(12) United States Patent Kawai

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1 USOO B2 (12) United States Patent Kawai (10) Patent N0.: (45) Date of Patent: US 8,622,895 B2 Jan. 7, 2014 (54) ELECTRIC BENDING ENDOSCOPE (75) Inventor: Toshimasa Kawai, Yokohama (JP) (73) Assignee: Olympus Medical Systems Corp., Tokyo (JP) (*) (21) (22) (65) (63) Notice: Subject to any disclaimer, the term of this patent is extended or adjusted under 35 U.S.C. 154(b) by 842 days. App1.No.: 12/167,628 Filed: Jul. 3, 2008 Prior Publication Data US 2008/ A1 Oct. 23, 2008 Related US. Application Data Continuation of application No. PCT/J P2007/ ,?led on Jan. 12, (30) Foreign Application Priority Data Jan. 13,2006 (JP) (51) A6IB 1/00 (52) U.S.Cl. ( ) USPC /152;600/117;600/118;600/139; (58) Field of Classi?cation Search 600/145; 600/146 USPC /101,117,118,139,145,146,152 See application?le for complete search history. (56) References Cited U.S. PATENT DOCUMENTS 4,982,725 A * l/l99l Hibino et al /117 5,469,840 A * ll/l995 Taniiet al /117 5,868,666 A * 2/1999 Okada et a / / A1 * ll/2002 Matsui / / A1 3/2004 Maeda et al. 2006/ A1 4/2006 Boulais 2007/ A1 * 7/2007 Kawai et a / / A1 * 10/2008 Kawai /118 FOREIGN PATENT DOCUMENTS EP Al 5/2007 JP /2000 JP /2003 JP /2003 JP /2005 W0 WO 2006/ Al 2/2006 OTHER PUBLICATIONS Supplementary European Search Report mailed Feb. 2, 2012 in cor responding European Patent Application No * cited by examiner Primary Examiner * Philip R Smith Assistant Examiner * Rynae Boler (74) Attorney, Agent, or Firm * Scully, Scott, Murphy & Presser, PC. (57) ABSTRACT In the present invention, a logical block of an FPGA is con?gured by a serial communication unit, a serial communica tion control portion, an EEPROM controller, an abnormal signal processing portion, an LED controller, an operation mode controller, a DPRAM, a clutch signal input portion, a jig substrate input output portion, a RAM, a motor controller, a motor drive waveform generating portion, an RL (right and left) motor current F/B portion, a UD (up and down) motor current F/B portion, a potentiometer control portion, a ther mistor control portion, an RL encoder control portion, a UD encoder control portion, and an FPGA block abnormality monitoring portion. 8 Claims, 20 Drawing Sheets TRG 2 L 202b ROTATION DIRECTION SERVO ABNORMALITY DETECTION ABNORMALITY OVERLOAD SERVO ABNORMALiTY ~-> DETECTION ABNORMALITY 5 '303 ENCODEB ABNORMAL SERVO SPEED DETECWN ABNORMALITY 21 1 j DIFFERENTIATION 2020

2 US. Patent Jan. 7, 2014 Sheet 1 0f 20 US 8,622,895 B2 FIGS!

3 US. Patent Jan. 7, 2014 Sheet 2 0f 20 US 8,622,895 B2 CALIBRATION 4? f PUMP 24" 0 HIGH r INITIALIZATl N 23 f» 25!/ STAND FIG.2 PIPE CONNECTION COMPLETEng 26 BLOCK DIAGRAM PowerSW MEDIUM LOW "*1 8 20?u / OFF 27

4 US. Patent Jan. 7, 2014 Sheet 3 0f 20 US 8,622,895 B2 FIG.3 CONTROL PORTION

7 US. Patent Jan. 7, 2014 Sheet 6 0f 20 US 8,622,895 B2 FIG.6 CONTROL PROCESSING PORTION N201 POSITION CONTROL -\~201a SPEED CONTROL AW 2011;; TORQUE CONTROL A-w201c FIG] SERVO ABNORMALITY DETECTING PORTION 202 POSITION DEVIATION ABNORMALITY DETERMINATION Ruggga RWJI'I EI'EIWIE?m" 202,, DETECTION M ABNORMAL SPEED DETECTION W203? AEN SEI'II ZiPI-v DETECTION M 202d

8 US. Patent Jan. 7, 2014 Sheet 7 0f 20 US 8,622,895 B2 QUE 6E. 05w pm, mm #7 a,v/qen m 2052 DEN o $2 55 0g? n $5 5% A.6528 a Ezmm.6581: o n 5% n ~qu 83. mom\ w \?om 2252 qun\ m 2% 5%? $805 Eégmosz: $ Egmow?mmftzémozmrl qu amom 296me, 2%? gmm??,, 295mm All SEE?ow ?wmw Eémoszl \ g / 22$:sz > 0/0?

9 US. Patent Jan. 7, 2014 Sheet 8 0f 20 US 8,622,895 B2 o _, a QOE 05. awnkonmhm? macaw? W I.. w Q\ J 1 zoewom 3. i I was, Niall! :.. 1 \QBW 3cm AOEFZOU memw Z ZOEEOn- i f I \Qlll l W.Ele N SK 2

11 US. Patent Jan. 7, 2014 Sheet 10 0f 20 US 8,622,895 B2 FIG, FPGA RESET I [ WDT-CR [-W /220 WDT 1 DEEEEEMG 4 22 " PORTION 58 v / RESET IC I59 EEPROM J f59 EEPHOM 4 f2016i 'Nsmu?ig'g 4' CONTROL M A 30a [22 / ENCODER O [35 POTENTIOMETEH TFIG

12 US. Patent Jan. 7, 2014 Sheet US 8,622,895 B2 FIG.13 1 SWITCHING SETTENG SiGNAL : 1 ; l " 1 EACH BLOCK. : _. ABNQRMALWY l- } I i 17 l i -'-- -> > EACH ABNORMAL : STATE DETECTION! 1 3*

13 I US. Patent Jan. 7, 2014 Sheet 12 0f 20 US 8,622,895 B2 FIG.15,M_m_m_m_m mawwmmm w_mumumw,_.,,,,,,,, IERRORLEVELCHANGE ~ DETERMINATION LOGIC MODULE I : O\C v : - :1: =- WDT-CR 250 [... _..L'f ' ABNORMAL STATE GENERATION ABNORMALITY DETECTING I DETERMINATION LOGIC MODULE CONDITION LEVEL CHANGE TRIGGER SIGNAL I I SWITCHING SETTING SIGNAL '

15 US. Patent Jan. 7, 2014 Sheet 14 0f 20 US 8,622,895 B2 HGJ? CONDITIONS [251(1) OUTPUTS ENCODER ABNORMALITY FIRST --+ DETERMINING ---> PORTION /251(2) POTENTIOIIIIETER/ENCODER INPUT DETECTION SWITCHING THG POTENTIOMETER SECOND POSITION CONTROL PORTION ABNORMALITY P DETERMINING == SWITCHiNG TRC PORTION POSITION CONTROL PORTION ARNORMALITY 251(3) / SPEED CONTROL PORTION SWITCHING TRO. TI-IIRD SPEED CONTROL "a" Egg?- AE IPG a PORTION ABNORMALITY INDOOR I [251(n) N-th ' == DETERMINING == PORTION FIGJB TURN ON I CALIBRATION POWER SUPPLY. MODE ABNORMAL STOP MODE (SERVD OFF)

16 _ ' US. Patent Jan. 7, 2014 Sheet 15 0f 20 US 8,622,895 B2 FIG.1 9 TURN ON POWER SUPPLY FPGA CONFIGURATION T #57 Ir INITIAL MODE ~32 CALIBRATION REQUEST 34 V 35 / S6 Mggé?gEQ'l'g'g T Em YES MAINTENANCE MODE = NO S7 /53 RETURNED YES FROM MAINTENANCE CALIBRATION REQUEST >~ MODE? NO 59 [S10 g gg'ggggg? YES CALIBRATION MODE N BENDING S13 8AH HATHO ' OPERATION START YES I o LETED' INSTRUCTION OFF? YES f312 N0 CALIBRATION REQUEST = RELEASE 515 /S14 H CONN% %'{8N OFF? YES " = CALIBRATION REQUEST = N0 /8 16 = OPERATION MODE

17 I US. Patent Jan. 7, 2014 Sheet 16 0f 20 US 8,622,895 B2 FIG.2O INITIAL MODE m"$21 WDT START + INITEALIZE VARIABLES m 522 V START All) SAMPLING START COMMUNICATiON 824 HARDWARE NORMAL? MOTOR CURRENT OFFSET NORMAL? ABNORMAL STOP MODE DETECT MOTOR ROTOR POSITION "w READ PARAMETERS 829 ALL PARAMETERS ARE "0? S30 WRITE PARAMETER DEFAULT VALUE

18 US. Patent Jan. 7, 2014 Sheet 17 0f 20 US 8,622,895 B2 MAINTENANCE MODE G 7 S41 [342 v. YES AEEE E SPE'E? SERVO (N >, No ' S43 S44 SERVO OFF YES / REQUESTED? ' SERVO OFF T ' I NO HM! MODE 545 [S46 YES ". REQUESTEB? HM! MODE T, - ' NO 547 [S48. FIRST MAINTENANCE YES SINUSOIDAL WAVE REQUESTED? - OUTPUT MODE T NO - S49 fsso A SECOND MAINTENANCE YES TORQUE REQUESTED? CONTROL MODE T. NO /852. THIRD MATNTENANCE YES SPEED E REQUESTED? CONTROL MODE T NO ' S53 /S54. T-OURTR MAINTENANCE YES POSITION.._ REQUESTED? CONTROL MODE T, NO 555 [S56. FFTH MAINTENANCE YES,. ANALOG INPUT POSiTiON _ REQUESTED?. CONTROL MODE T NO 357 /S58.. SIXTH MAINTENANCE YES SCOPE LIMIT _ REQUESTED? ADJUSTMENT MODE T NO 1 S59 fseo S, SEVEIglgaIgégEEDIgANCE YE LAP OPERATION MODE S NO 861 [862 EIGHTH MAINTENANCE YES CALIBRATION._ REQUESTED? ADJUSTMENT MODE T N0

19 ' US. Patent Jan. 7, 2014 Sheet 18 0f 20 US 8,622,895 B2 FIG..22 CAUBHAHON MODE YES CLUTCH CONNECTION OFF? 881 v SERVO OFF 882 N0 CLUTCH CONNECTION ON? S83 N0 YES I 384 OPERATION AMOUNT AND PRESENT POSITION ARE WlTi-iiN INSTRUCTED RANGE? NO YES S85 8ENDING OPERATION START INSTRUCTION ON? NO YES

20 US. Patent Jan. 7, 2014 Sheet 19 0f 20 US 8,622,895 B2 FIG.23 OPERATION MODE v SERVO ON 871 " 872 f3 73 TORQUE CONTROL CYCLE EVENT? TORQUE CONTROL CALCULATlON _ ' AND sggzsglcgqmnoa. YES POSETION AND SPEED I v CYCLE EVENT? ' " CONTROL CALCULATION W ' S 7 7 ABNséEHthgLITY I M DETECTED? f ABNORMAL STOP MODE N0

(12) United States Patent Mine et al.

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