JPH06269391A - Body cavity diagnosing treatment apparatus - Google Patents

Abstract

PURPOSE:To provide a body cavity diagnosing treatment apparatus constituted so that an operator can easily confirm touch data from the touch sensor attached to the leading end of the medical treatment device inserted in the body cavity. CONSTITUTION:A touch sensor 21 is attached to the leading end part of the medical treatment device 4 inserted in the body cavity and the output of the touch sensor 21 is displayed on the screen 16 displaying an endoscopic image as touch data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for diagnosing and treating a body cavity used when performing an endoscopic examination.

[0002]

2. Description of the Related Art Conventionally, a tactile sensor is provided at the tip of an endoscope or a treatment tool, and tactile information detected by this tactile sensor is converted into voice or the like to notify the operator, or the tactile sensor detects it. There is a method of converting the sensed tactile information into vibrations and the like to notify the operator.

However, in the former case, it is difficult to feel the actual sense or level of tactile sensation. In the latter case, there is a problem that the transmission device side is complicated, and it is difficult to know which part of the insertion part in the body cavity such as an endoscope is in contact with and pressed by which body cavity.

[0004]

As described above, although there is a medical instrument which is conventionally provided with a tactile sensor at the tip of a medical instrument to be inserted into a body cavity, the tactile information detected by the tactile sensor can be easily recognized. Was difficult. The purpose of the present invention is to
It is an object of the present invention to solve the above-mentioned problems and provide an intracavity diagnostic treatment apparatus that allows an operator to easily recognize tactile information from a tactile sensor.

[0005]

In order to solve the above problems, the present invention provides a tactile sensor at the distal end of a medical instrument inserted into a body cavity, and displays the output of the tactile sensor as an endoscopic image. It is characterized in that it is displayed as tactile information on the screen of the display device.

[0006]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a diagram showing a first embodiment of the present invention.
In the figure, 1 indicates a bet. An arch-shaped mount 2 is attached to the bed 1 so as to straddle the abdomen of the patient P. The mounting base 2 is provided with a plurality of support portions 6a, 6b, 6c for fixedly supporting the endoscope 3 and the treatment tools 4, 5 inserted into the abdominal cavity of the patient P, and the endoscope 3 Cable 7 derived from the proximal parts of the treatment instruments 4 and 5
connector parts 8a, 8b, 8 connected to a, 7b, 7c
c is provided.

An electrical system line, a light guide fiber, a fluid system line, etc. are incorporated in the connector portions 8a, 8b, 8c. In addition, each connector portion 8a, 8b, 8c
Are connector portions 9a and 9b provided on the base of the mount 2.
To the connector portions 9a and 9b, and one ends of cables 10a and 10b are connected to the connector portions 9a and 9b.

The cables 10a and 10b are connected to the light source device 11, the camera control unit (CCU) 12, the tactile sense control section 13, the drive control section 14, and the suction / pneumoperitoneum section 15.
The TV monitor 16 is connected to the tactile-sense detection control unit 13. Further, in FIG. 1, 17a, 17b,
Reference numeral 17c is an operation unit for operating the endoscope 3 and the treatment tools 4, 5, respectively, which is remotely operated by a telemetry signal.

FIG. 2 is a diagram showing the detection principle of the tactile detection control section 13, in which 20 is a grip provided on the distal end of the treatment instrument 4, and 21 is a plurality of grips provided on the inner surface of the grip 20. The tactile sensor of is shown. These tactile sensors 21
As shown in FIG. 3, a plate-shaped pressure-sensitive conductive rubber 30 in which conductive particles such as carbon are dispersed in rubber, and a pair of electrodes 31a arranged to face each other with the pressure-sensitive conductive rubber 30 sandwiched therebetween,
31b, and lead wires 32a and 32b are connected to the electrodes 31a and 31b, respectively. Therefore, in the tactile sensor 21 having such a configuration, when a pressing force is applied to the pressure-sensitive conductive rubber 30, the resistance value between the electrodes 31a and 31b changes, and the pressing force can be known by detecting this change. You can do it. Two-dimensional pressing force can be detected by arranging a plurality of the tactile sensors 21 in a distributed manner.

Further, in FIG. 2, reference numeral 22 designates the grip portion 20.
A first position sensor 23 provided on the outer surface of the endoscope 4;
2 shows a second position sensor provided at the tip of the.
These position sensors 22 and 23 are for detecting the three-dimensional position of the grip 20 of the treatment instrument 4 with respect to the distal end of the endoscope 3, and as shown in FIG. It is composed of orthogonal coils.

The quadrature coil of the position sensor 22 is a magnetic field generating coil, and a pulse current is sequentially applied to each coil to generate a magnetic field in the x-, y-, and z-axis directions. On the other hand, the quadrature coil of the position sensor 23 is a receiver and detects an induced current generated in each coil. By detecting the current value of each coil of the position sensor 23 in correspondence with the current value of each coil of the position sensor 22, the three-dimensional positions of the position sensors 22 and 23 can be known.

Further, in FIG. 2, reference numeral 24 is a position sensor 2
The position detector detects the three-dimensional position of the grip 20 of the treatment instrument 4 with respect to the distal end of the endoscope 3 based on signals from the touch sensors 2 and 23, and the tactile sensor 2 detected by the position detector 24.
The three-dimensional position of 1 is supplied to the calculation unit 26. On the other hand, the output signal of the tactile sensor 21 is supplied to the calculation unit 26 via the tactile signal detection unit 25.

The calculation unit 26 calculates the three-dimensional position of the gripping unit 20 (tactile sensor 21) with respect to the endoscopic image and places the signal level of the tactile sensor 21 on the image synthesis display unit 27. Then, it is imaged and output to the TV monitor 16.

FIG. 5 shows a supporting portion 6a provided on the mounting base 2.
In the figure showing the configuration of the above, the insertion portion of the endoscope 3 can be moved back and forth in the axial direction by the rotation of the roller 44 while being sandwiched by the rollers 43 of the pressing portion 42.

The pressing part 42 is rotated by the rotation of the motor (not shown) of the rotating part 45, and the endoscope 3 can be rocked. The spring 46 is for pressing the pressing portion 42. The support portion 6a is rotatably fixed to the mounting base 2 and can change its direction by the rotation of the roller 47. The supporting portions 6b and 6c have the same structure as the above-mentioned supporting portion 6a.

According to the embodiment of the present invention thus constructed, the endoscope 3 and the treatment tools 4, 5 have terminal portions 6a, 6
Positional movement and treatment operation can be performed remotely by actuators provided at b and 6c. The tactile information to the tissue due to the operation of each treatment tool is displayed on the display screen of the TV monitor 16 so as to be superimposed on the endoscopic image, as shown in FIG. Therefore, the output information from the tactile sensor 21 can be easily recognized even if a plurality of treatment tools provided with the tactile sensor 21 are inserted into the body cavity.

FIG. 6 is a diagram showing a second embodiment of the present invention.
The treatment instrument 5 has a curved portion 50 on the distal end side for lifting an organ or the like in the body cavity. A plurality of tactile sensors 21 are provided on the outer circumference of the curved portion 50. The bending portion 50 is driven by the angle wire 51,
Is driven by a motor 52 provided at the proximal portion of the treatment instrument 5. The motor 52 is detected by the encoder 53 and supplied to the drive amount detector 28.

Further, the treatment instrument 5 is provided with a position sensor 54, and a three-dimensional position with the position sensor 23 provided on the endoscope 3 is read by the position detection section 24 via the position sensor 55. ing. The output signal of the tactile sensor 21 is read by the tactile signal detection unit 25.

The second embodiment of the present invention having the above structure is as follows.
The position of the tactile sensor 21 with respect to the endoscope 3 is calculated by the calculator 26 from the position signal output from the position detector 24 and the drive amount signal output from the drive amount detector 28. Then, the signal output from the calculation unit 26 is converted into the image synthesis display unit 2
7, and the tactile sensor 2 is displayed on the display screen of the TV monitor 16.
The tactile information of No. 1 is displayed by being superimposed on the endoscopic image. Therefore, similarly to the first embodiment described above, the tactile sensor 2
The tactile information obtained in 1 can be easily recognized.

In the first embodiment described above, the endoscope 3
The three-dimensional position of the tactile sensor 21 with respect to is detected by the position sensor 22 provided on the treatment instrument 4 and the position sensor 23 provided on the endoscope 3, but it is provided on the treatment instrument 4 as shown in FIG. The characteristic point 61 is read by the CCD 62 provided in the endoscope 3, and the output signal from the CCD 62 is used as the characteristic point extraction unit 63.
Signal processing is performed by the
You may make it detect a dimensional position.

Further, as shown in FIG. 8, a plurality of light emitting elements 64 which are turned on according to the tactile information of the tactile sensor 21 are provided on the outer surface of the grip portion 20 of the treatment instrument 4, and these light emitting elements 6 are provided.
4 may be imaged by the CCD 62 provided in the endoscope 3.

[0023]

As described above, according to the present invention, there is provided a body cavity diagnostic treatment apparatus which allows an operator to easily recognize tactile information from a tactile sensor provided in a medical instrument inserted into a body cavity. Can be provided.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a body cavity diagnostic treatment apparatus showing a first embodiment of the present invention.

FIG. 2 is a diagram showing a detection principle of a tactile detection control unit shown in FIG.

FIG. 3 is a configuration diagram of a tactile sensor.

FIG. 4 is a block diagram of a position sensor

5 is a diagram showing a configuration of a supporting portion shown in FIG.

FIG. 6 is a diagram showing a second embodiment of the present invention.

FIG. 7 is a diagram showing a third embodiment of the present invention.

FIG. 8 is a diagram showing a fourth embodiment of the present invention.

[Explanation of symbols]

 1 ... Bed 2 ... Mounting base 3 ... Endoscope 4,5 ... Treatment tool 11 ... Light source device 12 ... Camera control unit 13 ... Tactile detection control section 14 ... Drive control section 16 ... TV camera 21 ... Tactile sensor 22,23, 55 ... Position sensor 24 ... Position detection unit 25 ... Tactile signal detection unit 26 ... Calculation unit 27 ... Image synthesis display unit

Claims (1)

[Claims] 1. A tactile sensor is provided at the tip of a medical instrument to be inserted into a body cavity, and the output of the tactile sensor is displayed as tactile information on the screen of a display device that displays an endoscopic image. A characteristic intracorporeal diagnostic treatment device.