JPH06285009A - Curving device for flexible tube-like inserting implement - Google Patents

Abstract

PURPOSE:To provide the curving device for a flexible tube-like inserting implement, by which an operator of an endoscope can operate his endoscope, and also, can execute easily a delicate operation in the flexible tube-like inserting implement, and for instance, snipeability to a target part of a conduit line of a thin diameter, etc., is excellent. CONSTITUTION:In a handy side operating part 11 of a master scope 1, a slave scope curving operation SW 44 is provided, therefore, an operator of an endoscope executes an operation of its endosope, and also, a curving operation of a slave scope 2 can be executed by the operator, as well. Therefore, in accordance with an operating state of the master scope 1, a delicate operation of the slave scope 2 can be executed easily, and snipeability to a target part, for instance, a conduit line of a thin diameter can be improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement of a bending device for a flexible tubular insertion tool such as an endoscope, a catheter or a treatment tool which is inserted into a body cavity for observation treatment.

[0002]

2. Description of the Related Art In recent years, by inserting an elongated insertion portion into a body cavity, the organ in the body cavity can be observed and, if necessary,
2. Description of the Related Art Medical endoscopes that can perform various types of therapeutic treatments using a treatment instrument inserted in a treatment instrument channel are widely used.

Boilers, gas turbine engines,
BACKGROUND ART Industrial endoscopes are widely used for observing and inspecting scratches and corrosion inside pipes of chemical plants and the body of automobile engines.

Further, various electronic endoscopes using a solid-state image pickup device such as a charge coupled device (CCD) as an image pickup means are also used.

By the way, Japanese Utility Model Publication No. 2-114002 discloses a parent-child endoscope system as an approach to diagnosis of the biliary and pancreatic duct system. That is, after inserting the parent scope up to the duodenum, a small-diameter child scope is inserted into the insertion channel provided in the parent scope, and the child scope is inserted into the common bile duct. At this time, the child scope is projected from the tip of the parent scope that has been inserted up to the duodenum and inserted into the bile duct to observe and treat the inside of the lumen. In this procedure, there are two operators, a parent scope operator (first operator) and a child scope operator (second operator).
A name is required, and each operator will operate each scope.

Further, the flexible tubular insertion tool to be inserted into the parent scope is not limited to the child scope, but may be a catheter having a small diameter or a treatment tool. These tubular insertion tools may be inserted from the duodenum into the gallbladder, the pancreatic duct, or the like depending on the subject to be inspected.

[0007]

In the conventional endoscope system, the bending operation of the child scope protruding from the parent scope inserted up to the duodenum operates the bending operation portion provided in the operation portion of the child scope. Therefore, the second operator holding the child scope operation unit will perform the operation.

Further, the insertion / retraction operation of the child scope is performed by the first operator holding the parent scope while holding the insertion portion of the child scope with the forceps insertion port of the parent scope. For this reason, the total operation of the child scope does not work unless the operation timings of the first and second operators are matched, and especially in the narrow lumen such as the bile duct or pancreatic duct, the visual field is positioned. Requires a delicate operation. Therefore, these operations require skill and it is strongly desired to improve the sniper and operability of the child scope.

The present invention has been made in view of the above circumstances. In addition to the operation of the endoscope by the operator of the endoscope, delicate operation of the flexible tubular insertion tool can be easily performed. It is an object of the present invention to provide a bending device for a flexible tubular insertion tool, which is excellent in aiming at a target portion, for example, a small-diameter conduit or the like.

[0010]

SUMMARY OF THE INVENTION The present invention provides an endoscope having an insertion portion to be inserted into the body, an operating portion on the proximal side connected to the insertion portion, and a conduit that is inserted through at least the inside of the insertion portion. A mirror, a flexible tubular insert that can be inserted into the duct of the endoscope, and the inside of the flexible tubular insert,
Alternatively, at least one of the outside is provided with a bending drive means for bending the flexible tubular insertion tool, a bending control means for controlling the bending of the bending drive means, and a bending amount or a bending direction of the bending drive means. At least one of the instructions is given to the bending control means, and the bending operation instruction means is provided on the proximal side operation portion of the endoscope.

[0011]

In the structure of the present invention, since the bending operation instructing means is provided in the proximal operation portion of the endoscope, the operator of the endoscope operates the endoscope in addition to the operation. The bending operation of the tubular insertion tool can also be performed by the operator. Therefore, the flexible tubular insertion tool can be easily delicately operated according to the operation state of the endoscope, and the aiming property for a target portion, for example, a small-diameter conduit can be improved.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 4 relate to a first embodiment of the present invention, and FIG. 1 is an overall schematic configuration diagram of an endoscope system, FIG.
Is a configuration diagram of an operation unit of the parent scope, FIG. 3 is a schematic connection configuration diagram of the endoscope system, and FIG. 4 is an explanatory diagram related to operation of the parent-child scope in the duodenum, bile duct and the like.

FIG. 1 shows an endoscope system having a bending mechanism for a flexible tubular inserter according to the present invention. For example, an endoscope 1 for the duodenum and a flexible tubular inserter such as the biliary tract. It has the endoscope 2 for. These endoscopes are so-called parent-child scopes.

The duodenoscope 1 (hereinafter referred to as a parent scope) is detachably connected to the light source / processor device 3. The light source / processor device 3
Is to supply illumination light to the parent scope 1, process a signal imaged by an imaging device (not shown) of the parent scope 1, and display an endoscopic image on the monitor 4. Further, the parent scope 1 is connected to the parent bending control unit 5 via the universal cable 12, the light source / processor device 3, and the signal cable 45. The parent bending control unit 5 controls the bending of a bending portion of the parent scope 1 described later.

On the other hand, the biliary endoscope 2 (hereinafter referred to as a parent scope) is detachably connected to the light source / processor device 6. The light source / processor device 6 supplies illumination light to the child scope 2 and processes a signal picked up by an image pickup device (not shown) of the child scope to display an endoscopic image on the monitor 7. Further, the child scope 2 has a universal cable 22,
The light source / processor device 6 and the signal cable 46 are connected to the child bending control unit 8 as bending control means. Then, the child bending control unit 8
Is for controlling the bending of a bending portion of the child scope 2 described later in accordance with a bending instruction from the parent scope 1 side.

The child scope 2 can be inserted with a forceps or the like through a channel described later.

The parent scope 1 is connected to the child bending control unit 8 of the child scope 2 via the universal cable 12, the light source / processor device 3 and the signal cable 47.

The parent scope 1 has a long insertion portion 10
And an operation section 11 on the hand side that is connected to the insertion section 10,
It has a universal cable 12 extending from a side portion of the operation portion 11. The insertion portion 10 is composed of a hard tip portion 13, a bendable bending portion 14, and a flexible tube portion 15 having flexibility in order from the tip side. The universal cable 12 is connected to the light source via the connector.
It is adapted to be detachably connected to the processor device 3.

As shown in FIG. 3, the parent scope 1 has a forceps raising port 1 provided at a distal end portion 13 of an insertion portion 10.
6, a forceps insertion opening 1 provided on the proximal end side of the operation portion 11
Up to 7, a pipe line (hereinafter referred to as a channel) 18 that has penetrated is inserted. The child scope 2 can be inserted into the channel 18. The operation section 11 includes a bending operation switch 43 for a parent scope (hereinafter abbreviated as a parent SW) 43 and a bending operation switch for a child scope as a bending operation instruction unit (hereinafter abbreviated as a child SW). 44) are provided.

The parent bending SW 43 outputs a command signal for bending the bending portion 14 of the parent scope 1. The child bending SW 44 outputs a command signal for bending the bending portion 23 at the tip of the child scope 2.

The child scope 2 has a small-diameter and flexible insertion portion 20, a hand-side operation portion 21 connected to the insertion portion 20, and a universal cable extending from the side portion of the operation portion 21. 22 and 22. The insertion part 20
Has the bendable bending portion 23 on the tip side. The universal cable 22 is detachably connected to the light source / processor device 6 via a connector.

In the operation section 2 of the parent scope 1, FIG.
An electric motor 24 is provided as shown in FIG. On the other hand, the wire 2 is attached to the tip of the bending portion 14 of the insertion portion 10.
One end of each of the wires 5, 25 is fixed, and the wires 25, 25
Has been inserted through the insertion section 10 up to the hand side operation section 11. The other end of each of the wires 25, 25 has a hand side operation unit 1
1, the winding portion 14 is wound around a pulley (not shown) provided on the rotation shaft of the motor 24, and the bending portion 14 is bent by the rotation operation of the motor 24.

In addition, as shown in FIG. 3, an electric motor 26 as a bending drive means is provided in the operating portion 21 of the child scope 2. On the other hand, one end of each of the wires 27, 27 is fixed to the distal end of the bending portion 23 of the insertion section 20, and the wires 27, 27 are inserted through the insertion section 20 up to the hand side operation section 21. The wire 27,
The other end of 27 is connected to the motor 2 in the hand side operation unit 21.
It is wound around a pulley (not shown) provided on the rotating shaft of 6,
The bending portion 23 is bent by the rotating operation of the motor 26.

The bending operation command signal output from the parent bending SW 43 of the parent scope 1 is the universal cable 12, the parent light source / processor device 3 and the signal cable 4.
It is adapted to be transmitted to the parent bending control unit 5 via 5. The parent bending control unit 5 supplies a drive current corresponding to the bending operation command signal to the motor 24 via the signal cable 45, the parent light source / processor device 3, and the universal cable 12. There is. The motor 24 is driven by the drive current and its rotation is controlled.

The curving operation command signal output from the curving SW 44 for the child of the parent scope 1 is the universal cable 12, the light source / processor device 3 for the parent, and the signal cable 4.
It is adapted to be transmitted to the child bending control unit 8 via 7. The child bending control unit 8 supplies a drive current according to the bending operation command signal to the motor 26 via the signal cable 46, the child light source / processor device 6 and the universal cable 22. There is. The motor 26 is driven by the drive current and its rotation is controlled.

The parent scope 1 and the child scope 2 are
Optical system transmission means, for example, light guides 27 and 28 are inserted respectively. These light guides 27 and 28 are
The illumination light from each light source / processor device is transmitted. Illumination light is emitted to the subject from the tip of each endoscope.

The subject image picked up by the image pickup device of the parent scope 1 is projected on the monitor 4 through the parent light source / processor device 3.

Similarly, in the child scope 2, the subject image picked up by the image pickup element is also displayed on the monitor 7.

Here, the end portions of the universal cables 12, 22 of the scopes 1, 2 and the light source / processor device 3,
The connection with 6 is a single body or a two-body type in which an optical system connection and an electric system connection are separated, and in each case, each connection in the electric system is collectively made on the device side. Therefore, it is possible to reduce the wiring of the operator and the routing of the pipeline, which facilitates the operation.

Further, the light source / processor devices 12, 2
Since the 2 and the bending control units 5 and 8 do not need to be frequently attached and detached, they are not much different from the setting work in the conventional endoscope system. Therefore, setting such as preparation of the device can be performed in the same manner as in the conventional case.

The motors 24 and 26 provided in the operation units 11 and 21 may be electromagnetic motors, ultrasonic motors or the like.

In order to prevent the operator of the parent scope 1 from confusing the bending operation of the parent and child scopes,
When one of the bending operations is performed, an erroneous operation can be prevented by emitting a dial tone that notifies the operator of the operation.
Alternatively, each scope may be configured to emit a dial tone with a different frequency.

Alternatively, in the operation unit 11 of the parent scope 1, 1
It is also possible to provide a bending switch of the set and a switching means (not shown) capable of selecting the operation of each of the parent scope 1 and the child scope 2.

Next, the operation procedure of this embodiment will be described. With the above configuration, the first operator operates the parent scope 1
The parent scope 1 is inserted from the patient's mouth to the duodenum 31 shown in FIG. At that time, the first operator operates the parent bending SW 43 provided on the operation unit 11 of the parent scope 1 to bend the parent scope bending portion 14 while observing the inside of the lumen or up to the duodenum 31. Insert.

Then, with the assistance of the second operator, the insertion portion 20 of the child scope 2 is moved to the forceps insertion opening 17 of the parent scope 1.
From the forceps raising opening 16 of the parent scope 1. At this time, the first operator bends the bending portion 14 of the parent scope 1, aligns the forceps raising opening 16 toward the teat opening 32, and inserts the tip of the child scope 2 into the teat opening 32.

After the insertion, the first operator, while performing the bending operation of the child scope 2 by the bending SW44 for the child, which is provided in the parent scope operation section 11, inserts the child scope 2 into the bile duct. 33 or inserted into the pancreatic duct. The observation and treatment of the inside of the bile duct 33 or the pancreatic duct are performed while confirming the monitor 7 on which the endoscopic image of the child scope 2 is displayed and the X-ray fluoroscopic image. At this time, the first
The operator holds the parent scope operating unit 11 with the left hand, and performs the bending operation of the child scope 2 and the bending operation of the parent scope 1 as necessary with the finger of the left hand. On the other hand, with the right hand, the insertion portion 20 of the child scope 2 is operated to move back and forth with the forceps insertion opening 17 of the parent scope 1.

The second operator plays a role of holding the operation unit 11 of the child scope 2. When the treatment is performed in the lumen, the second operator inserts a treatment tool, such as forceps, into the forceps port of the child scope 2, and when the second operator projects from the tip of the child scope 2, the first operator By the operator's operation of advancing / retreating / bending the child scope 2 and the operation of the forceps or the like by the second operator, treatment in the lumen or the like is performed.

In the present embodiment, in addition to the insertion / removal / curving operation of the parent scope 1, the first operator can also perform the insertion / retraction / curving operation of the child scope 2. Therefore, in the present embodiment, the sub scope 2 can be easily operated delicately, and the sniperability can be improved. That is, alignment and guidance to the observation target become easy. As a result, in this embodiment, for example, insertion into the bile duct or pancreatic duct is facilitated, and observation and treatment can be reliably performed.

5 and 6 show a second embodiment of the present invention,
FIG. 5 is an overall schematic configuration diagram of the endoscope system, and FIG. 6 is a distal side configuration diagram of the catheter.

In the endoscope system shown in FIG. 5, the child scope 2 is replaced with a catheter 5 as a flexible tubular insertion tool.
1 is used. In this embodiment, instead of the light source / processor device 6 and the bending control unit 8 of the first embodiment, an energization control unit 5 as a bending control means is used.
Have two. Further, the parent scope 1'shown in FIG.
A catheter bending operation SW49 is provided in place of the child bending operation SW44 of the first embodiment. Other configurations and operations similar to those of the first embodiment are designated by the same reference numerals and description thereof will be omitted.

The catheter 51 has an insertion portion 54 which can be inserted into the channel 18 of the parent scope 1 ', and a proximal end portion 55 on the proximal side. The tip of the insertion portion 54 is bendable in a predetermined direction. The proximal side end portion 55 is connected to the energization control unit 52 by a connection cable 56 and a connection pipe 57. The energization control unit 52 and the light source / processor device 3 are connected by a signal cable 48.

In the insertion portion of the catheter 51, as shown in FIG.
As shown in FIG. 5, a pipe line (channel) 58 penetrating from the tip to the proximal side is inserted. A liquid such as a chemical liquid is fed from the channel 58 to the energization control unit 52 via the connection pipe 57. In addition, the treatment channel 59 (or an ultrafine endoscope or the like) can be inserted through the channel 58.

The catheter 51 is inserted into the channel 58 of the duodenoscope (parent scope) 1 '.

As shown in FIG. 6, the insertion portion 54 of the catheter 51 is a flexible porous tube 60 made of resin or the like.
The shape-memory alloy wire (hereinafter SMA wire) has a tip end portion that changes in axial length according to temperature changes.
A plurality of 61 are provided along the axial direction of the catheter 51 and at positions eccentric from the central axis. Further, a lead wire 62 is connected to each of the plurality of SMA wires 61 as the bending driving means as a means for energizing, and electrically connected to an energization control unit 52 provided on the hand side.

When the SMA wire 61 is energized by the energization control unit 52 of the catheter 51 at hand, the SMA wire 61 generates heat and a contracting force is generated in the axial direction. Since both ends of the SMA wire 61 in the axial direction are fixed to the perforated tube 60, the perforated tube 60 is contracted by the contracting force of the SMA wire 61.
Bends. Then, when the energization amount of the SMA wire 61 is lowered by the energization control unit 52 or the energization is cut off, the temperature of the SMA wire 61 is lowered and the contraction force is lowered. Therefore, since the SMA wire 61 extends in the axial direction, the curved porous tube 60 returns to its original linear shape by its elastic force.

As described above, the tip of the catheter 51 can be bent in a desired direction by adjusting the current flowing through the SMA wire 61 on the hand side.

The energization control unit 52 of the catheter 51 is electrically connected to the bending switch 49 for the catheter 51 provided in the operating portion of the parent scope 1 as in the first embodiment. That is, the bending switch 49
Are connected via the universal cable 12 of the parent scope, the light source / processor device 3, and the signal cord 48. The energization control unit 52 responds to S of the catheter 51 in response to a catheter bending command signal issued by the catheter bending switch 49 of the parent scope operating unit 11.
The energization amount of the MA wire 61 can be controlled.

In the above structure, the catheter 51 is inserted into the bile duct 33 or the pancreatic duct from the channel of the parent scope 1 that has been inserted up to the duodenum 31, and observation or treatment is performed with an ultrafine diameter endoscope inserted into the catheter 51. . At this time, the first operator can move the catheter 51 back and forth and bend it. Therefore, in this embodiment, it is easy to finely align the tip of the catheter 51 within the lumen.

As the bending driving means, a plate-shaped SMA may be arranged on the outer surface of the insertion portion.

FIG. 7 is a perspective view of the endoscope insertion portion according to the first modification of the present invention.

In the insertion portion 71 of the child scope of this modification,
A plurality of artificial muscles 72 whose axial length changes in accordance with changes in fluid pressure are arranged in the middle of the distal end side as bending driving means, instead of the motor and the shape memory alloy. At the tip of the insertion portion 71, a large number of bending pieces 73 formed in a tubular shape and rotatably combined are arranged. A plurality of wires 74 are stretched between one end of each of the plurality of artificial muscles 72 and the plurality of bending pieces 73 so that the expansion and contraction of the artificial muscle 72 is transmitted to the plurality of bending pieces 73. Has become. A fluid pressure conduit 75 is connected to each of the other ends of the plurality of artificial muscles 72, and the fluid pressure conduit 75 is connected to a fluid pressure control device (not shown). The fluid pressure in the tube is adjusted by the fluid pressure control device, and the distal end side of the insertion portion 71 is curved.

The rest of the configuration, function and effect are the same as those of the first embodiment, and the explanation is omitted.

As the bending driving means, a film-shaped actuator or the like to which electrostatic force is applied may be used, and the bending driving means is not limited to the above example.

FIG. 8 is an explanatory view of a parent scope and a flexible tubular insert according to a second modification of the present invention.

The parent scope 77 of this modification is an optical fiber scope, and an eyepiece 79 is provided at the rear end of the operating portion 78. A channel (not shown) is inserted into the insertion portion 80, as in the first embodiment.

An example of a flexible tubular insertion tool that can be inserted into the channel is a biopsy forceps 81 (or a quarry basket). Although the endoscope (child scope), the catheter (SMA curved catheter), and the biopsy forceps are described as the flexible tubular insertion tool, they are not limited to the above examples.

The rest of the configuration, operation, and effects are the same as in the first embodiment, so a description thereof will be omitted.

[0058]

As described above, according to the present invention, in addition to the operation of the endoscope by the operator of the endoscope, delicate operation of the flexible tubular insertion tool can be easily performed. This has the effect of improving the sniper ability to the target site such as the pipeline.

[Brief description of drawings]

1 to 4 relate to a first embodiment, and FIG. 1 is an overall schematic configuration diagram of an endoscope system.

FIG. 2 is a configuration diagram of an operation unit of a parent scope.

FIG. 3 is a schematic connection configuration diagram of an endoscope system.

FIG. 4 is an explanatory diagram related to operation of a parent-child scope in the duodenum, bile duct and the like.

5 and 6 show the second embodiment, and FIG. 5 is an overall schematic configuration diagram of the endoscope system.

FIG. 6 is a distal side configuration diagram of a catheter.

FIG. 7 is a perspective view of an endoscope insertion portion according to a first modification.

FIG. 8 is an explanatory diagram of a parent scope and a flexible tubular insertion tool according to a second modification.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Parent scope 10 ... Insertion part 11 ... Operation part 14 ... Bending part 16 ... Forceps desk top opening 17 ... Forceps insertion port 18 ... Channel 43 ... Parent bending SW 44 ... Child bending SW 2 ... Child scope 23 ... Bending part 26 … Motor 27… Wire 8… Child bending control unit

[Procedure amendment]

[Submission date] June 15, 1993

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0009

[Correction method] Change

[Correction content]

[0009] The present invention has been made in view of the above circumstances, in addition to the operator of the endoscope Capabilities of the endoscope is flexible tubular insert with great care definitive delicate operations easy to It is an object of the present invention to provide a bending device for a flexible tubular insertion tool, which is excellent in aiming at a target portion, for example, a small-diameter conduit or the like.

[Procedure Amendment 2]

[Document name to be amended] Statement

[Name of item to be corrected] 0015

[Correction method] Change

[Correction content]

On the other hand, the biliary endoscope (hereinafter, child scope)
2) is detachably connected to the light source / processor device 6. The light source / processor device 6 supplies illumination light to the child scope 2 and processes a signal picked up by an image pickup device (not shown) of the child scope to display an endoscopic image on the monitor 7. Further, the child scope 2 has a universal cable 22,
The light source / processor device 6 and the signal cable 46 are connected to the child bending control unit 8 as bending control means. Then, the child bending control unit 8
Is for controlling the bending of a bending portion of the child scope 2 described later in accordance with a bending instruction from the parent scope 1 side.

[Procedure 3]

[Document name to be amended] Statement

[Correction target item name] 0016

[Correction method] Change

[Correction content]

The child scope 2 is a channel described later.
And has a forceps or the like that can be inserted.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0019

[Correction method] Change

[Correction content]

The parent scope 1 is, as shown in FIG.
A penetrating conduit (hereinafter referred to as a channel) 18 is inserted from a forceps raising opening 16 provided at the tip portion 13 of the insertion portion 10 to a forceps insertion opening 17 provided at the proximal end side of the operation portion 11. In the channel 18, the child scope 2
Can be inserted. The operation unit 11 includes
Curving operation switch for parent scope
43), and a bending operation switch 44 for a child scope (hereinafter abbreviated as a child bending SW) as bending operation instructing means.

[Procedure Amendment 5]

[Document name to be amended] Statement

[Name of item to be corrected] 0037

[Correction method] Change

[Correction content]

The second operator plays a role of holding the operation unit 11 of the child scope 2. Then, when performing treatment in the lumen , the second operator inserts a treatment tool such as forceps into the forceps port of the child scope 2, and when the second operator projects from the tip of the child scope 2, the first operator By the operator's operation of advancing / retreating / bending the child scope 2 and the operation of the forceps or the like by the second operator, treatment in the lumen or the like is performed.

[Procedure correction 6]

[Document name to be amended] Statement

[Name of item to be corrected] 0058

[Correction method] Change

[Correction content]

[0058]

As described above, according to the present invention, the operator of the endoscope can operate the endoscope and also the delicate operation of the flexible tubular insertion tool can be easily performed. For example, there is an effect that it is possible to improve the sniper property to a target portion such as a small-diameter conduit.

Claims (1)

[Claims] 1. An endoscope having an insertion part to be inserted into a body, a hand-side operation part connected to the insertion part, and a conduit which is inserted through at least the inside of the insertion part, and the endoscope. Flexible tubular inserter that can be inserted into the conduit of the flexible tubular inserter, and bending drive means that is provided inside or outside the flexible tubular inserter and that bends the flexible tubular inserter. A bending control means for controlling the bending of the bending drive means, and an instruction to at least one of the bending amount and the bending direction of the bending drive means to the bending control means, and to the proximal operation section of the endoscope. A bending device for a flexible tubular insertion tool, comprising: a bending operation instruction means provided.