WO2017164401A1 - Dispositif de détection de forme endoscopique - Google Patents

Dispositif de détection de forme endoscopique Download PDF

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Publication number
WO2017164401A1
WO2017164401A1 PCT/JP2017/012140 JP2017012140W WO2017164401A1 WO 2017164401 A1 WO2017164401 A1 WO 2017164401A1 JP 2017012140 W JP2017012140 W JP 2017012140W WO 2017164401 A1 WO2017164401 A1 WO 2017164401A1
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WO
WIPO (PCT)
Prior art keywords
cable
coil
holding member
endoscope
shape detection
Prior art date
Application number
PCT/JP2017/012140
Other languages
English (en)
Japanese (ja)
Inventor
將 松井
Original Assignee
Hoya株式会社
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 Hoya株式会社 filed Critical Hoya株式会社
Priority to JP2017544046A priority Critical patent/JP6397137B2/ja
Priority to CN201780000927.7A priority patent/CN107438391B/zh
Publication of WO2017164401A1 publication Critical patent/WO2017164401A1/fr

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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/28—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring contours or curvatures

Definitions

  • the present invention relates to an endoscope shape detection device for detecting the shape of an endoscope.
  • Endoscope shape detection devices including a coil sensor for detecting the shape of a flexible tube or a bending portion of a flexible endoscope are known.
  • Patent Document 1 describes a specific configuration of this type of endoscope shape detection apparatus.
  • the endoscope shape detection device described in Patent Document 1 is configured by inserting a plurality of coil devices, which are bonded and fixed to a wire-like connecting member at intervals, into an outer tube. Also, when the endoscope shape detection device is bent and a load is applied to the coil device, the connection end of the coil and the connection end of the signal wire are coiled to avoid concentration of the load on the connection portion between the coil and the signal wire. It is soldered after being wound around an insulating member at the end of the apparatus.
  • the outer tube is omitted from the constituent elements.
  • the signal line is exposed, and for example, a load due to bending of the endoscope shape detection device is greatly applied to the signal line.
  • the load concentrates on the base portion of the signal wire exposed from the soldered portion with the coil wire, and the signal wire may break at this base portion.
  • the present invention has been made in view of the above circumstances, and an object of the present invention is for an endoscope suitable for preventing disconnection of a signal line while having a structure with improved assemblability and maintainability.
  • a shape detection device is provided.
  • An endoscope shape detection device includes a plurality of sensor main bodies arranged in rows at predetermined intervals, a holding member that holds each sensor main body, and each sensor holding each sensor main body.
  • a cable that is disposed between the holding members and covers the insulated wires connected to the sensor main bodies with a covering material, and a fixing member that fixes the holding member and the end of the cable adjacent thereto between the holding members.
  • the fixing member is attached to the holding member or formed integrally with the holding member, and the protruding member is wound around the end of the protruding member and the cable. And a wire for fixing the end portion.
  • the fixing member may be configured to fix the holding member and the end of the cable at a position where the substantially cylindrical sensor body and the adjacent cable are substantially coaxial.
  • the holding member is a three-dimensional injection-molded circuit component in which a plurality of wiring patterns are formed, and the insulated wire in one cable adjacent to the holding member has a corresponding wiring pattern.
  • the insulated wire in the other cable connected to one end and adjacent to the holding member may be connected to the other end of the corresponding wiring pattern.
  • the senor body is, for example, a coil.
  • the holding member has a proximal end portion located on the proximal end side of the endoscope and a distal end portion located on the distal end side of the endoscope, and is electrically connected to the proximal end portion.
  • This wiring pattern is the remaining insulated wires in the insulated wires in the cable adjacent to the base end portion and the insulated wires in the cable adjacent to the distal end portion, and closer to the distal end side of the endoscope than the holding member.
  • maintained at the holding member located is connected.
  • an endoscope shape detection device suitable for preventing disconnection of a signal line while having a configuration with improved assemblability and maintainability.
  • FIG. 1 is an external view of an electronic endoscope system according to an embodiment of the present invention. It is a figure which shows the structure of the electronic scope with which the electronic endoscope system which concerns on one Embodiment of this invention is equipped. It is a figure which shows typically the external appearance of the probe for position detection with which the electronic scope which concerns on one Embodiment of this invention is equipped. It is a figure which expands and shows the composition of the probe for position detection concerning one embodiment of the present invention. It is a figure which shows the structure of the coil base with which the position detection probe which concerns on one Embodiment of this invention is equipped. It is a figure which shows the structure of the coil base with which the position detection probe which concerns on one Embodiment of this invention is equipped.
  • FIG. 1 is an external view of an electronic endoscope system 1 according to an embodiment of the present invention.
  • the electronic endoscope system 1 of this embodiment includes an electronic scope 10, an endoscope processor 20, an external coil device 30, a shape detection processor 40, and a monitor 50.
  • FIG. 1 for convenience of showing the drawing, connections between some devices are indicated by arrows.
  • the electronic scope 10 includes an insertion portion flexible tube 11 covered with a flexible sheath.
  • the proximal end of the bending portion 12 is connected to the distal end of the insertion portion flexible tube 11.
  • the bending portion 12 bends in response to a remote operation from the hand operation portion 13 connected to the proximal end of the insertion portion flexible tube 11.
  • the bending mechanism is a well-known mechanism incorporated in a general endoscope, and bends the bending portion 12 by pulling the operation wire in conjunction with the rotation operation of the bending operation knob of the hand operation portion 13.
  • the imaging region by the electronic scope 10 moves.
  • the universal cable 14 extends from the hand operating unit 13.
  • a connector portion 15 is connected to the base end of the universal cable 14.
  • the electronic scope 10 is connected to the endoscope processor 20 by connecting the connector portion 15 to a connector portion 21 provided on the front panel surface of the endoscope processor 20.
  • the endoscope processor 20 processes the captured image data input from the electronic scope 10 to generate a video signal and outputs it to the monitor 50. As a result, an image captured by the electronic scope 10 is displayed on the monitor 50.
  • FIG. 2 is a diagram showing a configuration of the electronic scope 10. As shown in FIG. 2, a position detection probe 100 is arranged in the electronic scope 10 over its entire length (bending portion 12 to connector portion 15). A circuit board 15 a is attached in the connector portion 15.
  • FIG. 3 is a diagram schematically showing the appearance of the position detection probe 100.
  • the position detection probe 100 includes a plurality (12 in the present embodiment) of sensor units 110 arranged in rows at predetermined intervals.
  • Each sensor unit 110 arranged in a row in the position detection probe 100 includes a coil sensor 111 that functions as a position detection sensor.
  • the position detection probe 100 includes a cable 120 in which the signal line 120 a connected to the coil sensor 111 is covered with a covering material between the sensor units 110.
  • the signal line 120a is an insulated wire, for example, an enameled wire.
  • FIG. 4 is an expanded view of the configuration of the position detection probe 100 (mainly the configuration related to wiring).
  • the sensor units 110 are arranged in the insertion portion of the electronic scope 10 (in the insertion portion flexible tube 11 and the bending portion 12) with an interval that does not mechanically interfere with each other. Yes.
  • the sensor units 110 are arranged at a pitch of 50 mm in the bending portion 12, and are arranged at a pitch of 100 mm in the insertion portion flexible tube 11.
  • each sensor unit 110 is connected to a circuit on the circuit board 15a via a corresponding signal line 120a.
  • the circuit on the circuit board 15a is connected to the shape detection processor 40 via the connector cable 16 (see FIG. 1).
  • External coil device 30 generates an alternating magnetic field from the built-in antenna. Due to the alternating magnetic field generated from the built-in antenna, an electromotive force is generated in each coil sensor 111 disposed in the position detection probe 100 and an induced current flows. The induced current flowing through each coil sensor 111 is input to the shape detection processor 40 via the signal line 120a, the circuit on the circuit board 15a, and the connector cable 16.
  • the shape detection processor 40 detects the position of each coil sensor 111 based on the induced current flowing through each coil sensor 111 and connects the detected position of each coil sensor 111 with a line, thereby inserting the insertion portion of the electronic scope 10.
  • the axis of is estimated.
  • the shape detection processor 40 outputs the model imitating the electronic scope 10 pasted along the axis to the monitor 50. Thereby, the estimated shape image of the electronic scope 10 inserted into the body cavity of the patient is displayed on the monitor 50. Note that the estimated shape image of the electronic scope 10 is displayed on the monitor 50 singly or side by side or superimposed with the image captured by the electronic scope 10.
  • the sensor unit 110 includes a coil base 112 that holds a coil sensor 111. 5 to 7 show the configuration of the coil base 112. FIG. FIG. 8 shows a state where the coil sensor 111 is held on the coil base 112. FIG. 9 is a view for explaining a method for manufacturing the position detection probe 100.
  • FIG. 5A is a side view of the coil base 112. 5 (b), FIG. 5 (c), FIG. 5 (d), and FIG. 5 (e) respectively show the coil base 112 in the direction of arrow B, arrow C, arrow D, and arrow in FIG. 5 (a). It is a figure when it sees from E direction. Note that in FIG. 5, for the sake of clarity of the drawing, illustration of a pad portion 112bD, a wiring pattern 112bE, and a land portion 112bF, which will be described later, is omitted.
  • the coil base 112 has a shape in which a part of the cylinder is hollowed out so as to have a U shape when viewed from the side.
  • the coil base 112 has one end portion (end portion shown in FIG. 5B or FIG. 5D) having a cylindrical shape and the other end portion (FIG. 5C or FIG. 5E). ) Shown in FIG. 5) is connected by a pillar portion whose cross-section in the direction perpendicular to the axis is substantially a six-moon shape.
  • the end portion of the coil base 112 shown in FIGS. 5B and 5D will be referred to as a “tip portion 112a”, and the coil shown in FIGS.
  • An end portion of the base 112 is referred to as a “base end portion 112b”.
  • the position detection probe 100 is incorporated into the electronic scope 10 so that the distal end portion 112a of the coil base 112 faces the distal end (curved portion 12) side of the electronic scope 10.
  • FIG. 6 is a cross-sectional view of the coil base 112 taken along line AA in FIG. 5 (b).
  • a shaft fixing hole 112 a ⁇ / i> A and a member fixing hole 112 a ⁇ / i> B are formed in the distal end portion 112 a of the coil base 112.
  • a shaft fixing hole 112bA, a member fixing hole 112bB, and a pair of through holes 112bC are formed in the base end portion 112b of the coil base 112.
  • FIG. 9 the wiring pattern 112bE is not shown for the sake of clarity.
  • Each process of the manufacturing method described below may be appropriately changed as long as it does not contradict.
  • Step 1 the protruding member 113 is attached and fixed in the member fixing hole 112aB formed in the tip portion 112a of the coil base 112. Further, the protruding member 113 is also attached and fixed to the member fixing hole 112bB formed in the base end portion 112b of the coil base 112.
  • the protruding member 113 is fixed to each member fixing hole by, for example, adhesion or press fitting.
  • the protruding member 113 may be integrally formed with the coil base 112. In this case, this process 1 becomes unnecessary.
  • FIG. 8A is a diagram illustrating the internal structure of the sensor unit 110.
  • FIG. 8B is a diagram when the sensor unit 110 is viewed from the direction of the arrow H in FIG.
  • the coil sensor 111 is formed by winding a coil wire on the outer peripheral surface of a core (magnetic core) 111a.
  • the winding portion of the coil wire wound around the core material 111a is referred to as “coil 111b”.
  • the coil sensor 111 is held on the coil base 112. Specifically, one end of the core material 111a is inserted into the shaft fixing hole 112aA formed in the distal end portion 112a of the coil base 112, and the core material 111a is inserted into the shaft fixing hole 112bA formed in the base end portion 112b. The other end of the coil sensor 111 is inserted, whereby the coil sensor 111 is held on the coil base 112.
  • the coil wire material (a pair of terminal wires 111bA) drawn from each end of the coil 111b is inserted into the pair of through holes 112bC formed in the base end portion 112b.
  • the Each terminal wire 111bA is soldered to a land portion 112bF having a distal end portion (connection end) inserted through the through hole 112bC formed in the proximal end portion 112b.
  • Step 3 In the cable 120 on the base end portion 112b side of the coil base 112 (hereinafter, referred to as “base end side cable 120 ′” for convenience of description), a pair of signal lines 120a (hereinafter, description) corresponding to the sensor unit 110 are provided. For the sake of convenience, the signal line 120 a ′ is indicated.) In addition, a plurality of signal lines 120 a corresponding to the sensor unit 110 that is positioned closer to the distal end side of the electronic scope 10 than the sensor unit 110 are covered and protected. ing.
  • the proximal-side cable 120 ′ connected to the sensor unit 110 that is positioned closest to the proximal end in the electronic scope 10 is a 24-core cable (a pair of signal lines 120 a ′ and the sensor unit). There are ten pairs of signal lines 120 a) connected to the remaining (11) sensor units 110 that are positioned closer to the distal end side of the electronic scope 10 than 110.
  • the cable 120 is connected to the sensor unit 110. Specifically, the connection ends of the pair of signal lines 120 a ′ in the base end side cable 120 ′ are soldered to the corresponding pad portions 112 b D formed on the base end portion 112 b of the coil base 112. Since the terminal line 111bA of the coil 111b is soldered to the land part 112bF connected to the pad part 112bD, the coil 111b and the signal line 120a 'are electrically connected.
  • FIG. 7A is a side view of the coil base 112.
  • FIG. 7B is a view when the coil base 112 is viewed from the arrow F direction or the arrow G direction of FIG.
  • illustration of each hole shape shown in FIG. 5 including the shaft fixing hole 112aA is omitted for the sake of clarity of the drawing.
  • the coil base 112 is a three-dimensional injection-molded circuit component (MID (Molded Interconnect Device)) having a plurality of wiring patterns formed on the surface thereof.
  • a plurality (22 in this case) of wiring patterns 112bE are formed on the coil base 112.
  • one end of each of the plurality of wiring patterns 112bE is formed on the outer peripheral surface of the base end portion 112b of the coil base 112 at equal intervals, and the base end portion 112b and the tip end portion 112a are formed. It is formed to extend linearly on the connecting column portion, and the other end is formed on the outer peripheral surface of the tip end portion 112a at regular intervals.
  • connection end of the remaining signal line 120a (the signal line other than the pair of signal lines 120a ′) in the base end side cable 120 ′ is one end of the corresponding wiring pattern 112bE formed at the base end portion 112b of the coil base 112. Soldered to.
  • a plurality of signal lines 120a are covered and protected in the cable 120 on the tip 112a side of the coil base 112 (hereinafter referred to as “tip cable 120” for convenience of explanation).
  • the connection end of each signal line 120a in the distal end side cable 120 ′′ is soldered to the other end of the corresponding wiring pattern 112bE formed in the distal end portion 112a. Thereby, each end in the proximal end side cable 120 ′ is soldered.
  • the signal line 120a and each signal line 120a in the distal end side cable 120 ′′ are electrically connected through the respective wiring patterns 112bE.
  • FIG. 10A is a diagram for assistance in explaining the connection of the signal line 120a.
  • FIG. 10B is an explanatory supplementary diagram of FIG.
  • the coil 111b is denoted by the symbol C
  • the wiring pattern 112bE is denoted by the symbol P.
  • a rectangular figure surrounding the code C and the code P indicates the sensor unit 110.
  • the number on the arrow input to the symbol C indicates the number of signal lines 120a ′ (here, always “2”) connected to each terminal line 111bA of the coil 111b, and the number on the arrow input to the symbol P. Indicates the number of signal lines 120a connected to each wiring pattern 112bE formed on the base end portion 112b of the coil base 112.
  • the numbers on the line connecting the reference sign P and the distal end side cable 120 ′′ indicate the number of signal lines 120a connected to the respective wiring patterns 112bE formed on the distal end portion 112a of the coil base 112.
  • FIG. 2 for convenience of explanation, alphabets are added in order from the sensor unit 110 that is positioned closest to the proximal end in the electronic scope 10.
  • 24 (12 pairs) signal lines 120a are covered and protected in the proximal cable 120 'connected to the sensor unit 110A.
  • 24 signal lines 120a two (a pair) of signal lines 120a 'are solder-connected to the sensor unit 110A by the terminal lines 111bA of the coil 111b and the pad portion 112bD, and the remaining 22 (ten pairs).
  • 22 (ten pairs) of signal lines 120a are covered and protected in the distal end side cable 120 ′′ connected to the sensor unit 110A. All 22 signal lines 120a are coiled with respect to the sensor unit 110A. The other end of each wiring pattern 112bE formed on the tip 112a of the base 112 is soldered.
  • the next sensor unit 110B two (a pair) of signal lines 120a ′ in the proximal end side cable 120 ′ (the above-mentioned distal end side cable 120 ′′) are connected to each terminal line 111bA and pad portion 112bD of the coil 111b.
  • the remaining 20 (ten pairs) signal lines 120a are solder-connected to one end of each wiring pattern 112bE formed on the base end portion 112b of the coil base 112.
  • the sensor unit 110A In the distal end side cable 120 ′′, 20 (ten pairs) signal lines 120a are covered and protected. All 20 signal lines 120a are solder-connected to the other end of each wiring pattern 112bE formed on the tip 112a of the coil base 112 to the sensor unit 110B.
  • the signal lines 120 a in the cable 120 are connected to the sensor unit 110 in pairs from the sensor unit 110 on the proximal end side, and the remaining signal lines 120 a in the cable 120 are connected to the next sensor unit 110.
  • the coil sensor 111 of each sensor unit 110 is connected to the circuit on the circuit board 15a via the corresponding signal line 120a as shown in the development view of FIG.
  • step 3 the sensor unit 110 and the end of the cable 120 are further fixed.
  • the sensor unit 110 and the cable are formed by winding the wire 114 around the protruding member 113 attached to each end of the coil base 112 and the end of the cable 120. 120 ends are fixed.
  • the coil base 112 and the protruding member 113 have a shape in which the coil 111b having a substantially cylindrical shape and the cable 120 are positioned substantially coaxially when the protruding member 113 and the end portion of the cable 120 are wound by the wire 114. ing. By positioning the coil 111b and the cable 120 substantially coaxially, the diameter of the position detection probe 100 can be reduced.
  • each end portion of the coil base 112 including the soldering portion, the protruding member 113, the wire 114, and the entire end portion of the cable 120 are reinforced with an adhesive.
  • step 5 the entire sensor unit 110 including the adhesive portion reinforced in step 4 is covered and protected by the heat shrinkable tube 115.
  • the position detection probe 100 is configured not to include an outer tube, it is not necessary to insert a plurality of sensor units 110 arranged in a row through the elongated outer tube. . Further, it is not necessary to remove the sensor unit 110 and the signal line 120a from the outer tube or to be inserted and arranged at the time of repair. Therefore, the assemblability and maintainability are improved as compared with the prior art.
  • the signal line 120a is not exposed and is covered and protected by a cable 120 having an appropriate rigidity that does not hinder the bending operation of the position detection probe 100.
  • the protruding member 113 and the end of the cable 120 are wound around the wire 114 and fixed. For this reason, a load at the time of bending of the position detection probe 100 is applied to the cable 120 having high bending resistance, and a portion where the load is generally likely to concentrate (the signal line 120a ′ exposed from the soldered portion of the pad portion 112bD). The entire signal line 120a including the root portion) is not substantially covered. Therefore, disconnection of the signal line 120a is prevented.
  • Embodiments of the present invention are not limited to those described above, and various modifications are possible within the scope of the technical idea of the present invention.
  • the embodiment of the present invention also includes contents appropriately combined with embodiments or the like clearly shown in the specification or obvious embodiments.
  • FIG. 11 is a view showing a modified example of the insertion portion flexible tube 11.
  • a portion (passive bending portion) 11 ′ that passively bends when a force is applied may be provided at a location between the bending portion 12 and the hand operating portion 13 in the insertion portion flexible tube 11. it can.
  • the portion 11 ′ is automatically bent.
  • the force which presses the curved part 12 with respect to an intestinal wall is converted into the force which advances the curved part 12 ahead (back part of an intestine). Therefore, the pain given to the patient when the bending portion 12 contacts the intestinal wall can be reduced.
  • the shape of the insertion portion flexible tube 11 can be accurately detected, which is preferable in a configuration including a passively curved portion 11 ′.
  • the endoscope system including the passive bending portion 11 ′ has the following configuration: Endoscope shape detection apparatus according to the present embodiment, A flexible tube to be inserted into a subject, With When the flexible tube is applied with a force to advance the flexible tube further toward the inside of the subject in a state where the distal end portion of the flexible tube is in contact with the inner wall of the subject.
  • the load concentrates on the root portion of the signal line 120a ′ when the position detection probe 100 is bent because the cable 120 is bent from the root. It is believed that there is.
  • the protruding member 113 reinforces the rigidity of the cable 120, at least a portion of the cable 120 adjacent to the protruding member 113 is less likely to bend than the other portions.
  • the cable 120 is bent not at the root portion of the signal line 120a 'but at the tip portion of the protruding member 113. Therefore, it is possible to prevent disconnection from the base portion of the signal line 120a '.
  • the rigidity of the protruding member 113 is higher than the rigidity of the cable 120, but this is not necessarily limited as long as the protruding member 113 can prevent the cable 120 from being bent or suppress the degree of bending.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Endoscopes (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)

Abstract

Il est difficile de configurer correctement un dispositif de détection de forme endoscopique pour éviter la déconnexion d'une ligne de signaux tout en améliorant également la facilité de montage et la résistance à l'usure. La présente invention permet donc d'obtenir un dispositif de détection de forme endoscopique comportant : une pluralité de corps de capteurs agencés en lignes à des intervalles préétablis ; un organe de support pour le support de chaque corps de capteur ; un câble qui est agencé entre les organes de support supportant chacun le corps de capteur, et dans lequel un fil isolé connecté aux corps de capteurs est recouvert d'un revêtement ; et un organe de fixation pour la fixation, entre les organes de support, de l'organe de support et d'une section d'extrémité d'un câble adjacent à l'organe.
PCT/JP2017/012140 2016-03-25 2017-03-24 Dispositif de détection de forme endoscopique WO2017164401A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2017544046A JP6397137B2 (ja) 2016-03-25 2017-03-24 内視鏡用形状検出装置
CN201780000927.7A CN107438391B (zh) 2016-03-25 2017-03-24 内窥镜用形状检测装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016-062202 2016-03-25
JP2016062202 2016-03-25

Publications (1)

Publication Number Publication Date
WO2017164401A1 true WO2017164401A1 (fr) 2017-09-28

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JP (1) JP6397137B2 (fr)
CN (1) CN107438391B (fr)
WO (1) WO2017164401A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1075929A (ja) * 1996-09-06 1998-03-24 Olympus Optical Co Ltd 内視鏡位置検出用コイル装置
JP2002065583A (ja) * 2000-08-29 2002-03-05 Olympus Optical Co Ltd 内視鏡形状検出プローブ
WO2014010288A1 (fr) * 2012-07-13 2014-01-16 オリンパスメディカルシステムズ株式会社 Sonde et endoscope
JP2015029642A (ja) * 2013-08-01 2015-02-16 オリンパスメディカルシステムズ株式会社 医療機器の検出装置に配設される基板部と、この基板部を有する医療機器の検出装置

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4766902B2 (ja) * 2005-03-31 2011-09-07 オリンパスメディカルシステムズ株式会社 手術支援装置
WO2009097461A1 (fr) * 2008-01-29 2009-08-06 Neoguide Systems Inc. Appareil et procédés de contrôle automatique d'un endoscope
CN102939040B (zh) * 2010-06-09 2015-02-25 奥林巴斯医疗株式会社 探针形状检测装置和探针形状检测方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1075929A (ja) * 1996-09-06 1998-03-24 Olympus Optical Co Ltd 内視鏡位置検出用コイル装置
JP2002065583A (ja) * 2000-08-29 2002-03-05 Olympus Optical Co Ltd 内視鏡形状検出プローブ
WO2014010288A1 (fr) * 2012-07-13 2014-01-16 オリンパスメディカルシステムズ株式会社 Sonde et endoscope
JP2015029642A (ja) * 2013-08-01 2015-02-16 オリンパスメディカルシステムズ株式会社 医療機器の検出装置に配設される基板部と、この基板部を有する医療機器の検出装置

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JPWO2017164401A1 (ja) 2018-04-05
JP6397137B2 (ja) 2018-09-26
CN107438391A (zh) 2017-12-05
CN107438391B (zh) 2019-03-08

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