WO2012153703A1 - 圧力センサー、内視鏡スコープ、内視鏡裝置 - Google Patents
圧力センサー、内視鏡スコープ、内視鏡裝置 Download PDFInfo
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- WO2012153703A1 WO2012153703A1 PCT/JP2012/061651 JP2012061651W WO2012153703A1 WO 2012153703 A1 WO2012153703 A1 WO 2012153703A1 JP 2012061651 W JP2012061651 W JP 2012061651W WO 2012153703 A1 WO2012153703 A1 WO 2012153703A1
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- pressure
- electrode
- endoscope
- sensitive
- sensitive resistor
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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
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00055—Operational features of endoscopes provided with output arrangements for alerting the user
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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
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
-
- 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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
- A61B1/00097—Sensors
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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
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
Definitions
- the present invention relates to a pressure sensor suitably mounted on an endoscope scope, an endoscope scope equipped with the pressure sensor, and an endoscope apparatus equipped with the endoscope scope.
- a device described in Patent Document 1 is known as an endoscopic device in which intestinal information can be obtained by a method other than image and touch.
- the endoscope apparatus described in Patent Document 1 as described in FIG. 34 and the like of this document, a large number of capacitance sensors are provided on the side surface in the vicinity of the tip of the probe. By independently sensing the pressure, information on the degree of contact between the probe and the living body can be obtained.
- the present invention has been made in view of such circumstances, and includes a pressure sensor capable of avoiding intestinal perforation by an endoscope, an endoscope scope equipped with the pressure sensor, and the endoscope scope.
- An endoscopic device is provided.
- the present invention is provided with a support portion and a pressure-sensitive portion that is provided at a ridge line portion at the tip of the support portion and outputs a signal corresponding to an applied pressure, and the pressure-sensitive portion is arranged in a ring shape.
- the inventors of the present invention have made extensive studies on the cause of intestinal perforation during endoscopy. Intestinal perforation is performed when the distal end of the insertion portion of the endoscope scope is moved by the ridge portion of the distal end. The knowledge that it is easy to occur when pushing hard was obtained. And based on this knowledge, if the magnitude and position of the pressure applied to the ridgeline at the tip of the insertion part can be detected, it is possible to detect excessive pressure applied to the ridgeline before intestinal perforation occurs. The inventor obtained knowledge that the intestinal perforation can be prevented by operating the endoscope scope based on the detected pressure.
- a pressure sensitive part is arranged in the ridge line part at the tip of the insertion part, and this pressure sensitive part is annularly arranged, and a plurality of second electrodes arranged at intervals in the circumferential direction of the first electrode. It has been found that by configuring with an electrode, the magnitude and position of the pressure applied to the ridge line portion can be accurately measured, and the present invention has been completed.
- the pressure-sensitive part outputs a signal corresponding to the applied pressure, for example, a resistance value between the first electrode and the second electrode by disposing a pressure-sensitive resistor between the first electrode and the second electrode.
- the change may be detected, or the capacitance change between the first electrode and the second electrode may be detected with a space between the first electrode and the second electrode. Since the resistance value and the capacitance between the first electrode and the second electrode change according to the pressure applied to the ridge line part, the magnitude of the pressure applied to the ridge line part can be detected.
- a plurality of second electrodes are provided, and the resistance value change and the capacitance change detected by each second electrode change depending on the position where the pressure is applied. For example, if four second electrodes A, B, C, and D are provided in the circumferential direction of the annular first electrode, when pressure is applied in the vicinity of the second electrode A, Since the resistance value change and the capacitance change are larger than the changes in the second electrodes B, C, and D, it is detected that pressure is applied in the vicinity of the second electrode A.
- the magnitude and position of the pressure applied to the ridge portion can be accurately measured.
- the operation and effect of the pressure sensor of the present invention is described by taking as an example the case where the pressure sensor of the present invention is mounted on an endoscope scope, but the pressure sensor of the present invention is mounted.
- Equipment that can be mounted on various devices such as medical and industrial uses is not limited to endoscope scopes, and the magnitude and position of pressure received by the pressure sensor can be specified using the same principle as described above. It can be used to control various robots.
- intestinal perforation is likely to occur when the distal end of the endoscope scope is bent in a J shape in order to observe the back side portion of the intestinal fold.
- one is to objectively display the applied pressure by mounting a pressure sensor on the endoscope tip.
- the field of view of the lens provided at the tip of the endoscope scope Make the corners as large as possible. Examples of the viewing angle of the lens are 160, 180, 200, 220, 240, 260, 280, 300, 320, 340, 360 degrees, and any one of the values exemplified here or between any two It may be within the range.
- the pressure sensor of the present invention preferably further includes a pressure-sensitive resistor whose resistance value changes according to the applied pressure between the first electrode and the second electrode.
- the pressure sensitive resistor is made of an elastomer containing a conductive material.
- the pressure sensitive resistor is configured to cover the periphery of the first electrode or the second electrode in a cross section perpendicular to the circumferential direction of the first electrode or the second electrode.
- the support portion includes an annular recess in the ridge portion, and at least one of the first electrode and the second electrode and the pressure sensitive resistor are disposed in the recess.
- the pressure-sensitive resistor has a circular cross section perpendicular to the circumferential direction of the ridge line portion, and the concave portion has a circular arc cross section perpendicular to the circumferential direction of the ridge line portion.
- the pressure-sensitive resistor is disposed so as to protrude from at least one of the side and the front of the support portion.
- a second electrode is disposed on the support part, and the pressure sensitive resistor is fixed to the support part by an adhesive or a pressure-sensitive adhesive provided between two adjacent second electrodes.
- four or more second electrodes are arranged at equal intervals in the circumferential direction of the first electrode.
- the present invention provides an endoscope scope that includes the pressure sensor described above and an insertion portion that is inserted into a body, and wherein the support portion is a distal end portion of the insertion portion.
- the present invention includes the pressure sensor described above and an insertion portion that is inserted into the body, and the support portion is an adapter that removably fixes the pressure sensitive portion to the insertion portion.
- the present invention provides the endoscope scope described above, and a signal processing unit that acquires the magnitude and pressure application position of the pressure applied to the pressure sensitive unit based on a signal from the pressure sensitive unit.
- An endoscope apparatus comprising: a monitor that displays an image acquired by the endoscope scope.
- the signal processing unit performs display based on the magnitude of the applied pressure at a position around the image and according to the pressure application position.
- an external display unit separate from the monitor is further provided, and the signal processing unit displays a display based on the magnitude of the applied pressure on the external display unit at a position corresponding to the pressure application position.
- the display is a color corresponding to the magnitude of the applied pressure.
- FIG. 1 shows an endoscope apparatus 1 according to an embodiment of the present invention.
- FIG. 2A is a view of the insertion portion 9 as viewed from the distal end 13 side.
- FIG. 2B is a view of the insertion portion 9 as viewed from the side.
- FIG. 2C is a cross-sectional view taken along line AA in FIG.
- FIG. 2D is a BB cross section in FIG.
- FIG. 3 is a diagram corresponding to FIG. 2 (d) and shows another embodiment of the pressure-sensitive portion 15.
- FIG. 4 is a diagram corresponding to FIG. 2 (d), and shows still another embodiment of the pressure sensitive unit 15.
- FIG. 5 is a diagram corresponding to FIG. 2C, and shows another embodiment of the first electrode 25.
- FIG. 6 is a diagram corresponding to FIG.
- FIG. 10A is a diagram of the adapter 37 viewed from the tip side.
- FIG. 10B is a view of the adapter 37 as viewed from the side.
- FIG.10 (c) is the AA cross section in FIG.10 (b).
- FIG. 10D is a BB cross section in FIG.
- FIG. 11 (a) to 11 (d) show another embodiment of the pressure-sensitive portion 15, and FIG. 11 (a) is a view of the insertion portion 9 viewed from the distal end 13 side.
- FIG.11 (b) is the figure which looked at the insertion part 9 from the side surface.
- FIG.11 (c) is the AA cross section in FIG.11 (b).
- FIG.11 (d) is the BB cross section in Fig.11 (a).
- FIG. 12 shows an endoscope model used in the example.
- FIG. 13 shows a pressure application site to the pressure sensitive part of the endoscope model of FIG.
- FIG. 14 shows voltage values detected when pressure is applied to the position shown in FIG.
- An example of the pressure-resistance characteristic of an elastomeric resistor that can be used in the present invention will be shown.
- FIG. 1 shows an endoscope apparatus 1 according to an embodiment of the present invention.
- the endoscope apparatus 1 includes an endoscope scope 3, a signal processing unit 5, and a monitor 7 that displays an image acquired by the endoscope scope 3.
- the endoscope scope 3 includes an insertion portion 9 that is inserted into the body and an operation portion 11 that is used for operations such as bending the distal end 13 of the insertion portion 9.
- a pressure sensitive part 15 is provided on the ridge line part of the distal end 13 of the insertion part 9.
- the image acquisition unit 19 receives the reflected light obtained by reflecting the light emitted from the light projecting unit 17 on the intestinal wall, and an intestinal image is acquired.
- the structure of the light projection part 17 is not specifically limited,
- the light irradiated from the light source is radiate
- the configuration of the image acquisition unit 19 is not particularly limited, but an imaging element in which reflected light from the intestinal wall is collected by an objective lens provided at the tip 13 and this light is disposed at an imaging position of the objective lens.
- the received image signal is sent to the signal processing unit 5 through a signal line provided in the insertion unit 9, and an intestinal image is displayed on the monitor 7.
- the intestinal image displayed on the monitor 7 and the distal end 13 of the insertion portion 9 are displayed.
- the intestinal wall it is determined whether or not the distal end 13 of the insertion portion 9 is in contact with the intestinal wall according to the feeling transmitted to the user's hand, and the insertion portion 9 is inserted deep inside the body.
- An experienced doctor can accurately determine how strong the tip 13 hits the intestinal wall, and if the tip 13 hits the intestinal wall strongly, the operation unit 11 is operated.
- the bending direction of the distal end 13 of the insertion portion 9 is changed, and the distal end 13 can avoid applying excessive pressure to the intestinal wall.
- the insertion part 9 can be continuously inserted without changing the bending direction of the distal end 13 of the insertion part 9, and as a result, the problem that the intestinal tract is perforated may occur.
- a doctor can enter the intestine while detecting the pressure applied by the distal end 13 to the intestinal wall in the pressure-sensitive portion 15 provided at the ridge line portion of the distal end 13 of the insertion portion 9.
- the doctor receives a warning through the monitor 7 and operates the operation part 11 in accordance with the warning.
- an operation of changing the bending direction of the distal end 13 of the insertion portion 9 can be performed. This can prevent intestinal perforation.
- the supervisor can objectively grasp the situation by the warning displayed on the monitor 7, and the accident can be taken by taking necessary measures as appropriate. Can be prevented in advance.
- FIG. 2A is a view of the insertion portion 9 as viewed from the distal end 13 side.
- FIG. 2B is a view of the insertion portion 9 as viewed from the side.
- FIG. 2C is a cross-sectional view taken along the line AA in FIG. FIG.2 (d) is a BB cross section in Fig.2 (a).
- FIG. 3 is a diagram corresponding to FIG.
- FIG. 2 (d) shows another embodiment of the pressure-sensitive portion 15.
- FIG. 4 is a diagram corresponding to FIG. 2 (d), and shows still another embodiment of the pressure sensitive unit 15.
- FIG. 5 is a diagram corresponding to FIG. 2C, and shows another embodiment of the first electrode 25.
- 6 and 7 are diagrams corresponding to FIG. 2A, and are diagrams for illustrating the pressure application unit P.
- FIG. 2A, FIG. 6, and FIG. 7, the illustration of the light projecting unit 17 and the image acquiring unit 19 is omitted.
- a pressure-sensitive portion 15 is provided at the ridge line portion of the distal end 13 of the insertion portion 9.
- the ridge line portion of the tip 13 is an outer peripheral portion of the tip 13, in other words, a portion where the side surface of the insertion portion 9 and the tip 13 intersect.
- the pressure-sensitive part 15 includes a first electrode 25, a second electrode 21, and a pressure-sensitive resistor 23 provided between these electrodes. Since the pressure-sensitive part 15 of this embodiment has a simple configuration, there is an advantage that the manufacturing cost is low.
- the first electrode 25 is arranged in an annular shape along the outer periphery of the tip 13 as shown in FIG. “Arranged in an annular shape” includes not only the case where one first electrode 25 having a closed ring shape is disposed along the outer periphery of the tip 13 as shown in FIG. As shown in FIG. 5, the case where the plurality of first electrodes 25 are arranged in a ring shape as a whole is also included.
- the “ring” includes not only a closed ring but also a ring having a partially opened portion as shown in FIG.
- the first electrode 25 performs signal processing via a signal line provided inside the insertion portion 9 as shown in FIG. 2C or via a signal line provided along the outside of the insertion portion 9. It is electrically connected to the part 5.
- wiring from the first electrode 25 to the signal processing unit 5 is easier than in the case where there are a plurality of wires.
- Second electrode The 2nd electrode 21 is arrange
- a plurality of second electrodes 21 are arranged at intervals from each other in the circumferential direction of the first electrode (the direction of arrow X in FIG. 2C).
- a separate signal line is connected to each of the second electrodes 21, and the voltage between each second electrode 21 and the first electrode is measured. Therefore, the pressure sensors are arranged as many as the second electrodes 21, and the resolution in the circumferential direction of the pressure application position is improved as the number of the second electrodes 21 is increased.
- the number of the second electrodes 21 may be two or more, preferably four or more, and more preferably eight or more.
- the second electrodes 21 are arranged, for example, one on each of the top, bottom, left and right.
- the second electrodes 21 are, for example, on the top, bottom, left and right One at a time and one at the top right, bottom right, top left, and bottom left.
- the pressure-sensitive resistor 23 has a resistance value that changes according to the applied pressure, and an example thereof is an elastomer containing a conductive material. Insulating elastomers have an extremely high resistance value as they are, but when conductive materials composed of conductive fine particles are mixed, the resistance value decreases according to the applied pressure, and functions as a pressure-sensitive sensor. become. Elastomers containing a conductive material are commercially available under the names of conductive elastomers and elastomer resistors, and are available from Japan Microsystem, for example. An example of the pressure-resistance value characteristic of the elastomer resistor is shown in FIG. 15. As the applied pressure increases linearly, the resistance value decreases logarithmically.
- the pressure-sensitive resistor 23 Since the pressure-sensitive part 15 detects the magnitude of the applied pressure by detecting a change in resistance value between the first electrode 25 and the second electrode 21, the pressure-sensitive resistor 23 includes the first electrode 25 and the second electrode 21. What is necessary is just to arrange
- the pressure-sensitive resistor 23 is sensitive to pressure, it is preferably fixed to the insertion portion 9 without applying extra pressure.
- the pressure-sensitive resistor 23 is fixed with an adhesive or a pressure-sensitive adhesive provided at a portion 27 (FIG. 2A) between two adjacent second electrodes. According to such a method, the pressure sensitive resistor 23 can be fixed without applying pressure to the pressure sensitive resistor 23.
- the pressure-sensitive resistor 23 When the pressure-sensitive resistor 23 is made of a material that is relatively easily deteriorated or contaminated, it is preferable that the pressure-sensitive resistor 23 has a replaceable configuration.
- the first electrode 25 and the pressure sensitive resistor 23 covering the first electrode 25 are exchanged together.
- an electrode can be installed in the insertion portion 9, and the electrode and the first electrode 25 can be separated from each other so as to be exchangeable.
- the first electrode 25 and the signal processing unit 5 can be electrically connected by arranging a signal line extending from the first electrode 25 along the outside of the insertion unit 9.
- an annular recess is formed in the ridge line portion of the distal end 13 of the insertion portion 9, and the second electrode 21 and the pressure-sensitive resistor 23 are disposed in the recess. Is arranged. As a result, the second electrode 21 and the pressure sensitive resistor 23 are stably disposed.
- the shape of the recess may be L-shaped in the cross section perpendicular to the circumferential direction, or may be arc-shaped in the cross section perpendicular to the circumferential direction as shown in FIG. Good.
- the contact area between the second electrode 21 and the pressure sensitive resistor 23 is small, and the pressure sensitive resistor is not properly compressed depending on the direction of the pressure applied to the pressure sensitive resistor, and as a result, the pressure is accurately measured. It may not be.
- the contact area between the second electrode 21 and the pressure sensitive resistor 23 is large, and the pressure sensitive resistor is appropriately compressed regardless of the direction of the pressure applied to the pressure sensitive resistor, and the pressure is accurately measured. It is thought that it is done.
- the shape of the adjacent three sides of a regular octagon may be sufficient.
- Such a concave portion is relatively easy to form, and when the second electrode 21 is formed along such a concave portion, pressure applied perpendicularly to the side surface, pressure applied from the tip side, pressure applied from an oblique direction Any of these can be detected appropriately.
- the size and shape of the concave portion of the ridge line portion is such that the pressure-sensitive resistor 23 protrudes from at least one of the side and the front of the insertion portion 9.
- the pressure-sensitive resistor 23 protrudes from both the side and the front, but may be either one.
- the pressure-sensitive resistor 23 protrudes from at least one of the side and the front of the insertion portion 9.
- the amount of protrusion is preferably about 1/5 to 1/2 of the diameter of the pressure sensitive resistor 23. This is because if the amount of protrusion is too large, the installation of the pressure sensitive resistor may become unstable, and if the amount of protrusion is too small, the effect of protrusion is small.
- the pressure-sensitive resistor 23 is disposed between the first electrode 25 and the second electrode 21, and the resistance value of the pressure-sensitive resistor 23 changes according to the magnitude of the applied pressure. Therefore, by measuring the voltage between the first electrode 25 and the second electrode 21 in a state where a constant current is flowing between the first electrode 25 and the second electrode 21, the magnitude of the applied pressure is changed to a voltage value. Can be detected as The obtained voltage value is sent to the signal processing unit 5 through the signal line.
- a method of flowing a constant current a method using a constant current diode can be mentioned.
- FIG. 6 and 7 correspond to FIG. 2A, and the pressure application position is indicated by P.
- FIG. 4 second electrodes 21 are denoted by reference numerals 21A to 21D for distinction.
- the pressure-sensitive resistor 23 When pressure is applied to the position P in FIG. 6, the pressure-sensitive resistor 23 is greatly compressed in the vicinity of the upper second electrode 21A, and its resistance value is greatly reduced. Therefore, the detection voltage at the upper second electrode 21A is smaller than the other second electrodes 21B, 21C, and 21D. Then, the signal processing unit 5 compares the magnitudes of the detection voltages from these four electrodes and determines that pressure is applied in the portion where the value of the detection voltage is small. In the case of FIG. The unit 5 determines that pressure is applied in the vicinity of the second electrode 21A. When pressure is applied to the position P in FIG. 7, the pressure-sensitive resistor 23 is greatly compressed between the upper second electrode 21A and the left second electrode 21B.
- the second electrode 21A and the second electrode 21B are compressed.
- the detection voltage at the electrode 21B decreases.
- the position of P is slightly closer to the second electrode 21A, the decrease in the detection voltage at the second electrode 21A is larger than that at the second electrode 21B. From this result, the signal processing unit 5 determines that pressure is applied to a position between the second electrode 21A and the second electrode 21B and closer to the second electrode 21A.
- the pressure sensing unit 15 outputs a signal corresponding to the applied pressure, and this signal is sent to the signal processing unit 5.
- the signal processing unit 5 acquires the magnitude of the pressure applied to the pressure sensing unit 15 and the pressure application position based on the signal from the pressure sensing unit 15.
- the signal from the pressure-sensitive part 15 includes position information. It is included.
- the signal processing unit 5 refers to this position information and notifies the operator of the position where pressure is applied.
- Examples of the notification method include a method of outputting a warning signal to sound an alarm, displaying a warning on the monitor 7, or displaying a warning on an external display unit different from the monitor 7.
- Examples of the warning display method include a method of changing the color and brightness of the screen and displaying characters and symbols on the screen.
- notification may be performed only when a high pressure exceeding the reference value is applied, and the detected pressure is displayed in real time regardless of the magnitude of the applied pressure. Also good.
- An example of the notification method is a display based on the magnitude of the acquired applied pressure at a position corresponding to the acquired pressure application position around the image 29 acquired by the endoscope scope 3 as shown in FIG. 31.
- the pressure application position acquired by the signal processing unit 5 is “down”. Therefore, the acquired applied pressure 31 is displayed “below” the image 29 correspondingly (see FIG. 8).
- the display 31 is, for example, a color corresponding to the magnitude of the applied pressure, but may be a pattern, a character, a symbol, or the like.
- the display 31 of the applied pressure acquired on the “right” of the image 29 is performed.
- the display 31 of the applied pressure acquired on “left” of the image 29 may be performed. This is because when the pressure is applied to the right side, it is necessary to move the distal end 13 of the insertion portion 9 to the left side, and it may be easier to understand intuitively if the display is performed in the moving direction.
- the display positions around the image 29 may be four places, up, down, left, and right, may be eight places including an oblique direction, or may be more places. In one example, the number of display positions is the same as the number of second electrodes.
- the operator When viewing the display 31, the operator recognizes that the distal end 13 of the insertion portion 9 is in contact with the lower side of the intestinal tract, and operates the operation portion 11 to move the distal end 13 upward to thereby enter the intestinal tract. Perforation can be avoided. In addition, since the supervisor of the operator can check the pressure applied to the intestinal tract, it is possible to determine at an early stage the situation where there is a risk of intestinal perforation.
- the external display unit 33 is provided with one display unit 35 on the top, bottom, left, and right, and a display based on the magnitude of the acquired applied pressure is displayed at a position corresponding to the acquired pressure application position.
- the display unit 35 is provided with a plurality of colors of LEDs, and the operator can be notified of the magnitude of the applied pressure by light emission in a color corresponding to the magnitude of the applied pressure.
- the external display unit 33 can be attached to the monitor 7 in one example. If such an external display unit 33 is used, it is possible to notify the operator of the pressure without changing the existing monitor.
- FIGS. 10A to 10D correspond to FIGS. 2A to 2D, respectively.
- the insertion portion 9 of the endoscope scope 3 is inserted into the internal space 39 of the adapter 37.
- the pressure sensitive part 15 can be easily replaced.
- the present invention can be introduced into an endoscope apparatus already installed in a hospital or the like.
- the first electrode 25 and the second electrode 21 are electrically connected to the signal processing unit 5 through a signal line (not shown). This signal line can be connected to the signal processing unit 5 along the insertion unit 9.
- the pressure-sensitive portion 15 is provided in the adapter 37 is a pressure sensor that can be used for any application.
- This pressure sensor is not limited to an endoscope scope, and can be used for any application that requires detection of the pressure application position and the magnitude of the applied pressure.
- the adapter 37 corresponds to a “support portion” in the claims.
- FIGS. 11 (a) to 11 (d) illustrate the embodiment.
- the first electrode 25 may be annularly disposed on the insertion portion 9 side, and the plurality of second electrodes 21 may be disposed so as to face the first electrode 25.
- the pressure-sensitive resistor 23 is configured to cover the periphery of a cross section perpendicular to the circumferential direction of the second electrode 21.
- FIG. 12 shows an endoscope model used in the present example, in which an annular pressure-sensitive portion is arranged at the ridge line portion at the tip of a rod-like support.
- the pressure-sensitive portion is configured by uniformly arranging four second electrodes at intervals in the circumferential direction of the annular first electrode covered with a pressure-sensitive resistor (elastomer resistor). With a constant current flowing between the first electrode and the second electrode, pressure is applied by sequentially pressing the positions of arrows A to D shown in FIG. 13 with a finger, and the first electrode and the second electrode at this time are applied. The voltage between the electrodes was measured. The result is shown in FIG.
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Abstract
Description
前記複数の第二電極は、第一電極の周方向に互いに間隔を空けて配置される、圧力センサーが提供される。
また、腸管穿孔は、腸のひだの裏側部分を観察するために、内視鏡スコープの先端をJ字状に曲げたときに起こりやすい。このような原因による腸管穿孔を防ぐには、ひとつは内視鏡先端への圧力センサー搭載による印加圧力の客観表示を行う、別の方法では、内視鏡スコープの先端に設けられたレンズの視野角をできるだけ大きなものにすればよい。レンズの視野角の例としては、160、180、200、220、240、260、280、300、320、340、360度であり、ここで例示した何れか1つの値以上又は何れか2つの間の範囲内であってもよい。
本発明の圧力センサーは、好ましくは、第一電極と第二電極の間に、印加圧力に応じて抵抗値が変化する感圧抵抗体をさらに備える。
好ましくは、前記感圧抵抗体は、導電材を含むエラストマーからなる。
好ましくは、前記感圧抵抗体は、第一電極又は第二電極の周方向に垂直な断面において第一電極又は第二電極の周囲を覆うように構成される。
好ましくは、前記支持部は、前記稜線部に環状の凹部を備え、第一電極と第二電極のうちの少なくとも一方と、前記感圧抵抗体は、前記凹部内に配置される。
好ましくは、前記感圧抵抗体は、前記稜線部の周方向に垂直な断面が円形であり、前記凹部は、前記稜線部の周方向に垂直な断面が円弧状である。
好ましくは、前記感圧抵抗体は、前記支持部の側方と前方の少なくとも一方からはみ出すように配置される。
好ましくは、第二電極が前記支持部上に配置され、前記感圧抵抗体は、隣接する2つの第二電極の間に設けられた接着剤又は粘着剤によって前記支持部に固定される。
好ましくは、第二電極は、第一電極の周方向に4つ以上が等間隔に配置される。
本発明は、別の観点では、上記記載の圧力センサーと、体内に挿入される挿入部とを備え、前記支持部は、前記挿入部の先端部である、内視鏡スコープを提供する。
本発明は、別の観点では、上記記載の圧力センサーと、体内に挿入される挿入部とを備え、前記支持部は、前記感圧部を前記挿入部に着脱可能に固定するアダプターである、内視鏡スコープを提供する。
本発明は、別の観点では、上記記載の内視鏡スコープと、前記感圧部からの信号に基づいて前記感圧部への印加圧力の大きさ及び圧力印加位置を取得する信号処理部と、前記内視鏡スコープが取得した画像を表示するモニターとを備える、内視鏡裝置を提供する。
好ましくは、前記信号処理部は、前記画像の周囲であって前記圧力印加位置に応じた位置に、前記印加圧力の大きさに基づく表示を行う。
好ましくは、前記モニターとは別の外部表示部をさらに備え、前記信号処理部は、前記外部表示部上であって前記圧力印加位置に応じた位置に、前記印加圧力の大きさに基づく表示を行う。
好ましくは、前記表示は、前記印加圧力の大きさに応じた色である。
図1は、本発明の一実施形態の内視鏡裝置1を示す。この実施形態の内視鏡裝置1は、内視鏡スコープ3と、信号処理部5と、内視鏡スコープ3が取得した画像を表示するモニター7とを備える。内視鏡スコープ3は、体内に挿入される挿入部9と、挿入部9の先端13を湾曲させる等の操作に用いる操作部11とを備える。挿入部9の先端13の稜線部には感圧部15が設けられている。
ここで、図1の領域Aの拡大図である、図2(a)~(d)及び図3~図7を用いて、挿入部9の先端13付近の部分(先端部)の構成について、さらに詳しく説明する。
図2(a)は、挿入部9を先端13側から見た図である。図2(b)は、挿入部9を側面から見た図である。図2(c)は、図2(b)中のA-A断面である。図2(d)は、図2(a)中のB-B断面である。図3は、図2(d)に対応した図であり、感圧部15の別の実施形態を示す。図4は、図2(d)に対応した図であり、感圧部15のさらに別の実施形態を示す。図5は、図2(c)に対応した図であり、第一電極25の別の実施形態を示す。図6及び図7は、図2(a)に対応した図であり、圧力印加部Pを示すための図である。なお、図2(a)、図6,図7以外では、投光部17と、画像取得部19の図示は省略している。
図2(d)に示すように、挿入部9の先端13の稜線部には、感圧部15が設けられている。先端13の稜線部とは、先端13の外周部分であり、言い換えると、挿入部9の側面と先端13とが交わる部分である。感圧部15は、第一電極25と、第二電極21と、これらの電極の間に設けられた感圧抵抗体23とを備える。本実施形態の感圧部15は、構成がシンプルであるので、製造コストが安いというメリットがある。
第一電極25は、図2(c)に示すように先端13の外周に沿って環状に配置されている。「環状に配置されている」には、図2(c)に示すように閉じた環の形状の1つの第一電極25が先端13の外周に沿って配置されている場合のみならず、図5に示すように、複数の第一電極25が全体として環の形状に配置されている場合も含まれる。「環」には、閉じた環のみならず、図5のように部分的に開いた部分がある環も含まれる。第一電極25は、図2(c)に示すように挿入部9の内部に設けられた信号線を介して、又は挿入部9の外側に沿って設けれた信号線等を介して信号処理部5に電気的に接続される。第一電極25が1つの場合、第一電極25から信号処理部5までの配線が、複数の場合よりも容易である。
第二電極21は、図2(c)及び図2(d)に示すように、第一電極25に対向するように配置されている。また、複数の第二電極21が第一電極の周方向(図2(c)の矢印Xの方向)に互いに間隔を空けて配置されている。第二電極21のそれぞれに別個の信号線が接続されており、各第二電極21と、第一電極の間の電圧が測定される。従って、第二電極21の数だけ圧力センサーが配置されていることになり、第二電極21の数が増えるほど、圧力印加位置の周方向の解像度が向上する。第二電極21の数は、2つ以上であればよく、好ましくは4つ以上であり、さらに好ましくは8つ以上である。第二電極21の数が4つの場合、第二電極21は、例えば、上下左右に1つずつ配置され、第二電極21の数が8つの場合、第二電極21は、例えば、上下左右に1つずつと、右上、右下、左上、左下に1つずつ配置される。
感圧抵抗体23は、印加圧力に応じて抵抗値が変化するものであり、その一例が導電材を含むエラストマーである。絶縁性のエラストマーはそのままでは抵抗値が極めて高いが、導電性を有する微粒子からなる導電材が混合されると、印加圧力に応じて抵抗値が低下するようになり、感圧センサーとして機能するようになる。導電材を含むエラストマー自体は、導電性エラストマーやエラストマー抵抗体という名称で市販されており、一例では、日本マイクロシステム社から入手可能である。エラストマー抵抗体の圧力-抵抗値の特性の一例は、図15に示すものであり、印加圧力が線形的に大きくなると、抵抗値が対数的に低下する。
挿入部9の先端13の稜線部には、図2(b)及び(d)に示すように、環状の凹部が形成されており、第二電極21及び感圧抵抗体23は、この凹部内に配置されている。これによって、第二電極21及び感圧抵抗体23が安定して配置される。凹部の形状としては、図2(d)に示すように周方向に垂直な断面がL字状であってもよく、図3に示すように周方向に垂直な断面が円弧状であってもよい。前者の場合、第二電極21と感圧抵抗体23の接触面積が小さく、感圧抵抗体に加わる圧力の方向によっては感圧抵抗体が適切に圧縮されず、その結果、圧力が正確に測定されない可能性がある。一方、後者の場合、第二電極21と感圧抵抗体23の接触面積が大きく、感圧抵抗体に加わる圧力の方向によらず、感圧抵抗体が適切に圧縮され、圧力が正確に測定されると考えられる。また、凹部の形状としては、図4に示すように、正八角形の隣接する三辺の形状であってもよい。このような形状の凹部は比較的形成するのが容易であり、このような凹部に沿って第二電極21を形成すると、側面に垂直に加わる圧力、先端側から加わる圧力、斜め方向から加わる圧力の何れも適切に検出することができる。
上記の通り、第一電極25と第二電極21の間に感圧抵抗体23が配置されており、感圧抵抗体23の抵抗値は印加圧力の大きさに応じて変化する。従って、第一電極25と第二電極21の間に定電流を流している状態で、第一電極25と第二電極21の間の電圧を測定することによって、印加圧力の大きさを電圧値として検出することができる。得られた電圧値は、信号線を通じて信号処理部5に送られる。定電流を流す方法としては、定電流ダイオードを用いる方法が挙げられる。
また、図7のPの位置に圧力が加わると、上側の第二電極21Aと左側の第二電極21Bの間において感圧抵抗体23が大きく圧縮され、その結果、第二電極21Aと第二電極21Bでの検出電圧が低下する。また、Pの位置は、若干、第二電極21A寄りであるので、第二電極21Aでの検出電圧の低下は、第二電極21Bよりも大きい。この結果から、信号処理部5は、第二電極21Aと第二電極21Bの間であって第二電極21A寄りの位置に圧力が印加されていると判断する。
上述したように、感圧部15は、印加圧力に応じた信号を出力し、この信号は、信号処理部5に送られる。信号処理部5は、感圧部15からの信号に基づいて感圧部15への印加圧力の大きさ及び圧力印加位置を取得する。上述したように、感圧部15は、挿入部9の先端13の稜線部のどの位置に圧力が加わっているのかを検出することができるので、感圧部15からの信号には、位置情報が含まれている。信号処理部5は、この位置情報を参照して、操作者に対して、圧力が加わっている位置を通知する。
ここまでは、感圧部15が挿入部9の先端13に取り付けられている場合を説明したが、感圧部15は、図10(a)~(d)に示すように、挿入部9の先端13に着脱可能なアダプター37に取り付けてもよい。図10(a)~(d)は、それぞれ、図2(a)~(d)に対応した図である。内視鏡スコープ3の挿入部9は、アダプター37の内部空間39内に挿入される。このようなアダプター式にした場合、感圧部15を容易に交換できるというメリットがある。また、従来の内視鏡スコープの挿入部にも容易に取り付けることができるというメリットがある。アダプター37と外部表示部33を用いると、既に病院などに設置済みの内視鏡裝置に本発明を導入することが可能になる。アダプター37において、第一電極25及び第二電極21は、図示しない信号線を介して信号処理部5に電気的に接続される。この信号線は、挿入部9に沿って信号処理部5に接続させることができる。
ここまで、感圧抵抗体23の内部に第一電極25があり、挿入部9側に第二電極21がある実施形態を用いて説明を行ったが、図11(a)~(d)に示すように、挿入部9側に第一電極25を環状に配置し、第一電極25に対向するように複数の第二電極21を配置してもよい。この実施形態では、感圧抵抗体23は、第二電極21の周方向に垂直な断面において、その周囲を覆うように構成される。
Claims (15)
- 支持部と、
前記支持部の先端の稜線部に設けられ且つ印加圧力に応じた信号を出力する感圧部とを備え、
前記感圧部は、環状に配置された第一電極と、第一電極に対向する複数の第二電極とを備え、
前記複数の第二電極は、第一電極の周方向に互いに間隔を空けて配置される、圧力センサー。 - 第一電極と第二電極の間に、印加圧力に応じて抵抗値が変化する感圧抵抗体をさらに備える、請求項1に記載の圧力センサー。
- 前記感圧抵抗体は、導電材を含むエラストマーからなる、請求項2に記載の圧力センサー。
- 前記感圧抵抗体は、第一電極又は第二電極の周方向に垂直な断面において、第一電極又は第二電極の周囲を覆うように構成される請求項3に記載の圧力センサー。
- 前記支持部は、前記稜線部に環状の凹部を備え、第一電極と第二電極のうちの少なくとも一方と、前記感圧抵抗体は、前記凹部内に配置される、請求項2~請求項4の何れか1つに記載の圧力センサー。
- 前記感圧抵抗体は、前記稜線部の周方向に垂直な断面が円形であり、
前記凹部は、前記稜線部の周方向に垂直な断面が円弧状である、請求項5に記載の圧力センサー。 - 前記感圧抵抗体は、前記支持部の側方と前方の少なくとも一方からはみ出すように配置される、請求項2~請求項6の何れか1つに記載の圧力センサー。
- 第二電極が前記支持部上に配置され、
前記感圧抵抗体は、隣接する2つの第二電極の間に設けられた接着剤又は粘着剤によって前記支持部に固定される、請求項1~請求項7の何れか1つに記載の圧力センサー。 - 第二電極は、第一電極の周方向に4つ以上が等間隔に配置される、請求項1~請求項8の何れか1つに記載の圧力センサー。
- 請求項1~請求項9の何れか1つに記載の圧力センサーと、
体内に挿入される挿入部とを備え、
前記支持部は、前記挿入部の先端部である、内視鏡スコープ。 - 請求項1~請求項9の何れか1つに記載の圧力センサーと、
体内に挿入される挿入部とを備え、
前記支持部は、前記感圧部を前記挿入部に着脱可能に固定するアダプターである、内視鏡スコープ。 - 請求項10又は請求項11に記載の内視鏡スコープと、
前記感圧部からの信号に基づいて前記感圧部への印加圧力の大きさ及び圧力印加位置を取得する信号処理部と、
前記内視鏡スコープが取得した画像を表示するモニターとを備える、内視鏡裝置。 - 前記信号処理部は、前記画像の周囲であって前記圧力印加位置に応じた位置に、前記印加圧力の大きさに基づく表示を行う、請求項12に記載の内視鏡裝置。
- 前記モニターとは別の外部表示部をさらに備え、
前記信号処理部は、前記外部表示部上であって前記圧力印加位置に応じた位置に、前記印加圧力の大きさに基づく表示を行う、請求項12に記載の内視鏡裝置。 - 前記表示は、前記印加圧力の大きさに応じた色である、請求項13又は請求項14に記載の内視鏡裝置。
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JP2017506969A (ja) * | 2014-03-12 | 2017-03-16 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 経食道心エコー超音波トランスデューサプローブのための触覚フィードバックのシステム及び方法 |
JP2016086979A (ja) * | 2014-10-31 | 2016-05-23 | 国立大学法人鳥取大学 | 圧力センサー及び圧力センサー付き内視鏡スコープ |
JP2016086980A (ja) * | 2014-10-31 | 2016-05-23 | 国立大学法人鳥取大学 | 圧力センサー及び圧力センサー付き鉗子 |
JP2016152863A (ja) * | 2015-02-20 | 2016-08-25 | 国立大学法人鳥取大学 | 内視鏡スコープ用圧力センサー及び圧力センサー付き内視鏡スコープ |
JP2017131461A (ja) * | 2016-01-29 | 2017-08-03 | 国立大学法人鳥取大学 | 内視鏡用センサシステム |
WO2019131717A1 (ja) * | 2017-12-26 | 2019-07-04 | 国立大学法人鳥取大学 | 圧力センサ、内視鏡スコープおよび内視鏡装置 |
JPWO2019131717A1 (ja) * | 2017-12-26 | 2020-12-24 | 国立大学法人鳥取大学 | 圧力センサ、内視鏡スコープおよび内視鏡装置 |
WO2021176530A1 (ja) * | 2020-03-02 | 2021-09-10 | オリンパス株式会社 | 内視鏡フード、および内視鏡システム |
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JPWO2012153703A1 (ja) | 2014-07-31 |
JP5803030B2 (ja) | 2015-11-04 |
US20140336453A1 (en) | 2014-11-13 |
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