WO2006134881A1 - 内視鏡処置具及び内視鏡用処置具装置 - Google Patents
内視鏡処置具及び内視鏡用処置具装置 Download PDFInfo
- Publication number
- WO2006134881A1 WO2006134881A1 PCT/JP2006/311771 JP2006311771W WO2006134881A1 WO 2006134881 A1 WO2006134881 A1 WO 2006134881A1 JP 2006311771 W JP2006311771 W JP 2006311771W WO 2006134881 A1 WO2006134881 A1 WO 2006134881A1
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- WIPO (PCT)
- Prior art keywords
- bending
- bending portion
- tube body
- treatment instrument
- advance
- Prior art date
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments 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
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments 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
- A61B1/005—Flexible endoscopes
- A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
- A61B5/6885—Monitoring or controlling sensor contact pressure
Definitions
- the present invention relates to an endoscope treatment tool capable of an insertion operation adapted to the traveling shape of a lumen inserted into a lumen of a body cavity via an endoscope, and the endoscope treatment tool.
- the present invention relates to an endoscopic treatment instrument device.
- the distal end portion of the endoscope insertion portion is provided with an elevator for changing the direction in which the treatment instrument is led out, that is, for causing the treatment tool to be led out toward the nipple.
- the surgeon inserts the treatment tool into the papillary bile duct or knee canal by adjusting the raising angle of the elevator.
- JP-A-6-63004 discloses a medical tube in which a bending portion is provided at the distal end of a treatment instrument in order to perform an insertion operation along the running shape of the bile duct and spleen.
- This medical tube is composed of a flexible first porous tube that forms a curved portion on the front end side, a hard second porous tube joined to the rear end of the first porous tube, and the axial direction of the first porous tube. And two shape memory alloy wires arranged opposite to each other. According to this configuration, the first porous tube is bent in two directions by heating the shape memory alloy wire to shrink the length or by cooling and stretching.
- the first porous tube is bent in two directions by using the contraction and extension characteristics of the shape memory alloy wire, and the medical tube is shaped like a splenic duct. Insert it while keeping it along!
- the medical tube proposed in Japanese Patent Laid-Open No. 6-63004 is formed by heating and deforming the shape-memory alloy wire into a certain shape and then quickly cooling it to its original shape. Must be returned. Therefore, in the medical tube, a mechanism for cooling the shape memory alloy wire is required, which is a factor for increasing the outer diameter of the medical tube.
- the present invention has been made in view of the above-described circumstances, and an endoscopic treatment tool that can be easily inserted into a lumen having a complicated outer shape with a small outer diameter, and an endoscope.
- Mirror treatment tool For the purpose of providing the device!
- the endoscope treatment tool of the present invention is provided at a long tube body having a flexible member to be inserted into a body cavity and a distal end portion of the tube body, and the tube body is axially disposed.
- a first bending portion that is bent with respect to the first bending portion, a second bending portion that is connected to a proximal end side of the first bending portion, and that bends the tube body with respect to an axial direction; and the first bending portion.
- bending control means for independently bending the second bending portion.
- FIG. 1 illustrates a configuration of an endoscopic treatment instrument device that includes an endoscopic treatment instrument and an endoscope.
- FIG. 2 is a partial cross-sectional view showing a configuration of a distal end portion of an endoscope treatment tool.
- FIG. 5 is a front view showing the configuration of the distal end surface when the endoscope treatment tool of FIG. 2 is viewed from the direction of arrow C.
- FIG. 6 is an example of a control operation when inserting the treatment tool device for endoscope. The flow chart I explain
- FIG. 7 Arrangement of artificial muscle with strain sensor of first bending portion in a configuration in which the first bending portion and the second bending portion have a 45 degree phase and an artificial muscle having a strain sensor is placed. Place Sectional view explaining the device
- FIG. 8 Arrangement of artificial muscle with strain sensor of second bending portion in a configuration in which the first bending portion and the second bending portion have a 45 degree phase and an artificial muscle having a strain sensor is placed.
- the endoscope treatment tool device 10 includes an endoscope treatment tool 11, and the endoscope treatment tool 11 is inserted into a target site in a body cavity via the endoscope 1.
- the endoscope 1 includes an insertion portion 2 that is inserted into a body cavity, an operation portion 3 that is provided on the proximal end side of the insertion portion, and a universal cord 4 that extends from the operation portion 3. Yes.
- An external device 5 is connected to the end of the universal cord 4.
- the insertion portion 2 includes a distal end portion 2a in order from the distal end side, for example, a bending portion 2b that bends up, down, left and right, and a long flexible tube portion 2c formed of a flexible member.
- the operation section 3 also serves as a gripping section for the operator to grip, the bending knob 3a for bending the bending section 2b, the water supply / air supply button 3b for performing water supply, air supply and suction from the distal end section 2a, and suction Button 3c is provided.
- a treatment instrument insertion portion 6 is provided on the insertion portion 2 side of the operation portion 3.
- the distal end portion 2a of the insertion section 2 includes an imaging optical system including a CCD and an optical lens as an imaging device, an illumination optical system that irradiates illumination light, an imaging optical system, and the like.
- a nozzle for cleaning the surface of the optical lens, a front water supply hole, a treatment instrument protrusion hole, a treatment instrument raising base, and the like are provided.
- the endoscope 1 shown in FIG. 1 is a side view type, and the imaging optical system and the illumination optical system described above are provided on the side surface of the distal end portion 2a, and the treatment tool protruding hole is also formed on the side surface of the distal end portion 2a.
- the treatment instrument raising base is configured to change the derivation direction of the treatment instrument projected outside from the treatment instrument projection hole of the distal end portion 2a from the side in the drawing to the upward direction.
- the signal for driving the CCD of the imaging optical system the signal cable for transmitting the imaging signal, and the illumination light to the illumination optical system are omitted.
- the signal cable, the light guide cable, various tubes, the water / air supply button, the signal line extended from the suction button force, and the like are inserted.
- a connector 4a that can be attached to and detached from the external device 5 is provided.
- the external device 5 to which the connector 4a is connected is a light source device 5a and a video processor 5b.
- the light source device 5a generates illumination light to be supplied to the illumination optical system.
- the video processor 5b generates and records a video signal based on the supply of the CCD driving signal and the imaging signal of the CCD power.
- the video processor 5b is connected to a monitor 5c which is an external device 5, and an endoscopic image or the like is displayed on the screen of the monitor 5c by a video signal generated by the video processor 5b.
- the light source device 5a has a built-in or attached water / air supply pump and suction pump.
- the surgeon When the operator inserts the insertion portion 2 of the endoscope 1 into the body cavity, the surgeon performs it while observing the endoscope image displayed on the monitor 5c. After the distal end portion 2a of the insertion portion 2 is inserted to the vicinity of the target site in the body cavity, the treatment instrument insertion port 6d passes through the treatment instrument insertion passage 2d, and the endoscope treatment instrument passes through the treatment instrument outlet 2e of the distal end section 2a. 11 is projected.
- the endoscope treatment instrument 11 includes a tube body 12, a pressure sensor 13, a first bending portion 14, a second bending portion 15, a base 16, a pressure sensor signal cable 17, and a control unit 18. .
- the tube body 12 is a long and hollow tube having a through hole 12a.
- the through hole 12 serves as a flow path for supplying a guide wire (not shown), an insertion passage through which a treatment instrument such as a catheter is inserted, or a fluid such as an X-ray contrast medium.
- the pressure sensor 13 is a pressure measuring means, and is provided at the distal end portion of the tube body 12, specifically, for example, at the distal end surface.
- the first bending portion 14 is provided at a distal end portion of the tube body 12 with a predetermined length in the axial direction.
- the second bending portion 15 is provided on the rear end side of the first bending portion 14 with a predetermined length in the axial direction.
- the base 16 is provided at the proximal end of the tube body 12.
- the signal cable 17 is formed by collecting together signal lines (not shown) extending from the pressure sensor 13, the first bending portion 14, and the second bending portion 15. The end of the signal cable 17 is connected to the control unit 18.
- the control unit 18 is a control means, to which a joystick device 19 and a foot switch 20 are connected.
- the joystick device 19 is a bending operation means for independently performing the bending operation of the first bending portion 14 and the bending operation of the second bending portion 15.
- the foot switch 20 is an advancing / retreating unit that operates an advancing / retreating device 21 for advancing / retreating the tube body 12 of the endoscope treatment tool 11.
- the advance / retreat apparatus 21 is provided in the treatment instrument insertion section 6 of the operation section 3 of the endoscope apparatus 1.
- the advancing / retreating device 21 includes a pair of rollers 21a and 21b that sandwich the tube body 12. One of the rollers 21a and 21b is rotated forward and reverse by an electric motor (not shown). In a state where the tube body 12 is sandwiched between the pair of rollers 21a and 21b, the tube body 12 is moved forward and backward by rotating the electric motor.
- the advance / retreat apparatus 21 includes an electrode portion 21c that is in electrical contact with a contact portion 6b provided in the treatment instrument insertion portion 6.
- a signal cable 18a extends from the contact 6b.
- the signal cable 18a includes a power line that supplies power to the electric motor, and a signal line that transmits a control signal instructing a rotation operation.
- the signal cable 18a extends through the operation unit 3 and the universal cord 4 to the universal connector 4a, and is connected to the control unit 18 via the universal connector 4a.
- the foot switch 20 includes switches 20a and 20b.
- the first switch 20a instructs a forward movement
- the second switch 20b instructs a backward movement.
- a signal instructing a predetermined operation is output to the control unit 18 in accordance with the operation.
- a control signal for rotating the roller 21a for example, is output from the control unit 18 to the electric motor of the advance / retreat apparatus 21, and the tube body 12 is advanced / retreated.
- the tube body 12 of the endoscope treatment tool 11 is a treatment tool insertion part 6 of the operation part 3 of the endoscope apparatus 1. It is inserted into the treatment instrument insertion conduit 2d through the advance / retreat device 21 provided in the treatment tool. Further, the tube body 12 is moved forward and backward in accordance with the operation of the foot switch 20.
- the treatment tool of the distal end portion 2a The first bending portion 14 and the second bending portion 15 provided at the distal end portion of the tube body 12 constituting the endoscope treatment tool 11 protruding from the protruding port 2e are a joystick.
- the device 19 bends as the joysticks 19a and 19b are operated. A signal instructing the bending operation output from the joystick device 19 is output to the corresponding bending portions 14 and 15 via the control unit 18.
- pressure sensors 13a, 13b, 13c, and 13d are placed at the distal end surface of the real part 12b of the tube body 12 at intervals of about 90 degrees.
- the pressure sensors 13a to 13b, 13c, and 13d are for detecting the contact pressure when the distal end of the tube body 12 comes into contact with the lumen wall when the tube body 12 is inserted into the lumen. is there. That is, the pressure sensors 13a, 13b, 13c, and 13d are configured to have a shape and an area for detecting the pressure when the distal end surface of the tube body 12 comes into contact with the lumen wall or the like.
- the tube body 12 has a first curved portion 14 having a length dimension L, and a length L that is connected to the first curved portion 14 and has the same length L as the first curved portion 14.
- a second bending portion 15 constituted by the following. As shown in FIGS. 3 and 4, four bending mechanism portions are provided at intervals of about 90 degrees in each of the bending portions 14 and 15, respectively.
- the bending mechanism is a polymer actuator, so-called artificial muscles 14a, 14b, 14c, 14d, 15a, 15b, 15c, 15d, and the first bending section 14 includes artificial muscles 14a, 14b, 14c, 14d.
- the second bending portion 15 includes artificial muscles 15a, 15b, 15c, and 15d.
- the polymer actuator is formed so that the cations in the polymer electrolyte move to the cathode side when a voltage is applied, so that it bends and deforms due to swelling on the front and back.
- the artificial muscles 14a, 14b, 14c, 14d, 15a, 15b, 15c, 15di are formed with a predetermined width dimension h and a length L. Note that the pressure sensors 13a, 13b, 13c, 13d, the artificial muscles 14a, 14b, 14c, 14d, and the artificial muscles 15a, 15b, 15c, 15d are in the same position as viewed from the front force, in other words, the cross-sectional direction. In other words, they are arranged in the same phase.
- Strain sensors 21a, 21b, 21c, 21d, 22a, 22b, 22c, and 22d are provided on the outer surfaces of 5a, 15b, 15c, and 15d, respectively.
- the strain sensor is a bending shape measuring means, and measures the bending state when the bending portions 14 and 15 are in a bending state.
- the first bending portion 14 when the first bending portion 14 is bent and deformed upward in the figure, the artificial muscle 14a and the artificial muscle 14c facing the artificial muscle 14a are bent in the same direction, respectively.
- a voltage is applied to the artificial muscles 14a and 14c. That is, by appropriately controlling the voltage applied to each of the artificial muscles 14a, 14b, 14c, 14d of the first bending portion 14, the first bending portion 14 can be bent in the vertical and horizontal directions. .
- the second bending portion 15 can be bent in the vertical and horizontal directions by appropriately controlling the voltage applied to the artificial muscles 15a, 15b, 15c and 15d.
- the strain sensors 21a, 21b, 21c, and 21d detect strains that occur during the bending operation of the artificial muscles 14a, 14b, 14c, and 14d provided in the first bending portion 14.
- the strain sensors 22a, 22b, 22c, and 22d detect strains that occur during the bending operation of the artificial muscles 15a, 15b, 15c, and 15d provided in the second bending rod 15. Based on the strains detected by these strain sensors 21a to 21d and 22a to 22d, the curvature ratios of the respective curved sections 14 and 15 are calculated by the calculation section 18a of the control boot 18, and the recording section is based on the calculation results. Record in 18d.
- a signal cable 17 extends from the base 16 side of the tube body 12. The base end of this signal cable 17 is connected to the control unit 18.
- the signal cable 17 includes electric wires 17a and 17b and signal wires 13e, 17c and 17d.
- the electric wire 17a is connected to each of the artificial muscles 14a, 14b, 14c, and 14d constituting the first bending portion 14.
- the electric wire 17b is connected to each of the artificial muscles 15a, 15b, 15c, and 15d constituting the second bending portion 15.
- the electric wires 17a and 17b supply a bending operation voltage for bending the bending portions 14 and 15.
- the signal line 13e is connected to each pressure sensor 13a, 13b, 13c, 13d.
- the signal line 13e transmits pressure detection signals detected by the pressure sensors 13a, 13b, 13c, and 13d.
- the signal line 17c is connected to each of the strain sensors 21a, 21b, 21c, and 21d, and transmits a detection value corresponding to the curved state.
- the signal line 17d is connected to the strain sensors 22a, 22b, Connected to 22c and 22d, respectively, transmits a detection value corresponding to the curved state.
- the control unit 18, the joystick device 19, and the foot switch 20 are operation units of the endoscope treatment instrument device 20.
- the joystick device 19 includes a first joystick 19a that outputs an instruction signal for bending the first bending portion 14, and a joystick 19b that outputs an instruction signal for bending the second bending portion 15.
- the Each joystick 19a, 19b is bent by the first bending portion 14 or the second bending portion 15 by the control unit 18 depending on the difference between the tilting direction and the tilting angle that is the operation amount.
- a bending operation voltage for controlling the direction and the bending rate is generated.
- the generated bending operation voltage is supplied to the artificial muscles 14a, 14b, 14c, 14d of the first bending portion 14 or the artificial muscles 15a, 15b, 15c of the second bending portion 115 via the electric wires 17a, 17b. 15d to bend the bending portions 14 and 15.
- the foot switch 20 outputs an instruction signal for causing the advance / retreat device 21 to perform forward rotation and an instruction signal for causing the backward / forward operation.
- the control unit 18 When the first switch 20a is turned on, the control unit 18 outputs a control signal for causing the electric motor of the advance / retreat apparatus 21 to drive the electric motor in the forward direction via the signal cable 18a.
- the electric motor stops driving.
- the control unit 18 when the second switch 20b of the foot switch 20 is turned on, the control unit 18 outputs a control signal for causing the electric motor of the advance / retreat apparatus 21 to reversely drive the electric motor via the signal cable 18a. Then, when the second switch 20b is turned off, the electric motor stops driving.
- the control unit 18 includes an advance / retreat control unit 18b which is an advance / retreat control unit and a bending control unit 18c which is a bending control unit.
- the advance / retreat controller 18b generates a control signal based on the instruction signal from the foot switch 20 as described above, while generating a control signal based on the measurement result output from the pressure sensors 13a, 13b, 13c, and 13d. Then, the advancing / retreating device 21 is operated to advance and retract the tube body 12.
- the forward / backward operation control unit 18b generates a bending operation voltage based on an instruction signal output from the joysticks 19a and 19b of the joystick device 19, while the bending state output from the strain gauges 21a to 21d and 22a to 22d.
- a bending operation voltage corresponding to the detected value corresponding to is generated, and the corresponding bending portions 14 and 15 are bent in a predetermined direction.
- the tube body 12 of the endoscope treatment tool 11 is inserted from the treatment tool insertion port 6a of the operation unit 3 via the advance / retreat apparatus 21 attached to the treatment tool insertion port 6 of the endoscope apparatus 1. Insert into the treatment instrument insertion conduit 2d of part 2. Then, the distal end of the tube body 12 is projected from the distal end portion 2 a of the insertion portion 2. Thereafter, a treatment tool raising base (not shown) provided at the distal end portion 2a is raised to insert the tube body 12 into the bile duct, for example, via the nipple.
- the operator turns on the first switch 20a of the foot switch 20.
- a control signal is output from the control unit 18 to the advance / retreat apparatus 21, the electric motor is rotationally driven, and the tube body 12 advances toward the deep part of the bile duct.
- Step S1 When the advancement of the tube body 12 is started as the advance / retreat apparatus 21 is driven, control by the control unit 18 is started. That is, as shown in step S1, the control unit 18 acquires the pressure values detected by the pressure sensors 13a, 13b, 13c, and 13d provided on the distal end surface of the tube body 12, and proceeds to step S2. .
- Step S2 [Take the control unit 18 ⁇ , the calculation value 18a to obtain the sensor 13a, 13b, 13c, 13d, and the pressure value obtained by the sensor is smaller than the value. It is determined whether the pressure is a threshold value, and whether the pressure values of the pressure sensors 13a, 13b, 13c, 13d are substantially the same.
- the threshold value is a value that does not damage the lumen wall. For this reason, even when the pressure value reaches the threshold value, the bile duct wall and the like are not damaged by the progress of the tube body 12 in contact with the lumen wall.
- each pressure sensor 13a, 13b, 13c, 13d has substantially the same pressure value and the pressure value thereof. Becomes a value smaller than the threshold value.
- the tube body 12 is traveling through a curved portion of the bile duct, at least a part of the distal end surface of the tube body 12 comes into contact with the curved bile duct wall. Then, of the pressure sensors 13a, 13b, 13c, and 13d, the pressure sensor 13a is in contact with the bile duct wall.
- the detected pressure value of the pressure sensor 13a is the other pressure sensor 13b, 1 The value is higher than the detected pressure value of 3c and 13d.
- the control unit 18 determines that the side of the front end surface including the pressure sensor 13a is in contact with the lumen wall.
- the pressure sensor 13a, 13b, 13c, 13d [By comparing the pressure values detected by the trowel, the tip surface of the tube body 12 is connected to the bile duct. Determine whether the force is in contact with a wall or the like.
- step S2 if the pressure value detected by each of the pressure sensors 13a, 13b, 13c, 13d is smaller than and equal to the pressure threshold value, the control unit 18 moves the tip of the tube body 12 It is determined that the surface is not in contact with the bile duct wall, and the process proceeds to step S4.
- step S4 the control unit 18 outputs a control signal for causing the advance / retreat device 21 to perform forward rotation from the advance / retreat control unit 18b, and also provides the distortion sensors 21a, 21b, 21c, 21d provided in the first bending unit 14.
- the curvature Rn is calculated by the calculation unit 18a. That is, by outputting a control signal for forward rotation driving, the tube body 12 advances by ⁇ In.
- control unit 18 acquires the detection values of the respective strain sensors 21a, 21b, 21c, and 21d provided in the first bending portion 14 for each progress of the distance ⁇ In of the tube body 12, and the strain amount force Also, the bending rate Rn of the first bending portion 14 is calculated.
- step S5 the control unit 18 adds ⁇ In which is the amount of progress of the tube body 12 in step S4, so that the total length L of the first bending portion 14 in the axial direction L is increased. Determine the force that is equal to or less than.
- step S5 the process proceeds to step S1.
- step S3 the control unit 18 displays on the screen the position of the pressure sensor 13a, for example, which detects a pressure equal to or exceeding the threshold value, or in the direction opposite to the position of the pressure sensor 13a.
- the artificial muscle 14a in order to display the bending direction to be bent on the screen, to prompt the operation of the joystick 18a of the joystick device 18 or to bend the first bending portion 14 in the direction opposite to the position of the pressure sensor 13a, Apply bending operating voltage to 14c.
- the bending of the first bending portion 14 at this time is a straight line of the tube body 12 shown in FIG.
- the diameter is 1Z2.
- step S3 After the first bending portion 14 is bent in the direction opposite to the installation position of the pressure sensor 13a, for example, in which the pressure exceeding the threshold is detected in step S3, the process returns to step S1 again.
- step S6 Migrate to In step S6, the control unit 18 continues the progressive insertion of the tube body 12 after extracting from the recording unit 18d data of the curvature rate Rn when the first bending portion 14 travels by ⁇ .
- the bending operation of the joystick 19b of the joystick device 19 is performed based on the data of the bending rate Rn for each ⁇ In of the first bending portion 14 extracted by the control unit 18. In this way, the bending of the second bending portion 15 is controlled based on the data recorded in the recording portion 18d by the control unit 18. Then, since the second bending portion 15 traces the path along which the first bending portion 14 has traveled, the bending operation of the second bending portion 15 can be performed efficiently and smoothly.
- the endoscope treatment tool 11 is provided with the plurality of pressure sensors 13a, 13b, 13c, and 13d on the distal end surface of the tube body 12 inserted into the lumen.
- the first bending portion 14 provided with the artificial muscles 14a, 14b, 14c, 14d connected in the axial direction of the tube body 12, and the second bending portion provided with the artificial muscles 15a, 15b, 15c, 15d.
- 15 is provided with strain sensors 21a to 21d and 22a to 22d for detecting the curvature ratios of the respective bending portions 14 and 15. For this reason, when performing an insertion operation into a complicatedly bent lumen, the insertion operation can be performed quickly and smoothly without damaging the lumen wall by the progress of the tube body 12.
- 21c, 21d, artificial muscles 15a, 15b, 15c, 15d provided on the second bending portion 15, and strain sensors 22a, 22b, 22c, 22d provided on the outer surfaces thereof in the cross-sectional direction Both are located at the same phase.
- the artificial muscles 14a and 14c of the respective bending portions 14 and 15 the artificial muscles Perform the operation to shrink 15a and 15c simultaneously. Then, it becomes possible to perform an upward bending operation more quickly. In the other directions, the same action and effect can be obtained by simultaneously operating the artificial muscles in the same phase.
- FIGS. 7 and 8 In the arrangement of the artificial muscles shown in FIGS. 3 and 4, when the same oblique bending operation is performed, the artificial muscles 14a and 14d of the first bending portion 14 and the artificial muscles of the second bending portion 15 are performed. A total of four artificial muscles, muscles 15a and 15d, will be controlled. For this reason, the configuration of FIGS. 7 and 8 can reduce the load on the control circuit provided in the control unit 18.
- each artificial muscle 14a, 14b, 14c, 14d, 15a, 15b, 15c, and 15d are provided at 90 degrees on the first bending portion 14 and the second bending portion 15, respectively.
- a configuration example provided at intervals has been described.
- the interval between artificial muscles is not limited to 90 degrees, that is, it is not limited to four.
- three artificial muscles may be provided at 120 degree intervals, or two artificial muscles may be provided at 180 degree intervals. That is, the artificial muscle may be arranged so that the distal end portion of the tube body 12 can be bent in the vertical direction or the horizontal direction.
- the first bending portion 14 and the second bending portion 15 have their bending mechanism portions as artificial muscles, that is, polymer actuators.
- the bending mechanism is not limited to artificial muscles, but is made of a shape memory alloy and bends, a pneumatic actuator that bends by air pressure, or a wire-driven actuator that bends by a pulling wire. It is also possible to use an actuator that does not require cooling means.
- the pressure sensors 13a, 13b, 13c, and 13d may be arranged on a tapered surface of 45 degrees, for example, provided on the end surface of the tube body 12.
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007521281A JP5000503B2 (ja) | 2005-06-14 | 2006-06-12 | 内視鏡処置具 |
CN2006800211970A CN101198370B (zh) | 2005-06-14 | 2006-06-12 | 内窥镜处置工具和内窥镜用处置工具装置 |
EP06757256A EP1892009B1 (en) | 2005-06-14 | 2006-06-12 | Endoscope treatment instrument |
US11/953,377 US20080097159A1 (en) | 2005-06-14 | 2007-12-10 | Endoscopic treatment instrument and treatment instrument apparatus for endoscope |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005-174058 | 2005-06-14 | ||
JP2005174058 | 2005-06-14 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/953,377 Continuation US20080097159A1 (en) | 2005-06-14 | 2007-12-10 | Endoscopic treatment instrument and treatment instrument apparatus for endoscope |
Publications (1)
Publication Number | Publication Date |
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WO2006134881A1 true WO2006134881A1 (ja) | 2006-12-21 |
Family
ID=37532243
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2006/311771 WO2006134881A1 (ja) | 2005-06-14 | 2006-06-12 | 内視鏡処置具及び内視鏡用処置具装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20080097159A1 (ja) |
EP (2) | EP1892009B1 (ja) |
JP (1) | JP5000503B2 (ja) |
CN (1) | CN101198370B (ja) |
WO (1) | WO2006134881A1 (ja) |
Cited By (16)
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WO2008094949A2 (en) | 2007-01-29 | 2008-08-07 | Neoguide Systems, Inc. | System for controlling an instrument using shape sensors |
US20080216840A1 (en) * | 2007-03-06 | 2008-09-11 | Searete Llc, A Limited Liability Corporation Of The State Of Delaware | Imaging via the airway |
JP2010069298A (ja) * | 2008-09-17 | 2010-04-02 | Richard Wolf Gmbh | 内視鏡機器 |
WO2012132636A1 (ja) * | 2011-03-29 | 2012-10-04 | オリンパスメディカルシステムズ株式会社 | 内視鏡 |
JP2013061558A (ja) * | 2011-09-14 | 2013-04-04 | Olympus Corp | 内視鏡装置 |
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Also Published As
Publication number | Publication date |
---|---|
EP1892009B1 (en) | 2011-12-21 |
EP2289591A3 (en) | 2012-01-04 |
EP2289591A8 (en) | 2011-05-04 |
US20080097159A1 (en) | 2008-04-24 |
CN101198370B (zh) | 2011-02-02 |
EP1892009A4 (en) | 2009-05-27 |
JPWO2006134881A1 (ja) | 2009-01-08 |
EP2289591A2 (en) | 2011-03-02 |
JP5000503B2 (ja) | 2012-08-15 |
CN101198370A (zh) | 2008-06-11 |
EP1892009A1 (en) | 2008-02-27 |
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