JPH0360621A - Endoscope probe - Google Patents
Endoscope probeInfo
- Publication number
- JPH0360621A JPH0360621A JP1196531A JP19653189A JPH0360621A JP H0360621 A JPH0360621 A JP H0360621A JP 1196531 A JP1196531 A JP 1196531A JP 19653189 A JP19653189 A JP 19653189A JP H0360621 A JPH0360621 A JP H0360621A
- Authority
- JP
- Japan
- Prior art keywords
- openings
- cylindrical hard
- members
- bending
- probe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000523 sample Substances 0.000 title claims abstract description 38
- 230000008602 contraction Effects 0.000 claims abstract description 5
- 230000008878 coupling Effects 0.000 abstract 2
- 238000010168 coupling process Methods 0.000 abstract 2
- 238000005859 coupling reaction Methods 0.000 abstract 2
- 238000005452 bending Methods 0.000 description 33
- 239000002184 metal Substances 0.000 description 7
- 230000032683 aging Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 239000000470 constituent Substances 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Landscapes
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Endoscopes (AREA)
Abstract
Description
【発明の詳細な説明】
［発明の目的］
（産業上の利用分野）
本発明は、湾曲部（屈折部、関節部ともいう〉を有する
内視鏡プローブに関し、特にこの湾曲部の構造の改良に
関する。Detailed Description of the Invention [Object of the Invention] (Industrial Application Field) The present invention relates to an endoscopic probe having a curved section (also referred to as a refracting section or a joint section), and particularly to an improvement in the structure of this curved section. Regarding.
（従来の技術）
周知のように、内視鏡プローブは、先端近傍に湾曲部を
有するプローブと、このプローブ基端に設けられ前記湾
曲部の湾曲操作等を行う手元操作部とを具備しており、
前記プローブを被検体休腔内等に挿入し、プローブ先端
部が体腔内の所望の観察部位へ向けて湾曲されるように
手元操作部で湾曲操作を行っている。(Prior Art) As is well known, an endoscopic probe includes a probe having a curved portion near its tip, and a hand operation portion provided at the proximal end of the probe to perform bending operations of the curved portion. Ori,
The probe is inserted into the body cavity or the like, and a bending operation is performed using the hand operation unit so that the tip of the probe is curved toward a desired observation site within the body cavity.
すなわち、この種の内視鏡プローブにおいては、前記湾
曲部に金属からなる複数個の節輪が順次湾曲可能に速結
されているとともに、この節輪の内部に複数本のアング
ルワイヤが案内されており、このアングルワイヤを手元
操作部に設けられているアングルノブを操作して適宜牽
引することで湾曲部を湾曲している。That is, in this type of endoscopic probe, a plurality of metal joint rings are quickly connected to the bending portion so as to be able to bend in sequence, and a plurality of angle wires are guided inside the joint rings. The curved portion is curved by pulling the angle wire as appropriate by operating an angle knob provided on the hand operation section.
そして、この種の内視鏡プローブにおいては、前記節輪
を含むプローブ全体の外表面を、ゴムなど軟質で伸縮性
を有する外皮で密着に被覆することにより、被検体体腔
内への挿入時にもプローブ内部に水等が侵入することが
避けられるとともに、前記節輪が被検体体腔内内壁等を
傷つけることも避けられている。In this type of endoscopic probe, the entire outer surface of the probe, including the segment rings, is tightly covered with a soft and stretchable outer skin such as rubber, so that it can be easily inserted into the body cavity of the subject. This prevents water and the like from entering the inside of the probe, and also prevents the node ring from damaging the inner wall of the body cavity of the subject.
（発明が解決しようとする課題）
しかしながら、前記湾曲部にあっては頻繁に様々な方向
に湾曲されるため、軟質で伸縮性を有する外皮であって
も、硬化による破損が起き易く、また、節輪やアングル
ワイヤの金属疲労による破損も起き易いため、このよう
な湾曲部の老朽化。(Problems to be Solved by the Invention) However, since the curved portion is frequently bent in various directions, even if the outer skin is soft and stretchable, it is likely to be damaged due to hardening. As these curved parts become obsolete, they are prone to breakage due to metal fatigue of the node rings and angle wires.
破損に対する改善が望まれていた。It was hoped that improvements would be made to prevent damage.
本発明はこのような従来技術の問題を考慮してなされた
ものであり、湾曲部の長寿命化を図れる内視鏡プローブ
を提供することを目的とする。The present invention has been made in consideration of the problems of the prior art, and it is an object of the present invention to provide an endoscopic probe that can extend the life of the curved portion.
［発明の構成］
（課題を解決するための手段）
上記目的を達成するために本発明にかかる内視鏡プロー
ブにおいては、一方の開口は斜め切除されるとともに伸
縮性を有し他方の開口は中心軸に垂直である円筒状硬質
部材複数個を、前記斜め切除されている一方の開口同志
を伸縮自在に接続し且つ前記中心軸に垂直である他方の
開口同志を回動自在に接続して互いに連結してなる湾曲
部を具備することを要旨としている。[Structure of the Invention] (Means for Solving the Problems) In order to achieve the above object, in the endoscopic probe according to the present invention, one opening is obliquely cut and has elasticity, and the other opening has elasticity. A plurality of cylindrical hard members perpendicular to the central axis are telescopically connected at one of the diagonally cut openings and rotatably connected at the other perpendicular to the central axis. The gist is to include curved portions that are connected to each other.
また、前記円筒状硬質部材同志の接続される部分に、前
記伸縮ないし回動を駆動する超音波モータを配設するこ
とを要旨としている。Further, the gist is that an ultrasonic motor for driving the expansion/contraction or rotation is disposed at a portion where the cylindrical hard members are connected.
また、前記円筒状硬質部材と同じ形状を呈するとともに
それぞれの内部にエンコーダを備える第２の円筒状硬質
部材複数個を互いに連結してなるグリップと、前記エン
コーダで検出される前記多関節グリップの湾曲の程度に
基づいて前記湾曲部の湾曲を駆動する湾曲制御部と、を
具備することを要旨としている。Further, a grip formed by interconnecting a plurality of second cylindrical hard members having the same shape as the cylindrical hard member and each having an encoder therein, and a curvature of the multi-joint grip detected by the encoder. and a curving control section that drives the curving of the curving section based on the degree of curvature of the curving section.
（作用）
上述の構成を具備する内視鏡プローブであれば、以下の
ような作用を奏する。すなわち、上述のように互いに連
結された円筒状硬質部材によれば、従来の内視鏡プロー
ブと同様に湾曲部を湾曲できる構成でありながら構成部
材である円筒状構成部材が硬質であって、節輪外表面を
覆っていた軟質で伸縮性を有する従来の外皮のように硬
化による老朽化、破損が低減されものであるため、湾曲
部の長寿命化を図れる。(Function) The endoscopic probe having the above-described configuration has the following functions. That is, according to the cylindrical hard members connected to each other as described above, although the bending portion can be bent like a conventional endoscopic probe, the cylindrical structural member is hard, Unlike the conventional soft and stretchable outer skin that covers the outer surface of the nodal ring, aging and breakage due to hardening are reduced, so the life of the curved portion can be extended.
また、伸縮自在に接続される前記一方の開口同志ないし
、回動自在に接続される前記他方の開口同志を、超音波
モータで伸縮するないし回転による捩じれ補正するもの
であれば、従来の内視鏡スコープにおいて用いられた節
輪、アングルワイヤおよびアングルワイヤ牽引用部材等
を用いなくとも、従来と同様に湾曲部を湾曲できるため
、節輪やアングルワイヤ等の金属部材に起きやすい金属
疲労による老朽化、破損が防がれ、湾曲部の長寿命化を
図れる。In addition, if the one aperture that is telescopically connected or the other aperture that is rotatably connected is expanded and contracted by an ultrasonic motor or torsion is corrected by rotation, it is possible to use a conventional endoscopic method. Since the curved part can be bent in the same way as before without using the joint rings, angle wires, angle wire pulling members, etc. used in mirror scopes, aging due to metal fatigue that tends to occur in metal parts such as joint rings and angle wires is avoided. This prevents bending and damage, and extends the life of the curved part.
また、グリップを任意方向ないし任意湾曲角度に湾曲し
、この湾曲角度等を検出したエンコーダからの検出信号
に基づいて湾曲制御部で、湾曲部がグリップと同じ湾曲
状態となるように各超音波モータを駆動させるようにす
れば、湾曲制御部の構成が比較的簡単でありながら、湾
曲操作を簡単に行える。In addition, the grip is bent in any direction or at any bending angle, and based on the detection signal from the encoder that detects this bending angle, the bending control unit controls each ultrasonic motor so that the bending part is in the same curved state as the grip. By driving the bending control section, the structure of the bending control section is relatively simple, and the bending operation can be performed easily.
（実施例）
以下、本発明にかかる内視鏡プローブの一実施例につい
て、第１図ないし第５図を参照にしながら説明する。(Embodiment) An embodiment of the endoscopic probe according to the present invention will be described below with reference to FIGS. 1 to 5.
この内視鏡プローブは、第１図に示すように、被検体体
腔内に挿入可能であって内部に図示しない送気チューブ
、送水チューブ、鉗子チャンネル。As shown in FIG. 1, this endoscopic probe can be inserted into the body cavity of a subject, and includes an air supply tube, a water supply tube, and a forceps channel (not shown) inside.
ライトガイド等が配設され且つ先端近傍に湾曲部１を有
するプローブ３と、このプローブ３の基端に設けられ湾
曲部１の湾曲操作を行うアングルノブ５等を備えた手元
操作部７と、を具備している。A probe 3 provided with a light guide and the like and having a curved part 1 near its tip; a hand-operated operation part 7 equipped with an angle knob 5 and the like provided at the base end of the probe 3 for operating the curved part 1; Equipped with:
前記湾曲部ｌは、第２図に示すように、２種類の円筒状
硬質部材１１ａ、１１ｂが互いに連結されて構成されて
いる。これら円筒状硬質部材１１ａ、ｌｌｂは、それら
の一方の開口１３ａ、１３ｂは斜め切除されているとと
もに伸縮性を有し、他方の開口１５ａ、１５ｂは中心軸
１７に垂直となっている。As shown in FIG. 2, the curved portion 1 is composed of two types of cylindrical hard members 11a and 11b connected to each other. One of the openings 13a and 13b of these cylindrical hard members 11a and llb is cut obliquely and has elasticity, and the other opening 15a and 15b is perpendicular to the central axis 17.
また、これら円筒状硬質部材１１ａ、ｌｌｂにおいては
、開口１５ａ、ｒＭ口１３ｂそれぞれに、円筒状硬質部
材１１ａ、ｌｌｂの外径よりも小さい外径を有するとと
もに端部側の段の方が直径が大きい２段構成の突起部１
９ａ、１９ｂが設けられているとともに、また、開口１
３ａ、開口１５ｂそれぞれの内側に、前記突起部１９ｂ
、１９ａが嵌合される清２１ａ、２１ｂが設けられてい
る。Further, in these cylindrical hard members 11a and llb, the opening 15a and the rM port 13b each have an outer diameter smaller than the outer diameter of the cylindrical hard member 11a and llb, and the step on the end side has a diameter. Large two-stage protrusion 1
9a and 19b are provided, and the opening 1
3a, and the protrusion 19b inside each of the opening 15b.
, 19a are fitted into the openings 21a and 21b.
そして、これらの溝２１ａ、２１ｂに突起部１９ａ、１
９ｂが嵌合され、第３図に示すように、開口１３ａ、１
３ｂ同志が伸縮自在に接続され、且つ、開口１５ａ、１
５ｂ同志が回動自在に接続されている。また、これらの
接続は、防水性を確保するよう気密になされている。な
お、これら円筒状硬質部材１１ａ、ｌｌｂ同志の接続と
ともに、円筒状硬質部材１１ａ、ｌｌｂのプローブ３基
端側および先端部側との接続のために、これら基端側お
よび先端部側にも、突起１９ａおよび溝２１ｂが設けら
れる。Then, protrusions 19a, 1 are formed in these grooves 21a, 21b.
9b is fitted, and as shown in FIG.
3b are telescopically connected to each other, and the openings 15a, 1
5b are rotatably connected. Additionally, these connections are airtight to ensure waterproofness. In addition to connecting these cylindrical hard members 11a and llb to each other, in order to connect the cylindrical hard members 11a and llb to the proximal end and distal end sides of the probe 3, there are also holes on the proximal end and distal end sides. A protrusion 19a and a groove 21b are provided.
また、前記突起部１９ａ、１９ｂの端部側の段には、前
記開口１３ａ、１３ｂ同志の伸縮、ないし開口１５ａ、
１５ｂ同志の回動をそれぞれ駆動する超音波モータ２３
ｂ、２３ａが配設されている。すなわち、前記手元操作
部７に設けられているアングルノブ５で湾曲部３の湾曲
を指令すると、超音波モータ２３ｂが作動されるととも
に、この超音波モータ２３ｂの作動で湾曲されるプロー
ブに生ずる捩じれを訂正するように、超音波モータ２３
ａが（Ｉ動される構成となっている。In addition, the openings 13a and 13b are expanded and contracted together, or the opening 15a,
Ultrasonic motor 23 that drives the rotation of each member 15b
b, 23a are arranged. That is, when the angle knob 5 provided on the hand operation section 7 is used to command the bending section 3, the ultrasonic motor 23b is activated, and the torsion that occurs in the probe being bent by the operation of the ultrasonic motor 23b is controlled. The ultrasonic motor 23
The configuration is such that a is moved (I).
したがって、被検体体腔内等にプローブ３を挿入し、観
察したい箇所等にプローブ３先端を向けるためにアング
ルノブ５を操作すると、伸縮自在に接続される開口１３
ａ、１３ｂ同志ないし、回動自在に接続される開口１５
ａ、１５ｂ同志それぞれが、超音波モータ２３ｂ、２３
ａで伸縮ないし捩じれ補正されるため、従来の内視鏡プ
ローブに用いられていた節輪やアングルノブ等に起キヤ
すい金属疲労による老朽化・破損がないながら従来の湾
曲部同様に湾曲部１を湾曲させることができ、しかもこ
れら接続される部材は硬質でありゴム等のように硬化に
よる老朽化、破損も低減されるため、湾曲部１の長寿命
化を図れる。Therefore, when the probe 3 is inserted into the subject's body cavity or the like and the angle knob 5 is operated to direct the tip of the probe 3 to a place to be observed, the opening 13 is connected to the
a, 13b or an opening 15 rotatably connected to each other;
comrades a and 15b are ultrasonic motors 23b and 23, respectively.
Since the expansion/contraction or torsion is corrected by a, the bending part 1 is not deteriorated or damaged due to metal fatigue, which can easily occur in the joint rings and angle knobs used in conventional endoscopic probes. Moreover, the connected members are hard and are less susceptible to deterioration and breakage due to hardening, unlike rubber or the like, so the life of the curved part 1 can be extended.
また、この内視鏡プローブにおいては、従来の内視鏡プ
ローブのように節輪やアングルワイヤ等の部材がいらず
、湾曲部の構成が簡素化されていながら、中心軸１７に
垂直となっている開口１５ａ、１５ｂでの回動で従来行
われなかったプローブ３内の捩じれを補正でき、また、
円筒状硬質部材１１ａ、ｌｌｂそれぞれの接続箇所（関
節）１個ずつを超音波モータ２３ａ、２３ｂで伸縮させ
ているため、湾曲部１のそれぞれの関節の仲居角の精度
を向上できる。 第４図ないし第６図に示す内視鏡プロ
ーブにおいては、アングルノブ５の代わりに、手元操作
部７にグリップ３５が収り付けれらている。すなわち、
このグリップ３５は、前記円筒状硬質部材１１ａ、ｌｌ
ｂと同じ形状を呈するとともにそれぞれの内部にエンコ
ーダ３１を備える第２の円筒状硬質部材３３ａ、３３ｂ
を、湾曲部１を構成する円筒状硬質部材１１ａ、１１ｂ
と同数１１Ｍ互いに連結したものである。また、前記エ
ンコーダ３１で検出されるグリップ３５の湾曲の程度に
基づいて湾曲部１内に設けられている超音波モータ２３
ａ、２３ｂの駆動を制御する湾曲制御部３７が例えば手
元操作部７に設けられており、グリップ３５を任意方向
に任意の湾曲角度まで湾曲させると、この湾曲されたグ
リップ３５の湾曲角度等をエンコーダ３１が検出し、こ
の検出された信号に基づいて湾曲制御部３７が、湾曲部
１がグリップ３５と同じ湾曲状態となるように各超音波
モータ２３ａ、２３ｂを駆動するものである。Furthermore, unlike conventional endoscopic probes, this endoscopic probe does not require members such as node rings or angle wires, and although the configuration of the curved portion is simplified, it is perpendicular to the central axis 17. By rotating the openings 15a and 15b, it is possible to correct twisting within the probe 3, which has not been done in the past, and
Since each connection point (joint) of the cylindrical hard members 11a and llb is expanded and contracted one by one by the ultrasonic motors 23a and 23b, the accuracy of the center angle of each joint of the curved portion 1 can be improved. In the endoscope probe shown in FIGS. 4 to 6, a grip 35 is housed in the hand operation section 7 instead of the angle knob 5. That is,
This grip 35 includes the cylindrical hard member 11a, ll
second cylindrical hard members 33a, 33b having the same shape as b and each having an encoder 31 inside;
The cylindrical hard members 11a and 11b forming the curved part 1
The same number of 11M are connected to each other. Further, the ultrasonic motor 23 provided in the curved portion 1 is activated based on the degree of curvature of the grip 35 detected by the encoder 31.
A bending control unit 37 for controlling the drive of the grips 23a and 23b is provided, for example, in the hand operation unit 7, and when the grip 35 is bent in an arbitrary direction to an arbitrary bending angle, the bending angle etc. of the curved grip 35 is controlled. The encoder 31 detects the signal, and based on the detected signal, the bending control section 37 drives each of the ultrasonic motors 23a and 23b so that the bending section 1 is in the same bending state as the grip 35.
したがって、この内視鏡プローブであれば、グリップ３
５をｙＩ戊する第２の円筒状構成部材３３ａ 、 ３３
ｂそれぞれの湾曲ないし回動に対応させて湾曲部１の
円筒状硬性部材１１ａ、ｌｌｂそれぞれの超音波モータ
２３ａ、 ２３ｂを駆動するという制御で、湾曲制御部
３７が比較的構成をｍ素にするものでありながら、アン
グルノブ５の操ｆ′Ｐと比較してｔｉ作が簡単となり、
オペレータの負担が軽減される。Therefore, with this endoscopic probe, grip 3
Second cylindrical structural member 33a, 33 with 5 yI
By controlling the ultrasonic motors 23a and 23b of the cylindrical rigid members 11a and llb of the bending section 1 to correspond to the bending or rotation of each of the bending sections 1 and 1b, the bending control section 37 makes the configuration relatively m-element. Although it is a thing, it is easier to operate compared to the operation f'P of the angle knob 5,
The burden on the operator is reduced.
［発明の効果］
以上説明したように、本発明にががる内視鏡プローブに
おいては、一方の開口は斜め切除されるとともに伸縮性
を有し他方の開口は中心軸に垂直である円筒状硬質部材
複数個を、前記斜め切除されている一方の開口同志を伸
縮自在に接続し且つ前記中心軸に垂直である他方の開口
同志を回動自在に接続して互いに連結してなる湾曲部を
具備するｍ戒としている。また、前記円筒状硬質部材同
志の接続される部分に、前記伸縮ないし回動を駆動する
超音波モータを配設する構成としている。[Effects of the Invention] As explained above, in the endoscopic probe according to the present invention, one opening is obliquely cut and elastic, and the other opening is cylindrical and perpendicular to the central axis. A curved part formed by connecting a plurality of hard members to each other by telescopically connecting one of the obliquely cut openings and rotatably connecting the other opening perpendicular to the central axis. It is a precept to have. Further, an ultrasonic motor for driving the expansion/contraction or rotation is disposed at a portion where the cylindrical hard members are connected.
また、前記円筒状硬質部材と同じ形状を呈するとともに
それぞれの内部にエンコーダを備える第２の円筒状硬質
部材複数個を互いに連結してなるグリップと、前記エン
コーダで検出される前記多関節グリップの湾曲の程度に
基づいて前記湾曲部の湾曲を駆動する湾曲制御部と、を
具備する構成としている。Further, a grip formed by interconnecting a plurality of second cylindrical hard members having the same shape as the cylindrical hard member and each having an encoder therein, and a curvature of the multi-joint grip detected by the encoder. and a curving control section that drives the curving of the curving section based on the degree of curvature of the curving section.
このため、上述のように互いに連結された円筒状硬質部
材によれば、従来の内視鏡プローブと同様に湾曲部を湾
曲できる構成でありながら構成部材である円筒状硬質部
材が硬質であって、節輪外表面を覆っていた軟質で伸縮
性を有する従来の外皮のように硬化による老朽化、破損
が低減されものであるため、湾曲部の長寿命化を図れる
。Therefore, with the cylindrical hard members connected to each other as described above, although the bending portion can be bent like a conventional endoscopic probe, the cylindrical hard members that are the constituent members are hard. Since the conventional soft and stretchable outer skin covering the outer surface of the nodal ring is less susceptible to aging and breakage due to hardening, the life of the curved portion can be extended.
また、伸縮自在に接続される前記一方の開口同志ないし
、回動自在に接続される前記他方の開口同志を、超音波
モータで伸縮するないし回転による捩じれ補正するもの
であれば、従来の内視鏡スコープにおいて用いられた節
輪、アングルワイヤおよびアングルワイヤ牽引用部材等
を用いなくとも、従来と同様に湾曲部を湾曲できるため
、節輪やアングルワイヤ等の金属部材に起きやすい金属
疲労による老朽化、破損が防がれ、湾曲部の長寿命化を
図れる。In addition, if the one aperture that is telescopically connected or the other aperture that is rotatably connected is expanded and contracted by an ultrasonic motor or torsion is corrected by rotation, it is possible to use a conventional endoscopic method. Since the curved part can be bent in the same way as before without using the joint rings, angle wires, angle wire pulling members, etc. used in mirror scopes, aging due to metal fatigue that tends to occur in metal parts such as joint rings and angle wires is avoided. This prevents bending and damage, and extends the life of the curved part.
また、グリップを任意方向ないし任意湾曲角度に湾曲し
、この湾曲角度等を検出したエンコーダ７’Ｊ’う（７
）検出信号に基づいて湾曲制御部で、湾曲部がグリップ
と同じ湾曲状態となるように各超音波エータを駆動させ
るようにすれば、湾曲制御部の構成が比較的簡単であり
ながら、湾曲操作を簡単に行える。In addition, the grip is bent in any direction or at any bending angle, and the encoder 7'J' (7) detects this bending angle, etc.
) Based on the detection signal, the bending control unit drives each ultrasonic eater so that the bending part is in the same curved state as the grip, the configuration of the bending control unit is relatively simple, and the bending operation is easy. can be done easily.
第１図は本発明にかかる内視鏡プローブの一実施例を示
す概略外観図、第２図は円筒状硬質部材の一実施例を示
す要部構成説明図、第３図は伸ばした状態の湾曲部を示
す概略外観図、第４図は別の本発明にかかる内視鏡プロ
ーブの一実施例を示す概略外観図、第５図は第２の円筒
状硬質部材の一実施例を示す要部槽底説明図、第６図は
エンコーダと湾曲制御部と超音波モータとの関係例を示
すブロック図である。
である。
１・・・湾局部 ３・・・プローブ５・・
・アングルノブ ７・・・手元操作部１１ａ、ｌ
ｌｂ・・・円筒状硬質部材
１３ａ、１３ｂ、１５ａ、１５ｂ−−−開口２３ａ、２
３ｂ・・・超音波モータ
３１・・・エンコーダFig. 1 is a schematic external view showing an embodiment of the endoscopic probe according to the present invention, Fig. 2 is an explanatory diagram showing the main part configuration of an embodiment of the cylindrical hard member, and Fig. 3 is an illustration of the extended state. 4 is a schematic external view showing another embodiment of the endoscopic probe according to the present invention; FIG. 5 is a schematic external view showing an embodiment of the second cylindrical rigid member. FIG. 6 is a block diagram showing an example of the relationship between the encoder, the bending control section, and the ultrasonic motor. It is. 1... Bay local area 3... Probe 5...
・Angle knob 7...Hand control section 11a, l
lb... Cylindrical hard member 13a, 13b, 15a, 15b --- Opening 23a, 2
3b...Ultrasonic motor 31...Encoder
Claims (3)
し他方の開口は中心軸に垂直である円筒状硬質部材複数
個を、前記斜め切除されている一方の開口同志を伸縮自
在に接続し且つ前記中心軸に垂直である他方の開口同志
を回動自在に接続して互いに連結してなる湾曲部を具備
することを特徴とする内視鏡プローブ。(1) A plurality of cylindrical hard members, one opening of which is diagonally cut and elastic, and the other opening is perpendicular to the central axis, are connected to each other in a manner that allows the diagonally cut openings to expand and contract together. An endoscopic probe characterized by comprising a curved part formed by rotatably connecting the other openings perpendicular to the central axis to each other.
記伸縮ないし回動を駆動する超音波モータを配設するこ
とを特徴とする請求項１記載の内視鏡プローブ。(2) The endoscopic probe according to claim 1, wherein an ultrasonic motor for driving the expansion/contraction or rotation is disposed at a portion where the cylindrical hard members are connected.
それぞれの内部にエンコーダを備える第２の円筒状硬質
部材複数個を互いに連結してなるグリップと、前記エン
コーダで検出される前記多関節グリップの湾曲の程度に
基づいて前記湾曲部の湾曲を駆動する湾曲制御部と、を
具備することを特徴とする請求項１または２記載の内視
鏡プローブ。(3) A grip formed by interconnecting a plurality of second cylindrical hard members that have the same shape as the cylindrical hard member and are each equipped with an encoder inside, and a grip that is detected by the encoder. The endoscopic probe according to claim 1 or 2, further comprising a curvature control section that drives the curvature of the curving section based on the degree of curvature.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1196531A JPH0360621A (en) | 1989-07-31 | 1989-07-31 | Endoscope probe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1196531A JPH0360621A (en) | 1989-07-31 | 1989-07-31 | Endoscope probe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0360621A true JPH0360621A (en) | 1991-03-15 |
Family
ID=16359289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1196531A Pending JPH0360621A (en) | 1989-07-31 | 1989-07-31 | Endoscope probe |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0360621A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100262161A1 (en) * | 2003-05-23 | 2010-10-14 | Danitz David J | Articulating instruments with joystick control |
| US9737365B2 (en) | 2003-05-23 | 2017-08-22 | Intuitive Surgical Operations, Inc. | Tool with articulation lock |
-
1989
- 1989-07-31 JP JP1196531A patent/JPH0360621A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100262161A1 (en) * | 2003-05-23 | 2010-10-14 | Danitz David J | Articulating instruments with joystick control |
| US20100262075A1 (en) * | 2003-05-23 | 2010-10-14 | Danitz David J | Articulating catheters |
| US9434077B2 (en) * | 2003-05-23 | 2016-09-06 | Intuitive Surgical Operations, Inc | Articulating catheters |
| US9440364B2 (en) * | 2003-05-23 | 2016-09-13 | Intuitive Surgical Operations, Inc. | Articulating instrument |
| US9498888B2 (en) | 2003-05-23 | 2016-11-22 | Intuitive Surgical Operations, Inc. | Articulating instrument |
| US9550300B2 (en) | 2003-05-23 | 2017-01-24 | Intuitive Surgical Operations, Inc. | Articulating retractors |
| US9737365B2 (en) | 2003-05-23 | 2017-08-22 | Intuitive Surgical Operations, Inc. | Tool with articulation lock |
| US10342626B2 (en) | 2003-05-23 | 2019-07-09 | Intuitive Surgical Operations, Inc. | Surgical instrument |
| US10722314B2 (en) | 2003-05-23 | 2020-07-28 | Intuitive Surgical Operations, Inc. | Articulating retractors |
| US11547287B2 (en) | 2003-05-23 | 2023-01-10 | Intuitive Surgical Operations, Inc. | Surgical instrument |
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