JP6675678B2 - Forceps instrument and pressure sensor - Google Patents

Description

  The present invention relates to a forceps instrument that is a surgical instrument and a pressure sensor used for the forceps instrument.

  In laparoscopic surgery, small holes are made in multiple locations in the abdomen, and a laparoscope, which is a type of endoscope camera, is inserted into the abdominal cavity inflated with carbon dioxide gas, and grasping, peeling, and resection are performed. Insert a forceps device, which is a device for use. Then, by operating the forceps instrument while observing the image projected by the laparoscope on the monitor screen, surgery is performed on the affected part.

  Regarding forceps instruments used in laparoscopic surgery, it has been proposed that a force sensor be provided at a tip portion (for example, a grip portion for gripping a living tissue) so that a force received by the tip portion can be presented to an operator. (For example, see Patent Document 1). By using such a forceps device, the operator can grasp the sense of the strength of the force applied to the distal end of the forceps device when operating the forceps device inserted into the abdominal cavity.

JP-A-8-117228

  However, in the forceps device having the above-described configuration, it is only possible to grasp the sense of force at the distal end. In other words, the operator cannot grasp the state, sensation, and the like of the components other than the distal end portion of the forceps instrument, except for the range that is projected by the laparoscope and becomes visible. Therefore, when inserting and operating in the abdominal cavity, there is a possibility that, for example, an unintended contact may occur between the shaft portion connected to the distal end portion of the forceps instrument and the living tissue in the abdominal cavity. Such an unintended contact may have an adverse effect on the living tissue, and therefore it is desirable that the operator can recognize the contact.

  Therefore, an object of the present invention is to provide a forceps device that allows an operator to grasp unintended contact with a living tissue and a pressure sensor used for the forceps device.

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 forceps device having at least a distal end and a shaft connected to the distal end, wherein the distal end and the shaft are used by being inserted into a body cavity,
A forceps device having a pressure sensor mounted on an outer periphery of the shaft portion for detecting pressurization due to contact with a living tissue in the body cavity.
(Another embodiment of the present invention)
Another aspect of the present invention,
A tip portion and a shaft portion connected to the tip portion are configured to be freely attachable to the outer periphery of the shaft portion of a forceps instrument used by being inserted into a body cavity,
A pressure sensor configured to detect pressurization due to contact with a living tissue in the body cavity.

  According to the present invention, when the shaft portion of the forceps instrument comes into contact with the living tissue in the body cavity, the pressure sensor detects that fact, so that the detection result is transmitted to the operator of the forceps instrument to allow the operator to grasp it. You will get.

It is an explanatory view showing typically the schematic structure of the grasping forceps which is one example of the forceps instrument concerning the present invention. It is explanatory drawing which shows typically one specific example of the schematic structure of the pressure sensor which concerns on this invention, (a) is a perspective view which shows the structural example of the main component of a pressure sensor, (b) is a linear electrode and Sectional drawing which shows the structural example of a pressure sensitive member, (c) is the schematic diagram which shows the structural example of the anisotropic conductive cloth used as an annular electrode, (d) The structure in the state which expanded and arranged the pressure sensor on the plane. It is sectional drawing which shows an example. It is explanatory drawing which shows typically the outline | summary of a laparoscopic operation. It is explanatory drawing which shows typically one applied example of the pressurization detection by the pressure sensor which concerns on this invention, (a) is a figure which shows a mode that a long biological tissue is detected using the resolution of a shaft part longitudinal direction, (B) is a figure which shows a mode that a short biological tissue is detected using the resolution of a shaft part longitudinal direction. It is explanatory drawing which shows typically another application example of the pressurization detection by the pressure sensor which concerns on this invention, Comprising: (a) is a figure which shows a mode that a hard biological tissue is detected using the resolution of a shaft part peripheral direction. (B) is a diagram showing how soft biological tissue is detected using the resolution in the longitudinal direction of the shaft portion.

  Hereinafter, a forceps device and a pressure sensor according to the present invention will be described with reference to the drawings.

(1) Configuration of forceps instrument First, the configuration of the forceps instrument according to the present invention will be described with reference to specific examples. Here, as the forceps instrument, a grasping forceps operated and held by a laparoscopic surgeon's hand will be described as an example.
FIG. 1 is an explanatory view schematically showing a schematic configuration of a grasping forceps, which is a specific example of a forceps device according to the present invention.

  The grasping forceps 1 described here as an example has a distal end 2 having a jaw 2a that opens and closes, a grip 3 for operating the opening and closing of the jaw 2a, and a coupling between the distal end 2 and the grip 3. And a shaft portion 4 formed in a rod shape having a circular cross section. The grasping forceps 1 having such a configuration is used by inserting the distal end portion 2 and the shaft portion 4 into the abdominal cavity. Then, while inserted into the abdominal cavity, the surgeon of the laparoscopic operation operates the grip portion 3 to open and close the jaw 2a at the distal end portion 2 so that the living tissue in the abdominal cavity can be peeled, grasped, and sutured. Various treatments such as ligation are performed.

The specific configuration of each of the distal end portion 2, the grip portion 3, and the shaft portion 4 is not particularly limited, and may be any known one.
For example, the jaw 2a of the distal end portion 2 does not matter whether it is a double opening or a single opening, and may be a curved shape or a non-curved shape. Further, the distal end portion 2 may have a universal joint that allows the jaw portion 2a to swing. Further, the distal end portion 2 does not necessarily have to have the jaw portion 2a that can be opened and closed, and may have another component member such as a scissor portion for removing living tissue.
The same is true for the grip portion 3, and the presence or absence, shape, and the like of the handle, lever, and the like in the grip portion 3 are not limited.

  By the way, the gripping forceps 1 exemplified here has a great feature in that the pressure sensor 5 is mounted on the outer periphery of the shaft portion 4. Details of the pressure sensor 5 will be described later.

  Further, the pressure sensor 5 is connected via a signal line 6a to an output section 6 for outputting a detection result by the pressure sensor 5. The output unit 6 is, for example, a display output of light that can be visually recognized by an operator who operates the grasping forceps 1, a sound output that can be recognized by the operator by hearing, a vibration output that can be recognized by the operator by touch, or an appropriate combination of these. Then, the result of the sensor detection is output according to the result. More specifically, the sensor detection result is output using a display device, a lamp, an alarm buzzer, a vibration system, or the like.

  However, in any of the output modes, it is desirable that the output unit 6 outputs the magnitude of the pressure detected by the pressure sensor 5 in an identifiable manner. For example, when the output unit 6 performs display output of light, the indicator 6b whose display level varies according to the magnitude of the pressure detected by the pressure sensor 5 is used to determine the detection result of the pressure sensor 5. It is possible to output. The present invention is not limited to this, and the display contents, the number, brightness, and color of the lamps, the buzzer volume, the vibration intensity and the vibration period, etc. are appropriately changed according to the magnitude of the detected pressure, and the pressure is adjusted. The detection result by the sensor 5 may be output.

(2) Configuration of Pressure Sensor Subsequently, the pressure sensor 5 mounted on the shaft portion 4 of the grasping forceps 1 will be described in detail.

(Overview of pressure sensor)
When the grasping forceps 1 is inserted into the abdominal cavity, the pressure sensor 5 detects pressurization due to contact with the living tissue in the abdominal cavity. If such a pressure sensor 5 is mounted on the outer periphery of the shaft 4, contact between the shaft 4 and the living tissue in the abdominal cavity can be detected.

  In order to detect pressurization due to contact with a living tissue, the pressure sensor 5 is connected to a first electrode made of a conductive material and a second electrode through a pressure-sensitive member made of an elastic body whose electrical characteristics change due to the pressurization. The electrodes are arranged so as to overlap in the pressing direction. Hereinafter, a portion where the first electrode, the pressure-sensitive member, and the second electrode overlap and face each other in the pressing direction (that is, a portion where the pressure is detected by using a change in the electrical characteristics of the pressure-sensitive member) is referred to as “ Pressure-sensitive part. " That is, the pressure sensor 5 is configured to include a pressure sensitive section in which the electrical characteristics between the first electrode and the second electrode change according to the amount of pressurization.

  It is sufficient that the pressure sensor 5 includes at least one pressure sensitive portion, but it is preferable that a plurality of pressure sensors 5 are provided in the mounting surface when the pressure sensor 5 is mounted on the outer periphery of the shaft portion 4 of the grasping forceps 1. If a plurality of pressure sensitive sections are provided along the longitudinal direction of the shaft section 4, the pressure sensor 5 can subdivide the detection resolution at least in the longitudinal direction of the shaft section 4. Further, if a plurality of pressure sensitive sections are provided along the circumferential direction of the shaft section 4, the pressure sensor 5 can subdivide the detection resolution at least in the circumferential direction of the shaft section 4. Further, if a plurality of pressure sensitive portions are provided along each of the longitudinal direction and the circumferential direction of the shaft portion 4, the pressure sensor 5 includes the pressure sensitive portions in a matrix in the mounting surface. 4, the detection resolution in each of the longitudinal direction and the circumferential direction can be subdivided.

(Specific configuration of pressure sensor)
Here, a specific configuration of the pressure sensor 5 having the pressure sensitive portions in a matrix will be described as an example.
FIG. 2 is an explanatory diagram schematically showing a specific example of a schematic configuration of the pressure sensor according to the present invention.

  As shown in FIG. 2A, the pressure sensor 5 exemplified here is formed by receiving a linear electrode 11 as a first electrode extending linearly along the longitudinal direction of the shaft portion 4 and receiving a pressure. A pressure-sensitive member 12 made of an elastic body whose electrical characteristics change according to the amount of deformation, and an annular electrode 13 as a second electrode extending annularly along the circumferential direction of the shaft portion 4. I have. In the pressure sensor 5 having such a configuration, a pressure sensitive portion is formed at a position where the linear electrode 11 and the annular electrode 13 cross and face each other. The pressure sensor 5 includes a spacer member 16 and a film member (not shown), which will be described later, in addition to the linear electrode 11, the pressure-sensitive member 12, and the annular electrode 13.

  The linear electrode 11 is formed of a linear conductive material having a small diameter (for example, a conductive metal wire having a diameter of about 100 to 500 μm, such as a silver wire, a gold wire, and a stainless steel wire). It is arranged linearly along the longitudinal direction of the shaft portion 4 so as to extend over the shaft portion 4. As shown in FIG. 2B, the linear electrodes 11 are arranged such that a plurality of linear electrodes 11 are arranged at predetermined intervals along the circumferential direction of the shaft portion 4. The predetermined interval is appropriately set according to the number of arrangements of the linear electrodes 11. The number of arrays of the linear electrodes 11 is not particularly limited. However, if the number of arrays is large, the detection resolution can be improved, and if the number of arrays is small, the complexity of the sensor configuration can be suppressed. .

The pressure-sensitive member 12 is made of an elastic body whose electrical characteristics change when pressed, and is formed in a tubular shape that covers the entire periphery of the linear electrode 11. That is, the linear electrode 11 is inserted into the hollow hole of the pressure-sensitive member 12 formed in a tubular shape.
Specific examples of the “electrical characteristics” that change in the pressure-sensitive member 12 include electric resistance, capacitance, voltage, and the like. Here, the pressure-sensitive member 12 is configured so that the electric resistance changes. An example is given below. That is, the elastic body constituting the pressure-sensitive member 12 is made of a pressure-sensitive conductive rubber whose electric resistance changes according to the amount of deformation generated by receiving pressure. The material itself of the pressure-sensitive conductive rubber may be formed using a known technique, and a detailed description thereof will be omitted.

The annular electrode 13 is arranged annularly along the circumferential direction of the shaft portion 4 so as to intersect with the linear electrode 11. A plurality of the pressure sensors 5 are arranged at predetermined intervals along the longitudinal direction of the shaft portion 4 so as to cover substantially the entire area of the pressure sensor 5. The predetermined interval is appropriately set according to the number of arrangements of the annular electrodes 13. The number of arrangements of the annular electrodes 13 is not particularly limited. However, if the number of arrangements is large, the detection resolution can be improved, and if the number of arrangements is small, the complexity of the sensor configuration can be suppressed.
Such an annular electrode 13 may be formed by, for example, an anisotropic conductive cloth 13a. As shown in FIG. 2C, the anisotropic conductive cloth 13a is obtained by replacing a part of the warp or weft in the woven fabric 13b of the non-conductive fiber with the conductive yarn 13c at a predetermined constant interval, or The conductive thread 13c is sewn into the non-conductive fiber fabric 13b at predetermined intervals. As the non-conductive fiber, for example, polyethylene terephthalate (PET) fiber may be used, but any type other than PET may be used as long as it is non-conductive. However, the non-conductive fiber desirably has heat resistance and chemical resistance. On the other hand, the conductive yarn 13c can be used as long as it has a small diameter and has conductivity and flexibility, such as a silver thread, a gold thread, a stainless steel thread, a carbon fiber, and a silver-plated nylon thread. It is desirable that the diameter be substantially equal to the fiber diameter of the conductive fiber. It is conceivable that the diameter of the non-conductive fiber and the conductive yarn 13c is about several μm to several tens μm. According to such a configuration, as the anisotropic conductive cloth 13a, for example, a very flexible one having a thickness of about 50 μm can be obtained. When such an anisotropic conductive cloth 13a is used, the conductive thread 13c functions as the annular electrode 13.

  The pressure sensor 5 has, in its cross-sectional configuration, a plurality of annular electrodes 13, a pressure-sensitive member 12 covering one side of the linear electrode 11, and a plurality of pressure-sensitive members 12 from the outer peripheral surface side of the shaft portion 4 of the grasping forceps 1. The linear electrode 11 and the pressure-sensitive member 12 covering the other side of the linear electrode 11 are sequentially laminated. That is, the pressure sensor 5 is configured to include at least a multilayer body in which the plurality of annular electrodes 13, the one-side pressure-sensitive member 12, and the plurality of linear electrodes 11 are sequentially stacked. It is.

  In the pressure sensor 5 provided with the above-described laminated body, when any part in the plane of the pressure sensor 5 is pressurized by an external force, the pressure-sensitive member 12 in the pressure-sensitive part at the pressurized part is turned on. Deforms under pressure. When the pressure-sensitive member 12 is deformed, the electric resistance of the pressure-sensitive member 12, that is, the electric resistance between the linear electrode 11 and the annular electrode 13 in which the pressure-sensitive member 12 is interposed changes according to the amount of the deformation. Therefore, if the pressure sensor 5 is used, the pressure on the pressure sensor 5 can be detected by monitoring the magnitude of the electric resistance between the linear electrode 11 and the annular electrode 13.

In order to perform monitoring for detecting such pressurization, a lead wire (not shown) is connected to each of the linear electrode 11 and the annular electrode 13 in the pressure sensor 5. Then, the lead wire is connected to the output unit 6 via the signal line 6a.
It is assumed that the connection of the lead wire to each electrode is performed individually for each of the plurality of linear electrodes 11 and the plurality of annular electrodes 13. As a result, the pressure sensor 5 includes the pressure sensitive portions in a matrix, and has a finely divided detection resolution in each of the longitudinal direction and the circumferential direction of the shaft portion 4.

  However, the connection of the lead wire to each electrode may be performed by combining the plurality of linear electrodes 11 or the plurality of annular electrodes 13 as one, or may be performed by combining the plurality of linear electrodes 11 or the plurality of annular electrodes. 13 may be divided into several area units, and then performed for each area. For example, when one lead wire is connected to a plurality of linear electrodes 11 and a plurality of lead wires are connected to a plurality of annular electrodes 13, the pressure sensor 5 It will have a detection resolution subdivided only in the direction. Further, for example, when a plurality of lead wires are connected to the plurality of linear electrodes 11 and one lead wire is connected to the plurality of annular electrodes 13, the pressure sensor 5 Has a detection resolution subdivided only in the circumferential direction. Further, for example, when one lead wire is connected to a plurality of linear electrodes 11 and one lead wire is also connected to a plurality of annular electrodes 13, the pressure sensor 5 is It is possible to detect only whether or not pressure has been applied at any point without having the detected detection resolution.

(Without pressure sensor)
Next, with respect to the pressure sensor 5 having the above-described configuration, a state in which the grasping forceps 1 is not attached to the shaft portion 4, that is, a state of the sensor alone will be described.

  Since the pressure sensor 5 is configured to be highly flexible as described above, in a state where the grasping forceps 1 is not attached to the shaft portion 4, that is, in a state of the sensor alone, a cross-sectional view of FIG. As shown in (1), it is possible to develop and arrange on a plane. When deployed on a plane, the pressure sensor 5 has a rectangular shape when viewed in plan. Then, the size of the rectangular shape in the short direction (the size in the left-right direction in FIG. 2D) is formed so as to be adapted to the circumferential length of the outer periphery of the shaft portion 4 of the grasping forceps 1. The size of the rectangular shape in the longitudinal direction (the size in the depth direction in FIG. 2D) is formed to be a size set in consideration of a sensor mounting position described later.

  Further, the pressure sensor 5 includes a laminated body 10 in which at least a linear electrode 11, a pressure-sensitive member 12, and an annular electrode 13 are sequentially laminated. The laminated body 10 includes a first film member 14 that forms an inner peripheral surface of the pressure sensor 5 (that is, a surface that comes into contact with an outer peripheral surface of the shaft portion 4 when the gripping forceps 1 is mounted on the shaft portion 4), and a pressure sensor. 5 is sandwiched by the second film member 15 constituting the outer peripheral surface (that is, the surface on the side facing the inner peripheral surface). Further, a spacer is provided between the first film member 14 and the second film member 15 for suppressing the laminate 10 from being pressed by deformation of at least one of the first film member 14 and the second film member 15. A member 16 is provided.

  Each of the first film member 14 and the second film member 15 functions as a protective film of the laminate 10 and is made of a resin material having waterproofness, insulation, chemical resistance, flexibility, and the like. (For example, a polyurethane film material having a thickness of about 30 μm).

  Each of the linear electrodes constituting the laminate 10 is provided with a spacer member 16 in order to suppress erroneous detection of the pressure sensor 5 due to the laminate 10 being sandwiched between the first film member 14 and the second film member 15. 11 are arranged so as to fill the gap between them. That is, the spacer members 16 are provided between the adjacent linear electrodes 11 respectively. The spacer member 16 is formed using a material having elasticity (for example, a foam obtained by foaming a synthetic resin) as a base material.

If such a spacer member 16 is provided so as to fill the gap between the linear electrodes 11, even when the laminate 10 is sandwiched between the first film member 14 and the second film member 15, Erroneous detection of the pressure sensor 5 can be suppressed.
The first film member 14 and the second film member 15 are each in the form of a single continuous film (thin film). Therefore, for example, when the first film member 14 or the second film member 15 is deformed by pressurization, the influence of the deformation may extend to a portion other than the pressurized portion. Further, for example, the first film member 14 and the second film member 15 are deformed so as to be curved when attached to the shaft portion 4. Pressure can occur. Such deformation of the first film member 14 or the second film member 15 may cause erroneous detection of the pressure sensor 5.
However, if the spacer member 16 is provided, even if the first film member 14 or the second film member 15 is deformed, the spacer member 16 supports the first film member 14 or the second film member 15. In addition, it is possible to reduce the influence of the deformation on the linear electrode 11 and the pressure-sensitive member 12 other than the pressurized portion. Moreover, since the spacer member 16 itself has elasticity, it does not hinder the deformation of the pressure-sensitive member 12 at the pressurized portion, for example. Therefore, if the spacer member 16 is provided, erroneous detection of the pressure sensor 5 can be suppressed as compared with the case where the spacer member 16 is not provided.

In order to suppress erroneous detection of the pressure sensor 5, the spacer member 16 is configured as follows.
The thickness of the spacer member 16 (see the dimension C in the figure) is 0.5 to 1.5 times the thickness of the laminate 10 (see the dimension D in the figure). If the spacer member 16 is too thin, the laminate 10 is pressed by the deformation of the first film member 14 or the second film member 15, and the pressure sensor 5 operates as in the case where the spacer member 16 is not installed. (Sensor sensitivity becomes too sensitive). In order to avoid this, the thickness of the spacer member 16 is set to 0.5 times or more the thickness of the laminate 10. On the other hand, if the spacer member 16 is too thick, the laminated body 10 may not be properly pressed (insufficient sensor sensitivity) even though the pressure sensor 5 is pressed. In order to avoid this, the thickness of the spacer member 16 is set to 1.5 times or less the thickness of the laminate 10. Note that, specifically, the thickness of the spacer member 16 is slightly larger (for example, about 0.5 to 0.6 mm) than the outer diameter (for example, about 0.5 to 0.6 mm) of the pressure-sensitive member 12 that covers the periphery of the linear electrode 11. , About 0.7 mm).
The hardness of the spacer member 16 is in a range of 0.5 times to 1.5 times the hardness of the pressure-sensitive member 12. If the spacer member 16 is too soft, the laminate 10 is pressed by the deformation of the first film member 14 or the second film member 15, and the pressure sensor 5 operates as in the case where the spacer member 16 is not installed. (Sensor sensitivity becomes too sensitive). To avoid this, the hardness of the spacer member 16 is set to 0.5 times or more the hardness of the pressure-sensitive member 12. On the other hand, if the spacer member 16 is too hard, the laminated body 10 may not be properly pressed (insufficient sensor sensitivity) even though the pressure sensor 5 is pressed. In order to avoid this, the hardness of the spacer member 16 is set to 1.5 times or less the hardness of the pressure-sensitive member 12. Note that, specifically, the hardness of the spacer member 16 is preferably about the same as the hardness of the pressure-sensitive member 12 (for example, a hardness of about 60 ° to 70 °).

(3) Mounting Position of Pressure Sensor on Shaft Next, a mounting position when the pressure sensor 5 having the above-described configuration is mounted on the shaft 4 of the grasping forceps 1 will be described with a specific example.

  The pressure sensor 5 is configured such that the exposed surface of the first film member 14 (that is, the surface constituting the inner peripheral surface of the pressure sensor 5) is wound around the outer peripheral surface of the shaft portion 4 of the grasping forceps 1. Is attached to the shaft portion 4. The bonding method at this time is not particularly limited, and may be performed using a known method such as interposing an adhesive or a double-sided adhesive tape.

At this time, since the first film member 14 is adhered to the outer peripheral surface side of the shaft portion 4, the pressure sensor 5 reads the first film member 14, the annular electrode 13, the pressure-sensitive member from the outer peripheral surface side of the shaft portion 4. 12, the linear electrode 11 and the second film member 15 are mounted on the shaft portion 4 in a state of being sequentially laminated.
With such a stacking order, the shaft portion 4 on which the pressure sensor 5 is mounted is suitable for insertion and removal into the abdominal cavity. This is because the linear electrode 11 extending along the longitudinal direction of the shaft portion 4 is located on the upper layer side with respect to the annular electrode 13, so that it is possible to prevent the annular electrode 13 from being caught or displaced during insertion or removal. In addition, by disposing the linear electrode 11 on the upper layer side than the annular electrode 13, the laminated body 10 can be more easily curved than in the opposite case, so that the pressure sensor 5 is mounted on the outer peripheral surface of the shaft portion 4. Is also facilitated. Further, since the pressure-sensitive member 12 is not distorted due to excessive bending of the laminated body 10, sensor sensitivity, resolution, and the like are not impaired.
However, the pressure sensors 5 may be mounted on the outer peripheral surface of the shaft portion 4 not in the above-described lamination order but in a completely reverse lamination order. This is because the pressurization of the pressure sensor 5 can be detected even when the stacking order is completely reversed.

  Regardless of the order of stacking, the mounting position of the pressure sensor 5 on the shaft 4 is set as follows.

  The shaft portion 4 of the grasping forceps 1 to which the pressure sensor 5 is attached is inserted into the abdominal cavity during laparoscopic surgery. At that time, the grasping forceps are inserted into the abdominal cavity as described later in detail. In addition to 1, a laparoscope, which is a type of endoscope camera, is also inserted. For this reason, the pressure sensor 5 is attached to at least a part that is inserted into the body cavity of the shaft part 4 and that becomes a blind spot when viewed from the laparoscope inserted into the body cavity together with the grasping forceps 1. Shall be. For a part that becomes a blind spot when viewed from the laparoscope, that is, a part that cannot be visually recognized even when the operator observes the image on the monitor screen, the pressure sensor 5 contacts the shaft part 4 of the grasping forceps 1 and the living tissue in the abdominal cavity. This is for detecting pressurization.

  However, the pressure sensor 5 only needs to be attached to at least the above-described portion of the shaft portion 4. In other words, since it is “at least”, the pressure sensor 5 may be attached to a part that does not form a blind spot when viewed from the laparoscope, in addition to the part described above. By being able to detect the pressure applied to the pressure sensor 5 even at a site that can be observed on the monitor screen, it is useful in that the operator can obtain information that cannot be grasped only from the monitor screen. This is because

  Specifically, as shown in FIG. 1, for example, the pressure sensor 5 is at least 2.0 cm (see dimension A in the figure) away from the tip 2 and 12.0 cm (dimension B in the figure). (See Reference)). If the distance is 2.0 cm or more, the laparoscopic surgery deviates from the range projected by the laparoscope, resulting in blind spots when viewed from the laparoscope. In addition, if it exceeds 12.0 cm, the possibility of contact with living tissue in the abdominal cavity during laparoscopic surgery is extremely low.

  However, since the above-mentioned range is “at least”, the pressure sensor 5 may be mounted so as to extend to another region in addition to the region within the above-mentioned range, as in the case described above. Specifically, on the side of the distal end portion 2, the pressure sensor 5 is placed not in a region of 2.0 cm or more but in a region separated by, for example, 1.0 cm or more (that is, a region including a region that does not become a blind spot when viewed from a laparoscope). It is also conceivable to attach it. The reason why the pressure sensor 5 is separated from the tip 2 by 1.0 cm or more is to eliminate the possibility that the pressure sensor 5 may hinder the operation of the tip 2. Further, it is conceivable to attach the pressure sensor 5 to the side of the grip portion 3 beyond the range within 12.0 cm from the distal end portion 2, for example, to the range extending to the grip portion 3.

  It should be noted that the numerical values for the sensor mounting range described above are merely one specific example. In other words, the mounting position of the pressure sensor 5 on the shaft portion 4 includes information such as “specifications of a laparoscope (particularly, a viewing angle determined by the configuration of an optical system)”, “operation contents”, and “patient physique and gender”. The values may be changed as appropriate according to various conditions, and accordingly, numerical values defining the sensor mounting range may be individually defined according to various conditions.

(4) Laparoscopic Surgery Next, laparoscopic surgery performed using the grasping forceps 1 and the pressure sensor 5 having the above-described configuration will be described.
FIG. 3 is an explanatory diagram schematically showing the outline of the laparoscopic surgery.

(Overview of laparoscopic surgery)
When performing laparoscopic surgery, first, the patient 20 is subjected to general anesthesia, and small incisions (for example, 1 cm or less) are formed in a plurality of portions of the abdomen 21 of the patient 20. A well-known surgical instrument called a trocar 31 is inserted into the formed incision. The trocar 31 is designed so that the gas in the abdominal cavity 22 does not leak outside when inserted into the incision. After the trocar 31 is inserted into the incision, carbon dioxide gas is injected into the abdominal cavity 22 so that the abdominal wall is distended and a space is created in the abdominal cavity 22.

Thereafter, a laparoscope 32, which is a kind of an endoscope camera, is inserted into the abdominal cavity 22 from one trocar 31. Thereby, the operator of the laparoscopic surgery can visually recognize the state inside the abdominal cavity 22 (particularly the state of the affected part) by observing the image projected by the laparoscope 32 on the monitor screen 33.
Further, the tip 2 and the shaft 4 of the grasping forceps 1 are inserted into the abdominal cavity 22 from another trocar 31. The grasping forceps 1 has a pressure sensor 5 mounted on a shaft 4 and is inserted so that the distal end 2 reaches an affected part in the abdominal cavity 22. Thereby, the operator of the laparoscopic operation operates the grip portion 3 of the grasping forceps 1 while observing the image projected by the laparoscope 32 on the monitor screen 33, and controls the operation of the distal end portion 2 of the grasping forceps 1. As a result, it becomes possible to perform an operation on the affected part in the abdominal cavity 22.

  After the operation on the affected part is completed, the grasping forceps 1 and the laparoscope 32 are removed from the trocar 31, and carbon dioxide is discharged from the abdominal cavity 22. Then, all the trocars 31 are pulled out, the incisions in the abdomen 21 are sutured, and the laparoscopic operation is completed.

(Possible situations during laparoscopic surgery)
When performing laparoscopic surgery, the operator of the laparoscopic surgery performs an operation on the affected part by operating the grasping forceps 1 while observing the image projected by the laparoscope 32 on the monitor screen 33. This means that the operator of the laparoscopic surgery may not be able to grasp the state of the area other than the area projected by the laparoscope 32 and visible. Therefore, when the grasping forceps 1 is inserted into the abdominal cavity 22 and operated, unintended contact between the shaft portion 4 of the grasping forceps 1 and the living tissue in the abdominal cavity 22 occurs. As a result, the living tissue is adversely affected. There is a risk of reaching.

Regarding such a situation, for example, a wide-angle image sensor is attached to the trocar 31 so that the inside of the abdominal cavity 22 can be imaged using the wide-angle image sensor and observed on a monitor screen. It is also conceivable to prevent the occurrence of the problem.
However, if the wide angle image sensor is used to prevent the blind spot of the laparoscopic 32 from occurring, the operator needs to pay attention to each of the plurality of monitor screens during the laparoscopic surgery. In other words, during the laparoscopic operation, the user should pay close attention to the monitor screen 33 that displays the image of the laparoscope 32. However, it is necessary to pay attention to other monitor screens for eliminating the blind spot of the laparoscope 32. May be distracted, or the burden on the operator of laparoscopic surgery may be excessive, and is not necessarily effective in preventing unintended contact from adversely affecting living tissue.

  In that regard, if the pressure sensor 5 as described above is the grasping forceps 1 attached to the shaft portion 4, if unintended contact between the shaft portion 4 and the living tissue in the abdominal cavity 22 occurs, Is detected by the pressure sensor 5, and the detection result is output from the output unit 6 by light, sound, or the like. Therefore, by using such grasping forceps 1, the operator of the laparoscopic surgery can grasp the image through the output from the output unit 6 using light, sound, or the like even if he or she keeps watching the monitor screen displaying the image by the laparoscope 32. It is possible to grasp that unintended contact between the shaft portion 4 of the forceps 1 and the living tissue in the abdominal cavity 22 has occurred. In other words, there is no danger that the attention to the affected area will be distracted or the burden on the operator of the laparoscopic surgery will not be excessive, so that it is possible to effectively prevent adverse effects on living tissue due to unintended contact. Become.

(Specific example of pressure detection by pressure sensor)
Here, pressure detection by the pressure sensor 5 in a state where the distal end portion 2 and the shaft portion 4 of the grasping forceps 1 are inserted into the abdominal cavity 22 will be described in further detail.

  When contact between the shaft 4 of the grasping forceps 1 and the living tissue occurs in the abdominal cavity 22, the pressure-sensitive member 12 constituting the pressure sensor 5 attached to the shaft 4 is pressed by the contact at the contact point. Deform. Then, the electric resistance of the pressure-sensitive member 12 changes according to the amount of deformation caused by receiving the pressure. Therefore, by energizing the linear electrode 11 and the annular electrode 13 and constantly monitoring the magnitude of the electrical resistance between them, the pressurization due to the contact with the living tissue and the pressurization The amount (the amount of change in electrical resistance) can be detected. The result detected in this manner is output from the output unit 6 as light, sound, or the like as a detection result of the pressure sensor 5. Thereby, the operator of the laparoscopic surgery can grasp that the contact between the shaft portion 4 and the living tissue has occurred.

That is, the operator of the laparoscopic surgery, even within the blind spot of the laparoscope 32, contacts the shaft portion 4 of the grasping forceps 1 and the living tissue within the abdominal cavity 22 to report the fact to the output unit 6 Can be grasped through the output from.
In addition, when the pressure sensor 5 is mounted not only in the blind spot of the laparoscope 32 but also in a range observable by the laparoscope 32, the grasping forceps in the abdominal cavity 22 over a wider range. The occurrence of contact between the first shaft portion 4 and the living tissue can be grasped. Specifically, even within the range that can be observed by the laparoscope 32, for example, a portion located on the opposite side to the projected side or a shadow portion is not always easily visible to a laparoscopic surgeon. Absent. If the pressure sensor 5 is attached to such a portion, the occurrence of contact with the living tissue can be grasped through the detection by the pressure sensor 5 and the output from the output unit 6, so that the laparoscope is used. It will be useful for the surgeon.

The output unit 6 that outputs the detection result of the pressure sensor 5 may be configured to output the magnitude of the pressure detected by the pressure sensor 5 in an identifiable manner. When the output unit 6 is configured in this manner, the operator of the laparoscopic surgery not only determines whether or not the contact with the living tissue has occurred, but also the strength of the contact, that is, the pressure applied to the pressure sensor 5 by the contact. The quantity can also be grasped. Therefore, in this case, the surgeon of the laparoscopic surgery adjusts (adjusts) the strength of the contact of the shaft portion 4 with the living tissue, or the strength of the contact is such that the living tissue is damaged. And so on.
This means that the operator of the laparoscopic surgery acquires information that cannot be known from only the video projected by the laparoscope 32. Therefore, it can be said that mounting the pressure sensor 5 in a range that can be observed by the laparoscope 32 is very useful.

  The detection result of the pressure sensor 5 (that is, the output content of the output unit 6) may be stored and retained as log information during laparoscopic surgery in synchronization with the video obtained by the laparoscope 32. In this manner, not only the inside of the abdominal cavity 22 that can be observed with the laparoscope 32 but also the presence or absence, strength, etc. of contact between the shaft portion 4 of the grasping forceps 1 and the living tissue in the abdominal cavity 22 Also, it is possible to perform the ex-post verification using the log information while associating these with each other.

(Application example of pressure detection)
In the above-described pressure detection example, the detection resolution of the pressure sensor 5 does not matter. That is, regardless of whether the detection resolution is subdivided or not, the pressure sensor 5 is pressurized if it is pressurized by contact with the living tissue at any point in the sensor plane, and , The amount of pressurization (the amount of change in electrical resistance) is detected.
However, if the pressure sensor 5 has a finely divided detection resolution, it is also conceivable to perform pressure detection in a mode as described below.

When the pressure sensor 5 is attached to the shaft portion 4 of the grasping forceps 1, the edge position of the pressure sensor 5 on the grip portion 3 side, for example, when inserted into the abdominal cavity 22 through the trocar 31, It is conceivable that the position does not cause interference.
However, for example, if the pressure sensor 5 has a detection resolution subdivided in a matrix and performs the following pressure detection control, the pressure sensor 5 is mounted over the range extending to the grip portion 3. However, interference with the trocar 31 can be avoided. Specifically, after the insertion into the abdominal cavity 22, a portion where a substantially constant amount of pressurization is constantly generated over the entire circumferential direction of the shaft portion 4 is a portion where interference with the trocar 31 occurs. It is considered that there is, and the detection result is excluded from the output target of the output unit 6. In other words, using the detection resolution that has been subdivided, a portion that is likely to be pressurized due to interference with the trocar 31 is distinguished from a portion that is pressurized by contact with the living tissue in the abdominal cavity 22. .

In addition, if the pressure sensor 5 has a detection resolution subdivided in the longitudinal direction of the shaft portion 4, the length of the living tissue that comes into contact can be obtained.
FIG. 4 is an explanatory diagram schematically showing one application example of pressure detection by the pressure sensor according to the present invention.
For example, as shown in FIG. 4A, when the shaft portion 4 comes into contact with the long living tissue 23, the pressure sensor 5 detects the length corresponding to the living tissue 23 (E in FIG. 4A). ), A plurality of pressure-sensitive parts are simultaneously pressed. On the other hand, as shown in FIG. 4B, when the shaft portion 4 comes into contact with the short living tissue 23, the length of the shaft portion 4 in contact with the living tissue 23 (see F in the drawing) is within the range. The pressure sensitive part is pressurized only at. Therefore, if the pressure sensor 5 has a detection resolution that is subdivided in the longitudinal direction of the shaft portion 4, the contact is made by detecting the range of the pressure sensitive portion that is simultaneously pressurized. The length of the living tissue 23 can be obtained.

In addition, if the pressure sensor 5 has a detection resolution subdivided in the circumferential direction of the shaft portion 4, it becomes possible to acquire the softness of the living tissue 23 in contact.
FIG. 5 is an explanatory diagram schematically showing another application example of the pressure detection by the pressure sensor according to the present invention.
For example, as shown in FIG. 5A, when the shaft portion 4 comes into contact with the hard living tissue 23, the living tissue 23 is hardly deformed. (See G in the figure), and the influence of the deformation tends to extend to a wide range in the circumferential direction, that is, to each pressure sensitive portion existing within a certain range (see H in the figure). On the other hand, as shown in FIG. 5B, when the shaft portion 4 comes into contact with the soft living tissue 23, the living tissue 23 is easily deformed. While the size is small (see I in the figure), the range affected by the deformation tends to be narrow (see J in the figure). Therefore, if the pressure sensor 5 has a detection resolution subdivided in the circumferential direction of the shaft portion 4, it is possible to detect the range of the pressure-sensitive portion that is simultaneously pressurized and to detect the pressure-sensitive portion. By detecting the amount of deformation of the part, the softness of the living tissue 23 that comes into contact can be acquired.

(5) Effects of the present embodiment According to the grasping forceps 1 and the pressure sensor 5 described in the present embodiment, the following effects can be obtained.

In the present embodiment, since the pressure sensor 5 is attached to the outer periphery of the shaft 4 of the grasping forceps 1, when the distal end 2 and the shaft 4 of the grasping forceps 1 are inserted into the abdominal cavity 22, the shaft 4 is When it comes into contact with a living tissue in the abdominal cavity, the pressure sensor 5 detects pressurization due to the contact. Therefore, even if an unintended contact occurs in the abdominal cavity, the result of detection by the pressure sensor 5 is transmitted so that the operator of the laparoscopic surgery (that is, the operator of the grasping forceps 1) can grasp the fact. Become. That is, since the operator (operator) can grasp unintended contact with the living tissue, it is possible to prevent the occurrence of contact that adversely affects the living tissue.
Moreover, according to the present embodiment, since the detection result by the pressure sensor 5 is used, even if the operator (operator) keeps watching the monitor screen 33 displaying the image by the laparoscope 32, This makes it possible for the operator (operator) to grasp the unexpected contact, and this is also effective in preventing adverse effects on the living tissue due to unintended contact.

  In addition, in the present embodiment, since the pressure sensor 5 is attached to at least a blind spot when viewed from the laparoscope 32, the pressure sensor 5 is located outside of the visible range and visible by the laparoscope 32, that is, the operator (operation). It is possible to effectively prevent unintended contact between the shaft portion 4 of the grasping forceps 1 and the living tissue 23 in the abdominal cavity 22 even in a place where the person or the like cannot visually recognize the appearance or situation. it can.

  Further, as described in the present embodiment, if the pressure sensor 5 is attached to a portion that does not become a blind spot when viewed from the laparoscope 32, it is possible to grasp occurrence of contact between the shaft portion 4 and the living tissue over a wider range. Become like Further, even in the range that can be observed by the laparoscope 32, by mounting the pressure sensor 5, it is possible to grasp information that cannot be obtained from only the image projected by the laparoscope 32. Therefore, it becomes very useful for the operator (operator).

  Further, in the present embodiment, the pressure sensor 5 includes a pressure sensitive section in which the electric resistance between the electrodes changes according to the amount of pressurization. Then, if a plurality of the pressure sensitive portions are provided along the longitudinal direction of the shaft portion 4, along the circumferential direction of the shaft portion 4, or along each of the longitudinal direction and the circumferential direction of the shaft portion 4. , The pressure sensor 5 has a finely divided detection resolution. If the pressure sensor 5 has a finely divided detection resolution, improvement in detection accuracy by the pressure sensor 5 can be expected. Further, the present invention can be applied to not only the detection of the occurrence of the contact with the living tissue but also the application example of the pressure detection described in the present embodiment.

  Further, in the present embodiment, the pressure sensor 5 includes the laminated body 10 in which at least the annular electrode 13, the pressure-sensitive member 12, and the linear electrode 11 are sequentially laminated, and the annular electrode 13 is located on the lower layer side. The linear electrode 11 is mounted on the shaft portion 4 in a state where it is located on the upper layer side. Such a stacking order is suitable for inserting and removing the shaft portion 4 into and from the abdominal cavity, and also facilitates mounting on the shaft portion 4 and further impairs sensor sensitivity and resolution. Absent.

  In the present embodiment, the pressure sensor 5 has the linear electrode 11 covered with the pressure-sensitive member 12. That is, the linear electrode 11 is inserted into the hollow hole of the pressure-sensitive member 12 formed in a tubular shape. Therefore, when assembling or mounting the pressure sensor 5, the linear electrode 11 extending along the longitudinal direction of the shaft portion 4 and the pressure-sensitive member 12 can be integrally handled, so that the assembling and mounting can be easily performed. Become like Further, when a plurality of linear electrodes 11 are arranged side by side, even if the linear electrodes 11 are long and thus have slackness or offset, an electrical short circuit between the adjacent linear electrodes 11 may occur. It does not happen. Therefore, it is very suitable for configuring the pressure sensor 5 having a structure in which the linear electrodes 11 extend along the longitudinal direction of the shaft portion 4.

  Further, in the present embodiment, the pressure sensor 5 is configured such that the laminated body 10 is sandwiched between the first film member 14 and the second film member 15, and between these, and between the adjacent linear electrodes 11. A spacer member 16 for suppressing the pressure of the laminate 10 is provided therebetween. As described above, if the laminate 10 is sandwiched between the first film member 14 and the second film member 15, the laminate 10 is protected in terms of waterproofness, insulation, chemical resistance, and the like, and thus the abdominal cavity This is suitable for use by being inserted into the inside 22. In addition, even when the laminate 10 is sandwiched between the first film member 14 and the second film member 15, erroneous detection of the pressure sensor 5 can be suppressed by installing the spacer member 16.

  Further, in the present embodiment, the elastic body forming the pressure-sensitive member 12 of the pressure sensor 5 is made of a pressure-sensitive conductive rubber whose electric resistance changes according to the amount of deformation generated by receiving pressure. Therefore, the pressure applied to the pressure sensor 5 can be detected with a very simple configuration of monitoring the magnitude of the electric resistance between the energized electrodes. Furthermore, since a very simple configuration is sufficient, it is preferable in realizing cost reduction of the pressure sensor 5.

  In the present embodiment, an output unit 6 that outputs the detection result is connected to the pressure sensor 5. Then, according to the present embodiment, the output unit 6 outputs the sensor detection result by a light display output, a sound output, a vibration output, or a combination thereof as appropriate. Therefore, the operator (operator) can grasp the sensor detection result even if he or she keeps watching the monitor screen displaying the image by the laparoscope 32.

  Furthermore, as described in the present embodiment, if the output unit 6 is configured to output the magnitude of the pressure detected by the pressure sensor 5 in an identifiable manner, the contact between the shaft unit 4 and the living tissue can be achieved. The operator (operator) can grasp not only the presence / absence of the occurrence, but also the strength of the contact, that is, the amount of pressure applied to the pressure sensor 5 by the contact. Therefore, for the operator (operator), for example, the strength of the contact of the shaft portion 4 with the living tissue is adjusted (adjusted), and whether or not the contact strength is the strength that damages the living tissue is determined. Can be determined.

(6) Modifications, etc. The technical scope of the present invention is not limited to the contents of the above-described embodiment, and various changes and improvements can be made within a range in which specific effects obtained by constituent features of the invention and combinations thereof can be derived. Also includes the form to which.

  In the above-described embodiment, the grasping forceps 1 has been described as a specific example of the forceps instrument. However, the forceps instrument according to the present invention is not limited to this. The present invention can be applied to other forceps instruments such as forceps, excision forceps, hemostats, needle holders, and the like.

  Also, in the above-described embodiment, the case where the operator holds the grasping forceps 1 in his hand has been described as an example, but the forceps instrument according to the present invention is not limited to this, and for example, a robotic surgical system may be used. It may be used. In this case, the shaft 4 is connected to the robot arm instead of the grip 3. That is, the forceps device according to the present invention only needs to be configured to include at least the distal end portion 2 and the shaft portion 4 connected to the distal end portion 2.

Further, in the above-described embodiment, a case in which laparoscopic surgery is performed has been described as an example, but the forceps device according to the present invention may be used for another surgery. In other words, the forceps device according to the present invention only needs to be used by being inserted into a “body cavity”, and the insertion destination is not limited to “abdominal cavity” or “thoracic cavity”.
Similarly, what is inserted into the body cavity together with the forceps instrument need not necessarily be the laparoscope 32, but may be another type of endoscope camera.

  Further, in the above-described embodiment, the case where the elastic body constituting the pressure-sensitive member 12 is made of a pressure-sensitive conductive rubber, and the pressure sensor 5 detects the pressure by utilizing the change in the electric resistance of the pressure-sensitive member 12 is described. However, the forceps device and the pressure sensor according to the present invention are not limited thereto. That is, the pressure sensor 5 is configured so that the electrical characteristics change in accordance with the amount of deformation caused by receiving the pressure, and performs pressure detection by using the change in the electrical characteristics. I just need. In the pressure sensor in which the “electrical characteristics” change, in addition to the one in which the electric resistance changes in the above-described embodiment, for example, a capacitance-type pressure sensor or a pressure sensor corresponding to the magnitude of the pressure is used. A piezoelectric element that generates a voltage is included.

Further, in the above-described embodiment, the case where the linear electrode 11 is covered with the tube-shaped pressure-sensitive member 12 has been described as an example, but the forceps device and the pressure sensor according to the present invention are not limited thereto. Never. That is, the pressure-sensitive member 12 is not formed in the shape of a tube and covers the linear electrode 11, but may simply be interposed between the linear electrode 11 and the annular electrode 13. . This is because the pressure sensor 5 can detect the pressure if at least the laminated body 10 in which the linear electrode 11, the pressure-sensitive member 12, and the annular electrode 13 are sequentially laminated is provided.
Furthermore, the stacking order of the stacked body 10 is not limited to the order of the above-described embodiment, and the pressure sensor 5 can detect the pressurization even in the reverse order.

  Further, in the above-described embodiment, the case where the spacer member 16 is provided between the adjacent linear electrodes 11 to thereby suppress erroneous detection of the pressure sensor 5 has been described as an example. 5 may be provided for sensitivity adjustment. As for the spacer members 16, in order to suppress erroneous detection of the pressure sensor 5, it is preferable to make the thickness and hardness of each spacer member 16 uniform and to make the sensor sensitivity uniform at any position. The sensitivity of the sensor can be adjusted by appropriately selecting the thickness, hardness, and the like of the spacer member 16. Specifically, the thickness, hardness, and the like of the spacer member 16 are changed in the longitudinal direction of the shaft portion 4, for example, to increase the sensor sensitivity in the vicinity of the distal end portion 2 where contact with a living tissue is likely to occur, and to increase the sensor sensitivity in the vicinity of the distal end portion where contact is unlikely. It is conceivable that the sensor sensitivity is changed in the longitudinal direction of the shaft portion 4 such that the sensor sensitivity is reduced at a position away from the position 2.

  Further, in the above-described embodiment, the output unit 6 that outputs the detection result of the pressure sensor 5 is provided separately from the monitor screen that displays the image by the laparoscope 32 and the main control device (computer device) that controls the monitor screen. However, the forceps device and the pressure sensor according to the present invention are not limited thereto. That is, the output unit 6 may be provided as a part of the above-described main control device or the like. In this case, for example, the detection result of the pressure sensor 5 is output to a part of the monitor screen together with the image by the laparoscope 32, so that the operator of the laparoscopic operation can be grasped. It becomes possible.

  DESCRIPTION OF SYMBOLS 1 ... grasping forceps (forceps instrument), 2 ... tip part, 4 ... shaft part, 5 ... pressure sensor, 6 ... output part, 10 ... laminated body, 11 ... linear electrode, 12 ... pressure sensitive member, 13 ... annular electrode , 14: first film member, 15: second film member, 16: spacer member, 22: abdominal cavity (body cavity), 32: laparoscope (endoscopic camera)

Claims (17)

A forceps device having at least a distal end and a shaft connected to the distal end, wherein the distal end and the shaft are used by being inserted into a body cavity,
A pressure sensor for detecting pressurization due to contact with a living tissue in the body cavity is attached to an outer periphery of the shaft portion,
The pressure sensor includes a pressure sensitive unit in which electrical characteristics between electrodes overlapping in a pressing direction by the contact change according to a pressing amount .
The pressure-sensitive portion is a pressure-sensitive member made of an annular electrode disposed in a ring shape along the circumferential direction of the shaft portion, and an elastic body whose electric characteristics change according to an amount of deformation generated by receiving pressure. And a linear electrode disposed linearly along the longitudinal direction of the shaft portion, and a forceps device formed of a laminated body that is sequentially laminated so as to overlap in the pressing direction .   2. The pressure sensor according to claim 1, wherein the pressure sensor is attached to at least a part that is inserted into the body cavity, and is a blind spot when viewed from an endoscope camera inserted into the body cavity together with the forceps device. 3. A forceps device as described.   The forceps device according to claim 2, wherein the pressure sensor is also mounted on a portion that does not form a blind spot when viewed from the endoscope camera.   4. The forceps device according to claim 1, wherein the pressure sensor is mounted at least in a region within a range of at least 2.0 cm from the distal end and within 12.0 cm. 5.   The forceps device according to any one of claims 1 to 4, wherein the pressure sensor includes a plurality of the pressure sensitive portions along a longitudinal direction of the shaft portion.   The forceps device according to any one of claims 1 to 4, wherein the pressure sensor includes a plurality of the pressure sensitive portions along a circumferential direction of the shaft portion.   The forceps device according to any one of claims 1 to 4, wherein the pressure sensor includes a plurality of the pressure sensitive portions along each of a longitudinal direction and a circumferential direction of the shaft portion. 8. The pressure sensor according to claim 1, wherein the annular electrode, the pressure-sensitive member, and the linear electrode are sequentially stacked on the shaft from the outer peripheral surface of the shaft. 7. The forceps device according to claim 1 or 2.   The forceps device according to any one of claims 1 to 8, wherein the linear electrode is covered with the pressure-sensitive member. The laminate is sandwiched between a first film member forming an inner peripheral surface of the pressure sensor and a second film member forming an outer peripheral surface of the pressure sensor,
A spacer member is provided between the first film member and the second film member to suppress the laminate from being pressed by deformation of at least one of the first film member and the second film member. The forceps device according to any one of claims 1 to 9, wherein the forceps device is used.   The forceps device according to claim 10, wherein the thickness of the spacer member is in a range of 0.5 times to 1.5 times the thickness of the laminate.   The forceps device according to claim 10, wherein the hardness of the spacer member is in a range of 0.5 times to 1.5 times the hardness of the pressure-sensitive member.   The forceps device according to any one of claims 10 to 12, wherein the spacer members are respectively provided between the adjacent linear electrodes.   The forceps device according to any one of claims 1 to 13, wherein the elastic body constituting the pressure-sensitive member is made of a pressure-sensitive conductive rubber whose electric resistance changes according to an amount of deformation generated by receiving a pressure. .   The forceps device according to any one of claims 1 to 14, wherein an output unit that outputs a detection result by the pressure sensor is connected to the pressure sensor.   The forceps device according to claim 15, wherein the output unit outputs the magnitude of the pressure detected by the pressure sensor in an identifiable manner. A tip portion and a shaft portion connected to the tip portion are configured to be freely attachable to the outer periphery of the shaft portion of the forceps instrument used by being inserted into the body cavity, and the inside of the body cavity in a state of being attached to the outer periphery of the shaft portion . A pressure sensor for detecting pressurization due to contact with living tissue,
An electric characteristic between the electrodes overlapping in a pressing direction by the contact includes a pressure sensitive portion that changes according to a pressing amount,
The pressure-sensitive portion is a pressure-sensitive member made of an annular electrode disposed in a ring shape along the circumferential direction of the shaft portion, and an elastic body whose electric characteristics change according to an amount of deformation generated by receiving pressure. And, a linear electrode arranged linearly along the longitudinal direction of the shaft portion, is formed by a laminate that is sequentially laminated so as to overlap in the pressing direction,
A pressure sensor configured to detect pressurization due to contact with a living tissue in the body cavity by changing electrical characteristics according to a pressurized amount in the pressure sensitive section.