JP4047563B2 - Endoscope - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present inventionThe present invention relates to an endoscope having an improved bending operation mechanism for bending a bending portion provided on the distal end side of an insertion portion.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, an endoscopic device has been used as a tubular operation device for observing and inspecting a body cavity, a structure tube, a gap, and the like.
[0003]
As shown in FIG. 5, the endoscope apparatus includes an insertion portion 52 that is inserted into the body cavity or a structure, and an operation portion 53 that holds the proximal end of the insertion portion 52. The insertion portion 52 is flexible, and a distal end bending portion 54 and a distal end portion 55 are provided on the distal end side.
[0004]
Although not shown, the distal end portion 55 is provided with an observation window, an illumination light window, and the like. In this observation window, an objective lens and an observation optical cable for guiding the observation site light incident on the objective lens to the operation unit 53 are arranged to the operation unit 53 through the insertion unit 52.
[0005]
Alternatively, an objective lens and an electronic image sensor are disposed in the observation window, and a signal cable for driving and controlling the electronic image sensor and transmitting an electronic image signal imaged and generated by the electronic image sensor is provided inside the insertion unit 52. Through the operation unit 53.
[0006]
Illumination light, which will be described later, is guided to the light guide cable through the light guide cable inserted through the inside of the insertion portion 52 from the operation portion 53, and the illumination light is projected to the observation site. .
[0007]
The distal end bending portion 54 is an operation portion that can be bent in the vertical and horizontal directions by an operation wire (not shown) inserted through the insertion portion 52 from the operation portion 53.
[0008]
The proximal end of the operation wire is connected to an operation lever 56 of the operation portion 53, and the distal end bending portion 54 is bent by operating this operation lever.
[0009]
The operation unit 53 is connected to a display controller box 58 via a connection cable 57. The display control box 58 drives and controls the illumination light source and the electronic image pickup device provided at the distal end portion 55 of the insertion unit 2 and processes an electronic image signal imaged and generated by the electronic image pickup device to display an image on a monitor. An electronic image signal processing function is provided.
[0010]
The connection cable 57 that connects the display control box 58 and the operation unit 53 includes a light guide cable that guides illumination light from the illumination light source to the proximal end of the light guide cable of the operation unit 53, and driving of the electronic imaging device. It consists of a signal cable for sending and receiving control signals and electronic image signals.
[0011]
The distal end bending portion 54 of the insertion portion 52 of the endoscope apparatus 51 having such a configuration uses a mechanism for bending the operation wire 56 by operating the operation lever 56. As a mechanism for pulling the operation wire, a mechanism for pulling four wires with one operation lever 56 is provided, and the operation lever 56 is operated and tilted in a desired direction, the operation wire is pulled, and the tip bending portion 54 is moved in the desired direction. Bend to
[0012]
The bending operation of the distal end bending portion 54 is easy to operate because it can be operated in four directions with one operating lever 56. However, since the operation amount of the operating lever 56 is small, when pulling the operating wire strongly, It was necessary to increase the amount of operation force of the operation lever 56, and it was difficult to operate only with the operation lever 56.
[0013]
For this reason, when the distal bending portion 54 is bent, the operation amount of the operation lever 56 is small, and many proposals for increasing the bending operation amount of the distal bending portion 54 have been made. For example, Japanese Utility Model Publication No. 56-48241, Japanese Utility Model Publication No. 63-5684, Japanese Utility Model Publication No. 2-42246, Japanese Patent Application Laid-Open No. 58-65132, and the like.
[0014]
In Japanese Utility Model Publication No. 56-48241, two semicircular plates bent into a semicircular shape having long grooves are assembled so that the long grooves intersect at a right angle, and an operating rod is inserted into the intersecting long grooves, and both semicircular plates Both ends of the shaft are movably supported on a fixed shaft, and a rotating shaft is provided on the extension of the fixed shaft so as to transmit a semicircular rotation, and this rotating shaft is connected to a wire operating mechanism. Bending operation in four directions is possible with a spatula.
[0015]
Japanese Utility Model Publication No. 63-5684 discloses a bending apparatus in which two semicircular plates bent into a semicircular shape having a long groove are assembled so that the long grooves intersect each other, and an operation rod is passed through the intersecting long grooves, One end of the semicircular plate is supported by a bearing, and the other end is connected to a plurality of planetary gears meshing with internal teeth formed inside an angle drum wound with an angle operation wire. It is for increasing.
[0016]
In Japanese Utility Model Publication No. 2-42246, a fluid pressure cylinder is provided in an operation main body, and a piston rod of the fluid pressure cylinder is connected to a pulley which is a rotating body supported by the operation main body. The bending portion is bent through an operation wire, and the operation force is reduced.
[0017]
JP-A-58-65132 discloses a motor that drives a tip bending mechanism, a bending operation member that is provided in an operation unit and receives an operation force manually, a detection unit that detects the amount of operation force received by the bending operation member, It has a control means for processing a signal obtained by this detection means and controlling drive power for the motor, and detects the amount of operation force to drive the motor.
[0018]
[Problems to be solved by the invention]
The bending method of the bending portion proposed in Japanese Utility Model Publication No. 56-48241, Japanese Utility Model Publication No. 63-5684, and Japanese Utility Model Application Publication No. 2-42246 has a complicated structure and a large shape. Since the amount of operation increases as the amount of movement of the wire for bending the wire increases, it is not practical.
[0019]
Further, the bending method proposed in Japanese Patent Laid-Open No. 58-65132 detects the operation amount, and controls the operation amount and the motor drive amount in order to drive the motor in accordance with the detected operation amount. This is not practical because the control function becomes complicated.
[0020]
When operating the tip bending portion provided in the insertion portion of the endoscope described above from the operation portion to the operation wire provided in the tip bending portion with the operation lever provided in the operation portion, the operation portion is small. There is a demand for a bending operation device at the distal end of an insertion portion such as an endoscope that is lightweight, has a simple structure, and can be bent quickly in response to an operation by an operator.
[0021]
  The present inventionIn view of these circumstances, it is possible to apply as much operating force as necessary to the traction member with a simple structure, and it is possible to reduce the amount of operating force with respect to the bending operation instructing unit and to have excellent bending operability. EndoscopeIt is intended to provide.
[0022]
  In order to achieve the above object, in the endoscope according to the present invention, an insertion portion is connected to the operation portion, a bending portion is provided on the distal end side of the insertion portion, and a distal end portion is connected to the distal end side of the bending portion. In the endoscope
  A plurality of traction members extending from the operation section side through the insertion section into the bending section and having one end fixed to the tip section;
  A pulley in which a middle portion of the pulling member is wound in a relaxed state;
  Driving means for rotating the pulley in a direction in which the pulling member is pulled; and
  A fixing member having a plurality of fixing portions to which the other end portions of the respective pulling members that are wound around the pulley and are extended are respectively fixed;
  A bending operation instruction unit connected to the fixing member and instructing the bending unit to bend by pulling the pulling member;
  With
  When the pulling member is pulled according to the operation instruction of the bending operation instruction portion, the portion of the pulling member wound around the pulley is tightly wound around the pulley from the relaxed state The bending portion is bent by the pulling of the pulling member and the rotation of the pulley according to the operation instruction.
[0024]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a perspective view showing the configuration of an embodiment of a tubular operating device according to the present invention, FIG. 2 is a developed perspective view showing the configuration of a bearing used in the tubular operating device according to the present invention, and FIG. It is explanatory drawing explaining operation | movement of the tubular operating device which concerns.
[0025]
First, the configuration of the tubular operating device of the present invention will be described with reference to FIG. In addition, it demonstrates using the example of an endoscope as a tubular operating device.
[0026]
An endoscope apparatus 10 according to the present invention includes a flexible elongated insertion portion 11 to be inserted into a body cavity or a structure, and a frame 18 to which a proximal end of the insertion portion is attached and fixed. The frame 18 is provided inside the aforementioned operation unit 53 (see FIG. 5).
[0027]
A distal end portion 12 and a distal end bending portion 13 are provided at the distal end of the insertion portion 11. Although not shown, the distal end portion 12 is provided with an observation window, an illumination window, a forceps hole, and an injection nozzle for water supply and air supply.
[0028]
In the observation window, an objective lens and an electronic image sensor for observing the observation site are arranged. The electronic image sensor is connected to a signal cable that transmits and receives a drive control signal of the electronic image sensor and an electronic image signal of the observation site generated by the electronic image sensor. This signal cable is laid from the electronic imaging device to the operation portion 53 (see FIG. 5) in which the distal end bending portion 13 and the insertion portion 11 are inserted and the frame 18 is inscribed. This signal cable is connected to the display control box 58 from the operation unit 53 shown in FIG.
[0029]
Note that an eyepiece lens (not shown) provided on the operation unit 53 (see FIG. 5) is used for an observation site image incident on the objective lens via an image guide cable built in the insertion unit 52 (or the insertion unit 11). There are also things to observe.
[0030]
The illumination window projects illumination light onto the observation site. The illumination light projected from the illumination light source provided in the display control box 58 shown in FIG. 5 is connected to the connection cable 57, the operation unit 53, and the insertion unit 52. (Or the insertion portion 11) is projected onto an observation site via a light guide cable (not shown) provided in the interior.
[0031]
Further, the illumination of the observation region is not limited to a method of illuminating the observation target by guiding light from the light source to the distal end with a light guide cable. For example, illumination with a white LED provided at the distal end is also possible. good.
[0032]
The forceps hole is for inserting a forceps for collecting an observation site, and is provided in the insertion portion 52 (or the insertion portion 11) from a forceps insertion port (not shown) provided in the operation portion 53 shown in FIG. The forceps project through the forceps hole through the forceps channel.
[0033]
The injection nozzle is for injecting cleaning water for cleaning the observation window and the illumination window and a gas for spraying and drying the cleaning water adhering to the observation window and the illumination window. The operation unit 53 shown in the drawing is fed through a water supply or air supply channel provided in the insertion unit 52 (or the insertion unit 11).
[0034]
The distal bending portion 13 is an operating portion which is formed by a plurality of bending pieces 14 and is bent vertically and horizontally by four operation wires 16 and an operation lever 23 which will be described later.
[0035]
The four operation wires 16 are respectively fixed to the distal end portion 12 and led to the frame 18 provided inside the operation portion 53 on the hand side.
[0036]
The operation wire 16 is inserted into a coil-shaped operation coil 15. The proximal end of the operation coil 15 is fixed to the frame 18 of the operation portion, and the other end of the operation coil 15 is fixed at the connection portion between the distal end bending portion 13 and the insertion portion 11.
[0037]
The base end of the insertion portion 11 is fixed to the frame 18 by an insertion portion fixing tool 17. The frame 18 is formed in a substantially rectangular shape, and the insertion portion fixture 17 is attached and fixed to one short side.
[0038]
The operation wire 16 built in the insertion portion 11 is inserted through the insertion portion fixture 17.
[0039]
A pulley 19 is rotatably provided at a substantially central portion of both long sides of the frame 18. The pulley 19 is rotationally driven by a motor 31 and has four grooves around which the four operation wires 16 are wound once.
[0040]
The proximal end of the operation wire 16 wound around the pulley 19 is fixed to a cross-shaped operation arm 20. The operation arm 20 is attached and fixed to a bearing 21.
[0041]
The bearing 21 is bent at the other short side of the frame 18 in a substantially V shape, and the V-shaped tip is cut off and supported by an operation bearing 22 provided at the V-shaped tip. . That is, the bearing 21 is elastically held by a V-shaped contact piece.
[0042]
An operation lever 23 is attached and fixed to the bearing 21 on the side facing the operation arm 20.
[0043]
The motor 31 is rotationally driven by a motor battery 32.
[0044]
That is, when the operation lever 23 is operated in the vertical direction in the figure, the bearing 21 and the operation arm 20 are rotated in the vertical direction around the operation bearing 22, the operation wire 16 is pulled, and the distal end bending portion 13 is pulled. Bends up and down. When the operation lever 23 is operated in the left-right direction in the figure, the operation arm 20 rotates in the left-right direction around a circular shaft 24, which will be described later, built in the bearing 21, and the operation wire 16 is pulled. The distal end bending portion 13 is bent in the left-right direction.
[0045]
The shapes and relationships of the operation arm 20, the bearing 21, the operation bearing 22, and the operation lever 23 will be described with reference to FIG.
[0046]
The operation arm 20 has a substantially cross shape, and the central portion is slightly curved, and wire fixing holes 20a, 20b, 20c, and 20d are formed at the cross-shaped tip. The four operation wires 16 are connected and fixed to the wire fixing holes 20a to 20d, respectively.
[0047]
The bearing 21 includes a circular shaft 24, a ball bearing A27, and a ball bearing B28. The circular shaft 24 is formed in a columnar shape, and an operation arm fixing portion 25 extends from a part of the columnar arc. A curved portion of the central portion of the operation arm 20 is attached and fixed to the operation arm fixing portion 25 with a fixing nut 26. An operation lever 23 is attached and fixed to an arc on the side facing the operation arm fixing portion 25 provided in a part of the arc of the circular shaft 24.
[0048]
The spherical bearing A27 and the spherical bearing B28 have a shape obtained by dividing a circular sphere into two, and a circular bearing 29 into which the circular shaft 24 is fitted is provided inside the divided spherical shape. Note that the circular bearing of the ball bearing B28 is not shown in the figure.
[0049]
The ball bearing A27 and the ball bearing B28 are provided with notches 27a, 27b, 28a, and 28b in which the operation arm fixing portion 25 and the operation lever 23 of the circular shaft 24 are fitted (the notches 28a of the ball bearing B28 are (Not shown in the figure).
[0050]
Further, the ball bearing A27 and the ball bearing B28 are provided with a half shaft 30 extending outward.
[0051]
That is, the bearing 21 includes an operation arm 20 in which the base ends of the four operation wires 16 wound around the pulley 19 are connected and fixed to the wire fixing holes 20a to 20d, and the operation arm 20 and the operation lever. A circular shaft 24 to which 23 is fixed is sandwiched between a ball bearing A27 and a ball bearing B28. The configuration is stopped.
[0052]
In the endoscope apparatus 10 having such a configuration, when the operation lever 23 is operated in the direction of the arrow XX ′ in the drawing, the operation arm 20 rotates in the XX ′ direction around the circular shaft 24. When the operation lever 23 is moved and operated in the direction of the arrow YY ′ in the figure, the operation arm rotates in the YY ′ direction around the half axis 30 of the ball bearing A27 and the ball bearing B28.
[0053]
As the operation arm 20 rotates, the operation wire 16 fixed to the operation arm 20 is pulled or slackened.
[0054]
Next, the relationship among the operation lever 23, the operation arm 20, the operation wire 16, and the pulley 19 will be described with reference to FIG.
[0055]
As shown in FIG. 3 (a), when the operation lever 23 is substantially at the center position, that is, in a state where no pulling force is applied to the operation wire 16 attached to the operation arm 20, for example, The operation wire 16 attached to the wire fixing hole 20a of the operation arm 20 is loosely wound around the pulley 19, and the rotational force of the pulley 19 that is driven to rotate counterclockwise in the figure by the motor 31 is the operation wire 16. Is not communicated to.
[0056]
Next, as shown in FIG. 3B, when the operation lever 23 is operated in the Y ′ direction in the figure, the operation arm 20 is tilted around the bearing 21 and attached to the wire fixing hole 20a. The operation wire 16 is pulled in the Z direction in the drawing and is wound around the pulley 19, and a frictional force is generated between the pulley 19 and the operation wire 16. Due to this frictional force, a pulling force is applied to the operation wire 16 by the counterclockwise rotation drive of the pulley 19, and the operation wire 16 is pulled in the arrow Z direction by the rotation of the pulley 19.
[0057]
That is, when the operation lever 23 starts to be tilted, the operation wire 16 is wound around the pulley 19, and the operation wire 16 is pulled by the rotation of the pulley 19 by a frictional force.
[0058]
On the other hand, when the operation of the operation lever 23 is stopped, the winding of the operation wire 16 and the pulley 19 is loosened, and the frictional force is reduced, the pulley 19 and the operation wire 16 are slipped, and the pulling of the operation wire 16 can be stopped.
[0059]
Further, when the wire 16 is stopped at a predetermined position, the operation lever 23 is held and maintained at a position where the pulley 19 and the operation wire 16 can obtain a predetermined frictional force that holds the position of the sliding operation wire 16. This can be achieved.
[0060]
Since the tension is not always applied to the operation wire 16 on the side opposite to the direction in which the operation lever 23 is operated and on the side orthogonal to the operation direction, the pulley 19 rotates idly, and the force of the pulley 19 on the operation wire 16 is reduced. Don't join.
[0061]
In the above description, the operation of the operation wire 16 connected to the wire fixing hole 20a of the operation arm 20 has been described as an example, but the operation wire 16 connected to the other wire fixing holes 20b, 20c, and 20d is the same. Can be operated.
[0062]
As described above, in the tubular operating device of the present invention, the four operating wires 16 for bending the distal end bending portion 13 are connected and fixed to the bearing 21 to which the operating lever 23 is attached and fixed. The operation wire 16 is wound around the pulley 19 and the operation lever 23 is operated in the vertical and horizontal directions, so that the pulley 19 and the operation wire 16 are frictionally engaged and operated by the rotational force of the pulley 19. The wire 16 can be pulled, the operating force of the operating lever 23 is small by the operator, and sufficient force required for the bending operation can be obtained for the distal bending portion 13.
[0063]
Next, another embodiment of the present invention will be described with reference to FIG. This other embodiment relates to a forceps device used when various treatments are performed using an endoscope, and is useful when a sample is collected by being inserted into a body cavity via an endoscope.
[0064]
Note that a crushed stone basket for collecting crushed stones will be described as an example of the forceps device.
[0065]
The crushed stone basket is provided with a basket wire 41 for collecting the crushed stone 42 at the tip of the operation wire 43. The operation wire 43 connected to the basket wire 41 is inserted into the sheath 44 and guided to the operation unit 45. The operation unit 45 includes a handle 47 and a shaft 48, and the sheath 44 is fixed to the shaft 48 of the operation unit 45. The proximal end of the operation wire 43 inserted through the sheath 44 is connected and fixed to the handle 47.
[0066]
That is, by operating the handle 47 to slide in front of the shaft 48 in the axial direction, the operation wire 43 slides in the sheath 44 and pulls in the basket wire 41. The crushed stone 42 is stored, and the handle 47 is operated to pull the operation wire 43 with respect to the sheath 44.
[0067]
The operation unit 45 of such a crushed stone basket is provided with an auxiliary operation unit 46. The auxiliary operation unit 46 includes a motor 31, a battery 32 that drives the motor 32, and a pulley 19 that is attached to the rotation shaft of the motor 31. The operation wire 19 is wound around the pulley 19 once.
[0068]
That is, the operation wire 43 having the basket wire 41 is connected and fixed to the handle 47 after being wound around the pulley 19 of the auxiliary operation unit 46.
[0069]
This forceps device is inserted into a body cavity via a forceps channel of an endoscope, and when the handle 47 is pushed in, the operation wire 43 is pushed in and the basket wire 41 provided at the tip of the operation wire 43 is inserted. The bucket is opened and the crushed stone 42 is stored in the bucket.
[0070]
When the crushed stone 42 is housed in the bucket of the bucket wire 41, when the handle 45 is pulled toward the hand with respect to the shaft 48, the operation wire 43 is pulled with respect to the sheath 44. When the operation wire 43 is pulled, the operation wire 43 is wound around the pulley 19 of the auxiliary operation unit 46, and when the pulley 19 is rotationally driven by the motor 31, the frictional force between the operation wire 43 and the pulley 19 is generated. As a result, the operation wire 19 is pulled toward the proximal side of the operation portion 45, and the force for pulling the basket wire 41 at the distal end of the sheath 44 is increased.
[0071]
That is, when the handle 45 is pulled and slid to the hand side in order to pull the basket wire 41, the operation wire 43 is wound around the pulley 19, and the operation wire 43 and the basket wire 41 are moved by the frictional force between the operation wire 43 and the pulley 19. It can be pulled in easily.
[0072]
Further, when the basket wire 41 is retracted by a predetermined amount, the handle 47 reduces the frictional force between the operation wire 43 and the pulley 19 and causes the operation wire 43 and the pulley 19 to slide. The retracted position of the basket wire 41 can be held.
[0073]
Accordingly, the operator can operate the sliding motion of the handle 47 with a slight operating force, and the pulley 19 can apply a predetermined pulling force to the basket wire 41.
[0074]
As described above, when operating the bending operation lever, for example, when operating the distal end bending portion of the insertion portion of the endoscope which is the tubular operation device of the present invention, the operation wire is wound around the pulley, and the operation wire and the pulley With this frictional force, the operation wire can be pulled in and the bending portion of the tip can be easily bent.
[0075]
Or, when pulling the operation wire having a basket wire of a forceps device, for example, a tubular operation device, by operating the handle and pulling the operation wire, the operation wire is wound around the pulley, and the friction force between the operation wire and the pulley The basket wire can be pulled easily.
[0076]
In the description of the embodiment of the present invention described above, in the endoscope, the four-direction bending operation has been described as an example, but the two-way bending operation can be realized with the same structure, and one motor and one The pulley generates frictional force on the four operation wires, but it is also possible to pull in and drive up and down and left and right using two motors and pulleys. Furthermore, the motor can be turned on and off by adding a touch sensor circuit so that the motor rotates when the operator touches the operation lever.
[0077]
Furthermore, although the operation wire is arranged on a straight line before and after the pulley, the operation wire is not limited to this, and the moving direction of the operation wire may be changed at the bouley portion.
[0078]
[Appendix]
According to the embodiment of the present invention described in detail above, the following configuration can be obtained.
[0079]
(Supplementary Note 1) A long and thin insertion portion having a distal end portion and an operation portion at the distal end portion, an operation portion provided on the proximal side of the insertion portion, and connected to the distal end portion of the insertion portion and operated from the insertion portion In a tubular operating device having an operation wire inserted over a part and an operation lever provided on the operation part for operating the operating part by pulling the operation wire,
A pulley provided in the operation portion, around which an operation wire is wound to apply a tensile force to the operation wire;
An electric motor that rotationally drives the pulley;
A tubular operation characterized in that the operation wire is slidably engaged with a pulley that is rotationally driven by the motor, and a pulling force is generated on the operation wire by operating the operation lever. apparatus.
[0080]
(Additional remark 2) The said operation part is a bending mechanism of an endoscope, The tubular operation apparatus of Additional remark 1 characterized by the above-mentioned.
[0081]
(Additional remark 3) The said operation part is a basket wire of basket forceps, The tubular operation apparatus of Additional remark 1 characterized by the above-mentioned.
[0082]
(Additional remark 4) The said action | operation part is a front-end | tip bending part of an endoscope insertion part, This front-end | tip bending part consists of a some bending piece, and the said operation wire is connected to the front-end | tip part of an endoscope insertion part. The tubular operating device according to appendix 1, wherein the operating wire is inserted through an operating coil fixed in the endoscope insertion portion.
[0083]
(Additional remark 5) In the endoscope apparatus which has an operation part and an insertion part,
A distal end portion and a distal end bending portion provided on the distal end side of the insertion portion;
An operation wire having one end fixed to the distal end portion, inserted through the distal end bending portion and the insertion portion, and the other end connected and fixed to an operation lever provided in the operation portion;
A pulley fixed in the operation portion and wound with the operation wire;
A motor for rotationally driving the pulley;
And by operating the operation lever, the operation wire is slidably engaged with the pulley which is rotationally driven by the motor, and a pulling force is generated in the operation wire to bend the distal end bending portion. An endoscope apparatus characterized by that.
[0084]
(Appendix 6) A basket wire for storing and holding collected materials;
The basket wire is connected and fixed to one end, and is inserted into the sheath and the other end is connected and fixed to the handle of the operation unit; and
A pulley provided in the operation portion and wound with the operation wire;
A motor for rotationally driving the pulley;
The basket forceps device is characterized in that when the operation wire is pulled by operating the handle of the operation portion, the operation wire is pulled by friction with a pulley driven to rotate by the motor.
[0085]
【The invention's effect】
  As described above, according to the present invention, it is possible to apply an operation force amount as much as necessary to the pulling member with a simple structure, and it is possible to reduce the operation force amount with respect to the bending operation instruction unit and to improve the bending operability. effective.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a configuration of an embodiment of a tubular operating device according to the present invention.
FIG. 2 is an exploded perspective view showing a configuration of a bearing used in the tubular operating device according to the present invention.
FIG. 3 is an explanatory diagram for explaining the operation of the tubular operating device according to the present invention.
FIG. 4 is an explanatory diagram for explaining another embodiment of the present invention.
FIG. 5 is an explanatory diagram illustrating a configuration of a conventional endoscope apparatus.
[Explanation of symbols]
10 ... Endoscope
11 ... Insertion part
12 ... tip
13 ... Curved tip
14 …… Curved frame
15 ... Operation coil
16 ... Operation wire
17 ... Insertion fixture
18 ... Frame
19 ... pulley
20 ... Operating arm
21 ... Bearing
22 ... Operation bearing
23 ... Control lever
31 ... Motor
32 ... Battery for motor

Claims (8)

In an endoscope in which an insertion portion is continuously provided in the operation portion, a bending portion is provided on the distal end side of the insertion portion, and a distal end portion is continuously provided on the distal end side of the bending portion.
A plurality of traction members extending from the operation section side through the insertion section into the bending section and having one end fixed to the tip section;
A pulley in which a middle portion of the pulling member is wound in a relaxed state;
Driving means for rotating the pulley in a direction in which the pulling member is pulled; and
A fixing member having a plurality of fixing portions to which the other end portions of the respective pulling members that are wound around the pulley and are extended are respectively fixed;
A bending operation instruction unit connected to the fixing member and instructing the bending unit to bend by pulling the pulling member;
With
When the pulling member is pulled according to the operation instruction of the bending operation instruction portion, the portion of the pulling member wound around the pulley is tightly wound around the pulley from the relaxed state The endoscope is characterized in that the bending portion is bent by the pulling of the pulling member and the rotation of the pulley according to the operation instruction. 2. The inner portion according to claim 1, wherein the tilting amount of the bending operation instruction unit is changed, whereby the tilting amount is given to the pulling member via the fixing member, and the pulling member is pulled. Endoscope. 3. The traction member according to claim 1, wherein by stopping the change of the tilt amount of the bending operation instruction unit, the portion of the traction member slides with respect to the pulley, and the traction of the traction member is stopped. The endoscope described. The endoscope according to any one of claims 1 to 3, wherein the pulley has a groove for winding the pulling member once. The endoscope according to any one of claims 1 to 4, wherein the other end portion of each pulling member is fixed to each fixing portion with respect to the bending direction. 6. The internal view according to claim 1, wherein the fixing member is fixed to a bearing, and the bending operation instruction portion is fixed to an anti-fixing member side of the bearing. mirror. The bearing has a circular shaft, a first spherical bearing, and a second spherical bearing, the circular shaft is formed in a columnar shape, and the fixing member is fixed to a part of the circular arc of the columnar shape. The first ball bearing and the second ball bearing are formed in a shape obtained by dividing the sphere into two parts, and the circular shaft is fitted inside the divided part. The endoscope according to claim 6. The bearing fixes the fixing member that fixes the base end portion of the pulling member wound once around the pulley, and the circular bearing that fixes the fixing member and the bending operation instruction portion is a first ball bearing. The second ball bearing is clamped by a second ball bearing, and the shaft portion of the first ball bearing and the second ball bearing sandwiching the circular shaft is fixed to a fixed body in the operation portion. The endoscope according to Item 6.

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