Apparatus for assisting operations of medical instrument attached to endoscope
An apparatus is provided which assists operations required for a medical instrument. A tubular portion and a therapeutic member of the instrument are inserted through a channel of an insertion tube of an endoscope. In the apparatus, a first drive unit enables the therapeutic member to perform the desired therapeutic operations responsively to a first command signal and a second drive unit enables the tubular portion inserted in the channel to convey responsively to a second command signal. An input device is provided at which two kinds of commands are allowed to be inputted command by command. The two kinds of commands allow the therapeutic member and the tubular portion to be driven in parallel with each other. A controller provides the first and second drive units with the first and second command signals, respectively, in accordance with the two kinds of commands.
1. An endoscope system, comprising:
an endoscope including:
a tubular portion having a distal end;
a therapeutic member attached to the distal end of the tubular portion for a desired therapeutic treatment; and
an insertion tube including a channel through which the tubular portion and the therapeutic member are inserted;
a first drive unit which drives the therapeutic member in response to a first command signal;
a second drive unit fixedly and directly connected to an inlet structure of the endoscope and which drives the tubular portion in response to a second command signal;
an input device including a single input member; and
a controller electrically connected to the input device by a single cable transmitting first and second command signals, the controller further including a single driver which provides the first and second drive units with the first and second command signals, respectively, based on a single input operation of the single input member of the input device, to control the first and second drive units according to one of the three control modes wherein
the three control modes include:
a first control mode in which, based on a first input operation of the single input member of the input device, the second drive unit is driven to apply force to the tubular portion in the direction in which the tubular portion advances forward or goes back, and the first drive unit is driven to apply force to the therapeutic member in the direction in which the therapeutic member advances forward or goes back, whereby the tubular portion advances forward or goes back together with the therapeutic member;
a second control mode in which, based on a second input operation of the single input member of the input device, the second drive unit is driven to apply force to the tubular portion in the direction in which the tubular portion advances forward, and the first drive unit is driven to apply force to the therapeutic member so as to be fixed with respect to the tubular portion at a position in the longitudinal direction of the tubular portion, whereby the tubular portion advances forward in a state where the therapeutic member remains essentially at the same position; and
a third control mode in which, based on a third input operation of the single input member of the input device, the first drive unit is driven to apply force to the therapeutic member in the direction in which the therapeutic member goes back, and the second drive unit is driven to apply force to the tubular portion so as to be fixed with respect to the therapeutic member at a position in the longitudinal direction of the tubular portion, whereby the therapeutic member goes back in a state where the tubular portion remains essentially at the same position.
2. The endoscope system of claim 1 , wherein
the input device further includes an output member,
the input member is adapted to be manually actuated to cause the output member to generate both kinds of commands for driving both the therapeutic member and the tubular portion simultaneously depending on a predetermined input position obtained after the manual actuation, and
the output member outputs the commands to the controller.
3. The endoscope system of claim 2 , wherein the output member is configured to output commands indicating an operation speed of the therapeutic member and a conveyance speed of the tubular portion to the controller depending on an actuation position of the input member.
4. The endoscope system of claim 1 , wherein the input member is further adapted to be operated to cause the output member to generate commands for driving the therapeutic member and the tubular portion separately, and the output member is adapted to output the commands to the controller such that the therapeutic member and the tubular portion are driven separately.
5. The endoscope system of claim 4 , wherein the output member is configured to output commands indicating an operation speed of the therapeutic member and a conveyance speed of the tubular portion to the controller depending on an actuation position of the input member.
6. The endoscope system of claim 1 , wherein
the input device is arranged at part of a gripper gripped by an operator, and
the input device is protruded from the gripper.
7. The endoscope system of claim 6 , wherein the input device is structured to have a lever operable about an axis of the lever.
8. The apparatus of claim 6 , wherein the input device comprises a switch to output the commands and the gripper is formed to have stick-like shape.
9. The endoscope system of claim 7 , wherein the lever is operable about either one or two axes of the lever.
10. The endoscope system of claim 6 , wherein
the gripper has a substantially cylindrical appearance adaptive to an operator's grip, and
the input device is formed so as to be actuated by a finger of the operator who grips the gripper.