JPH05123325A - 処置具 - Google Patents
処置具Info
- Publication number
- JPH05123325A JPH05123325A JP3287769A JP28776991A JPH05123325A JP H05123325 A JPH05123325 A JP H05123325A JP 3287769 A JP3287769 A JP 3287769A JP 28776991 A JP28776991 A JP 28776991A JP H05123325 A JPH05123325 A JP H05123325A
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- Prior art keywords
- piezoelectric actuator
- treatment
- treating
- arm
- actuator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
(57)【要約】
【目的】長さや曲り状態等に関係なく精度良く処置作業
を行うことが可能な処置具を提供することにある。 【構成】処置ア−ム24と、この処置ア−ム24の駆動
力を発生させる急速変形圧電アクチュエ−タ26と、こ
の急速変形圧電アクチュエ−タ26をガイドする可撓管
22とを備えた。
を行うことが可能な処置具を提供することにある。 【構成】処置ア−ム24と、この処置ア−ム24の駆動
力を発生させる急速変形圧電アクチュエ−タ26と、こ
の急速変形圧電アクチュエ−タ26をガイドする可撓管
22とを備えた。
Description
【0001】
【産業上の利用分野】本発明は、例えば医療用或いは工
業用等の内視鏡等に組込まれ、処置対象に対して処置作
業を行う処置具に関する。
業用等の内視鏡等に組込まれ、処置対象に対して処置作
業を行う処置具に関する。
【0002】
【従来の技術】例えば、特開昭57−14327号公報
等に図12〜図14に示すような生検鉗子1が示されて
いる。すなわち、この生検鉗子1は体腔内の組織を採取
するためのものであり、生検鉗子1においては、まず、
あらかじめ体腔内に挿入された内視鏡のチャンネルを通
じて挿入部2が体腔まで導入される。ついで、手元操作
部3の操作用スライダ4と指掛け5に指が掛けられて操
作用スライダ4が前進し、注入用チュ−ブ6が押し込ま
れ、ワイヤ継手7が前進する。これによってリンク8、
8を介してカップ部9、9が図13に示すように開く。
等に図12〜図14に示すような生検鉗子1が示されて
いる。すなわち、この生検鉗子1は体腔内の組織を採取
するためのものであり、生検鉗子1においては、まず、
あらかじめ体腔内に挿入された内視鏡のチャンネルを通
じて挿入部2が体腔まで導入される。ついで、手元操作
部3の操作用スライダ4と指掛け5に指が掛けられて操
作用スライダ4が前進し、注入用チュ−ブ6が押し込ま
れ、ワイヤ継手7が前進する。これによってリンク8、
8を介してカップ部9、9が図13に示すように開く。
【0003】また、これと同時に注入針10も前進し、
開いたカップ部9、9の先端から大きく前方に突き出
る。この状態で内視鏡による観視下でその注入針10の
先端部10aを採取しようとする体腔内の部位へ穿刺す
る。なお、注入針10の先端部10aは開いたカップ部
9、9の先端から充分に突出するので、組織内に深く穿
刺できる。
開いたカップ部9、9の先端から大きく前方に突き出
る。この状態で内視鏡による観視下でその注入針10の
先端部10aを採取しようとする体腔内の部位へ穿刺す
る。なお、注入針10の先端部10aは開いたカップ部
9、9の先端から充分に突出するので、組織内に深く穿
刺できる。
【0004】一方、手元操作部3における口金11に
は、墨汁の注射筒が接続され、墨汁が注入用チュ−ブ6
を通じて注入針10に送込まれ、患部に注入される。こ
のマ−キング後、操作用スライダ4が後退し、注入用チ
ュ−ブ6が引かれ、ワイヤ継手7が後退することによ
り、まず、注入針10の先端部10aが引込まれ、その
カップ部9、9の奥に退避する。また、これに続いてカ
ップ部9、9が閉じ、組織が採取される。この後、その
まま挿入部2が外部に引き出されると、その組織が外部
に取出される。
は、墨汁の注射筒が接続され、墨汁が注入用チュ−ブ6
を通じて注入針10に送込まれ、患部に注入される。こ
のマ−キング後、操作用スライダ4が後退し、注入用チ
ュ−ブ6が引かれ、ワイヤ継手7が後退することによ
り、まず、注入針10の先端部10aが引込まれ、その
カップ部9、9の奥に退避する。また、これに続いてカ
ップ部9、9が閉じ、組織が採取される。この後、その
まま挿入部2が外部に引き出されると、その組織が外部
に取出される。
【0005】また、髄核摘出などの際には、図15に示
すように、枢間板12内にシ−ス13(或いはプロ−
ブ)が刺入される。そして、このシ−ス13を枢間板1
2内に到達させるために、シ−ス13を手作業で体内に
押し込んだり、ハンマ−14でシ−ス13を叩いたりす
ることが行われていた。
すように、枢間板12内にシ−ス13(或いはプロ−
ブ)が刺入される。そして、このシ−ス13を枢間板1
2内に到達させるために、シ−ス13を手作業で体内に
押し込んだり、ハンマ−14でシ−ス13を叩いたりす
ることが行われていた。
【0006】
【発明が解決しようとする課題】ところで、特開昭57
−14327号公報に示された生検鉗子1においては、
カップ部9、9の開閉は手動操作により行われており、
さらに、動力の伝達にはワイヤが用いられている。そし
て、組織の採取は遠隔操作により行われており、従来の
生検鉗子1は長尺だった。また、挿入部2の途中の部分
が曲りくねった場合などには、摺動抵抗によりカップ部
9、9の操作が阻害されることがあった。さらに、生検
鉗子1は手動操作されるため、微量の操作を精度良く行
うことが困難だった。本発明の目的とするところは、長
さや曲り状態等に関係なく精度良く処置作業を行うこと
が可能な処置具を提供することにある。
−14327号公報に示された生検鉗子1においては、
カップ部9、9の開閉は手動操作により行われており、
さらに、動力の伝達にはワイヤが用いられている。そし
て、組織の採取は遠隔操作により行われており、従来の
生検鉗子1は長尺だった。また、挿入部2の途中の部分
が曲りくねった場合などには、摺動抵抗によりカップ部
9、9の操作が阻害されることがあった。さらに、生検
鉗子1は手動操作されるため、微量の操作を精度良く行
うことが困難だった。本発明の目的とするところは、長
さや曲り状態等に関係なく精度良く処置作業を行うこと
が可能な処置具を提供することにある。
【0007】
【課題を解決するための手段および作用】上記目的を達
成するために本発明は、処置作業部と、この処置作業部
の駆動力を発生させる急速変形圧電アクチュエ−タと、
この急速変形圧電アクチュエ−タをガイドする管状体と
を備えたことにある。こうすることによって本発明は、
長さや曲り状態等に関係なく精度良く処置作業を行える
ようにしたことにある。
成するために本発明は、処置作業部と、この処置作業部
の駆動力を発生させる急速変形圧電アクチュエ−タと、
この急速変形圧電アクチュエ−タをガイドする管状体と
を備えたことにある。こうすることによって本発明は、
長さや曲り状態等に関係なく精度良く処置作業を行える
ようにしたことにある。
【0008】
【実施例】以下、本発明の各実施例を図1〜図11に基
づいて説明する。
づいて説明する。
【0009】図1は本発明の第1の実施例の要部を示し
ており、図1中の符号21は処置具である。この処置具
21は管状体としての可撓管22の先端部を硬性管23
により構成されており、この硬性管23の先端部に開閉
自在な処置作業部としての処置ア−ム24を露出させて
いる。処置ア−ム24はパンタグラフ式に伸縮する伸縮
機構部25に連結されており、また、伸縮機構部25は
一部を硬性管23に枢支されている。そして、ア−ム2
4は、伸縮機構部25の伸長時に閉じ、伸縮機構部25
の収縮時に開く。
ており、図1中の符号21は処置具である。この処置具
21は管状体としての可撓管22の先端部を硬性管23
により構成されており、この硬性管23の先端部に開閉
自在な処置作業部としての処置ア−ム24を露出させて
いる。処置ア−ム24はパンタグラフ式に伸縮する伸縮
機構部25に連結されており、また、伸縮機構部25は
一部を硬性管23に枢支されている。そして、ア−ム2
4は、伸縮機構部25の伸長時に閉じ、伸縮機構部25
の収縮時に開く。
【0010】また、硬性管23の中には急速変形圧電ア
クチュエ−タ(以下、圧電アクチュエ−タと称する)2
6が同軸的に収納されており、上記処置ア−ム24が伸
縮機構部25を介してこの圧電アクチュエ−タ26に連
結されている。図2には上記圧電アクチュエ−タ26の
基本原理が示されている。
クチュエ−タ(以下、圧電アクチュエ−タと称する)2
6が同軸的に収納されており、上記処置ア−ム24が伸
縮機構部25を介してこの圧電アクチュエ−タ26に連
結されている。図2には上記圧電アクチュエ−タ26の
基本原理が示されている。
【0011】すなわち、圧電アクチュエ−タ26におい
ては、移動体27、例えばPZT等の圧電素子28、慣
性体29が互いに締結されており、移動体27はベ−ス
30上で摩擦力により保持されている。この状態におい
て、圧電素子28にパルス電圧が印加され、急速変形が
発生し、慣性体29に加速度が与えられ、衝撃力を利用
して移動体27に運動が与えられる。
ては、移動体27、例えばPZT等の圧電素子28、慣
性体29が互いに締結されており、移動体27はベ−ス
30上で摩擦力により保持されている。この状態におい
て、圧電素子28にパルス電圧が印加され、急速変形が
発生し、慣性体29に加速度が与えられ、衝撃力を利用
して移動体27に運動が与えられる。
【0012】図2において、(A)は圧電アクチュエ−
タ26が移動体27を前に向けて軸方向に前進する時の
様子を順に示しており、(B)は圧電アクチュエ−タ2
6が後退する時の様子を順に示している。
タ26が移動体27を前に向けて軸方向に前進する時の
様子を順に示しており、(B)は圧電アクチュエ−タ2
6が後退する時の様子を順に示している。
【0013】図2(A)及び(B)において、(1)に
はスタ−トの状態、即ち圧電アクチュエ−タ26の移動
サイクルの開始状態が示されている。前進の場合には圧
電素子28が収縮しており、後退の場合には圧電素子2
8が伸長している。
はスタ−トの状態、即ち圧電アクチュエ−タ26の移動
サイクルの開始状態が示されている。前進の場合には圧
電素子28が収縮しており、後退の場合には圧電素子2
8が伸長している。
【0014】(2)には急速変形の状態が示されてい
る。圧電素子28に電圧が印加されて圧電素子28が急
速に変形し、移動体27と慣性体29とがそれぞれ逆向
きに移動する。
る。圧電素子28に電圧が印加されて圧電素子28が急
速に変形し、移動体27と慣性体29とがそれぞれ逆向
きに移動する。
【0015】(3)には引き戻しの状態が示されてい
る。圧電素子28がゆっくりと引き戻されると、静止摩
擦力により、移動体27を動かすことなく慣性体29が
引き戻される。 (4)には急速停止の状態が示されている。引き戻しが
急に停止すると、慣性体29を移動体27に近付けるよ
う作用する力が発生し、移動量が得られる。 (5)には終了の状態、即ち圧電アクチュエ−タ26の
移動サイクルの終了状態が示されている。
る。圧電素子28がゆっくりと引き戻されると、静止摩
擦力により、移動体27を動かすことなく慣性体29が
引き戻される。 (4)には急速停止の状態が示されている。引き戻しが
急に停止すると、慣性体29を移動体27に近付けるよ
う作用する力が発生し、移動量が得られる。 (5)には終了の状態、即ち圧電アクチュエ−タ26の
移動サイクルの終了状態が示されている。
【0016】図2(1)〜(5)に示されたサイクルに
より、圧電アクチュエ−タ26が微小に移動する。ま
た、一連のサイクルが繰返されれば、圧電アクチュエ−
タ26は長距離の移動を行う。ここで、(A)及び
(B)中の符号aは急速変形時の移動量を示しており、
符号bは急速停止時の移動量を示している。
より、圧電アクチュエ−タ26が微小に移動する。ま
た、一連のサイクルが繰返されれば、圧電アクチュエ−
タ26は長距離の移動を行う。ここで、(A)及び
(B)中の符号aは急速変形時の移動量を示しており、
符号bは急速停止時の移動量を示している。
【0017】このような圧電アクチュエ−タ26には、
サイズを種々に設定することができ、また、通電制御に
より速く且つ微小な移動が行われるという特徴がある。
さらに、圧電アクチュエ−タ26には、移動体27の移
動に伴って発生する力が大きいという特徴もある。
サイズを種々に設定することができ、また、通電制御に
より速く且つ微小な移動が行われるという特徴がある。
さらに、圧電アクチュエ−タ26には、移動体27の移
動に伴って発生する力が大きいという特徴もある。
【0018】このような特性を備えた圧電アクチュエ−
タ26は、図1中に示すように、移動体27の外周面を
硬性管23の内周面に接しており、慣性体29を硬性管
23の内部で圧電素子28を介して支持しながら浮かせ
ている。さらに、圧電アクチュエ−タ26は硬性管23
の外部に配置されたアクチュエ−タ制御装置31に接続
されており、アクチュエ−タ制御装置31から発せられ
た指令にしたがって動作する。
タ26は、図1中に示すように、移動体27の外周面を
硬性管23の内周面に接しており、慣性体29を硬性管
23の内部で圧電素子28を介して支持しながら浮かせ
ている。さらに、圧電アクチュエ−タ26は硬性管23
の外部に配置されたアクチュエ−タ制御装置31に接続
されており、アクチュエ−タ制御装置31から発せられ
た指令にしたがって動作する。
【0019】移動体27が前進すると伸縮機構部25が
収縮し、処置ア−ム24が開く。また、移動体27が後
退すると伸縮機構部25が伸長し、処置ア−ム24が閉
じる。さらに、圧電アクチュエ−タ26の変形時には、
伸縮機構部25と硬性管23との連結位置は硬性管23
に対して不動であり、伸縮機構部25と圧電アクチュエ
−タ26との連結位置は硬性管23に対して軸方向に直
線変位する。ここで、伸縮機構部25は部分的に透孔3
2、32、32を通って硬性管23の外部に露出してい
る。
収縮し、処置ア−ム24が開く。また、移動体27が後
退すると伸縮機構部25が伸長し、処置ア−ム24が閉
じる。さらに、圧電アクチュエ−タ26の変形時には、
伸縮機構部25と硬性管23との連結位置は硬性管23
に対して不動であり、伸縮機構部25と圧電アクチュエ
−タ26との連結位置は硬性管23に対して軸方向に直
線変位する。ここで、伸縮機構部25は部分的に透孔3
2、32、32を通って硬性管23の外部に露出してい
る。
【0020】このような処置具21においては、硬性管
23内に圧電アクチュエ−タ26が収納され、この圧電
アクチュエ−タ26に処置ア−ム24が伸縮機構部25
を介して連結されている。そして、処置ア−ム24は圧
電アクチュエ−タ26を駆動源として動作し、処置作業
を行う。したがって、処置具21の全体の長さや曲り状
態に拘らず、処置ア−ム24の駆動を行うことができ
る。また、圧電アクチュエ−タ26が用いられているの
で、処置ア−ム24の微量の操作を高精度に行うことが
可能である。
23内に圧電アクチュエ−タ26が収納され、この圧電
アクチュエ−タ26に処置ア−ム24が伸縮機構部25
を介して連結されている。そして、処置ア−ム24は圧
電アクチュエ−タ26を駆動源として動作し、処置作業
を行う。したがって、処置具21の全体の長さや曲り状
態に拘らず、処置ア−ム24の駆動を行うことができ
る。また、圧電アクチュエ−タ26が用いられているの
で、処置ア−ム24の微量の操作を高精度に行うことが
可能である。
【0021】つぎに、本発明の第2の実施例の要部を図
3(a)及び(b)に基づいて説明する。なお、第1の
実施例と同様の部分については同一番号を付し、その説
明は省略する。
3(a)及び(b)に基づいて説明する。なお、第1の
実施例と同様の部分については同一番号を付し、その説
明は省略する。
【0022】図3(a)及び(b)は本発明の第2の実
施例を示しており、図3(a)中の符号41は処置具で
ある。この処置具41の先端部42は、密巻な線材から
なり可撓性を有するコイル部43と、このコイル部43
の先端側に接続された硬性管23とにより構成されてい
る。さらに、硬性管23内には第1及び第2の2つの急
速変形圧電アクチュエ−タ(以下、圧電アクチュエ−タ
と称する)26、44が収納されており、第1の圧電ア
クチュエ−タ26は第1の実施例と同様に処置ア−ム2
4の駆動源として利用される。
施例を示しており、図3(a)中の符号41は処置具で
ある。この処置具41の先端部42は、密巻な線材から
なり可撓性を有するコイル部43と、このコイル部43
の先端側に接続された硬性管23とにより構成されてい
る。さらに、硬性管23内には第1及び第2の2つの急
速変形圧電アクチュエ−タ(以下、圧電アクチュエ−タ
と称する)26、44が収納されており、第1の圧電ア
クチュエ−タ26は第1の実施例と同様に処置ア−ム2
4の駆動源として利用される。
【0023】また、第2の圧電アクチュエ−タ44は、
第1の圧電アクチュエ−タ26と同様に移動体45、圧
電素子46、および、慣性体47を有しており、第1の
圧電アクチュエ−タ26よりも硬性管23の基端側の部
位に配置されている。さらに、第2の圧電アクチュエ−
タ44においては、図3(b)に示すように、圧電素子
46が移動体45の中央部に対して偏倚した位置に連結
されている。
第1の圧電アクチュエ−タ26と同様に移動体45、圧
電素子46、および、慣性体47を有しており、第1の
圧電アクチュエ−タ26よりも硬性管23の基端側の部
位に配置されている。さらに、第2の圧電アクチュエ−
タ44においては、図3(b)に示すように、圧電素子
46が移動体45の中央部に対して偏倚した位置に連結
されている。
【0024】第2の圧電アクチュエ−タ44の慣性体4
7には直線的に延びるプレ−ト48の一端部が同心的に
連結されており、このプレ−ト48の他端部は、前記コ
イル部43の軸方向途中の部位に配置された金具49に
連結されている。金具49は径寸法をコイル部43の径
寸法と略等しく設定されており、コイル部43に同心的
に連結されている。さらに、プレ−ト48と金具49と
の連結位置は、金具49の中央部に対して偏倚した部位
に設定されている。そして、両圧電アクチュエ−タ2
6、44は圧電アクチュエ−タ制御装置50に接続され
ている。
7には直線的に延びるプレ−ト48の一端部が同心的に
連結されており、このプレ−ト48の他端部は、前記コ
イル部43の軸方向途中の部位に配置された金具49に
連結されている。金具49は径寸法をコイル部43の径
寸法と略等しく設定されており、コイル部43に同心的
に連結されている。さらに、プレ−ト48と金具49と
の連結位置は、金具49の中央部に対して偏倚した部位
に設定されている。そして、両圧電アクチュエ−タ2
6、44は圧電アクチュエ−タ制御装置50に接続され
ている。
【0025】第1の圧電アクチュエ−タ26が伸縮する
と、第1の実施例の場合と同様に伸縮機構25が第1の
圧電アクチュエ−タ26の状態に応じて伸縮し、処置ア
−ム24が開閉する。
と、第1の実施例の場合と同様に伸縮機構25が第1の
圧電アクチュエ−タ26の状態に応じて伸縮し、処置ア
−ム24が開閉する。
【0026】さらに、第2の圧電アクチュエ−タ44が
伸縮すると、プレ−ト48を介して金具49が押され
る。プレ−ト48と金具49との連結位置が金具49の
偏倚した部位に設定されているので、金具49の姿勢は
硬性管23に対して傾く。このため、コイル部43が金
具49の姿勢に応じて湾曲する。なお、コイル部43
は、第2の圧電アクチュエ−タ44の伸長した場合と収
縮した場合とで逆向きに湾曲する。
伸縮すると、プレ−ト48を介して金具49が押され
る。プレ−ト48と金具49との連結位置が金具49の
偏倚した部位に設定されているので、金具49の姿勢は
硬性管23に対して傾く。このため、コイル部43が金
具49の姿勢に応じて湾曲する。なお、コイル部43
は、第2の圧電アクチュエ−タ44の伸長した場合と収
縮した場合とで逆向きに湾曲する。
【0027】このような処置具41においては、第1の
圧電アクチュエ−タ26とともに第2の圧電アクチュエ
−タ44が設けられているので、第1の実施例と同様の
効果を奏するうえに、処置具41の全体の長さや曲り状
態に拘らず、処置具41の先端部を湾曲させることがで
きる。つぎに、本発明の第3の実施例を図4(a)に基
づいて説明する。なお、前述の各実施例と同様の部分に
ついては同一番号を付し、その説明は省略する。
圧電アクチュエ−タ26とともに第2の圧電アクチュエ
−タ44が設けられているので、第1の実施例と同様の
効果を奏するうえに、処置具41の全体の長さや曲り状
態に拘らず、処置具41の先端部を湾曲させることがで
きる。つぎに、本発明の第3の実施例を図4(a)に基
づいて説明する。なお、前述の各実施例と同様の部分に
ついては同一番号を付し、その説明は省略する。
【0028】図4(a)は本発明の第3の実施例を示し
ており、図中の符号61は処置具である。この処置具6
1は可撓管62の先端部に第1及び第2の2つの硬性管
23、63を有している。さらに、処置具61は先端側
に位置する第1の硬性管63からカップ式の処置ア−ム
64を露出させている。
ており、図中の符号61は処置具である。この処置具6
1は可撓管62の先端部に第1及び第2の2つの硬性管
23、63を有している。さらに、処置具61は先端側
に位置する第1の硬性管63からカップ式の処置ア−ム
64を露出させている。
【0029】さらに、可撓管は、密巻な線材からなり可
撓性を有するコイル部65a、65bを有しており、両
硬性管23、46の間の部位、及び、第2の硬性管46
よりも基端側の部位はこれらコイル部65a、65bに
より構成されている。また、両硬性管23、46はコイ
ル部65a、65bに連結されている。
撓性を有するコイル部65a、65bを有しており、両
硬性管23、46の間の部位、及び、第2の硬性管46
よりも基端側の部位はこれらコイル部65a、65bに
より構成されている。また、両硬性管23、46はコイ
ル部65a、65bに連結されている。
【0030】第1の硬性管23には、前記第1の実施例
と同様にア−ム開閉用の急速変形圧電アクチュエ−タ
(図示しない)が備えられており、一方、第2の硬性管
46には2つのコイル部湾曲用の急速変形圧電アクチュ
エ−タ(以下、湾曲用アクチュエ−タと称する)66、
66が備えられている。
と同様にア−ム開閉用の急速変形圧電アクチュエ−タ
(図示しない)が備えられており、一方、第2の硬性管
46には2つのコイル部湾曲用の急速変形圧電アクチュ
エ−タ(以下、湾曲用アクチュエ−タと称する)66、
66が備えられている。
【0031】第2の硬性管46内には湾曲用アクチュエ
−タ66、66のための収納室67、67が軸対称に形
成されており、湾曲用アクチュエ−タ66、66は収納
室67、67内に収納され、移動体68、68を収納室
67、67の内周面に接触させている。さらに、湾曲用
アクチュエ−タ66、66はアクチュエ−タ制御装置6
9に接続されており、アクチュエ−タ制御装置69によ
り独立に駆動される。また、アクチュエ−タ制御装置6
9には、前記ア−ム開閉用の急速変形圧電アクチュエ−
タも接続されている。
−タ66、66のための収納室67、67が軸対称に形
成されており、湾曲用アクチュエ−タ66、66は収納
室67、67内に収納され、移動体68、68を収納室
67、67の内周面に接触させている。さらに、湾曲用
アクチュエ−タ66、66はアクチュエ−タ制御装置6
9に接続されており、アクチュエ−タ制御装置69によ
り独立に駆動される。また、アクチュエ−タ制御装置6
9には、前記ア−ム開閉用の急速変形圧電アクチュエ−
タも接続されている。
【0032】また、湾曲用アクチュエ−タ66、66の
移動体68、68にはワイヤ70、70の一端部が接続
されており、このワイヤ70、70の他端部は第1の硬
性管23の先端側の部位に外側から接続されている。
移動体68、68にはワイヤ70、70の一端部が接続
されており、このワイヤ70、70の他端部は第1の硬
性管23の先端側の部位に外側から接続されている。
【0033】例えば、上記湾曲用アクチュエ−タ66、
66のうちのいずれかが収縮すると対応するワイヤ7
0、70を介して第1の硬性管23に力が伝達され、第
1の硬性管23が外向きに引張られる。そして、第1の
硬性管23に連結されたコイル部65aが湾曲し、処置
具61の先端が所望の方向に向けられる。そして、湾曲
用アクチュエ−タ66、66の選択に伴い、処置ア−ム
64の湾曲の向きが決まる。さらに、湾曲用アクチュエ
−タ66、66が伸長して元の大きさに復帰すると、処
置ア−ム64の向きは湾曲前の状態に戻る。また、一方
の湾曲用アクチュエ−タ66を駆動せずに他方の湾曲用
アクチュエ−タ66のみを伸長させても、コイル部65
aは湾曲する。
66のうちのいずれかが収縮すると対応するワイヤ7
0、70を介して第1の硬性管23に力が伝達され、第
1の硬性管23が外向きに引張られる。そして、第1の
硬性管23に連結されたコイル部65aが湾曲し、処置
具61の先端が所望の方向に向けられる。そして、湾曲
用アクチュエ−タ66、66の選択に伴い、処置ア−ム
64の湾曲の向きが決まる。さらに、湾曲用アクチュエ
−タ66、66が伸長して元の大きさに復帰すると、処
置ア−ム64の向きは湾曲前の状態に戻る。また、一方
の湾曲用アクチュエ−タ66を駆動せずに他方の湾曲用
アクチュエ−タ66のみを伸長させても、コイル部65
aは湾曲する。
【0034】このような処置具61においては、第2の
硬性管46内に2つの湾曲用アクチュエ−タ66、66
が設けられ、これら湾曲用アクチュエ−タ66、66と
第1の硬性管23とがワイヤ70、70を介して連結さ
れている。したがって、湾曲用アクチュエ−タ66、6
6を選択的に駆動すれば、処置具61を所定の方向に精
度よく湾曲させることができる。
硬性管46内に2つの湾曲用アクチュエ−タ66、66
が設けられ、これら湾曲用アクチュエ−タ66、66と
第1の硬性管23とがワイヤ70、70を介して連結さ
れている。したがって、湾曲用アクチュエ−タ66、6
6を選択的に駆動すれば、処置具61を所定の方向に精
度よく湾曲させることができる。
【0035】なお、図4(b)に示すような回転機構部
71を上述の処置具61に組込めば、処置具61の先端
部を回転させることができ、処置ア−ム64を任意の方
向へ向けることが可能になる。
71を上述の処置具61に組込めば、処置具61の先端
部を回転させることができ、処置ア−ム64を任意の方
向へ向けることが可能になる。
【0036】つまり、図4(b)中においては、第1の
硬性管72は処置具61の本体側に対して同心的に枢支
されている。さらに、第1の硬性管72内に回転用の急
速変形圧電アクチュエ−タ(以下、回転用アクチュエ−
タと称する)73が配置されており、この回転用アクチ
ュエ−タ73はその軸方向を第1の硬性管72の接線方
向に向けている。さらに、回転用アクチュエ−タ73の
移動体は第1の硬性管72により構成されており、回転
用アクチュエ−タ73の圧電素子74及び慣性体75は
第1の硬性管72の径方向に偏倚した部位に位置してい
る。
硬性管72は処置具61の本体側に対して同心的に枢支
されている。さらに、第1の硬性管72内に回転用の急
速変形圧電アクチュエ−タ(以下、回転用アクチュエ−
タと称する)73が配置されており、この回転用アクチ
ュエ−タ73はその軸方向を第1の硬性管72の接線方
向に向けている。さらに、回転用アクチュエ−タ73の
移動体は第1の硬性管72により構成されており、回転
用アクチュエ−タ73の圧電素子74及び慣性体75は
第1の硬性管72の径方向に偏倚した部位に位置してい
る。
【0037】回転用アクチュエ−タ72の変形に伴い、
第1の硬性管23が接線方向に押引され、処置具61の
本体に対して回動変位する。そして、第1の硬性管23
の回動角度範囲は例えば90度に設定されている。した
がって、処置具61の2方向への湾曲と第1の硬性管2
3の90度以内の回転とを組合わせれば、処置ア−ム6
4を任意の方向へ自由に向けることができる。つぎに、
本発明の第4の実施例を図5に基づいて説明する。
第1の硬性管23が接線方向に押引され、処置具61の
本体に対して回動変位する。そして、第1の硬性管23
の回動角度範囲は例えば90度に設定されている。した
がって、処置具61の2方向への湾曲と第1の硬性管2
3の90度以内の回転とを組合わせれば、処置ア−ム6
4を任意の方向へ自由に向けることができる。つぎに、
本発明の第4の実施例を図5に基づいて説明する。
【0038】図5中の符号81は処置具としての硬性鏡
であり、この硬性鏡81は観察手段を備えたタイプのも
のである。硬性鏡81の1つのチャンネル82の先端部
には急速変形圧電アクチュエ−タ(以下、圧電アクチュ
エ−タと称する)83が収納されている。
であり、この硬性鏡81は観察手段を備えたタイプのも
のである。硬性鏡81の1つのチャンネル82の先端部
には急速変形圧電アクチュエ−タ(以下、圧電アクチュ
エ−タと称する)83が収納されている。
【0039】圧電アクチュエ−タ83が移動体84をチ
ャンネル82の内周面に接するとともに、圧電素子85
に骨用のみ型プロ−ブ(以下、プロ−ブと称する)86
が後向きに連結されている。さらに、圧電アクチュエ−
タ83は圧電アクチュエ−タ制御装置87に接続されて
いる。また、処置作業の対象となる骨88に電極89が
取付けられ、プロ−ブ86と電極89とは高周波電源9
0に接続されている。
ャンネル82の内周面に接するとともに、圧電素子85
に骨用のみ型プロ−ブ(以下、プロ−ブと称する)86
が後向きに連結されている。さらに、圧電アクチュエ−
タ83は圧電アクチュエ−タ制御装置87に接続されて
いる。また、処置作業の対象となる骨88に電極89が
取付けられ、プロ−ブ86と電極89とは高周波電源9
0に接続されている。
【0040】この処置具81においては、プロ−ブ86
と骨88との間に高周波電圧が印加されるとともに、圧
電アクチュエ−タ83が伸縮してプロ−ブ86を進退さ
せる。そして、骨88の所定の部位がプロ−ブ86によ
って削られる。そして、この処置具81によれば、骨8
8に対する処置を高精度に行うことができる。本発明の
第5の実施例を図6に基づいて説明する。
と骨88との間に高周波電圧が印加されるとともに、圧
電アクチュエ−タ83が伸縮してプロ−ブ86を進退さ
せる。そして、骨88の所定の部位がプロ−ブ86によ
って削られる。そして、この処置具81によれば、骨8
8に対する処置を高精度に行うことができる。本発明の
第5の実施例を図6に基づいて説明する。
【0041】図6中の符号91は処置具としての硬性鏡
であり、この硬性鏡81は観察手段を備えたタイプのも
のである。硬性鏡91の1つのチャンネル92の先端部
に急速変形圧電アクチュエ−タ(以下、圧電アクチュエ
−タと称する)93が収納されており、この圧電アクチ
ュエ−タ93は移動体94を後方に向けるとともに圧電
アクチュエ−タ制御装置95に接続されている。さら
に、圧電アクチュエ−タ93の慣性体93aにはレゼク
ト電極96が突設されるとともに、このレゼクト電極9
6は高周波を発生させる焼灼装置97に接続されてい
る。
であり、この硬性鏡81は観察手段を備えたタイプのも
のである。硬性鏡91の1つのチャンネル92の先端部
に急速変形圧電アクチュエ−タ(以下、圧電アクチュエ
−タと称する)93が収納されており、この圧電アクチ
ュエ−タ93は移動体94を後方に向けるとともに圧電
アクチュエ−タ制御装置95に接続されている。さら
に、圧電アクチュエ−タ93の慣性体93aにはレゼク
ト電極96が突設されるとともに、このレゼクト電極9
6は高周波を発生させる焼灼装置97に接続されてい
る。
【0042】この処置具91においては、レゼクト電極
96に高周波が印加されるとともに圧電アクチュエ−タ
93が伸縮してレゼクト電極96を進退させ、前立線肥
大部98が焼灼される。そして、この処置具91によれ
ば、前立線肥大部98の処置を精度良く行うことがで
き、さらに、削り過ぎにより前立線筋層が傷くことがな
い。本発明の第6の実施例の処置具101を図7に基づ
いて説明する。
96に高周波が印加されるとともに圧電アクチュエ−タ
93が伸縮してレゼクト電極96を進退させ、前立線肥
大部98が焼灼される。そして、この処置具91によれ
ば、前立線肥大部98の処置を精度良く行うことがで
き、さらに、削り過ぎにより前立線筋層が傷くことがな
い。本発明の第6の実施例の処置具101を図7に基づ
いて説明する。
【0043】図7に示すように、工業用内視鏡102の
先端に硬性管103が設けられており、この硬性管10
3の中に圧電アクチュエ−タ制御装置104に接続され
た急速変形圧電アクチュエ−タ(以下、圧電アクチュエ
−タと称する)105が収納されている。圧電アクチュ
エ−タ105の移動体106は前方に向けられており、
外周面を硬性管103の内周面に接している。さらに、
移動体106には、例えば管内壁の傷や錆を削り落とす
グラインダ107が連結軸108を介して連結されてい
る。
先端に硬性管103が設けられており、この硬性管10
3の中に圧電アクチュエ−タ制御装置104に接続され
た急速変形圧電アクチュエ−タ(以下、圧電アクチュエ
−タと称する)105が収納されている。圧電アクチュ
エ−タ105の移動体106は前方に向けられており、
外周面を硬性管103の内周面に接している。さらに、
移動体106には、例えば管内壁の傷や錆を削り落とす
グラインダ107が連結軸108を介して連結されてい
る。
【0044】また、硬性管103の外周部にはベアリン
グ109、109が設けられており、硬性管103は軸
心まわりに回転する。さらに、硬性管103にはモ−タ
110の連結ワイヤ111が連結されており、モ−タ1
10は図示しない手元操作部内に設けられている。
グ109、109が設けられており、硬性管103は軸
心まわりに回転する。さらに、硬性管103にはモ−タ
110の連結ワイヤ111が連結されており、モ−タ1
10は図示しない手元操作部内に設けられている。
【0045】この処置具101においては、硬性管10
3がモ−タ110により駆動されて回転し、圧電アクチ
ュエ−タ105及びグラインダ107とを一体に回転さ
せる。さらに、圧電アクチュエ−タ105が変形し、グ
ラインダ107を進退させる。この処置具101によれ
ば、グラインダ107を前後方向へ高精度に移動させる
ことができ、操作性が向上する。
3がモ−タ110により駆動されて回転し、圧電アクチ
ュエ−タ105及びグラインダ107とを一体に回転さ
せる。さらに、圧電アクチュエ−タ105が変形し、グ
ラインダ107を進退させる。この処置具101によれ
ば、グラインダ107を前後方向へ高精度に移動させる
ことができ、操作性が向上する。
【0046】なお、本発明は、要旨を逸脱しない範囲で
種々に変形することが可能である。例えば、図8(a)
に示すように、1つのチャンネル121内に圧電アクチ
ュエ−タ122を設け、この圧電アクチュエ−タ122
の移動体122aにコイル123を巻装して電磁石12
4を形成することが考えられる。図8(a)において、
圧電アクチュエ−タ122とコイル123が制御装置1
25に接続されるとともに、圧電アクチュエ−タ122
の移動体124の形状は例えば半円状に設定されてい
る。ここで、図8(b)は(a)中のIV−VI線に沿った
断面図である。
種々に変形することが可能である。例えば、図8(a)
に示すように、1つのチャンネル121内に圧電アクチ
ュエ−タ122を設け、この圧電アクチュエ−タ122
の移動体122aにコイル123を巻装して電磁石12
4を形成することが考えられる。図8(a)において、
圧電アクチュエ−タ122とコイル123が制御装置1
25に接続されるとともに、圧電アクチュエ−タ122
の移動体124の形状は例えば半円状に設定されてい
る。ここで、図8(b)は(a)中のIV−VI線に沿った
断面図である。
【0047】電磁石124のスイッチがOFFしている
時に処置ア−ム126の進退は手動操作により行われる
が、電磁石124のスイッチがONしているときには、
硬性管127及び圧電アクチュエ−タ122と処置ア−
ム126とが連結され、圧電アクチュエ−タの伸縮に伴
って処置ア−ム126が進退する。このような処置具1
28によれば、処置ア−ム126の操作を精度良く、且
つ、手動と自動とに切換えながら行うことができる。な
お、コイルの巻方向は適当な磁力が発生するよう設定さ
れている。
時に処置ア−ム126の進退は手動操作により行われる
が、電磁石124のスイッチがONしているときには、
硬性管127及び圧電アクチュエ−タ122と処置ア−
ム126とが連結され、圧電アクチュエ−タの伸縮に伴
って処置ア−ム126が進退する。このような処置具1
28によれば、処置ア−ム126の操作を精度良く、且
つ、手動と自動とに切換えながら行うことができる。な
お、コイルの巻方向は適当な磁力が発生するよう設定さ
れている。
【0048】また、図9に示すように、空気等の気体を
充填したバル−ン131を用いることも考えられる。つ
まり、1つのチャンネル121内に圧電アクチュエ−タ
132が設けられており、この圧電アクチュエ−タ13
2の前部にバル−ン131が取付けられている。そし
て、圧電アクチュエ−タ132と処置ア−ム126とが
バル−ン131を介して連結されている。
充填したバル−ン131を用いることも考えられる。つ
まり、1つのチャンネル121内に圧電アクチュエ−タ
132が設けられており、この圧電アクチュエ−タ13
2の前部にバル−ン131が取付けられている。そし
て、圧電アクチュエ−タ132と処置ア−ム126とが
バル−ン131を介して連結されている。
【0049】送気チュ−ブ133を介して空気がバル−
ン131に送られ、バル−ンが膨らみ、圧電アクチュエ
−タ132が進退して処置ア−ム126を進退させる。
この処置具134によれば、処置作業を手動でも自動で
も行うことができる。つぎに、本発明の第7の実施例を
図10に基づいて説明する。
ン131に送られ、バル−ンが膨らみ、圧電アクチュエ
−タ132が進退して処置ア−ム126を進退させる。
この処置具134によれば、処置作業を手動でも自動で
も行うことができる。つぎに、本発明の第7の実施例を
図10に基づいて説明する。
【0050】図10は本発明の第7の実施例を示してお
り、図中の符号141は処置具である。この処置具14
1は椎体142…の間の椎間板143…にシ−ス144
を刺入するもので、シ−ス144の軸方向途中の部位の
周囲に急速変形圧電アクチュエ−タ(以下、圧電アクチ
ュエ−タと称する)145が設けられている。
り、図中の符号141は処置具である。この処置具14
1は椎体142…の間の椎間板143…にシ−ス144
を刺入するもので、シ−ス144の軸方向途中の部位の
周囲に急速変形圧電アクチュエ−タ(以下、圧電アクチ
ュエ−タと称する)145が設けられている。
【0051】さらに、圧電アクチュエ−タ145を覆う
ケ−シング146は支柱147に取付けられており、支
柱147は、例えば患者ベット等のように患者に対して
不動な物に固定されている。また、シ−ス144の基端
側の端部にはヘッド部148が設けられている。
ケ−シング146は支柱147に取付けられており、支
柱147は、例えば患者ベット等のように患者に対して
不動な物に固定されている。また、シ−ス144の基端
側の端部にはヘッド部148が設けられている。
【0052】この処置具141においては、圧電アクチ
ュエ−タ145が駆動されて伸長し、シ−ス144が体
内に刺入されてシ−ス144の先端が髄核149に到達
する。ここで、図11中の符号150は神経を示してい
る。
ュエ−タ145が駆動されて伸長し、シ−ス144が体
内に刺入されてシ−ス144の先端が髄核149に到達
する。ここで、図11中の符号150は神経を示してい
る。
【0053】上述の処置具141によれば、シ−ス14
4の刺入に圧電アクチュエ−タ145が用いられている
ので、シ−ス144の微妙な進退運動が可能であり、シ
−ス144の刺入長さを微妙にコントロ−ルできる。そ
して、シ−ス144の刺入を正確に且つ安全に行うこと
ができる。つぎに、本発明の第8の実施例を図11に基
づいて説明する。なお、第7の実施例と同様の部分につ
いては同一番号を付し、その説明は省略する。
4の刺入に圧電アクチュエ−タ145が用いられている
ので、シ−ス144の微妙な進退運動が可能であり、シ
−ス144の刺入長さを微妙にコントロ−ルできる。そ
して、シ−ス144の刺入を正確に且つ安全に行うこと
ができる。つぎに、本発明の第8の実施例を図11に基
づいて説明する。なお、第7の実施例と同様の部分につ
いては同一番号を付し、その説明は省略する。
【0054】図11は本発明の第8の実施例を示してお
り、図中の符号161は処置具である。この処置具16
1においては、圧電アクチュエ−タ145を制御するコ
ントロ−ラ162が備えられ、このコントロ−ラ162
に脳波検出用の信号線163が接続されている。そし
て、圧電アクチュエ−タ145は患者の脳波の変化を検
知しながら駆動される。
り、図中の符号161は処置具である。この処置具16
1においては、圧電アクチュエ−タ145を制御するコ
ントロ−ラ162が備えられ、このコントロ−ラ162
に脳波検出用の信号線163が接続されている。そし
て、圧電アクチュエ−タ145は患者の脳波の変化を検
知しながら駆動される。
【0055】この処置具161においては、例えばシ−
ス144が誤って神経150に触れた場合にあらわれる
脳波の変化がコントロ−ラ162に入力され、コントロ
−ラ162が圧電アクチュエ−タ145の動作を止め
る。したがって、第7の実施例と同様の効果を奏する他
に、例えば神経破断などの重大な過失に陥る前にシ−ス
144の刺入を停止でき、より正確で安全な処置作業を
行うことが可能である。
ス144が誤って神経150に触れた場合にあらわれる
脳波の変化がコントロ−ラ162に入力され、コントロ
−ラ162が圧電アクチュエ−タ145の動作を止め
る。したがって、第7の実施例と同様の効果を奏する他
に、例えば神経破断などの重大な過失に陥る前にシ−ス
144の刺入を停止でき、より正確で安全な処置作業を
行うことが可能である。
【0056】
【発明の効果】以上説明したように本発明は、処置作業
部と、この処置作業部の駆動力を発生させる急速変形圧
電アクチュエ−タと、この急速変形圧電アクチュエ−タ
をガイドする管状体とを備えたものである。したがって
本発明は、長さや曲り状態等に関係なく精度良く処置作
業を行えるという効果がある。
部と、この処置作業部の駆動力を発生させる急速変形圧
電アクチュエ−タと、この急速変形圧電アクチュエ−タ
をガイドする管状体とを備えたものである。したがって
本発明は、長さや曲り状態等に関係なく精度良く処置作
業を行えるという効果がある。
【図1】本発明の第1の実施例の要部を示す概略構成
図。
図。
【図2】(A)は急速変形圧電アクチュエ−タの前進時
の原理を順に示す説明図、 (B)は同じく急速変形圧電アクチュエ−タの後退時の
原理を順に示す説明図。
の原理を順に示す説明図、 (B)は同じく急速変形圧電アクチュエ−タの後退時の
原理を順に示す説明図。
【図3】(a)は本発明の第2の実施例の要部を示す概
略構成図、(b)は第2のアクチュエ−タの断面図。
略構成図、(b)は第2のアクチュエ−タの断面図。
【図4】(a)は本発明の第3の実施例の要部を示す概
略構成図、(b)は変形例を示す正面図。
略構成図、(b)は変形例を示す正面図。
【図5】本発明の第4の実施例の要部を示す概略構成
図。
図。
【図6】本発明の第5の実施例の要部を示す概略構成
図。
図。
【図7】本発明の第6の実施例の要部を示す概略構成
図。
図。
【図8】変形例を示す概略構成図。
【図9】変形例を示す概略構成図。
【図10】本発明の第7の実施例の要部を示す概略構成
図。
図。
【図11】本発明の第8の実施例の要部を示す概略構成
図。
図。
【図12】一般の生検鉗子を示す全体の側面図。
【図13】一般の生検鉗子の先端部分の側面図。
【図14】一般の生検鉗子の先端部分の平断面図。
【図15】椎間板内にシ−スを刺入するための従来の方
法を示す説明図。
法を示す説明図。
21…処置具、22…可撓管(管状体)、24…処置ア
−ム(処置作業部)、26…急速変形圧電アクチュエ−
タ。
−ム(処置作業部)、26…急速変形圧電アクチュエ−
タ。
───────────────────────────────────────────────────── フロントページの続き (72)発明者 池田 裕一 東京都渋谷区幡ケ谷2丁目43番2号 オリ ンパス光学工業株式会社内 (72)発明者 橋口 敏彦 東京都渋谷区幡ケ谷2丁目43番2号 オリ ンパス光学工業株式会社内 (72)発明者 塚越 壯 東京都渋谷区幡ケ谷2丁目43番2号 オリ ンパス光学工業株式会社内 (72)発明者 浜田 雅巳 東京都渋谷区幡ケ谷2丁目43番2号 オリ ンパス光学工業株式会社内 (72)発明者 綱川 誠 東京都渋谷区幡ケ谷2丁目43番2号 オリ ンパス光学工業株式会社内 (72)発明者 阿部 匡志 東京都渋谷区幡ケ谷2丁目43番2号 オリ ンパス光学工業株式会社内 (72)発明者 倉本 聖治 東京都渋谷区幡ケ谷2丁目43番2号 オリ ンパス光学工業株式会社内 (72)発明者 鈴木 克哉 東京都渋谷区幡ケ谷2丁目43番2号 オリ ンパス光学工業株式会社内 (72)発明者 青木 義安 東京都渋谷区幡ケ谷2丁目43番2号 オリ ンパス光学工業株式会社内 (72)発明者 梅山 広一 東京都渋谷区幡ケ谷2丁目43番2号 オリ ンパス光学工業株式会社内
Claims (1)
- 【請求項1】 処置作業部と、この処置作業部の駆動力
を発生させる急速変形圧電アクチュエ−タと、この急速
変形圧電アクチュエ−タをガイドする管状体とを備えた
ことを特徴とする処置具。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP3287769A JPH05123325A (ja) | 1991-11-01 | 1991-11-01 | 処置具 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP3287769A JPH05123325A (ja) | 1991-11-01 | 1991-11-01 | 処置具 |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH05123325A true JPH05123325A (ja) | 1993-05-21 |
Family
ID=17721517
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP3287769A Withdrawn JPH05123325A (ja) | 1991-11-01 | 1991-11-01 | 処置具 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH05123325A (ja) |
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