WO2020026494A1 - Processing device, endoscope system, drive method, and program - Google Patents

Processing device, endoscope system, drive method, and program Download PDF

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Publication number
WO2020026494A1
WO2020026494A1 PCT/JP2019/008244 JP2019008244W WO2020026494A1 WO 2020026494 A1 WO2020026494 A1 WO 2020026494A1 JP 2019008244 W JP2019008244 W JP 2019008244W WO 2020026494 A1 WO2020026494 A1 WO 2020026494A1
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Prior art keywords
endoscope
processing device
optical system
drive circuit
terminal
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PCT/JP2019/008244
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French (fr)
Japanese (ja)
Inventor
健悟 榎本
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オリンパス株式会社
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Publication of WO2020026494A1 publication Critical patent/WO2020026494A1/en

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    • 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
    • A61B1/04—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 combined with photographic or television appliances
    • 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

Definitions

  • the present disclosure relates to a processing device, an endoscope system, a driving method, and a program to which any one of a plurality of endoscopes of different types inserted into a subject is detachably mounted.
  • the present invention has been made in view of the above, and has as its object to provide a processing device, an endoscope system, a driving method, and a program capable of driving a plurality of actuators of different types for each endoscope.
  • the first optical system is moved to one of a base position and a distal position on the first optical axis to perform position adjustment, and the second endoscope is attached to the processing apparatus.
  • the second optical system is controlled on the second optical axis by controlling the second drive signal output by the second drive circuit based on the detection result detected by the position detection sensor.
  • a controller that adjusts the position by moving to a predetermined position between the base position and the distal position.
  • the processing device in the above disclosure, further includes a third switch provided between the controller and the fourth terminal, the third switch connecting the fourth terminal and the controller.
  • the controller switches an on / off state of the third switch based on the identification information.
  • the endoscope system includes a first endoscope having a first actuator that adjusts a position of a first optical system movable along a first optical axis, and a second endoscope that has a second actuator.
  • a second actuator for adjusting the position of a second optical system movable along the optical axis of the second optical system, a position detection sensor for detecting the position of the second optical system on the second optical axis,
  • a second endoscope having: and a processing device to which one of the first endoscope and the second endoscope is removably mounted, wherein the processing device comprises: A first drive circuit that outputs a first drive signal to one actuator, a second drive circuit that outputs a second drive signal to the second actuator, and the first endoscope for the processing device.
  • the first drive signal output by the first drive circuit is output.
  • the first optical system is moved to one of a base position and a front position on the first optical axis to perform position adjustment, and the processing apparatus is provided with the second
  • the second optical system is controlled by controlling the second drive signal output by the second drive circuit based on the detection result detected by the position detection sensor.
  • a controller for adjusting the position by moving to a predetermined position between the base end position and the front end position on the second optical axis.
  • the driving method provides a first endoscope having a first actuator that adjusts a position of a first optical system movable along a first optical axis, and a second light.
  • a second actuator that adjusts the position of a second optical system movable along an axis; and a position detection sensor that detects a position of the second optical system on the second optical axis.
  • a driving circuit that outputs a second driving signal to the second actuator, wherein the first driving is performed when the first endoscope is mounted on the processing device. Controlling the first drive signal output by the circuit.
  • the first optical system is moved to one of a base position and a distal position on the first optical axis to perform position adjustment, and the processing apparatus is provided with the second endoscope.
  • the second optical system is controlled by controlling the second drive signal output by the second drive circuit based on the detection result detected by the position detection sensor.
  • the position is adjusted by moving to a predetermined position between the base position and the tip position above.
  • a program includes a first endoscope having a first actuator for adjusting a position of a first optical system movable along a first optical axis, and a second optical axis.
  • a second actuator that adjusts the position of a second optical system that can move upward, and a position detection sensor that detects a position of the second optical system on the second optical axis.
  • a second drive circuit that outputs a second drive signal to the second actuator.
  • the first optical system is moved to one of a base position and a distal position on the first optical axis to adjust the position, and the second endoscope is mounted on the processing apparatus.
  • the second optical system is controlled on the second optical axis by controlling the second drive signal output by the second drive circuit based on the detection result detected by the position detection sensor.
  • the position is adjusted by moving to a predetermined position between the base position and the distal position in.
  • FIG. 1 is a block diagram illustrating a functional configuration of an endoscope system according to an embodiment of the present disclosure.
  • the endoscope system 1 shown in FIG. 1 includes a first endoscope 2, a second endoscope 3, a processing device 4, and a display device 5.
  • a first endoscope 2 and a second endoscope 3 having different types of actuators is detachably mounted on the processing device 4.
  • the first endoscope 2 inserts an insertion portion including a plurality of cables and light guides into a body cavity of the subject, and outputs an image signal generated by imaging the inside of the subject to the processing device 4.
  • the first endoscope 2 is detachable from the processing device 4.
  • the first endoscope 2 includes at least a first optical system 21, a first imaging element 22, a first actuator 23, an identification memory 24, an operation SW 25, a first terminal T21, It includes a second terminal T22, a third terminal T23, and a fourth terminal T24.
  • the first optical system 21 forms the first optical image on the light receiving surface of the first image sensor 22.
  • the first optical system 21 is configured using a plurality of lenses.
  • the first optical system 21 is provided movably along the first optical axis L1.
  • the position of the first optical system 21 is adjusted. That is, the first actuator 23 can adjust the position of the subject to be focused by adjusting the position of the first optical system 21, or can switch the focus to change the focal length of the optical system. Becomes The optical element whose position is changed by adjusting the position of the first optical system 21 may be all the optical elements constituting the first optical system 21 or may be some optical elements.
  • the identification memory 24 records first identification information for identifying the first endoscope 2.
  • the first identification information includes at least the date of manufacture of the first endoscope 2, information for identifying the first endoscope 2, and type information of the first endoscope 2.
  • the focal length information of the first optical system 21 the image sensor information including the type, resolution, and drive information of the first image sensor 22, and the actuator including the type, drive method, and drive voltage of the first actuator 23 Information.
  • the identification memory 24 is configured using a Flash memory or the like.
  • the first terminal T21 has a convex shape (pin shape) and is electrically connected to a signal line connected to the first image sensor 22.
  • the first terminal T21 is electrically connected by fitting with a first terminal T41 of the processing device 4 described later.
  • the second terminal T22 has a convex shape (pin shape) and is electrically connected to a signal line connected to the identification memory 24.
  • the second terminal T22 is electrically connected by fitting with a second terminal T42 of the processing device 4 described later.
  • the third terminal T23 has a convex shape (pin shape) and is electrically connected to a signal line connected to the first actuator 23.
  • the third terminal T23 is electrically connected by fitting with a third terminal T43 of the processing device 4 described later.
  • the fourth terminal T24 has a convex shape (pin shape) and is electrically connected to a signal line connected to the operation switch 25.
  • the fourth terminal T24 is electrically connected by fitting with a fifth terminal T45 of the processing device 4 described later.
  • the second endoscope 3 inserts an insertion section including a plurality of cables and light guides into the body cavity of the subject, and outputs an image signal generated by imaging the inside of the subject to the processing device 4.
  • the second endoscope 3 is detachable from the processing device 4.
  • the second endoscope 3 includes at least a second optical system 31, a second imaging element 32, a second actuator 33, an identification memory 34, an operation SW 35, a position detection sensor 36,
  • the first terminal T31, the second terminal T32, the third terminal T33, the fourth terminal T34, and the fifth terminal T35 are provided.
  • the second image sensor 32 receives the second optical image formed by the second optical system 31 and generates an image signal by performing photoelectric conversion.
  • the second image sensor 32 outputs an image signal to the processing device 4 via a first terminal T31 described later.
  • the second imaging element 32 is configured using a CMOS, a CCD, or the like.
  • the second actuator 33 moves the second optical system 31 along the second optical axis L2 based on a control signal input from the processing device 4 via a third terminal T33 described later. Thus, the position of the second optical system 31 is adjusted.
  • the second actuator 33 is configured using a voice coil motor having a yoke provided with magnets on an outer peripheral surface of a cylindrical moving frame on which the magnets are mounted with the second optical system 31, and a coil. .
  • the second actuator 33 generates a magnetic force when a control signal input from the processing device 4 flows through the coil via the third terminal T33, and the moving frame is moved in the direction of the second optical axis L2 by the magnetic force.
  • the position of the second optical system 31 is adjusted by moving the second optical system 31 to the wide side or the tele side.
  • the second actuator 33 can adjust the position of the focused object by adjusting the position of the second optical system 31, or can switch the focus to change the focal length of the optical system.
  • the optical element whose position is changed by adjusting the position of the second optical system 31 may be all the optical elements constituting the first optical system 21 or a part of the optical elements.
  • the identification memory 34 records second identification information for identifying the second endoscope 3.
  • the second identification information includes at least the date of manufacture of the second endoscope 3, information for identifying the second endoscope 3, and type information of the second endoscope 3.
  • the focal length information of the second optical system 31 the image sensor information including the type, resolution, and drive information of the second image sensor 32, and the actuator including the type, drive method, and drive voltage of the second actuator 33 Information.
  • the identification memory 34 is configured using a Flash memory or the like.
  • the operation SW 35 receives input of operation signals of various operations related to the second endoscope 3 and outputs the operation signals to the processing device 4 via the fifth terminal T35.
  • the operation SW 35 is configured using a switch, a toggle switch, a touch panel, a button, and the like.
  • the position detection sensor 36 detects the position of the second optical system 31 on the second optical axis L2, and outputs the detection result to the processing device 4 via the fourth terminal T34.
  • the position detection sensor 36 is configured using, for example, a Hall element or an encoder.
  • the second terminal T32 has a convex shape (pin shape) and is electrically connected to a signal line connected to the identification memory 34.
  • the second terminal T32 is electrically connected by fitting with a second terminal T42 of the processing device 4 described later.
  • the third terminal T33 has a convex shape (pin shape), and is electrically connected to a signal line connected to the second actuator 33.
  • the third terminal T33 is electrically connected by fitting with a third terminal T43 of the processing device 4 described later.
  • the fourth terminal T34 has a convex shape (pin shape), and is electrically connected to a signal line connected to the position detection sensor 36.
  • the fourth terminal T34 is electrically connected by fitting with a fourth terminal T44 of the processing device 4 described later.
  • the fifth terminal T35 has a convex shape (pin shape) and is electrically connected to a signal line connected to the operation SW 35.
  • the fifth terminal T35 is electrically connected by fitting with a fifth terminal T45 of the processing device 4 described later.
  • the processing device 4 has a plurality of endoscopes of different types including the first endoscope 2 and the second endoscope 3, which are detachably mounted, and which performs image processing on an image signal generated by each endoscope. It performs processing and outputs it to the display device 5, and controls each unit constituting the endoscope system 1, for example, an actuator included in each endoscope.
  • the processing device 4 includes at least a power supply 41, an image processing unit 42, a memory 43, a first drive circuit 44, a second drive circuit 45, a controller 46, SW1, SW2, SW3, It has a first terminal T41, a second terminal T42, a third terminal T43, a fourth terminal T44, and a fifth terminal T45.
  • the image processing unit 42 performs predetermined image processing on an image signal input via the first terminal T41, and outputs the image signal to the display device 5.
  • the predetermined image processing includes, for example, white balance adjustment processing and demozaking processing.
  • the image processing unit 42 is configured using a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), or the like.
  • the memory 43 includes a hard disk drive (HDD), a solid state drive (SSD), a read only memory (ROM), a random access memory (RAM), and various programs executed by the endoscope system 1. Record the data being processed.
  • the memory 43 has a program memory 431 for recording a program executed by the endoscope system 1.
  • the second drive circuit 45 outputs a second drive signal to the second actuator 33 of the second endoscope 3 attached to the processing device 4 under the control of the controller 46, thereby outputting the second drive signal. Is driven. Specifically, the second drive circuit 45 outputs a second drive signal to the second actuator 33 via the switch SW2 and the third terminal T43.
  • the second drive circuit 45 is configured using a voltage setting circuit, a regulator, a driver circuit, and the like.
  • the controller 46 controls each unit of the endoscope system 1.
  • the controller 46 obtains the first identification information from the identification memory 24 of the first endoscope 2 attached to the processing device 4 via the second terminal T42, or acquires the first identification information attached to the processing device 4
  • the second identification information is obtained from the identification memory 34 of the second endoscope 3, and based on the obtained result, the ON / OFF state of SW 1, SW 2 and SW 3 is switched, and the first drive circuit 44 and the second drive The circuit 45 is controlled. Specifically, when the first endoscope 2 is mounted on the processing device 4, the controller 46 turns on SW1 and turns off SW2 and SW3, and receives an input via the fifth terminal T45.
  • the first driving circuit 44 outputs the first driving signal based on the operation signal.
  • the controller 46 turns off the switch SW1, turns on the switches SW2 and SW3, and sets the operation signal input via the fifth terminal T45.
  • the feedback control of the second actuator 33 is performed by causing the second drive circuit 45 to output the second drive signal based on and the position signal input via the fourth terminal T44.
  • the controller 46 causes the second drive circuit 45 to output a second drive signal based on the position signals sequentially input via the fourth terminal T44, thereby providing the second optical signal. Feedback control for gradually moving the system 31 to a predetermined position is performed.
  • the controller 46 is configured using a CPU (Central Processing Unit) or the like.
  • SW1 electrically connects the first drive circuit 44 and the third terminal T43 under the control of the controller 46.
  • the SW1 is configured using, for example, a physical switch or a semiconductor switch.
  • SW2 electrically connects the second drive circuit 45 and the third terminal T43 under the control of the controller 46.
  • the SW2 is configured using, for example, a physical switch or a semiconductor switch.
  • SW3 electrically connects the controller 46 and the fourth terminal T44 under the control of the controller 46.
  • the SW3 is configured using, for example, a physical switch or a semiconductor switch.
  • the first terminal T41 has a concave shape (socket shape) and is electrically connected to a signal line connected to the image processing unit 42.
  • the first terminal T41 is electrically connected by fitting with the first terminal T21 or the first terminal T31.
  • the second terminal T42 has a concave shape (socket shape) and is electrically connected to a signal line connected to the controller 46.
  • the second terminal T42 is electrically connected by fitting with the second terminal T22 or the second terminal T32.
  • the third terminal T43 has a concave shape (socket shape) and has a signal line connected to the first drive circuit 44 via SW1 and a signal line connected to the second drive circuit 45 via SW2. Is electrically connected to The third terminal T43 is electrically connected by fitting with the third terminal T23 or the third terminal T33.
  • the fourth terminal T44 has a concave shape (socket shape) and is electrically connected to a signal line connected to the controller 46 via SW3.
  • the fourth terminal T44 is electrically connected by fitting with the fourth terminal T34 of the second endoscope 3.
  • the fifth terminal T45 has a concave shape (socket shape) and is electrically connected to a signal line connected to the controller 46.
  • the fifth terminal T45 is electrically connected by fitting with the fourth terminal T24 of the first endoscope 2 or the fifth terminal T35 of the second endoscope 3.
  • the display device 5 displays an image corresponding to the image signal input from the processing device 4 and various information related to the endoscope system 1.
  • the display device 5 is configured using an organic EL (Electro Luminescence), a liquid crystal panel, or the like.
  • FIG. 2 is a flowchart illustrating an outline of a process executed by the processing device 4.
  • any one of the first endoscope 2 and the second endoscope 3 will be simply referred to as an endoscope.
  • step S101: Yes when the endoscope is attached to the processing device 4 (step S101: Yes), the processing device 4 proceeds to step S102 described below. On the other hand, when the endoscope is not mounted on the processing device 4 (step S101: No), the processing device 4 continues this determination.
  • step S102 the controller 46 acquires identification information from the endoscope attached to the processing device 4 via the second terminal T42.
  • the controller 46 determines whether or not the endoscope attached to the processing device 4 is under open control based on the identification information obtained from the endoscope via the second terminal T42 (Ste S103). Specifically, as shown in FIG. 3 or FIG. 4, the controller 46 controls the endoscope attached to the processing device 4 based on the identification information acquired from the endoscope via the second terminal T42. Is the first endoscope 2 that performs the open control, or the second endoscope 3 that performs the feedback control.
  • the processing device 4 proceeds to step S104 described later.
  • the processing device 4 proceeds to a step described later. Move to S110.
  • step S104 the controller 46 selects the first drive circuit 44 by turning on SW1.
  • Step S105: Yes when an operation signal for position adjustment is input from the first endoscope 2 via the fifth terminal T45 (Step S105: Yes), the controller 46 drives the first actuator 23. Is set in the first drive circuit 44 (step S106), and the application direction of the drive voltage is set in the first drive circuit 44 (step S107). After step S107, the processing device 4 proceeds to step S108 described later. On the other hand, when an operation signal for position adjustment has not been input from the first endoscope 2 via the fifth terminal T45 (Step S105: No), the processing device 4 proceeds to Step S109 described below. Transition.
  • step S108 the controller 46 causes the first drive circuit 44 to output the first drive signal to the third terminal T43 for a predetermined time. Accordingly, the first actuator 23 is driven in accordance with the first drive signal input from the first drive circuit 44 via the third terminal T43, so that the focus of the first optical system 21 is adjusted. Adjust the position.
  • Step S109: Yes the processing device 4 ends this processing.
  • Step S109: No the processing device 4 returns to Step S105 described above.
  • step S110 the controller 46 selects the second drive circuit 45 by turning on SW2 and SW3.
  • step S111: Yes when an operation signal for position adjustment is input from the second endoscope 3 via the fifth terminal T45 (step S111: Yes), the controller 46 drives the second actuator 33. Is set in the second drive circuit 45 (step S112), and the application direction of the drive voltage is set in the second drive circuit 45 (step S113). After step S113, the processing device 4 proceeds to step S114 described below. On the other hand, when an operation signal for position adjustment has not been input from the second endoscope 3 via the fifth terminal T45 (step S111: No), the processing device 4 proceeds to step S115 described later. Transition.
  • step S114 the controller 46 acquires a position signal of the second optical system 31 on the second optical axis L2 from the position detection sensor 36 via the fourth terminal T44.
  • the controller 46 obtains a position signal of the second optical system 31 on the second optical axis L2 from the position detection sensor 36 via the fourth terminal T44 (Step S116), and obtains the second optical signal. It is determined whether the position of the system 31 has reached a predetermined position (step S117). When the controller 46 determines that the position of the second optical system 31 has reached the predetermined position (step S117: Yes), the processing device 4 proceeds to step S118 described below. On the other hand, when the controller 46 determines that the position of the second optical system 31 has not reached the predetermined position (step S117: No), the processing device 4 returns to step S115. In this case, the controller 46 performs feedback control to output a second drive signal to the second drive circuit 45 until the position of the second optical system 31 on the second optical axis L2 reaches a predetermined position.
  • step S118 when the observation of the subject is ended (step S118: Yes), the processing device 4 ends this processing. On the other hand, when the observation of the subject is not ended (Step S118: No), the processing device 4 returns to Step S110 described above.
  • the controller 46 controls the first drive signal output by the first drive circuit 44. Is performed to move the first optical system 21 to one of the base end position and the front end position on the first optical axis L1 to adjust the position. Is mounted, the controller 46 controls the second drive signal output from the second drive circuit 45 on the basis of the detection result detected by the position detection sensor 36, thereby controlling the second optical system 31. Since the position is adjusted by moving to a predetermined position between the base position and the distal position on the second optical axis L2, a plurality of actuators of different types can be driven for each endoscope.
  • various embodiments can be formed by appropriately combining a plurality of components disclosed in the endoscope system according to an embodiment of the present disclosure. For example, some components may be deleted from all the components described in the endoscope system according to the embodiment of the present disclosure described above. Furthermore, the components described in the endoscope system according to an embodiment of the present disclosure described above may be appropriately combined.
  • the “unit” described above can be read as “means”, “circuit”, or the like.
  • the control unit can be read as a control unit or a control circuit.
  • the program to be executed by the endoscope system is a file data in an installable format or an executable format in a CD-ROM, a flexible disk (FD), a CD-R, a DVD ( It is provided by being recorded on a computer-readable recording medium such as a Digital Versatile Disk, a USB medium, and a flash memory.
  • the program to be executed by the endoscope system may be stored on a computer connected to a network such as the Internet, and provided by being downloaded via the network. Good.

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Abstract

Provided are a processing device, an endoscope system, a drive method, and a program that can drive a plurality of actuators differing in type for each endoscope. A processing device (4) is provided with a controller (46) that, when a first endoscope (2) has been mounted to the processing device (4), controls a first drive signal outputted by a first drive circuit (44), to perform location adjustment causing a first optical system (21) to move to either a proximal end location or a distal end location on a first optical axis (L1), and when a second endoscope (3) has been mounted to the processing device (4), on the basis of detection results detected by a location detection sensor, controls a second drive signal outputted by a second drive circuit (45), to perform location adjustment causing a second optical system (31) to move to a prescribed location between a proximal end location and a distal end location on a second optical axis (L2).

Description

処理装置、内視鏡システム、駆動方法およびプログラムProcessing device, endoscope system, driving method, and program
　本開示は、被検体に挿入される種別が異なる複数の内視鏡のいずれかが着脱自在に装着される処理装置、内視鏡システム、駆動方法およびプログラムに関する。 The present disclosure relates to a processing device, an endoscope system, a driving method, and a program to which any one of a plurality of endoscopes of different types inserted into a subject is detachably mounted.
　従来、内視鏡において、先端部に設けられた光学系の焦点距離を変更することができる技術が知られている（特許文献１参照）。この技術によれば、挿入部の先端部に設けられた光学系を保持する磁性体からなる移動枠を、移動枠を光学系の光軸方向の前後に移動自在に保持する保持枠の外周側に設けた磁石とコイルから構成されるアクチュエーターに電力を供給することによって、光学系の焦点距離を変更する。 Conventionally, in an endoscope, a technique capable of changing a focal length of an optical system provided at a distal end portion is known (see Patent Document 1). According to this technique, the moving frame made of a magnetic material that holds the optical system provided at the distal end portion of the insertion section is held at the outer periphery of the holding frame that holds the moving frame movably back and forth in the optical axis direction of the optical system. The focal length of the optical system is changed by supplying electric power to an actuator including a magnet and a coil provided in the optical system.
特開２０１７－６３８４５号公報JP-A-2017-63845
　ところで、内視鏡では、光学系の焦点距離を変更する駆動機構として、種々のアクチュエーターが提案されている。このため、上述した特許文献１の駆動機構と異なる内視鏡を、処理装置に接続した場合、駆動方法が異なることで、接続した内視鏡を駆動することができないという問題点があった。 By the way, in the endoscope, various actuators have been proposed as a driving mechanism for changing the focal length of the optical system. For this reason, when an endoscope different from the drive mechanism of Patent Document 1 described above is connected to the processing device, there is a problem that the connected endoscope cannot be driven due to a different driving method.
　本発明は、上記に鑑みてなされたものであって、内視鏡毎に異なる種類の複数のアクチュエーターを駆動することができる処理装置、内視鏡システム、駆動方法およびプログラムを提供することを目的とする。 The present invention has been made in view of the above, and has as its object to provide a processing device, an endoscope system, a driving method, and a program capable of driving a plurality of actuators of different types for each endoscope. And
　上述した課題を解決し、目的を達成するために、本開示に係る処理装置は、第１の光軸上に沿って移動可能な第１の光学系の位置調整を行う第１のアクチュエーターを有する第１の内視鏡、および第２の光軸上に沿って移動可能な第２の光学系の位置調整を行う第２のアクチュエーターと、前記第２の光軸上における前記第２の光学系の位置を検出する位置検出センサと、を有する第２の内視鏡のいずれか一方が着脱自在に装着される処理装置であって、前記第１のアクチュエーターへ第１の駆動信号を出力する第１の駆動回路と、前記第２のアクチュエーターへ第２の駆動信号を出力する第２の駆動回路と、当該処理装置に前記第１の内視鏡が装着された場合、前記第１の駆動回路が出力する前記第１の駆動信号の制御を行うことによって前記第１の光学系を前記第１の光軸上における基端位置および先端位置のいずれか一方へ移動させて位置調整を行う一方、当該処理装置に前記第２の内視鏡が装着された場合、前記位置検出センサが検出した検出結果に基づいて、前記第２の駆動回路が出力する前記第２の駆動信号の制御を行うことによって前記第２の光学系を前記第２の光軸上における基端位置と先端位置との間の所定位置へ移動させて位置調整を行うコントローラと、を備える。 In order to solve the above-described problem and achieve the object, a processing device according to the present disclosure has a first actuator that adjusts a position of a first optical system that is movable along a first optical axis. A first endoscope, a second actuator for adjusting a position of a second optical system movable along a second optical axis, and the second optical system on the second optical axis And a position detection sensor for detecting a position of the second endoscope, wherein one of the second endoscopes is detachably mounted, and the second endoscope outputs a first drive signal to the first actuator. 1 drive circuit, a second drive circuit that outputs a second drive signal to the second actuator, and the first drive circuit when the first endoscope is mounted on the processing device. By controlling the first drive signal output by the The first optical system is moved to one of a base position and a distal position on the first optical axis to perform position adjustment, and the second endoscope is attached to the processing apparatus. In this case, the second optical system is controlled on the second optical axis by controlling the second drive signal output by the second drive circuit based on the detection result detected by the position detection sensor. And a controller that adjusts the position by moving to a predetermined position between the base position and the distal position.
　また、本開示に係る処理装置は、上記開示において、画像信号が外部から入力される第１の端子と、少なくともアクチュエーターの種別を識別する識別情報が外部から入力される第２の端子と、前記第１の駆動回路および前記第２の駆動回路と接続される第３の端子と、前記位置検出センサによって検出された検出結果が入力される第４の端子と、前記第３の端子と前記第１の駆動回路との間に設けられ、前記第３の端子と前記第１の駆動回路とを接続する第１のスイッチと、前記第３の端子と前記第２の駆動回路との間に設けられ、前記第３の端子と前記第２の駆動回路とを接続する第２のスイッチと、をさらに備え、前記コントローラは、前記識別情報に基づいて、前記第１のスイッチおよび前記第２のスイッチのオンオフ状態を切り換える。 Further, the processing device according to the present disclosure, in the above disclosure, a first terminal to which an image signal is externally input, a second terminal to which at least identification information for identifying the type of the actuator is externally input, A third terminal connected to the first drive circuit and the second drive circuit, a fourth terminal to which a detection result detected by the position detection sensor is input, the third terminal and the third terminal. A first switch provided between the third terminal and the second drive circuit, the first switch being provided between the third terminal and the first drive circuit, and provided between the third terminal and the second drive circuit. And a second switch for connecting the third terminal and the second drive circuit, wherein the controller is configured to control the first switch and the second switch based on the identification information. Switch on / off Obtain.
　また、本開示に係る処理装置は、上記開示において、前記コントローラと前記第４の端子との間に設けられ、前記第４の端子と前記コントローラとを接続する第３のスイッチをさらに備え、前記コントローラは、前記識別情報に基づいて、前記第３のスイッチのオンオフ状態を切り換える。 Further, the processing device according to the present disclosure, in the above disclosure, further includes a third switch provided between the controller and the fourth terminal, the third switch connecting the fourth terminal and the controller. The controller switches an on / off state of the third switch based on the identification information.
　また、本開示に係る処理装置は、上記開示において、前記コントローラは、前記位置検出センサが逐次検出した検出結果に基づいて、前記第２の光学系を所定位置へ徐々に移動させる。 In the processing device according to the present disclosure, in the above disclosure, the controller gradually moves the second optical system to a predetermined position based on a detection result sequentially detected by the position detection sensor.
　また、本開示に係る内視鏡システムは、第１の光軸上に沿って移動可能な第１の光学系の位置調整を行う第１のアクチュエーターを有する第１の内視鏡と、第２の光軸上に沿って移動可能な第２の光学系の位置調整を行う第２のアクチュエーターと、前記第２の光軸上における前記第２の光学系の位置を検出する位置検出センサと、を有する第２の内視鏡と、前記第１の内視鏡および前記第２の内視鏡のいずれか一方が着脱自在に装着される処理装置と、を備え、前記処理装置は、前記第１のアクチュエーターへ第１の駆動信号を出力する第１の駆動回路と、前記第２のアクチュエーターへ第２の駆動信号を出力する第２の駆動回路と、当該処理装置に前記第１の内視鏡が装着された場合、前記第１の駆動回路が出力する前記第１の駆動信号の制御を行うことによって前記第１の光学系を前記第１の光軸上における基端位置および先端位置のいずれか一方へ移動させて位置調整を行う一方、当該処理装置に前記第２の内視鏡が装着された場合、前記位置検出センサが検出した検出結果に基づいて、前記第２の駆動回路が出力する前記第２の駆動信号の制御を行うことによって前記第２の光学系を前記第２の光軸上における基端位置と先端位置との間の所定位置へ移動させて位置調整を行うコントローラと、を備える。 In addition, the endoscope system according to the present disclosure includes a first endoscope having a first actuator that adjusts a position of a first optical system movable along a first optical axis, and a second endoscope that has a second actuator. A second actuator for adjusting the position of a second optical system movable along the optical axis of the second optical system, a position detection sensor for detecting the position of the second optical system on the second optical axis, A second endoscope having: and a processing device to which one of the first endoscope and the second endoscope is removably mounted, wherein the processing device comprises: A first drive circuit that outputs a first drive signal to one actuator, a second drive circuit that outputs a second drive signal to the second actuator, and the first endoscope for the processing device. When a mirror is mounted, the first drive signal output by the first drive circuit is output. By performing the above control, the first optical system is moved to one of a base position and a front position on the first optical axis to perform position adjustment, and the processing apparatus is provided with the second When the endoscope is mounted, the second optical system is controlled by controlling the second drive signal output by the second drive circuit based on the detection result detected by the position detection sensor. A controller for adjusting the position by moving to a predetermined position between the base end position and the front end position on the second optical axis.
　また、本開示に係る駆動方法は、第１の光軸上に沿って移動可能な第１の光学系の位置調整を行う第１のアクチュエーターを有する第１の内視鏡、および第２の光軸上に沿って移動可能な第２の光学系の位置調整を行う第２のアクチュエーターと、前記第２の光軸上における前記第２の光学系の位置を検出する位置検出センサと、を有する第２の内視鏡のいずれか一方が着脱自在に装着される処理装置が実行する駆動方法であって、前記処理装置は、前記第１のアクチュエーターへ第１の駆動信号を出力する第１の駆動回路と、前記第２のアクチュエーターへ第２の駆動信号を出力する第２の駆動回路と、を備え、当該処理装置に前記第１の内視鏡が装着された場合、前記第１の駆動回路が出力する前記第１の駆動信号の制御を行うことによって前記第１の光学系を前記第１の光軸上における基端位置および先端位置のいずれか一方へ移動させて位置調整を行い、当該処理装置に前記第２の内視鏡が装着された場合、前記位置検出センサが検出した検出結果に基づいて、前記第２の駆動回路が出力する前記第２の駆動信号の制御を行うことによって前記第２の光学系を前記第２の光軸上における基端位置と先端位置との間の所定位置へ移動させて位置調整を行う。 In addition, the driving method according to the present disclosure provides a first endoscope having a first actuator that adjusts a position of a first optical system movable along a first optical axis, and a second light. A second actuator that adjusts the position of a second optical system movable along an axis; and a position detection sensor that detects a position of the second optical system on the second optical axis. A driving method executed by a processing device to which one of the second endoscope is detachably mounted, wherein the processing device outputs a first driving signal to the first actuator. A driving circuit that outputs a second driving signal to the second actuator, wherein the first driving is performed when the first endoscope is mounted on the processing device. Controlling the first drive signal output by the circuit. The first optical system is moved to one of a base position and a distal position on the first optical axis to perform position adjustment, and the processing apparatus is provided with the second endoscope. In this case, the second optical system is controlled by controlling the second drive signal output by the second drive circuit based on the detection result detected by the position detection sensor. The position is adjusted by moving to a predetermined position between the base position and the tip position above.
　また、本開示に係るプログラムは、第１の光軸上に沿って移動可能な第１の光学系の位置調整を行う第１のアクチュエーターを有する第１の内視鏡、および第２の光軸上に沿って移動可能な第２の光学系の位置調整を行う第２のアクチュエーターと、前記第２の光軸上における前記第２の光学系の位置を検出する位置検出センサと、を有する第２の内視鏡のいずれか一方が着脱自在に装着される処理装置が実行するプログラムであって、前記処理装置は、前記第１のアクチュエーターへ第１の駆動信号を出力する第１の駆動回路と、前記第２のアクチュエーターへ第２の駆動信号を出力する第２の駆動回路と、を備え、当該処理装置に前記第１の内視鏡が装着された場合、前記第１の駆動回路が出力する前記第１の駆動信号の制御を行うことによって前記第１の光学系を前記第１の光軸上における基端位置および先端位置のいずれか一方へ移動させて位置調整を行い、当該処理装置に前記第２の内視鏡が装着された場合、前記位置検出センサが検出した検出結果に基づいて、前記第２の駆動回路が出力する前記第２の駆動信号の制御を行うことによって前記第２の光学系を前記第２の光軸上における基端位置と先端位置との間の所定位置へ移動させて位置調整を行う。 Further, a program according to the present disclosure includes a first endoscope having a first actuator for adjusting a position of a first optical system movable along a first optical axis, and a second optical axis. A second actuator that adjusts the position of a second optical system that can move upward, and a position detection sensor that detects a position of the second optical system on the second optical axis. A program executed by a processing device to which one of the endoscopes 2 is detachably attached, wherein the processing device outputs a first drive signal to the first actuator. And a second drive circuit that outputs a second drive signal to the second actuator. When the first endoscope is mounted on the processing device, the first drive circuit The first drive signal to be output is controlled. The first optical system is moved to one of a base position and a distal position on the first optical axis to adjust the position, and the second endoscope is mounted on the processing apparatus. In this case, the second optical system is controlled on the second optical axis by controlling the second drive signal output by the second drive circuit based on the detection result detected by the position detection sensor. The position is adjusted by moving to a predetermined position between the base position and the distal position in.
　本開示によれば、内視鏡毎に異なる種類の複数のアクチュエーターを駆動することができるという効果を奏する。 According to the present disclosure, it is possible to drive a plurality of actuators of different types for each endoscope.
図１は、本開示の一実施の形態に係る内視鏡システムの機能構成を示すブロック図である。FIG. 1 is a block diagram illustrating a functional configuration of an endoscope system according to an embodiment of the present disclosure. 図２は、本開示の一実施の形態に係る内視鏡システムが実行する処理の概要を示すフローチャートである。FIG. 2 is a flowchart illustrating an outline of a process executed by the endoscope system according to an embodiment of the present disclosure. 図３は、本開示の一実施の形態に係る処理装置に第１の内視鏡が装着された際の状態を模式的に示す図である。FIG. 3 is a diagram schematically illustrating a state when the first endoscope is mounted on the processing device according to the embodiment of the present disclosure. 図４は、本開示の一実施の形態に係る処理装置に第２の内視鏡が装着された際の状態を模式的に示す図である。FIG. 4 is a diagram schematically illustrating a state when the second endoscope is mounted on the processing device according to the embodiment of the present disclosure.
　以下、本開示を実施するための形態（以下、「実施の形態」という）として、複数の内視鏡を着脱自在に装着することができる処理装置を備えた内視鏡システムについて説明する。また、この実施の形態により、本開示が限定されるものでない。さらに、図面の記載において、同一の部分には同一の符号を付して説明する。さらにまた、図面は、模式的なものであり、各部材の厚みと幅との関係、各部材の比率等は、現実と異なることに留意する必要がある。また、図面の相互間において、互いの寸法や比率が異なる部分が含まれている。 Hereinafter, as an embodiment for implementing the present disclosure (hereinafter, referred to as “embodiment”), an endoscope system including a processing device to which a plurality of endoscopes can be detachably attached will be described. Further, the present disclosure is not limited by the embodiments. Further, in the description of the drawings, the same portions will be denoted by the same reference numerals and described. Furthermore, it should be noted that the drawings are schematic, and the relationship between the thickness and the width of each member, the ratio of each member, and the like are different from reality. In addition, the drawings include portions having different dimensions and ratios.
　〔内視鏡システムの構成〕
　図１は、本開示の一実施の形態に係る内視鏡システムの機能構成を示すブロック図である。図１に示す内視鏡システム１は、第１の内視鏡２と、第２の内視鏡３と、処理装置４と、表示装置５と、を備える。図１に示す内視鏡システム１は、互いにアクチュエーターの種別が異なる第１の内視鏡２および第２の内視鏡３のいずれか一方が着脱自在に処理装置４に装着される。 [Configuration of endoscope system]
FIG. 1 is a block diagram illustrating a functional configuration of an endoscope system according to an embodiment of the present disclosure. The endoscope system 1 shown in FIG. 1 includes a first endoscope 2, a second endoscope 3, a processing device 4, and a display device 5. In the endoscope system 1 shown in FIG. 1, one of a first endoscope 2 and a second endoscope 3 having different types of actuators is detachably mounted on the processing device 4.
　〔第１の内視鏡の構成〕
　まず、第１の内視鏡２の構成について説明する。
　第１の内視鏡２は、複数のケーブルおよびライトガイドを含む挿入部を被検体の体腔内に挿入し、被検体の体内を撮像することによって生成した画像信号を処理装置４へ出力する。第１の内視鏡２は、処理装置４に対して着脱自在である。第１の内視鏡２は、少なくとも、第１の光学系２１と、第１の撮像素子２２と、第１のアクチュエーター２３と、識別メモリ２４と、操作ＳＷ２５と、第１の端子Ｔ２１と、第２の端子Ｔ２２と、第３の端子Ｔ２３と、第４の端子Ｔ２４と、を備える。 [Configuration of First Endoscope]
First, the configuration of the first endoscope 2 will be described.
The first endoscope 2 inserts an insertion portion including a plurality of cables and light guides into a body cavity of the subject, and outputs an image signal generated by imaging the inside of the subject to the processing device 4. The first endoscope 2 is detachable from the processing device 4. The first endoscope 2 includes at least a first optical system 21, a first imaging element 22, a first actuator 23, an identification memory 24, an operation SW 25, a first terminal T21, It includes a second terminal T22, a third terminal T23, and a fourth terminal T24.
　第１の光学系２１は、第１の光学像を第１の撮像素子２２の受光面に結像させる。第１の光学系２１は、複数のレンズを用いて構成される。第１の光学系２１は、第１の光軸Ｌ１に沿って移動可能に設けられる。 １ The first optical system 21 forms the first optical image on the light receiving surface of the first image sensor 22. The first optical system 21 is configured using a plurality of lenses. The first optical system 21 is provided movably along the first optical axis L1.
　第１の撮像素子２２は、第１の光学系２１によって結像された第１の光学像を受光し、光電変換を行うことによって画像信号を生成する。第１の撮像素子２２は、画像信号を後述する第１の端子Ｔ２１を経由して処理装置４へ出力する。第１の撮像素子２２は、ＣＭＯＳ（Complementary　Metal　Oxide　Semiconductor）やＣＣＤ（Charge　Coupled　Device）等を用いて構成される。 The first image sensor 22 receives the first optical image formed by the first optical system 21 and generates an image signal by performing photoelectric conversion. The first imaging element 22 outputs an image signal to the processing device 4 via a first terminal T21 described later. The first image sensor 22 is configured using a CMOS (Complementary Metal Oxide Semiconductor), a CCD (Charge Coupled Device), or the like.
　第１のアクチュエーター２３は、後述する第３の端子Ｔ２３を経由して処理装置４から入力された制御信号に基づいて、第１の光学系２１を第１の光軸Ｌ１に沿って移動させることによって第１の光学系２１の位置調整を行う。第１のアクチュエーター２３は、第１の光学系２１を搭載した移動体の周方向に設けられたリング状の磁石を有するヨークと、移動枠の外周面に対して周状に巻回されて接着されているコイルと、を用いて構成される。第１のアクチュエーター２３は、第３の端子Ｔ２３を経由して処理装置４から入力された制御信号がコイルに流れることによって磁界を発生し、この磁界によってヨークが第１の光軸Ｌ１方向に沿ってワイド側またはテレ側へ移動することで、第１の光学系２１の位置調整を行う。即ち、第１のアクチュエーター２３は、第１の光学系２１の位置調整を行うことにより、ピントが合う被写体の位置を調整する焦点調整、或は、光学系の焦点距離を変更する焦点切替えが可能となる。第１の光学系２１の位置調整により位置が変化する光学エレメントは、第１の光学系２１を構成する全光学エレメントでもよいし、一部の光学エレメントでもよい。 The first actuator 23 moves the first optical system 21 along the first optical axis L1 based on a control signal input from the processing device 4 via a third terminal T23 described later. With this, the position of the first optical system 21 is adjusted. The first actuator 23 is circumferentially wound around the yoke having a ring-shaped magnet provided in the circumferential direction of the movable body on which the first optical system 21 is mounted, and is bonded to the outer peripheral surface of the movable frame. And the coil which is used. The first actuator 23 generates a magnetic field when a control signal input from the processing device 4 flows through the coil via the third terminal T23, and this magnetic field causes the yoke to move along the first optical axis L1 direction. By moving to the wide side or the tele side, the position of the first optical system 21 is adjusted. That is, the first actuator 23 can adjust the position of the subject to be focused by adjusting the position of the first optical system 21, or can switch the focus to change the focal length of the optical system. Becomes The optical element whose position is changed by adjusting the position of the first optical system 21 may be all the optical elements constituting the first optical system 21 or may be some optical elements.
　識別メモリ２４は、第１の内視鏡２を識別する第１の識別情報を記録する。ここで、第１の識別情報とは、少なくとも、第１の内視鏡２の製造年月日と、第１の内視鏡２を識別する情報と、第１の内視鏡２の種別情報と、第１の光学系２１の焦点距離情報と、第１の撮像素子２２の種別、解像度および駆動情報を含む撮像素子情報と、第１のアクチュエーター２３の種別、駆動方法および駆動電圧を含むアクチュエーター情報とである。識別メモリ２４は、Ｆｌａｓｈメモリ等を用いて構成される。 The identification memory 24 records first identification information for identifying the first endoscope 2. Here, the first identification information includes at least the date of manufacture of the first endoscope 2, information for identifying the first endoscope 2, and type information of the first endoscope 2. And the focal length information of the first optical system 21, the image sensor information including the type, resolution, and drive information of the first image sensor 22, and the actuator including the type, drive method, and drive voltage of the first actuator 23 Information. The identification memory 24 is configured using a Flash memory or the like.
　操作ＳＷ２５は、第１の内視鏡２に関する各種操作の操作信号の入力を受け付け、第４の端子Ｔ２４を経由して操作信号を処理装置４へ出力する。操作ＳＷ２５は、スイッチ、トグルスイッチ、タッチパネルおよびボタン等を用いて構成される。 The operation SW 25 receives input of operation signals of various operations related to the first endoscope 2 and outputs the operation signals to the processing device 4 via the fourth terminal T24. The operation SW 25 is configured using a switch, a toggle switch, a touch panel, a button, and the like.
　第１の端子Ｔ２１は、凸状（ピン状）をなし、第１の撮像素子２２に接続された信号線と電気的に接続される。第１の端子Ｔ２１は、後述する処理装置４の第１の端子Ｔ４１と嵌合することによって電気的に接続される。 The first terminal T21 has a convex shape (pin shape) and is electrically connected to a signal line connected to the first image sensor 22. The first terminal T21 is electrically connected by fitting with a first terminal T41 of the processing device 4 described later.
　第２の端子Ｔ２２は、凸状（ピン状）をなし、識別メモリ２４に接続された信号線と電気的に接続される。第２の端子Ｔ２２は、後述する処理装置４の第２の端子Ｔ４２と嵌合することによって電気的に接続される。 ２The second terminal T22 has a convex shape (pin shape) and is electrically connected to a signal line connected to the identification memory 24. The second terminal T22 is electrically connected by fitting with a second terminal T42 of the processing device 4 described later.
　第３の端子Ｔ２３は、凸状（ピン状）をなし、第１のアクチュエーター２３に接続された信号線と電気的に接続される。第３の端子Ｔ２３は、後述する処理装置４の第３の端子Ｔ４３と嵌合することによって電気的に接続される。 The third terminal T23 has a convex shape (pin shape) and is electrically connected to a signal line connected to the first actuator 23. The third terminal T23 is electrically connected by fitting with a third terminal T43 of the processing device 4 described later.
　第４の端子Ｔ２４は、凸状（ピン状）をなし、操作ＳＷ２５に接続された信号線と電気的に接続される。第４の端子Ｔ２４は、後述する処理装置４の第５の端子Ｔ４５と嵌合することによって電気的に接続される。 (4) The fourth terminal T24 has a convex shape (pin shape) and is electrically connected to a signal line connected to the operation switch 25. The fourth terminal T24 is electrically connected by fitting with a fifth terminal T45 of the processing device 4 described later.
　〔第２の内視鏡〕
　次に、第２の内視鏡３の構成について説明する。
　第２の内視鏡３は、複数のケーブルおよびライトガイドを含む挿入部を被検体の体腔内に挿入し、被検体の体内を撮像することによって生成した画像信号を処理装置４へ出力する。第２の内視鏡３は、処理装置４に対して着脱自在である。第２の内視鏡３は、少なくとも、第２の光学系３１と、第２の撮像素子３２と、第２のアクチュエーター３３と、識別メモリ３４と、操作ＳＷ３５と、位置検出センサ３６と、第１の端子Ｔ３１と、第２の端子Ｔ３２と、第３の端子Ｔ３３と、第４の端子Ｔ３４と、第５の端子Ｔ３５と、を備える。 [Second endoscope]
Next, the configuration of the second endoscope 3 will be described.
The second endoscope 3 inserts an insertion section including a plurality of cables and light guides into the body cavity of the subject, and outputs an image signal generated by imaging the inside of the subject to the processing device 4. The second endoscope 3 is detachable from the processing device 4. The second endoscope 3 includes at least a second optical system 31, a second imaging element 32, a second actuator 33, an identification memory 34, an operation SW 35, a position detection sensor 36, The first terminal T31, the second terminal T32, the third terminal T33, the fourth terminal T34, and the fifth terminal T35 are provided.
　第２の光学系３１は、第２の光学像を第２の撮像素子３２の受光面に結像させる。第２の光学系３１は、複数のレンズを用いて構成される。第２の光学系３１は、第２の光軸Ｌ２に沿って移動可能に設けられる。 ２The second optical system 31 forms the second optical image on the light receiving surface of the second image sensor 32. The second optical system 31 is configured using a plurality of lenses. The second optical system 31 is provided movably along the second optical axis L2.
　第２の撮像素子３２は、第２の光学系３１によって結像された第２の光学像を受光し、光電変換を行うことによって画像信号を生成する。第２の撮像素子３２は、画像信号を後述する第１の端子Ｔ３１を経由して処理装置４へ出力する。第２の撮像素子３２は、ＣＭＯＳやＣＣＤ等を用いて構成される。 The second image sensor 32 receives the second optical image formed by the second optical system 31 and generates an image signal by performing photoelectric conversion. The second image sensor 32 outputs an image signal to the processing device 4 via a first terminal T31 described later. The second imaging element 32 is configured using a CMOS, a CCD, or the like.
　第２のアクチュエーター３３は、後述する第３の端子Ｔ３３を経由して処理装置４から入力された制御信号に基づいて、第２の光学系３１を第２の光軸Ｌ２に沿って移動させることによって第２の光学系３１の位置調整を行う。第２のアクチュエーター３３は、磁石が第２の光学系３１を搭載した筒状をなす移動枠の外周面に磁石が設けられたヨークと、コイルと、を有するボイスコイルモータを用いて構成される。第２のアクチュエーター３３は、第３の端子Ｔ３３を経由して処理装置４から入力された制御信号がコイルに流れることによって磁力を発生し、この磁力によって移動枠が第２の光軸Ｌ２方向に沿ってワイド側またはテレ側へ移動することで、第２の光学系３１の位置調整を行う。即ち、第２のアクチュエーター３３は、第２の光学系３１の位置調整を行うことにより、ピントが合う被写体の位置を調整する焦点調整、或は、光学系の焦点距離を変更する焦点切替えが可能となる。第２の光学系３１の位置調整により位置が変化する光学エレメントは、第１の光学系２１を構成する全光学エレメントでもよいし、一部の光学エレメントでもよい。 The second actuator 33 moves the second optical system 31 along the second optical axis L2 based on a control signal input from the processing device 4 via a third terminal T33 described later. Thus, the position of the second optical system 31 is adjusted. The second actuator 33 is configured using a voice coil motor having a yoke provided with magnets on an outer peripheral surface of a cylindrical moving frame on which the magnets are mounted with the second optical system 31, and a coil. . The second actuator 33 generates a magnetic force when a control signal input from the processing device 4 flows through the coil via the third terminal T33, and the moving frame is moved in the direction of the second optical axis L2 by the magnetic force. The position of the second optical system 31 is adjusted by moving the second optical system 31 to the wide side or the tele side. That is, the second actuator 33 can adjust the position of the focused object by adjusting the position of the second optical system 31, or can switch the focus to change the focal length of the optical system. Becomes The optical element whose position is changed by adjusting the position of the second optical system 31 may be all the optical elements constituting the first optical system 21 or a part of the optical elements.
　識別メモリ３４は、第２の内視鏡３を識別する第２の識別情報を記録する。ここで、第２の識別情報とは、少なくとも、第２の内視鏡３の製造年月日と、第２の内視鏡３を識別する情報と、第２の内視鏡３の種別情報と、第２の光学系３１の焦点距離情報と、第２の撮像素子３２の種別、解像度および駆動情報を含む撮像素子情報と、第２のアクチュエーター３３の種別、駆動方法および駆動電圧を含むアクチュエーター情報とである。識別メモリ３４は、Ｆｌａｓｈメモリ等を用いて構成される。 The identification memory 34 records second identification information for identifying the second endoscope 3. Here, the second identification information includes at least the date of manufacture of the second endoscope 3, information for identifying the second endoscope 3, and type information of the second endoscope 3. And the focal length information of the second optical system 31, the image sensor information including the type, resolution, and drive information of the second image sensor 32, and the actuator including the type, drive method, and drive voltage of the second actuator 33 Information. The identification memory 34 is configured using a Flash memory or the like.
　操作ＳＷ３５は、第２の内視鏡３に関する各種操作の操作信号の入力を受け付け、第５の端子Ｔ３５を経由して操作信号を処理装置４へ出力する。操作ＳＷ３５は、スイッチ、トグルスイッチ、タッチパネルおよびボタン等を用いて構成される。 The operation SW 35 receives input of operation signals of various operations related to the second endoscope 3 and outputs the operation signals to the processing device 4 via the fifth terminal T35. The operation SW 35 is configured using a switch, a toggle switch, a touch panel, a button, and the like.
　位置検出センサ３６は、第２の光軸Ｌ２上における第２の光学系３１の位置を検出し、この検出結果を第４の端子Ｔ３４を経由して処理装置４へ出力する。位置検出センサ３６は、例えばホール素子やエンコーダ等を用いて構成される。 The position detection sensor 36 detects the position of the second optical system 31 on the second optical axis L2, and outputs the detection result to the processing device 4 via the fourth terminal T34. The position detection sensor 36 is configured using, for example, a Hall element or an encoder.
　第１の端子Ｔ３１は、凸状（ピン状）をなし、第２の撮像素子３２に接続された信号線が電気的と接続される。第１の端子Ｔ３１は、後述する処理装置４の第１の端子Ｔ４１と嵌合することによって電気的に接続される。 The first terminal T31 has a convex shape (pin shape), and a signal line connected to the second image sensor 32 is electrically connected. The first terminal T31 is electrically connected by fitting with a first terminal T41 of the processing device 4 described later.
　第２の端子Ｔ３２は、凸状（ピン状）をなし、識別メモリ３４に接続された信号線と電気的に接続される。第２の端子Ｔ３２は、後述する処理装置４の第２の端子Ｔ４２と嵌合することによって電気的に接続される。 The second terminal T32 has a convex shape (pin shape) and is electrically connected to a signal line connected to the identification memory 34. The second terminal T32 is electrically connected by fitting with a second terminal T42 of the processing device 4 described later.
　第３の端子Ｔ３３は、凸状（ピン状）をなし、第２のアクチュエーター３３に接続された信号線と電気的に接続される。第３の端子Ｔ３３は、後述する処理装置４の第３の端子Ｔ４３と嵌合することによって電気的に接続される。 The third terminal T33 has a convex shape (pin shape), and is electrically connected to a signal line connected to the second actuator 33. The third terminal T33 is electrically connected by fitting with a third terminal T43 of the processing device 4 described later.
　第４の端子Ｔ３４は、凸状（ピン状）をなし、位置検出センサ３６に接続された信号線と電気的に接続される。第４の端子Ｔ３４は、後述する処理装置４の第４の端子Ｔ４４と嵌合することによって電気的に接続される。 The fourth terminal T34 has a convex shape (pin shape), and is electrically connected to a signal line connected to the position detection sensor 36. The fourth terminal T34 is electrically connected by fitting with a fourth terminal T44 of the processing device 4 described later.
　第５の端子Ｔ３５は、凸状（ピン状）をなし、操作ＳＷ３５に接続された信号線と電気的に接続される。第５の端子Ｔ３５は、後述する処理装置４の第５の端子Ｔ４５と嵌合することによって電気的に接続される。 (5) The fifth terminal T35 has a convex shape (pin shape) and is electrically connected to a signal line connected to the operation SW 35. The fifth terminal T35 is electrically connected by fitting with a fifth terminal T45 of the processing device 4 described later.
　〔処理装置の構成〕
　次に、処理装置４の構成について説明する。
　処理装置４は、第１の内視鏡２および第２の内視鏡３を含む種別が異なる複数の内視鏡が着脱自在に装着され、各内視鏡が生成した画像信号に対して画像処理を行って表示装置５へ出力するとともに、内視鏡システム１を構成する各部、例えば各内視鏡が備えるアクチュエーターを制御する。処理装置４は、少なくとも、電源４１と、画像処理部４２と、メモリ４３と、第１の駆動回路４４と、第２の駆動回路４５と、コントローラ４６と、ＳＷ１と、ＳＷ２と、ＳＷ３と、第１の端子Ｔ４１と、第２の端子Ｔ４２と、第３の端子Ｔ４３と、第４の端子Ｔ４４と、第５の端子Ｔ４５と、を備える。 [Configuration of processing device]
Next, the configuration of the processing device 4 will be described.
The processing device 4 has a plurality of endoscopes of different types including the first endoscope 2 and the second endoscope 3, which are detachably mounted, and which performs image processing on an image signal generated by each endoscope. It performs processing and outputs it to the display device 5, and controls each unit constituting the endoscope system 1, for example, an actuator included in each endoscope. The processing device 4 includes at least a power supply 41, an image processing unit 42, a memory 43, a first drive circuit 44, a second drive circuit 45, a controller 46, SW1, SW2, SW3, It has a first terminal T41, a second terminal T42, a third terminal T43, a fourth terminal T44, and a fifth terminal T45.
　電源４１は、外部から入力された電力に基づいて、グランドを基準とした電源電圧を生成する。電源４１は、電源電圧およびグラントを内視鏡システム１を構成する各部へ出力する。 (4) The power supply 41 generates a power supply voltage based on the ground based on power input from the outside. The power supply 41 outputs a power supply voltage and a grant to each unit constituting the endoscope system 1.
　画像処理部４２は、第１の端子Ｔ４１を経由して入力された画像信号に対して、所定の画像処理を行って表示装置５へ出力する。ここで、所定の画像処理としては、例えばホワイトバランス調整処理およびデモザキング処理等である。画像処理部４２は、ＧＰＵ（Graphics　Processing　Unit）やＦＰＧＡ（Field　Programmable　Gate　Array）等を用いて構成される。 (4) The image processing unit 42 performs predetermined image processing on an image signal input via the first terminal T41, and outputs the image signal to the display device 5. Here, the predetermined image processing includes, for example, white balance adjustment processing and demozaking processing. The image processing unit 42 is configured using a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), or the like.
　メモリ４３は、ＨＤＤ（Hard　Disk　Drive）、ＳＳＤ（Solid　State　Drive）、ＲＯＭ（Reaｄ　Only　Memory）およびＲＡＭ（Random　Access　Memory）等を用いて構成され、内視鏡システム１が実行する各種のプログラムや処理中のデータを記録する。メモリ４３は、内視鏡システム１が実行するプログラムを記録するプログラム用メモリ４３１を有する。 The memory 43 includes a hard disk drive (HDD), a solid state drive (SSD), a read only memory (ROM), a random access memory (RAM), and various programs executed by the endoscope system 1. Record the data being processed. The memory 43 has a program memory 431 for recording a program executed by the endoscope system 1.
　第１の駆動回路４４は、コントローラ４６の制御のもと、処理装置４に装着される第１の内視鏡２の第１のアクチュエーター２３へ第１の駆動信号を出力することによって、第１のアクチュエーター２３を駆動する。具体的には、第１の駆動回路４４は、ＳＷ１および第３の端子Ｔ４３を経由して第１の駆動信号を第１のアクチュエーター２３へ出力する。第１の駆動回路４４は、電圧設定回路、レギュレータおよびドライバー回路等を用いて構成される。 The first drive circuit 44 outputs a first drive signal to the first actuator 23 of the first endoscope 2 mounted on the processing device 4 under the control of the controller 46, thereby outputting the first drive signal. Is driven. Specifically, the first drive circuit 44 outputs a first drive signal to the first actuator 23 via the switch SW1 and the third terminal T43. The first drive circuit 44 is configured using a voltage setting circuit, a regulator, a driver circuit, and the like.
　第２の駆動回路４５は、コントローラ４６の制御のもと、処理装置４に装着された第２の内視鏡３の第２のアクチュエーター３３へ第２の駆動信号を出力することによって、第２のアクチュエーター３３を駆動する。具体的には、第２の駆動回路４５は、ＳＷ２および第３の端子Ｔ４３を経由して第２の駆動信号を第２のアクチュエーター３３へ出力する。第２の駆動回路４５は、電圧設定回路、レギュレータおよびドライバー回路等を用いて構成される。 The second drive circuit 45 outputs a second drive signal to the second actuator 33 of the second endoscope 3 attached to the processing device 4 under the control of the controller 46, thereby outputting the second drive signal. Is driven. Specifically, the second drive circuit 45 outputs a second drive signal to the second actuator 33 via the switch SW2 and the third terminal T43. The second drive circuit 45 is configured using a voltage setting circuit, a regulator, a driver circuit, and the like.
　コントローラ４６は、内視鏡システム１の各部を制御する。コントローラ４６は、第２の端子Ｔ４２を経由して処理装置４に装着される第１の内視鏡２の識別メモリ２４から第１の識別情報を取得する、または処理装置４に装着される第２の内視鏡３の識別メモリ３４から第２の識別情報を取得し、この取得結果に基づいて、ＳＷ１、ＳＷ２およびＳＷ３のオンオフ状態を切り換えるとともに、第１の駆動回路４４および第２の駆動回路４５を制御する。具体的には、コントローラ４６は、第１の内視鏡２が処理装置４に装着された場合、ＳＷ１をオン状態、ＳＷ２，ＳＷ３をオフ状態とし、第５の端子Ｔ４５を経由して入力された操作信号に基づいて、第１の駆動回路４４に第１の駆動信号を出力させる。また、コントローラ４６は、第２の内視鏡３が処理装置４に装着された場合、ＳＷ１をオフ状態、ＳＷ２，ＳＷ３をオン状態とし、第５の端子Ｔ４５を経由して入力された操作信号と第４の端子Ｔ４４を経由して入力された位置信号とに基づいて、第２の駆動回路４５に第２の駆動信号を出力させることによって、第２のアクチュエーター３３のフィードバック制御を行う。具体的には、コントローラ４６は、第４の端子Ｔ４４を経由して逐次入力された位置信号に基づいて、第２の駆動回路４５に第２の駆動信号を出力させることによって、第２の光学系３１を所定位置へ徐々に移動させるフィードバック制御を行う。コントローラ４６は、ＣＰＵ（Central　Processing　Unit）等を用いて構成される。 The controller 46 controls each unit of the endoscope system 1. The controller 46 obtains the first identification information from the identification memory 24 of the first endoscope 2 attached to the processing device 4 via the second terminal T42, or acquires the first identification information attached to the processing device 4 The second identification information is obtained from the identification memory 34 of the second endoscope 3, and based on the obtained result, the ON / OFF state of SW 1, SW 2 and SW 3 is switched, and the first drive circuit 44 and the second drive The circuit 45 is controlled. Specifically, when the first endoscope 2 is mounted on the processing device 4, the controller 46 turns on SW1 and turns off SW2 and SW3, and receives an input via the fifth terminal T45. The first driving circuit 44 outputs the first driving signal based on the operation signal. When the second endoscope 3 is mounted on the processing device 4, the controller 46 turns off the switch SW1, turns on the switches SW2 and SW3, and sets the operation signal input via the fifth terminal T45. The feedback control of the second actuator 33 is performed by causing the second drive circuit 45 to output the second drive signal based on and the position signal input via the fourth terminal T44. Specifically, the controller 46 causes the second drive circuit 45 to output a second drive signal based on the position signals sequentially input via the fourth terminal T44, thereby providing the second optical signal. Feedback control for gradually moving the system 31 to a predetermined position is performed. The controller 46 is configured using a CPU (Central Processing Unit) or the like.
　ＳＷ１は、コントローラ４６の制御のもと、第１の駆動回路４４と第３の端子Ｔ４３とを電気的に接続する。ＳＷ１は、例えば物理スイッチや半導体スイッチ等を用いて構成される。 $ SW1 electrically connects the first drive circuit 44 and the third terminal T43 under the control of the controller 46. The SW1 is configured using, for example, a physical switch or a semiconductor switch.
　ＳＷ２は、コントローラ４６の制御のもと、第２の駆動回路４５と第３の端子Ｔ４３とを電気的に接続する。ＳＷ２は、例えば物理スイッチや半導体スイッチ等を用いて構成される。 $ SW2 electrically connects the second drive circuit 45 and the third terminal T43 under the control of the controller 46. The SW2 is configured using, for example, a physical switch or a semiconductor switch.
　ＳＷ３は、コントローラ４６の制御のもと、コントローラ４６と第４の端子Ｔ４４とを電気的に接続する。ＳＷ３は、例えば物理スイッチや半導体スイッチ等を用いて構成される。 $ SW3 electrically connects the controller 46 and the fourth terminal T44 under the control of the controller 46. The SW3 is configured using, for example, a physical switch or a semiconductor switch.
　第１の端子Ｔ４１は、凹状（ソケット状）をなし、画像処理部４２に接続された信号線と電気的に接続される。第１の端子Ｔ４１は、第１の端子Ｔ２１または第１の端子Ｔ３１と嵌合することによって電気的に接続される。 The first terminal T41 has a concave shape (socket shape) and is electrically connected to a signal line connected to the image processing unit 42. The first terminal T41 is electrically connected by fitting with the first terminal T21 or the first terminal T31.
　第２の端子Ｔ４２は、凹状（ソケット状）をなし、コントローラ４６に接続された信号線と電気的に接続される。第２の端子Ｔ４２は、第２の端子Ｔ２２または第２の端子Ｔ３２と嵌合することによって電気的に接続される。 The second terminal T42 has a concave shape (socket shape) and is electrically connected to a signal line connected to the controller 46. The second terminal T42 is electrically connected by fitting with the second terminal T22 or the second terminal T32.
　第３の端子Ｔ４３は、凹状（ソケット状）をなし、ＳＷ１を経由して第１の駆動回路４４に接続された信号線およびＳＷ２を経由して第２の駆動回路４５に接続された信号線と電気的に接続される。第３の端子Ｔ４３は、第３の端子Ｔ２３または第３の端子Ｔ３３と嵌合することによって電気的に接続される。 The third terminal T43 has a concave shape (socket shape) and has a signal line connected to the first drive circuit 44 via SW1 and a signal line connected to the second drive circuit 45 via SW2. Is electrically connected to The third terminal T43 is electrically connected by fitting with the third terminal T23 or the third terminal T33.
　第４の端子Ｔ４４は、凹状（ソケット状）をなし、ＳＷ３を経由してコントローラ４６に接続された信号線と電気的に接続される。第４の端子Ｔ４４は、第２の内視鏡３の第４の端子Ｔ３４と嵌合することによって電気的に接続される。 (4) The fourth terminal T44 has a concave shape (socket shape) and is electrically connected to a signal line connected to the controller 46 via SW3. The fourth terminal T44 is electrically connected by fitting with the fourth terminal T34 of the second endoscope 3.
　第５の端子Ｔ４５は、凹状（ソケット状）をなし、コントローラ４６に接続された信号線と電気的に接続される。第５の端子Ｔ４５は、第１の内視鏡２の第４の端子Ｔ２４または第２の内視鏡３の第５の端子Ｔ３５と嵌合することによって電気的に接続される。 The fifth terminal T45 has a concave shape (socket shape) and is electrically connected to a signal line connected to the controller 46. The fifth terminal T45 is electrically connected by fitting with the fourth terminal T24 of the first endoscope 2 or the fifth terminal T35 of the second endoscope 3.
　〔表示装置の構成〕
　次に、表示装置５の構成について説明する。
　表示装置５は、処理装置４から入力された画像信号に対応する画像および内視鏡システム１に関する各種情報を表示する。表示装置５は、有機ＥＬ（Electro　Luminescence）や液晶パネル等を用いて構成される。 [Configuration of display device]
Next, the configuration of the display device 5 will be described.
The display device 5 displays an image corresponding to the image signal input from the processing device 4 and various information related to the endoscope system 1. The display device 5 is configured using an organic EL (Electro Luminescence), a liquid crystal panel, or the like.
　〔処理装置の処理〕
　次に、処理装置４が実行する処理について説明する。図２は、処理装置４が実行する処理の概要を示すフローチャートである。なお、以下において、第１の内視鏡２および第２の内視鏡３のいずれか一方を指す場合、単に内視鏡と記載する。 [Processing of processing device]
Next, processing executed by the processing device 4 will be described. FIG. 2 is a flowchart illustrating an outline of a process executed by the processing device 4. In the following, any one of the first endoscope 2 and the second endoscope 3 will be simply referred to as an endoscope.
　図２に示すように、まず、処理装置４に内視鏡が装着された場合（ステップＳ１０１：Ｙｅｓ）、処理装置４は、後述するステップＳ１０２へ移行する。これに対して、処理装置４に内視鏡が装着されていない場合（ステップＳ１０１：Ｎｏ）、処理装置４は、この判断を続ける。 As shown in FIG. 2, first, when the endoscope is attached to the processing device 4 (step S101: Yes), the processing device 4 proceeds to step S102 described below. On the other hand, when the endoscope is not mounted on the processing device 4 (step S101: No), the processing device 4 continues this determination.
　ステップＳ１０２において、コントローラ４６は、処理装置４に装着された内視鏡から第２の端子Ｔ４２を経由して識別情報を取得する。 In step S102, the controller 46 acquires identification information from the endoscope attached to the processing device 4 via the second terminal T42.
　続いて、コントローラ４６は、第２の端子Ｔ４２を経由して内視鏡から取得した識別情報に基づいて、処理装置４に装着された内視鏡がオープン制御であるか否かを判断する（ステップＳ１０３）。具体的には、図３または図４に示すように、コントローラ４６は、第２の端子Ｔ４２を経由して内視鏡から取得した識別情報に基づいて、処理装置４に装着された内視鏡がオープン制御を行う第１の内視鏡２であるか、フィードバック制御を行う第２の内視鏡３であるか否かを判断する。コントローラ４６が処理装置４に装着された内視鏡がオープン制御である第１の内視鏡２であると判断した場合（ステップＳ１０３：Ｙｅｓ）、処理装置４は、後述するステップＳ１０４へ移行する。これに対して、コントローラ４６が処理装置４に装着された内視鏡がオープン制御である第１の内視鏡２でないと判断した場合（ステップＳ１０３：Ｎｏ）、処理装置４は、後述するステップＳ１１０へ移行する。 Subsequently, the controller 46 determines whether or not the endoscope attached to the processing device 4 is under open control based on the identification information obtained from the endoscope via the second terminal T42 ( Step S103). Specifically, as shown in FIG. 3 or FIG. 4, the controller 46 controls the endoscope attached to the processing device 4 based on the identification information acquired from the endoscope via the second terminal T42. Is the first endoscope 2 that performs the open control, or the second endoscope 3 that performs the feedback control. When the controller 46 determines that the endoscope attached to the processing device 4 is the first endoscope 2 under the open control (step S103: Yes), the processing device 4 proceeds to step S104 described later. . On the other hand, when the controller 46 determines that the endoscope attached to the processing device 4 is not the first endoscope 2 that is open-controlled (step S103: No), the processing device 4 proceeds to a step described later. Move to S110.
　ステップＳ１０４において、コントローラ４６は、ＳＷ１をオン状態とすることによって第１の駆動回路４４を選択する。 In step S104, the controller 46 selects the first drive circuit 44 by turning on SW1.
　続いて、第５の端子Ｔ４５を経由して第１の内視鏡２から位置調整の操作信号が入力された場合（ステップＳ１０５：Ｙｅｓ）、コントローラ４６は、第１のアクチュエーター２３を駆動するための駆動電圧を第１の駆動回路４４に設定し（ステップＳ１０６）、駆動電圧の印加方向を第１の駆動回路４４に設定する（ステップＳ１０７）。ステップＳ１０７の後、処理装置４は、後述するステップＳ１０８へ移行する。これに対して、第５の端子Ｔ４５を経由して第１の内視鏡２から位置調整の操作信号が入力されていない場合（ステップＳ１０５：Ｎｏ）、処理装置４は、後述するステップＳ１０９へ移行する。 Subsequently, when an operation signal for position adjustment is input from the first endoscope 2 via the fifth terminal T45 (Step S105: Yes), the controller 46 drives the first actuator 23. Is set in the first drive circuit 44 (step S106), and the application direction of the drive voltage is set in the first drive circuit 44 (step S107). After step S107, the processing device 4 proceeds to step S108 described later. On the other hand, when an operation signal for position adjustment has not been input from the first endoscope 2 via the fifth terminal T45 (Step S105: No), the processing device 4 proceeds to Step S109 described below. Transition.
　ステップＳ１０８において、コントローラ４６は、第１の駆動回路４４に第１の駆動信号を所定時間の間だけ第３の端子Ｔ４３へ出力させる。これにより、第１のアクチュエーター２３は、第３の端子Ｔ４３を経由して第１の駆動回路４４から入力された第１の駆動信号に応じて駆動することによって、第１の光学系２１の焦点位置を調整する。 In step S108, the controller 46 causes the first drive circuit 44 to output the first drive signal to the third terminal T43 for a predetermined time. Accordingly, the first actuator 23 is driven in accordance with the first drive signal input from the first drive circuit 44 via the third terminal T43, so that the focus of the first optical system 21 is adjusted. Adjust the position.
　続いて、被検体の観察を終了する場合（ステップＳ１０９：Ｙｅｓ）、処理装置４は、本処理を終了する。これに対して、被検体の観察を終了しない場合（ステップＳ１０９：Ｎｏ）、処理装置４は、上述したステップＳ１０５へ戻る。 Subsequently, when ending the observation of the subject (Step S109: Yes), the processing device 4 ends this processing. On the other hand, when the observation of the subject is not completed (Step S109: No), the processing device 4 returns to Step S105 described above.
　ステップＳ１１０において、コントローラ４６は、ＳＷ２，ＳＷ３をオン状態とすることによって第２の駆動回路４５を選択する。 In step S110, the controller 46 selects the second drive circuit 45 by turning on SW2 and SW3.
　続いて、第５の端子Ｔ４５を経由して第２の内視鏡３から位置調整の操作信号が入力された場合（ステップＳ１１１：Ｙｅｓ）、コントローラ４６は、第２のアクチュエーター３３を駆動するための駆動電圧を第２の駆動回路４５に設定し（ステップＳ１１２）、駆動電圧の印加方向を第２の駆動回路４５に設定する（ステップＳ１１３）。ステップＳ１１３の後、処理装置４は、後述するステップＳ１１４へ移行する。これに対して、第５の端子Ｔ４５を経由して第２の内視鏡３から位置調整の操作信号が入力されていない場合（ステップＳ１１１：Ｎｏ）、処理装置４は、後述するステップＳ１１５へ移行する。 Subsequently, when an operation signal for position adjustment is input from the second endoscope 3 via the fifth terminal T45 (step S111: Yes), the controller 46 drives the second actuator 33. Is set in the second drive circuit 45 (step S112), and the application direction of the drive voltage is set in the second drive circuit 45 (step S113). After step S113, the processing device 4 proceeds to step S114 described below. On the other hand, when an operation signal for position adjustment has not been input from the second endoscope 3 via the fifth terminal T45 (step S111: No), the processing device 4 proceeds to step S115 described later. Transition.
　ステップＳ１１４において、コントローラ４６は、第４の端子Ｔ４４を経由して位置検出センサ３６から第２の光軸Ｌ２上における第２の光学系３１の位置信号を取得する。 In step S114, the controller 46 acquires a position signal of the second optical system 31 on the second optical axis L2 from the position detection sensor 36 via the fourth terminal T44.
　続いて、コントローラ４６は、第４の端子Ｔ４４を経由して位置検出センサ３６から第２の光軸Ｌ２上における第２の光学系３１の位置信号に基づいて、第２の駆動回路４５に第２の駆動信号を第３の端子Ｔ４３へ出力させる（ステップＳ１１５）。 Subsequently, the controller 46 sends a second drive circuit 45 to the second drive circuit 45 based on the position signal of the second optical system 31 on the second optical axis L2 from the position detection sensor 36 via the fourth terminal T44. The second drive signal is output to the third terminal T43 (step S115).
　続いて、コントローラ４６は、第４の端子Ｔ４４を経由して位置検出センサ３６から第２の光軸Ｌ２上における第２の光学系３１の位置信号を取得し（ステップＳ１１６）、第２の光学系３１の位置が所定位置に達したか否かを判断する（ステップＳ１１７）。コントローラ４６によって第２の光学系３１の位置が所定位置に達したと判断された場合（ステップＳ１１７：Ｙｅｓ）、処理装置４は、後述するステップＳ１１８へ移行する。これに対して、コントローラ４６によって第２の光学系３１の位置が所定位置に達していないと判断された場合（ステップＳ１１７：Ｎｏ）、処理装置４は、ステップＳ１１５へ戻る。この場合、コントローラ４６は、第２の光軸Ｌ２上における第２の光学系３１の位置が所定位置に達するまで第２の駆動回路４５に第２の駆動信号を出力させるフィードバック制御を行う。 Subsequently, the controller 46 obtains a position signal of the second optical system 31 on the second optical axis L2 from the position detection sensor 36 via the fourth terminal T44 (Step S116), and obtains the second optical signal. It is determined whether the position of the system 31 has reached a predetermined position (step S117). When the controller 46 determines that the position of the second optical system 31 has reached the predetermined position (step S117: Yes), the processing device 4 proceeds to step S118 described below. On the other hand, when the controller 46 determines that the position of the second optical system 31 has not reached the predetermined position (step S117: No), the processing device 4 returns to step S115. In this case, the controller 46 performs feedback control to output a second drive signal to the second drive circuit 45 until the position of the second optical system 31 on the second optical axis L2 reaches a predetermined position.
　ステップＳ１１８において、被検体の観察を終了する場合（ステップＳ１１８：Ｙｅｓ）、処理装置４は、本処理を終了する。これに対して、被検体の観察を終了しない場合（ステップＳ１１８：Ｎｏ）、処理装置４は、上述したステップＳ１１０へ戻る。 In step S118, when the observation of the subject is ended (step S118: Yes), the processing device 4 ends this processing. On the other hand, when the observation of the subject is not ended (Step S118: No), the processing device 4 returns to Step S110 described above.
　以上説明した本開示の一実施の形態によれば、処理装置４に第１の内視鏡２が装着された場合、コントローラ４６が第１の駆動回路４４によって出力させる第１の駆動信号の制御を行うことによって第１の光学系２１を第１の光軸Ｌ１上における基端位置および先端位置のいずれか一方へ移動させて位置調整を行う一方、処理装置４に第２の内視鏡３が装着された場合、コントローラ４６が位置検出センサ３６によって検出された検出結果に基づいて、第２の駆動回路４５が出力する第２の駆動信号の制御を行うことによって第２の光学系３１を第２の光軸Ｌ２上における基端位置と先端位置との間の所定位置へ移動させて位置調整を行うので、内視鏡毎に異なる種類の複数のアクチュエーターを駆動することができる。 According to the embodiment of the present disclosure described above, when the first endoscope 2 is mounted on the processing device 4, the controller 46 controls the first drive signal output by the first drive circuit 44. Is performed to move the first optical system 21 to one of the base end position and the front end position on the first optical axis L1 to adjust the position. Is mounted, the controller 46 controls the second drive signal output from the second drive circuit 45 on the basis of the detection result detected by the position detection sensor 36, thereby controlling the second optical system 31. Since the position is adjusted by moving to a predetermined position between the base position and the distal position on the second optical axis L2, a plurality of actuators of different types can be driven for each endoscope.
　また、本開示の一実施の形態によれば、コントローラ４６が第２の端子Ｔ４２を経由して処理装置４に装着される第１の内視鏡２の識別メモリ２４から第１の識別情報を取得する、または処理装置４に装着される第２の内視鏡３の識別メモリ３４から第２の識別情報を取得し、この取得結果に基づいて、ＳＷ１～ＳＷ３のオンオフ状態を切り換えるので、未使用時の信号線からノイズが入り込むこむことを防止することができる。 Further, according to an embodiment of the present disclosure, the controller 46 transmits the first identification information from the identification memory 24 of the first endoscope 2 attached to the processing device 4 via the second terminal T42. The second identification information is acquired from the identification memory 34 of the second endoscope 3 attached to the processing device 4 or acquired, and the on / off state of SW1 to SW3 is switched based on this acquisition result. It is possible to prevent noise from entering the signal line during use.
　また、本開示の一実施の形態に係る内視鏡システムに開示されている複数の構成要素を適宜組み合わせることによって、種々の実施の形態を形成することができる。例えば、上述した本開示の一実施の形態に係る内視鏡システムに記載した全構成要素からいくつかの構成要素を削除してもよい。さらに、上述した本開示の一実施に係る内視鏡システムで説明した構成要素を適宜組み合わせてもよい。 種 々 Also, various embodiments can be formed by appropriately combining a plurality of components disclosed in the endoscope system according to an embodiment of the present disclosure. For example, some components may be deleted from all the components described in the endoscope system according to the embodiment of the present disclosure described above. Furthermore, the components described in the endoscope system according to an embodiment of the present disclosure described above may be appropriately combined.
　また、本開示の一実施の形態に係る内視鏡システムでは、上述してきた「部」は、「手段」や「回路」などに読み替えることができる。例えば、制御部は、制御手段や制御回路に読み替えることができる。 で は In the endoscope system according to an embodiment of the present disclosure, the “unit” described above can be read as “means”, “circuit”, or the like. For example, the control unit can be read as a control unit or a control circuit.
　また、本開示の一実施の形態に係る内視鏡システムに実行させるプログラムは、インストール可能な形式または実行可能な形式のファイルデータでＣＤ－ＲＯＭ、フレキシブルディスク（ＦＤ）、ＣＤ－Ｒ、ＤＶＤ（Digital　Versatile　Disk）、ＵＳＢ媒体、フラッシュメモリ等のコンピュータで読み取り可能な記録媒体に記録されて提供される。 Further, the program to be executed by the endoscope system according to the embodiment of the present disclosure is a file data in an installable format or an executable format in a CD-ROM, a flexible disk (FD), a CD-R, a DVD ( It is provided by being recorded on a computer-readable recording medium such as a Digital Versatile Disk, a USB medium, and a flash memory.
　また、本開示の一実施の形態に係る内視鏡システムに実行させるプログラムは、インターネット等のネットワークに接続されたコンピュータ上に格納し、ネットワーク経由でダウンロードさせることにより提供するように構成してもよい。 Further, the program to be executed by the endoscope system according to an embodiment of the present disclosure may be stored on a computer connected to a network such as the Internet, and provided by being downloaded via the network. Good.
　なお、本明細書におけるタイミングチャートの説明では、「まず」、「その後」、「続いて」等の表現を用いてステップ間の処理の前後関係を明示していたが、本発明を実施するために必要な処理の順序は、それらの表現によって一意的に定められるわけではない。即ち、本明細書で記載したタイミングチャートにおける処理の順序は、矛盾のない範囲で変更することができる。 In the description of the timing chart in this specification, the order of the processing between the steps is clearly described using expressions such as “first”, “after”, and “continue”. However, in order to implement the present invention, Are not uniquely determined by their expressions. That is, the order of the processes in the timing chart described in this specification can be changed within a consistent range.
　以上、本願の実施の形態のいくつかを図面に基づいて詳細に説明したが、これらは例示であり、本発明の開示の欄に記載の態様を始めとして、当業者の知識に基づいて種々の変形、改良を施した他の形態で本発明を実施することが可能である。 As described above, some of the embodiments of the present application have been described in detail with reference to the drawings. The present invention can be implemented in other forms with modifications and improvements.
　１　内視鏡システム
　２　第１の内視鏡
　３　第２の内視鏡
　４　処理装置
　５　表示装置
　２１　第１の光学系
　２２　第１の撮像素子
　２３　第１のアクチュエーター
　２４，３４　識別メモリ
　２５，３５　操作ＳＷ
　３１　第２の光学系
　３２　第２の撮像素子
　３３　第２のアクチュエーター
　３６　位置検出センサ
　４１　電源
　４２　画像処理部
　４３　メモリ
　４４　第１の駆動回路
　４５　第２の駆動回路
　４６　コントローラ
　４３１　プログラム用メモリ
　Ｌ１　第１の光軸
　Ｌ２　第２の光軸
　Ｔ２１，Ｔ３１，Ｔ４１　第１の端子
　Ｔ２２，Ｔ３２，Ｔ４２　第２の端子
　Ｔ２３，Ｔ３３，Ｔ４３　第３の端子
　Ｔ２４，Ｔ３４，Ｔ４４　第４の端子
　Ｔ３５，Ｔ４５　第５の端子 DESCRIPTION OF SYMBOLS 1 Endoscope system 2 1st endoscope 3 2nd endoscope 4 Processing unit 5 Display device 21 1st optical system 22 1st image sensor 23 1st actuator 24,34 Identification memory 25,35 Operation SW
31 Second Optical System 32 Second Image Sensor 33 Second Actuator 36 Position Detection Sensor 41 Power Supply 42 Image Processing Unit 43 Memory 44 First Drive Circuit 45 Second Drive Circuit 46 Controller 431 Program Memory L1 First L2 Second optical axis T21, T31, T41 First terminal T22, T32, T42 Second terminal T23, T33, T43 Third terminal T24, T34, T44 Fourth terminal T35, T45 Fifth Terminal

Claims (7)

  1. 　第１の光軸上に沿って移動可能な第１の光学系の位置調整を行う第１のアクチュエーターを有する第１の内視鏡、および第２の光軸上に沿って移動可能な第２の光学系の位置調整を行う第２のアクチュエーターと、前記第２の光軸上における前記第２の光学系の位置を検出する位置検出センサと、を有する第２の内視鏡のいずれか一方が着脱自在に装着される処理装置であって、
    　前記第１のアクチュエーターへ第１の駆動信号を出力する第１の駆動回路と、
    　前記第２のアクチュエーターへ第２の駆動信号を出力する第２の駆動回路と、
    　当該処理装置に前記第１の内視鏡が装着された場合、前記第１の駆動回路が出力する前記第１の駆動信号の制御を行うことによって前記第１の光学系を前記第１の光軸上における基端位置および先端位置のいずれか一方へ移動させて位置調整を行う一方、
    　当該処理装置に前記第２の内視鏡が装着された場合、前記位置検出センサが検出した検出結果に基づいて、前記第２の駆動回路が出力する前記第２の駆動信号の制御を行うことによって前記第２の光学系を前記第２の光軸上における基端位置と先端位置との間の所定位置へ移動させて位置調整を行うコントローラと、
    　を備える処理装置。     A first endoscope having a first actuator for adjusting a position of a first optical system movable along a first optical axis, and a second endoscope movable along a second optical axis One of a second endoscope having a second actuator that adjusts the position of the optical system, and a position detection sensor that detects the position of the second optical system on the second optical axis. Is a processing device that is detachably mounted,
    A first drive circuit that outputs a first drive signal to the first actuator;
    A second drive circuit that outputs a second drive signal to the second actuator;
    When the first endoscope is attached to the processing device, the first optical system is controlled by controlling the first drive signal output by the first drive circuit, thereby controlling the first optical system to emit the first light. While performing position adjustment by moving to either the base position or the tip position on the axis,
    When the second endoscope is attached to the processing device, controlling the second drive signal output by the second drive circuit based on a detection result detected by the position detection sensor. A controller for adjusting the position by moving the second optical system to a predetermined position between a base end position and a front end position on the second optical axis,
    A processing device comprising:
  2. 　請求項１に記載の処理装置であって、
    　画像信号が外部から入力される第１の端子と、
    　少なくともアクチュエーターの種別を識別する識別情報が外部から入力される第２の端子と、
    　前記第１の駆動回路および前記第２の駆動回路と接続される第３の端子と、
    　前記位置検出センサによって検出された検出結果が入力される第４の端子と、
    　前記第３の端子と前記第１の駆動回路との間に設けられ、前記第３の端子と前記第１の駆動回路とを接続する第１のスイッチと、
    　前記第３の端子と前記第２の駆動回路との間に設けられ、前記第３の端子と前記第２の駆動回路とを接続する第２のスイッチと、
    　をさらに備え、
    　前記コントローラは、前記識別情報に基づいて、前記第１のスイッチおよび前記第２のスイッチのオンオフ状態を切り換える
    　処理装置。     The processing device according to claim 1,
    A first terminal to which an image signal is externally input;
    A second terminal to which at least identification information for identifying the type of the actuator is externally input;
    A third terminal connected to the first drive circuit and the second drive circuit;
    A fourth terminal to which a detection result detected by the position detection sensor is input;
    A first switch that is provided between the third terminal and the first drive circuit and connects the third terminal and the first drive circuit;
    A second switch that is provided between the third terminal and the second drive circuit and connects the third terminal and the second drive circuit;
    Further comprising
    The processing device, wherein the controller switches on / off states of the first switch and the second switch based on the identification information.
  3. 　請求項２に記載の処理装置であって、
    　前記コントローラと前記第４の端子との間に設けられ、前記第４の端子と前記コントローラとを接続する第３のスイッチを
    　さらに備え、
    　前記コントローラは、前記識別情報に基づいて、前記第３のスイッチのオンオフ状態を切り換える
    　処理装置。     The processing device according to claim 2,
    A third switch provided between the controller and the fourth terminal, the third switch connecting the fourth terminal to the controller;
    The processing device, wherein the controller switches an on / off state of the third switch based on the identification information.
  4. 　請求項１に記載の処理装置であって、
    　前記コントローラは、前記位置検出センサが逐次検出した検出結果に基づいて、前記第２の光学系を所定位置へ徐々に移動させる
    　処理装置。     The processing device according to claim 1,
    The processing device, wherein the controller gradually moves the second optical system to a predetermined position based on detection results sequentially detected by the position detection sensor.
  5. 　第１の光軸上に沿って移動可能な第１の光学系の位置調整を行う第１のアクチュエーターを有する第１の内視鏡と、
    　第２の光軸上に沿って移動可能な第２の光学系の位置調整を行う第２のアクチュエーターと、前記第２の光軸上における前記第２の光学系の位置を検出する位置検出センサと、を有する第２の内視鏡と、
    　前記第１の内視鏡および前記第２の内視鏡のいずれか一方が着脱自在に装着される処理装置と、
    　を備え、
    　前記処理装置は、
    　前記第１のアクチュエーターへ第１の駆動信号を出力する第１の駆動回路と、
    　前記第２のアクチュエーターへ第２の駆動信号を出力する第２の駆動回路と、
    　当該処理装置に前記第１の内視鏡が装着された場合、前記第１の駆動回路が出力する前記第１の駆動信号の制御を行うことによって前記第１の光学系を前記第１の光軸上における基端位置および先端位置のいずれか一方へ移動させて位置調整を行う一方、
    　当該処理装置に前記第２の内視鏡が装着された場合、前記位置検出センサが検出した検出結果に基づいて、前記第２の駆動回路が出力する前記第２の駆動信号の制御を行うことによって前記第２の光学系を前記第２の光軸上における基端位置と先端位置との間の所定位置へ移動させて位置調整を行うコントローラと、
    　を備える
    　内視鏡システム。     A first endoscope having a first actuator for adjusting a position of a first optical system movable along a first optical axis;
    A second actuator for adjusting a position of a second optical system movable along a second optical axis, and a position detection sensor for detecting a position of the second optical system on the second optical axis A second endoscope having:
    A processing device to which one of the first endoscope and the second endoscope is detachably attached;
    With
    The processing device includes:
    A first drive circuit that outputs a first drive signal to the first actuator;
    A second drive circuit that outputs a second drive signal to the second actuator;
    When the first endoscope is attached to the processing device, the first optical system is controlled by controlling the first drive signal output by the first drive circuit, thereby controlling the first optical system to emit the first light. While performing position adjustment by moving to either the base position or the tip position on the axis,
    When the second endoscope is attached to the processing device, controlling the second drive signal output by the second drive circuit based on a detection result detected by the position detection sensor. A controller for adjusting the position by moving the second optical system to a predetermined position between a base end position and a front end position on the second optical axis,
    An endoscope system comprising:
  6. 　第１の光軸上に沿って移動可能な第１の光学系の位置調整を行う第１のアクチュエーターを有する第１の内視鏡、および第２の光軸上に沿って移動可能な第２の光学系の位置調整を行う第２のアクチュエーターと、前記第２の光軸上における前記第２の光学系の位置を検出する位置検出センサと、を有する第２の内視鏡のいずれか一方が着脱自在に装着される処理装置が実行する駆動方法であって、
    　前記処理装置は、
    　前記第１のアクチュエーターへ第１の駆動信号を出力する第１の駆動回路と、
    　前記第２のアクチュエーターへ第２の駆動信号を出力する第２の駆動回路と、
    　を備え、
    　当該処理装置に前記第１の内視鏡が装着された場合、前記第１の駆動回路が出力する前記第１の駆動信号の制御を行うことによって前記第１の光学系を前記第１の光軸上における基端位置および先端位置のいずれか一方へ移動させて位置調整を行い、
    　当該処理装置に前記第２の内視鏡が装着された場合、前記位置検出センサが検出した検出結果に基づいて、前記第２の駆動回路が出力する前記第２の駆動信号の制御を行うことによって前記第２の光学系を前記第２の光軸上における基端位置と先端位置との間の所定位置へ移動させて位置調整を行う
    　駆動方法。     A first endoscope having a first actuator for adjusting a position of a first optical system movable along a first optical axis, and a second endoscope movable along a second optical axis One of a second endoscope having a second actuator that adjusts the position of the optical system, and a position detection sensor that detects the position of the second optical system on the second optical axis. Is a driving method performed by a processing device that is detachably mounted,
    The processing device includes:
    A first drive circuit that outputs a first drive signal to the first actuator;
    A second drive circuit that outputs a second drive signal to the second actuator;
    With
    When the first endoscope is attached to the processing device, the first optical system is controlled by controlling the first drive signal output by the first drive circuit, thereby controlling the first optical system to emit the first light. Move to either the base position or the tip position on the axis to adjust the position,
    When the second endoscope is attached to the processing device, controlling the second drive signal output by the second drive circuit based on a detection result detected by the position detection sensor. A driving method for adjusting the position by moving the second optical system to a predetermined position between a base position and a front position on the second optical axis.
  7. 　第１の光軸上に沿って移動可能な第１の光学系の位置調整を行う第１のアクチュエーターを有する第１の内視鏡、および第２の光軸上に沿って移動可能な第２の光学系の位置調整を行う第２のアクチュエーターと、前記第２の光軸上における前記第２の光学系の位置を検出する位置検出センサと、を有する第２の内視鏡のいずれか一方が着脱自在に装着される処理装置が実行するプログラムであって、
    　前記処理装置は、
    　前記第１のアクチュエーターへ第１の駆動信号を出力する第１の駆動回路と、
    　前記第２のアクチュエーターへ第２の駆動信号を出力する第２の駆動回路と、
    　を備え、
    　当該処理装置に前記第１の内視鏡が装着された場合、前記第１の駆動回路が出力する前記第１の駆動信号の制御を行うことによって前記第１の光学系を前記第１の光軸上における基端位置および先端位置のいずれか一方へ移動させて位置調整を行い、
    　当該処理装置に前記第２の内視鏡が装着された場合、前記位置検出センサが検出した検出結果に基づいて、前記第２の駆動回路が出力する前記第２の駆動信号の制御を行うことによって前記第２の光学系を前記第２の光軸上における基端位置と先端位置との間の所定位置へ移動させて位置調整を行う
    　プログラム。     A first endoscope having a first actuator for adjusting a position of a first optical system movable along a first optical axis, and a second endoscope movable along a second optical axis One of a second endoscope having a second actuator that adjusts the position of the optical system, and a position detection sensor that detects the position of the second optical system on the second optical axis. Is a program executed by a processing device which is detachably mounted,
    The processing device includes:
    A first drive circuit that outputs a first drive signal to the first actuator;
    A second drive circuit that outputs a second drive signal to the second actuator;
    With
    When the first endoscope is attached to the processing device, the first optical system is controlled by controlling the first drive signal output by the first drive circuit, thereby controlling the first optical system to emit the first light. Move to either the base position or the tip position on the axis to adjust the position,
    When the second endoscope is attached to the processing device, controlling the second drive signal output by the second drive circuit based on a detection result detected by the position detection sensor. A program for moving the second optical system to a predetermined position between a base position and a front position on the second optical axis to perform position adjustment.
PCT/JP2019/008244 2018-07-30 2019-03-01 Processing device, endoscope system, drive method, and program WO2020026494A1 (en)

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WO2018011857A1 (en) * 2016-07-11 2018-01-18 オリンパス株式会社 Endoscope device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001174714A (en) * 1999-12-15 2001-06-29 Olympus Optical Co Ltd Endoscopic device
WO2015015877A1 (en) * 2013-07-29 2015-02-05 オリンパスメディカルシステムズ株式会社 Image pickup device
WO2018011857A1 (en) * 2016-07-11 2018-01-18 オリンパス株式会社 Endoscope device

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