JPH0654801A - Endoscope with multifunction treating implement - Google Patents

Abstract

PURPOSE:To provide the endoscope provided with a multifunction treating implement, which can be miniaturized easily, and also, whose operability is satisfactory. CONSTITUTION:In the tip of an inserting part 8, a treatment unit 35 is provided, and its treatment unit 36 consists of a freely curvable arm part 34, and plural and effectors 35a attached to this arm part 34 so as to be freely attachable, detachable and changeable. Also, this endoscope is provided with a driving means for operating the treatment unit 36, a mechanism for controlling an operation of the driving means in accordance with an input of an input means for instructing an operation executed by this driving means, and connecting and separating the arm part 34 and the end effector 35a, a carrying passage for a change treating implement for guiding a transfer of the end effector 35a, and a transfer driving means for collection and supply between a treating implement changing mechanism for containing plural treating implements, and also, supplying the selected treating implement to the carrying passage and the treatment unit.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope with a multifunctional treatment instrument which can selectively use various treatment instruments.

[0002]

2. Description of the Related Art In general, when performing a surgical operation for treating a required site in the body by an operation from outside the body using an endoscope or an examination of a living tissue, a wide variety of treatments such as biopsy forceps and a crushed stone basket are performed. Ingredients are sometimes used, and the tendency is increasing in recent years. Each of these treatment tools has a single function, and is inserted into the body through the treatment tool insertion channel of the endoscope as necessary. After performing the required treatment, the unnecessary treatment tool is pulled out of the body, and then the treatment tool necessary for the new treatment is inserted into the body through the endoscope.

By the way, when it is necessary to perform treatment using a large number of treatment tools, it is necessary to carefully guide the treatment tool to a required site through a narrow insertion channel each time the treatment tool suitable for the treatment is used. . In particular, when it is used by inserting it into the deep part of the lumen, it takes time and labor to replace the treatment tool, and the treatment time becomes long.

Therefore, in Japanese Patent Laid-Open No. 4-120639, there is provided a multi-function treatment instrument in which a plurality of treatment function portions are arranged, each function portion is moved forward and backward, and each treatment function is operated independently. Proposed.

[0005]

However, the configuration in which the treatment function portions are arranged on the treatment instrument itself has a drawback that the treatment instrument itself becomes large in size as the required treatment increases. The present invention has been made in view of the above problems, and an object of the present invention is to provide an endoscope including a multifunctional treatment tool that can be easily downsized and has good operability.

[0006]

According to the present invention, there is provided a treatment unit at the tip of the insertion portion, and the treatment unit has a bendable arm portion having one end side attached to the tip of the insertion portion. , A plurality of treatment tools detachably attached to the arm portion, further comprising drive means for operating the treatment unit, input means for instructing an operation performed by the drive means, and an input means for inputting the input means. Means for controlling the operation of the driving means, a mechanism for connecting and disconnecting the arm portion and the treatment instrument, and a passage for transporting the replacement treatment instrument formed in the insertion portion and guiding the transfer of the treatment instrument. And a treatment instrument exchange mechanism for accommodating the plurality of treatment instruments and supplying the selected treatment instrument to the transport passage, and a treatment unit between the treatment unit and the treatment instrument exchange mechanism through the transport passage. A endoscope with multifunctional treatment tool, characterized by comprising a transport drive means for performing recovery and supply of ingredients.

[0007]

1 to 8 show a first embodiment of the present invention. FIG. 1 shows an electronic endoscope apparatus 1. The electronic endoscope apparatus 1 includes an electronic endoscope 2 in which a solid-state image sensor such as a CCD is installed, and the electronic endoscope 1. 2, a light source device 3 for supplying illumination light, a video control device 4 for driving the solid-state image pickup device and converting an image pickup signal from the solid-state image pickup device into a video signal, and a video signal from the video control device 4. It has a monitor 5 for displaying and an external control device 6. The external control device 6 will be described later, but here,
The bending operation of the bending portion 10 and the treatment unit 36 of the electronic endoscope 2 and the replacement of the end effector portion 35 at the distal end of the treatment unit 36 are performed.

The electronic endoscope 2 has an operating section 7 and an inserting section 8 which is connected to the operating section 7 and which is formed in a slender shape so as to be inserted into a subject. The flexible portion 9, the bending portion 10, and the tip forming portion 11 are connected in this order from the portion 7. Further, the bending portion 10 has a bending core material in which a plurality of bending pieces are connected to each other, and is configured to be bendable vertically and horizontally as a whole.

As shown in FIG. 2, the tip forming portion 11
Is an objective optical system 30 including the solid-state image pickup device, an illumination optical system 31, an air / water feeding nozzle 32 for cleaning the objective optical system, and a suction channel for arranging body fluid in the endoscope 2. A suction port 33 for suctioning through (also serving as a treatment instrument insertion channel) is provided. Besides this,
A treatment unit 36 including an arm portion 34 that can be bent up and down, right and left, and an end effector portion 35a for performing various treatments, which will be described later, is provided in a protruding manner, and further, a replacement port 3 for replacing a treatment tool or the like with respect to the end effector portion 35a.
7 is provided. Here, a signal cable is electrically connected to the above-mentioned solid-state imaging device, and this signal cable extends to a connector 16 for a video control device described later.

A light guide fiber bundle as an illumination optical system extends to a light guide connector 14 described later. At the end of the universal cord 12, an external control device connector 13 for detachably connecting to the external control device 6 and a light guide connector 14 for detachably connecting to the light source device 3 are provided. A video control cord 15 extends from the side portion of the light guide connector 14, and a video control device connector 16 that is detachably connected to the video control device 4 is provided at the tip of the extension. .

Further, the operation part 7 of the endoscope 2 is supplied with air and water from the air / water supply nozzle 32, and the objective optical system 3
An air supply / water supply button 17 for performing a cleaning operation of 0 and a suction button 18 for performing an operation of sucking body cavity fluid through the suction port 33 are provided. That is, by selectively operating the air supply / water supply button 17, the air supply or water supply operation is selectively performed from the air supply / water supply nozzle 32, and the suction button 1
By operating 8, the suction action is performed from the suction port 33 through the suction channel.

Further, the operation section 7 is provided with a cross-shaped bending operation switch 19 for remotely bending the bending section 10 of the insertion section 8. The bending operation switch 19 can also perform the bending operation of the treatment unit 36 by sliding the changeover switch 38, which is also a slide switch provided on the operation portion 7, from the B side to the C side to change over. The operation unit 7 includes a treatment unit 3 described later.
Exchange switches 39, 40, 41 for exchanging the end effector portion 35a of No. 6 are provided.

A drive motor 21, which is a DC motor as a drive source for vertically bending the bending portion 10 as shown in FIG. 4, is provided in the operating portion 7, and the driving motor 21.
A sprocket 23 fixed to the drive shaft 22 and a chain 24 meshing with the sprocket 23 are provided. Each end of the chain 24 is connected to the connecting member 2
The upper and lower bending operation wires 26 are individually connected via 5. The bending operation wire 26 is inserted through the flexible portion 9 and the bending portion 10 of the insertion portion 8 and is connected to each of the upper and lower portions of the frontmost bending piece of the bending portion 10.

By operating the bending operation switch 19, the drive motor 21 is actuated, and the operation wire 26
One of the two is selectively pulled to bend the bending portion 10 upward or downward. Here, the bending operation mechanism that bends the bending portion 10 in the up and down direction has been described, but the bending operation mechanism that bends the bending portion 10 in the left and right direction is similarly configured.

Next, the treatment unit 36 will be described. First, its curved structure will be described. As shown in FIG. 5, the arm portion 34 is a hollow elastic body,
There are four pairs of holes 200a, 200b, 200 in the wall meat portion.
c, 200d are provided, and these holes 200a,
Reference numerals 200b, 200c, and 200d each denote an SMA member 201 formed by bending a wire made of a shape memory alloy into a U shape.
However, a total of four wires are inserted and guided from the end effector portion 35 side into the insertion portion 8. Where SM
The A member 201 does not come off because the curved portion 201a is fixed to the end portion of the arm portion 34 on the side of the end effector portion 35 by means such as bonding.

Cable wires 202, which will be described later, are connected to the open ends of the SMA member 201 by caulking means or the like. This cable wire 202 is used for each SMA member 2
Since there are 2 wires for each 01, there are 2 wires × 4 sets = 8 wires in total, and these cable wires 202 are inserted into the insertion portion 8, the operation portion 7, and the universal cord 12 of the endoscope 2 as shown in FIG. Then, it is connected to the power source 203 provided in the unit of the external control device 6. The power source 203 is controlled by the power source control unit 204. Here, the SMA member 201 is shrunk in the axial direction by being heated by its own resistance heat by being energized. That is, if the SMA member 201 inserted into the hole 200d in FIG. 5 is heated by energization, the SMA member 201 contracts in the axial direction and curves in the direction of the arrow in the figure. Others are the same.

Next, the opening / closing mechanism of the end effector portion 35a of the treatment unit 36 shown in FIG. 3 will be described. As shown in FIG. 7, the treatment unit 36 includes a biopsy forceps type end effector portion 35a and the arm portion 34 described above. An arm cover 47, which will be described later, is provided at a portion of the arm portion 34 near the end effector portion 35a.

Here, the biopsy forceps type end effector section 3
As shown in FIG. 7A, the treatment tool 5a, that is, the treatment tool, is composed of a cup portion 43, a cover portion 44, and a movable portion 45. Here, the cup portion 43 is a cup with a squeezing open made of one chip component. Further, the cover portion 44 is made of a material to which the magnet is attracted, for example, a magnetic material such as iron, and the movable portion 45 is made of a non-magnetic material which is not attracted to the magnet. Furthermore, the movable part 45
An iron plate 46 is embedded and fixed to the end face portion on the opposite side of the cup portion 43.

This biopsy forceps type end effector portion 35a
Is connected to the arm portion 34, as shown in FIG. Arm part cover 47 which is a cover of the arm part 34
A coil 47a is wound around the coil 47a.
It is configured to become an electromagnet by passing a current through the. In addition, a flexible shaft 48 that does not attract the magnet and bends freely is inserted into the arm cover 47, and the flexible shaft 48 is guided into the operation unit 7 as shown in FIG.

On the end effector portion 35a side of the flexible shaft 48, the fixing plate 4 which is not attracted to the magnet is provided.
The connecting member 50 is fixed via 9. A coil 50a is wound around the connecting member 50, and the connecting member 50 is magnetized by passing a current through the coil 50a. Further, the fixing plate 49 is prevented from further protruding to the end effector portion 35a side by the protrusion 47b protruding to the inner diameter of the arm portion cover 47.

With this configuration, when the coils 47a and 50a are energized, the arm cover 47 and the connecting member 5 are connected.
0 serves as an electromagnet, and the arm cover 47 covers the cover 44.
And the connecting member 50 adsorbs to the iron plate 46 and connects the end effector portion 35 a and the arm portion 34.

Here, the flexible shaft 48 rotates the gear 52 of the flexible shaft motor 51 in the operating portion 7 shown in FIG. Is configured to move forward and backward. Therefore, the connecting member 50 and the iron plate 4
When the flexible shaft 48 is pulled by the motor 51 in the D direction in FIG. 7B in a state where 6 are connected, as shown in FIG.
It is drawn in and the cup part 43 is closed. Conversely, when the cup portion 43 is pushed out from the inside of the cover portion 44 by pushing in the E direction in FIG. 7B, the cup portion 43 is opened so that the cup portion 43 is opened.

On the other hand, as shown in FIG. 3, inside the endoscope 2, a suction pipe line 33a leading to the suction port 33 is guided to the inside of the external control device 6, and from here, another suction tube 33b is used to guide the outside. It is guided to the outside of the control device 6 and is connected to the suction bottle 67. A suction pump 68 is connected to the suction bottle 67. The suction pump 68 starts the suction operation by pressing the suction button 18, and the suction bottle 67 is sucked from the suction port 33.
Is responsible for suctioning up to.

Further, the exchange conduit 54 communicating with the exchange port 37 described in FIG. 2 extends into the external control device 6 as shown in FIG. An end effector tuner 55 is connected to the end portion of the exchange pipe 54 on the bending external control device 6 side via a first valve 60. The end effector tuner 55 accommodates or supplies the end effector to be replaced. Although only one end effector tuner 55 is shown in FIG. 3, the revolver unit 205 that actually rotates is described later.
And a pulse motor 206. Further, a biopsy product conduit 62 is connected to the replacement conduit 54 via a second valve 61. The biopsy product conduit 62 is connected to a biopsy product storage chamber 63, and the biopsy product storage chamber 63 includes a pipe 62.
It is connected to the suction pump 64 via a.

The end effector tuner 55 is composed of a revolver unit 205 that rotates and a pulse motor 206 that rotationally drives the revolver unit 205. Inside the revolver unit 205, there are three storage chambers 55a, 55b, 55.
c is provided, and the first accommodation chamber 55a accommodates the biopsy forceps type end effector portion 35a, but since the biopsy forceps type end effector 35a is currently in use, the accommodation chamber 55a becomes empty. There is. The second accommodation chamber 55b accommodates the crushed stone basket end effector 35b. The end effector 35c for grasping forceps is housed in the third housing chamber 55c.

Here, the end effector changer 5
As shown in FIG. 6, the first accommodating chamber 55 a of the revolver unit 205 communicates with the exchange pipe 54, and both of them are the first rubber pipes provided at the ends of the exchange pipe 54. 54a is connected to prevent air leakage. In addition, on the side of the revolver unit 205 opposite to the side of the replacement pipeline 54,
There is a pipe line 54b facing the exchange pipe line 54 and communicating with the air supply / suction pump 65.
The rubber tubes 54c are connected to each other so as to prevent air leakage. Here, the opening diameter of the second rubber tube 54c is smaller than the opening diameter of the first rubber tube 54a.
A net 160 is provided in the opening of c so that the end effectors 35a, 35b and 35c do not come out from this connecting portion.

Then, the revolver unit 205 is rotated by a certain angle by the pulse motor 206 by an exchange switch which will be described later, and the required accommodation chambers 55a, 5a are provided in front of the exchange pipe 54.
5b and 55c can be selectively moved and positioned. Here, a suction valve 65a and an air supply valve 65b are provided in the conduit 54b located on the opposite side of the exchange conduit 54 of the end effector tuner 55, and the suction valve 65a and the air supply valve 65b are provided through these valves 65a and 65b. An air supply / suction pump 65 for performing air / suction is connected. That is, when the suction valve 65a is opened and the air supply / suction pump 65 is operated, air is supplied, and when the suction valve 65b is opened and the air supply / suction pump 65 is operated, suction is performed.

Here, since the cup portions of the crushed stone basket type end effector 35b and the grasping forceps type end effector 35c are changed to the basket type and the grasping type respectively, the description thereof will be omitted.

Next, the replacement mechanism of the end effector unit 35 and the operation circuits of the replacement switches 39, 40, 41 will be described. These exchange switches 39, 40, 41 are
In FIG. 3, when the changeover switch 38 is located on the C side, it is operated by pushing it. In this case, the exchange switch 39 corresponds to the biopsy forceps type end effector 35a, the exchange switch 40 corresponds to the crushed stone basket type end effector 35b, and the exchange switch 41 corresponds to the grasping forceps type end effector 35c.

Therefore, when the changeover switch 38 is positioned on the C side and the biopsy forceps-type end effector 35a is attached to the tip of the arm portion 34, the exchange switch 40 corresponding to the crushed stone basket type is pressed to obtain the following. It is designed to operate.

Since the SMA member 201 of the arm portion 34 is electrically heated and contracts in the axial direction thereof, the arm portion 34 is formed as shown in FIG.
As shown in (a) of FIG.
5a goes into the exchange port 37. Here, when the action of the electromagnet is cut off and the connection between the arm portion 34 and the end effector 35a is cut off, the end effector 35a is moved to the arm portion 3.
Separate from 4. At this time, the air supply / suction pump 65 normally leaks in the direction of the arrow in FIG.
Suction is started by opening 5a and closing the air supply valve 65b. Further, since the first valve 60 is open and the second valve 61 is closed, the end effector 35a is provided with the air supply / suction pump 65 through the exchange pipe line 54 as shown in FIG. 8B. Moved by being pulled to the side.

The state of the end effector tuner 55 at this time is, as shown in FIG. 6, due to the operation of the pulse motor 206, the accommodation chamber 55a sandwiched between the exchange conduit 54 and the air supply / suction switching pump 65 is The empty storage chamber 55a for the currently sucked end effector is present.

When the end effector 35a is accommodated in the accommodation chamber 55a, the revolver unit 205 is rotated by the action of the pulse motor 206 and accommodates the end effector corresponding to the pushed switch 39, 40, 41. , For example, the accommodation chamber 55b has an air supply / suction pump 65
To the position sandwiched by the exchange conduit 54. Therefore, the suction valve 65a of the air supply / suction pump 65 is closed and the air supply valve 65b is opened to supply air, and as shown in (c) of FIG. 8, the end chamber 35b moves from the accommodation chamber 55b.
b is sent to the exchange port 37 through the exchange pipe 54. At this time, the electromagnet works again to connect the arm portion 34 and the end effector 35b. When both are connected, the arm part 3
4 returns to the original state and the exchange is completed.

Next, the function of accommodating the biopsy product will be described.
It is assumed that the changeover switch 38 is on the C side and the biopsy forceps type end effector 35a is attached to the arm portion 34. At this time,
The biopsy forceps type end effector 35a has an opening habit of itself and is opened in a shape as shown in FIG. The bending operation switch 19 is operated to bring it close to the desired biopsy site for biopsy. That is, when the replacement switch 39 of the type currently attached is pushed, the cup portion 43 is closed by the backward movement of the flexible shaft 48, and a biopsy is performed. Here, when the same switch 39 is pressed again, the SMA member 201 of the arm portion 34 is electrically heated to bend the arm portion 34, and the end effector 35a is replaced with the exchange port 37 as shown in FIG. Get in.

Here, the suction pump 64 starts suction and the flexible shaft 48 moves forward, whereby the cup portion 43 is opened, and the biopsy 66 is replaced with the replacement conduit 54.
And is stored in the biopsy product storage chamber 63. Further, the suction pump 64 operates to start suction through the biopsy product storage chamber 63. At this time, the first valve 60 is closed and the second valve 60
The valve 61 of is open. In this state, the cup portion 43 of the end effector 35a in the exchange port 37 and the flexible shaft 48 come close to the side of the end effector 35a and open as shown in FIG. 8D. Then, the biopsy 66 is transferred from the inside of the cup portion 43 to the exchange conduit 54.
Then, it is sucked into the biopsy container 63.

In this embodiment, the treatment unit 36
The bending operation of the bending portion 10 is shared by changing one bending switch by changing the changeover switch 38, but a bending switch dedicated to the treatment unit 36 may be provided for this. Further, the valves 60 and 61 may be provided in the operation unit 7, and the end effector tuner 55 and the biopsy product storage chamber may be provided in the operation unit 7.

A second embodiment of the present invention will be described with reference to FIGS. In this embodiment, the exchange pipe line 54 in the first embodiment described above is eliminated, the suction pipe line 33a is also used, and the air supply / suction pump is divided into a suction pump 151 and an air supply pump 152. (See Figure 10). FIG. 9 shows the distal end portion 11 of the endoscope 2 of this embodiment, and as can be seen from this figure, the independent exchange conduit 54 is eliminated.

FIG. 10 shows a replacement mechanism of the end effector section 35, but the suction port 33 is provided with a suction pipe line 33a,
It extends into the external control device 6. An end effector tuner 55 is connected to the end of the suction conduit 33a on the external control device 6 side via a first valve 60, and a biopsy conduit 62 is connected via a second valve 61. Has been done. Biopsy line 6
At the end of 2, there is a biopsy container 63. Although the end effector tuner 55 is shown as a single body in this figure, it is composed of a revolver unit and a pulse motor as described in the first embodiment. The accommodating chamber 63 is decompressed by a suction pump 64 connected to the end of the accommodating chamber 63.

Also, the end effector changer 55
An air supply / suction pipe 150 is connected to the side opposite to the first valve 60 of the air supply valve 151a.
The air supply pump 151 is connected to the suction pump 152 via the suction valve 152a. A suction tube 33b is connected to the suction conduit 33a via a third valve 70. As in the first embodiment, a suction bottle 67 and a suction pump 68 are connected to this end.

When performing a biopsy, it is confirmed that the biopsy forceps type end effector portion 35a is attached, and the exchange switch 39 is pushed. Then, the cup part 43 is closed and a biopsy is performed. Here, when the exchange switch 39 is pressed again, the end effector portion 35a enters the suction port 33 as described above. Then, only the second valve 61 is opened,
Suction is performed via the suction pump 64. Then, when the cup portion is opened, the biopsy product is stored in the biopsy product storage chamber 63.

Next, when the end effector portion is changed from the biopsy forceps type end effector portion 35a to the grasping forceps type end effector 35c, the exchange switch 41 corresponding to the grasping forceps type is pushed. Then, the end effector portion 35a enters the suction port 33, the electromagnet is disconnected, the connection between the arm portion 34 and the end effector portion 35a is disconnected, and the suction pump 152
The suction valve 152a on the side is opened, and the suction pump 151 suctions through the end effector tuner 55. At this time, only the first valve 60 is open. Due to the suction, the end effector portion 35a is moved to the end effector tuner 5.
After being housed in 5, the end effector changer 55
Rotates, this time the suction valve 152a closes, and the air supply valve 151
When a is opened, the air is sent from the air supply pump 152, so that the end effector unit 35 is sent. The subsequent steps are the same as those in the first embodiment and will not be described. When the suction button 18 is pressed, only the third valve 70 is opened and the suction pump 68 suctions. Thus, according to this configuration, since the suction pipe line and the exchange pipe line are shared, the size can be reduced.

A third embodiment of the present invention is shown in FIGS. In this embodiment, the biopsy forceps type end effector of the first embodiment is replaced with a hot biopsy forceps, and the other points are the same as those of the first embodiment, and the description thereof will be omitted.

That is, FIG. 11 (a) shows the hot biopsy type end effector 35d, the cup portion 43 is made of metal, has the opening habit like the first embodiment, and the cover portion. 44 is formed of a material that is attracted to the magnet. Further, the inner surface of the cover portion 44 is insulation-coated with rubber 44a. The movable portion 45 is made of, for example, an insulating material such as reinforced plastic, and an iron plate 46 is fixed to the end portion on the opposite side of the cup portion 43. Here, the movable member 45
A conductor 80 is provided around the iron plate 46, and the conductor 80 passes through the movable portion 45 and is in electrical communication with the cup portion 43.

FIG. 12 shows a connection state of the hot biopsy type end effector 35d and the arm portion 34. Similarly, the conductor 8 is formed on the surface of the fixed plate 49 on the movable portion 45 side.
1 and the end effector portion 35d and the arm portion 34 are connected by an electromagnet, the conductor 80 and the conductor 81 thereof are in contact with each other and electrically connected.

The conductor 81 passes through the fixed plate 49,
It passes through the flexible shaft 48 and is connected to a high frequency power source in the external control device 6 not shown, and has a circuit configuration in which a high frequency current automatically flows when the hot biopsy type end effector portion 35d is used. Others are the same as those in the first embodiment, so will be omitted.

Therefore, when the hot biopsy type end effector portion 35d is used, a high-frequency current from a high-frequency power source (not shown) passes through the conductors 81 and 80 and the cup portion 4
Since it is guided to No. 3, hot biopsy can be performed by using an extracorporeal electrode plate (not shown). According to this, high-frequency treatment can also be performed using the end effector portion 35d.

A fourth embodiment of the present invention will be described with reference to FIG. In this embodiment, a member having a gripping function is added to that of the first embodiment described above, and other parts are the same as those of the first embodiment, and therefore, the same reference numerals are given and the description thereof is omitted. .

FIG. 13A shows the distal end portion of the endoscope 2, and the distal end constituting portion 11 of the endoscope 2 is shown in FIG.
Two SM made of shape memory alloy as shown in (b) of
The A members 110 are attached so as to face each other. S
The MA member 110 is formed in a U-shape, and constitutes a gripping portion 110a that is a central curved portion and both end portions that form an annular portion 110b.

The annular portion 110 is formed on the shaft portion 101a of the fixing pin 101 as shown in FIG.
It is fixed to the tip forming portion 11 by inserting b. Also,
As shown in (c) of FIG. 13, a total of four cable lines 111 a, two each of which is connected to the annular portion 110 b, are connected to the power supply 111 in the external control device 6. The power source 111 is turned on by turning on the SMA drive switch 113 provided on the operation unit 7 to control the unit 112.
In response to a signal from the SMA member 110, a current is passed through the SMA member 110. Here, the SMA member 110 is a two-way type in which the gripping portions 110a bend and approach each other when energized and heated, grips an object, and returns to the state of FIG. 13A when de-energized (during cooling). Made of shape memory alloy.

When it is desired to grip an object, the SMA
When the drive switch 113 is turned on, the SMA member 110 is electrically heated, and the gripping portion 110a bends to the state of FIG. 13C to grip an object. When releasing the grasped object, the switch 113 is turned off to stop the energization of the SMA member 110.
The grip 110a cools and opens, releasing the gripped object. According to this configuration, since a gripping function is added, there is an advantage that two kinds of treatments can be performed at the same time if an end effector other than gripping forceps is used for the treatment unit.

14 to 15 show another modification of the fourth embodiment of the present invention. In this example, a member having a gripping function of the fourth embodiment is provided with two functions of advancing the insertion portion and gripping an object. Since the other points are the same, the same reference numerals are given and the description thereof will be made. Omit it.

FIG. 14A shows the tip of the endoscope 2. That is, two SMA members 100 as shown in (b) of the figure are fixed to the distal end forming portion 11 of the endoscope 2 in the facing directions. Also, this SMA member 100
As described above, is composed of the gripping portion 100a and the advancing portion 100b as shown in FIG. 13 (b), and the contact points of both portions are the annular portion 100c.

The shaft portion 101a of the fixing pin 101 shown in FIG. 14 (c) is inserted into the annular portion 100c and fixed to the tip forming portion 11. Further, the power sources 111 are connected to the open ends 100d of the traveling portions 100b, respectively, so that a current can be passed through the SMA member 100.

The SMA member 100 generates heat when an electric current is applied, and the advancing portion 100b is folded into the tip forming portion 11 side as shown in FIG. 15 (b), and the gripping portions 100a are on opposite sides. The gripping portions 100a are bent toward the gripping portions 100a located at, and the gripping portions 100a come close to each other so that an object can be gripped between the gripping portions 100a. here,
The SMA member 100 is a bidirectional shape memory alloy that has the shape of FIG. 15A when it generates heat and has the shape of FIG. 15B when it cools.

When the power supply to the SMA member 100 is stopped, the SMA member 100 cools and returns to its original shape. At this time, when the corner portion 100e of the advancing portion 100b is in contact with the body wall, it becomes a friction portion, and the SMA member 100 tends to return to its original shape. As shown in c), it proceeds to the grip portion 100a side.

By repeating energization / non-energization / energization to the SMA member 100, the advancing portion 100b changes from the state of FIG. 15 (b) to the state of FIG. 15 (c) -FIG. 15 (b). The state of (3) is repeated, and the insertion section 10 advances. At this time, if there is an object to be grasped in the traveling direction, the energization to the SMA member 100 is changed from non-energized to energized so that the grasping portions 100a approach each other and grasp the object. In addition,
The treatment unit 36 is used for recovery. According to this structure, in addition to the effect of the above-described fourth embodiment, an automatic insertion function is added to facilitate insertion.

16 to 17 show still another modification of the fourth embodiment of the present invention. This is one in which, of the two SMA members 100 of the fourth embodiment, one of them is changed to the one dedicated to the retreat. Since the others are the same, the same reference numerals are given and the description thereof is omitted. In FIG. 16, the SMA member 10 is provided on the upper side of the tip forming portion 11 as in the fourth embodiment.
0 is fixed. Further, a grip assisting member 102 is provided on the tip forming section 11 in parallel with the gripping section 100 a of the SMA member 100.

Here, the regression-only SM is provided below the insertion portion 8.
An A (shape memory alloy) member 103 is provided. As shown in FIG. 17 (b), the SMA member 103 is composed of a connecting portion 103a and a retreating portion 103b, and the contact point between the two is an annular portion 103c. This annular part 10
The shaft portion 101a of the fixing pin 101 described above is inserted into 3c and is fixed to the insertion portion 8. In addition, the regression section 103b
The power sources 111 are respectively connected to the open ends 103d of the power source 111, and the current is supplied to the retreat-dedicated SMA member 103.

Here, when an electric current is applied to the SMA member 100, the advancing portion 100b contracts and the grip portion 100a bends as shown in FIG. 17 (b), so that an object can be gripped together with the grip assisting member 102. Become. Here, when the power supply to the SMA member 100 is stopped, the insertion portion 8 advances as in the modified example of the fourth embodiment.

When only the retreat-dedicated SMA member 103 is energized, the retreat portion 103b is folded to the fixing pin 101 side as shown in FIG. 17 (c). Here, when the energization to the retreat-dedicated SMA member 103 is cut off, the retreat-dedicated SMA member 103 tries to return to its original shape.
Since 03e causes friction, the insertion portion 8 tries to return to the right side in FIG. That is, the insertion section 8 retracts.

By repeating energization / non-energization / energization to the SMA member 100, the advancing portion 100b shows the state of FIG. 15 (a)-(b) of FIG. 15- (a) of FIG. The state of (3) is repeated, and the insertion section 8 advances. In this case, if there is an object to be grasped in the traveling direction, the SMA member 1
By switching the power supply to 00 from non-power supply to power supply, the grip part 100a approaches the grip assist member 102 and grips the target object.

Next, by repeating energization-non-energization-energization to the retreat-dedicated SMA member 103, the retreat portion 103b.
Repeats the state of FIG. 15C-the state of FIG. 15B-the state of FIG. 15C, and the insertion section 8 retracts.

According to this, in addition to the above-mentioned effects, the automatic withdrawal function is added, so that the withdrawal becomes easy. Operability is good because it is not necessary to insert and remove the treatment tool. Further, since the treatment tools are not arranged, the treatment tool main body can be downsized.

A fifth embodiment of the present invention will be described with reference to FIGS. FIG. 18 shows the distal end constituting portion 11 of the insertion portion 8 in the electric bending endoscope 2, but here, only the portion of the distal end constituting portion 11 necessary for this embodiment is shown. The observation system, illumination system, and air / water system are omitted. That is, the tip forming unit 11 includes the tip cover 501,
It comprises a fixing member 502 and a manipulator 503.
At the tip of the first arm 504 of the manipulator 503, a deformation prevention member 505 that also prevents excessive return is fixed. A deformation preventing member 506 having a function of preventing the second arm 507 and the guide from coming off is fixed to the rear end side of the first arm 504.

The deformation preventing member 506 is the forceps channel 50.
It also has a connecting member with 8. Second arm 507
A deformation preventing member 509 having a function of preventing excessive return is fixed to the front end side of the above, and a deformation preventing member 510 having a function of guiding with the third arm 511 and preventing the removal is fixed to the rear end side thereof.

On the other hand, an O-ring 512 is provided between the first arm 504 and the second arm 507 to ensure watertightness between them. On the tip side of the third arm 511, there is a deformation prevention member 513 that also prevents excessive return, and on the rear end side, there is a deformation prevention member 514 that also functions as a guide for the fourth arm 515 and prevention of slippage. It is fixed. on the other hand,
An O-ring 516 is provided between the second arm 507 and the third arm 511 to ensure watertightness therebetween. A deformation preventing member 517 that prevents excessive return is fixed to the front end side of the fourth arm 515, and a guide 519 and a deformation preventing member 518 that also prevents slipping out are fixed to the rear end side.

The third arm 511 and the fourth arm 515
An O-ring 520 is provided between and to secure watertightness between them. The guide 519 has a prevention portion 519
a is provided. An O-ring 521 is provided between the fourth arm 515 and the guide 519 to ensure watertightness between them. On the other hand, the guide 519 includes the fixing member 502.
The guide 51 is formed longer and is fixed
An outer tube 522 is fixedly attached to the member 9.

The eighteenth (b) shows a cross section of the first arm 504 taken along the line AA. The first arm 504 has four pairs of holes 504a, 504b, 504c,
504d, 504e, 504f, 504g and 504h are provided. Four wire-shaped SMA members 523, 52
4,525,526 is U on the tip side of the first arm 504.
4 pairs of holes 504a, 504b, 50
4c, 504d, 504e, 504f, 504g, 50
It is being run for 4h. On the other hand, SMA members 523, 52
4, 525 and 526 are connected to the cable 527 on the rear end side of the deformation preventing member 506. Second arm 50
7, the third arm 511 and the fourth arm 515 are the first
Since it has the same structure as the arm 504 of the above, it is omitted. Cable 5
27 are 32 in total.

As shown in FIG. 19, the operating section 7 includes a main body 5
28, a grip cover 529, and a break stop member 530 so that the insertion portion 8 does not bend sharply. The main body 528 includes an air / water supply button 531, a suction button 532, a bending switch 533 that also has the bending of the manipulator 503, a switch 534 for switching between the bending of the manipulator 503 and the bending portion 10, and the progress of the manipulator 503. Switch 535,
It comprises a reverse switch 536.

As shown in FIG. 20, the distal end portion of the grip portion cover 529 in the operation portion of the endoscope is formed to have a slightly smaller diameter than the base end side thereof, and the small diameter portion has a substantially Y-shaped shape. A branch portion main body 537 branched into one is integrally provided. A pair of frames 5 inside the grip cover 529.
38a and 538b are main cylinder portions 537a of the branch portion main body 537.
Has been extended to the inside. This frame 538a, 5
A connecting portion main body 539 is connected to the tip portion of 38b. That is, the connecting ring 540 is fixed to the frames 538a and 538b by the fixing screws 542 and 542,
The base end of a connecting portion main body 539 formed in a cylindrical shape is fitted into the connecting ring 540.

This connecting portion main body 539 is provided with a fixing screw 54.
It is fixed to the connecting ring 540 by 1,541. Further, since the frames 538a and 538b are fixed to the connecting portion main body 539 engaged with the grip portion cover 529, the frame 538 is used or assembled.
The internal components can be prevented from being damaged without applying a gripping force to the a and 538b. Further, a taper portion 543 is formed at the tip of the connecting portion main body 539 so that the inner diameter thereof is tapered,
An insertion portion is connected to the taper portion 543.

That is, in the figure, reference numeral 544 is a connecting pipe body which constitutes the base end portion of the insertion portion, and the outer peripheral surface of this connecting pipe body 544 corresponds to the taper portion 543 of the connecting portion body 539. -Paper surface 545 and screw portion 546 are formed. Then, a tightening ring 547 that is in contact with the end surface of the connecting part body 539 is screwed into the screw part 546, and the connecting part body 539 is tightened by the tightening force of the tightening ring 547.
And the connection pipe body 544 are connected.

Further, a branch block 548 is fixedly provided inside the branch body 537. The branch block 548 has connection holes 549 and 550 corresponding to the branch body 537. These connecting holes 549 and 550 are communicated with each other by a substantially Y-shaped branch passage. A forceps channel 551 installed in the connection pipe body 544 is connected to the connection hole 549.

The connection hole 5 of the branch block 548
The reference numeral 50 is oriented in the same direction as the branching tubular portion branched from the main tubular portion 537a of the branching body 537, and the base end portion of the channel mouthpiece 552 is connected to the connecting hole 550. The midway portion of the channel mouthpiece 552 is fixed to the open end of the branch cylindrical portion by a fixing rubber 552a, and the tip portion projects from the branch cylindrical portion.

A key 553 is buried under the fixing rubber 552a, and the channel cap 552 is
It cannot be rotated with the grip cover 529. The key
The fixing rubber 552a is always formed in a shape having a smaller diameter than the flange portion 552b of the channel base 552 so that 553 does not project upward.

On the other hand, a ring 554 is fixed to the outer tube 522 so that the forceps channel 508 escapes to the outside of the outer tube 522. Also, the outer
The tube 522 and the ring 554 and the ring 554 and the forceps channel 551 are watertightly adhered to each other.

FIG. 21 shows a connection state between the connector 13 and the external control device 6. A cap 556 for connecting the outer tube 522 is fixed to the main body 555 of the connector 13. On the other hand, in the outer tube 522,
A ring 557 for fixing the cable 527 to the outside is fixed. Outer tube 522 and ring 557,
The ring 557 and the cable 527 are watertightly bonded to each other. The main body 555 has a cable 527.
The connector 558 connected to is fixed. Base 5
Grooves 556a and 556b are provided on the entire circumference 56.

In the external control device 6, a coupler 559 is fixed to the main body 560 with screws (not shown). The coupler 559 is provided with a groove 559a over its entire circumference. A connector 561 is fixed to the main body 560. On the other hand, the coupler 559 has a Y pipe line 56 having a substantially Y shape fixed to the main body 560 by a screw (not shown).
2 is stuck. C in groove 559a of coupler 559
A shaped spring 563 is provided to press the groove 556a of the base 556. The groove 562d is provided near the inner mouth of the pipe 562a, and the groove 562d of the Y pipe 562 and the groove 556b of the base 556 are aligned with each other.

Further, the O-ring 564 has the groove 562d and the groove 5
It is located between 56b to ensure watertightness. Pipeline 56
2b is connected to the air supply solenoid valve 565. The air supply solenoid valve 565 is connected to the air supply pump 567 through the line 566.
It is connected to the. On the other hand, the pipe line 563c is connected to the suction pump 568, and is connected to the suction pump 570 by the pipe line 569. The connector 561 is connected to a control circuit 57 via an I / O circuit (not shown) by a cable.
Connected to 1.

The changeover switch 534 is, for example, a slide switch, and when the changeover switch 534 is set to the A portion 534a side, the bending switch 533 controls the bending portion 10. On the other hand, when the B section 534b side is set, the manipulator 50
It becomes the control of 3. Therefore, when the changeover switch 534 is set to the B portion 534b side and the progress switch button 535 is pushed, the air supply pump 567 is operated. When the bending switch 533 is turned on to the up side, the air feeding solenoid valve 565 is opened, and air is sent into the outer tube 522.

On the other hand, the O-ring 5 of the manipulator 503
The friction resistance of 12, 516, 520, 521 is O ring 512 <O ring 516 <O ring 520 <O ring 5
21 because of the air pressure, the first arm 50
4 is extruded. On the other hand, since the bending switch 533 is turned on to the up side, a voltage is applied to the SMA member 523,
The first arm 504 is curved in the up direction. Further, the time during which the air supply solenoid valve 565 is open is controlled by, for example, the time during which the first arm 504 extends (set in advance) or the time until the bending switch 533 is turned off. When the bending switch 533 is turned off before the first arm 504 extends, the control circuit 571 applies a voltage so as to maintain the bending at the time of turning off. First arm 5
When 04 is completely extended, the bending switch 533 is pushed again, and the second arm 507 is similarly extended although the explanation is omitted.

When the reverse switch 536 is pressed, the suction pump 570 moves, the suction solenoid valve 568 opens, and the outer
The inside of the tube 522 is decompressed, the voltage applied to the SMA member 523 is turned off, and the manipulator 503 returns to its original state. The air supply pump 567 and the suction pump 570 are constantly relieved, and the air supply solenoid valve 565 and the suction solenoid valve 5 are
By opening and closing 68, pressurization inside the outer tube 522,
You may perform decompression.

With this structure, however, the processing tool can be easily brought to the angle and position intended by the operator. Further, the advancing / retreating means and the bending means of the manipulator can be operated by the same signal.

[0084]

As described above, according to the present invention, it is easy to miniaturize the endoscope apparatus with a multifunctional treatment instrument which can select and use various treatment instruments and can be used. Can be improved.

[Brief description of drawings]

FIG. 1 is a schematic explanatory diagram of a configuration of an electronic endoscope apparatus showing a first embodiment of the present invention.

FIG. 2 is a front view showing the tip surface of the endoscope of the same embodiment.

FIG. 3 is an explanatory view schematically showing the system configuration of the electronic endoscope apparatus showing the first embodiment of the present invention.

FIG. 4 is an explanatory diagram of a bending drive device according to the first embodiment of the present invention.

FIG. 5 is a perspective view of an arm portion of the treatment unit according to the first embodiment of the present invention.

FIG. 6 is a perspective view of the end effector tuner portion according to the first embodiment of the present invention.

7A is a sectional view of an end effector, and FIG.
Is a sectional view of the state in which the end effector is attached to the arm portion, (c) is an explanatory view of the operating mechanism portion, and (d) is a sectional view of the state in which the end effector is attached to the arm portion.

FIG. 8 is an explanatory view showing a working state of the arm portion.

FIG. 9 is a front view of a distal end constituent portion of an endoscope according to a second embodiment of the present invention.

FIG. 10 is an explanatory diagram of a system configuration of an endoscope apparatus according to the second embodiment of the present invention.

FIG. 11 is a sectional view of an end effector according to a third embodiment of the present invention, and (b) is a rear view of the end effector.

FIG. 12 is a cross-sectional view showing a state where the end effector is attached to an arm portion.

13 (a) is a side view of the vicinity of a distal end forming portion of an endoscope according to a fourth embodiment of the present invention, FIG. 13 (b) is a plan view of an SMA member thereof, and FIG. 13 (c) is a system of this embodiment. FIG.

FIG. 14 (a) is a side view of the vicinity of a distal end configuration portion of an endoscope in a modification of the fourth embodiment of the present invention, FIG. 14 (b) is a plan view of the SMA member, and FIG. The perspective view of a pin.

15 (a) and 15 (b) are side views of the vicinity of the distal end configuration portion of the endoscope showing another modification of the fourth embodiment of the present invention,

FIG. 16 is a side view of the vicinity of the distal end configuration portion of the endoscope showing still another modification of the fourth embodiment of the present invention.

FIG. 17 is a plan view of an SMA member according to the modification.
(B) and (c) are side views in the vicinity of the distal end configuration part of the endoscope showing the operating state.

FIG. 18 (a) is a cross-sectional view showing the distal end portion of the insertion portion in the fifth embodiment of the present invention, (b) is AA in (a).
Sectional drawing which follows the line.

FIG. 19 is a side view showing the operation section of the endoscope of the fifth embodiment of the present invention.

FIG. 20 is a sectional view of the grip portion of the endoscope according to the fifth embodiment of the present invention.

FIG. 21 is an explanatory view schematically showing a connection state between the connector and the external control device according to the fifth embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Endoscope device, 2 ... Endoscope, 6 ... External control device, 8 ...
Insertion part, 10 ... Bending part, 34 ... Arm part, 35 ... End effector part, 36 ... Treatment unit, 54 ... Replacement conduit, 55 ... End effector tuner.

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[Procedure amendment]

[Submission date] October 30, 1992

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] Full text

[Correction method] Change

[Correction content]

[Document name] Statement

[Title of Invention] Endoscope with multi-function treatment instrument

[Claims]

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope with a multifunctional treatment instrument which can selectively use various treatment instruments.

[0002]

2. Description of the Related Art In general, when performing a surgical operation for treating a required site in the body by an operation from outside the body using an endoscope or an examination of a living tissue, a wide variety of treatments such as biopsy forceps and a crushed stone basket Ingredients are sometimes used, and the tendency is increasing in recent years. Each of these treatment tools has a single function, and is inserted into the body through the treatment tool insertion channel of the endoscope as necessary. After performing the required treatment, the unnecessary treatment tool is pulled out of the body, and then the treatment tool necessary for the new treatment is inserted into the body through the endoscope.

By the way, when it is necessary to perform treatment using a large number of treatment tools, it is necessary to carefully guide the treatment tool to a required site through a narrow insertion channel each time the treatment tool suitable for the treatment is used. . In particular, when it is used by inserting it into the deep part of the lumen, it takes time and labor to replace the treatment tool, and the treatment time becomes long.

Therefore, in Japanese Patent Laid-Open No. 4-120639, there is provided a multi-function treatment instrument in which a plurality of treatment function portions are arranged, each function portion is moved forward and backward, and each treatment function is operated independently. Proposed.

[0005]

However, the configuration in which the treatment function portions are arranged on the treatment instrument itself has a drawback that the treatment instrument itself becomes large in size as the required treatment increases. The present invention has been made in view of the above problems, and an object of the present invention is to provide an endoscope including a multifunctional treatment tool that can be easily downsized and has good operability.

[0006]

According to the present invention, there is provided a treatment unit at the tip of the insertion portion, and the treatment unit has a bendable arm portion having one end side attached to the tip of the insertion portion. , A plurality of treatment tools detachably attached to the arm portion, further comprising drive means for operating the treatment unit, input means for instructing an operation performed by the drive means, and an input means for inputting the input means. Means for controlling the operation of the driving means, a mechanism for connecting and disconnecting the arm portion and the treatment instrument, and a passage for transporting the replacement treatment instrument formed in the insertion portion and guiding the transfer of the treatment instrument. And a treatment instrument exchange mechanism for accommodating the plurality of treatment instruments and supplying the selected treatment instrument to the transport passage, and a treatment unit between the treatment unit and the treatment instrument exchange mechanism through the transport passage. A endoscope with multifunctional treatment tool, characterized by comprising a transport drive means for performing recovery and supply of ingredients.

[0007]

1 to 8 show a first embodiment of the present invention. FIG. 1 shows an electronic endoscope apparatus 1. The electronic endoscope apparatus 1 includes an electronic endoscope 2 in which a solid-state image sensor such as a CCD is installed, and the electronic endoscope 1. 2, a light source device 3 for supplying illumination light, a video control device 4 for driving the solid-state image pickup device and converting an image pickup signal from the solid-state image pickup device into a video signal, and a video signal from the video control device 4. It has a monitor 5 for displaying and an external control device 6. The external control device 6 will be described later, but here,
End d in the bending operation of the bending portion 10 and the treatment unit 36 in the electronic endoscope 2, and the distal end of the treatment unit 36
The effector part 35 is replaced.

The electronic endoscope 2 has an operating section 7 and an inserting section 8 which is connected to the operating section 7 and which is formed in a slender shape so as to be inserted into a subject. The flexible portion 9, the bending portion 10, and the tip forming portion 11 are connected in this order from the portion 7. Further, the bending portion 10 has a bending core material in which a plurality of bending pieces are connected to each other, and is configured to be bendable vertically and horizontally as a whole.

As shown in FIG. 2, the tip forming portion 11
Is an objective optical system 30 including the solid-state image pickup device, an illumination optical system 31, an air / water feeding nozzle 32 for cleaning the objective optical system, and a suction channel for arranging body fluid in the endoscope 2. A suction port 33 for suctioning through (also serving as a treatment instrument insertion channel) is provided. Besides this,
Treatment unit 36 of the end effector portion 35a for performing an arm portion 34 and the various treatment bendable vertically and horizontally to be described later is provided to protrude further, the end-
Exchange port 3 for exchanging treatment instrument such as for Ekuta portion 35a
7 is provided. Here, a signal cable is electrically connected to the above-mentioned solid-state imaging device, and this signal cable extends to a connector 16 for a video control device described later.

A light guide fiber bundle as an illumination optical system extends to a light guide connector 14 described later. At the end of the universal cord 12, an external control device connector 13 for detachably connecting to the external control device 6 and a light guide connector 14 for detachably connecting to the light source device 3 are provided. A video control cord 15 extends from the side portion of the light guide connector 14, and a video control device connector 16 that is detachably connected to the video control device 4 is provided at the tip of the extension. .

Further, the operation part 7 of the endoscope 2 is supplied with air and water from the air / water supply nozzle 32, and the objective optical system 3
An air supply / water supply button 17 for performing a cleaning operation of 0 and a suction button 18 for performing an operation of sucking body cavity fluid through the suction port 33 are provided. That is, by selectively operating the air supply / water supply button 17, the air supply or water supply operation is selectively performed from the air supply / water supply nozzle 32, and the suction button 1
By operating 8, the suction action is performed from the suction port 33 through the suction channel.

Further, the operation section 7 is provided with a cross-shaped bending operation switch 19 for remotely bending the bending section 10 of the insertion section 8. The bending operation switch 19 can also perform the bending operation of the treatment unit 36 by sliding the changeover switch 38, which is also a slide switch provided on the operation portion 7, from the B side to the C side to change over. The operation unit 7 includes a treatment unit 3 described later.
Replacement switches 39, 40, 41 for replacing the end effector unit 35a of No. 6 are provided.

A drive motor 21, which is a DC motor as a drive source for vertically bending the bending portion 10 as shown in FIG. 4, is provided in the operating portion 7, and the driving motor 21.
A sprocket 23 fixed to the drive shaft 22 and a chain 24 meshing with the sprocket 23 are provided. Each end of the chain 24 is connected to the connecting member 2
The upper and lower bending operation wires 26 are individually connected via 5. The bending operation wire 26 is inserted through the flexible portion 9 and the bending portion 10 of the insertion portion 8 and is connected to each of the upper and lower portions of the frontmost bending piece of the bending portion 10.

By operating the bending operation switch 19, the drive motor 21 is actuated, and the operation wire 26
One of the two is selectively pulled to bend the bending portion 10 upward or downward. Here, the bending operation mechanism that bends the bending portion 10 in the up and down direction has been described, but the bending operation mechanism that bends the bending portion 10 in the left and right direction is similarly configured.

Next, the treatment unit 36 will be described. First, its curved structure will be described. As shown in FIG. 5, the arm portion 34 is a hollow elastic body,
There are four pairs of holes 200a, 200b, 200 in the wall meat portion.
c, 200d are provided, and these holes 200a,
Reference numerals 200b, 200c, and 200d each denote an SMA member 201 formed by bending a wire made of a shape memory alloy into a U shape.
But a total of four, are led by inserting a form of inserting the Endoefu Ekuta portion 35 side in the insertion portion 8. Where SM
The A member 201 does not come off because the curved portion 201a is fixed to the end portion of the arm portion 34 on the side of the end effector portion 35 by means such as bonding.

Cable wires 202, which will be described later, are connected to the open ends of the SMA member 201 by caulking means or the like. This cable wire 202 is used for each SMA member 2
Since there are 2 wires for each 01, there are 2 wires × 4 sets = 8 wires in total, and these cable wires 202 are inserted into the insertion portion 8, the operation portion 7, and the universal cord 12 of the endoscope 2 as shown in FIG. Then, it is connected to the power source 203 provided in the unit of the external control device 6. The power source 203 is controlled by the power source control unit 204. Here, the SMA member 201 is shrunk in the axial direction by being heated by its own resistance heat by being energized. That is, if the SMA member 201 inserted into the hole 200d in FIG. 5 is heated by energization, the SMA member 201 contracts in the axial direction and curves in the direction of the arrow in the figure. Others are the same.

Next, the opening / closing mechanism of the end effector portion 35a of the treatment unit 36 shown in FIG. 3 will be described. The treatment unit 36 includes a biopsy forceps type end effector section 35.
It is composed of a and the arm portion 34 described above. An arm cover 47, which will be described later, is provided at a portion of the arm portion 34 near the end effector portion 35a.

Here, the biopsy forceps type end effector section 3
As shown in FIG. 7A, the treatment tool 5a, that is, the treatment tool, is composed of a cup portion 43, a cover portion 44, and a movable portion 45. Here, the cup portion 43 is a cup with a squeezing open made of one chip component. Further, the cover portion 44 is made of a material to which the magnet is attracted, for example, a magnetic material such as iron, and the movable portion 45 is made of a non-magnetic material which is not attracted to the magnet. Furthermore, the movable part 45
An iron plate 46 is embedded and fixed to the end face portion on the opposite side of the cup portion 43.

This biopsy forceps type end effector portion 35a
Is connected to the arm portion 34, as shown in FIG. Arm part cover 47 which is a cover of the arm part 34
A coil 47a is wound around the coil 47a.
It is configured to become an electromagnet by passing a current through the. In addition, a flexible shaft 48 that does not attract the magnet and bends freely is inserted into the arm cover 47, and the flexible shaft 48 is guided into the operation unit 7 as shown in FIG.

The end of the flexible shaft 48
On the effector portion 35a side, the fixing plate 4 that does not attract to the magnet
The connecting member 50 is fixed via 9. A coil 50a is wound around the connecting member 50, and the connecting member 50 is magnetized by passing a current through the coil 50a. Further, the fixed plate 49 has a protrusion 47b protruding to the inner diameter of the arm cover 47, so that the end effector is no longer required.
It does not appear on the side of the switch portion 35a.

With this configuration, when the coils 47a and 50a are energized, the arm cover 47 and the connecting member 5 are connected.
0 serves as an electromagnet, and the arm cover 47 covers the cover 44.
And the connecting member 50 adsorbs to the iron plate 46 and ends.
The effector portion 35a and the arm portion 34 are connected.

Here, the flexible shaft 48 rotates the gear 52 of the flexible shaft motor 51 in the operating portion 7 shown in FIG. Is configured to move forward and backward. Therefore, the connecting member 50 and the iron plate 4
When the flexible shaft 48 is pulled by the motor 51 in the D direction in FIG. 7B in a state where 6 are connected, as shown in FIG.
It is drawn in and the cup part 43 is closed. On the contrary, when pushing in the direction E in FIG. 7B, the cup portion 43 is pushed out from the inside of the cover portion 44, and the cup portion 43 is opened so that the cup portion 43 opens.

On the other hand, as shown in FIG. 3, inside the endoscope 2, a suction pipe line 33a leading to the suction port 33 is guided to the inside of the external control device 6, and from here, another suction tube 33b is used to guide the outside. It is guided to the outside of the control device 6 and is connected to the suction bottle 67. A suction pump 68 is connected to the suction bottle 67. The suction pump 68 starts the suction operation by pressing the suction button 18, and the suction bottle 67 is sucked from the suction port 33.
Is responsible for suctioning up to.

Further, the exchange conduit 54 communicating with the exchange port 37 described in FIG. 2 extends into the external control device 6 as shown in FIG. The end portion of the exchange conduit 54 on the bending external control device 6 side is connected to the end effector via the first valve 60.
The ta changer 55 is connected. The end F
E Kuta changer 55, or providing housing end effectors <br/> over to be replaced. Although only one end effector changer 55 is shown in FIG. 3, the revolver unit 205 actually rotates as described later.
And a pulse motor 206. Further, a biopsy product conduit 62 is connected to the replacement conduit 54 via a second valve 61. The biopsy product conduit 62 is connected to a biopsy product storage chamber 63, and the biopsy product storage chamber 63 includes a pipe 62.
It is connected to the suction pump 64 via a.

The end effector changer 55 is composed of a revolver unit 205 that rotates and a pulse motor 206 that rotationally drives the revolver unit 205. Inside the revolver unit 205, there are three storage chambers 55a, 55b, 55.
c is provided, and the first accommodation chamber 55a accommodates the biopsy forceps-type end effector portion 35a. However, since the biopsy forceps-type end effector 35a is currently in use, the accommodation chamber 55a is empty. Has become. The second storage chamber 55b stores the crushed stone basket end effector 35b. An end effector for grasping forceps is provided in the third storage chamber 55c.
The housing 35c is housed therein.

Here, the end effector changer 5
As shown in FIG. 6, the first accommodating chamber 55 a of the revolver unit 205 communicates with the exchange pipe 54, and both of them are the first rubber pipes provided at the ends of the exchange pipe 54. 54a is connected to prevent air leakage. In addition, on the side of the revolver unit 205 opposite to the side of the replacement pipeline 54,
There is a pipe line 54b facing the exchange pipe line 54 and communicating with the air supply / suction pump 65.
The rubber tubes 54c are connected to each other so as to prevent air leakage. Here, the opening diameter of the second rubber tube 54c is smaller than the opening diameter of the first rubber tube 54a.
A net 160 is provided in the opening of c so that the end effectors 35a, 35b and 35c do not come out from this connecting portion.

Then, the revolver unit 205 is rotated by a certain angle by the pulse motor 206 by an exchange switch which will be described later, and the required accommodation chambers 55a, 5a are provided in front of the exchange pipe 54.
5b and 55c can be selectively moved and positioned. Here end effector
A suction valve 65a and an air supply valve 65b are provided in a conduit 54b located on the opposite side of the replacement pipe 54 of the engineer 55, and air supply / suction is performed through these valves 65a and 65b. The suction pump 65 is connected. That is, when the suction valve 65a is opened and the air supply / suction pump 65 is operated, suction is performed, and when the air supply valve 65b is opened and the air supply / suction pump 65 is operated, air is supplied .

[0028] In this case, the crushed stone basket-type end EF
Ekuta 35b both cup grasping forceps type Endoe Fekuta 35c whose description is omitted because only changed to a basket-type gripping type, respectively.

Next, the replacement mechanism of the end effector section 35 and the operation circuits of the replacement switches 39, 40, 41 will be described. These exchange switches 39, 40, 41 are
In FIG. 3, when the changeover switch 38 is located on the C side, it is operated by pushing it. In this case, the exchange switch 39 corresponds to the biopsy forceps type end effector 35a, the exchange switch 40 corresponds to the crushed stone basket type end effector 35b, and the exchange switch 41 corresponds to the grasping forceps type end effector 35c.

[0030] Therefore, the changeover switch 38 is by positioning the C side, the biopsy forceps at the distal end of the arm portion 34 form the end Effect
When the replacement switch 40 corresponding to the crushed stone basket type is pressed with the tractor 35a attached, the following operation is performed.

Since the SMA member 201 of the arm portion 34 is electrically heated and contracts in the axial direction thereof, the arm portion 34 is formed as shown in FIG.
Of, as shown in (a), it is curved, the end effector 3
5a goes into the exchange port 37. Here, when the action of the electromagnet is cut off and the connection between the arm portion 34 and the end effector 35a is cut off, the end effector 35a is moved to the arm portion 3.
Separate from 4. At this time, the air supply / suction pump 65 normally leaks in the direction of the arrow in FIG.
Suction is started by opening 5a and closing the air supply valve 65b. Further, since the first valve 60 is open and the second valve 61 is closed, the end effector 35a is connected to the air supply / suction pump through the exchange conduit 54, as shown in FIG. 8B. Moved by being pulled to the 65 side.

The state of the end effector changer 55 at this time is, as shown in FIG. 6, due to the action of the pulse motor 206, the accommodation chamber 55a sandwiched between the exchange conduit 54 and the air supply / suction switching pump 65 is currently The storage chamber 55a for the sucked end effector is empty.

Here, when the end effector 35a is housed in the housing chamber 55a, the revolver unit 205 is rotated by the action of the pulse motor 206, and the end effector corresponding to the pushed switch 39, 40, 41 is moved.
The position between the air supply / suction pump 65 and the replacement conduit 54b
Move to storage. For example accommodating chamber 55b is moved to a position sandwiched by the exchange pipes 54 b and the air-suction pump 65. Therefore, closed suction valve 65a of the air-suction pump 65 performs air by the air supply valve 65b is opened, as shown by (c) in FIG. 8, the end-from the accommodating chamber 55b
The ejector 35b is sent to the exchange port 37 through the exchange pipe 54. At this time, the electromagnet works again to connect the arm portion 34 and the end effector 35b. When the two are connected,
The arm portion 34 returns to the original state and the exchange is completed.

Next, the function of accommodating the biopsy product will be described.
It is assumed that the changeover switch 38 is on the C side and the biopsy forceps type end effector 35a is attached to the arm portion 34. At this time,
The biopsy forceps type end effector 35a has its own opening habit and is opened in the shape shown in FIG. 7 (a). The bending operation switch 19 is operated to bring it close to the desired biopsy site for biopsy. That is, when the replacement switch 39 of the type currently attached is pushed, the cup portion 43 is closed by the backward movement of the flexible shaft 48, and a biopsy is performed. When the same switch 39 is pressed again here, the SMA member 201 of the arm portion 34 is electrically heated to bend the arm portion 34, and as shown in FIG. 8A, the end effector 35a is replaced. Enter within 37.

Here, the suction pump 64 starts suction and the flexible shaft 48 moves forward, whereby the cup portion 43 is opened, and the biopsy 66 is replaced with the replacement conduit 54.
And is stored in the biopsy product storage chamber 63. To this function
More specifically, the suction pump 64 operates to start suction through the biopsy product storage chamber 63. At this time, the first valve 60 is closed and the second valve 61 is open. In this state, the end of the exchange port 37 Effect
The cup portion 43 of the tractor 35a and the flexible shaft 48
Approaches the end effector 35a side and opens as shown in FIG. 8 (d). Then, the biopsy 66 enters the exchange conduit 54 from within the cup portion 43, and through it,
The biopsy product storage chamber 63 is sucked.

In this embodiment, the treatment unit 36
The bending operation of the bending portion 10 and that of the bending portion 10 are shared by changing one changeover switch 38. However, the present invention is not limited to this.
Razz treatment unit 36 may be provided with a dedicated bending switch. Furthermore, it provided a valve 60, 61 in the operation portion 7, the end e
The effector changer 55 and the biopsy container may be provided in the operation unit 7.

A second embodiment of the present invention will be described with reference to FIGS. In this embodiment, the exchange pipe line 54 in the first embodiment described above is eliminated, the suction pipe line 33a is also used, and the air supply / suction pump is divided into a suction pump 151 and an air supply pump 152. (See Figure 10). FIG. 9 shows the distal end configuration portion 11 of the endoscope 2 of this embodiment, and as can be seen from this figure, there is no exchange port 37 and no independent exchange conduit 54.

FIG. 10 shows a replacement mechanism of the end effector section 35, but the suction port 33 is provided with a suction conduit 33a,
It extends into the external control device 6. An end effector changer 55 is connected to the end of the suction pipe 33a on the external control device 6 side via a first valve 60, and a biopsy pipe 62 is connected via a second valve 61. Biopsy line 6
At the end of 2, there is a biopsy container 63. Although the end effector changer 55 is shown as a single body in this figure, it is composed of a revolver unit and a pulse motor as described in the first embodiment. The accommodating chamber 63 is decompressed by a suction pump 64 connected to the end of the accommodating chamber 63.

Further, the end effector changer 55
An air supply / suction pipe 150 is connected to the side opposite to the first valve 60 of the air supply valve 151a.
The air supply pump 151 is connected to the suction pump 152 via the suction valve 152a. A suction tube 33b is connected to the suction conduit 33a via a third valve 70. As in the first embodiment, a suction bottle 67 and a suction pump 68 are connected to this end.

When performing a biopsy, however, it is confirmed that the biopsy forceps type end effector portion 35a is attached, and the exchange switch 39 is pushed. Then, the cup part 43 is closed and a biopsy is performed. Here, when the replacement switch 39 is pressed again, the end effector portion 35a enters the suction port 33 as described above. Then, only the second valve 61 is opened,
Suction is performed via the suction pump 64. Then, when the cup portion is opened, the biopsy product is stored in the biopsy product storage chamber 63.

Next, the grasping forceps-type end-effect of the end effector part from the biopsy forceps-type end effector portion 35a
In varying the motor 35c pushes the exchange switch 41 corresponding to the grasping forceps type. Then, the end effector portion 35a enters the suction port 33, the electromagnet is cut off, the connection between the arm portion 34 and the end effector portion 35a is cut off, and the suction pump 152
Open suction valve 152a side is, the suction pump 15 2 performs suction through the end effector changer 55. At this time, only the first valve 60 is open. End by suction
The effector portion 35a is the end effector changer 5.
5, the end effector changer 55
Rotates, this time the suction valve 152a closes, and the air supply valve 151
The air of the air pump 15 1 By a is opened, the end effector unit 35 is sent. The subsequent steps are the same as those in the first embodiment and will not be described. When the suction button 18 is pressed, only the third valve 70 is opened and the suction pump 68 suctions.

According to this structure, the suction pipe line and the exchange pipe line are shared, so that the size can be reduced.

A third embodiment of the present invention is shown in FIGS. This embodiment is the same as the first embodiment except that the biopsy forceps type end effector of the first embodiment is replaced with a hot biopsy forceps, and the description thereof is omitted.

That is, FIG. 11 (a) shows the hot biopsy type end effector 35d, the cup portion 43 is made of metal, has the opening habit like the first embodiment, and has the cover. The portion 44 is made of a material that is attracted to the magnet. Further, the inner surface of the cover portion 44 is insulation-coated with rubber 44a. The movable portion 45 is made of, for example, an insulating material such as reinforced plastic, and an iron plate 46 is fixed to the end portion on the opposite side of the cup portion 43. Here, the movable member 45
A conductor 80 is provided around the iron plate 46, and the conductor 80 passes through the movable portion 45 and is in electrical communication with the cup portion 43.

FIG. 12 shows this hot biopsy type end.
The connection state of the effector 35d and the arm portion 34 is shown, and the conductor 8 is similarly formed on the surface of the fixed plate 49 on the movable portion 45 side.
1 and the end effector portion 35d and the arm portion 34 are connected by an electromagnet , the movable plate is movable with the fixed plate 49.
Part 45 is also coupled, conductors 80 and the conductor 81 are electrically connected to each other in contact.

The conductor 81 passes through the fixed plate 49,
It passes through the flexible shaft 48 and is connected to a high frequency power source in the external control device 6 (not shown), and has a circuit configuration in which a high frequency current automatically flows when the hot biopsy type end effector portion 35d is used. Others are the same as those in the first embodiment, and therefore will be omitted. When using the hot biopsy type end effector portion 35d, a high frequency current is supplied from a high frequency power source (not shown) to the conductor 81 and the conductor 80.
Since it is guided to the cup portion 43 via the, the biopsy can be performed by using an extracorporeal electrode plate (not shown). According to this, high-frequency treatment can also be performed using the end effector portion 35d.

A fourth embodiment of the present invention will be described with reference to FIG. In this embodiment, a member having a gripping function is added to that of the first embodiment described above, and other parts are the same as those of the first embodiment, and therefore, the same reference numerals are given and the description thereof is omitted. .

FIG. 13A shows the distal end portion of the endoscope 2, and the distal end constituting portion 11 of the endoscope 2 is shown in FIG.
Two SM made of shape memory alloy as shown in (b) of
The A members 110 are attached so as to face each other. S
The MA member 110 is formed in a U-shape, and constitutes a gripping portion 110a that is a central curved portion and both end portions that form an annular portion 110b.

The annular portion 110 is formed on the shaft portion 101a of the fixing pin 101 as shown in FIG.
It is fixed to the tip forming portion 11 by inserting b. Also,
As shown in (c) of FIG. 13, a total of four cable lines 111 a, two each of which is connected to the annular portion 110 b, are connected to the power supply 111 in the external control device 6. The power source 111 is turned on by turning on the SMA drive switch 113 provided on the operation unit 7 to control the unit 112.
In response to a signal from the SMA member 110, a current is passed through the SMA member 110. Here, SMA member 110 is electrically heating <br/> during the approach bent gripping portion 110a with each other as shown in FIG. 13 (c), to grip an object, when not energized (during cooling) Is a bidirectional shape memory alloy that returns to the state of FIG.

When it is desired to grip an object, the SMA
When the drive switch 113 is turned on, the SMA member 110 is electrically heated, and the gripping portion 110a bends to the state of FIG. 13C to grip an object. When releasing the grasped object, the switch 113 is turned off to stop the energization of the SMA member 110.
The grip 110a cools and opens, releasing the gripped object. According to this configuration, since a gripping function is added, there is an advantage that two kinds of treatments can be performed at the same time by using an end effector other than the grasping forceps in the treatment unit.

14 to 15 show another modification of the fourth embodiment of the present invention. In this example, a member having a gripping function of the fourth embodiment is provided with two functions of advancing the insertion portion and gripping an object. Since the other points are the same, the same reference numerals are given and the description thereof will be made. Omit it.

FIG. 14A shows the tip of the endoscope 2. That is, two SMA members 100 as shown in (b) of the figure are fixed to the distal end forming portion 11 of the endoscope 2 in the facing directions. Also, this SMA member 100
As described above, is composed of the gripping portion 100a and the advancing portion 100b as shown in FIG. 13 (b), and the contact points of both portions are the annular portion 100c.

The shaft portion 101a of the fixing pin 101 shown in FIG. 14 (c) is inserted into the annular portion 100c and fixed to the tip forming portion 11. Further, the power sources 111 are connected to the open ends 100d of the traveling portions 100b, respectively, so that a current can be passed through the SMA member 100.

The SMA member 100 generates heat when an electric current is applied, and the advancing portion 100b is folded into the tip forming portion 11 side as shown in FIG. 15 (b), and the gripping portions 100a are on opposite sides. The gripping portions 100a are bent toward the gripping portions 100a located at, and the gripping portions 100a come close to each other so that an object can be gripped between the gripping portions 100a. here,
The SMA member 100 is a bidirectional shape memory alloy that has the shape of FIG. 15A when it generates heat and has the shape of FIG. 15B when it cools.

When the power supply to the SMA member 100 is stopped, the SMA member 100 cools and returns to its original shape. At this time, when the corner portion 100e of the advancing portion 100b is in contact with the body wall, it becomes a friction portion, and the SMA member 100 tends to return to its original shape. As shown in b ), it advances to the grip portion 100a side.

By repeating energization / non-energization / energization to the SMA member 100, the advancing portion 100b changes from the state ( a ) in FIG. 15 to the state ( b ) in FIG. 15- ( a ) in FIG. The state of (3) is repeated, and the insertion section 10 advances. At this time, if there is an object to be grasped in the traveling direction, the energization to the SMA member 100 is changed from non-energized to energized so that the grasping portions 100a approach each other and grasp the object. In addition,
The treatment unit 36 is used for recovery. According to this structure, in addition to the effect of the above-described fourth embodiment, an automatic insertion function is added to facilitate insertion.

16 to 17 show still another modification of the fourth embodiment of the present invention. This is one in which, of the two SMA members 100 of the fourth embodiment, one of them is changed to the one dedicated to the retreat. Since the others are the same, the same reference numerals are given and the description thereof is omitted. In FIG. 16, the SMA member 10 is provided on the upper side of the tip forming portion 11 as in the fourth embodiment.
0 is fixed. Further, a grip assisting member 102 is provided on the tip forming section 11 in parallel with the gripping section 100 a of the SMA member 100.

Here, on the lower side of the bending portion 10 , there is an S for retreat only.
An MA (shape memory alloy) member 103 is provided. As shown in FIG. 17 (b), the SMA member 103 is composed of a connecting portion 103a and a retreating portion 103b, and the contact point between the two is an annular portion 103c. This annular part 1
The shaft portion 101a of the fixing pin 101 described above is inserted through 03c and is fixed to the bending portion 10 . In addition, the regression section 10
The power sources 111 are connected to the open ends 103d of the 3b, respectively, and are configured to pass a current through the regress-dedicated SMA member 103.

Here, when an electric current is applied to the SMA member 100, the advancing portion 100b contracts and the grip portion 100a bends as shown in FIG. 17 (b), so that an object can be gripped together with the grip assisting member 102. Become. Here, when the power supply to the SMA member 100 is stopped, the insertion portion 8 advances as in the modified example of the fourth embodiment.

When only the retreat-dedicated SMA member 103 is energized, the retreat portion 103b is folded to the fixing pin 101 side as shown in FIG. 17 (c). Here, when the energization to the retreat-dedicated SMA member 103 is cut off, the retreat-dedicated SMA member 103 tries to return to its original shape.
Since 03e causes friction, the insertion portion 8 tries to return to the right side in FIG. That is, the insertion section 8 retracts.

However, by repeating energization / non-energization / energization to the SMA member 100, the advancing portion 100b can be displayed .
17 (b) state-FIG. 16 state- (b ) state is repeated, and the insertion portion 8 advances. In this case, when there is an object to be grasped in the traveling direction, the SMA member 100 is energized from non-energized to energized to thereby grasp the gripping portion 100.
a approaches the grip assist member 102 and grips the object.

Next, by repeating energization-non-energization-energization to the retreat-dedicated SMA member 103, the retreat portion 103b.
Repeats the state of (c) of FIG. 17— the state of FIG. 16—the state of (c) of FIG. 17 , and the insertion section 8 retracts.

According to this, in addition to the above-mentioned effects, the automatic withdrawal function is added, so that the withdrawal becomes easy. Operability is good because it is not necessary to insert and remove the treatment tool. Further, since the treatment tools are not arranged, the treatment tool main body can be downsized.

A fifth embodiment of the present invention will be described with reference to FIGS. FIG. 18 shows the distal end constituting portion 11 of the insertion portion 8 in the electric bending endoscope 2, but here, only the portion of the distal end constituting portion 11 necessary for this embodiment is shown. The observation system, illumination system, and air / water system are omitted. That is, the tip forming unit 11 includes the tip cover 501,
It is composed of a fixing member 502 and a manipulator 503.
A deformation preventing member 505 that also prevents excessive return is fixed to the tip of the first arm 504 of the manipulator 503. A deformation prevention member 506, which also prevents the second arm 507 and the guide from coming off, is fixed to the rear end side of the first arm 504.

The deformation preventing member 506 is the forceps channel 50.
It also has a connecting member with 8. Second arm 507
A deformation preventing member 509 having a function of preventing excessive return is fixed to the front end side, and a deformation preventing member 510 having a function of guiding with the third arm 511 and preventing removal is fixed to the rear end side thereof.

On the other hand, an O-ring 512 is provided between the first arm 504 and the second arm 507 to ensure watertightness between them. A deformation preventing member 513 that also prevents excessive return is fixed to the tip end side of the third arm 511, and a deformation preventing member 514 that also functions as a guide with the fourth arm 515 and prevention of slippage is fixed to the rear end side. . on the other hand,
An O-ring 516 is provided between the second arm 507 and the third arm 511 to ensure watertightness therebetween. A deformation preventing member 517 that also prevents excessive return is fixed to the tip end side of the fourth arm 515, and a guide 519 and a deformation preventing member 518 that also prevents slipping out are fixed to the rear end side.

Third arm 511 and fourth arm 515
An O-ring 520 is provided between and to secure watertightness between them. The guide 519 has a prevention portion 519
a is provided. An O-ring 521 is provided between the fourth arm 515 and the guide 519 to ensure watertightness between them. On the other hand, the guide 519 includes the fixing member 502.
The guide 51 is formed longer and is fixed
An outer tube 522 is fixedly attached to 9.

The eighteenth (b) shows a cross section of the first arm 504 taken along the line AA. The first arm 504 has four pairs of holes 504a, 504b, 504c,
504d, 504e, 504f, 504g and 504h are provided. Four wire-shaped SMA members 523, 52
4,525,526 is U on the tip side of the first arm 504.
4 pairs of holes 504a, 504b, 50
4c, 504d, 504e, 504f, 504g, 50
It is being run for 4h. On the other hand, SMA members 523, 52
4, 525 and 526 are connected to the cable 527 on the rear end side of the deformation preventing member 506. Second arm 50
7, the third arm 511, the fourth arm 515
Since it has the same structure as the arm 504 of FIG. Cable 5
27 are 32 in total.

As shown in FIG. 19, the operating section 7 includes a main body 5
28, a grip cover 529, and a folding member 530 so that the insertion portion 8 does not bend sharply. The main body 528 includes an air / water supply button 531, a suction button 532, a bending switch 533 that also has the bending of the manipulator 503, a switch 534 for switching between bending of the manipulator 503 and bending of the bending portion 10, a progress switch 535 of the manipulator 503,
It comprises a reverse switch 536.

As shown in FIG. 20, the tip portion of the grip portion cover 529 in the operation portion of the endoscope is formed to have a slightly smaller diameter than the base end side thereof, and this small diameter portion has a substantially Y shape. A branched branch body 537 is integrally provided. The pair of frames 5 inside the grip cover 529
38a and 538b are main cylinder portions 537a of the branch portion main body 537.
Has been extended to the inside. This frame 538a, 5
A connecting portion main body 539 is connected to the tip portion of 38b. That is, the connecting ring 540 is fixed to the frames 538a and 538b by the fixing screws 542 and 542,
The base end of a connecting portion main body 539 formed in a cylindrical shape is fitted into the connecting ring 540.

This connecting portion main body 539 is provided with a fixing screw 54.
It is fixed to the connecting ring 540 by 1,541. Further, since the frames 538a and 538b are fixed to the connecting portion main body 539 engaged with the grip portion cover 529, the frame 538 is used or assembled at the time of assembly.
The internal components can be prevented from being damaged without applying a gripping force to the a and 538b. Further, a taper portion 543 is formed at the tip of the connecting portion main body 539 so that the inner diameter thereof is tapered,
An insertion portion is connected to the tapered portion 543.

That is, in the figure, reference numeral 544 is a connecting pipe body that constitutes the base end portion of the insertion portion, and the outer peripheral surface of this connecting pipe body 544 is a tapered surface 545 corresponding to the tapered portion 543 of the connecting portion body 539. , And a screw portion 546 are formed. Then, a tightening ring 547 that is in contact with the end surface of the connecting part body 539 is screwed into the screw part 546, and the connecting part body 539 is tightened by the tightening force of the tightening ring 547.
And the connection pipe body 544 are connected.

Further, a branch block 548 is fixedly provided inside the branch body 537. The branch block 548 has connection holes 549 and 550 corresponding to the branch body 537. These connecting holes 549 and 550 are communicated with each other by a substantially Y-shaped branch passage. A forceps channel 551 installed in the connection pipe body 544 is connected to the connection hole 549.

The connection hole 5 of the branch block 548
The reference numeral 50 is oriented in the same direction as the branching tubular portion branched from the main tubular portion 537a of the branching body 537, and the base end portion of the channel mouthpiece 552 is connected to the connecting hole 550. The midway portion of the channel mouthpiece 552 is fixed to the open end of the branch cylindrical portion by a fixing rubber 552a, and the tip portion projects from the branch cylindrical portion.

A key 553 is buried under the fixed rubber 552a, and the channel base 552 is
Is not rotatable with the grip cover 529. The fixing rubber 552a is always formed in a shape having a smaller diameter than the flange portion 552b of the channel mouthpiece 552 so that the key 553 does not project upward.

On the other hand, a ring 554 is fixed to the outer tube 522 so that the forceps channel 508 escapes to the outside of the outer tube 522. Further, the outer tube 522 and the ring 554, and the ring 554 and the forceps channel 551 are watertightly adhered to each other.

FIG. 21 shows a connection state between the connector 13 and the external control device 6. A base 556 for connecting the outer tube 522 is fixed to the main body 555 of the connector 13. On the other hand, in the outer tube 522,
A ring 557 for fixing the cable 527 to the outside is fixed. Outer tube 522 and ring 557,
The ring 557 and the cable 527 are watertightly adhered to each other. In addition, a cable 527 is attached to the main body 555.
The connector 558 connected to is fixed. Base 5
Grooves 556a and 556b are provided on the entire circumference 56.

In the external control device 6, a coupler 559 is fixed to the main body 560 with screws (not shown). The coupler 559 is provided with a groove 559a over its entire circumference. A connector 561 is fixed to the main body 560. On the other hand, the coupler 559 has a Y pipe line 56 having a substantially Y shape fixed to the main body 560 by a screw (not shown).
2 is stuck. C in groove 559a of coupler 559
A shaped spring 563 is provided to press the groove 556a of the base 556. A groove 562d is provided near the inner mouth of the conduit 562a, and the Y conduit 562 is at a position where the groove 562d and the groove 556b of the base 556 are aligned.

Further, the O-ring 564 has the groove 562d and the groove 5
It is located between 56b to ensure watertightness. Pipeline 56
2b is connected to the air supply solenoid valve 565. ． The air supply solenoid valve 565 is connected to the air supply pump 567 through the line 566.
It is connected to the. On the other hand, the pipe line 563c is connected to the suction pump 568, and is connected to the suction pump 570 by the pipe line 569. The connector 561 is connected to the control circuit 57 by a cable via an I / O circuit (not shown).
Connected to 1.

The change-over switch 534 in FIG . 19 is, for example, a slide switch, and when it is set to the A portion 534a side, the bending switch 533 controls the bending portion 10. On the other hand, when it is set to the B section 534b side, the manipulator 503 is controlled. Therefore, the changeover switch 534
When the progress switch button 535 is pressed with the B portion on the B section 534b side, the air supply pump 567 is operated. Curve switch 53
When 3 is turned on to the up side, the air feeding solenoid valve 565 is opened, and air is fed into the outer tube 522.

On the other hand, the O-ring 5 of the manipulator 503
The friction resistance of 12, 516, 520, 521 is O ring 512 <O ring 516 <O ring 520 <O ring 5
Since it is 21, the first arm 50 is
4 is extruded. On the other hand, since the bending switch 533 is turned on to the up side, a voltage is applied to the SMA member 523,
The first arm 504 is curved in the up direction. The time during which the air supply solenoid valve 565 is open is controlled by, for example, the time during which the first arm 504 extends (set in advance) or the time until the bending switch 533 is turned off. When the bending switch 533 is turned off before the first arm 504 extends, the control circuit 571 applies a voltage so as to maintain the bending at the time of turning off. First arm 5
When 04 is fully extended, the bending switch 533 is pressed again, and the second arm 507 is similarly extended although the explanation is omitted.

When the backward switch 536 is pressed, the suction pump 570 moves, the suction electromagnetic valve 568 opens, the pressure inside the outer tube 522 is reduced, the voltage applied to the SMA member 523 is turned off, and the manipulator 503 returns to its original state. The air supply pump 567 and the suction pump 570 are always leafed, and the air supply solenoid valve 565 and the suction solenoid valve 5 are provided.
By opening and closing 68, pressurization in the outer tube 522,
You may perform decompression.

With this structure, however, the processing tool can be easily brought to the angle and position intended by the operator. Further, the advancing / retreating means and the bending means of the manipulator can perform the same signal.

[0084]

As described above, according to the present invention, it is easy to miniaturize the endoscope apparatus with a multifunctional treatment instrument which can select and use various treatment instruments and can be used. Can be improved.

[Brief description of drawings]

FIG. 1 is a schematic explanatory diagram of a configuration of an electronic endoscope apparatus showing a first embodiment of the present invention.

FIG. 2 is a front view showing the tip surface of the endoscope of the same embodiment.

FIG. 3 is an explanatory view schematically showing the system configuration of the electronic endoscope apparatus showing the first embodiment of the present invention.

FIG. 4 is an explanatory diagram of a bending drive device according to the first embodiment of the present invention.

FIG. 5 is a perspective view of an arm portion of the treatment unit according to the first embodiment of the present invention.

End in the first embodiment of FIG. 6 likewise present invention et
The perspective view of a effector changer part.

7A is a cross-sectional view of the end effector , FIG. 7B is a cross-sectional view of the end effector attached to an arm, FIG. 7C is an explanatory view of the operating mechanism, and FIG. 7D is an end effector. Sectional drawing of other states which attached to the arm part.

FIG. 8 is an explanatory view showing a working state of the arm portion.

FIG. 9 is a front view of a distal end constituent portion of an endoscope according to a second embodiment of the present invention.

FIG. 10 is an explanatory diagram of a system configuration of an endoscope apparatus according to the second embodiment of the present invention.

End in the third embodiment of FIG. 11 the present invention Effect
Sectional view of Kuta, (b) is a rear view of the end effector.

FIG. 12 is a cross-sectional view showing a state where the end effector is attached to an arm portion.

13 (a) is a side view of the vicinity of a distal end forming portion of an endoscope according to a fourth embodiment of the present invention, FIG. 13 (b) is a plan view of an SMA member thereof, and FIG. 13 (c) is a system of this embodiment. FIG.

14 (a) is a side view of the vicinity of the distal end construction part of the variable Katachirei your <br/> Keru endoscope of the fourth embodiment of the present invention, (b) its S
The top view of MA member, (c) is a perspective view of a fixing pin.

15 (a) and 15 (b) are side views in the vicinity of the distal end configuration portion of the endoscope showing another modified example of the fourth embodiment of the present invention .

FIG. 16 is a side view of the vicinity of the distal end configuration portion of the endoscope showing still another modification of the fourth embodiment of the present invention.

FIG. 17 is a plan view of an SMA member according to the modification.
(B) (c) is a side view of the vicinity of the distal end configuration portion of the endoscope showing the operating state .

FIG. 18 (a) is a cross-sectional view showing the distal end portion of the insertion portion in the fifth embodiment of the present invention, (b) is AA in (a).
Sectional drawing which follows the line.

FIG. 19 is a side view showing the operation section of the endoscope of the fifth embodiment of the present invention.

FIG. 20 is a sectional view of the grip portion of the endoscope according to the fifth embodiment of the present invention.

FIG. 21 is an explanatory view schematically showing a connection state between a connector and an external control device according to the fifth embodiment of the present invention.

[Explanation of Codes] 1 ... Endoscope device, 2 ... Endoscope, 6 ... External control device, 8 ...
Insertion part, 10 ... Bending part, 34 ... Arm part, 35 ... End
Effector section, 36 ... Treatment unit, 54 ... Replacement conduit, 55 ... End effector changer.

[Procedure Amendment 2]

[Document name to be corrected] Drawing

[Name of item to be corrected] Figure 7

[Correction method] Change

[Correction content]

[Figure 7]

[Procedure 3]

[Document name to be corrected] Drawing

[Name of item to be corrected] Fig. 18

[Correction method] Change

[Correction content]

FIG. 18

[Procedure amendment 4]

[Document name to be corrected] Drawing

[Name of item to be corrected] Fig. 19

[Correction method] Change

[Correction content]

FIG. 19

Claims (1)

[Claims] 1. A treatment unit is provided at the tip of the insertion section,
The treatment unit includes a bendable arm portion whose one end side is attached to the distal end of the insertion portion, and a plurality of treatment tools detachably attached to the arm portion, and a drive for operating the treatment unit. Means, input means for instructing an operation performed by the drive means, means for controlling the operation of the drive means according to an input from the input means,
A mechanism for connecting and separating the arm portion and the treatment tool, a passage for transporting a replacement treatment tool formed in the insertion portion for guiding the transfer of the treatment tool, and a container for accommodating and selecting the plurality of treatment tools A treatment tool exchanging mechanism for supplying the treated instrument to the transport passage, and a transfer drive means for collecting and supplying the treatment instrument between the treatment unit and the treatment instrument exchanging mechanism through the transport passage. An endoscope with a multi-function treatment tool.