JP2015181495A - 挿入形状検出装置 - Google Patents
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Abstract
【解決手段】可撓性を有する挿入部を具備する挿入形状検出装置であり、挿入部は、湾曲形状を推定する形状推定区間と、湾曲形状を推定しない形状非推定区間とを有している。この挿入形状検出装置は、形状推定区間のみに配置され、形状推定区間の湾曲形状を検出する被検出部を有している。これにより、被検出部の数を低減させ、湾曲情報の処理の複雑化及び挿入部の太径化を防ぐとともに、内視鏡観察の支援に必要な区間における挿入部の湾曲形状を検出する。
【選択図】図1
Description
図1は、本発明の第1の実施形態における挿入形状検出装置としての内視鏡システム1を概略的に示す図である。内視鏡システム1は、内視鏡10と、装置本体20とを有している。内視鏡10は、体腔内等の被挿入体内を観察する生体情報取得装置である。装置本体20は、内視鏡10に照明光を供給する光源21と、内視鏡10から得られた画像等を表示する表示器22等を有している。
図7は、第1の実施形態の変形例1の内視鏡システム1aを概略的に示す図である。内視鏡システム1aは、内視鏡10aと、装置本体20とを有している。内視鏡10aは、可撓性の挿入部11aと、操作部12と、コード部13とを有している。本変形例では、挿入部11aは、先端側の能動湾曲部14a1及び受動湾曲部14a2と、基端側の軟性部15a1とにより構成されている。
図8は、本発明の第1の実施形態の変形例2の内視鏡システムの一部を概略的に示す図である。挿入部11cは、形状推定区間14cと、第1の形状非推定区間15c1及び第1の形状非推定区間15c2とを有している。形状推定区間14cは、第1の形状非推定区間15c1と第2の形状非推定区間15c2との間に配置されている。
図9は、本発明の第1の実施形態の変形例3の内視鏡システムの一部を概略的に示す図である。本変形例では、挿入部11dは、一部の領域を除き可撓性を有する。ここで、一部の領域とは、挿入部先端付近の観察光学系、照明光学系、撮像素子等が内蔵された先端硬質部18である。先端硬質部18は、硬質であり湾曲しない。即ち、形状の変化がない。
本発明の第2の実施形態について、図10乃至図12を参照して説明する。以下では、第1の実施形態と同様の構成部材には同様の参照符号を付してその説明は省略し、第1の実施形態と異なる部分のみを説明する。
内視鏡システム1bは、可撓性の挿入部11bを有する内視鏡10bと、装置本体20と、位置向き検出器31とを有している。位置向き検出器31は、装置本体20と別体であるとして図示しているが、装置本体20に組み込まれていてもよい。
Claims (24)
- 可撓性を有する挿入部を具備し、
前記挿入部は、湾曲形状を推定する形状推定区間と、湾曲形状を推定しない形状非推定区間とを有し、
前記形状推定区間のみに配置され、前記形状推定区間の湾曲形状を検出するための被検出部を有することを特徴とする挿入形状検出装置。 - 前記形状推定区間の長さが、前記挿入部の挿入対象に基づいて規定されることを特徴とする請求項1記載の挿入形状検出装置。
- 前記挿入部の挿入対象は、管路部と空間部とを有することを特徴とする請求項1又は2記載の挿入形状検出装置。
- 前記挿入対象は、腎臓、膀胱、上部消化器、女性生殖器のいずれかであることを特徴とする請求項3記載の挿入形状検出装置。
- 前記形状推定区間と前記形状非推定区間との長さの比率は、前記管路部と前記空間部の寸法の比率に基づいて規定されることを特徴とする請求項3記載の挿入形状検出装置。
- 前記挿入対象は腎臓であり、前記形状推定区間の長さが0.5cm以上10cm以下であることを特徴とする請求項3記載の挿入形状検出装置。
- 前記挿入対象は膀胱であり、前記形状推定区間の長さが1cm以上15cm以下であることを特徴とする請求項3記載の挿入形状検出装置。
- 前記挿入対象は上部消化器であり、前記形状推定区間の長さが2cm以上60cm以下であることを特徴とする請求項3記載の挿入形状検出装置。
- 前記形状推定区間の長さが、前記空間部の開始点から最遠点までの距離の3倍以下であることを特徴とする請求項3記載の挿入形状検出装置。
- 前記挿入部の挿入対象は、管路部であることを特徴とする請求項1又は2記載の挿入形状検出装置。
- 前記挿入対象は、呼吸器又は下部消化器であることを特徴とする請求項10記載の挿入形状検出装置。
- 前記挿入対象は呼吸器であり、前記形状推定区間の長さが0.5cm以上30cm以下であることを特徴とする請求項11記載の挿入形状検出装置。
- 前記挿入対象は下部消化器であり、前記形状推定区間の長さが2cm以上100cm以下であることを特徴とする請求項11記載の挿入形状検出装置。
- 前記形状推定区間の長さが、前記形状非推定区間の長さ以下であることを特徴とする請求項1乃至4、10、11のいずれか1に記載の挿入形状検出装置。
- 前記形状推定区間の長さが、前記挿入部の直径の50倍以下であることを特徴とする請求項1乃至4、10、11のいずれか1に記載の挿入形状検出装置。
- 前記挿入部は、軟性部と、受動湾曲部と、能動湾曲部とを有し、前記受動湾曲部と前記能動湾曲部とは、前記形状推定区間に配置されていることを特徴とする請求項1乃至15のいずれか1に記載の挿入形状検出装置。
- 前記被検出部は、前記受動湾曲部及び前記能動湾曲部のそれぞれに配置されていることを特徴とする請求項16記載の挿入形状検出装置。
- 前記被検出部がファイバセンサに設けられていることを特徴とする請求項1乃至17のいずれか1に記載の挿入形状検出装置。
- 前記形状推定区間が、前記挿入部の先端側に配置されていることを特徴とする請求項1乃至18のいずれか1に記載の挿入形状検出装置。
- 前記形状非推定区間を複数有し、前記形状推定区間は、前記複数の形状非推定区間の間に配置されていることを特徴とする請求項1乃至18のいずれか1に記載の挿入形状検出装置。
- 前記形状推定区間に、位置と向きとの少なくとも一方を検出するためのさらなる被検出部が設けられていることを特徴とする請求項1乃至20のいずれか1に記載の挿入形状検出装置。
- 前記さらなる被検出部は、磁気コイルを有する位置向きマーカであり、
前記位置向きマーカの位置及び向きを検出する位置向き検出器を有することを特徴とする請求項21記載の挿入形状検出装置。 - 前記さらなる被検出部は、加速度センサであることを特徴とする請求項21記載の挿入形状検出装置。
- 前記被検出部の数が10個以下であることを特徴とする請求項1乃至23のいずれか1に記載の挿入形状検出装置。
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JP2014057657A JP6431678B2 (ja) | 2014-03-20 | 2014-03-20 | 挿入形状検出装置 |
PCT/JP2015/057736 WO2015141635A1 (ja) | 2014-03-20 | 2015-03-16 | 挿入形状検出装置 |
CN201580014992.6A CN106132267A (zh) | 2014-03-20 | 2015-03-16 | 插入形状检测装置 |
DE112015001347.4T DE112015001347T5 (de) | 2014-03-20 | 2015-03-16 | Einführformerfassungsvorrichtung |
US15/252,491 US20160367324A1 (en) | 2014-03-20 | 2016-08-31 | Insertion shape detection apparatus |
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WO2017094082A1 (ja) * | 2015-11-30 | 2017-06-08 | オリンパス株式会社 | 湾曲情報導出装置 |
WO2018212546A1 (ko) * | 2017-05-16 | 2018-11-22 | 박연호 | 가요성 연성부 형태 추정 장치 및 이를 포함하는 내시경 시스템 |
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Also Published As
Publication number | Publication date |
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CN106132267A (zh) | 2016-11-16 |
WO2015141635A1 (ja) | 2015-09-24 |
JP6431678B2 (ja) | 2018-11-28 |
DE112015001347T5 (de) | 2016-12-22 |
US20160367324A1 (en) | 2016-12-22 |
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