Endoscope device
An endoscope device includes a flexible insertion portion; a flexible tube portion; a first bending portion; a second bending portion; an observation portion; a first drive portion bending the first bending portion; a second drive portion bending the second bending portion; a position detection portion detecting a position of a rigid distal end portion of a medical instrument; first and second bending detection portions detecting radii of curvature of axes of channels formed in the first and second bending portions and directions in which the channels are bent when an input signal generated by the position detection portion is received, respectively; and a control portion configured to control generating a second drive signal driving the second drive portion based on a first drive signal driving the first drive portion, and sending the second drive signal to the second drive portion while sending the first drive signal.
1. An endoscope device comprising:
a flexible insertion portion in which a channel, into which a medical instrument is capable of being inserted, is formed;
a flexible tube portion that is disposed at a proximal end portion of the insertion portion;
a first bending portion that is disposed more distal than the flexible tube portion of the insertion portion and is bendable with respect to a distal end portion of the flexible tube portion;
a second bending portion that is disposed more distal than the first bending portion of the insertion portion and is bendable with respect to a distal end portion of the first bending portion;
an observation portion that is disposed more distal than the second bending portion of the insertion portion and configured to acquire an image on the front of the insertion portion;
a first drive portion that is configured to bend the first bending portion with respect to the distal end portion of the flexible tube portion by advancing or retracting a first operation wire which is connected to the first bending portion;
a second drive portion that is configured to bend the second bending portion with respect to the distal end portion of the first bending portion;
a position detection portion that is configured to detect that a position of a rigid distal end portion disposed at a distal end of the medical instrument moving in the channel, is a predetermined position of the channel formed in the first bending portion or in the second bending portion, and send a detection result of the position of the rigid distal end portion of the medical instrument as a first input signal when the rigid distal end portion is detected to be in the channel formed in the first bending portion or a second input signal when the rigid distal end portion is detected to be in the channel formed in the second bending portion;
a first bending detection portion that is configured to detect a radius of curvature of an axis of the channel formed in the first bending portion and a direction in which the channel formed in the first bending portion is bent when the first input signal is received;
a second bending detection portion that is configured to detect a radius of curvature of an axis of the channel formed in the second bending portion and a direction in which the channel formed in the second bending portion is bent when the first input signal is received; and
a control portion that is configured to control generating a second drive signal driving the second drive portion based on a first drive signal driving the first drive portion, and control sending the second drive signal to the second drive portion while sending the first drive signal to the first drive portion,
wherein in a case where the radius of curvature of the axis of the channel formed in the first bending portion is smaller than a predetermined value when the control portion receives the first input signal, the control portion generates the first drive signal, and the control portion sends the first drive signal to the first drive portion for controlling the first drive portion to release a holding state of the first operation wire in which the radius of curvature of the axis of the channel formed in the first bending portion is smaller than the predetermined value such that the first operation wire is capable of being manually operated to cause the first bending portion to be substantially straight in accordance with a shape of the rigid distal end portion, and
wherein the second drive signal is generated based on results of the calculation of the radii of curvature by the first bending detection portion and the second bending detection portion, in a case where the radius of curvature of the axis of the channel formed in the second bending portion is smaller than the predetermined value when the control portion receives the second input signal,
the control portion generates the second drive signal and the control portion sends the second drive signal to the second drive portion for controlling the second drive portion to release a holding state of the second operation wire in which the radius of curvature of the axis of the channel formed in the second bending portion is smaller than the predetermined value, such that the second operation wire is capable of being manually operated to cause the second bending portion to be bent thereby the observation portion is moved to face a treatment target.
2. The endoscope device according to claim 1 ,
wherein the second drive portion either keeps a bending state of the second bending portion, or changes the bending state of the second bending portion into a first direction with respect to an axis of the flexible tube portion such that the radius of curvature of the axis of the channel formed in the second bending portion becomes smaller, based on the second drive signal sent from the control portion,
when the first bending detection portion detects that the direction in which the channel formed in the first bending portion is bent is the first direction from the axis of the flexible tube portion and the second bending detection portion detects that the direction in which the channel formed in the second bending portion is bent is the first direction from the axis of the flexible tube portion.
3. The endoscope device according to claim 2 ,
wherein the second drive portion operates to advance and retract a second operation wire which is connected to the second bending portion such that the second bending portion is bent with respect to the distal end portion of the first bending portion, and
wherein the first drive portion changes the bending state of the first bending portion into the first direction with respect to the axis of the flexible tube portion, based on the first drive signal sent from the control portion, such that the radius of curvature of the axis of the channel formed in the first bending portion becomes smaller, and the second drive portion releases the holding of the second operation wire based on the second drive signal sent from the control portion, when the position detection portion detects that a position of the rigid distal end portion of the medical instrument is a predetermined position in the channel formed in the first bending portion.
4. The endoscope device according to claim 1 ,
wherein the first drive portion changes the bending state of the first bending portion based on the first drive signal sent from the control portion such that the radius of curvature of the axis of the channel formed in the first bending portion becomes larger, and the second drive portion changes the bending state of the second bending portion based on the second drive signal sent from the control portion such that the radius of curvature of the axis of the channel formed in the second bending portion becomes larger, when the second bending detection portion detects that the direction in which the channel formed in the second bending portion is bent, is a first direction with respect to an axis of the flexible tube portion, and the first bending detection portion detects that the direction in which the channel formed in the first bending portion is bent, is a second direction with respect to the axis of the flexible tube portion.
5. The endoscope device according to claim 4 ,
wherein the first drive portion changes the bending state of the first bending portion based on the first drive signal sent from the control portion, and the second drive portion changes the bending state of the second bending portion based on the second drive signal sent from the control portion, when the position detection portion detects that the position of the rigid distal end portion of the medical instrument is a predetermined position in the channel formed in the first bending portion.
6. The endoscope device according to claim 1 , wherein the control portion generates the first drive signal for controlling the first drive portion to resume the holding state of the first operation wire in which the radius of curvature of the axis of the channel formed in the first bending portion is smaller than the predetermined value, such that the first operation wire is automatically operated to cause the first bending portion to be extremely bent again in a direction opposite to a direction in which the second bending portion is bent.