An endoscope includes an endoscope insertion portion having a bendable bending portion and a bending mechanism configured to bend the bending portion. The bending mechanism includes a pulley, at least one annular member, a pulling member, and a pulling operation member. The pulley is rotatably driven. The annular member is formed into a C-shape with a cut-out, and can be elastically deformed. The annular member is externally fitted to the pulley with a gap. The pulling member has an intermediate portion wound around the annular member. The distal end portion of the pulling member is connected to the bending portion, and the proximal end portion of the pulling member is connected to the pulling operation member which pulls the pulling member. The width direction position at the winding start position of the pulling member wound around the annular member is made different from the width direction position at the winding end position of the pulling member.
1. An endoscope, comprising:
an insertion portion having a bendable portion;
a controller for controlling the movement of the bendable portion, comprising;
a pulley which is rotatable about a rotational axis;
a plurality of elastically deformable annular members located at axially spaced positions around the pulley;
a plurality of pulling members;
each annular member being associated with a respective one of the pulling members and:
having a substantially C-Shape including a cut-out; and
two groove paths, the first groove path including a common first groove and a second groove, the second groove path including the common first groove and a third groove, the second and third grooves being axially spaced from one another and from said first groove such that when the pulling member is placed in the first groove path it enters the first groove at a start position and exits the second groove at a first end position which is axially spaced from the start position and when the pulling member is placed in the second groove path it enters the first groove at the start position and exits the third groove at a second end position which is axially spaced from the start position, the first and second end positions being axially spaced apart;
each pulling member being located in the first or the second groove path of its associated annular member; and
each pulling member extending through the first or second groove path of its associated annular member to the bendable portion.
2. The endoscope according to claim 1 , further including a motor for driving the pulley.
3. The endoscope according to claim 1 , wherein the pulling members are wires.
4. The endoscope according to claim 1 , wherein, for each annular member, the first, second and third grooves each extend only part way around the circumference of the annular member of which it is a part.
5. The endoscope according to claim 1 , wherein, for each annular member, the second and third grooves are of equal length.
6. The endoscope according to claim 5 , wherein, for each annular member, the second and third grooves run parallel to one another.
7. The endoscope according to claim 6 , wherein, for each annular member, the second and third grooves are coextensive.
8. The endoscope according to claim 1 , wherein, for each annular member, each of the grooves include projecting portions for maintaining the pulling member inside the groove.
9. The endoscope according to claim 1 , wherein, for each annular member, the first and second groove paths together form a Y shape.
10. The endoscope according to claim 1 , wherein, for each annular member, the second and third grooves are separated by a partition.
11. The endoscope according to claim 1 wherein, for each annular member, each of the first and second groove paths extend less than the full circumference of the annular member.
12. The endoscope according to claim 1 , wherein, for each annular member, the pulling member is attached to its annular member in such a manner that the annular member and pulling member move together.
13. The endoscope of claim 12 , wherein each annular member is attached to its associated pulling member by the interaction between a projecting portion on the pulling member and a corresponding recessed portion on the outer surface of the annular member.
14. The endoscope according to claim 13 , further including an operation member that allows a user of the endoscope to control the movement of the pulling members.
15. The endoscope according to claim 1 , wherein the operation member includes a stopping member for holding the pulling members in a fixed position and thereby holding the bendable portion in a fixed position relative to the insertion portion.
16. The endoscope according to claim 15 , wherein the operation member includes a control stick which is moveable along a spherical plane and wherein the operation member moves one or more of the pulling members in an upward direction in response to movement of the control stick.
17. The endoscope of claim 16 , further including a spherical surface connected to the control stick and movable therewith, the stopping member being brought into contact with the spherical surface to hold the spherical surface, and with it the pulling members in a fixed position.
18. The endoscope of claim 17 , wherein the stopping member has a spherical recess that is placed in contact with the spherical surface when the stopping member is brought into contact with the spherical surface.
19. The endoscope according to claim 11 , wherein its outer diameter is greater at the end position than at the start position.
20. The endoscope according to claim 19 , wherein, for each annular its outer diameter gradually increases from the start position to the end position.
21. The endoscope according to claim 1 , wherein each annular member has an inner surface which is normally out of contact with the pulley but can be compressed and placed in contact with the pulley such that the annular member can rotate around the rotational axis along with the pulley.