JPH04266746A - Ultrasonic diagnostic device - Google Patents

Ultrasonic diagnostic device

Info

Publication number
JPH04266746A
JPH04266746A JP3028531A JP2853191A JPH04266746A JP H04266746 A JPH04266746 A JP H04266746A JP 3028531 A JP3028531 A JP 3028531A JP 2853191 A JP2853191 A JP 2853191A JP H04266746 A JPH04266746 A JP H04266746A
Authority
JP
Japan
Prior art keywords
catheter
ultrasonic transducer
blood vessel
ultrasonic
ultrasonic vibrator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP3028531A
Other languages
Japanese (ja)
Inventor
Kunihiko Nakamura
邦彦 中村
Ryuichi Toyoda
隆一 豊田
Shinichiro Ueno
植野 進一郎
Akihisa Adachi
明久 足立
Masahiko Hashimoto
雅彦 橋本
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Holdings Corp
Original Assignee
Matsushita Electric Industrial Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Matsushita Electric Industrial Co Ltd filed Critical Matsushita Electric Industrial Co Ltd
Priority to JP3028531A priority Critical patent/JPH04266746A/en
Publication of JPH04266746A publication Critical patent/JPH04266746A/en
Pending legal-status Critical Current

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005Flexible endoscopes
    • A61B1/0058Flexible endoscopes using shape-memory elements

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)

Abstract

PURPOSE:To provide a ultrasonic diagnostic device diagnosing a disease such as the constriction or obturation in a blood vessel from the inside of the blood vessel with ultrasonic waves for therapy by providing a ultrasonic vibrator at the tip of a catheter, sector-scanning the ultrasonic vibrator, and displaying the information in the depth direction in front of the ultrasonic vibrator on a CRT. CONSTITUTION:A ultrasonic vibrator 2 is provided at the tip section of a catheter insertable into a blood vessel 23, and shape memory alloy wires 6, 7 are connected to the ultrasonic vibrator 2. The shape memory alloy wires 6, 7 perform extending motions contending with each other via the on/off switching of the excitation heating by current sources 13, 14, and the ultrasonic vibrator 2 is sector-scanned centering on a rotary shaft 5. The maximum deflection angle of the sector scanning motion is detected by a position detector 11 and sent to an angle arithmetic section 12, and the direction information of the ultrasonic vibrator 2 is obtained and used as the drive control signal for the current sources 13, 14.

Description

【発明の詳細な説明】[Detailed description of the invention]

【0001】0001

【産業上の利用分野】本発明は、血管内の狭窄や閉塞な
どの疾患を血管内部から超音波を用いて診断し、治療を
行なう超音波診断装置に関するものである。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an ultrasonic diagnostic apparatus for diagnosing and treating diseases such as stenosis and occlusion within a blood vessel using ultrasonic waves from inside the blood vessel.

【0002】0002

【従来の技術】近年、血管内の狭窄や閉塞などの疾患に
対し血管内に挿入したカテーテルを用い診断し、治療す
る血管形成手術が、開胸手術による血管バイパス化に対
し簡便であることから注目されている。この血管内部か
ら狭窄などの疾患を診断する方法は、例えば特開昭63
ー3834号公報に記載されている構成が知られている
[Prior Art] In recent years, angioplasty surgery, which diagnoses and treats diseases such as stenosis and occlusion in blood vessels using catheters inserted into blood vessels, has become more convenient than bypassing blood vessels through open-heart surgery. Attention has been paid. This method of diagnosing diseases such as stenosis from inside blood vessels is known, for example, from Japanese Patent Application Laid-open No. 63
The configuration described in Japanese Patent No. 3834 is known.

【0003】以下、従来の血管内視ビデオシステムにつ
いて説明する。図4は従来の血管内視ビデオシステムの
カテーテル部分の構成図である。図3において、41は
カテーテル、42は画像伝達用光ファイバ口、43は照
明光誘導用光ファイバ口、44は血液排除用透明液注入
口である。45は血管、46は閉塞物や狭窄物であるア
テローマである。
[0003] A conventional endovascular video system will be explained below. FIG. 4 is a block diagram of a catheter portion of a conventional vascular endoscopic video system. In FIG. 3, 41 is a catheter, 42 is an optical fiber port for image transmission, 43 is an optical fiber port for guiding illumination light, and 44 is a transparent liquid injection port for blood removal. 45 is a blood vessel, and 46 is an atheroma that is a blockage or stenosis.

【0004】以上のように構成された血管内視ビデオシ
ステムについて、以下その動作について説明する。まず
、カテーテル41を血管45内に挿入し、アテローマ4
6近傍まで移動する。アテローマ46近傍にカテーテル
41先端部が達したとき、照明光誘導用光ファイバ口4
3より患部を照明する。血管45内は血液により不透明
なので視野を得るため、例えば生理食塩水の透明液を血
液排除用透明液注入口44より噴射し、画像伝達用光フ
ァイバ口42より血管内内視鏡走査を行い、アテローマ
46の状態を調べる。
The operation of the vascular endoscopic video system configured as described above will be explained below. First, the catheter 41 is inserted into the blood vessel 45, and the atheroma 4 is inserted into the blood vessel 45.
Move to the 6th neighborhood. When the tip of the catheter 41 reaches the vicinity of the atheroma 46, the illumination light guiding optical fiber port 4
3. Illuminate the affected area. Since the inside of the blood vessel 45 is opaque due to blood, in order to obtain a visual field, a transparent liquid such as physiological saline is injected from the blood removal transparent liquid injection port 44, and intravascular endoscopic scanning is performed through the image transmission optical fiber port 42. Check the status of atheroma 46.

【0005】[0005]

【発明が解決しようとする課題】しかしながら上記の構
成では、アテローマの状態を内視鏡走査で行っているの
で、十分に深さ方向の情報を得られない。また、数回、
生理食塩水を血管内に注入するので、生体に対し多量の
生理食塩水を注入してしまう可能性もあるという課題を
有していた。
However, with the above configuration, the state of the atheroma is scanned by an endoscope, and therefore sufficient information in the depth direction cannot be obtained. Also, several times
Since physiological saline is injected into the blood vessels, there is a problem that a large amount of physiological saline may be injected into the living body.

【0006】本発明は、上記従来技術の課題を解決する
もので、血管内部から超音波を用いアテローマの深さ方
向の状態をCRTに表示し、治療を行なう超音波診断装
置を提供することを目的としている。
The present invention solves the above-mentioned problems of the prior art, and aims to provide an ultrasonic diagnostic device that uses ultrasound from inside a blood vessel to display the condition of an atheroma in the depth direction on a CRT and performs treatment. The purpose is

【0007】[0007]

【課題を解決するための手段】この目的を解決するため
に本発明は、カテーテルの先端に超音波を送受波する超
音波振動子を設け、この超音波振動子に連設した形状記
憶合金の形状変化を用いて超音波振動子を扇形走査し、
この超音波振動子の前方の深さ方向の情報をCRT等に
表示し、血管内を治療する構成を有している。
[Means for Solving the Problems] In order to solve this object, the present invention provides an ultrasonic transducer for transmitting and receiving ultrasonic waves at the tip of a catheter, and a shape memory alloy that is connected to the ultrasonic transducer. Scanning the ultrasonic transducer in a fan shape using shape change,
The apparatus is configured to display information in the depth direction in front of this ultrasonic transducer on a CRT or the like to treat the inside of a blood vessel.

【0008】[0008]

【作用】本発明は上記構成によって、生理食塩水等の血
液排除用透明液を用いずアテローマの深さ方向の2次元
情報を超音波振動子で得ることができる。
According to the present invention, with the above-described structure, two-dimensional information in the depth direction of an atheroma can be obtained using an ultrasonic transducer without using a transparent liquid for removing blood such as physiological saline.

【0009】[0009]

【実施例】以下、本発明の一実施例について図面を参照
しながら説明する。
DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

【0010】図1は本発明の一実施例における超音波診
断装置の構成図である。図1において、1は血管に挿入
されるカテーテル、2はカテーテル1の先端に設けられ
た超音波振動子、3は超音波振動子2に接続された絶縁
部材、4は絶縁部材3に接続された導体よりなる回転板
、5は回転板4の回転運動を支える導体よりなる回転軸
、6は回転板4に接続された形状記憶合金ワイヤA、7
は形状記憶合金ワイヤA6とは回転板4の上で回転軸5
を対称とした位置に接続された形状記憶合金ワイヤB、
8は形状記憶合金ワイヤ6、および形状記憶合金ワイヤ
7それぞれに電流を流すためのリード線を接続するため
の通電端子、9は絶縁部材、10は回転軸5と絶縁部材
9とともに形状記憶合金ワイヤ6、7に張力を与え、さ
らに通電アースの役割を持つ導体よりなる支持板、11
はカテーテル1内に配置された位置検出器、12は位置
検出器11に接続された角度演算部、13は形状記憶合
金ワイヤ6に通電するための電流源A、14は形状記憶
合金ワイヤ7に通電するための電流源B、15は電流源
13、14を駆動する制御部、16は超音波振動子2に
接続された受信部、17は超音波振動子2に接続された
送信部、18は受信部16に接続された検波部、19は
検波部18に接続された走査変換部、20は走査変換部
19に接続された表示部、21はカテーテル1の先端を
覆うメンブレン、22はカテーテル1の外部に配置され
たバルーン、23は血管、24はアテローマである。な
お、本実施例では上記構成要素12〜20はカテーテル
1の外部に設けられている。
FIG. 1 is a block diagram of an ultrasonic diagnostic apparatus according to an embodiment of the present invention. In FIG. 1, 1 is a catheter inserted into a blood vessel, 2 is an ultrasonic transducer provided at the tip of the catheter 1, 3 is an insulating member connected to the ultrasonic transducer 2, and 4 is an insulating member connected to the insulating member 3. 5 is a rotating shaft made of a conductor that supports the rotational movement of the rotating plate 4; 6 is a shape memory alloy wire A connected to the rotating plate 4; 7 is a rotating plate made of a conductor;
The shape memory alloy wire A6 is connected to the rotating shaft 5 on the rotating plate 4.
shape memory alloy wire B connected in a symmetrical position,
Reference numeral 8 denotes a current-carrying terminal for connecting lead wires for flowing current to the shape memory alloy wire 6 and the shape memory alloy wire 7, 9 an insulating member, and 10 a shape memory alloy wire together with the rotating shaft 5 and the insulating member 9. a support plate 11 made of a conductor that applies tension to 6 and 7 and also serves as a current-carrying ground;
12 is an angle calculation unit connected to the position detector 11; 13 is a current source A for energizing the shape memory alloy wire 6; and 14 is a current source A for supplying electricity to the shape memory alloy wire 7. A current source B for energizing, 15 a control unit that drives the current sources 13 and 14, 16 a receiving unit connected to the ultrasonic transducer 2, 17 a transmitting unit connected to the ultrasonic transducer 2, 18 19 is a scan conversion unit connected to the detection unit 18; 20 is a display unit connected to the scan conversion unit 19; 21 is a membrane that covers the tip of the catheter 1; 22 is a catheter A balloon is placed outside 1, 23 is a blood vessel, and 24 is an atheroma. Note that in this embodiment, the above-mentioned components 12 to 20 are provided outside the catheter 1.

【0011】以上のように構成された超音波診断装置に
ついて、図1、図2および図3を用いてその動作を説明
する。まず、カテーテル1を血管23内に挿入する。送
信部17から超音波送信パルス信号を超音波振動子2に
転送し、超音波振動子2にて超音波パルス信号を超音波
信号に変換し、カテーテル1前方に送波する。電流源1
3を駆動し、形状記憶合金ワイヤ6を通電加熱して収縮
させる。超音波振動子2は回転軸5を中心に回転運動を
する。やがて、回転板4は位置検出器11に接触し、そ
の状態で超音波振動子2はプラスの最大回転角に達し図
3(a)の状態となり、その情報が角度演算部12に伝
えられ、続いて制御部15に伝えられる。制御部15は
電流源13の駆動を停止し、今度は電流源14を駆動さ
せ、形状記憶合金ワイヤ7を通電加熱して収縮させる。 そのとき形状記憶合金ワイヤ6は非通電状態で伸張し、
超音波振動子2は逆方向の回転運動を行う。やがて、回
転板4は位置検出器11に再び接触し、その状態で超音
波振動子2はマイナスの最大回転角に達し図3(b)の
状態となり、その情報が角度演算部に伝えられ、続いて
制御部15に伝えられる。制御部15は電流源14の駆
動を停止し、再び電流源13を駆動させる。
The operation of the ultrasonic diagnostic apparatus constructed as described above will be explained with reference to FIGS. 1, 2, and 3. First, the catheter 1 is inserted into the blood vessel 23. The ultrasonic transmission pulse signal is transferred from the transmitter 17 to the ultrasonic transducer 2, which converts the ultrasonic pulse signal into an ultrasonic signal and transmits the wave to the front of the catheter 1. Current source 1
3 is driven, and the shape memory alloy wire 6 is electrically heated and contracted. The ultrasonic transducer 2 rotates around a rotating shaft 5. Eventually, the rotary plate 4 comes into contact with the position detector 11, and in this state, the ultrasonic transducer 2 reaches the maximum positive rotation angle and enters the state shown in FIG. Subsequently, the information is transmitted to the control unit 15. The control unit 15 stops driving the current source 13, and then drives the current source 14 to cause the shape memory alloy wire 7 to be heated and contracted. At that time, the shape memory alloy wire 6 is stretched in a non-energized state,
The ultrasonic transducer 2 performs rotational movement in the opposite direction. Eventually, the rotary plate 4 comes into contact with the position detector 11 again, and in this state, the ultrasonic transducer 2 reaches the maximum negative rotation angle, resulting in the state shown in FIG. 3(b), and this information is transmitted to the angle calculation section, Subsequently, the information is transmitted to the control unit 15. The control unit 15 stops driving the current source 14 and starts driving the current source 13 again.

【0012】以上のように位置検出器11を用いて、電
流源13、14を切り換えることにより、超音波振動子
2を扇形走査させることができる。この制御方法を図示
すると図2のようになる。(T2−T1)時間は超音波
振動子2の扇形走査1回分に相当する。角度演算部12
はT1とT2の間隔をN分割して、ΔTに対応した超音
波振動子2の方向情報を得る。
As described above, by using the position detector 11 and switching the current sources 13 and 14, the ultrasonic transducer 2 can be caused to scan in a fan-shaped manner. This control method is illustrated in FIG. 2. The time (T2-T1) corresponds to one fan-shaped scan of the ultrasonic transducer 2. Angle calculation unit 12
divides the interval between T1 and T2 into N parts to obtain direction information of the ultrasonic transducer 2 corresponding to ΔT.

【0013】超音波振動子2から送波された超音波パル
スは、血液中を伝搬し、血液と血管23やアテローマ2
4の境界で一部が反射され超音波振動子2に戻る。反射
されて超音波振動子2に戻った超音波は超音波振動子2
において電気信号に変換され、受信部16を経て、検波
部18で検波される。走査変換部19は検波部18の検
波出力と角度演算部12の超音波振動子2の方向情報よ
りテレビ信号を生成し、表示部20に超音波断層像を表
示する。表示部20でアテローマ24の超音波診断像を
見ながらカテーテル1をアテローマ24に近づける。ア
テローマ24の内側にバルーン22が来るようにカテー
テル1を移動させ、バルーン22を膨らませて血管形成
手術を行い、診断と治療を同時に行う。
The ultrasonic pulses transmitted from the ultrasonic transducer 2 propagate in the blood and interact with the blood and blood vessels 23 and atheroma 2.
A part of it is reflected at the boundary of 4 and returns to the ultrasonic transducer 2. The ultrasonic waves reflected and returned to the ultrasonic transducer 2
The signal is converted into an electrical signal in the receiving section 16 and detected by the detecting section 18 . The scan conversion section 19 generates a television signal from the detection output of the detection section 18 and the direction information of the ultrasound transducer 2 of the angle calculation section 12, and displays an ultrasound tomographic image on the display section 20. The catheter 1 is brought close to the atheroma 24 while viewing the ultrasonic diagnostic image of the atheroma 24 on the display unit 20. The catheter 1 is moved so that the balloon 22 is placed inside the atheroma 24, the balloon 22 is inflated, and angioplasty surgery is performed to perform diagnosis and treatment at the same time.

【0014】[0014]

【発明の効果】以上のように本発明は、血管内に、形状
記憶合金により走査される超音波振動子を挿入すること
により、血管内の超音波診断像を表示し、血管内の狭窄
や閉塞などの疾患を診断でき、同時にバルーンによる血
管形成手術を容易に克つ迅速に行なうことができる優れ
た診断及び治療を実現できるものである。
As described above, the present invention displays an ultrasonic diagnostic image inside a blood vessel by inserting an ultrasonic transducer scanned by a shape memory alloy into a blood vessel, thereby detecting stenosis or stenosis in the blood vessel. It is possible to realize excellent diagnosis and treatment that can diagnose diseases such as occlusion, and at the same time can easily overcome angioplasty surgery using a balloon and perform it quickly.

【図面の簡単な説明】[Brief explanation of the drawing]

【図1】本発明の一実施例における超音波診断装置の要
部切り欠き斜視図
FIG. 1 is a cutaway perspective view of essential parts of an ultrasonic diagnostic apparatus according to an embodiment of the present invention.

【図2】同装置の要部である超音波振動子の動作を示す
信号タイミングチャート
[Figure 2] Signal timing chart showing the operation of the ultrasonic transducer, which is the main part of the device

【図3】(a)同超音波振動子の正方向扇形動作を示す
平面図(b)同超音波振動子の負方向扇形動作を示す平
面図
FIG. 3: (a) A plan view showing the positive fan-shaped motion of the ultrasonic transducer; (b) A plan view showing the negative fan-shaped motion of the ultrasonic transducer.

【図4】従来の血管内視ビデオシステムの先端部の拡大
[Figure 4] Enlarged view of the distal end of a conventional vascular endoscopic video system

【符号の説明】[Explanation of symbols]

1  カテーテル 2  超音波振動子 3  絶縁部材 4  回転板 5  回転軸 6  形状記憶合金ワイヤA 7  形状記憶合金ワイヤB 8  通電端子 9  絶縁部材 10  支持板 11  位置検出器 12  角度演算部 13  電流源A 14  電流源B 15  制御部 16  受信部 17  送信部 18  検波部 19  走査変換部 20  表示部 21  メンブレン 22  バルーン 23  血管 24  アテローマ 1 Catheter 2 Ultrasonic transducer 3 Insulating material 4 Rotating plate 5 Rotation axis 6 Shape memory alloy wire A 7 Shape memory alloy wire B 8 Energizing terminal 9 Insulating material 10 Support plate 11 Position detector 12 Angle calculation section 13 Current source A 14 Current source B 15 Control section 16 Receiving section 17 Transmission section 18 Detection section 19 Scan conversion section 20 Display section 21 Membrane 22 Balloon 23 Blood vessels 24 Atheroma

Claims (1)

【特許請求の範囲】[Claims] 【請求項1】  血管内に挿入されるカテーテルと、前
記カテーテルの先端部に内包された超音波振動子と、前
記超音波振動子に接続された回転板と、前記回転板の回
転運動を支える回転軸と、前記回転板に接続され、前記
回転軸を中心に超音波振動子を血管長方向に扇形走査さ
せる形状記憶合金ワイヤと、前記形状記憶合金ワイヤの
伸縮運動を制御する駆動制御部と、前記カテーテル内に
配置され、前記超音波振動子の方向を検出する位置検出
器と、前記位置検出器に接続された角度演算部と、前記
超音波振動子に接続された送信部および受信部と、前記
受信部に接続された検波部と、前記検波部に接続された
走査変換部と、前記カテーテル先端にかぶせられた膜と
、前記カテーテルに取り付けられたバルーンを備えた超
音波診断装置。
1. A catheter inserted into a blood vessel, an ultrasonic transducer contained in a distal end of the catheter, a rotary plate connected to the ultrasonic transducer, and supporting rotational movement of the rotary plate. a rotating shaft; a shape memory alloy wire connected to the rotating plate and causing the ultrasonic transducer to scan in a fan shape in the blood vessel length direction around the rotating shaft; and a drive control unit controlling the expansion and contraction movement of the shape memory alloy wire. , a position detector disposed within the catheter and detecting the direction of the ultrasonic transducer; an angle calculation unit connected to the position detector; and a transmitting unit and a receiving unit connected to the ultrasonic transducer. an ultrasonic diagnostic apparatus comprising: a detection section connected to the reception section; a scan conversion section connected to the detection section; a membrane covered on the tip of the catheter; and a balloon attached to the catheter.
JP3028531A 1991-02-22 1991-02-22 Ultrasonic diagnostic device Pending JPH04266746A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP3028531A JPH04266746A (en) 1991-02-22 1991-02-22 Ultrasonic diagnostic device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP3028531A JPH04266746A (en) 1991-02-22 1991-02-22 Ultrasonic diagnostic device

Publications (1)

Publication Number Publication Date
JPH04266746A true JPH04266746A (en) 1992-09-22

Family

ID=12251254

Family Applications (1)

Application Number Title Priority Date Filing Date
JP3028531A Pending JPH04266746A (en) 1991-02-22 1991-02-22 Ultrasonic diagnostic device

Country Status (1)

Country Link
JP (1) JPH04266746A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0719110A1 (en) * 1993-09-14 1996-07-03 Intelliwire, Inc. Elongate device having forward looking ultrasonic imaging
JP2008539887A (en) * 2005-05-04 2008-11-20 フルイド メディカル,インコーポレイテッド Small actuator mechanism for intravascular imaging
JP2013542784A (en) * 2010-10-22 2013-11-28 ゴア エンタープライズ ホールディングス,インコーポレイティド Catheter with shape memory alloy actuator

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0719110A1 (en) * 1993-09-14 1996-07-03 Intelliwire, Inc. Elongate device having forward looking ultrasonic imaging
EP0719110A4 (en) * 1993-09-14 1998-10-07 Intelliwire Inc Elongate device having forward looking ultrasonic imaging
JP2008539887A (en) * 2005-05-04 2008-11-20 フルイド メディカル,インコーポレイテッド Small actuator mechanism for intravascular imaging
JP2013542784A (en) * 2010-10-22 2013-11-28 ゴア エンタープライズ ホールディングス,インコーポレイティド Catheter with shape memory alloy actuator
EP2629674A4 (en) * 2010-10-22 2015-07-29 Gore Enterprise Holdings Inc Catheter with shape memory alloy actuator
JP2015163198A (en) * 2010-10-22 2015-09-10 ゴア エンタープライズ ホールディングス,インコーポレイティド Catheter having shape memory alloy operation device

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