JPH0386141A - Deflection operating device for tubular insertion tool - Google Patents

Abstract

PURPOSE:To accelerate flexing speed by arranging a first deflection operating member consisting of a shape memory material and flex-operated based on shape change due to temperature change at a flex part, and providing a second deflection operating member with transformation temperature different from that of the first deflection operating member and in which the same shape is stored in the neighborhood of the first deflection operating member side by side. CONSTITUTION:When the deflection operation of the flex part 23 of a catheter 1 is performed, a deflection operating wire 26 with high transformation temperature out of two deflection operating wires 26 in which the same shape are stored is energized and heated first, and the catheter 1 is flexed in targeted flex shape with the deflection operating wire 26. Next, energizing and heating on the deflection operating wire 26 are stopped at a state where the flex part 23 is flexed in the targeted flex shape, and the deflection operating member 27 is energized and heated, and the flex part 23 is held at the targeted flex shape with the deflection operating wire 27 with low transformation temperature. In such a way, a developmental heating value from the flex part 23 can be suppressed at a low level even when the flex shape is maintained for a long time, and an adverse effect on a human body can be reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a bending device for a tubular insertion tool used by being inserted into a living body cavity, such as a catheter, an endoscope, a laser probe, or the like.

[Prior Art] In general, many insertion tools such as medical catheters and endoscopes are provided with a bending device that bends the distal end of the insertion portion. As an example of this type of bending device,
Publication No. 9-97115 discloses that a coil-shaped elastic drive member made of a shape memory alloy and compressed to memorize the elongated state is provided at the distal end of the insertion portion of an insertion tool such as an endoscope, A bending mechanism is shown that bends the distal end of an insertion section of an insertion tool such as an endoscope as the sex drive member returns to its shape.

Furthermore, Japanese Utility Model Application Publication No. 1-95901 discloses that the tip of the pushing part of a pushing tool such as an endoscope is made of a shape memory alloy.
A pair of wires is provided extending in the axial direction of the insertion portion, one wire is given superelasticity, and the other wire is made to have a curved shape such as an inverted J shape by heat treatment, etc.
A bending mechanism is shown in which these wires are covered with a thermally insulating tightly coiled spring. In this case, at room temperature, the shape memory wire is held in a straight shape by the superelastic force of the superelastic wire and the elastic force of the close contact coil spring for thermal insulation, and the tip of the insertion section is held in a straight shape. In addition, by heating both wires with electricity, the shape memory wire is automatically deformed into a pre-stored curved shape, and the distal end of the insertion section is bent in the direction of deformation of the shape memory wire. There is.

[Problem to be solved by the invention] Japanese Patent Application Laid-Open No. 59-97115 and Japanese Utility Model Application No. 1-95901
In the bending mechanism using a shape memory alloy as in the publication, the deformation speed of the shape memory alloy parts such as the elastic drive member and the shape memory wire is relatively slow during the operation of the bending mechanism, so there is a problem that the bending speed is slow. there were.

Generally, when the transformation temperature of a shape memory alloy part is set high, the temperature difference between the transformation temperature of the shape memory alloy part and body temperature increases, which improves cooling efficiency, increases response speed, and improves shape memory. The deformation speed of alloy parts can be increased.

However, in this case, when the curved shape of the bending mechanism is maintained for a long time, the amount of heat generated from the shape memory alloy component increases, which may have an adverse effect on the human body. Therefore, the transformation temperature of shape memory alloy parts is usually set low to suppress the amount of heat generated from shape memory alloy parts, which slows down the deformation rate of shape memory alloy parts and slows down the bending speed. That was the actual situation.

This invention was made in view of the above circumstances, and an object of the present invention is to provide a bending operation device for a tubular insertion tool that can increase the bending speed of the bending mechanism and reduce the adverse effects on the human body. It is something to do.

[Means for Solving the Problems] The present invention includes a first bending operation member that is made of a shape memory material and that bends the bending portion in one direction as the shape changes due to temperature changes. A second bending operation member having a different transformation temperature from the first bending operation member and having the same shape as the first bending operation member is arranged in parallel at a position near the first bending operation member in the curved portion. It is something.

[Function] During the bending operation of the bending section, among the first and second bending operation members that have the same shape memorized, one of the bending operation members having a higher transformation temperature is first heated with electricity, and this bending operation member achieves the target. When the curved part is curved into the target curved shape, the bending operation member that is heated by electricity is switched to the other one, and the other bending operation member, which has a lower transformation temperature, bends the curved part to the target curved shape. By maintaining the curved shape, the bending speed of the bending mechanism is increased and the adverse effects on the human body are reduced.

[Example] A first example of the present invention will be described below with reference to FIGS. 1 and 2.

Figure 1 is a medical catheter (tubular insertion device) shown in Figure 2.
1 shows a schematic configuration of the main parts of 1.

The main body 1a of the catheter 1 is formed of a substantially circular tube (Marmelumen tube).

Moreover, in FIG. 2, 2 is an insertion portion of this catheter 1. A balloon 3 formed of a bag-shaped elastic body is attached to the outer circumferential surface of the distal end of the insertion portion 2. As shown in FIG.

Further, a proximal end portion 4 is provided at the proximal end portion of the insertion portion 2 . A tube 5 is provided on the outer peripheral surface of this proximal end 4.
A connecting end 6 of a cable 7 and a connecting end 8 of a cable 7 to be described later are provided, respectively.

One end of this tube 5 is connected to the balloon 3. Furthermore, a syringe 9 is provided at the proximal end of the tube 5 for supplying a fluid such as physiological saline into the balloon 3.
are removably connected.

Further, an endoscope insertion port 10 is provided on the end surface of the proximal end portion 4 . An insertion portion 12 of a blood vessel endoscope 11 formed by, for example, an electronic endoscope is inserted into the tube of the catheter main body 1a through the endoscope insertion port 10. The insertion section 12 of this blood vessel endoscope 11 is formed by connecting a distal end component 14 to the distal end of a flexible tube 13.

Furthermore, a proximal operation section 15 on the proximal end side of the insertion section 12
are connected to each end of the universal cord 16,17. The other end of one universal cord 16 is connected to one light source device via a connector 18, and the other end of the other universal cord 17 is connected to a television camera unit 21 via a connector 20. A television monitor 22 is connected to this television camera unit 21.

On the other hand, a curved section 23 is provided at the distal end of the insertion section 2 in the catheter main body 1a. This curved portion 23 is the first
It is configured as shown in the figure.

That is, two pairs of bending operation wire attachment holes 24a are provided at positions of 180'' along the circumferential direction on the distal end surface of the tube wall of the insertion section 2.
, 24b, 25a, and 25b are provided, respectively.

These bending operation wire attachment holes 24a, 24b, 25a
, 25b extend along the axial direction, and one pair of bending operation wire mounting holes 24a, 25b are provided on the inner side of the tube wall.
24b.

the other pair of bending operation wire attachment holes 25a on the outside side;
25b are arranged respectively. Furthermore, a pair of bending operation wire mounting holes 24a on the inside side.

24b has a first bending operation wire (first bending operation member) 26 and a pair of outer bending operation wire mounting holes 25a, 2.
5b has a second bending operation wire (second bending operation member)
27 are inserted respectively.

In this case, the first and second bending operation wires 26,27
is made of a shape memory material such as a linear shape memory alloy with a bidirectional shape memory effect. The first and second bending operation wires 26 and 27 are wire rods whose lengths shrink when heated, and are formed into an elongated shape.

That is, these bending operation wires 26, 27 have a length dimension. The first memory shape (initial wire shape) on the high temperature side of
and a second memory shape (forced extension wire shape) on the low temperature side with length dimension (Lt ml, o 1ΔL) are stored. In this case, the shape memory alloy of the bending operation wires 26 and 27 is subjected to shape memory processing on the high temperature side in the first memory shape on the high temperature side, and then forcibly expanded to an elongated shape at room temperature, for example, about body temperature, and then on the low temperature side. Shape memory processing of the second memory shape is being performed. Then, in a state where the bending operation wires 26, 27 that have been subjected to shape memory processing in two directions are held in the second memorized shape, each bending operation wire 26, 27 is heated at a transformation temperature of, for example, about 60 to 90°C. By heating it, it is deformed (restored) to the first memorized shape (heat-shrinkable wire shape) on the high temperature side of the length dimension Lo. Here, the same shape is stored for the inner first bending operation wire 26 and the outer second bending operation wire 27,
A state in which the transformation temperatures of the two are different (for example, the transformation temperature of the first bending operation wire 26 is the outer second bending operation wire 2).
7).

Further, the first and second bending operation wires 26 and 27 are folded back from a substantially central portion to form folded wire constituent portions 26a, 26b, and 27a on both sides thereof.

27b is the reattachment hole 24a, 24b, 25a.

25b, respectively. The center folded portions 26c and 27c of these ff1l and the second bending operation wire 26, 27 are fixed at the distal end surface of the tube wall of the insertion section 2, and the first and second bending operation wires 26, 27 are fixed.
Front end fixing portions 28 and 29 are respectively formed. Further, one end of each of the lead wires 30a, 30b, 31a, 31b for electrical conduction is connected to the distal ends of the folded wire constituent portions 26a, 26b, 27a, 27b of each of the bending operation wires 26, 27. A ring-shaped caulking member 32 is used for this connection.

That is, within the ring of the caulking member 32, there are folded wire constituent parts 26 a , 26 b % 27 a *2
7b and lead wires 30a, 30b.

31a and 31b are respectively inserted and overlapped, and in this state, each mounting hole 24a
, 24b, 25a, and 25b are crushed and caulked. In this state, each tip of the folded wire component parts 26a, 26b, 27a, 27b of the first and second bending operation wires 26.27 and each end of the lead wires 30a, 30b, 31a, 31b There is an electrical connection between them. Furthermore, the folded wire constituent portions 26 a , 26 b s 27 a of the first and second bending operation wires 26 , 27 are crushed by the crimping member 32 .

Each tip of 27b has each mounting hole 248.24b% 25a,
Both end fixing portions 33.34 of the first and second bending operation wires 26.27 are firmly fixed to the inner wall surface of the wire 25b.

A cap 35 is attached to the distal end surface of the insertion portion 2, and the front end fixing portions 28.29 of the first and second bending operation wires 26.27 are covered with the cap 35.

Further, an energization amount control section 36 is connected to the catheter main body 1a via the cable 7. The energization amount control unit 36 includes a first energization amount controller 36 that controls energization to the first and second bending operation wires 26 and 27 disposed on one side of the insertion section 2.
, and a second controller 36b that controls energization of the first and second bending operation wires 26 and 27 disposed on the other side of the insertion section 2. The first controller 36a includes a power source 37.
A switch 38 connected to a switch 38, a first variable resistor 39 connected to a lead wire 30b, and a second variable resistor 40 connected to a lead wire 31b are provided. In this case, the switch 38 connects the power supply 37 and the first . A neutral position where the connection between the second variable resistor 39 and 40 is maintained in a disconnected state, a first switching position where the power supply 37 and the three first variable resistors are connected, and a first switching position where the power supply 37 and the second variable resistor are connected. The switching operation is performed to either one of the second switching positions for connecting between the resistor 40 and the resistor 40 . Note that the other ends of the lead wires 3Qa and 31a are grounded. Furthermore, the second controller 36b
has substantially the same configuration as the first controller 36a, so its explanation will be omitted here.

Further, an operating section 42 is connected to the energization amount control section 36 via a cable 41. This operation section 42 is formed by a joystick 43, for example. The joystick 43 is operable to move from the neutral position to each movement position on both sides of the neutral position, and is normally held at the neutral position. Then, depending on the operation of the joystick 43, that is, the moving direction and amount of movement of the joystick 43 from the neutral position, Each switch 38 and variable resistor 39.40 of the second controllers 36a, 36b are switched as appropriate, and the bending direction of the bending portion 23 of the catheter body 1a is adjusted in accordance with the moving direction and amount of movement of the joystick 43. And the amount of curvature can be controlled arbitrarily.

Next, the operation of the above configuration will be explained.

First, the joystick 43 of the catheter 1 is normally held at a neutral position. In this state, the switches 38 of the controllers 36a and 36b of the TJS amount control unit 36 are held in the off state, so the two pairs of four bending controls attached to both sides of the bending part 23 of the insertion part 2 Wire 26.
On 27.26.27, it is maintained in a non-energized state.

Therefore, each of the bending operation wires 26, 27, 26, 27 is held in the second memory shape on the low temperature side of the length dimension Ll, so that the bending part 23 of the insertion part 2 is an uncurved, substantially linear normal shape. The shape is maintained as follows.

In addition, when using the angioscope 11, as shown in FIG.
It is inserted within 8. In this case, the balloon 3 is used to fix the insertion section 2 within the blood vessel 44.

When the balloon 3 is used, a syringe 9 is connected to the proximal end of the tube 5, and a fluid such as physiological saline is supplied from the syringe 9 through the tube 5 into the bag of the balloon 3. Therefore, the balloon 3 is inflated by the supply of this fluid, and the inflated balloon 3 is pressed against the inner wall surface of the blood vessel 44, so that the insertion portion 2 of the catheter 1 is fixed at a predetermined position within the blood vessel 44 in this state.

Then, in this state, the insertion portion 12 of the vascular endoscope 11 is inserted from the endoscope insertion port 10 of the catheter 1 into the tube of the catheter main body 1a.

In addition, when directing the distal end portion 14 of the angioscope 11 toward a desired direction such as a thrombus portion 45 in the blood vessel 44, the catheter 1
The bending portion 23 is operated to bend.

A joystick 43 is used when bending the bending portion 23 of the catheter 1. In this case, the joystick 43 is operated to move from the neutral position by an arbitrary movement amount in both movement operation directions. The switch 38 of each controller 36a, 36b and the variable resistor 3
9.40 is switched as appropriate. That is, by operating the joystick 43, the controller in the moving operation direction, for example, the switch 38 of the controller 36a, is first switched to the first switching position connecting the power source 37 and the first variable resistor 39, and then controller 3 according to the amount of movement of the joystick 43 at the time.
The first variable resistor 39 of 6a is moved to a predetermined position. With this operation, the first variable resistor 3
The first bending operation wire 26 connected to the first bending operation wire 26 is electrically heated.

Furthermore, the first bending operation wire 26 heated by electricity is deformed into a first memorized shape on the high temperature side with a length dimension Lo, for example,
The length of the bending operation wire 26 of 'W51 is contracted.

In this case, the remaining three bending operation wires (the second bending operation wire 27 on one side of the insertion section 12 and the second bending operation wire 27 on one side of the insertion section 12
First and second bending operation wires 26.2 on the other side
7) is held in a state where it is not heated by electricity, and each of these bending operation wires is held in the second memorized shape on the low temperature side of length L1. Therefore, in this state, the bending part 23 of the insertion section 2 is moved by the bending operation wire 26 which contracts, so that the front fixed end part 28 of the bending operation wire 26 is connected to the fixed part 3 on the rear end side.
3.33, and the front end side of this bending portion 23 is bent toward the side of the bending operation wire 26 that contracts. In this case, the amount of bending of the bending portion 23 is appropriately set according to the amount of movement of the joystick 43, that is, the amount of movement operation of the three variable resistors of the first controller 36g, and the deformable range (length It can be arbitrarily set within the range between the second memory shape on the low temperature side of dimension Ll and the first memory shape on the high temperature side of length dimension Lo.

Further, when the bending portion 23 is bent to the target bending angle by the first bending operation wire 26 on one side of the insertion portion 12, the switch 38 of the first controller 36a is turned on.
A second resistor connected between lX37 and the second variable resistor 40
At the same time, the second variable resistor 40 is moved by the same amount as the first variable resistor 39.

With this operation, the second bending operation wire 27 connected to the second variable resistor 40 is heated by electricity, so that the second bending operation wire 27 causes the bending portion 23 to
is held in a curved state to the target curve angle. In this case, as the switch 38 of the first controller 36a is switched, the heating of the first bending operation wire 26 is stopped, so in this state the temperature of the first bending operation wire 26 decreases and it contracts. Condition of bending operation wire 2
6 returns to the second memory shape on the low temperature side of length Ll.

Moreover, when the joystick 43 is returned to the neutral position,
The second variable resistor 40 of the first controller 36a is returned to the predetermined return position, the switch 38 is returned to the neutral position, and the second bending operation wire connected to the second variable resistor 40 is returned to the neutral position. The electrical heating to 27 is stopped. Therefore, in this state, the temperature of the bending operation wire 27 decreases, and the bending operation wire 27 in the contracted state has a length dimension L1.
As the bending operation wire 27 in the contracted state returns to its second memorized shape on the low temperature side, the insertion portion 2
The curved portion 23 is returned to its normal, uncurved, substantially linear shape.

Note that when the joystick 34 is operated to move from the neutral position in the opposite direction to the operation direction, the first and second bending operation wires 26 and 27 on the opposite side from the previous operation are sequentially energized and heated by the same action. Therefore, in this case, the bending portion 23 is bent in the opposite direction to the bending direction of the bending portion 23 due to the previous operation.

Therefore, in the case of the above structure, when bending the bending portion 23 of the catheter 1, the first bending operation wire 26 and the second bending operation wire 26, which have the same shape memorized, have a higher transformation temperature. Since the operating wire 26 is first electrically heated and bent to the target curved shape by the bending operating wire 26, the bending speed of the bending portion 23 can be increased. Further, in a state where the bending portion 23 is curved into the target curved shape, the first bending operation wire 26 is energized and heated, and the second bending operation wire 27 is energized and heated to lower the transformation temperature. Since the curved portion 23 is held in the target curved shape by the second bending operation wire 27, the amount of heat generated from the curved portion 23 can be kept low even when the curved shape is maintained for a long time. ,
Adverse effects on the human body can be reduced.

Further, FIGS. 3 and 4 show a second embodiment of the present invention.

This replaces the first and second bending operation wires 26, 27 of the first embodiment with rod-shaped first and second bending operation rods 51.27 having different transformation temperatures and memorizing the same shape.
52 is provided. In this case, the first and second bending change rods 51 and 52 have a first memory shape (initial rod shape) on the high temperature side of the curved shape shown by the dotted line in FIG. A second memory shape (forced extension rod shape) on the low temperature side of the substantially linear shape shown in FIG.

Note that these first and second bending operation rods 51.
The tip of 52 is connected to a common ground wire 53.

Further, the first bending operation rod 51 and the second bending operation rod 52 are stored in a state in which the same shape is stored and their transformation temperatures are different (for example, the transformation temperature of the first bending operation rod 51 is different from that of the second bending operation rod 52). (a state higher than the transformation temperature of the operating rod 52).

Therefore, in the above structure, when the bending portion 23 of the catheter 1 is bent, the first bending rod 51 and the second bending rod 51 and 52, which have the same shape memorized, have a higher transformation temperature. Since the operating rod 51 is first electrically heated and bent to a target curved shape by the bending operating rod 51, the bending speed of the bending portion 23 can be increased. Furthermore, in a state where the bending portion 23 is curved into the target curved shape, the first bending operation rod 51 is stopped from being energized and heated, and the second bending operation rod 52 is heated by the current and the second bending operation rod 52 is heated to have a lower transformation temperature. Since the bending portion 23 is held in the target curved shape by the bending operation rod 52, the amount of heat generated from the bending portion 23 can be suppressed to a low level even when the curved shape is maintained for a long time, and the human body It is possible to reduce the negative impact on

Furthermore, FIG. 5 shows a third embodiment of the present invention.

This includes a first insertion hole 54 for inserting the angioscope 11,
The present invention is applied to a catheter 57 provided with a second insertion hole 56 for inserting a laser probe 55. That is, the distal end of this catheter 57 is provided with a curved section 58 having the same configuration as the curved section 23 of the catheter 1 of the first embodiment. Similarly to the first embodiment, the bending direction and the amount of bending of this bending portion 58 can be arbitrarily controlled in a state corresponding to the moving direction and amount of movement of the joystick 43.

Therefore, in this case as well, the same effects as in the first embodiment can be obtained.

Further, FIG. 6 shows a fourth embodiment of the present invention.

This invention is applied to a blood vessel endoscope 61. That is, a curved section 63 having the same configuration as the curved section 23 of the catheter 1 of the first embodiment is provided at the distal end of the insertion section 62 of this blood vessel endoscope 61. In addition, an operating section 64 disposed at the proximal end of the insertion section 62 of this blood vessel endoscope 61
One end of each of universal cords 65 and 66 is connected to. The other end of one universal cord 65 is connected to a light source device 68 via a connector 67, and the other end of the other universal cord 66 is connected to a television camera unit 70 via a connector 69. A television monitor 71 is connected to this television camera unit 70. Furthermore, the light source device 68 includes a cable 72.
An energization amount control section 73 is connected via the energization amount control section 73. An operation section 75 formed by, for example, a joystick 74 is connected to this energization amount control section 73. In this case as well, the bending direction and the amount of curvature of the curved portion 63 at the tip of the insertion portion 62 can be arbitrarily manipulated in a manner corresponding to the movement direction and amount of movement of the joystick 74, as in the first embodiment. ing.

Therefore, in this case as well, since the distal end of the insertion portion 62 is provided with a curved portion 63 having the same configuration as the curved portion 23 of the catheter 1 of the first embodiment, the same effect as that of the first embodiment can be obtained. be able to.

Further, FIG. 7 shows a fifth embodiment of the present invention.

This is an application of the present invention to a laser probe 81. That is, the tip of this laser probe 81 is provided with a curved section 82 having the same configuration as the curved section 23 of the catheter 1 of the first embodiment. Further, the base end of the laser probe 81 is connected to a laser device 83 such as a YAG laser or a CO2 laser. Further, a power supply amount control section 85 is connected to the base end of the laser probe 81 via a cable 84. This energization amount control section 8
An operating section 87 formed by, for example, a joystick 86 is connected to 5 . In this case as well, the bending direction and the amount of curvature of the curved portion 82 at the tip of the laser probe 81 can be arbitrarily manipulated in a manner corresponding to the moving direction and amount of movement of the joystick 86, as in the first embodiment. It has become.

Therefore, in this case as well, since the tip of the laser probe 81 is provided with a curved portion 82 having the same configuration as the curved portion 23 of the catheter 1 of the first embodiment, the same effect as that of the first embodiment can be obtained. be able to.

It should be noted that this invention is not limited to the above embodiments, and it goes without saying that various modifications can be made without departing from the spirit of the invention.

[Effects of the Invention] According to the present invention, a first bending operation member made of a shape memory material and configured to bend the bending portion in one direction as the shape changes due to temperature change is disposed in the bending portion, and the first bending operation member is A second bending operation member having a different transformation temperature from the bending operation member and having the same shape as the first bending operation member is arranged in parallel at a position near the first bending operation member in the bending part. The bending speed of the bending mechanism can be increased, and the adverse effects on the human body can be reduced.

[Brief explanation of drawings]

1 and 2 show a first embodiment of the present invention. FIG. 1 is a schematic diagram of the entire device, FIG. 2 is a schematic diagram of the entire device in use, and FIGS. FIG. 4 shows a second embodiment of the present invention, FIG. 3 is a schematic diagram of the entire device, FIG. 4 is a plan view showing a deformed state of the bending operation rod, and FIG. FIG. 6 is an overall schematic diagram showing the fourth embodiment of the invention; FIG. 7 is an overall schematic diagram showing the fifth embodiment of the invention. FIG. 1.42.53...Medical catheter (tubular insertion device)
, 23.58.63.82... curved part, 26...
First bending operation wire (first bending operation member), 27.
...Second bending operation wire (second bending operation member), 5
1...First bending operation rod (first bending operation member)
, 52... second bending operation rod (first bending operation member), 61... angioscope (tubular pushing tool), 81...
・Laser probe (tubular insertion tool).

Claims (1)

[Claims] A bending operation device for a tubular insertion device that bends a bending portion provided on the distal end side of a flexible tubular insertion device, which is made of a shape memory material and bends the bending portion in one direction as the shape changes due to temperature changes. A first bending operation member for performing a bending operation is disposed in the bending portion, and a second bending operation member having a different transformation temperature from the first bending operation member and having the same shape as the first bending operation member is memorized. A bending operation device for a tubular insertion tool, characterized in that a bending operation member is arranged in the vicinity of the first bending operation member in the bending portion.