| 摘要 |
PROBLEM TO BE SOLVED: To provide an endoscope allowing the stable bending drive of a bending section with a simple configuration.SOLUTION: A wire 24i (i=u, d, l, r) whose tip is fixed to a bending section 12 is wound around a C ring 29i rotatably disposed outside a pulley 28 rotating together with a motor 27, and is connected to a suspensory frame 23 of the lower end of a joystick 22. The diameter of the C ring 29u is reduced by a tilt operation to a direction corresponding to the upward bending of the bending section 12 of the joystick 22; the C ring 29u abuts on the pulley 28 to rotate; the wire 24u is pulled and moved by the rotation to bend the bending section 12 upward; and a motor control part applies an intermittent drive signal to the motor 27 to increase frictional force compared to the one when continuously rotating the pulley 28, and assists bending drive. |
