Control apparatus for endoscope apparatus and endoscope apparatus
An endoscope apparatus includes an elongated insertion portion, a self-propelling mechanism configured to be rotatably driven to advance and retract the insertion portion, and a motor configured to supply a drive force to the self-propelling mechanism. A control apparatus for the endoscope apparatus includes a current controller configured to supply a motor current to the motor to control driving of the motor, a motor current detector configured to detect a value of the motor current, a motor current change amount detector configured to detect an amount of change in the value of the motor current, and a limit controller configured to stop a supply of the motor current by the current controller according to the amount of change.
1. A control apparatus for an endoscope apparatus including an elongated insertion portion, a self-propelling mechanism configured to be rotatably driven to advance and retract the insertion portion, and a motor configured to supply a drive force to the self-propelling mechanism, the control apparatus comprising:
a controller configured to:
supply a motor current to the motor to control driving of the motor;
detect a value of the motor current;
detect an integrated value of the motor current over a predetermined fixed period of time that is less than a life of the motor as an amount of change; and
stop operations of the motor when the integrated value is equal to or greater than a predetermined value.
2. The control apparatus according to claim 1 , wherein the controller is configured to detect an integrated value of the motor current equal to or greater than a predetermined limit reference value over the predetermined period of time as the amount of change.
3. The control apparatus according to claim 1 , wherein
the controller is configured to stop the supply of the motor current to the motor when the motor current reaches or exceeds a predetermined torque limit value, and
set the torque limit value to decrease according to an increase of the integrated value.
4. An endoscope apparatus comprising:
an elongated insertion portion;
a self-propelling mechanism configured to be rotationally driven to advance and retract the insertion portion;
a motor configured to supply a drive force to the self-propelling mechanism;
a controller configured to:
supply a motor current to the motor to control driving of the motor;
detect a value of the motor current;
configured to detect-an integrated value of the motor current over a predetermined fixed period of time that is less than a life of the motor as an amount of change; and
stop operations of the motor when the integrated value is equal to or greater than a predetermined value.