JP4963067B2 - Compressive force measuring device - Google Patents

Description

  The present invention relates to a compressive force measuring device, and more particularly, to a compressive force measuring device that measures a compressive force in a longitudinal direction acting on a flexible linear body.

  A linear body having flexibility has been put into practical use as a linear medical instrument inserted into a body tube. For example, guide wires and catheters that are inserted into vessels such as blood vessels, ureters, bronchi, gastrointestinal tracts, and lymphatic vessels, and wires that have an embolic coil at the tip for embolizing aneurysms are known. It has been. Such a linear body is inserted into a tube in the body and is guided to a target site by an operation from outside the body.

The tube into which the linear body is inserted is not necessarily linear, and is often partially bent or branched. In addition, the diameter of the tube is not necessarily constant, and the tube itself may be thin, or the diameter of the tube may be thin due to an obstacle inside the tube such as a thrombus generated in the blood vessel. However, in the conventional linear body, there is no means for detecting the situation ahead of the linear body in the traveling direction, and the operation of the linear body has to be relied on by the operator's intuition, and is skilled in guiding operations from outside the body. Was necessary. Therefore, in order to detect the presence of an obstacle in the forward direction of the linear body, a method of providing a pressure sensor at the tip of the linear body has been considered (see, for example, Patent Document 1).
JP-A-10-263089

  However, it is difficult to provide a pressure sensor at the tip of a thin linear body. For example, the diameter of the guide wire inserted into the cerebral blood vessel is about 0.35 mm, and it is difficult to provide a small pressure sensor at the tip of such an extremely thin linear body. Further, it is further difficult to insert a signal line for taking out the signal of the pressure sensor into the linear body.

  In addition, when the tube into which the linear body is inserted is bent or the diameter of the tube is thin, the insertion resistance of the linear body is not only the resistance at the tip but also the friction with the tube. to be influenced. Therefore, the detection result of the pressure sensor provided at the tip of the linear body may not always match the force sense at the time of insertion by the operator. Therefore, even when the pressure sensor is provided at the tip of the linear body, the wire is based on the force information of the insertion resistance of the linear body gripped by the operator with the fingertip, that is, depending on the intuition of the operator. The operation of the object will be performed. In addition, since the operator's sense of force can be known only by the operator, it is difficult to quantify the skill of the skilled operator and convey it to an operator with little experience.

  Therefore, the main object of the present invention is to measure the insertion resistance of an extremely fine linear body, and to quantify the skill of a skilled operator and to convey it to a less experienced operator. It is to provide a force measuring device.

A compressive force measuring device according to the present invention includes a main body including a sensor that outputs a signal corresponding to a compressive force in a longitudinal axis direction acting on a flexible linear body, and is incorporated in the main body, and outputs an output signal of the sensor. The apparatus includes a storage element that stores information to be converted into a compression force, and a calculation unit that obtains the compression force based on an output signal of the sensor and information stored in the storage element. A through-hole through which the linear body passes is formed in the main body, and when a compressive force acts on the linear body, the linear body is curved in a predetermined direction inside the through-hole, and the sensor is curved of the linear body. And a signal indicating the detection result is output as a signal corresponding to the compression force.

Preferably, the memory element is a semiconductor memory.
Preferably, the information is written from the outside of the memory element using an electrical signal.

  Preferably, the storage element further stores at least one of product information and usage information of the main body.

  Preferably, the compressive force measuring device is used by being incorporated in a medical device for inserting a linear body into the body.

  Preferably, the compressive force measuring device is used by being attached to a training simulator for training the operation of the linear body.

In the compressive force measuring device according to the present invention, a main body including a sensor that outputs a signal corresponding to the compressive force in the longitudinal axis direction that acts on the linear body having flexibility, and an output signal of the sensor is incorporated in the main body. A storage element that stores information for converting into a compression force, and a calculation unit that obtains the compression force based on an output signal of the sensor and information stored in the storage element are provided. A through-hole through which the linear body passes is formed in the main body, and when a compressive force acts on the linear body, the linear body is curved in a predetermined direction inside the through-hole, and the sensor is curved of the linear body. And a signal indicating the detection result is output as a signal corresponding to the compression force. Therefore, since the compressive force in the longitudinal axis direction acting on the linear body is measured, it can be measured outside the body, and the insertion resistance of the extremely thin linear body can be detected. In addition, compared to the case where a pressure sensor is provided at the tip of the linear body, it is possible to obtain a detection result close to a force sense at the time of insertion of the operator, quantifying the skill of the skilled operator, and to an operator with little experience Can be taught. Further, since the storage element for storing information for converting the output signal of the sensor into the compression force is provided, the compression force can be measured with high accuracy even when the mechanical accuracy of the main body is low.

  1 is an external view of a main body 1 of a compressive force measuring device according to an embodiment of the present invention, FIG. 2 is a cross-sectional view taken along the line II-II of FIG. 1, and FIG. It is III sectional drawing. 1 to 3, a through hole 3 through which a flexible linear body 2 is inserted is formed in the main body 1 of the compressive force measuring device. One end of the linear body 2 is operated by an operator's hand, and the other end of the linear body 2 is inserted into a human body tube.

  A tapered input / output port 4 is formed in each of the openings at both ends of the through hole 3 in order to facilitate insertion and removal of the linear body 2. In the restraint portion 5 at the back of the input / output port 4, the diameter of the through hole 3 is slightly larger than the diameter of the linear body 2, for example, 105% to 120% of the diameter of the linear body 2. Therefore, the linear body 2 cannot move in a direction other than the longitudinal axis direction in the restraint portion 5.

  The main body 1 defines the bending direction of the linear body 2 inside the through hole 3 when a compressive force in the longitudinal axis direction acts on the linear body 2. That is, the through-hole 3 is bent between the two restraining portions 5, and the linear body 2 passes through the through-hole 3 while bending along one wall. Moreover, the through-hole 3 spreads to the wall side where the linear body 2 does not follow between the two restraint parts 5, and forms the space 6. FIG. Therefore, in the space 6, the operation of the linear body 2 in the direction parallel to the paper surface is not limited by the through hole 3.

  On the other hand, in the input / output port 4 and the space 6, the height of the through hole 3 perpendicular to the paper surface is slightly larger than the diameter of the linear body 2, for example, 105% to 120% of the diameter of the linear body 2. The movement of the linear body 2 in the direction perpendicular to the paper surface is limited by the through hole 3. That is, in the input / output port 4 and the space 6, the cross-sectional shape of the through hole 3 in the cross section perpendicular to the longitudinal axis direction of the linear body 2 is rectangular as shown in FIG. 3. In this way, the bending direction of the linear body 2 inside the through hole 3 is defined, and the position where the linear body 2 is curved when a compressive force in the longitudinal axis direction acts on the linear body 2 is determined. Yes.

  As shown in FIG. 2, when a compressive force F in the longitudinal axis direction is applied to the linear body 2, a wall in which the linear body 2 does not run in a predetermined direction in the space 6 inside the through hole 3, that is, in the space 6. The linear body 2 curves toward the side. As the linear body 2 is curved, the height h of the crest of the curved line, that is, the distance from the wall surface along which the linear body 2 is located to the linear body 2 increases. In the main body 1, an optical line sensor 7 for detecting the height h of the crest of the curve is embedded.

  As shown in FIG. 4, the line sensor 7 is an array sensor having a plurality of light receiving elements 7 a arranged in the direction of the curve height h of the linear body 2. A light source 8 is embedded in the main body 1 on the opposite side of the line sensor 7 through the space 6 of the through hole 3. The light source unit 8 emits illumination light to the line sensor 7 through the space 6.

  The illumination light emitted from the light source 8 is incident on the line sensor 7 in a region where the linear body 2 is not present, but is blocked by the linear body 2 in a portion where the linear body 2 is present and does not enter the line sensor 7. In other words, a shadow of the linear body 2 is formed on the line sensor 7. A large photocurrent is generated in the light receiving element 7 a on which the illumination light is incident, and almost no photocurrent is generated in the light receiving element 7 a located in the shadow of the linear body 2. Therefore, by detecting the photocurrent of each light receiving element 7a, the position of the linear body 2 in the space 6, that is, the bending height h of the linear body 2 can be obtained.

  However, the detection accuracy of the bending height h of the linear body 2 is affected by the mechanical accuracy of the geometric structure of the through-hole 3 and the mounting accuracy of the line sensor 7. In order to increase the detection accuracy of the bending height h of the linear body 2, the mechanical accuracy of the geometric structure of the through-hole 3 and the mounting accuracy of the line sensor 7 may be increased. Manufacturing cost and assembly cost increase.

  Therefore, in the present embodiment, for each main body 1, the relationship between the compression force F applied to the linear body 2 and the bending height h of the linear body 2 is examined in advance, and the bending height of the linear body 2 is checked. A conversion table for converting the length h into a compression force F applied to the linear body 2 is created. As shown in FIG. 4, a semiconductor memory 9 such as a flash memory is incorporated in the main body 1, and a conversion table for the main body 1 is stored in the semiconductor memory 9. The conversion table may be stored (written) in the semiconductor memory 9 before the semiconductor memory 9 is incorporated into the main body 2 or after the semiconductor memory 9 is incorporated into the main body 2. The conversion table can be stored in the semiconductor memory 9 by using an electrical signal from the outside of the semiconductor memory 9. As the semiconductor memory 9, one that can be accessed by serial communication is preferable because the number of wirings is small.

  As shown in FIG. 5, the conversion table is composed of a plurality of compressive forces F1, F2,... Covering the measurement range, and the bending heights h1, h2,. The For example, the compression forces F1, F2,... Are sequentially written to even addresses, and the heights h1, h2,. The compression force F between the compression forces F1, F2,... And the height h between the heights h1, h2,. In the remaining address of the semiconductor memory 9, product information such as the product number, serial number, date of manufacture, and manufacturing department of the main body 2, and usage information such as the use date and time are recorded.

  The line sensor 7 and the semiconductor memory 9 of the main body 1 are connected to a compressive force signal generator 11 in the control box 10 via, for example, a connector (not shown). The compressive force signal generator 11 is constituted by a microcomputer, for example. The compressive force signal generator 11 obtains the bending height h of the linear body 2 by detecting the photocurrent of each light receiving element 7a, and refers to the conversion table stored in the semiconductor memory 9 to determine the height. The compression force for h is obtained, and a compression force signal indicating the compression force is output to the compression force display device 12. The compressive force display device 12 displays the measured value of the compressive force with a level meter, a graph, or the like according to the compressive force signal.

  Next, the usage method of this compressive force measuring device is demonstrated easily. When a skilled doctor performs an operation using the linear body 2, the doctor observes the X-ray fluoroscopic image of the distal end portion of the linear body 2 and its periphery on a video monitor (not shown) and displays the compression force. The linear body 2 is operated with a fingertip while observing the compression force displayed on the device 12. At this time, since the compressive force of the linear body 2 can be detected quantitatively and accurately, it is possible to avoid damaging the internal tube with the linear body 2. Moreover, a skilled doctor uses a compressive force to quantitatively convey the technique to an inexperienced doctor.

  In this embodiment, since the compressive force in the longitudinal axis direction acting on the linear body 2 is measured, it can be measured outside the body, and the insertion resistance of the extremely fine linear body can be detected. Moreover, compared with the case where a pressure sensor is provided at the tip of the linear body 2, a detection result close to a force sense at the time of insertion by the operator can be obtained. In addition, the skill of the skilled operator can be quantified and transmitted to the less experienced operator.

  In addition, since the conversion table for converting the bending height h of the linear body 2 into the compressive force F applied to the linear body 2 is stored in the semiconductor memory 9, it is compressed even when the mechanical accuracy of the main body 1 is low. Force can be measured with high accuracy. Therefore, since it is not necessary to increase the machine accuracy of the main body 1, the manufacturing cost of the main body 1 can be reduced. In addition, when the main body 1 is used for a medical instrument and is thrown away due to hygiene problems, when the main body 1 is replaced, the conversion table is also replaced together, which is convenient.

  In this embodiment, the measured value of the compressive force is visualized and displayed by the compressive force display device 12, but the measured value of the compressive force may be heard by a speaker, for example. For example, the sound may be increased or increased according to the level of compression force.

  FIG. 6 is a block diagram showing a modification of this embodiment. In FIG. 6, in this modified example, a semiconductor memory 13 is provided in the control box 10. The semiconductor memory 13 stores a reference conversion table for converting the bending height h of the linear body 2 into the compressive force F applied to the linear body 2 in the main body 2 serving as a reference. On the other hand, the semiconductor memory 9 of the main body 2 stores a deviation amount Δh of the height h in the main body 2 with respect to the bending height h of the linear body 2 in the main body 2 serving as a reference. The compression signal generator 11 corrects the height h detected using the line sensor 7 using the deviation amount Δh, and refers to the conversion table in the semiconductor memory 13 for the compression force F with respect to the corrected height h. Ask. Even in this modified example, the compressive force can be accurately measured.

  FIG. 7 is a diagram showing an example in which this linear body operation recording system is applied to an embolization operation for a cerebral aneurysm. The linear body 2 in this case is a delivery wire that guides the catheter 20 to the cerebral aneurysm. An embolization platinum coil 21 is provided at the tip of the linear body 2. The main body 1 of the compressive force measuring device is incorporated in a Y connector 22 of a medical instrument. The output port of the Y connector 22 is connected to the catheter 20, one of the two input ports of the Y connector 22 is connected to a liquid injector 23 for injecting physiological saline or a drug, and a linear body is connected from the other input port. 2 is inserted.

  The distal end of the linear body 2 is advanced into the blood vessel of the patient 25 by the hand operation of the operator 24 and guided to the cerebral aneurysm. The surgeon 24 operates the platinum coil 21 to perform an embolization operation for a cerebral aneurysm. An X-ray fluoroscopic image of the state in which the tip of the linear body 2 advances in the blood vessel and the state of embolization is taken by the X-ray fluoroscopic device 26 and displayed on a video monitor (not shown). The line sensor 7 and the semiconductor memory 9 of the main body 2 in the Y connector 22 are connected to the control box 10 via the cable 27. The compression force signal generated by the compression force signal generator 11 in the control box 10 is visualized by the compression force display device 12.

  In this application example, the compression force of the linear body 2 during the operation can be measured with high accuracy, and the cerebral aneurysm embolization operation can be performed without damaging the blood vessel with the linear body 2. In addition, for example, the skills of experienced doctors can be grasped quantitatively, which can be used for early training of young doctors.

  FIG. 8 is a diagram showing an example in which the compressive force measuring device is applied to a training simulator 30 that simulates a human body. In FIG. 8, the training simulator 30 displays on the video monitor 31 a simulated fluoroscopic image equivalent to the X-ray fluoroscopic image of the human body tube in which the linear body 2 is inserted. The linear body 2 in this case is a guide wire that guides the catheter 32 to the cerebral aneurysm. The training simulator 30 changes the insertion resistance with respect to the inserted linear body 2. The main body 1 is connected to the control box 10 in the simulator 30 via a cable 33. The resistance force during the operation, that is, the compressive force measured by the compressive force measuring device is displayed on the compressive force display device 12 provided in the simulator 30 and also given to the simulator 30. The simulator 30 changes the insertion resistance of the linear body 2 according to the measured value of the compressive force.

  The trained surgeon 34 operates the linear body 2 while looking at the simulated fluoroscopic image displayed on the video monitor 31 and the compressive force displayed on the compressive force display device 12 by, for example, numerals. Thereby, the operator 34 is trained and evaluated. In this application example, it is possible to quantify the compressive force and improve the skill of an operator with little experience at an early stage.

  In FIG. 8, the main body 1 and the simulator 30 of the compressive force measuring device are separated, but the main body 1 may be incorporated in the simulator 30. Further, the compression force display device 12 may be removed, and the video monitor 31 may display the simulated fluoroscopic image and the compression force.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

It is a figure which shows the external appearance of the main body of the compressive force measuring device by one Embodiment of this invention. It is the II-II sectional view taken on the line of FIG. It is the III-III sectional view taken on the line of FIG. It is a block diagram which shows the structure of the compressive force measuring apparatus containing the main body shown in FIG. It is a figure which shows the conversion table stored in the semiconductor memory shown in FIG. It is a block diagram which shows the example of a change of this embodiment. It is a figure which shows the example of application of the compressive force measuring apparatus shown in FIGS. It is a figure which shows the other example of application of the compressive force measuring apparatus shown in FIGS.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Main body, 2 Linear body, 3 Through hole, 4 Input / output port, 5 Restraint part, 6 Space, 7 Line sensor, 7a Light receiving element, 8 Light source device, 9, 13 Semiconductor memory, 10 Control box, 11 Compression force signal Generator, 12 compressive force display device, 20, 32 catheter, 21 platinum coil, 22 Y connector, 23 liquid injector, 24, 34 operator, 25 patient, 26 X-ray fluoroscopy device, 27, 33 cable, 30 for training Simulator, 31 video monitor.

Claims (6)

A main body including a sensor that outputs a signal corresponding to a compressive force in the longitudinal direction acting on a linear body having flexibility;
A storage element that is incorporated in the main body and stores information for converting the output signal of the sensor into the compression force;
A calculation means for obtaining the compression force based on an output signal of the sensor and information stored in the storage element ;
A through hole through which the linear body passes is formed in the main body,
When the compressive force acts on the linear body, the linear body is curved in a predetermined direction inside the through hole,
The said sensor detects the degree of curvature of the said linear body, and outputs the signal which shows a detection result as a signal according to the said compression force . The compressive force measuring device according to claim 1, wherein the storage element is a semiconductor memory. The information is written by using the electric signals from the outside of the storage element, the compressive force measuring apparatus according to claim 1 or claim 2. The compressive force measuring device according to any one of claims 1 to 3 , wherein the storage element further stores at least one of product information and usage information of the main body. The compressive force measuring device according to any one of claims 1 to 4, wherein the compressive force measuring device is used by being incorporated in a medical device for inserting the linear body into the body. The compressive force measuring device according to any one of claims 1 to 4, wherein the compressive force measuring device is attached to a training simulator for training the operation of the linear body.

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