JP5179307B2 - Endoscope rotation transmission mechanism - Google Patents

Endoscope rotation transmission mechanism Download PDF

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JP5179307B2
JP5179307B2 JP2008243912A JP2008243912A JP5179307B2 JP 5179307 B2 JP5179307 B2 JP 5179307B2 JP 2008243912 A JP2008243912 A JP 2008243912A JP 2008243912 A JP2008243912 A JP 2008243912A JP 5179307 B2 JP5179307 B2 JP 5179307B2
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rotation transmission
drive motor
rotation
endoscope
transmission mechanism
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JP2010075235A (en
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暁元 片山
知史 岩川
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Hoya Corp
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Description

この発明は内視鏡の回転伝達機構に関する。   The present invention relates to an endoscope rotation transmission mechanism.

挿入部の先端に内蔵された対物光学装置において観察倍率を任意に変えられるようにしたいわゆるズーム内視鏡等においては、挿入部の基端側に連結された操作部に駆動モータを配置して、観察倍率等を変えるための回転操作を遠隔的にモータ駆動で行うようにしたものがある（例えば、特許文献１）。   In a so-called zoom endoscope or the like in which the observation magnification can be arbitrarily changed in the objective optical device built in the distal end of the insertion portion, a drive motor is disposed on the operation portion connected to the proximal end side of the insertion portion. In some cases, a rotation operation for changing the observation magnification or the like is remotely performed by a motor drive (for example, Patent Document 1).

そのような内視鏡の回転伝達機構においては、挿入部内に挿通配置されたコイル又はワイヤ等からなる可撓性の回転伝達部材の先端が、挿入部の先端内に回転自在に配置された***作部材に連結されて、回転伝達部材の基端が駆動モータに連結されている。駆動モータの回転が回転伝達部材に滑らかに伝達されるように、駆動モータを操作部に可動に取り付けたもの等もある（例えば、特許文献２）。
特開２０００−１１１８０６ 特開２００１−７８９５４ In such an endoscope rotation transmission mechanism, the distal end of a flexible rotation transmission member made of a coil, a wire, or the like inserted through the insertion portion is rotatably disposed in the distal end of the insertion portion. Connected to the operation member, the proximal end of the rotation transmitting member is connected to the drive motor. There are also those in which the drive motor is movably attached to the operation unit so that the rotation of the drive motor is smoothly transmitted to the rotation transmitting member (for example, Patent Document 2).
JP 2000-111806 JP 2001-78954 A

可撓性のある細長い挿入部内において、回転伝達部材はガイド管内に緩く通された状態に配置されている。そして、回転伝達部材の基端に駆動モータの回転駆動力が作用すると、まず回転伝達部材が全長にわたって捩じれた状態にガイド管内で蛇行し、そのような変形動作が限界に達してからでないと、回転伝達部材の先端が基端の回転に対してリニアに回転する状態にならない。   In the flexible elongated insertion portion, the rotation transmission member is loosely passed through the guide tube. Then, when the rotational driving force of the drive motor acts on the base end of the rotation transmission member, first, the rotation transmission member meanders in the twisted state over the entire length, and such deformation operation has not reached the limit. The distal end of the rotation transmitting member does not rotate linearly with respect to the rotation of the proximal end.

また、挿入部の屈曲状態は体内での誘導操作等に対応して刻々と変化して、ガイド管内における回転伝達部材の張り具合も変化し、それよってガイド管内における回転伝達ワイヤの蛇行の程度も変化する。   In addition, the bending state of the insertion portion changes every moment corresponding to the guidance operation in the body, and the tension of the rotation transmission member in the guide tube also changes, so that the degree of meandering of the rotation transmission wire in the guide tube also changes. Change.

そのようなことのために、回転伝達部材の基端の回転に対して先端の回転がスムーズに追従しないため、操作部側での操作に対し観察倍率等の変化具合が一定せず、内視鏡を操作する術者にとって大きなストレスになる場合があった。   For this reason, the rotation of the distal end does not smoothly follow the rotation of the base end of the rotation transmitting member, and the degree of change in the observation magnification and the like is not constant with respect to the operation on the operation unit side. In some cases, the surgeon operating the mirror could be very stressful.

本発明は、操作部に配置された駆動モータの回転力がロスなくスムーズに先端に伝達され、しかも可撓性の回転伝達部材の先端が基端側の回転に対しすぐにリニアに追従して回転する状態になり、観察倍率の変化具合等がばらつかない応答性のよい内視鏡の回転伝達機構を提供することを目的とする。   According to the present invention, the rotational force of the drive motor arranged in the operation unit is smoothly transmitted to the distal end without loss, and the distal end of the flexible rotation transmitting member immediately follows the rotation of the proximal end in a linear manner. It is an object of the present invention to provide an endoscope rotation transmission mechanism with good responsiveness that is in a rotating state and does not vary in the degree of change in observation magnification.

上記の目的を達成するため、本発明の内視鏡の回転伝達機構は、可撓性を有する挿入部の基端に操作部が連結され、挿入部内に挿通配置された可撓性の回転伝達部材の先端が、挿入部の先端内に回転自在に配置された***作部材に連結されて、回転伝達部材を基端側から回転操作するための駆動モータが操作部内に配置された内視鏡の回転伝達機構において、回転伝達部材に対し基端側から弾力的牽引力を常時作用させる付勢手段が設けられているものである。   In order to achieve the above object, an endoscope rotation transmission mechanism according to the present invention has a flexible rotation transmission in which an operation unit is connected to a proximal end of a flexible insertion unit and is inserted into the insertion unit. An endoscope in which a distal end of a member is connected to an operated member that is rotatably disposed within the distal end of the insertion portion, and a drive motor for rotating the rotation transmitting member from the proximal end side is disposed in the operation portion. In this rotation transmission mechanism, an urging means for always applying an elastic traction force from the proximal end side to the rotation transmission member is provided.

なお、付勢手段がスプリングであってもよい。そして、駆動モータがその回転軸線方向に移動自在に操作部内に配置されていて、駆動モータが回転操作部材を軸線方向に引っ張るように、付勢手段の付勢力が駆動モータに対して作用していてもよく、その場合、付勢手段が、操作部に固定された固定部材と駆動モータとの間に装着された圧縮コイルスプリングであってもよい。   The urging means may be a spring. The drive motor is disposed in the operation section so as to be movable in the rotation axis direction, and the urging force of the urging means acts on the drive motor so that the drive motor pulls the rotation operation member in the axis direction. In this case, the urging means may be a compression coil spring mounted between a fixing member fixed to the operation unit and the drive motor.

また、回転伝達部材を全長にわたって挿通ガイドするガイドシースが設けられていて、ガイドシースの基端が操作部に固定されていてもよい。   In addition, a guide sheath that guides the rotation transmitting member through the entire length thereof may be provided, and a proximal end of the guide sheath may be fixed to the operation unit.

本発明によれば、可撓性の回転伝達部材に対し基端側から弾力的牽引力を常時作用させる付勢手段が設けられていることにより、操作部に配置された駆動モータの回転力がロスなくスムーズに先端に伝達されて、可撓性の回転伝達部材の先端が基端側の回転に対しすぐにリニアに追従して回転する状態になり、観察倍率の変化具合等がばらつかないすぐれた応答性が得られる。   According to the present invention, the rotational force of the drive motor disposed in the operation unit is lost by providing the biasing means that always applies the elastic traction force from the proximal end side to the flexible rotation transmission member. It is transmitted smoothly to the tip, and the tip of the flexible rotation transmission member immediately follows the rotation of the base end in a linear manner and rotates, so that the change in observation magnification does not vary. Responsiveness is obtained.

可撓性を有する挿入部の基端に操作部が連結され、挿入部内に挿通配置された可撓性の回転伝達部材の先端が、挿入部の先端内に回転自在に配置された***作部材に連結されて、回転伝達部材を基端側から回転操作するための駆動モータが操作部内に配置された内視鏡の回転伝達機構において、回転伝達部材に対し基端側から弾力的牽引力を常時作用させる付勢手段が設けられている。   An operation member is connected to the proximal end of the insertion portion having flexibility, and the distal end of the flexible rotation transmitting member inserted and disposed in the insertion portion is rotatably disposed in the distal end of the insertion portion. In the endoscope rotation transmission mechanism in which the drive motor for rotating the rotation transmission member from the proximal end side is connected to the rotation transmission member, the elastic traction force is always applied from the proximal end side to the rotation transmission member. An urging means is provided to act.

以下、図面を参照して本発明の実施例を説明する。
図２は内視鏡の全体構成を示しており、可撓性の挿入部１の基端には各種操作を行うための操作部２が連結されている。３は、挿入部１の先端付近に形成された湾曲部を任意の方向に屈曲させる操作を行うための湾曲操作ノブである。 Embodiments of the present invention will be described below with reference to the drawings.
FIG. 2 shows the entire configuration of the endoscope, and an operation unit 2 for performing various operations is connected to the proximal end of the flexible insertion unit 1. Reference numeral 3 denotes a bending operation knob for performing an operation of bending a bending portion formed in the vicinity of the distal end of the insertion portion 1 in an arbitrary direction.

挿入部１の最先端面に配置された観察窓５の奥にはズーム機能を有する対物光学装置６が内蔵されており、そこで撮像された観察像信号が、挿入部１内に挿通配置された可撓性の信号ケーブル７で伝送される。   An objective optical device 6 having a zoom function is built in the back of the observation window 5 arranged on the most distal surface of the insertion unit 1, and an observation image signal captured there is inserted and arranged in the insertion unit 1. It is transmitted by a flexible signal cable 7.

８は、回転動作自在に対物光学装置６に付設されたズーム作動機構部（***作部材）であり、挿入部１内に挿通配置された可撓性の回転伝達ワイヤ９（回転伝達部材）の先端が連結されている。   Reference numeral 8 denotes a zoom operation mechanism (operated member) attached to the objective optical device 6 so as to be freely rotatable, and a flexible rotation transmission wire 9 (rotation transmission member) inserted and arranged in the insertion portion 1. The tip is connected.

例えば回転伝達性のよいトルクワイヤ等で形成された回転伝達ワイヤ９は、可撓性のガイドシース１０内に緩く通された状態に全長にわたって挿通ガイドされている。ガイドシース１０の基端は操作部２内に固定されている。   For example, the rotation transmission wire 9 formed of a torque wire or the like having a good rotation transmission property is inserted and guided over the entire length in a state of being loosely passed through the flexible guide sheath 10. The proximal end of the guide sheath 10 is fixed in the operation unit 2.

操作部２内には、回転伝達ワイヤ９を基端側から回転駆動するための駆動モータ１１が配置されていて、駆動モータ１１が回転するとその回転運動が回転伝達ワイヤ９を介してズーム作動機構部８に伝達される。   A drive motor 11 for rotationally driving the rotation transmission wire 9 from the base end side is disposed in the operation unit 2, and when the drive motor 11 rotates, the rotation motion is transmitted via the rotation transmission wire 9 to the zoom operation mechanism. Is transmitted to the unit 8.

そして、ズーム作動機構部８が回転駆動されると、それによって対物光学装置６内のレンズ系の焦点距離が変化して、観察倍率が変化するいわゆるズーミングが行われる。１２は、駆動モータ１１を停止状態と任意方向への回転状態に切換操作するために操作部２に設けられたズーム操作部材である。   When the zoom operation mechanism unit 8 is rotationally driven, so-called zooming is performed in which the focal length of the lens system in the objective optical device 6 is changed to change the observation magnification. Reference numeral 12 denotes a zoom operation member provided in the operation unit 2 for switching the drive motor 11 between a stopped state and a rotating state in an arbitrary direction.

図１は、操作部２内に設けられた駆動モータ１１付近の側面断面図、図３はその平面図である。ガイドシース１０の基端が固定的に連結された固定枠１４（固定部材）は、操作部２内に固定的に配置された操作部フレーム１５にねじ止め固定されている。   FIG. 1 is a side sectional view in the vicinity of a drive motor 11 provided in the operation unit 2, and FIG. 3 is a plan view thereof. A fixed frame 14 (fixed member) to which the proximal end of the guide sheath 10 is fixedly connected is fixed to the operation unit frame 15 fixedly disposed in the operation unit 2 with screws.

駆動モータ１１を保持するモータホルダ１６は、平板状のスライド支持板１７にねじ止め固定されており、駆動モータ１１はスライド支持板１７と一体に共動する。スライド支持板１７の裏面は操作部フレーム１５に全面で接触していて、段付固定ビス１９で操作部フレーム１５に可動に止められている。   A motor holder 16 that holds the drive motor 11 is screwed and fixed to a flat slide support plate 17, and the drive motor 11 cooperates with the slide support plate 17. The back surface of the slide support plate 17 is in contact with the entire operation unit frame 15 and is movably stopped by the operation unit frame 15 with a stepped fixing screw 19.

即ち、スライド支持板１７には、回転伝達ワイヤ９の基端部分の軸線方向と平行の方向に長溝１８が例えば四箇所に形成されていて、その長溝１８内に通された段付固定ビス１９の先端が操作部フレーム１５に締め付け固定されている。   That is, the slide support plate 17 is formed with, for example, four long grooves 18 in a direction parallel to the axial direction of the proximal end portion of the rotation transmission wire 9, and a stepped fixing screw 19 passed through the long groove 18. Is fixed to the operation unit frame 15 by clamping.

その結果、スライド支持板１７は、長溝１８が段付固定ビス１９に沿って移動し得る範囲においてスライド自在であり、その範囲において、駆動モータ１１が回転軸線方向に移動自在になっている。   As a result, the slide support plate 17 is slidable within a range in which the long groove 18 can move along the stepped fixing screw 19, and the drive motor 11 is movable in the rotational axis direction within that range.

駆動モータ１１の回転軸２２は、ジョイント部材２１により回転伝達ワイヤ９の基端と一体的に連結されている。そして、駆動モータ１１の先端と固定枠１４との間に、圧縮コイルスプリング２３（付勢手段）が回転軸２２の周囲を囲む状態に装着されている。   The rotation shaft 22 of the drive motor 11 is integrally connected to the base end of the rotation transmission wire 9 by the joint member 21. A compression coil spring 23 (biasing means) is mounted between the front end of the drive motor 11 and the fixed frame 14 so as to surround the rotation shaft 22.

その結果、駆動モータ１１が回転伝達ワイヤ９を基端側から軸線方向に引っ張るように、圧縮コイルスプリング２３の付勢力が駆動モータ１１に対して作用している。したがって、回転伝達ワイヤ９に対して、圧縮コイルスプリング２３の弾力的牽引力が基端側から常時作用している。   As a result, the urging force of the compression coil spring 23 acts on the drive motor 11 so that the drive motor 11 pulls the rotation transmission wire 9 in the axial direction from the base end side. Therefore, the elastic traction force of the compression coil spring 23 always acts on the rotation transmission wire 9 from the base end side.

このように構成された内視鏡の回転伝達機構においては、駆動モータ１１が回転してその回転駆動力が回転伝達ワイヤ９の基端部に作用すると、ガイドシース１０内で回転伝達ワイヤ９が蛇行しようとするが、駆動モータ１１側から回転伝達ワイヤ９に常時作用している弾力的な牽引力により回転伝達ワイヤ９が軸線方向に伸ばされるので、ガイドシース１０内で回転伝達ワイヤ９が蛇行しない（又は、蛇行が非常に小さくされる）。図４は、回転伝達ワイヤ９が伸ばされる方向に駆動モータ１１がスライドした状態を示している。   In the endoscope rotation transmission mechanism configured as described above, when the drive motor 11 rotates and the rotation driving force acts on the proximal end portion of the rotation transmission wire 9, the rotation transmission wire 9 is moved within the guide sheath 10. The rotation transmission wire 9 does not meander in the guide sheath 10 because the rotation transmission wire 9 is stretched in the axial direction by the elastic traction force always acting on the rotation transmission wire 9 from the drive motor 11 side. (Or the meander is made very small). FIG. 4 shows a state in which the drive motor 11 is slid in the direction in which the rotation transmission wire 9 is extended.

したがって、駆動モータ１１の回転力が回転伝達ワイヤ９を介してリニアにロスなくスムーズに先端のズーム作動機構部８に伝達されて、観察倍率の変化具合等がばらつかずに応答性のよいズーミング動作が行われる。   Therefore, the rotational force of the drive motor 11 is smoothly and linearly transmitted to the zoom operating mechanism 8 at the tip through the rotation transmission wire 9, and the zooming mechanism with good responsiveness without variation in the observation magnification or the like does not vary. Operation is performed.

なお、本発明は上記実施例に限定されるものではなく、例えば駆動モータ１１が操作部２に固定されていて、回転伝達ワイヤ９の基端に付勢手段の付勢力が直接作用するような構成を採ることもできる。また、回転伝達ワイヤ９により回転駆動される***作部材が、ズーム作動機構部８以外の例えばフォーカシング作動機構又はその他の機構等であってもよい。   The present invention is not limited to the above embodiment. For example, the drive motor 11 is fixed to the operation unit 2 and the urging force of the urging means directly acts on the base end of the rotation transmission wire 9. A configuration can also be adopted. Further, the operated member that is rotationally driven by the rotation transmission wire 9 may be, for example, a focusing operation mechanism or another mechanism other than the zoom operation mechanism unit 8.

本発明の実施例の内視鏡の回転伝達機構の部分側面断面図である。It is a partial side sectional view of a rotation transmission mechanism of an endoscope of an example of the present invention. 本発明の実施例の内視鏡の全体構成図である。1 is an overall configuration diagram of an endoscope according to an embodiment of the present invention. 本発明の実施例の内視鏡の回転伝達機構の部分平面図である。It is a partial top view of the rotation transmission mechanism of the endoscope of the Example of this invention. 本発明の実施例の内視鏡の回転伝達機構において、回転伝達ワイヤが伸ばされる方向に駆動モータが移動した状態の部分平面図である。In the rotation transmission mechanism of the endoscope of the embodiment of the present invention, it is a partial plan view of a state where the drive motor has moved in the direction in which the rotation transmission wire is extended.

符号の説明Explanation of symbols

１ 挿入部
２ 操作部
８ ズーム作動機構部（***作部材）
９ 回転伝達ワイヤ（回転伝達部材）
１０ ガイドシース
１１ 駆動モータ
１４ 固定枠（固定部材）
１５ 操作部フレーム
１７ スライド支持板
２２ 回転軸
２３ 圧縮コイルスプリング（付勢手段） DESCRIPTION OF SYMBOLS 1 Insertion part 2 Operation part 8 Zoom operation | movement mechanism part (operated member)
9 Rotation transmission wire (Rotation transmission member)
10 Guide sheath 11 Drive motor 14 Fixed frame (fixed member)
15 Operation section frame 17 Slide support plate 22 Rotating shaft 23 Compression coil spring (biasing means)

Claims (5)

可撓性を有する挿入部の基端に操作部が連結され、上記挿入部内に挿通配置された可撓性の回転伝達部材の先端が、上記挿入部の先端内に回転自在に配置された***作部材に連結されて、上記回転伝達部材を基端側から回転操作するための駆動モータが上記操作部内に配置された内視鏡の回転伝達機構において、
上記回転伝達部材に対し基端側から弾力的牽引力を常時作用させる付勢手段が設けられていることを特徴とする内視鏡の回転伝達機構。 An operating portion is connected to the base end of the insertion portion having flexibility, and the distal end of the flexible rotation transmitting member inserted and disposed in the insertion portion is rotated in the distal end of the insertion portion. In a rotation transmission mechanism of an endoscope in which a drive motor connected to an operation member and configured to rotate the rotation transmission member from the proximal end side is disposed in the operation unit.
A rotation transmission mechanism for an endoscope, characterized in that an urging means for always applying an elastic traction force from the base end side to the rotation transmission member is provided. 上記付勢手段がスプリングである請求項１記載の内視鏡の回転伝達機構。   2. The endoscope rotation transmission mechanism according to claim 1, wherein the biasing means is a spring. 上記駆動モータがその回転軸線方向に移動自在に上記操作部内に配置されていて、上記駆動モータが上記回転操作部材を軸線方向に引っ張るように、上記付勢手段の付勢力が上記駆動モータに対して作用している請求項１又は２記載の内視鏡の回転伝達機構。   The drive motor is disposed in the operation section so as to be movable in the rotation axis direction, and the biasing force of the biasing means is applied to the drive motor so that the drive motor pulls the rotation operation member in the axis direction. The rotation transmission mechanism of the endoscope according to claim 1 or 2, wherein 上記付勢手段が、上記操作部に固定された固定部材と上記駆動モータとの間に装着された圧縮コイルスプリングである請求項３記載の内視鏡の回転伝達機構。   4. The endoscope rotation transmission mechanism according to claim 3, wherein the urging means is a compression coil spring mounted between a fixing member fixed to the operation portion and the drive motor. 上記回転伝達部材を全長にわたって挿通ガイドするガイドシースが設けられていて、上記ガイドシースの基端が上記操作部に固定されている請求項１ないし４のいずれかの項に記載の内視鏡の回転伝達機構。   The endoscope according to any one of claims 1 to 4, wherein a guide sheath that guides the rotation transmitting member through its entire length is provided, and a proximal end of the guide sheath is fixed to the operation portion. Rotation transmission mechanism.
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