JP3615169B2 - Insertion shape detection probe - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an insertion shape detection probe that is inserted into a treatment instrument insertion channel of an endoscope in order to detect the insertion shape of an endoscope insertion portion.
[0002]
[Prior art]
In recent years, endoscopes are widely used in the medical field and the industrial field. Especially for endoscopes with a flexible insertion section, the insertion section is inserted into a bent body cavity to diagnose deep organs in the body cavity without making an incision, or provided in the endoscope as necessary. It is possible to perform treatment / treatment such as excision of a polyp by inserting the treatment tool into a certain treatment tool insertion channel.
[0003]
However, in order to smoothly insert the insertion portion into the bent body cavity, for example, when an endoscope having a narrow insertion portion is inserted from the anal side and the inside of the lower digestive tract is inspected, some skill is required. . This is because the position of the distal end of the insertion portion in the body cavity and the current insertion state of the insertion portion cannot be known.
[0004]
Therefore, in order to be able to know the insertion state of the insertion portion of the endoscope, an X-ray impermeable portion is provided in the insertion portion, and the insertion shape of the endoscope is obtained by X-ray fluoroscopy. Although it is conceivable to detect the tip position of the lens and the bending state of the insertion portion, the endoscope shape detection apparatus using X-rays is large, and in order to provide an apparatus for irradiating X-rays in the examination room, the examination room Must be wide enough.
[0005]
In addition, when performing an endoscopy, the operator must perform an operation of irradiating X-rays in addition to the operation of the endoscope, which increases the burden on the operator. Furthermore, since the amount of exposure may increase due to frequent X-ray irradiation and may be harmful to the patient and the operator, it is impossible to detect the insertion state of the endoscope insertion portion using X-rays. It is not necessarily preferable.
[0006]
For this reason, for example, a plurality of elements that transmit electromagnetic waves or ultrasonic waves are provided in the insertion portion of the endoscope, and a signal from the transmission element of the insertion portion is received by an external detection device and inserted on the screen of the detection device. The shape of the insertion part is displayed, or a shape detection probe with a magnetic field detection element, for example, is inserted into the treatment instrument insertion channel provided in the endoscope, and the insertion part is inserted into the body cavity in this state. By doing so, there is a device that displays the shape of the insertion portion at the time of insertion on the screen of the detection device.
[0007]
[Problems to be solved by the invention]
However, in order to detect and insert the shape of the insertion portion with high accuracy by being inserted into the treatment instrument insertion channel, it is necessary to arrange a plurality of elements and signal lines in the shape detection probe.
[0008]
In general, the shape detection probe is formed by arranging a plurality of elements and signal lines in a tube and then filling the tube with, for example, silicon, which is a solvent. In addition, problems such as non-uniform signal line arrangement occurred during the filling of the solvent, and it was difficult to assemble a shape detection probe having a desired specification.
[0009]
In addition, when a bending operation or a twisting operation is performed in a state where the shape detection probe is arranged in the treatment instrument insertion channel, there is a possibility that the signal line is pulled and disconnected.
[0010]
The present invention has been made in view of the above circumstances, and provides an insertion shape detection probe excellent in assemblability and resistance that can be inserted and disposed in a treatment instrument insertion channel to detect the shape of an insertion portion with high accuracy. Is aimed at.
[0011]
[Means for Solving the Problems]
The insertion shape detection probe according to the present invention is provided on the base end side of an elongated core wire to which a plurality of shape detection elements extending signal lines are fixed at a predetermined interval, and the shape detection element fixed to the core wire. A plurality of inner sheaths through which the core wire and the signal line are inserted, connection fixing means for integrally connecting the shape detection element and the inner sheath adjacent to the shape detection element, and a plurality of integral sheaths And an exterior sheath into which a plurality of inner sheaths are inserted.
[0012]
The connecting means is a heat-shrinkable tube or an adhesive layer provided on the shape detection element and the end of the inner sheath adjacent to the shape detection element.
[0013]
Furthermore, a signal line inserted through the inner sheath is wound around the core wire a predetermined number of times in a predetermined slack state.
[0014]
According to these configurations, since the signal line extending from the shape detection element is covered with the inner sheath and the heat shrinkable tube or the adhesive layer, the shape detection fixed in series to the core wire in the outer sheath. When the element and the inner sheath are arranged, the signal line is prevented from coming into direct contact with the outer sheath. In addition, since the signal line is wound around the core wire to have a slack, the signal line is prevented from being strongly pulled when the insertion shape detection probe is bent or the like.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be specifically described below with reference to the drawings. ◎
1 to 12 relate to an embodiment of the present invention, FIG. 1 is a diagram for explaining an insertion portion shape observation apparatus, FIG. 2 is a diagram for explaining an insertion shape detection probe, and FIG. 3 is a diagram showing a configuration of a source coil and a core wire. FIG. 4 is a diagram for explaining the arrangement position of the source coil arranged in the outer sheath and the winding state of the signal wire wound along the core wire, and FIG. 5 is the signal wire extending state. FIG. 6 is a diagram for explaining the inner sheath, FIG. 7 is a diagram for explaining the action of the split groove provided in the inner sheath, and FIG. 8 is a state in which the gap between the source coil and the inner sheath is covered with a heat shrinkable tube. FIG. 9 is a diagram illustrating a state in which the gap between the source coil and the inner sheath is covered with an adhesive layer, and FIG. 10 is disposed on the proximal end side of the source coil fixed to the proximal end side. FIG. 11 is a diagram illustrating a configuration example of an inner sheath, and FIG. Diagram for explaining, FIG. 12 is a diagram for explaining another example of the arrangement direction of the source coil.
[0016]
3A is a cross-sectional view illustrating the configuration of the source coil and the core wire, FIG. 3B is a cross-sectional view taken along the line AA in FIG. 3A, and FIG. 5A is the source coil on the tip side. FIG. 5B illustrates a signal line passing through the source coil and a signal line extending from the source coil, and FIG. 5B illustrates a signal line passing through the source coil located in the middle portion and a signal line extending from the source coil. FIG. 6A is a diagram for explaining a split groove formed at the end of the inner sheath, FIG. 6B is a diagram for explaining another configuration example of the split groove, and FIG. FIG. 7B is a cross-sectional view taken along the line BB of FIG. 7A and illustrates the action in the direction perpendicular to the longitudinal axis direction of the split groove. 9A is a view showing the adhesive layer in the longitudinal axis direction, and FIG. 9B is a cross-sectional view taken along the line CC of FIG. 9A.
[0017]
As shown in FIG. 1, an endoscope apparatus 2 in which the insertion shape detection probe 1 of the present embodiment is used includes an endoscope 3 that is inserted into a body cavity of a subject, for example, from the anus and observes an observation site. The video processor 4 that generates a video signal from the imaging signal obtained by imaging with the endoscope 3, the monitor 5 that displays the video signal from the video processor 4 as an endoscopic image, and the subject From the insertion shape detection bed 6 for detecting the magnetic field from the insertion shape detection probe 1 and the signal corresponding to the magnetic field detected by the insertion shape detection bed 6 while driving the insertion shape detection probe 1. An insertion shape detection device 7 that outputs a video signal obtained by imaging the insertion shape of the endoscope 3 in the body cavity and a monitor 8 that displays the insertion portion shape output from the insertion shape detection device 7 are mainly used. Composed To have.
[0018]
The endoscope 3 includes an elongated insertion portion 11 that is inserted into a body cavity, an operation portion 12 that also serves as a gripping portion that is connected to the proximal end side of the insertion portion 11, and extends from a side portion of the operation portion 12. And a universal cord 13 connected to an external device such as a video processor 4.
[0019]
The insertion shape detection probe 1 is inserted and disposed in a treatment instrument insertion channel 15 from a treatment instrument insertion port 14 provided in the operation unit 12 of the endoscope 3. The insertion shape detection probe 1 is provided with a plurality of source coils 21 which are, for example, magnetic field generating elements that generate a magnetic field as shape detection elements. The insertion shape detection probe 1 is connected to the insertion shape detection device 7 via a connector portion 22.
[0020]
On the other hand, the insertion shape detection bed 6 is provided with a plurality of sense coils 9 as magnetic field detection elements for detecting the magnetic field generated by the source coil 21. The insertion shape detection bed 6 and the insertion shape detection device 7 are connected by a cable 9a. For this reason, the detection signal of the sense coil 9 is transmitted to the insertion shape detection device 7 via the cable 9a.
[0021]
The insertion shape detection device 7 includes a source coil driving unit (not shown) that drives the source coil 21 and a source coil that analyzes the three-dimensional position coordinates of the source coil 21 from a signal transmitted from the sense coil 9. A position analysis unit (not shown), an insertion shape image generation unit (not shown) that calculates the three-dimensional shape of the insertion unit 11 from the three-dimensional position coordinate information of the source coil 21, converts it to a two-dimensional coordinate for monitor display, and forms an image. Etc.) are provided.
[0022]
The configuration of the insertion shape detection probe 1 will be described in detail with reference to FIGS.
As shown in FIG. 2 and FIG. 3, the insertion shape detection probe 1 includes an outer sheath 20 inserted into a treatment instrument insertion channel 15 constituting an outer sheath, a plurality of hollow source coils 21A,. The coil 21A, ..., 21L is mainly composed of an elongated core wire 23 to which the coils 21A, ..., 21L are bonded and fixed, and a pipe-shaped inner sheath 24 arranged in series with respect to the respective source coils 21A, ..., 21L. That is, the source coils 21A,..., 21L and the inner sheath 24 are alternately arranged in series in the order of the source coil 21A, the inner sheath 24, the source coil 21B,.
[0023]
Note that the insertion shape detection probe 1 of the present embodiment includes, for example, 12 source coils. And the source coil of the front end side is called the 1st source coil 21A, and it calls the 2nd source coil 21B, ..., the 12th source coil 21L sequentially.
[0024]
Further, a signal line 26 for transmitting a drive signal is connected to one end of each source coil 21A,..., 21L. Therefore, the signal lines extending from the source coils 21A,... 21L are referred to as signal lines 26A,. Reference numeral 27 denotes a tip piece disposed at the tip of the outer sheath 20.
[0025]
Further, in the present embodiment, the outer sheath 20, the inner sheath 24, and the outer sheath of the signal line 26 are made of Teflon (registered trademark). This is to utilize the property that Teflon (registered trademark) is not fixed by the adhesive, and when fixing by adhesion, as a pre-treatment, the adhesive surface is roughened so that the adhesive is applied. It is necessary to perform processing.
[0026]
As shown in FIG. 3A, the source coil 21 fixed to a predetermined position on the core wire 23 by an adhesive is wound around the hollow core member 31 having an axial through hole 31a and the core member 31. And a core substrate 33 having a substantially donut board shape provided on one end face side of the core member 31. The winding 32 is electrically connected to the core substrate 33, and the signal line 26 is electrically connected by, for example, solder. Reference numeral 34 denotes an adhesive layer that protects the substrate pattern surface including the solder.
[0027]
As shown in FIG. 3B, the core wire 23 disposed in the axial through hole 31a is formed by arranging three linear shape memory alloy wires 23a in parallel. The diameter of the circumscribed circle formed by the three linear shape memory alloy wires 23a constituting the core wire 23 and the inner diameter of the axial through hole 31a are substantially the same diameter (strictly speaking, the circumscribed circle is the axial through hole). The linear shape memory alloy wires 23a constituting the core wire 23 are brought into line contact with the inner peripheral surface of the axial through hole 31a.
[0028]
As a result, by inserting the source coil 21 through the core wire 23, the core member 31 is supported at three points by the three linear shape memory alloys 23 a, thereby preventing rattling and the core wire 23. And the axis of the source coil 21 can be held in a parallel positional relationship. By applying the adhesive in this holding state, the source coil 21 is securely bonded and fixed to the core wire 23 in a predetermined state, so that the assembling property can be improved.
[0029]
As shown in FIG. 4, the source coils 21 </ b> A,..., 21 </ b> L fixed to the core wire 23 are arranged in the insertion portion bending portion 11 a (see FIG. 1) that is bent with a small curvature radius. The source coil 21A, 21B, 21C, which is a curved shape detecting element group for obtaining data, and the insertion portion flexible tube portion 11b (see FIG. 5) bent at a relatively large radius of curvature located on the proximal side from the insertion portion bending portion 11a. 1), and the source coils 21D,..., 21L, which are flexible tube shape detecting element groups for obtaining shape data of the insertion portion flexible tube portion 11b, have different element intervals.
[0030]
Specifically, the pitch between the source coils 21A, 21B, 21C (indicated by P1 in the figure) is set to 30 mm, for example, and the pitch between the source coils 21D,..., 21L (indicated by P2 in the figure) is, for example, 100 mm. Is set.
[0031]
Therefore, the inner sheath 24 arranged in series on the base end side of the source coils 21A and 21B is called an inner sheath 24S corresponding to a pitch of 30 mm, and is connected in series on the base end side of the source coils 21D,. The inner sheath 24 arranged in the inner sheath 24L corresponding to a pitch of 100 mm and the inner sheath 24 arranged in series on the base end side of the source coil 21L and having a stiffness on the base end side of the outer sheath 20 The inner sheath 24R (see FIG. 2), and the inner sheath 24F (see FIG. 2) arranged in series on the distal end side of the source coil 21A and serving as a stiffness on the distal end side of the outer sheath 20 Call it.
[0032]
4 and 5A and 5B, the signal lines 26A, ..., 26L connected to the source coils 21A, ..., 21L are connected to the source coils 21A, ..., 21L, respectively. The inner sheaths 24S, 24L, 24R arranged at the proximal end portion are extended to the proximal end side. The signal lines 26A,..., 26K led out from the base end side through the inner sheaths 24S, 24L pass through the side peripheral surfaces of the source coils 21B,..., 21L and enter the inner sheaths 24S, 24L, 24R again. It is introduced and extended to the base end side. Accordingly, a large number of signal lines are inserted into the inner sheaths 24L and 24R located on the proximal end side.
[0033]
The signal lines 26A,..., 26L inserted through the inner sheaths 24S, 24L, 24R are wound along the core wire 23 with a predetermined slack. This is to prevent the signal lines 26A,..., 26L from becoming stuck when the insertion shape detection probe 1 is bent, thereby causing a disconnection.
[0034]
Specifically, the signal wires 26A and 26B wound between the source coils 21A, 21B, and 21C arranged in the insertion portion bending portion 11a that is bent with a small radius of curvature have sufficient slackness with respect to the core wire 23. Wound 5-6 times in a laid state. On the other hand, the signal wires 26A,..., 26L wound between the source coils 21D,..., 21L arranged in the insertion portion flexible tube portion 11b bent with a relatively large radius of curvature are connected to the core wire 23. 2 to 3 times with a certain amount of slack.
[0035]
As shown in FIG. 6 (a), a plurality of signal lines 26 are biased at the ends of the inner sheaths 24S, 24L, 24R and introduced (or led out) into the inner sheaths 24S, 24L, 24R. Two to four split grooves 24a for preventing the signal line 26 from being bent sharply are formed.
[0036]
As a result, as shown in FIG. 7A, the signal lines 26A,..., 26H are led out from the inner sheath 24L located on the distal end side, for example, toward the source coil 21K of the flexible tube shape detecting element group. At this time, the signal lines 26A,..., 26H are led out from the respective split grooves 24a toward the side peripheral surface of the source coil 21K. Then, the angle of the derived signal lines 26A,..., 26H with respect to the axial direction becomes gentle.
[0037]
When the signal lines 26A,..., 26H that have passed through the side peripheral surface of the source coil 21K are introduced again into the inner sheath 24L located on the proximal end side, the signal lines 26A,. It is made to introduce toward the split groove 24a from the side peripheral surface. As a result, the angle of the introduced signal lines 26A,.
[0038]
On the other hand, a plurality of signal lines 26A,..., 26H inserted through the inner sheath 24L are distributed from a predetermined dividing groove 24a and led out to the source coil 21K, whereby a source coil as shown in FIG. The signal lines 26A,..., 26H can be evenly distributed on the side peripheral surface of 21K.
[0039]
As a result, the signal lines can be uniformly distributed on the side peripheral surface of the source coil to reduce the diameter, and the signal lines can be surely disconnected due to a sharp rise near the end surface of the source coil. Therefore, the resistance can be improved.
[0040]
As shown in FIG. 6 (b), by providing a curved surface portion 24b at the bottom of the split groove 24a, the outer skin that covers the signal line 26 led out (or introduced) from the split groove 24a is split. It is possible to prevent damage at the edge portion of 24a.
[0041]
As shown in FIG. 8, the end portion of the inner sheath 24 in which the side circumferential surface where the signal line 26 of the source coil 21 constituting the bending portion shape detection element group is arranged and the split groove 24 a from which the signal line 26 is led out is formed, A thin heat-shrinkable tube 40 is coated on the end portion of the inner sheath 24 in which the split groove 24 a into which the signal line 26 is introduced is formed, and the gap between the source coil 21 and the inner sheath 24 is eliminated. .
[0042]
As a result, the source coil 21 and the signal line 26 arranged on the side peripheral surface of the source coil 21 are integrally fixed, and the signal line 26 led out from the dividing groove 24a or introduced from the dividing groove 24a is provided. Since it is possible to prevent the signal line and the outer sheath from coming into contact with each other during assembly and during use without being exposed, it is possible to improve resistance during assembly and during use.
[0043]
In addition, since the source coil and the inner sheath adjacent to the source coil are integrally formed by covering the heat shrinkable tube, the shrinkage action of the heat shrinkable tube obtains the effect of oledome, and the source coil and the inner sheath The buckling at the joint portion can be avoided, and the assemblability can be improved by making the longitudinal axis parallel.
[0044]
On the other hand, as shown in FIGS. 9A and 9B, the side circumferential surface on which the signal line 26 of the source coil 21 constituting the flexible tube shape detecting element group and the signal line 26 are led out. An adhesive layer 41 is provided at the end of the inner sheath 24 in which the signal line 26 is introduced and the end of the inner sheath 24 in which the signal line 26 is introduced to form a gap between the source coil 21 and the inner sheath 24. It has an integrated structure that eliminates
[0045]
As a result, the source coil 21 and the signal line 26 arranged on the side peripheral surface of the source coil 21 are integrally fixed, and the signal line 26 led out from the dividing groove 24a or introduced from the dividing groove 24a is provided. It is possible to prevent the signal line and the sheath from coming into contact with each other during assembly and during use by preventing exposure. Further, since the source coil 21 and the inner sheath 24 adjacent to the source coil 21 are integrated, buckling at the joint portion between the source coil 21 and the inner sheath 24 can be avoided.
[0046]
When the adhesive layer 41 is provided, the above-described tetra-etching process is performed. At this time, in order to prevent the hard portion of the adhesive layer 41 from becoming long due to excessive deposition of the adhesive, the distance from the end surface of the inner sheath is specified to perform processing. On the other hand, in order to prevent the hard portion of the adhesive layer 41 from becoming large, after applying the adhesive, the heat shrinkable tube is put on and heat-shrinked to remove excess adhesive, and a thin adhesive is applied on the source coil 21. Layer 41 is formed. As a result, the assembling property can be improved by making the longitudinal direction parallel. Further, it is possible to secure an air supply path by making a shape in which only a part of the outer surface of the adhesive layer 41 abuts on the inner peripheral surface of the sheath 20.
[0047]
As the number of source coils 21 increases, the number of signal lines inserted through the inner sheath increases. For example, as shown in FIG. 10, the inner diameter of the inner sheath 24R is larger than the inner diameter of the inner sheath 24L. Assembling property can be improved by forming the outer sheath 20A so that the inner diameter dimension is changed stepwise as shown in FIG.
[0048]
In addition, as shown in FIG. 12, for example, after the source coil 21B is bonded and fixed in the direction opposite to the above-described embodiment, the heat shrinkable tube 40 is covered and fixed together with the signal lines 26A and 26B. Also good. This increases the number of signal lines that pass through the side peripheral surface of the source coil. However, the connection part of the signal line fixed to the solder is loosened to prevent contact failure at the connection part. The tolerance of the part can be improved.
[0049]
Here, the assembly of the insertion shape detection probe 1 will be briefly described.
(1) The source coil 21A is inserted through the core wire 23 and bonded and fixed at a predetermined position.
[0050]
(2) The inner sheath 24S is inserted through the core wire 23 and disposed in the vicinity of a predetermined position, and the signal line 26A extending from the source coil 21 is inserted into the inner sheath 24S.
[0051]
(3) Here, the inner sheath 24S is once moved in the proximal direction, and the signal wire 26A is wound around the core wire 23.
[0052]
(4) When the winding of the signal line 26A is completed, the inner sheath 24S is again returned to a predetermined position and temporarily fixed, and then the heat shrinkable tube 40 covers the gap between the source coil 21A and the inner sheath 24S and is integrated. Set to a fixed state. The inner sheath 24S used here may have only two split grooves 24a at the end.
[0053]
(5) Next, the source coil 21B is inserted through the core wire 23 and bonded and fixed at a predetermined position.
[0054]
(6) After that, the inner sheath 24S is inserted through the core wire 23 and arranged in the vicinity of a predetermined position. From the signal line 26A and the source coil 21B led out from the split groove 24a of the inner sheath 24S into the inner sheath 24S. The extending signal line 26B is inserted.
[0055]
(7) Here, the inner sheath 24S is once moved in the proximal direction, and the signal wires 26A and 26B are wound around the core wire 23.
[0056]
(8) When the winding of the signal lines 26A and 26B is completed, the inner sheath 24S is again returned to a predetermined position and temporarily fixed, and then the gap between the source coil 21B and the inner sheath 24S is formed by the heat shrinkable tube 40. Cover to make it a single unit.
[0057]
By repeating the above-described procedure, the source coil 21C and the inner sheath 24L are integrally fixed to the core wire 23.
[0058]
(9) Next, the source coil 21D is inserted through the core wire 23 and bonded and fixed at a predetermined position.
[0059]
(10) After that, the inner sheath 24L is inserted into the core wire 23 and arranged in the vicinity of a predetermined position, and the signal lines 26A, 26B, 26C led out from the split groove 24a of the inner sheath 24S and the A signal line 26D extending from the source coil 21D is inserted.
[0060]
(11) Here, the inner sheath 24L is once moved in the proximal direction, and the signal wires 26A, ..., 26D are wound around the core wire 23.
[0061]
(12) When the winding of the signal lines 26A,..., 26D is completed, the inner sheath 24L is returned to the predetermined position and temporarily fixed, and then the adhesive layer 41 is formed by a predetermined procedure to form the source coil 21D. Then, the gap between the inner sheaths 24S and 24L is covered so as to be integrally fixed.
[0062]
By repeating the above-described procedure, the source coil 21L and the inner sheath 24R are integrally fixed to the core wire 23.
[0063]
(13) Here, a continuity test of the signal lines 26A,..., 26L is performed, and if continuity is confirmed, the sheath 20 is covered. At this time, the covering is completed without the outer sheath 20 and the signal lines 26A,. Thereafter, the distal end piece 27 is arranged on the distal end side of the outer sheath 20 to form the distal end portion side of the insertion shape detecting probe 1, while the signal lines 26 </ b> A,..., 26 </ b> L extending from the outer sheath 20 are connected to the connector portion 22. The base end side of the insertion shape detection probe 1 is formed by being disposed at a predetermined position. Finally, an inspection is performed to determine whether or not the shape of the insertion shape detection probe 1 is displayed on the screen of the observation device. After the inspection is passed, air is injected from the connector portion 22 side to form a pinhole in the outer sheath 20. Shipped after final inspection of whether or not it has been done.
[0064]
It should be noted that the present invention is not limited to the embodiments described above, and various modifications can be made without departing from the spirit of the invention.
[0065]
[Appendix]
According to the embodiment of the present invention as described above in detail, the following configuration can be obtained.
[0066]
(1) an elongated core wire to which a plurality of shape detection elements extending from the signal line are fixed at a predetermined interval;
A plurality of inner sheaths arranged on the base end side of the shape detection element fixed to the core wire, and through which the core wire and the signal line are inserted;
A connection fixing means for integrally connecting the shape detection element and the inner sheath adjacent to the shape detection element;
An outer sheath in which a plurality of shape detection elements integrated with the core wire and a plurality of inner sheaths are inserted;
An insertion shape detection probe comprising:
[0067]
(2) The insertion shape detection probe according to appendix 1, wherein the coupling means is a heat shrinkable tube or an adhesive layer provided at the shape detection element and the end of the inner sheath adjacent to the shape detection element.
[0068]
(3) The insertion shape detection probe according to appendix 1, wherein a signal line inserted through the inner sheath is wound around the core wire a predetermined number of times in a predetermined slack state.
[0069]
(4) The shape detection element includes a core member having an axial through hole, a winding wound around the core member, and the winding is electrically connected and the signal line is electrically connected. The insertion shape detection probe according to supplementary note 1, comprising a donut board-shaped substrate provided on one end surface side.
[0070]
(5) The insertion shape detection probe according to appendix 1, wherein the core wire is configured by arranging three shape memory alloy wires in parallel.
[0071]
(6) The insertion shape detecting probe according to appendix 5, wherein each shape memory alloy wire constituting the core wire is in line contact with the inner peripheral surface of the axial through hole.
[0072]
(7) The interval between the shape detection elements is arranged in the bending portion shape detection element group arranged in the endoscope bending portion and the insertion portion flexible tube portion located on the proximal side from the endoscope bending portion. The insertion shape detection probe according to appendix 1, which is different depending on the flexible tube shape detection element group.
[0073]
(8) When the signal line extending from the one shape detection element is extended further to the base end side than the shape detection element positioned on the base end side from the one shape detection element, the signal line is arranged on the outer periphery of the shape detection element. The insertion shape detection probe according to appendix 1, wherein the probe is arranged on a surface and guided to the proximal end side.
[0074]
(9) The insertion shape detection probe according to appendix 8, wherein the signal lines arranged on the outer peripheral surface of the shape detection element are covered with the heat shrinkable tube or the adhesive layer.
[0075]
(10) The heat-shrinkable tube covers the signal lines arranged on the outer peripheral surface of the shape detection element of the bending portion shape detection element group, and the shape of the flexible tube shape detection element group is provided by providing the adhesive layer. The insertion shape detection probe according to appendix 9, wherein the signal lines arranged on the outer peripheral surface of the detection element are covered.
[0076]
(11) The amount of slack of the signal line is set so that the slack is set between the shape detecting elements of the bending portion shape detecting element group, and the slack is set between the shape detecting elements of the flexible tube shape detecting element group. The insertion shape detection probe according to attachment 3.
[0077]
(12) At the end face of the inner sheath, the inclination angle with respect to the axial direction of the signal line inserted into the inner sheath and the signal line derived from the inner sheath is set gently, and the shape is detected from the inner sheath. The insertion shape detection probe according to supplementary note 1, wherein a plurality of split grooves for uniformly distributing signal lines arranged on the outer peripheral surface of the element are formed.
[0078]
(13) The insertion shape detection probe according to appendix 1, wherein the inner and outer diameter dimensions of the inner sheath are changed according to the number of signal lines to be inserted.
[0079]
(14) The insertion shape detection probe according to appendix 1, wherein the outer sheath has an inner diameter that changes stepwise.
[0080]
(15) a slender core wire;
A plurality of shape detection elements having an axial through-hole through which the core wire is inserted and bonded and fixed to the core wire at a predetermined interval;
A signal line connected to these shape detection elements and extending to the base end side along the core wire,
An inner sheath that covers a signal line extending along the core wire, at least one end surface of which faces the end surface of the shape detection element;
An outer sheath covering the inner sheath and the plurality of shape detection elements;
An insertion shape detection probe comprising:
[0081]
(16) In an insertion shape detection probe for detecting an insertion shape of an endoscope configured by arranging a plurality of elements extending signal lines in an outer sheath inserted into a treatment instrument insertion channel of the endoscope ,
An insertion shape detection probe in which an inner sheath through which a signal line is inserted is connected to the base end side of each element, and the element and an inner sheath adjacent to the element are integrally connected and fixed.
[0082]
(17) An insertion shape of an endoscope comprising an elongated core wire to which a plurality of elements extending signal lines are fixed at a predetermined interval, and an outer sheath inserted into a treatment instrument insertion channel of the endoscope. In the insertion shape detection probe to detect,
An inner sheath disposed on the base end side of each element, through which the core wire and the signal line are inserted;
Connection fixing means for integrally connecting the element and the inner sheath adjacent to the element;
An insertion shape detection probe comprising:
[0083]
【The invention's effect】
As described above, according to the present invention, it is possible to provide an insertion shape detection probe excellent in assembling property and resistance that can be inserted and arranged in the treatment instrument insertion channel and can detect the shape of the insertion portion with high accuracy.
[Brief description of the drawings]
FIG. 1 to FIG. 12 are related to one embodiment of the present invention, and FIG.
FIG. 2 is a diagram illustrating an insertion shape detection probe
FIG. 3 is a diagram illustrating the configuration of a source coil and a core wire
FIG. 4 is a diagram for explaining an arrangement position of a source coil arranged in an outer sheath and a winding state of a signal line wound along a core wire;
FIG. 5 is a diagram illustrating an extension state of a signal line
FIG. 6 is a diagram illustrating an inner sheath
FIG. 7 is a view for explaining the action of the split groove provided in the inner sheath.
FIG. 8 is a diagram illustrating a state in which a gap between the source coil and the inner sheath is covered with a heat shrinkable tube.
FIG. 9 is a diagram illustrating a state in which a gap between the source coil and the inner sheath is covered with an adhesive layer.
FIG. 10 is a diagram for explaining a configuration example of an inner sheath disposed on the base end side of a source coil fixed on the base end side;
FIG. 11 is a diagram illustrating an example of the configuration of an exterior sheath
FIG. 12 is a diagram for explaining another example of the arrangement direction of the source coil.
[Explanation of symbols]
1 ... Insert shape detection probe
20 ... Exterior sheath
21 ... Source coil
23 ... core wire
24 ... Inner sheath
26 ... Signal line
40 ... Heat shrinkable tube
41 ... Adhesive layer

Claims (3)

An elongated core wire in which a plurality of shape detection elements extending from the signal line are fixed at a predetermined interval;
A plurality of inner sheaths arranged on the base end side of the shape detection element fixed to the core wire, and through which the core wire and the signal line are inserted;
A connection fixing means for integrally connecting the shape detection element and the inner sheath adjacent to the shape detection element;
An outer sheath in which a plurality of shape detection elements integrated with the core wire and a plurality of inner sheaths are inserted;
An insertion shape detection probe comprising: The insertion shape detection probe according to claim 1, wherein the connecting means is a heat shrinkable tube or an adhesive layer provided at the shape detection element and the end of the inner sheath adjacent to the shape detection element. 2. The insertion shape detection probe according to claim 1, wherein a signal line inserted through the inner sheath is wound a predetermined number of times around the core wire in a predetermined slack state.

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