JPH0928710A - Ultrasonic prove with bending mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve an operability of a small diameter ultrasonic probe which gives no pains to patient nor necessitates a wide-channel endoscope. SOLUTION: An ultrasonic probe with a bending mechanism which bends a bendable part by a remote control by multiple wires is provided with a bendable part 13 varying a direction of the probe top in which an ultrasonic probe 5 is arrnaged, an insertion part 3 capable of being inserted into a channel of an endoscope, and a sheath member 17 which bends the bendable part 13 by a remote control with multiple wires 16 arranged in the insertion part 3 and guides inside at least two or more of the beforementioned wires 16 provided in the insertion part 3 by inserting them.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an ultrasonic probe with a bending mechanism for bending a bending portion by remote control with a plurality of wires.

[0002]

2. Description of the Related Art An ultrasonic probe having a small diameter is inserted into a treatment channel of an endoscope and introduced into the body, and under observation of the endoscope, for example, an ultrasonic tomography such as cancerous mucosal tissue or polyps. Image acquisition is used to assist diagnosis. Among such ultrasonic probes, there is also proposed an ultrasonic probe with a bending mechanism capable of bending the distal end portion of the insertion portion and orienting the distal end of the ultrasonic probe in a desired direction (Japanese Patent Laid-Open No. Hei 10 (1999) -264242). No. 1-303121 or Japanese Patent Application No. 6-4
2437).

As a structure for bending the bending portion of an endoscope,
There has been proposed a structure in which a plurality of operation wires (pipes) are coaxially overlapped with each other in the shape of an operation wire (Japanese Patent Application No. 5-265201).

In an ultrasonic probe to be inserted into a blood vessel through a channel of a catheter, a sound wave generating means is provided at the tip of the catheter so that the position of the tip of the catheter can be recognized so that long-term X-ray fluoroscopy can be performed in a short time. (Japanese Patent Laid-Open No. 5-161634).

[0005]

However, in the conventional ultrasonic probe with the bending mechanism, since the structure for the bending mechanism is added to the distal end portion and the insertion portion, the outer diameter becomes large. The inner diameter of the endoscope channel for inserting the ultrasonic probe had to be increased. As a result, there is a problem that the outer diameter of the endoscope insertion portion becomes large and the patient suffers. Further, even when the ultrasonic probe is inserted endoscopically into the bile or pancreatic duct from the nipple, it is difficult to insert the ultrasonic probe into the nipple, for example, because of its large diameter. Further, there is a problem that it is uneconomical to separately prepare an endoscope having a large channel diameter.

Further, in the structure in which the operation wires are in the form of pipes and are overlapped coaxially, since the operation wires (pipes) are taken out at the terminal portion, they are coaxial, so that a complicated structure is required. As a result, there is a problem that the outer diameter cannot be effectively reduced.

The present invention has been made in view of the above-mentioned problems. The object of the present invention is that the outer diameter of the probe is small and the patient's pain is not caused even though it has a simple structure. An object of the present invention is to provide an ultrasonic probe with a bending mechanism that does not require a large endoscope and has good operability.

[0008]

SUMMARY OF THE INVENTION The present invention relates to an ultrasonic probe having a bending mechanism for bending a bending portion by remote control with a plurality of wires, and a tip portion provided with an ultrasonic deep probe. An insertion portion having a bending portion that changes the direction of the tip portion and that can be inserted into a channel of an endoscope, and a bending mechanism that bends the bending portion by remote operation with a plurality of wires arranged in the insertion portion. And a sheath member that is provided in the insertion portion and that guides by inserting at least two wires therein.

By inserting at least two or more wires into the same sheath member, it is not necessary to install the same number of sheath members as the number of wires, and by omitting a certain number of sheath members, the internal components And the outer diameter of the insertion part can be made as small as possible.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION

<First Embodiment> A first embodiment of the present invention will be described with reference to FIGS. (Structure) In FIG. 1, reference numeral 1 denotes an ultrasonic probe with a bending mechanism according to the present invention. The ultrasonic probe 1 includes a hand portion 2 and a flexible and long insertion portion 3. The insertion portion 3 is introduced into the body through the treatment channel of the endoscope 4 as shown in FIG.

As shown in FIG. 2, an ultrasonic probe 6 having an ultrasonic probe 5 therein is provided at the tip of the insertion portion 3. The ultrasonic probe 5 is connected to the tip of a flexible shaft 7, and the ultrasonic probe 5 is rotationally driven by the shaft 7 to obtain an ultrasonic tomographic image on its rotation surface S. ing. Ultrasonic probe 5
The signal of the ultrasonic tomographic image obtained in 1 is guided to the ultrasonic control unit 11 through the signal line 8 arranged in the shaft 7. The shaft 7 is rotated by a motor (not shown) incorporated in the ultrasonic control unit 11. The ultrasonic tomographic image can be observed by the probe monitor 12.

A curved portion 13 is formed behind the ultrasonic probe 6 in the insertion portion 3 of the ultrasonic probe 1. The curved portion 13 is provided with a coil spring 14 arranged coaxially with the insertion portion 3 on the outer peripheral portion thereof, and annular frames 15a and 15b are attached to the front and rear ends of the coil spring 14. Further, a pair of upper and lower bending operation wires 16a and 16b are arranged in the bending portion 13 so as to be eccentrically arranged in a vertically symmetrical position with respect to the shaft 7. The tips of the bending operation wires 16a and 16b are coil springs 1 respectively.
4 is connected to the frame 15a on the tip side.

That is, the bending operation wires 16a and 16b are arranged outside the shaft 7, respectively, and are guided to the proximal portion 2 in this arranged state. A bending mechanism that bends the bending portion 13 by a remote operation of pulling the bending operation wires 16a and 16b from the proximal side is configured.

The insertion portion 3 located closer to the hand than the bending portion 13
A sheath member 1 made of a tightly wound metal coil in the portion
7 are provided. The sheath member 17 has the same diameter as the outer circumference of the insertion portion 3 and is provided coaxially with the insertion portion 3.
Further, since the sheath member 17 is a tightly wound coil, it is flexibly curved, but is not compressed even when it receives a compressive force in the axial direction. The sheath member 17 constitutes a guide means for inserting and guiding the bending operation wires 16a and 16b described above. The outer circumference of the sheath member 17 made of a metal closely wound coil is covered with a resin tube such as Teflon. That is, the sheath member 1 is placed inside the resin tube.
The structure is formed by inserting 7.

A handle 19 is provided on the hand-side operation section 2, and the bending operation wire 16 is provided by the handle 19.
Push and pull operations a and 16b are performed. For example, when the upper bending operation wire 16a is pulled toward the hand side in FIG. 2A, the coil spring 14 of the bending portion 13 is eccentrically bent upward as shown in FIG. 2B. At this time, in the insertion portion 3 other than the bending portion 13, the sheath member 17 receives the pulling force of the upper bending operation wire 16a as a compression force, but since it does not deform in the axial direction, the portions other than the bending portion 13 do not bend. . When the lower bending operation wire 16b is pulled backward in the state of FIG. 2A, the bending portion 13 bends downward, but at this time as well, the same sheath member 17 is used.
Therefore, only the bending portion 13 is bent.

The endoscope 4 has an operating portion 2 as shown in FIG.
1 and an insertion portion 22 are provided, and a bending portion 23 is formed at a tip end portion of the insertion portion 22. An observation optical system 25 and an illumination optical system are provided at a tip end portion 24 formed on the tip end side of the bending portion 23. 26 are provided. The illumination optical system 26 is a light source 27
More illuminating light is guided to the tip, and the visual field observation site inside the body cavity is illuminated. An observation image obtained at the distal end portion 24 of the endoscope 4 is converted into an electric signal by an image pickup device therethrough via an observation optical system 25, is guided to a video processor 28, and the endoscope monitor 2
9 can be observed as an image. The bending portion 23 of the insertion portion 22 can perform a bending operation integrally with the ultrasonic probe 1 inserted in the channel by the bending operation handle 30 of the operation portion 21.

(Operation) The ultrasonic probe 1 is inserted into the treatment channel of the endoscope 4 previously introduced into the body through the channel inlet 31. Then, as shown in FIG. 1, the curved portion 13 of the ultrasonic probe 1 and the portion of the ultrasonic probe portion 6 are projected from the tip of the endoscope 4, and under the observation of the endoscope 4, the affected portion inside the patient's body not shown. Ultrasonic diagnosis. That is, the ultrasonic probe 5 is rotated through the shaft 7 to perform mechanical scanning, obtain an ultrasonic tomographic image on the rotation surface S, and display the ultrasonic tomographic image on the external probe monitor 12. To do.

Further, the ultrasonic probe 1 of the ultrasonic probe unit 6
A pair of upper and lower bending operation wires 1 in the hand operation unit 2 of the
By pushing and pulling 6a and 16b with the handle 19, the bending portion 13 is bent toward the pulled side, whereby the direction of the ultrasonic probe 6 can be changed.

(Effect) According to this ultrasonic probe 1,
Since the two bending operation wires 16a and 16b are both inside the same sheath member 17, the sheath member 17 of the common guide member that guides both of the bending operation wires 16a and 16b is compressed when the bending operation wires 16a and 16b are pulled. Take charge of power. Therefore, it is not necessary to individually provide an independent sheath member for each of the bending operation wires 16a and 16b. Therefore, the outer diameter of the insertion portion of the ultrasonic probe 1 can be reduced.

Further, since the sheath member 17 is structured to be inserted into the resin tube, the sheath of the insertion portion 3 of the ultrasonic probe 1 can be made hard,
Even if it receives an external force, it is difficult to be crushed and has the effect of improving durability. <Second Embodiment> A second embodiment of the present invention will be described with reference to FIG. (Structure) The ultrasonic probe 1 in this embodiment is characterized by the following points. That is, one sheath member 17 is arranged inside the portion of the insertion portion 3 located on the rear side of the bending portion 13. The sheath member 17 is eccentrically arranged on the upper side in correspondence with the arrangement position of the bending operation wire 16a on the upper side. The distal end of the sheath member 17 is located rearward of the curved portion 13 and is open.

Any one of the above-mentioned bending operation wires 16a and 16b on the proximal side is inserted and guided inside the one sheath member 17, and the bending operation wires 16a and 16b are advanced to the proximal side. It constitutes a guide means for guiding. The upper bending operation wire 16a is the sheath member 1
7 is linearly extended to the sheath member 17 and is linearly introduced into the sheath member 17, but the lower bending operation wire 16b is
After going through 3, the sheath member 1 is bent upward.
Introduced in 7. That is, the bending operation wires 16 a and 16 b guided by the single sheath member 17 are branched from the distal end opening portion of the sheath member 17 that is opened on the proximal side of the bending portion 13 and divided into upper and lower portions. And the bending portion 13
In the inside, they are individually arranged at vertically symmetrical positions located in the respective upper and lower parts as in the first embodiment. The basic operation effect of this is the same as that of the first embodiment. <Third Embodiment> (Structure) The sheath member 17 in the first and second embodiments described above is composed of a resin tube such as Teflon. (Operation) Same as that of the first embodiment. (Effect) In addition to the effects of the first embodiment, the sheath member 17
Since the material forming the is inexpensive and the manufacturing thereof is simple, there is an effect that the ultrasonic probe 1 can be provided at a low cost. <Fourth Embodiment> (Structure) The bending operation wires 16a and 16b in the first and second embodiments described above are formed in a tapered shape such that the tip side is thin and the rear end side is thick.

(Operation) By thinning the bending operation wires 16a and 16b on the distal end side, the outer diameter of the insertion portion 3 of the ultrasonic probe 1 is further reduced. Bending operation wire 16a,
Friction occurs between the sheath member 17 and the sheath member 17 during the pulling operation of 16b. At this time, the tension on the rear end side of the bending operation wires 16a and 16b is greater than that on the rear end side. Therefore, the bending operation wires 16a and 16b will not be broken even if the tip side portion is made thin.

(Effect) In addition to the effect of the first embodiment, the effect that the outer diameter of the insertion portion 3 of the ultrasonic probe 1 can be made smaller can be obtained. <Fifth Embodiment> (Purpose) This fifth embodiment is to provide an ultrasonic probe with a position detecting function, and is shown in FIGS.
This will be described with reference to FIG.

(Structure) FIG. 4 shows an external view of the position detection sensor 40. The position detection sensor 40 is a small three-dimensional gyro for detecting an angular velocity. The external appearance of this is cylindrical, to which a signal line 41 for detecting the angular velocity is connected as shown in FIG. The position detection sensor 40 is incorporated in the ultrasonic probe 6 in the insertion portion 3 of the ultrasonic probe 1 as shown in FIG. The signal line 41 of the position detection sensor 40 is taken into the ultrasonic control unit 11 through the insertion portion 2 of the ultrasonic probe 1.

Next, the structure of the position detecting sensor 40 will be described. FIG. 5 is a sectional view of the position detection sensor 40, and 51 in the figure is an insulating member. This is each electrode placed inside the sensor body (details will be described later)
To insulate. Inside the insulating member 51, a closed circular working chamber 52 is formed. A rotor 54 rotatably supported by a pair of pivot beams 53 is installed in the working chamber 52. The pivot beams 53 project from the upper and lower sides of the center of the working chamber 52, symmetrically face each other, and are installed on the same straight line. Each of the pivot beams 53 is made of a conductive material, and the protruding tip portion thereof is sharpened in a cone shape to receive the rotor 54.

The rotor 54 is formed of an electrically insulating material into a disk shape, and a conical receiving groove 55 into which the tip end of each beam 53 is fitted is formed in each of the upper and lower portions of the central portion. . The rotor 54 is rotatably supported by fitting the tip of the beam 53 into the receiving groove 55. Rotor 5
4 is supported not only to rotate around the axis passing through the beam 53 but also to be tiltable.

A plurality of first electrodes 61 are fixedly installed at equal intervals on the peripheral side surface of the rotor 54, and upper and lower surfaces (horizontal planes) of the rotor 54 are integrally formed with circular first electrodes. Two electrodes 62 are fixedly provided. The pair of upper and lower second electrodes 62 are continuously provided so as to be electrically connected to each other in the central portion as shown in FIGS. 5 and 8, and the receiving groove 55 is formed in the continuous portion. are doing. Therefore, the second electrode 62 is also electrically connected to the beam 53 that supports the rotor 54.

A third electrode 63 is formed on the inner surface of the working chamber 52.
And a fourth electrode 64 is provided. The third electrode 63 is fixed to the upper and lower horizontal surfaces of the working chamber 52, and the fourth electrode 64 is fixed to the inner peripheral side surface of the working chamber 52. Further, as shown in FIG. 6, a plurality of third electrodes 63 and fourth electrodes 64 are arranged at equal intervals. Further, for example, four third electrodes 63 are provided on each of the upper and lower surfaces thereof, and the number of fourth electrodes 64 is about twice the number of the third electrodes 63. The third electrode 63 is arranged as shown in FIG. 9 when viewed from the front.

On the other hand, the first electrode 61 and the second electrode 6
The rotor 2 is arranged on the rotor 54 as shown in FIG. That is, a plurality of first electrodes 61 are arranged on the peripheral side surface (circumferential circumference) of the rotor 54 at equal intervals. The second electrodes 62 are arranged on the upper and lower surfaces of the rotor 54 one by one in the form of disks. However, as shown in FIG. 8, the center portion of the second electrode 62 is formed with a recessed receiving groove 55 into which the tip portion of the beam 53 is fitted.

FIG. 10 shows a state in which the rotor 54 is arranged in the working chamber 52. The signal line 41 is connected to the fourth electrode 64.
An energizing means (not shown) for sequentially applying a voltage is connected through.

(Operation) In the above-described structure of the position detecting sensor 40, first, the same voltage is not applied to a plurality of first electrodes 61 at a time, but the adjacent ones are sequentially arranged.
By applying a voltage, the rotor 54 is overlapped with the first electrode 61 arranged on the peripheral side surface of the rotor 54.
Rotates. For example, it rotates in the direction of the arrow in FIG. This is because an electrostatic motor that rotates by electrostatic attraction is formed between the first electrode 61 of the rotor 54 and the so-called fourth electrode 64 on the stator side.

When the rotor 54 is rotated in a fixed direction as described above, the position detection sensor 40 is shown in FIG.
It is assumed that an angular velocity as shown in is added. At that time, the Coriolis force causes the rotor 54 to tilt counterclockwise with respect to the paper surface as shown in FIG. At this time, a constant voltage is applied to the second electrode 62 and the third electrode 63. Since the second electrode 62 has the same electric potential as that of the beam 53, the beam 53 side is grounded and a voltage is applied to the third electrode 63 side. Therefore, when the rotor 54 tilts, the capacitance formed between the second electrode 62 and the third electrode 63 changes.

In this case, since the third electrodes 63 are arranged in the four quadrants of one plane as shown in FIG. 6, a detection circuit as shown in FIG. 11 is formed. . Capacitance C is generated between the second electrode 62 and the third electrode 63, respectively. By comparing the respective capacitances C of this detection circuit, it becomes possible to detect the three-dimensional inclination of the rotor 54. In practice, the transient characteristic of electricity is used to detect the capacitance C.
The detection is performed by applying an AC voltage V between the electrode 62 and the third electrode 63.

According to the detection method described above, when an excessive angular velocity is generated, the rotor 54 and the third electrode 63 may generally collide with each other, which may damage the element. Here, in order to prevent this, the second electrode 62
Feedback compensation is performed so that the capacitance detected between the third electrode 63 and the third electrode 63 is kept constant. FIG. 13 shows a block of a circuit that performs this feedback compensation.

The gyro circuit in FIG. 13 outputs a frequency proportional to the reference voltage from the power circuit (driving voltage generator) 65 to the second frequency.
Is output between the electrode 62 and the third electrode 63. Further, the capacitance-voltage conversion unit 66 in FIG. 13 takes out a voltage proportional to the value of the electrostatic capacitance between the electrodes and feeds it back to the reference voltage side.

In a steady state in which the angular velocity is not applied to the gyro of the position detecting sensor 40, the feedback value is constant, so that a constant frequency is applied between the second electrode 62 and the third electrode 63. ing. here,
When the angular velocity is applied to the gyro, the capacitance C between the second electrode 63 and the third electrode 63 changes. However, since the feedback loop is formed, a drive voltage for restoring the change is generated. This is a mechanism in which when the angular velocity changes, the rotor 54 tilts only momentarily and is kept in the original horizontal state. Of course, there are four third electrodes 63, but there are variations in the size of the electrodes and the like that occur when the present gyro is manufactured, so it is necessary to perform gain adjustment for each.

The position detecting sensor 40, which constitutes such a small three-dimensional gyro, can be incorporated in the ultrasonic probe 6 in the insertion portion 2 of the ultrasonic probe 1 described above, for example. Then, the detection signal from the position detection sensor 40 is transmitted via the transducer signal line 41 to the ultrasonic probe 1.
It is taken into the control unit (not shown) on the hand side of. The ultrasonic transducer (probe) 5 generates ultrasonic waves in one direction and detects echoes, and the drive signals and detection signals thereof are sent to a control unit (not shown) via the transducer signal line 41. It is captured. The ultrasonic oscillator 5 is rotated around an axis near the tip of the probe 1 by a motor arranged in the ultrasonic control unit 11 on the proximal side of the probe 1 via a flexible shaft 7.

With this configuration, the angular velocity of the tip of the probe 1 can also be obtained from the value detected by the three-dimensional gyro, and the amount of movement of the tip of the probe 1 can be detected from the angular velocity per time.

(Effect) This makes it possible to detect the three-dimensional position of the tip of the probe 1. For example, when approaching a position once remembered during inspection, the current position in real time is used. Since the position can be referred to, for example, by displaying the past position and the current position on the probe monitor 12, it is possible to easily approach the desired position portion. X as before
It is not necessary to display and recognize the tip position of the probe 1 by a line, and it is possible to provide an ultrasonic probe with a bending mechanism that can reduce the amount of exposure.

The shape memory alloy member may be used as a means for driving the bending portion of the ultrasonic probe with a bending mechanism described above. For example, a plurality of wire members made of a shape memory alloy are provided by being inserted through the same sheath member that is inserted through the inner periphery of the insertion portion of the probe, and further, each wire member is selectively energized. Means may be provided so that the wire member is contracted by energizing the selected wire member to generate a traction force, and the bending portion is bent in the same manner as described above.

[Supplementary Notes] An ultrasonic probe is disposed at the tip end portion, and has an insertion portion to be inserted into the channel of the endoscope and a sheath member inserted into the inner circumference of the insertion portion, and the tip end portion of the insertion portion is In a bending mechanism-equipped ultrasonic probe capable of bending in a plurality of directions by remote control using a plurality of wires, the plurality of wires are inserted into the sheath member. Ultrasonic probe. 2. An ultrasonic probe is provided at the distal end portion and has an insertion portion to be inserted into the channel of the endoscope. The distal end portion of the insertion portion is at least operated by a plurality of wires and a remote operation by a sheath member. In an ultrasonic probe with a bending mechanism capable of bending in two or more directions, in the sheath member,
An ultrasonic probe with a bending mechanism, wherein at least two or more wires are inserted. 3. The ultrasonic probe with a bending mechanism according to the above-mentioned items 1 and 2, wherein the sheath member has a structure in which a metal coil is inserted into a resin tube. 4. The ultrasonic probe with a bending mechanism according to any one of items 1 and 2, wherein the wire is a stranded wire. 5. The ultrasonic probe with a bending mechanism according to items 1 and 2, wherein the wire is a single metal wire. 6. The ultrasonic probe with a bending mechanism according to any one of the appendices 1 and 2, wherein the wire has a taper shape in which the tip of the insertion portion is thin and the rear end of the insertion portion is thick. 7. An insertion portion to be inserted into the channel of the endoscope, an ultrasonic probe arranged at the tip of the insertion portion, a sheath member inserted into the inner circumference of the insertion portion, and the sheath. An ultrasonic probe with a bending mechanism, comprising: a shape memory alloy inserted into a member; and means for energizing the shape memory alloy. 8. The bending mechanism-equipped ultrasonic probe according to any one of claims 1, 2, and 7, wherein the sheath member also serves as an exterior structural member of the insertion portion. 9. The ultrasonic probe with a bending mechanism according to any one of Supplementary Notes 1, 2, and 7, wherein the plurality of operation wires are inserted in the sheath member in parallel and non-coaxially. 10. 8. The ultrasonic probe with a bending mechanism according to any one of items 1, 2 and 7, wherein the wire has a taper shape in which the wire is thin on the front end side and thick on the rear end side. 11. In an observation device such as an ultrasonic probe, an angular velocity detecting means is provided in the vicinity of the tip of the probe, and the angular velocity detecting means has uniform electrodes on the upper and lower surfaces and driving electrodes on the side surfaces, and the center is supported by a supporting member. A rotating rotor,
The rotor comprises a driving means for rotating the rotor in a certain direction by an electrostatic force acting on the rotor side electrodes, and electrodes facing the upper and lower electrodes of the rotor and arranged in four horizontal directions of the rotor. A means for detecting a capacitance change between the electrodes on the upper and lower surfaces of the rotor and between the electrodes arranged to face the upper and lower surfaces of the rotor is provided. 12. The observation device according to item 11, wherein the drive electrodes are array-shaped. 13. 13. The observation apparatus according to appendices 11 and 12, characterized in that comparison control means for feeding back a change in electrostatic capacity and maintaining the rotor at a constant inclination is provided.

In the appendixes 11 to 13, the ultrasonic probe tip is provided with a three-dimensional detection gyro using a capacitance sensor and the tip position is detected by detecting the angular velocity of the probe tip. Ask. There is no problem that the sound wave may be difficult to receive unlike the conventional one that uses the sound wave from the catheter to detect the position. In addition, because of the configuration of the electrostatic capacity sensor, which conventionally required two gyros, only one gyro is required. Therefore, the tip position of the ultrasonic probe can be detected in a small size.

[0043]

As described above, according to the present invention, (1) it is possible to configure a bending mechanism using an operation wire,
The outer diameter of the insertion part of the ultrasonic probe with a bending mechanism can be reduced, and the patient's pain can be reduced. (2) It is economical because there is no need to specially prepare an endoscope with a large channel for inserting an ultrasonic probe with a bending mechanism. (3) Since the insertion part of the ultrasonic probe with a bending mechanism has a small outer diameter, the probe can be used in a wide variety of applications and its operability is enhanced.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a state in which an ultrasonic probe with a bending mechanism according to a first embodiment is used endoscopically.

FIG. 2 is a sectional view showing the vicinity of a curved portion of the ultrasonic probe according to the first embodiment of the same.

FIG. 3 is a cross-sectional view showing the vicinity of a bending portion of the ultrasonic probe with a bending mechanism according to the first embodiment.

FIG. 4 is a perspective view of a position detection sensor applied to an ultrasonic probe according to a fifth embodiment.

FIG. 5 is a sectional view of a position detection sensor which is also applied to the ultrasonic probe of the fifth embodiment.

FIG. 6 is a perspective view of a stator-side member of a position detection sensor which is also applied to the ultrasonic probe of the fifth embodiment.

FIG. 7 is an explanatory view of a rotor of the position detection sensor.

FIG. 8 is a cross-sectional view of a pivotally attached portion of the rotor of the position detection sensor.

FIG. 9 is a front view of a third electrode of the position detection sensor of the same.

FIG. 10 is a sectional perspective view of the position detection sensor of the same.

FIG. 11 is an explanatory diagram of a detection circuit similarly showing a state of capacitance generated between the second electrode and the third electrode of the position detection sensor.

FIG. 12 is a sectional view of a position detection sensor which is also applied to the ultrasonic probe.

FIG. 13 is a block diagram of the position detection sensor feedback compensation circuit of the same.

FIG. 14 is a schematic configuration explanatory view of an ultrasonic probe to which the position detection sensor is also applied.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Ultrasonic probe, 2 ... Hand part, 3 ... Insertion part, 4 ... Endoscope, 5 ... Ultrasonic probe, 6 ... Ultrasonic probe, 7 ... Shaft, 8 ... Signal line, 11 ... Ultra Sound wave control unit, 12 ... Probe monitor, 16a, 16b ... Bending operation wire, 17 ... Sheath member, 40 ... Position detection sensor,
41 ... Lead wire, 51 ... Insulator member, 52 ... Working chamber, 5
3 ... Pivoting beam, 54 ... Rotor, 55 ... Receiving groove, 61 ... First electrode, 62 ... Second electrode, 63 ... Third electrode, 64
... fourth electrode.

Claims (1)

[Claims] 1. An insertion part, which has a distal end portion provided with an ultrasonic deep probe and a curved portion for changing the direction of the distal end portion, and which can be inserted into a channel of an endoscope; A bending mechanism that bends the bending portion by remote operation with a plurality of arranged wires, and a sheath member that is provided in the insertion portion and guides by inserting at least two wires therein An ultrasonic probe with a bending mechanism.