JPH048341A - Inserting device into testee body - Google Patents

Abstract

PURPOSE:To detect a position of an insertion part without radiation exposure by providing a magnetic field detecting means, which detects a magnetic field generated by a magnetic field generating means and a position where it is provided to the insertion part, in the outside of the testee body. CONSTITUTION:After an insertion part 8 of an endoscope 2 is inserted to a certain degree into the testee body such as the colon or the like, position detection of a point end constitutional part 19 is indicated by an operating means 136. Then, a hole sensor 131 is scanned in a horizontal surface by controlling a motor drive circuit 133 by a controller 135. An output of the hole sensor 131 is obtained in each position, and a position, where the output of this hole sensor 131 is obtained maximum, is obtained as a position of the point end constitutional part 19. After the position of the point end constitutional part 19 is thus detected, the insertion part 8, magnetically guided, is inserted further into the testee body. That is, a magnetic field is generated from a magnetic force generating part 31 through the controller 135 by a command of the operating means 136.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an intra-subject insertion device that magnetically guides an insertion section.

[Prior Art] In recent years, endoscopes have become widely used in the medical and industrial fields.

In order to perform inspection or diagnosis using the endoscope, it is necessary to insert the insertion section into a body cavity or the like. In this case, since the insertion path is often curved, insertion may take time unless the operator is skilled in the insertion work.

To deal with this, a ferromagnetic material or a magnet is provided in the insertion section of the endoscope, as shown in Japanese Unexamined Patent Publication No. 133237/1982 and West German Patent Application No. 1262276, and the insertion section is inserted from outside the body. Magnetic induction has been proposed.

[Problems to be Solved by the Invention] By the way, when an insertion section is inserted into a curved subject, the state (shape) of the insertion section cannot be easily known. As described above, in the endoscope apparatus that magnetically guides the insertion section, X-rays or the like are used to confirm the condition of the insertion section.

However, the use of X1it is undesirable due to the problem of radiation exposure.

The present invention has been made in view of the above-mentioned circumstances, and is a device for inserting into a subject that magnetically guides an insertion section, and is capable of detecting the position of the insertion section without being exposed to radiation. The purpose is to provide equipment.

[Means for Solving the Problems] A device for insertion into a subject according to the present invention includes an insertion section inserted into a subject, a magnetic field generating means provided in the insertion section, and a magnetic field generating means provided outside the subject, and a magnetic force generating means for generating a magnetic force exerted on the magnetic field generating means to guide the insertion section, the magnetic field generated by the magnetic field generating means is detected outside the subject, and the magnetic field generated by the magnetic field generating means is detected outside the subject to A magnetic field detection means is provided to detect the position where the magnetic field generation means is provided.

[Operation] In the present invention, the insertion portion is guided by the magnetic force between the magnetic force generating means and the magnetic field generating means. Further, the magnetic field generated by the magnetic field generating means is detected by the magnetic field detecting means, and thereby the position in the insertion portion where the magnetic field generating means is provided is detected.

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

FIGS. 1 to 4 relate to a first embodiment of the present invention.
Figure 2 is an explanatory diagram showing the entire endoscope device, Figure 2 is a sectional view showing the tip of the insertion section of the endoscope, Figure 3 (a> is a side view of the magnetic force generator, Figure 3 (b) ) is a plan view of the magnetic force generator,
FIG. 4 is a block diagram showing the configuration of the control device.

As shown in FIG. 1, the endoscope apparatus 1 of this embodiment includes an endoscope 2 that is a fiberscope, a light source device 3 that supplies illumination light to the endoscope 2, and a light source device 3 that supplies illumination light to the endoscope 2. A camera control unit (hereinafter referred to as a CC) that performs signal processing for the TV camera 5 attached to the eyepiece 4 of the TV camera 5
) 6, a TV monitor 7 that displays a subject image by inputting the video signal output from the CCU 6, and a bed 10 on which a patient 9 into which the insertion section 8 of the endoscope 2 is inserted is placed. It includes a magnetic force generating device 11 disposed below the magnetic force generating device 11 and a control device 12 to which the magnetic force generating device 11 is connected.

The endoscope 2 has a flexible and elongated insertion section 8, and a large operating section 13 is provided at the rear end of the insertion section 8.
An eyepiece section 4 is provided at the top (rear end) of the operation section 13. Further, a light guide cable 14 is extended from the side of the operation unit 13, and at the tip of the light guide 14,
A connector 14a detachably connected to the light source device 3
is provided.

As shown in FIG. 2, a hard tip forming part 19 is provided on the distal end side of the insertion section 8, and a bendable bending part 21 is provided behind this tip forming part 19. An illumination window and an observation window are provided on the distal end surface of the distal end forming portion 19. A light distribution lens 15 is provided inside the illumination window, and a light guide 16 is provided at the rear end of the light distribution lens 15.
is provided. This light guide 16 is inserted through the insertion portion 8 and the light guide cable 14, and its input end is connected to the connector 14a.

The illumination light emitted by the lamp 17 in the light source device 3 is condensed by a condenser lens 18, enters the incident end of the light guide 16, passes through the light guide 16 and the light distribution lens 15, and then passes through the light guide 16 and the light distribution lens 15. It is designed to be emitted forward from the window.

Further, an objective lens 24 is provided inside the observation window, and the front end surface of the image guide 25 is disposed at the imaging position of this objective lens 24.

This image guide 25 includes the insertion section 8 and the operation section 1.
3, and its rear end face faces the eyepiece lens 26 in the eyepiece portion 4, as shown in FIG. The optical image of the subject illuminated by the illumination light is formed on the distal end surface of the image guide 25 by the objective lens 24, and transmitted to the eyepiece section 4 by the image guide 25. It is designed to be observed under magnification through a lens 26.

Further, as shown in FIG. 1, the TV camera 5 attached to the eyepiece 4 has an imaging lens 27 facing the eyepiece 26 and is placed at the imaging position of the imaging lens 27. It includes a solid-state image sensor, for example, a CCD 28. The optical image transmitted to the eyepiece 4 is formed on the CCD 28 by the imaging lens 27, and the CCD
28 for photoelectric conversion. This C
The output signal of the 0D28 is input to the CCU6, where it is processed and converted into a video signal.
A subject image is displayed on the V monitor 7.

Further, as shown in FIG. 2, the tip structure portion 19 includes:
A hood 20 can be attached.

This tip component 19 is composed of a permanent magnet as a magnetic field generating means. As the permanent magnet, a rare earth magnet with high magnetic force such as samarium cobalt (SmCo5.5m2Co17) or neodymium-iron-boron (NdFeB) is preferable.

The curved portion 21 adjacent to the tip portion 19 has joint pieces 22,
22. ... are rotatably connected to each other, and can be bent vertically or horizontally, and can be bent in any direction by rotating a bending knob (not shown) provided on the operating section 13. It has become. This curved portion 21 is covered with a flexible jacket.

Note that at least the components other than the tip component 19 and the hood 20 in the insertion portion 8, such as the joint piece 22, are made of non-magnetic material (aluminum, copper alloy, etc.) that is not 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.

A magnetic force generating device 11 is provided below the bed 10. This magnetic force generator 11 includes a magnetic force generator 31 and a Hall sensor 131 that are movable on a horizontal plane.

The configuration of this magnetic force generator 11 is shown in FIGS. 3(a) and 3(b).
Explain with reference to.

A power source 33 for generating magnetic force from the magnetic force generating section 11, for detecting a magnetic field by the Hall sensor 131, and for moving the magnetic force generating section 31 and the Hall sensor 131 is housed at the bottom of the chassis 32, which has an open upper side. There is.

A pair of guide rails 34 and 34 are attached to the upper end sides of the chassis 32 that are parallel to each other. 2nd direction (indicated by Y)
A guide rail 35 is constructed, and this guide rail 35
A stage 130 is mounted on the guide rail 35 so as to be movable in the longitudinal direction Y. On this stage 130, a magnetic force generating section 31 made of an electromagnet and a Hall sensor 131 using a Hall element are attached.

The stage 130 is attached to a guide rail 35 via a rotor 36, and the rotor 36 is rotated by a motor 37.

Further, one end of the guide rail 35 is connected to the motor 3.
8 and is mounted on a guide rail 34 via a rotor 39 rotated by this motor 38. Therefore, by rotating the motor 38, the rotor 39 is rotated and the guide rail 35 can be moved in the longitudinal direction X of the guide rail 34.

The motors 37 and 38 that rotate the rotors 36 and 39, respectively, are preferably ultrasonic motors that are not affected by magnetic force. The motor 37° 38 is connected to the cable 4
Its rotation (
Normal rotation, reverse rotation) and stopping are controlled. In this way, the magnetic force generating section 31 and the Hall sensor 1
31 can be moved to any position within the horizontal plane.

Next, the configuration of the control device 12 will be explained with reference to FIG. 4.

The control device 12 includes a motor drive circuit 133 that drives the motors 37 and 38, an output of the Hall sensor 131, and an encoder 132 attached to the motors 27 and 28.
The position detector 134 detects the position of the tip component 19 by inputting the output of the encoder 132, the signal from the operating means 136 which instructs the position of the magnetic force generator 31 and the Hall sensor 131, and the output of the encoder 132. It is provided with a controller 135 that inputs input and controls the position detection section 134 of the motor drive circuit 1331 and the magnetic force generation section 31. The controller 135 controls the motor 37 via the motor drive diagram 1133 so that the magnetic force generating section 31 and the Hall sensor 131 are located at the position instructed by the operating means 136.
, 38. The magnetic force generating section 3
1 and the position of the Hall sensor 131 is determined by the encoder 132.
It can be found from the output of Further, when the operating means 136 instructs to detect the position of the tip component 9, the controller 35 controls the motor drive circuit 133 to scan the Hall sensor 131 in a horizontal plane. The position detection unit 134 then determines the output of the Hall sensor 131 corresponding to each position determined by the output of the encoder 132, and the position where the output of the Hall sensor 131 is maximum is determined as the position of the tip component 19. It has become sought after.

Next, the operation of this embodiment configured as above will be explained.

First, after inserting the insertion section 8 of the endoscope 2 into a subject such as the large intestine to a certain extent, the distal end component 19 is inserted by the operation means 136.
instructs position detection. Then, the controller 135 controls the motor drive circuit 133 and the Hall sensor 131
is scanned in the horizontal plane. Then, the output of the Hall sensor 131 at each position is determined, and this Hall sensor 131
The position where the output is maximum is determined as the position of the tip component 19.

After the position of the distal end component 19 is detected in this manner, the insertion section 8 is magnetically guided and further inserted into the subject. That is, a magnetic field is generated from the magnetic force generating section 31 via the controller 135 in response to an instruction from the operating means 136, and a magnetic force, for example, an attractive force is generated between the magnetic force generating section 31 and the tip component 19 made of a permanent magnet. , the horizontal position of the magnetic force generating section 31 is moved, then the tip structure section 1
9 is attracted to the magnetic force generating section 31 by the magnetic force, the tip component 19 moves so as to trace the movement path of the magnetic force generating section 31.

In this way, the distal end component 19 can be inserted deep into the subject, such as the large intestine.

Note that by rotating the motors 37 and 38, the stage 130 is moved in the longitudinal direction Y of the guide rail 35,
By moving the guide rail 35 in the longitudinal direction X of the guide rail 34, the magnetic force generating section 31 and the Hall sensor 131 can be moved to any position on the horizontal plane.

If the position of one tip body is lost during the magnetic attraction of the insertion section 8 due to the movement of the magnetic force generating section 31, the generation of the magnetic field from the magnetic force generating section 31 is stopped and the Hall sensor 131 is scanned. Detect the position of one tip component.

Incidentally, instead of forming the tip portion 19 with a permanent magnet, the hood 20 may be formed with a permanent magnet.

As described above, according to this embodiment, the insertion portion 8 can be easily inserted into a curved region such as the large intestine, and the position of the insertion portion 8 can be detected without being exposed to radiation.

Also, a permanent magnet for magnetic guidance (tip component 19)
However, since it is also used for position detection, the distal end of the insertion section 8 does not become larger than necessary.

Further, the magnetic force generating section 31 can be configured with a small electromagnet or the like, since the distal end forming section 19 is movable to a position where it can be slid and drawn to the wall surface of the subject.

Furthermore, on the endoscope side, by configuring the distal end component 19 itself or the hood 20 attached to one of the distal end components with a permanent magnet, the outer diameter of the insertion section 8 does not need to be increased much, and the patient can reduce the pain caused to

5 and 6 relate to a second embodiment of the present invention, FIG. 5 is an explanatory diagram showing the entire endoscope apparatus, and FIG. 6 is an explanatory diagram showing the Hall sensor unit.

As shown in FIG. 5, in this embodiment, instead of providing the Hall sensor 131 on the stage 130, a Hall sensor unit 138 is built into the bed 10. As shown in FIG. 6, this Hall sensor unit 138 has a large number of Hall sensors 131 arranged in a matrix.

The outputs of each of the Hall sensors 131 are input to a position detecting section 134 shown in FIG. 4, and the position of the tip component 19 is detected by the position detecting section 134. In this embodiment, the output of the encoder 132 is not input to the position detection section 134.

According to this embodiment, since the Hall sensor 131 is not mechanically scanned, the position of the tip component 19 can be detected in a short time.

Further, when the magnetic field is generated from the magnetic force generating section 31 to magnetically attract the insertion section 8, the distribution of the magnetic field (magnetic field) can be known by measuring the magnetic field with each Hall sensor 131. can.

Other functions and effects of Structure 2 are the same as those of the first embodiment.

FIG. 7 is a sectional view showing the distal end of the insertion section of an endoscope in a third embodiment of the present invention.

The endoscope 2 in this embodiment is provided with a treatment instrument channel 140 within the insertion section 8. Then, the tip component 1
9 and the hood 20 are made of permanent magnets, a probe 141 having a permanent magnet 142 at its tip is inserted into the treatment instrument channel 140.

In this embodiment, by changing the insertion amount of the probe 141 into the treatment instrument channel 140, the permanent magnet 1
The position of 42 can be changed arbitrarily.

Therefore, by changing the position of the permanent magnet 142 and detecting the position of the permanent magnet 142 at each position by the Hall sensor 131 in the same manner as in the first or second embodiment, the insertion portion 8 can be inserted into the subject. You can know the shape.

Further, according to this embodiment, even in a normal endoscope that views a treatment instrument channel, the probe 141 is inserted into the treatment instrument channel up to the tip of the insertion section 8, and the permanent magnet 142 is activated by an external magnetic field. Move.

The insertion section 8 can be guided magnetically.

Other functions and effects of Configuration 1 are the same as those of the first or second embodiment.

FIG. 8 is a sectional view showing the distal end of the insertion section of an endoscope in a fourth embodiment of the present invention.

The endoscope 2 in this embodiment is provided with a treatment instrument channel 140 in the insertion section 8, as in the third embodiment.

Then, the opening at the tip of the treatment instrument channel 140 is closed with a stopper 144, and the treatment instrument channel 140 is closed with a stopper 144.
40 is filled with magnetic fluid 145. Note that the magnetic fluid 145 is one containing permanent magnet powder so that a magnetic field in a predetermined direction is generated.

According to this embodiment, the position of the magnetic fluid 145, that is, the position of the treatment instrument channel 140, is detected by the Hall sensor 131 in the same manner as in the first or second embodiment, so that the insertion portion inside the subject is detected. You can know the shape of 8.

Other functions and effects of Configuration 1 are the same as those of the first or second embodiment.

FIG. 9 is an explanatory diagram showing a capsule endoscope and its control device in a fifth embodiment of the present invention.

The capsule endoscope 150 has a cylindrical capsule body 151 with a spherical front end and a spherical rear end. An observation window is provided at the center of the front end surface of the capsule body 151, and an objective lens 152 is provided inside the observation window. A CCD 153 is provided at the imaging position of the objective lens 152. Further, a plurality of illumination windows are provided around the observation window, and an LED 154 is provided inside each illumination window. Further, on the rear end side of the capsule main body 151, the CCD153 and the LE
A transmitting/receiving unit 157 that transmits and receives output signals of the CCD 153 and various command signals between a drive circuit 156 that drives the D 154 and a control device 160 that is placed outside the subject.
and a power supply unit 158 having a battery that supplies power to each component of the capsule endoscope 150. Further, a permanent magnet 159 is provided on the outer peripheral side of the capsule body 151.

The control device 160 includes a transmitting/receiving section 161 that transmits and receives signals wirelessly or by wire to the transmitting/receiving section 157 of the capsule endoscope 150, and the transmitting/receiving section 161.1.
57, an operating means 162 for sending various command signals to the capsule endoscope 150, and the transmitting/receiving section 161.
The signal processing circuit 163 processes the output signal of the CCD 153 input via the signal processing circuit 163 and converts it into a video signal. The video signal from the signal processing circuit 163 is input to the TV monitor 7, and the subject image captured by the capsule endoscope 50 is displayed on the TV monitor 7.

Further, although not shown, the same magnetic force generating device 11, control device 12, Hall sensor unit 138, etc. as in the first or second embodiment are provided.

In this embodiment, similarly to the first or second embodiment, a magnetic field is generated from the magnetic force generating section 31, and a magnetic force is generated between the magnetic force generating section 31 and the permanent magnet 159 of the capsule endoscope 150. and moves the magnetic force generating section 31 to guide the capsule endoscope 150.

Further, by detecting the position of the permanent magnet 159 using the Hall sensor 131, the position of the capsule endoscope 150 is detected.

Note that the objective lens 152,
CCD153. In place of elements necessary for observation such as the LED 154, sensors such as a pH sensor and a temperature sensor may be provided to detect intragastric pH, intestinal pH, temperature, and the like.

Further, a collection means for collecting intestinal fluid or the like or a medicine application means may be provided in the capsule body 151.

The other functions and effects of Structure 5 are the same as those of the first or second embodiment.

Note that the present invention is not limited to the above embodiments, and for example, the magnetic field generating means provided in the insertion section 8 of the endoscope 2 or the capsule endoscope 150 may be an electromagnet instead of a permanent magnet.

Further, the magnetic field pressure detection means is not limited to one using a Hall element, but may also use a magnetoresistive element or the like.

Furthermore, the present invention can also be applied to an electronic endoscope in which a solid-state image sensor is provided at the distal end of the insertion section.

Further, the present invention can be applied not only to endoscopes but also to catheters.

[Effects of the Invention] As explained above, according to the present invention, in the intra-subject insertion device that magnetically guides the insertion section, the magnetic field generated by the magnetic field generation means provided in the insertion section is transmitted outside the subject. Since the magnetic field detection means for detecting the position of the magnetic field generating means in the insertion part is provided, there is an effect that the position of the insertion part can be detected without being exposed to radiation.

[Brief explanation of the drawing]

FIGS. 1 to 4 relate to a first embodiment of the present invention.
The figure is an explanatory diagram showing the entire endoscope device, FIG. ) is a plan view of the magnetic force generator,
FIG. 4 is a block diagram showing the configuration of the control device, FIGS. 5 and 6 relate to the second embodiment of the present invention, FIG. 5 is an explanatory diagram showing the entire endoscope device, and FIG. An explanatory diagram showing the Hall sensor unit, FIG. 7 is a sectional view showing the distal end of the insertion section of the endoscope in the third embodiment of the present invention, and FIG. 8 is a sectional view of the endoscope in the fourth embodiment of the present invention. FIG. 9 is a sectional view showing the distal end of the insertion section, and is an explanatory view showing a capsule endoscope and its control device in a fifth embodiment of the present invention. 1...Endoscope device 19...Tip component 31...Magnetic force generating unit 2...Endoscope 11...Magnetic force generating device 131...Hall sensor No. 1111 Fig. 2 Fig. 5 Fig. 6 Figure (a) Figure 3 Figure 7 Figure 8 (b)

Claims (1)

[Scope of Claims] An insertion section inserted into a subject, a magnetic field generating means provided on the insertion section, and a magnetic field generating means provided outside the subject and exerting an effect on the magnetic field generation means for guiding the insertion section. In the intra-subject insertion device, the magnetic field generating means generates a magnetic field outside the subject, and detects the magnetic field generated by the magnetic field generating means to determine the position of the magnetic field generating means in the insertion portion. A device for insertion into a subject's body, characterized in that it is provided with a magnetic field detection means for detecting a magnetic field.