JP2015175640A - Measurement device, medical apparatus, and training apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a measurement device that prompts an operator to check a switching maneuver performed on a filament selection switch for the purpose of accurately measuring a maneuvering force that acts on a filament having various materials.SOLUTION: A measurement device 101 includes a main body 2 in which a through hole through which a filament 1 having plasticity is inserted is formed, a sensor 30 that detects a degree of bending of the filament 1 in the through hole, a conversion unit 14 that converts the degree of bending of the filament 1, which is detected by the sensor 30, into a maneuvering force, which reacts on the filament 1, on the basis of a correlation between the degree of bending of the filament and the maneuvering force that reacts on the filament, a selection unit 20 that selects a correlation, which depends on the type of filament 1, from among plural correlations, which are associated with various filaments, according to an input maneuver, a decision unit 15 that decides whether the filament 1 exists in the main body 2, and thus decides whether the filament 1 has been inserted into or pulled out of the main body 2, and a reporting unit 26 that gives warning to persuade checking of selection of a correlation performed by the selection unit 20.

Description

  The present invention relates to a measuring device, a medical device, and a training device, and more particularly, to a measuring device, a medical device, and a training device that measure an operating force acting on a flexible linear body.

  A linear body having flexibility has been put into practical use as a linear medical instrument inserted into a body tube. For example, a guidewire or catheter inserted into a body tube such as a blood vessel, ureter, bronchi, digestive tract, or lymphatic vessel, or a wire with an embolic coil at the tip for embolizing an aneurysm is known. It has been. These linear bodies are inserted into a tube inside the body and guided to the target site by an operation from outside the body.

  The tube into which the linear body is inserted is not necessarily linear, and is often partially bent or branched. In addition, the diameter of the tube is not necessarily constant, and the tube itself may be thin, or the diameter of the tube may be thin due to an obstacle inside the tube such as a thrombus generated in the blood vessel. However, in the conventional linear body, there is no means for detecting the situation ahead of the linear body in the traveling direction, and the operation of the linear body has to be relied on by the operator's intuition, and is skilled in guiding operations from outside the body. Was necessary.

  Therefore, as a device for detecting the presence of an obstacle ahead of the linear body in the traveling direction, Japanese Patent Laid-Open No. 10-263089 (Patent Document 1) discloses a device in which a pressure sensor is provided at the tip of the linear body.

  Recently, as a device for detecting the presence of an obstacle inside a pipe outside the pipe when operating a linear body inserted into the pipe, Japanese Patent Application Laid-Open No. 2008-64508 (Patent Document 2) and In Japanese Patent Publication No. 2011/033985 (Patent Document 3), a main body in which a through-hole through which a linear body passes is formed, and an operating force (compression force or tensile force) in the longitudinal axis direction acts on the linear body. Sometimes a sensor that detects the degree of bending of the linear body inside the through-hole, and a conversion that converts the degree of bending of the linear body detected by the sensor into an operating force in the longitudinal direction acting on the linear body A measuring device comprising a circuit is disclosed.

JP-A-10-263089 JP 2008-64508 A Republished Patent No. 2011/033985

  In the measuring devices described in Patent Documents 2 and 3, the degree of bending of the linear body detected by the sensor based on a predetermined correlation between the degree of bending of the linear body and the operating force acting on the linear body. Is converted into an operating force acting on the linear body. Therefore, when used with various linear bodies of different materials, the correlation between the degree of bending of the various linear bodies and the operating force acting on the linear body is measured in advance, so that the line used The correlation can be switched according to the shape.

  However, in such a configuration, when the operator replaces the currently used linear object with another type of linear object, the operator is not allowed to change the correlation in accordance with the newly used linear object. It becomes necessary. Therefore, at the time of exchanging the linear body, the operator may forget this switching operation or may perform an erroneous operation to switch to an incorrect correlation, but there is a problem that the operator cannot be alerted. Arise.

  The present invention has been made to solve such a problem, and its purpose is to confirm the switching operation to the operator in order to accurately measure the operating force acting on the linear body having various materials. It is to provide a measuring device, a medical device and a training device for prompting.

  According to this invention, the measuring device for measuring the operating force in the longitudinal axis direction acting on the flexible linear body includes the main body in which the through hole for inserting the linear body is formed. The through hole is configured to allow the linear body to be curved in an arc shape inside the through hole and change the degree of curvature of the linear body in accordance with the operation force. The measuring apparatus further includes a line detected by the sensor based on a correlation between a sensor that detects the degree of bending of the linear body in the through hole and an operation force that acts on the linear body and the degree of bending of the linear body. A conversion unit that converts the degree of curvature of the linear body into an operating force that acts on the linear body, and a plurality of correlations that are determined corresponding to various linear bodies according to the input operation. A selection unit for selecting a correlation according to the type, a determination unit for determining the insertion / extraction of the linear body in the main body by determining the presence or absence of the linear body in the main body, and a linear And a notifying unit for notifying a warning prompting confirmation of the selection of the correlation in the selecting unit when it is determined that the body is withdrawn.

  According to the measuring device, the medical device, and the training device according to the present invention, in order to accurately measure the operating force acting on the linear body having various materials, the operator is asked to confirm the switching operation of the linear body selector switch. It is possible to prompt.

It is an external view which shows the structure of the main body of the measuring device by Embodiment 1 of this invention. It is sectional drawing which shows the cross section along the II-II line | wire of FIG. It is sectional drawing which shows the cross section along the III-III line of FIG. In the cross-sectional view of FIG. 2, a compression force is applied to the linear body, and the linear body 1 is curved inside the main body. In the cross-sectional view of FIG. 2, a tensile force acts on the linear body, and the linear body 1 is curved inside the main body. It is a figure which shows the correlation with the force which acts on a linear body, and the position of the linear body detected with the line sensor. It is a flowchart which shows the procedure of the measuring method by the measuring device which concerns on Embodiment 1 of this invention. It is a flowchart which shows the procedure of the process of the insertion / extraction determination method of the linear body by the measuring device which concerns on Embodiment 1 of this invention. It is a figure which shows the whole structure of the measuring device by the 1st modification of Embodiment 1 of this invention. It is a figure which shows the whole structure of the measuring device by the 2nd modification of Embodiment 1 of this invention. It is a figure which shows the whole structure of the measuring device by Embodiment 2 of this invention. It is a figure which shows the whole structure of the measuring device by the modification of Embodiment 1 and 2 of this invention. It is a schematic diagram which shows the example which uses a measuring device for the linear medical instrument inserted in the pipe | tube of a human body. It is a schematic diagram which shows the example which attaches and uses a measuring apparatus for the simulator for training (training apparatus) which simulates a human body.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals and description thereof will not be repeated.

(Embodiment 1)
[Configuration of measuring device]
1 is an external view showing a configuration of a main body of a measuring apparatus according to Embodiment 1 of the present invention. FIG. 1 shows a state in which the measuring device 101 is installed on the floor surface.

  With reference to FIG. 1, a measuring apparatus 101 includes a main body 2. The main body 2 is a transparent body, for example, and is formed of a substance that can transmit light. The main body 2 is formed with a through hole 3 through which the linear body 1 having flexibility is inserted.

  FIG. 2 is a cross-sectional view showing a cross section taken along line II-II in FIG. 3 is a cross-sectional view showing a cross section taken along line III-III in FIG. 2 and 3 show the overall configuration of the measuring apparatus 101 together with a cross-sectional view of the main body 2.

  Referring to FIG. 2, the through hole 3 has a tapered input / output port 4 </ b> A as a first end and a second end in order to increase the entrance / exit through which the linear body 1 is inserted and improve the insertability. 4B. The through hole 3 is provided between the input / output ports 4A and 4B, and has restraining portions 5A and 5B that restrict the movement of the linear body 1 in directions other than the longitudinal axis direction. In the restraining portions 5A and 5B, the diameter of the through hole 3 is slightly larger than the diameter of the linear body 1 (for example, 105% to 120% of the diameter of the linear body 1). Further, the length of the through hole 3 along the longitudinal axis direction of the linear body 1 is several times the diameter of the linear body 1. Accordingly, the linear body 1 is restrained from moving in directions other than the longitudinal axis direction at the restraining portions 5A and 5B.

  In the through hole 3, the linear body 1 is curved in an arc shape inside the through hole 3, and the degree of bending of the linear body 1 changes according to the operating force (compression force and tensile force) acting on the linear body 1. It is formed to allow it to do. That is, the through-hole 3 is formed to be curved in an arc shape in the detection unit 6 inside the through-hole 3 when the longitudinal force in the longitudinal axis direction is not applied to the linear body 1. Moreover, the through-hole 3 increases the degree of bending of the linear body 1 when a compressive force is applied to the linear body 1 compared to when the compressive force and the tensile force are not applied to the linear body 1. When the tensile force acts on the linear body 1, the bending degree of the linear body 1 is reduced compared to when the compressive force and the tensile force are not applied to the linear body 1.

  With such a configuration, even when the longitudinal compressive force and tensile force acting on the linear body 1 are very small, the compressive force and tensile force can be accurately detected.

  The main body 2 defines the bending direction of the linear body 1 inside the through hole 3 when a compressive force and a tensile force in the longitudinal axis direction act on the linear body 1. That is, the through hole 3 is bent between the two restraining portions 5 </ b> A and 5 </ b> B, and when the linear body 1 penetrates the through hole 3, the through hole 3 has a curved shape. Further, the through hole 3 is formed between the two restraining portions 5A and 5B inside thereof so as to form the detection unit 6 in which the inner walls 81 and 82 are separated from the inner wall 84 and the diameter of the through hole 3 is widened. .

  The restraining portions 5A and 5B are provided adjacent to the input / output port 4A and the input / output port 4B, respectively, and have an opening area S1 when cut along a plane orthogonal to the insertion direction of the linear body 1. The detection unit 6 is provided between the constraining unit 5A and the constraining unit 5B, and has an opening area S2 larger than the opening area S1 when cut along a plane orthogonal to the insertion direction of the linear body 1. And the detection part 6 is formed so that the linear body 1 may curve in the circular arc shape, and is extended in the inner peripheral direction and the outer peripheral direction of the linear body 1 curved in the circular arc shape.

  The inner walls 81 and 82 outside the curve of the linear body 1 are expanded to form the detection unit 6. The inner wall 84 is formed in a planar shape. In the detection unit 6, the linear body 1 is not restricted to operate in a direction parallel to the paper surface of FIG. 2. The linear body 1 passes through the inside of the main body 2 while being bent at the detection unit 6.

  In the input / output ports 4A and 4B and the detection unit 6, the height of the through-hole 3 in the direction perpendicular to the paper surface of FIG. 2 is slightly larger than the diameter of the linear body 1 (for example, 105% to 105% of the diameter of the linear body 1). 120%), the operation in the direction perpendicular to the paper surface of FIG. That is, in the input / output ports 4A and 4B and the detection unit 6, the cross-sectional shape of the through hole 3 in a cross section perpendicular to the longitudinal axis direction of the linear body 1 is a rectangular shape. By these, the bending direction of the linear body 1 inside the through-hole 3 is defined, and when the compressive force and tensile force in the longitudinal axis direction act on the linear body 1, The linear body 1 is positioned so that the length (that is, the maximum value of the distance from the inner wall 84 to the linear body 1) is determined.

  A line sensor 30 is disposed in the detection unit 6 so as to cross the cross section of the through hole 3 in the detection unit 6. The line sensor 30 is disposed across the inside of the detection unit 6 so as to extend from the inner wall 84 of the through hole 3 to the inside of the recess 83 that forms the inner wall of the through hole 3 that faces the inner wall 84. The line sensor 30 is configured such that, in the detection unit 6, the linear body 1 is formed to be curved in an arc shape when compressive force and tensile force in the longitudinal axis direction are applied to the linear body 1. It is arranged along the trajectory.

  As shown in FIG. 2, the boundary portions 61 and 62 between the inner wall 84 and the restraining portions 5A and 5B in the detection unit 6 are formed so as to have a convex curved shape toward the inside of the through hole 3. . The inner walls 81 and 82 are formed so as to have a convex curved shape toward the inside of the through hole 3. An inner wall 81 is formed in a curved shape in contact with the inner wall of the through hole 3 in the restricting portion 5A, and an inner wall 82 is formed in a curved shape in contact with the inner wall of the through hole 3 in the restricting portion 5B. Thereby, it is possible to prevent the linear body 1 from being bent with plastic deformation. Further, the inner wall of the through hole 3 is formed to be recessed toward the outside of the main body 2 so that the inner wall of the through hole 3 between the inner wall 81 and the inner wall 82 of the detection unit 6 is further away from the inner wall 84.

  The wall portion of the detection unit 6 is formed into a shape in which the inner walls 81 and 82 that are convex curved toward the inside of the through hole 3 and the concave portion 83 are combined. Due to the shape of the detection unit 6, when the linear body 1 is bent by the longitudinal force in the detection unit 6 when the linear body 1 is subjected to a compressive force in the longitudinal axis direction, the penetration is located outside the linear body 1. The linear body 1 can be curved along the inner wall of the hole 3 (that is, the inner wall 81 and the inner wall 82). Further, a part of the linear body 1 can be bent away from the inner wall 81 and the inner wall 82. Further, as the compressive force increases, the distance between the contacts, which is the point at which the linear body 1 is separated from the inner walls 81 and 82, decreases.

  Therefore, it is possible to suppress the linear body 1 from buckling inside the detection unit 6. That is, even when the linear body 1 having a small buckling load is used, the linear body 1 is curved without buckling in the detection unit 6, so that the degree of bending of the linear body 1 can be accurately detected. By converting the degree of curvature detected, the compressive force in the longitudinal direction acting on the linear body 1 can be measured.

  Further, since the detection unit 6 is formed with the recess 83, the compressive force acting on the linear body 1 can be accurately measured over a wide range. In other words, the compressive force acting on the linear body 1 is measured by measuring the height of the crest of the linear body 1 in the detection unit 6. At this time, if the point farthest from the inner wall 84 in the linear body 1 in the detection unit 6 is not in contact with the inner wall of the detection unit 6, the compressive force acting on the linear body 1 can be measured. . If the recessed part 83 is formed, in order to make the vertex of the curved part of the linear body 1 contact the inner wall of the detection part 6, a larger compressive force in the longitudinal axis direction is required. Therefore, the measurement range of the compressive force acting on the linear body 1 can be expanded.

  The measuring apparatus 101 further includes a light source 29 that emits light, a line sensor 30 that is a light receiver that receives light emitted from the light source 29, a lighting circuit 9 that emits light from the light source 29, a conversion circuit 10, and a linear shape. A body selector 20 and a warning lamp 26 are provided.

  The line sensor 30 is a one-dimensional optical array sensor having a plurality of light receiving elements that receive light, and a plurality of light receiving elements arranged in a line. In the main body 2, the optical path from the light source device 29 to the line sensor 30 is made of a translucent material that transmits light used for detection. The light source device 29 and the line sensor 30 are arranged with the detection unit 6 interposed therebetween so as to face each other with the linear body 1 interposed therebetween.

  When the line sensor 30 applies a compressive force and a tensile force in the longitudinal direction to the linear body 1 in the height direction of the curved peak of the linear body 1, the vertex of the curved peak of the linear body 1 moves. Arranged along the direction. The line sensor 30 is disposed along a direction perpendicular to the extending direction of the inner wall 84 and is disposed so as to be orthogonal to the linear body 1 at the apex of the curved mountain. The line sensor 30 detects the degree of bending of the linear body 1 by measuring the height h of the bending peak of the linear body 1.

  The degree of curvature of the linear body 1 is detected based on the shadow of the linear body 1 projected on the line sensor 30. That is, when the line sensor 30 receives the light emitted from the light source device 29, the line sensor 30 has a linear body 1 on a certain light receiving element, and the linear body 1 blocks the light emitted from the light source device 29. The amount of light received by the light receiving element is reduced. The position of the light receiving element corresponds to the degree of curvature of the linear body 1.

  FIG. 4 is a diagram showing a state in which a compressive force acts on the linear body 1 and the linear body 1 is curved inside the main body 2 in the cross-sectional view of FIG. 2.

  With reference to FIG. 4, when a compression force CP in the longitudinal axis direction acts on the linear body 1, the degree of bending of the linear body 1 increases. As the degree of bending of the linear body 1 increases, the height of the bending peak increases.

  In FIG. 4, the state of the linear body 1 when the compressive force and the tensile force are not acting on the linear body 1 is shown by p0. In the state p0, the linear body 1 is curved in an arc shape.

  When the compressive force CP acts on the linear body 1, the linear body 1 is further curved than the state p0, and the height of the peak of the curve is increased by h1 compared to the state p0 (state p1).

  When a large compressive force CP is applied to the linear body 1 as compared with the state p1, the linear body 1 is further curved than the state p1, and the height of the peak of the curve is further increased as compared with the state p1. In comparison, h2 (h2> h1) increases (state p2).

  FIG. 5 is a diagram illustrating a state in which a tensile force acts on the linear body 1 and the linear body 1 is curved inside the main body 2 in the cross-sectional view of FIG. 2.

  With reference to FIG. 5, when a tensile force PU in the longitudinal axis direction acts on the linear body 1, the degree of bending of the linear body 1 decreases. As the degree of bending of the linear body 1 decreases, the height of the bending peak decreases.

  In FIG. 5, the state of the linear body 1 when the compressive force and the tensile force are not acting on the linear body 1 is shown by p0. In the state p0, the linear body 1 is curved in an arc shape.

  When the tensile force PU is applied to the linear body 1, the degree of bending of the linear body 1 is reduced compared to the state p0, and the height of the peak of the bending is reduced by h3 as compared to the state p0 (state p3).

  Returning to FIG. 2 and FIG. 3, the line sensor 30 detects the position of the bending portion of the linear body 1 inside the through hole 30. Specifically, when the line sensor 30 receives light emitted from the light source 29 disposed at a position facing the line sensor 30 with the detection unit 6 interposed therebetween, a certain light receiving element among the plurality of light receiving elements in the line sensor 30 When the linear body 1 is positioned above the light source 29, the light emitted from the light source device 29 is blocked by the linear body 1, thereby reducing the amount of light received by the light receiving element. By detecting the position of the light receiving element, the position of the linear body 1 can be specified, and the increase or decrease in the height of the peak of the linear body 1, that is, the degree of bending of the linear body 1 can be detected. .

  The light receiver arranged at the position facing the light source is not limited to the configuration that receives the transmitted light, but the light source and the light receiver are arranged side by side, and the light emitted from the light source is reflected at the position facing the light source. A reflector such as a mirror may be installed. In this case, the degree of curvature of the linear body 1 can be similarly detected by receiving the reflected light reflected by the reflector out of the light emitted from the light source. Further, instead of a one-dimensional array sensor such as a line sensor, even when a two-dimensional array sensor in which a plurality of light receiving elements are arranged in a matrix on a plane is used, the degree of curvature of the linear body 1 can be increased. Detection is possible. Furthermore, since it is sufficient that the degree of bending of the linear body 1 can be detected, for example, a non-contact distance sensor that detects the height of a curved peak or a position sensor that detects the position of the linear body may be used. it can.

  The conversion circuit 10 converts the degree of bending of the linear body 1 detected by the line sensor 30 into a signal indicating the compressive force and tensile force in the longitudinal direction acting on the linear body 1 and outputs the signal. Specifically, the conversion circuit 10 includes a linear body position calculation unit 12 and a conversion unit 14.

  The linear body position calculation unit 12 detects the position of the light receiving element that reduces the amount of light received from the light source 29 among the plurality of light receiving elements in the line sensor 30. Then, the linear body position calculation unit 12 specifies the position of the linear body 1 based on the detected position of the light receiving element. Next, the linear body position calculation unit 12 calculates the displacement amount from the reference position of the linear body 1 when the compressive force and the tensile force are not applied to the linear body 1. Increase / decrease in the height of the bending peak, that is, the degree of bending of the linear body 1 is detected.

  When the degree of bending of the linear body 1 increases compared to the degree of bending of the linear body 1 when no compressive force or tensile force is applied to the linear body 1, the conversion unit 14 detects the detected bending. The degree is converted into a signal indicating the compressive force acting on the linear body 1. Moreover, the conversion part 14 is detected when the bending degree of the linear body 1 reduces compared with the bending degree of the linear body 1 when the compressive force and the tensile force are not acting on the linear body 1. FIG. The degree of bending is converted into a signal indicating the tensile force acting on the linear body 1.

  For example, the conversion unit 14 has a predetermined correlation (for example, a certain magnitude) between the height of the crest of the linear body 1 detected by the line sensor 30 and the compressive force and tensile force acting on the linear body 1. Based on the combination of the compression force and the height of the bending crest corresponding thereto, the height of the bending crest of the linear body 1 is converted into a signal indicating the compression force and the tensile force acting on the linear body 1. ,Output.

  FIG. 6 is a diagram illustrating a correlation between the force acting on the linear body and the position of the linear body detected by the line sensor. FIG. 6 shows the result of measuring the force acting on the linear body and the position of the linear body detected by the line sensor. In FIG. 6, the horizontal axis represents the acting force p in the longitudinal axis direction acting on the linear body 1, and the vertical axis represents the height h of the curved peak of the linear body 1.

  The conversion unit 14 stores the correlation shown in FIG. 6, and based on this correlation, the electrical signal received from the line sensor 30 is converted into a signal indicating the compressive force and tensile force acting on the linear body 1. Convert. Note that the conversion unit 14 may store the correlation shown in FIG. 6 as it is, or may store an expression approximating the correlation shown in FIG.

  Here, if the shape and material of the linear body 1, that is, the Young's modulus is different, the degree of curvature of the linear body 1 when the same force acts is different. Therefore, in the case where a plurality of types of linear bodies 1 having different shapes and materials are used, there is a correlation between the bending degree of various linear bodies having different shapes and materials and the longitudinal force acting on the linear bodies. Are previously measured, and these correlations are stored in the conversion circuit 10.

  Specifically, a conversion coefficient representing the correlation between the degree of bending of the linear body and the longitudinal force acting on the linear body is obtained in advance for each of the plurality of types of linear bodies, and these conversions are performed. The coefficient is stored in the conversion circuit 10. And the measuring apparatus 101 is further provided with the linear body selector 20 shown in FIG. 2, and selects which conversion coefficient is used according to the linear body to be used. Thereby, the same measuring device can be applied to the linear body 1 having various shapes and materials.

  FIG. 7 is a flowchart showing the procedure of the measuring method by the measuring apparatus according to the first embodiment of the present invention.

  Referring to FIG. 7, first, linear body 1 is inserted through through hole 3 of main body 2 in step S01. That is, the linear body 1 is curved in an arc shape inside, and the linear body 1 is inserted into the through-hole 3 formed so as to allow the degree of bending of the linear body 1 to change according to the compressive force and the tensile force. Is inserted.

  Next, in step S02, the linear body 1 is inserted into the tube and operated from outside the tube, whereby the tip of the linear body 1 comes into contact with the inner wall of the tube.

  Next, in step S03, when a force is applied from the outside of the tube in the longitudinal axis direction of the linear body 1 to further insert or pull out the linear body 1, the tip of the linear body 1 comes into contact with the inner wall of the tube. The operation of the linear body 1 is regulated by the fact that the linear body 1 is caught on a tube in the body. Therefore, a compressive force or a tensile force acts in the longitudinal direction of the linear body 1.

  Next, in step S04, the bending degree of the linear body 1 changes in the detection part 6 inside the through-hole 3 by the action of compressive force or tensile force.

  Next, in step S05, the position of the linear body 1 (that is, the height of the crest of the linear body 1 and the degree of curvature of the linear body 1) is detected by the line sensor 30.

  Next, in step S06, the conversion circuit 10 detects in step S05 based on a predetermined correlation (for example, a predetermined conversion coefficient) between the position of the linear body 1 and the compressive force and tensile force acting on the linear body 1. The position of the linear body 1 is converted into a compressive force or tensile force acting on the linear body 1.

  Next, in step S07, a signal indicating the compression force or tensile force obtained by the conversion from the position of the linear body 1 is output.

  As described above, the measuring apparatus 101 according to the first embodiment detects the position of the linear body 1 (the degree to which the linear body 1 is curved) by the line sensor 30, and the detection result is converted to a line by the conversion circuit 10. It converts into the signal which shows the operating force (compression force or tensile force) of the longitudinal direction which acts on the shape body 1. FIG.

  Furthermore, the measuring apparatus 101 according to the first embodiment determines whether the linear body 1 has been inserted into the main body 2 or pulled out based on the position of the linear body 1 detected by the line sensor 30.

  Specifically, returning to FIG. 2, conversion circuit 10 further includes an insertion / extraction determination unit 15. The insertion / extraction determination unit 15 includes a linear body presence / absence determination unit 16 and a storage unit 18.

  The linear body presence / absence determination unit 16 acquires the position of the linear body 1 detected by the line sensor 30 from the linear body position calculation unit 12. When the linear body presence / absence determining unit 16 acquires the amount of light received from the light source 29 by each of the plurality of light receiving elements in the line sensor 30, the linear body presence / absence determination unit 16 detects a variation in the amount of received light among the plurality of light receiving elements. When the variation in the amount of received light among the plurality of light receiving elements (for example, the difference between the maximum light amount and the minimum light amount) exceeds a predetermined amount, the linear body presence / absence determining unit 16 has the linear body 1 inside the main body 2. Is determined. On the other hand, when the variation in the amount of received light among the plurality of light receiving elements is equal to or less than a predetermined amount, it is determined that the linear body 1 is not present inside the main body 2. The linear body presence / absence determination unit 16 stores the determination result (“with linear body” or “without linear body”) in the storage unit 18.

  The linear body presence / absence determination unit 16 repeatedly executes the determination of the presence / absence of the linear body 1 and the storage of the determination result in the storage unit 18 at a predetermined cycle. When the determination result stored in the storage unit 18 changes from “with linear body” to “without linear body”, the insertion / extraction determination unit 15 determines that the linear body 1 has been extracted from the main body 2. On the other hand, when the determination result stored in the storage unit 18 changes from “without linear body” to “with linear body”, the insertion / extraction determination unit 15 determines that the linear body 1 has been inserted into the main body 2. judge.

  When the insertion / extraction determination unit 15 determines that the linear body 1 has been extracted from the main body 2, whether the conversion coefficient is correctly selected in the linear body selector 20 for the surgeon using the warning lamp 26. A warning is issued to prompt confirmation of whether or not. As described above, when a plurality of types of linear bodies 1 having different shapes and materials are used, it is necessary to select conversion coefficients according to the linear bodies 1 to be used. Therefore, the insertion / withdrawal determination unit 15 instructs the surgeon so that when the linear body 1 is pulled out from the main body 2, a conversion coefficient corresponding to the linear body 1 newly inserted into the main body 2 is selected. To prompt confirmation of selection by the linear body selector 20. This alerts the surgeon to prevent a problem that the operator forgets to switch the conversion coefficient in the linear body selector 20 or the operator switches to an incorrect conversion coefficient.

  On the other hand, when it is determined that the linear body 1 has been inserted into the main body 2, the insertion / extraction determination unit 15 further determines whether or not the conversion coefficient has been switched in the linear body selector 20 by the operator's operation. To do. When the linear body selector 20 determines that the conversion coefficient has been switched, the insertion / extraction determination unit 15 determines whether the linear body selector 20 has correctly selected the conversion coefficient for the surgeon. A warning for prompting confirmation is sent out. This warning is based on the assumption that the operator erroneously operates the linear body selector 20 in a state where the linear body 1 is inserted into the main body 2. This alerts the surgeon not to select a conversion coefficient that does not match the linear body 1 due to the operator's erroneous operation.

  FIG. 8 is a flowchart showing the procedure of the linear body insertion / extraction determination method by the measuring apparatus according to the first embodiment of the present invention.

  Referring to FIG. 8, first, in step S11, the position of linear body 1 detected by line sensor 30 is acquired. When the light amounts received by the plurality of light receiving elements in the line sensor 30 are acquired, it is next determined in step S12 whether or not the linear body 1 is inside the main body 2 based on the acquired light received light amounts of the line sensor 30. . The determination result is stored in the storage unit 18.

  Next, using the determination result of the presence or absence of the linear body 1 stored in the storage unit 18, it is determined whether the linear body 1 has been inserted into the main body 2 or whether the linear body 1 has been pulled out from the main body 2. . Specifically, when the determination result is “with linear body”, it is determined whether or not the linear body 1 has been pulled out from the main body 2 in step S13. When the determination result changes from “with linear body” to “without linear body”, it is determined that linear body 1 has been pulled out from main body 2 (YES in step S13). In this case, a warning for prompting confirmation of selection of the linear body selector 20 is notified by using the warning lamp 26 in step S14.

  On the other hand, when the determination result does not change from “with linear body” to “without linear body”, it is determined that the linear body 1 has not been pulled out from the main body 2 (NO in step S13). In this case, it is further determined in step S15 whether or not the linear body selector 20 has been operated. When it is determined that the linear body selector 20 has been operated by the surgeon (YES in step S15), a warning for prompting confirmation of the selection of the linear body selector 20 using the warning lamp 26 is issued in step S16. Inform.

  Returning to step S12, if the determination result is “no linear object”, a warning for prompting confirmation of selection of the linear object selector 20 is issued using the warning lamp 26 in step S17. Next, it is determined whether the linear body 1 has been inserted in the main body 2 by step S18. When the determination result does not change from “without linear body” to “with linear body”, it is determined that the linear body 1 is not inserted into the main body 2 (NO in step S18).

  On the other hand, when the determination result changes from “without linear body” to “with linear body”, it is determined that the linear body 1 has been inserted into the main body 2 (YES in step S18). In this case, the process proceeds to step S19, and the warning in step S17 is canceled. In step S20, it is determined whether or not the linear body selector 20 has been operated. When it is determined that the linear body selector 20 has been operated by the surgeon (YES in step S20), a warning for prompting confirmation of selection of the linear body selector 20 is issued using the warning lamp 26 in step S21. Inform.

[Example of change]
The warning described above may be in any form as long as it can visually and / or audibly notify the operator that the selection of the linear body selector 20 is confirmed. For example, as shown in FIG. 9, a warning sound may be generated by providing a warning buzzer 27 in the measurement apparatus 101.

  Or as shown in FIG. 10, you may make it alert | report a warning using at least one of the indicator 22 and the speaker 24 which are provided in order to notify a measurement result of the measuring device 101 to an operator.

  Specifically, the display 22 displays the compressive force and tensile force converted by the conversion unit 14. For example, the indicator 22 displays numerical values indicating the compressive force and tensile force acting on the linear body 1. A warning message for prompting confirmation of selection of the linear body selector 20 may be displayed on the display 22.

  The speaker 24 sounds a warning sound when the compressive force and tensile force acting on the linear body 1 exceed a predetermined threshold value. For example, when the operating force is close to zero N (Newton), silence is set, the acoustic frequency is increased as the compressive force increases, and the acoustic frequency is decreased as the tensile force increases. The speaker 24 may be used to sound a warning sound for prompting confirmation of selection by the linear body selector 20.

  10 includes a display 22 and a speaker 24 as means for notifying the operator of the measurement result of the measuring device 101 and notifying the operator of confirmation of selection of the linear body selector 20. Although it is configured, this means will be described in terms of confirmation that it can be configured by only one of the display 22 and the speaker 24.

(Embodiment 2)
As described above, when the linear body 1 is pulled out from the main body 2, in the configuration in which a warning for prompting confirmation of selection of the linear body selector 20 is notified, the linear body 1 is newly added to the main body 2. When it is determined that it has been inserted, it is determined that the surgeon has confirmed the selection of the linear body selector 20, and the warning can be stopped.

  However, in fact, there is a possibility that the operator who has received the warning may fail to confirm the selection of the linear body selector 20, so that an erroneous conversion coefficient may be selected in the linear body selector 20. .

  In order to prevent such inconvenience, the measurement apparatus according to Embodiment 2 of the present invention will be described with a configuration further comprising means for more prompting the operator to confirm the selection of the linear body selector 20. To do.

  FIG. 11 is a diagram showing an overall configuration of a measurement apparatus according to Embodiment 2 of the present invention. Referring to FIG. 11, measuring apparatus 101 according to the second embodiment of the present invention is the same as measuring apparatus 101 shown in FIG. The entire configuration of measuring apparatus 101 is the same as that of FIG. 2 except for selection confirmation button 28, and therefore detailed description will not be repeated.

  The selection confirmation button 28 is an operation unit that can be operated by the surgeon by a pressing operation or the like. In a situation where a warning for prompting confirmation of selection of the linear body selector 20 is informed using the warning lamp 26, the conversion circuit 10 gives the warning when the selection confirmation button 28 is pressed. Stop. That is, the conversion circuit 10 continues the warning even when it is determined that the linear body 1 has been inserted into the main body 2 until the operator presses the selection confirmation button 28. Thus, after the linear body 1 is pulled out from the main body 2 and the linear body 1 is newly inserted into the main body 2, a pressing operation of the selection confirmation button 28 is sandwiched between the surgeon and the operator An alert can be issued to prevent forgetting to confirm the selection of the feature selector 20.

  Note that the timing of pressing the selection confirmation button 28 may be before the linear body 1 is inserted into the main body 2 or after the linear body 1 is inserted into the main body 2.

  Further, when the measuring apparatus 101 includes the display 22 and / or the speaker 24 (see FIG. 10), the warning is continuously notified until the selection confirmation button 28 is pressed, and the display 22 and / or the speaker 24 is used. If it is set as the structure which prohibits the report of a measurement result, it can prompt the operator to confirm the selection of the linear body selector 20 more effectively.

  In the measuring apparatus 101 according to the first and second embodiments of the present invention, as shown in FIG. 12, the inside of the main body 2 is photographed by the camera 31 installed outside the main body 2, and the photographed image is used. The configuration may be such that the presence or absence of the linear body 1 inside the main body 2 is determined. Also in this configuration, insertion / extraction of the linear body 1 is determined based on the determination result of the presence / absence of the linear body 1, and a warning corresponding to the determination result is notified.

  In addition, if it is set as the structure which uses together the determination of the presence or absence of the linear body 1 using the image image | photographed with the camera 31, and the image processing of a picked-up image, the kind of linear body 1 inserted in the inside of the main body 2 will be high. It becomes possible to specify the accuracy. Thereby, the surgeon calls attention to prevent a selection error more effectively by comparing the type of the specified linear body 1 and the selection result of the linear body selector 20. Can do.

[Application example of measuring device]
Finally, an example in which the measurement device according to the first and second embodiments is used in an actual medical practice such as treatment or examination will be described. FIG. 13 is a schematic diagram illustrating an example in which the measuring device is used for a linear medical instrument inserted into a human body tube.

  In FIG. 13, a catheter 34 is connected to the main body 2 of the measuring apparatus 101, and a guide wire (linear body) 32 that penetrates the through hole 3 of the main body 2 is in the catheter 34. The catheter 34 is inserted into a tube of the human body 40. When an operator 36 who grasps the guide wire 32 applies a force in the longitudinal direction to the guide wire 32 in order to advance the guide wire 32 into the body, if there is an insertion resistance in the tube of the human body 40, the guide wire 32 is elongated in the longitudinal direction. A compressive force acts in the axial direction. The compression force is displayed on the display 22. In addition, when the guide wire 32 is pulled out, if there is a pulling resistance in the tube of the human body 40, a tensile force acts on the guide wire 32 in the longitudinal axis direction. The tensile force is displayed on the display 22.

  In such a configuration, when the guide wire 32 is pulled out from the main body 2, the measuring apparatus 101 allows the operator 36 to select a conversion coefficient corresponding to the guide wire 32 newly inserted into the main body 2. On the other hand, confirmation of selection by the linear body selector 20 is prompted. Thus, during the medical practice, the surgeon 36 forgets to switch the conversion coefficient in the linear body selector 20 or the operator is alerted to prevent a malfunction such as switching to an incorrect conversion coefficient. can do.

  FIG. 14 is a schematic diagram illustrating an example in which the measurement device is used by being attached to a training simulator (training device) that simulates a human body. In FIG. 14, the simulator 42 displays a simulated fluoroscopic image equivalent to a fluoroscopic image of a human body tube into which a linear medical instrument is inserted. A catheter 34 is connected to the main body 2 of the measuring apparatus 101, and a guide wire (linear body) 32 that penetrates the through hole 3 of the main body 2 is in the catheter 34. The catheter 34 is connected to the simulator 42. The trained surgeon 36 operates the guide wire 32 while viewing the simulated fluoroscopic image. The simulator 42 changes the insertion resistance and the extraction resistance with respect to the inserted guide wire 32. The resistance force at the time of operation, that is, the compressive force and tensile force acting on the guide wire 32 measured by the measuring device is displayed on the display 22 and also transmitted to the simulator 42 through the cable 38, This contributes to a change in the insertion resistance and pull-out resistance of the guide wire 32. In FIG. 14, the main body 2 and the simulator 42 of the measuring apparatus 101 are separated, but the main body 2 may be integrated with the simulator 42. Further, instead of providing the display device 22, a compressive force and a tensile force acting on the guide wire 32 may be displayed on the simulated fluoroscopic image of the simulator 42.

  In such a configuration, when the guide wire 32 is pulled out from the main body 2, the measuring apparatus 101 allows the operator 36 to select a conversion coefficient corresponding to the guide wire 32 newly inserted into the main body 2. On the other hand, confirmation of selection by the linear body selector 20 is prompted. Accordingly, it is possible to alert the surgeon 36 to prevent the problem that the operator forgets to switch the conversion coefficient in the linear body selector 20 or the operator switches to an incorrect conversion coefficient.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiments but by the claims, and is intended to include all modifications within the scope.

  DESCRIPTION OF SYMBOLS 1 Linear body, 2 Main body, 3 Through-hole, 4A, 4B I / O port, 5A, 5B Restriction part, 6 Detection part, 9 Lighting circuit, 10 Conversion circuit, 12 Linear body position calculation part, 14 Conversion part, 15 Insertion / withdrawal determination unit, 16 linear body presence / absence determination unit, 18 storage unit, 20 linear body selector, 22 display unit, 24 speaker, 26 warning lamp, 27 warning buzzer, 28 selection confirmation button, 29 light source unit, 30 line Sensor, 31 Camera, 32 Guide wire, 34 Catheter, 36 Operator, 38 Cable, 40 Human body, 42 Simulator, 61, 62 Boundary part, 82, 84 Inner wall, 83 Recess, 101 Measuring device.

Claims (8)

A measuring device that measures an operation force in a longitudinal direction acting on a linear body having flexibility,
A main body in which a through hole for inserting the linear body is formed,
The through hole is configured to allow the linear body to be curved in an arc shape inside the through hole, and to change the degree of curvature of the linear body according to an operation force,
further,
A sensor for detecting the degree of curvature of the linear body inside the through hole;
Based on the correlation between the degree of bending of the linear body and the operating force acting on the linear body, the degree of bending of the linear body detected by the sensor is converted to the operating force acting on the linear body. A conversion unit;
A selection unit for selecting the correlation according to the type of the linear body from the plurality of correlations determined corresponding to various linear bodies according to an input operation;
A determination unit for determining insertion / extraction of the linear body to / from the main body by determining the presence or absence of the linear body in the main body;
A measurement device comprising: a notification unit for notifying a warning that prompts confirmation of the selection of the correlation in the selection unit when it is determined that the linear body is pulled out.   The notification section notifies a warning prompting confirmation of the selection of the correlation in the selection section when an input operation is performed on the selection section in a state where the insertion of the linear body is determined. The measuring device described. In accordance with the input operation, further comprising an operation unit indicating that the confirmation of the selection of the correlation in the selection unit is completed,
The measurement device according to claim 1, wherein the notification unit issues a warning prompting confirmation of the selection of the correlation in the selection unit until an input operation is performed on the operation unit.   The measuring apparatus according to claim 3, wherein the operation force converted by the conversion unit is prohibited until an input operation is performed on the operation unit. The sensor is configured to be able to detect the degree of curvature of the linear body by detecting the position of the linear body inside the through hole,
The determination unit determines whether the linear body is inserted into or extracted from the main body by determining the presence or absence of the linear body in the main body based on the position of the linear body detected by the sensor. The measuring device according to any one of claims 1 to 4. The measuring device is configured to be able to photograph the inside of the main body by a camera installed outside the main body,
The measurement device according to claim 1, wherein the determination unit determines insertion / extraction of the linear body with respect to the main body based on an image captured by the camera.   A medical device comprising the measuring device according to any one of claims 1 to 6.   A training device comprising the measuring device according to claim 1.

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