JP6601727B2 - Pressure sensor, endoscope scope and endoscope apparatus - Google Patents

Description

  The present invention relates to a pressure sensor used for an endoscope scope, an endoscope scope including the pressure sensor, and an endoscope apparatus configured to include the endoscope scope.

  As an endoscopic scope used for endoscopy of the digestive system, a pressure sensor is attached to the distal end portion of the insertion portion to be inserted into the body of the subject (the subject of endoscopy), There is one in which an external force applied to the tip portion is detected by a pressure sensor so that the magnitude of the external force can be presented to an operator (an operator of an endoscope scope) (for example, see Patent Document 1).

International Publication No. 2012/153703

  However, in the conventional configuration described above, the pressure sensor is attached only to the distal end portion of the insertion portion. However, in an endoscope scope, the pressure sensor should be attached to a location other than the distal end portion of the insertion portion. This is because in order to avoid the occurrence of colon perforation or the like, it is necessary to detect contact with the body tissue other than the distal end portion of the insertion portion.

  However, the insertion portion of the endoscope scope is configured to bend freely according to the shape of the insertion path (for example, digestive organs such as the large intestine and the small intestine). Therefore, when the pressure sensor is mounted at a location other than the tip of the insertion portion, the insertion sensor can be bent in any state when the insertion portion is bent or not bent, and in any direction where the insertion portion is bent. The pressure sensor must be able to perform appropriate pressure detection without being affected by bending or the like. In particular, the bending portion of the insertion portion is a portion where contact with the body tissue is likely to occur. Appropriate pressure detection at such a location is very important in avoiding the occurrence of colon perforation.

  Therefore, an object of the present invention is to provide a pressure sensor, an endoscope scope, and an endoscope apparatus that can perform appropriate pressure detection even at a bending portion of an insertion portion.

The present invention has been devised to achieve the above object.
(One embodiment of the present invention)
One embodiment of the present invention provides:
A pressure sensor used by being attached to an insertion portion of an endoscope scope configured such that a distal end portion, a bending portion that bends according to an operation of an operation portion, and a flexible portion,
The pressure sensor is configured to have an annular portion mounted around the bending portion, and an inner circumference of the annular portion is formed in a size corresponding to a bent portion of the bending portion.
(Another embodiment of the present invention)
Another aspect of the present invention is:
An endoscope scope in which the pressure sensor according to the one aspect is mounted around the bending portion.
(Another embodiment of the present invention)
Still another aspect of the present invention provides:
The endoscope scope according to the other aspect;
A control unit that acquires and processes a detection signal from the pressure sensor attached to the endoscope scope;
A signal output unit for outputting a signal processing result by the control unit;
It is an endoscope apparatus provided with.

  According to the present invention, it is possible to perform appropriate pressure detection even at the bent portion of the insertion portion of the endoscope scope.

It is explanatory drawing which shows typically the example of schematic structure of the endoscope scope and endoscope apparatus which concern on this invention. It is explanatory drawing which shows a specific example of the bending aspect of the bending part of an endoscope scope. It is explanatory drawing (the 1) which shows typically the component of the specific example of the pressure sensor which concerns on this invention, and is a figure which shows the structural example of an annular part. It is explanatory drawing (the 2) which shows typically the component of the specific example of the pressure sensor which concerns on this invention, and is a figure which shows the structural example of a 1st guide part and a 2nd guide part. It is explanatory drawing (the 3) which shows typically the component of the specific example of the pressure sensor which concerns on this invention, and is a figure which shows the structural example of a deformation | transformation suppression member. It is explanatory drawing (the 4) which shows typically the component of the specific example of the pressure sensor which concerns on this invention, and is a figure which shows the structural example of a pressure sensitive part. It is explanatory drawing which shows the manufacture procedure of the component of the specific example of the pressure sensor which concerns on this invention. It is explanatory drawing which shows typically an example of the sensor load state with respect to the pressure sensor with which the insertion part of the endoscope scope was mounted | worn. It is explanatory drawing which shows typically the component of the other specific example of the pressure sensor which concerns on this invention, and is a figure which shows the structural example of the area | region division of a pressure-sensitive member. It is explanatory drawing (the 1) which shows the manufacture procedure of the component of the other specific example of the pressure sensor which concerns on this invention. It is explanatory drawing (the 2) which shows the manufacture procedure of the component of the other specific example of the pressure sensor which concerns on this invention. It is explanatory drawing (the 3) which shows the manufacture procedure of the component of the other specific example of the pressure sensor which concerns on this invention. It is explanatory drawing (the 1) which shows typically the modification of the component of the pressure sensor which concerns on this invention, and is a figure which shows the modification of a 1st electrode. It is explanatory drawing (the 2) which shows typically the modification of the component of the pressure sensor which concerns on this invention, and is a figure which shows the modification of area division.

  Hereinafter, a pressure sensor, an endoscope scope, and an endoscope apparatus according to the present invention will be described with reference to the drawings.

(1) Schematic Configuration of Endoscope and Endoscope Apparatus First, an endoscope scope and an endoscopic apparatus will be described with an example configured to image the inside of the large intestine.
FIG. 1 is an explanatory diagram schematically illustrating a schematic configuration example of an endoscope scope and an endoscope apparatus.

(Endoscope device)
An endoscope apparatus 1 described in the present embodiment includes an endoscope scope 2, a control main body unit 3, and a monitor unit 4.

(Endoscope)
The endoscope scope 2 includes an insertion portion 10 to be inserted into the body of a subject (endoscopic examination subject), a bending operation of the insertion portion 10, and the like (operator of the endoscope scope 2). And an operation unit 20 for performing the above. Further, a pressure sensor 30 is attached to the insertion portion 10 of the endoscope scope 2 as will be described in detail later.

  The insertion portion 10 is a long tubular body covered with a skin made of a resin material, and is configured such that a distal end portion 11, a bending portion 12, and a flexible portion 13 are sequentially arranged from the distal end side. Specifically, the insertion portion 10 has, for example, a tube outer diameter of about 6 to 13 mm, the distal end portion 11 is arranged in a range from the distal end to about 50 mm, and further from there to a range from about 50 to 100 mm. In general, the curved portion 12 is arranged so that the total length is about 1000 mm.

  At least the light projecting unit and the image acquiring unit (both not shown) are provided on the end surface of the distal end portion 11. And the light irradiated from the light projection part is reflected by the intestinal wall, and it is comprised so that an intestinal image may be acquired by receiving the reflected light in an image acquisition part. As a light projection part, well-known structures, such as the light guide arrange | positioned in the insertion part 10 so that the light from the light source of the control main-body part 3 may be guide | induced, the light emitting element (for example, LED) distribute | arranged to the front-end | tip part 11, etc. Can be used. Further, the configuration of the image acquisition unit is not particularly limited, but an imaging element in which reflected light from the intestinal wall is collected by an objective lens provided at the distal end portion 11 and this light is arranged at an imaging position of the objective lens. An example is a configuration in which the light is received by (for example, a CCD) and an image signal obtained there is sent to the control main unit 3 through a signal line provided in the insertion unit 10. In addition to the light projecting unit and the image acquisition unit, a forceps port (not shown) that also serves as a suction port and a suction port, and a nozzle (not shown) that feeds water and air are provided on the end surface of the distal end portion 11. ) Etc. may be provided.

  The bending portion 12 is a portion configured to bend according to the operation of the operation unit 20. More specifically, the bending portion 12 has an indirect frame (not shown) disposed therein, and the indirect frame is connected to the operation unit 20 by a wire (not shown) passing through the insertion portion 10. Yes. With such a configuration, the bending portion 12 can be bent in each direction such as an up angle, a down angle, a left angle, and a right angle in accordance with the operation content of the operation unit 20. Further, the amount of bending (curvature) can be adjusted depending on the operation content in the operation unit 20.

  The flexible portion 13 is a portion that continues to the bending portion 12 and is configured to have flexibility (flexibility) that allows bending while enclosing a signal line, a wire, or the like. However, unlike the bending portion 12 that bends in response to the operation of the operation portion 20, the flexible portion 13 does not have a function that enables active bending. That is, the soft part 13 can only bend passively according to the surrounding situation (for example, the intestinal tract shape of the large intestine).

(Control body)
The control main unit 3 includes a computer device configured by combining, for example, a CPU, a RAM, a ROM, and the like, and an endoscope device including the endoscope scope 2 by executing a predetermined program installed in advance. 1 to control the entire operation. Specifically, the control main body 3 gives an operation instruction to irradiate light from the light projecting portion of the distal end portion 11 of the endoscope scope 2, or an image signal obtained by the imaging device of the distal end portion 11. To perform necessary image processing and recording processing.

  In addition, the control main body 3 acquires and processes a detection signal from the pressure sensor 30 attached to the insertion unit 10 of the endoscope scope 2, so that the pressurization amount, the pressurization position, and the like for the pressure sensor 30 are processed. Can be recognized. That is, the control main unit 3 also has a function as a “control unit” that acquires and processes a detection signal from the pressure sensor 30 attached to the endoscope scope 2.

(Monitor part)
The monitor unit 4 is composed of a display device such as a liquid crystal display, and mainly displays and outputs an image acquired by the endoscope scope 2 to an operator (an operator of the endoscope scope).

  The monitor unit 4 is configured to output a signal processing result in the control main body unit 3 for the detection signal from the pressure sensor 30. That is, the monitor unit 4 also has a function as a “signal output unit” that outputs a signal processing result in the control main body unit 3 with respect to a sensor detection result in the pressure sensor 30. By referring to the output result, the surgeon can grasp the state of the pressurization amount and pressurization position for the pressure sensor 30. Although this signal output can be performed on the display screen of the monitor unit 4 so as to be superimposed on the image acquired by the endoscope scope 2, it is not necessarily limited thereto. For example, you may perform by the display output of the light using the indicator part attached to the display screen of the monitor part 4. FIG. Further, the signal output is not limited to an image or light display output that can be recognized visually, but may be output by sound output that can be recognized by hearing, vibration output that can be recognized by tactile sense, or a combination of these appropriately. Good. More specifically, the sensor detection result may be output using a lamp, an alarm buzzer, a vibration system, or the like in addition to a display device such as a liquid crystal display or separately from a display device such as a liquid crystal display. It is done.

  However, in any output mode, it is desirable that the monitor unit 4 outputs the pressure detected by the pressure sensor 30 in a mode that can be identified. For example, when the monitor unit 4 performs light display output, it is conceivable that the sensor detection result is output in such a manner that the display level varies according to the pressure detected by the pressure sensor 30. In addition, the present invention is not limited to this, and while changing the display contents, number of lamps / brightness / color, buzzer volume, vibration vibration strength / vibration period, etc. as appropriate according to the magnitude of the detected pressure, the sensor You may make it output a detection result.

(Usage mode of endoscope apparatus)
Here, the usage mode of the endoscope apparatus 1 having the above-described configuration will be briefly described.

  The endoscope apparatus 1 is used by inserting the insertion portion 10 of the endoscope scope 2 into the body of a subject (a subject for endoscopy). The insertion unit 10 is inserted from the anus of the subject toward the large intestine, for example. At this time, since the large intestine, the small intestine, and the like have a complicated duct shape that is bent, the operator (operator of the endoscopic scope), when necessary, inserts the endoscope scope as necessary. The operation of pushing the insertion portion 10 is performed while the bending portion 12 of the insertion portion 10 is bent by operating the second operation portion 20.

However, when the pushing operation of the insertion portion 10 is performed while the bending portion 12 is bent, the bent portion may come into contact with a body tissue (specifically, for example, the intestinal wall). In particular, the bending pole of the bending portion 12 is likely to come into contact with the intestinal wall or the like. The “bending pole point” refers to a point where the degree of bending of the bending portion 12 is the highest, and specifically, a point where the curvature of the bending portion becomes the smallest or a vertex when bent. The point is applicable.
Contact with the intestinal wall or the like at the bent portion of the bending portion 12 typified by such a bending pole may possibly lead to intestinal perforation, and its occurrence should be avoided in advance. However, the bent portion of the bending portion 12 is out of the range of the region that can be imaged by the distal end portion 11 of the insertion portion 10, and it is possible to determine the presence or absence of contact with the intestinal wall or the like only by the touch transmitted to the operator's hand. It is very difficult.

  In view of the above, in the endoscope scope 2 of the endoscope apparatus 1 described in the present embodiment, a bending portion is formed by actively bending the bending portion 12 in the insertion portion 10, that is, when inserted into the body. A pressure sensor 30 that detects pressurization due to contact with the intestinal wall or the like is attached to the portion. However, the mounting location of the pressure sensor 30 is not limited to the bending portion 12 and may include the distal end portion 11 and the flexible portion 13.

(2) Specific Example of Pressure Sensor Next, a specific example of the pressure sensor 30 attached to the insertion unit 10 of the endoscope scope 2 will be described.

(Outline of pressure sensor)
The pressure sensor 30 detects pressurization due to contact with a body tissue such as an intestinal wall. The pressure detection is performed by using a pressure-sensitive member made of an elastic body whose electrical characteristics change according to the amount of deformation caused by receiving pressure. That is, the pressure sensor 30 is configured to take out the magnitude of the pressure value due to pressurization as an electric signal by using the change in the electrical characteristics of the pressure-sensitive member. If pressure detection is performed with such a configuration, necessary sensitivity and resolution can be obtained with a simple configuration while suppressing an increase in the size of the sensor, and the sensor is mounted on the insertion portion 10 of the endoscope scope 2. It becomes very suitable.

  By the way, the pressure sensor 30 is attached to the bending portion 12 of the insertion portion 10 as described above. Therefore, the pressure sensor 30 must be able to appropriately cope with the bending of the bending portion 12. “Appropriately corresponding to bending” means that the sensor can be mounted on the bending portion of the bending portion 12 without hindering bending of the bending portion 12 and the bending portion 12 is bent in the sensor mounting state. This is to prevent erroneous sensor detection caused by

Here, a bending mode of the bending portion 12 of the endoscope scope 2 will be briefly described.
FIG. 2 is an explanatory diagram showing a specific example of a bending mode of the bending portion.
In the insertion part 10 of the endoscope scope 2, the bending part 12 bends according to the operation of the operation part 20. At this time, since the outer skin covering the insertion portion 10 has flexibility, it is experiential that the outer skin wrinkles 10a occur in the inner part of the bent portion as shown in FIG. 2 (a). Known to.
In particular, in recent years, as shown in FIG. 2B, the minimum curvature when the bending portion 12 is bent tends to be small. Therefore, the occurrence of the wrinkle 10a on the inner side of the bent portion becomes even more remarkable. Specifically, the generation of wrinkles 10a increases, and the size thereof becomes large.
Generation | occurrence | production of such a wrinkle 10a can be a factor which causes the sensor erroneous detection resulting from the bending of the bending part 12. FIG. For example, if the heel 10a pressurizes the pressure sensor 30 due to the generation of the heel 10a, it is not in contact with a body tissue such as the intestinal wall (ie, it is not the pressure to be detected). ), The pressure sensor 30 detects this.

  As described above, when the bending portion 12 is bent, there is a possibility that the outer shape of the bent portion may be deformed due to the influence of the generation of the wrinkles 10a, for example. Therefore, the pressure sensor 30 attached to the bending portion 12 needs to be able to appropriately cope with the bending even if the bending portion 12 can be deformed by bending.

(Basic configuration example of pressure sensor)
In view of the above, the pressure sensor 30 described as an example here is configured as described below.
3-6 is explanatory drawing which shows typically the component of one specific example of a pressure sensor.

  As shown in FIG. 3, the pressure sensor 30 includes a mounting portion 31 that is mounted at a detected location (a location where contact with a body tissue should be detected) in the insertion portion 10 of the endoscope scope 2, and the mounting portion 31. And a signal line 32 extending to the control main body 3 along the insertion portion 10.

(Annular mounting part)
The mounting portion 31 is a portion configured to be mounted at a detected location of the insertion portion 10 while including a pressure sensitive portion (not shown) for detecting pressurization, and more specifically, the insertion portion. It is the part formed in the cyclic | annular form which surrounds the outer periphery of 10 to-be-detected locations over the perimeter. Here, the term “annular” means that the pressure sensitive part does not need to be continuous over the entire circumference, and if the mounting part 31 including the components other than the pressure sensitive part is annular, the pressure sensitive part is surrounded. The structure which is divided in the direction is also included. Hereinafter, the mounting portion 31 formed in an annular shape is simply referred to as an “annular portion”.

  Examples of the detected portion of the insertion portion 10 to which the annular portion 31 is attached include a bending pole point of the bending portion 12 in particular. The “bending pole point” refers to a point where the degree of bending of the bending portion 12 is the highest, and specifically, a point where the curvature of the bending portion becomes the smallest or a vertex when bent. The point is applicable. This is because such a bending pole is a portion that is easy to sharpen and easily causes intestinal perforation. Note that the specific position of the bending pole varies depending on the specifications of the endoscope scope 2, but generally exists, for example, near the midpoint of the axial length of the bending portion 12.

  Thus, the annular portion 31 is configured to surround the outer periphery of the bending portion 12 (particularly the bending pole) over the entire periphery. However, the annular portion 31 may be attached to the tip portion 11 or the flexible portion 13 other than the bending portion 12.

  In addition, the annular portion 31 is formed in a size corresponding to the bent portion of the bending portion 12 so that the inner periphery of the annular portion 31 is attached to the detected portion described above. The “size corresponding to the bent portion” means a size that can be mounted around the bending portion 12 in the “bent state”. Therefore, in order to attach the bending portion 12 to the bending pole, the annular portion 31 is formed in a size that can be attached around the bending pole in the bent state.

More specifically, the concept of “a size corresponding to a bent portion” includes the following aspects (a) to (c). Specifically, (a) a size set larger than the outer periphery of the bending portion 12 so as not to cause sensor pressurization even if the deformation occurs, while taking into consideration deformation due to bending of the bending portion 12, ) If a deformation suppressing member to be described later is attached to the bending portion 12, the size corresponding to the outer periphery of the deformation suppressing member, (c) the inside of the insertion portion 10 of the endoscope scope 2 (under the outer skin) In the case where an avoidance mechanism such as a wrinkle is incorporated in (), each aspect of the size corresponding to the outer periphery of the covering portion including the avoidance mechanism is included.
Hereinafter, each of these aspects will be described in detail.

(About the above-mentioned aspect (a))
In the case of the above aspect (a), the inner periphery (see dimension A in FIG. 3) of the annular portion 31 is the size corresponding to the bent portion of the bending portion 12 and the outer periphery of the bending portion 12 when not bent. The size (see dimension B in FIG. 3) is formed in consideration of a predetermined amount of bending change. The “bending change assumed amount” is an amount of change in the outer diameter of the bending portion 12 that is assumed to occur when the bending portion 12 is bent, and is determined based on simulation calculations, experimental results (actual measurement values), and the like. This is an amount that can be set in advance for each mirror scope 2 (for each model, for each model, etc.).

  In this way, if the size of the inner periphery of the annular portion 31 is increased by an amount corresponding to the expected amount of bending change compared to when the bending portion 12 is not bent, the bend 10a will approach the outer peripheral portion due to bending of the bending portion 12 and the outer portion will be removed. Even when the diameter increases, the size of the inner periphery of the annular portion 31 substantially matches the increased outer diameter. That is, even if the bending portion 12 is bent so that the outer diameter of the bending portion 12 is increased, the inner peripheral side of the annular portion 31 of the pressure sensor 30 is not pressurized. Therefore, even when the bending portion 12 is bent, it is possible to suppress the occurrence of erroneous sensor detection due to this.

  In the case of the above aspect (A), as shown in FIG. 4, it is conceivable to provide one or both of the first guide portion 33 and the second guide portion 34 along with the annular portion 31. It is done.

  One end of the first guide portion 33 is attached to the outer periphery of the insertion portion 10 on the distal end portion 11 side of the detected portion (sensor mounting position) of the bending portion 12, and the other end is at the sensor mounting position of the bending portion 12. It is attached to the outer periphery of the annular portion 31 and is formed in a tapered shape that expands from one end to the other end. Although the 1st guide part 33 is not specifically limited, For example, forming with a resin film material can be considered. If such a first guide portion 33 is provided, even when the annular portion 31 is formed to have a larger diameter than the curved portion 12 when not bent, the annular portion 31 is inserted when the insertion portion 10 is inserted. It is possible to suppress the occurrence of catching.

  One end of the second guide portion 34 is attached to the outer periphery of the annular portion 31 at the sensor mounting position of the bending portion 12, and the other end of the insertion portion 10 is closer to the soft portion 13 than the sensor mounting position of the bending portion 12. It is attached to the outer periphery and formed in a reverse taper shape that narrows from one end to the other end. Although the 2nd guide part 34 is not specifically limited like the 1st guide part 33, For example, forming with the resin film material is considered. If such a second guide portion 34 is provided, even when the annular portion 31 is formed to have a larger diameter than the curved portion 12 when not bent, the annular portion 31 is removed when the insertion portion 10 is removed. It is possible to suppress the occurrence of catching.

(About the above aspect (b))
In the case of the above (b), it is assumed that the deformation suppressing member 14 is attached to the bending portion 12 as shown in FIG. The deformation suppressing member 14 is a member that is attached to the outer periphery of the bent portion of the bending portion 12 in order to prevent the outer skin from being changed due to the wrinkles 10a or the like approaching the outer skin when the bending portion 12 is bent. Specifically, the deformation suppressing member 14, for example, winds a tape-shaped member made of a material whose elasticity is suppressed to such an extent that deformation of the outer skin of the insertion portion 10 can be suppressed, around the outer periphery of the bent portion of the bending portion 12. It is conceivable to configure. However, the present invention is not limited to this, and any other member may be used as long as the outer diameter change when the bending portion 12 is bent can be suppressed.

  Since such a deformation suppressing member 14 is attached, in the case of the above (b), the inner periphery of the annular portion 31 is attached to the bent portion with a size corresponding to the bent portion of the bending portion 12. The deformation suppressing member 14 is formed in a size corresponding to the outer periphery. Then, the annular portion 31 is mounted so as to surround the outer periphery of the deformation suppressing member 14.

  If the deformation suppressing member 14 is attached to the bent portion of the bending portion 12, even if the bending portion 12 is bent, the outer diameter of the attaching portion of the deformation suppressing member 14 is increased due to the flange 10a. There is nothing. Therefore, even if the bending portion 12 is bent with respect to the annular portion 31 attached to the outer periphery of the deformation suppressing member 14, this does not pressurize the inner peripheral side of the annular portion 31 of the pressure sensor 30. Moreover, it can suppress that the sensor misdetection etc. resulting from the bending of the bending part 12 arise.

  In addition, since the inner periphery of the annular portion 31 has a size corresponding to the outer periphery of the deformation suppressing member 14, the annular portion 31 has the same diameter as the outer periphery of the deformation suppressing member 14 regardless of whether the bending portion 12 is bent. The sizes of the inner peripheries are almost the same. That is, the annular portion 31 performs pressure detection from the outside in a mounting state in which the inner periphery substantially matches the outer periphery of the deformation suppressing member 14 in both the bent state and the non-bent state of the bending portion 12. become. Therefore, not only in the bending state of the bending portion 12, but also in the non-bending state of the bending portion 12, the detection accuracy of pressure detection from the outside can be improved.

  Also in the case of the above-mentioned aspect (b), one or both of the first guide part 33 and the second guide part 34 may be provided as in the case of the above-mentioned aspect (a).

(Regarding the above aspect (c))
In the case of (c), the bending portion 12 is provided with an avoidance mechanism that performs the same function as the deformation suppressing member 14 in the case of (b) above, inside the outer skin that covers the bending portion 12. It is assumed that Such an avoiding mechanism may be any mechanism that can suppress the outer diameter from being changed due to the wrinkles 10a approaching the outer skin when the bending portion 12 is bent, and the specific configuration thereof is not particularly limited. .

  Since such an avoidance mechanism is provided in the outer skin of the bending portion 12, in the case of the above (c), the inner circumference of the annular portion 31 has a size corresponding to the bent portion of the bending portion 12, It is formed in a size corresponding to the outer periphery of the covering portion including the avoidance mechanism. And the annular part 31 is mounted | worn so that the outer periphery of the coating | coated part may be enclosed.

If the bending portion 12 includes the avoidance mechanism, even when the bending portion 12 is bent, the outer diameter of the portion where the avoidance mechanism is arranged is not increased due to the flange 10a. . Therefore, even if the bending portion 12 is bent, the inner peripheral side of the annular portion 31 of the pressure sensor 30 is not pressurized by this, and it is possible to prevent erroneous sensor detection due to the bending of the bending portion 12. it can.
Moreover, the annular portion 31 performs pressure detection from the outside in a mounted state in which the inner periphery substantially matches the outer periphery of the outer skin of the bending portion 12 in both the bent state and the non-bent state of the bending portion 12. It will be. Therefore, not only in the bending state of the bending portion 12, but also in the non-bending state of the bending portion 12, the detection accuracy of pressure detection from the outside can be improved.

(Details of pressure sensitive part)
By the way, also in any case of said (i)-(c), the cyclic | annular part 31 performs the pressurization detection from the outside with the pressure sensitive part with which the said cyclic | annular part 31 is provided. Here, a configuration example of the pressure sensitive unit will be described in detail.

The annular portion 31 has, for example, a cross-sectional structure as shown in FIG. Fig.6 (a) has shown typically the CC cross section in FIG.
As shown in the figure, the annular portion 31 includes a laminated body in which a first electrode 311, a pressure sensitive member 312 and a second electrode 313 are laminated in order. The laminate is covered with a film member 314. That is, the annular portion 31 is configured by arranging the laminated body covered with the film member 314 in an annular shape. At this time, the stacked body is arranged so that the stacking direction is substantially orthogonal to the circumferential direction of the ring (that is, along the radial direction of the ring).

  The first electrode 311 is formed of a thin linear conductive material (for example, a conductive metal wire having a diameter of about 100 to 500 μm, such as a silver wire, a gold wire, or a stainless steel wire), and is in one direction. It is arranged in a ring shape extending along the circumferential direction of the annular portion 31 (that is, the circumferential direction of the outer periphery of the bending portion 12 to which the annular portion 31 is attached).

The pressure-sensitive member 312 is made of an elastic body whose electrical characteristics change according to the amount of deformation caused by receiving pressure, and is formed in a tube shape that covers the entire periphery of the first electrode 311. It is. That is, the first electrode 311 is configured to be inserted into the hollow hole of the pressure-sensitive member 312 formed in a tube shape.
Specific examples of the “electrical characteristics” that change in the pressure-sensitive member 312 include electrical resistance, capacitance, voltage, and the like. Here, the pressure-sensitive member 312 is configured so that the electrical resistance changes. Take the case as an example. That is, the elastic body constituting the pressure-sensitive member 312 is made of a pressure-sensitive conductive rubber whose electric resistance changes according to the amount of deformation caused by receiving pressure. The pressure-sensitive conductive rubber material itself may be formed using a known technique such as a pressure-sensitive elastomer containing a conductive material, and detailed description thereof is omitted here.

  The second electrode 313 is composed of a linear electrode extending in a direction intersecting with one direction that is the extending direction of the first electrode 311. The extending direction of the second electrode 313 includes, for example, a direction substantially orthogonal to the extending direction of the first electrode 311, but is not necessarily limited thereto, and the extending direction of the first electrode 311 is It is sufficient that the directions are not parallel but always intersect. Further, regarding the second electrode 313, it is conceivable to arrange a plurality of electrodes along the extending direction so as to be arranged at a predetermined interval. However, the number of arrangement is not particularly limited and is appropriately set. Anything can be used. If the number of arrays is large, detection resolution can be improved, and if the number of arrays is small, complication of the sensor configuration can be suppressed.

  Such a second electrode 313 may be formed of, for example, an anisotropic conductive cloth 313a. As shown in FIG. 6B, the anisotropic conductive cloth 313a is obtained by replacing a part of the warp yarn or the weft yarn in the woven fabric 313b of the non-conductive fiber with the conductive yarn 313c at predetermined intervals, or A conductive thread 313c is sewn into a woven fabric 313b of non-conductive fibers at predetermined intervals. For example, polyethylene terephthalate (PET) fiber can be used as the non-conductive fiber, but any type other than PET can be used as long as it is non-conductive. However, it is desirable that the non-conductive fiber has heat resistance and chemical resistance. On the other hand, the conductive yarn 313c can be used as long as it is thin and conductive and flexible, such as silver yarn, gold yarn, stainless steel yarn, carbon fiber, and silver-plated nylon yarn. It is desirable to have the same diameter as the fiber diameter of the conductive fiber. It is conceivable that the diameters of the non-conductive fibers and the conductive yarn 313c are about several μm to several tens of μm. According to such a configuration, as the anisotropic conductive cloth 313a, for example, a cloth having a thickness of about 50 μm and a great deal of flexibility can be obtained. If such an anisotropic conductive cloth 313 a is used, the conductive thread 313 c functions as the second electrode 313. The arrangement interval of the conductive yarn 313c to be the second electrode 313 is not particularly critical, but in order to be able to measure the pressure distribution with high resolution, it may be about 0.5 to 1.0 mm. Depending on the application, it may be about 1 to several centimeters.

  The film member 314 functions as a protective film for the laminate, and is a film material made of a resin material having waterproofness, insulation, chemical resistance, flexibility, etc. (for example, a polyurethane film material having a thickness of about 30 μm) ).

  In the annular portion 31 configured using the laminated body as described above, when any part of the laminated body is pressurized by an external force, the pressure-sensitive member 312 at the pressurized part is deformed by receiving pressure. To do. When the pressure-sensitive member 312 is deformed, the electric resistance in the pressure-sensitive member 312, that is, the electric resistance between the first electrode 311 and the second electrode 313 in which the pressure-sensitive member 312 is interposed changes according to the deformation amount. Therefore, when the annular portion 31 having such a configuration is used, the pressure applied to the pressure sensor 5 can be detected by monitoring the magnitude of the electrical resistance between the first electrode 311 and the second electrode 313. become able to. That is, the pressure value can be taken out as an electric resistance value, and necessary and sufficient sensitivity and resolution can be obtained with a simple configuration. A signal line 32 is connected to each of the first electrode 311 and the second electrode 313 in order to extract the pressure value as an electric resistance value.

(Procedure for manufacturing the annular part)
Here, a manufacturing procedure of the annular portion 31 having the above-described configuration will be described.
FIG. 7 is an explanatory diagram showing a manufacturing procedure of components of a specific example of the pressure sensor.

  In manufacturing the annular portion 31, first, as shown in FIG. 7A, the periphery of the first electrode 311 is covered with the pressure-sensitive member 312, and the first electrode 311 and the pressure-sensitive member 312 are concentrically formed. Form what is arranged. The axial lengths of the first electrode 311 and the pressure-sensitive member 312 are approximately the same as the circumferential length of the annular portion 31, that is, approximately the length corresponding to the bent portion of the bending portion 12. The first electrode 311 may be covered with the pressure-sensitive member 312 by inserting the first electrode 311 into the hollow hole of the tubular pressure-sensitive member 312, but is not necessarily limited thereto. Instead, it may be produced by cutting the covering body into a predetermined length after forming a long covering body in the same manner as in the production method of a normal insulated single wire.

  After forming the covering of the first electrode 311 with the pressure-sensitive member 312, next, an anisotropic conductive cloth 313a of a predetermined size is prepared, and the plurality of conductive yarns 313c of the anisotropic conductive cloth 313a are connected to the first electrode. The formed covering is placed on the substantially central portion of the anisotropic conductive cloth 313a so as to be orthogonal to 311. Then, one side of the anisotropic conductive cloth 313a located on both sides of the covering is placed at the center, and the anisotropic conductive cloth 313a on one side is turned on the anisotropic conductive cloth on the other side. Overlay the fabric 313a so as not to short-circuit. Thereby, the anisotropic conductive cloth 313a is in a state of being folded with the covering of the first electrode 311 by the pressure-sensitive member 312 sandwiched between one end side, as shown in FIG. 7B. In the folded anisotropic conductive cloth 313a, each of the plurality of conductive threads 313c constitutes the second electrode 313. In addition, you may provide a double-sided tape, an adhesive agent, or an adhesive material between the folded anisotropic conductive cloth 313a for stabilization of the folded state.

  After the anisotropic conductive cloth 313a is folded, the signal lines 32 are individually connected to the first electrode 311 and the second electrode 313 as shown in FIG. 7C. As the signal line 32, for example, a metal wire having an insulated surface such as an enamel wire is used. The signal lines 32 may be bent so that half of them are gathered on one side (left side in the figure) and the other half are gathered on the opposite side. In this way, even when a plurality of signal lines 32 are connected, when the annular portion 31 is configured, the positions of the signal lines 32 extending from the annular portion 31 can be combined into one place. This is because it becomes possible. Further, the signal line 32 may be fixed with an adhesive tape in order to stabilize each position. Further, for the signal line 32, a flexible printed wiring board may be used instead of the metal line whose surface is insulated.

  Thereafter, as shown in FIG. 7 (d), the anisotropic conductive cloth 313a folded between the first electrode 311 and the pressure-sensitive member 312 and a part of the signal line 32 extending therefrom Is covered with a film member 314. The film member 314 can be easily covered by using a material having an adhesive material applied to the inner surface side or a material made of a heat-sealable film. After the coating with the film member 314, the maximum thickness (the thickness of the place where the first electrode 311 and the pressure-sensitive member 312 are disposed) is, for example, about 0.9 to 1.2 mm.

  Then, after the coating with the film member 314, the structure after the coating is formed into an annular shape. Thereby, the annular portion 31 shown in FIG. 3 is obtained. In addition, the first electrode 311 is substantially ring-shaped, and the laminated body including the first electrode 311, the pressure-sensitive member 312 and the second electrode 313 is also annularly arranged. Further, the positions of the signal lines 32 can be collected at one place.

  The annular portion 31 obtained in this way has the flat surface side shown in FIG. 6A located on the inner peripheral surface, and the side on which the protruding portion by the first electrode 311 and the pressure sensitive member 312 exists is the outer peripheral surface. It is preferable to mold so as to be located at the position. This is because it is more suitable for detecting external pressure. And in the shaping | molding, it is made for the internal diameter comprised by an internal peripheral surface to become the "size corresponding to a bending location" mentioned above.

(Attaching the annular part to the detected part)
The annular portion 31 manufactured by the above procedure is attached to the detected portion in the insertion portion 10 of the endoscope scope 2. As already described, the detected portion of the insertion portion 10 includes the curved portion 12 (particularly, the bending pole). However, the detected portion may include the tip 11 or the flexible portion 13 other than the curved portion 12. Good.

  The annular portion 31 is attached to the detected portion of the insertion portion 10 by positioning the annular portion 31 at the detected portion in a state where the insertion portion 10 is fitted in the ring of the annular portion 31. This can be done by fixing the position 31. The position of the annular portion 31 may be fixed using, for example, a double-sided tape, an adhesive, or an adhesive material. Even when the first guide portion 33 or the second guide portion 34 is attached to the annular portion 31, the position of the first guide portion 33 or the second guide portion 34 may be fixed in the same manner as the annular portion 31. .

  Further, the signal lines 32 extending from the annular portion 31 are bundled and extend to the control main body portion 3 along the outer surface of the insertion portion 10. The bundled signal lines 32 may be fixed using, for example, a double-sided tape, an adhesive, or an adhesive material.

(Endoscope after sensor installation)
The endoscope scope 2 in which the annular portion 31 of the pressure sensor 30 is attached to the detected portion of the insertion unit 10 can detect pressure applied to the detected portion from the outside. Moreover, since the inner circumference of the annular portion 31 is formed in a size corresponding to the bent portion of the bending portion 12, even if the detected portion of the insertion portion 10 is the bending portion 12, It is possible to suppress the occurrence of erroneous sensor detection due to bending. Further, the first electrode 311 in the annular portion 31 is formed in a ring shape extending in the circumferential direction, and the pressure-sensitive member 312 is disposed so as to cover the entire circumference of the first electrode 311. Even if the portion 12 is bent in any direction, this can be detected if an external pressure is applied to the bending portion 12. On the other hand, since the second electrode 313 in the annular portion 31 is also configured using the anisotropic conductive cloth 313a which is rich in flexibility, it is very suitable for mounting on the bending portion 12 to be bent. Become. In addition, since the anisotropic conductive cloth 313a is thin, it is possible to suppress an increase in the size (thickening) of the annular portion 31 while realizing necessary and sufficient sensitivity and resolution.

  From the above, the pressure sensor 30 configured to include the annular portion 31 having the above-described configuration is very suitable when used by being attached to the bending portion 12 of the insertion portion 10 of the endoscope scope 2. It can be said that it is a thing. The endoscope scope 2 in which the pressure sensor 30 is attached to the bending portion 12 is in a state where the bending portion 12 is bent in any direction when the bending portion 12 is bent or not. In this case, the pressure sensor 30 can perform appropriate pressure detection without causing erroneous sensor detection due to the influence of bending or the like. That is, appropriate pressurization detection can be performed also on the bent portion of the bending portion 12 that is easily contacted with the body tissue.

  The detection result by the pressure sensor 30 is signal-processed by the control main body unit 3 and then output by the monitor unit 4. Thereby, even if the surgeon (operator of the endoscope scope 2) makes contact with the bending portion 12 and the body tissue when the insertion portion 10 of the endoscope scope 2 is inserted into the body, the monitor portion 4 Can be grasped through the output result from. Therefore, it is very useful for the operator in avoiding the occurrence of colon perforation.

  The monitor unit 4 that outputs the detection result of the pressure sensor 30 may be configured to output the pressure detected by the pressure sensor 30 in an identifiable manner. If the monitor unit 4 is configured in this way, the operator (operator of the endoscope scope 2) not only has the occurrence of contact with the body tissue but also the strength of the contact, that is, the contact. The amount of pressure applied to the pressure sensor 30 can also be grasped. Therefore, in this case, for example, the surgeon adjusts (adjusts) the strength of the contact of the bending portion 12 with the body tissue, and determines whether the strength of the contact is a strength that damages the body tissue. Judgment can be performed.

  In addition, about the detection result (namely, the output content in the monitor part 4) of the pressure sensor 30, it synchronizes with the image acquired in the image acquisition part of the endoscope scope 2, and the insertion part 10 of the endoscope scope 2 is used. It is conceivable to store and retain log information at the time of insertion into the body. In this way, not only the state of the intestinal tract and the like that can be observed by the image acquisition unit of the endoscope scope 2, but also the insertion portion 10 (particularly the bending portion 12) in the intestinal tract and the body tissue. The presence / absence, strength, and the like of the contact can be verified later by log information while associating them with each other.

(3) Other Specific Example of Pressure Sensor Next, another specific example of the pressure sensor 30 attached to the insertion unit 10 of the endoscope scope 2 will be described. However, here, only differences from the one specific example described above will be described, and description of points similar to the one specific example will be omitted.

(About sensor load status)
The pressure sensor 30 is configured to detect pressure using a pressure-sensitive member 312 whose electric resistance value changes according to the applied pressure. In the specific example described above, the pressure-sensitive member 312 is arranged by an integrated structure that is continuous over the entire circumference of the annular portion 31 (that is, the entire area in the circumferential direction of the detected location) so as to cover the first electrode 311. Has been.
On the other hand, the insertion portion 10 of the endoscope scope 2 to which the pressure sensor 30 is attached has a flexible outer skin that covers the insertion portion 10, and is pressurized when there is local pressure from the outside. Some are configured to have a concave deformation at a location.
When the annular portion 31 in which the integral pressure-sensitive member 312 is arranged is attached to the insertion portion 10 where such deformation can occur, the pressure-sensitive member 312 is continuously configured in the circumferential direction, There is a possibility that the pressure sensor 30 may show a reaction even in a place where no load is applied.

FIG. 8 is an explanatory diagram schematically illustrating an example of a sensor load state.
Here, as shown in FIG. 8A, the first electrode 311 and the pressure-sensitive member 312 arranged so as to surround the outer periphery of the insertion portion 10 are virtually divided into regions I to IV. When the first electrode 311 and the pressure-sensitive member 312 are developed linearly, the result is as shown in FIG.
For example, as shown in FIG. 8C, when a strong external pressure acts on the region II locally on the first electrode 311 and the pressure sensitive member 312, There is a possibility that the influence may extend to other areas I and III, which are continuous with the area II. That is, if each of the regions I to III is continuous, a reaction force is generated in the regions I and III where no external pressure is applied, and the electric force of the pressure-sensitive member 312 is also affected in the regions I and III. A sensor malfunction such as detecting a change in resistance value may occur.

In addition, it is necessary to assume that the outer shape of the mounting portion of the annular portion 31 (that is, the mounting portion in the insertion portion 10) is deformed. For example, depending on the configuration of the insertion portion 10, the pressurization location may be deformed so as to be recessed by local pressurization from the outside. In addition, for example, when the attached portion is in the bending portion 12, deformation may occur such that the bent portion is different before and after bending.
When the pressure sensitive member 312 is continuously arranged in the circumferential direction with respect to the deformation of the attached portion, the pressure sensitive member 312 cannot follow the deformation, and the deformation affects. A sensor malfunction may occur.

(Area division)
In view of the above, the pressure sensor 30 described as an example here is configured as described below.
FIG. 9 is an explanatory diagram schematically showing components of another specific example of the pressure sensor.

  The pressure sensor 30 described here includes a first electrode 311, a pressure-sensitive member 312, a second electrode 313 using an anisotropic conductive cloth 313 a, and a film member 314, as in the case of the specific example described above. An annular portion 31 is formed by molding the resulting structure into an annular shape. However, as shown in FIG. 9A, the annular portion 31 is divided into regions in the circumferential direction to form a pressure-sensitive region 35 and a non-pressure-sensitive region. It differs from the case of the above-described specific example in that it includes a region 36.

  Here, “the area is divided in the circumferential direction and includes the pressure-sensitive area 35 and the non-pressure-sensitive area 36” includes one or more pressure-sensitive areas 35 and one or more non-pressure-sensitive areas 36. Thus, it means that the annular portion 31 is divided into regions in the circumferential direction. The number of area divisions is not particularly limited as long as one or more areas 35 and 36 are provided. For example, in the example shown in FIG. 9A, four pressure sensitive areas 35 are arranged corresponding to each of the areas I to IV, and the non-pressure sensitive areas 36 are interposed between the pressure sensitive areas 35. The case where it is arranged in so-called four divisions is shown. However, the number of area divisions is not limited to four divisions, and may be eight divisions, twelve divisions, or the like. If the number of region divisions is large (for example, twelve divisions), the annular portion 31 can be made close to a circle, the suitability of the detected portion to the outer periphery is increased, and sensor detection sensitivity can be improved. On the other hand, if the number of area divisions is small (for example, four divisions), the sensor configuration can be prevented from becoming complicated, and the manufacturing cost can be reduced. In addition, the pressure-sensitive regions 35 and the non-pressure-sensitive regions 36 are not necessarily the same number, and there may be a configuration in which the pressure-sensitive regions 35 are continuously arranged. However, there is no configuration in which the non-pressure-sensitive regions 36 are continuous.

(Pressure sensitive area)
The pressure-sensitive region 35 is a region configured to perform pressure detection using the pressure-sensitive member 312 whose electric resistance value changes according to the amount of deformation due to pressure. That is, the pressure-sensitive region 35 is configured by arranging a stacked body of the first electrode 311, the pressure-sensitive member 312, and the second electrode 313 over the entire region. However, the pressure-sensitive member 312 constituting the pressure-sensitive region 35 is not continuous with the pressure-sensitive member 312 in the adjacent pressure-sensitive region 35, and is divided between the pressure-sensitive regions 35.

(Non-pressure sensitive area)
The non-pressure sensitive area 36 is an area that connects adjacent pressure sensitive areas 35 with the non-pressure sensitive area 36 interposed therebetween. However, unlike the pressure-sensitive region 35, the pressure-sensitive member 312 is not disposed in the non-pressure-sensitive region 36. That is, the non-pressure-sensitive region 36 has a function of performing pressure detection since the first electrode 311 extending along the circumferential direction of the annular portion 31 is present but at least the pressure-sensitive member 312 is not disposed. Not.

  Further, the non-pressure-sensitive region 36 is configured to have elasticity in the direction in which the regions 35 and 36 are arranged, that is, in the circumferential direction of the annular portion 31. Specifically, in the portion of the non-pressure-sensitive region 36, the first electrode 311 existing in the non-pressure-sensitive region 36 is formed in a connected shape that imparts stretchability in the circumferential direction of the annular portion 31. . “Connected shape imparting stretchability” means a pressure-sensitive region having a slack that absorbs expansion and contraction in the circumferential direction of the annular portion 31 while maintaining a ring shape extending along the annular portion 31. It refers to a shape configured to connect 35 portions, specifically, a loop shape, a V shape, a U shape, or a connection shape according to these.

(Pressure detection)
As described above, in the configuration in which the annular portion 31 is divided into the pressure-sensitive region 35 and the non-pressure-sensitive region 36, each pressure-sensitive region 35 is divided and not continuous. Can operate independently. For example, as shown in FIG. 9B, when a strong external pressure is applied locally to the pressure sensitive region 35 in the region II, the pressure sensitive region 35 is different from the other pressure sensitive regions 35. Independent pressure detection without being affected. Further, local pressure does not affect the pressure sensitive areas 35 of the areas I and III adjacent to the pressure sensitive area 35. That is, since the independence of each pressure-sensitive region 35 is ensured, local pressurization can be detected appropriately, and sensor malfunctions at the location adjacent to the local pressurization location, the counter electrode location, etc. Can be prevented.

  Further, in the configuration in which the non-pressure-sensitive region 36 has stretchability, even if the outer shape of the attachment portion of the annular portion 31 (that is, the attachment portion in the insertion portion 10) is deformed, the deformation can be followed. . For example, even if the mounting portion of the insertion portion 10 is deformed so that the pressurization portion is recessed by local pressurization from the outside, or the mounting portion of the insertion portion 10 is deformed by bending, it is insensitive. The expansion and contraction of the pressure region 36 allows the annular portion 31 to follow the deformation, and the influence of the deformation does not reach the pressure sensitive region 35. That is, if the non-pressure-sensitive region 36 has elasticity, even if the detected portion of the insertion unit 10 is deformed, the deformation can be followed, and a sensor error caused by the deformation of the detected portion can occur. The occurrence of detection or the like can be suppressed.

(Manufacturing procedure of the segmented annular part)
Here, a manufacturing procedure of the annular portion 31 divided into the pressure-sensitive region 35 and the non-pressure-sensitive region 36 will be described. Here, a case where the area division is twelve division will be described as an example.
10-12 is explanatory drawing which shows the manufacture procedure of the component of the other specific example of a pressure sensor.

In the manufacture of the segmented annular portion 31, first, as shown in FIG. 10, the first electrode 311 is covered with a pressure-sensitive member 312 so that the first electrode 311 and the pressure-sensitive member 312 are concentric. Is formed. The overall axial length of the first electrode 311 and the pressure-sensitive member 312 is approximately the same as the circumferential length of the annular portion 31.
However, the pressure-sensitive member 312 is prepared in a number corresponding to the number of divisions (i.e., twelve) having a length obtained by dividing the entire length in the axial direction by twelve. Then, the prepared pressure-sensitive members 312 are arranged in a line so as to be aligned along the axial direction.
Moreover, about the 1st electrode 311, the loop-shaped part 311a which is a connection shape which provides a stretching property is provided in multiple places (for example, three places). The loop-shaped portion 311a is not covered with the pressure-sensitive member 312 and remains exposed. That is, a portion other than the loop-shaped portion 311 a in the first electrode 311 is covered with the pressure sensitive member 312. The loop-shaped portion 311a may be arranged between each pressure-sensitive member 312. However, in order to suppress the complexity of the sensor configuration and the increase in the non-pressure-sensitive region 36, the three pressure-sensitive portions are illustrated as shown in the figure. It is possible to arrange the members 312 every other place. Note that the loop-shaped portion 311a may be V-shaped, U-shaped, or a wire-like shape equivalent to these as long as it can impart stretchability.

After forming the covering formed by covering the first electrode 311 having the loop-shaped portion 311a with each pressure-sensitive member 312 divided into twelve parts, then, as shown in FIG. 313a is prepared, the anisotropic conductive cloth 313a is sandwiched between the anisotropic conductive cloth 313a so that the plurality of conductive threads 313c of the anisotropic conductive cloth 313a are orthogonal to the first electrode 311. Fold. In the folded anisotropic conductive cloth 313a, each of the plurality of conductive threads 313c constitutes the second electrode 313.
At this time, the loop-shaped portion 311a is not covered with the anisotropic conductive cloth 313a so that the stretchability is not hindered. That is, the anisotropic conductive cloth 313a is divided at the loop-shaped portion 311a. The anisotropic conductive cloth 313a may be divided by cutting after the anisotropic conductive cloth 313a is folded, or by preparing the anisotropic conductive cloth 313a having a size after the division in advance. .
Further, between adjacent pressure-sensitive members 312, it is preferable to make a cut 313 d in the anisotropic conductive cloth 313 a so that the independence of each pressure-sensitive region 35 is not inhibited.

After the anisotropic conductive cloth 313 a is folded, the signal line 32 is then connected to the first electrode 311 and the second electrode 313.
At this time, in the anisotropic conductive cloth 313a, the conductive yarn 313c passing through a portion where the pressure sensitive member 312 is not disposed (for example, between the pressure sensitive members 312) is not electrically connected to the signal line 32. A partial region including the sex yarn 313c is cut out to form a notch 313e. If the notch 313e is formed, for example, even if the conductive yarn 313c passing through the place where the pressure-sensitive member 312 is not disposed is released and contact with the first electrode 311 occurs, an electrical short circuit occurs. There is nothing.

  Thereafter, the anisotropic conductive cloth 313a and the like are covered with the film member 314 while preventing the stretchability by the loop-shaped portion 311a from being hindered, and the structure after the covering is formed into an annular shape. Thereby, the location where the pressure-sensitive member 312 is disposed functions as the pressure-sensitive region 35, and the location where the pressure-sensitive member 312 is not disposed and the loop-shaped portion 311 a is functioned as the non-pressure-sensitive region 36. An annular portion 31 that is divided into regions is obtained.

In the above-described example, the anisotropic conductive cloth 313a is completely divided in the non-pressure-sensitive region 36 where the loop-shaped portion 311a is located, and a notch 313e is formed to prevent an electrical short circuit. However, the anisotropic conductive cloth 313a is not limited to such a configuration.
For example, as shown in FIG. 12, the anisotropic conductive cloth 313a is not completely divided in the non-pressure-sensitive region 36 unless the stretchability by the loop-shaped portion 311a is hindered. Correspondingly, only a part of the structure may be excised.
Further, the anisotropic conductive cloth 313a is not formed with the notch 313e, and the conductive yarn 313c passing through the portion where the pressure-sensitive member 312 is not disposed is pulled out from the anisotropic conductive cloth 313a. That is, it may be configured to have a region 313f where the conductive yarn 313c is not disposed.

In any configuration, the anisotropic conductive cloth 313a only needs to have the conductive yarn 313c constituting the second electrode 313 disposed only at a position corresponding to the pressure-sensitive region 35. “Only the position corresponding to the pressure-sensitive region 35” is a configuration that excludes the position corresponding to the non-pressure-sensitive region 36 and the position corresponding to between the pressure-sensitive region 35 and the pressure-sensitive region 35 that are continuously arranged. Means. Specifically, as described above, the cutout portion 313e for cutting out a part of the anisotropic conductive cloth 313a including the conductive thread 313c is provided, or the conductive thread 313c is pulled out from the anisotropic conductive cloth 313a. It can be realized by doing so.
As described above, if the conductive yarn 313c is disposed only at the position corresponding to the pressure-sensitive region 35, the position corresponding to the non-pressure-sensitive region 36, the continuously disposed pressure-sensitive region 35 and the pressure-sensitive region 35, and The second electrode 313 does not exist at a position corresponding to between the two. Therefore, even when the annular portion 31 is divided into regions in the circumferential direction, the possibility of an electrical short circuit or the like can be eliminated, and erroneous sensor detection due to the occurrence of an electrical short circuit or the like can occur. Can be suppressed.

(Attaching the annular part to the detected part)
The annular portion 31 manufactured by the above procedure is attached to the detected portion in the insertion portion 10 of the endoscope scope 2. Examples of the detected portion of the insertion portion 10 include at least one of the bending portion 12 (particularly, its bending pole), the distal end portion 11 or the flexible portion 13. That is, unlike the case of the above-described specific example, the detected portion may not include the bending portion 12. However, the point that the pressure sensor 30 of another specific example described here is also attached to the bending portion 12 and is very useful is the same as the case of the one specific example described above.

  For example, the annular portion 31 can be attached to the detected portion of the insertion unit 10 by using a double-sided tape, an adhesive, or an adhesive material. However, only the pressure-sensitive region 35 is positioned with respect to the detected portion. The non-pressure-sensitive region 36 is fixed so that the stretchability is not hindered. It is assumed that the loop-shaped portion 311a in the non-pressure-sensitive region 36 is subjected to an insulation process (for example, a wire clothing process) for preventing an electrical short circuit with the outside.

(Endoscope after sensor installation)
The endoscope scope 2 to which the annular portion 31 divided into the pressure-sensitive region 35 and the non-pressure-sensitive region 36 is attached pressurizes the detected portion from the outside at the location where the pressure-sensitive region 35 is disposed. Can be detected. At this time, since the annular portion 31 is divided into regions and each pressure sensitive region 35 is divided and not continuous, each pressure sensitive region 35 can operate independently. Therefore, the independence of each pressure sensitive area 35 is ensured, so that local pressurization can be detected appropriately, and sensor malfunctions at the location adjacent to the local pressurization location, the counter electrode location, etc. Can be prevented.
In addition, in the annular portion 31, the non-pressure-sensitive region 36 has elasticity, so that the attached portion of the insertion portion 10 is deformed so that the pressurization portion is recessed by local pressurization from the outside, Even when the portion to which the insertion portion 10 is attached is deformed by bending, the annular portion 31 can follow the deformation, and the influence of the deformation does not reach the pressure sensitive region 35. Therefore, even if the detected portion of the insertion unit 10 is deformed, the deformation can be followed, and it is possible to suppress erroneous detection of the sensor due to the deformation of the detected portion.

  From the above, when the pressure sensor 30 having the annular portion 31 having the above-described configuration is used by being mounted on the insertion portion 10 (particularly the bending portion 12) of the endoscope scope 2, It can be said that it is suitable. The endoscope scope 2 in which the pressure sensor 30 is attached to the bending portion 12 can appropriately detect local pressurization, and sensor misdetection due to deformation of the detected portion can occur. Since generation | occurrence | production can be suppressed, suitable pressurization detection can be performed about contact with a body tissue.

(4) Effects of this Embodiment According to the pressure sensor 30, the endoscope scope 2, and the endoscope apparatus 1 described in this embodiment, any one or a plurality of effects described below can be obtained.

(A) In the present embodiment, the pressure sensor 30 is attached not to the distal end portion 11 or the flexible portion 13 in the endoscope scope 2 but to the bending portion 12 that bends according to the operation from the operation portion 20 in particular. . As described above, when the pressure sensor 30 is attached to the bending portion 12, the endoscope scope 2 can detect contact with a living tissue (for example, intestinal wall) when the bending portion 12 is bent, and the insertion portion 10 can be detected. The workability of the insertion work is improved, and it is effective for avoiding troubles such as intestinal perforation.
In addition, in the present embodiment, the pressure sensor 30 is configured to have an annular portion 31 that is attached to the periphery of the bending portion 12 in order to be attached to the bending portion 12. The circumference is formed in a size corresponding to the bent portion of the bending portion 12. Thus, if the annular portion 31 is formed in a size corresponding to the bent portion of the bending portion 12, it is possible to suppress erroneous detection of the sensor even when the bending portion 12 is bent, and the detection accuracy. Can be improved.

(B) Further, in the present embodiment, the annular portion 31 of the pressure sensor 30 is mounted particularly around the bending pole of the bending portion 12. The bending pole point of the bending portion 12 is a point where the degree of bending is the highest and is a portion that is easy to sharpen, and thus is a portion that easily causes intestinal perforation and the like. If the annular portion 31 of the pressure sensor 30 is arranged in such a detected location, it is very effective in avoiding troubles such as intestinal perforation. In addition, even in that case, it is possible to suppress the erroneous detection of the sensor or the like by forming the inner periphery of the annular portion 31 in a size corresponding to the bending pole point.

(C) In the present embodiment, the first electrode 311 extending in a ring shape, the pressure-sensitive member 312 whose electrical characteristics change according to the amount of deformation, and the second electrode extending in a direction intersecting the first electrode 311. Pressurization detection is performed using a laminate including the electrode 313. Therefore, the pressure value due to pressurization can be taken out as an electric resistance value, and necessary and sufficient sensitivity and resolution can be obtained with a simple configuration, which is very suitable for mounting on the insertion portion 10 of the endoscope scope 2. A simple pressure sensor 30 can be configured. Moreover, since the first electrode 311 has a ring shape, the pressure sensor 30 can appropriately cope with the bending of the bending portion 12, and the bending portion 12 can be bent in any direction with respect to the bending portion 12. If an external pressure is applied, this can be detected.

(D) In the present embodiment, the conductive yarn 313c in the anisotropic conductive cloth 313a constitutes the second electrode 313. Thus, if the pressure sensor 30 is configured using the anisotropic conductive cloth 313a, the anisotropic conductive cloth 313a is rich in flexibility. It will be very suitable. In addition, if the pressure sensor 30 is configured using the anisotropic conductive cloth 313a, it is possible to suppress increase in size of the sensor while realizing necessary and sufficient sensitivity and resolution.

(E) Further, in the present embodiment, for example, as described in the above aspect (a), the inner periphery of the annular portion 31 has a predetermined bending with respect to the size of the outer periphery when the bending portion 12 is not bent. It is formed in a size that takes into account the expected amount of change. In this way, by increasing the size of the inner periphery of the annular portion 31 by an estimated amount of bending change compared to when the bending portion 12 is not bent, the bending portion 12 causes the flange 10a to approach the outer peripheral portion. Even if the outer diameter is increased, the inner peripheral side of the pressure sensor 30 is not pressurized by this. Therefore, even when the bending portion 12 is bent, it is possible to suppress the occurrence of erroneous sensor detection due to the bending, and it is possible to improve the detection accuracy.

(F) In the present embodiment, either or both of the first guide part 33 and the second guide part 34 are provided in association with the annular portion 31. Therefore, even when the annular portion 31 of the pressure sensor 30 is formed to have a larger diameter than the curved portion 12 when not bent, the insertion portion 10 is inserted into the body or inserted from the body. Since it is possible to prevent the annular portion 31 from being caught during the extraction operation, the workability of the insertion portion 10 can be improved.

(G) In the present embodiment, for example, as described in the above aspect (b) or (c), the inner circumference of the annular portion 31 has a size corresponding to the outer circumference of the deformation suppressing member 14 (deformation suppression). When an avoidance mechanism having the same function as that of the member 14 is included, the cover 14 is formed in a size corresponding to the outer periphery of the covering portion including the avoidance mechanism. As described above, if the deformation suppressing member 14 or the avoidance mechanism is mounted, the outer diameter is increased due to the flange 10a at the mounting portion of the deformation suppressing member 14 or the avoiding mechanism even if the bending portion 12 is bent. There is no such thing as doing it. That is, even if the bending portion 12 is bent, the inner peripheral side of the pressure sensor 30 is not pressurized by this. Therefore, even when the bending portion 12 is bent, the sensor is mounted with an appropriate size (a size matching the bending portion 12) while suppressing erroneous sensor detection due to the bending. As a result, the detection accuracy can be improved.

(H) In the present embodiment, the annular portion 31 of the pressure sensor 30 attached to the insertion portion 10 of the endoscope scope 2 is divided into regions, and includes a pressure-sensitive region 35 and a non-pressure-sensitive region 36. The non-pressure-sensitive region 36 is configured to have elasticity in the circumferential direction. As described above, if the annular portion 31 is divided into the pressure-sensitive region 35 and the non-pressure-sensitive region 36, the pressure sensor 30 can operate each pressure-sensitive region 35 independently, and locally. Therefore, it becomes possible to detect appropriate pressurization. That is, in the endoscope scope 2 to which the pressure sensor 30 having such a configuration is attached, when a certain pressure is applied to a certain pressure-sensitive area 35, the influence of the pressure is influenced by another pressure-sensitive area. 35 can be avoided, so that it is possible to prevent sensor malfunctions at adjacent locations, counter electrode locations, and the like.
In addition, since the non-pressure-sensitive region 36 has elasticity in the circumferential direction, the pressure sensor 30 can follow the deformation even if the detected portion in the insertion portion 10 of the endoscope scope 2 is deformed. Thus, it is possible to suppress the occurrence of erroneous sensor detection or the like due to deformation of the detected portion.

(I) In the present embodiment, the pressure sensor 30 includes an annular portion 31 formed in an annular shape, the annular portion 31 is divided into regions in the circumferential direction, and the non-pressure-sensitive region 36 is It is configured to have elasticity in the direction. If configured in this way, the pressure sensor 30 can be easily attached to a tubular detection site such as the insertion portion 10 of the endoscope scope 2, for example. The pressure can be detected. Moreover, since the non-pressure-sensitive region 36 has elasticity in the circumferential direction, even if the detected portion has flexibility and is configured to be deformed by bending or the like, It becomes possible to follow the deformation, and it is possible to suppress the occurrence of erroneous sensor detection due to the deformation of the detected portion. In these respects, it can be said that the pressure sensor 30 is very suitable when applied to the insertion of the endoscope scope 2 to the insertion portion 10.

(J) In the present embodiment, the first electrode 311 is configured in a ring shape extending through the pressure-sensitive region 35 and the non-pressure-sensitive region 36, and the first electrode 311 is formed in the non-pressure-sensitive region 36. Is formed in a connection shape that imparts stretchability in the circumferential direction of the insertion portion 10. Thus, if the first electrode 311 is ring-shaped, the pressure sensor 30 can achieve a simplified sensor configuration even when the annular portion 31 is divided into regions in the circumferential direction. Furthermore, it is possible to appropriately cope with the bending of the detected location, and it is possible to detect the pressurization to the detected location regardless of the direction of the detected location. In addition, if the first electrode 311 is ring-shaped, the connection shape of the non-pressure-sensitive region 36 is expanded or contracted in the circumferential direction by, for example, a loop shape, a V-shape, a U-shape, or a connection shape equivalent thereto. In other words, the structure of the non-pressure-sensitive region 36 can be simplified.

(K) In the present embodiment, the conductive yarn 313c in the anisotropic conductive cloth 313a constitutes the second electrode 313. Thus, if the pressure sensor 30 is configured using the anisotropic conductive cloth 313a, even if the annular portion 31 is divided into regions in the circumferential direction, the anisotropic conductive cloth 313a is divided or looped. Corresponding to the part 311a, it is possible to cope by cutting out only a part of the part, so that it is very easy to cope with the region division.

(L) In the present embodiment, the conductive yarn 313 c that constitutes the second electrode 313 with the anisotropic conductive cloth 313 a is disposed only at a position corresponding to the pressure-sensitive region 35. As described above, if the conductive yarn 313c is disposed only at the position corresponding to the pressure-sensitive region 35, the position corresponding to the non-pressure-sensitive region 36, the continuously disposed pressure-sensitive region 35 and the pressure-sensitive region 35, and The second electrode 313 does not exist at a position corresponding to between the two. Therefore, even when the annular portion 31 is divided into regions in the circumferential direction, it is possible to eliminate the possibility of an electrical short circuit due to the unraveling of the conductive yarn 313c of the anisotropic conductive cloth 313a. It is possible to suppress the occurrence of erroneous sensor detection due to the occurrence of a short circuit or the like.

(5) Modifications, etc. The embodiments of the present invention have been described with specific examples. However, the technical scope of the present invention is not limited to the contents of the embodiments described above, and the constituent features of the invention. In addition, it includes forms in which various changes and improvements are added within a range where a specific effect obtained by the combination thereof can be derived.

(Pressure sensitive part)
For example, in the above-described embodiment, the elastic body constituting the pressure-sensitive member 312 is made of a pressure-sensitive conductive rubber, and the pressure sensor 30 detects pressurization using a change in electrical resistance in the pressure-sensitive member 312. However, the present invention is not limited to this. That is, the pressure sensor 30 is configured so that the electrical characteristics change according to the amount of deformation caused by receiving pressure, and performs pressure detection using the change in the electrical characteristics. That's fine. The pressure sensor whose “electrical characteristic” changes here is, for example, a capacitance type pressure sensor or a pressure sensor according to the magnitude of the pressure, in addition to the one whose electric resistance changes as described in the above embodiment. A piezoelectric element for generating a voltage is included.
In addition, regarding the laminated body including the pressure-sensitive member 312, in the above-described embodiment, the case where the first electrode 311 is configured to be covered with the tubular pressure-sensitive member 312 has been described as an example. However, the present invention is not limited to this, and the pressure-sensitive member 312 may simply be interposed between the first electrode 311 and the second electrode 313. This is because the pressure sensor 30 can perform pressure detection if at least the first electrode 311, the pressure-sensitive member 312, and the second electrode 313 are stacked.
Further, the second electrode 313 constituting the laminated body does not necessarily have to be formed by the anisotropic conductive cloth 313a. If the second electrode 313 extends in the direction intersecting the first electrode 311, for example, the conductive material It may be configured by arranging linear electrodes made of metal wires.

(Ring-shaped first electrode)
In the above-described embodiment, the case where the first electrode 311 extends in only one direction (the circumferential direction of the outer periphery of the bending portion 12) to form a ring shape is described as an example, but the present invention is limited to this. There is nothing. That is, even if the first electrode 311 has a portion extending along a direction other than the circumferential direction (for example, the axial direction), the first electrode 311 only needs to form a ring shape as a whole.
FIG. 13 is an explanatory view schematically showing a modification of the first electrode.
The first electrode 311 in the illustrated example has a plurality of straight portions extending along the axial direction of the bending portion 12 and forms a ring shape as a whole by connecting the plurality of straight portions. Each linear portion is covered with a pressure sensitive member 312. As described above, even if the first electrode 311 has a linear portion extending in the axial direction of the bending portion 12, if the first electrode 311 forms a ring shape as a whole, pressure detection at the bending portion 12 is performed. It is possible. Moreover, if the linear portion of the first electrode 311 is covered with the pressure-sensitive member 312, the detection region in the axial direction can be increased.
Further, when the first electrode 311 has a straight line portion extending in the axial direction, the straight line portion is disposed in the pressure-sensitive region 35, and the portion connecting the straight line portions is disposed in the non-pressure-sensitive region 36. Can be considered. In this way, even if the first electrode 311 has a straight portion, the non-pressure-sensitive region 36 expands and contracts in the circumferential direction by causing the portion that joins the straight portions to function similarly to the loop-shaped portion 311a. It becomes feasible to configure so as to have the characteristics.

(Division direction)
Further, in the above-described embodiment, when performing region division into the pressure-sensitive region 35 and the non-pressure-sensitive region 36, the region division is performed along only one direction (the circumferential direction of the outer periphery of the insertion portion 10). Although given as an example, the present invention is not limited to this. That is, the region division may be performed in a plurality of directions (that is, two-dimensional directions).
FIG. 14 is an explanatory diagram schematically showing a modified example of area division.
In the case of the illustrated example, the anisotropic conductive cloth 313a in which the conductive threads 313c are arranged at regular intervals on the non-conductive fiber fabric 313b extends in a direction substantially orthogonal to the extending direction of the conductive threads 313c. Thus, the first electrodes 311 are arranged at regular intervals. The first electrode 311 is covered with the pressure-sensitive member 312 at a location where the first electrode 311 and the conductive yarn 313c functioning as the second electrode 313 intersect. Further, the covering of the first electrode 311 by the pressure-sensitive member 312 is partial, and the first electrode 311 is not covered and not covered between the pressure-sensitive members 312 arranged adjacent to each other. A loop-shaped portion 311 a that is a connecting shape that imparts elasticity to the first electrode 311 is provided.

In the laminated body of the first electrode 311, the pressure sensitive member 312, and the second electrode 313 configured as described above, the location where the first electrode 311 and the second electrode 313 intersect performs pressure detection from the outside. It functions as the pressure-sensitive region 35, and other portions function as the non-pressure-sensitive region 36. That is, the stacked body is divided into a pressure-sensitive region 35 and a non-pressure-sensitive region 36 in each of the extending direction of the first electrode 311 and the extending direction of the second electrode 313. In addition, at least in the extending direction of the first electrode 311, since the loop-shaped portion 311 a is provided in the non-pressure-sensitive region 36, it expands and contracts in the arrangement direction of the pressure-sensitive region 35 and the non-pressure-sensitive region 36. It is configured with the property. Therefore, even if the detected location where such a laminated body is mounted can be deformed, the deformation can be followed, and the occurrence of erroneous sensor detection due to the deformation of the detected location is suppressed. be able to.
Here, the case where the stretchability is imparted only in the extending direction of the first electrode 311 is taken as an example, but the conductive yarn 313c functioning as the second electrode 313 is also stretchable in the non-pressure-sensitive region 36. It is good also as a connection shape like the loop-shaped part 311a etc., such as loop shape, V shape, U shape, and the connection shape according to these. In this way, it is possible to follow the deformation in the two-dimensional direction.

(Mounting to the detected part)
Further, in the above-described embodiment, the bending portion 12 is particularly exemplified as the detected portion in the insertion portion 10 of the endoscope scope 2. When the sensor is mounted on the bending portion 12, the bending portion 12 bends according to the operation of the operation unit 20, and thus, as described in the above-described embodiment, the mounting portion 31 that is mounted on the detected location. Is preferably formed in an annular shape.
However, the mounting portion 31 described in the above-described embodiment may be mounted at a location other than the bending portion 12. In that case, the mounting portion 31 is not necessarily formed in an annular shape as long as the detected portion is not bent, and may be formed in a flat shape, for example.
If the mounting portion 31 is formed in a planar shape, the mounting portion 31 is easily mounted on a planar detected portion (for example, a part of the distal end portion of the insertion portion 10 of the endoscope scope 2). be able to. Moreover, if the mounting portion 31 is divided into the pressure-sensitive region 35 and the non-pressure-sensitive region 36, even if the detected location can be deformed, the deformation can be followed, and the detected region is detected. It is possible to suppress the erroneous detection of the sensor due to the deformation of the location.

(Application to other than endoscope scope)
Further, in the above-described embodiment, the application to the endoscope scope 2 that images the inside of the large intestine is given as an example. However, the present invention is applicable as long as it is used by being inserted into the body of the subject. Is not limited to colonoscopy applications.
In particular, regarding the pressure sensor 30 configured to be divided into the pressure-sensitive region 35 and the non-pressure-sensitive region 36, as long as it has an insertion portion to be inserted into the body of the subject, the endoscope scope 2 It is conceivable to apply to other surgical instruments. Examples of such surgical instruments include a rigid scope and forceps in addition to the endoscope scope 2. Further, the surgical instrument may be operated not only by the operator with the hand but also operated indirectly by the operator, such as that used in a robotic surgery system.
Similarly, the endoscope apparatus 1 including the control main body 3 and the monitor section 4 may be a surgical apparatus including a surgical instrument other than the endoscope scope 2.

(6) Preferred embodiments of the present invention Preferred embodiments of the present invention will be additionally described below.

[Appendix 1]
According to one aspect of the invention,
A pressure sensor used by being attached to an insertion portion of an endoscope scope configured such that a distal end portion, a bending portion that bends according to an operation of an operation portion, and a flexible portion,
A pressure sensor is provided that includes an annular portion that is mounted around the curved portion, and that has an inner periphery of the annular portion that has a size corresponding to a bent portion of the curved portion.

[Appendix 2]
Preferably, in the pressure sensor according to attachment 1,
The bending portion is mounted around the bending pole, and the inner periphery of the annular portion is formed in a size corresponding to the bending pole.

[Appendix 3]
More preferably, in the pressure sensor according to appendix 1 or 2,
A ring-shaped first electrode extending along the circumferential direction of the curved portion;
A pressure-sensitive member made of an elastic body whose electrical characteristics change according to the amount of deformation caused by receiving pressure;
A linear second electrode extending in a direction intersecting the extending direction of the first electrode;
Comprising a laminate formed by sequentially laminating,
The laminate constitutes the annular portion.

[Appendix 4]
More preferably, in the pressure sensor according to attachment 3,
Comprising an anisotropic conductive cloth having a plurality of conductive yarns arranged at predetermined intervals;
The conductive yarn in the anisotropic conductive cloth constitutes the second electrode.

[Appendix 5]
More preferably, in the pressure sensor according to any one of appendices 1 to 4,
The inner circumference of the annular portion is formed in a size corresponding to the bent portion of the bending portion, with a predetermined bending change amount added to the size of the outer circumference when the bending portion is not bent. The

[Appendix 6]
More preferably, in the pressure sensor according to appendix 5,
One end is attached to the outer periphery of the insertion portion on the tip side from the sensor mounting position of the bending portion, and the other end is attached to the outer periphery of the annular portion at the sensor mounting position of the bending portion. A first guide portion formed in a tapered shape extending toward the other end;

[Appendix 7]
More preferably, in the pressure sensor according to appendix 5 or 6,
One end is attached to the outer periphery of the annular portion at the sensor mounting position of the bending portion, and the other end is attached to the outer periphery of the insertion portion on the side of the flexible portion from the sensor mounting position of the bending portion. A second guide portion formed in a reverse taper shape that narrows toward the other end is provided.

[Appendix 8]
More preferably, in the pressure sensor according to any one of appendices 1 to 4,
The inner circumference of the annular portion is formed to have a size corresponding to the bent portion of the bending portion and a size corresponding to the outer periphery of the deformation suppressing member attached to the bent portion.

[Appendix 9]
More preferably, in the pressure sensor according to attachment 3,
The first electrode has a plurality of linear portions extending along the axial direction of the curved portion, and forms a ring shape as a whole by connecting the plurality of linear portions.

[Appendix 10]
According to another aspect of the invention,
An endoscope scope in which the pressure sensor according to any one of appendices 1 to 9 is mounted around the bending portion is provided.

[Appendix 11]
According to yet another aspect of the invention,
The endoscope scope according to appendix 10,
A control unit that acquires and processes a detection signal from the pressure sensor attached to the endoscope scope;
A signal output unit for outputting a signal processing result by the control unit;
Is provided.

[Appendix 12]
According to yet another aspect of the invention,
A pressure sensor for detecting pressurization,
It is configured with a mounting part that is mounted at the detected location,
The mounting portion is divided into regions and includes a pressure-sensitive region and a non-pressure-sensitive region,
The pressure-sensitive region is configured to perform pressure detection using a pressure-sensitive member whose electrical characteristics change due to pressure,
The non-pressure-sensitive region is provided with a pressure sensor configured to connect the pressure-sensitive regions adjacent to each other with the non-pressure-sensitive region interposed therebetween and to have elasticity in the direction in which the regions are arranged.

[Appendix 13]
Preferably, in the pressure sensor according to attachment 12,
The mounting portion is formed in an annular shape and is divided into regions in the circumferential direction, and includes the pressure-sensitive region and the non-pressure-sensitive region.
The non-pressure-sensitive region is configured to have elasticity in the circumferential direction.

[Appendix 14]
More preferably, in the pressure sensor according to appendix 12 or 13,
A first electrode extending in one direction;
An elastic body whose electrical characteristics change according to the amount of deformation caused by receiving pressure,
A second electrode extending in a direction crossing the one direction;
Comprising a laminate formed by sequentially laminating,
The elastic body constitutes the pressure-sensitive member,
The laminate constitutes the pressure sensitive region.

[Appendix 15]
More preferably, in the pressure sensor according to attachment 14,
The first electrode is formed in a ring shape that extends through the pressure-sensitive region and the non-pressure-sensitive region, and a connection shape that imparts stretchability in the circumferential direction of the insertion portion in the non-pressure-sensitive region. Formed.

[Appendix 16]
More preferably, in the pressure sensor according to appendix 14 or 15,
Comprising an anisotropic conductive cloth having a plurality of conductive yarns arranged at predetermined intervals;
The conductive yarn in the anisotropic conductive cloth constitutes the second electrode.

[Appendix 17]
More preferably, in the pressure sensor according to attachment 16,
The anisotropic conductive cloth is one in which the conductive yarn constituting the second electrode is disposed only at a position corresponding to the pressure sensitive region.

[Appendix 18]
More preferably, in the pressure sensor according to attachment 15,
The first electrode has a plurality of linear portions extending along the axial direction of the insertion portion, and forms a ring shape as a whole by joining the plurality of linear portions,
The straight portion is disposed in the pressure sensitive region;
A portion connecting the straight portions is disposed in the non-pressure-sensitive region.

[Appendix 19]
More preferably, in the pressure sensor according to attachment 12,
The mounting portion is formed in a planar shape.

[Appendix 20]
According to yet another aspect of the invention,
A surgical instrument having an insertion portion for insertion into the body of a subject,
While including the pressure sensor according to any one of appendices 12 to 19,
A surgical instrument is provided in which the detected portion is arranged in the insertion portion, and the mounting portion is mounted on the detected portion.

[Appendix 21]
Preferably, in the surgical instrument according to appendix 20,
The surgical instrument is an endoscope scope configured such that the insertion portion is bent.

[Appendix 22]
Preferably, in the surgical instrument described in appendix 21,
The insertion portion in the endoscope scope is configured such that a distal end portion, a bending portion that bends in response to an operation of the operation portion, and a flexible portion are continuous.
The pressure sensor is attached to any one of the tip portion, the bending portion, and the soft portion, or a plurality of these portions.

[Appendix 23]
According to yet another aspect of the invention,
The surgical instrument according to any one of appendices 20 to 22, and
A control unit for acquiring and processing a detection signal from the pressure sensor mounted on the surgical instrument;
A signal output unit for outputting a signal processing result by the control unit;
A surgical device is provided.

  DESCRIPTION OF SYMBOLS 1 ... Endoscope apparatus (surgical apparatus), 2 ... Endoscope (surgical instrument), 3 ... Control main-body part (control part), 4 ... Monitor part (signal output part), 10 ... Insertion part, 11 DESCRIPTION OF SYMBOLS ... Tip part, 12 ... Curved part, 13 ... Soft part, 14 ... Deformation suppression member, 20 ... Operation part, 30 ... Pressure sensor, 31 ... Annular part (annular mounting part), 32 ... Signal line, 33 ... First Guide part 34 ... second guide part 35 ... pressure-sensitive area 36 ... non-pressure-sensitive area 311 ... first electrode 311a ... loop-like part 311d ... notch part 312 ... pressure-sensitive member 313 ... first 2 electrodes, 313a ... anisotropic conductive cloth, 313c ... conductive thread, 313e ... notch, 313f ... area, 314 ... film member

Claims (9)

A pressure sensor used by being attached to an insertion portion of an endoscope scope configured such that a distal end portion, a bending portion that bends according to an operation of an operation portion, and a flexible portion,
While being configured to have an annular portion which is fitted around the curved portion, the inner periphery of the annular portion, a size corresponding to the bent portion of the curved portion, the outer periphery at the time of non-bending of the bending portion A pressure sensor formed in a size that takes into account a predetermined amount of bending change with respect to the size of the sensor.   The pressure sensor according to claim 1, wherein the pressure sensor is mounted around a bending pole of the bending portion, and an inner circumference of the annular portion is formed in a size corresponding to the bending pole. A ring-shaped first electrode extending along the circumferential direction of the curved portion;
A pressure-sensitive member made of an elastic body whose electrical characteristics change according to the amount of deformation caused by receiving pressure;
A linear second electrode extending in a direction intersecting the extending direction of the first electrode;
Comprising a laminate formed by sequentially laminating,
The pressure sensor according to claim 1 or 2, wherein the laminated body constitutes the annular portion. Comprising an anisotropic conductive cloth having a plurality of conductive yarns arranged at predetermined intervals;
The pressure sensor according to claim 3, wherein the conductive yarn in the anisotropic conductive cloth constitutes the second electrode. One end is attached to the outer periphery of the insertion portion on the tip side from the sensor mounting position of the bending portion, and the other end is attached to the outer periphery of the annular portion at the sensor mounting position of the bending portion. The pressure sensor according to any one of claims 1 to 4, further comprising a first guide portion formed in a tapered shape that expands toward the other end.   One end is attached to the outer periphery of the annular portion at the sensor mounting position of the bending portion, and the other end is attached to the outer periphery of the insertion portion on the side of the flexible portion from the sensor mounting position of the bending portion. The pressure sensor according to any one of claims 1 to 5, further comprising a second guide portion formed in an inversely tapered shape that narrows toward the other end.   4. The pressure according to claim 3, wherein the first electrode has a plurality of linear portions extending along an axial direction of the curved portion and forms a ring shape as a whole by connecting the plurality of linear portions. Sensor. An endoscope scope in which the pressure sensor according to any one of claims 1 to 7 is mounted around the bending portion. The endoscope scope according to claim 8 ,
A control unit that acquires and processes a detection signal from the pressure sensor attached to the endoscope scope;
A signal output unit for outputting a signal processing result by the control unit;
An endoscope apparatus comprising: