JPH0424017A - Magnetic induction type inserting apparatus - Google Patents

Abstract

PURPOSE:To obtain a magnetic induction type inserting apparatus with a higher insertability by arranging a magnetic body for direction control at the tip of an inserting section and a magnetic body for traction separated at a fixed distance while a magnetic force generator is provided which allows the moving of a magnetic force generating section for direction control and a magnetic force generating section for traction two-dimensionally. CONSTITUTION:An S pole is generated at a magnetic force generating section 34B and polarity as illustrated is generated at an electromagnet 21 for direction control of the tip 19 to bend the tip 19 in a direction of the arrow. As a result, a magnetic body 23 for traction is attracted by magnetic forces from magnetic force generating sections 36A and 36B for traction so that the tip 19 begins to advance again in a direction involved, which allows the inserting of the tip 19 on the deep side of a large intestine 41. Thus, the tip 19 of an endoscope is advanced being attracted by a magnetic force from a magnetic force generator 11 from above and below a patient 9 thereby enabling the sliding of magnetic force generating sections 34A and 34B over a wall surface of the large intestine (between the magnetic body 23 for traction and the magnetic force generating sections 36A and 36B).

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a magnetically guided insertion device that uses magnetic force to move a distal end inserted into a subject.

[Problems to be solved by conventional techniques and inventions] In recent years,
■Also, endoscopes are becoming widely used in the industrial field.

When this endoscope is used in the medical field, it is necessary to insert its insertion portion into a body cavity or the like in order to perform an examination or diagnosis. In this case, since the insertion path is often curved, insertion may take time unless the operator is skilled in the insertion work.

For this purpose, for example, as in the prior art example described in Japanese Utility Model Publication No. 55-5155, a balloon is provided on the endoscope, and by expanding and deflating the balloon, the endoscope is automatically inserted into the lumen of the large intestine, etc. Or there is something to be inserted auxiliary.

Furthermore, as described in Japanese Patent Application Laid-Open No. 63-136014, an actuator made of a shape memory alloy is provided inside the endoscope, and the actuator is energized and heated to guide the endoscopic view along the curved shape of the lumen of the large intestine, etc. There are some that automatically insert mirrors.

Although these are effective as automatic insertion means, they require a complicated actuator mechanism in the endoscope itself, which complicates the structure and therefore requires a thicker diameter insertion section of the endoscope. This makes it difficult to alleviate patients' pain.

In addition, as described in Japanese Patent Application Laid-Open No. 55-133237, a magnetic attraction type automatic insertion method has been proposed, in which the endoscope is inserted floating in the center of the lumen and contact with the lumen wall is detected. There are some that have a means to do so.

This has the disadvantage that a strong magnetic field is required to levitate the endoscope magnetically, and a contact sensor is required, which increases the size of the device and also makes the structure of the endoscope itself more complicated. There is.

The present invention has been made in view of the above-mentioned points, and it does not require increasing the diameter of the endoscope, reduces pain to the patient, and downsizes the external magnetic force generating means, and improves insertability. The purpose of the present invention is to provide a magnetically guided insertion device.

[Means for trashing issues]

The present invention provides a magnetic material for direction control at the distal end of a visible elongated insertion section that can be inserted into a subject, and a magnetic material for traction is provided at a certain distance from the magnetic material for direction control. and a magnetic force generating device disposed around the subject, in which a direction control magnetic force generating section and a traction magnetic force generating section are movable at least two-dimensionally. It is.

[Effect]

The present invention separates the magnetic material for controlling the direction at the distal end of the insertion section and the magnetic material for moving the insertion section, so that movement and direction can be performed separately, and the insertion of the insertion section is improved. is significantly improved.

〔Example〕

Hereinafter, the present invention will be described in detail with reference to the drawings.

FIGS. 1 to 7 relate to the first embodiment of the present invention.
The figure is a configuration diagram showing the entire device of the first embodiment, FIG. 2 is a sectional view showing the structure on the distal end side of the endoscope, and FIG. 3 is a magnetic force generating device. The same figure (b) is A of (a)
- A cross-sectional view, Figure 4 shows the magnetic force generator;
) is a front view, FIG. 5(b) is a cross-sectional view taken along line A-A in FIG. 7 are explanatory diagrams showing how to insert the tip into the large intestine and change the direction of the distal end.

As shown in FIG. 1, the endoscopic equipment W1 of the first embodiment is provided with a magnetic body for direction control in the distal end component of the insertion section and a magnetic body for traction near the curved part at the rear separated from this. An endoscope (the illustrated example is a fiber scope, but an electronic scope may also be used) 2 as an insertion tool, a light source device 3 that supplies illumination light to the endoscope 2, and an eyepiece of the endoscope 2. A TV camera 5 attached to the unit 4, a camera control unit (hereinafter abbreviated as CCU) 6 that performs signal processing for the TV camera 5, and a TV monitor 7 that displays the video signal output from the CCU 6. It includes a bed 10 on which a patient 9 into which the insertion section 8 of the endoscope 2 is inserted is placed, and an annular magnetic force generation device 11 that surrounds the patient 9 with the patient 9 at the center. A power supply unit 12 that supplies power to a motor for moving the magnetic body for direction control installed in the tip component and the magnetic force generator 111, and a control unit 15 that controls the power supply unit 12 to realize a predetermined operation. It consists of

The endoscope 2 has a wide operating section 13 at the rear end of a flexible and elongated insertion section 8, and an eyepiece section 4 at the top of the operating section 13. Further, a light guide cable 14 is extended from the side of the operation section 13, and a connector at the tip thereof can be connected to the light source device 3.

Inside the insertion section 8 and the light guide cable 14,
A light guide 16 is inserted.

Thus, the illumination light emitted by the lamp 17 in the light source device 3 and supplied via the condenser lens 18 is transmitted,
The light is emitted forward from the end surface of the insertion section 8 on the side of the distal end component 19 (see FIG. 2). A hood 20 can be attached to one of the tip components (hereinafter abbreviated as the tip section).

As shown in FIG. 6, this tip portion 19 is provided with a direction control electromagnet 21. As shown in FIG. The direction control electromagnet 21 is
In this embodiment, an air-core coil is used, but an iron-core coil may be used. This direction control electromagnet 21 is connected to the power supply section 12 via a cable W, and generates magnetic force according to the polarity of the voltage supplied from the power supply section 12. Further, a traction magnetic body 23 is disposed at a fixed distance 1 from the direction control electromagnet 21 in a curved portion 22 that is continuous to the rear of one tip. The traction magnetic body 23 may be made of a permanent magnet, a ferromagnetic material, or the like. Here, when using a permanent magnet as the traction magnetic body 23, samarium cobalt<Sm CO5, S
m2C017), neodymium, iron/boron type (Nd
A rare earth magnet with high magnetic force such as Fe (B) is preferable. Further, when a ferromagnetic material is used as the traction magnetic material 23, iron or the like is preferable.

The curved portion 22 adjacent to the distal end portion 19 is connected to the joint piece 24.
24, ... can be bent vertically or horizontally by connecting them, and can be bent in any direction by rotating a bending knob (not shown) provided on the operating section 13 or by the magnetic force of the direction control electromagnet 21. It allows it to be curved. This curved portion 22 is covered with a flexible jacket.

The object illuminated by the illumination light emitted from the light guide 16 is imaged on its focal plane by the objective lens 25 provided at the tip 19. The front end surface of the image guide 26 is disposed in this focal plane, and the image guide 26
, an optical image is transmitted to the end face on the eyepiece section 4 side. An eyepiece lens 27 is disposed opposite to this end surface.
Enlarged observation can be done through the . The TV left camera attached to the eyepiece 4 forms an optical image on the CCD 29 using an imaging lens 28 facing the eyepiece 27 . The electrical signal photoelectrically converted by this CCD 29 is
The signal is input to U6, subjected to signal processing, and an endoscopic image is displayed on the TV monitor 7.

Note that at least the components of the insertion portion 8, such as the joint piece 24, are made of non-magnetic material (aluminum, copper alloy, etc.) that cannot be attracted by magnetic force.

FIG. 1 shows the endoscope 2 being inserted into the large intestine of a patient 9.

The bed 10 on which the patient 9 is placed horizontally is made of non-magnetic material such as wood.

As shown in FIG. 1, this bed 10 is provided with an annular magnetic force generating device 11 that surrounds the patient 9 with the patient 9 at the center. perpendicular to the plane, that is, the bed 1 on which the patient 9 is placed.
0 in the longitudinal direction by a known horizontal movement means 31 such as a known motor.

FIGS. 3 and 4 are diagrams of the internal configuration principle of the magnetic force generating device 11. FIG.

As shown in FIG. 3, within the annular portion 33 of the magnetic force generating device 11, magnetic force generating sections 34A and 34B consisting of direction control electromagnets are rotatably attached to the kite ring 35 at two opposing locations. . Similarly, in the annular portion 33 of the magnetic force generating device 11, magnetic force generating sections 36A and 36B for traction consisting of traction electromagnets are installed at two opposing locations in magnetic force generating sections 34A and 3.
It is rotatably attached to a guide ring 37 that is a certain distance 1 away from 4B. In addition, the traction magnetic force generating section 36A,
36B, when the traction magnetic body 23 is a permanent magnet, generates a magnetic force with a polarity opposite to that of the magnet, but when it is a ferromagnetic body, the magnetic force can have either polarity. The magnetic force generating units 36A and 36B are configured to be rotated by a known rotating means 38 such as a motor so as to be opposed to each other by 180°. For example, FIG. 4 shows a state in which the state shown in FIG. 3 is rotated by an angle θ.

The rotation (forward rotation, reverse rotation, stop), etc. of the means such as the motor can be controlled by the polarity of the voltage supplied from the power supply section 12 connected via the cable 40. In this way, the magnetic force generating sections 32A, 32B and the magnetic force generating sections 34A, 3
4B is designed so that it can be moved to any horizontal position.

The power supply section 12 includes a first power supply section 12a that supplies electric power to drive the magnetic force generation sections 34A and 34B, the traction magnetic force generation sections 36A and 36B, the horizontal movement means 31, and the rotation means 38.
and a second power supply section 12b that can supply power to the direction control electromagnet 21 provided at the tip end 19. The first power supply section 12a includes a magnetic force generation section 34A,
34B, traction magnetic force generating sections 36A and 36B, horizontal movement means 31, and rotation means 38, respectively. The traction magnetic force generating sections 36A and 36B, the horizontal movement means 31, and the rotation means 38 are controlled by the control section 15.

The operation of the first embodiment configured in this way will be described below.

As shown in FIG. 7, the endoscope 2 is pushed into the large intestine 41. After this, while observing the endoscope on the TV monitor 7, the horizontal position of the magnetic force generator 11 is moved. In this case, the horizontal position of the magnetic force generator 11 is sequentially moved along the lumen of the large intestine. Since the traction magnetic body 23 is attracted by the magnetic force from the traction magnetic force generation units 36A and 36B, the tip portion 19 moves so as to trace the moving path of the magnetic force generation device 11. At this time, when the distal end portion 19 is located in the bent lumen of the large intestine, depending on the direction of bending,
The power supply section 12 is controlled via the control section 15, and the magnetic force generation section 3
Rotate 4A and 34B.

For example, when the lumen is in a bent state as shown in FIG. bend in the direction of As a result, the traction magnetic body 23 is caused by the magnetic force from the traction magnetic force generation parts 36A and 36B.
is attracted, and the tip 19 starts moving in that direction again. In this manner, the distal end portion 19 can be inserted deep into the large intestine 41.

The magnetic force generating device 11 can be moved on the rail 30 by the horizontal moving means 31, and by rotating the guide ring 37, the magnetic force generating parts 34A, 34B can be moved.
can be moved to any position on the horizontal plane. In reality, the endoscope tip 19 is moved forward while being attracted by the magnetic force generated by the magnetic force generator 11 from above and below the patient 9.
Large intestine wall surface (traction magnetic body 23 and traction magnetic force generation part 36A)
, 36B). Further, the movement of the tip portion 19 in the direction of the toric surface is caused by the traction magnetic force generating portion 36A.
, 36B is in an excited state and the guide ring 37 is rotated in the moving direction.

According to this first embodiment, insertion into a curved region such as the large intestine 41 becomes easy.

In this first embodiment, depending on the physique of the patient 9, the shape of the lumen of the large intestine 41 that is standard for that physique is T.
In addition to displaying on the V monitor 7 or other monitor screen, the positions of the traction magnetic force generating parts 36A and 36B of the magnetic force generating device 11 on the horizontal plane are also displayed superimposed on this screen, and the position of the magnetic force generating portions 36A and 36B for traction of the magnetic force generating device 11 is also displayed superimposed on this screen. In this case, it may be made easy to understand which position of the lumen the magnetic force generating part 31 is located on the horizontal plane, so that it can be easily inserted.

In addition, when the traction magnetic force generating parts 36A and 36B are moved, the shape of the lumen of the large intestine 41 and the magnetic force generating part 31 can be determined from their trajectories.
The relative position etc. may be corrected at the same time.

The horizontal positions of the traction magnetic force generating sections 36A and 36B can be detected by attaching encoders to the horizontal movement means 31 and the rotation means 38, for example.

FIG. 8 is a diagram showing an example of application of the present invention.

FIG. 8 illustrates a case where a heating probe 45 is inserted into a treatment instrument channel 44 provided in the insertion section 8 of the endoscope 2 to treat a bleeding part 46.

Here, the heating probe 45 has a configuration in which a magnetic material 48 is provided at the tip of a tube 47. Further, the magnetic body 4
8 is heated by an alternating magnetic field from an alternating current magnetic field generator 49 provided outside the patient 9. This alternating current magnetic field generating section 49 is driven by an alternating current power supply section 50.

Note that the alternating current magnetic field generating section 49 can also be achieved by passing a high frequency current through the direction control magnetic force generating sections 34A and 34B of the magnetic force generating device 11.

The operation of such an application example will be explained.

By the action of the magnetic force generating device 11 of the first embodiment and the traction magnetic body 23 provided in the endoscope device 1, one distal end portion is moved to a desired site of the patient 9. When the distal end portion 19 reaches a desired site, for example, close to the bleeding area 46, a heating probe 45, which is a treatment instrument, is inserted into the treatment instrument channel 44, and the magnetic body 48 at the tip thereof is pressed against the bleeding area 46. Next, a high frequency current is caused to flow from the AC power supply unit 50 to the four AC magnetic field generating units to heat the magnetic body 48. This heating causes
The bleeding part 46 is firmly stopped.

Treatment can be done in this way.

9 and 10 relate to the second embodiment of the present invention, and FIG.
The figure shows the configuration of the second embodiment, and FIG. 10 is an explanatory diagram of the operation of the second embodiment.

Thrombus removal probe 5 as an insertion tool in the second embodiment
1 has a direction control electromagnet 53 at the tip 52 of the insertion portion.
built-in, and at a certain distance 1 from this direction control electromagnet 53.
A traction magnetic body 54 is provided with a separation between the two. A magnetic material 55 is provided at the tip of the thrombus removal probe 51. Furthermore, a magnetic force generating device 11 similar to that of the first embodiment is provided outside the patient 9, which is the subject. This second embodiment includes an endoscope 2, a light source device 3, a CCU 6, and a TV monitor 7.
Except for this, the present embodiment is characterized in that a thrombus removal probe 51 is used as an insertion instrument instead of the endoscope 2, and the other configurations are the same as those of the first embodiment.

The operation of the second embodiment having such a configuration will be explained.

In this second embodiment, first, the blood vessel 56 is imaged on a display (not shown) using an X-ray device or the like, and the thrombus removal probe 51 is pushed into the blood vessel 56 through a predetermined insertion port (not shown). After this, while observing the image on the display,
The horizontal position of the magnetic force generator 11 is moved. In this case, when the horizontal position of the magnetic force generation device 11 is sequentially moved along the blood vessel 56, the magnetic body 54 for traction is attracted by the magnetic force from the traction magnetic force generation parts 36A and 36B, so that the distal end portion 52 is It moves so as to trace the movement path of the generator 11. At this time, when the distal end portion 52 is located at a branched site of the blood vessel 56, the power supply section 12 is controlled via the control section 15 to rotate the magnetic force generation sections 34A and 34B according to the direction of the branching. For example, when the blood vessel 56 is in a branched state as shown in FIG.
The tip 52 is bent in the direction of the arrow by creating an N pole at 4A and generating an 8i property as shown in the direction control electromagnet 53 of the tip 52. As a result, the traction magnetic force generating section 3
The direction control electromagnet 53 is attracted by the magnetic force from 6A and 36B, and the tip portion 52 starts moving in that direction again. In this way, the distal end 52 is connected to the thrombus portion 58 of the blood vessel 56.
to press.

Next, a high frequency @ current is supplied to the direction control electromagnet 53.
, causing the magnetic body 55 to generate heat. As a result, the thrombus 58 is removed.

Note that the heat generated by the magnetic body 55 is caused by the direction control electromagnet 53.
This was achieved by flowing a high frequency current into the direction control magnetic force generating parts 34A and 34B.
It may also be possible to generate heat.

Incidentally, it is also possible to record the insertion process of the distal end part in a recording means and, in the following case, insert the distal end part using the recorded insertion process as a guide. This method is particularly effective for the same patient, and is also effective for patients with similar body shapes.

Furthermore, different embodiments can be constructed by partially combining the embodiments described above.

Furthermore, the present invention is not limited to the embodiments described above.

For example: (1) For the electromagnetic force of the magnetism generating means, a superconducting magnet may be used in addition to a normal normal conducting magnet.

(3) The magnetic material provided in the insertion part of the insertion tool may be an electromagnet instead of a permanent magnet or a ferromagnetic material.

(4) In addition to the application to the large intestine and small intestine endoscopes shown in each example, vascular endoscopes, digestive system, vascular catheters,
It can be applied to capsule endoscopes, capsule intestinal fluid collection devices, capsule drug dispensing devices, etc.

〔Effect of the invention〕

As described above, according to the present invention, a magnetic body for direction control is provided at the distal end of the insertion section, and a magnetic body for traction is provided at a distance from the distal end of the insertion section, so that the insertion part can be moved at least two-dimensionally around the inserted object such as a patient. Since a magnetic force generating device is provided to move the insertion tool, smooth insertion can be performed by the magnetic force without increasing the diameter of the insertion portion.
Since the tube wall can be moved in a sliding manner, the magnetic force generating means can be made smaller, and since the movement and direction change are performed separately, precise movement is possible and insertability is improved.

[Brief explanation of the drawing]

FIGS. 1 to 7 relate to the first embodiment of the present invention.
Figure 2 is a configuration diagram showing the entire device, Figure 2 is a sectional view showing the structure on the distal end side of the endoscope, Figures 3 and 4 show the magnetic force generating device, and Figure (a) is a side view. Figure (b) is a plan view,
Figure 6 is a system diagram of the same embodiment, Figure 6 is a diagram showing the direction control electromagnet and traction magnetic body provided at the tip of the insertion section, Figure 7
The figure is an explanatory diagram showing how the insertion is performed, Figure 8 is a diagram showing an application example of the first embodiment, Figures 9 and 10 relate to the second embodiment of the present invention, and Figure 9 is a diagram showing an application example of the first embodiment. FIG. 10, which is a side view of the entire apparatus of the second embodiment, is an explanatory view showing the operation of the second embodiment. 1... Endoscope device 2... Endoscope 3...
Light source device 5...TV camera 6...CC
U 9...Patient 11...Magnetic force generator 15...Control unit 20...Hood 21...Direction control electromagnet 34...Magnetic force generator 36...Magnetic force generator for traction 51. ... Thrombus removal probe 52 ... Tip part 53 ... Direction control electromagnet 54 ... Traction magnetic body 7 ... TV monitor lO ... Bed 12 ... Power supply section 19 ... Tip Part 23... Magnetic body for traction 5... Magnetic body Figure 3 (a) (b) Figure 4 (a) (b) Figure 6 Figure 7 Figure 34B Figure 8

Claims (1)

[Claims] An insertion device in which a magnetic material for direction control is provided at the tip of a flexible and elongated insertion section that can be inserted into a subject, and a magnetic material for traction is provided at a certain distance from the magnetic material for direction control. and a magnetic force generating device disposed around the subject and capable of moving the direction control magnetic force generating section and the traction magnetic force generating section at least two-dimensionally. Ingredients.