When the normal mode or fine mode is set to the endoscope device 10 and the user is not performing either a tilt operation or a joystick operation, the insertion section 2 does not bend. At this time, the amount of bending of the insertion section 2 is 0, and the position of the tip section 2a is at the initial position. When the normal mode is set to the endoscope device 10 and the user is performing a tilt operation or a joystick operation, the insertion section 2 bends in accordance with the tilt operation or the joystick operation. When the user stops the tilt operation or the joystick operation, the insertion section 2 stops bending. At this time, the position of the tip section 2a returns to the initial position.

[0084] When the fine mode is set in the endoscope device 10 and the user performs a tilt operation or a joystick operation, the insertion portion 2 bends. When the user stops the tilt operation or the joystick operation, the insertion portion 2 stops bending. At this time, the insertion portion 2 maintains its bent state. The position of the tip portion 2a is different from the initial position. After the user resumes the tilt operation or the joystick operation, the insertion portion 2 bends in accordance with the tilt operation or the joystick operation. The tip portion 2a moves from the position different from the initial position.

[0085] 7 shows a second example of bending control according to a combination of a joystick operation (JS) and a tilt operation (TL). The joystick operation is associated with bending control (first control) in the coarse motion mode (C). The tilt operation is associated with bending control (second control) in the fine motion mode (M).

[0086] When the user performs a tilt operation without performing a joystick operation, the bending direction corresponds to the direction in which the user tilts the operation device 4. For example, when the user tilts the operation device 4 in the left direction L1 shown in FIG. 2, the control unit 40 calculates a bending control value (second control value) for bending the insertion unit 2 to the left in accordance with the tilt operation. The insertion unit 2 bends to the left by the bending amount in the fine movement mode.

[0087] On the other hand, when the user performs a joystick operation without performing a tilt operation, the bending direction corresponds to the direction in which the user tilts the joystick 42. For example, when the user tilts the joystick 42 to the left in the direction L2 shown in Fig. 4, the control unit 40 calculates a bending control value (first control value) for bending the insertion unit 2 to the left in accordance with the joystick operation. The insertion unit 2 bends to the left by the bending amount in the coarse movement mode.

[0088] When the user performs a tilt operation and a joystick operation, the bending direction corresponds to the direction in which the user tilts the operation device 4 and the direction in which the user tilts the joystick 42. For example, the user tilts the operation device 4 in the left direction L1 shown in FIG. 2 and tilts the joystick 42 in the upward direction U2 shown in FIG. 4. The control unit 40 calculates a bending control value (second control value) for bending the insertion unit 2 leftward in accordance with the tilt operation, and calculates a bending control value (first control value) for bending the insertion unit 2 upward in accordance with the joystick operation. The insertion unit 2 bends leftward by the bending amount in the fine movement mode and bends upward by the bending amount in the coarse movement mode.

[0089] When the normal mode is set in the endoscope device 10, the endoscope system 1 may perform the first control and the second control in accordance with the relationship shown in Fig. 7. Alternatively, when the fine mode is set in the endoscope device 10, the endoscope system 1 may perform the first control and the second control in accordance with the relationship shown in Fig. 7.

[0090] 8 shows a third example of bending control according to a combination of a joystick operation (JS) and a tilt operation (TL). The joystick operation is associated with bending control (first control) in the coarse motion mode (C). The tilt operation is associated with bending control (second control) in the coarse motion mode (C).

[0091] When the user performs a tilt operation without performing a joystick operation, the bending direction corresponds to the direction in which the user tilts the operation device 4. The control unit 40 calculates a bending control value (second control value) for bending the insertion unit 2 in accordance with the tilt operation. The insertion unit 2 bends by the bending amount in the coarse movement mode.

[0092] On the other hand, when the user performs a joystick operation without performing a tilt operation, the bending direction corresponds to the direction in which the user tilts the joystick 42. The control unit 40 calculates a bending control value (first control value) for bending the insertion portion 2 in accordance with the joystick operation. The insertion portion 2 bends by the bending amount in the coarse movement mode.

[0093] When the user performs a tilt operation and a joystick operation, the bending direction corresponds to the direction in which the user tilts the operating device 4 and the direction in which the user tilts the joystick 42. If the tilt operation is started before the joystick operation, the tilt operation takes priority over the joystick operation. While the user is performing only the tilt operation, the control unit 40 calculates a bending control value (second control value) for bending the insertion unit 2 in accordance with the tilt operation. The insertion unit 2 bends by the bending amount in the coarse movement mode.

[0094] After that, the user starts the joystick operation, and performs the tilt operation and the joystick operation simultaneously. During a predetermined period after the user starts the joystick operation, the control unit 40 calculates a bending control value (second control value) for bending the insertion unit 2 in accordance with the tilt operation. The insertion unit 2 bends by the bending amount in the coarse movement mode. During that predetermined period, the result of the joystick operation is invalid.

[0095] After a predetermined period of time, the control unit 40 calculates a bending control value (second control value) for bending the insertion unit 2 in accordance with the tilt operation, and calculates a bending control value (first control value) for bending the insertion unit 2 in accordance with the joystick operation. The insertion unit 2 bends by the bending amount in the coarse movement mode. At this time, the bending amount calculated in accordance with the joystick operation is added to the bending amount calculated in accordance with the tilt operation. From the timing when the user starts the joystick operation, the insertion unit 2 may bend by the bending amount in the coarse movement mode in accordance with the tilt operation and the joystick operation.

[0096] On the other hand, if the joystick operation is started before the tilt operation, the joystick operation takes priority over the tilt operation. While the user is performing only the joystick operation, the control unit 40 calculates a bending control value (first control value) for bending the insertion portion 2 in accordance with the joystick operation. The insertion portion 2 bends by the bending amount in the coarse movement mode.

[0097] Thereafter, the user starts a tilting operation, and performs the tilting operation and joystick operation simultaneously. During a predetermined period after the user starts the tilting operation, the control unit 40 calculates a bending control value (first control value) for bending the insertion unit 2 in accordance with the joystick operation. The insertion unit 2 bends by the bending amount in the coarse movement mode. During that predetermined period, the result of the tilting operation is invalid.

[0098] After a predetermined period of time, the control unit 40 calculates a bending control value (second control value) for bending the insertion unit 2 in accordance with the tilt operation, and calculates a bending control value (first control value) for bending the insertion unit 2 in accordance with the joystick operation. The insertion unit 2 bends by the sum of the bending amount calculated in accordance with the tilt operation and the bending amount calculated in accordance with the joystick operation. From the timing when the user starts the tilt operation, the insertion unit 2 may bend by the bending amount in the coarse movement mode in accordance with the tilt operation and the joystick operation.

[0099] When the normal mode is set in the endoscope device 10, the endoscope system 1 may perform the first control and the second control in accordance with the relationship shown in Fig. 8. Alternatively, when the fine mode is set in the endoscope device 10, the endoscope system 1 may perform the first control and the second control in accordance with the relationship shown in Fig. 8.

[0100] 9 shows a fourth example of bending control according to a combination of joystick operation (JS) and tilt operation (TL). The joystick operation is associated with bending control (first control) in fine mode (FIN). The tilt operation is associated with bending control (second control) in normal mode (NOR).

[0101] When the user performs a tilt operation without performing a joystick operation, the bending direction corresponds to the direction in which the user tilts the operation device 4. The control unit 40 calculates a bending control value (second control value) for bending the insertion unit 2 in accordance with the tilt operation. The insertion unit 2 bends by the bending amount in the normal mode.

[0102] On the other hand, when the user performs a joystick operation without performing a tilt operation, the bending direction corresponds to the direction in which the user tilts the joystick 42. The control unit 40 calculates a bending control value (first control value) for bending the insertion portion 2 in accordance with the joystick operation. The insertion portion 2 bends by the bending amount in fine mode.

[0103] When the user performs a tilt operation and a joystick operation, the bending direction corresponds to the direction in which the user tilts the operating device 4 and the direction in which the user tilts the joystick 42. If the tilt operation is started before the joystick operation, the tilt operation takes priority over the joystick operation. While the user is performing only the tilt operation, the control unit 40 calculates a bending control value (second control value) for bending the insertion unit 2 in accordance with the tilt operation. The insertion unit 2 bends by the bending amount in normal mode.

[0104] Thereafter, the user starts to operate the joystick, and performs the tilt operation and the joystick operation simultaneously. While the user is performing the tilt operation and the joystick operation simultaneously, the control unit 40 calculates a bending control value (second control value) for bending the insertion unit 2 in accordance with the tilt operation. The insertion unit 2 bends by the bending amount in the normal mode. At this time, the result of the joystick operation is invalid.

[0105] Thereafter, the user ends the tilting operation and performs only the joystick operation. When the user ends the tilting operation, the operation mode of the endoscope device 10 changes from normal mode to fine mode. While the user is performing the joystick operation, the control unit 40 calculates a bending control value (first control value) for bending the insertion portion 2 in accordance with the joystick operation. The insertion portion 2 bends by the bending amount in fine mode.

[0106] On the other hand, if the joystick operation is started before the tilt operation, the joystick operation takes priority over the tilt operation. While the user is performing only the joystick operation, the control unit 40 calculates a bending control value (first control value) for bending the insertion portion 2 in accordance with the joystick operation. The insertion portion 2 bends by the bending amount in fine mode.

[0107] Thereafter, the user starts a tilting operation, and performs the tilting operation and the joystick operation simultaneously. While the user is performing the tilting operation and the joystick operation simultaneously, the control unit 40 calculates a bending control value (first control value) for bending the insertion unit 2 in accordance with the joystick operation. The insertion unit 2 bends by the bending amount in fine mode. At this time, the result of the tilting operation is invalid.

[0108] Thereafter, the user ends the joystick operation and performs only the tilt operation. When the user ends the joystick operation, the operation mode of the endoscope device 10 changes from fine mode to normal mode. While the user is performing the tilt operation, the control unit 40 calculates a bending control value (second control value) for bending the insertion portion 2 in accordance with the tilt operation. The insertion portion 2 bends by the bending amount in normal mode.

[0109] When the joystick operation is started before the tilt operation, the endoscope system 1 may execute the following control. As described above, while the user is simultaneously performing the tilt operation and the joystick operation, the control unit 40 calculates a bending control value (first control value) for bending the insertion portion 2 in accordance with the joystick operation. The insertion portion 2 bends by the bending amount in fine mode.

[0110] When the user releases the joystick 42, the joystick 42 quickly returns to the center position. At this time, the operation mode of the endoscope device 10 changes from fine mode to normal mode. Also, the bending amount calculated in accordance with the tilt operation slowly returns to 0. While the user is performing the tilt operation, the control unit 40 calculates a bending control value (second control value) for bending the insertion portion 2 in accordance with the tilt operation. The insertion portion 2 bends by the bending amount in normal mode.

[0111] The joystick operation may be associated with a bending control (first control) in normal mode (NOR), and the tilt operation may be associated with a bending control (second control) in fine mode (FIN).

[0112] 10 shows a fifth example of bending control according to a combination of a joystick operation (JS) and a tilt operation (TL). The joystick operation is associated with bending control (first control) in the coarse motion mode (C). The tilt operation is associated with bending control (second control) in the limited range mode (LIM).

[0113] FIG. 11 shows the range (bending range) within which the insertion section 2 can be bent. The bending range indicates the position that the insertion section 2 can reach through one or more bending controls. The insertion section 2 can be bent within a bending range BR1 in the coarse movement mode, fine movement mode, normal mode, or fine mode. On the other hand, the insertion section 2 can be bent within a bending range BR2 in the limited range mode. The bending range BR2 is smaller than the bending range BR1.

[0114] The amount of bending in the range limited mode changes according to the angle at which the operation device 4 is tilted. As the angle increases, the amount of bending increases. The amount of bending in the coarse movement mode changes according to the angle at which the joystick 42 is tilted. As the angle increases, the amount of bending increases.

[0115] When the user performs a tilt operation without performing a joystick operation, the bending direction corresponds to the direction in which the user tilts the operation device 4. The control unit 40 calculates a bending control value (second control value) for bending the insertion unit 2 in accordance with the tilt operation. The insertion unit 2 bends by the bending amount in the range limited mode.

[0116] On the other hand, when the user performs a joystick operation without performing a tilt operation, the bending direction corresponds to the direction in which the user tilts the joystick 42. The control unit 40 calculates a bending control value (first control value) for bending the insertion portion 2 in accordance with the joystick operation. The insertion portion 2 bends by the bending amount in the coarse movement mode.

[0117] When the user performs a tilt operation and a joystick operation, the bending direction corresponds to the direction in which the user tilts the operation device 4 and the direction in which the user tilts the joystick 42. For example, the user tilts the operation device 4 in the left direction L1 shown in FIG. 2 and tilts the joystick 42 in the upward direction U2 shown in FIG. 4. The control unit 40 calculates a bending control value (second control value) for bending the insertion unit 2 leftward in accordance with the tilt operation, and calculates a bending control value (first control value) for bending the insertion unit 2 upward in accordance with the joystick operation. The insertion unit 2 bends leftward by the bending amount in the limited range mode and bends upward by the bending amount in the coarse movement mode.

[0118] The joystick operation may be associated with the bending control (first control) in the limited range mode (LIM), and the tilt operation may be associated with the bending control (second control) in the coarse motion mode (C).

[0119] When the normal mode is set in the endoscope device 10, the endoscope system 1 may perform the first control and the second control in accordance with the relationship shown in Fig. 10. Alternatively, when the fine mode is set in the endoscope device 10, the endoscope system 1 may perform the first control and the second control in accordance with the relationship shown in Fig. 10.

[0120] 12 to 25 will be used to describe examples of curvature control values ​​in joystick operation and tilt operation. FIG. 12A and other figures show examples of the state of the joystick 42 and the attitude of the housing 48. FIG. 12B and other figures show examples of curvature control values. The curvature control values ​​shown in FIG. 12B and other figures correspond to the curvature control value CO calculated by the control unit 40.

[0121] The following describes a method by which the control unit 40 calculates the curvature control value when the user tilts the joystick 42 in the left direction L2 or the right direction R2 shown in Fig. 4. When the user tilts the joystick 42 in the upward direction U2 or the downward direction D2 shown in Fig. 4, the control unit 40 can calculate the curvature control value by using a method similar to the following method.

[0122] The following describes a method by which the control unit 40 calculates the curvature control value when the user tilts the operation device 4 in the left direction L1 or the right direction R1 shown in Fig. 2. When the user tilts the operation device 4 in the forward direction F1 or the backward direction W1 shown in Fig. 3, the control unit 40 can calculate the curvature control value by using a method similar to the following method.

[0123] Three or more different control values ​​can be used as the curvature control value. The three or more control values ​​correspond to three or more different curvature amounts of the insertion section 2. One control value corresponds to one curvature amount. The control unit 40 selects one of the three or more control values. The memory 47 may store a lookup table including three or more control values. The control unit 40 may select one control value from the lookup table.

[0124] 12A, 12B, 13A, and 13B show examples of curvature control values ​​calculated in response to joystick operation in the coarse movement mode. When the user is not operating the joystick 42, the joystick 42 is approximately perpendicular to the surface of the housing 48, as shown in FIG. 12A. The user can tilt the joystick 42 to the left L3 to position PL, and can tilt the joystick 42 to the right R3 to position PR. The position of the joystick 42 is limited from position PL to position PR. The joystick 42 is movable between position PL and position PR.

[0125] FIG. 12B shows the bending control value corresponding to the angle of the joystick 42 shown in FIG. 12A. The control unit 40 calculates the bending control value within a range RA1 in response to the operation of the joystick 42 in the coarse movement mode. The minimum value of the range RA1 is 0, and the maximum value of the range RA1 is VA. When the bending control value is 0, the bending amount of the insertion unit 2 to the left in the coarse movement mode is maximum. When the bending control value is VA, the bending amount of the insertion unit 2 to the right in the coarse movement mode is maximum. When the joystick 42 is in the state shown in FIG. 12A, the bending control value (first control value) is 1 / 2*VA. At this time, the insertion unit 2 does not bend.

[0126] When the user tilts the joystick 42 to the right R3 to position PR, the angle of the joystick 42 is θ1 shown in FIG. 13A. The angle θ1 is less than 90 degrees. At this time, as shown in FIG. 13B, the bending control value (first control value) is VA. At this time, the insertion portion 2 bends to the right.

[0127] 14A and 14B show examples of curvature control values ​​calculated in response to joystick operation in the fine movement mode. When the user is not operating the joystick 42, the state of the joystick 42 is the same as the state shown in FIG. 12A described above.

[0128] FIG. 14A shows the angle of the joystick 42 shown in FIG. 12A and the corresponding bending control value. The control unit 40 calculates the bending control value within a range RA2 in response to the operation of the joystick 42 in the fine movement mode. The minimum value of the range RA2 is 1 / 4*VA, and the maximum value of the range RA2 is 3 / 4*VA. When the bending control value is 1 / 4*VA, the bending amount of the insertion unit 2 to the left in the fine movement mode is maximum. When the bending control value is 3 / 4*VA, the bending amount of the insertion unit 2 to the right in the fine movement mode is maximum. The range RA2 of bending control values ​​in the fine movement mode is narrower than the range RA1 of bending control values ​​in the coarse movement mode. Therefore, the maximum bending amount in the fine movement mode is smaller than the maximum bending amount in the coarse movement mode. When the joystick 42 is in the state shown in FIG. 12A, the bending control value (first control value) is 1 / 2*VA as shown in FIG. 14A. At this time, the insertion unit 2 does not bend.

[0129] When the user tilts the joystick 42 to the right R3 to position PR, the state of the joystick 42 is the same as the state shown in FIG. 13A described above. FIG. 14B shows the angle of the joystick 42 shown in FIG. 13A and the corresponding bending control value. When the joystick 42 is in the state shown in FIG. 13A, the bending control value (first control value) is 3 / 4*VA, as shown in FIG. 14B. At this time, the insertion section 2 bends to the right.

[0130] When the user tilts the joystick 42 to the right R3 to position PR, the curvature control value in the coarse movement mode is VA as shown in FIG. 13B, and the curvature control value in the fine movement mode is 3 / 4*VA as shown in FIG. 14B. The curvature control value in the fine movement mode is smaller than the curvature control value in the coarse movement mode. When the angle of the joystick 42 is a predetermined angle, the curvature amount in the fine movement mode is smaller than the curvature amount in the coarse movement mode.

[0131] 15A, 15B, 16A, 16B, 17A, and 17B show examples of curvature control values ​​calculated in response to tilt operations in the coarse movement mode.

[0132] The user operates the operation button 46 to input a reset command to the endoscope device 10. The movement sensor 44 detects the amount of change in the attitude of the housing 48 from the time the reset command was input as the movement of the housing 48. For example, as shown in FIG. 15A , when the downward direction Dd of the housing 48 is the same as the direction of gravity Dg, the user inputs a reset command to the endoscope device 10.

[0133] FIG. 15B shows the bending control value corresponding to the tilt state of the housing 48 shown in FIG. 15A. The control unit 40 calculates the bending control value within the range RA1 according to the tilt state of the housing 48 in the coarse movement mode. The minimum value of the range RA1 is 0, and the maximum value of the range RA1 is VA. When the bending control value is 0, the amount of bending of the insertion unit 2 to the left in the coarse movement mode is maximum. When the bending control value is VA, the amount of bending of the insertion unit 2 to the right in the coarse movement mode is maximum. When the tilt of the housing 48 is in the state shown in FIG. 15A, the bending control value (second control value) is 1 / 2*VA. At this time, the insertion unit 2 does not bend.

[0134] For example, the user tilts the housing 48 to the right direction R3 as shown in Fig. 16A. At this time, the angle θ2 between the downward direction Dd of the housing 48 and the direction of gravity Dg is smaller than 90 degrees. At this time, as shown in Fig. 16B, the bending control value (second control value) is 1 / 2*VA*(1+sinθ2). At this time, the insertion portion 2 bends to the right.

[0135] For example, the user tilts the housing 48 to the right direction R3 as shown in Fig. 17A. At this time, the angle θ2 between the downward direction Dd of the housing 48 and the direction of gravity Dg is 90 degrees. At this time, as shown in Fig. 17B, the bending control value (second control value) is VA. At this time, the insertion portion 2 bends to the right.

[0136] When the angle θ2 is greater than 90 degrees, the curvature control value is fixed to VA. Also, when the user tilts the housing 48 in the left direction L3 and the angle θ2 is greater than 90 degrees, the curvature control value is fixed to 0.

[0137] 18A, 18B, and 19 show examples of curvature control values ​​calculated in response to tilt operations in the fine movement mode.

[0138] The control unit 40 calculates a curvature control value within the range RA2 shown in FIG. 18A according to the tilt state of the housing 48 in the fine movement mode. The minimum value of the range RA2 is 1 / 4*VA, and the maximum value of the range RA2 is 3 / 4*VA. When the curvature control value is 1 / 4*VA, the amount of curvature of the insertion unit 2 to the left in the fine movement mode is maximum. When the curvature control value is 3 / 4*VA, the amount of curvature of the insertion unit 2 to the right in the fine movement mode is maximum. The range RA2 of curvature control values ​​in the fine movement mode is narrower than the range RA1 of curvature control values ​​in the coarse movement mode. When the downward direction Dd of the housing 48 is the same as the gravity direction Dg as shown in FIG. 15A described above, the curvature control value (second control value) is 1 / 2*VA as shown in FIG. 18A. At this time, the insertion unit 2 does not bend.

[0139] For example, when the user tilts the housing 48 to the right direction R3 as shown in Fig. 16A described above, the angle θ2 between the downward direction Dd of the housing 48 and the direction of gravity Dg is less than 90 degrees. At this time, the bending control value (second control value) is ¼*VA*(2+sinθ2) as shown in Fig. 18B. At this time, the insertion portion 2 bends to the right.

[0140] For example, when the user tilts the housing 48 to the right direction R3 as shown in Fig. 17A described above, the angle θ2 between the downward direction Dd of the housing 48 and the direction of gravity Dg is 90 degrees. At this time, the bending control value (second control value) is 3 / 4*VA as shown in Fig. 19. At this time, the insertion portion 2 bends to the right.

[0141] As shown in FIG. 16A, when the angle θ2 between the downward direction Dd of the housing 48 and the direction of gravity Dg is smaller than 90 degrees, the curvature control value in the coarse movement mode is ½*VA*(1+sinθ2) shown in FIG. 16B, and the curvature control value in the fine movement mode is ¼*VA*(2+sinθ2) shown in FIG. 18B. When the angle θ2 between the downward direction Dd of the housing 48 and the direction of gravity Dg is 90 degrees as shown in FIG. 17A, the curvature control value in the coarse movement mode is VA shown in FIG. 17B, and the curvature control value in the fine movement mode is ¾*VA shown in FIG. 19. The curvature control value in the fine movement mode is smaller than the curvature control value in the coarse movement mode. When the angle θ2 between the downward direction Dd of the housing 48 and the direction of gravity Dg is a predetermined angle, the curvature amount in the fine movement mode is smaller than the curvature amount in the coarse movement mode.

[0142] 20A, 20B, 21A, 21B, 22A, and 22B show examples of curvature control values ​​calculated in response to joystick operation in fine movement mode and tilt operation in coarse movement mode.

[0143] 20A, when the downward direction Dd of the housing 48 is the same as the direction of gravity Dg, the user inputs a reset command to the endoscope device 10. At this time, the user is not operating the joystick 42.

[0144] Fig. 20B shows the curvature control values ​​corresponding to the angle of the joystick 42 and the tilt state of the housing 48 shown in Fig. 20A. When the joystick 42 is in the state shown in Fig. 20A, the curvature control value (first control value) calculated in response to joystick operation in fine movement mode is 1 / 2*VA. When the tilt of the housing 48 is in the state shown in Fig. 20A, the curvature control value (second control value) calculated in response to tilt operation in coarse movement mode is 1 / 2*VA.

[0145] The control unit 40 calculates the final bending control value by taking into account the bending control value in the fine movement mode and the bending control value in the coarse movement mode. The bending control value is 1 / 2*VA. At this time, the insertion portion 2 does not bend.

[0146] For example, the user tilts the housing 48 to the right R3 as shown in Fig. 21A. At this time, the angle θ2 between the downward direction Dd of the housing 48 and the direction of gravity Dg is smaller than 90 degrees. At this time, the user is not operating the joystick 42.

[0147] Fig. 21B shows the curvature control values ​​corresponding to the angle of the joystick 42 and the tilt state of the housing 48 shown in Fig. 21A. When the joystick 42 is in the state shown in Fig. 21A, the curvature control value (first control value) calculated in response to joystick operation in fine movement mode is 1 / 2*VA. When the tilt of the housing 48 is in the state shown in Fig. 21A, the curvature control value (second control value) calculated in response to tilt operation in coarse movement mode is VA2. The curvature control value VA2 is 1 / 2*VA*(1+sinθ2).

[0148] The control unit 40 calculates a final bending control value in consideration of the bending control value in the fine movement mode and the bending control value in the coarse movement mode. The bending control value is VA2. At this time, the insertion portion 2 bends to the right.

[0149] 22A, the user tilts the joystick 42 in the right direction R3 and also tilts the housing 48 in the right direction R3. At this time, the angle of the joystick 42 is θ1, and the angle θ2 between the downward direction Dd of the housing 48 and the direction of gravity Dg is smaller than 90 degrees.

[0150] FIG. 22B shows the curvature control values ​​corresponding to the angle of the joystick 42 and the tilt state of the housing 48 shown in FIG. 22A. When the joystick 42 is in the state shown in FIG. 22A, the curvature control value (first control value) calculated in response to joystick operation in fine movement mode is VA1. The curvature control value VA1 is 1 / 4*VA*(2+sinθ1). When the tilt of the housing 48 is in the state shown in FIG. 22A, the curvature control value (second control value) calculated in response to tilt operation in coarse movement mode is VA2. The curvature control value VA2 is 1 / 2*VA*(1+sinθ2).

[0151] The control unit 40 calculates the final curvature control value by taking into account the curvature control value in the fine movement mode and the curvature control value in the coarse movement mode. The curvature control value is VA1+VA2-1 / 2*VA. At this time, the insertion portion 2 is bent to the right.

[0152] 23, 24A, 24B, and 25 show examples of curvature control values ​​calculated in response to joystick operation in the coarse movement mode and tilt operation in the fine movement mode.

[0153] For example, when the downward direction Dd of the housing 48 is the same as the direction of gravity Dg as shown in Figure 20A described above, the user inputs a reset command to the endoscope device 10. At this time, the user is not operating the joystick 42.

[0154] Fig. 23 shows the curvature control values ​​corresponding to the angle of the joystick 42 and the tilt state of the housing 48 shown in Fig. 20A described above. When the joystick 42 is in the state shown in Fig. 20A, the curvature control value (first control value) calculated in response to joystick operation in coarse movement mode is 1 / 2*VA. When the tilt of the housing 48 is in the state shown in Fig. 20A, the curvature control value (second control value) calculated in response to tilt operation in fine movement mode is 1 / 2*VA.

[0155] The control unit 40 calculates the final bending control value by taking into account the bending control value in the coarse movement mode and the bending control value in the fine movement mode. The bending control value is 1 / 2*VA. At this time, the insertion portion 2 does not bend.

[0156] For example, the user tilts the joystick 42 to the right R3 as shown in Fig. 24A. At this time, the angle of the joystick 42 is θ1. At this time, the user is not tilting the housing 48, and the downward direction Dd of the housing 48 is the same as the direction of gravity Dg.

[0157] Fig. 24B shows the curvature control values ​​corresponding to the angle of the joystick 42 and the tilt state of the housing 48 shown in Fig. 24A. When the joystick 42 is in the state shown in Fig. 24A, the curvature control value (first control value) calculated in response to joystick operation in coarse movement mode is VA1. The curvature control value VA1 is 1 / 2*VA*(1+sinθ1). When the tilt of the housing 48 is in the state shown in Fig. 24A, the curvature control value (second control value) calculated in response to tilt operation in fine movement mode is 1 / 2*VA.

[0158] The control unit 40 calculates a final bending control value taking into consideration the bending control value in the coarse movement mode and the bending control value in the fine movement mode. The bending control value is VA1. At this time, the insertion portion 2 bends to the right.

[0159] 22A, the user tilts the joystick 42 in the right direction R3 and also tilts the housing 48 in the right direction R3. At this time, the angle of the joystick 42 is θ1, and the angle θ2 between the downward direction Dd of the housing 48 and the direction of gravity Dg is smaller than 90 degrees.

[0160] FIG. 25 shows the curvature control values ​​corresponding to the angle of the joystick 42 and the tilt state of the housing 48 shown in FIG. 22A described above. When the joystick 42 is in the state shown in FIG. 22A, the curvature control value (first control value) calculated in response to joystick operation in coarse movement mode is VA1. The curvature control value VA1 is 1 / 2*VA*(1+sinθ1). When the tilt of the housing 48 is in the state shown in FIG. 22A, the curvature control value (second control value) calculated in response to tilt operation in fine movement mode is VA2. The curvature control value VA2 is 1 / 4*VA*(2+sinθ2).

[0161] The control unit 40 calculates the final curvature control value by taking into account the curvature control value in the coarse movement mode and the curvature control value in the fine movement mode. The curvature control value is VA1+VA2-1 / 2*VA. At this time, the insertion portion 2 is bent to the right.

[0162] Another example of the curvature control value calculated in response to joystick operation will be described. Figures 26A and 26B are graphs showing an example of the relationship between the angle of the joystick 42 and the curvature control value. The horizontal axis in the graphs shown in each figure represents the angle (θ1) of the joystick 42, and the vertical axis in the graphs shown in each figure represents the curvature control value. Figures 26A and 26B show the curvature control value in coarse movement mode.

[0163] The angle of the joystick 42 is within the range from CNT to LMAX or the range from CNT to RMAX. When the position of the joystick 42 is position PL shown in FIG. 12A described above, the angle of the joystick 42 is LMAX. When the position of the joystick 42 is position PR shown in FIG. 12A, the angle of the joystick 42 is RMAX. When the user is not operating the joystick 42, the angle of the joystick 42 is CNT.

[0164] FIG. 26A shows a first example. When the angle of the joystick 42 is within the range RA10 shown in FIG. 26A, the curvature control value is a constant value (½*VA). Even if the angle of the joystick 42 changes slightly near the CNT, the curvature control value remains a constant value. This makes it possible to prevent the amount of curvature of the insertion section 2 from changing in response to unintended movement of the joystick 42 by the user. When the angle of the joystick 42 is not within the range RA10, the curvature control value changes linearly in response to the angle of the joystick 42.

[0165] 26B shows a second example. When the angle of the joystick 42 is within the range RA11 shown in FIG. 26B, the curvature control value is a constant value (1 / 2*VA). When the angle of the joystick 42 is not within the range RA11, the curvature control value changes in a curved manner according to the angle of the joystick 42.

[0166] When the user performs a joystick operation, the control unit 40 calculates the curvature control value in the coarse movement mode according to the relationship shown in Fig. 26A or 26B. When the user performs a joystick operation, the control unit 40 may calculate the curvature control value in the fine movement mode according to a relationship similar to the relationship shown in Fig. 26A or 26B. When the user performs a tilt operation, the control unit 40 may calculate the curvature control value in the coarse movement mode or the fine movement mode according to a relationship similar to the relationship shown in Fig. 26A or 26B.

[0167] In the above-described examples, the first control and the second control are bending controls. The first control or the second control may be different from the bending control. Examples in which the first control or the second control is different from the bending control will be described in the third and sixth embodiments. The first control and the second control may be different from the bending control. Examples in which the first control and the second control are different from the bending control will be described in the reference embodiments.

[0168] The operation device 4 may have another movable member instead of the joystick 42 as a movable member of the user interface. For example, the operation device 4 may have a button or a switch instead of the joystick 42. The switch may be a slide switch without a rod-shaped movable member, or a rotary switch. For example, the operation device 4 may have four buttons corresponding to the four directions in which the insertion section 2 bends. The control unit 40 may calculate the curvature control value according to the amount or time each button is pressed. For example, the operation device 4 may have four switches corresponding to the four directions in which the insertion section 2 bends. The control unit 40 may calculate the curvature control value according to the amount of movement or rotation of the switch.

[0169] The operation device 4 may have a display and a touch panel arranged on the display instead of the joystick 42. The display may display icons such as buttons. The user may move the icons by moving their finger on the touch panel. The control unit 40 may calculate a curvature control value according to the amount of finger movement. It is not necessary for an icon to be displayed, and the user may move their finger in any direction on the touch panel. The touch panel may be a touchpad or a trackpad.

[0170] An endoscopic system according to each aspect of the present invention includes an endoscopic device 10 having a bendable insertion section 2, an operation device 4, and a control unit 40. The control unit 40 may be the control unit 30. Alternatively, the control unit 30 and the control unit 40 may perform the following functions: The operation device 4 includes a housing 48, a joystick 42, and a motion sensor 44. The joystick 42 is a user interface disposed on the housing 48. The state of the joystick 42 changes when it comes into contact with an object such as a user's finger. The joystick 42 generates an analog voltage AN1 (first signal) in response to the state of the joystick 42. The motion sensor 44 generates an analog voltage AN2 (second signal) in response to physical movement of the operation device 4. The control unit 40 calculates a first control value used for first control of the endoscopic device 10 based on the analog voltage AN1 and the corresponding digital value DI1. The control unit 40 calculates a second control value used for second control of the endoscopic device 10 based on the analog voltage AN2 and the corresponding digital value DI2. At least one of the first control and the second control is executed to bend the insertion portion 2.

[0171] The operation device of each embodiment of the present invention has a housing 48, a joystick 42, and a movement sensor 44. The joystick 42 generates an analog voltage AN1 (first signal) in accordance with the state of the joystick 42. The movement sensor 44 generates an analog voltage AN2 (second signal) in accordance with the physical movement of the operation device 4. The analog voltage AN1 and a corresponding digital value DI1 are used to calculate a first control value used for a first control of the endoscope device 10. The analog voltage AN2 and a corresponding digital value DI2 are used to calculate a second control value used for a second control of the endoscope device 10. At least one of the first control and the second control is performed to bend the insertion section 2.

[0172] Each aspect of the present invention may include the following modifications: The first control and the second control are performed to bend the insertion section 2.

[0173] Each aspect of the present invention may include the following modifications: The maximum amount of bending of the insertion section 2 in the second control is different from the maximum amount of bending of the insertion section 2 in the first control. For example, the maximum amount of bending in the coarse movement mode is greater than the maximum amount of bending in the fine movement mode.

[0174] Each aspect of the present invention may include the following modifications: In a first period during which analog voltage AN1 (first signal) is generated without analog voltage AN2 (second signal), control unit 40 calculates a first control value. After the first period, in a second period during which analog voltage AN1 and analog voltage AN2 are generated, control unit 40 calculates a first control value without calculating a second control value.

[0175] For example, the user performs only a joystick operation during a first period. The control unit 40 calculates a first control value in response to the joystick operation during the first period. Thereafter, the user performs a joystick operation and a tilt operation during a second period. The control unit 40 calculates the first control value in response to the joystick operation during the second period. After the second period, the control unit 40 may calculate the first control value and the second control value in response to the joystick operation and the tilt operation during a third period during which the generation of the analog voltages AN1 and AN2 continues.

[0176] Each aspect of the present invention may include the following modifications: In a first period when analog voltage AN1 (first signal) is not generated but analog voltage AN2 (second signal) is generated, control unit 40 calculates a second control value. After the first period, in a second period when analog voltage AN1 and analog voltage AN2 are generated, control unit 40 does not calculate the first control value but calculates a second control value.

[0177] For example, the user performs only a tilt operation during a first period. The control unit 40 calculates a second control value in response to the tilt operation during the first period. Thereafter, the user performs a joystick operation and a tilt operation during a second period. The control unit 40 calculates the second control value in response to the tilt operation during the second period. After the second period, the control unit 40 may calculate the first control value and the second control value in response to the joystick operation and the tilt operation during a third period during which the generation of the analog voltages AN1 and AN2 continues.

[0178] Each aspect of the present invention may include the following modifications. The range of the bending amount of the insertion section 2 in the second control is different from the range of the bending amount of the insertion section 2 in the first control. For example, as shown in FIG. 11 , the bending range BR1 in the coarse movement mode, fine movement mode, normal mode, or fine mode is different from the bending range BR2 in the range-limited mode.

[0179] Each aspect of the present invention may include the following modifications: The physical movement of the operation device 4 includes rotation of the operation device 4 .

[0180] Each aspect of the present invention may include the following modifications: The operation device 4 has an elongated shape. The movement sensor 44 generates an analog voltage AN2 (second signal) in response to rotation of the operation device 4 around axes AX2 and AX3 perpendicular to the longitudinal direction of the operation device 4. The second control is performed to bend the insertion section 2.

[0181] Each aspect of the present invention may include the following variations: The user interface has a movable member disposed on the housing 48 .

[0182] Each aspect of the present invention may include the following modifications: The operation device 4 has a control unit 30 and a control unit 40 .

[0183] Each aspect of the present invention may include the following modifications: The endoscope device 10 has a control unit 30 and a control unit 40 .

[0184] Each aspect of the present invention may include the following modifications: The control unit 40 selects one of three or more control values ​​corresponding to three or more bending amounts of the insertion unit 2 as a first control value based on the analog voltage AN1 (first signal).

[0185] In the first embodiment, the joystick 42 generates an analog voltage AN1 in accordance with the state of the joystick 42. The control unit 40 calculates a first control value used for the first control of the endoscope apparatus 10 based on the analog voltage AN1 and a corresponding digital value DI1. Therefore, the endoscope system 1 can easily make fine adjustments to the control value. The user can intuitively bend the insertion portion 2 by tilting the operation device 4. Furthermore, the user can bend the insertion portion 2 and finely adjust the amount of bending of the insertion portion 2 by tilting the joystick 42.

[0186] (Second embodiment) A second embodiment of the present invention will be described. In the second embodiment, the endoscope system 1 shown in Fig. 1 is used. The operation device 4 shown in Figs. 2 to 4 is changed to an operation device 4a shown in Fig. 27. Fig. 27 shows the appearance of the operation device 4a.

[0187] Like the operation device 4, the operation device 4a has the joystick 42 and the like shown in FIG. 1. The operation device 4a has a housing 48. The motion sensor 44 and the like shown in FIG. 1 are arranged inside the housing 48. The operation device 4a has an operation button 46a. The operation button 46a is included in the operation button 46 shown in FIG. 1. The operation button 46a is arranged on the housing 48.

[0188] 27, the operation button 46a is disposed on the upper side surface of the housing 48. The position of the operation button 46a is not limited to the position shown in Fig. 27. For example, the operation button 46a may be disposed on the front or back surface of the housing 48.

[0189] The operation button 46a functions as a switch that switches between a first state and a second state. For example, the first state is a state in which the operation button 46a is pressed, and the second state is a state in which the operation button 46a is not pressed. While the user continues to press the operation button 46a, the state of the operation button 46a is the first state.

[0190] The control unit 40 determines the state of the analog voltage AN2 and the corresponding digital value DI2 according to the state of the operation button 46a. For example, when the operation button 46a is pressed, the control unit 40 determines that the digital value DI2 is valid. When the operation button 46a is not pressed, the control unit 40 determines that the digital value DI2 is invalid.

[0191] When the control unit 40 determines that the digital value DI2 is valid, the control unit 40 calculates the curvature control value CO based only on the digital value DI2. Alternatively, the control unit 40 calculates the curvature control value CO based on the digital value DI1 and the digital value DI2. When the control unit 40 determines that the digital value DI2 is invalid, the control unit 40 calculates the curvature control value CO based only on the digital value DI1.

[0192] When the endoscope device 10 is powered on, the state of the operation button 46a may be set to the second state. At this time, the control unit 40 may determine that the digital value DI2 is invalid. When the operation button 46a is in the second state and the operation button 46a is pressed, the state of the operation button 46a may change from the second state to the first state. At this time, the control unit 40 may determine that the digital value DI2 is valid. The state of the operation button 46a may remain in the first state until the operation button 46a is pressed again.

[0193] When the operation button 46a is pressed again, the state of the operation button 46a may change from the first state to the second state. At this time, the control unit 40 may determine that the digital value DI2 is invalid. The state of the operation button 46a may maintain the second state until the operation button 46a is pressed again. As described above, the state of the operation button 46a may switch between the first state and the second state each time the operation button 46a is pressed.

[0194] The operation device 4a may have a slide switch or a rotary switch instead of the operation button 46a. For example, the first state is a state in which the slide switch or the rotary switch is in a first position. For example, the second state is a state in which the slide switch or the rotary switch is in a second position different from the first position.

[0195] Each aspect of the present invention may include the following modifications. The operation button 46a (switch) is arranged on the housing 48. The state of the operation button 46a switches between a first state and a second state. When the state of the operation button 46a is the first state, the digital value DI2 corresponding to the analog voltage AN2 (second signal) is valid. When the state of the operation button 46a is the second state, the digital value DI2 is invalid. The control unit 40 calculates the curvature control value (second control value) only when the digital value DI2 is valid.

[0196] There is a possibility that the user may unintentionally tilt the operation device 4a. If the digital value DI2 is always valid, there is a possibility that the insertion portion 2 may bend against the user's intention. In the second embodiment, the user can intentionally set the state of the operation button 46a to the first state. Only when the digital value DI2 is valid, the control unit 40 calculates the curvature control value by using the digital value DI2. Therefore, it is possible to prevent the insertion portion 2 from bending in response to unintentional movement of the operation device 4a by the user.

[0197] (Third embodiment) A third embodiment of the present invention will be described. Fig. 28 shows the configuration of an endoscope system 1a according to the third embodiment. Description of the same configuration as that shown in Fig. 1 will be omitted. The endoscope system 1a shown in Fig. 28 has an insertion section 2, a main body section 3a, an operation device 4, and an insertion device 5 (automatic insertion machine). The insertion section 2 is the same as the insertion section 2 shown in Fig. 1. The operation device 4 is the same as the operation device 4 shown in Fig. 1.

[0198] The main body 3a has a control unit 30, an imaging drive circuit 31, a UD motor 32, an LR motor 33, a bending control unit 34, a display 35, a touch panel 36, operation buttons 37, a communication unit 38, a memory 39, and a communication unit 49. The configuration of the main body 3a excluding the communication unit 49 is the same as the configuration of the main body 3 shown in Fig. 1. The communication unit 49 performs wired or wireless communication with a communication unit 50 included in the insertion device 5.

[0199] For example, the insertion device 5 is fixed to an examination port (access port). The examination port is a hole provided in the subject for inserting the tip portion 2a of the insertion section 2 into the subject.

[0200] The insertion device 5 has a communication unit 50, a control unit 51, and a driving unit 52. The communication unit 50 performs wired or wireless communication with the communication unit 49 of the main body 3a. The control unit 51 controls the communication unit 50 and the driving unit 52.

[0201] For example, the drive unit 52 has a motor and a roller. The rotation shaft of the motor is connected to the roller. The roller is positioned so as to come into contact with the insertion portion 2. The drive unit 52 rotates the roller by rotating the motor. When the drive unit 52 rotates the roller, the frictional force between the roller and the insertion portion 2 causes the insertion portion 2 to move in the IN or OUT direction parallel to the central axis AX4 of the insertion portion 2. When the insertion portion 2 moves in the IN direction, the tip portion 2a is inserted into the subject. When the insertion portion 2 moves in the OUT direction, the tip portion 2a is withdrawn from the subject.

[0202] Alternatively, when the driving unit 52 rotates the roller, the insertion unit 2 rotates in the direction TW around the central axis AX4 of the insertion unit 2. As a result, the insertion device 5 twists the insertion unit 2.

[0203] The control unit 40 calculates an insertion control value based on the digital value DI1 or the digital value DI2. The insertion control value indicates the movement direction and movement amount of the insertion unit 2. The movement direction indicates the direction IN, direction OUT, or direction TW. The control unit 40 outputs the insertion control value to the communication unit 49. The communication unit 49 transmits the insertion control value to the communication unit 50. The communication unit 50 outputs the insertion control value to the control unit 51. The control unit 51 generates a drive signal for driving the drive unit 52 based on the insertion control value. The control unit 51 outputs the drive signal to the drive unit 52 to drive the drive unit 52. The drive unit 52 rotates the motor based on the drive signal.

[0204] Control in the third embodiment will be described using Figures 29A, 29B, and 30. Figures 29A and 29B show an example of the relationship between the operation performed by the user and the content of the control.

[0205] FIG. 29A shows a first example of control according to a combination of a joystick operation and a tilt operation. The joystick operation is associated with a bending control (first control). The user performs the joystick operation by tilting the joystick 42 in the upward direction U2, downward direction D2, leftward direction L2, or rightward direction R2 shown in FIG. 4. When the user performs the joystick operation, the control unit 40 calculates a bending control value by using the method in the first embodiment. The insertion unit 2 bends upward, downward, leftward, or rightward.

[0206] Two types of tilting operations are provided: a first tilting operation and a second tilting operation. The first tilting operation is associated with an insertion control and a withdrawal control (second control). The insertion control is performed to move the insertion unit 2 in a direction IN to insert the tip 2a into the subject. The withdrawal control is performed to move the insertion unit 2 in a direction OUT to withdraw the tip 2a from the subject. The user performs the first tilting operation by tilting the operation device 4 in a forward direction F1 or a backward direction W1 as shown in FIG. 3.

[0207] 30 is a front view and a side view of the operation device 4. An axis AX1, an axis AX2, and an axis AX3 are shown in Fig. 30. Each axis is the same as each axis shown in Fig. 2.

[0208] When the user performs a first tilt operation, the motion sensor 44 outputs an analog voltage AN2 (second signal) corresponding to the direction and amount of rotation of the housing 48 around the axis AX2. The ADC 45 converts the analog voltage AN2 into a digital value DI2. The control unit 40 calculates an insertion control value based on the digital value DI2. The insertion device 5 moves the insertion section 2 in the direction IN or the direction OUT.

[0209] For example, when the user tilts the operation device 4 in the backward direction W1 shown in FIG. 3, the control unit 40 calculates an insertion control value for moving the insertion unit 2 in the direction IN. The insertion device 5 moves the insertion unit 2 in the direction IN. For example, when the user tilts the operation device 4 in the forward direction F1 shown in FIG. 3, the control unit 40 calculates an insertion control value for moving the insertion unit 2 in the direction OUT. The insertion device 5 moves the insertion unit 2 in the direction OUT.

[0210] The second tilt operation is associated with a twist control (third control). The twist control is performed to twist the insertion portion 2 in the direction TW. The user performs the second tilt operation by tilting the operating device 4 around an axis AX1 parallel to the longitudinal direction of the housing 48.

[0211] When the user performs a second tilt operation, the motion sensor 44 outputs an analog voltage AN2 (third signal) corresponding to the direction and amount of rotation of the housing 48 around the axis AX1. The ADC 45 converts the analog voltage AN2 into a digital value DI2. The control unit 40 calculates an insertion control value based on the digital value DI2. The insertion device 5 twists the insertion portion 2 in the direction TW.

[0212] For example, when the user tilts the operation device 4 in the right direction R4 shown in FIG. 30, the control unit 40 calculates an insertion control value for twisting the insertion portion 2 to the right. The insertion device 5 twists the insertion portion 2 to the right. For example, when the user tilts the operation device 4 in the left direction L4 shown in FIG. 30, the control unit 40 calculates an insertion control value for twisting the insertion portion 2 to the left. The insertion device 5 twists the insertion portion 2 to the left.

[0213] When the user tilts the operation device 4 in the left direction L1 or the right direction R1 shown in FIG. 30, the control unit 40 does not calculate a control value according to the amount of rotation of the housing 48 around the axis AX3.

[0214] 29B shows a second example of control according to a combination of a joystick operation and a tilt operation. The joystick operation is associated with an insertion control and a withdrawal control (first control). The user performs the joystick operation by tilting the joystick 42 in the upward direction U2, downward direction D2, leftward direction L2, or rightward direction R2 shown in FIG. 4. When the user performs the joystick operation, the control unit 40 calculates an insertion control value according to the direction in which the user tilts the joystick 42 and the angle of the joystick 42.

[0215] For example, when the user tilts the joystick 42 in the upward direction U2 shown in FIG. 4, the control unit 40 calculates an insertion control value for moving the insertion unit 2 in the direction IN. The insertion device 5 moves the insertion unit 2 in the direction IN. For example, when the user tilts the joystick 42 in the downward direction D2 shown in FIG. 4, the control unit 40 calculates an insertion control value for moving the insertion unit 2 in the direction OUT. The insertion device 5 moves the insertion unit 2 in the direction OUT.

[0216] The first tilt operation is associated with a bending control (second control). The user performs the first tilt operation by tilting the operation device 4 in the left direction L1 or the right direction R1 shown in FIG. 2. Alternatively, the user performs the first tilt operation by tilting the operation device 4 in the forward direction F1 or the backward direction W1 shown in FIG. 3. When the user performs the first tilt operation, the control unit 40 calculates a bending control value by using the method in the first embodiment. The insertion unit 2 bends upward, downward, leftward, or rightward.

[0217] The second tilt operation is associated with twist control (third control). For example, when the user tilts the operation device 4 in the right direction R4, the control unit 40 calculates an insertion control value for twisting the insertion portion 2 in the right direction. The insertion device 5 twists the insertion portion 2 in the right direction. For example, when the user tilts the operation device 4 in the left direction L4, the control unit 40 calculates an insertion control value for twisting the insertion portion 2 in the left direction. The insertion device 5 twists the insertion portion 2 in the left direction.

[0218] When the user tilts the joystick 42 in the left direction L2 or the right direction R2 shown in FIG. 4, the control unit 40 does not calculate a control value according to the angle of the joystick 42.

[0219] The operation device 4 may be changed to an operation device 4a shown in Fig. 27. The control unit 40 may determine whether the digital value DI2 is valid or invalid based on the state of the operation button 46a of the operation device 4a.

[0220] Each aspect of the present invention may include the following variations: The insertion device 5 inserts the tip portion 2 a into an object and withdraws the tip portion 2 a from the object. One of the first control and the second control is performed to bend the insertion portion 2. The other of the first control and the second control is performed to control the insertion and withdrawal of the tip portion 2 a.

[0221] Each aspect of the present invention may include the following modifications. The operation device 4 has an elongated shape. The movement sensor 44 generates an analog voltage AN2 (third signal) in response to rotation of the operation device 4 around an axis AX1 parallel to the longitudinal direction of the operation device 4. The insertion device 5 rotates the insertion portion 2 around a central axis AX4 of the insertion portion 2. The control unit 40 calculates a third control value used to control the rotation of the insertion portion 2 based on the analog voltage AN2 and a corresponding digital value DI2.

[0222] In the third embodiment, the user can insert the distal end portion 2 a into the subject or withdraw the distal end portion 2 a from the subject by performing a joystick operation or a tilt operation. In addition, the user can twist the insertion portion 2 by tilting the operation device 4.

[0223] (Fourth embodiment) A fourth embodiment of the present invention will be described. Fig. 31 shows the configuration of an endoscope system 1b according to the fourth embodiment. Description of the same configuration as that shown in Fig. 1 will be omitted. The endoscope system 1b shown in Fig. 31 has an insertion section 2, a main body section 3, and an operation device 4b. The insertion section 2 is the same as the insertion section 2 shown in Fig. 1. The main body section 3 is the same as the main body section 3 shown in Fig. 1.

[0224] The operation device 4b has a control unit 40, a communication unit 41, a joystick 42, an ADC 43, a motion sensor 44, an ADC 45, an operation button 46, a memory 47, a photoelectric sensor 53, a photoelectric sensor 54, an ADC 55, and an ADC 56. The configuration of the operation device 4b, excluding the photoelectric sensor 53, the photoelectric sensor 54, the ADC 55, and the ADC 56, is the same as the configuration of the operation device 4 shown in FIG.

[0225] 32 shows the appearance of the operation device 4b. The operation device 4b has a housing 48. The photoelectric sensor 53 and the photoelectric sensor 54 are arranged on the housing 48.

[0226] In the example shown in FIG. 32, the photoelectric sensor 53 is arranged on the left side surface of the housing 48, and the photoelectric sensor 54 is arranged on the right side surface of the housing 48. The user holds the operation device 4b so that the palm of the user's hand is in contact with the back surface of the operation device 4b. The photoelectric sensors 53 and 54 are arranged in positions that are covered by the user's palm or fingers when the user holds the operation device 4b. The positions of the photoelectric sensors 53 and 54 are not limited to the positions shown in FIG. 32. The operation device 4b may have two or more photoelectric sensors 53. The operation device 4b may have two or more photoelectric sensors 54.

[0227] The photoelectric sensor 53 has a light-emitting element and a light-receiving element. The light-emitting element projects light onto an object. The light-receiving element receives the light reflected by the object. When a user holds the operation device 4b, the object is the user's palm or finger. The photoelectric sensor 53 outputs a first analog signal to the ADC 55 according to the area covered by the user's palm or finger. The photoelectric sensor 54 has a similar configuration to the photoelectric sensor 53. The photoelectric sensor 54 outputs a second analog signal to the ADC 56 according to the area covered by the user's palm or finger. A touch sensor or a tactile sensor may be used instead of the photoelectric sensors 53 and 54.

[0228] The ADC 55 converts the first analog signal output from the photoelectric sensor 53 into a first digital value and outputs the first digital value to the control unit 40. The ADC 56 converts the second analog signal output from the photoelectric sensor 54 into a second digital value and outputs the second digital value to the control unit 40.

[0229] Photoelectric sensor 53 may include an ADC 55 and may output a first digital value, and photoelectric sensor 54 may include an ADC 56 and may output a second digital value.

[0230] The control unit 40 determines whether the user is holding the operation device 4b in the left hand or the right hand based on the first digital value and the second digital value. For example, when the user is holding the operation device 4b in the left hand, the photoelectric sensor 53 is almost entirely covered by the user's palm, and the photoelectric sensor 54 is partially covered by two or more of the user's fingers. On the other hand, when the user is holding the operation device 4b in the right hand, the photoelectric sensor 53 is partially covered by two or more of the user's fingers, and the photoelectric sensor 54 is almost entirely covered by the user's palm. The control unit 40 can determine the type of hand with which the user is holding the operation device 4b based on the first digital value and the second digital value.

[0231] The operation device 4b may have only one of the photoelectric sensor 53 and the photoelectric sensor 54. If the operation device 4b does not have the photoelectric sensor 54, the operation device 4b may have two or more photoelectric sensors 53. If the operation device 4b does not have the photoelectric sensor 53, the operation device 4b may have two or more photoelectric sensors 54. For example, if the operation device 4b does not have the photoelectric sensor 54, the control unit 40 may determine whether the user is holding the operation device 4b in his / her left hand or his / her right hand based on the first digital value.

[0232] When the user holds the operation device 4b in his / her left hand, the user feels that it is easier to tilt the operation device 4b in the right direction R1 shown in Fig. 32 than in the left direction L1 shown in Fig. 32. On the other hand, when the user holds the operation device 4b in his / her right hand, the user feels that it is easier to tilt the operation device 4b in the left direction L1 than in the right direction R1. When the user performs a tilt operation, the control unit 40 corrects the curvature control value depending on the type of hand with which the user holds the operation device 4b.

[0233] The memory 47 stores first curvature information and second curvature information indicating the relationship between the amount of rotation of the housing 48 and the curvature control value. When the user holds the operation device 4b in the left hand, the control unit 40 uses the first curvature information to calculate the curvature control value in response to the tilt operation. When the user holds the operation device 4b in the right hand, the control unit 40 uses the second curvature information to calculate the curvature control value in response to the tilt operation.

[0234] The memory 47 may store the first curvature information and the second curvature information during a process in which the endoscope system 1b is manufactured. The endoscope system 1b may be connected to an external server that stores the first curvature information and the second curvature information, and may download the first curvature information and the second curvature information from the external server. The memory 47 may store the first curvature information and the second curvature information downloaded from the external server.

[0235] Fig. 33A is a graph showing the relationship between the tilt state of the operation device 4b and the curvature control value. The graph shown in Fig. 33A is an example of first curvature information. The horizontal axis of the graph shown in Fig. 33A indicates the angle (θ2) of the operation device 4b, and the vertical axis of the graph shown in Fig. 33A indicates the curvature control value. The angle of the operation device 4b is equivalent to the amount of rotation of the housing 48.

[0236] The angle of the operation device 4b is within the range from CNT to LMAX or the range from CNT to RMAX. When the operation device 4b is tilted 90 degrees or more in the left direction L3 shown in FIG. 17, the angle of the operation device 4b is LMAX. When the operation device 4b is tilted 90 degrees or more in the right direction R3 shown in FIG. 17, the angle of the operation device 4b is RMAX. When the user is not tilting the operation device 4b, the angle of the operation device 4b is CNT.

[0237] The angle of the operation device 4b is included in any one of ranges RA12, RA13, and RA14. When the angle of the operation device 4b is included in range RA12, the bending control value is a constant value (1 / 2*VA). Even if the angle of the operation device 4b changes slightly near the CNT, the bending control value remains a constant value. Therefore, it is possible to prevent the bending amount of the insertion section 2 from changing in response to movement of the operation device 4b unintended by the user.

[0238] The characteristics of the curvature control value according to the angle of the operating device 4b in range RA14 are different from the characteristics of the curvature control value according to the angle of the operating device 4b in range RA13. When the angle of the operating device 4b is within range RA13 to the right of range RA12, the curvature control value changes linearly according to the angle of the operating device 4b. When the angle of the operating device 4b is within range RA14 to the left of range RA12, the curvature control value changes curvedly according to the angle of the operating device 4b. When the angle of the operating device 4b in range RA14 changes near range RA12, the curvature control value changes significantly. When the angle of the operating device 4b in range RA14 changes near LMAX, the curvature control value changes slightly.

[0239] Fig. 33B is a graph showing the relationship between the tilt state of the operation device 4b and the curvature control value. The graph shown in Fig. 33B is an example of second curvature information. The horizontal axis of the graph shown in Fig. 33B represents the angle (θ2) of the operation device 4b, and the vertical axis of the graph shown in Fig. 33B represents the curvature control value.

[0240] The angle of the operation device 4b is equal to or greater than LMAX and equal to or less than RMAX. When the user is not tilting the operation device 4b, the angle of the operation device 4b is CNT. The angle of the operation device 4b is included in one of ranges RA12, RA13, and RA14. When the angle of the operation device 4b is included in range RA12, the curvature control value is a constant value (1 / 2*VA).

[0241] When the angle of the operating device 4b is within range RA14 on the left side of range RA12, the curvature control value changes linearly according to the angle of the operating device 4b. When the angle of the operating device 4b is within range RA13 on the right side of range RA12, the curvature control value changes curvedly according to the angle of the operating device 4b. When the angle of the operating device 4b in range RA13 changes near range RA12, the curvature control value changes significantly. When the angle of the operating device 4b in range RA13 changes near RMAX, the curvature control value changes slightly.

[0242] When the user tilts the operation device 4b in the left direction L1 or the right direction R1 shown in Fig. 2, the control unit 40 calculates the curvature control value by using the first curvature information or the second curvature information. When the user tilts the operation device 4b in the upward direction U1 or the downward direction D1 shown in Fig. 2, the control unit 40 can calculate the curvature control value by using information similar to the first curvature information or the second curvature information. When the user tilts the operation device 4b in the forward direction F1 or the backward direction W1 shown in Fig. 3, the control unit 40 can calculate the curvature control value by using information similar to the first curvature information or the second curvature information.

[0243] The operation device 4b may have an operation button 46a shown in Fig. 27. The control unit 40 may determine whether the digital value DI2 is valid or invalid based on the state of the operation button 46a.

[0244] 28, the operation device 4 may be changed to an operation device 4b. When the user performs a first tilt operation, the control unit 40 may calculate a curvature control value or an insertion control value by using information similar to the first curvature information or the second curvature information. When the user performs a second tilt operation, the control unit 40 may calculate an insertion control value by using information similar to the first curvature information or the second curvature information.

[0245] Each aspect of the present invention may include the following modifications. The operation device 4b has a photoelectric sensor 53 (photoelectric sensor 54) that outputs a signal depending on whether the user is holding the operation device 4b in the left hand or the right hand. The control unit 40 determines whether the user is holding the operation device 4b in the left hand or the right hand based on the signal output from the photoelectric sensor 53 and a corresponding digital value. When it is determined that the user is holding the operation device 4b in the left hand, the control unit 40 calculates the curvature control value by using first curvature information (first information) indicating the relationship between the amount of rotation of the operation device 4b and the curvature control value (second control value). When it is determined that the user is holding the operation device 4b in the right hand, the control unit 40 calculates the curvature control value by using second curvature information (second information) indicating the relationship between the amount of rotation of the operation device 4b and the curvature control value (second control value). The second curvature information is different from the first curvature information.

[0246] In the fourth embodiment, the control unit 40 corrects the bending control value depending on the type of hand with which the user holds the operation device 4b. The endoscope system 1b can reduce the burden on the user in tilting operations.

[0247] (Fifth embodiment) A fifth embodiment of the present invention will now be described. In the fifth embodiment, an endoscope system 1 shown in FIG.

[0248] Control in the fifth embodiment will be described using Figures 34, 35, and 36. Figures 34, 35, and 36 show examples of the relationship between operations performed by the user and the contents of the control.

[0249] FIG. 34 shows a first example of control according to a combination of a joystick operation and a tilt operation. The joystick operation is associated with a bending control (first control). The user performs the joystick operation by tilting the joystick 42 in the upward direction U2, downward direction D2, leftward direction L2, or rightward direction R2 shown in FIG. 4. When the user performs the joystick operation, the control unit 40 calculates a bending control value by using the method in the first embodiment. The insertion unit 2 bends upward, downward, leftward, or rightward.

[0250] Two types of tilt operations are provided: a first tilt operation and a second tilt operation. The first tilt operation is associated with a bending control (second control). The user performs the first tilt operation by tilting the operation device 4 in the left direction L1 or the right direction R1 shown in FIG. 2. Alternatively, the user performs the first tilt operation by tilting the operation device 4 in the forward direction F1 or the backward direction W1 shown in FIG. 3. When the user performs the first tilt operation, the control unit 40 calculates a bending control value by using the method in the first embodiment. The insertion unit 2 bends upward, downward, leftward, or rightward.

[0251] The second tilt operation is associated with a control (third control) for switching the bending mode. The user performs the second tilt operation by tilting the operation device 4 in the left direction L4 or the right direction R4 shown in FIG.

[0252] When the user performs a second tilt operation, the motion sensor 44 outputs an analog voltage AN2 (third signal) corresponding to the direction and amount of rotation of the housing 48 around the axis AX1 shown in FIG. 30. The ADC 45 converts the analog voltage AN2 into a digital value DI2. The control unit 40 determines whether to switch the bending mode based on the digital value DI2. For example, when the amount of rotation of the housing 48 indicated by the digital value DI2 is greater than a predetermined amount, the control unit 40 determines to switch the bending mode. For example, when the amount of rotation of the housing 48 indicated by the digital value DI2 is equal to or less than a predetermined amount, the control unit 40 determines not to switch the bending mode.

[0253] For example, a joystick operation is associated with bending control (first control) in the coarse movement mode. A first tilt operation is associated with bending control (second control) in the fine movement mode. When the user performs a joystick operation, the insertion section 2 bends by the bending amount in the coarse movement mode. When the user performs a first tilt operation, the insertion section 2 bends by the bending amount in the fine movement mode.

[0254] When the control unit 40 determines to switch the bending mode, the control unit 40 changes the assignment of the bending mode to the first control and the second control. Specifically, the control unit 40 assigns bending control in the fine movement mode to the first control and bending control in the coarse movement mode to the second control. When the user performs a joystick operation, the insertion unit 2 bends by the bending amount in the fine movement mode. When the user performs a first tilting operation, the insertion unit 2 bends by the bending amount in the coarse movement mode.

[0255] 35 shows a second example of control according to a combination of a joystick operation and a tilt operation. As in the first example, the joystick operation is associated with a bending control (first control). As in the first example, the first tilt operation is associated with a bending control (second control). As in the first example, the second tilt operation is associated with a bending mode switching control (third control).

[0256] For example, a joystick operation is associated with a bending control (first control) in normal mode. A first tilt operation is associated with a bending control (second control) in fine mode. When a user performs a joystick operation, the insertion section 2 bends by the bending amount in normal mode. When a user performs a first tilt operation, the insertion section 2 bends by the bending amount in fine mode.

[0257] When the control unit 40 determines to switch the bending mode, the control unit 40 changes the assignment of the bending mode to the first control and the second control. Specifically, the control unit 40 assigns bending control in the fine mode to the first control and bending control in the normal mode to the second control. When the user performs a joystick operation, the insertion unit 2 bends by the bending amount in the fine mode. When the user performs a first tilting operation, the insertion unit 2 bends by the bending amount in the normal mode.

[0258] 36 shows a third example of control according to a combination of a joystick operation and a tilt operation. As in the first example, the joystick operation is associated with a bending control (first control). As in the first example, the first tilt operation is associated with a bending control (second control). As in the first example, the second tilt operation is associated with a bending mode switching control (third control).

[0259] For example, a joystick operation is associated with bending control (first control) in the coarse movement mode. A first tilt operation is associated with bending control (second control) in the limited range mode. When the user performs a joystick operation, the insertion section 2 bends by the bending amount in the coarse movement mode. When the user performs a first tilt operation, the insertion section 2 bends by the bending amount in the limited range mode.

[0260] When the control unit 40 determines to switch the bending mode, the control unit 40 changes the assignment of the bending mode to the first control and the second control. Specifically, the control unit 40 assigns bending control in the limited range mode to the first control and bending control in the coarse movement mode to the second control. When the user performs a joystick operation, the insertion unit 2 bends by the bending amount in the limited range mode. When the user performs a first tilting operation, the insertion unit 2 bends by the bending amount in the coarse movement mode.

[0261] The operation device 4 may be changed to an operation device 4a shown in Fig. 27. The control unit 40 may determine whether the digital value DI2 is valid or invalid based on the state of the operation button 46a of the operation device 4a.

[0262] The endoscope system 1 may have an insertion device 5 shown in Fig. 28. The joystick operation or the first tilt operation may be associated with the insertion control and the withdrawal control.

[0263] The operation device 4 may be changed to an operation device 4b shown in Fig. 31. When the user performs a joystick operation or a first tilt operation, the control unit 40 may calculate a curvature control value by using information similar to the first curvature information or the second curvature information in the fourth embodiment.

[0264] Each aspect of the present invention may include the following modifications: The movement sensor 44 generates an analog voltage AN2 (third signal) in response to rotation of the operating device 4. The control unit 40 assigns one of control of the first function and control of the second function to the first control based on the analog voltage AN2 and a corresponding digital value DI2. The control unit 40 assigns the other of control of the first function and control of the second function to the second control based on the digital value DI2.

[0265] In the fifth embodiment, the control unit 40 changes the allocation of bending modes to the first control and the second control. The user can easily change the contents of the first control and the second control.

[0266] (Sixth embodiment) A sixth embodiment of the present invention will be described. Fig. 37 shows the configuration of an endoscope system 1c according to the sixth embodiment. Description of the same configuration as that shown in Fig. 1 will be omitted. The endoscope system 1c shown in Fig. 37 has an insertion section 2, a main body section 3c, and an operation device 4. The insertion section 2 is the same as the insertion section 2 shown in Fig. 1. The operation device 4 is the same as the operation device 4 shown in Fig. 1.

[0267] The main body 3c has a control unit 30, an imaging drive circuit 31, a UD motor 32, an LR motor 33, a bending control unit 34, a display 35, a touch panel 36, operation buttons 37, a communication unit 38, a memory 39, and an image processing unit 57. The configuration of the main body 3c except for the image processing unit 57 is the same as the configuration of the main body 3 shown in FIG.

[0268] The imaging drive circuit 31 outputs the image output from the imaging unit 20 of the insertion section 2 to the image processing unit 57. The image processing unit 57 performs image processing on the image output from the imaging drive circuit 31 to change the state of the image. The image processing includes brightness adjustment, zoom processing, noise reduction, color density adjustment, and edge enhancement. The image processing unit 57 may be composed of at least one of a processor and a logic circuit. The image processing unit 57 may include one or more processors. The image processing unit 57 may include one or more logic circuits.

[0269] The image processing unit 57 outputs the image that has undergone image processing to the control unit 30. The control unit 30 outputs the image to the display .

[0270] Control in the sixth embodiment will be described using Figure 38. Figure 38 shows an example of the relationship between the operation performed by the user and the content of the control.

[0271] The joystick operation is associated with bending control (first control). The user performs the joystick operation by tilting the joystick 42 in the upward direction U2, downward direction D2, leftward direction L2, or rightward direction R2 shown in FIG. 4. When the user performs the joystick operation, the control unit 40 calculates a bending control value by using the method in the first embodiment. The insertion unit 2 bends upward, downward, leftward, or rightward.

[0272] Two types of tilt operations are provided: a first tilt operation and a second tilt operation. The first tilt operation is associated with a first image processing control (second control). The first image processing control is executed to control the image processing performed by the image processing unit 57.

[0273] The user performs a first tilt operation by tilting the operation device 4 in the left direction L1 or the right direction R1 shown in FIG. 2. Alternatively, the user performs a first tilt operation by tilting the operation device 4 in the forward direction F1 or the backward direction W1 shown in FIG. 3. When the user performs the first tilt operation, the control unit 40 calculates an image processing control value in accordance with the first tilt operation. The image processing control value indicates a parameter of image processing performed by the image processing unit 57. For example, the control unit 40 calculates the image processing control value by using a method similar to the method for calculating the curvature control value.

[0274] Control unit 40 outputs the image processing control value to communication unit 41. Communication unit 41 transmits the image processing control value to communication unit 38. Communication unit 38 outputs the image processing control value to control unit 30. Control unit 30 controls image processing unit 57 based on the image processing control value.

[0275] The second tilt operation is associated with a control (third control) for switching image processing control. The user performs the second tilt operation by tilting the operation device 4 in the left direction L4 or the right direction R4 shown in FIG.

[0276] When the user performs a second tilt operation, the motion sensor 44 outputs an analog voltage AN2 (third signal) corresponding to the direction and amount of rotation of the housing 48 around the axis AX1 shown in FIG. 30. The ADC 45 converts the analog voltage AN2 into a digital value DI2. The control unit 40 determines whether to switch image processing control based on the digital value DI2. For example, when the amount of rotation of the housing 48 indicated by the digital value DI2 is greater than a predetermined amount, the control unit 40 determines to switch image processing control. For example, when the amount of rotation of the housing 48 indicated by the digital value DI2 is equal to or less than a predetermined amount, the control unit 40 determines not to switch image processing control.

[0277] For example, the first image processing control is a brightness adjustment control. When the user performs a first tilt operation, the control unit 40 calculates an image processing control value for the brightness adjustment. The control unit 30 updates the brightness adjustment parameter performed by the image processing unit 57 with the image processing control value.

[0278] When the control unit 40 determines that the image processing control should be switched, the control unit 40 changes the allocation of the image processing control to the second control. Specifically, the control unit 40 assigns the second image processing control to the second control. For example, the second image processing control is noise reduction control. When the user performs a first tilt operation, the control unit 40 calculates an image processing control value for noise reduction. The control unit 30 updates the parameters of the noise reduction performed by the image processing unit 57 with the image processing control value. Every time the user performs a second tilt operation, the control unit 40 changes the allocation of the image processing control to the second control.

[0279] The operation device 4 may be changed to an operation device 4a shown in Fig. 27. The control unit 40 may determine whether the digital value DI2 is valid or invalid based on the state of the operation button 46a of the operation device 4a.

[0280] The endoscope system 1c may have an insertion device 5 shown in Figure 28. Joystick operation may be associated with insertion control and withdrawal control.

[0281] The operation device 4 may be changed to an operation device 4b shown in Fig. 31. When the user performs a joystick operation or a first tilt operation, the control unit 40 may calculate a curvature control value or an image processing control value by using information similar to the first curvature information or the second curvature information in the fourth embodiment.

[0282] Each aspect of the present invention may include the following modifications: The imaging unit 20 (image sensor) generates an image based on an optical image acquired by the insertion unit 2. One of the first control and the second control is executed to control image processing that changes the state of the image.

[0283] In the sixth embodiment, the user can intuitively change the control value of the image processing by tilting the operation device 4.

[0284] (Reference form) A reference embodiment of the present invention will be described below. In the reference embodiment, an endoscope system 1c shown in FIG.

[0285] The controls in the reference form will be explained using Figures 39 to 42. Figure 39 shows a first example of the relationship between the operation performed by the user and the contents of the control.

[0286] The joystick operation is associated with a first image processing control (first control). The first image processing control is executed to control the image processing performed by the image processing unit 57. The user performs the joystick operation by tilting the joystick 42 in the upward direction U2, downward direction D2, leftward direction L2, or rightward direction R2 shown in FIG. 4. When the user performs the joystick operation, the control unit 40 calculates a first image processing control value in accordance with the joystick operation. For example, the control unit 40 calculates the first image processing control value by using a method similar to the method for calculating the curvature control value. The first image processing control value indicates a parameter of the image processing performed by the image processing unit 57.

[0287] Two types of tilt operations are provided: a first tilt operation and a second tilt operation. The first tilt operation is associated with a second image processing control (second control). The second image processing control is executed to control the image processing performed by the image processing unit 57.

[0288] The user performs a first tilt operation by tilting the operation device 4 in the left direction L1 or the right direction R1 shown in FIG. 2. Alternatively, the user performs a first tilt operation by tilting the operation device 4 in the forward direction F1 or the backward direction W1 shown in FIG. 3. When the user performs the first tilt operation, the control unit 40 calculates a second image processing control value in accordance with the first tilt operation. The second image processing control value indicates a parameter of image processing performed by the image processing unit 57. For example, the control unit 40 calculates the second image processing control value by using a method similar to the method for calculating the curvature control value.

[0289] Fig. 40 is a graph showing examples of first and second image processing control values. The horizontal axis of the graph shown in Fig. 40 represents the first image processing control value, and the vertical axis of the graph shown in Fig. 40 represents the second image processing control value. In the example shown in Fig. 40, the first image processing control value is a control value for noise reduction, and the second image processing control value is a control value for edge enhancement.

[0290] Before the user performs the joystick operation and the first tilt operation, the first image processing control value and the second image processing control value are values ​​at point PT1. The user can perform the joystick operation and the first tilt operation simultaneously. After the user performs the joystick operation and the first tilt operation, the first image processing control value and the second image processing control value are values ​​at point PT2.

[0291] The second tilt operation is associated with a control (third control) for switching image processing control. The user performs the second tilt operation by tilting the operation device 4 in the left direction L4 or the right direction R4 shown in FIG.

[0292] When the user performs a second tilt operation, the motion sensor 44 outputs an analog voltage AN2 (third signal) corresponding to the direction and amount of rotation of the housing 48 around the axis AX1 shown in FIG. 30. The ADC 45 converts the analog voltage AN2 into a digital value DI2. The control unit 40 determines whether to switch image processing control based on the digital value DI2. For example, when the amount of rotation of the housing 48 indicated by the digital value DI2 is greater than a predetermined amount, the control unit 40 determines to switch image processing control. For example, when the amount of rotation of the housing 48 indicated by the digital value DI2 is equal to or less than a predetermined amount, the control unit 40 determines not to switch image processing control.

[0293] When the control unit 40 determines that the image processing control should be switched, the control unit 40 changes the allocation of the image processing control between the first control and the second control. Specifically, the control unit 40 allocates the second image processing control to the first control and allocates the first image processing control to the second control. When the user performs a joystick operation, the control unit 40 calculates a second image processing control value in response to the joystick operation. When the user performs a first tilt operation, the control unit 40 calculates a first image processing control value in response to the first tilt operation.

[0294] FIG. 41 shows a second example of the relationship between the operation performed by the user and the content of the control.

[0295] Two types of joystick operations are provided: a first joystick operation and a second joystick operation. The first joystick operation is associated with a first image processing control (first control). The first image processing control is executed to control the image processing performed by the image processing unit 57. The user performs the first joystick operation by tilting the joystick 42 in the upward direction U2 or downward direction D2 shown in FIG. 4. When the user performs the first joystick operation, the control unit 40 calculates a first image processing control value in accordance with the first joystick operation. The first image processing control value indicates a parameter of the image processing performed by the image processing unit 57. For example, the control unit 40 calculates the first image processing control value by using a method similar to the method for calculating the curvature control value.

[0296] The second joystick operation is associated with a second image processing control (first control). The second image processing control is executed to control the image processing performed by the image processing unit 57. The user performs the second joystick operation by tilting the joystick 42 in the left direction L2 or the right direction R2 shown in FIG. 4. When the user performs the second joystick operation, the control unit 40 calculates a second image processing control value in accordance with the second joystick operation. The second image processing control value indicates a parameter of the image processing performed by the image processing unit 57. For example, the control unit 40 calculates the second image processing control value by using a method similar to the method for calculating the curvature control value.

[0297] Two types of tilt operations are provided: a first tilt operation and a second tilt operation. The first tilt operation is associated with a third image processing control (second control). The third image processing control is executed to control the image processing performed by the image processing unit 57.

[0298] The user performs a first tilt operation by tilting the operation device 4 in the left direction L1 or the right direction R1 shown in FIG. 2. Alternatively, the user performs a first tilt operation by tilting the operation device 4 in the forward direction F1 or the backward direction W1 shown in FIG. 3. When the user performs the first tilt operation, the control unit 40 calculates a third image processing control value in accordance with the first tilt operation. The third image processing control value indicates a parameter of image processing performed by the image processing unit 57. For example, the control unit 40 calculates the third image processing control value by using a method similar to the method for calculating the curvature control value.

[0299] Fig. 42 is a graph showing examples of first, second, and third image processing control values. The first axis in the graph shown in Fig. 42 represents the first image processing control value, the second axis in the graph shown in Fig. 42 represents the second image processing control value, and the third axis in the graph shown in Fig. 42 represents the third image processing control value. In the example shown in Fig. 42, the first image processing control value is a control value for noise reduction, the second image processing control value is a control value for edge enhancement, and the third image processing control value is a control value for color density.

[0300] Before the user performs the first joystick operation, the second joystick operation, and the first tilt operation, the first image processing control value, the second image processing control value, and the third image processing control value are the values ​​at point PT3. The user performs the first joystick operation, followed by the second joystick operation. Alternatively, the user performs the second joystick operation, followed by the first joystick operation. The user can perform the first tilt operation simultaneously with the first joystick operation or the second joystick operation. After the user performs the first joystick operation, the second joystick operation, and the first tilt operation, the first image processing control value, the second image processing control value, and the third image processing control value are the values ​​at point PT4.

[0301] As in the first example, the second tilt operation is associated with a control (third control) for switching image processing control. The user performs the second tilt operation by tilting the operation device 4 to the left direction L4 or the right direction R4 shown in FIG.

[0302] When the control unit 40 determines to switch the image processing control, the control unit 40 changes the allocation of the image processing control to the first control and the second control. For example, the control unit 40 allocates the third image processing control to the first control associated with the first joystick operation, allocates the first image processing control to the first control associated with the second joystick operation, and allocates the second image processing control to the second control. When the user performs the first joystick operation, the control unit 40 calculates the third image processing control value in response to the first joystick operation. When the user performs the second joystick operation, the control unit 40 calculates the first image processing control value in response to the second joystick operation. When the user performs the first tilt operation, the control unit 40 calculates the second image processing control value in response to the first tilt operation.

[0303] In the reference embodiment, the user can intuitively change the control value of the image processing by tilting the operation device 4. In addition, the user can change the control value of the image processing by tilting the joystick 42, and can finely adjust the control value.

[0304] (Seventh embodiment) A seventh embodiment of the present invention will be described. In the seventh embodiment, the endoscope system 1 shown in Fig. 1 is used. In the seventh embodiment, the control unit 40 calculates a curvature control value in accordance with the movement of the housing 48 within a predetermined plane in a world coordinate system fixed in three-dimensional space, regardless of the orientation of the housing 48.

[0305] In the first embodiment described above, the control unit 40 calculates a curvature control value corresponding to the movement of the casing 48 within a predetermined plane in a coordinate system set on the casing 48. A method for calculating the curvature control value in the first embodiment will be described below.

[0306] A first example of a method for calculating the bending control value will be described below. In the first example, the insertion section 2 bends leftward or rightward in response to a user's operation of twisting the casing 48.

[0307] FIG. 43A shows an example of the attitude of the housing 48. The X-axis, Y-axis, Z-axis, Xr-axis, Yr-axis, and Zr-axis are shown in FIG. 43A. The X-axis, Y-axis, and Z-axis are orthogonal to each other and form a world coordinate system fixed in three-dimensional space. The Z-axis extends in the direction opposite to the direction of gravity Dg. The Xr-axis, Yr-axis, and Zr-axis are orthogonal to each other and form a local coordinate system fixed on the housing 48. The Xr-axis corresponds to the axis AX1 shown in FIG. 2, the Yr-axis corresponds to the axis AX2 shown in FIG. 2, and the Zr-axis corresponds to the axis AX3 shown in FIG. 2.

[0308] The housing 48 has a first surface on which the joystick 42 is located, a second surface behind the first surface, and four third surfaces connected to the first and second surfaces. The third surfaces are side surfaces. The first and second surfaces are wider than each of the third surfaces. The Xr and Yr axes are parallel to the first and second surfaces. The Zr axis is perpendicular to the first and second surfaces.

[0309] The user operates the operation button 46 to input a reset command to the endoscope device 10. At this time, the Xr axis is parallel to the X axis, the Yr axis is parallel to the Y axis, and the Zr axis is parallel to the Z axis. In other words, the plane SF1 parallel to the first surface of the housing 48 is parallel to the XY plane including the X axis and the Y axis. Then, the user twists the housing 48 by an angle Ω1 around the Xr axis. This movement of the housing 48 corresponds to the movement when the user tilts the housing 48 to the right R3 shown in FIG. 16A. The control unit 40 calculates a curvature control value for curving the insertion section 2 to the right.

[0310] FIG. 43B shows another example of the posture of the housing 48. Similar to FIG. 43A, the X-axis, Y-axis, Z-axis, Xr-axis, Yr-axis, and Zr-axis are shown in FIG. 43B. The user operates the operation button 46 to input a reset command to the endoscope device 10. At this time, the Xr-axis is not parallel to the X-axis, the Yr-axis is not parallel to the Y-axis, and the Zr-axis is not parallel to the Z-axis. In other words, the plane SF1 parallel to the first surface of the housing 48 is not parallel to the XY plane. Then, the user twists the housing 48 by an angle Ω1 around the Xr-axis. The control unit 40 calculates a curvature control value for curving the insertion section 2 to the right.

[0311] The curvature control value in the example shown in FIG. 43B is the same as the curvature control value in the example shown in FIG. 43A. The method for calculating the curvature control value in the coarse movement mode is the same as the method for calculating the curvature control value shown in FIG. 16B. The curvature control value in the coarse movement mode is 1 / 2*VA*(1+sinΩ1). The method for calculating the curvature control value in the fine movement mode is the same as the method for calculating the curvature control value shown in FIG. 18B. The curvature control value in the fine movement mode is 1 / 4*VA*(2+sinΩ1).

[0312] Fig. 44 shows an example of bending the insertion section 2. The insertion section 2 bends in the direction of the Y axis, that is, rightward by an angle Ω2, in accordance with the bending control value in the example shown in Fig. 43A or 43B.

[0313] A second example of the method for calculating the curvature control value will now be described. In the second example, the insertion section 2 bends leftward or rightward in response to the user's operation of moving the casing 48 leftward or rightward.

[0314] FIG. 45A shows an example of the posture of the housing 48. Similar to FIG. 43A, the X-axis, Y-axis, Z-axis, Xr-axis, Yr-axis, and Zr-axis are shown in FIG. 45A. The user operates the operation button 46 to input a reset command to the endoscope device 10. At this time, the Xr-axis is parallel to the X-axis, the Yr-axis is parallel to the Y-axis, and the Zr-axis is parallel to the Z-axis. In other words, the plane SF1 parallel to the first surface of the housing 48 is parallel to the XY plane. Then, the user tilts the housing 48 around the Zr-axis by an angle Φ1 in the direction of the Yr-axis. In other words, the user moves the housing 48 within the XY plane. The control unit 40 calculates a curvature control value for curving the insertion section 2 to the right.

[0315] FIG. 45B shows another example of the posture of the housing 48. Similar to FIG. 43A, the X-axis, Y-axis, Z-axis, Xr-axis, Yr-axis, and Zr-axis are shown in FIG. 45B. The user operates the operation button 46 to input a reset command to the endoscope device 10. At this time, the Xr-axis is not parallel to the X-axis, the Yr-axis is not parallel to the Y-axis, and the Zr-axis is not parallel to the Z-axis. In other words, the plane SF1 parallel to the first surface of the housing 48 is not parallel to the XY plane. Then, the user tilts the housing 48 around the Zr-axis by an angle Φ1 in the direction of the Yr-axis. In other words, the user moves the housing 48 within a plane that is not parallel to the XY plane. The control unit 40 calculates a curvature control value for curving the insertion section 2 to the right.

[0316] The curvature control value in the example shown in FIG. 45B is the same as the curvature control value in the example shown in FIG. 45A. The method of calculating the curvature control value in the coarse movement mode is the same as the method of calculating the curvature control value shown in FIG. 16B. The curvature control value in the coarse movement mode is 1 / 2*VA*(1+sinΦ1). The method of calculating the curvature control value in the fine movement mode is the same as the method of calculating the curvature control value shown in FIG. 18B. The curvature control value in the fine movement mode is 1 / 4*VA*(2+sinΦ1). As with the example shown in FIG. 44C, the insertion section 2 bends in the direction of the Y axis, i.e., rightward, in accordance with the curvature control value in the example shown in FIG. 45A or 45B.

[0317] A third example of the method for calculating the bending control value will be described below. In the third example, the insertion section 2 bends upward or downward in response to the user's operation of moving the housing 48 upward or downward.

[0318] FIG. 46A shows an example of the posture of the housing 48. Similar to FIG. 43A, the X-axis, Y-axis, Z-axis, Xr-axis, Yr-axis, and Zr-axis are shown in FIG. 46A. The user operates the operation button 46 to input a reset command to the endoscope device 10. At this time, the Xr-axis is parallel to the X-axis, the Yr-axis is parallel to the Y-axis, and the Zr-axis is parallel to the Z-axis. In other words, the plane SF1 parallel to the first surface of the housing 48 is parallel to the XY plane. Then, the user tilts the housing 48 around the Yr-axis by an angle Θ1 in the direction of the Zr-axis. In other words, the user moves the housing 48 within the XZ plane. The control unit 40 calculates a bending control value for bending the insertion section 2 upward.

[0319] FIG. 46B shows another example of the posture of the housing 48. Similar to FIG. 43A, the X-axis, Y-axis, Z-axis, Xr-axis, Yr-axis, and Zr-axis are shown in FIG. 46B. The user operates the operation button 46 to input a reset command to the endoscope device 10. At this time, the Xr-axis is not parallel to the X-axis, the Yr-axis is not parallel to the Y-axis, and the Zr-axis is not parallel to the Z-axis. In other words, the plane SF1 parallel to the first surface of the housing 48 is not parallel to the XY plane. Then, the user tilts the housing 48 around the Yr-axis by an angle Θ1 in the direction of the Zr-axis. In other words, the user moves the housing 48 within a plane that is not parallel to the XZ plane. The control unit 40 calculates a bending control value for bending the insertion section 2 upward.

[0320] The curvature control value in the example shown in FIG. 46B is the same as the curvature control value in the example shown in FIG. 46A. The method of calculating the curvature control value in the coarse movement mode is the same as the method of calculating the curvature control value shown in FIG. 16B. The curvature control value in the coarse movement mode is 1 / 2*VA*(1+sinΘ1). The method of calculating the curvature control value in the fine movement mode is the same as the method of calculating the curvature control value shown in FIG. 18B. The curvature control value in the fine movement mode is 1 / 4*VA*(2+sinΘ1).

[0321] Figure 47 shows an example of bending the insertion section 2. The insertion section 2 bends in the direction of the Z axis, that is, upward by an angle Θ2, in accordance with the bending control value in the example shown in Figure 46A or 46B.

[0322] In the seventh embodiment, the control unit 40 calculates a curvature control value corresponding to the movement of the housing 48 within a predetermined plane in a world coordinate system fixed in three-dimensional space. A method for calculating the curvature control value in the seventh embodiment will be described below.

[0323] A first example of a method for calculating the curvature control value will be described below. In the first example, the insertion section 2 bends leftward or rightward in response to a user's operation of moving the casing 48 leftward or rightward.

[0324] FIG. 48A shows an example of the posture of the housing 48. Similar to FIG. 43A, the X-axis, Y-axis, Z-axis, Xr-axis, Yr-axis, and Zr-axis are shown in FIG. 48A. The user operates the operation button 46 to input a reset command to the endoscope device 10. At this time, the Xr-axis is not parallel to the X-axis, the Yr-axis is not parallel to the Y-axis, and the Zr-axis is not parallel to the Z-axis. In other words, the plane SF1 parallel to the first surface of the housing 48 is not parallel to the XY plane SF2. Then, the user tilts the housing 48 by an angle Φ2 around the Z-axis toward the Y-axis. In other words, the user moves the housing 48 within the XY plane SF2. The control unit 40 calculates a curvature control value for curving the insertion section 2 to the right.

[0325] Since the Zr axis is not parallel to the Z axis, the line perpendicular to the first surface of the housing 48 is not parallel to the direction of gravity Dg. At this time, the control unit 40 corrects the analog voltage AN2 output from the motion sensor 44 and the corresponding digital value DI2.

[0326] FIG. 48B shows the posture of the housing 48 corresponding to the posture of the housing 48 shown in FIG. 48A. As in FIG. 43A, the X-axis, Y-axis, Z-axis, Xr-axis, Yr-axis, and Zr-axis are shown in FIG. 48B. The Xr-axis is parallel to the X-axis, the Yr-axis is parallel to the Y-axis, and the Zr-axis is parallel to the Z-axis. In other words, the plane SF1 parallel to the first surface of the housing 48 is parallel to the XY plane. Furthermore, before the user tilts the housing 48, the line perpendicular to the first surface of the housing 48 is parallel to the direction of gravity Dg.

[0327] The movement of the housing 48 shown in FIG. 48A corresponds to the movement when the user tilts the housing 48 shown in FIG. 48B by an angle Φ3 around the Zr axis in the direction of the Yr axis. In the example shown in FIG. 48B, a line perpendicular to the first surface of the housing 48 is maintained parallel to the direction of gravity Dg. The control unit 40 converts the digital value DI2 generated in response to the movement of the housing 48 shown in FIG. 48A into the digital value DI2 generated in response to the movement of the housing 48 shown in FIG. 48B. The control unit 40 corrects the digital value DI2 by performing this conversion.

[0328] The control unit 40 corrects the digital value DI2 by taking into account the acceleration information for each of the Xr, Yr, and Zr axes in addition to the attitude information for each of the Xr, Yr, and Zr axes. This improves the accuracy of the digital value DI2. Specifically, the control unit 40 inputs the six-axis information indicated by the digital value DI2 into a Madgwick filter to convert it into stable attitude information. The control unit 40 then uses a general rotation matrix to calculate coordinate values ​​in the world coordinate system. The control unit 40 uses these coordinate values ​​to calculate the amount of rotation within the XY plane. The control unit 40 may use other algorithms, not just the Madgwick filter, to convert the information into attitude information.

[0329] Fig. 49A shows the curvature control value in the coarse movement mode. The control unit 40 calculates the curvature control value within the range RA3 according to the tilt state of the housing 48 shown in Fig. 48B. The minimum value of the range RA3 is 0, and the maximum value of the range RA3 is VA. When the curvature control value is 0, the amount of curvature of the insertion unit 2 to the left in the coarse movement mode is maximum. When the curvature control value is VA, the amount of curvature of the insertion unit 2 to the right in the coarse movement mode is maximum.

[0330] For example, the angle Φ3 shown in Fig. 48B is a preset maximum value and is smaller than 90 degrees. The bending control value (second control value) corresponding to the angle Φ3 is VA. At this time, the insertion section 2 bends in the direction of the Y axis, i.e., rightward, in accordance with the bending control value.

[0331] When the user tilts the housing 48 around the Zr axis by an angle Φ2, which is the maximum angle, in the direction opposite to the direction of the Yr axis, the curvature control value (second control value) is 0. This movement of the housing 48 corresponds to the movement when the user tilts the housing 48 around the Zr axis by an angle Φ3 in the direction opposite to the direction of the Yr axis, as shown in FIG. 48B. At this time, the insertion section 2 bends to the left in accordance with the curvature control value.

[0332] 17A and 17B, the bending control value is maximum when the user tilts the housing 48 by 90 degrees. On the other hand, in the example shown in FIGS. 48A and 49A, the bending control value is maximum when the user tilts the housing 48 by an angle Φ2 that is smaller than 90 degrees. In the example shown in FIGS. 48A and 49A, the user can bend the insertion section 2 with small movements of the housing 48.

[0333] Fig. 49B shows the curvature control value in the fine movement mode. The control unit 40 calculates the curvature control value within the range RA4 according to the tilt state of the housing 48 shown in Fig. 48A. The minimum value of the range RA4 is VA3, and the maximum value of the range RA4 is (VA-VA3). When the curvature control value is VA3, the amount of curvature of the insertion unit 2 to the left in the fine movement mode is maximum. When the curvature control value is (VA-VA3), the amount of curvature of the insertion unit 2 to the right in the fine movement mode is maximum.

[0334] For example, angle Φ3 shown in Fig. 48B is a preset maximum value and is smaller than 90 degrees. The bending control value (second control value) corresponding to angle Φ3 is (VA-VA3). At this time, the insertion section 2 bends in the direction of the Y axis, i.e., rightward, in accordance with the bending control value.

[0335] When the user tilts the housing 48 around the Zr axis by an angle Φ2, which is the maximum angle, in the direction opposite to the direction of the Yr axis, the curvature control value (second control value) is VA3. This movement of the housing 48 corresponds to the movement when the user tilts the housing 48 around the Zr axis by an angle Φ3 in the direction opposite to the direction of the Yr axis, as shown in FIG. 48B. At this time, the insertion section 2 bends to the left in accordance with the curvature control value.

[0336] 17A and 19, the bending control value is maximum when the user tilts the housing 48 by 90 degrees. On the other hand, in the example shown in Figures 48A and 49B, the bending control value is maximum when the user tilts the housing 48 by an angle Φ2 that is smaller than 90 degrees. In the example shown in Figures 48A and 49B, the user can bend the insertion section 2 with small movements of the housing 48.

[0337] 48A, when the plane SF1 parallel to the first surface of the housing 48 is not parallel to the XY plane SF2, the user moves the housing 48 within the XY plane SF2. The curvature control value calculated in response to this movement of the housing 48 is the same as the curvature control value calculated in response to the movement of the housing 48 within the XY plane SF2 after the user holds the operation device 4 so that the plane SF1 is parallel to the XY plane SF2. Therefore, the user can intuitively operate the operation device 4 regardless of the orientation of the operation device 4.

[0338] A second example of the method for calculating the curvature control value will now be described. In the second example, the insertion section 2 bends upward or downward in response to the user's operation of moving the housing 48 upward or downward.

[0339] FIG. 50A shows an example of the posture of the housing 48. Similar to FIG. 43A, the X-axis, Y-axis, Z-axis, Xr-axis, Yr-axis, and Zr-axis are shown in FIG. 50A. The user operates the operation button 46 to input a reset command to the endoscope device 10. At this time, the Xr-axis is not parallel to the X-axis, the Yr-axis is not parallel to the Y-axis, and the Zr-axis is not parallel to the Z-axis. In other words, the plane SF1 parallel to the first surface of the housing 48 is not parallel to the XY plane SF2. Then, the user tilts the housing 48 around the Y-axis toward the Z-axis by an angle Θ3. In other words, the user moves the housing 48 within the XZ plane. The control unit 40 calculates a bending control value for bending the insertion section 2 upward.

[0340] 48A, the control unit 40 corrects the analog voltage AN2 output from the motion sensor 44 and the corresponding digital value DI2.

[0341] FIG. 50B shows the posture of the housing 48 corresponding to the posture of the housing 48 shown in FIG. 50A. As in FIG. 43A, the X-axis, Y-axis, Z-axis, Xr-axis, Yr-axis, and Zr-axis are shown in FIG. 50B. The Xr-axis is parallel to the X-axis, the Yr-axis is parallel to the Y-axis, and the Zr-axis is parallel to the Z-axis. In other words, a plane SF1 parallel to the first surface of the housing 48 is parallel to the XY plane. Furthermore, before the user tilts the housing 48, a line perpendicular to the first surface of the housing 48 is parallel to the direction of gravity Dg, and a line parallel to the first surface is perpendicular to the direction of gravity Dg.

[0342] The movement of the housing 48 shown in FIG. 50A corresponds to the movement when the user tilts the housing 48 shown in FIG. 50B by an angle Θ4 around the Y axis in the direction of the Z axis. In the example shown in FIG. 50B, a line parallel to the first surface of the housing 48 is maintained perpendicular to the direction of gravity Dg. The control unit 40 converts the digital value DI2 generated in response to the movement of the housing 48 shown in FIG. 50A into the digital value DI2 generated in response to the movement of the housing 48 shown in FIG. 50B. The control unit 40 corrects the digital value DI2 by performing this conversion.

[0343] Specifically, the control unit 40 inputs the six-axis information indicated by the digital value DI2 into a Madgwick filter and converts it into stable attitude information. The control unit 40 then uses a general rotation matrix to calculate coordinate values ​​in the world coordinate system. The control unit 40 uses these coordinate values ​​to calculate the amount of rotation within the XZ plane. The control unit 40 may use any algorithm other than the Madgwick filter to convert the information into attitude information.

[0344] The method for calculating the curvature control value in the coarse movement mode is the same as the method for calculating the curvature control value shown in Fig. 49A. For example, the angle Θ4 shown in Fig. 50B is a preset maximum value and is smaller than 90 degrees. The curvature control value (second control value) corresponding to the angle Θ4 is VA. At this time, the insertion section 2 bends in the direction of the Z axis, i.e., upward, in accordance with the curvature control value.

[0345] When the user tilts the housing 48 around the Y axis in the direction opposite to the Z axis by angle Θ3, which is the maximum angle, the bending control value (second control value) is 0. At this time, the insertion section 2 bends downward in accordance with the bending control value.

[0346] The method for calculating the curvature control value in the fine movement mode is the same as the method for calculating the curvature control value shown in Fig. 49B. When angle Θ4 shown in Fig. 50B is a preset maximum value, the curvature control value (second control value) corresponding to angle Θ is (VA-VA3). At this time, the insertion section 2 bends in the direction of the Z axis, i.e., upward, in accordance with the curvature control value.

[0347] When the user tilts the housing 48 around the Y axis in the direction opposite to the Z axis by the maximum angle Θ3, the bending control value (second control value) is VA3. At this time, the insertion section 2 bends downward in accordance with the bending control value.

[0348] In the example shown in FIGS. 50A and 50B, the user can bend the insertion portion 2 with a small movement of the housing 48, similar to the example shown in FIGS. 48A and 48B.

[0349] 50A, when the plane SF1 parallel to the first surface of the housing 48 is not parallel to the XY plane SF2, the user moves the housing 48 within the XZ plane. The curvature control value calculated in response to this movement of the housing 48 is the same as the curvature control value calculated in response to the movement of the housing 48 within the XZ plane after the user holds the operation device 4 so that the plane SF1 is parallel to the XY plane SF2. Therefore, the user can intuitively operate the operation device 4 regardless of the orientation of the operation device 4.

[0350] Each aspect of the present invention may include the following modifications. The joystick 42 (user interface) is disposed on the surface of the housing 48. The control unit 40 converts a digital value DI2 corresponding to an analog voltage AN2 (second signal) generated in response to movement of the operation device 4 in the first state into a digital value DI2 corresponding to an analog voltage AN2 (second signal) generated in response to movement of the operation device 4 in the second state. In the first state, a line (axis AX3) perpendicular to the surface of the housing 48 is not parallel to the direction of gravity Dg. In the second state, the line is parallel to the direction of gravity Dg.

[0351] Each aspect of the present invention may include the following modifications: In the first state, the line (axis AX2) perpendicular to the surface of the housing 48 is not perpendicular to the direction of gravity Dg. In the second state, the line is perpendicular to the direction of gravity Dg.

[0352] In the seventh embodiment, the control unit 40 calculates a curvature control value corresponding to the movement of the housing 48 in the XY plane or the YZ plane, regardless of the orientation of the housing 48. The endoscope system 1 can assist the user in intuitively operating the operation device 4.

[0353] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments and their modifications. Addition, omission, substitution, and other modifications of the configuration are possible within the scope of the spirit of the present invention. Furthermore, the present invention is not limited by the above description, but is limited only by the scope of the appended claims. [Industrial Applicability]

[0354] According to each embodiment of the present invention, the endoscope system and the operation device can facilitate fine adjustment of the control value. [Explanation of symbols]

[0355] 1,1a,1b,1c Endoscope System 2 Insertion section 2a Tip 3,3a,3c Main body 4, 4a, 4b Operation Device 5 Insertion Device 10 Endoscopic device 20 Imaging unit 21 Curved section 30, 40, 51 Control unit 31 Imaging driver circuit 32 UD motor 33 LR motor 34 Bending control section 35 Display 36 Touch Panel 37, 46, 46a Operation buttons 38, 41, 49, 50 Communications Department 39,47 memory 42 Joystick 43,45,55,56 ADC 44 Motion Sensor 48 cabinets 52 Drive unit 53,54 Photoelectric sensor 57 Image processing section

Claims

1. An endoscope system including an endoscope apparatus having a bendable insertion section, an operation device, and a control section, The operation device is The housing and a user interface disposed on the housing, the user interface generating a first signal in response to a state of the user interface that changes when the user interface comes into contact with an object; a motion sensor that generates a second signal in response to a physical movement of the control device; and the user interface has a rod-shaped movable member disposed on a surface of the housing, and generates the first signal in accordance with an angle of the movable member with respect to the surface; The control unit calculating a first control value used for first control of the endoscope device based on the first signal; calculating a second control value used for a second control of the endoscope device based on the second signal; At least one of the first control and the second control is executed to bend the insertion section. Endoscopy system.

2. The first control and the second control are performed to bend the insertion section. The endoscope system according to claim 1 .

3. The maximum value of the bending amount of the insertion portion in the second control is different from the maximum value of the bending amount of the insertion portion in the first control. The endoscope system according to claim 2 .

4. the control unit calculates the first control value during a first period in which the second signal is not generated and the first signal is generated; After the first period, during a second period in which the first signal and the second signal are generated, the control unit calculates the first control value without calculating the second control value. The endoscope system according to claim 2 .

5. during a first period in which the first signal is not generated and the second signal is generated, the control unit calculates the second control value; After the first period, during a second period in which the first signal and the second signal are generated, the control unit calculates the second control value without calculating the first control value. The endoscope system according to claim 2 .

6. The range of the bending amount of the insertion portion in the second control is different from the range of the bending amount of the insertion portion in the first control. The endoscope system according to claim 2 .

7. The movement includes a rotation of the operating device. The endoscope system according to claim 1 .

8. the motion sensor generates a third signal in response to the rotation of the control device; The control unit assigning one of control of a first function and control of a second function to the first control based on the third signal; and allocating the other of the control of the first function and the control of the second function to the second control based on the third signal. The endoscope system according to claim 7 .

9. The operating device has an elongated shape, the motion sensor generates the second signal in response to the rotation of the control device about an axis perpendicular to a longitudinal direction of the control device; The second control is performed to bend the insertion section. The endoscope system according to claim 7 .

10. the operation device has a sensor that outputs a signal according to whether the user is holding the operation device in the left hand or the right hand, The control unit determining whether the user is holding the operation device in the left hand or the right hand based on the signal output from the sensor; when it is determined that the user is holding the operation device with the left hand, calculating the second control value by using first information indicating a relationship between the amount of rotation and the second control value; when it is determined that the user is holding the operation device with the right hand, calculating the second control value by using second information indicating a relationship between the amount of rotation and the second control value; The second information is different from the first information. The endoscope system according to claim 7 .

11. an insertion device for inserting the tip of the insertion part into an object and withdrawing the tip from the object; one of the first control and the second control is performed to bend the insertion section; The other of the first control and the second control is performed to control insertion and withdrawal of the tip. The endoscope system according to claim 1 .

12. The operating device has an elongated shape, the motion sensor generates a third signal in response to a rotation of the control device about an axis parallel to a longitudinal direction of the control device; The insertion device rotates the insertion portion around a central axis of the insertion portion, The control unit calculates a third control value used to control rotation of the insertion unit based on the third signal. The endoscope system according to claim 11.

13. the operation device has a switch arranged on the housing, the state of the switch toggles between a first state and a second state; when the state of the switch is in the first state, the second signal is valid; when the state of the switch is in the second state, the second signal is invalid; The control unit calculates the second control value only when the second signal is valid. The endoscope system according to claim 1 .

14. The operation device has the control unit. The endoscope system according to claim 1 .

15. The endoscope device has the control unit. The endoscope system according to claim 1 .

16. the endoscope device has an image sensor that generates an image based on an optical image acquired by the insertion section, One of the first control and the second control is performed to control image processing that changes the state of the image. The endoscope system according to claim 1 .

17. The control unit selects, as the first control value, one of three or more control values ​​corresponding to three or more bending amounts of the insertion unit, based on the first signal. The endoscope system according to claim 1 .

18. The control unit converts the second signal generated in accordance with the movement of the operating device in a first state into the second signal generated in accordance with the movement of the operating device in a second state; In the first state, a line perpendicular to the surface is not parallel to the direction of gravity, In the second state, the line is parallel to the direction of gravity. The endoscope system according to claim 1 .

19. The control unit converts the second signal generated in accordance with the movement of the operating device in a first state into the second signal generated in accordance with the movement of the operating device in a second state; In the first state, a line parallel to the surface is not perpendicular to the direction of gravity, In the second state, the line is perpendicular to the direction of gravity. The endoscope system according to claim 1 .

20. An operation device, The housing and a user interface disposed on the housing, the user interface generating a first signal in response to a state of the user interface that changes when the user interface comes into contact with an object; a motion sensor that generates a second signal in response to a physical movement of the control device; and the user interface has a rod-shaped movable member disposed on a surface of the housing, and generates the first signal in accordance with an angle of the movable member with respect to the surface; the first signal is used to calculate a first control value used for first control of an endoscope device having a bendable insertion section; the second signal is used to calculate a second control value used for second control of the endoscope device; At least one of the first control and the second control is executed to bend the insertion section. Operating device.

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