JPH06105801A - Bending apparatus - Google Patents

Abstract

PURPOSE:To provide a bending apparatus which enables reduction in burden on patients with higher insertability without impairing flexibility of a part where flexible piezoelectric actuators of a flexible pipe are arranged. CONSTITUTION:Angle wires 4a and 4b for the operation of bending a bending part 3 are arranged in a flexible pipe 1 having the bending part 3 linked to a bending piece 2, flexible piezoelectric actuators 6a and 6b adapted to directly pull the angle wires 4a and 4b are arranged within the flexible pipe 1 and the flexible piezoelectric actuators 6a and 6b are energized to generate a progressive wave. The angle wires 4a and 4b are pulled by a friction force with the flexible piezoelectric actuators 6a and 6b thereby bending the bending part 3 of the flexible pipe 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bending device used in a flexible tube of a medical endoscope or an industrial endoscope.

[0002]

2. Description of the Related Art For example, a flexible tube of an industrial endoscope for inspecting and repairing a flexible tube of a medical endoscope or an industrial pipeline such as a gas pipe has a plurality of flexible portions. It is composed of a flexible tube.

Generally, in a flexible tube, a plurality of bending pieces are rotatably connected by a connecting pin to form a joint portion, an angle wire is routed on the inner circumference of the bending piece, and one end of the angle wire is a tip. It is fixed to the bending piece on the side and a bending operation mechanism for applying a pulling force to the angle wire is provided on the proximal side.

By applying a pulling force to the angle wire by the bending operation mechanism, each bending piece is rotated little by little around the connecting pin so that the entire bending portion can be bent in a desired direction.

Further, an endoscope having a vibration wave motor for pulling an angle wire in an insertion portion as a bending device for an endoscope is disclosed in, for example, Japanese Patent Application Laid-Open No. 61-106126 and Japanese Patent Application Laid-Open No. 4-126126.
-75892 and the like.

[0006]

However, as described above, in the structure in which the angle wire is pulled by the bending operation mechanism of the hand operation unit, the hand operation unit becomes large, the entire endoscope becomes large, and The angle wire becomes long, and the resistance is large, so a large traction force is required.
In addition, the structure in which the vibration wave motor is built in the insertion part of the endoscope impairs the flexibility of the insertion part due to the presence of the vibration wave motor, and the insertion property when the operator inserts the vibration wave motor into the body cavity of the patient. However, there is a problem in that the patient gets worse and suffers much.

The present invention has been made in view of the above circumstances, and an object thereof is to reduce the traction force of the angle wire and without impairing the flexibility of the insertion portion. An object of the present invention is to provide a bending device capable of towing and bending the device.

[0008]

In order to solve the above problems, the present invention provides a flexible tube having a bending portion, an angle wire disposed on the flexible tube for performing a bending operation of the bending portion, and The flexible piezoelectric actuator is provided inside the flexible tube and directly pulls the angle wire.

[0009]

When the flexible piezoelectric actuator disposed inside the flexible tube is energized to generate a traveling wave, the angle wire is pulled by the frictional force with the flexible piezoelectric actuator, and the bending portion of the flexible tube can be bent. it can. Further, the flexible piezoelectric actuator is flexible by itself, and does not impair the flexibility of the bending tube.

[0010]

Embodiments of the present invention will be described below with reference to the drawings.

1 to 4 show a first embodiment, in which reference numeral 1 is a flexible tube as an insertion portion of an endoscope. Reference numeral 2 denotes a plurality of bending pieces, which are formed by a cylindrical short tube. Both ends of the bending piece 2 in the axial direction are rotatably connected by connecting pins 2a, and a plurality of bending portions 3 are provided in the axial direction of the flexible tube 1.

Since the plurality of bending portions 3 have the same structure, one of them will be described. Angle wires 4a and 4b are arranged on the inner wall of the bending piece 2 in correspondence with the bending direction. One end of 4b is fixed to the fixed portion 5 of the most distal bending piece 2.

The other ends of the angle wires 4a and 4b are inserted into flexible piezoelectric actuators 6a and 6b arranged on the proximal end side of the flexible tube 1. The flexible piezoelectric actuators 6a and 6b are formed of a resin having a piezoelectric effect (for example, PVDF or the like), and have two systems of electrodes 8 alternately attached to the outer periphery of a flexible cylindrical body 7 in the axial direction. A traveling wave having an amplitude displacement in the radial direction is generated by a sinusoidal signal from two external systems with different phases. By adjusting the phase, the traveling direction of the traveling wave can be switched to the left or right, but the flexible piezoelectric actuator 6a and the flexible piezoelectric actuator 6b are always opposite. This flexible piezoelectric actuator 6a,
The operation of generating the traveling wave in 6b can be controlled by a switch provided in the operation unit (not shown) of the endoscope.

A traveling wave is generated in each of the flexible piezoelectric actuators 6a and 6b by a switch operation of the operation portion, and the angle wires 4a and 4b are pulled by a frictional force with the flexible piezoelectric actuators 6a and 6b. Since the traveling waves in opposite directions are generated in the flexible piezoelectric actuators 6a and 6b, the angle wires 4a and 4b are also pulled in opposite directions.

For example, when the angle wire 4a is pulled toward the base end side of the flexible tube 1 and the angle wire 4b is pulled toward the tip end side, the bending portion 3 is bent upward. On the contrary, when bending downward, the flexible piezoelectric actuators 6a and 6b are made to pull the angle wires 4a and 4b in the opposite directions.
To generate a traveling wave.

By arranging the flexible piezoelectric actuators 6a and 6b inside the flexible tube 1 in this manner, it is not necessary to provide a bending operation mechanism in the operation portion, and the endoscope as a whole can be made smaller and lighter. it can.

A plurality of bending portions 3 are arranged in the axial direction of the flexible tube 1.
By arranging the flexible piezoelectric actuators 6a and 6b on the curved portion 3, the flexible tube 1 can be independently curved at a plurality of positions, the insertability is improved, and the target portion can be easily reached. Becomes

By arranging the flexible piezoelectric actuators 6a and 6b on the bending portion 3 of the flexible tube 1, the angle wires 4a and 4b are shortened, and as a result, the traction force can be reduced and the long internal view can be obtained. Suitable for mirror bending device. Further, since the flexible piezoelectric actuators 6a and 6b have flexibility themselves, the flexible tube 1
The flexibility of the portions where the flexible piezoelectric actuators 6a and 6b are arranged is not impaired.

5 and 6 show a second embodiment. 1
0 is a flexible piezoelectric actuator, which is an axial oscillator 11 between two radial oscillators 11a and 11b.
This is a structure in which one vibrator unit 12 is formed by firmly adhering it in such a manner as to sandwich c, and these vibrator units 12 are axially connected via an elastic member 13 made of a rubber or resin material.

The vibrator unit 12 has a cylindrical shape, and the angle wire 14 is inserted therein. The vibrator unit 12 is not flexible by itself, but is elastically coupled in the axial direction by the elastic member 13, so that the flexible piezoelectric actuator 10 as a whole is flexible. Therefore, as in the first embodiment, the flexibility of the portion of the flexible tube where the flexible piezoelectric actuator 10 is arranged is not impaired.

FIG. 6 is a diagram showing the operation of one transducer unit 12, showing the case where the angle wire 14 is fed to the left. First, the radial transducer 11a on the left side frictionally fixes the angle wire 14 passing therethrough. At this time,
The radial oscillator 11b on the right side extends in the radial direction, has no friction with the angle wire 14, and is in a state of being freely movable (FIG. 6A).

Next, when the axial oscillator 11c is extended, the right radial oscillator 11b moves to the right (FIG. 6).
(B). With the axial oscillator 11c extended, the radial oscillator 11a on the left side is extended in the radial direction, at the same time the radial oscillator 11b on the right side is contracted, and the angle wire 14 is frictionally fixed (FIG. 6C). .

Next, when the axial vibrator 11c is contracted while the right radial vibrator 11b is contracted, the angle wire 14 moves leftward (FIG. 6D). As shown in FIG. 6A, the radial transducer 11a on the left side frictionally fixes the angle wire 14 passing therethrough, and the radial transducer 11b on the right side expands in the radial direction to cause friction with the angle wire 14. Instead, it moves freely (Fig. 6 (e)).

As described above, the vibrator unit 12 is not flexible by itself, but is elastically coupled in the axial direction by the elastic member 13, so that the flexible piezoelectric actuator 10 as a whole is flexible. Therefore, the same effect as that of the first embodiment can be obtained.

7 to 9 show a third embodiment. Reference numeral 15 is a flexible tube as an insertion portion of the endoscope. Reference numeral 16 is a plurality of bending pieces, which are formed by a cylindrical short tube. Both ends of the bending piece 16 in the axial direction are rotatably connected by connecting pins 16a, and a plurality of bending portions 17 are provided in the axial direction of the flexible tube 15.

Since the plurality of bending portions 17 have the same structure,
Explaining one of them, angle wires 18a and 18b are arranged on the inner wall of the bending piece 16 corresponding to the bending direction, and one end of each of the angle wires 18a and 18b is fixed to the fixing portion 19 of the bending piece 16 at the front end. It is fixed to.

The other ends of the angle wires 18a and 18b are inserted into the flexible piezoelectric actuators 20a and 20b arranged on the proximal end side of the flexible tube 15. The flexible piezoelectric actuators 20a and 20b are formed of a resin having a piezoelectric effect (for example, PVDF or the like), and the piezoelectric element 22 is attached to one end of the flexible cylindrical body 21 in the axial direction.

On the inner surface of the cylindrical body 21, there is provided a ratchet 25 which engages with saw teeth 24 axially provided on the upper portions of the angle wires 18a and 18b, so that the movement of the angle wires 18a and 18b can be carried out in one direction. It is regulated only. Further, a bimorph actuator 26 is provided below the inner surface of the cylindrical body 21 so as to press the angle wires 18 a and 18 b toward the upper portion of the inner surface of the cylindrical body 21.

The flexible piezoelectric actuator 20
Two a, 20b are arranged in series inside the flexible tube 15, and two flexible piezoelectric actuators 20a, 20a and 20b, 20b in front of and behind this are arranged in the direction of the ratchet 25, and the angle wires 18a, 1 meshing therewith.
The directions of the saw teeth 24 of 8b are opposite to each other.

As shown in FIG. 8A, one of the flexible piezoelectric actuators 20a and 20b arranged in series on one angle wire 18a by operating the switch of the operating portion is a bimorph actuator 26a. Angle wire 1
8a is pressed against the upper part of the inner surface of the cylindrical body 21, and the ratchet 2
5 and the sawteeth 24 are engaged with each other.

The piezoelectric element 22 vibrates, and this vibration is transmitted to the cylindrical body 21, whereby the ratchet 25 and the sawteeth 2 are formed.
Move 4 by 1 in the allowed direction. In the other flexible piezoelectric actuator 20b, as shown in FIG. 8B, when the bimorph actuator 26 is lowered, the ratchet 25 and the saw tooth 24 are disengaged from each other, and the angle wire 18b is removed from the flexible piezoelectric actuator 20b. Will be able to move freely.

When the angle wire 18a is moved in the opposite direction, the two flexible piezoelectric actuators 20
The operations of a and 20b may be interchanged. The bending portion 16 of the flexible tube 15 performs a bending operation by pulling the two angle wires 18a and 18b in opposite directions. When the bending portion 17 is bent in the opposite direction, the flexible piezoelectric actuators 20a, 20b may be operated so as to pull the angle wires 18a, 18b in the opposite direction. Therefore, the same effect as that of the first embodiment can be obtained.

10 to 12 show a fourth embodiment, and 29 is a flexible tube as an insertion portion of the endoscope. Reference numeral 30 denotes a plurality of bending pieces, which are formed by a cylindrical short tube. Both ends of the bending piece 30 in the axial direction are rotatably connected by connecting pins 30 a, and a plurality of bending portions 31 are provided in the axial direction of the flexible tube 29.

Since the plurality of bending portions 31 have the same structure,
Explaining one of them, the angle wires 32a and 32b are arranged on the inner wall of the bending piece 30 so as to correspond to the bending direction, and one ends of the angle wires 32a and 32b are fixed to the fixing portion 33 of the bending piece 30 at the front end. It is fixed to.

The other ends of the angle wires 32a, 32b are coil sheaths 34a, 3 arranged on the proximal end side of the flexible tube 29.
4b is inserted. The coil sheaths 34a and 34b are flexible, and ultrasonic transducers 35 are coupled to both ends of the wire, and the ultrasonic transducers 35 transmit ultrasonic vibrations to the coil sheaths 34a and 34b. It is like this.

The ultrasonic vibrations generated in the coil sheaths 34a and 34b by the combination of the ultrasonic transducers 35 at both ends can be made into traveling waves, and the traveling direction of the traveling waves is that of the ultrasonic transducers 35 at both ends. The phase can be switched to either left or right, but the coil sheaths 34a and 34b are always opposite to each other. The operation of generating a traveling wave in the coil sheaths 34a and 34b can be controlled by a switch provided in the operation section of the endoscope.

The ultrasonic transducers 35 oscillate by the switch operation of the operation section, and the coil sheaths 34a and 34b are oscillated.
Respectively, a traveling wave is generated, and the angle wires 32a, 3
2b is pulled by the frictional force between the coil sheaths 34a and 34b. Since the traveling waves in opposite directions are generated in the coil sheaths 34a and 34b, respectively, the angle wire 32
The a and 32b are also pulled in opposite directions.

For example, the angle wire 32a is the flexible tube 2
When the angle wire 32b is pulled to the base end side of 9 to the tip end side, the bending portion 31 is bent upward. On the contrary, in order to bend it downward, the phases of the vibrations of the ultrasonic transducers 35 at both ends are adjusted so that the angle wires 32a and 32b are pulled in opposite directions, and the traveling waves in opposite directions are respectively applied to the coil sheaths 34a and 34b. It should be generated. Therefore, the same effect as that of the first embodiment can be obtained.

FIG. 13 shows a fifth embodiment. This embodiment corresponds to the coil sheaths 34a and 34b in the fourth embodiment.
The strands 36a and 36b forming the above are guided to the proximal end side of the flexible tube 30 and reach the inside of the operation portion 37 of the endoscope.
The wires 36a and 36b are bifurcated inside the operation portion 37, and the ultrasonic transducers 35 are coupled to the bifurcated tip portions.

As described above, one strand 36a or 36b
The two ultrasonic transducers 35, which are derived from the above, are able to generate traveling waves in the coil sheaths 34a and 34b by shifting the phases by 90 ° to cause ultrasonic resonance, and the angle wires 32a are flexible tubes. When the angle wire 32b is pulled toward the distal end side of the base end side of 30,
The bending portion 31 is bent upward. On the contrary, in order to bend it downward, the phases of the vibrations of the ultrasonic transducers 35 at both ends are adjusted so that the angle wires 32a and 32b are pulled in opposite directions, and the traveling waves in opposite directions are respectively applied to the coil sheaths 34a and 34b. It should be generated. Therefore, the same effect as that of the first embodiment can be obtained.

[0041]

As described above, according to the present invention, since the flexible piezoelectric actuator for directly pulling the angle wire is provided inside the flexible tube, it is not necessary to provide the operation portion with the bending operation mechanism. The overall size and weight of the endoscope can be reduced, and the operability can be improved.

Further, by disposing the flexible piezoelectric actuator in the bending portion of the flexible tube, the angle wire is shortened, and as a result, the traction force can be reduced, which is suitable for a bending device for a long endoscope. Further, since the flexible piezoelectric actuator itself has flexibility, the flexibility of the portion of the flexible tube where the flexible piezoelectric actuator is arranged is not impaired, improving the insertability and burdening the patient. The effect is that it can be reduced.

[Brief description of drawings]

FIG. 1 is a perspective view of a bending device according to a first embodiment of the present invention.

FIG. 2 is a vertical sectional side view of the flexible piezoelectric actuator according to the embodiment.

FIG. 3 is a perspective view of the flexible piezoelectric actuator of the same embodiment.

FIG. 4 is a perspective view showing a curved state of the flexible tube of the embodiment.

FIG. 5 is a perspective view of a flexible piezoelectric actuator according to a second embodiment of the present invention.

FIG. 6 is an operation explanatory view of the flexible piezoelectric actuator of the same embodiment.

FIG. 7 is a perspective view of a bending device showing a third embodiment of the present invention.

FIG. 8 is an operation explanatory view of the flexible piezoelectric actuator of the same embodiment.

FIG. 9 is a perspective view showing a curved state of the flexible tube of the embodiment.

FIG. 10 is a side view of a coil sheath and an ultrasonic transducer according to a fourth embodiment of the present invention.

FIG. 11 is a perspective view of the bending device according to the same embodiment.

FIG. 12 is a perspective view showing a curved state of the flexible tube of the embodiment.

FIG. 13 is a side view of a bending device according to a fifth embodiment of the present invention.

[Explanation of symbols]

1 ... Flexible tube, 2 ... Bending piece, 3 ... Bending part, 4a, 4b ... Angle wire, 6a, 6b ... Flexible piezoelectric actuator.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Minoru Tsuruta 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Co., Ltd. (72) Takahiro Kishi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Katsuya Suzuki 2-43-2, Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Tatsuya Yamaguchi 2-43-2, Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Yasuhiro Ueda 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Hideyuki Adachi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Within Olympus Optical Co., Ltd. (72) Inventor Masaaki Hayashi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Hikari In Industry Co., Ltd.

Claims (1)

[Claims] 1. A flexible tube having a bending portion, an angle wire disposed on the flexible tube for performing a bending operation of the bending portion, and a towing of the angle wire disposed inside the flexible tube. A bending device, comprising: a flexible piezoelectric actuator for direct operation.