JP2020054554A - Sensor probe and sensor system - Google Patents

Abstract

To provide a sensor probe capable of accurately specifying a position of a lesion without direct finger contact of a surgeon, and a sensor system.SOLUTION: A sensor probe 1 of an aspect of the invention includes a probe body 10, a sheet like pressure sensor 11 arranged at a tip end side of the probe body 10, and a depressor 12 arranged at a surface of the pressure sensor 11. The depressor 12 includes a contact part 13 which slides while brought into contact with a test object part, and a plurality of projected parts 14 which are arranged on a surface of the pressure sensor 11 side and projecting toward the pressure sensor 11 side. The depressor 12 is configured to be displaced according to force transmitted from the test object part to the contact part 13, and the force transmitted from the test object part to the contact part 13 is transmitted to the pressure sensor 11 via at least one of the projected parts 14.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a sensor probe and a sensor system.

  2. Description of the Related Art In recent years, in surgery, reduction surgery using an endoscope, a thoracoscopy, or the like has been widely used for the purpose of early recovery of a patient.

  Patent Literature 1 discloses a technique relating to a surgical device including a pressure sensor.

JP-A-2017-83351

  As described in the background art, in recent years, in surgery, reduction surgery using an endoscope, a thoracoscopy, or the like has become widespread for the purpose of early recovery of a patient. In such a surgical operation, it is necessary to accurately determine a tumor resection range. For example, a CT (Computed Tomography) scan, an image diagnostic method using an ultrasonic image diagnostic apparatus, or the like is used to determine the tumor resection range before surgery. I have decided.

  However, depending on the part to be operated, a clear image of the affected part may not be obtained even by using the above-described image diagnostic method. For example, since the lung is an organ containing air, it is difficult to obtain a clear image with a CT scan or an ultrasonic diagnostic imaging apparatus in the case of small early cancer, and such an affected part is a “ground glass-like lesion”. Will be recognized as

  In such a case, the surgeon has confirmed the hardness of the tumor by rubbing the surface of the organ with a fingertip during the operation, and has determined the resection range while observing the color of the gray lesion. However, it was difficult to search the entire surgical site with the surgeon's finger because of the limited reach of the surgeon's finger. Particularly, in lung surgery using a thoracoscopy, the reach of the surgeon's finger is limited, and it is impossible to search the entire lung.

  In view of the above problems, an object of the present invention is to provide a sensor probe and a sensor system capable of accurately specifying the position of a lesion without a surgeon directly touching with a finger.

  A sensor probe according to one embodiment of the present invention includes a probe main body extending from a base end side to a distal end side, a sheet-shaped pressure-sensitive sensor provided on the distal end side of the probe main body, and a surface of the pressure-sensitive sensor. And an indenter provided. The indenter includes a contact portion that slides while contacting a portion to be inspected, and a plurality of protrusions provided on a surface on the pressure-sensitive sensor side and protruding toward the pressure-sensitive sensor. The indenter is configured to be displaceable according to a force transmitted from the inspection target portion to the contact portion, and a force transmitted from the inspection target portion to the contact portion is at least one of the protruding portions. Is transmitted to the pressure-sensitive sensor.

  A sensor system according to one aspect of the present invention includes the above-described sensor probe and a measurement information display unit that displays information related to a pressure measured by the pressure-sensitive sensor.

  A sensor probe according to one aspect of the present invention is a sensor probe that irradiates irradiation light to an inspection target site and detects a lesion existing in the inspection target site using detection light reflected on the inspection target site. A probe main body extending from the base end side to the distal end side, a head portion provided on the distal end side of the probe main body, a slide portion provided on the head portion and sliding while contacting the inspection target site, Light propagation provided inside the probe body and having an irradiation light optical fiber through which the irradiation light irradiating the inspection target propagates and a detection light optical fiber through which the detection light from the inspection target propagates Portion, provided inside the head portion, reflects the irradiation light that has propagated through the irradiation light optical fiber, and introduces the irradiation light into the slide portion; It reflects introduced the detection light and a reflecting member to be introduced into the detection-light optical fiber. The probe body is configured such that the slide portion forms a predetermined angle with a contact surface that contacts the inspection target portion, and the irradiation light reflected by the reflection member passes through the inside of the slide portion. Thereafter, the detection light that is applied to the inspection target portion and reflected by the inspection target portion passes through the inside of the slide portion, is reflected by the reflection member, and is introduced into the detection light optical fiber. .

  A sensor system according to an aspect of the present invention includes the above-described sensor probe, a spectroscope that splits the detection light that has propagated through the detection light optical fiber, and a measurement information display unit that displays an output of the spectroscope. , Is provided.

  According to the present invention, it is possible to provide a sensor probe and a sensor system capable of accurately specifying the position of a lesion without a surgeon directly touching with a finger.

FIG. 2 is a cross-sectional view for explaining the sensor probe according to the first embodiment. FIG. 3 is a bottom view for explaining the sensor probe according to the first embodiment; FIG. 3 is a perspective view of an indenter included in the sensor probe according to the first embodiment. FIG. 3 is a top view of an indenter provided in the sensor probe according to the first embodiment. FIG. 4 is a cross-sectional view for explaining an operation of detecting a tumor using the sensor probe according to the first embodiment. FIG. 4 is a cross-sectional view for explaining another configuration example of the sensor probe according to the first embodiment. It is sectional drawing for demonstrating the relationship between the size of an indenter and a site | part to be examined. FIG. 4 is a cross-sectional view for explaining another configuration example of the sensor probe according to the first embodiment. FIG. 4 is a cross-sectional view for explaining another configuration example of the sensor probe according to the first embodiment. FIG. 2 is a block diagram for explaining the sensor system according to the first embodiment. FIG. 3 is a circuit diagram illustrating an example of a signal conversion unit included in the sensor system according to the first embodiment. FIG. 4 is a block diagram for explaining another configuration example of the sensor system according to the first embodiment. FIG. 9 is a cross-sectional view illustrating a sensor probe according to a second embodiment. FIG. 9 is a cross-sectional view for explaining a configuration example of a light propagation unit provided in a sensor probe according to a second embodiment. It is a graph which shows an example of the wavelength and the reflection intensity of the detection light reflected by the part to be examined. FIG. 10 is a cross-sectional view for explaining an operation of inspecting an inspection target site using the sensor probe according to the second embodiment. FIG. 7 is a block diagram for explaining a sensor system according to a second embodiment. FIG. 13 is a block diagram for explaining another configuration example of the sensor system according to the second embodiment. FIG. 9 is a cross-sectional view for explaining a sensor probe according to a third embodiment. FIG. 13 is a cross-sectional view for explaining a pressure-sensitive portion provided in the sensor probe according to the third embodiment. FIG. 21 is a perspective view of an indenter included in the pressure sensing unit shown in FIG. 20. FIG. 21 is a top view of an indenter provided in the pressure sensing unit shown in FIG. 20. It is sectional drawing for demonstrating the operation | movement which inspects an inspection target part using a pressure sensing part. FIG. 13 is a perspective view illustrating an example of a sensor probe according to a third embodiment. FIG. 13 is a block diagram for explaining a sensor system according to a third embodiment.

<First Embodiment>
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 and 2 are a cross-sectional view and a bottom view (view from the minus side in the z-axis direction) for describing the sensor probe according to the first embodiment. 3 and 4 are a perspective view and a top view (viewed from the plus side in the z-axis direction) of the indenter included in the sensor probe according to the embodiment.

  As shown in FIGS. 1 and 2, the sensor probe 1 according to the present embodiment includes a probe main body 10, a pressure-sensitive sensor 11, and an indenter 12. The pressure-sensitive sensor 11 and the indenter 12 constitute a pressure-sensitive part. In the sensor probe 1 according to the present embodiment, the pressure-sensitive portion is a sensor having a fingertip feeling.

  The probe main body 10 is a structure extending from the base end side (plus side in the x-axis direction) to the front end side (minus side in the x-axis direction). As shown in FIG. 2, a rectangular tip 16 is formed on the tip of the probe body 10. The proximal end side of the probe main body 10 is a side on which the surgeon grips the probe main body 10, and the distal end side (the distal end portion 16) is a side to be introduced (inserted) into an affected part of a patient. The probe body 10 can be configured using, for example, a metal material, a resin material, or the like. The length (length in the x-axis direction) and shape of the probe main body 10, the shape of the distal end portion 16, and the like can be appropriately changed depending on the site to be operated.

  Further, in the configuration example shown in FIG. 1, the probe main body 10 itself shows a rod-shaped structure that does not bend, but the sensor probe according to the present embodiment is configured such that the probe main body 10 bends in the middle of the probe main body 10. May be configured. In this case, for example, the probe main body 10 may be configured to bend according to the operation of the operation lever provided on the base end side. Accordingly, the distal end portion 16 can be displaced, so that the indenter 12 can be easily brought into contact with the affected part (test target part) of the patient, and the operability of the sensor probe can be improved.

  Further, the tip portion 16 may be inclined at a predetermined angle with respect to the x-axis. In this case, the pressure-sensitive sensor 11 and the indenter 12 attached to the distal end portion 16 are inclined at a predetermined angle with respect to the probe main body 10, so that the indenter 12 is easily brought into contact with an affected part (a part to be examined) of the patient.

  Further, the probe main body 10 may be an endoscope or a thoracoscopy. In this case, the sensor probe 1 according to the present embodiment can be mounted on the endoscope or the thoracoscopy.

  As shown in FIGS. 1 and 2, the pressure-sensitive sensor 11 is a sheet-shaped sensor, and is provided on the distal end side (specifically, the distal end portion 16) of the probe main body 10. As the pressure-sensitive sensor 11, a piezoelectric element, a pressure-sensitive element, or the like can be used. Here, the piezoelectric element is an element that converts a pressure applied to the element into a voltage signal. A pressure-sensitive element is an element whose electric resistance changes in accordance with the pressure applied to the element. For example, an FSR sensor can be used as a pressure-sensitive element. The FSR sensor is a pressure-sensitive element in which the resistance of the element decreases as the pressure applied to the element increases.

  Further, as shown in FIG. 2, in the present embodiment, the shape of the pressure-sensitive sensor 11 when viewed in plan (the shape when viewed from the z-axis direction) corresponds to the shape when the indenter 12 is viewed in plan. It has a shape. That is, in the example shown in FIG. 2, since the shape of the indenter 12 when viewed in plan is substantially circular, the shape of the pressure sensor 11 is also substantially circular. Note that the configuration shown in FIG. 2 is an example, and in the present embodiment, it is sufficient that the protrusion 14 (FIG. 1) of the indenter 12 is configured to be in contact with the pressure-sensitive sensor 11. Is not particularly limited.

  As shown in FIGS. 1 and 2, the indenter 12 is provided on the surface of the pressure-sensitive sensor 11. The indenter 12 is configured to be displaceable with respect to the pressure sensor 11. Specifically, the indenter 12 is configured to be displaceable in accordance with a force transmitted from the inspection target site to the indenter 12 (the contact portion 13).

  As shown in FIGS. 1 and 3, the indenter 12 includes a contact portion 13 and a plurality of protrusions 14. The contact portion 13 is a portion that slides while contacting the inspection target site. For this reason, the surface of the contact portion 13 has a smooth shape so that the contact portion 13 slides smoothly while being in contact with the inspection target site. In the example shown in FIGS. 1 and 3, the contact portion 13 is configured using a substantially hemispherical member.

  In addition, the shape of the contact portion 13 is not limited to a substantially hemispherical shape, and the shape can be appropriately changed according to a part on which surgery is performed. Further, the contact portion 13 may be made of an elastic material such as silicone rubber. By configuring the contact portion 13 with an elastic material as described above, the contact portion 13 can smoothly slide on the surface of the inspection target site. Here, the inspection target site is an affected part of a patient, and is a site where a tumor may be present.

  As shown in FIGS. 1 and 3, the plurality of protrusions 14 are provided on a surface 17 of the indenter 12 on the pressure-sensitive sensor 11 side, protrude toward the pressure-sensitive sensor 11, and Contacting surface. As shown in FIGS. 3 and 4, each of the plurality of protrusions 14 is located on a circumference of a circle 19 (see FIG. 4) centered on an axis 18 perpendicular to a surface 17 of the indenter 12 on the pressure-sensitive sensor 11 side. Are located in

  Note that, in the examples shown in FIGS. 3 and 4, a configuration including eight protrusions 14 is shown, but in the present embodiment, the number and arrangement of the plurality of protrusions 14 can be arbitrarily determined. Further, FIGS. 3 and 4 show an example in which the shape of the plurality of protrusions 14 is a cylindrical shape. However, in the present embodiment, the shape of the plurality of protrusions 14 is a shape other than this (for example, triangular prism, four Prism, triangular pyramid, quadrangular pyramid, cone, etc.).

  As shown in FIG. 1, the indenter 12 is attached to the surface of the pressure-sensitive sensor 11 using a connection member 15. The connection member 15 can be configured using, for example, a member having elasticity and adhesiveness. Thus, the indenter 12 can be attached to the pressure sensor 11 so as to be displaced with respect to the pressure sensor 11. For example, the connection member 15 can be formed by applying an adhesive to the surface of a columnar elastic body (rubber, urethane, or the like).

  As shown in FIG. 4, the connection member 15 is provided inside the circle 19 (that is, at the center of the surface 17 of the indenter 12) on the surface 17 of the indenter 12 on the pressure-sensitive sensor 11 side. By arranging the connecting member 15 in such a manner, the indenter 12 can be configured to be displaced about the shaft 18.

  FIG. 5 is a cross-sectional view illustrating an operation of detecting a tumor using the sensor probe according to the present embodiment. As shown in FIG. 5A, when detecting a tumor using the sensor probe 1 according to the present embodiment, the contact portion 13 of the indenter 12 slides while contacting the surface of the inspection target portion 21. Then, the probe body 10 is moved. In the example shown in FIG. 5, the probe main body 10 is moved to the plus side in the x-axis direction.

  Then, as shown in FIG. 5B, when the contact portion 13 of the indenter 12 approaches the tumor 22, a force is transmitted from the tumor 22 to the contact portion 13. That is, since the tumor 22 is harder than other portions of the inspection target portion 21, a force (stress) is transmitted from the tumor 22 to the contact portion 13 of the indenter 12. The force transmitted from the inspection target portion 21 (tumor 22) to the contact portion 13 is transmitted to the pressure sensor 11 via at least one of the protrusions 14 provided on the indenter 12. That is, when the pressure sensor 11 is pressed by the protrusion 14, the pressure sensor 11 detects the pressure.

  As described above, in the sensor probe 1 according to the present embodiment, the inspection target portion 21 is inspected using the pressure-sensitive portion (the pressure-sensitive sensor 11 and the indenter 12) attached to the distal end side of the probe main body 10. Therefore, even at a position where the surgeon's finger cannot reach, the position of the lesion can be specified without the surgeon directly touching the finger.

  Further, in the sensor probe 1 according to the present embodiment, a plurality of protrusions 14 are provided on the surface of the indenter 12 on the pressure-sensitive sensor 11 side, and the force transmitted from the inspection target portion 21 to the contact portion 13 of the indenter 12 is It is configured to be transmitted to the pressure sensor 11 via the section 14. With such a configuration, the force transmitted from the inspection target portion 21 to the contact portion 13 of the indenter 12 can be concentrated on the protruding portion 14 of the indenter 12, so that the pressure sensor 11 detects the pressure with high sensitivity. can do.

  That is, if the indenter 12 and the pressure-sensitive sensor 11 are brought into surface contact with each other without providing the indenter 12 with the plurality of protrusions 14, the force transmitted from the inspection target portion 21 to the contact portion 13 of the indenter 12 is When transmitted from the indenter 12 to the pressure-sensitive sensor 11, it is dispersed at the contact surface. For this reason, the force transmitted to the pressure sensor 11 is weakened, and the detection sensitivity of the pressure sensor 11 is reduced.

  On the other hand, when a plurality of protrusions 14 are provided on the indenter 12 as in the sensor probe 1 according to the present embodiment, the indenter 12 (projection 14) and the pressure-sensitive sensor 11 make point contact with each other. In this case, when the force transmitted to the contact portion 13 of the indenter 12 is transmitted from the indenter 12 to the pressure-sensitive sensor 11, the force is concentrated on the protrusion 14 of the indenter 12. For this reason, the force transmitted from the protrusion 14 to the pressure-sensitive sensor 11 is increased, and the detection sensitivity of the pressure-sensitive sensor 11 is improved.

  In particular, since the FSR sensor has a characteristic that the local stress concentration is sensitively sensed, the detection sensitivity of the pressure-sensitive sensor 11 can be mechanically increased by concentrating the force applied to the indenter 12 to the protrusion 14.

  As an example, the sensor probe according to the present embodiment can detect a tumor mass of about 2 to 5 mm with a contact force of several tens to one hundred and several tens gf (for C3 to 10 in Asker hardness C0). Equivalent).

  With the sensor probe according to the present embodiment described above, the position of a lesion can be specified with high accuracy without the surgeon directly touching with a finger.

  Although the example shown in FIG. 5 illustrates an example in which the probe main body 10 is moved to the positive side in the x-axis direction, the probe main body 10 may be moved to the negative side in the x-axis direction. At the time of a surgical operation, the sensor probe 1 is introduced into a patient through a hole formed in a chest cavity or the like of the patient. For this reason, the sensor probe 1 is easily displaced along the direction in which the sensor probe 1 extends (x-axis direction). For example, the surgeon can inspect the inspection target portion 21 by reciprocating the sensor probe 1 in the x-axis direction.

  Considering the displacement direction of the sensor probe 1, as shown in FIG. 4, the protrusion is located at the position indicated by the protrusion 14_1 on the circumference of the circle 19 (that is, the most distal side (the negative side in the x-axis direction). ) And the position indicated by the protrusion 14_2 (that is, the position closest to the base end (the position on the plus side in the x-axis direction)).

  That is, when the sensor probe 1 is moved along the x-axis direction, the forces are most concentrated on the protrusions 14_1 and 14_2 along the x-axis among the protrusions 14 provided on the indenter 12. For this reason, the detection sensitivity of the pressure-sensitive sensor 11 can be improved by providing the protruding portion 14 at at least one of the most distal position and the most proximal position among the positions on the circumference of the circle 19. it can.

  Further, as described above, since the protrusion 14 of the indenter 12 functions to transmit a force to the pressure-sensitive sensor 11, the protrusion 14 is preferably made of a hard material. For example, when configuring the indenter 12, the rigidity of the protruding portion 14 may be configured to be higher than the rigidity of the contact portion 13. For example, the protrusion 14 of the indenter 12 may be formed of a hard material such as a plastic material or a metal material, and the contact portion 13 may be formed of an elastic material such as silicone rubber.

  FIG. 1 illustrates a configuration in which the plurality of protrusions 14 are in contact with the surface of the pressure-sensitive sensor 11 in a state where no force is applied to the indenter 12 (non-inspection state). However, in the present embodiment, in the non-inspection state, the plurality of protrusions 14 are arranged near the surface of the pressure-sensitive sensor 11 (that is, the plurality of protrusions 14 Without being disposed). In this case, when a force acts on the indenter 12, the protrusion 14 comes into contact with the surface of the pressure-sensitive sensor 11.

  In addition, since the sensor probe 1 according to the present embodiment is introduced into a patient's body through a hole formed in a chest cavity or the like of the patient, the sensor probe 1 preferably has waterproofness. For example, as shown in FIG. 6, a waterproof cover 25 may be provided on the distal end side of the probe body 10 so as to cover the pressure-sensitive sensor 11 and the indenter 12. The waterproof cover 25 has a waterproof property and can be made of a soft material (for example, silicone rubber or the like) that transmits a force from the inspection target portion to the contact portion 13 of the indenter 12. In consideration of hygiene, the waterproof cover 25 may be disposable for each operation.

  In the present embodiment, the size of the indenter 12 can be appropriately changed according to the search depth and the search range in the inspection target site. FIGS. 7A and 7B show a state in which the inspection target portion 21 is inspected using the indenters 12a and 12b having different sizes, respectively. Specifically, FIG. 7A shows an indenter 12a having a large diameter R1 (diameter when the indenter 12a is viewed from the z-axis direction), and FIG. 7B shows an indenter 12b having a small diameter R2. I have.

  When the indenters 12a and 12b shown in FIGS. 7A and 7B are pressed against the inspection target portion 21 with the same force, the following is performed. That is, as shown in FIG. 7A, when the diameter R1 of the indenter 12a is large, the search depth d1 in the inspection target portion 21 is small, and the search range is wide. On the other hand, as shown in FIG. 7B, when the diameter R2 of the indenter 12b is small, the search depth d2 in the inspection target part 21 becomes deep, and the search range becomes narrow.

  That is, in the case shown in FIG. 7A, the search range can be widened, but the tumor that can be detected is the tumor 22a near the surface. On the other hand, in the case shown in FIG. 7B, although the search range is narrow, the tumor 22b at a deep position from the surface can be detected. As an example, when the diameter of the indenter 12 is larger than 20 mm, the search depth becomes shallower than 5 mm. When the diameter of the indenter 12 is smaller than 10 mm, the search depth becomes deeper than 10 mm.

  As described above, since the search depth and the search range in the inspection target portion change according to the size of the indenter 12, the size of the indenter 12 may be appropriately changed according to the inspection target portion to be inspected. For example, the indenters 12a and 12b having the substantially hemispherical contact portions 13 having different radii as shown in FIG. 7 may be configured to be replaceable in accordance with a portion to be inspected. Further, like the sensor probe 2 shown in FIG. 8, the indenter 12 may be configured to be detachable from the pressure-sensitive sensor 11. By configuring the indenter 12 to be detachable from the pressure-sensitive sensor 11 in this manner, the indenters 12 having different sizes can be easily replaced during the operation.

  In the present embodiment, one surface (the surface on the minus side in the z-axis direction) of the distal end portion 16 of the probe body 10 and the other surface (the plus surface on the plus side in the z-axis direction), like the sensor probe 3 shown in FIG. Pressure-sensitive portions (pressure-sensitive sensors 11a and 11b and indenters 12a and 12b) may be provided on each of the surfaces. Specifically, a pressure-sensitive portion including a pressure-sensitive sensor 11a and an indenter 12a is provided on one surface (the surface on the minus side in the z-axis direction) of the probe body 10. Further, a pressure-sensitive portion including the pressure-sensitive sensor 11b and the indenter 12b is provided on the other surface (the surface on the positive side in the z-axis direction) of the probe main body 10. The size of the contact portion 13a of the indenter 12a provided on one surface of the probe main body 10 is different from the size of the contact portion 13b of the indenter 12b provided on the other surface of the probe main body 10. I do. Thereby, two indenters 12a and 12b having different sizes can be attached to one sensor probe 3, and the inspection target site can be inspected using the two indenters 12a and 12b without replacing the indenter. .

  For example, by providing a mechanism that can rotate around the rotation axis parallel to the x-axis in the probe body 10, the positions of the two indenters 12a and 12b can be easily switched during the operation. For example, by providing the probe body 10 with a mechanism that rotates by 180 degrees about the rotation axis, the positions of the two indenters 12a and 12b can be switched during surgery (that is, the positions of the indenters 12a and 12b in FIG. 9). You can switch the position up and down).

  Next, a sensor system including the sensor probe according to the present embodiment will be described. FIG. 10 is a block diagram for explaining the sensor system according to the present embodiment.

  As shown in FIG. 10, the sensor system 50 according to the present embodiment includes a sensor probe 51, a signal conversion unit 52, a measurement information display unit 53, and a sound generation unit 54. The sensor probe 51 corresponds to the sensor probes 1 to 3 described above.

  The sensor probe 51 outputs a signal corresponding to the pressure detected by the pressure sensor 11 (see FIG. 1 and the like) to the signal converter 52. For example, when the pressure sensor 11 is configured by an FSR sensor, the signal output from the pressure sensor 11 is a resistance value. Further, for example, when the pressure sensor 11 is configured by a piezoelectric element, the signal output from the pressure sensor 11 is a voltage signal.

  The signal converter 52 converts a signal supplied from the sensor probe 51 (the pressure sensor 11) into a pressure signal. For example, when the pressure-sensitive sensor 11 is configured by an FSR sensor, the signal output from the pressure-sensitive sensor 11 is a resistance value, and therefore, the signal converter 52 converts the resistance value into a voltage value (pressure signal). FIG. 11 is a circuit diagram illustrating an example of the signal conversion unit 52, and illustrates an example of a circuit that converts a resistance value output from the pressure-sensitive sensor 11 (FSR sensor) into a voltage value (pressure signal).

  As shown in FIG. 11, the signal conversion unit 52 includes an operational amplifier AMP1 and a variable resistor VR1. The pressure-sensitive sensor 11 (FSR sensor) and the variable resistor VR1 are connected in series between the power supply potential VDD and the ground potential. Specifically, one end of the FSR sensor is connected to the power supply potential VDD, and the other end is connected to the node N1. One end of the variable resistor VR1 is connected to the node N1, and the other end is connected to the ground potential.

  The operational amplifier AMP1 forms a voltage follower circuit in which the output terminal of the operational amplifier AMP1 is connected to the inverting input terminal. The node N1 is connected to the non-inverting input terminal of the operational amplifier AMP1. Therefore, the output terminal of the operational amplifier AMP1 outputs a voltage value Vout corresponding to the voltage value of the node N1.

  Here, the voltage value of the node N1 is a value determined based on the resistance value of the FSR sensor and the resistance value of the variable resistor VR1. Therefore, by adjusting the resistance value of the variable resistor VR1, the sensitivity (gain) of the FSR sensor can be adjusted. The FSR sensor is a pressure-sensitive element in which the resistance value of the element decreases as the pressure applied to the element increases. Therefore, the voltage value of the node N1 increases as the pressure applied to the FSR sensor increases (as the resistance value of the FSR sensor decreases). As described above, the voltage value of the node N1 changes according to the pressure applied to the FSR sensor. Therefore, a voltage value Vout corresponding to the pressure applied to the FSR sensor is output from the output terminal of the operational amplifier AMP1.

  As shown in FIG. 10, the output of the signal conversion unit 52 (the voltage value Vout in the case of the circuit shown in FIG. 11) is supplied to the measurement information display unit 53 and the sound generation unit 54.

  The measurement information display unit 53 displays information about the pressure measured by the sensor probe 51 (the pressure sensor 11) (that is, measurement information according to the output of the signal conversion unit 52). For example, the measurement information display unit 53 can be configured using a plurality of light emitting diodes (LED bar graphs). In this case, measurement information (pressure information) can be displayed by changing the number of light emitting diodes to emit light according to the output of the signal conversion unit 52.

  For example, the pressure level can be displayed by increasing the number of light emitting diodes to emit light as the pressure applied to the pressure sensitive sensor 11 (FSR sensor) increases. When the pressure level displayed on the measurement information display section 53 is equal to or higher than a predetermined value (in other words, when the number of light emitting diodes emitting light is equal to or higher than a predetermined number), the surgeon determines that a tumor is Then it can be determined.

  The sound generator 54 outputs a sound corresponding to the pressure measured by the sensor probe 51 (the pressure sensor 11) (that is, the output of the signal converter 52). Specifically, the sound generator 54 is configured to change the frequency of the sound according to the pressure measured by the sensor probe 51. For example, the sounding unit 54 can be configured using a buzzer that can output sounds of a plurality of frequencies. For example, the pressure level detected by the pressure sensor 11 (FSR sensor) can be transmitted by sound by increasing the frequency of the buzzer as the pressure applied to the pressure sensor 11 (FSR sensor) increases. For example, if the surgeon cannot see the measurement information display section 53 during the operation, the surgeon determines whether or not there is a tumor in the examination target site based on the sound of the buzzer of the sounding section 54. Can be.

  Note that the sensor system 50 illustrated in FIG. 10 has the configuration including the measurement information display unit 53 and the sound generation unit 54. However, in the sensor system 50 according to the present embodiment, one of the measurement information display unit 53 and the sound generation unit 54 may be omitted.

  Next, another configuration example of the sensor system according to the present embodiment will be described with reference to FIG. The sensor system 60 shown in FIG. 12 shows a system in which the sensor system according to the present embodiment is incorporated in an existing scope camera system 70.

  As shown in FIG. 12, the existing scope camera system 70 includes a scope camera 71, a control unit 72, and a display unit 73. The scope camera 71 is an endoscope, a thoracoscopy, or the like, and is introduced into a patient's body through a hole formed in a patient's thoracic cavity or the like during a surgical operation. The control unit 72 controls the scope camera 71 and outputs an image acquired by the scope camera 71 to the display unit 73. The display unit 73 is, for example, a liquid crystal display, and displays an image acquired by a scope camera.

  The sensor system 60 illustrated in FIG. 12 further includes a sensor probe 51, a signal conversion unit 52, and an interface 61. The sensor probe 51 and the signal conversion unit 52 are the same as the sensor probe 51 and the signal conversion unit 52 included in the sensor system 50 shown in FIG.

  The interface 61 is an interface for displaying information on the pressure measured by the sensor probe 51 (the pressure sensor 11) on the display unit 73 of the existing scope camera system 70. The output of the signal conversion unit 52 is supplied to the interface 61. As described above, the output of the signal conversion unit 52 corresponds to the pressure level measured by the sensor probe 51. The interface 61 outputs pressure level information to the control unit 72 in order to superimpose and display the pressure level measured by the sensor probe 51 on the display unit 73 on which the image acquired by the scope camera 71 is displayed. . For example, the display unit 73 displays information on the pressure level measured by the sensor probe 51 using a bar graph.

  As described above, by using the interface 61, the pressure level measured by the sensor probe 51 can be superimposed and displayed on the image acquired by the scope camera 71. Therefore, the surgeon checks the pressure level (the presence or absence of a tumor) obtained by the sensor probe 51 on the display unit 73 while checking the image of the affected part of the patient acquired by the scope camera 71 on the display unit 73. Can be.

  In addition, in the sensor system 60 shown in FIG. 12, the case where the scope camera 71 and the sensor probe 51 were provided separately was shown. However, in the sensor system 60 according to the present embodiment, the scope camera 71 and the sensor probe 51 may be integrally configured. That is, the probe main body 10 shown in FIG. 1 may be an endoscope or a thoracoscopy. In this case, the sensor probe 51 can be mounted on the endoscope or the thoracoscopy.

  The above-described sensor probe and sensor system according to the present embodiment can be widely used for a surgical operation using an endoscope, a thoracoscopy, or the like. In particular, the sensor probe and the sensor system according to the present embodiment can be suitably used for lung surgery using a thoracoscopy. That is, since the lung is an organ containing air, it is difficult to obtain a clear image with a CT scan or an ultrasonic diagnostic imaging apparatus for small early cancer. In such a case, by using the sensor probe and the sensor system according to the present embodiment, the surgeon can accurately specify the position of the lesion without directly touching the finger.

<Embodiment 2>
Next, a second embodiment of the present invention will be described.
FIG. 13 is a cross-sectional view for explaining the sensor probe according to the second embodiment. The sensor probe 101 according to the present embodiment includes a probe main body 110, a head unit 111, a slide unit 112, a light propagation unit 113, and a reflection member 117. The sensor probe 101 according to the present embodiment irradiates the inspection target part 131 with irradiation light 121 and detects a lesion existing in the inspection target part 131 using the detection light 122 reflected by the inspection target part 131. It is.

  The probe main body 110 is a structure extending from the base end side to the distal end side, and a head section 111 is provided on the distal end side of the probe main body 110. The proximal end of the probe main body 110 is the side on which the surgeon grips the probe main body 110, and the distal end side (the head section 111) is the side that is introduced (inserted) into the affected part of the patient. The probe main body 110 can be configured using, for example, a metal material, a resin material, or the like. The length, shape, and the like of the probe main body 110 can be appropriately changed according to the site to be operated.

  As shown in FIG. 13, the probe main body 110 is configured such that the slide portion 112 forms a predetermined angle θ with a contact surface that contacts the inspection target portion 131. For example, the probe main body 110 may be configured to form an angle θ of 20 to 45 degrees with respect to the contact surface of the slide portion 112. Here, the “contact surface” where the slide portion 112 contacts the inspection target portion 131 is a surface that contacts the vertex of the curved surface of the slide portion 112 closest to the inspection target portion 131 side, and is substantially parallel to the surface of the inspection target portion 131. It is a side.

  The light propagation unit 113 is provided inside the probe main body 110. The light propagation unit 113 includes an irradiation light optical fiber 114 through which irradiation light 121 irradiated to the inspection target portion 131 propagates, and a detection light optical fiber 115 through which detection light 122 from the inspection target portion 131 propagates. The irradiation light optical fiber 114 is optically connected to a light source (not shown), and guides light from the light source to the head unit 111. The detection light optical fiber 115 is optically connected to a spectroscope (not shown), and guides the detection light 122 from the inspection target portion 131 to the spectroscope.

  FIG. 14 is a cross-sectional view illustrating a configuration example of the light propagation unit 113. The configuration example illustrated in FIG. 14 illustrates an example in which the light propagation unit 113 is configured using one detection light optical fiber 115 and a plurality of irradiation light optical fibers 114. In the configuration example illustrated in FIG. 14, the detection light optical fiber 115 is disposed at the center of the cross section of the light propagation unit, and the plurality of irradiation light optical fibers 114 are disposed around the detection light optical fiber 115. ing. As described above, by using a plurality of irradiation light optical fibers 114, the amount of irradiation light 121 applied to the inspection target portion 131 can be increased. Accordingly, the amount of the detection light 122 reflected by the inspection target portion 131 can be increased, and the detection sensitivity of the sensor probe can be improved.

  The configuration of the light propagation unit 113 shown in FIG. 14 is an example, and the number and arrangement of the irradiation light optical fibers 114 and the detection light optical fibers 115 can be arbitrarily determined.

  The head section 111 is provided on the tip side of the probe main body 110. Further, the slide portion 112 is provided on the inspection target portion 131 side (the lower side in the drawing) of the head portion. The slide unit 112 slides while contacting the part 131 to be examined of the patient. For this reason, the slide part 112 has a smooth surface so that it slides smoothly while contacting the inspection target part 131. In the example shown in FIG. 13, the slide portion 112 is configured using a substantially hemispherical member.

  In the present embodiment, the irradiation light 121 and the detection light 122 pass through the inside of the slide portion 112. For this reason, the slide portion 112 needs to be made of a material through which light is transmitted. As an example, the slide portion 112 can be formed using a substantially hemispherical transparent silicone rubber. Since the silicone rubber is a material having translucency and elasticity, the surface of the inspection target portion 131 can be smoothly slid while transmitting the irradiation light 121 and the detection light 122.

  Further, in the present embodiment, the reflection member 117 is provided inside the head section 111. The reflection member 117 is provided inside the head unit 111, reflects the irradiation light propagating through the irradiation light optical fiber 114, and introduces the irradiation light into the slide unit 112, and also reflects the detection light 122 introduced from the slide unit 112. Then, it is configured to be introduced into the optical fiber 115 for detection light. The reflection member 117 can be configured using, for example, a metal material or a resin material having a metal material provided on the surface. For example, a resin material provided with a metal material on its surface can be formed by attaching a metal material to the surface of the resin material by vapor deposition or the like.

  As shown in FIG. 13, the light propagation unit 113 (the optical fiber 114 for the irradiation light and the optical fiber 115 for the detection light) is disposed to extend near the surface of the reflection member 117 inside the head unit 111. With such a configuration, the irradiation light can be accurately guided to the surface of the reflection member 117, and the detection light can be accurately guided to the light propagation unit 113 from the reflection member 117.

  For example, inside the head section 111, the reflection member 117 and the light propagation section 113 may be embedded using resin. In this way, by embedding the reflection member 117 and the light propagation part 113 using the resin, the reflection member 117 and the light propagation part 113 can be firmly fixed. Therefore, optical displacement between the reflection member 117 and the light propagation unit 113 can be suppressed.

  In the sensor probe 101 according to the present embodiment described above, the irradiation light propagating through the irradiation light optical fiber 114 of the light propagation unit 113 is reflected by the reflection member 117. The irradiation light 121 reflected by the reflection member 117 passes through the inside of the slide portion 112 and then irradiates the inspection target portion 131. Then, the detection light 122 reflected by the inspection target portion 131 passes through the inside of the slide portion 112, is reflected by the reflection member 117, and is introduced into the detection light optical fiber 115 of the light propagation portion 113. With this configuration, it is possible to detect a lesion existing in the inspection target portion 131.

  For example, cancerous tissue tends to be grayer than normal tissue. For this reason, the spectrum of the detection light 122 obtained by irradiating the irradiation target 121 to the inspection target portion 131 is different between normal tissue and cancer tissue. The sensor probe 101 according to the present embodiment detects a lesion existing in the inspection target portion 131 by using such a difference in the spectrum of the detection light 122.

  In this embodiment mode, at least one of white light and near-infrared light can be used as the irradiation light 121. For example, near-infrared light has a property that organ transmission power is higher than other wavelengths. Note that the wavelength of the irradiation light used in the present embodiment can be appropriately changed according to the inspection target site.

  FIG. 15 is a graph showing an example of the wavelength and the reflection intensity of the detection light reflected on the inspection target portion, and shows the result of the verification test of the sensor probe 101 according to the present embodiment. In the verification test, the detection light optical fiber 115 was disposed at the center, and seven irradiation light optical fibers 114 were disposed around the detection light optical fiber 115. A white LED was used as a light source of the irradiation light 121. In addition, the inspection target portion 131 was made of transparent silicone rubber, and a gray tumor phantom (5 mm in depth) was formed inside the transparent silicone rubber. Then, the spectrum of the detection light obtained when irradiating the transparent silicone rubber (transparent phantom part) with the irradiation light and the spectrum of the detection light obtained when irradiating the irradiation light to the tumor phantom part are respectively I asked. The spectrum of the detection light was obtained by splitting the detection light with a spectroscope.

  As shown in FIG. 15, the spectrum of the detection light obtained when irradiating the transparent silicone rubber (transparent phantom part) with the irradiation light, and the spectrum of the detection light obtained when irradiating the irradiation light to the tumor phantom part. There was a clear difference between the spectra. Specifically, near the wavelength of 460 nm, the spectrum intensity in the tumor phantom was stronger than the spectrum intensity in the transparent phantom. At a wavelength of about 530 nm to about 600 nm, the intensity of the spectrum in the tumor phantom became stronger than the intensity of the spectrum in the transparent phantom.

  Thus, there was a clear difference between the spectral intensity in the tumor phantom and the spectral intensity in the transparent phantom. Therefore, it has been demonstrated that the use of the sensor probe 101 according to the present embodiment makes it possible to detect a lesion existing in the inspection target portion 131.

  Next, an operation of inspecting the inspection target portion 131 using the sensor probe 101 according to the present embodiment will be described with reference to FIG. As shown in FIG. 16A, when detecting a lesion (tumor) using the sensor probe 101 according to the present embodiment, the slide portion 112 is slid while contacting the surface of the inspection target portion 131. Then, the probe main body 110 is moved. At this time, irradiation light 121 is emitted from the surface of the slide portion 112. The irradiation light 121 is reflected by the inspection target part 131. The detection light 122 reflected by the inspection target portion 131 passes through the inside of the slide portion 112, is reflected by the reflection member 117, is introduced into the detection light optical fiber 115 of the light propagation portion 113, and is guided to the spectroscope. I will

  As shown in FIG. 16A, when the slide portion 112 slides on the inspection target portion 131 where no lesion exists, the spectrum of the detection light 122 is the spectrum of the normal portion (see the transparent phantom portion of FIG. 15). Become.

  Thereafter, as shown in FIG. 16B, when the slide portion 112 approaches the lesion (tumor) 132, the detection light 122 reflected by the inspection target portion 131 includes the detection light reflected by the lesion (tumor) 132. Will be included. In this case, the spectrum of the detection light 122 is the spectrum of the lesion (tumor) 132 (see the tumor phantom portion in FIG. 15).

  As described above, in the sensor probe 101 according to the present embodiment, the irradiation light 121 is emitted from the slide portion 112 attached to the tip side of the probe main body 110 to the inspection target portion 131, and the detection light reflected by the inspection target portion 131 is detected. Using the light 122, the lesion 132 existing in the inspection target portion 131 is detected. Therefore, even at a position where the surgeon's finger cannot reach, the position of the lesion can be specified without the surgeon directly touching the finger.

  Further, the sensor probe 101 according to the present embodiment is configured such that the probe body 110 forms a predetermined angle θ with respect to the inspection target portion 131 so that the slide portion 112 contacts the inspection target portion 131 at an appropriate angle. It is composed. At this time, in the sensor probe 101 according to the present embodiment, the reflection member 117 is provided inside the head portion 111, and the irradiation light propagating through the irradiation light optical fiber 114 is reflected and introduced into the slide portion 112. The detection light 122 introduced from the slide portion 112 is reflected and introduced into the detection light optical fiber 115. By providing the reflecting member 117 in this manner, the irradiation light can be introduced into the slide portion 112 without bending the light propagation portion (optical fiber) 113 inside the head portion 111, and can be propagated from the slide portion 112. The detected detection light 122 can be introduced into the detection light optical fiber 115.

  Next, a sensor system including the sensor probe according to the present embodiment will be described. FIG. 17 is a block diagram for explaining the sensor system according to the present embodiment. As shown in FIG. 17, the sensor system 150 according to the present embodiment includes a sensor probe 151, a spectroscope 152, a measurement information display unit 153, and a light source 154. The sensor probe 151 corresponds to the sensor probe 101 described above.

The sensor probe 151 irradiates the irradiation target 121 with the irradiation light 121. The irradiation light 121 is generated by a light source 154. For example, as the light source 154, a light source that emits light in a wide wavelength range, such as a halogen bulb, or a light source that emits light of a specific wavelength (single wavelength), such as a light emitting diode (LED) or a laser light source, may be used. Can be. For example, a plurality of light emitting diodes (LEDs) or laser light sources that emit light of a specific wavelength may be used as the light source 154.
Further, the sensor probe 151 introduces the detection light 122 reflected on the inspection target portion 131 into the spectroscope 152. The spectroscope 152 splits the detection light 122 reflected by the inspection target portion 131. Thereby, the spectrum of the detection light 122 (the relationship between the wavelength and the reflection intensity: see FIG. 15) can be obtained.

  The measurement information display unit 153 displays the spectrum of the detection light 122 split by the spectroscope 152. Specifically, a graph showing the relationship between the wavelength and the reflection intensity as shown in FIG. 15 is displayed on the display. The surgeon can determine whether a lesion (tumor) exists based on the spectrum of the detection light 122 displayed on the measurement information display unit 153.

  Next, another configuration example of the sensor system according to the present embodiment will be described with reference to FIG. A sensor system 160 shown in FIG. 18 shows a system in which the sensor system according to the present embodiment is incorporated into an existing scope camera system 170.

  As shown in FIG. 18, the existing scope camera system 170 includes a scope camera 171, a control unit 172, and a display unit 173. The scope camera 171 is an endoscope, a thoracoscope, or the like, and is introduced into a patient's body through a hole formed in a patient's thoracic cavity or the like during a surgical operation. The control unit 172 controls the scope camera 171 and outputs an image acquired by the scope camera 171 to the display unit 173. The display unit 173 is, for example, a liquid crystal display, and displays an image acquired by a scope camera.

  The sensor system 160 shown in FIG. 18 further includes a sensor probe 151, a spectroscope 152, a light source 154, and an interface 161. The sensor probe 151, the spectroscope 152, and the light source 154 are the same as the sensor probe 151, the spectroscope 152, and the light source 154 included in the sensor system 150 illustrated in FIG.

  The interface 161 is an interface for displaying the output of the spectroscope 152 (the spectrum of the detection light 122 split by the spectroscope 152) on the display unit 173 of the existing scope camera system 170. The spectrum information of the detection light 122 is supplied from the spectroscope 152 to the interface 161. The interface 161 outputs the spectrum information of the detection light 122 to the control unit 172. Thus, a graph of the spectrum of the detection light 122 separated by the spectroscope 152 can be superimposed and displayed on the display unit 173 on which the image acquired by the scope camera 171 is displayed. The surgeon can check the spectrum of the detection light 122 obtained by the sensor probe 151 on the display unit 173 while checking the image of the affected part of the patient acquired by the scope camera 171 on the display unit 173. Therefore, it is possible to confirm the presence or absence of a tumor while confirming the image of the scope camera 171 on the display unit 173.

  Note that the sensor systems 150 and 160 according to the present embodiment are configured to automatically determine whether or not a lesion (tumor) exists based on the spectrum of the detection light 122 split by the spectroscope 152. You may. For example, the measurement information display unit 153 included in the sensor system 150 illustrated in FIG. 17 automatically determines whether or not a lesion (tumor) exists based on the spectrum of the detection light 122 spectrally separated by the spectroscope 152. This determination result may be displayed. In addition, for example, the interface 161 provided in the sensor system 160 illustrated in FIG. 18 automatically determines whether or not a lesion (tumor) exists based on the spectrum of the detection light 122 separated by the spectroscope 152. The determination result may be displayed on the display unit 173. Further, a result of determination as to whether or not a lesion (tumor) exists may be notified by a sound (buzzer). For example, a buzzer may be sounded when the determination result indicates that a lesion (tumor) exists.

  According to the invention according to the present embodiment described above, it is possible to provide a sensor probe and a sensor system capable of accurately specifying the position of a lesion without a surgeon directly touching with a finger.

<Embodiment 3>
Next, a third embodiment of the present invention will be described. FIG. 19 is a sectional view for explaining the sensor probe according to the third embodiment. The sensor probe 102 according to the present embodiment is different from the sensor probe 101 described in the second embodiment in that the sensor probe 102 includes a pressure sensing unit 210. Other configurations are the same as those described in the second embodiment, and therefore, the same components are denoted by the same reference numerals, and redundant description will be omitted.

  As shown in FIG. 19, a pressure sensing section 210 is provided in the head section 111 of the sensor probe 102 according to the present embodiment. The pressure sensing section 210 is provided on the surface of the head section 111 opposite to the side on which the slide section 112 is provided. The pressure sensing unit 210 is a sensor having a fingertip feeling. Therefore, in the sensor probe 102 according to the present embodiment, a lesion (tumor) can be optically detected by bringing the slide portion 112 into contact with the inspection target portion 131. Further, by bringing the pressure-sensitive portion 210 into contact with the inspection target portion 131 and detecting the pressure from the lesion (tumor), the lesion (tumor) can be dynamically detected.

  For example, the probe main body 110 may include a switching mechanism (not shown) that switches between a case where the slide portion 112 contacts the inspection target portion 131 and a case where the pressure sensing portion 210 contacts the inspection target portion 131. . For example, the switching mechanism may be a mechanism that rotates the probe main body by 180 degrees around a rotation axis extending in the longitudinal direction of the probe main body 110. By providing such a switching mechanism, it is possible to quickly switch between a case where the slide portion 112 contacts the inspection target portion 131 and a case where the pressure sensing portion 210 contacts the inspection target portion 131.

  Next, the pressure sensing unit 210 included in the sensor probe 102 according to the present embodiment will be described in detail. FIG. 20 is a cross-sectional view for explaining the pressure-sensitive part 210 provided in the sensor probe according to the present embodiment. As shown in FIG. 20, the pressure-sensitive section 210 includes a sheet-shaped pressure-sensitive sensor 211 provided on the head section 111 and an indenter 212 provided on the surface of the pressure-sensitive sensor 211.

  As shown in FIG. 20, the pressure-sensitive sensor 211 is a sheet-shaped sensor, and is provided on the surface of the head unit 111. As the pressure-sensitive sensor 211, a piezoelectric element, a pressure-sensitive element, or the like can be used. Here, the piezoelectric element is an element that converts a pressure applied to the element into a voltage signal. A pressure-sensitive element is an element whose electric resistance changes in accordance with the pressure applied to the element. For example, an FSR sensor can be used as a pressure-sensitive element. The FSR sensor is a pressure-sensitive element in which the resistance of the element decreases as the pressure applied to the element increases.

  As shown in FIG. 20, the indenter 212 is provided on the surface of the pressure-sensitive sensor 211. The indenter 212 is configured to be displaceable with respect to the pressure-sensitive sensor 211. Specifically, the indenter 212 is configured to be displaceable in accordance with a force transmitted from the inspection target portion 131 to the indenter 212 (the contact portion 213).

  As shown in FIGS. 20 and 21, the indenter 212 includes a contact portion 213 and a plurality of protrusions 214. The contact part 213 is a part that slides while contacting the inspection target part 131. For this reason, the contact portion 213 has a smooth surface so that it slides smoothly while contacting the inspection target portion 131. In the examples shown in FIGS. 20 and 21, the contact portion 213 is formed using a substantially hemispherical member.

  Note that the shape of the contact portion 213 is not limited to a substantially hemispherical shape, and the shape can be appropriately changed according to a site on which surgery is performed. Further, the contact portion 213 may be made of an elastic material such as silicone rubber. By configuring the contact portion 213 with an elastic material as described above, the contact portion 213 can smoothly slide on the surface of the inspection target portion 131.

  As shown in FIGS. 20 and 21, the plurality of protrusions 214 are provided on a surface 217 of the indenter 212 on the pressure-sensitive sensor 211 side, protrude toward the pressure-sensitive sensor 211, and Contacting surface. As shown in FIGS. 21 and 22, each of the plurality of protrusions 214 is located on a circumference of a circle 119 (see FIG. 22) centered on an axis 118 perpendicular to a surface 217 of the indenter 212 on the pressure-sensitive sensor 211 side. Are located in

  In the examples shown in FIGS. 21 and 22, a configuration including eight protrusions 214 is shown. However, in the present embodiment, the number and arrangement of the plurality of protrusions 214 can be arbitrarily determined. 20 and 21 show examples in which the shape of the plurality of protrusions 214 is cylindrical, but in the present embodiment, the shapes of the plurality of protrusions 214 are other shapes (for example, triangular prism, four Prism, triangular pyramid, quadrangular pyramid, cone, etc.).

  As shown in FIG. 20, the indenter 212 is attached to the surface of the pressure-sensitive sensor 211 using a connection member 215. The connection member 215 can be configured using, for example, a member having elasticity and adhesiveness. Thus, the indenter 212 can be attached to the pressure sensor 211 so as to be displaced with respect to the pressure sensor 211. For example, the connection member 215 can be formed by applying an adhesive to the surface of a columnar elastic body (rubber, urethane, or the like).

  As shown in FIG. 22, the connection member 215 is provided inside the circle 119 (that is, at the center of the surface 217 of the indenter 212) on the surface 217 of the indenter 212 on the pressure-sensitive sensor 211 side. With such an arrangement of the connection member 215, the indenter 212 can be configured to be displaced about the shaft 118.

  FIG. 23 is a cross-sectional view for explaining an operation of detecting a lesion (tumor) using the pressure-sensitive unit 210. As shown in FIG. 23A, when a lesion (tumor) 132 is detected using the pressure-sensitive part 210, the contact part 213 of the indenter 212 slides while contacting the surface of the inspection target part 131. The probe main body 110 is moved.

  Then, as shown in FIG. 23B, when the contact portion 213 of the indenter 212 approaches the lesion (tumor) 132, a force is transmitted from the lesion (tumor) 132 to the contact portion 213. That is, since the lesion (tumor) 132 is harder than the other parts of the inspection target portion 131, a force (stress) is transmitted from the lesion (tumor) 132 to the contact portion 213 of the indenter 212. The force transmitted from the inspection target portion 131 (the tumor 132) to the contact portion 213 is transmitted to the pressure-sensitive sensor 211 via at least one of the protrusions 214 provided on the indenter 212. That is, when the pressure sensor 211 is pressed by the protrusion 214, the pressure sensor 211 detects the pressure.

  Also in the sensor probe 102 according to the present embodiment, the inspection target part 131 can be inspected using the pressure-sensitive part 210 and the slide part 112 attached to the distal end side of the probe main body 110. Therefore, even at a position where the surgeon's finger cannot reach, the position of the lesion can be specified without the surgeon directly touching the finger.

  Further, in the present embodiment, a plurality of protrusions 214 are provided on the surface of the indenter 212 on the pressure-sensitive sensor 211 side, and the force transmitted from the inspection target portion 131 to the contact portion 213 of the indenter 212 is transmitted through the protrusion 214. The pressure sensing unit 210 is configured to be transmitted to the pressure sensing sensor 211. With such a configuration, the force transmitted from the inspection target portion 131 to the contact portion 213 of the indenter 212 can be concentrated on the protruding portion 214 of the indenter 212, so that the pressure sensor 211 detects the pressure with high sensitivity. can do.

  That is, if the indenter 212 and the pressure-sensitive sensor 211 are brought into surface contact with each other without providing the plurality of protrusions 214 on the indenter 212, the force transmitted from the inspection target portion 131 to the contact portion 213 of the indenter 212 is: When transmitted from the indenter 212 to the pressure-sensitive sensor 211, it is dispersed at the contact surface. Therefore, the force transmitted to the pressure-sensitive sensor 211 is weakened, and the detection sensitivity of the pressure-sensitive sensor 211 is reduced.

  On the other hand, when a plurality of protrusions 214 are provided on the indenter 212 as in the present embodiment, the indenter 212 (the protrusion 214) and the pressure-sensitive sensor 211 make point contact with each other. In this case, when the force transmitted to the contact portion 213 of the indenter 212 is transmitted from the indenter 212 to the pressure-sensitive sensor 211, the force is concentrated on the protrusion 214 of the indenter 212. Therefore, the force transmitted from the protrusion 214 to the pressure-sensitive sensor 211 is increased, and the detection sensitivity of the pressure-sensitive sensor 211 is improved.

  In particular, since the FSR sensor has a characteristic of sensitively sensing local stress concentration, the detection sensitivity of the pressure-sensitive sensor 211 can be mechanically increased by concentrating the force applied to the indenter 212 to the protrusion 214.

  As an example, the pressure-sensitive sensor probe according to the present embodiment can detect a tumor mass of about 2 to 5 mm with a contact force of several tens to one hundred and several tens gf (C3 to A3 in Asker hardness C0). 10).

  FIG. 24 is a perspective view showing an example of the sensor probe 102 according to the present embodiment, and shows a configuration example assuming the sensor probe 102 actually used for an operation. As shown in FIG. 24, the sensor probe 102 has a head portion 111 provided on the tip side of a probe main body 110. A slide section 112 is provided on one side of the head section 111, and a pressure-sensitive section 210 is provided on the other side.

  Since the sensor probe 102 according to the present embodiment is introduced into a patient's body through a hole formed in a chest cavity or the like of the patient, the sensor probe 102 preferably has waterproofness. For this reason, in the sensor probe 102 shown in FIG. 24, the entire probe body 110 and the head unit 111 are configured to have waterproofness.

  Next, a sensor system including the sensor probe according to the present embodiment will be described. FIG. 25 is a block diagram for explaining the sensor system according to the present embodiment. As shown in FIG. 25, the sensor system 180 according to the present embodiment includes a sensor probe 181, a spectroscope 152, a light source 154, a signal conversion unit 182, a measurement information display unit 183, and a sound generation unit 184. The sensor probe 181 corresponds to the sensor probe 102 including the above-described slide unit 112 and the pressure-sensitive unit 210.

  The sensor probe 181 irradiates the inspection target portion 131 with the irradiation light 121 generated by the light source 154 when inspecting the inspection target portion 131 using the slide portion 112, and detects the detection light reflected by the inspection target portion 131. 122 is introduced into the spectroscope 152. The spectroscope 152 splits the detection light 122 reflected by the inspection target portion 131. Thereby, the spectrum of the detection light 122 (the relationship between the wavelength and the reflection intensity: see FIG. 15) can be obtained.

  The measurement information display unit 183 displays the spectrum of the detection light 122 split by the spectroscope 152. Specifically, a graph showing the relationship between the wavelength and the reflection intensity as shown in FIG. 15 is displayed on the display. The surgeon can determine whether a lesion (tumor) exists based on the spectrum of the detection light 122 displayed on the measurement information display unit 153.

  On the other hand, the sensor probe 181 outputs a signal corresponding to the pressure detected by the pressure-sensitive sensor 211 (see FIG. 20 and the like) to the signal conversion unit 182 when the inspection target part 131 is inspected using the pressure-sensitive unit 210. I do. For example, when the pressure sensor 211 is configured by an FSR sensor, the signal output from the pressure sensor 211 is a resistance value.

  The signal conversion unit 182 converts a signal supplied from the sensor probe 181 (the pressure sensor 211) into a pressure signal. For example, when the pressure-sensitive sensor 211 is configured by an FSR sensor, the signal output from the pressure-sensitive sensor 211 is a resistance value, and therefore, the signal conversion unit 182 converts the resistance value into a voltage value (pressure signal).

  The measurement information display unit 183 displays information related to the pressure measured by the sensor probe 181 (the pressure-sensitive sensor 211) (that is, measurement information according to the output of the signal conversion unit 182). For example, the measurement information display unit 183 can display the pressure measured by the sensor probe 181 (the pressure sensor 211) using a bar graph.

  For example, the pressure level can be displayed by increasing the number of bars in the bar graph as the pressure applied to the pressure-sensitive sensor 211 (FSR sensor) increases. When the pressure level displayed on the measurement information display unit 183 is equal to or higher than a predetermined value (in other words, when the number of bars in the bar graph is equal to or higher than the predetermined number), the surgeon determines that a tumor is present at the inspection target site. can do.

  The sound generator 184 outputs a sound corresponding to the pressure measured by the sensor probe 181 (the pressure sensor 211) (that is, the output of the signal converter 182). Specifically, the sound generator 184 is configured to change the frequency of the sound in accordance with the pressure measured by the sensor probe 181. For example, the sound generator 184 can be configured using a buzzer that can output sounds of a plurality of frequencies. For example, by increasing the frequency of the buzzer as the pressure applied to the pressure-sensitive sensor 211 (FSR sensor) increases, the pressure level detected by the pressure-sensitive sensor 211 (FSR sensor) can be transmitted by sound. For example, if the surgeon cannot see the measurement information display section 183 during the operation, the surgeon determines whether or not a tumor is present at the examination target site based on the sound of the buzzer of the sounding section 184. Can be.

  Note that the sensor system 180 illustrated in FIG. 25 has a configuration including the measurement information display unit 183 and the sound generation unit 184. However, in the sensor system 150 according to the present embodiment, the sound generator 184 may be omitted.

  Also, in the sensor system according to the present embodiment, as in the sensor system shown in FIG. 18, the sensor system according to the present embodiment may be incorporated in an existing scope camera system 170. In this case, by connecting the interface 161 to the output side of the spectroscope 152 and the signal conversion unit 182, the pressure measured by the sensor probe 181 (pressure-sensitive sensor 211) and the spectrum of the detection light 122 are converted to the scope camera system 170. Can be displayed on the display unit 173.

  In the present embodiment, the head section 111 of the sensor probe 102 is provided with the slide section 112 and the pressure-sensitive section 210. Then, by bringing the slide portion 112 into contact with the inspection target portion 131, a lesion (tumor) is optically detected. In addition, the pressure-sensitive part 210 is brought into contact with the inspection target portion 131 to detect the pressure from the lesion (tumor), thereby dynamically detecting the lesion (tumor). Therefore, since the presence or absence of a lesion (tumor) can be checked using two different types of sensors, the lesion (tumor) can be detected more reliably than when one sensor is used. Further, a case where the sensor probe 102 according to the present embodiment optically detects a lesion (tumor) using the slide unit 112 and a case where the lesion (tumor) is detected dynamically using the pressure-sensitive unit 210 Can be easily selected during surgery.

  The above-described sensor probe and sensor system according to the present embodiment can be widely used for a surgical operation using an endoscope, a thoracoscopy, or the like. In particular, the sensor probe and the sensor system according to the present embodiment can be suitably used for lung surgery using a thoracoscopy. That is, since the lung is an organ containing air, it is difficult to obtain a clear image with a CT scan or an ultrasonic diagnostic imaging apparatus for small early cancer. In such a case, by using the sensor probe and the sensor system according to the present embodiment, the surgeon can accurately specify the position of the lesion without directly touching the finger.

  As described above, the present invention has been described with reference to the above embodiment. However, the present invention is not limited to the configuration of the above embodiment, but falls within the scope of the claims of the present application. Needless to say, various changes, modifications, and combinations that can be made by a trader are included.

1, 2, 3 Sensor probe 10 Probe main body 11 Pressure sensitive sensor 12 Indenter 14 Projecting part 15 Connecting member 16 Tip 21 Inspection site 22 Tumor 25 Waterproof cover 50, 60 Sensor system 51 Sensor probe 52 Signal conversion unit 53 Measurement information display Unit 54 Sounding unit 61 Interface 70 Scope camera system 71 Scope camera 72 Control unit 73 Display unit 101, 102 Sensor probe 110 Probe main body 111 Head unit 112 Slide unit 113 Light transmission unit 114 Optical fiber for irradiation light 115 Optical fiber for detection light 117 Reflecting member 121 Irradiation light 122 Detection light 131 Inspection target part 132 Lesion (tumor)
150, 160, 180 Sensor system 151 Sensor probe 152 Spectroscope 153 Measurement information display unit 154 Light source 161 Interface 170 Scope camera system 171 Scope camera 172 Control unit 173 Display unit 181 Sensor probe 182 Signal conversion unit 183 Measurement information display unit 184 Sound generation unit 210 Pressure-sensitive part 211 Pressure-sensitive sensor 212 Indenter 213 Contact part 214 Projection 215 Connection member

Claims (25)

A probe body extending from the proximal side to the distal side,
A sheet-shaped pressure-sensitive sensor provided on the distal end side of the probe main body,
An indenter provided on the surface of the pressure-sensitive sensor,
The indenter is
A contact part that slides while contacting the inspection target part,
A plurality of protrusions provided on a surface on the pressure-sensitive sensor side and protruding toward the pressure-sensitive sensor side,
The indenter is configured to be displaceable in accordance with a force transmitted from the inspection target site to the contact portion,
The force transmitted from the inspection target site to the contact portion is transmitted to the pressure-sensitive sensor via at least one of the protrusions.
Sensor probe. The contact portion of the indenter is substantially hemispherical,
Each of the plurality of protrusions is disposed on a circumference of a circle centered on an axis perpendicular to a surface of the indenter on the pressure-sensitive sensor side,
The sensor probe according to claim 1.   3. The sensor probe according to claim 2, wherein the protruding portion is arranged at at least one of a position on the distal end side and a position on the base end side among the positions on the circumference. 4.   On the surface of the indenter on the pressure sensor side, a connection member is provided inside a circle around the axis, and the indenter is attached to the surface of the pressure sensor using the connection member. The sensor probe according to claim 2, wherein   The sensor probe according to any one of claims 2 to 4, wherein indenters having substantially hemispherical contact portions having different radii are configured to be exchangeable according to the inspection target site.   The sensor probe according to claim 1, wherein the indenter is configured to be detachable from the pressure-sensitive sensor.   The sensor probe according to any one of claims 1 to 6, wherein a waterproof cover is provided on the distal end side of the probe main body so as to cover the pressure-sensitive sensor and the indenter. Pressure-sensitive portions each including the pressure-sensitive sensor and the indenter are provided on a first surface on the distal end side of the probe main body and on a second surface opposite to the first surface. ,
The size of the contact portion of the indenter provided on the first surface side is different from the size of the contact portion of the indenter provided on the second surface side.
The sensor probe according to claim 1. A sensor probe according to any one of claims 1 to 8,
A measurement information display unit that displays information about the pressure measured by the pressure-sensitive sensor,
Sensor system. A sensor probe according to any one of claims 1 to 8,
A sound output unit that outputs a sound according to the pressure measured by the pressure-sensitive sensor,
The sound generator is configured to change the frequency of the sound according to the pressure measured by the pressure sensor,
Sensor system. A sensor probe according to any one of claims 1 to 8,
A display unit for displaying images acquired by the scope camera,
An interface for displaying information on the pressure measured by the pressure-sensitive sensor on the display unit.
Sensor system. A sensor probe that irradiates the inspection target site with irradiation light and detects a lesion present in the inspection target site using detection light reflected on the inspection target site,
A probe body extending from the proximal side to the distal side,
A head portion provided on the distal end side of the probe body,
A sliding portion provided on the head portion and sliding while contacting the inspection target portion;
Light that is provided inside the probe main body and has an irradiation light optical fiber through which the irradiation light applied to the inspection target propagates and a detection light optical fiber through which the detection light from the inspection target propagates. A propagation unit;
Provided inside the head portion, reflects the irradiation light that has propagated through the irradiation light optical fiber and introduces the irradiation light into the slide portion, and reflects the detection light introduced from the slide portion to perform the detection. A reflecting member to be introduced into the optical fiber for light,
The probe body is configured such that the slide portion forms a predetermined angle with a contact surface that contacts the inspection target site,
After the irradiation light reflected by the reflection member passes through the inside of the slide portion, the irradiation light is irradiated on the inspection target portion,
The detection light reflected by the inspection target portion, after passing through the inside of the slide portion, is reflected by the reflection member and introduced into the detection light optical fiber,
Sensor probe.   The sensor probe according to claim 12, wherein the probe main body is configured to form an angle of 20 to 45 degrees with respect to the contact surface of the slide portion. The light propagating unit includes one detection light optical fiber and a plurality of irradiation light optical fibers,
The detection light optical fiber is disposed at the center of the cross section of the light propagation portion,
The plurality of optical fibers for irradiation light are arranged around the optical fiber for detection light,
The sensor probe according to claim 12.   The sensor probe according to any one of claims 12 to 14, wherein the reflection member and the light propagation unit are buried inside the head unit using a resin.   The sensor probe according to any one of claims 12 to 15, wherein the slide portion is formed using a substantially hemispherical transparent silicone rubber.   The sensor probe according to any one of claims 12 to 16, wherein the irradiation light is at least one of white light and near-infrared light. A pressure-sensitive part is further provided on a surface of the head part opposite to a side on which the slide part is provided,
The pressure-sensitive part,
A sheet-shaped pressure-sensitive sensor provided in the head portion,
An indenter provided on the surface of the pressure-sensitive sensor,
The indenter is
A contact portion that slides while contacting the inspection target portion,
A plurality of protrusions provided on a surface on the pressure-sensitive sensor side and protruding toward the pressure-sensitive sensor side,
The indenter is configured to be displaceable in accordance with a force transmitted from the inspection target site to the contact portion,
The force transmitted from the inspection target site to the contact portion is transmitted to the pressure-sensitive sensor via at least one of the protrusions.
The sensor probe according to any one of claims 12 to 17. The contact portion of the indenter is substantially hemispherical,
Each of the plurality of protrusions is disposed on a circumference of a circle centered on an axis perpendicular to a surface of the indenter on the pressure-sensitive sensor side,
The sensor probe according to claim 18.   On the surface of the indenter on the pressure sensor side, a connection member is provided inside a circle centered on an axis perpendicular to the surface of the indenter on the pressure sensor side, and the indenter is provided with the pressure sensor. The sensor probe according to claim 18, wherein the sensor probe is attached to a surface of the sensor probe using the connection member. A switching mechanism for switching between a case where the slide portion contacts the test target portion and a case where the pressure-sensitive portion contacts the test target portion,
The switching mechanism has a mechanism in which the probe body rotates by 180 degrees around a rotation axis extending in a longitudinal direction of the probe body,
The sensor probe according to any one of claims 18 to 20. A sensor probe according to any one of claims 12 to 21,
A spectroscope that splits the detection light that has propagated through the detection light optical fiber,
A measurement information display unit that displays the output of the spectroscope,
Sensor system. A sensor probe according to any one of claims 12 to 21,
A spectroscope that splits the detection light that has propagated through the detection light optical fiber,
A display unit for displaying images acquired by the scope camera,
An interface for displaying the output of the spectroscope on the display unit,
Sensor system. A sensor probe according to any one of claims 18 to 21,
A spectroscope that splits the detection light that has propagated through the detection light optical fiber,
A measurement information display unit that displays the output of the spectroscope and information about the pressure measured by the pressure-sensitive sensor,
Sensor system. Further comprising a sound generating unit that outputs a sound according to the pressure measured by the pressure-sensitive sensor,
The sound generator is configured to change the frequency of the sound according to the pressure measured by the pressure sensor,
A sensor system according to claim 24.