JPS5865132A - Endoscope - Google Patents

Endoscope

Info

Publication number
JPS5865132A
JPS5865132A JP56164678A JP16467881A JPS5865132A JP S5865132 A JPS5865132 A JP S5865132A JP 56164678 A JP56164678 A JP 56164678A JP 16467881 A JP16467881 A JP 16467881A JP S5865132 A JPS5865132 A JP S5865132A
Authority
JP
Japan
Prior art keywords
operation member
bending
bending operation
motor
tip
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.)
Granted
Application number
JP56164678A
Other languages
Japanese (ja)
Other versions
JPS6359329B2 (en
Inventor
修一 高山
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Olympus Corp
Original Assignee
Olympus Corp
Olympus Optical Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Olympus Corp, Olympus Optical Co Ltd filed Critical Olympus Corp
Priority to JP56164678A priority Critical patent/JPS5865132A/en
Priority to AT82109478T priority patent/ATE29655T1/en
Priority to EP82109478A priority patent/EP0077526B1/en
Priority to DE8282109478T priority patent/DE3277287D1/en
Priority to US06/434,233 priority patent/US4499895A/en
Publication of JPS5865132A publication Critical patent/JPS5865132A/en
Publication of JPS6359329B2 publication Critical patent/JPS6359329B2/ja
Granted legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00039—Operational features of endoscopes provided with input arrangements for the user
    • A61B1/00042—Operational features of endoscopes provided with input arrangements for the user for mechanical operation

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  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biophysics (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Mechanical Engineering (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Endoscopes (AREA)

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

【発明の詳細な説明】 本発明は湾曲機構を電動化した内視鏡に関する。[Detailed description of the invention] The present invention relates to an endoscope with a motorized bending mechanism.

近年、内視鏡の湾曲操作性を良くするため、その湾曲機
構を電動化する方式か提案されている．しかし、内視鏡
は体腔内に挿入して使用するものであるため、特に、微
妙な湾曲操作が費求されるが、上記を動力式にあっては
スイッチの開閉操作によ、シモータの起動および停止、
、鵞ｔｒなって制御するため、微妙な１■きｆ明確に把
握しなが５操作することができない。したがって、微妙
な動きを％１１１ｉ１できずに体腔内壁を傷付ける危険
があった。In recent years, in order to improve the operability of bending endoscopes, proposals have been made to electrify the bending mechanism. However, since endoscopes are used by being inserted into body cavities, delicate bending operations are required. and stop,
Since it is controlled by a goose, it is not possible to operate without clearly grasping the delicate 1 and 5 functions. Therefore, there was a risk of injuring the inner wall of the body cavity due to the inability to perform delicate movements.

本発明は上記事情に着目してなされたもので、その目的
とするところは先端湾曲機１１１ｔ−モータで駆動する
内視鏡において、湾曲操作部材の船力量に応じた微妙な
湾曲を行なりことができてその操作性と安全性を高める
ことにある。The present invention has been made in view of the above circumstances, and its purpose is to perform delicate bending of the bending operation member in accordance with the ship's power in an endoscope driven by a tip bending machine 111t-motor. The purpose is to improve operability and safety.

以下、本発明の各実施例を図面にもとづい−Ｃ貌明する
。Hereinafter, each embodiment of the present invention will be explained based on the drawings.

ｗＪ１図ないし第４図は本発明のＭＩＤ夾り例を示すも
のである。第１図中１は内視鏡であり、同図中２Ｆ１党
源装置である。上記内視鏡１は操作部３に押入ｓ４を連
結してなり、さらに、操作ｓ３にはライトガイドコード
５が連結されている。押入部４は可撓管６の先端に角曲
管′〆を介して挿入部先端８を連結してなシ、上記湾曲
−誉７は後述する先端湾曲機試１駆動操作するこ、と、
により湾曲させられ、挿入部先端８の向きを変えるよう
になっている。Figures wJ1 to 4 show examples of MID inclusion according to the present invention. 1 in FIG. 1 is an endoscope, and 2F1 in the figure is a source device. The endoscope 1 has a pusher s4 connected to the operating section 3, and a light guide cord 5 is further connected to the operating section s3. The insertion part 4 does not connect the insertion part distal end 8 to the distal end of the flexible tube 6 via an angular bending tube' end, and the above-mentioned bending part 7 is operated by driving the tip bending machine test 1 described later.
The tip 8 of the insertion portion is curved to change the direction of the tip 8 of the insertion portion.

また、内視鏡１の挿入部４および操作部３の内部にはイ
メージガイド１１およびライトガイド１２がその両者に
わたって挿入配置されている。イメージガイド１１の先
端は挿入部先端８に設けた対物レンズ１３に対向し、ま
た、イメージガイド１１の基端Ｆｉ操作ｓ３における接
眼９１４の接眼レンズ１５１１Ｃ対向している。ライト
ガイド１２０基端側はライトガイドコード５の内部に挿
通され、ライトガイドコード５（１）ｉ田先鑞のコネク
タ１６に達している。こりコネクタ１６打光源装ｆｉｉ
２に接続さね、光源ラング１７にライトガイド１２の基
端を対向させるようＫなっている。Further, an image guide 11 and a light guide 12 are inserted and arranged inside the insertion section 4 and the operation section 3 of the endoscope 1. The distal end of the image guide 11 faces the objective lens 13 provided at the distal end 8 of the insertion section, and also faces the eyepiece 1511C of the eyepiece 914 at the base end Fi operation s3 of the image guide 11. The base end side of the light guide 120 is inserted into the inside of the light guide cord 5, and reaches the connector 16 of the light guide cord 5(1) i field head. stiff connector 16 light source equipment fii
2, the base end of the light guide 12 faces the light source rung 17.

一方、上記先錫湾曲機輌２１ｈｔＪ４１図で示すように
＆成されている。すなわち、操作部３内にドラム２２を
１＆置してな９、このドラム２２にけ一゛対゛６操作ワ
イヤ２Ｓをか対側からそれぞれ巻き付け、さらに、上記
各操作ワイヤ２３の先端儒を挿入部４内を通じて導ひき
、その先端を挿入部先端８にそれぞわ連結しである。そ
して、ドラム２２を回転することによシ各縁作ワイヤ２
３を押し引きして挿入ｓ４の肉曲曾１を湾曲し、挿入部
先端８の向きを変えるようンこなっている。On the other hand, as shown in FIG. That is, the drum 22 is placed inside the operating section 3, one pair of six operating wires 2S are wound around the drum 22 from opposite sides, and the tips of the operating wires 23 are inserted. They are guided through the portion 4, and their tips are connected to the insertion portion tip 8, respectively. By rotating the drum 22, each edge wire 2 is
3 is pushed and pulled to curve the flesh curved leg 1 of the insertion portion s4 and change the direction of the insertion portion distal end 8.

ま次、ドラム２２の回転軸２４１／ｌｌｄイヤ２５が取
付幻り！ｉ１鼠されていゐ、このギヤ２５　Ｋ　Ｆ、１
正逆回転自在なモータ２６の駆動軸２１に増りイ・１け
たウオームギヤ２８が係合している。そＬ７て、上記モ
ータ２６を作製させたとき、その１！！１転動力は駆動
軸２７、ウオームギヤ２８、ギヤ２ｓおよび回転軸２４
をそれぞれ介してＶラム２２に伝達される。Next, the rotating shaft 241/lld ear 25 of the drum 22 is installed! This gear is 25 K F, 1.
A one-digit worm gear 28 is engaged with the drive shaft 21 of the motor 26, which can freely rotate in forward and reverse directions. So L7, when the above motor 26 was manufactured, Part 1! ! 1 rolling force is generated by the drive shaft 27, worm gear 28, gear 2s, and rotating shaft 24.
are transmitted to the V ram 22 via the respective channels.

なお１、−上記モータ２６＠は謝２図で示すよう！ＩＣ
操作塾３にビン２９を介して回動自在ＶＣ取り付けた支
持台３１にＢｆＩＩｔされている。この支持台３１には
操作部３の外部に突き田す操作し・４−３２が一体に設
けちね、この操作レバー３２１１Ｃは２個所に係止溝３
３が形成さｈている。を穴、との係止溝３３に対向して
一端を枢着したケース３４が設けられ、このケース３４
の先端には上記係止溝３３に係止−するメール３５が取
り付けら、れている、ボニル３．９ＩＩｉケース３４内
に装填したばね３６によつ七村勢され、上記係止溝３３
に弾発的に係止するようになっている。そして、第２図
での実線の＠′ｆＩＬまたけ点線の位置のい−ｆｔ１か
に保持する。東線で示す位置ではギヤ２５にウオームギ
ヤ２８が係合し、モータ２６によりドラム２２を駆動で
きる。また、点線で示す位置ではその係合か外ｈ１モー
タ２６の回転動力をドラム２゛２に伝達できない。この
状態の゛切り換えは操作レバー３２を操作することによ
りて行なう。つまり、上記切換機構は先−湾曲機構２１
の原動部材としてのドラム２２とセータ２６の駆動軸２
７との連結を係脱する手段を概成している。Note that 1.- The above motor 26@ is as shown in Figure 2! IC
It is mounted on a support stand 31 to which a rotatable VC is attached to the operation school 3 via a bottle 29. This support base 31 is integrally provided with an operation lever 4-32 that is inserted into the outside of the operation section 3, and this operation lever 3211C has two locking grooves 3211C.
3 is being formed. A case 34 is provided with one end pivotally connected opposite the locking groove 33 between the hole and the case 34.
A mail 35 that locks in the locking groove 33 is attached to the tip of the locking groove 33, and is biased by a spring 36 loaded in the Bonyl 3.9IIi case 34.
It is designed to lock elastically. Then, it is held at -ft1 at the position of the dotted line spanning the solid line @'fIL in FIG. At the position shown by the east line, the worm gear 28 is engaged with the gear 25, and the drum 22 can be driven by the motor 26. Further, in the position shown by the dotted line, the rotational power of the outer h1 motor 26 cannot be transmitted to the drum 2'2 due to the engagement. This state switching is performed by operating the operating lever 32. In other words, the switching mechanism is the tip-bending mechanism 21.
The drive shaft 2 of the drum 22 and sweater 26 as driving members of
This basically constitutes a means for connecting and disconnecting the connection with 7.

ｔた、ドラム２２０回転軸２４にはレノ４−状の湾曲操
作部材４１０基端部が取付は固定されている。この湾曲
操作部材４１は比較的固めの弾性体で作もわ、外力を受
けることによりある程度、内視鏡１の長手方向にその弾
性力に抗して曲ねるよう、になっている。さらに、湾曲
操作部材４１の先端にｔｉｔ操作つまみ４２が設けられ
、この操作つまみ４２０部分は操作部３の外ｓＶＣ突き
出している。また、湾曲操作部材４１にはその湾曲方向
の側面に位置して抵抗線歪ゲージ４３が貼シ付けられて
いて、この抵抗ｋｓ・り°−ノ４３により上記湾曲操作
部材４１が受ける操作力量を検出して電気信号に変換す
る手段を構成している。In addition, a base end portion of a bending operation member 410 in the shape of a rectangle is fixedly attached to the rotating shaft 24 of the drum 220. The bending operation member 41 is made of a relatively hard elastic material, and is configured to bend to some extent in the longitudinal direction of the endoscope 1 when it receives an external force against the elastic force. Furthermore, a tit operation knob 42 is provided at the tip of the bending operation member 41, and a portion of this operation knob 420 protrudes from the outside of the operation section 3. Further, a resistance wire strain gauge 43 is attached to the bending operation member 41 on the side surface in the bending direction, and the amount of operation force received by the bending operation member 41 is measured by this resistance ks/rino 43. It constitutes a means for detecting and converting it into an electrical signal.

上記モータ２６および抵抗ｉ１ｉ！金グージー３１ｉ内
視鏡１内に挿通する図示しないリード線に接続されてい
る。このリード線はこの内祝ｆａｌｌを光源装置２に連
結したとき、その光源装＠２内に設置した軸動回路４４
に接続されるようになっている。The motor 26 and the resistor i1i! The metal goosee 31i is connected to a lead wire (not shown) that is inserted into the endoscope 1. When this lead wire is connected to the light source device 2, the axial movement circuit 44 installed in the light source device @2
It is designed to be connected to.

次に、第４図に示す電気回路につい千歌明する。同図中
４５は第１の電源であり、この第１の電源−４５は上記
抵抗線歪ゲージ４３と抵抗４６．４７．４８とからなる
ブリッジ回路４９の電源端子に接続されている。ブリッ
ジ回路４９の出力端子の一端は増幅器５１の一方の入力
端に接続される。この増幅８＆５１の出力端は抵抗５２
を介してＮＰＮ型の第１のトランジスタ５３とＰＮＰ型
の第２のトランジスタ５４で構成されるバッファ回路５
５に接続される。上記各トランジスタ５３．５４ｆｉそ
のエミッタ端子同志を接続してなシ、各トランジスタ５
３．５４の各ペース端子が上記増幅器５１の出力端に接
続されている。上記エミッタ端子同志の接続端はモータ
２６の一方の端子に接続されるとともに、抵抗５６を介
して増幅器５１の他方の入力端に接続さ引ている。また
、上記モータ２６の他端←第２０電源５．．．．７　（
Ｄ電極端＋′接続−ｇｔ′″６とともに第３の電源５８
の正極端子に接続される。ｗ、２の電源５１の正極端子
り第１のトランジスタ５３のコレクタ端子に接続さね、
第３の電源５８の負極端子は第２のトランジスタ５４の
コレクタ端子にｆｌ）ｅされる。さらに、上記モータ２
６の他端は抵抗５９を介して増幅器５１の他方の入力端
子に接続さｔＩる。とともに、ブリッジ回路４９の出力
端子の他方端に接続されている。Next, I will explain about the electric circuit shown in FIG. In the figure, 45 is a first power supply, and this first power supply -45 is connected to the power supply terminal of a bridge circuit 49 consisting of the resistance wire strain gauge 43 and resistors 46, 47, and 48. One end of the output terminal of the bridge circuit 49 is connected to one input end of the amplifier 51. The output terminal of this amplifier 8 & 51 is a resistor 52
A buffer circuit 5 consisting of a first transistor 53 of NPN type and a second transistor 54 of PNP type
Connected to 5. Do not connect the emitter terminals of each of the above transistors 53 and 54 fi, each transistor 5
Each of the 3.54 pace terminals is connected to the output of the amplifier 51. The connecting end of the emitter terminals is connected to one terminal of the motor 26 and is also connected to the other input end of the amplifier 51 via a resistor 56. Also, the other end of the motor 26←20th power supply 5. ．． ．． ．． 7 (
D electrode end +' connection - gt'''6 together with third power supply 58
connected to the positive terminal of the The positive terminal of the power supply 51 of w, 2 is connected to the collector terminal of the first transistor 53,
The negative terminal of the third power supply 58 is connected to the collector terminal of the second transistor 54. Furthermore, the motor 2
The other end of 6 is connected to the other input terminal of amplifier 51 via resistor 59. It is also connected to the other end of the output terminal of the bridge circuit 49.

次に、上記物取による内視鏡１の作用を−に轡１する。Next, the effect of the endoscope 1 due to the above-mentioned retrieval is reversed.

ます、操作ｓ３における湾曲操作部材４１を伺ら操作し
ない状態で祉その湾曲操作部材４Ｊには外力が加わらな
い。このときの抵抗糾怪り゛−ジ４３の抵抗値でけブリ
ッジ回路４９（１，バランスが保たわておシ、出力は零
である。First, when the bending operation member 41 is not operated in operation s3, no external force is applied to the bending operation member 4J. At this time, the resistance value of the resistor 43 is determined by the bridge circuit 49 (1), so that the balance is maintained and the output is zero.

そこで、挿入ｓ４の湾曲管７を湾曲させるため、湾曲操
作部材４１に外力を加えると、抵抗押金ゲージ４３の抵
抗値が変り、ブリッジ回路４９のバランスかくずれ、増
幅回ｖＩ５１０人カ端子と第２および第３の電源５７．
５８（Ｌｒ接続端間に電圧か発生する。この電圧は、増
幅回路５１　Ｋよシ増幅されたｅ〕ち、抵抗５２を介し
て第１および第２のトランジスタ５３．５４のペース端
子に加えら治る。これを具体的に述べれば、たとえば湾
曲°操作部材４１ｆ手九＊＜接眠部１４側）に押したと
すると、その外力に応じて湾曲操作部材４１は湾曲する
ため、抵抗−歪ゲージ４３は伸び、その抵抗値を増加す
る。そこで、抵抗線歪ゲージ４３と抵抗４６の接続点に
対して抵抗４７．４８間の接続点に正電位が発生し）こ
のため、増幅器５ノで増幅された出力も正電圧となる。Therefore, when an external force is applied to the bending operation member 41 in order to bend the bending tube 7 of the insertion s4, the resistance value of the resistance pusher gauge 43 changes, the balance of the bridge circuit 49 is lost, and the amplification circuit vI510 power terminal and the second and a third power source 57.
58 (a voltage is generated between the Lr connection terminals. This voltage is amplified by the amplifier circuit 51K) and is applied to the pace terminals of the first and second transistors 53 and 54 via the resistor 52. To describe this specifically, for example, if the bending operation member 41f is pushed towards the side of the sleeping part 14, the bending operation member 41 will curve in response to the external force, so the resistance-strain gauge 43 stretches and increases its resistance. Therefore, a positive potential is generated at the connection point between the resistors 47 and 48 with respect to the connection point between the resistance wire strain gauge 43 and the resistor 46. Therefore, the output amplified by the amplifier 5 also becomes a positive voltage.

したかつて、第１のトランジスタ５３は導通し、ｗＪ２
のトランジスタ５４は非導通の状態に保持される。この
結果、ＷＩＪＪ２の電源５１の１力がモータ２６に加わ
り、モータ２６は正転する。Once the first transistor 53 is conductive, wJ2
The transistor 54 is held non-conductive. As a result, one force from the power source 51 of WIJJ2 is applied to the motor 26, and the motor 26 rotates in the normal direction.

そして、モータ２６の回転力は駆動軸２７、ウオームギ
ヤ２８、ギヤ２５および（ロ）転軸２４を介してドラム
２２に伝わり１、ドラム２２か回転して上側の操作ワイ
ヤ２３を巻き込み、湾曲管７を上方へ湾曲させる。Then, the rotational force of the motor 26 is transmitted to the drum 22 via the drive shaft 27, worm gear 28, gear 25, and (b) rotating shaft 24, and the drum 22 rotates and winds up the upper operating wire 23, causing the bending tube 7 curve upward.

また、この動作に伴りてドラム２２が回転し、その回転
軸２４とともに湾曲操作部材４１が手元側へと次第に倒
わてゆ〈、そこで、湾曲操作部材４１を押し続けると、
プリツノ回路４９−（ｔｒｉ電圧が発生し続けるため、
モータ２６にｔｉ　ｉｌｌ圧が印加され続け、モータ２
６は所定のトルクで正転し続けて湾曲管７の湾曲が絖〈
。Also, along with this operation, the drum 22 rotates, and the bending operation member 41 along with its rotating shaft 24 gradually collapses toward the hand side.
Pritsuno circuit 49-(because tri voltage continues to be generated,
The till pressure continues to be applied to the motor 26, and the motor 2
6 continues to rotate forward with a predetermined torque, and the bending tube 7 is bent.
.

また、湾曲操作部材４１をより強く押せはグリッジ回路
４９にはさらに大きな電圧か発ムし、モータ２６Ｆｉよ
り大きなトルクで正転し、湾曲管７をより強く湾曲させ
ることができる。Further, if the bending operation member 41 is pressed more strongly, a larger voltage is generated in the glitch circuit 49, which causes the motor 26Fi to rotate forward with a larger torque than the motor 26Fi, thereby making it possible to bend the bending tube 7 more strongly.

次に、湾曲操作部材４１を押すことｆＪＰめれば、ブリ
ッジ回路４９Ｆｉバランスし、１圧ａｈ生しない九め、
モータ２６ｄ回転を停止する。Next, if you press the bending operation member 41, the bridge circuit 49Fi will be balanced and 1 pressure will not be generated.
Motor 26d rotation is stopped.

一方、湾曲操作部材４１を反対向きの一方−・押すと、
上述したとは反対に抵抗線型グーソ４３が圧縮されるた
め、その抵抗餉は減少して増幅器５１には負電位の電圧
か印加される。こτ ｔ１＋　ｒＣより増幅器５１で増幅された出力も負電位
となるため、第１のトランジスタ５３け非纒遍となり、
第２のトランジスタ５４は導通すなしたがって、第３の
電源５８の電圧がモータ２ｄに加わり、モータ′２６は
逆転する。そして、ドラム２２によシ下側の操作ワイヤ
２３を巻き込み、湾曲管１を下方へ湾曲させる。On the other hand, if you push the bending operation member 41 in the opposite direction,
In contrast to the above, since the resistance wire type gusset 43 is compressed, its resistance decreases and a negative potential voltage is applied to the amplifier 51. Since the output amplified by the amplifier 51 also has a negative potential due to this τ t1+ rC, the first transistor 53 becomes uncoupled,
Since the second transistor 54 is not conducting, the voltage of the third power supply 58 is applied to the motor 2d and the motor '26 is reversed. Then, the lower operating wire 23 is wound around the drum 22, and the bending tube 1 is bent downward.

ところで、モータ２６や制御回路４４が故障して上記動
作が不可能になった場合、挿入部４の湾曲管１が湾曲し
た１１であると、そのｔま体′腔内から挿入部４を引き
抜くことは危険である。そこで、このような事態ｊ；起
きたときは第２図で示す操作レバー３２を引き、支持台
３１を点線で示す状態とすることにより、ウオームギヤ
２８をギヤ２５から外し、ドラム２２＠をフリーとする
。したがって、湾曲操作部材４１を手動によって直接容
易に回転操作することができる。このため、湾曲管１を
手動により直接に湾曲し、安全を確保できる。By the way, if the motor 26 or the control circuit 44 breaks down and the above operation becomes impossible, and if the curved tube 1 of the insertion section 4 is curved 11, the insertion section 4 can be pulled out from the body cavity. That is dangerous. Therefore, when such a situation occurs, the worm gear 28 is removed from the gear 25 by pulling the operating lever 32 shown in FIG. do. Therefore, the bending operation member 41 can be directly and easily rotated manually. Therefore, the bending tube 1 can be directly bent manually and safety can be ensured.

第５図ないし第７図は本発明の第２の実施例を示すもの
である。5 to 7 show a second embodiment of the present invention.

この実施例では前記実施例でのギヤ２５に対し硬性体で
作りた湾曲操作部材４１が枢支軸６１を介して同心的に
回転自在Ｋ１１ｉ／シ伯けらｔｌている。この枢支軸６
１の外１１ｔＪＫＦｉコイル状ｑ）ばね６２が巻装され
、このばね６２の一端はギヤ２５に取付は固足し、その
他端Ｆｉ鴻曲操作部材４１に取付は固定しである。そし
て、湾曲操作部材４１は第５図で示す中立の状態から自
ｌｊ力１１１１または手元側へばね６２の復元力に抗し
て回−動することができる。ｔた、湾曲操作部材４１に
対向位置するギヤ２５の側面には帯状の抵抗体６３が取
り付けられている。この抵抗体６３に対向して湾曲操作
部材４１ｆＣは先端が抵抗体６３に摺接する接触子６４
が突設されている。In this embodiment, a bending operation member 41 made of a hard material is rotatable concentrically via a pivot shaft 61 in contrast to the gear 25 in the previous embodiment. This pivot shaft 6
A coiled spring 62 is wound around the outside of 1, and one end of the spring 62 is fixedly attached to the gear 25, and the other end is fixedly attached to the bending operation member 41. The bending operation member 41 can be rotated from the neutral state shown in FIG. 5 toward the self-Ilj force 1111 or toward the proximal side against the restoring force of the spring 62. Additionally, a band-shaped resistor 63 is attached to the side surface of the gear 25 located opposite the bending operation member 41. Opposing this resistor 63, the bending operation member 41fC has a contact 64 whose tip is in sliding contact with the resistor 63.
is installed protrudingly.

つまり、上記抵抗体６３七接触子６４により１−ＩＪ（
Ｄ　／テンシ冒メータを構成している。なお、上記抵抗
体６３０両端のそれぞわと接触子６４にＦｉ図示しない
リード線が接続され、こｔ’ｌ　ｒｉ　Ｍｉｌ述した実
施例と同様に制御回路４４に導ひかｔｌている。In other words, 1-IJ(
It constitutes a D/tensile meter. Incidentally, lead wires (not shown) are connected to both ends of the resistor 630 and the contact 64, and are led to the control circuit 44 as in the embodiment described above.

第７図はその電気回路を示し、館記実施例ｙｃおけるブ
リッジ回路４９に代え、抵抗体６３と接触子６４からな
るポテンシ画メータを組み込んだ構成となっている。な
お、その他の構成は前記実施例と同じであるので、同じ
番号を付してその説明を省略する。FIG. 7 shows the electric circuit, and has a configuration in which a potentiometer consisting of a resistor 63 and a contact 64 is incorporated in place of the bridge circuit 49 in the embodiment yc. Note that the other configurations are the same as those of the previous embodiment, so the same numbers are given and the explanation thereof will be omitted.

ここで、湾曲操作部材４１が待機状態にあるときは接触
子６４は抵抗体６３の中立の位置にあり、増幅器５１へ
の入カ覧圧會ま零に々るように設定さｈている。Here, when the bending operation member 41 is in a standby state, the contact 64 is in a neutral position of the resistor 63, and the input pressure to the amplifier 51 is set to be zero.

次に、湾曲操作部材４１をばね６２の復元力に抗して一
方へ回動すれば、こｔとともに接触子６４が抵抗体６３
０表面上を摺動して一方の片側に変位する。たとえば湾
曲操作部材４１を接眼部１４＠へ倒せば、増幅器５１に
は正電位の電圧が印加され、上記実施例と同様に作動し
て挿入ｓ４の湾曲管７を上方へ湾曲する。また、さらに
強く湾曲操作部材４１を押せば、擦触子６４の接触位置
がさらに片側へ変位することによシ増暢器５１への入力
電圧が高まシ、モータ２６の用カトルクが増大して湾曲
ｗｙｔさらに大きく上方へ湾曲きせることができる。そ
の他の作用は上記実施例と同様である。Next, when the bending operation member 41 is rotated in one direction against the restoring force of the spring 62, the contact 64 is moved to the resistor 63.
0 slides on the surface and is displaced to one side. For example, when the bending operation member 41 is tilted toward the eyepiece 14@, a positive voltage is applied to the amplifier 51, which operates in the same manner as in the above embodiment to bend the bending tube 7 of the insertion s4 upward. Furthermore, if the bending operation member 41 is pressed even more forcefully, the contact position of the ruber 64 is further displaced to one side, thereby increasing the input voltage to the amplifier 51 and increasing the torque of the motor 26. The curve wt can be further curved upwards. Other operations are similar to those of the above embodiment.

第８図および第９図は本発明の第３の実施−１を示すも
のである。この実施例では湾曲操作部材４１を硬性体で
作るとともに、その操作つまみ４２０指当て部分に第１
の感圧素子６６と謝２の感圧素子６１を取ｐ付け、湾曲
操作部材４１を接眼部１４側へ倒すときは第ｌの感圧素
子６６に指を当てて押し倒し、逆向きに倒すときは紺２
の感圧素子６７に指を当１て押［７倒すようになってい
る。そして、この第１おｌび第２の感圧素子６６．６７
を第９１で示すよう＆（第２の実施例の場合のポテンシ
■メータの代りにその回路に組み込む。すなわち、各感
圧素子６６．６７の各一端を電源５７　、５８１１Ｃ叱
れイれ接続するとともに、感圧素子６６．６７のも他端
を増幅＠５１に接続する。なお、上記感ＩＥ素子６６．
６’ｌに使用するものとしては圧電ゴム、抵抗歪グー　
〕などでもよいし、また、チタン酸バリウムのような電
歪素子でもよい。FIGS. 8 and 9 show the third embodiment-1 of the present invention. In this embodiment, the bending operation member 41 is made of a hard material, and the operation knob 420 has a first
Attach the first pressure sensitive element 66 and the second pressure sensitive element 61, and when tilting the bending operation member 41 toward the eyepiece 14, place your finger on the first pressure sensitive element 66 and push it down, and then tilt it in the opposite direction. Time is dark blue 2
Place your finger on the pressure sensitive element 67 and press it [7]. The first and second pressure sensitive elements 66 and 67
As shown in No. 91, & , the other ends of the pressure sensitive elements 66.67 are connected to the amplifier@51.
Piezoelectric rubber and resistance distortion rubber are used for 6'l.
], or an electrostrictive element such as barium titanate.

しかして、湾曲操作部材４１を操作しないときＫＦｉそ
の各感圧素子６６．６７の抵抗が変らす、また、増幅器
５１に加わる電圧は零でおる。Therefore, when the bending operation member 41 is not operated, the resistance of each pressure sensitive element 66, 67 of KFi changes, and the voltage applied to the amplifier 51 remains zero.

次に、湾曲操作部材４１を操作すると、押さｆする感圧
素子６６．６７の抵抗が変り、そわに応じて増幅器５１
−に正電位また負電位の電圧が印加する。そして、前述
したと同様にしてモータ２６が作動し、挿入部４の湾曲
管７を湾曲する。Next, when the bending operation member 41 is operated, the resistance of the pressure sensitive elements 66 and 67 to be pressed changes, and the amplifier 51
A positive or negative potential voltage is applied to -. Then, the motor 26 is operated in the same manner as described above, and the bending tube 7 of the insertion section 4 is bent.

なお、この実施例では湾曲操作部材４ノの操作つまみ４
２にその操作力量を検出する感圧素子６６．６７を設け
たが、たとえば第１０図で示すように操作ワイヤ２３．
２３の途中に介挿し、その操作ワイヤ２３．２３に加わ
る力普を検出するようにしても同様の目的を達成できる
。In addition, in this embodiment, the operation knob 4 of the bending operation member 4
For example, as shown in FIG. 10, the operating wires 23.
The same purpose can be achieved by inserting the operating wire 23 in the middle of the operating wire 23 and detecting the force applied to the operating wire 23.

第１１図は本発明の菓４の実施例を示す。FIG. 11 shows an embodiment of confectionery 4 of the present invention.

この実施例は湾曲管７を上下方向に湾曲させるとともに
、左右方向にも湾曲させるようにしたものである。すな
わち、この実施例では湾曲操作部材４１０基端に球体７
１を設け、この球体１１を球面軸受７２で受け、湾曲操
作部材４１を全方向へ回動できるように支持してなシ、
さらに、湾曲操作部材４１０基端部分Ｋｉｉ互いに直交
する方向にそれぞれ回動するように枢支される２個の回
転部材’１３．１４が恢め込まｆｔている。この回転部
材７Ｊ、７Ｊ＃ｉそれぞｈ＾１ノ彼方同方向右方向に配
置した軸’１５．７６に枢支されて−なり、さらに、そ
□の回転部材２３゜７４にはその軸方向に沿って形成し
た長孔１７゜７８が形成されていて、各長孔７１１，７
Ｂに湾曲操作部材４１が挿通されている。ぞして、前後
方向に回動する回転部材７３の軸７５ね中間ギヤ７９を
介して第１の実施例で示したと同様の先端湾曲機構２１
の回転軸２４に連結され一〇いる。ｔた、左右方向に回
動する回転部材７４の軸７６は中間ギヤ８１．８２を介
して左右り向の湾曲操作用のドラム８３０回転軸８４＋
ｃ連結されている。また、このドラム８３の（ロ）転軸
８４にはギヤ８５が取り付けられ、そのギヤ５ｓｙｃＦ
ｉモータ８６で駆動するウオームギヤ８１が係合してい
る。さらに、上記ドラム８３には左右方向の湾曲操作用
の操作ワイヤ８８゜８８が巻かれている。ｔた、上記湾
曲操作部材４１０側局面には前後方向の片面と左右方向
の片面のそれぞれに第１の実施例の場合と同様な抵抗線
歪ｒ−ジｓｙ；ｓｏを増り何社である。In this embodiment, the curved tube 7 is curved not only in the vertical direction but also in the left and right directions. That is, in this embodiment, the sphere 7 is provided at the base end of the bending operation member 410.
1, the spherical body 11 is received by a spherical bearing 72, and the bending operation member 41 is supported so as to be rotatable in all directions.
Further, two rotary members 13 and 14 are recessed into the base end portion of the bending operation member 410 so as to rotate in directions orthogonal to each other. These rotating members 7J, 7J#i are each pivoted on a shaft '15. A long hole 17°78 is formed along each long hole 711, 7.
A bending operation member 41 is inserted through B. The shaft 75 of the rotating member 73 that rotates in the front-rear direction connects the tip bending mechanism 21 similar to that shown in the first embodiment via an intermediate gear 79.
It is connected to the rotating shaft 24 of 10. In addition, the shaft 76 of the rotating member 74 that rotates in the left-right direction connects to the drum 830 rotating shaft 84+ for left-right bending operation via intermediate gears 81 and 82.
c-connected. Further, a gear 85 is attached to the (b) rotating shaft 84 of this drum 83, and the gear 5sycF
A worm gear 81 driven by an i-motor 86 is engaged. Furthermore, an operating wire 88° 88 for bending operation in the left and right direction is wound around the drum 83. In addition, on each side of the bending operation member 410, one side in the front and back direction and one side in the left and right direction are provided with resistance wire strain r-jisy; .

そして、この各抵抗１歪ゲージ８９．９０でそれぞれ得
た信号により対応する各モータ２６゜８６を制御し、挿
入部４の湾曲管１を湾曲させるようになっている。The corresponding motors 26.degree. 86 are controlled by the signals obtained from the strain gauges 89 and 90 of each resistor 1, so that the bending tube 1 of the insertion section 4 is bent.

なお、この実施例の場合でも第２図で示したようカ解除
する後楡を組み込み、モータ２６゜８６などが故障した
ときには湾曲操作部材４１によシ容易に湾曲操作するよ
うになっている。In the case of this embodiment as well, as shown in FIG. 2, a rear lever for releasing the force is incorporated, so that when the motor 26.86 or the like fails, the bending operation member 41 can be used to easily perform the bending operation.

また、この場合、第１２図で示すように、ｔｉ＠曲操作
部材４１の操作つまみ４２を嵌め込み穴９１を設けたレ
バー９２を使用すれば、よシ容易に操作できる。Further, in this case, as shown in FIG. 12, if a lever 92 having a hole 91 into which the operating knob 42 of the ti@ bend operating member 41 is fitted is used, it can be operated more easily.

以上説明したように本発明Ｖ（よりば、先端湾曲４！ｌ
！桐をモータで駆動する内視鏡において、湾曲操作部材
を操作し、その操作力蓋に応じて微妙な湾曲操作を行な
うこと−ができる。したがりて、術者はその微妙な湾曲
動作を明確に開繊しながら容易に一作できるとともに、
内視鏡を挿入した体腔内壁を傷付ける危険゛も回避して
安全に操作できる。As explained above, the present invention V (according to the tip curve 4!l
! In an endoscope in which a paulownia wood is driven by a motor, it is possible to operate a bending operation member and perform delicate bending operations according to the operating force of the cover. Therefore, the surgeon can easily perform one operation while clearly opening the delicate bending motion, and
The endoscope can be operated safely while avoiding the risk of damaging the inner wall of the body cavity into which it has been inserted.

また、上記湾曲操作部材はその湾曲量ＶＣ応じて変位す
るので、その変位によって湾曲蓋をよシ正確に知ること
ができる。Furthermore, since the bending operation member is displaced in accordance with the bending amount VC, the bending of the lid can be determined more accurately based on the displacement.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は本発明の第１の実施例を示す内視鏡の斜視図、
第２図は同じく操作ｓＫおＨる係合を解除する手段の＆
明図、第３図ｉｌｌ同じく′湾曲操作部材の正面図、Ｗ
Ｊ４図は同じくその電気回路の構成説明図、第５図は本
発明の謝２の東り例における先端湾曲機構の要部を示す
斜視図、第６図は同じくその要部の展開した斜視ν１、
第７図は同じくその電気回路の構成数ＢＡ−１第８図は
本発明の第３の実施例を示す要部の糾祝凶、＄９図は同
じくその電気回路の構成説１！Ｊ１嫡、第１０図は本発
明の第３の実施例の変形例を示す斜視図、第１１図は本
発明の＃！４の実施例を示すその先端湾曲機構の斜視図
、第１２図は同じくレバーの斜視図である。 １・・・内視鏡、１・・・湾曲管、８・・・挿入部先端
、２１・・・先端湾曲機構、２２・・・ドラム、２３・
・・操作ワイヤ、２４・・・回転軸、２５・・・ギヤ、
２６・・・モＩ’　、３　Ｊ・・・支持台、３２・・・
操作レバー、３３・・・係止溝、３５・・・が−ル、４
１・・・湾曲操作部材、４２・・・操作つまみ、４３・
・・抵抗線歪ゲージ、６３・・・抵抗体、６４・・−接
触子、６６・・・第１の感圧素子、６７・・・第２の感
圧素子、８３・・・ドラム、８９・・・抵抗線歪ゲージ
、９ｏ・・・抵抗線歪ゲージ。 出願人代理人　　弁理士　鈴　江　武　彦牙１図 牙２図 矛３Ｅ −牙４図 −ｊｒ５図 、！１ｌ−７図 牙８図 才９図 牙１０聞FIG. 1 is a perspective view of an endoscope showing a first embodiment of the present invention;
Figure 2 also shows the means for releasing the engagement by operating sK.
Clear view, Figure 3 ill also 'Front view of the bending operation member, W
Figure J4 is an explanatory diagram of the configuration of the electric circuit, Figure 5 is a perspective view showing the main part of the tip bending mechanism in the east example of the second embodiment of the present invention, and Figure 6 is an expanded perspective view ν1 of the main part. ,
Figure 7 is the number BA-1 of the electric circuit, and Figure 8 is a review of the main parts of the third embodiment of the present invention, and Figure 9 is the structure theory 1 of the electric circuit. FIG. 10 is a perspective view showing a modification of the third embodiment of the present invention, and FIG. 11 is a perspective view of a modification of the third embodiment of the present invention. FIG. 12 is a perspective view of the tip bending mechanism of the fourth embodiment, and FIG. 12 is a perspective view of the lever. DESCRIPTION OF SYMBOLS 1... Endoscope, 1... Curved tube, 8... Insertion part tip, 21... Tip bending mechanism, 22... Drum, 23...
...Operating wire, 24...Rotating shaft, 25...Gear,
26...MoI', 3J...Support stand, 32...
Operation lever, 33...Latching groove, 35...Gall, 4
1... Curved operation member, 42... Operation knob, 43.
...Resistance wire strain gauge, 63...Resistor, 64...-Contactor, 66...First pressure sensitive element, 67... Second pressure sensitive element, 83...Drum, 89 ...Resistance wire strain gauge, 9o...Resistance wire strain gauge. Applicant's representative Patent attorney Suzue Takehiko Fang 1 figure Fang 2 figure 3E - Fang 4 figure - JR5 figure,! 1l-7 Zuga 8 Figure Sai 9 Figure 10 Listen

Claims (5)

【特許請求の範囲】[Claims] （１）挿入部先端の向きを変える先端湾曲機構と、この
先端湾曲機構を駆動するモータと、操作部［ｖｌけられ
手動により操作力を受ける湾曲操作部材と、この湾曲操
作部材の受ける操作力量を検出する手段と、この検出手
段によって得た信号を処理し上記モータに対する駆動電
力を制御する手段とを具備してなることを４Ｉ徴とする
内視鏡。(1) A tip curving mechanism that changes the direction of the tip of the insertion tube, a motor that drives this tip curving mechanism, an operating section [vl], a bending operation member that receives manual operation force, and the amount of operation force that this bending operation member receives. 1. An endoscope having a 4I feature, comprising means for detecting: and means for processing a signal obtained by the detecting means to control driving power to the motor. （２）　　上記湾曲操作部材の受ける操作力量を検出す
る手Ｒはその湾曲操作部材に取り付けた抵抗［ｉ１歪ｒ
−ジであることを特徴とする特許請求の範囲第１項に記
載の内視鏡。(2) The hand R that detects the amount of operating force received by the bending operation member is a resistor [i1 strain r
The endoscope according to claim 1, characterized in that: - di. （３）上記湾曲操作部材の受ける操作力量を検出する手
段はその湾曲操作部材の指当て部分に設けた感圧素子で
あることを特徴とする請求求の範囲第１項に記載の内視
鏡。(3) The endoscope according to claim 1, wherein the means for detecting the amount of operating force received by the bending operation member is a pressure sensitive element provided on a finger rest part of the bending operation member. . （４）挿入部先端の向きを変える先端湾曲機構と、この
先端湾曲機構を駆−動するモータと、操作部に設けらわ
るとともに上記先端湾曲機構の原動部材に連動して変位
するように連結され手動により操作力を受ける湾曲操作
部材と、この湾曲操作部材の受ける操作力量を検出する
手段と、この検…手段によって得た信号を処理し上記モ
ータに対する駆動電力を制御する手段とを具備してなる
ことを特徴とする内視鏡。(4) A tip curving mechanism that changes the direction of the tip of the insertion tube, a motor that drives this tip curving mechanism, and a motor that is attached to the operating section and connected to be displaced in conjunction with the driving member of the tip curving mechanism. The bending operation member receives a manual operating force, a means for detecting the amount of operation force received by the bending operation member, and a means for processing a signal obtained by the detection means to control driving power to the motor. An endoscope that is characterized by: （５）　　上記先端湾曲機構の原動部材と上山〕モータ
の駆動軸とは係脱自在に連結さわるとともに、外部操作
−によりその連結を解除する手段−を設けたことを特徴
とする特許請求の範囲第シ項に記載の内視鏡。(5) The driving member of the tip bending mechanism and the drive shaft of the upper motor are detachably connected to each other, and a means for releasing the connection by external operation is provided. The endoscope described in Section C.
JP56164678A 1981-10-15 1981-10-15 Endoscope Granted JPS5865132A (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP56164678A JPS5865132A (en) 1981-10-15 1981-10-15 Endoscope
AT82109478T ATE29655T1 (en) 1981-10-15 1982-10-13 ENDOSCOPE SYSTEM WITH ELECTRICALLY CONTROLLED BENDING.
EP82109478A EP0077526B1 (en) 1981-10-15 1982-10-13 Endoscope system with an electric bending mechanism
DE8282109478T DE3277287D1 (en) 1981-10-15 1982-10-13 Endoscope system with an electric bending mechanism
US06/434,233 US4499895A (en) 1981-10-15 1982-10-14 Endoscope system with an electric bending mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP56164678A JPS5865132A (en) 1981-10-15 1981-10-15 Endoscope

Publications (2)

Publication Number Publication Date
JPS5865132A true JPS5865132A (en) 1983-04-18
JPS6359329B2 JPS6359329B2 (en) 1988-11-18

Family

ID=15797758

Family Applications (1)

Application Number Title Priority Date Filing Date
JP56164678A Granted JPS5865132A (en) 1981-10-15 1981-10-15 Endoscope

Country Status (1)

Country Link
JP (1) JPS5865132A (en)

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5869521A (en) * 1981-10-20 1983-04-25 オリンパス光学工業株式会社 Endoscope
JPS58160002U (en) * 1982-04-20 1983-10-25 株式会社町田製作所 Endoscope head bending device
JPH0225201U (en) * 1988-08-09 1990-02-20
JPH02164332A (en) * 1988-12-19 1990-06-25 Olympus Optical Co Ltd Endoscope
US6793622B2 (en) 2001-09-05 2004-09-21 Olympus Optical Co., Ltd. Electric bending endoscope
JP2005028018A (en) * 2003-07-11 2005-02-03 Pentax Corp Bending operation apparatus of endoscope
JP2008036355A (en) * 2006-08-10 2008-02-21 Olympus Medical Systems Corp Control device and endoscope control device
JP2009090087A (en) * 2007-09-19 2009-04-30 Fujifilm Corp Endoscope
JP2009207670A (en) * 2008-03-04 2009-09-17 Fujifilm Corp Endoscope
JP2009207788A (en) * 2008-03-06 2009-09-17 Fujifilm Corp Endoscope
JP2010178886A (en) * 2009-02-05 2010-08-19 Fujifilm Corp Endoscope
JP2010187936A (en) * 2009-02-18 2010-09-02 Fujifilm Corp Endoscope
JP2010213969A (en) * 2009-03-18 2010-09-30 Fujifilm Corp Endoscope
JP2011019549A (en) * 2009-07-13 2011-02-03 Fujifilm Corp Endoscope apparatus, endoscope system, and method of controlling endoscope apparatus
WO2017026177A1 (en) * 2015-08-11 2017-02-16 オリンパス株式会社 Wire traction mechanism for endoscope, and endoscope

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02130943A (en) * 1988-11-11 1990-05-18 Tel Sagami Ltd Accommodation jig
JP5675223B2 (en) * 2010-08-31 2015-02-25 富士フイルム株式会社 Endoscope and hardness adjustment device

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5869521A (en) * 1981-10-20 1983-04-25 オリンパス光学工業株式会社 Endoscope
JPS58160002U (en) * 1982-04-20 1983-10-25 株式会社町田製作所 Endoscope head bending device
JPS6337923Y2 (en) * 1982-04-20 1988-10-06
JPH0225201U (en) * 1988-08-09 1990-02-20
JPH02164332A (en) * 1988-12-19 1990-06-25 Olympus Optical Co Ltd Endoscope
US6793622B2 (en) 2001-09-05 2004-09-21 Olympus Optical Co., Ltd. Electric bending endoscope
JP2005028018A (en) * 2003-07-11 2005-02-03 Pentax Corp Bending operation apparatus of endoscope
JP2008036355A (en) * 2006-08-10 2008-02-21 Olympus Medical Systems Corp Control device and endoscope control device
JP2009090087A (en) * 2007-09-19 2009-04-30 Fujifilm Corp Endoscope
JP2009207670A (en) * 2008-03-04 2009-09-17 Fujifilm Corp Endoscope
JP2009207788A (en) * 2008-03-06 2009-09-17 Fujifilm Corp Endoscope
JP2010178886A (en) * 2009-02-05 2010-08-19 Fujifilm Corp Endoscope
JP2010187936A (en) * 2009-02-18 2010-09-02 Fujifilm Corp Endoscope
JP2010213969A (en) * 2009-03-18 2010-09-30 Fujifilm Corp Endoscope
JP2011019549A (en) * 2009-07-13 2011-02-03 Fujifilm Corp Endoscope apparatus, endoscope system, and method of controlling endoscope apparatus
WO2017026177A1 (en) * 2015-08-11 2017-02-16 オリンパス株式会社 Wire traction mechanism for endoscope, and endoscope

Also Published As

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