Operation controller, and medical manipulator system

Abstract

Provided is an operation controller that accepts the bending operation of a bending part by a medical manipulator, the operation controller comprising: an interface to which the bending operation is inputted and which can detect the operation amount of the bending operation; and a resistance mechanism which is arranged inside of the interface and which generates, for the interface, a resistance force that changes in accordance with the operation amount. The interface can detect the operation amount applied to the bending part in two or more bending directions, and the resistance mechanism generates the resistance force from a change amount according to the maximum bending amounts in the two or more bending directions.

Description

Operation Controller and Medical Manipulator System

[0001] The present disclosure relates to an operation controller and a medical manipulator system.

[0002] Conventionally, a medical manipulator system used for observation and treatment inside a luminal organ such as the digestive tract has been used. In the medical manipulator system, a curved portion inserted into the luminal organ can be curved and driven electrically. The user can control the bending operation of the bending portion by inputting a bending operation to an operation controller arranged outside the body. A medical manipulator system that is curved and driven electrically, for example, electrically curves the curved portion based on a bending operation input to the operation controller, and when no bending operation is input to the operation controller, the bending amount of the curved portion is fixed, thereby improving the operability compared to a conventional manual medical manipulator.

[0003] Also, in a conventional manual medical manipulator, for example, when the user operates the operation controller to bend the bending portion, the force applied to the wire for bending the bending portion is transmitted to the operation controller as a reaction force. Therefore, the user can grasp the approximate bending amount of the bending portion by feeling the tactile feedback from the reaction force of the bending portion.

[0004] Japanese Patent Application Laid-Open No. 2014-161644

[0005] However, in a medical manipulator system that is curved and driven electrically, since the force applied to the wire of the curved portion is not transmitted to the operation controller, the tactile feedback due to the reaction force of the operation controller is insufficient, and there is a possibility that the operability may be felt to be poor.

[0006] In view of the above circumstances, an object of the present disclosure is to provide an operation controller and a medical manipulator system with improved operability.

[0007] To solve the above problems, the present disclosure proposes the following means. The operation controller of the present disclosure is an operation controller for receiving bending operations of a curved portion of a medical manipulator, comprising: an interface that receives the bending operation and can detect the amount of the bending operation; and a resistance mechanism disposed inside the interface that generates a resistance force that changes according to the amount of the operation, wherein the interface can detect the amount of the operation for at least two or more bending directions of the curved portion, and the resistance mechanism generates the resistance force with a change amount corresponding to the maximum bending amount for each of the two or more bending directions.

[0008] The medical manipulator system of the present disclosure comprises a medical manipulator having a curved portion that can bend in at least two or more bending directions; an actuator for bending the curved portion; an interface that receives input for bending operations of the curved portion and can detect the amount of the bending operation; a resistance mechanism disposed inside the interface and generating a resistance force that changes according to the amount of the operation; and a control device that is communicably connected to the operation controller and controls the actuator based on the amount of the operation, wherein the interface can detect the amount of the operation of the curved portion in the two or more bending directions, and the resistance mechanism generates the resistance force with a change amount corresponding to the maximum bending amount in each of the two or more bending directions.

[0009] The operation controller and medical manipulator system disclosed herein provide an operation controller and medical manipulator system with improved operability.

[0010] This is an overall diagram of a medical manipulator system according to the first embodiment. This diagram shows the endoscope and operating controller of the medical manipulator system used by the operator. This diagram shows the insertion section of the endoscope. This diagram shows a cross-sectional view of a part of the curved section of the insertion section. This is an enlarged view of the nodal ring of the curved section in region E shown in Figure 4. This is a cross-sectional view of the curved section along the line C1-C1 in Figures 4 and 5. This diagram shows the first attachment / detachment section of the medical manipulator system before it is attached to the drive unit. This diagram shows the upper and lower curved wire attachment / detachment section before it is attached to the drive unit. This diagram shows the upper and lower curved wire attachment / detachment section attached to the drive unit. This is a functional block diagram of the drive unit. This is a perspective view of the operating controller of the medical manipulator system. This is a perspective view of the operating controller viewed from the rear. This is a side view of the operating controller. This is a front view showing the first angle knob in the operating controller. This diagram shows the curved section. This is a functional block diagram of the video control device of the medical manipulator system. This is a cross-sectional view showing the basic configuration of the angle knob in the operating controller. This is a cross-sectional view showing the resistance mechanism of the angle knob. This is a perspective view showing a part of the resistance mechanism. This is a cross-sectional view showing the resistance mechanism of the angle knob according to the second embodiment. This is a perspective view showing the resistance mechanism. This is a cross-sectional view showing the resistance mechanism of an angle knob according to the third embodiment. This is a cross-sectional view showing the resistance mechanism of an angle knob according to the fourth embodiment. This is a diagram showing a modified example of the upper cover of an angle knob. This is a diagram showing a modified example of the upper cover of an angle knob.

[0011] (First Embodiment) A first embodiment of the present disclosure will be described with reference to the drawings. Figure 1 is an overall view of the electric endoscope system 1000 according to the first embodiment. The electric endoscope system 1000 is an example of a medical manipulator system. The medical manipulator includes an electrically driven endoscope, catheter, treatment instrument, endoluminal device, etc., which are inserted into the body.

[0012] [Electric Endoscope System 1000] The electric endoscope system 1000 is a medical system for observing and treating the inside of a patient P lying on an operating table T. The electric endoscope system 1000 comprises an endoscope 100, a drive unit 200, an operating unit 300, a treatment instrument 400, an image control device 500, and a display device 900.

[0013] Figure 2 shows an endoscope 100 and control unit 300 used by operator S. The endoscope 100 is a device inserted into the lumen of patient P to observe and treat the affected area, and is an example of a medical manipulator. The endoscope 100 is detachably attached to the drive unit 200. An internal pathway 101 is formed inside the endoscope 100.

[0014] The drive unit 200 is detachably connected to the endoscope 100 and the control unit 300. Based on the operation input to the control unit 300, the drive unit 200 drives a built-in motor to electrically drive the endoscope 100. The drive unit 200 also drives a built-in pump or the like to perform water supply or air supply and suction to the endoscope 100 based on the operation input to the control unit 300.

[0015] The control unit 300 is an example of an operating controller for the operator S to operate a medical manipulator. The control unit 300 is detachably connected to the drive unit 200 via an operating cable 301. The control unit 300 may communicate with the drive unit 200 by wireless communication instead of wired communication. The operator S can electrically drive the endoscope 100 by operating the control unit 300.

[0016] The treatment instrument 400 is a device that is inserted into the lumen of the patient P by passing it through the internal passage 101 of the endoscope 100 to treat the affected area. In Figure 1, the treatment instrument 400 is inserted into the internal passage 101 of the endoscope 100 through the forceps channel 126.

[0017] The video control device 500 is detachably connected to the endoscope 100 and acquires images from the endoscope 100. The video control device 500 displays the images acquired from the endoscope 100, as well as GUI images and CG images intended to provide information to the operator, on the display device 900.

[0018] The drive unit 200 and the image control device 500 constitute a control device 600 that controls the electric endoscope system 1000. The control device 600 may further include peripheral equipment such as a video printer. The drive unit 200 and the image control device 500 may be an integrated device.

[0019] The display device 900 is a device capable of displaying images such as an LCD. The display device 900 is connected to the video control device 500 via a display cable 901.

[0020] For example, while observing the captured image displayed on the display device 900, operator S operates the endoscope 100, which has been inserted into the lumen through the patient P's anus, with their right hand R, while operating the control unit 300 with their left hand L. Because the endoscope 100 and the control unit 300 are separate, operator S can operate the endoscope 100 and the control unit 300 independently without influencing each other.

[0021] [Endoscope 100] As shown in Figure 1, the endoscope 100 comprises an insertion section 110, a connecting section 120, an external flexible section 140, a detachable section 150, a curved wire 160 (see Figure 6), and internal components 170 (see Figure 6).

[0022] Figure 3 shows the insertion section 110 of the endoscope 100. In the following explanation, as shown in Figure 3, the side of the endoscope 100 that is inserted into the lumen of the patient P will be referred to as the "tip side (distal side) A1," and the side that is attached to the drive device 200 will be referred to as the "proximal side (proximal side) A2."

[0023] The insertion portion 110, the connecting portion 120, the external flexible portion 140, and the attachment / detachment portion 150 are connected in order from the tip side A1.

[0024] Inside the endoscope 100, an internal path 101 is formed, extending along the longitudinal direction A of the endoscope 100 from the tip of the insertion section 110 to the base of the attachment / detachment section 150. The curved wire 160 and the internal components 170 are inserted into the internal path 101.

[0025] The internal components 170 include a channel tube 171, an air supply / suction tube 172 (see Figure 10), an imaging cable 173, and a light guide 174.

[0026] [Insertion part 110] The insertion part 110 is an elongated, slender member that can be inserted into the lumen. The insertion part 110 has a tip portion 111, a curved portion 112, and an internally flexible portion 119. The tip portion 111, the curved portion 112, and the internally flexible portion 119 are connected in order from the tip side A1.

[0027] As shown in Figure 3, the tip portion 111 has an opening 111a, an illumination portion 111b, and an imaging portion 111c. The opening 111a is an opening that communicates with the channel tube 171. As shown in Figure 3, the treatment portion 410, such as a gripping forceps, provided at the tip of the treatment instrument 400 that inserts the channel tube 171, protrudes from the opening 111a.

[0028] The illumination unit 111b is connected to a light guide 174 that guides illumination light and emits illumination light to illuminate the object to be imaged. The imaging unit 111c is equipped with an image sensor such as a CMOS and is an imaging device that images the object to be imaged. The imaging signal is sent to the image control device 500 via the imaging cable 173.

[0029] Figure 4 is a cross-sectional view of a part of the curved section 112. The curved section 112 has a plurality of nodal rings (curved pieces) 115, a tip section 116 connected to the tips of the plurality of nodal rings 115, and an outer sheath 118 (see Figure 3).

[0030] Multiple nodal rings 115 and tip portions 116 are connected in the longitudinal direction A inside the outer sheath 118. The shape and number of nodal rings 115 on the curved portion 112 are not limited to those shown in Figure 4.

[0031] Figure 5 is an enlarged view of the nodal ring 115 in region E shown in Figure 4. The nodal ring 115 is a short cylindrical member made of metal. Multiple nodal rings 115 are connected such that the internal spaces of adjacent nodal rings 115 form a continuous space.

[0032] The joint ring 115 has a first joint ring 115a at the tip end A1 and a second joint ring 115b at the base end A2. The first joint ring 115a and the second joint ring 115b are connected by a first pivot pin 115p so as to be rotatable in the vertical direction (UD direction) perpendicular to the longitudinal direction A.

[0033] Furthermore, the first joint wheel 115a and the second joint wheel 115b are connected by a second pivot pin 115q so as to be rotatable in the left-right direction (LR direction) perpendicular to the longitudinal direction A and the UD direction.

[0034] The first joint ring 115a and the second joint ring 115b are alternately connected by the first pivot pin 115p and the second pivot pin 115q, and the curved portion 112 can be freely bent in the desired direction.

[0035] Figure 6 is a cross-sectional view of the curved portion 112 along the line C1-C1 in Figures 4 and 5. An upper wire guide 115u and a lower wire guide 115d are formed on the inner circumferential surface of the second joint ring 115b. The upper wire guide 115u and the lower wire guide 115d are arranged on both sides in the UD direction, straddling the central axis O in the longitudinal direction A.

[0036] A left wire guide 115l and a right wire guide 115r are formed on the inner circumferential surface of the first joint ring 115a. The left wire guide 115l and the right wire guide 115r are positioned on both sides in the LR direction, straddling the central axis O in the longitudinal direction A.

[0037] The upper wire guide 115u, the lower wire guide 115d, the left wire guide 115l, and the right wire guide 115r have through holes formed along the longitudinal direction A through which the curved wire 160 is inserted.

[0038] The curved wire 160 is a wire that bends the curved section 112. The curved wire 160 extends through the internal path 101 to the attachment / detachment section 150. As shown in Figures 4 and 6, the curved wire 160 has an upper curved wire 161u, a lower curved wire 161d, a left curved wire 161l, a right curved wire 161r, and four wire sheaths 161s.

[0039] As shown in Figure 4, the upper curved wire 161u, the lower curved wire 161d, the left curved wire 161l, and the right curved wire 161r are each inserted through a wire sheath 161s. The tip of the wire sheath 161s is attached to the nodal ring 115 at the base end of the curved portion 112. The wire sheath 161s extends to the attachment / detachment portion 150.

[0040] The upper bending wire 161u and the lower bending wire 161d are wires that bend the bending portion 112 in the UD direction. The upper bending wire 161u passes through the upper wire guide 115u. The lower bending wire 161d passes through the lower wire guide 115d.

[0041] As shown in FIG. 4, the tips of the upper bending wire 161u and the lower bending wire 161d are fixed to the tip portion 116 of the tip of the bending portion 112. The tips of the upper bending wire 161u and the lower bending wire 161d fixed to the tip portion 116 are arranged on both sides in the UD direction with the central axis O in the longitudinal direction A interposed therebetween.

[0042] The left bending wire 161l and the right bending wire 161r are wires that bend the bending portion 112 in the LR direction. The left bending wire 161l passes through the left wire guide 115l. The right bending wire 161r passes through the right wire guide 115r.

[0043] As shown in FIG. 4, the tips of the left bending wire 161l and the right bending wire 161r are fixed to the tip portion 116 of the bending portion 112. The tips of the left bending wire 161l and the right bending wire 161r fixed to the tip portion 116 are arranged on both sides in the LR direction with the central axis O in the longitudinal direction A interposed therebetween.

[0044] The bending portion 112 can be bent in a desired direction by pulling or relaxing the bending wires 160 (the upper bending wire 161u, the lower bending wire 161d, the left bending wire 161l, and the right bending wire 161r), respectively.

[0045] As shown in FIG. 6, the bending wire 160, the channel tube 171, the imaging cable 173, and the light guide 174 are inserted into the internal path 101 formed inside the bending portion 112.

[0046] The in-vivo flexible portion 119 is a long and flexible tubular member. The bending wire 160, the channel tube 171, the imaging cable 173, and the light guide 174 are inserted into the internal path 101 formed in the in-vivo flexible portion 119.

[0047] [Linking part 120] As shown in FIG. 1, the linking part 120 is a member that connects the in-vivo flexible part 119 and the out-of-body flexible part 140 of the insertion part 110. The linking part 120 includes a forceps port 126 which is an insertion port for inserting the treatment instrument 400.

[0048] [Out-of-body flexible part 140] The out-of-body flexible part 140 is a long tubular member. In an internal path 101 formed inside the out-of-body flexible part 140, a bending wire 160, an imaging cable 173, a light guide 174, and an air supply and suction tube 172 (see FIG. 10) are inserted.

[0049] [Detachable part 150] As shown in FIG. 1, the detachable part 150 includes a first detachable part 1501 attached to the driving device 200 and a second detachable part 1502 attached to the video control device 500. Note that the first detachable part 1501 and the second detachable part 1502 may be an integral detachable part.

[0050] The internal path 101 formed inside the out-of-body flexible part 140 branches into the first detachable part 1501 and the second detachable part 1502. The bending wire 160 and the air supply and suction tube 172 pass through the first detachable part 1501. The imaging cable 173 and the light guide 174 pass through the second detachable part 1502.

[0051] FIG. 7 is a diagram showing the first detachable part 1501 before being attached to the driving device 200. The first detachable part 1501 has an up-down bending wire detachable part 151 and a left-right bending wire detachable part 152.

[0052] The up-down bending wire detachable part 151 is a mechanism that detachably connects wires (an upper bending wire 161u and a lower bending wire 161d) for bending the bending part 112 in the UD direction to the driving device 200.

[0053] The left-right bending wire detachable part 152 is a mechanism that detachably connects wires (a left bending wire 161l and a right bending wire 161r) for bending the bending part 112 in the LR direction to the driving device 200.

[0054] FIG. 8 is a diagram showing the up-down bending wire detachable part 151 before being attached to the driving device 200. FIG. 9 is a diagram showing the up-down bending wire detachable part 151 attached to the driving device 200.

[0055] Since the left and right curved wire attachment / detachment section 152 has the same structure as the upper and lower curved wire attachment / detachment section 151, its illustration and description are omitted.

[0056] As shown in Figures 8 and 9, the upper and lower curved wire attachment / detachment section 151 includes a support member 155, a rotating drum 156, and a tension sensor 159.

[0057] The support member 155 supports the rotating drum 156. The support member 155 has a dog 155a for detecting attachment / detachment that is exposed on the base end side of the upper and lower curved wire attachment / detachment section 151, and a plurality of bend pulleys 155p.

[0058] The bend pulley 155p changes the transport direction of the upper curved wire 161u that passes through the outer flexible portion 140, guiding the upper curved wire 161u to the rotating drum 156. The bend pulley 155p also changes the transport direction of the lower curved wire 161d that passes through the outer flexible portion 140, guiding the lower curved wire 161d to the rotating drum 156.

[0059] The rotating drum 156 is supported by a support member 155 so as to be rotatable around a drum rotation axis 156r that extends along the longitudinal direction A. The rotating drum 156 has a winding pulley 156a and a coupling portion 156c.

[0060] The winding pulley 156a rotates around the drum rotation axis 156r to pull or feed out the upper curved wire 161u and the lower curved wire 161d. When the winding pulley 156a rotates clockwise, viewed from the tip side A1 towards the base side A2, the upper curved wire 161u is wound around the winding pulley 156a and pulled, and the lower curved wire 161d is fed out from the winding pulley 156a. Conversely, when the winding pulley 156a rotates counterclockwise, the upper curved wire 161u is fed out from the winding pulley 156a, and the lower curved wire 161d is wound around the winding pulley 156a and pulled. With this configuration, even if the amount of movement of the upper curved wire 161u and the lower curved wire 161d is large, the pulled portion is compactly stored and does not take up much space.

[0061] The upper curved wire 161u and the lower curved wire 161d have a larger diameter in the portion that is wound around the winding pulley 156a compared to other portions. Therefore, it is possible to effectively prevent the upper curved wire 161u and the lower curved wire 161d from being pinched between the winding pulley 156a and the support member 155. In addition, it is possible to effectively prevent elongation of the upper curved wire 161u and the lower curved wire 161d due to tension or slack.

[0062] The upper curved wire 161u and the lower curved wire 161d may have a larger diameter in the portion of the wire passing through the external flexible portion 140 than in the portion of the wire passing through the insertion portion 110. This allows the insertion portion 110 inserted into the body to be made thinner. In addition, by increasing the diameter of the portion of the wire passing outside the body, the elongation of the upper curved wire 161u and the lower curved wire 161d is suppressed, improving the controllability of the bending operation of the bending portion 112.

[0063] The coupling portion 156c is a disc member that rotates around the drum rotation axis 156r. The coupling portion 156c is fixed to the base end of the winding pulley 156a and rotates integrally with the winding pulley 156a. The coupling portion 156c is exposed on the base end side A2 of the upper and lower curved wire attachment / detachment portion 151. Two fitting protrusions 156d are formed on the base end side A2 surface of the coupling portion 156c. The two fitting protrusions 156d are formed on both sides of the drum rotation axis 156r.

[0064] The tension sensor 159 detects the tension of the upper curved wire 161u and the lower curved wire 161d. The detection result of the tension sensor 159 is acquired by the drive controller 260.

[0065] [Drive Unit 200] Figure 10 is a functional block diagram of the drive unit 200. The drive unit 200 comprises an adapter 210, an operation receiving unit 220, an air supply / suction drive unit 230, a wire drive unit (actuator) 250, and a drive controller 260.

[0066] As shown in Figure 7, the adapter 210 includes a first adapter 211 and a second adapter 212. The first adapter 211 is an adapter to which the operating cable 301 is detachably connected. The second adapter 212 is an adapter to which the first detachable part 1501 of the endoscope 100 is detachably connected.

[0067] The operation receiving unit 220 receives operation input from the operation unit 300 via the operation cable 301. When the operation unit 300 and the drive unit 200 communicate wirelessly rather than via wired communication, the operation receiving unit 220 has a known wireless receiving module.

[0068] The air supply and suction drive unit 230 is connected to the air supply and suction tube 172 inserted into the internal passage 101 of the endoscope 100. The air supply and suction drive unit 230 is equipped with a pump and the like, and supplies air to the air supply and suction tube 172. The air supply and suction drive unit 230 also suctions air from the air supply and suction tube 172.

[0069] The wire drive unit (actuator) 250 drives the curved wire 160 in coupling with the vertical curved wire attachment / detachment unit 151 and the left / right curved wire attachment / detachment unit 152. As shown in Figure 7, the wire drive unit 250 has a vertical curved wire drive unit (first actuator) 251 and a left / right curved wire drive unit (second actuator) 252.

[0070] The upper and lower bending wire drive unit 251 is coupled with the upper and lower bending wire attachment / detachment unit 151 and is a mechanism that drives the wires (upper bending wire 161u and lower bending wire 161d) that bend the bending section 112 in the UD direction.

[0071] The left and right curved wire drive unit 252 is coupled with the left and right curved wire attachment / detachment unit 152 and is a mechanism that drives the wires (left curved wire 161l and right curved wire 161r) that bend the curved section 112 in the L and R directions.

[0072] The left-right bending wire drive unit 252 has the same structure as the up-down bending wire drive unit 251, so its illustration and description are omitted.

[0073] As shown in Figure 8, the vertical bending wire drive unit 251 includes a support member 255, a bending wire drive unit 256, and a detachable sensor 259.

[0074] The curved wire drive unit 256 is coupled to the rotating drum 156 of the upper and lower curved wire attachment / detachment unit 151 to drive the upper curved wire 161u and the lower curved wire 161d. The curved wire drive unit 256 includes a shaft 256a, a motor unit 256b, a coupled unit 256c, a torque sensor 256e, and an elastic member 256s.

[0075] The shaft 256a is supported by a support member 255 so as to be rotatable around the shaft rotation axis 256r and so as to be able to move back and forth in the longitudinal direction A. When the first attachment / detachment part 1501 of the endoscope 100 is attached to the drive unit 200, the shaft rotation axis 256r coincides with the drum rotation axis 156r.

[0076] The motor unit 256b includes a motor such as a DC motor, a motor driver for driving the motor, and a motor encoder. The motor rotates the shaft 256a around the shaft rotation axis 256r. The motor driver is controlled by the drive controller 260.

[0077] The coupling portion 256c is a disc member that rotates around the shaft rotation axis 256r. The coupling portion 256c is fixed to the tip of the shaft 256a and rotates integrally with the shaft 256a.

[0078] As shown in Figure 8, the coupled portion 256c is exposed on the tip side A1 of the upper and lower curved wire drive unit 251. Two fitting recesses 256d are formed on the tip side A1 surface of the coupled portion 256c. The two fitting recesses 256d are formed on both sides of the shaft rotation axis 256r.

[0079] As shown in Figure 9, the fitting projection 156d and the fitting recess 256d engage, coupling the coupling portion 156c and the coupled portion 256c. As a result, the rotation of the shaft 256a by the motor portion 256b is transmitted to the rotating drum 156. When the shaft 256a rotates clockwise when viewed from the tip side A1 towards the base side A2, the upper curved wire 161u is pulled and the lower curved wire 161d is fed out. Conversely, when the shaft 256a rotates counterclockwise, the upper curved wire 161u is fed out and the lower curved wire 161d is pulled.

[0080] The torque sensor 256e detects the rotational torque of the shaft 256a around the shaft rotation axis 256r. The detection result of the torque sensor 256e is acquired by the drive controller 260.

[0081] The elastic member 256s is, for example, a compression spring, with its tip in contact with the coupled portion 256c and its base in contact with the support member 255. The elastic member 256s biases the coupled portion 256c toward the tip side A1. As shown in Figure 9, when the coupling portion 156c is attached or detached, the coupled portion 256c moves toward the base side A2 together with the shaft 256a.

[0082] As shown in Figure 9, the attachment / detachment sensor 259 detects the attachment and detachment of the upper and lower curved wires to the upper and lower curved wire drive unit 251 at the upper and lower curved wire attachment / detachment section 151 by detecting engagement and disengagement with the attachment / detachment detection dog 155a. The detection result of the attachment / detachment sensor 259 is acquired by the drive controller 260.

[0083] The drive controller 260 controls the entire drive unit 200. The drive controller 260 acquires the operation input received by the operation receiving unit 220. Based on the acquired operation input, the drive controller 260 controls the air supply / suction drive unit 230 and the wire drive unit 250.

[0084] The drive controller 260 is a program-executable computer comprising a processor 261, a memory 262, a storage unit 263 capable of storing programs and data, and an input / output control unit 264. The functions of the drive controller 260 are realized by the processor executing programs. At least some of the functions of the drive controller 260 may be realized by dedicated logic circuits.

[0085] The drive controller 260 is desirable to have high computing performance in order to precisely control the multiple motors that drive the multiple curved wires 160. The drive controller 260 may also have components other than the processor 261, memory 262, storage unit 263, and input / output control unit 264. For example, the drive controller 260 may further have an image processing unit that performs some or all of the image processing or image recognition processing. By having an additional image processing unit, the drive controller 260 can execute specific image processing or image recognition processing at high speed. The image processing unit may be mounted on a separate hardware device connected by a communication line.

[0086] [Operation Unit 300] Figure 11 is a perspective view of the operation unit 300. Figure 12 is a perspective view of the operation unit 300 as seen from the rear 311. Figure 13 is a side view of the operation unit 300.

[0087] The control unit 300 is a device that receives input for operations to drive the endoscope 100. The input operations are transmitted to the drive unit 200 via the control cable 301.

[0088] The control unit 300 comprises a control unit body 310, a first angle knob 320, a second angle knob 330, an air supply button 350, a suction button 351, various buttons 352, a motion scale control unit 353, a standardization control unit 354, and a relaxation control unit 355.

[0089] The operating unit body 310 is formed in a substantially cylindrical shape that can be grasped by the operator S with their left hand L. As shown in Figure 12, the operating unit body 310 has a back surface 311 that can be rested on by the palm of the operator S's left hand L. An operating cable 301 is connected to the longitudinal end of the operating unit body 310.

[0090] The first angle knob 320 and the second angle knob 330 are examples of interfaces to which a bending operation to bend the curved section 112 is input. In the following description, the first angle knob 320 and the second angle knob 330 may be simply referred to as angle knobs.

[0091] The first angle knob 320 and the second angle knob 330 are rotatably mounted on the operating unit body 310. The first angle knob 320 and the second angle knob 330 are mounted on the front 312 opposite to the rear 311. The first angle knob 320 and the second angle knob 330 rotate in the rotational direction M around the same rotation axis 300r.

[0092] The first angle knob 320 and the second angle knob 330 are equipped with encoders (not shown) that detect the rotation angle, rotation speed, etc., in the rotation operation input to the first angle knob 320 and the second angle knob 330. The detection results of the encoders are transmitted to the drive unit 200. The detailed configuration of the first angle knob 320 and the second angle knob 330 will be described later.

[0093] In the following explanation, the direction in which the first angle knob 320 and the second angle knob 330 are attached to the operating unit body 310 in the direction in which their rotation axes 300r extend (axial direction) is defined as "front FR," and the opposite direction is defined as "rear RR." In addition, the direction in which the operating cable 301 is attached to the operating unit body 310 in the longitudinal direction of the operating unit body 310 is defined as "downward LWR," and the opposite direction is defined as "upward UPR." Furthermore, the direction to the right toward rear RR is defined as "rightward RH," and the opposite direction is defined as "leftward LH."

[0094] In this embodiment, the direction in which the rotation axes 300r of the first angle knob 320 and the second angle knob 330 extend is substantially perpendicular to the back surface 311 of the operating unit body 310.

[0095] The air supply button 350 is mounted on the upper part of the operating unit body 310 and is operated by the index or middle finger of the left hand L, as shown in Figure 12. When the air supply button 350 is pressed, air is supplied from the opening 111a of the tip 111 of the endoscope 100. The operation of the air supply button 350 is transmitted to the drive unit 200.

[0096] The air supply button 350 may also accept an operation to supply liquid such as water from the tip 111 of the endoscope 100. When the air supply button 350 has a water supply function, for example, when the air supply button (air supply / water supply button) 350 is pressed, water is supplied from the opening 111a of the tip 111 of the endoscope 100. In this case, for example, the drive device 200 has a water supply drive unit (not shown) equipped with a pump or the like, and the operation of the air supply button 350 is transmitted to the water supply drive unit, thereby supplying water from the tip 111 of the endoscope 100.

[0097] When water is supplied from the opening 111a by operating the air supply button 350, for example, the endoscope 100 is equipped with a water supply tube (not shown) connected to the water supply drive unit described above, through which liquid such as water flows in from the water supply drive unit. The air supply and suction tube 172 may function as an air supply and water supply tube capable of supplying both air and water. In this case, it is desirable that the air supply and suction drive unit 230 in the drive device 200 is divided into an air supply drive unit that supplies air and a suction drive unit that performs suction.

[0098] For example, the aforementioned air and water supply tube branches into a water supply tube and an air supply tube at the base end A2 of the insertion section 110. Liquid such as water flows from the water supply drive unit to the air and water supply tube via the water supply tube, and air is supplied from the aforementioned air supply drive unit to the air and water supply tube via the air supply tube.

[0099] Furthermore, the channel tube 171 may function as a suction tube capable of performing suction. In this case, the suction tube (channel tube 171) is connected to the suction drive unit described above, and when the suction drive unit is driven, suction is performed from the opening 111a via the suction tube. Also, at the proximal end A2 of the insertion portion 110, the channel tube 171 is branched into a portion connected to the forceps port 126, which is the insertion port of the treatment instrument 400, and a portion connected to the suction drive unit.

[0100] Thus, the tube used for both air supply and suction is not limited to a single tube (air supply / suction tube 172). Air supply may be performed by the aforementioned air supply tube, and suction may be performed by the channel tube 171 (suction tube). Furthermore, the endoscope 100 may have a water supply tube for water supply at the proximal end A2 of the insertion section 110, or the insertion section 110 may have an air supply / water supply tube where the air supply tube and the water supply tube merge to perform both air supply and water supply.

[0101] The suction button 351 is mounted on the upper part of the operating unit body 310 and is operated by the index or middle finger of the left hand L, as shown in Figure 12. When the suction button 351 is pressed, suction is performed from the opening 111a of the tip 111 of the endoscope 100. The operation of the suction button 351 is transmitted to the drive unit 200.

[0102] Furthermore, the suction performed from the opening 111a may be carried out by an air supply / suction tube 172 capable of both air supply and suction, or, if air supply and suction are carried out by different tubes, it may be carried out by a channel tube 171 (suction tube) as described above.

[0103] The various buttons 352 are mounted on the upper part UPR of the operating unit body 310 and are operated by the thumb of the left hand L, as shown in Figure 12. Any function can be assigned to the various buttons 352. If there is no function to assign to the various buttons 352 and the various buttons 352 are unnecessary, the operating unit 300 does not need to be equipped with the various buttons 352.

[0104] The motion scale control unit 353 accepts operations to change the motion scale. The motion scale control unit 353 only needs to be capable of accepting operations to change the motion scale and can be configured by an appropriate mechanism such as a switch, button, knob, or lever. The arrangement of the motion scale control unit 353 in the control unit 300 is not limited to the arrangement shown in Figure 12.

[0105] The motion scale is the ratio between the amount of bending operation input to the control unit 300 and the amount of bending control of the bending section 112. Details of the bending control amount of the bending section 112 will be described later. By changing the motion scale, for example, the bending angle of the bending section 112 that bends when the angle knobs 320 and 330 are rotated by a predetermined angle can be changed.

[0106] The standardization operation unit 354 accepts operations to set the curvature control amount of the curved section 112 to a standard curvature amount. Details of the standard curvature amount will be described later. By operating the standardization operation unit 354, the operator S can, for example, make the curved section 112 into a straight shape.

[0107] The standardization operation unit 354 is composed of an appropriate mechanism such as a switch, button, knob, or lever. The arrangement of the standardization operation unit 354 in the operation unit 300 is not limited to the arrangement shown in Figure 12.

[0108] The tension release unit 355 accepts operations to release the tension on the curved wire 160. By operating the tension release unit 355, the operator S can make the curved wire 160 slack. For example, when the curved wire 160 is slack, there is no tension on the curved wire 160.

[0109] The decompression control unit 355 is composed of an appropriate mechanism such as a switch, button, knob, or lever. The arrangement of the decompression control unit 355 in the control unit 300 is not limited to the arrangement shown in Figure 12.

[0110] The drive controller 260 of the drive unit 200 receives operation inputs transmitted by the operation unit 300 and controls the air supply / suction drive unit 230 and the wire drive unit 250. Based on the rotation operation input to the first angle knob 320, the drive controller 260 controls the upper and lower bending wire drive unit 251 and drives the wires that bend the bending section 112 in the UD direction (upper bending wire 161u and lower bending wire 161d). The drive controller 260 also controls the left and right bending wire drive unit 252 based on the rotation operation input to the second angle knob 330 and drives the wires that bend the bending section 112 in the LR direction (left bending wire 161l and right bending wire 161r).

[0111] Figure 14 is a front view of the first angle knob 320 as seen from the front FR. As shown in Figure 14, the first angle knob 320 has an initial position where the origin OP and the reference point L1 on the first angle knob 320 are aligned. The first angle knob 320 is rotatable about the rotation axis 300r, and bending operation is input by rotating the reference point L1 away from the origin OP (first direction M1) and in the direction returning the reference point L1 to the origin OP (second direction M2).

[0112] The second angle knob 330, like the first angle knob 320, receives bending input by rotating it around the rotation axis 300r in a direction away from the origin OP (first direction M1) and in a direction returning to the origin OP (second direction M2). In this embodiment, the second angle knob 330's initial position is the position where the origin OP and a reference point (not shown) on the second angle knob 330 are aligned. The origin on the first angle knob 320 and the origin on the second angle knob 330 do not have to be the same position.

[0113] Figure 15 shows the curved section 112. The curved section 112 curves by a curve control amount corresponding to the amount of operation in the bending operation input to the first angle knob 320 and the second angle knob 330.

[0114] The amount of manipulation in the bending operation is the amount of bending operation input to the first angle knob 320 and the second angle knob 330, for example, the rotation angle θ of the first angle knob 320 and the second angle knob 330. The amount of manipulation in the bending operation is the amount of movement of the angle knobs 320 and 330 from their initial positions, and is not limited to the rotation angle θ.

[0115] The curvature control amount of the curved section 112 refers to, for example, the curvature angle of the curved section 112, the curvature of the curved section 112, the amount of tension and slack in the curved wire 160 that inputs power for the curvature of the curved section 112, and the control amount of the drive unit (motor, actuator, etc.) that generates the driving force for the curvature of the curved section 112.

[0116] The curvature angle φ shown in Figure 15 is an example of the curvature control amount of the curved section 112, and represents the angular displacement amount from the reference curvature amount in the curved section 112. The reference curvature amount of the curved section 112 is the curvature control amount corresponding to the operating amount of the first angle knob 320 or the second angle knob 330 located at the origin OP (initial position), and is, for example, the curvature control amount when the curved section 112 is not curved and has a straight shape.

[0117] In this embodiment, the curved portion 112 curves in the +φ direction shown in Figure 15 by rotating the first angle knob 320 in the +θ direction shown in Figure 14, and curves in the -φ direction shown in Figure 15 by rotating the first angle knob 320 in the -θ direction shown in Figure 14.

[0118] When the upward UPR of the operating unit 300 is aligned with the tip side A1 of the endoscope 100 in the longitudinal direction A, the rotation direction of the first angle knob 320 or the second angle knob 330 coincides with the curvature direction of the curved portion 112 at the tip of the endoscope 100. This makes the rotation direction of the operating unit 300 and the curvature direction of the curved portion 112 intuitively related for the operator S, thereby improving operability.

[0119] The control unit 300 is small and lightweight because it does not have a drive mechanism to drive the bending section 112 of the endoscope 100. In addition, the first angle knob 320, the second angle knob 330, the air supply button 350, the suction button 351, and the various buttons 352 are positioned so that the operator S can easily operate them with only their left hand L. Therefore, as shown in Figure 2, the operator S can easily grip and operate the control unit 300 with only their left hand L.

[0120] [Image Control Device 500] Figure 16 is a functional block diagram of the image control device 500. The image control device 500 controls the motorized endoscope system 1000. The image control device 500 comprises a third adapter 510, an imaging processing unit 520, a light source unit 530, and a main controller 560.

[0121] The third adapter 510 is an adapter to which the second attachment / detachment part 1502 of the endoscope 100 is detachably connected. The imaging processing unit 520 converts the imaging signal acquired from the imaging unit 111c of the tip 111 via the imaging cable 173 into an image. The light source unit 530 generates illumination light that is irradiated onto the object to be imaged. The illumination light generated by the light source unit 530 is guided to the illumination unit 111b of the tip 111 via the light guide 174.

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

[0123] The main controller 560 includes a processor 561, a memory 562 capable of reading programs, a storage unit 563, and an input / output control unit 564. The storage unit 563 is a non-volatile recording medium that stores the aforementioned programs and necessary data. The storage unit 563 is composed of, for example, ROM or a hard disk. Programs recorded in the storage unit 563 are read into the memory 562 and executed by the processor 561.

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

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

[0126] Furthermore, the main controller 560 is not limited to an integrated hardware device. For example, the main controller 560 may be configured by separating a part of it into a separate hardware device and connecting the separated hardware device via a communication line. For example, the main controller 560 may be a cloud system in which the separated storage unit 563 is connected via a communication line.

[0127] The main controller 560 may have configurations other than the processor 561, memory 562, storage unit 563, and input / output control unit 564 shown in Figure 16. For example, the main controller 560 may further have an image processing unit that performs some or all of the image processing and image recognition processing that was performed by the processor 561. By having an additional image processing unit, the main controller 560 can execute specific image processing and image recognition processing at high speed. The image processing unit may be mounted on a separate hardware device connected by a communication line.

[0128] Next, the detailed configuration of the first angle knob 320 and the second angle knob 330 will be described. Figure 17 is a cross-sectional view showing the basic configuration of the angle knobs (first angle knob 320 and second angle knob 330).

[0129] In the following explanation, as shown in Figure 17, the direction perpendicular to the rotation axis 300r is defined as the "radial direction RD", the side away from the rotation axis 300r is defined as the "outer side OU" in the radial direction RD, and the side approaching the rotation axis 300r is defined as the "inner side IN" in the radial direction RD.

[0130] The first angle knob 320 and the second angle knob 330 are attached to the front surface 312 of the operating unit 300 via the knob fixing portion 312a. The first angle knob 320 and the second angle knob 330 could also be attached directly to the front surface 312 without the knob fixing portion 312a, but by using the knob fixing portion 312a, the first angle knob 320 and the second angle knob 330 can be easily removed from the operating unit 300 when replacing components.

[0131] The first angle knob 320 comprises a first upper cover 321, a first lower cover 322, a first knob shaft 323, a first O-ring 324, a first base 325, a fixed shaft portion 327, and a third O-ring 328.

[0132] The first upper cover 321 has a substantially cylindrical shape with the rotation axis 300r as its central axis, and forms the outer shape of the first angle knob 320 that the operator S touches when operating it with their left hand L. As shown in Figure 17, the first upper cover 321 has a substantially cylindrical concave shape that opens to the rear RR. At least a part of the first base 325 is provided inside this concave shape.

[0133] The first lower cover 322 is substantially disc-shaped with respect to the rotation axis 300r and has a substantially circular opening with respect to the rotation axis 300r. The first lower cover 322 is attached to the rear RR of the first upper cover 321 and is provided so as to cover at least a portion of the outer OU in the concave rear RR opening formed in the first upper cover 321.

[0134] In the following explanation, the first upper cover 321 and the first lower cover 322 will also be simply referred to as "covers".

[0135] The first knob shaft 323 is the rotating shaft portion for the first angle knob 320 to rotate around the rotation axis 300r as its center of rotation. The first knob shaft 323 has a substantially cylindrical shape with the rotation axis 300r as its central axis and is connected to the knob fixing portion 312a via a first O-ring 324 attached to its outer circumferential surface.

[0136] The first O-ring 324 and the knob fixing portion 312a are in contact in the radial direction RD. The first knob shaft 323 is rotatable relative to the knob fixing portion 312a with the rotation axis 300r as the center of rotation, by sliding the first O-ring 324 against the knob fixing portion 312a.

[0137] Since the rear end RR of the first upper cover 321 and the front end FR of the first knob shaft 323 are connected, the first upper cover 321 and the first lower cover 322 can rotate together with the first knob shaft 323 in the rotational direction M relative to the knob fixing part 312a with respect to the rotation axis 300r as the center of rotation.

[0138] The fixed shaft portion 327 is substantially cylindrical with the rotation axis 300r as its central axis. As shown in Figure 17, the fixed shaft portion 327 is located inside IN of the first upper cover 321 and the first knob shaft 323. The rear end RR of the fixed shaft portion 327 is connected to the knob fixing portion 312a (not shown). Since the fixed shaft portion 327 is fixed to the knob fixing portion 312a by screws or the like, it does not rotate in the rotational direction M relative to the knob fixing portion 312a.

[0139] The third O-ring 328 is attached to the outer circumferential surface of the fixed shaft portion 327 and is in radial contact RD with the first knob shaft 323. When the first angle knob 320 rotates, the inner circumferential surface of the first knob shaft 323 and the third O-ring 328 slide against each other, causing the first knob shaft 323 to rotate.

[0140] The second angle knob 330 comprises a second upper cover 331, a second lower cover 332, a second knob shaft 333, a second O-ring 334, and a second base 335.

[0141] The second upper cover 331 has a substantially cylindrical shape with the rotation axis 300r as its central axis, and forms the outer shape of the second angle knob 330 that the operator S touches when operating it with their left hand L. As shown in Figure 17, the second upper cover 331 has a substantially cylindrical concave shape that opens to the rear RR. At least a part of the second base 335 is provided inside this concave shape.

[0142] The second lower cover 332 is substantially disc-shaped with respect to the rotation axis 300r and has a substantially circular opening with respect to the rotation axis 300r. The second lower cover 332 is attached to the rear RR of the second upper cover 331 and covers at least a portion of the outer OU in the concave rear RR opening formed in the second upper cover 331.

[0143] In the following explanation, the second upper cover 331 and the second lower cover 332 will also be simply referred to as "covers".

[0144] The second knob shaft 333 is the rotating shaft portion for the second angle knob 330 to rotate around the rotation axis 300r as its center of rotation. The second knob shaft 333 has a substantially cylindrical shape with the rotation axis 300r as its central axis and is positioned inside the fixed shaft portion 327. The second knob shaft 333 is connected to the fixed shaft portion 327 via a second O-ring 334 attached to its outer circumferential surface. The second O-ring 334 and the fixed shaft portion 327 are in contact in the radial direction RD. The second knob shaft 333 is rotatable relative to the fixed shaft portion 327 around the rotation axis 300r by sliding the second O-ring 334 against the fixed shaft portion 327.

[0145] The second upper cover 331 is connected to the second knob shaft 333 and is rotatable together with the second knob shaft 333 about the rotation axis 300r as the center of rotation. The first upper cover 321 and the first lower cover 322 are rotatable together with the first knob shaft 323 about the rotation axis 300r as the center of rotation relative to the fixed shaft portion 327 in the rotation direction M.

[0146] Thus, the first angle knob 320 and the second angle knob 330 are configured to rotate independently of each other in the rotational direction M.

[0147] The cross-sectional view shown in Figure 17 illustrates the basic configuration in which the first angle knob 320 and the second angle knob 330 are rotatable in the rotational direction M. The detailed shapes of the components constituting the first angle knob 320 and the second angle knob 330 are not limited to those shown in Figure 17.

[0148] Figure 18 is a cross-sectional view showing the resistance mechanism RM of the second angle knob 330. Figure 19 is a perspective view showing a part of the resistance mechanism RM. The details of the resistance mechanism RM will be explained using Figures 18 and 19.

[0149] The resistance mechanism RM shown in Figure 18 is provided in the internal space of the second angle knob 330. A resistance mechanism RM is also provided in the internal space of the first angle knob 320, but since it has the same structure as the resistance mechanism RM of the second angle knob 330, it is not shown or described.

[0150] In this embodiment, the resistance mechanism RM comprises a fixed shaft 11, a rotor 12, a rotor pin 13, a wave washer 14, a first friction plate 15, and a second friction plate 16.

[0151] The fixed shaft 11 has a substantially cylindrical shape with the rotating shaft 300r as its central axis, and is connected to the front FR of the second base 335 within the internal space of the second angle knob 330. As shown in Figure 19, a slope portion 11a, which is a groove shape recessed inward IN, is formed on the outer surface OU of the fixed shaft 11.

[0152] A reference groove 11b is formed in the slope portion 11a, which is partially recessed towards the rear RR. The slope portion 11a has a slope shape that slopes forward FR as it moves away from the reference groove 11b.

[0153] The rotor 12 has a substantially cylindrical shape with the rotation axis 300r as its central axis and is installed on the outside OU of the fixed shaft 11. The rotor 12 is installed surrounding the fixed shaft 11 from the outside OU.

[0154] The rotor pin 13 is a rod-shaped member extending radially RD, and is installed by inserting it radially RD through the rotor 12. The rotor pin 13 is fixed to the rotor 12. Here, a groove shape (fixing groove 331a) recessed outward OU is formed on the inner surface IN of the second upper cover 331 facing the internal space of the second angle knob 330. The outer end OU of the rotor pin 13 is fixed to the second upper cover 331 by being placed inside the fixing groove 331a.

[0155] The rotor pin 13 is provided in contact with the fixed groove 331a in the rotational direction M. The rotor pin 13 and the fixed groove 331a do not need to be in strict contact; they may be positioned with a slight gap in the rotational direction M.

[0156] When the second angle knob 330 rotates in the rotational direction M, the fixed shaft 11, which is fixed to the second base 335, does not rotate in the rotational direction M. Also, when the second angle knob 330 rotates in the rotational direction M, the rotor pin 13, whose outer end OU is sandwiched in the fixed groove 331a, and the rotor 12 to which the rotor pin 13 is fixed, rotate together with the second upper cover 331 in the rotational direction M. In other words, when the second angle knob 330 rotates in the rotational direction M, the rotor 12 and rotor pin 13 rotate in the rotational direction M relative to the fixed shaft 11.

[0157] Furthermore, the inner end of the rotor pin 13 is located inside the slope portion 11a of the fixed shaft 11. Since the inner end of the rotor pin 13 is not fixed to the slope portion 11a, the rotor pin 13 is rotatable relative to the slope portion 11a in the rotational direction M.

[0158] As described above, the slope portion 11a is inclined as it moves away from the reference groove 11b. Therefore, when the rotor 12 and rotor pin 13 rotate in the rotational direction M relative to the fixed shaft 11, the rotor pin 13 moves along the inclination of the slope portion 11a. As a result, the rotor 12 and rotor pin 13 move up and down in the direction in which the rotation shaft 300r extends (axial direction).

[0159] The resistance mechanism RM may have multiple rotor pins 13. In this case, it is sufficient that at least one rotor pin 13 is positioned on the slope portion 11a, and at least one rotor pin 13 is fixed to the fixing groove 331a. The resistance mechanism RM shown in Figure 18 has two rotor pins 13 positioned on the left LH and right RH, and the two rotor pins 13 are fixed to the fixing groove 331a on the left LH and right RH, respectively. In addition, the rotor pin 13 on the left LH is positioned on the slope portion 11a, while the rotor pin 13 on the right RH is not positioned on the slope portion 11a.

[0160] The wave washer 14 is provided in the internal space of the second angle knob 330, forward FR of the rotor 12. The wave washer 14 is an annular metal plate with the rotation axis 300r as its central axis, and is an elastic member that has been bent in a wave-like manner in the direction in which the rotation axis 300r extends. The wave washer 14 has a predetermined height in the direction in which the rotation axis 300r extends. The wave washer 14 can expand and contract in the direction in which the rotation axis 300r extends due to elastic deformation.

[0161] The first friction plate 15 is an annular member provided at the front FR of the second lower cover 332 and the rear RR of the second base 335. That is, the first friction plate 15 is provided between the second lower cover 332 and the second base 335 in the direction in which the rotation axis 300r extends. The first friction plate 15 is in contact with the second lower cover 332 and the second base 335.

[0162] The first friction plate 15 is plate-shaped with a predetermined width in the radial direction RD, and its front surface FR is fixed to the second base 335. At least the rear surface RR of the first friction plate 15 is made of a material capable of generating frictional force with the second lower cover 332.

[0163] The second friction plate 16 is an annular member provided in the internal space of the second angle knob 330, in front of the wave washer 14 (FR). The second friction plate 16 is plate-shaped with a predetermined width in the radial direction (RD), and its front FR surface is fixed to the second upper cover 331. At least the rear RR surface of the second friction plate 16 is made of a material capable of generating frictional force with the wave washer 14.

[0164] Next, the operation of the resistance mechanism RM will be explained. In the following explanation, the operation of the resistance mechanism RM provided on the second angle knob 330 shown in Figure 18 will be described, but the operation of the resistance mechanism RM provided on the first angle knob 320 is similar.

[0165] When the second angle knob 330 is in the initial position where the origin OP and the reference point L1 are aligned, the rotor pin 13 is located in the reference groove 11b of the fixed shaft 11. At this time, the wave washer 14 is in contact with the rotor 12 and the second friction plate 16 in the direction in which the rotating shaft 300r extends.

[0166] From this state, operator S rotates the second angle knob 330 in the first direction M1, where the reference point L1 moves away from the origin OP, and inputs a bending operation to the second angle knob 330 to bend the curved section 112.

[0167] At this time, the drive unit 200 receives an operation input from the operation unit 300 and curves the curved section 112 by a curve control amount corresponding to the amount of operation (for example, rotation angle θ) in the curve operation input to the second angle knob 330.

[0168] Furthermore, when the second angle knob 330 rotates in the first direction M1, the rotor 12 and rotor pin 13 rotate together with the second upper cover 331 in the first direction M1 relative to the fixed shaft 11, and the rotor pin 13 moves forward FR along the slope portion 11a which inclins forward FR (one side in the axial direction) as it moves away from the reference groove 11b. At this time, the rotor 12 moves forward FR together with the rotor pin 13.

[0169] The rotor 12, having moved forward to the front FR, is in contact with a wave washer 14 located at the front FR of the rotor 12. The wave washer 14 is compressed by the rotor 12 in the direction in which the rotation axis 300r extends, and is pressed against a second friction plate 16 located at the front FR of the wave washer 14.

[0170] When the wave washer 14 is pressed against the second friction plate 16, a frictional force is generated between the wave washer 14 and the second friction plate 16. When the second angle knob 330 rotates in the first direction M1, the second friction plate 16 is fixed to the second upper cover 331 and rotates in the first direction M1 together with the second upper cover 331. Also, when the second angle knob 330 rotates in the first direction M1, the wave washer 14 does not rotate in the first direction M1. Therefore, the second upper cover 331, which rotates in the first direction M1, experiences a resistance force that inhibits its rotation in the first direction M1 due to the frictional force generated between the second friction plate 16 and the wave washer 14.

[0171] Furthermore, as the wave washer 14 is pressed against the second friction plate 16 from the rear RR, a force is applied from the rear RR to the second upper cover 331 to which the second friction plate 16 is fixed. As a result of the force applied to the second upper cover 331 from the rear RR, the second lower cover 332, which is fixed to the second upper cover 331, is pressed against the first friction plate 15, and a frictional force is generated between the second lower cover 332 and the first friction plate 15.

[0172] When the second angle knob 330 rotates in the first direction M1, the second upper cover 331 also rotates in the first direction M1. However, when the second angle knob 330 rotates in the first direction M1, the first friction plate 15 fixed to the second base 335 does not rotate in the first direction M1. Therefore, the second lower cover 332, which rotates in the first direction M1, experiences a resistance force that inhibits its rotation in the first direction M1 due to the friction force generated between the second lower cover 332 and the first friction plate 15.

[0173] In this way, when the second angle knob 330 rotates in the first direction M1, the second upper cover 331 and the second lower cover 332, which form the outer shape of the second angle knob 330, generate a resistance force that inhibits rotation in the first direction M1 due to the resistance mechanism RM.

[0174] For example, in conventional manual medical manipulators (such as endoscopes), when the operator manipulates the angle knob on the control unit to bend the curved section, the force acting on the wire bending the section is transmitted to the angle knob as a reaction force, allowing the operator to feel tactile feedback.

[0175] In this embodiment, the operating unit 300 can generate a resistance force by the resistance mechanism RM against the angle knobs 320 and 330 that rotate in the first direction M1. The operator S can feel tactile feedback through the resistance force by the resistance mechanism RM. Therefore, the electric endoscope system 1000 equipped with the operating unit 300 can provide the operator S with operability similar to that of a conventional medical manipulator, thereby improving operability.

[0176] As described above, when the angle knobs 320 and 330 are in their initial positions, the wave washer 14 is in contact with the rotor 12 and the second friction plate 16. Therefore, when the angle knobs 320 and 330 are rotated in the first direction M1, the resistance mechanism RM can generate a resistance force against the angle knobs 320 and 330 even when the rotation angle θ is small.

[0177] Furthermore, since the slope portion 11a is inclined forward FR as it moves away from the reference groove 11b, when the angle knobs 320 and 330 are rotated in the rotational direction M, the rotor 12 moves forward FR as the rotational angle θ increases, and the amount of compression of the wave washer 14 in the direction in which the rotational axis 300r extends increases.

[0178] Therefore, the resistance force generated by the resistance mechanism RM increases as the rotation angle θ that rotates the angle knobs 320 and 330 in the first direction M1 increases. In other words, the resistance mechanism RM can generate a resistance force corresponding to the amount of operation of the angle knobs 320 and 330.

[0179] When the angle knobs 320 and 330, which have been rotated in the first direction M1, are rotated in the second direction M2 opposite to the first direction M1, the rotor pin 13 moves rearward RR (the other direction in the axial direction) along the slope portion 11a. As a result, the amount of compression of the wave washer 14 decreases as the angle knobs 320 and 330 rotate in the second direction M2. That is, when the angle knobs 320 and 330 rotate in the second direction M2, opposite to when they rotate in the first direction M1, the resistance force by the resistance mechanism RM decreases according to the rotation angle of the angle knobs 320 and 330 in the second direction M2.

[0180] Furthermore, the slope portion 11a is provided with a reference groove 11b that is recessed to the rear RR. Therefore, when the rotor pin 13 positioned in the reference groove 11b moves away from the reference groove 11b, or when the rotor pin 13 approaching the reference groove 11b is positioned in the reference groove 11b, the operator S can feel a click. As a result, the operator S can easily understand that the angle knobs 320 and 330 are in their initial positions by feeling a click.

[0181] Here, the maximum amount of curvature of the curved section 112 may differ depending on the direction of curvature. The maximum amount of curvature of the curved section 112 is the absolute value of the maximum amount of curvature control that the operator S can achieve by operating the control unit 300.

[0182] For example, in the curved section 112 shown in Figure 15, the -φ side is defined as the U side in the UD direction, and the +φ side is defined as the D side in the UD direction. If the curved section 112 is configured to bend to -210° in the U side, the maximum amount of curvature in the U side is 210°. Also, if the curved section 112 is configured to bend to 90° in the D side, the maximum amount of curvature in the D side is 90°.

[0183] The inclination angle of the slope portion 11a is preferably an angle corresponding to the maximum curvature of the curved portion 112. For example, if the maximum curvature of the curved portion 112 differs depending on the curvature direction, the slope portion 11a is formed by slopes with different inclination angles corresponding to each maximum curvature.

[0184] As described above, in this embodiment, the rotation of the first angle knob 320 in the +θ direction corresponds to the curvature of the curved portion 112 in the +φ direction (D side), and the rotation of the first angle knob 320 in the -θ direction corresponds to the curvature of the curved portion 112 in the -φ direction (U side).

[0185] In this case, the inclination angles of the slope portion 11a along which the rotor pin 13 follows when the first angle knob 320 rotates in the +θ direction (D-side inclination surface) and the slope portion 11a along which the rotor pin 13 follows when the first angle knob 320 rotates in the -θ direction (U-side inclination surface) may be different, with respect to the reference groove 11b.

[0186] For example, if the maximum curvature of the curved section 112 on the U side is 210° and the maximum curvature on the D side is 90°, and the inclination angles of the D-side inclined surface and the U-side inclined surface of the slope section 11a are equal, then the rotation angle by which the operator S rotates the first angle knob 320 in the first direction M1 to curve the curved section 112 until it reaches the maximum curvature on the U side is greater than the rotation angle by which the operator S rotates the first angle knob 320 in the first direction M1 to curve the curved section 112 until it reaches the maximum curvature on the D side.

[0187] As described above, the resistance force generated by the resistance mechanism RM increases as the rotation angle θ of the first angle knob 320 in the first direction M1 increases. Therefore, when the curved portion 112 is curved to its maximum curvature, the resistance force generated by the resistance mechanism RM when the curved portion 112 reaches the maximum curvature of 210° on the U side (maximum resistance force on the U side) is greater than the resistance force generated by the resistance mechanism RM when the curved portion 112 reaches the maximum curvature of 90° on the D side (maximum resistance force on the D side). Note that the above maximum curvature is just an example and is not limited thereto.

[0188] In this case, by making the inclination angle of the U-side inclined surface of the slope section 11a smaller than the inclination angle of the D-side inclined surface, the maximum resistance force on the U side can be reduced. This prevents excessive strain on the operator's fingers due to the resistance force generated by the resistance mechanism RM, and improves the operability of the first angle knob 320.

[0189] Preferably, the inclination angle of the U-side inclined surface and the inclination angle of the D-side inclined surface are such that, for example, the maximum resistance force on the U-side and the maximum resistance force on the D-side are equal.

[0190] Similarly, in the case of the second angle knob 330 corresponding to the L and R directions of the curved section 112, the operability of the second angle knob 330 can be improved by setting the inclination angle of the slope section 11a to an inclination angle corresponding to the maximum amount of curvature in each curvature direction.

[0191] The resistance force generated by the resistance mechanism RM may increase linearly, quadratically, or exponentially according to the amount of operation of the angle knobs 320 and 330. In the resistance mechanism RM of this embodiment, the maximum value and increase amount of the resistance force generated by the resistance mechanism RM can be adjusted by setting the inclination angle of the slope portion 11a to an appropriate angle.

[0192] Here, we will explain the magnitude of the resistance force generated by the resistance mechanism RM when the positions of the angle knobs 320 and 330 are in order of increasing absolute value of rotation angle θ: initial position, first region, second region, and third region.

[0193] For example, it is preferable that the resistance force generated by the resistance mechanism RM when the angle knobs 320 and 330 are in their initial positions is small enough that a stick-slip phenomenon does not occur.

[0194] The first region is the position of the angle knobs 320 and 330 when the absolute value of the rotation angle θ of the angle knobs 320 and 330 is small, and is a region near the initial position. When the angle knobs 320 and 330 are in the first region, the resistance force generated by the resistance mechanism RM is preferably of a magnitude and rate of change such that the operator S can grasp the initial position of the angle knobs 320 and 330 when the angle knobs 320 and 330, which have been rotated in the first direction M1, are rotated in the second direction M2 to return them to their initial position.

[0195] The third region is the region near the maximum rotation position, where the position of the angle knobs 320 and 330 when the curvature control amount of the curved section 112 reaches its maximum curvature is defined as the maximum rotation position. The second region is the region between the first and third regions.

[0196] The angle knobs 320 and 330, which rotate in the first direction M1 from their initial position, rotate to the first region, which is the region near the initial position, and then rotate in the order of the first region, the second region, and the third region until they reach the maximum rotation position. The third region may include the maximum rotation position.

[0197] When the angle knobs 320 and 330 are in the second region, the resistance force generated by the resistance mechanism RM preferably changes at a rate that allows the operator S to grasp the amount of curvature control of the curved portion 112.

[0198] When the angle knobs 320 and 330 are in the third region, it is preferable that the resistance force generated by the resistance mechanism RM changes at a smaller rate of change than the rate of change of the resistance force in the second region.

[0199] When the angle knobs 320 and 330 are in the maximum rotation position, the resistance force generated by the resistance mechanism RM is preferably large enough for the operator S to understand that the curvature control amount of the curved portion 112 is the maximum curvature amount, and is also small enough that a stick-slip phenomenon does not occur.

[0200] In the medical manipulator system 1000 of this embodiment, the operating unit 300 receives bending operations of the bending portion 112 of the medical manipulator 100. The operating unit 300 includes an interface (angle knobs 320, 330) that receives bending operations and can detect the amount of bending operation, and a resistance mechanism RM disposed inside the interface that generates a resistance force that changes according to the amount of operation relative to the interface.

[0201] The interface of the operating unit 300 is capable of detecting the amount of manipulation in at least two or more bending directions of the curved section 112. The resistance mechanism RM generates a resistance force with a change amount corresponding to the maximum bending amount in each of the two or more bending directions.

[0202] With this configuration of the operating unit 300 and medical manipulator system 1000, the operator S can feel tactile feedback through the resistance force generated by the resistance mechanism RM, thereby providing an operating unit 300 and medical manipulator system 1000 with improved operability.

[0203] (Second Embodiment) A second embodiment of the present disclosure will now be described.

[0204] In the following explanation, components that are common to those already explained will be denoted with the same symbols, and redundant explanations will be omitted.

[0205] Figure 20 is a cross-sectional view showing the resistance mechanism RM of the angle knob 330A according to the second embodiment. Figure 21 is a perspective view showing the resistance mechanism RM according to the second embodiment.

[0206] In this embodiment, the resistance mechanism RM shown in Figure 20 is provided in the internal space of the second angle knob 330A. A resistance mechanism RM is also provided in the internal space of the first angle knob 320A, but since it has the same structure as the resistance mechanism RM of the second angle knob 330A, it is not shown or described.

[0207] In this embodiment, the resistance mechanism RM comprises a plunger base 21, a plunger 22, and a knob slope 23.

[0208] The plunger base 21 is fixed to the front FR surface of the second base 335 within the internal space of the second angle knob 330A. The plunger base 21 is an annular plate member with the rotation axis 300r as its central axis. A plunger fixing portion 21a is formed on the front FR surface of the plunger base 21 for fixing the plunger 22 to the plunger base 21.

[0209] The plunger 22 is a plunger such as a pin plunger or a ball plunger, in which the plunger tip 22a is movably mounted relative to the main body (plunger body) which is fixed to the plunger base 21.

[0210] An elastic member, such as a spring, that can expand and contract radially RD is provided in the internal space of the main body of the plunger 22. The plunger tip 22a is connected to the outer end OU of this elastic member. When an inward force IN is applied to the plunger tip 22a, the elastic member connected to the plunger tip 22a contracts inward IN, causing the plunger tip 22a to move inward IN.

[0211] When the force applied to the plunger tip 22a inward (IN) weakens or is removed, the plunger tip 22a moves outward (OU) due to the elastic force of the elastic member.

[0212] As shown in Figure 21, the knob slope 23 has a substantially cylindrical shape with the rotation axis 300r as its central axis. In this embodiment, the knob slope 23 is fixed to the second upper cover 331. The knob slope 23 may be formed integrally with the second upper cover 331.

[0213] The plunger base 21 and the plunger 22 are arranged in the radial direction RD, surrounded by the inner circumferential surface of the knob slope 23. The plunger tip 22a and the inner circumferential surface of the knob slope 23 are positioned opposite each other in the radial direction RD.

[0214] The arrangement of the plunger 22 and knob slope 23 shown in Figure 21 is, for example, the arrangement when the second angle knob 330A is in its initial position. When the second angle knob 330A is rotated in the rotational direction M, the knob slope 23 fixed to the second upper cover 331 rotates in the rotational direction M, while the plunger base 21 and plunger 22 fixed to the second base 335 do not rotate in the rotational direction M. That is, when the second angle knob 330A is rotated in the rotational direction M, the knob slope 23 rotates in the rotational direction M relative to the plunger 22.

[0215] The inner circumferential surface of the knob slope 23 has projections 23a and 23b that protrude inward (IN). For example, when the second angle knob 330A is rotated in the -θ direction, the projection (first projection) 23a of the knob slope 23, which rotates in the first direction M1 relative to the plunger 22, approaches the plunger tip 22a, and the first projection 23a comes into contact with the plunger tip 22a.

[0216] Similarly, when the second angle knob 330A is rotated in the +θ direction, the projection (second projection) 23b approaches the plunger tip 22a and comes into contact with the plunger tip 22a.

[0217] Here, on the inner circumferential surface of the knob slope 23, the portion that opposes the plunger tip 22a in the radial direction RD when the second angle knob 330A is in the initial position shown in Figure 21 is referred to as the "reference portion". When the second angle knob 330A is in the initial position, it is preferable that the plunger tip 22a is in contact with the reference portion of the knob slope 23 in the radial direction RD.

[0218] The inner surface of the knob slope 23 is inclined to be located inward (IN) as it moves away from the reference portion. The radial thickness RD of the knob slope 23 is, for example, thinnest where the reference portion is located and thickest where the protrusions 23a and 23b are located, gradually increasing inward (IN) from the reference portion toward the protrusions 23a and 23b.

[0219] Therefore, when the second angle knob 330A is rotated in the -θ direction, the plunger tip 22a is pushed inward IN by the inner circumferential surface of the knob slope 23, which rotates in the first direction M1 while contacting the plunger tip 22a in the radial direction RD, and moves inward IN. At this time, the plunger tip 22a is pressed against the inner circumferential surface of the knob slope 23 by an elastic member connected to the plunger tip 22a.

[0220] Therefore, the second upper cover 331, which rotates in the first direction M1, experiences a resistance force that inhibits rotation in the first direction M1 due to the frictional force generated between the plunger tip 22a and the knob slope 23.

[0221] Because the inner surface of the knob slope 23 is inclined inward (IN) from the reference portion to the projection 23a, the amount of inward (IN) push of the plunger tip 22a increases as the absolute value of the rotation angle θ of the second angle knob 330A increases.

[0222] As the amount of indentation of the plunger tip 22a increases, the force pressing the plunger tip 22a against the inner surface of the knob slope 23 by the elastic force of the elastic member increases, and the frictional force generated between the plunger tip 22a and the inner surface of the knob slope 23 increases. Therefore, the resistance mechanism RM can generate a resistance force corresponding to the amount of operation of the second angle knob 330A.

[0223] When the rotation angle θ of the second angle knob 330A reaches a predetermined angle, the projections 23a and 23b and the plunger tip 22a come into contact in the rotation direction M, restricting the rotation of the second angle knob 330A.

[0224] In this embodiment, the resistance mechanism RM can generate resistance through the frictional force generated between the plunger tip 22a and the knob slope 23. The resistance mechanism RM can provide tactile feedback to the operator S through this resistance, thereby improving the operability of the angle knobs 320A and 330A.

[0225] Furthermore, by arranging the angle knobs 320A and 330A so that the plunger tip 22a and the knob slope 23 come into contact when the angle knobs are in their initial positions, a resistance force can be generated by the resistance mechanism RM even when the rotation angle θ is small.

[0226] On the inner circumferential surface of the knob slope 23, the aforementioned reference portion may have a reference groove recessed to the outer side OU. By providing a reference groove, the operator S can feel a click when the plunger tip 22a positioned in the reference groove moves away from the reference groove, or when the plunger tip 22a approaching the reference groove is positioned in the reference groove. This allows the operator S to easily understand, by the click sensation, that the angle knobs 320A and 330A are in their initial positions.

[0227] The inclination angle of the inner surface of the knob slope 23 may be an angle corresponding to the maximum curvature of the curved portion 112. In the resistance mechanism RM of this embodiment, the maximum value and increase amount of the resistance force generated by the resistance mechanism RM can be adjusted by setting the inclination angle of the inner surface of the knob slope 23 to an appropriate angle.

[0228] (Third Embodiment) A third embodiment of the present disclosure will now be described. Figure 22 is a cross-sectional view showing the resistance mechanism RM of the angle knob 330B according to the third embodiment.

[0229] In this embodiment, the resistance mechanism RM shown in Figure 22 is provided in the internal space of the second angle knob 330B. A resistance mechanism RM is also provided in the internal space of the first angle knob 320B, but since it has the same structure as the resistance mechanism RM of the second angle knob 330B, it is not shown or described.

[0230] In this embodiment, the resistance mechanism RM comprises a linear actuator 31 and a brake unit 32.

[0231] The linear actuator 31 comprises an actuator body 31a and a movable part 31b. The actuator body 31a is fixed to, for example, a second base 335. The actuator body 31a may also be fixed to the second base 335 via an annular plate member (actuator base) with the rotation axis 300r as its central axis.

[0232] The movable part 31b is provided so as to be movable relative to the actuator body 31a. The linear actuator 31 is an electric linear actuator that can move the movable part 31b in a straight line by driving an electric motor provided on the actuator body 31a, for example.

[0233] For example, when the linear actuator 31 is driven, the movable part 31b moves in a direction perpendicular to the direction in which the rotation axis 300r extends. In this embodiment, the second angle knob 330B is provided with two linear actuators 31.

[0234] The brake portion 32 is a brake shoe attached to the movable portion 31b. The tip of the brake portion 32 is provided with a contact portion 32a made of rubber or the like. As shown in Figure 22, the contact portion 32a is in contact with the inner circumferential surface 331b of the second upper cover 331.

[0235] When the linear actuator 31 is driven, the movable part 31b moves relative to the actuator body 31a. At this time, the movable part 31b moves in a direction that presses the contact part 32a against the inner circumferential surface 331b of the second upper cover 331. By pressing the contact part 32a against the inner circumferential surface 331b with the movable part 31b, a frictional force is generated between the contact part 32a and the inner circumferential surface 331b.

[0236] When the second angle knob 330B is rotated in the rotational direction M, the resistance mechanism RM can generate a resistance force that inhibits the rotation of the second angle knob 330B in the rotational direction M by pressing the contact portion 32a against the inner circumferential surface 331b and generating a frictional force.

[0237] Here, the second angle knob 330B is provided with an operating variable sensor, such as an encoder, capable of detecting the rotation angle θ of the second angle knob 330B. The operating variable sensor only needs to be able to detect the amount of bending operation input to the second angle knob 330B, and is not limited to an encoder.

[0238] The linear actuator 31 is controlled based on the detection result of the manipulated amount sensor. For example, the drive controller 260 has a function to execute a load adjustment program that can control the linear actuator 31. The control unit, etc., that can execute the load adjustment program that can control the linear actuator 31 may be provided in the operation unit 300.

[0239] The drive controller 260 acquires the detection result of the manipulated amount sensor via the operation receiving unit 220 and drives the linear actuator 31 based on the detection result of the manipulated amount sensor. The drive controller 260 can transmit a signal for controlling the linear actuator 31 to the linear actuator 31 of the operation unit 300 via the operation receiving unit 220.

[0240] In this embodiment, the second angle knob 330B does not have a mechanism to restrict rotation in the rotational direction M. Therefore, the second angle knob 330B can rotate infinitely in the rotational direction M.

[0241] The drive controller 260 drives the linear actuator 31 of the resistance mechanism RM according to the amount of movement of the second angle knob 330B (in this case, the rotation angle θ), thereby generating a resistance force from the linear actuator 31.

[0242] The resistance mechanism RM allows the operator S to feel tactile feedback through this resistance force, thereby improving the operability of the second angle knob 330B.

[0243] The drive controller 260 can adjust the magnitude of the frictional force generated between the movable part 31b of the linear actuator 31 and the inner circumferential surface 331b of the second upper cover 331 by controlling the amount of movement of the movable part 31b of the linear actuator 31, and can adjust the resistance force that hinders the rotation of the second angle knob 330B. For example, the drive controller 260 controls the resistance mechanism RM so that the resistance force increases as the amount of operation of the second angle knob 330B increases.

[0244] Alternatively, the drive controller 260 may control the linear actuator 31 such that the resistance force from the resistance mechanism RM increases sharply when the second angle knob 330B is rotated to a rotation angle θ corresponding to the maximum curvature of the curved portion 112.

[0245] When the curved portion 112 reaches its maximum curvature, the resistance force of the resistance mechanism RM is rapidly increased, thereby restricting the rotation of the second angle knob 330B. The operator S can then perceive that the curved portion 112 has reached its maximum curvature through tactile feedback from the second angle knob 330B.

[0246] By adjusting the magnitude and rate of change of the resistance force in the resistance mechanism RM in response to the amount of operation of the second angle knob 330B, the feel of operating the second angle knob 330B can be adjusted to suit the operator S's preference, thereby improving operability.

[0247] The drive controller 260 may acquire the motion scale ratio in the operation received by the motion scale operation unit 353 and control the linear actuator 31 based on the ratio of the operation amount detected by the operation amount sensor and the motion scale detected by the motion scale operation unit 353.

[0248] In this embodiment, the resistance mechanism RM can adjust the magnitude and rate of change of the resistance force generated by the resistance mechanism RM by controlling the drive amount of the linear actuator 31. Therefore, even when the motion scale is changed, the resistance mechanism RM in this embodiment can change the rate of change of the resistance force in accordance with the change in motion scale, and can achieve both motion scale adjustment and tactile feedback through the resistance force of the resistance mechanism RM.

[0249] The drive controller 260 may control the linear actuator 31 such that, when the second angle knob 330B rotates in the first direction M1 from its initial position, the resistance force generated by the resistance mechanism RM gradually increases as the absolute value of the rotation angle θ of the second angle knob 330B increases.

[0250] The drive controller 260 may control the linear actuator 31 based on the operation input to the standardization operation unit 354.

[0251] For example, when an operation is input to the standardization operation unit 354, a signal indicating that an operation has been input to the standardization operation unit 354 is transmitted from the operation unit 300 to the operation receiving unit 220 of the drive device 200. The drive controller 260 drives the wire drive unit 250 based on the signal received by the operation receiving unit 220 from the standardization operation unit 354, thereby straightening the curved section 112.

[0252] Here, the resistance force that the resistance mechanism RM should generate when the second angle knob 330B is in its initial position is referred to as the "initial resistance force".

[0253] The drive controller 260 controls the resistance mechanism RM based on the operation input to the standardization operation unit 354, so that the resistance force generated by the resistance mechanism RM becomes the initial resistance force described above. The operator S sets the position of the second angle knob 330B at this time as the initial position and operates the operation unit 300. This allows the operator S to initialize the correspondence between the amount of curvature control of the curved section 112 and the rotation angle θ of the second angle knob 330B.

[0254] The drive controller 260 may control the linear actuator 31 based on the operation input to the de-force operation unit 355.

[0255] For example, when an operation is input to the release operation unit 355, a signal indicating that an operation has been input to the release operation unit 355 is transmitted from the operation unit 300 to the operation receiving unit 220 of the drive device 200. Based on the signal received by the operation receiving unit 220 from the release operation unit 355, the drive controller 260 drives the wire drive unit 250 to relax the curved section 112.

[0256] For example, the surgeon S can straighten the curved portion 112 by gravity by suspending the insertion portion 110 in a vertical direction while the curved wire 160 is relaxed. At this time, the drive controller 260 controls the resistance mechanism RM based on the operation input to the de-force operation unit 355, so that the resistance force generated by the resistance mechanism RM becomes the initial resistance force described above.

[0257] The standardization operation unit 354 is a switch, etc., that can straighten the curved section 112 by actively controlling the wire drive unit 250. The de-tensioning operation unit 355 is a switch, etc., that can straighten the curved section 112 by gravity by relaxing the curved wire 160.

[0258] The drive controller 260 can initialize the correspondence between the amount of curvature control of the curved section 112 and the rotation angle θ of the second angle knob 330B by controlling the resistance mechanism RM based on the operation input to the de-force operation section 355.

[0259] In this embodiment, the resistance force generated by the resistance mechanism RM can be adjusted by controlling the linear actuator 31. By setting the resistance force generated by the resistance mechanism RM to be the initial resistance force when the curved portion 112 is straightened, the correspondence between the amount of curvature control of the curved portion 112 and the rotation angle θ of the second angle knob 330B can be easily initialized.

[0260] The initial position of the angle knobs 320B and 330B is determined when the correspondence between the amount of curvature control of the curved portion 112 and the rotation angle θ of the angle knobs 320B and 330B is initialized. Therefore, it is preferable that the angle knobs 320B and 330B having the resistance mechanism RM in this embodiment do not have a reference point L1 that indicates the initial position of the angle knobs 320B and 330B.

[0261] The drive controller 260 may control the linear actuator 31 based on the tension of the curved wire 160. The drive controller 260 obtains the tension of the curved wire 160, for example, by acquiring the result detected by the tension sensor 159 of the attachment / detachment unit 150. The tension sensor 159 is a sensor capable of detecting the tension of the curved wire 160, as described above.

[0262] If the attachment / detachment section 150 has a strain sensor provided on the bend pulley 155p, the drive controller 260 may obtain the tension of the curved wire 160 calculated based on the detection result of this strain sensor.

[0263] The drive controller 260 may acquire the tension of the curved wire 160 calculated based on the detection result of the torque sensor 256e of the wire drive unit 250. Alternatively, the drive controller 260 may acquire the tension of the curved wire 160 calculated based on the current value of the motor unit 256b of the wire drive unit 250.

[0264] The drive controller 260 can generate a resistance force in the resistance mechanism RM corresponding to the amount of curvature control of the curved section 112 by controlling the linear actuator 31 based on the tension value of the curved wire 160. For example, the drive controller 260 controls the linear actuator 31 using a value obtained by multiplying the tension value of the curved wire 160 by a predetermined value (conversion ratio).

[0265] As described above, since the endoscope 100 and the operating unit 300 are separate, the operator S can operate the endoscope 100 and the operating unit 300 independently without influencing each other. Therefore, for example, if the bending angle of the bending section 112 is changed by an external force applied to the bending section 112 without the operator S operating the angle knobs 320B and 330B, there is a possibility that a discrepancy may occur in the correspondence between the bending angle of the bending section 112 and the resistance force generated by the resistance mechanism RM.

[0266] The drive controller 260 controls the linear actuator 31 based on the tension value of the curved wire 160, so that even if the curvature angle of the curved section 112 is changed by an external force, the resistance mechanism RM can generate a resistance force corresponding to the curvature angle of the curved section 112 that has been changed by the external force.

[0267] As a result, even if the curvature angle of the curved portion 112 is changed by an external force, the operator S can grasp the curvature angle of the curved portion 112 through tactile feedback generated by the resistance force produced by the resistance mechanism RM.

[0268] The drive controller 260 controls, for example, the resistance mechanism RM to generate a large resistance force when the tension in the curved wire 160 is high. The tension in the curved wire 160 increases, for example, when the curvature angle of the curved portion 112 is large, or when an external force is applied to the curved portion 112 due to the insertion portion 110 contacting the inner wall of the lumen of the patient P.

[0269] Therefore, when the tension of the curved wire 160 is high, the resistance mechanism RM generates a large resistance force, allowing the operator S to understand that the curved portion 112 is close to its maximum curvature and that the insertion portion 110 is in contact with the inner wall of the lumen of the patient P.

[0270] Therefore, it is possible to prevent the curved portion 112 from bending excessively and breaking, and to prevent the inner wall of the lumen of the patient P from being damaged by the insertion portion 110.

[0271] (Fourth Embodiment) A fourth embodiment of the present disclosure will now be described. Figure 23 is a cross-sectional view showing the resistance mechanism RM of the angle knob 330C according to the fourth embodiment.

[0272] In this embodiment, the resistance mechanism RM shown in Figure 23 is provided in the internal space of the second angle knob 330C. A resistance mechanism RM is also provided in the internal space of the first angle knob 320C, but since it has the same structure as the resistance mechanism RM of the second angle knob 330C, it is not shown or described.

[0273] In this embodiment, the resistance mechanism RM comprises an output shaft 41 and a torque spring 42.

[0274] The output shaft 41 has a roughly cylindrical shape with the rotation axis 300r as its central axis, and the second knob shaft 333 is inserted through the internal space surrounded by its inner circumferential surface. Since the output shaft 41 is connected to the second knob shaft 333, when the second angle knob 330B rotates in the rotation direction M, the output shaft 41 rotates together with the second knob shaft 333 in the rotation direction M.

[0275] The torque spring 42 is a torque spring such as a torsion coil spring wound spirally around the rotating shaft 300r. The output shaft 41 is inserted through the internal space of the torque spring 42.

[0276] The torque spring 42 connects the output shaft 41 and the second base 335. In this embodiment, the torque spring 42 connects the output shaft 41 and the second base 335 in the direction in which the rotation shaft 300r extends.

[0277] The second knob shaft 333, the output shaft 41 which can rotate in the rotational direction M together with the second knob shaft 333, and the second base 335 which cannot rotate in the rotational direction M constitute a mechanism called a reverse input blocking clutch. The output shaft 41 which constitutes the reverse input blocking clutch is connected to the second base 335 via a retainer (not shown). The second knob shaft 333 is also connected to this retainer.

[0278] In this embodiment, the second knob shaft 333 (and the first knob shaft 323) is the input shaft in the reverse input cutoff clutch. The second base 335 (and the first base 325) is the outer ring in the reverse input cutoff clutch.

[0279] When the second angle knob 330B is rotated in the first direction M1, rotational torque is transmitted to the output shaft 41 via the second knob shaft 333, which rotates in the first direction M1. Therefore, when the second angle knob 330B is rotated in the first direction M1, the output shaft 41 rotates in the first direction M1 together with the second knob shaft 333.

[0280] When the output shaft 41 rotates in the first direction M1, the torque spring 42 connected to the output shaft 41, which rotates in the first direction M1, and the second base 335, which cannot rotate in the rotation direction M, undergoes elastic deformation, and the rotational torque is amplified. At this time, the reaction force of the force that causes the torque spring 42 to elastically deform acts as a resistance force, allowing the operator S to feel tactile feedback.

[0281] When the torque spring 42 undergoes elastic deformation, a rotational torque in the second direction M2 is generated on the output shaft 41 due to the elastic force of the torque spring 42. When the rotational torque (τ1) of the second knob shaft 333, which rotates in the first direction M1, is smaller than the rotational torque (τ2) generated on the output shaft 41 in the second direction M2, the difference between these rotational torques τ2 - τ1 balances the resistance force from the outer ring. Therefore, the output shaft 41 does not rotate in the second direction M2, and the rotational torque in the second direction M2 generated on the output shaft 41 is not transmitted to the second knob shaft 333. Consequently, the second knob shaft 333 and the second upper cover 331 connected to the second knob shaft 333 do not rotate in the second direction M2.

[0282] Thus, the resistance mechanism RM of this embodiment transmits rotational torque from the second knob shaft 333 to the output shaft 41, but does not transmit rotational torque from the output shaft 41 to the second knob shaft 333.

[0283] Therefore, even if the operator S rotates the second angle knob 330C in the rotational direction M and then releases their finger from the second angle knob 330C, the second angle knob 330C maintains the predetermined rotational angle achieved by the operator S and remains stationary.

[0284] In this embodiment, the resistance mechanism RM generates resistance force through the torque spring 42. The resistance mechanism RM can provide tactile feedback to the operator S through this resistance force, thereby improving the operability of the second angle knob 330C.

[0285] Furthermore, the resistance mechanism RM of this embodiment generates resistance force using the torque spring 42, which reduces design variations in resistance force compared to the case where resistance force is generated by friction.

[0286] Although each embodiment of this disclosure has been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments and may include design changes and the like that do not depart from the gist of this disclosure. Furthermore, the components shown in each of the embodiments described above and the modifications shown below can be combined as appropriate.

[0287] (Modification 1) In each of the above embodiments, the interface to which the bending operation of bending the curved portion 112 is input is an angle knob rotatably provided on the operating unit 300, but the form of the interface is not limited thereto.

[0288] The interface to which the bending operation to bend the curved section 112 is input may be a lever, a knob, or a dial. For example, the interface may be a lever-type knob or a sliding knob. Furthermore, the operating unit 300 only needs to have an operating amount sensor capable of detecting the amount of operation of the interface to which the bending operation to bend the curved section 112 is input.

[0289] (Modification 2) In each of the above embodiments, the outer shape of the angle knob is formed by the upper covers 321 and 331. The shape of the upper cover is not particularly limited, as long as it is a shape that allows the operator S to input a bending operation.

[0290] Figure 24 shows upper covers 321A and 331A, which are modified versions of upper covers 321 and 331. Figure 25 shows upper covers 321B and 331B, which are further modified versions of upper covers 321 and 331.

[0291] The upper cover of the angle knob may have a shape in which protrusions projecting outward OU are arranged at equal intervals around the rotation axis 300r, as shown in Figures 24 and 25.

[0292] For example, in conventional manual endoscopes, when the angle knob is rotated in the first direction to bend the curved section, the reaction force of the curved wire generates a force that rotates the angle knob in the second direction (towards the origin). Therefore, it is preferable that the external shape of the angle knob of a conventional manual endoscope is such that the operator can easily hold the position of the angle knob by pressing it with the pad of their finger.

[0293] On the other hand, since the endoscope 100 and the operating unit 300 in each of the above embodiments are provided independently, the reaction force of the curved wire 160 is not transmitted to the angle knob. The operator S does not need to hold the angle knob, which has been rotated in the first direction M1, to prevent it from rotating in the second direction M2.

[0294] If it is not necessary to hold the angle knob with your fingers when it is rotated in the first direction M1, the torque required to rotate the angle knob can be reduced by shaping the upper covers 321A, 331A, 321B, and 331B shown in Figures 24 and 25, such that the protrusions are arranged at equal intervals around the rotation axis 300r, allowing the operator S to easily rotate the angle knob in the first direction M1 and the second direction M2.

[0295] In this case, it is preferable that the spacing between the protrusions is smaller than the thickness of the operator S's finger. Also, the protrusions do not need to be placed at strictly equal intervals.

[0296] 1000 Electric endoscope system, medical manipulator system 100 Endoscope, medical manipulator 112 Bending section 300 Operating section, operating controller 300r Rotating shaft 310 Operating section body 320, 320A, 320B, 320C First angle knob, angle knob, interface 321, 321A, 321B First upper cover, upper cover, cover 323 First knob shaft, input shaft 325 First base, base, outer ring 330, 330A, 330B, 330C Second angle knob, angle knob, interface 331, 331A, 331B Second upper cover, upper cover, cover 333 Second knob shaft, input shaft 335 Second base, base, outer ring RM Resistance mechanism 11 Fixed shaft 11a Slope section 12 Rotor 13 Rotor pin 14 Wave washer 22 Plunger 22a Plunger tip 23 Knob slope 31 Linear actuator 31a Actuator body 31b Movable part 32 Brake part 32a Contact part 41 Output shaft 42 Torque spring 600 Control device RD Radial direction θ Rotation angle, amount of operation S Operator

Claims

1. An operation controller for receiving bending operations of a curved portion of a medical manipulator, comprising: an interface that receives the bending operation and can detect the amount of the bending operation; and a resistance mechanism disposed inside the interface that generates a resistance force that changes according to the amount of the operation, wherein the interface can detect the amount of the operation for at least two or more bending directions of the curved portion, and the resistance mechanism generates the resistance force by an amount of change corresponding to the maximum bending amount for each of the two or more bending directions.

2. The operation controller according to claim 1, wherein the maximum curvature amounts in the two or more curvature directions are different from each other.

3. An operating controller according to claim 1 or claim 2, comprising an operating unit body that can be grasped by an operator, wherein at least a portion of the interface is rotatably mounted relative to the operating unit body, and the amount of operation is the rotation angle of the interface.

4. The interface comprises a base that is not rotatably mounted on the operating unit body and a cover that is rotatably mounted on the operating unit body, the resistance mechanism comprises a rotor connected to the cover, a rotor pin connected to the rotor and protruding from the rotor toward the rotation axis side of the interface, a fixed shaft connected to the base and provided on the rotation axis side of the rotor, and a wave washer that is expandable and contractible in the axial direction in which the rotation axis extends by elastic deformation and provided between the cover and the rotor in the axial direction, the outer circumferential surface of the fixed shaft has a slope portion that is recessed toward the rotation axis side and inclined in the axial direction, and the end of the rotor pin toward the rotation axis is positioned on the slope portion, the operating controller according to claim 3.

5. The operation controller according to claim 4, wherein when the interface rotates relative to the operating unit body, the rotor pin moves in the axial direction along the slope portion, the rotor moves in the axial direction together with the rotor pin, the wave washer is pressed against the cover by the rotor moving in the axial direction, thereby generating a frictional force between it and the cover that changes according to the amount of operation, and the resistance force is generated by the frictional force.

6. The operation controller according to claim 5, wherein the slope portion is inclined at an angle of inclination corresponding to each of the maximum curvature amounts.

7. The interface comprises a base that is not rotatably mounted relative to the operating unit body and a cover that is rotatably mounted relative to the operating unit body, the resistance mechanism comprises a plunger having a plunger body connected to the base and a plunger tip that is movable radially in the interface relative to the plunger body, and a knob slope connected to the cover, the inner surface of which is provided facing the plunger tip in the radial direction, the inner surface of which is inclined radially, and when the interface rotates relative to the operating unit body, the plunger tip moves along the inner surface, thereby generating a frictional force between itself and the inner surface that changes according to the amount of operation, and the resistance force is generated by the frictional force, the operating controller according to claim 3.

8. The operating controller according to claim 7, wherein the inner surface of the knob slope is inclined at an angle of inclination corresponding to each of the maximum curvature amounts.

9. The interface comprises a base that is not rotatably mounted relative to the operating unit body and a cover that is rotatably mounted relative to the operating unit body, the resistance mechanism comprises a linear actuator having an actuator body connected to the base and a movable part that moves relative to the actuator body when the actuator body is driven, and a brake part connected to the movable part and having a contact part that can contact the inner circumferential surface of the cover, the operating controller according to claim 3, wherein when the interface rotates relative to the operating unit body, the linear actuator moves the movable part and presses the contact part against the inner circumferential surface of the cover, thereby generating a frictional force between the contact part and the inner circumferential surface that changes according to the amount of operation, and the resistance force is generated by the frictional force.

10. The operation controller according to claim 9, wherein the linear actuator moves the movable part by an amount of movement corresponding to each of the maximum curvature amounts.

11. The operation controller according to claim 3, wherein the interface has an outer ring that is not rotatably mounted on the operating unit body and an input shaft that is rotatably mounted on the operating unit body, the resistance mechanism has an output shaft through which the input shaft is inserted in the axial direction from which the rotation shaft of the interface extends, and a torque spring that connects the outer ring and the output shaft, and the outer ring, the input shaft and the output shaft form a reverse input blocking clutch.

12. The reverse input blocking clutch is capable of transmitting rotational torque from the input shaft to the output shaft, and blocking the transmission of rotational torque from the output shaft to the input shaft, and when the interface rotates relative to the operating unit body, the input shaft and the output shaft rotate relative to the operating unit body, the torque spring is elastically deformed by the rotation of the output shaft, and the resistance force is generated by the reaction force of the elastically deformed torque spring, as described in claim 11.

13. A medical manipulator system comprising: a medical manipulator having a curved portion that can bend in at least two or more bending directions; an actuator for bending the curved portion; an interface that receives input for bending operations of the curved portion and can detect the amount of the bending operation; a resistance mechanism disposed inside the interface and generating a resistance force that changes according to the amount of the operation relative to the interface; and a control device that is communicatively connected to the operation controller and controls the actuator based on the amount of the operation, wherein the interface is capable of detecting the amount of the operation of the curved portion in the two or more bending directions, and the resistance mechanism generates the resistance force with a change amount corresponding to the maximum bending amount in each of the two or more bending directions.

14. The medical manipulator system according to claim 13, wherein the maximum curvature amounts in the two or more curvature directions are different from each other.

15. The medical manipulator system according to claim 14, wherein the operating controller comprises an operating unit body that can be grasped by an operator, at least a portion of the interface is rotatably mounted relative to the operating unit body, and the amount of operation is the rotation angle of the interface.

16. The medical manipulator system according to claim 15, wherein the interface comprises a base that is not rotatably mounted on the operating unit body and a cover that is rotatably mounted on the operating unit body, the resistance mechanism comprises a rotor connected to the cover, a rotor pin connected to the rotor and protruding from the rotor toward the rotation axis side of the interface, a fixed shaft connected to the base and provided on the rotation axis side of the rotor, and a wave washer that is expandable and contractible in the axial direction in which the rotation axis extends by elastic deformation and provided between the cover and the rotor in the axial direction, the outer circumferential surface of the fixed shaft has a slope portion that is recessed toward the rotation axis side and inclined in the axial direction, and the end of the rotor pin toward the rotation axis side is positioned on the slope portion.

17. When the interface rotates relative to the operating unit body, the rotor pin moves in the axial direction along the slope portion, the rotor moves in the axial direction together with the rotor pin, the wave washer is pressed against the cover by the rotor moving in the axial direction, thereby generating a frictional force between it and the cover that changes according to the amount of operation, and the resistance force is generated by the frictional force, the medical manipulator system according to claim 16.

18. The medical manipulator system according to claim 17, wherein the slope portion is inclined at an angle of inclination corresponding to each of the maximum curvature amounts.

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