JPH04129695A - Curvature operation device - Google Patents

Abstract

PURPOSE:To obtain a desired curvature angle easily, by varying and controlling the electrifying quantity of an electrifying means which bends a curvature part selectively based on the output of an operation speed detecting means, with the electrifying to a heat sensing deformation member provided at the curvature part of a pipe like insert, based on the signal transmitted from a variable adjustor. CONSTITUTION:A curvature 6 of a pipe like insert 1 is bent in an optional direction and at the specified speed, by selectively varying and controlling the electrifying quantity of electrifying means 34X, 34Y, with the operation speed of a variable adjustor being detected by an operation speed detecting means 32 and in accordance with the output of this operation speed detecting means 32. This curvature operation device 2 makes the bending speed of the curvature 6 variable and also reaches the specified curvature angle, by making the operation speed of the variable adjustor variable. Namely the curvature of the pipe like insert is bent at the curvature speed corresponding to this selectrifying pattern, with this curvature operation device 2 setting in advance plural electrifying patterns to the heat sensing deformation member corresponding to the operation speed of the variable adjustor.

Description

Detailed Description of the Invention [Industrial Field of Application] The present invention selectively varies and controls the amount of electricity applied to a heat-sensitive deformable member disposed in a curved portion of a tubular insertion tool to transform the curved portion. This invention relates to a bending operation device for bending.

[Prior Art and Problems to be Solved by the Invention] In recent years, a long and narrow insertion section has been inserted into a body cavity to observe the inside of the body cavity, and treatment tools have been used to perform treatment as necessary. Alternatively, catheters or endoscopes that allow the insertion portion to be inserted into a lumen to observe the inside of the lumen are widely used.

The site to be observed inside a body cavity or lumen is rarely located in the straight direction of the insertion section, so when performing observation, etc., it is necessary to bend the curved section provided at the distal end of the insertion section. By doing so, the tip portion is directed toward the region to be observed.

As a means for curving this curved portion, for example,
Japanese Patent Publication No. 101601 discloses a technique in which a shape memory alloy is disposed in a curved portion, and the shape memory alloy is deformed by heating with electricity, thereby making it possible to curve the curved portion. Also, in Utility Model Application Publication No. 59-2344,
As a method of electrical heating, the amount of power supplied to the shape memory alloy can be adjusted by controlling the pulse width of the electric power (pulse width modulation method), or by adjusting it with a variable resistor.
A device is disclosed in which the bending angle of the bending portion can be varied.

However, in the above-mentioned method, the operator manually adjusts the amount of power supplied to the shape memory alloy in order to obtain the target bending angle. Therefore, unlike automatic control, delicate adjustments are required. Therefore, in order to obtain a predetermined bending angle, the operation becomes complicated and takes time.

Furthermore, when using the device, the operator needs to vary the bending speed depending on the usage situation and purpose, even when the device is bent at a certain bending angle. For example, when bending inside a narrow lumen or a tube wall that is easily torn, it is necessary to slow the bending speed. The same applies when it is desired to carefully and slowly observe a site to be observed. On the contrary, if the target region is known in advance, it is necessary to quickly curve the curved portion to the target region. Moreover, the operator must perform various operations at the same time, such as holding the tubular insertion tool by hand and operating a lever for bending the insertion tool.

Therefore, the bending speed must be easily variable.

The present invention has been made in view of these circumstances, and is useful when curving inside a narrow lumen or a tube wall that is easily torn, or when it is necessary to quickly bend a curved portion to a target area. It is an object of the present invention to provide a bending device that can reach a desired predetermined bending angle with simple operation and at an appropriate bending speed depending on the usage situation and purpose.

[Means and effects for solving the problem] A bending operation device according to the present invention includes: a variable adjuster that outputs a signal corresponding to a bending angle of a bending portion provided in an insertion portion of a tubular insertion tool; energizing means for energizing a heat-sensitive deformable member provided in a curved portion of the tubular insertion device to curve the curved portion based on the signal; and a working speed detection device for detecting the operating speed of the variable adjuster. and a control means for selectively varying and controlling the amount of energization of the energization means based on the output of the operation speed detection means.

With this configuration, the operation speed of the variable regulator is detected by the operation speed detection means, and according to the output of this operation speed detection means,
By selectively varying and controlling the amount of current supplied to the current supply means, the curved portion of the tubular insertion tool is curved in any direction and at a predetermined speed. This bending operation device varies the bending speed of the bending portion and reaches a predetermined bending angle by varying the operating speed of the variable adjuster.

In other words, in this bending operation device, by setting in advance a plurality of energization patterns for the heat-sensitive deformable member according to the operation speed of the variable regulator, the bending portion of the tubular insertion tool can be adjusted according to the operation speed of the variable regulator. It bends at a bending speed according to the energization pattern of the setting corresponding to .

[Embodiments of the invention] Hereinafter, the present invention will be described in detail with reference to the drawings.

Figures 1 to 11 relate to one embodiment of the present invention;
The figure is a schematic configuration diagram of the tubular insertion device and the bending operation device.
The figure is a schematic diagram of the connection between the heat-sensitive deformable member and the bending operation device, Figure 3 is an explanatory diagram showing the entire system, Figure 4 is an explanatory diagram showing the operating part of the variable regulator, and Figure 5 is an illustration of the energization method of the energization means. A waveform diagram for explanation, FIG. 6 is an explanatory diagram showing the relationship between the operation value of the variable regulator, the heat-sensitive deformable member of the curved part and the bending angle, and FIG. 7 is a waveform showing the energization pattern to the heat-sensitive deformable member. Figure 8 is an explanatory diagram showing the relationship between the operating speed of the variable regulator and the energization pattern, Figure 9 is a correlation diagram between the energization pattern and the time to reach the target bending angle, and Figure 10 is an explanatory diagram showing the relationship between the operation speed of the variable regulator and the energization pattern. FIG. 11 is a waveform diagram showing a modified example of the energization pattern.

In FIGS. 1 to 3, reference numeral 1 is a tubular insertion device, such as a catheter, and reference numeral 2 is a bending operation device.

As shown in FIG. 3, the tubular insertion device 1 includes an elongated and visible insertion section 3 that can be inserted into a body cavity, etc., and a large diameter connection at the rear end of this insertion section 3. portion 4, and an injection tube portion 5 at the rear end of the connecting portion 4 in this order.

The insertion portion 3 has a curved portion 6 on its distal end side that can be bent in any direction. Furthermore, the insertion section 3 has a lower medical solution discharger at its most distal end. This drug solution discharge lower communicates with a drug solution inlet 8 provided at the rear end a of the injection tube section 5 .

The connecting portion 4 has a connecting cord 9 extending from its side, and this connecting cord 9 is connected to the bending device 2.

Further, the curved portion 6 includes a heat-sensitive deformable member 10 (10a) formed, for example, in a band shape, as shown in FIG.

10b) are provided internally facing each other in the axial direction. Further, the curved portion 6 includes a heat-sensitive deformable member 11 (not shown) that is the same as the heat-sensitive deformable member 10 (lla
, llb) are provided internally facing each other in the axial direction. The heat-sensitive deformable member 10 is arranged so as to correspond to the curvature in the X direction shown in FIG.
1 is arranged so as to correspond to the curvature in the Y direction shown in FIG.

This heat-sensitive deformable member 10.11 is made of a shape memory alloy (SMA) such as a T1Ni alloy or a Cu-Zn-Al1 alloy.
), and when heated above the transformation point temperature, it deforms into a pre-memorized shape. The heat-sensitive deformable member 10.11 is formed so that the correlation between the amount of shrinkage deformation or shape recovery and the resistance value is linear, and the resistance value detected by the resistance value detection section to be described later and the resistance value of the curved portion 6 are The relationship with the curvature angle is also linear. In addition, the heat-sensitive deformable member 10.11 may be formed of shape memory alloy resin instead of shape memory alloy.

The curved portion 7 is formed by shrinkage deformation (
or shape recovery).

As shown in FIG. 2, the heat-sensitive deformable member 10a.

10b has one end connected to the bending operation device W2 via leads 12a and 12b, and the other ends connected to each other and to the bending operation device 2 via a lead 12c. The leads 12a, 12b, and 12c are inserted through the insertion portion 3, the connection portion 4, and the connection cord 9 of the tubular insertion tool 1.

Further, the heat-sensitive deformable members 11a and llb are also connected in the same manner as the heat-sensitive deformable member 10.

On the other hand, the bending operation device 2 includes a joystick 13 as a variable regulator, a power switch 14, an emergency stop switch 15, and a neutral switch 16.

FIG. 4 schematically shows the operating portion 17 of the joystick 13. As shown in FIG. Actuation part 1 of the joystick 13
7 includes an X-direction actuation plate 21 having a longitudinal groove 20 and a Y-direction actuation plate 25 having a longitudinal groove 24.

The actuating plates 21,25 also have shafts at each end. A shaft 18 provided at one end of the actuating plate 21 is coupled to a shaft of a potentiometer 19 for the X direction.

Further, a shaft 22 provided at one end of the actuating plate 25 is coupled to a shaft of a Y-direction potentiometer 23.

Further, the actuating plate 21.25 has a shaft 27.25 provided at each other end.
It is rotatably supported by 28 and an outer case (not shown).

Furthermore, the actuating plate 21.25 has a respective groove 20.24.
are arranged so that they are orthogonal. These lectures 20, 2
A lever 26 vertically passes through the space where the two overlap. Further, a lower end portion of the lever 26 is swingably supported by the outer case.

When the joystick 13 is moved, the lever 26 hits the lever 20.24 and the actuating plate 21.2 is moved.
5 is adapted to pivot about an axis 18.22.

The X-direction potentiometer 19 and the Y-direction potentiometer 23, which are fixed to the shaft 18.22,
It operates according to the amount and direction of operation of the lever 26.

Referring to FIG. 1, the configuration of the control system of the bending operation device 2 will be explained.

Potentiometer 1 for the X direction of the joystick 13
9 and the Y-direction potentiometer 23 are the amplifier 30.
It is connected to X and 30Y respectively. This amp 30
X and 30Y amplify the respective outputs of the X-direction potentiometer 19 and the Y-direction potentiometer 23 to appropriate levels. As shown in FIG. 6, the amplifiers 30X and 30Y are configured to output signals (x, y) proportional to the output of the potentiometer 19.23.

The amplifiers 30χ, 30Y are connected to adders 31X, 31Y, and also to a speed detection unit 32 as operation speed detection means and a comparator 33 as control means.

The adders 31X and 31Y are respectively connected to controllers 34X and 34Y as energizing means. The controllers 34X and 34Y are connected to the heat-sensitive deformable members 10 and 11, respectively. The controllers 34X and 34Y perform pulse width modulation (PMW) energization control, that is, modulate the pulse width to vary the amount of shrinkage deformation (or shape recovery amount) of the heat-sensitive deformable member 10.11. . The PMW energization control by the controllers 34X and 34Y is performed using the pulse width duty ratio (T, /To) as shown in FIG.
This is done by varying the Said tubular insertion tool 1
The curved portion 6 is proportional to the duty ratio of the energizing pulse.
The curvature angle is also increasing.

The heat-sensitive deformable member 10.11 includes a resistance value detection section 35X,
35Y respectively. This resistance value detection section 3
5X and 35Y detect the bending angle of the bending portion 6 by detecting the resistance value of the heat-sensitive deformable member 10.11. The resistance value detection units 35X and 35Y are connected to the adder 31X31Y, respectively, and feed back the detected bending angle as a signal. The adders 31X and 31Y receive a target bending angle signal (x.

y) and a signal indicating the bending angle of the bending portion 6. Said controller 1-roller 34X 34
Y is determined according to the difference signals from the adders 31X and 31Y.
The amount of current applied to the heat-sensitive deformable member 10.11 is controlled.

In this way, the controllers 34X and 34Y are controlled by feedback control (PID control in this embodiment). And controllers 34X, 34Y
is controlled by the control signal from the comparator, which will be described later.
D control may or may not be performed. If PID control is not performed, controller 34X,
34Y is configured to energize the heat-sensitive deformable member 10.11 with an energization pulse having a constant duty ratio.

On the other hand, the speed detection section 32 detects the speed of the amplifiers 30X, 30
The operating speed of the joystick 13 is detected based on the signal (x, y) from Y. This speed detection section 32 is connected to the comparator 33, and this comparator 33 is connected to controllers 34X and 34Y.

The comparator 33 calculates the time (shown in FIG. 7) 1. according to the ratio of the signal X from the amplifier 30X and the signal y from the amplifier 30Y. ．． During 1A, the energization control signal is controlled by 34.
It is designed to output to X and 34Y respectively. The energization control signal output from the comparator 33 varies depending on the operating speed signal from the speed detection section 32, and is configured to selectively vary the amount of energization of the controllers 34X and 34Y. That is, as shown in FIG. 8, the comparator 33 selects mode 0 when the operation speed of the joystick 13 is from 0 to a, mode ■ when it is from a to b, and mode ■ when it is from b to max. It is designed to output an energization control signal.

When the mode 0 energization control signal is input, the controllers 34X and 34Y perform PID control, and the adder 3
The width of the energizing pulse is varied according to the signals from 1X and 31Y. Furthermore, when the energization control signal of mode ■ or mode ■ is input, the controllers 34X and 34Y are not controlled by the signals from the adders 31X and 31\, but are An energizing pulse having a constant duty ratio and larger than that during PID control is applied to the heat-sensitive deformable member 10 for the input time. '11 is now powered on. Note that the duty ratio of the energizing pulse in mode (2) is greater than that in mode (2).

Next, the operation of this embodiment will be explained.

By operating the lever 26 of the joystick 13, the bending portion 6 of the tubular insertion tool 2 reaches the desired bending angle through the operation described below.

For example, when the joystick 13 operates the lever 26 to a position corresponding to A shown in FIG. 6, the X-direction potentiometer 19 outputs a signal X, and the Y-direction potentiometer 23 outputs a signal y. And amp 3
0X and 30Y amplify the signals x and y to appropriate levels and send them to the controller 34 via adders 31X31Y, respectively.
X.

Output to 34Y. And this controller 34X,
34Y applies an energization pulse with a duty ratio proportional to the signals x and y to the heat-sensitive deformable member 10.11.

At this time, when the operating speed of the joystick 13 is 0 to a, the energization control signal of the comparator 33 is in the mode 0 state, and the controllers 34X and 34Y are in the PID control state, as shown in FIG. Therefore, the heat-sensitive deformable member 1
As the deformation of 0.11 approaches the target bending angle set by the joystick 13, the outputs of the adders 31X and 31Y also gradually become smaller. And controller 34X,
The energization pulse width of 34Y also gradually becomes smaller, and when the target bending angle is reached, the deformation of the heat-sensitive deformable member 10.11 ends.

FIG. 9 shows the relationship between the target bending angle set by the five-way stick 13 and the time required for the bending portion 6 of the tubular insertion tool 1 to reach the target bending angle.

When the energization control signal is in mode 0, the bending portion 6 curves along the curve shown in FIG. 9 over time, and the arrival time becomes t3.

Further, when the joystick 13 is operated at an operating speed between a and b, the energization control signal of the comparator 33 is in mode (2) as shown in FIG. Therefore, the energization control signal is input to the controller 34X during the time t shown in FIG. 9, and the controller 34X outputs a constant energization pulse with a larger duty ratio than in the mode 0 state only during the time t3. .

At the same time, the controller 34Y also controls time 1. During this time, an energization control signal is input, and the same energization pulse as the controller 34X is output for a time t. This time tx and time t
, respectively, are amplifiers of 30X.

It is proportional to the signals x and y from 30Y.

Then, during time 1 (+, , 1.) shown in FIG.
ID control is not performed, and the bending portion 6 of the tubular insertion tool 1 rapidly approaches the target bending angle. After that time, the PID control state is returned to and the target bending angle is approached. The arrival time is the 9th
The time is t1 shown in the figure.

Alternatively, when the joystick 13 is operated at an operating speed between b and max, the energization control signal of the comparator 33 is in mode (2). When this mode ■ energization signal is input to the controllers 34X and 34Y, the controllers 34X and 34Y energize the heat-sensitive deformable members IQ and 11 with a constant energization pulse that has a larger duty ratio than in mode ■. . The energizing time is
This is the same as the state in mode ■. Therefore, during time 1 (1, 1a) shown in FIG.
approaches the target curvature angle more rapidly than the Modee state. After that time, the control returns to the PID control state and approaches the target bending angle. The arrival time is time t2 shown in FIG.

In this embodiment, by detecting the operating speed of the joystick 13, the bending operation of the tubular insertion tool 1 is controlled in mode O,
It can be varied in three patterns: mode (2) and mode (2). Therefore, the operator
Depending on the operating speed, the time to reach the target bending angle is tl, t
You can choose from 2.1ts. For example, if you want to quickly reach the target observation area, use the joystick 1.
You just have to operate it quickly so that 3 becomes mode ■.

Furthermore, as shown in FIG. 10, if the operating speed of the joystick 3 is varied while reaching the target bending angle, the tubular insertion tool 1 will change in a complex manner from a slow speed to a high speed. can be reached. Furthermore, even in the case of mode (2) and mode (2), since the energization is ultimately controlled by PID control, excessive vibration (overshoot) does not occur when the target bending angle is exceeded.

Note that switching between Mode 0, Mode E, and Mode ■ may be performed using the joystick 13, as in the embodiment, and adjustment of the bending speed may be performed using a separately provided foot accelerator. In this case, not only does the degree of freedom in the bending operation increase, but one hand is free so that other tasks can be performed, improving work efficiency.

In addition, the power supply control of the controllers 34X and 34Y is performed using PW
Instead of M control, control may be performed using pulse amplitude modulation (RAM), pulse frequency modulation (PFM), or the like. Alternatively, the energization control of the controllers 34X and 34Y may be performed by the controllers 34X and 34Y in mode ■ or mode ■.
The pulse amplitude modulation (RAM
) may also be used for control.

Further, the bending operation device 2 includes controllers 34χ, 3
A volume may be provided for manually varying the duty ratio of the energization pulse output by the 4Y. In this case, the operator can arbitrarily vary and set the arrival time of the bending portion 6 by adjusting and setting the bending speeds in each of the three modes in advance.

FIG. 12 is an explanatory diagram showing a first modification of the variable adjuster.

This modification differs from the joystick 13 of the first embodiment in that it uses pressure-sensitive conductive rubber. The other configurations and operations are the same as those in the first embodiment, so the same reference numerals are given and explanations are omitted.

The variable adjuster 39 shown in FIG. 12 includes a main body 41 with a lever 40 fixed at the center, and pressure-sensitive conductive rubber 42x, 42x 42y, 42y evenly arranged and fixed to the main body 41.
and a support portion 43 that swingably supports the lever 40. Pressure sensitive conductive rubber 42x, 42x, 42
y and 42y come into contact with the support portion 43 by operating the lever 40. And pressure sensitive conductive rubber 4
2X 42X and the pressure-sensitive conductive rubbers 42Y, 42Y are connected to an amplifier (not shown) of the bending operation device 2, respectively. This pressure-sensitive conductive rubber 42x.

42x and the pressure-sensitive conductive rubbers 42y, 42y correspond to the bending directions x, y of the tubular insertion member 1, respectively.

In this modification, when the lever 40 is tilted, a voltage is generated in the pressure-sensitive conductive rubber that is in contact with the support portion 43. For example, when the pressure-sensitive conductive rubber 42x comes into contact with the support part 43,
Voltage is output to the amplifier on the X side. The tubular insertion member 1 is then bent in the direction X shown in FIG.

Other configurations and effects are the same as in the first embodiment,
The explanation will be omitted.

FIG. 13 is an explanatory diagram showing a second modification of the variable regulator.

In this modification, strain gauges are used in place of the potentiometers 19 and 20 of the joystick 13 of the first embodiment. Other configurations and operations are the same as in the first embodiment.

In FIG. 13, the actuating part 46 of the variable regulator 45 is schematically shown.

The actuating portion 46 of the variable regulator 45 has gauge fixing plates 47 and 48 each having longitudinal grooves 49 and 50 disposed orthogonally thereto. The lever 52 vertically passes through the space where these levers 4950 overlap. Also, groove 4
At one end and the other end of 9, strain gauges 51x, 5
1x, respectively, and these strain gauges 51x, 51
x has both ends fixed to a gauge fixing plate 47 and a gauge fixing plate 48, respectively. Furthermore, strain gauges 51y and 51y are respectively interposed at one end and the other end of the groove 50, and both ends of the strain gauges 51y and 51y are fixed to the gauge fixing plate 47 and the gauge fixing plate 48, respectively. ing. Further, the gauge fixing plates 47 and 48 are fixed by an outer case (not shown). Further, the lower end portion of the lever 52 is swingably supported by the outer case.

On the other hand, strain gauges 51x, 51x, gauges 51y, 5
1y are respectively connected to the bending operation device 2.

In this variant, by moving the lever 52 it abuts the groove 49.50. For example, lever 52
hits one end of the gauge fixing plate 47, the strain gauge 51
One of y and 51y expands, and the other contracts. And this strain gauge 51y.

In response to the output signal 51y, the tubular insertion member 1 bends in the direction Y shown in FIG.

Other configurations and effects are similar to those of the first embodiment.

[Effects of the Invention] As explained above, since the bending operation device according to the present invention has a plurality of energization patterns, it is possible to bend the same bending angle at different bending speeds. This allows for operations tailored to the intended use and usage conditions, such as when bending inside a lumen or a pipe wall that is prone to tearing, or when it is necessary to quickly bend a curved part to a desired location. This has the effect of being able to vary the bending speed with the tool.

[Brief explanation of the drawing]

Figures 1 to 11 relate to one embodiment of the present invention;
The figure is a schematic refinement of the tubular insertion device and the bending operation device, the second
The figure is a schematic diagram of the connection between the heat-sensitive deformable member and the bending operation device, Figure 3 is an explanatory diagram showing the entire system, Figure 4 is an explanatory diagram showing the operating part of the variable regulator, and Figure 5 is an illustration of the energization method of the energization means. A waveform diagram for explanation, FIG. 6 is an explanatory diagram showing the relationship between the operation amount of the variable regulator, the heat-sensitive deformable member of the curved part and the bending angle, and FIG. 7 is a waveform showing the energization pattern to the heat-sensitive deformable member. Figure 8 is an explanatory diagram showing the relationship between the operating speed of the variable regulator and the energization pattern, Figure 9 is a correlation diagram between the energization pattern and the time to reach the target bending angle, and Figure 10 is an explanatory diagram showing the relationship between the operation speed of the variable regulator and the energization pattern. FIG. 11 is an explanatory diagram showing an example of a case where the target bending angle is reached. FIG. 11 is a waveform diagram showing a modified example of the energization pattern.
FIG. 2 is an explanatory diagram showing a first modified example of the variable adjuster, and FIG. 13 is an explanatory diagram showing a second modified example of the variable adjuster. 1... Tubular insertion tool 2... Curving operation device 6
... Curved portion 10.11 ... Heat-sensitive deformable member 13
...Joystick 30X, 30Y...Amplifier 31X, 31Y-...Additional 311 [32...Speed detector 33...Comparator 34X,
34Y...Controller 35X, 35Y...Resistance value detector Fig. 3 Fig. 4 Fig. 8 Fig. 9 Fig. 12 Fig. 13

Claims (1)

[Scope of Claims] A variable adjuster that outputs a signal corresponding to the bending angle of a curved portion provided in an insertion portion of a tubular insertion tool; energizing means for energizing a heat-sensitive deformable member provided in the bending portion to curve the bending portion; operating speed detecting means for detecting the operating speed of the variable regulator; and based on the output of the operating speed detecting means, A bending operation device comprising: a control means for selectively varying and controlling the amount of current supplied to the current supply means;