JP3273066B2 - Biological insertion tool - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an insertion tool to be inserted into a living body.

[0002]

2. Description of the Related Art For example, an insertion tool which is an endoscope for medical use has an insertion part to be inserted into a body cavity, and various optical systems such as illumination means and observation means are provided at the tip of the insertion part. Have been. The insertion section is provided with a treatment instrument insertion channel through which a treatment instrument such as a forceps or an injection needle is inserted over the entire length thereof. Then, the treatment tool is protruded from the distal end of the insertion portion through the treatment tool insertion channel to perform biopsy of the observed tissue, treatment of the affected tissue, and the like.

Further, a bending mechanism capable of bending the distal end portion in various directions is provided at the distal end portion of the insertion portion. The bending mechanism can freely change the direction of the distal end portion of the insertion portion by using the bending mechanism. In addition, it facilitates insertion into a complicatedly bent body cavity, or moves the direction of a field of view obtained through an observation means provided at the distal end of an insertion portion, thereby expanding an observation allowable range and a treatable range.

Such an endoscope is disclosed, for example, in Japanese Patent Publication No. 48-416.
No. 31, JP-B-49-28388, JP-A-50-1581, etc., and are actually widely used for observing and treating the inside of a living body such as the stomach, duodenum, and colon of the human body. .

[0005]

By the way, in such a conventional insertion tool, the distal end portion of the insertion portion is fed to a target site in the body cavity simply by pushing the insertion portion near the entrance of the body cavity. For example, in a case where the insertion portion is inserted into a narrow lumen, the distal end portion of the insertion portion expands the lumen by a pushing force for pushing the insertion portion into the lumen, and the insertion space of the insertion portion in the lumen. Thus, the insertion portion can be inserted into the target site in the body cavity. Also,
When there is an obstacle such as a venous valve in the duct like a vein, a hook-shaped scalpel is projected from the distal end of the insertion portion through the treatment instrument insertion channel, and the venous valve is cut and broken by the scalpel. Thus, an insertion path of the insertion portion in the vein is also ensured.

However, when the insertion portion is inserted into a narrow lumen by the pushing force for pushing the insertion portion into the lumen as described above, the inner wall of the lumen to be inserted by the observation means provided at the distal end of the insertion portion is used. , A good observation field of view may not be obtained due to adhesion of mucus to the observation window of the observation means. For this reason, if the insertion portion is pushed into the lumen in a semi-blind manner, there is a risk of inadvertently damaging the lumen.
Further, a method of destroying an obstacle to secure an insertion path for the insertion portion cannot be performed in an operation in which the obstacle must be preserved.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an insertion tool which can insert an insertion portion more reliably and easily even in a narrow body cavity or a body cavity having obstacles. Is to do.

[0008]

Means for Solving the Problems In order to solve the above-mentioned problems, an insertion tool of the present invention comprises an insertion part inserted into a living body.
Extending longitudinally outward in the lumen, for detecting the force acting upon at least one of the antennae unit is curved and deformed by contact with the subject, the at least one antennal portion is bent and deformed And a tactile sensor having a detection unit.

[0009]

According to the above construction, when at least one antenna part comes into contact with a detected part such as an obstacle or a stenosis in a living body lumen , the antenna part is bent and deformed, and the detection part moves from the detected part to the antenna part. To detect the proximity of the detected part.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. 1 and 2 show an embodiment of the present invention.

FIG. 1 shows that the distal end of an insertion portion 1 a of an endoscope 1 as an in-vivo insertion tool is connected to a lymph node 1 through a lymph vessel 10.
2 has been reached. The endoscope 1 is of an active type, and the insertion portion 1a is formed to have an extremely small diameter so that it can be inserted into the lymph vessel 10. Further, a high-resolution high-luminance observation means 6 in which the high-luminance illumination means and the high-resolution observation means are integrated is provided at the tip of the insertion portion 1a.
The insertion direction of the insertion portion 1a can be observed.

Further, the biopsy forceps 8 can protrude from the distal end of the insertion portion 1a through the treatment tool insertion channel 4 formed over the entire length of the insertion portion 1a. The inspection can be performed under the observation of the high-resolution and high-intensity observation means 6.

As shown in FIG. 2, the insertion portion 1a of the endoscope 1
Is provided with a micromanipulator 2 as a tactile sensor. A pair of manipulator arms 20 constituting the main body of the micromanipulator 2 are rotatably mounted via hinges 22, and these pair of manipulator arms 20 form a tactile portion of a tactile sensor. These pair of manipulator arms 2
Numerals 0 extend forward from the tip of the insertion portion 1a in a state where they face each other. In addition, at the substantially central portion of each manipulator arm 20, a “<”-shaped bent portion 25 that is smoothly bent outward is formed, and this bent portion 25 is used as a power point, for example, in a body cavity as described later. Of the insertion portion 1a can be secured by pushing the obstacle to the outside.

Further, a piezoelectric actuator which is used both as a detection unit of a tactile sensor and a driving mechanism of the micromanipulator 2 is provided on the hand side of the pair of manipulator arms 20. The piezoelectric actuator includes a piezoelectric element 21 and an electric circuit system 26 electrically connected to the piezoelectric element 21.
It is composed of The piezoelectric element 21 has a characteristic that an electric charge is induced when a strain or a stress is applied and a distortion or a stress is generated when a voltage is applied to the piezoelectric element 21, and the piezoelectric element 21 is sandwiched between the arms 20 on the hand side of the manipulator arm 20. Is provided.

The electric circuit system 26 is configured such that the piezoelectric element 21
9 and is connected to a DC power supply 27 via a DC power supply. Further, a voltmeter 23 for measuring a voltage between both ends of the piezoelectric element 21 is connected to this circuit in parallel with the piezoelectric element 21. Further, a DC power supply 27 and a voltmeter 23 are electrically connected to the controller 24, and the voltmeter 23 detects an electromotive force generated at both ends of the piezoelectric element 21 as described later. It is possible to prompt the rise of the voltage of the DC power supply 27 upon detection.

Next, the operation of the endoscope 1 having the above configuration will be described. As shown in FIG. 1, when the distal end of the insertion portion 1a of the endoscope 1 is introduced into the lymph node 12 through the lymph vessel 10, the lymph valve 14 for preventing the backflow of lymph fluid becomes an obstacle and the insertion in the lymph vessel 10 is performed. It blocks the course of the part 1a.
In this case, the manipulator arm 20, which is the antennal portion at the tip of the insertion portion 1a inserted through the lymph vessel 10, first contacts the lymph valve 14 and the lymph valve 14 as an obstacle.
Detect the presence of This detection is performed as follows. That is, the manipulator arm 20 is connected to the lymph valve 1
When the manipulator arms 20 and 20 come into contact with each other, a moment acts on the manipulator arms 20 and 20 in the closing direction. This moment acts as a compressive stress on the piezoelectric element 21 provided between the manipulator arms 20 to slightly compress and deform the piezoelectric element 21. Electromotive force is generated at both ends of the compressed and deformed piezoelectric element 21 due to the characteristics of the piezoelectric element 21 described above. The electromotive force is recognized by the controller 24 via a voltmeter 23 connected in parallel with the piezoelectric element 21, so that the contact between the manipulator arm 20 and the lymph valve 14, that is, the lymph valve 14
Is detected.

When the controller 24 detects that an electromotive force has been generated at both ends of the piezoelectric element 21, the controller 24
Act on the DC power supply 27 to increase the voltage. DC power supply 2
Due to the voltage rise of 7, the piezoelectric element 21 expands in the direction in which the manipulator arm 20 is expanded by the above-described characteristics. Due to the extension of the piezoelectric element 21, the manipulator arm 20 pivots about the hinge 22 in the opening direction, pushes the lymph valve 14 away, and moves the endoscope insertion section 1.
Secure the insertion path of a.

As described above, the endoscope 1 of the present embodiment has a function as a tactile sensor for detecting the presence of the lymph valve 14 and a function to push the lymph valve 14 away at the distal end of the endoscope insertion portion 1a. Since it has a manipulator with a combined manipulator arm 20 and a driving mechanism for driving the manipulator arm 20, it is safe without applying unnecessary force to tissue in the body cavity while always ensuring the field of view without damaging it. In addition, the insertion portion 1a can be easily inserted into a narrow lumen or a portion having an obstacle. Further, since the manipulator 2 has a configuration in which a small space at the distal end of the insertion portion 1a is effectively used, the manipulator 2 can be adapted to not only a micro-endoscope but also various micro-actuators.

FIG. 3 shows another embodiment of the manipulator 2. The manipulator 2 of this embodiment has a configuration in which the piezoelectric actuator as the detection unit shown in the first embodiment is replaced by a magnetostrictive actuator, and an ammeter 30 is used instead of the voltmeter 23.

That is, a pair of manipulator arms 20 as tactile portions are rotatably attached to the distal end of the insertion portion 1a of the endoscope 1 via hinges 22. There is provided a magnetostrictive actuator which doubles as a detection unit of the tactile sensor and a drive mechanism of the micromanipulator 2. This magnetostrictive actuator is connected to the arm 2 near the manipulator arm 20.
Magnetostrictive material (magnetic material) provided in a state sandwiched between zero
34, a coil 34 for generating a driving magnetic field disposed around the magnetostrictive material 34, and an electric circuit system 26 electrically connected to the coil 34. The magnetostrictive material 34 has such a characteristic that when it is magnetized by applying a magnetic field in its axial direction, it deforms, and conversely, when it is deformed by applying an external force, the magnetization changes.

In the electric circuit system 26, the coil 34 is
Through a DC power supply 27. Also, an ammeter 30 is connected in series with the coil 34 in this circuit. Further, a DC power supply 27 and an ammeter 30
Are electrically connected to the controller 24. As will be described later, the ammeter 30 detects an induced current caused by a change in the magnetic field around the coil 34, and the controller 24 detects this detection signal and sends it to the DC power supply 27. A voltage increase (increase in current) can be promoted.

Next, the operation of the micromanipulator 2 having the above configuration will be described. When the manipulator arm 20 contacts the lymph valve 14, a moment acts on the manipulator arm 20 by the contact pressure. This moment acts as a compressive stress and acts on the magnetostrictive material 34 provided between the manipulator arms 20 to slightly compress and deform the magnetostrictive material 34. The magnetization of the compression-deformed magnetostrictive material 34 changes due to the characteristics of the magnetostrictive material 34 described above. As the magnetization of the magnetostrictive material 34 changes, the magnetostrictive material 34
The magnetic field around the coil 34 surrounding the coil changes, and the coil 3
An induced current flows in a circuit to which the circuit 4 is connected. This induced current is recognized by the controller 24 via the ammeter 30 connected in series with the coil 34, and the manipulator arm 20
The contact between the valve and the lymph valve 14, that is, the presence of the lymph valve 14, is detected.

When the controller 24 detects that an induced current has flowed in the circuit, the controller 24
Act on the rise of voltage on 7. As the voltage of the DC power supply 27 increases, the current flowing through the circuit increases, and the magnetic field around the coil 34 changes. As a result, the magnetostrictive material 34 is magnetized by applying a magnetic field in the axial direction, and expands in the axial direction due to the aforementioned characteristics. The manipulator arm 20 is pushed apart by the axial deformation of the magnetostrictive material 34 and the hinge 2
It rotates in the opening direction about 2. Therefore, the lymph valve 14 is pushed back by the manipulator arm 20, whereby the insertion passage of the endoscope insertion portion 1a is secured.

FIGS. 4 and 5 show a third embodiment of the insert according to the present invention. FIG. 4A shows that the distal end of the insertion portion 41 of the ultrasonic probe 40 as an in-vivo insertion tool is connected to the artery 10.
A shows a state where the stenosis portion 12A is reached through A, and FIG. 2B shows a state where the stenosis portion 12A is reached. The ultrasonic probe 40 has an ultrasonic vibrator 42 at its distal end and a flexible shaft 44 inserted through the insertion portion 41.
The ultrasonic probe 42 is formed as a so-called mechanical scanning type ultrasonic probe which rotates the ultrasonic transducer 42. The ultrasonic transducer 42 transmits an ultrasonic pulse, and transmits the reflected wave to an image monitor to perform ultrasonic diagnosis in a living body.

At the center of the tip of the ultrasonic probe 40, a tactile sensor 46 is provided. The tactile sensor 46 contacts and detects the narrowed portion 12A or the curved portion 12B.

As shown in FIGS. 5A and 5B,
The tactile sensor 46 is formed by a haptic part 48 protruding from the tip of the ultrasonic probe 40 and a detecting part 50 for detecting a force acting on the haptic part 48. This antenna part 48
Is formed in a tapered whisker-like flexible structure, and the substantially spherical tip portion 48a is formed to be larger in diameter than the following proximal portion. In addition, the detection unit 50 forms a central portion 52a of a silicon substrate 52 disposed in the distal end portion of the ultrasonic probe 40 into a thin diaphragm shape, and the distal end side of a detection line 54 protruding from the thin central portion 52a is an antenna portion 48. It is housed integrally inside. On the opposite side of the detection line 54, as shown in FIG. 5C, four strain sensors 56 arranged evenly around the detection line 54, and each of these strain sensors 56
And a detection circuit 58 for receiving a signal from
The output signal of the detection circuit 58 is sent to the hand side through a conductor (not shown) in the insertion section 41 of the ultrasonic probe 40.

Next, the operation of the ultrasonic probe 40 will be described. As shown in FIG.
When the distal end of the insertion portion 41 is introduced into the artery 10A and reaches the stenotic portion 12A or the curved portion 12B, the antenna portion 48 of the tactile sensor 46 first contacts the stenotic portion 12A or the curved portion 12B, and this antenna portion It bends by the force acting on 48. At this time, since the distal end portion 48a of the antenna portion 48 is formed in a spherical shape having a large diameter, the antenna portion 48 is curved without damaging the living tissue.

When the antenna part 48 is curved, a distortion is generated in the central part 52a of the substrate 52 through a detection line 54 extending into the antenna part 48, and this distortion is detected by four distortion sensors 56. The detection circuit 58 receives the signals from the four strain sensors 56 and detects the direction and magnitude of the strain in the central portion 52a of the substrate 52, whereby the contact sense, that is, the tactile portion from the narrowed portion 12A or the curved portion 12B is detected. 48, the direction and magnitude of the force acting on the ultrasonic probe 4 are detected.
The position of the constricted portion 12A or the curved portion 12B with respect to 0 can be detected.

Therefore, the ultrasonic probe 40 can be inserted very safely and securely to a required part without applying unnecessary force to the living tissue of the stenotic part 12A or the curved part 12B in the artery 10A. 6 to 9 show another embodiment of such a tactile sensor 46. FIG. In the figure, the same parts as those in the above-described embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

The tactile sensor 46 shown in FIG.
And a configuration in which four strain sensors 56 are arranged at equal intervals on the peripheral portion on the base end side. These four strain sensors 56
When the antenna unit 48 bends by receiving a force from a detected part such as the constricted part 12A or the curved part 12B (FIG. 4), the distortion generated in the detection line 54 is directly detected, and the force of the touch sense is detected through a detection circuit (not shown). Is detected in size and direction.

In the tactile sensor 46 shown in FIG. 7, as shown in FIG. 7A, the base end of the antenna part 48 is firmly fixed in the insertion part 41 of the ultrasonic probe as an insertion tool. 41
The portion protruding from is curved. The detection unit 50 is arranged at the intermediate portion in the axial direction.

As shown in FIGS. 7B to 7E, the antennal portion 48 is formed in a structure in which a thin film 57 is applied to the periphery of the detection line 54, and two pairs of the detection portion 50 are formed. Are arranged at positions separated from each other in the axial direction. The concave portions 55 for accommodating the respective strain sensors 56 are formed so as to face the detection lines 54 in pairs, and the pair of the distortion sensors 56 are sandwiched between the thin portions of the detection lines 54 formed between the pair of concave portions 55. Is arranged. As shown in FIGS. 7B and 7C, each pair of these strain sensors 56
They are arranged in directions different from each other by 90 °, and the direction and magnitude of the force acting on the antenna part 48 can be detected through these two pairs of strain sensors 56.

The tactile sensor 46 shown in FIG.
Is disposed in a space 47 formed in the insertion section 41 of the ultrasonic probe, and when the antenna 48 is curved, the base 54a follows the movement of the antenna 48 and 47 can be moved. The detection unit 50 includes two pairs of a light projecting unit 57 formed of, for example, a light emitting diode (LED) and a light receiving unit 59 formed of, for example, a photo sensor. The light projecting portions 57 and the light receiving portions 59 are opposed to each other with the base end portion 54a interposed therebetween, and the pairs of the light projecting portions 57 and the light receiving portions 59 are arranged at positions shifted from each other by 90 °.

In the tactile sensor 46 according to the embodiment shown in FIG. 8, when a force acts on the tactile portion 48 and bends, the base end 54a of the detection line 54 moves in the space 47 correspondingly. This state is shown by a dotted line in FIG. When the base end 54a moves in this manner, the amount of light received by each light receiving unit 59 changes,
Therefore, the magnitude and direction of the force acting on the antenna unit 48 can be known from the amount of light received by each light receiving unit 59 at a position shifted by 90 ° or a change in this amount.

In the tactile sensor 46 of the embodiment shown in FIG. 9, the base end of the antenna part 48 is fixed to the insertion part 41 of the ultrasonic probe. As shown in FIGS. 9 (B) and 9 (C), the antenna section 48 has a pressure-sensitive section 62 around the center electrode 60.
Are arranged, and an outer peripheral electrode 64 is arranged on the periphery of the pressure sensing portion 62, and the whole is covered with an insulating film 66. In the present embodiment, the pressure-sensitive portion 62 is formed of a conductive pressure-sensitive rubber formed by mixing a conductive material such as carbon in rubber, and the resistance value changes according to the stress acting on the rubber. I do. This change in the resistance value is detected through the center electrode 60 and the outer peripheral electrode 64, and the contact force acting on the antenna part 48 can be known from the detected value. Therefore, in this embodiment, the antenna unit 48 and the detection unit are integrally formed. In the present embodiment, the tip of the antenna section 48 is not formed in a large-diameter spherical shape, but it is apparent that the antenna section may be formed in the same manner as the antenna section in each of the above embodiments.

Next, FIGS. 10 to 15 show various embodiments of the above-mentioned tactile sensor 46 used for an in-vivo insertion tool. The in-vivo insertion tool shown in FIG. 10 is formed as an ultrasonic probe 40 similar to the embodiment of FIG. 4, and as shown in FIG. It is arranged at an angle θ with respect to the central axis X, and its tip is arranged at a distance T from the axis X.

In the case of the ultrasonic probe 40, when the ultrasonic probe 40 is inserted into the artery 10A and reaches the stenosis portion 12A, and is rotated around the axis X on the hand side, as shown in FIG. The antenna part 48 is deformed along the surface shape of the stenosis part 12A, and the degree of stenosis can be known by detecting the amount of deformation or distortion of the antenna part 48 at this time.

The ultrasonic probe 40 shown in FIG.
The tactile sensor 46 of FIG. 11 has a bifurcated tactile part 48A, and the tactile sensor 46 of FIG.
B is provided. The bifurcated antenna section 48A can detect a wide range of contact and pressure, and the loop antenna section 48B can perform tactile detection at two locations at the base end of the antenna section. It is possible to know which side of 40 is in contact with strong pressure.

FIG. 12 shows an ultrasonic probe 40 using a tactile sensor 46 having various forms of tactile parts 48. FIG. 12A shows a tactile sensor 46 having two tactile parts 48, B) shows a tactile sensor 46 having four tactile parts 48, and (C) shows a tactile sensor 46 having a fork-shaped tactile part 48C.

Each of the tactile parts 48 of the tactile sensor 46 shown in FIGS. 12A and 12B can independently perform tactile detection, and the amount of deformation s, s' of each of the tactile parts 48 is independently determined. And the degree of stenosis of the stenosis portion 12A can be known. Also, the fork-shaped antenna part 48C shown in FIG. 12C is different from the antenna part 48A shown in FIG.
2 (A) is an intermediate type between two antennas 48 and has both advantages.

The ultrasonic probe 40A shown in FIG. 13 is provided with a curved portion 43 on the proximal side of the distal end portion 41a, and pushes and pulls two angle wires 45 extended in the insertion portion 41 on the proximal side. Thus, the bending operation can be performed by the bending portion 43 to change the direction of the distal end portion 41a. From the tip side of the tip portion 41a, the tactile portion 4 of the tactile sensor 46
8 is provided so as to protrude, and between the antenna part 48 and the tip part 41a is formed into a smoothly curved surface shape.

As shown in FIG. 13 (B), the ultrasonic probe 40A moves from the artery 10A to the branch vessel 10A.
B can be inserted safely and reliably. When the distal end 41a of the ultrasonic probe 40A reaches the blood vessel bifurcation with the branch blood vessel 10B when the ultrasonic probe 40A is inserted into the branch blood vessel 10B, the angle wire 45 is pushed and pulled to bend the distal end 41a. I do. Thereby, a blood vessel bifurcation can be searched through the antenna part 48, and the direction and position of the branch blood vessel 10B can be accurately known. Further, FIG.
The tip portion 41a is operated to bend as shown in FIG.
By tracing the stenosis portion 12A, the degree of stenosis can be known.

FIG. 14 shows an embodiment in which a tactile sensor 46 is provided on a guide wire 80 as an in-vivo insertion tool which is inserted and placed in advance in an artery and guides the endoscope 70 along the same.

The endoscope 70 guided by the guide wire 80 of the present embodiment is of an active type, and the distal end of an insertion portion 71 having a small diameter is operated to bend by a bending portion 73. The observation of the insertion direction can be performed through the observation means 74 and the certification means 76 provided at the tip of the 71.
The blood and the like adhering to the observation means 74 are washed away by washing water or the like sprayed from a washing nozzle 78, and the endoscope observation means 74
Field of view is secured. Further, a channel 72 extends in the insertion portion 71, and is guided in the axial direction by a guide wire 80 inserted in the channel 72.

The guide wire 80 has a tactile sensor 46 at the insertion portion 81. The tactile portion 48 of the tactile sensor 46 is formed in the shape of a beard projecting from the distal end of the insertion portion 81 in the axial direction, and a smooth curved surface is formed between the base end of the beard-shaped tactile portion 48 and the guide wire insertion portion 81. Is formed.

When the endoscope 70 is to be guided inside an artery or the like by the guide wire 80, the guide wire 80 is inserted between required portions in the artery and is left in advance. When the guide wire 80 is inserted as described above, the presence of a curved portion or a branch portion of an artery is detected through the tactile sensor 46, and therefore, there is no danger of perforation, and it is possible to insert the guide wire very safely and easily. it can. Then, the guide wire 80 inserted to the required site is placed inside an artery or the like. Thereafter, the guide wire 80 is inserted into the channel 72 of the endoscope 70, and the endoscope 70 is moved along the guide wire 80, so that the endoscope 70 is arranged at a required site.

Finally, the embodiment of FIG. 15 shows an organ holder 82 as an in-vivo insertion tool. When performing a radial endoscopic surgical operation using a laparoscope (not shown), the organ holder 82 lifts and supports the liver 12D, for example, as shown in FIG. .

One side of the distal end of the organ holder 82 is
As shown in FIG. 5B, a plurality of tactile sensors 46 are provided. Each of these tactile sensors 46 is an organ holder 82.
In this embodiment, the antennas 48 are formed in a similar structure.

According to the organ holder 82, each tactile sensor 46 detects the degree of the fall of the antenna 48, that is, the antenna 48.
The force supporting the liver 12D can be detected from the magnitude of the force acting on the body, and safety is greatly improved. Further, in this manner, the appropriate angle or position of the organ holder 82 with respect to the liver 12D can be detected from the magnitude of the force detected by each of the plurality of tactile sensors 46, and the necessary treatment can be performed extremely safely. be able to.

Since the tactile sensor is formed in an extremely small structure, the above-mentioned micro endoscope, ultrasonic probe,
The present invention can be applied not only to a guide wire or an organ holding device but also to a living body insertion device such as various microactuators.

[0051]

As described above, according to the present invention, insertion into a living body tool of the present invention can be inserted into a living body lumen while detecting the force acting on the at least one antennal section, useless force living tissue Can be easily and reliably inserted into a narrow lumen without adding to the body.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing a use mode of an endoscope according to an embodiment of the present invention.

FIG. 2 is a schematic diagram showing a configuration of a main part of the endoscope of FIG. 1;

FIG. 3 is a schematic diagram showing a configuration of a main part of an endoscope according to another embodiment.

FIG. 4 is an explanatory diagram showing a use state of an ultrasonic probe according to another embodiment of the present invention.

FIG. 5 is an explanatory diagram of a tactile sensor used for the ultrasonic probe in FIG. 4;

FIG. 6 is an explanatory diagram of an embodiment of a tactile sensor using a strain sensor.

FIG. 7 is an explanatory diagram of another embodiment of a tactile sensor using a strain sensor.

FIG. 8 is an explanatory diagram of an embodiment of a tactile sensor using a light emitting diode and a photo sensor.

FIG. 9 is an explanatory diagram of an embodiment of a tactile sensor using pressure-sensitive rubber.

FIG. 10 is an explanatory diagram of an ultrasonic probe in which a tactile portion of a tactile sensor is inclined.

FIG. 11 is an explanatory view of an ultrasonic probe using various forms of a contact part.

FIG. 12 is an explanatory view of an ultrasonic probe using a contact part of still another embodiment.

FIG. 13 is an explanatory diagram showing an outline of an ultrasonic probe having a curved portion and a use state thereof.

FIG. 14 is an explanatory diagram of a guide wire according to an embodiment of the present invention.

FIG. 15 is an explanatory view of an organ holder according to another embodiment.

[Explanation of symbols]

1, 70 endoscope, 2 manipulator, 20 manipulator arm, 21 piezoelectric element, 24 controller, 27 DC power supply, 32 magnetostrictive material, 34 coil
40: Ultrasonic probe, 46: Ultrasonic sensor, 48, 4
8A, 48B, 48C: antenna unit, 50: detecting unit, 52:
Substrate, 54: Detection line, 56: Strain sensor, 57: Light emitting unit, 58: Detection circuit, 59: Light receiving unit, 60, 64 ... Electrode, 62: Pressure sensing unit, 72: Channel, 80: Guide wire, 82 ... Organ holder.

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Yoshihiro Kosaka 2-43-2 Hatagaya, Shibuya-ku, Tokyo Within O-limpus Optical Industry Co., Ltd. (72) Inventor Hiroki Hibino 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside the Olympus Optical Co., Ltd. (72) Inventor Tatsuya Yamaguchi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside the Olympus Optical Co., Ltd. (72) Kuniaki Ue 2-43-2, Hatagaya, Shibuya-ku, Tokyo Inside the Olympus Optical Co., Ltd. (72) Inventor Shuichi Takayama 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside the Olympus Optical Co., Ltd. Yasuhiro Ueda 2-43-2 Hatagaya, Shibuya-ku, Tokyo (72) Inventor Kenji Yoshino 2-43-2 Hatagaya, Shibuya-ku, Tokyo (56) References JP-A-63-49124 (JP, A) JP-A-60-152975 (JP, A) JP-A-2-91050 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) A61B 1/00-1/32

Claims (1)

(57) [Claims] At least one antennae that extends in a longitudinal direction from an insertion portion to be inserted into a living body to an inside of a lumen outwardly, and is bent and deformed by contact with a subject; This less
An insertion tool, comprising: a tactile sensor having at least one detection unit for detecting a force acting when one tactile part is bent and deformed .