JP2017029210A - Forceps apparatus, and pressure sensor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a forceps apparatus enabling an operator to grasp an unintended contact with a biological tissue, and a pressure sensor to be used in the forceps apparatus.SOLUTION: In a forceps apparatus 1 having at least a tip part 2 and a shank 4 leading to the tip part 2 and having the tip part 2 and the shank 4 inserted, when used, into a body cavity, a pressure sensor 5 for detecting a compression by the contact with a biological tissue in the body cavity is mounted on the outer periphery of the shank 4.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a forceps instrument that is a surgical instrument and a pressure sensor used in the forceps instrument.

  In laparoscopic surgery, a laparoscope, which is a type of endoscopic camera, is inserted into the abdominal cavity inflated with carbon dioxide gas, etc., as well as grasping, peeling, excision, etc. Insert a forceps device, which is an instrument. Then, the surgical operation is performed on the affected part by operating the forceps device while observing the image projected by the laparoscope on the monitor screen.

  Regarding forceps instruments used in laparoscopic surgery, it has been proposed that a force sensor be provided at the tip (for example, a gripping part that grips a living tissue) so that the force received by the tip can be presented to the operator. (For example, refer to Patent Document 1). If such a forceps device is used, the operator can grasp the sense of the strength of the force applied to the tip of the forceps device when operating the forceps device inserted into the abdominal cavity.

JP-A-8-117228

  However, with the forceps device having the above-described configuration, it is only possible to grasp the force sense of the tip. That is, the operator cannot grasp the state, sensation, and the like of the components other than the distal end portion of the forceps device, except for the range that can be viewed by being displayed by the laparoscope. Therefore, when inserted into the abdominal cavity and operated, for example, there is a possibility that unintended contact between the shaft portion connected to the distal end portion of the forceps device and the living tissue in the abdominal cavity may occur. Such unintentional contact can adversely affect the living tissue, so it is desirable that the operator can grasp it.

  Accordingly, an object of the present invention is to provide a forceps device that allows an operator to grasp unintended contact with a living tissue and a pressure sensor used in the forceps device.

The present invention has been devised to achieve the above object.
(One embodiment of the present invention)
One embodiment of the present invention provides:
A forceps device having at least a distal end portion and a shaft portion connected to the distal end portion, wherein the distal end portion and the shaft portion are used by being inserted into a body cavity,
A forceps device in which a pressure sensor for detecting pressurization due to contact with a living tissue in the body cavity is mounted on an outer periphery of the shaft portion.
(Another embodiment of the present invention)
Another aspect of the present invention is:
A forceps device that is used by inserting a distal end portion and a shaft portion connected to the distal end portion into a body cavity, and configured to be attachable to the outer periphery of the shaft portion,
The pressure sensor is configured to detect pressurization due to contact with a living tissue in the body cavity.

  According to the present invention, when the shaft portion of the forceps device comes into contact with the living tissue in the body cavity, the pressure sensor detects this, so that the detection result is transmitted to the operator of the forceps device so that the operator can grasp it. To get.

It is explanatory drawing which shows typically schematic structure of the grasping forceps which is one specific example of the forceps instrument which concerns on this invention. It is explanatory drawing which shows typically one specific example of schematic structure of the pressure sensor which concerns on this invention, (a) is a perspective view which shows the structural example of the main components of a pressure sensor, (b) is a linear electrode and Sectional drawing which shows the structural example of a pressure-sensitive member, (c) is a schematic diagram which shows the structural example of the anisotropically conductive cloth used as a ring electrode, (d) is the structure of the state which expanded and arrange | positioned the pressure sensor on the plane It is sectional drawing which shows an example. It is explanatory drawing which shows the outline | summary of a laparoscopic surgery typically. It is explanatory drawing which shows typically the application example of the pressurization detection by the pressure sensor which concerns on this invention, (a) is a figure which shows a mode that a long biological tissue is detected using the resolution | decomposability of a shaft part longitudinal direction, (B) is a figure which shows a mode that a short biological tissue is detected using the resolution | decomposability of a shaft part longitudinal direction. It is explanatory drawing which shows typically the other application example of the pressurization detection by the pressure sensor which concerns on this invention, (a) is a figure which shows a mode that a hard biological tissue is detected using the resolution | decomposability of a shaft part circumferential direction. (B) is a figure which shows a mode that a soft biological tissue is detected using the resolution | decomposability of a shaft part longitudinal direction.

  Hereinafter, a forceps instrument and a pressure sensor according to the present invention will be described with reference to the drawings.

(1) Configuration of Forceps Instrument First, the configuration of the forceps instrument according to the present invention will be described with a specific example. Here, as a forceps instrument, a grasping forceps operated by a laparoscopic surgeon will be described as an example.
FIG. 1 is an explanatory view schematically showing a schematic configuration of a grasping forceps which is a specific example of a forceps instrument according to the present invention.

  The grasping forceps 1 shown here as an example is for connecting the distal end portion 2 having the jaw portion 2a to be opened and closed, the grip portion 3 for operating the opening and closing of the jaw portion 2a, and the distal end portion 2 and the grip portion 3. And a shaft portion 4 formed in a rod shape having a circular cross section. The grasping forceps 1 having such a configuration is used with the distal end portion 2 and the shaft portion 4 inserted into the abdominal cavity. Then, when inserted into the abdominal cavity, a laparoscopic operator operates the grip part 3 to open and close the jaw part 2a at the distal end part 2, thereby peeling and grasping the biological tissue in the abdominal cavity, and suture thread Various treatments such as ligation will be performed.

The specific configuration of each of the distal end portion 2, the grip portion 3, and the shaft portion 4 is not particularly limited, and any known configuration may be used.
For example, the jaw 2a of the distal end portion 2 may be either a curved shape or a non-curved shape, regardless of whether it is double-opened or single-opened. Further, the distal end portion 2 may be configured to have a universal joint that allows the jaw portion 2a to swing. Moreover, the front-end | tip part 2 does not necessarily need to have the jaw part 2a which opens and closes, For example, you may have another structural member, such as a collar part for excising a biological tissue.
The same applies to the grip portion 3, and the presence or absence, shape, or the like of the handle or lever in the grip portion 3 is not limited.

  By the way, the grasping forceps 1 exemplified here has a great feature in that a pressure sensor 5 is mounted on the outer periphery of the shaft portion 4. Details of the pressure sensor 5 will be described later.

  The pressure sensor 5 is connected to an output unit 6 for outputting a detection result by the pressure sensor 5 via a signal line 6a. The output unit 6 is, for example, a display output of light that can be visually recognized by the operator who operates the grasping forceps 1, a sound output that can be recognized by the operator, a vibration output that can be recognized by the operator, or a combination of these appropriately The sensor detection result is output depending on the type. More specifically, the sensor detection result is output using a display device, a lamp, an alarm buzzer, a vibration system, or the like.

  However, in any output mode, it is desirable that the output unit 6 outputs the pressure detected by the pressure sensor 5 in a mode that can be identified. For example, when the output unit 6 performs light display output, an indicator 6b whose display level varies according to the pressure detected by the pressure sensor 5 is used to display the detection result of the pressure sensor 5. It is possible to perform output. In addition, the display content, the number of lamps / brightness / color, buzzer volume, vibration vibration intensity / vibration period, etc. are appropriately changed according to the magnitude of the detected pressure, without being limited thereto. You may make it output the detection result by the sensor 5. FIG.

(2) Configuration of Pressure Sensor Next, the pressure sensor 5 attached to the shaft portion 4 of the grasping forceps 1 will be described in detail.

(Outline of pressure sensor)
The pressure sensor 5 is for detecting pressurization due to contact with a living tissue in the abdominal cavity when the grasping forceps 1 is inserted into the abdominal cavity. If such a pressure sensor 5 is attached to the outer periphery of the shaft portion 4, contact between the shaft portion 4 and the living tissue in the abdominal cavity can be detected.

  In order to detect pressurization due to contact with the living tissue, the pressure sensor 5 includes a first electrode made of a conductive material and a second electrode via a pressure-sensitive member made of an elastic body whose electrical characteristics change due to pressurization. The electrodes are arranged so as to overlap with the pressurizing direction. A location where the first electrode, the pressure-sensitive member, and the second electrode are opposed to each other in the pressurizing direction (that is, a location where pressurization is detected using a change in the electrical characteristics of the pressure-sensitive member) is hereinafter referred to as “ It is called “pressure sensitive part”. That is, the pressure sensor 5 is configured to include a pressure sensitive portion in which the electrical characteristics between the first electrode and the second electrode change according to the amount of pressurization.

  The pressure sensor 5 only needs to include at least one pressure sensitive part, but it is desirable to provide a plurality of pressure sensors on the mounting surface when the pressure sensor 5 is mounted on the outer periphery of the shaft part 4 of the grasping forceps 1. If a plurality of pressure sensitive parts are provided along the longitudinal direction of the shaft part 4, the pressure sensor 5 can subdivide at least the detection resolution in the longitudinal direction of the shaft part 4. Further, if a plurality of pressure sensitive portions are provided along the circumferential direction of the shaft portion 4, the pressure sensor 5 can subdivide at least the detection resolution in the circumferential direction of the shaft portion 4. If a plurality of pressure sensitive parts are provided along the longitudinal direction and the circumferential direction of the shaft part 4, the pressure sensor 5 is provided with the pressure sensitive parts in a matrix in the mounting surface. The detection resolution for each of the longitudinal direction and circumferential direction of 4 can be subdivided.

(Specific configuration of pressure sensor)
Here, a specific configuration of the pressure sensor 5 including the pressure sensitive parts in a matrix will be described as an example.
FIG. 2 is an explanatory view schematically showing a specific example of the schematic configuration of the pressure sensor according to the present invention.

  As shown in FIG. 2A, the pressure sensor 5 exemplified here is generated by receiving pressure with the linear electrode 11 as the first electrode extending linearly along the longitudinal direction of the shaft portion 4. A pressure-sensitive member 12 made of an elastic body whose electrical characteristics change according to the amount of deformation, and an annular electrode 13 as a second electrode extending annularly along the circumferential direction of the shaft portion 4. Yes. In the pressure sensor 5 having such a configuration, a pressure sensitive portion is formed at a location where the linear electrode 11 and the annular electrode 13 intersect and face each other. The pressure sensor 5 includes a spacer member 16 and a film member (not shown), which will be described later, in addition to the linear electrode 11, the pressure sensitive member 12, and the annular electrode 13.

  The linear electrode 11 is made of a thin linear conductive material (for example, a conductive metal wire having a diameter of about 100 to 500 μm, such as a silver wire, a gold wire, or a stainless steel wire). It is arranged linearly along the longitudinal direction of the shaft portion 4 so as to extend over. As shown in FIG. 2B, the linear electrodes 11 are arranged such that a plurality of linear electrodes 11 are arranged at a predetermined interval along the circumferential direction of the shaft portion 4. The predetermined interval is appropriately set according to the number of the linear electrodes 11 arranged. The number of arrangements of the linear electrodes 11 is not particularly limited, but if the number of arrangements is large, the detection resolution can be improved, and if the number of arrangements is small, complication of the sensor configuration can be suppressed. .

The pressure-sensitive member 12 is made of an elastic body whose electrical characteristics change when pressed, and is formed in a tube shape that covers the periphery of the linear electrode 11 over the entire circumference. That is, the linear electrode 11 is inserted into the hollow hole of the pressure-sensitive member 12 formed in a tube shape.
Specific examples of the “electrical characteristics” that change in the pressure-sensitive member 12 include electrical resistance, capacitance, voltage, and the like. Here, the pressure-sensitive member 12 is configured so that the electrical resistance changes. Take the case as an example. In other words, the elastic body constituting the pressure-sensitive member 12 is made of a pressure-sensitive conductive rubber whose electrical resistance changes according to the amount of deformation caused by receiving pressure. The pressure-sensitive conductive rubber material itself may be formed using a known technique, and detailed description thereof is omitted here.

The annular electrode 13 is annularly arranged along the circumferential direction of the shaft portion 4 so as to intersect the linear electrode 11. A plurality of the pressure sensors 5 are arranged at a predetermined interval along the longitudinal direction of the shaft portion 4 so as to cover substantially the entire area of the pressure sensor 5. The predetermined interval is appropriately set according to the number of the annular electrodes 13 arranged. The number of arrays of the annular electrodes 13 is not particularly limited, but if the number of arrays is large, detection resolution can be improved, and if the number of arrays is small, complication of the sensor configuration can be suppressed.
Such an annular electrode 13 may be formed by, for example, an anisotropic conductive cloth 13a. As shown in FIG. 2 (c), the anisotropic conductive cloth 13a is obtained by replacing a part of warp yarn or weft yarn in the non-conductive fiber fabric 13b with conductive yarn 13c at predetermined intervals, or The conductive thread 13c is sewn into the non-conductive fiber fabric 13b at a predetermined interval. For example, polyethylene terephthalate (PET) fiber can be used as the non-conductive fiber, but any type other than PET can be used as long as it is non-conductive. However, it is desirable that the non-conductive fiber has heat resistance and chemical resistance. On the other hand, the conductive yarn 13c can be used as long as it is thin and conductive and flexible, such as silver yarn, gold yarn, stainless steel yarn, carbon fiber, and silver-plated nylon yarn. It is desirable that the fiber diameter is approximately the same as the fiber diameter. It is conceivable that the diameters of the non-conductive fibers and the conductive yarns 13c are about several μm to several tens of μm. According to such a configuration, as the anisotropic conductive cloth 13a, for example, a highly flexible cloth having a thickness of about 50 μm can be obtained. If such an anisotropic conductive cloth 13 a is used, the conductive thread 13 c functions as the annular electrode 13.

  In the cross-sectional configuration, the pressure sensor 5 includes a plurality of annular electrodes 13, a pressure-sensitive member 12 that covers one side of the linear electrode 11, and a plurality of pressure electrodes 1 from the outer peripheral surface side of the shaft portion 4 of the grasping forceps 1. The linear electrode 11 and the pressure-sensitive member 12 that covers the other side of the linear electrode 11 are sequentially laminated. That is, the pressure sensor 5 includes a laminate in which at least a plurality of annular electrodes 13, the one side pressure-sensitive member 12, and a plurality of linear electrodes 11 are sequentially laminated. It is.

  In the pressure sensor 5 including the laminate as described above, when any location in the surface of the pressure sensor 5 is pressurized by an external force, the pressure-sensitive member 12 is Deforms by receiving pressure. When the pressure-sensitive member 12 is deformed, the electric resistance in the pressure-sensitive member 12, that is, the electric resistance between the linear electrode 11 and the annular electrode 13 in which the pressure-sensitive member 12 is interposed changes according to the amount of deformation. Therefore, when the pressure sensor 5 is used, the pressure applied to the pressure sensor 5 can be detected by monitoring the magnitude of the electrical resistance between the linear electrode 11 and the annular electrode 13.

In order to perform such monitoring for pressure detection, a lead wire (not shown) is connected to each of the linear electrode 11 and the annular electrode 13 in the pressure sensor 5. The lead wire is connected to the output unit 6 through the signal line 6a.
The connection of the lead wire to each electrode shall be performed individually with respect to each of the plurality of linear electrodes 11 and the plurality of annular electrodes 13. As a result, the pressure sensor 5 includes pressure sensitive portions in a matrix and has a detection resolution that is subdivided in the longitudinal direction and the circumferential direction of the shaft portion 4.

  However, the connection of the lead wire to each electrode may be performed by combining the plurality of linear electrodes 11 or the plurality of annular electrodes 13 as one, or the plurality of linear electrodes 11 or the plurality of annular electrodes. 13 may be performed for each area after being divided into several area units. For example, when one lead wire is connected to the plurality of linear electrodes 11 and a plurality of lead wires are connected to the plurality of annular electrodes 13, the pressure sensor 5 has the length of the shaft portion 4. The detection resolution is subdivided only in the direction. For example, when a plurality of lead wires are connected to the plurality of linear electrodes 11 and one lead wire is connected to the plurality of annular electrodes 13, the pressure sensor 5 includes the shaft portion 4. The detection resolution is subdivided only in the circumferential direction. For example, when one lead wire is connected to the plurality of linear electrodes 11 and one lead wire is connected to the plurality of annular electrodes 13, the pressure sensor 5 is subdivided. Without having the detected detection resolution, it is possible to detect only whether or not pressure is applied at any point.

(Pressure sensor not installed)
Next, regarding the pressure sensor 5 having the above-described configuration, a state where the grasping forceps 1 is not attached to the shaft portion 4, that is, a state of the sensor alone will be described.

  Since the pressure sensor 5 is configured to be flexible as described above, the cross-sectional view of FIG. 2D is shown in a state where the grasping forceps 1 is not attached to the shaft portion 4, that is, a state of the sensor alone. As shown in FIG. 2, it is possible to deploy and arrange on a plane. In the case where the pressure sensor 5 is deployed on a plane, the pressure sensor 5 has a rectangular shape when viewed in plan. The size of the rectangular shape in the short direction (the horizontal dimension in FIG. 2 (d)) is formed so as to match the circumference of the outer periphery of the shaft portion 4 of the grasping forceps 1. Further, the size of the rectangular shape in the longitudinal direction (the dimension in the depth direction in FIG. 2D) is set to a dimension set in consideration of the sensor mounting position described later.

  The pressure sensor 5 includes a laminate 10 in which at least a linear electrode 11, a pressure sensitive member 12, and an annular electrode 13 are laminated in order. The laminate 10 includes a first film member 14 that forms an inner peripheral surface of the pressure sensor 5 (that is, a surface that contacts the outer peripheral surface of the shaft portion 4 when the grasping forceps 1 is attached to the shaft portion 4), and the pressure sensor. And the second film member 15 constituting the outer peripheral surface of 5 (that is, the surface facing the inner peripheral surface). Further, a spacer is provided between the first film member 14 and the second film member 15 to prevent the laminate 10 from being pressed by deformation of at least one of the first film member 14 and the second film member 15. A member 16 is provided.

  Each of the first film member 14 and the second film member 15 functions as a protective film of the laminate 10, and is a film material made of a resin material having waterproofness, insulating properties, chemical resistance, flexibility, and the like. (For example, a polyurethane film material having a thickness of about 30 μm).

  The spacer member 16 is provided with each linear electrode constituting the laminate 10 in order to suppress erroneous detection of the pressure sensor 5 due to the laminate 10 being sandwiched between the first film member 14 and the second film member 15. 11 are arranged so as to fill the gap between the two. That is, the spacer member 16 is installed between the adjacent linear electrodes 11. The spacer member 16 is formed using a material having elasticity (for example, a foamed body made of synthetic resin) as a base material.

If such a spacer member 16 is installed so as to fill the gap between the linear electrodes 11, even if the laminate 10 is sandwiched between the first film member 14 and the second film member 15, The erroneous detection of the pressure sensor 5 can be suppressed.
The first film member 14 and the second film member 15 are each in the form of a single film (thin film) having continuity. Therefore, for example, when deformation occurs in the first film member 14 or the second film member 15 due to pressurization, the influence of the deformation may reach other than the pressurization location. Further, for example, the first film member 14 and the second film member 15 are deformed so as to be curved when mounted on the shaft portion 4, but if the tightening at that time is too strong, unnecessary addition is applied to the laminate 10. Pressure can occur. Such deformation of the first film member 14 or the second film member 15 may cause erroneous detection of the pressure sensor 5.
However, if the spacer member 16 is installed, even if the first film member 14 or the second film member 15 is deformed, the spacer member 16 supports the first film member 14 or the second film member 15. Further, it is possible to alleviate the influence of the deformation on the linear electrode 11 and the pressure sensitive member 12 other than the pressurizing portion. In addition, since the spacer member 16 itself has elasticity, for example, the deformation of the pressure sensitive member 12 at the pressurizing portion is not hindered. Therefore, if the spacer member 16 is installed, erroneous detection of the pressure sensor 5 can be suppressed compared to the case where the spacer member 16 is not installed.

In order to suppress erroneous detection of the pressure sensor 5, the spacer member 16 is configured as follows.
The thickness of the spacer member 16 (see dimension C in the figure) is a thickness in the range of 0.5 to 1.5 times the thickness of the laminate 10 (see dimension D in the figure). If the spacer member 16 is too thin, the laminate 10 is pressurized by deformation of the first film member 14 or the second film member 15, and the pressure sensor 5 operates as in the case where the spacer member 16 is not installed. (Sensitivity of the sensor becomes excessive). In order to avoid this, the thickness of the spacer member 16 is 0.5 times or more the thickness of the stacked body 10. On the other hand, if the spacer member 16 is too thick, the laminated body 10 may not be properly pressurized (sensor sensitivity is insufficient) even though the pressure sensor 5 is pressurized. In order to avoid this, the thickness of the spacer member 16 is not more than 1.5 times the thickness of the stacked body 10. Specifically, the thickness of the spacer member 16 is slightly larger than the outer diameter (for example, about 0.5 to 0.6 mm) of the pressure-sensitive member 12 covering the periphery of the linear electrode 11 (for example, , About 0.7 mm).
The hardness of the spacer member 16 is in the range of 0.5 to 1.5 times the hardness of the pressure-sensitive member 12. If the spacer member 16 is too soft, the laminated body 10 is pressurized by deformation of the first film member 14 or the second film member 15, and the pressure sensor 5 is activated as in the case where the spacer member 16 is not installed. (Sensitivity of the sensor becomes excessive). In order to avoid this, the hardness of the spacer member 16 is 0.5 times or more the hardness of the pressure-sensitive member 12. On the other hand, if the spacer member 16 is too hard, the laminated body 10 may not be properly pressurized (sensor sensitivity is insufficient) even though the pressure sensor 5 is pressurized. In order to avoid this, the hardness of the spacer member 16 is not more than 1.5 times the hardness of the pressure-sensitive member 12. Specifically, the hardness of the spacer member 16 is preferably about the same as the hardness of the pressure-sensitive member 12 (for example, a hardness of about 60 ° to 70 °).

(3) Mounting Position of Pressure Sensor on Shaft Next, a mounting position when the pressure sensor 5 having the above-described configuration is mounted on the shaft 4 of the grasping forceps 1 will be described with a specific example.

  The pressure sensor 5 is configured such that the exposed surface of the first film member 14 (that is, the surface constituting the inner peripheral surface of the pressure sensor 5) is wound around the outer peripheral surface of the shaft portion 4 of the grasping forceps 1. Is attached to the shaft portion 4 by bonding. The bonding method at this time is not particularly limited, and may be performed using a known method such as interposing an adhesive or a double-sided adhesive tape.

At this time, since the first film member 14 is bonded to the outer peripheral surface side of the shaft portion 4, the pressure sensor 5 is connected to the first film member 14, the annular electrode 13 and the pressure sensitive member from the outer peripheral surface side of the shaft portion 4. 12, the linear electrode 11 and the 2nd film member 15 are mounted | worn with the axial part 4 in the state laminated | stacked in order.
With such a stacking order, the shaft portion 4 to which the pressure sensor 5 is attached is suitable for insertion into and removal from the abdominal cavity. This is because the linear electrode 11 extending along the longitudinal direction of the shaft portion 4 is positioned on the upper layer side with respect to the annular electrode 13, so that it is possible to avoid the annular electrode 13 from being caught or displaced at the time of insertion / extraction. In addition, by arranging the linear electrode 11 on the upper layer side of the annular electrode 13, the laminated body 10 can be easily bent as compared to the reverse case, and therefore the pressure sensor 5 is attached to the outer peripheral surface of the shaft portion 4. This also facilitates. Furthermore, since the pressure-sensitive member 12 is not distorted due to excessive bending of the laminated body 10, sensor sensitivity, resolution, and the like are not impaired.
However, the pressure sensor 5 may be attached to the outer peripheral surface of the shaft portion 4 not necessarily in the stacking order described above but in a completely reverse stacking order. This is because it is possible to detect the pressure applied to the pressure sensor 5 even in a completely reverse stacking order.

  Regardless of the stacking order, the mounting position of the pressure sensor 5 on the shaft portion 4 is set as follows.

  The shaft portion 4 of the grasping forceps 1 to which the pressure sensor 5 is attached is inserted into the abdominal cavity during laparoscopic surgery. At that time, the grasping forceps are inserted into the abdominal cavity as will be described in detail later. In addition to 1, a laparoscope which is a kind of endoscope camera is also inserted. From this, the pressure sensor 5 is attached at least to a part that is inserted into the body cavity of the shaft part 4 and is a blind spot as seen from the laparoscope inserted into the body cavity together with the grasping forceps 1. Shall. About the site | part which becomes a blind spot seeing from a laparoscope, ie, the site | part which an operator cannot visually recognize even if it observes on a monitor screen, it applies to the pressure sensor 5 by contact with the axial part 4 of the grasping forceps 1 and the biological tissue in an abdominal cavity. This is to detect pressurization.

  However, the pressure sensor 5 should just be mounted | worn with the site | part mentioned above in the axial part 4 at least. That is, since it is “at least”, the pressure sensor 5 may be attached to a part that does not become a blind spot as seen from the laparoscope in addition to the part described above. Even if it is a part that can be observed on the monitor screen, it is useful in that it allows the surgeon to detect the pressure applied to the pressure sensor 5 and obtain information that cannot be grasped only by the monitor screen. Because it will be something.

  Specifically, as shown in FIG. 1, the pressure sensor 5 is, for example, at least 2.0 cm (see dimension A in the drawing) at least from the tip 2 and 12.0 cm (dimension B in the drawing). It is conceivable to attach to an area within the range of This is because if the distance is 2.0 cm or more, it will be out of the range projected by the laparoscope during laparoscopic surgery, resulting in a blind spot as seen from the laparoscope. Moreover, if it exceeds 12.0 cm, the possibility of contact with living tissue in the abdominal cavity during laparoscopic surgery is extremely low.

  However, since the above range is “at least”, the pressure sensor 5 may be mounted so as to extend to other regions in addition to the region within the above range, as in the case described above. Specifically, on the distal end portion 2 side, the pressure sensor 5 is not placed in a region that is not 2.0 cm or more, for example, 1.0 cm or more (that is, a region including a portion that does not become a blind spot as viewed from the laparoscope). It is also possible to wear it. The reason why the distance of 1.0 cm or more from the distal end portion 2 is to eliminate the possibility that the pressure sensor 5 hinders the operation of the distal end portion 2. Moreover, about the side of the grip part 3, mounting | wearing the pressure sensor 5 over the range beyond the range within 12.0 cm from the front-end | tip part 2, for example to the grip part 3 is also considered.

  Note that the numerical values for the sensor mounting range described above are merely one specific example. That is, as for the mounting position of the pressure sensor 5 on the shaft portion 4, the “laparoscope specifications (particularly the viewing angle determined by the configuration of the optical system)”, “surgical content”, “patient physique, gender”, etc. used together. Depending on various conditions, it may be changed as appropriate, and accordingly, the numerical value that defines the sensor mounting range may be individually defined according to various conditions.

(4) Laparoscopic Surgery Next, laparoscopic surgery performed using the grasping forceps 1 and the pressure sensor 5 having the above-described configuration will be described.
FIG. 3 is an explanatory view schematically showing an outline of laparoscopic surgery.

(Outline of laparoscopic surgery)
When performing laparoscopic surgery, general anesthesia is first performed on the patient 20, and small (for example, 1 cm or less) incision holes are formed at a plurality of locations on the abdomen 21 of the patient 20. A known surgical instrument called trocar 31 is inserted into the formed incision hole. The trocar 31 is designed so that the gas in the abdominal cavity 22 does not leak outside when inserted into the incision hole. Then, after inserting the trocar 31 into the incision hole, carbon dioxide gas is injected into the abdominal cavity 22 to swell the abdominal wall and create a space in the abdominal cavity 22.

Thereafter, a laparoscope 32 which is a kind of endoscope camera is inserted into the abdominal cavity 22 from a certain trocar 31. As a result, a surgeon performing laparoscopic surgery can visually recognize the state in the abdominal cavity 22 (particularly the state of the affected area) by observing the image displayed by the laparoscope 32 on the monitor screen 33.
Further, from the other trocar 31, the distal end portion 2 and the shaft portion 4 of the grasping forceps 1 are inserted into the abdominal cavity 22. The grasping forceps 1 has a pressure sensor 5 mounted on a shaft portion 4 and is inserted so that the distal end portion 2 reaches an affected part in the abdominal cavity 22. As a result, an operator of laparoscopic surgery operates the grip portion 3 of the grasping forceps 1 while observing the image projected by the laparoscope 32 on the monitor screen 33, and manipulates the operation at the distal end portion 2 of the grasping forceps 1. As a result, an operation on the affected part in the abdominal cavity 22 can be performed.

  After the operation on the affected part is completed, the grasping forceps 1 and the laparoscope 32 are removed from the trocar 31 and the carbon dioxide gas is discharged from the abdominal cavity 22. Then, all the trocars 31 are removed, the incision holes in the abdomen 21 are sutured, and the laparoscopic operation is completed.

(Situations that may occur during laparoscopic surgery)
When performing laparoscopic surgery, an operator of laparoscopic surgery operates on the affected part by operating the grasping forceps 1 while observing an image projected by the laparoscope 32 on the monitor screen 33. This means that the surgeon of laparoscopic surgery may not be able to grasp the state except for the range that is visible by the laparoscope 32 and is visible. Therefore, when the grasping forceps 1 is inserted into the abdominal cavity 22 and operated, unintentional contact between the shaft portion 4 of the grasping forceps 1 and the living tissue in the abdominal cavity 22 occurs, resulting in an adverse effect on the living tissue. There is a risk of reaching.

For such a situation, for example, a wide-angle image sensor is attached to the trocar 31 so that the inside of the abdominal cavity 22 can be imaged and observed on the monitor screen using the wide-angle image sensor. It is also conceivable to prevent this from occurring.
However, if the blind angle of the laparoscope 32 is prevented from being generated using the wide-angle image sensor, the operator needs to pay attention to each of the plurality of monitor screens during the laparoscopic surgery. In other words, during the laparoscopic surgery, attention should be paid to the monitor screen 33 that displays the image by the laparoscope 32. If the other monitor screen for eliminating the blind spot of the laparoscope 32 must also be paid attention, May be distracting and may cause an excessive burden on the operator of laparoscopic surgery, and is not necessarily effective in preventing adverse effects on unintentional living tissue.

  In this regard, if the pressure sensor 5 as described above is the grasping forceps 1 attached to the shaft portion 4, if unintentional contact between the shaft portion 4 and the living tissue in the abdominal cavity 22 occurs, that is the case. Is detected by the pressure sensor 5, and the detection result is output from the output unit 6 by light, sound, or the like. Therefore, by using the grasping forceps 1, a laparoscopic surgeon grasps through the output by the light, sound, etc. from the output unit 6 even while keeping a close eye on the monitor screen displaying the image by the laparoscope 32. It is possible to grasp that an unintended contact between the shaft portion 4 of the forceps 1 and the biological tissue in the abdominal cavity 22 has occurred. In other words, there is no risk that the attention to the affected area will be distracted or the burden on the laparoscopic surgeon will be excessive, so it is possible to effectively prevent adverse effects on the living tissue due to unintended contact. Become.

(Specific example of pressure detection by pressure sensor)
Here, pressure detection by the pressure sensor 5 in a state in which the distal end portion 2 and the shaft portion 4 of the grasping forceps 1 are inserted into the abdominal cavity 22 will be described in more detail.

  When contact is made between the shaft 4 of the grasping forceps 1 and the living tissue within the abdominal cavity 22, the pressure-sensitive member 12 constituting the pressure sensor 5 mounted on the shaft 4 is pressed by contact at the contact portion. Deform. Then, the electrical resistance of the pressure-sensitive member 12 changes according to the amount of deformation caused by receiving pressure. Therefore, by energizing the linear electrode 11 and the annular electrode 13 and constantly monitoring the magnitude of the electrical resistance between them, there was pressurization due to contact with the living tissue, and the pressurization The amount (amount of change in electrical resistance) can be detected. The detection result is output from the output unit 6 by light, sound, or the like as a detection result by the pressure sensor 5. Thereby, the operator of laparoscopic surgery can grasp | ascertain that the contact with the axial part 4 and a biological tissue had arisen.

In other words, even when the laparoscopic surgeon is within the blind spot of the laparoscope 32, if the shaft 4 of the grasping forceps 1 contacts the living tissue within the abdominal cavity 22, this is indicated by the output unit 6. Can be grasped through the output from
Further, when the pressure sensor 5 is mounted in a range that can be observed with the laparoscope 32 in addition to the range that becomes the blind spot of the laparoscope 32, grasping forceps in the abdominal cavity 22 over a wider range. The occurrence of contact between the one shaft portion 4 and the living tissue can be grasped. Specifically, even in a range that can be observed with the laparoscope 32, for example, a part located on the opposite side of the projected side, a shadowed part, and the like are not always easily visible to a laparoscopic surgeon. Absent. Even in such a portion, if the pressure sensor 5 is attached, the occurrence of contact with the living tissue can be grasped through detection by the pressure sensor 5 and output from the output unit 6. This is useful for the surgeon.

The output unit 6 that outputs the detection result of the pressure sensor 5 may be configured to output the pressure detected by the pressure sensor 5 in an identifiable manner. If the output unit 6 is configured in this way, the laparoscopic surgeon not only determines whether or not contact with the living tissue occurs, but also the strength of the contact, that is, pressurization of the pressure sensor 5 by the contact. The amount can be grasped. Therefore, in that case, for example, an operator of laparoscopic surgery adjusts (adjusts) the strength of contact of the shaft portion 4 with respect to the living tissue, or the strength of contact is the strength that damages the living tissue. It can be determined whether or not.
This means that a laparoscopic surgeon obtains information that cannot be known only from the image displayed by the laparoscope 32. Therefore, it can be said that it is very useful to attach the pressure sensor 5 to a range that can be observed with the laparoscope 32.

  Note that the detection result of the pressure sensor 5 (that is, the output content of the output unit 6) may be stored and held as log information at the time of laparoscopic surgery in synchronization with the video obtained by the laparoscope 32. In this way, not only the state in the abdominal cavity 22 that can be observed with the laparoscope 32, but also the presence / absence and strength of contact between the shaft portion 4 of the grasping forceps 1 and the living tissue in the abdominal cavity 22 However, it is possible to perform verification afterwards based on log information while associating them with each other.

(Application example of pressure detection)
The pressure detection example described above does not depend on the detection resolution of the pressure sensor 5. That is, regardless of whether or not the detection resolution is subdivided, the pressure sensor 5 has been pressurized if there is pressure due to contact with the living tissue at any location within the sensor surface, and The amount of pressurization (amount of change in electrical resistance) is detected.
However, if the pressure sensor 5 has a subdivided detection resolution, it may be possible to perform pressure detection in the following manner.

The edge position of the pressure sensor 5 on the grip portion 3 side when the pressure sensor 5 is attached to the shaft portion 4 of the grasping forceps 1 is, for example, when the pressure sensor 5 is inserted into the abdominal cavity 22 through the trocar 31. It can be considered that the position does not cause interference.
However, for example, the pressure sensor 5 has a detection resolution that is subdivided into a matrix, and the pressure sensor 5 is mounted over a range extending to the grip portion 3 if pressure detection control as described below is performed. Even so, it can be avoided that the interference with the trocar 31 becomes a problem. Specifically, after insertion into the abdominal cavity 22, a portion where a substantially constant amount of pressure is constantly generated over the entire circumference of the shaft portion 4 is a portion where interference with the trocar 31 occurs. The detection result is excluded from the output target in the output unit 6. That is, by using the subdivided detection resolution, a place where pressurization is caused by interference with the trocar 31 is distinguished from a place where pressurization is caused by contact with the living tissue in the abdominal cavity 22. .

Further, if the pressure sensor 5 has a detection resolution that is subdivided in the longitudinal direction of the shaft portion 4, the length of the living tissue in contact with the pressure sensor 5 can be acquired.
FIG. 4 is an explanatory view schematically showing an application example of pressure detection by the pressure sensor according to the present invention.
For example, as shown in FIG. 4A, when the shaft portion 4 comes into contact with a long biological tissue 23, the pressure sensor 5 has a length corresponding to the contacted biological tissue 23 (E in the figure). A plurality of pressure sensitive parts are simultaneously pressurized. On the other hand, as shown in FIG. 4B, when the shaft portion 4 is in contact with the short living tissue 23, the length of the contact with the living tissue 23 (see F in the figure) is within the range. Only the pressure sensitive part is pressurized. Therefore, if the pressure sensor 5 has a detection resolution that is subdivided in the longitudinal direction of the shaft portion 4, it can be contacted by detecting the range of the pressure sensitive portion that is simultaneously pressurized. The length of the living tissue 23 can be acquired.

Further, if the pressure sensor 5 has a detection resolution that is subdivided in the circumferential direction of the shaft portion 4, the softness of the living tissue 23 in contact with the pressure sensor 5 can be acquired.
FIG. 5 is an explanatory view schematically showing another application example of pressure detection by the pressure sensor according to the present invention.
For example, as shown in FIG. 5A, when the shaft portion 4 contacts the hard biological tissue 23, the biological tissue 23 is not easily deformed. (See G in the figure), and the influence of the deformation tends to reach a wide range in the circumferential direction, that is, to each pressure sensitive part existing in a certain range (see H in the figure). On the other hand, as shown in FIG. 5B, when the shaft portion 4 comes into contact with the soft biological tissue 23, the biological tissue 23 is easily deformed. In addition to being small (see I in the figure), the range affected by the deformation tends to be narrow (see J in the figure). Therefore, if the pressure sensor 5 has a detection resolution that is subdivided in the circumferential direction of the shaft portion 4, it is possible to detect the range of the pressure sensitive portion that is simultaneously pressurized and to detect the pressure sensitive portion. By detecting the deformation amount of the part, it is possible to acquire the softness of the living tissue 23 that is in contact.

(5) Effects of this embodiment According to the grasping forceps 1 and the pressure sensor 5 described in this embodiment, the following effects can be obtained.

In this embodiment, since the pressure sensor 5 is attached to the outer periphery of the shaft portion 4 of the grasping forceps 1, when the distal end portion 2 and the shaft portion 4 of the grasping forceps 1 are inserted into the abdominal cavity 22, the shaft portion 4 is When contact is made with living tissue in the abdominal cavity, the pressure sensor 5 detects pressurization due to the contact. Therefore, even if an unintended contact occurs in the abdominal cavity, the detection result of the pressure sensor 5 is transmitted so that the operator of the laparoscopic surgery (that is, the operator of the grasping forceps 1) can grasp it. Become. That is, since an operator (operator) can grasp an unintended contact with a living tissue, it is possible to prevent a contact that adversely affects the living tissue from occurring.
Moreover, according to the present embodiment, since the detection result by the pressure sensor 5 is used, even if the operator (operator) keeps gazing at the monitor screen 33 displaying the image by the laparoscope 32, the intention is not intended. This makes it possible for the operator (operator) to grasp the undesired contact, and this point is also effective in preventing adverse effects on the living tissue due to unintended contact.

  In this embodiment, since the pressure sensor 5 is attached at least to a blind spot as viewed from the laparoscope 32, a portion other than the range that is visible by the laparoscope 32, that is, an operator (operation) It is possible to effectively prevent unintentional contact between the shaft 4 of the grasping forceps 1 and the living tissue 23 in the abdominal cavity 22 even in a place where the person cannot visually recognize the state or situation. it can.

  In addition, as described in the present embodiment, if the pressure sensor 5 is attached to a portion that does not become a blind spot when viewed from the laparoscope 32, the occurrence of contact between the shaft portion 4 and the living tissue can be grasped over a wider range. It becomes like this. Furthermore, even within the range that can be observed with the laparoscope 32, by attaching the pressure sensor 5, it becomes possible to grasp information that cannot be known only from the image displayed by the laparoscope 32. Therefore, it is very useful for the operator (operator).

  Moreover, in this embodiment, the pressure sensor 5 is provided with the pressure sensitive part from which the electrical resistance between electrodes changes according to a pressurization amount. And if the pressure sensitive part is provided with two or more along the longitudinal direction of the axial part 4, or along the circumferential direction of the axial part 4, or along each of the longitudinal direction and circumferential direction of the axial part 4. The pressure sensor 5 has subdivided detection resolution. If the pressure sensor 5 has a subdivided detection resolution, an improvement in detection accuracy by the pressure sensor 5 can be expected. Furthermore, the present invention is not limited to simply detecting the occurrence of contact with a living tissue, and can be applied to the application example of pressure detection described in the present embodiment.

  In the present embodiment, the pressure sensor 5 includes the laminate 10 in which at least the annular electrode 13, the pressure-sensitive member 12, and the linear electrode 11 are sequentially laminated, and the annular electrode 13 is located on the lower layer side. The linear electrode 11 is attached to the shaft portion 4 in a state of being positioned on the upper layer side. Such a stacking order is suitable for inserting and removing the shaft portion 4 into and from the abdominal cavity, facilitates mounting on the shaft portion 4, and further impairs sensor sensitivity and resolution. Absent.

  In the present embodiment, the pressure sensor 5 has the linear electrode 11 covered with the pressure sensitive member 12. That is, the linear electrode 11 is inserted into the hollow hole of the pressure-sensitive member 12 formed in a tube shape. Therefore, when the pressure sensor 5 is assembled or mounted, the linear electrode 11 extending along the longitudinal direction of the shaft portion 4 and the pressure-sensitive member 12 can be handled integrally, so that the assembly or mounting can be easily performed. It becomes like this. Further, when the plurality of linear electrodes 11 are arranged side by side, even if the linear electrodes 11 are long, there is an electrical short circuit between the adjacent linear electrodes 11 even if they are slack or offset. It never happens. Accordingly, the linear electrode 11 is very suitable for configuring the pressure sensor 5 having a structure extending along the longitudinal direction of the shaft portion 4.

  In the present embodiment, the pressure sensor 5 includes the laminated body 10 sandwiched between the first film member 14 and the second film member 15, and between the adjacent linear electrodes 11. A spacer member 16 that suppresses the pressurization of the stacked body 10 is provided therebetween. In this way, if the laminate 10 is sandwiched between the first film member 14 and the second film member 15, the laminate 10 is protected in terms of waterproofness, insulation, chemical resistance, and the like. This is suitable for use by being inserted into the 22. Moreover, even if the laminated body 10 is sandwiched between the first film member 14 and the second film member 15, the erroneous detection of the pressure sensor 5 can be suppressed by installing the spacer member 16.

  In this embodiment, the elastic body constituting the pressure-sensitive member 12 of the pressure sensor 5 is made of a pressure-sensitive conductive rubber whose electric resistance changes according to the amount of deformation caused by receiving pressure. Therefore, pressurization to the pressure sensor 5 can be detected with a very simple configuration of monitoring the magnitude of the electrical resistance between the energized electrodes. Furthermore, since a very simple configuration may be used, it is also suitable for realizing cost reduction of the pressure sensor 5.

  In the present embodiment, the pressure sensor 5 is connected to an output unit 6 that outputs the detection result. And according to this embodiment, the output part 6 outputs a sensor detection result by what combined the display output of light, sound output, vibration output, or these suitably. Therefore, the operator (operator) can grasp the sensor detection result even if he / she keeps gazing at the monitor screen displaying the image by the laparoscope 32.

  Furthermore, as described in the present embodiment, if the output unit 6 is configured to output the pressure level detected by the pressure sensor 5 in an identifiable manner, the contact between the shaft unit 4 and the living tissue. The operator (operator) can grasp not only the presence / absence of the occurrence of this, but also the strength of the contact, that is, the amount of pressure applied to the pressure sensor 5 by the contact. Therefore, for the operator (operator), for example, whether or not the strength of the contact of the shaft portion 4 with the living tissue is adjusted (adjusted), or whether the strength of the contact is a strength that damages the living tissue. Judgment can be made.

(6) Modifications, etc. The technical scope of the present invention is not limited to the contents of the above-described embodiments, and various modifications and improvements can be made within the scope of deriving specific effects obtained by the constituent requirements of the invention and combinations thereof. The form which added is included.

  In the embodiment described above, the grasping forceps 1 is given as a specific example of the forceps device. However, the forceps device according to the present invention is not limited to this, and if the forceps device is used as a surgical instrument, it is peeled off. The present invention can be applied in the same manner to other forceps devices such as forceps, excision forceps, hemostatic forceps, and needle holders.

  Further, in the above-described embodiment, the case where the surgeon holds the grasping forceps 1 in his / her hand is described as an example. However, the forceps device according to the present invention is not limited to this, for example, in a robotic surgery system. It may be used. In this case, the shaft portion 4 is configured to be connected to the robot arm instead of the grip portion 3. In other words, the forceps device according to the present invention only needs to be configured to include at least the distal end portion 2 and the shaft portion 4 connected to the distal end portion 2.

Moreover, although the case where laparoscopic surgery was performed was mentioned as an example in the above-described embodiment, the forceps device according to the present invention may be used for other operations. In other words, the forceps device according to the present invention may be used by being inserted into the “body cavity”, and the insertion destination is not limited to “abdominal cavity”, “chest cavity”, or the like.
Similarly, what is inserted into the body cavity together with the forceps device is not necessarily the laparoscope 32 but may be another type of endoscope camera.

  In the above-described embodiment, the elastic body constituting the pressure-sensitive member 12 is made of a pressure-sensitive conductive rubber, and the pressure sensor 5 performs pressure detection using the change in electrical resistance of the pressure-sensitive member 12. However, the forceps device and the pressure sensor according to the present invention are not limited thereto. That is, the pressure sensor 5 is configured such that the electrical characteristics change according to the amount of deformation caused by receiving pressure, and performs pressure detection using the change in the electrical characteristics. That's fine. The pressure sensor whose “electrical characteristic” changes here is, for example, a capacitance type pressure sensor or a pressure sensor according to the magnitude of the pressure, in addition to the one whose electric resistance changes as described in the above embodiment. A piezoelectric element for generating a voltage is included.

In the above-described embodiment, the case where the linear electrode 11 is covered with the pressure-sensitive member 12 formed in a tube shape is described as an example. However, the forceps instrument and the pressure sensor according to the present invention are limited to this. Never happen. That is, the pressure-sensitive member 12 is not formed in a tube shape and covers the linear electrode 11, but may simply be interposed between the linear electrode 11 and the annular electrode 13. . This is because the pressure sensor 5 can detect the pressurization if it includes the laminate 10 in which at least the linear electrode 11, the pressure sensitive member 12, and the annular electrode 13 are sequentially laminated.
Furthermore, the stacking order of the stacked body 10 is not limited to the order of the above-described embodiments, and the pressure sensor 5 can detect the pressurization even in the reverse order.

  In the above-described embodiment, the spacer member 16 is provided between the adjacent linear electrodes 11, thereby suppressing the erroneous detection of the pressure sensor 5. However, the spacer member 16 is a pressure sensor. 5 may be provided for sensitivity adjustment. For the spacer member 16, it is preferable to make the thickness and hardness of each spacer member 16 uniform so as to equalize the sensor sensitivity at any location, in order to suppress erroneous detection of the pressure sensor 5. The sensor sensitivity can be adjusted by appropriately selecting the thickness and hardness of the spacer member 16. Specifically, the thickness, hardness, etc. of the spacer member 16 are changed over the longitudinal direction of the shaft portion 4, for example, the sensor sensitivity is increased in the vicinity of the distal end portion 2 where contact with living tissue is likely to occur, and the distal end portion where contact is difficult to occur It is conceivable to change the sensor sensitivity over the longitudinal direction of the shaft portion 4 so as to reduce the sensor sensitivity at a position away from 2.

  In the above-described embodiment, the output unit 6 that outputs the detection result of the pressure sensor 5 is provided separately from the monitor screen that displays the image by the laparoscope 32 and the main control device (computer device) that controls the monitor screen. However, the forceps instrument and the pressure sensor according to the present invention are not limited thereto. That is, the output unit 6 may be provided as a part of the above-described main control device or the like. In that case, for example, the detection result of the pressure sensor 5 is output to a part of the monitor screen together with the image by the laparoscope 32 so that the operator of the laparoscopic surgery can grasp it. It becomes possible.

  DESCRIPTION OF SYMBOLS 1 ... Gripping forceps (forceps instrument), 2 ... Tip part, 4 ... Shaft part, 5 ... Pressure sensor, 6 ... Output part, 10 ... Laminated body, 11 ... Linear electrode, 12 ... Pressure-sensitive member, 13 ... Ring electrode , 14 ... 1st film member, 15 ... 2nd film member, 16 ... Spacer member, 22 ... Abdominal cavity (body cavity), 32 ... Laparoscope (endoscopic camera)

Claims (18)

A forceps device having at least a distal end portion and a shaft portion connected to the distal end portion, wherein the distal end portion and the shaft portion are used by being inserted into a body cavity,
A forceps device in which a pressure sensor for detecting pressurization due to contact with a living tissue in the body cavity is mounted on an outer periphery of the shaft portion.   The pressure sensor is attached to at least a part that is inserted into the body cavity and is a blind spot when viewed from an endoscopic camera inserted into the body cavity together with the forceps device. The forceps device described.   The forceps device according to claim 2, wherein the pressure sensor is also attached to a portion that does not become a blind spot when viewed from the endoscope camera.   The forceps device according to any one of claims 1 to 3, wherein the pressure sensor is mounted at least in a region within a range of 2.0 cm or more from the tip portion and within 12.0 cm.   The forceps device according to any one of claims 1 to 4, wherein the pressure sensor includes a pressure-sensitive portion in which an electrical characteristic between the electrodes changes according to a pressurization amount.   The forceps device according to claim 5, wherein the pressure sensor includes a plurality of the pressure sensitive parts along a longitudinal direction of the shaft part.   The forceps instrument according to claim 5, wherein the pressure sensor includes a plurality of the pressure sensitive portions along a circumferential direction of the shaft portion.   The forceps instrument according to claim 5, wherein the pressure sensor includes a plurality of the pressure sensitive parts along a longitudinal direction and a circumferential direction of the shaft part. The pressure sensor is
A plurality of annular electrodes disposed in a ring shape along the circumferential direction of the shaft portion, and arranged at predetermined intervals along the longitudinal direction of the shaft portion;
A pressure-sensitive member made of an elastic body whose electrical characteristics change according to the amount of deformation caused by receiving pressure;
A plurality of linear electrodes arranged linearly along the longitudinal direction of the shaft portion and arranged at predetermined intervals along the circumferential direction of the shaft portion;
The forceps device according to any one of claims 1 to 8, further comprising a laminated body that is sequentially laminated.   The forceps instrument according to claim 9, wherein the linear electrode is covered with the pressure-sensitive member. The laminate is sandwiched between a first film member constituting an inner peripheral surface of the pressure sensor and a second film member constituting an outer peripheral surface of the pressure sensor,
A spacer member is provided between the first film member and the second film member to suppress the laminate from being pressed by deformation of at least one of the first film member and the second film member. The forceps device according to claim 9 or 10, wherein:   The forceps instrument according to claim 11, wherein the thickness of the spacer member is in a range of 0.5 to 1.5 times the thickness of the laminate.   The forceps device according to claim 11 or 12, wherein the spacer member has a hardness in a range of 0.5 to 1.5 times the hardness of the pressure-sensitive member.   The forceps instrument according to any one of claims 11 to 13, wherein the spacer member is installed between the adjacent linear electrodes.   The forceps device according to any one of claims 9 to 14, wherein the elastic body constituting the pressure-sensitive member is made of a pressure-sensitive conductive rubber whose electric resistance changes according to the amount of deformation caused by receiving pressure. .   The forceps instrument according to any one of claims 1 to 15, wherein an output unit that outputs a detection result of the pressure sensor is connected to the pressure sensor.   The forceps device according to claim 16, wherein the output unit outputs the pressure detected by the pressure sensor in a manner that allows the pressure to be identified. A forceps device that is used by inserting a distal end portion and a shaft portion connected to the distal end portion into a body cavity, and configured to be attachable to the outer periphery of the shaft portion,
A pressure sensor configured to detect pressurization due to contact with a living tissue in the body cavity.