JPH0611264B2 - Calculus crusher - Google Patents

Calculus crusher

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Publication number
JPH0611264B2
JPH0611264B2 JP60191982A JP19198285A JPH0611264B2 JP H0611264 B2 JPH0611264 B2 JP H0611264B2 JP 60191982 A JP60191982 A JP 60191982A JP 19198285 A JP19198285 A JP 19198285A JP H0611264 B2 JPH0611264 B2 JP H0611264B2
Authority
JP
Japan
Prior art keywords
shock wave
calculus
explosive
wave generator
focusing mirror
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.)
Expired - Lifetime
Application number
JP60191982A
Other languages
Japanese (ja)
Other versions
JPS6253644A (en
Inventor
仙三 生沼
一三 田中
正典 ▲吉▼田
光明 飯田
良男 中山
長俊 上谷
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.)
National Institute of Advanced Industrial Science and Technology AIST
Original Assignee
Agency of Industrial Science and Technology
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 Agency of Industrial Science and Technology filed Critical Agency of Industrial Science and Technology
Priority to JP60191982A priority Critical patent/JPH0611264B2/en
Publication of JPS6253644A publication Critical patent/JPS6253644A/en
Publication of JPH0611264B2 publication Critical patent/JPH0611264B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Description

【発明の詳細な説明】 〔産業上の利用分野〕 本発明は人体の結石破砕用に主として使用される医療用
衝撃波発生具に関するものである。
TECHNICAL FIELD The present invention relates to a medical shock wave generator mainly used for calculus breaking of a human body.

〔従来技術〕[Prior art]

人体等の生体内の結石を破砕するには、直接破砕用器具
をその部位まで導入して破砕する方法及び間接的に体外
から破砕する方法がある。その直接的方法としては、か
んし、爆薬破砕器、火花放電具等があるが、一方、間接
的方法としては、対外で放電により衝撃波を発生させ、
これを回転楕円体構造の一部分からなる衝撃波反射集束
鏡(以下の説明では反射集束鏡と称する)で体内の結石
部位に集束し破砕する方法がある。
For crushing calculi in a living body such as a human body, there are a method of directly introducing a crushing device to the site and crushing, and a method of indirectly crushing from outside the body. The direct method is a can, an explosive crusher, a spark discharge tool, etc., while the indirect method is to generate a shock wave by external discharge,
There is a method in which a shock wave reflection focusing mirror (referred to as a reflection focusing mirror in the following description) consisting of a part of a spheroid structure is focused on a calculus portion in the body and crushed.

後者の間接的方法は、前者の直接的方法では器具の挿入
が不可能な部位の結石を破砕できるという長所がある
が、高電圧の放電で衝撃波を発生させるので人体に感電
するおそれがあり、また高圧放電の影響で加療中に心電
図や脈拍が記録できないなどの欠点があった。
The latter indirect method has the advantage that the former direct method can crush calculi at the site where the device cannot be inserted, but since it generates a shock wave by high-voltage discharge, it may cause electric shock to the human body. In addition, there was a defect that the electrocardiogram and pulse could not be recorded during treatment due to the influence of high-voltage discharge.

そこで、上記の間接的方法の欠点を解消するために爆薬
の爆発で発生する衝撃波に着目して案出された結石破砕
装置用の衝撃波発生具がすでに提供されている。
Therefore, a shock wave generator for a calculus breaking device has already been provided, which has been devised by paying attention to the shock wave generated by the explosion of explosives in order to solve the drawbacks of the indirect method.

この結石破砕装置用の衝撃波発生具は、第5図に示すご
とく、細管11の先端に、内部に爆薬類8及び脚線13
付の点火具12を収容させた容器7を設けて、この衝撃
波発生具3Bを図示されていない反射集束鏡内に誘導
し、衝撃波を発生させる爆発部5を形成させると共に、
その爆発部5を形成する容器7を脆弱な材質で構成さ
せ、衝撃波発生に際し破壊するようにしたものである。
As shown in FIG. 5, the shock wave generator for this calculus crushing device has an explosives 8 and a leg wire 13 at the tip of a thin tube 11 inside.
A container 7 accommodating an attached ignition tool 12 is provided, and the shock wave generator 3B is guided into a reflection focusing mirror (not shown) to form an explosive section 5 for generating a shock wave.
The container 7 forming the explosive portion 5 is made of a fragile material, and is destroyed when a shock wave is generated.

しかしながら、このような衝撃波発生具3Bでは、1回
の結石破砕に数百本の衝撃波発生具3Bを必要とし、こ
のために結石破砕治療費が非常に高価なものにのなって
いるのが現状である。
However, in such a shock wave generator 3B, hundreds of shock wave generators 3B are required for one crushing of calculus, which makes the calculus crushing treatment cost very expensive. Is.

そこで、安価な衝撃波発生具が得られるように本発明者
は種々の実験及び検討を行なった結果、前記結石破砕装
置用の衝撃波発生具3Bの点火具12及び脚線13等か
らなる爆薬類8の起爆装置を省略することにより、その
目的が達せられることに着目し、これを基にして本発明
が案出された。
Therefore, as a result of various experiments and studies conducted by the inventor of the present invention so as to obtain an inexpensive shock wave generator, explosives 8 including the igniter 12 and the leg wire 13 of the shock wave generator 3B for the calculus crushing device 8 The present invention was devised based on this, focusing on the fact that the object can be achieved by omitting the detonator.

〔発明の目的〕[Object of the Invention]

本発明は、器具の挿入が不可能な部位の結石を人体の外
から正確に破砕すると共に、多数の医療用衝撃波発生具
を必要とする治療が安価に提供できる結石破砕装置を提
供することを目的としてなされたものである。
The present invention provides a calculus crushing device that can accurately crush calculi in a site where an instrument cannot be inserted from the outside of the human body and provide a medical treatment that requires a large number of medical shock wave generators at low cost. It was done for the purpose.

〔発明の構成〕[Structure of Invention]

本発明の結石破砕装置は、結石位置照準装置と衝撃波反
射集束鏡とを人体内の結石に向かうように人体の外に設
け、爆薬を収容した爆発部を棒、ひも、細管またはシー
トに一個または複数個配設した医療用衝撃波発生具を、
前記衝撃波反射集束鏡内で、レーザー光線または撃針等
で爆発することにより構成される。
The calculus breaking device of the present invention is provided with a calculus position aiming device and a shock wave reflection focusing mirror on the outside of the human body so as to face stones inside the human body, and an explosive part containing explosives in a rod, string, thin tube or sheet or A plurality of medical shock wave generators arranged,
It is constructed by detonating with a laser beam or a firing pin in the shock wave reflection focusing mirror.

〔実施例〕〔Example〕

以下図面を参照して本発明の結石破砕装置の各実施例を
説明する。
Each embodiment of the calculus breaking device of the present invention will be described below with reference to the drawings.

まず、第1図に示す本発明の実施例1における結石破砕
装置は、爆発部を一個配設した衝撃波発生具3を衝撃波
反射集束鏡1内で爆発し、発生した衝撃波を反射集束鏡
1で集束し、体外から体内の結石2に照射して破砕治療
する結石破砕装置として使用されるものであり、第1図
において4で示すのは体外に配設された結石破砕装置の
一部をなす結石位置照準装置で、人体内の結石の位置を
探り、その位置に正確に照射するよう衝撃波の照準を定
めるものである。
First, in the calculus breaking device according to the first embodiment of the present invention shown in FIG. 1, a shock wave generator 3 having one explosive portion is exploded in the shock wave reflection focusing mirror 1, and the generated shock wave is reflected by the reflection focusing mirror 1. It is used as a calculus crushing device that focuses and irradiates a calculus 2 inside the body from the outside to crush and treat it. Reference numeral 4 in FIG. 1 indicates a part of the calculus crushing device arranged outside the body. A calculus position aiming device searches for the position of a calculus in the human body and determines the aim of a shock wave so that the position is accurately irradiated.

次に、第2図に示すのは、本発明の実施例1で使用され
る衝撃波発生具3の拡大した側面図で、脆弱な容器7に
爆薬8を収容して形成した爆発部5を一個その先端に配
設した棒6から構成されているが、この爆発部5内には
爆薬類8を爆発させる第5図の従来例で示すような起爆
装置は組込まれていない。
Next, FIG. 2 is an enlarged side view of the shock wave generator 3 used in the first embodiment of the present invention, in which one explosive portion 5 formed by accommodating explosive 8 in a fragile container 7 is shown. Although it is composed of a rod 6 arranged at the tip thereof, the detonator as shown in the conventional example of FIG. 5 for detonating explosives 8 is not incorporated in the explosive portion 5.

更に、第3図は実施例2の結石破砕装置で使用される衝
撃波発生具3Aであり、これは細長いシート9に複数個
の爆発部5を配設することにより構成されており、この
爆発部5は爆薬類8を内部に収容させた筒状の容器7か
らなるが、これらの爆発部5内にも起爆装置は組込まれ
ていない。
Furthermore, FIG. 3 shows a shock wave generator 3A used in the calculus breaking device of the second embodiment, which is constituted by disposing a plurality of explosive parts 5 on an elongated sheet 9, and this explosive part Reference numeral 5 is a cylindrical container 7 in which explosives 8 are housed, but no detonator is incorporated in these explosive parts 5.

上記実施例1,2における各衝撃波発生具3,3Aに
は、第5図の従来例の場合のような起爆装置が組込まれ
ていないが、爆薬類8から衝撃波を発生させるには、例
えば第2図の実施例1の衝撃波発生具3では、第1図に
示すように反射集束鏡1内に衝撃波発生具3の爆発部5
を穴10から挿入した後、爆発部5に外部からレーザー
光線を照射したり、また撃針等で衝撃を加えて爆発させ
ることにより行われる。
Although the detonator as in the case of the conventional example of FIG. 5 is not incorporated in each of the shock wave generators 3 and 3A in Embodiments 1 and 2, in order to generate a shock wave from the explosives 8, for example, In the shock wave generator 3 of the first embodiment shown in FIG. 2, the explosive portion 5 of the shock wave generator 3 is provided in the reflection focusing mirror 1 as shown in FIG.
After being inserted through the hole 10, the explosive portion 5 is irradiated with a laser beam from the outside, or an impact is applied by a firing pin or the like to cause the explosion.

また、第3図に示す実施例2の衝撃波発生具3Aの場合
は、第4図に示すように、この衝撃波発生具3Aを誘導
し得る大きさのスリットまたは穴10を反射集束鏡1に
設け、矢印Pのように一方向に引張ることにより爆発部
5を反射集束鏡1内に配設し、レーザー光線や撃針等に
より爆発させて衝撃波を発生させる。
Further, in the case of the shock wave generator 3A of the second embodiment shown in FIG. 3, a slit or hole 10 having a size capable of guiding the shock wave generator 3A is provided in the reflection focusing mirror 1 as shown in FIG. , The explosive portion 5 is disposed in the reflection focusing mirror 1 by pulling in one direction as indicated by an arrow P, and explodes with a laser beam or a firing pin to generate a shock wave.

なお、第2図の実施例1の衝撃波発生具3で複数回衝撃
波を発生させるには、そのつど反射集束鏡1内に衝撃波
発生具3をさしかえることによって行なわなければなら
ないが、第3図の実施例2の衝撃波発生具3Aでは、細
当いシート9に所定間隔をおいて爆発部5が配設されて
いるので、第4図に示すように矢印P方向に引張りなが
ら順次爆発させ衝撃波を発生させることができ能率的で
ある。
In order to generate a shock wave a plurality of times with the shock wave generator 3 of the first embodiment shown in FIG. 2, it must be carried out by holding the shock wave generator 3 inside the reflection focusing mirror 1 each time. In the shock wave generator 3A of Embodiment 2, since the explosive portions 5 are arranged on the narrow sheet 9 at a predetermined interval, the shock waves are sequentially exploded while being pulled in the direction of arrow P as shown in FIG. Can be generated and is efficient.

なお、第2図の実施例1の衝撃波発生具3は、爆発部5
とこれを反射集束鏡1内に誘導する棒6とは同一径から
なっているが、これは必ずしもその必要はなく、その誘
導用の棒6がその爆発部5の径より小さくても、また大
きくても良く、更に爆発部5の誘導用には細管及びひも
等を用いても良く、また、これらに対する爆発部5の固
定手段も特に限定せず、例えば接着剤または螺合等によ
って固定したものでも良い。
The shock wave generator 3 of the first embodiment shown in FIG.
Although the rod 6 that guides it into the reflection focusing mirror 1 has the same diameter, this is not always necessary, and even if the rod 6 for guiding is smaller than the diameter of the explosive portion 5, The explosive part 5 may be large, and a thin tube and a string may be used for guiding the explosive part 5. The explosive part 5 may be fixed to the explosive part 5 by, for example, an adhesive or screwing. Anything is fine.

また、第3図の実施例2の衝撃波発生具3Aでは、細長
いテープ状のシート9に、爆薬類8を収容した脆弱な容
器7からなる爆発部5を配設したが、このような構成の
他、例えばこのテープ状のシート9と爆薬類8を収容さ
せる容器7とが一体のものを用い、その容器7に爆薬類
8を収容した後密閉しても良く、また可撓性の細管、ひ
も、針金、またはこれらの複合材を使って爆発部5を所
定間隔毎に配設する構造でも良い。
In the shock wave generator 3A of the second embodiment shown in FIG. 3, the elongate tape-shaped sheet 9 is provided with the explosive portion 5 composed of the fragile container 7 containing the explosives 8. Alternatively, for example, the tape-shaped sheet 9 and the container 7 for accommodating the explosives 8 may be integrally formed, and the explosives 8 may be accommodated in the container 7 and then sealed, or a flexible thin tube, A structure in which the explosive portions 5 are arranged at predetermined intervals by using a string, a wire, or a composite material thereof may be used.

この爆発部5の形状は、これを構成する容器7の製作の
容易さ等から一般的に円板状や円筒状にすることが好ま
しく、この容器7の材質としては、合成樹脂が好ましい
が、金属でも肉薄にすれば脆弱になるので好ましく採用
される。
Generally, the shape of the explosive portion 5 is preferably a disc or a cylinder in view of the ease of manufacturing the container 7 that constitutes the explosive portion 5. The material of the container 7 is preferably synthetic resin, It is preferably used because even a metal, if made thin, becomes brittle.

爆薬類8は、熱や衝撃で容易に爆発する性質の起爆薬
類、例えばDDNP,テトラセン,トリシネート,アジ
化鉛、雷薬等が好ましいものとして採用される。
The explosives 8 are preferably explosives having a property of easily exploding by heat or impact, such as DDNP, tetracene, tricinate, lead azide, and lightning charges.

そこで実際に、第1焦点が底部から2.14cmにある口
径13cm,深さ11cmの反射集束鏡1を使って、水中に
て1cm×1.5cm×2cmの腎結石を破砕実験を行なった
結果、第2図及び第3図の各実施例1,2のアジ化鉛1
0mg入りの衝撃波発生具3,3Aで衝撃波を170回か
ら230回発生させることにより、体外に自然排出可能
な大きさまでに破砕しうることが確認された。
So, actually, using a reflective focusing mirror 1 having a diameter of 13 cm and a depth of 11 cm with the first focus at 2.14 cm from the bottom, a 1 cm × 1.5 cm × 2 cm renal stone crushing experiment was performed in water. , Lead azide 1 of Examples 1 and 2 in FIGS. 2 and 3
It was confirmed that by generating shock waves 170 to 230 times with shock wave generators 3 and 3A containing 0 mg, they can be crushed to a size that can be naturally discharged to the outside of the body.

なお、反射集束鏡1で体外から結石を破砕するには、生
体組織を傷つけてはいけないので、弱い衝撃波を繰り返
し発生させて破砕することが好ましく、第1図の結石2
の位置に相当する圧力が従来は400kg/cm2から13
00kg/cm2で数百回照射することにより破砕されてい
たが、本発明の衝撃波発生具3,3Aを使用の場合は4
00kg/cm2から700kg/cm2の圧力であることが認め
られた。
In order to crush a calculus from outside the body with the reflection focusing mirror 1, it is preferable to repeatedly generate a weak shock wave to crush the calculus because the living tissue must not be damaged.
Conventionally, the pressure corresponding to the position is 400 kg / cm 2 to 13
It was crushed by irradiating it with 100 kg / cm 2 several hundred times, but when using the shock wave generators 3 and 3A of the present invention, it was 4
It has been found that the pressure is from 00 kg / cm 2 to 700 kg / cm 2 .

〔発明の効果〕〔The invention's effect〕

結石位置照準装置で人体内の結石の位置を探り、その結
石に対し衝撃波反射集束鏡で医療用衝撃波発生具の爆発
による衝撃波を集束し照射するので、人体外から人体内
の結石を正確に破砕することができる。結石破砕治療を
するには、多数回の衝撃波発生が必要となるので、安価
な費用でこの結石破砕治療が受けられるようにするに
は、衝撃波発生具が安価でなければならないが、従来の
衝撃波発生具では精度の良い起爆装置が内蔵されていた
ので高価であったのに対し、本発明の衝撃波発生具はそ
の起爆装置が組込まれていないので、起爆装置及びその
組み込み作業ならびに電気結線等の操作が不要な分だけ
従来のものより非常に格安に提供できる。
The stone position aiming device searches for the position of the stone in the human body, and the shock wave reflecting and focusing mirror irradiates the stone with the shock wave generated by the explosion of the medical shock wave generator, so that the stone inside the human body is accurately crushed from outside the human body. can do. Since a large number of shock waves must be generated to treat calculus fragmentation, shock wave generators must be inexpensive in order to receive this calculus fragmentation treatment at a low cost. The generator was expensive because it contained a high-precision detonator, whereas the shock wave generator of the present invention does not include the detonator, so that the detonator and its assembling work, electrical connection, etc. It can be offered at a much cheaper price than conventional ones because it does not require operation.

医療用衝撃波発生具に起爆装置を内蔵しないので、医療
用衝撃波発生具の取扱における安全度が著しく向上す
る。
Since the detonator is not built in the medical shock wave generator, the safety level in handling the medical shock wave generator is significantly improved.

また、結石破砕操作の面でも、本発明の衝撃波発生具は
起爆装置が組込まれていないので、電気結線等の操作が
不要となり、操作全体が迅速化する。特に複数個の爆発
部を配設した衝撃波発生具では、連続して爆発部を爆発
できるので、一層操作が簡略化し迅速化する利点があ
る。
Also in terms of calculus crushing operation, since the shock wave generator of the present invention does not have a detonator incorporated therein, operations such as electrical connection are not required and the entire operation is speeded up. Particularly, in a shock wave generator having a plurality of explosive parts, the explosive parts can be continuously exploded, so that there is an advantage that the operation is further simplified and speeded up.

【図面の簡単な説明】[Brief description of drawings]

第1図は本発明の実施例1における結石破砕装置を示す
説明図、第2図は実施例1で使用するの衝撃波発生具の
側断面図、第3図は本発明の実施例2における衝撃波発
生具の要部斜視図、第4図は第3図の衝撃波発生具を導
入する反射集束鏡の要部断面で示す説明図、第5図は従
来の衝撃波発生具の要部断面図である。 1……衝撃波反射集束鏡、2……人体内の結石、3,3
A……医療用衝撃波発生具、4……結石位置照準装置、
5……爆発部、6……棒、7……容器、8……爆薬類、
9……シート。
FIG. 1 is an explanatory view showing a calculus breaking device according to Embodiment 1 of the present invention, FIG. 2 is a side sectional view of a shock wave generator used in Embodiment 1, and FIG. 3 is a shock wave according to Embodiment 2 of the present invention. FIG. 4 is a perspective view of an essential part of the generator, FIG. 4 is an explanatory view showing a cross section of an essential part of a reflection focusing mirror for introducing the shock wave generator of FIG. 3, and FIG. . 1 ... Shock wave reflection focusing mirror, 2 ... Stone in human body, 3,3
A: Medical shock wave generator, 4: Stone position aiming device,
5 ... Explosive part, 6 ... Rod, 7 ... Container, 8 ... Explosives,
9 ... Sheet.

───────────────────────────────────────────────────── フロントページの続き (72)発明者 ▲吉▼田 正典 茨城県筑波郡谷田部町東1丁目1番地 化 学技術研究所内 (72)発明者 飯田 光明 茨城県筑波郡谷田部町東1丁目1番地 化 学技術研究所内 (72)発明者 中山 良男 茨城県筑波郡谷田部町東1丁目1番地 化 学技術研究所内 (72)発明者 上谷 長俊 東京都秋川市草花2510 細谷火工株式会社 内 審査官 川端 修 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor ▲ Masakinori Tada, 1-1 Higashi, Yatabe-cho, Tsukuba-gun, Ibaraki Chemical Research Laboratory (72) Inventor Mitsuaki Iida, 1-1, Higashi-tabe-cho, Tsukuba-gun, Ibaraki Research Institute for Science and Technology (72) Yoshio Nakayama Inventor Yoshio Nakayama 1-1 Higashi, Yatabe-cho, Tsukuba-gun, Ibaraki Chemical Research Institute (72) Inventor Nagatoshi Uetani 2510 Sobana, Akikawa-shi, Tokyo Hosoya Fireworks Co., Ltd. Inspector Osamu Kawabata

Claims (1)

【特許請求の範囲】[Claims] 【請求項1】結石位置照準装置と衝撃波反射集束鏡とを
人体内の結石に向かうように人体の外に設け、爆薬を収
容した爆発部を棒、ひも、細管またはシートに一個また
は複数個配設した医療用衝撃波発生具を、前記衝撃波反
射集束鏡内で、レーザー光線または撃針等で爆発するよ
うに構成してなる結石破砕装置。
1. A calculus position aiming device and a shock wave reflection focusing mirror are provided outside the human body so as to face stones inside the human body, and one or more explosive parts containing explosives are arranged on a rod, a string, a thin tube or a sheet. A calculus breaking device configured such that the provided medical shock wave generator is configured to explode with a laser beam or a firing needle in the shock wave reflection focusing mirror.
JP60191982A 1985-09-02 1985-09-02 Calculus crusher Expired - Lifetime JPH0611264B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP60191982A JPH0611264B2 (en) 1985-09-02 1985-09-02 Calculus crusher

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP60191982A JPH0611264B2 (en) 1985-09-02 1985-09-02 Calculus crusher

Publications (2)

Publication Number Publication Date
JPS6253644A JPS6253644A (en) 1987-03-09
JPH0611264B2 true JPH0611264B2 (en) 1994-02-16

Family

ID=16283663

Family Applications (1)

Application Number Title Priority Date Filing Date
JP60191982A Expired - Lifetime JPH0611264B2 (en) 1985-09-02 1985-09-02 Calculus crusher

Country Status (1)

Country Link
JP (1) JPH0611264B2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0474865A1 (en) * 1990-03-20 1992-03-18 Kabushiki Kaisha Komatsu Seisakusho Abnormality detection device for speed change system

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59220502A (en) * 1983-05-30 1984-12-12 新井 元之助 Construction of road joint extensible apparatus
FR2897864B1 (en) * 2006-02-24 2008-04-11 Cheddite France Sa PRIMING COMPOSITION AND APPLICATIONS

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS576650A (en) * 1980-06-12 1982-01-13 Kogyo Gijutsuin Medical calculus crushing apparatus
JPS5822127A (en) * 1981-08-03 1983-02-09 Matsushita Electric Works Ltd Bending method for decorative laminated sheet

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS576650A (en) * 1980-06-12 1982-01-13 Kogyo Gijutsuin Medical calculus crushing apparatus
JPS5822127A (en) * 1981-08-03 1983-02-09 Matsushita Electric Works Ltd Bending method for decorative laminated sheet

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0474865A1 (en) * 1990-03-20 1992-03-18 Kabushiki Kaisha Komatsu Seisakusho Abnormality detection device for speed change system
EP0474865B1 (en) * 1990-03-20 1997-05-14 Kabushiki Kaisha Komatsu Seisakusho Abnormality detection device for speed change system

Also Published As

Publication number Publication date
JPS6253644A (en) 1987-03-09

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