Method of controlling endoscopes, and endoscope system
First Claim
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1. An endoscope system comprising:
- an insert part configured to be inserted into a body, the insert part comprising;
an imaging unit;
a first bending part provided proximally relative to the imaging unit; and
a second bending part provided proximally relative to the first bending part;
an actuator configured to bend the first bending part and to bend the second bending part;
an input unit configured to operate the first bending part and to operate the second bending part by an operator;
a trocar configured for insertion of a shaft assembly, the shaft assembly comprising the imaging unit, the first bending part and the second bending part;
a movement sensor provided at the trocar, the movement sensor being configured to detect a quantity of insertion or withdrawal of the shaft assembly; and
a controller configured to control the actuator based on an input signal from the input unit;
wherein the input unit further comprises a mode switch unit configured to switch between a normal mode and a cooperative mode;
the controller comprising one or more processors, the controller being configured to;
receive an amount of insertion or withdrawal of the insert part from the movement sensor;
receive the input signal from the input unit; and
generate a drive command of the actuator based on the amount of insertion of the shaft assembly and the input signal, wherein in response to switching to the cooperative mode, the drive command is configured to cooperatively actuate at least one of the first bending part and the second bending part so as to keep a cooperative relationship between the first bending part and the second bending part, the cooperative relationship being a drive command configured to control an angle of bending of the first bending part on the basis of a bending angle of the second bending part; and
send the drive command to the actuator.
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Abstract
A method of controlling an endoscope includes,
- inserting an insert part having an imaging unit at a distal end through the body;
- making an imaging direction of the imaging unit variable by bending of a bending part,
- wherein the bending part is included in the insert part;
- detecting an amount of insertion of the insert part through the body; and
- determining whether the bending part is to be bent or not on the basis of operation of a direction input part depending on the amount of insertion.
15 Citations
4 Claims
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1. An endoscope system comprising:
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an insert part configured to be inserted into a body, the insert part comprising; an imaging unit; a first bending part provided proximally relative to the imaging unit; and a second bending part provided proximally relative to the first bending part; an actuator configured to bend the first bending part and to bend the second bending part; an input unit configured to operate the first bending part and to operate the second bending part by an operator; a trocar configured for insertion of a shaft assembly, the shaft assembly comprising the imaging unit, the first bending part and the second bending part; a movement sensor provided at the trocar, the movement sensor being configured to detect a quantity of insertion or withdrawal of the shaft assembly; and a controller configured to control the actuator based on an input signal from the input unit; wherein the input unit further comprises a mode switch unit configured to switch between a normal mode and a cooperative mode; the controller comprising one or more processors, the controller being configured to; receive an amount of insertion or withdrawal of the insert part from the movement sensor; receive the input signal from the input unit; and generate a drive command of the actuator based on the amount of insertion of the shaft assembly and the input signal, wherein in response to switching to the cooperative mode, the drive command is configured to cooperatively actuate at least one of the first bending part and the second bending part so as to keep a cooperative relationship between the first bending part and the second bending part, the cooperative relationship being a drive command configured to control an angle of bending of the first bending part on the basis of a bending angle of the second bending part; and send the drive command to the actuator. - View Dependent Claims (2, 3, 4)
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Specification