JP6789723B2 - Position sensor for endoscope shape detection - Google Patents

Description

The present invention relates to an endoscope device that images an observation object such as an organ and performs treatment, and more particularly to a position sensor used for shape detection of an endoscope insertion portion.

In the endoscope device, a flexible endoscope insertion portion is inserted into the body to image an observation site such as a digestive organ, and treatment is performed as necessary. The shape of the lumen of the large intestine, small intestine, etc. is a complicated and winding shape, and it is difficult for the operator to grasp the shape of the insertion portion in the inserted state. Therefore, from the viewpoint of ensuring safety during operation, an endoscope operation support system that detects the shape of the endoscope insertion portion has been proposed.

There, a plurality of coils are arranged on the tip side of the endoscope insertion portion, and an external receiving antenna detects a magnetic field transmitted from the coils and calculates the coil position based on the detection signal. The shape of the tip of the endoscope insertion portion is estimated from this coil position, and the shape of the tip of the endoscope is displayed three-dimensionally on a dedicated monitor. It is also possible to provide a magnetic field generator on the outside and detect the magnetic field with a coil arranged on the tip side of the endoscope insertion portion.

In addition, a marker with a built-in coil (hereinafter referred to as a patient marker) is installed and fixed at a specific position on the body surface (for example, near the anus) via a sheet or the like. By calculating the patient marker position by the magnetism transmitted from the patient marker, the position of the tip of the endoscope in the body can be grasped with the patient marker position as a reference position (see Patent Document 1).

JP-A-2000-079129

When it is desired to detect the internal position of the tip of the endoscope in more detail, a position sensor with a built-in coil different from the patient marker is used. Auxiliary workers (caregivers) such as nurses carry the position sensor to the vicinity of a specific position on the body surface while holding the position sensor, and check the position of the position sensor with a dedicated monitor while moving to search. To do. The location where the position sensor is applied varies depending on the treatment content and the operation content, and the position sensor may be applied to a different location even during the operation, and the range of movement of the position sensor is wide.

Therefore, the signal cable that connects the position sensor and the endoscope shape detection device needs to have flexibility and flexibility. On the other hand, if the signal line in the signal cable is an ordinary electric wire, it affects the operation of the coil and the wrong position is calculated. To prevent this, an enamel wire with excellent insulation is placed in the signal cable. However, electric wires such as enamel wires are weak in strength, and there is a risk of disconnection when a work assistant moves the position sensor significantly.

Therefore, it is required to have strength to prevent disconnection when the position sensor is moved, and to accurately detect the position of the position sensor without the signal cable affecting the coil.

The position sensor of the present invention is a position sensor that can be connected to an endoscope shape detection device, and connects a rigid sensor body, a coil provided in the sensor body, and the coil and the endoscope shape detection device. A wire is provided, and the wire has a magnet wire connected to a coil and an insulated wire connected to the magnet wire, and the magnet wire and the insulated wire are connected in the sensor body. For example, a signal cable extending from the sensor body covers the insulated wire.

For example, the magnet wire is an enamel wire, and the insulated wire can be composed of a copper wire coated with an insulating material. Consists of a pair of enamel wires and a pair of copper wires, so that the connection position of one enamel wire and copper wire along the wire axis direction is different from the connection position of the other enamel wire and copper wire. Can be done. It is also possible to form a pair of enamel wires in a twisted pair shape. For example, an enamel wire is soldered to a copper wire. It is also possible to cover the connection portion between the enamel wire and the copper wire with a protective tube.

The endoscope shape detection device according to another aspect of the present invention is an endoscope shape detection device connected to a position sensor having a built-in coil, and is a cable connection connected to an insulated wire extending in a signal cable of the position sensor. It includes a port, a board having a circuit for inputting a signal from a coil, and a magnet wire for connecting the cable connection port and the board.

As described above, according to the present invention, the position sensor having a built-in coil can be freely moved during the operation of the endoscope.

It is a block diagram of the endoscope system which is this embodiment. It is a schematic cross-sectional view of a position sensor. It is a schematic block diagram which showed the connection part of an enamel wire and a copper wire enlarged.

Hereinafter, the endoscope system according to the present embodiment will be described with reference to the drawings.

FIG. 1 is a block diagram of the endoscope system according to the present embodiment.

The endoscopic system includes a videoscope 10 and a processor 30 whose insertion portion is inserted into the body, and the videoscope 10 is detachably connected to the processor 30. A monitor 80 for displaying an observation image is connected to the processor 30. Further, the endoscope system includes a magnetic field generator (FGU) 40 and an endoscope shape detection device (NCU) 50, and a dedicated monitor 90 for displaying the endoscope shape in three dimensions is connected to the NCU 50. There is.

The videoscope 10 includes an insertion portion 10I including a curved portion 10M and a tip portion (rigid portion) 10T, and the insertion portion 10I is inserted into the body by an operator such as a doctor. The light emitted from the light source (not shown) in the processor 30 passes through the light guide (not shown) in the videoscope 10 and irradiates the subject such as the inner wall of the organ.

The reflected light from the subject is imaged on the image sensor (not shown) in the tip portion 10T, and the subject image is formed on the image sensor. Pixel signals for one field / frame are transmitted to the processor 30 at predetermined time intervals, and image processing for the pixel signals is executed by an image processing circuit (not shown) inside the processor 30. By outputting the generated image signal to the monitor 80, the color observation image is displayed on the monitor 80.

When the operator inserts the insertion portion 10I into a specific organ (for example, the large intestine) for treatment, the operator operates the videoscope 10 while checking the shape of the insertion portion 10I (particularly the tip side portion 10K) using the NCU 50. Can be done. When the FGU 40 connected to the NCU 50 generates a magnetic field, a plurality of sensor coils (not shown) arranged at predetermined intervals in the insertion portion 10I including the insertion portion tip side portion 10K detect the magnetic field and pass through the processor 30. The current (signal) generated in the coil is transmitted to the NCU 50.

The NCU 50 calculates the position of each sensor coil based on the transmitted current signal, and detects the shape of the insertion portion tip side portion 10K. Then, the NCU 50 displays the three-dimensional image of the insertion unit 10I on the dedicated monitor 90 by the three-dimensional image processing.

When performing endoscopic shape detection, a plurality of patient markers 60 are used with the patient covered with a sheet (not shown) (only one is displayed in FIG. 1). The patient marker 60 with a built-in sensor coil is fixed at a specific position on the body surface via a sheet and is connected to the NCU 50. When the patient marker 60 detects the magnetic field, the NCU 50 detects the position of the patient marker 60 and indicates the position of the patient marker 60 on the dedicated monitor 90.

Further, when accurately grasping the internal position of the endoscope tip 10T in a complicatedly bent organ such as the large intestine, it is presumed that the work assistant holds the position sensor 70 and has the scope tip 10T. The position sensor 70 is moved so as to move to the vicinity of the body surface and search the surrounding area. The position sensor 70 detects the magnetic field, and the NCU 50 displays the position of the position sensor 70 on the dedicated monitor 90.

The position sensor 70 is connected to the NCU 50 through a signal cable 72, and the signal cable 72 has an appropriate length, flexibility, and flexibility so that the work assistant can carry the position sensor 70 to various parts of the patient. ing. On the other hand, the signal cable 72 has sufficient strength so as not to break when the position sensor 70 is moving. This will be described in detail below.

FIG. 2 is a schematic cross-sectional view of the position sensor.

The position sensor 70 has a configuration in which a signal cable 72 is connected to a rigid sensor main body 71, and a flexible portion 77 is continuously provided on the opposite side of the tip portion of the sensor main body 71. The sensor body 71 includes a grip portion 71A extending along the longitudinal direction and a tip portion 71B accommodating the coil 76, and a hollow portion 79 is formed inside the sensor body 71 along the axial direction thereof. There is. The work assistant moves and moves the position sensor 70 to a specific position of the patient while holding the grip portion 71A by his / her hand or a clipper (not shown).

The current generated in the coil 76 flows through the electric wire 73 extending from the coil 76 to the end of the signal cable 72. The electric wire 73 includes an enamel wire 73B connected to the coil 76 and a vinyl-coated electric wire 73A extending to the end of the signal cable 72, and a connecting portion 74 between the vinyl-coated electric wire 73A and the enamel wire 73B is provided in the sensor body 71. ing. The protective tube 75 is configured to cover the connecting portion 74.

The enamel wire 73B, which is a kind of magnet wire, is an enamel wire obtained by baking an insulating material such as polyurethane on the surface of a copper wire, and the vinyl-coated electric wire 73A is composed of a stranded copper wire coated with heat-resistant vinyl, for example. ..

The vinyl-coated electric wire 73A extends so as to cover the entire inside of the signal cable 72, and is connected to the connection port 50A of the endoscope shape detecting device 50. On the other hand, in the endoscope shape detection device 50, a substrate (not shown) equipped with an electronic circuit for calculating the marker and the sensor position based on the current signals sent from the patient marker 60 and the position sensor 70 is incorporated. It has been. The electric wire connecting the substrate and the connection port 50A is composed of an enamel wire (hereinafter, referred to as an in-device enamel wire) (hereinafter referred to as an enamel wire in the device) (not shown). That is, the vinyl-coated electric wire 73A and the enamel wire in the device are connected by the connection port 50A.

FIG. 3 is a schematic configuration diagram showing an enlarged connection portion between the enamel wire and the copper wire.

The enamel wire 73B is composed of a pair of enamel wires 73B1 and 73B2, and the vinyl-coated electric wire 73A is also composed of a pair of vinyl-coated electric wires 73A1 and 73A2 accordingly. The pair of enamel wires 73B1 and 73B2 are formed in a twisted pair shape, and extend in the longitudinal axis direction of the sensor body 71 in a twisted state while facing each other.

The enamel wire 73B and the vinyl-coated electric wire 73A are connected by soldering. More specifically, the enamel wire 73B1 is connected to the copper wire 79A1 by soldering with the insulating material of the vinyl-coated electric wire 73A1 removed, and the enamel wire 73B2 and the copper wire 79A2 of the vinyl-coated electric wire 73A2 are also soldered in the same manner. It is connected by soldering.

Regarding the connection position of the enamel wire 73B and the vinyl-coated electric wire 73A along the longitudinal axis direction, the connection position of the copper wire 79A1 of the enamel wire 73B1 and the vinyl-coated electric wire 73A1 is the copper wire of the enamel wire 73B2 and the vinyl-coated electric wire 73A2. The connection position of 79A2 is deviated from the electric wire axial direction, that is, along the longitudinal direction of the sensor body 71.

By shifting the connection position in the longitudinal direction of the sensor body 71 in this way, it is possible to prevent an electrical short circuit of the connection portion 74. The protective tube 75 is made of a resin material having high heat resistance, and covers both the insulating portions of the enamel wires 73B1 and 73B2 and the vinyl-coated electric wires 73A1 and 73A2. By covering the connecting portion 74 with the protective tube 75 in this way, the copper wires 79A1 and 79A2 are not exposed, so that noise can be prevented from being mixed into the copper wires. The protective tube 75 may be formed of a heat-shrinkable tube.

In this way, when the position sensor 70 is used by using the enamel wire 73B as the electric wire connected to the coil 76 and the vinyl-coated electric wire 73A as the electric wire from the inside of the sensor body 71 to the end of the signal cable 72. It is possible to prevent the disconnection of the wire.

That is, since the electric wire having a weak tensile strength does not extend from the signal cable 72 to the coil as a whole like the enamel wire 73B, even if the work assistant moves the position sensor 70 randomly or irregularly over a wide range, Since the vinyl-coated electric wire 73A has sufficient tensile strength, disconnection is prevented. Further, since the connection portion 74 between the enamel wire 73B and the vinyl-coated electric wire 73A is provided in the rigid sensor body 71, when the signal cable 72 is pulled or bent, the connection portion 74 is connected to the signal cable 72. The force is not directly affected. In particular, at the connecting portion 74, the pair of enamel wires are twisted so as to face each other, and the connection position between the pair of enamel wires and the pair of copper wires is shifted along the wire axial direction, so that the enamel wires are not easily broken.

On the other hand, the enamel wire 73B connected to the coil 76 is an electric wire used as a magnet wire for exchanging electric energy and magnetic energy, and does not affect the operation of the coil 76. Further, the influence of the vinyl-coated electric wire 73A on the coil 76 is slight, and the accurate position of the position sensor 70 is calculated by obtaining the increase or decrease of the current value due to the resistance as a correction value in advance.

Further, in the NCU 50, the vinyl-coated electric wire 73A and the enamel wire in the apparatus are connected by the connection port 50A. As a result, it is possible to prevent noise from being generated on the electric wire on the in-device substrate and to obtain an accurate position of the position sensor 70.

As described above, according to the present embodiment, in the position sensor 70 in which the coil 76 is built in the rigid sensor main body 71, the magnetic field is detected through the enamel wire 73B connected to the coil 76 and the electric wire 73 composed of the vinyl-coated electric wire 73A. The current signal generated in the coil 76 is sent to the NCU (endoscope shape detection device) 50. The connection portion 74 between the enamel wire 73B and the vinyl-coated electric wire 73A is provided in the sensor main body 71.

A magnet wire other than the enamel wire may be used, or an insulated wire whose copper wire is coated with an insulating resin other than the vinyl-coated wire may be used. Further, a magnetic field may be generated from a coil in the position sensor, and the magnetic field may be detected by an external receiving antenna. Further, the electric wire can be similarly configured for the patient marker, and can be configured as one of the position sensors.

10 Videoscope 30 Processor 50 Endoscope shape detector (NCU)
70 Position sensor 71 Sensor body 72 Signal cable 73 Electric wire 73A Vinyl-coated electric wire (insulated electric wire)
73B enamel wire (magnet wire)
74 Connection part 76 Coil 79A1 Copper wire 79A2 Copper wire

Claims (7)

A position sensor that can be connected to an endoscope shape detection device and can detect the position of the tip of the endoscope from the surface side of the patient's body .
Rigid sensor body and
The coil provided in the sensor body and
An electric wire for connecting the coil and the endoscope shape detecting device is provided.
The electric wire has a magnet wire connected to the coil and an insulated electric wire connected to the magnet wire.
A position sensor characterized in that the magnet wire and the insulated electric wire are connected in a space formed in the sensor main body. The position sensor according to claim 1, wherein the magnet wire has an enamel wire and the insulated wire has a copper wire. The enamel wire is a pair of enamel wires, and the copper wire is a pair of copper wires.
The position sensor according to claim 2, wherein the connection position of one enamel wire and the copper wire along the electric wire axial direction is different from the connection position of the other enamel wire and the copper wire. The position sensor according to claim 3, wherein the pair of enamel wires are formed in a twisted pair shape. The position sensor according to any one of claims 2 to 4, wherein the enamel wire is soldered to the copper wire. The position sensor according to any one of claims 2 to 5, wherein the connecting portion between the enamel wire and the copper wire is covered with a protective tube. The position sensor according to any one of claims 1 to 6, wherein the signal cable extending from the sensor body covers the insulated electric wire.

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