JP3285924B2 - Bay bending equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to, for example, a medical lumen,
Alternatively, the present invention relates to a bay bending device in which a multi-jointed bay bending section is provided at an insertion portion inserted into an insertion target space such as an industrial pipeline such as a gas pipe.

[0002]

2. Description of the Related Art Generally, an endoscope in which an insertion portion to be inserted into a medical lumen or an industrial pipe such as a gas pipe is formed by a flexible tube is a distal end of the flexible tube. The part is provided with a bay bend that can be bent.

[0003] A plurality of bay bending pieces arranged side by side along the axial direction of the insertion section are rotatably connected to the bay bending section via connecting pins, respectively, to form a multi-joint structure. Further, for example, a shape memory alloy wire is used as an actuator for bending the bay bent portion of the multi-joint structure, and the shape memory alloy wire is used for each joint between a plurality of bay bent pieces disposed in the bay bent portion. It is considered that the joints between a plurality of bend pieces arranged at the bend portion are independently bent by the respective shape memory alloy wires by independently mounting the two.

In this case, a shape having a predetermined length is stored in advance in the shape memory alloy wire, and the shape of the wire is plastically deformed to a reference shape in which the length of the wire is longer than the stored shape. Set. When the shape memory alloy wire is not energized, the shape memory alloy wire is held in the reference shape, and the heat generated when the shape memory alloy wire is energized returns the shape memory alloy wire to the memory shape. The joint between the bay bending pieces is bent in accordance with the contraction deformation operation of the shape memory alloy wire.

[0005]

In the bay bending apparatus having the above-mentioned conventional construction, the bay bending portion is bent along a pipe shape in a small- diameter pipe having a relatively small diameter such as a small intestine or a large intestine. Suitable for advancing the flexible tube.

However, a flexible tube is inserted into a large space such as a stomach or a gall bladder, and a distal end of the insertion portion of the flexible tube is inserted into a target such as a stomach or a gallbladder by a master-slave method. since when trying Ayatsuro to direct part has to bay the bending action of the bay bent portion in a state where a target always placed in the field of view, there is a problem that the operation becomes cumbersome.

For this reason, it is difficult to guide the distal end of the insertion portion of the flexible tube to a position near the target in a large space such as the stomach and the gallbladder. There is.

The present invention has been made in view of the above circumstances, and has as its object to guide the distal end of an insertion portion of a flexible tube to a target in a large space, and to insert a multi-joint in a large space. Head of department
An object of the present invention is to provide a bay bending device that can easily perform an operation of guiding an end to a target portion and improve the operation efficiency.

[0009]

According to the present invention, a bay bent portion is provided in an insertion portion to be inserted into an insertion target space, wherein a bay bent portion in which a plurality of bay bent elements are connected to each other via a joint so as to be bent. In the multi-joint bay bending apparatus, position measuring means for measuring the position of each bay bending element with respect to an arbitrarily set reference point of the insertion section, at least a target in the insertion target space and the insertion section. Capture the tip in the same field of view
Observing means for capturing and measuring a relative positional relationship between the target and the insertion section, and the insertion section to the target based on measurement results from the position measuring means and the observation means. A bay bending device comprising a control means for guiding.

[0010]

With measuring the position of each bay bending element relative to the reference point of the insertion portion, which is arbitrarily set by the position measuring means during insertion of the working insertion portion, the target of the insertion object space observed by the observation means, the insertion portion Capture the tip from behind
And capture the target within the same screen, and insert
At least the tip of the target and the insertion part in the same field of view
By capturing the target, the relative position relationship between the target and the insertion section is measured, and the insertion section is guided to the target based on the measurement results from the position measurement means and the observation means. is there.

[0011]

1 to 9 show a first embodiment of the present invention.
This will be described with reference to FIG. FIG. 5 shows a parent-child scope 1 which is a kind of endoscope inserted into a medical lumen or an industrial pipeline such as a gas pipe.

The parent-child scope 1 is provided with a parent scope 2 having a relatively large tube diameter at the insertion portion and a child scope 4 having a relatively small tube diameter inserted through the treatment instrument insertion channel 3 and the like of the parent scope 2. ing.

The distal end portion 6 of the insertion portion 5 of the parent scope 2 has an opening of the treatment instrument insertion channel 3 on the distal end surface.
Illumination windows 7, 7 and an observation window 8 to which the exit end of a light guide for guiding the illumination light is fixed are provided, respectively.

Further, the insertion portion 9 of the child scope 4 is formed by a bay bent portion 21 composed of a multi-degree-of-freedom manipulator, and an observation window portion 10 and an illumination window portion 11 are arranged on the distal end surface of the insertion portion 9, respectively. Has been established.

FIG. 2 shows the insertion section 9 of the child scope 4 through the small-diameter pipe from the entrance 13 of the large space section 12 to the large space section 1.
FIG. 3 shows a schematic configuration of a bay bending portion 21 of the multi-degree-of-freedom manipulator forming the insertion portion 9 of the child scope 4 in a state where the insertion portion 9 is inserted into the inside of the child scope 4.

The base end side of the bay bent portion 21 is connected to the operation unit on the hand side. In addition, a plurality of two types of metal bent pieces 22 and 23 having a substantially cylindrical shape are alternately arranged in the bay bent portion 21 along the axial direction thereof. in this case,
The length of one bent piece 22 is set to be longer than the length of the other bent piece 23. In addition, bay bending piece
A jacket tube (not shown) made of an elastic material is attached to the outer peripheral surface of each of 22 .

Further, a pair of front projections 24a, 24a opposed to each other are provided at the front end of each bay bent piece 22, and a pair of rear projections 24b, 24b opposed to each other are provided at the rear end. ing. Similarly, a pair of front projections 25a, 25a opposed to each other are provided at the front end of each bay bent piece 23, and a pair of rear projections 25b, 25b opposed to each other are provided at the rear end. .

Then, the rear protruding portions 25b, 2 of the bay bent piece 23
5b, the front protrusions 24a, 24 of the rear bay bending piece 22 adjacent thereto.
4a, and the rear protruding portions 24b, 24 of the bay bent piece 22.
front protruding portions 25a, 25 of the rear bay bending piece 23 adjacent to b
are connected rotatably via connecting pins 26 to form a plurality of joints 21a of the bay bent portion 21 to form a multi-joint structure.

A pair of SMA control circuits (driving means) 28 for controlling the operation of the below-described heat deformable members 27 formed of bidirectional shape memory alloy (SMA) coils in each bay bending piece 23. , 28, and a pair of SMA power posts 29, 29 are provided in each bay bent piece 22, respectively. In this case, the pair of SMA control circuits 28, 28 and the pair of SMA power posts 29, 29 are shifted 90 ° in the circumferential direction of the bay bending pieces 23, 22 with respect to the mounting position of the pair of connecting pins 26, 26. Are located in

Further, the heat deformable members 27...
This forms an actuator that performs a bending operation on the bays 2 and 23. In this case, the respective thermal deformation member 27 reference coil length of the state unheated during the first shape by remote coil length second shape when heated to shrink so as to be shorter in the holding in the < This is stored in advance.

One end of the thermal deformation member 27 is connected to the SMA power supply post 29 of each bay bending piece 22, and the other end is connected to the SMA control circuit 2 of the bay bending piece 23 adjacent to the bay bending piece 22.
8 is connected.

When all the thermally deformable members 27 are held in the first shape when not heated, all the bent pieces 22 and 23 of the bent portion are held in a substantially linear reference shape. . Further, when one of the heat deformable members 27 is energized and heated, the heated heat deformable member 27 is deformed into the second shape at the time of heating, and the heat deformable member 27 at that position is contracted by the contraction operation of the heat deformable member 27 at this time. Joint 21a between bay bending pieces 22 and 23
Is locally operated to bend the bay.

As shown in FIG. 4, a pair of lead wires 30 and 31 are provided in the bent portion 21 of the bay. The base ends of these lead wires 30 and 31 are connected to a control device (not shown) provided on the hand side of the multi-degree-of-freedom manipulator. One end of each heat deformable member 27 is connected to one lead wire 30 via an SMA power post 29.

The other end of each thermal deformation member 27 is connected to an SMA control circuit 28. This SMA control circuit 28
Inside are a pair of discriminating circuits 32, 32, pulse width modulation circuits (PWM) 33, 33 and power MOS-FET3.
4, 34 are provided. Then, each of the heat deformable members 27
Are connected to the other lead 31 via one power MOS-FET 34, pulse width modulation circuit 33, and discrimination circuit 32, respectively. In this case, the discrimination circuit 32 of each bay bent piece 23 has a channel (CH) corresponding to the position of each bay bent piece 23.
1, CH2 to CHn) are set.

When the manipulator operates, a multi-channel PPM (Pulse
Phase Modulation) signal is input to the discrimination circuit 32 of the SMA control circuit 28. The multi-channel PPM signal transmits a control signal proportional to the amount of bending of the thermal deformation member 27 at an arbitrary joint position by SMA as a change in pulse position with respect to a clock pulse.

Further, this multi-channel PPM signal is represented by S
The signal corresponding to each channel is identified by the discrimination circuit 32 of the MA control circuit 28 based on the clock pulse. The output signal from the discrimination circuit 32 is input to the pulse width modulation circuit 33. This pulse width modulation circuit 3
In step 3, the signal is converted into a PWM (Pulse Width Modulation) signal proportional to the change in the pulse position identified for each channel. The PWM signal output from the pulse width modulation circuit 33 is supplied to the power MOS-FET 34, and the power MOS-F is output according to the pulse width of the PWM signal.
The switching time of the ET 34 changes and the heat deformation member 27
Of the SMA is changed, and the bay bending angle of the joint 21a between the bay bending pieces 22 and 23 is adjusted.

Further, the parent scope 2 is provided with a feeding amount control unit for controlling the feeding amount of the child scope 4. The feed amount control unit is provided with, for example, a drive mechanism of the child scope 4 having a linear ultrasonic motor, and is provided on the inner peripheral surface of the distal end portion of the treatment tool insertion channel 3 of the parent scope 2 as shown in FIG. A plurality of micro-rollers 41 for calculating the extension amount of the child scope 4 are provided.

These micro rollers 41 are connected to an encoder (not shown) to measure the number of rotations. The extension amount of the child scope 4 is calculated from the number of rotations of the micro roller 41 × the circumferential length of the micro roller 41, and the calculation data of the extension amount of the child scope 4 is obtained by detecting the extension amount on the hand side. It is connected to the section 65.

An optical fiber type bay angle detection sensor shown in FIG. 7 is provided at each joint 21a of the bay bent portion 21 of the child scope 4. In this case, child scope 4
Each of the joints 21a is provided with the same number of sets of detection sensors as the number of curved portions 21 in the bending direction. For example, when the bending direction of the bay bent portion 21 is two directions as in this embodiment, two sets of detection sensors are attached to each joint portion 21a.

Further, a pair of optical fibers 44, 44 are provided side by side in the bay bending angle detecting sensor of each joint 21a. A microprism 43 is provided at one end of each of the optical fibers 44. A light emitting element 45 is connected to the other end of one optical fiber 44, and a light receiving element 46 is connected to the other end of the other optical fiber 44. Further, the light emitting element 45 has an IC chip 4
7 is connected, and the light receiving element 46 is connected to the bay bending angle detecting unit 64 on the hand side.

When a current is applied at the same frequency as the operating frequency of the IC chip 47 during operation of the bay bend angle detection sensor, the corresponding light emitting element 45 emits light, and the light of the light emitting element 45 is reflected by the microprism 43 and received. Element 46 is reached. At this time, since the voltage generated by the light receiving element 46 changes according to the intensity of the light received by the light receiving element 46, the bay bending angle of each joint 21a can be detected according to the generated voltage.

Further, a distance measuring unit for measuring a distance from a target in the insertion target space is provided at the distal end of the child scope 4. The distance measuring unit is provided with, for example, an ultrasonic vibrator. Then, ultrasonic waves for distance measurement are radiated from the ultrasonic transducer at the distal end of the child scope 4 toward the target, and the time from irradiation to the return of the reflected wave and the speed of sound to the target. The distance is measured.

FIG. 1 shows a schematic configuration of a control section (control means) of the whole bay bending device of the child scope 4.
In FIG. 1, reference numeral 51 denotes a parent scope CCD (observation means) attached to the observation window 8 of the parent scope 2, and reference numeral 56 denotes a child scope CCD attached to the observation window 10 of the child scope 4.

Parent scope CCD 51 and child scope C
The CD 56 is connected to the image forming units 52 and 57, respectively. Further, a display unit such as a TV monitor for displaying the observation image formed by the image forming units 52 and 57 is provided on the hand side.

The TV monitor is provided with a main screen 71 as shown in FIG. 8A and a sub-screen 72 within the main screen 71. In this case, the child screen 72 can be deleted as necessary. One of the observation images formed by the image forming units 52 and 57 is selectively displayed on the parent screen 71 and the child screen 72 of the TV monitor, and these observation images can be simultaneously displayed.

The image forming section 52 is connected to a feature storing section 55 via a feature extracting section 53. Further, the feature extraction unit 53 includes, for example, an object input unit 54 using an input pen or the like.
Is connected.

At the beginning of use of the parent-child scope 1, an observation image by the parent scope CCD 51 on the parent screen 71 of the TV monitor and an observation image by the child scope CCD 56 on the child screen 72 as shown in FIG. Are displayed respectively. At this time, an observation target portion 73, which is a target in the insertion target space, is observed by an observation image of the parent scope CCD 51 displayed on the main screen 71 of the TV monitor, and the observation target portion 73 and the insertion portion of the child scope 4 are inserted. 9 is measured.

Further, when the observation target part 73 in the observation image displayed on the main screen 71 of the TV monitor is input by the input pen or the like of the target input part 54, the shape, color, etc. of the observation target part 73 are obtained. Are extracted by the feature extraction unit 53 and stored in the feature storage unit 55.

The characteristic data of the observation target part 73 stored in the characteristic storage unit 55 is stored in the child scope CCD5.
6 together with the observation image data. In this comparison unit 58, the child screen 7
A portion that matches the feature data of the observation target portion 73 stored in the feature storage unit 55 is searched from the observation image on the second. The comparing section 58 is connected to a bay bending amount calculating section 59 which calculates the bay bending amount of the bay bending section 21 of the child scope CCD 56.

Reference numeral 60 denotes an origin joint discriminating section for discriminating the joint section 21a which is the origin of the bay bent portion 21 of the child scope CCD 56. The origin joint discriminating section 60 is provided in the bay bending section 21.
Are connected to a joint coordinate calculator (position measuring means) 61 for calculating the position (coordinates) of each joint 21a.

Further, an extension amount detecting section 65 is connected to the origin joint determining section 60, and a bay bending angle detecting section 64 is connected to the joint coordinate calculating section 61. When the observation target part 73 in the observation image displayed on the main screen 71 of the TV monitor is input by the input pen or the like of the target input part 54, the origin joint determination part 60 determines the extension amount detection part 65.
Is determined on the basis of the detection data sent from the computer. In this case, the joint 21a serving as the origin is connected to the child scope CCD 56 by the parent scope 2.
Of the dispensing amount dispensed from the treatment instrument insertion channel 3 and each joint 21a of the bay bend 21 stored in advance
Length data.

Further, the joint coordinate calculation section 61 calculates the length of the bay bending section 21 based on the detection data sent from the bay bending angle detecting section 64 and the data of the length of each joint section 21a of the bay bending section 21 stored in advance. The position (coordinates) of each joint 21a is calculated, and the position of each bay bent piece 22, 23 with respect to a reference point (origin) of the bay bent portion 21 of the insertion portion 9 which is arbitrarily set is measured. I have.

Further, the joint coordinate calculation section 61 is connected to a storage section 62 for storing data before the child scope CCD 56 advances, and a comparison section 63. The comparison unit 63 is connected to the bay bending amount calculation unit 59.

In the bay bending amount calculating section 59, the input data from the comparing sections 58 and 63 (the joint coordinate calculating section 6).
1 and the measurement result from the parent scope CCD 51), the bay bending amount of the bay bending part 21 of the child scope CCD 56 is calculated, and the tip of the insertion part 9 of the child scope 4 is guided to the observation target part 73 which is the target. It has become.

Here, when the observation target portion 73 in the observation image displayed on the main screen 71 of the TV monitor is input by the input pen or the like of the target input unit 54, it is displayed on the child screen 72 of the TV monitor. It is first bay bending amount of the joint portion 21a ₁ of the leading-edge position of the bay bent portion 21 to move the observation target site 73 and the center of the child screen 72 is calculated.

Further, after the input with the input pen or the like, the bay bent portion 2 is made to match the coordinates at the time of input with the input pen or the like.
Each joint 21a ₂ , ₃ behind _one first joint 21a ₁
… _N bay bending is calculated.

The bay bending amount calculating section 59 has a child scope CCD corresponding to the calculation result from the bay bending amount calculating section 59.
A bay bend signal generation unit 66 for generating a bay bend control signal of the 56 bay bends 21 is connected.

Then, a multi-channel PPM signal which is a control signal of the bay bending is output from the bay bending signal generating section 66 , and the multi-channel PPM signal is supplied to each SMA control circuit 28 of the bay bending section 21 of the child scope 4. Then, each joint portion 21a of the bay bent portion 21 is bent.

Next, the operation of the above configuration will be described.
First, as shown in FIG. 9A, the parent and child scope 1 is orally inserted into the insertion space such as the stomach through the esophagus. At this time, the observation image from the parent scope CCD 51 of the parent scope 2 is displayed on the parent screen 71 of the TV monitor as shown in FIG.
The observation image according to D56 is displayed on the child screen 72. Then, the child scope 4 is displayed on the parent screen 71 of the TV monitor together with the observation target part 73 which is a target in the insertion target space.
The tip of the insertion portion 9 is displayed, and the observation target portion 7 is displayed.
The relative positional relationship between 3 and the insertion section 9 of the child scope 4 is measured.

Further, in this state, the parent screen 7 of the TV monitor is displayed.
The observation target part 73 in the observation image displayed on 1 is input by an input pen or the like of the target input unit 54. At this time, the observation target part 73 input by the input pen or the like.
Are extracted by the feature extraction unit 53 and stored in the feature storage unit 55.

The observation target part 73 in the observation image displayed on the main screen 71 of the TV monitor is the target input unit 5.
At the point in time when the input is made by the input pen 4 or the like, the joint 21a serving as the origin is determined by the origin joint determining unit 60 based on the detection data sent from the feeding amount detection unit 65.

Further, the characteristic data of the observation target part 73 stored in the characteristic storage unit 55 is stored in the child scope CCD 56.
Is input to the comparison unit 58 together with the observation image data. The comparison unit 58 searches the observation image on the child screen 72 for a portion that matches the feature data of the observation target part 73 stored in the feature storage unit 55.

Then, the state in which the distal end portion of the insertion section 9 of the child scope 4 is directed toward the observation target part 73, that is, as shown in FIG. 8B, the observation target part 73 is placed at the center of the observation image of the child screen 72. the first joint part 21a ₁ of the leading-edge position of the bay bent portion 21 in a state that moved the FIG. 9 (a), the is bay bending action as shown in (D).

Subsequently, the insertion section 9 of the child scope 4 is operated forward. At this time, with the forward movement of the child scope 4 data of the first bay bending angle of the joint portion 21a ₁ is the first joint portion 21a ₁ of the rear of the second joint portion 21a ₂ (FIG. 9 (B), the
(E)), the third joint 21a ₃ (FIG. 9 (C),
(Shown in (F)) are sequentially transmitted to each joint 21a.
Here, all the joints 21a located in front of the joint 21a to be bent are returned to the straight state with the bent angle of 0, and a so-called bent shift operation is performed.

As a result, as shown in FIG. 8C, the distal end of the insertion section 9 of the child scope 4 is observed with the observation target part 73 still being captured at the center of the observation image on the child screen 72 of the TV monitor. The route can be calculated and guided to a position near the target portion 73.

Next, as shown in FIG. 8D, a new observation target part 74 is confirmed in the observation image of the child screen 72 of the TV monitor. In this state, subsequently, the observation image of the child screen 72 and the observation image of the parent screen 71 are exchanged as shown in FIG. At the same time, the new parent screen 7 replaced here
A new observation target part 74 in one observation image is input using an input pen or the like.

Further, the child scope 4 is advanced toward the new observation target part 74, and the insertion part 9 of the child scope 4 is inserted.
Is guided to a position near the new observation target portion 74 in the observation image of the main screen 71. At this time, as shown in FIG. 8 (F), the observation image of the child screen 72 which is in the way is erased.

Therefore, in the above configuration, when the parent-child scope 1 is used, the insertion point 9 with respect to the reference point of the insertion section 9 arbitrarily set by the origin joint determination section 60 in accordance with the insertion operation of the insertion section 9 of the child scope 4. The position (coordinates) of each joint 21a of the bent portion 21 is measured by the joint coordinate calculator 61, and the observation scope 73, which is a target in the insertion space, is observed by the parent scope CCD 51.
The relative positional relationship between the observation target part 73 and the insertion part 9 is measured, and the joint coordinate calculation part 61 and the parent scope CCD are measured.
Since the insertion section 9 of the child scope 4 is guided to the observation target part 73 based on the measurement result from 51, the tip of the insertion section 9 of the child scope 4 is guided to a target in the large space 12. The work can be performed more easily than in the past, and the work efficiency can be improved.

FIG. 10 shows a modification of the guiding operation for guiding the multi-degree-of-freedom manipulator 77 such as the child scope 4 to a target in the large space 12 such as the stomach.
Here, FIG. 10A shows the multi-degree-of-freedom projected on the TV monitor in a state where the multi-degree-of-freedom manipulator 77 is inserted to the entrance position of the large space 12 such as the stomach as shown in FIG. The observation screen 75 by the manipulator 77 is shown. Reference numeral 76 denotes an observation image by the multi-degree-of-freedom manipulator 77 displayed on the observation screen 75.

In this case, the large space portion 1 shown in FIG.
The observation image 76 by the multi-degree-of-freedom manipulator 77 at the entrance position 2 is stored in an image memory such as a computer, and is frozen on an observation screen 75 by the multi-degree-of-freedom manipulator 77 displayed on a TV monitor.

Next, the distal end of the multi-degree-of-freedom manipulator 77 is inserted into the large space 12 by a predetermined distance as shown in FIG. At this time, on the observation screen 75 of the multi-degree-of-freedom manipulator 77 displayed on the TV monitor, an observation image 76 of the multi-degree-of-freedom manipulator 77 at the frozen entrance position is displayed as shown in FIG.
At the same time, a computer graphic image 77 ′ of the inserted manipulator 77 drawn by a computer or the like
Are superimposed. At this time, the observation image 76 of the manipulator 77 at the insertion position shown in FIG. 10E is stored in an image memory such as a computer.

The distal end of the multi-degree-of-freedom manipulator 77 is inserted deeper into the large space 12 as shown in FIG. At this time, the observation screen 7 by the multi-degree-of-freedom manipulator 77 projected on the TV monitor is displayed.
As shown in FIG. 10C, the image 5 is displayed in place of the observation image 76 of the manipulator 77 at the previous insertion position (shown in FIG. 10E) as shown in FIG. A computer graphic image 77 'of the manipulator 77 at the position shown in FIG. At this time, the observation image 76 of the manipulator 77 at the insertion position shown in FIG. 10F is stored in an image memory such as a computer.

Thereafter, the same operation is repeated, and the observation image 76 of the manipulator 77 at the previous insertion position is replaced and displayed on the observation screen 75 of the multi-degree-of-freedom manipulator 77 displayed on the TV monitor. ,
A computer graphic image 77 'of the manipulator 77 after insertion drawn by a computer or the like is displayed in a superimposed manner.

Therefore, in the above configuration, a computer graphic image 77 'of the inserted manipulator 77 drawn by a computer or the like is superimposed on the observation screen 75 of the multi-degree-of-freedom manipulator 77 projected on the TV monitor. Therefore, even when the child scope 4 cannot be directly observed by the parent scope 2, the actual operation position of the manipulator 77 can be recognized, and the relative position between the observation target part and the manipulator 77 can be recognized. The relationship can be grasped reliably.

FIGS. 11 (A) to 11 (C) show an example of use of the bay bend 21 composed of a multi-degree-of-freedom manipulator such as the insertion section 9 of the child scope 4 having the above-described configuration. FIG.
(A) shows a state in which the bay bend 21 composed of the multi-degree-of-freedom manipulator having the above-described configuration is used as a multi-degree-of-freedom manipulator of a microrobot 81 for coronary artery surgery via the thoracic cavity and inserted into the body. In FIG. 11A, an endoscope 82 is provided separately from the micro robot 81. Then, a target in the insertion target space is observed by the endoscope 82, and a relative positional relationship between the target and the micro robot 81 is measured.

As shown in FIG. 11 (B), the micro robot 81 has an insertion portion 8 having a multi-joint structure that bends flexibly.
3 are provided. FIG. 1 shows the distal end of the insertion portion 83.
As shown in FIG. 1 (C), a micro gripper 84 and a fixed leg 85 are protruded from each other. The fixed leg 85 is provided with a fixed portion 85b fixed to the inner wall or the like by means of suction or the like at the tip of the leg 85a.

Further, the micro gripper 84 is provided with a holder 84b fixed to the distal end of the flexible sheath 84a, and the holder 84b holds a grip portion 84c. The grip portion 84c is provided with a pair of holding members (treatment portions) 87, 87 which can be opened and closed.

The endoscope 82 has a micro robot 8
As shown in FIG. 11, an insertion portion 93 having a multi-joint structure that bends flexibly is provided as in FIG. An illumination window 93a of an illumination optical system, an observation window 93b of an observation optical system, a treatment instrument insertion channel 93c, and the like are provided at a distal end portion of the insertion portion 93. Then, an excision treatment instrument 94 for excision of a blood vessel is inserted into the treatment instrument insertion channel 93c.

Next, the operation of the surgical microrobot 81 having the above configuration will be described. For example, when a coronary artery or the like is clogged in the treatment of myocardial infarction, the microrobot for surgery 81 is used in a bypass operation for removing a clogged portion of the blood vessel and connecting the remaining portions together.

At the time of such treatment, as shown in FIG. 11A, the insertion portion 83 of the micro robot 81 and the insertion portion 93 of the endoscope 82 are separately inserted into the chest of the patient H percutaneously. . Then, while observing the inside of the body with the endoscope 82, the micro robot 8 reaches the target treatment target site.
The distal end of one insertion portion 83 is guided. In this case, since the insertion portion 83 of the micro robot 81 and the insertion portion 93 of the endoscope 82 have an articulated structure that bends flexibly, it can be reliably guided to, for example, the back side of the heart I of the patient H.

After the distal end of the micro robot 81 is guided to the target site, the distal end of the micro robot 81 is fixed to a position near the target site by the fixed leg 85. Subsequently, as shown in FIG. 11C, a bypass operation of the coronary artery J is performed by the excision treatment tool 94 inserted through the micro-gripper 84 of the micro robot 81 and the treatment tool insertion channel 93c of the endoscope 82. It is.

FIGS. 12 (A) and 12 (B) show a bay bent portion 21 made of a multi-degree-of-freedom manipulator such as the insertion portion 9 of the child scope 4 of the first embodiment as shown in FIG. 12 (B). As shown in FIG. 12A, the present invention is applied to an endoscope treatment tool 102 inserted into a body cavity through an endoscope 101. The endoscope 101 is provided with a flexible insertion portion 103 having flexibility. A distal end component 104 is connected to a distal end side of the insertion portion 103 via a curved portion.

An illumination window 104a of an illumination optical system, an observation window 104b of an observation optical system, a treatment instrument insertion channel 104c, and the like are provided on the tip surface of the tip component 104. The treatment tool 102 is inserted into the treatment tool insertion channel 104c.

A linear ultrasonic drive micro gripper 105 is mounted on the distal end of a flexible sheath made of, for example, a tightly wound coil at the insertion portion of the treatment tool 102. The micro gripper 105 is provided with a pair of holding members (treatment units) 106, 106 which can be opened and closed.

Next, the operation of the endoscope treatment instrument 102 having the above configuration will be described. The treatment tool 102 for the endoscope is a treatment tool insertion channel of the endoscope 101 which is orally inserted into the body.
The target is guided to the target treatment site in the body through 104c.
For example, as shown in FIG. 12A, after the endoscope 101 is orally inserted into the gall bladder M via the esophagus, the stomach, the duodenum L, etc., the treatment instrument insertion channel of the endoscope 101 is used.
An endoscope treatment tool 102 is inserted into 104c, and guided into the gall bladder M.

At this time, the treatment tool 102 for the endoscope is guided to a target in the gall bladder M which is a large space, similarly to the child scope 4 of the first embodiment. Subsequently, the microgripper 105 of the treatment tool 102 is opened and closed to operate the gallstone N in the gallbladder M.
Is destroyed.

FIG. 13 shows a treatment tool for an industrial endoscope 111 inserted into an industrial pipe P such as a gas pipe, for example, a plurality of insertion portions 9 of the child scope 4 of the first embodiment. In this embodiment, a bay bent portion 21 composed of a manipulator with a degree of freedom is applied.

An illumination device 112 and a pair of CCD cameras 113 for observation are provided on the distal end surface of the industrial endoscope 111, and three short multi-degree-of-freedom tubular manipulators 114 for working in piping are provided. , 115, 116 are fixed at their base ends. These manipulators 114, 11
5 and 116 are formed by a bay bending portion 21 composed of a multi-degree-of-freedom manipulator such as the insertion portion 9 of the child scope 4 of the first embodiment that bends flexibly.

At the tip of the first manipulator 114, an illuminating device and observation means such as a CCD camera for observation are provided, and the first manipulator 114 allows the repair section Q in the industrial pipeline P to be repaired. A working unit enlarged endoscope system unit that monitors the object by approaching and directly looking at it is formed.

Further, at the tip of the second manipulator 115, a micro gripper 117 formed by, for example, a basket type treatment section is provided. The microgripper 117 forms a tool transporting unit that approaches the repairing unit Q while holding a work tool such as the welding material 118.

At the tip of the third manipulator 116, there is provided an emission part for laser light and the like, and a grinding part such as a grinder. And this third manipulator
A work section is formed by 116 to approach the repair section Q in the industrial pipeline P and perform repair work such as welding with a laser beam or the like or grinding using a grinder.

FIGS. 14 and 15 show the second embodiment of the present invention.
FIG. In this embodiment, an illumination window 119 and a CCD camera for observation are provided at the distal ends of a first manipulator 114 and a third manipulator 116 of an endoscope 111 having substantially the same configuration as the industrial endoscope 111 of FIG. , Etc., are provided.

Then, the two observation windows 118, 118 of the first manipulator 114 and the third manipulator 116
While observing the target A in the large space 12 three-dimensionally, the relative positional relationship between the target A and the tip of the second manipulator 115 is measured, and the second manipulator is measured.
Observation means for guiding the end of the object 115 to the target A by approaching the tip of the object 115 is formed.

Further, two observation windows 118, 118 of the first manipulator 114 and the third manipulator 116 are provided.
Distance of the tip of the second manipulator 115 to the target A from the stereoscopic image of the target A observed by
A position measuring means for calculating the direction is provided, and a control means for guiding the tip of the second manipulator 115 to the target A based on the measurement results from the position measuring means and the observation means is provided.

FIG. 15 is a view for explaining an extension operation of the endoscope for guiding the endoscope 111 from the inside of the industrial pipe P having a relatively small diameter into the large space portion R. First, FIG. 15A shows a TV monitor with the endoscope 111 and the three manipulators 114, 115 and 116 inserted into the industrial pipeline P as shown in FIG. 9 shows an observation screen 121 of the endoscope 111 captured by the CCD camera 113.

The observation screen 121 shown in FIG. 15 (A) has an opening at the entrance from the industrial pipeline P into the large space R at the approximate center, and the tip of the three manipulators 114, 115 and 116. Is displayed.

Further, the endoscope 111 is operated to move forward, and FIG.
As shown in (E), three manipulators 114, 115,
When the distal end of the wire 116 is inserted into the large space R, FIG.
As shown in the observation screen 121 of FIG. 11B, the ratio of the opening at the entrance from the industrial pipeline P to the large space R in this screen becomes large.

Further, as shown in FIG. 15 (F), three manipulators 114, 115 and 116 are inserted into the large space R, and the end surface of the endoscope 111 is moved from the industrial pipe P to the large space R. When moving to the position near the opening of the entrance part into R,
As in the observation screen 121 in FIG. 15C, the ratio of the opening at the entrance from the industrial pipeline P to the large space R in this screen is further increased.

As described above, the ratio of the opening at the entrance portion exceeds a certain value, and the distal end face of the endoscope 111 is moved to the industrial pipeline P.
When the endoscope 111 stops moving forward from the position near the opening of the entrance portion into the large space R, the end points of the bends 21 of the three manipulators 114, 115 and 116 are stopped. The joint 21a is always the same joint 21
a.

Further, the endoscope 11 projected on the TV monitor
From the rate of change of the ratio of the opening at the entrance into the large space R on the observation screen 121 by the CCD camera 113, three manipulators 114,
By calculating the tip positions of the manipulators 115, 116, the tip portions of the three manipulators 114, 115, 116 can be guided to the observation target site which is the target.

Note that a pseudo three-dimensional observation image of the target A is formed by one manipulator 115, and the tip of the second manipulator 115 with respect to the target A is formed from the pseudo three-dimensional observation image of the target A. The configuration may be such that the distance and direction are calculated, and the tip of the second manipulator 115 is guided to the target A.

FIGS. 16 and 17 show the third embodiment of the present invention.
FIG. FIG. 16A shows the endoscope 121.
1 shows a schematic configuration of the entire system. FIG.
(A), 122 is an operation unit of the endoscope 121, 123 is an insertion unit,
124 is a universal code. The universal cord 124 is connected to the light source device 125.

Further, on the eyepiece side of the endoscope 121, distance measuring means 126 and a TV camera 127 for measuring the distance between the tip of the endoscope 121 and the target A in the insertion space are attached. ing. The distance measuring means 126 includes a data processing unit 128
The control section 129 and the image forming section 130 are connected to the data processing section 128, respectively.

The image forming section 130 has a TV camera 127.
, A control unit 129 and a 3D monitor 131 are connected to each other. Further, the control unit 129 is connected to a detection unit 133 and a treatment tool driving device 135, respectively. Further, a 3D position sensor 132 is connected to the detection unit 133.

Further, the treatment tool 134 is inserted into the treatment tool insertion channel of the endoscope 121. This treatment tool 134
The treatment tool driving device 135 controls the movement and rotation in the x, y, and z directions, and the opening and closing of the treatment section at the tip.

The data of the distance measured by the distance measuring means 126 is processed by the data processing unit 128, converted into a 3D image by the image forming unit 130, and displayed on a 3D monitor 131.
Is shown. FIG. 16 (B) shows the image on the 3D monitor 131.
136 denotes the displayed 3D image, and 136 denotes the endoscope 12.
An observation field of view 137 is an observation field of view 136 of the endoscope 121.
Indicates the projection of the observation target part displayed in the
You. Further, a mark for indicating the target A is displayed on the 3D image of the 3D monitor 131. This mark is 3D
It moves on the 3D image according to the movement of the position sensor 132.

The position of the 3D position sensor 132 is sent by the detection unit 133 to the image forming unit 130 via the control unit 129. The TV camera 127 and the distance measuring means 126 can be selectively switched. Then, the image from the TV camera 127 is displayed on the 3D monitor 131 by the image forming unit 130,
Alternatively, the image is synthesized with an image formed from the distance measurement data by the distance measuring means 126 and displayed on the 3D monitor 131.

FIG. 17 shows a schematic configuration of the distance measuring means 126. In FIG. 17, reference numeral 141 denotes an optical fiber bundle disposed inside the insertion portion 123 of the endoscope 121; 142, an objective lens disposed to face the distal end of the optical fiber bundle 141;
Reference numeral 143 denotes an eyepiece disposed opposite the base end of the optical fiber bundle 141.

Further, the distance measuring means 126 includes a laser device 145.
, Light receiving element 146, optical path conversion means 147, half mirror 148
, And a control circuit 149 are provided. In this case, the optical path conversion means 147 is formed by, for example, a polygon mirror or an acoustic light modulation element (AOM), and is disposed to face the eyepiece 143.

Also, the half mirror 148 is
7 and the laser device 145. further,
A light receiving element 146 arranged in a direction orthogonal to a direction connecting the optical path changing means 147 and the laser device 145 is arranged so as to be separated from and opposed to the half mirror 148.

Then, the laser beam emitted from the laser device 145 passes through the half mirror 148, and then passes through the optical path changing means 147.
Is incident on the eyepiece 143 of the endoscope 121 through the optical fiber bundle 141 and the objective lens 142, and irradiates the target A.

The light reflected from the target A passes through the reverse path, is reflected by the half mirror 148, and is reflected by the light receiving element 146.
Is received by the Here, the time from the emission of the laser light to the reception of the laser light is detected by the control circuit 149.

Further, the laser light is successively guided to each optical fiber in the optical fiber bundle 141 by the optical path converting means 147.
Scanned. Then, by subtracting the time corresponding to the light path in the endoscope 121 from the data of the time from emission of the laser light to reception of the laser light detected by the control circuit 149, the endoscope 121 is obtained.
The distance between the tip of the target and the target A is measured.

In the above configuration, a 3D image formed based on the distance data obtained by the distance measuring means 126 is used.
The image is combined with the image from the TV camera 127 and displayed on the 3D monitor 131. Therefore, the operator moves the mark on the 3D monitor 131 by the 3D position sensor 132 and operates a switch (not shown) at a target position to fix the mark.

Further, the control unit 129 controls the marked target A
The distance and direction of the distal end of the endoscope 121 corresponding to the position of the endoscope 121 from the treatment instrument insertion channel opening are calculated, and the treatment instrument driving device 13
5 and the treatment section at the tip of the treatment instrument 134 is moved to the target A
To the position of.

Therefore, also in this case, the operation of guiding the treatment section at the distal end of the treatment instrument 134 to the target A in the large space can be easily performed, as in the above-described embodiment, and the work efficiency can be improved. be able to.

FIGS. 18 (A), (B) and (C) show the inside of an industrial pipeline 152 bent substantially in an L shape as shown in FIGS. 18 (D), (E) and (F). 9 shows an observation screen 151 sent from the endoscope 153 inserted into the TV monitor to the TV monitor.

Here, as shown in FIG.
When the 153 is located on the near side of the L-shaped bent portion in the conduit 152, as shown in FIG. 18A, the image 154 of the conduit 152 in the observation screen 151 is located at the central portion. Becomes darker than the outer peripheral portion.

Then, as shown in FIG.
When the 153 has advanced to the position of the L-shaped bent portion in the conduit 152, as shown in FIG. 18B, the image 154 of the conduit 152 in the observation screen 151 has a left part compared to a right part. Get dark.

Further, as shown in FIG.
When the 153 has advanced to a position beyond the L-shaped bent portion in the conduit 152, the observation screen 15 is again displayed as shown in FIG.
The image 154 of the conduit 152 in 1 returns to a state where the central portion is darker than the outer peripheral portion.

Therefore, the bending angle, direction, and the like of the conduit 152 can be recognized from the change in the degree of brightness of the image 154 of the conduit 152 in the observation screen 151 of the endoscope 153 as described above. Based on the information of the image 154 of the conduit 152 in the observation screen 151 of the endoscope 153 and the data of the extension amount (insertion amount) of the endoscope 153, the bay bending operation of the endoscope 153 is performed based on the curved shape of the conduit 152. It can be controlled precisely according to.

When the bent shape of the industrial conduit 152 is known in advance, the endoscope 153 is inserted from the scale for detecting the insertion length to the endoscope.
The insertion length of the joint 153 may be calculated, and the joint that has reached the position of the bent portion in the conduit 152 may be controlled to perform the bending operation in an optimum state.

FIG. 19 shows a modification of the extension detecting unit of the child scope 4 extended from the parent scope 2. This is the treatment instrument insertion channel 3 of the parent scope 2.
An induction electromotive coil 161 is mounted on the inner peripheral surface of the distal end portion, and an electromagnetic layer 162 is attached to a position corresponding to the joint portion 21a on the outer peripheral surface of the child scope 4. In this case, the induction electromotive coil 161 is used when the child scope 4 is extended.
The number of electromagnetic layers 162 passing through the portion is counted by the induction electromotive coil 161, whereby the extension amount of the child scope 4 is obtained.

FIG. 20 shows the bay bent portion 2 of the child scope 4.
1 shows a modified example of the bay bending angle detection unit of each joint 21a. This is the sensor unit 17 of the bay bending angle detector.
1 has a strain gauge 172 and an IC chip 173 incorporated therein.
And the same number of sets as the number in the bending direction are attached to each. Then, during the operation of the bay bend angle detection unit, an output of the corresponding strain gauge 172 can be obtained by supplying a current in accordance with the operating frequency of the IC chip 173.

FIG. 21 shows a viewing angle switching mechanism of the endoscope. This is because a viewing angle shown in FIG. 21B is provided at the tip of an endoscope 181 formed by a multi-degree-of-freedom manipulator for observation including a light emitter 182 and a CCD camera 183 as shown in FIG. Switching adapter 184
Is rotatably mounted.

In this case, the adapter 184 has a pair of windows 18.
5, 185, a narrow-angle lens 186 and a wide-angle lens 187 are mounted. Then, by rotating the adapter 184 by 90 °, the narrow-angle lens 186 or the wide-angle lens 187 is selectively mounted on the front surface of the CCD camera 183 of the endoscope 181 to switch the viewing angle of the endoscope 181. I can do it.

FIG. 22 shows an objective lens 191 provided in the observation window in front of the CCD camera 183 formed of a functional polymer material. In this case, the objective lens 191
Has an inner lens made of a mixture of polyvinyl alcohol (PVA) and polyacrylic acid (PAA)
Electrodes 193 and 194 are mounted on both ends of 192, and an outer lens 195 formed of polyvinyl alcohol (PVA) is disposed outside the inner lens 192 and the electrodes 193 and 194.

When the power supply 196 is turned on and the voltage is applied between the electrodes 193 and 194, water moves from the outer lens 195 side to the inner lens 192 side of the objective lens 191. By changing the shape of the lens to a state close to a spherical shape, the angle of view of the objective lens 191 can be adjusted. Further, it goes without saying that various modifications can be made without departing from the spirit of the present invention.

The present invention provides a position measuring means for measuring the position of each bay bending element with respect to an arbitrarily set reference point of an insertion portion, a target in an insertion target space, and at least a tip of the insertion portion.
Observing means for capturing the part in the same field of view and measuring the relative positional relationship between the target and the insertion part, and inserting the part to the target based on the measurement results from the position measuring means and the observation means. Control means for guiding the flexible tube is guided to the target in the large space to guide the distal end of the insertion portion of the flexible tube.
In this configuration, the operation of guiding the distal end of the multi-joint insertion portion to the target site can be easily performed, and the operation efficiency can be improved.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing a control system of an entire bay bending device of a child scope in a parent-child scope according to a first embodiment of the present invention.

FIG. 2 is a schematic configuration diagram showing a state where an insertion portion of the child scope according to the first embodiment is inserted into a stomach.

FIG. 3 is a schematic configuration diagram of a main part showing a bay bent portion of the multi-degree-of-freedom manipulator of the first embodiment.

FIG. 4 is a schematic configuration diagram of a control device of a bay bent portion.

FIG. 5 is a perspective view showing a distal end portion of an insertion section of the parent-child scope.

FIG. 6 is a schematic configuration diagram of a main part showing a feeding amount detection unit of the child scope;

FIG. 7 is a schematic configuration diagram of a main part showing a bay bending angle detection unit of each joint.

FIG. 8 is an explanatory diagram for explaining a guiding operation for guiding a child scope to a target.

FIG. 9 is an explanatory diagram for explaining the bay bending operation of the child scope.

FIG. 10 is an explanatory diagram for explaining a modification of the guiding operation for guiding the child scope to the target.

11A is a schematic configuration diagram illustrating a state in which a multi-degree-of-freedom manipulator of a surgical microrobot is inserted into a body, FIG. 11B is a schematic configuration diagram illustrating a bypass operation state of a coronary artery of a heart, and FIG. 1 is a schematic configuration diagram showing a multi-degree-of-freedom manipulator inserted into a body.

12A and 12B show a treatment tool for an endoscope, in which FIG. 12A is a schematic configuration diagram showing a use state, and FIG. 12B is a schematic configuration diagram showing an enlarged main part of FIG.

FIG. 13 is a schematic configuration diagram of a multi-degree-of-freedom manipulator inserted into a gas pipeline.

FIG. 14 is a perspective view showing a schematic configuration of a main part of a second embodiment of the present invention.

FIG. 15 is an explanatory diagram for explaining an extension operation of the endoscope according to the second embodiment.

FIG. 16 shows a third embodiment of the present invention;
(A) is a schematic configuration diagram of the entire endoscope system, and (B) is a schematic configuration diagram showing an observation image of the endoscope.

FIG. 17 is a schematic configuration diagram showing a distance measuring unit.

FIG. 18 is an explanatory diagram for explaining an operation of detecting a bending direction of a pipeline in an industrial pipeline.

FIG. 19 is a schematic configuration diagram of a main part showing a modification of the extension amount detection unit of the child scope.

FIG. 20 is a schematic configuration diagram of a main part showing a modification of the bay bending angle detection unit of each joint.

FIGS. 21A and 21B show a viewing angle switching mechanism of the endoscope, in which FIG. 21A is a perspective view of a distal end portion of the endoscope, and FIG. 21B is a plan view of an adapter.

FIG. 22 is a schematic configuration diagram of an objective lens arranged in an observation window.

[Explanation of symbols]

4 child scope, 9 insertion part, 21 bay bent part, 21a
... Joint parts, 22, 23 ... Bend bending piece (Bend bending element), 51
... Parent scope CCD (observation means), 61... Joint coordinate calculation section (position measurement means).

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Akio Nakata 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside O-limpus Optical Industry Co., Ltd. (72) Inventor Yasuhiro Ueda 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside the Olympus Optical Co., Ltd. (72) Hideyuki Adachi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside the Olympus Optical Co., Ltd. Katsunori Sakiyama 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside the Olympus Optical Co., Ltd. (72) Koichi Tatsumi, inventor 2-43-2, Hatagaya, Shibuya-ku, Tokyo Inside the Olympus Optical Co., Ltd., Koji Fujio 2-43-2, Hatagaya, Shibuya-ku, Tokyo No. O-Limpus Optical Co., Ltd. (72) Inventor Masaaki Hayashi 2-43-2 Hatagaya, Shibuya-ku, Tokyo O-limpus Hikari Gaku Kogyo Co., Ltd. (72) Kuniaki Kami, Inventor 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (56) References JP-A-63-292934 (JP, A) -55907 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) A61B 1/00-1/32 G02B 23/24

Claims (1)

(57) [Claims] 1. A multi-joint bay bending apparatus provided with a bay bending section in which a plurality of bay bending elements are connected to each other via a joint section so as to be able to bend in an insertion section inserted into an insertion target space. Position measuring means for measuring a position of each bay bending element with respect to an arbitrarily set reference point of the insertion portion;
An observation unit that captures the distal end portion in the same field of view and measures a relative positional relationship between the target and the insertion unit, based on measurement results from the position measurement unit and the observation unit. And a control means for guiding the insertion portion to the target object.