JP3260903B2 - Endoscope - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope,
Push and pull the bending operation wire inserted in the
The present invention relates to an endoscope in which the distal end of the insertion section is curved .

[0002]

2. Description of the Related Art In recent years, various solid displacement elements having a displacement of a magnetostriction, a piezoelectric strain, an electrostriction or the like of a solid caused by a change in a magnetic field or an electric field as an external factor have been developed and put into practical use. Displacement elements have begun to be used in various actuator devices in accordance with their respective characteristics such as responsiveness and displacement amount.

[0003] By the way, there is an endoscope which can observe an organ in the body cavity by inserting an elongated insertion portion into the body cavity, and can perform various treatments using a treatment tool inserted into a treatment tool channel as necessary. Widely used. Among such endoscopes, there is a flexible endoscope having a flexible insertion portion provided with a bendable bending portion at the distal end side of the insertion portion, and operating a bending operation knob provided on an operation portion. Thus, the bending operation of the bending portion is performed by pushing and pulling the operation wire inserted into the insertion portion.

[0004]

However, in the above-described bending operation, particularly in the case of an endoscope having a long insertion portion,
Since the length of the operation wire in the insertion portion is also long, there has been a problem that it is difficult to sufficiently transmit the power of the operation portion to the curved portion, and it is difficult to determine a minute curved amount.

[0005] The present invention has been made in view of the above circumstances, even in devices such as bending mechanism of the endoscope, it is possible to sufficiently transmit the generated force, manipulation of minute displacement It is an object of the present invention to provide an endoscope that is capable of performing an operation.

[0006]

In order to achieve the above object, an endoscope according to the present invention is characterized in that a distal end of the insertion section is pushed and pulled in an axial direction by a bending operation wire inserted through the insertion section. in the endoscope to bend, the operation wire is inserted, and a fixing member for fixedly provided on an inner side of the insertion portion, the fixed to the operating wire or the fixing member, relative to said operating wire relative to said fixed member And move the operation tool
Arranged to abut on multiple points in the ear's axial direction
And a plurality of solid displacement elements.

[0007]

[ Operation ] In the above configuration, the operating member for the fixing member is used.
The fixing of the ear and the release of the fixing are performed by displacing the solid displacement element in a predetermined manner. And the operation on the fixing member
The relative movement of the wires is performed when the solid displacement element is displaced to fix the fixing member and the operation wire, and when the fixing between the fixing member and the operation wire is released.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 3 show a first embodiment of the present invention.
Is an explanatory view showing the structure and operation of an actuator device constituted by a solid displacement element , FIG. 2 is an explanatory view showing an actuator device in an endoscope insertion section, and FIG. 3 is a perspective view of the solid displacement element.

In these figures, reference numeral 1 denotes an endoscope insertion portion, and an actuator device 2 is provided inside the endoscope insertion portion 1. This actuator device 2
Are provided on the upper side and the lower side inside the vicinity of the curved portion of the endoscope insertion portion 1 so that the endoscope insertion portion 1 can be bent in the vertical direction (vertical direction in FIG. 2). A pair of actuator devices (not shown) is provided inside the endoscope insertion section 1 so that the endoscope insertion section 1 can be bent in the left-right direction.

Further, the actuator device 2 includes a cylindrical fixing member 3 fixed inside the endoscope insertion portion 1.
An operation wire 4 as an example of a moving member which is inserted through the fixed member 3 and whose distal end is fixed near the distal end inside the endoscope insertion section 1; It mainly comprises a piezoelectric element 5 as an example of a solid displacement element in which a plurality of holes through which the wires 4 are inserted are formed to be opposed to each other, and whose outer diameter is fixed inside the fixed member 3. ing.

Each of the piezoelectric elements 5 is a bimorph type piezoelectric element 5 formed by joining two piezoelectric thin plates 5a and 5b, as shown in FIG. Is formed so that the piezoelectric thin plate 5a inside (inside of the cone) extends and the outer piezoelectric thin plate 5b contracts. That is, when a voltage is applied in a free state, the outer diameter of the piezoelectric element 5 is increased, the diameter of the hole through which the operation wire 4 is inserted is reduced, and furthermore, the fixed element on which the piezoelectric element 5 is disposed is fixed. The member 3 is formed such that the axial length (the height of the cone) is reduced.

Next, FIG.
Will be described. In FIG. 1, only the operation of the pair of opposed piezoelectric elements 5 of the actuator device 2 will be described.

First, as shown in FIG. 1A, when a voltage is applied to the piezoelectric element 5 on the right side in the figure from a state where no voltage is applied to the pair of piezoelectric elements 5, the state shown in FIG. 1B is obtained. As described above, the inner diameter of the piezoelectric element 5 on the right side is reduced, and the piezoelectric element 5 is pulled rightward while sandwiching the operation wire 4. Here, since no voltage is applied to the left piezoelectric element 5, the operation wire 4 is moved to the right.

Next, as shown in FIG. 1C, when a voltage is applied to the left piezoelectric element 5, the inner diameter of the left piezoelectric element 5 shrinks, and the operation wire 4 is pulled in the left direction while being sandwiched. . Here, since the operation wire 4 is fixed by the piezoelectric element 5 on the right side, the operation wire 4 does not move leftward and the piezoelectric element 5 on the left side does not move.
Fixed to

Next, as shown in FIG. 1D, when the application of the voltage to the right piezoelectric element 5 is stopped, the right piezoelectric element 5 pushes the operation wire 4 to the left.
The fixing to the operation wire 4 is released. At this time,
Since the operation wire 4 is fixed by the left piezoelectric element 5, the operation wire 4 does not move leftward, and the fixing of the right piezoelectric element 5 to the operation wire 4 is released.

When the application of voltage to the left piezoelectric element 5 is stopped, the left piezoelectric element 5 is released from being fixed to the operation wire 4 while pushing the operation wire 4 rightward. Return to the state of (a). Here, since no voltage is applied to the right piezoelectric element 5, the operation wire 4 is moved to the right.

By repeating this, the operation wire 4 is moved to the right. The movement amount of the operation wire 4 can be adjusted by the number of repetitions of the above cycle. When the operation wire 4 is moved to the left, the above operation is performed with the right and left reversed.

In order to bend the endoscope insertion section 1 in the vertical direction, the operation wire 4 is moved to the right (operation section side) by the actuator device 2 provided on the upper side in FIG. The operation wire 4 is moved to the left (toward the distal end) by the actuator device 2 provided at the first position. Then, the endoscope insertion section 1 is curved upward as shown by a broken line in the figure. Also, each operation wire 4 is actuated by each actuator device 2 in a direction opposite to the above.
Is moved, the endoscope insertion section 1 bends downward. Similarly, when bending the endoscope insertion section 1 in the left-right direction, the operation wires 4 are moved by a pair of actuator devices (not shown).

As described above, the amount of bending of the endoscope insertion section is given by the amount of displacement of the piezoelectric element, and the amount of bending of the endoscope insertion section can be reduced by adjusting the displacement of the piezoelectric element by the number of repetitions. It is possible to surely obtain with a small displacement amount.

Further, since the actuator device can be provided in the vicinity of the curved portion of the endoscope insertion portion, the force generated by the actuator device can be efficiently and reliably converted into the curved portion.

In this embodiment, an example is shown in which an actuator device is used for bending the endoscope insertion portion. However, the actuator device can be used for devices other than the endoscope. In this embodiment, the moving member is an operation wire because it is an actuator device applied to a bending mechanism of an endoscope. However, when applied to other devices, the moving member may be a rod, a shaft, or the like. .

In the actuator device of this embodiment, a bimorph type piezoelectric element is used as an example of the solid displacement element. However, the present invention is not limited to this. For example, a unimorph type piezoelectric element may be used. For example, a solid displacement element using displacement other than piezoelectric strain such as magnetostriction may be used.

FIG. 4 is an explanatory view showing the structure and operation of an actuator device according to a second embodiment of the present invention.
The second embodiment differs from the first embodiment in that a solid displacement element (piezoelectric element) of an actuator device is provided on a moving member (operation wire).

That is, as shown in FIG. 4, the actuator device 11 has a cylindrical fixing member 12, an operation wire 13 as an example of a moving member inserted through the fixing member 12, and a substantially conical shape. A hole for inserting and fixing the operation wire 13 is formed in the center portion, and a bimorph-type piezoelectric element 14 as an example of a solid displacement element disposed opposite to each other is mainly constituted.

Next, the operation of the actuator device 11 will be described. First, as shown in FIG. 4A, from a state where no voltage is applied to the pair of piezoelectric elements 14,
When a voltage is applied to the right piezoelectric element 14 in FIG.
As shown in (b), the outer diameter of the right piezoelectric element 14 is enlarged, and the operating wire 1 is pressed while pressing the inner surface of the fixing member 12.
Pull 3 to the right. Here, since no voltage is applied to the left piezoelectric element 14, the left piezoelectric element 14 and the fixed member 12 are in a free state, and the operation wire 13 is moved to the right.

Next, as shown in FIG. 4C, when a voltage is applied to the left piezoelectric element 14, the outer diameter of the left piezoelectric element 5 is enlarged, and the pressure is applied while pressing the inner surface of the fixing member 12. Pull the operation wire 13 to the left. Here, since the operation wire 13 is fixed by the right piezoelectric element 14, the operation wire 13 is fixed to the left piezoelectric element 14 without moving leftward.

Next, as shown in FIG. 4D, when the application of voltage to the right piezoelectric element 14 is stopped, the right piezoelectric element 14 pushes the operation wire 13 to the left, The fixing of the fixing member 12 to the wire 13 is released. At this time, the operation wire 13 is
Since the operation wire 13 is fixed by the left piezoelectric element 14, the operation wire 13 does not move leftward, and the fixing of the operation member 4 to the fixing member 12 by the right piezoelectric element 14 is released.

When the voltage application to the left piezoelectric element 14 is stopped, the left piezoelectric element 5 fixes the operation wire 13 to the fixing member 12 while pushing the operation wire 13 rightward. Is released, and FIG.
Return to the state. Here, since no voltage is applied to the right piezoelectric element 4, the right piezoelectric element 14 and the fixing member 12 are in a free state, and the operation wire 13 is moved to the right. .

By repeating this, the operation wire 13 is moved to the right with respect to the fixing member 12 together with the piezoelectric elements 14. In addition, operation wire 1
The movement amount of No. 3 can be adjusted by the number of repetitions of the above cycle. When the operation wire 13 is moved to the left, the above operation is performed with the right and left reversed.

As described above, by adopting the configuration as in the second embodiment, the same effect as in the first embodiment can be obtained. The other configuration and operation are the same as those of the first embodiment, and the description is omitted.

Next, FIGS. 5 to 7 show a third embodiment of the present invention, FIG. 5 is an explanatory view showing an actuator device for a bending mechanism of an endoscope, and FIG. 6 shows the structure and operation of the actuator device. FIG. 7 is an explanatory perspective view of the solid displacement element.
The third embodiment differs from the first embodiment in that the shape of the moving member is changed by the solid displacement element of the actuator device to obtain the amount of movement relative to the fixed member.

That is, inside the endoscope insertion section 21, the endoscope insertion section 21 can be bent in the vertical direction (up and down direction in FIG. 5). Actuator devices 22 are provided on the upper and lower sides of the vicinity, and a pair of actuator devices (not shown) are provided inside the endoscope insertion portion 21 so that the endoscope insertion portion 21 can be bent in the left-right direction. Have been.

Further, the actuator device 22 has a fixing member (not shown) inside the endoscope insertion portion 21 and a front end fixed near the front end inside the endoscope insertion portion 21.
A braided operation wire 23 as an example of a moving member having a bulged portion 23a formed in the middle of an elastic member, and an annular shape is provided around the outer periphery of the bulged portion 23a of the braided operation wire 23. Piezoelectric element 2 as an example of a solid displacement element
4 mainly.

The piezoelectric element 24 is formed such that its inner diameter contracts when a voltage is applied. FIG. 7 shows the shape of the piezoelectric element 24.

In the actuator device 22 having the above structure,
When a voltage is applied to the piezoelectric element 24, as shown in FIG. 6B, the inner diameter of the piezoelectric element 24 contracts, and the bulging portion 23a of the braided operation wire 23 expands in the axial direction. As a result, the braided operation wire 23 is extended in the axial direction.

When the application of the voltage to the piezoelectric element 24 is stopped, as shown in FIG.
3a expands again, and the braided operation wire 23 contracts in the axial direction.

In order to bend the endoscope insertion portion 21 in the vertical direction, the operation wire 23 is contracted by the actuator device 22 provided on the upper side in FIG. The operation wire 23 is moved to the left (toward the distal end). Then, the endoscope insertion section 21 is curved upward.
Further, if each operation wire 23 is moved by each actuator device 22 in the opposite direction to the above, the endoscope insertion section 21 will bend downward. Similarly, when bending the endoscope insertion portion 21 in the left-right direction, the operation wires 23 are contracted and expanded by a pair of actuator devices (not shown).

The number of actuator devices used for the bending mechanism of the endoscope and the number of piezoelectric elements used for the bulging portion of the operation wire are determined as appropriate according to the amount of bending.

8 to 11 show a fourth embodiment of the present invention. FIG. 8 is an explanatory view showing an actuator device of a bending mechanism of an endoscope, and FIG. 9 is an explanatory view showing a structure of the actuator device. FIG. 10 is an explanatory diagram of a voltage applied to the actuator device, and FIG. 11 is a perspective explanatory diagram showing the operation of the actuator device. In the fourth embodiment, the solid displacement element of the actuator device is formed of a laminated piezoelectric element, and the moving member is moved by moving the point of action on the moving member (operation wire). Different from one embodiment.

In these figures, reference numeral 31 denotes an endoscope insertion portion, and a plurality of actuator devices 32 are provided inside the endoscope insertion portion 31. These actuator devices 32 allow the endoscope insertion portion 31 to bend in the up-down direction (up-down direction in FIG. 8). A plurality of actuator devices (not shown) are provided inside the endoscope insertion portion 31 so that the endoscope insertion portion 31 can be bent in the left-right direction.

As shown in FIG. 9A, each of the actuator devices 32 alternately includes a disk-shaped piezoelectric element 33 (33a to 33h) having a substantially central hole and an insulating layer 34. A laminated piezoelectric element 35 formed by laminating, and an operation wire 36 inserted substantially at the center of the laminated piezoelectric element 35
And a fixing member (not shown) to which the laminated piezoelectric element 35 is fixed. Further, a predetermined clearance is formed between the laminated piezoelectric element 35 and the operation wire 36.

As shown in FIG. 9B, each piezoelectric element 33 forming the laminated piezoelectric element 35 is provided with electrodes 37 for voltage application on both surfaces. The electrodes 37 of each of the piezoelectric elements 33 are vertically divided by a horizontal line passing through the center of the circle, and are provided with an interval 38 so as not to cause a short circuit.

On the other hand, as shown in FIG. 9B, the voltage application in the present embodiment is performed by applying an AC voltage to the terminals between AB and CD.
Among the piezoelectric elements 33, the piezoelectric elements 33a, 33c,
33e and 33g are connected to terminals A and B, and the piezoelectric elements 33b, 33d, 33f and 33h are connected to terminals C and D.

As shown in FIG. 10, an AC voltage is applied to the terminal between AB and the terminal between CD with a phase difference of 90 degrees, for example.

Next, FIG. 11 shows the principle of pulling and moving the operation wire 36. First, at time t = 0,
The piezoelectric elements 33b, 33d, 33f, 33h are compressed or shrunk, and as shown in FIG.
Is deformed. At this time, when a certain tension is applied to the operation wire 36, the operation wire 36 receives a force from a part of the inner diameter of the laminated piezoelectric element 35.

Next, at time t = (1/2) π,
As shown in FIG. 11B, the piezoelectric elements 33a, 33c,
33e and 33g are compressed or shrunk, and the laminated piezoelectric element 35
Is deformed. As a result, the point receiving the force of the operation wire 36 moves, and the operation wire 36 is pulled leftward.

Similarly, as t = π and (3/2) π elapse, as shown in FIGS. 11C and 11D, the point receiving the force of the operation wire 36 moves. The operation wire 36 is pulled leftward.

By continuously generating the above flow, the operation wire 36 is pulled. In FIG. 10, the voltage applied to the terminals A and B is ahead of the voltage applied to the terminals C and D by 90 degrees, but by setting the phase difference to -90 degrees, the operation wire 36 Is pulled in the opposite direction. By changing the frequency of the applied voltage, the pulling speed of the operation wire 36 can be changed. Further, the number of each piezoelectric element 33 constituting the laminated piezoelectric element 35 is not limited to the number of the present embodiment. Further, by operating an arbitrary actuator device, an arbitrary curved portion can be bent.

[0049]

As described above, according to the present invention, even if a device such as a bending mechanism of an endoscope is used, the generated force can be sufficiently transmitted, and the displacement of a minute displacement can be reduced. Operation becomes possible.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing the structure and operation of an actuator device according to a first embodiment of the present invention.

FIG. 2 is an explanatory view showing an actuator device in the endoscope insertion section according to the first embodiment of the present invention.

FIG. 3 is an explanatory perspective view of a solid displacement element according to a first embodiment of the present invention;

FIG. 4 is an explanatory view showing the structure and operation of an actuator device according to a second embodiment of the present invention.

FIG. 5 is an explanatory view showing an actuator device of a bending mechanism of an endoscope according to a third embodiment of the present invention.

FIG. 6 is an explanatory view showing the structure and operation of an actuator device according to a third embodiment of the present invention.

FIG. 7 is an explanatory perspective view of a solid displacement element according to a third embodiment of the present invention.

FIG. 8 is an explanatory view showing an actuator device of a bending mechanism of an endoscope according to a fourth embodiment of the present invention.

FIG. 9 is an explanatory view showing a structure of an actuator device according to a fourth embodiment of the present invention.

FIG. 10 is an explanatory diagram of a voltage applied to an actuator device according to a fourth embodiment of the present invention.

FIG. 11 is a perspective explanatory view showing the operation of an actuator device according to a fourth embodiment of the present invention.

[Explanation of symbols]

 2 Actuator device 3 Fixed member 4 Operation wire (moving member) 5 Piezoelectric element (solid displacement element)

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Koichi Umeyama 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside O-Limpus Optical Industrial Co., Ltd. (72) Inventor Sakae Takebata 2-34-2 Hatagaya, Shibuya-ku, Tokyo No. Within Olympus Optical Co., Ltd. (72) Inventor Hitoshi Mizuno 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Co., Ltd. (72) Hiroki Hibino 2-43-2, Hatagaya, Shibuya-ku, Tokyo No. Olympus Optical Co., Ltd. (72) Inventor Tatsuya Yamaguchi 2-43-2 Hatagaya, Shibuya-ku, Tokyo In Olympus Optical Co., Ltd. (56) References JP-A-4-180726 (JP, A) JP-A-2-70275 (JP, A) JP-A-3-222680 (JP, A) JP-A-4-265671 (JP, A) JP-A-1-270775 (JP, A) Open flat 1-180891 (JP, U) (58 ) investigated the field (Int.Cl. ^7, DB name) H02N 2/00 A61B 1/00 310 H01L 41/09

Claims (1)

(57) [Claims] 1. An endoscope in which a distal end portion of the insertion portion is bent by pushing and pulling a bending operation wire inserted in the insertion portion in an axial direction, wherein the operation wire is inserted into the end portion of the insertion portion . A fixing member fixed to the side, and fixed to the operation wire or the fixing member, the operation wire is relatively moved with respect to the fixing member, and the operation is performed.
Arrange so that it touches multiple points in the wire
An endoscope comprising: a plurality of disposed solid displacement elements;