WO2021131652A1 - Vibration imparting device - Google Patents

Vibration imparting device Download PDF

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Publication number
WO2021131652A1
WO2021131652A1 PCT/JP2020/045548 JP2020045548W WO2021131652A1 WO 2021131652 A1 WO2021131652 A1 WO 2021131652A1 JP 2020045548 W JP2020045548 W JP 2020045548W WO 2021131652 A1 WO2021131652 A1 WO 2021131652A1
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WO
WIPO (PCT)
Prior art keywords
vibration
applying device
end portion
tubular member
medical
Prior art date
Application number
PCT/JP2020/045548
Other languages
French (fr)
Japanese (ja)
Inventor
伸 牧
能行 羽生
俊弘 藤井
Original Assignee
テルモ株式会社
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 テルモ株式会社 filed Critical テルモ株式会社
Publication of WO2021131652A1 publication Critical patent/WO2021131652A1/en

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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
    • 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
    • A61B1/01—Guiding arrangements therefore
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09—Guide wires

Definitions

  • This disclosure relates to a vibration imparting device.
  • a guide wire protruding from the tip side of the catheter is inserted into the catheter with a long medical member such as a guide wire inserted inside the catheter.
  • the procedure may be performed in advance by advancing the inside of the living lumen (see, for example, Patent Document 1).
  • An object of the present disclosure is to provide a vibration applying device capable of reducing friction generated inside a medical tubular member in view of the above problems.
  • the vibration applying device as the first aspect of the present disclosure includes a support capable of supporting a medical tubular member inserted into a biological lumen, and a base end of the medical tubular member supported by the support. It is provided with a vibrating portion capable of applying vibration to the portion.
  • the vibration applying device as one embodiment of the present disclosure further includes an elastic member capable of applying an elastic force to the base end portion.
  • the elastic member applies an elastic force to the base end portion so as to return the base end portion to a predetermined position.
  • the distance between the position where the support tool supports the medical tubular member and the position where the vibrating portion applies vibration to the base end portion is variable. is there.
  • the vibrating portion vibrates perpendicularly to the axial direction of the base end portion.
  • the vibrating portion vibrates in parallel with the axial direction of the base end portion.
  • the vibrating portion vibrates in the rotational direction with respect to the axis of the base end portion.
  • the vibrating portion is perpendicular to the axial direction of the proximal end portion, parallel to the axial direction of the proximal end portion, and with respect to the axis of the proximal end portion. It is capable of vibrating in at least two vibration directions in the rotation direction, and further includes a control unit that controls the vibration direction.
  • the vibration unit can adjust the magnitude of vibration and the frequency of vibration.
  • the vibration applying device includes a sensor that detects a resistance force that a long medical member moving inside the medical tubular member receives when moving inside the medical tubular member.
  • a control unit for controlling the magnitude of the vibration and the frequency of the vibration is further provided, and the control unit reduces the resistance force based on the resistance force detected by the sensor. Control at least one of the magnitude and the frequency of the vibration.
  • the vibration applying device of the present disclosure it is possible to reduce the friction generated inside the medical tubular member.
  • FIG. 1 is a perspective view showing a schematic configuration of a vibration applying device 1 according to the first embodiment of the present disclosure.
  • FIG. 2 is a side view showing a schematic configuration of the vibration applying device 1 according to the first embodiment of the present disclosure.
  • FIG. 3 is a top view showing a schematic configuration of the vibration applying device 1 according to the first embodiment of the present disclosure.
  • FIGS. 1 to 3 are diagram showing a state in which the medical tubular member 30 is attached to the vibration applying device 1.
  • the medical tubular member 30 is a medical device that is inserted into a living lumen such as a blood vessel and used for diagnosis or treatment.
  • the medical tubular member 30 may be, for example, a catheter.
  • the medical tubular member 30 is used for diagnosis or treatment of diseases caused by blockage or narrowing of blood vessels, such as angina pectoris or myocardial infarction.
  • FIG. 4 shows an example of the schematic configuration of the medical tubular member 30.
  • the medical tubular member 30 includes a tubular portion 31 and a proximal end portion 32.
  • the tubular portion 31 is a tubular member that is inserted into the living lumen of a patient.
  • the tubular portion 31 is flexible and can be deformed along the shape of the patient's biological lumen.
  • the surface of the tubular portion 31 may be hydrophilically coated so that it can move smoothly in the lumen of the living body.
  • the base end portion 32 is located on the base end side of the medical tubular member 30.
  • the base end portion 32 also has a tubular structure inside, like the tubular portion 31.
  • the tubular portion of the base end portion 32 and the tubular portion of the tubular portion 31 communicate with each other. That is, the elongated member can pass through both the tubular portion of the proximal end portion 32 and the tubular portion of the tubular portion 31.
  • the base end portion 32 is made of a member having a higher rigidity than the tubular portion 31.
  • the base end portion 32 may have a blade-like shape on the outer peripheral portion so as to be easy for a medical worker to operate.
  • FIGS. 1 to 3 show a state in which the medical long member 40 is inserted into the medical tubular member 30.
  • the medical long member 40 is a medical device that is inserted and used in the medical tubular member 30.
  • the medical long member 40 may be, for example, a guide wire.
  • the proximal end side of the medical long member 40 previously inserted into the living lumen of the patient is inserted into the tubular portion of the medical tubular member 30. ..
  • the medical tubular member 30 is inserted into the patient's biological lumen along the medical elongated member 40.
  • the medical tubular member 30 is attached to the vibration applying device 1. With the medical tubular member 30 attached to the vibration applying device 1, the medical worker can operate the medical long member 40 inserted in the medical tubular member 30.
  • the vibration applying device 1 is a device capable of reducing friction between the medical tubular member 30 and the medical long length member 40 by applying vibration to the medical tubular member 30.
  • the vibration applying device 1 includes a support 11, a frame 12, a vibrating portion 13, a gripping tool 14, an elastic member 15, and a holding tool 16.
  • the support 11 has a through hole, and the medical tubular member 30 can be passed through the through hole.
  • the support 11 can support the medical tubular member 30 passing through the through hole.
  • the support 11 supports the base end portion 32 of the medical tubular member 30, for example, as shown in FIG.
  • the support tool 11 does not completely fix and support the medical tubular member 30, but allows the medical tubular member 30 to move to some extent and supports the medical tubular member 30. That is, the support 11 limits the movement of the medical tubular member 30, but does not completely fix the medical tubular member 30.
  • the frame 12 is a rigid member capable of fixing the support 11.
  • the frame 12 may have any shape as long as the support 11 can be fixed.
  • the frame 12 may be, for example, a member made of aluminum.
  • the vibrating portion 13 can apply vibration to the base end portion 32 of the medical tubular member 30 supported by the support tool 11.
  • the vibrating unit 13 vibrates along the Y-axis direction shown in FIGS. 1 to 3.
  • the axial direction of the base end portion 32 of the medical tubular member 30 is parallel to the Z-axis direction. That is, the vibrating portion 13 vibrates perpendicularly to the axial direction of the proximal end portion 32.
  • the vibrating portion 13 is arranged at a predetermined distance in the Y-axis direction with respect to the proximal end portion 32 of the medical tubular member 30.
  • the vibrating unit 13 can vibrate along the Y-axis direction.
  • the vibrating portion 13 contacts the proximal end portion 32 when moving in the negative direction side in the Y-axis direction, and the proximal end portion 13 when moving in the positive direction side in the Y-axis direction. Move away from 32. In this way, when the vibrating portion 13 comes into contact with or separates from the proximal end portion 32 of the medical tubular member 30 during vibration, the vibrating portion 13 can apply vibration to the medical tubular member 30. ..
  • the vibrating portion 13 applies vibration to the medical tubular member 30, the entire medical tubular member 30 vibrates. Then, since the medical tubular member 30 and the medical long member 40 do not come into contact with each other in a stationary state, static friction does not occur between the medical tubular member 30 and the medical long member 40. Since the dynamic friction is smaller than the static friction, the vibration portion 13 applies vibration to the medical tubular member 30 to reduce the friction between the medical tubular member 30 and the medical long member 40. Further, when the vibrating portion 13 applies vibration to the medical tubular member 30, the shape of the medical long member 40 inside the medical tubular member 30 changes, so that the medical tubular member 30 and the medical long member 30 are changed. The dynamic friction with the member 40 can also be reduced.
  • the vibration unit 13 may be able to adjust the magnitude of vibration and the frequency of vibration.
  • the vibration applying device 1 optimizes the reduction of friction between the medical tubular member 30 and the medical long member 40 by appropriately adjusting the magnitude of vibration and the frequency of vibration of the vibrating unit 13. Can be done.
  • the vibrating unit 13 may be a speaker used for, for example, bone conduction earphones.
  • An example of the configuration when the vibrating unit 13 is a speaker used for bone conduction earphones is shown in FIGS. 5A and 5B.
  • FIG. 5A is a top view showing a schematic configuration of the vibrating portion 13.
  • FIG. 5B is a side view showing a schematic configuration of the vibrating portion 13.
  • the vibrating unit 13 includes a magnet 131, a fixing member 132, and a coil 133. In FIG. 5A, only the magnet 131 and the fixing member 132 are shown in order to improve readability.
  • the magnet 131 is a flat plate magnet.
  • the magnet 131 is fixed to the fixing member 132.
  • the fixing member 132 is a flat plate-shaped member.
  • the fixing member 132 may have a through hole as shown in FIG. 5A.
  • a magnet 131 is fixed on the fixing member 132.
  • the coil 133 functions as an electromagnet when an electric current flows.
  • an alternating current is passed through the coil 133, the magnetic field generated by the coil 133 fluctuates, causing the magnet 131 to vibrate in the A direction shown in FIG. 5B.
  • the vibrating portion 13 can apply vibration to the medical tubular member 30 installed near the magnet 131.
  • the A direction shown in FIG. 5B corresponds to the Y-axis direction of FIGS. 1 to 3.
  • the gripping tool 14 grips the vibrating portion 13 and arranges the vibrating portion 13 at a predetermined position.
  • the gripping tool 14 may have any shape as long as it can grip the vibrating portion 13.
  • the elastic member 15 can apply an elastic force to the base end portion 32 of the medical tubular member 30 via the holder 16.
  • the elastic member 15 applies an elastic force to the base end portion 32 so as to return the base end portion 32 to a predetermined position.
  • the predetermined position is, for example, a position where the axial direction of the base end portion 32 is substantially parallel to the Z-axis direction.
  • the elastic member 15 applies an elastic force that pulls the base end portion 32 back to the negative direction side of the Y axis.
  • the elastic member 15 applies an elastic force to the medical tubular member 30 so as to oppose the displacement of the medical tubular member 30 due to the vibration applied to the medical tubular member 30 by the vibrating portion 13, thereby performing medical treatment.
  • the tubular member 30 can be vibrated more effectively.
  • the elastic member 15 may include, for example, a spring or rubber.
  • the holder 16 holds the elastic member 15 in a predetermined position.
  • the vibration applying device 1 does not have to include the holder 16.
  • the elastic member 15 may directly apply an elastic force to the proximal end portion 32 of the medical tubular member 30.
  • the vibrating portion 13 applies vibration to the proximal end portion 32 of the medical tubular member 30, if the movement of the proximal end portion 32 supported by the support tool 11 in the Y-axis direction is restricted, the proximal end A force like a lever acts on the part 32. At this time, the position where the vibrating portion 13 applies vibration to the proximal end portion 32 corresponds to the force point, and the position where the support 11 restricts the movement of the proximal end portion 32 corresponds to the fulcrum.
  • the vibration applied to the base end portion 32 with the position of the support tool 11 as a fulcrum is transmitted to the tubular portion 31 by a movement like a lever, and the tubular portion 31 vibrates.
  • the distance between the position of the above-mentioned force point and the position of the fulcrum may be variable. That is, the distance between the vibrating portion 13 and the support 11 in the Z-axis direction may be variable. This can be achieved, for example, by making the distance between the gripper 14 and the frame 12 variable in the Z-axis direction.
  • FIG. 6 is a functional block diagram of the vibration applying device 1.
  • the vibration applying device 1 includes a vibration unit 13, a control unit 17, a storage unit 18, and a sensor 19 as components that function electrically.
  • the vibrating unit 13 vibrates in response to a command from the control unit 17.
  • the vibrating unit 13 vibrates at the magnitude of vibration and the frequency of vibration in response to a command from the control unit 17.
  • the control unit 17 controls each component of the vibration applying device 1.
  • the control unit 17 is configured as, for example, a processor.
  • the control unit 17 may include one or more processors.
  • the processor may include a general-purpose processor that loads a specific program and executes a specific function, and a dedicated processor specialized for a specific process. The details of the control performed by the control unit 17 will be described later.
  • the storage unit 18 stores the information acquired from the control unit 17.
  • the storage unit 18 stores a program or the like executed by the control unit 17.
  • the storage unit 18 stores various data such as a calculation result by the control unit 17, for example.
  • the storage unit 18 may function as a work memory of the control unit 17.
  • the storage unit 18 may be composed of, for example, a semiconductor memory, a magnetic memory, or the like.
  • the storage unit 18 may be integrally configured with the control unit 17.
  • the sensor 19 detects the resistance force that the medical long member 40 receives when moving inside the medical tubular member 30.
  • the sensor 19 may be, for example, a force sensor.
  • the sensor 19 outputs a signal corresponding to the detected resistance force to the control unit 17.
  • the control unit 17 controls the magnitude of vibration and the frequency of vibration when the vibration unit 13 vibrates.
  • the control unit 17 may control the magnitude of vibration and the frequency of vibration so as to reduce the resistance force based on the resistance force detected by the sensor 19. At this time, the control unit 17 may control either the magnitude of the vibration or the frequency of the vibration, or may control both the magnitude of the vibration and the frequency of the vibration.
  • control unit 17 controls the magnitude of vibration and the frequency of vibration of the vibration unit 13 so as to reduce the resistance force based on the resistance force detected by the sensor 19, so that the medical tubular member The friction between the 30 and the medical long member 40 can be reduced.
  • the optimum vibration magnitude and vibration frequency are determined by the shape of the medical tubular member 30. Alternatively, it may differ depending on the shape of the patient's biological lumen and the like.
  • the vibration applying device 1 has a large amount of vibration of the vibrating portion 13 so as to reduce the resistance force based on the resistance force detected by the sensor 19 in a state where the medical tubular member 30 is inserted into the living cavity of the patient. By controlling the frequency of vibration and vibration, the magnitude of vibration and the frequency of vibration can be optimized.
  • the vibrating portion 13 can apply vibration to the base end portion 32 of the medical tubular member 30 supported by the support tool 11. ..
  • the vibration applying device 1 according to the present embodiment can prevent the medical tubular member 30 and the medical long member 40 from coming into contact with each other in a stationary state, so that the medical tubular member 30 and the medical long member 40 do not come into contact with each other. It is possible to prevent static friction from occurring between the 40 and the 40. Therefore, the vibration applying device 1 according to the present embodiment can reduce the friction generated inside the medical tubular member 30.
  • FIG. 7 is a perspective view showing a schematic configuration of the vibration applying device 2 according to the second embodiment of the present disclosure.
  • FIG. 8 is a side view showing a schematic configuration of the vibration applying device 2 according to the second embodiment of the present disclosure.
  • FIG. 9 is a top view showing a schematic configuration of the vibration applying device 2 according to the second embodiment of the present disclosure.
  • FIGS. 7 to 9 is a diagram showing a state in which the medical tubular member 30 is attached to the vibration applying device 2.
  • the vibrating unit 23 corresponding to the vibrating unit 13 of the vibration applying device 1 according to the first embodiment vibrates in parallel with the axial direction of the base end portion 32. Therefore, it is different from the vibration applying device 1 according to the first embodiment.
  • the differences from the vibration applying device 1 according to the first embodiment will be mainly described, and the common points and similarities with the vibration applying device 1 according to the first embodiment will be described. The points will not be described as appropriate.
  • the vibration applying device 2 includes a support 21, a frame 22, a vibration unit 23, a grip 24, an elastic member 25, and a holder 26.
  • the support 21 has a through hole, and the medical tubular member 30 can be passed through the through hole.
  • the support 21 can support the medical tubular member 30 passing through the through hole.
  • the support 21 supports, for example, the base end portion 32 of the medical tubular member 30 as shown in FIG.
  • the frame 22 is a rigid member capable of fixing the support 21.
  • the frame 22 may have any shape as long as the support 21 can be fixed.
  • the frame 22 includes a first frame 22A and a second frame 22B. As shown in FIG. 8, the second frame 22B may be fitted to the first frame 22A.
  • the first frame 22A fixes the support 21.
  • the second frame 22B fixes the gripper 24.
  • the vibrating portion 23 can apply vibration to the base end portion 32 of the medical tubular member 30 supported by the support tool 21.
  • the vibrating unit 23 vibrates along the Z-axis direction shown in FIGS. 7 to 9.
  • the axial direction of the base end portion 32 of the medical tubular member 30 is parallel to the Z-axis direction. That is, the vibrating portion 23 vibrates in parallel with the axial direction of the proximal end portion 32.
  • FIGS. 7 to 9 show a case where the vibration applying device 2 includes two vibrating portions 23, the number of vibrating portions 23 is not limited to this, and the number of vibrating portions 23 is one. May be good.
  • the vibrating portion 23 is arranged at a predetermined distance in the Z-axis direction with respect to the proximal end portion 32 of the medical tubular member 30.
  • the vibrating unit 23 can vibrate along the Z-axis direction.
  • the vibrating portion 23 contacts the proximal end portion 32 when moving in the positive direction side in the Z-axis direction, and the proximal end portion when moving in the negative direction side in the Z-axis direction. Move away from 32. In this way, when the vibrating portion 23 comes into contact with or separates from the base end portion 32 of the medical tubular member 30 during vibration, the vibrating portion 23 can apply vibration to the medical tubular member 30. ..
  • the vibrating portion 23 applies vibration to the medical tubular member 30, the entire medical tubular member 30 vibrates. Then, since the medical tubular member 30 and the medical long member 40 do not come into contact with each other in a stationary state, static friction does not occur between the medical tubular member 30 and the medical long member 40. Since the dynamic friction is smaller than the static friction, the vibration portion 23 applies vibration to the medical tubular member 30 to reduce the friction between the medical tubular member 30 and the medical long member 40. Further, when the vibrating portion 23 applies vibration to the medical tubular member 30, the shape of the medical long member 40 inside the medical tubular member 30 changes, so that the medical tubular member 30 and the medical long member 30 are changed. The dynamic friction with the member 40 can also be reduced.
  • the gripping tool 24 grips the vibrating portion 23 and arranges the vibrating portion 23 at a predetermined position.
  • the gripping tool 24 may have any shape as long as it can grip the vibrating portion 23.
  • the gripping tool 24 includes a first gripping tool 24A and a second gripping tool 24B.
  • the first gripping tool 24A and the second gripping tool 24B are fixed to the second frame 22B.
  • the elastic member 25 is held at a predetermined position at one end on the positive direction side of the Z axis by the holder 26.
  • the elastic member 25 can apply an elastic force to the base end portion 32 of the medical tubular member 30.
  • the elastic member 25 applies an elastic force to the base end portion 32 so as to return the base end portion 32 to a predetermined position.
  • the predetermined position is, for example, the position of the base end portion 32 in a state where the vibrating portion 23 is not vibrating.
  • the elastic member 25 pushes the base end portion 32 back to the negative direction side of the Z axis. Gives a strong elastic force.
  • the elastic member 25 applies an elastic force that pulls the base end portion 32 back to the positive direction side of the Z axis.
  • the elastic member 25 applies an elastic force to the medical tubular member 30 that opposes the displacement of the medical tubular member 30 due to the vibration applied to the medical tubular member 30 by the vibrating portion 23.
  • the tubular member 30 can be vibrated more effectively.
  • the holder 26 holds the elastic member 25 in a predetermined position.
  • the holder 26 has a through hole as shown in FIG.
  • the medical tubular member 30 is attached to the vibration applying device 2 in a state of passing through the through hole of the holder 26.
  • the holder 26 does not restrict the movement of the medical tubular member 30 in the Z-axis direction. That is, the medical tubular member 30 can move in the Z-axis direction without being restricted through the through hole of the holder 26.
  • the functional block diagram of the vibration applying device 2 is the same as the functional block diagram of the vibration applying device 1 shown in FIG. Since the functions of the functional blocks of the vibration applying device 2 are the same as the functions of the functional blocks of the vibration applying device 1, the description thereof will be omitted.
  • each component and each step can be rearranged so as not to be logically inconsistent, and a plurality of components or steps can be combined or divided into one. Is.
  • the vibrating portion 13 shown in FIG. 1 applies vibration to the center of the base end portion 32 of the medical tubular member 30, and applies vibration to the base end portion 32 in the vertical direction (Y-axis direction).
  • the vibrating portion 13 By biasing the position of the vibrating portion 13 to the left or right, it is possible to apply vibration not in the vertical direction but in the rotational direction with respect to the axis of the base end portion 32.
  • the direction in which the vibrating portion 13 applies vibration to the base end portion 32 of the medical tubular member 30 is easily deformable.
  • the vibrating unit 13 may vibrate intermittently instead of constantly vibrating. As a result, the power consumption of the vibrating unit 13 can be reduced. Further, by reducing the time for the vibrating unit 13 to vibrate, it is possible to reduce the time for the patient to feel discomfort due to the vibration. Further, when the medical worker who operates the long medical member 40 performs a delicate operation, the vibration of the vibrating portion 13 is stopped so that the medical worker can perform the delicate operation without feeling discomfort due to the vibration. can do.
  • the vibrating unit 13 may be vibrated intermittently by operating a switch to turn it on / off.
  • the vibration of the vibrating unit 13 is automatically stopped when the medical long member 40 has not been operated for a certain period of time, or when an image is taken by a camera inserted in the medical tubular member 30. Then, the vibrating portion 13 may be vibrated intermittently.
  • the vibrating portion 13 is configured to vibrate in at least two vibration directions perpendicular to the axial direction of the proximal end portion 32, parallel to the axial direction of the proximal end portion 32, and rotational to the axial direction of the proximal end portion 32. There may be.
  • the control unit 17 may control the vibration direction.
  • the catheter robot may operate the medical long member 40.
  • the medical long member 40 is a guide wire
  • the medical long member 40 may be, for example, a catheter.
  • the vibration applying device 1 includes the sensor 19 has been described as an example, but the sensor 19 is not an indispensable configuration.
  • the vibration applying device 1 does not have to include the sensor 19.
  • This disclosure relates to a vibration imparting device.

Abstract

This vibration imparting device comprises: a supporter that can support a medical tubular member to be inserted into a lumen of a living body; and a vibration part capable of imparting vibration to the base end section of the medical tubular member supported by the supporter.

Description

振動付与装置Vibration imparting device
　本開示は、振動付与装置に関する。 This disclosure relates to a vibration imparting device.
　近年、血管狭窄部などの診断又は治療において、カテーテルのような医療用管状部材を用いた治療が広く行われている。 In recent years, in the diagnosis or treatment of vascular stenosis, treatment using a medical tubular member such as a catheter has been widely performed.
　カテーテルを血管のような生体管腔内に挿入する際には、ガイドワイヤのような医療用長尺部材をカテーテルの内部に挿入させた状態で、カテーテルの先端側から出たガイドワイヤをカテーテルに先行させて生体管腔内を進行させるという手順で処置が行われることがある（例えば、特許文献１参照）。 When inserting a catheter into a living lumen such as a blood vessel, a guide wire protruding from the tip side of the catheter is inserted into the catheter with a long medical member such as a guide wire inserted inside the catheter. The procedure may be performed in advance by advancing the inside of the living lumen (see, for example, Patent Document 1).
特開２０１８－１５７９１３号公報JP-A-2018-157913
　カテーテルのような医療用管状部材にガイドワイヤのような医療用長尺部材を挿入させた状態で、医療用管状部材の内部で医療用長尺部材を前後させる操作をする際、医療用管状部材と医療用長尺部材との間の摩擦が大きいと、操作性が低下する。 When a medical long member such as a guide wire is inserted into a medical tubular member such as a catheter and the medical long member is moved back and forth inside the medical tubular member, the medical tubular member is used. If the friction between the medical long member and the medical long member is large, the operability is deteriorated.
　本開示の目的は、上記問題に鑑み、医療用管状部材の内部に生じる摩擦を低減することができる振動付与装置を提供することにある。 An object of the present disclosure is to provide a vibration applying device capable of reducing friction generated inside a medical tubular member in view of the above problems.
　本開示の第１の態様としての振動付与装置は、生体管腔内に挿入される医療用管状部材を支持可能な支持具と、前記支持具に支持されている前記医療用管状部材の基端部に振動を付与することが可能な振動部と、を備える。 The vibration applying device as the first aspect of the present disclosure includes a support capable of supporting a medical tubular member inserted into a biological lumen, and a base end of the medical tubular member supported by the support. It is provided with a vibrating portion capable of applying vibration to the portion.
　本開示の一実施形態としての振動付与装置は、前記基端部に弾性力を付与することが可能な弾性部材を更に備える。 The vibration applying device as one embodiment of the present disclosure further includes an elastic member capable of applying an elastic force to the base end portion.
　本開示の一実施形態としての振動付与装置は、前記弾性部材が、前記基端部を所定の位置に戻すように前記基端部に弾性力を付与する。 In the vibration applying device as one embodiment of the present disclosure, the elastic member applies an elastic force to the base end portion so as to return the base end portion to a predetermined position.
　本開示の一実施形態としての振動付与装置は、前記支持具が前記医療用管状部材を支持する位置と、前記振動部が前記基端部に振動を付与する位置との間の距離が可変である。 In the vibration applying device according to the embodiment of the present disclosure, the distance between the position where the support tool supports the medical tubular member and the position where the vibrating portion applies vibration to the base end portion is variable. is there.
　本開示の一実施形態としての振動付与装置は、前記振動部が、前記基端部の軸方向に対して垂直に振動する。 In the vibration applying device according to the embodiment of the present disclosure, the vibrating portion vibrates perpendicularly to the axial direction of the base end portion.
　本開示の一実施形態としての振動付与装置は、前記振動部が、前記基端部の軸方向と平行に振動する。 In the vibration applying device according to the embodiment of the present disclosure, the vibrating portion vibrates in parallel with the axial direction of the base end portion.
　本開示の一実施形態としての振動付与装置は、前記振動部が、前記基端部の軸に対して回転方向に振動する。 In the vibration applying device as one embodiment of the present disclosure, the vibrating portion vibrates in the rotational direction with respect to the axis of the base end portion.
　本開示の一実施形態としての振動付与装置は、前記振動部が、前記基端部の軸方向に対して垂直、前記基端部の軸方向と平行、及び前記基端部の軸に対して回転方向の少なくとも２つの振動方向に振動可能であり、前記振動方向を制御する制御部を更に備える。 In the vibration applying device according to the embodiment of the present disclosure, the vibrating portion is perpendicular to the axial direction of the proximal end portion, parallel to the axial direction of the proximal end portion, and with respect to the axis of the proximal end portion. It is capable of vibrating in at least two vibration directions in the rotation direction, and further includes a control unit that controls the vibration direction.
　本開示の一実施形態としての振動付与装置は、前記振動部が、振動の大きさ及び振動の周波数を調整可能である。 In the vibration applying device as one embodiment of the present disclosure, the vibration unit can adjust the magnitude of vibration and the frequency of vibration.
　本開示の一実施形態としての振動付与装置は、前記医療用管状部材の内部を移動する医療用長尺部材が前記医療用管状部材の内部を移動する際に受ける抵抗力を検出するセンサと、前記振動の大きさ及び前記振動の周波数を制御する制御部と、を更に備え、前記制御部が、前記センサが検出した前記抵抗力に基づいて、前記抵抗力を低減させるように、前記振動の大きさ及び前記振動の周波数の少なくともいずれか一方を制御する。 The vibration applying device according to the embodiment of the present disclosure includes a sensor that detects a resistance force that a long medical member moving inside the medical tubular member receives when moving inside the medical tubular member. A control unit for controlling the magnitude of the vibration and the frequency of the vibration is further provided, and the control unit reduces the resistance force based on the resistance force detected by the sensor. Control at least one of the magnitude and the frequency of the vibration.
　本開示の振動付与装置によると、医療用管状部材の内部に生じる摩擦を低減することができる。 According to the vibration applying device of the present disclosure, it is possible to reduce the friction generated inside the medical tubular member.
本開示の第１実施形態に係る振動付与装置の概略構成を示す斜視図である。It is a perspective view which shows the schematic structure of the vibration imparting apparatus which concerns on 1st Embodiment of this disclosure. 本開示の第１実施形態に係る振動付与装置の概略構成を示す側面図である。It is a side view which shows the schematic structure of the vibration imparting apparatus which concerns on 1st Embodiment of this disclosure. 本開示の第１実施形態に係る振動付与装置の概略構成を示す上面図である。It is a top view which shows the schematic structure of the vibration imparting apparatus which concerns on 1st Embodiment of this disclosure. 医療用管状部材の概略構成の一例を示す図である。It is a figure which shows an example of the schematic structure of the medical tubular member. 振動部の構成の一例を示す上面図である。It is a top view which shows an example of the structure of a vibrating part. 振動部の構成の一例を示す側面図である。It is a side view which shows an example of the structure of the vibrating part. 本開示の第１実施形態に係る振動付与装置の機能ブロック図である。It is a functional block diagram of the vibration imparting apparatus which concerns on 1st Embodiment of this disclosure. 本開示の第２実施形態に係る振動付与装置の概略構成を示す斜視図である。It is a perspective view which shows the schematic structure of the vibration imparting apparatus which concerns on 2nd Embodiment of this disclosure. 本開示の第２実施形態に係る振動付与装置の概略構成を示す側面図である。It is a side view which shows the schematic structure of the vibration imparting apparatus which concerns on 2nd Embodiment of this disclosure. 本開示の第２実施形態に係る振動付与装置の概略構成を示す上面図である。It is a top view which shows the schematic structure of the vibration imparting apparatus which concerns on 2nd Embodiment of this disclosure.
　以下、本開示の実施形態について、図面を参照して説明する。図面の寸法比率は、説明の都合上、誇張されて実際の比率とは異なる場合がある。各図において共通の構成部には、同一の符号を付している。 Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The dimensional ratios in the drawings may be exaggerated and differ from the actual ratios for convenience of explanation. The same reference numerals are given to the common components in each figure.
（第１実施形態）
　まず、図１～図３を参照して、本開示の第１実施形態に係る振動付与装置１の構成について説明する。図１は、本開示の第１実施形態に係る振動付与装置１の概略構成を示す斜視図である。図２は、本開示の第１実施形態に係る振動付与装置１の概略構成を示す側面図である。図３は、本開示の第１実施形態に係る振動付与装置１の概略構成を示す上面図である。 (First Embodiment)
First, the configuration of the vibration applying device 1 according to the first embodiment of the present disclosure will be described with reference to FIGS. 1 to 3. FIG. 1 is a perspective view showing a schematic configuration of a vibration applying device 1 according to the first embodiment of the present disclosure. FIG. 2 is a side view showing a schematic configuration of the vibration applying device 1 according to the first embodiment of the present disclosure. FIG. 3 is a top view showing a schematic configuration of the vibration applying device 1 according to the first embodiment of the present disclosure.
　図１～図３のいずれも、振動付与装置１に医療用管状部材３０が装着されている状態を示した図である。医療用管状部材３０は、血管のような生体管腔内に挿入されて診断又は治療に用いられる医療デバイスである。医療用管状部材３０は、例えば、カテーテルであってよい。医療用管状部材３０は、例えば、狭心症又は心筋梗塞などのような、血管が詰まったり狭くなったりすることで起きる疾患に対する診断又は治療に用いられる。 Each of FIGS. 1 to 3 is a diagram showing a state in which the medical tubular member 30 is attached to the vibration applying device 1. The medical tubular member 30 is a medical device that is inserted into a living lumen such as a blood vessel and used for diagnosis or treatment. The medical tubular member 30 may be, for example, a catheter. The medical tubular member 30 is used for diagnosis or treatment of diseases caused by blockage or narrowing of blood vessels, such as angina pectoris or myocardial infarction.
　図４に、医療用管状部材３０の概略構成の一例を示す。医療用管状部材３０は、管状部３１と、基端部３２とを備える。 FIG. 4 shows an example of the schematic configuration of the medical tubular member 30. The medical tubular member 30 includes a tubular portion 31 and a proximal end portion 32.
　管状部３１は、患者の生体管腔内に挿入される管状の部材である。管状部３１は、柔軟性を有し、患者の生体管腔の形状に沿って変形することができる。管状部３１は、生体管腔内をスムーズに移動できるように、表面が親水性コーティングされていてよい。 The tubular portion 31 is a tubular member that is inserted into the living lumen of a patient. The tubular portion 31 is flexible and can be deformed along the shape of the patient's biological lumen. The surface of the tubular portion 31 may be hydrophilically coated so that it can move smoothly in the lumen of the living body.
　基端部３２は、医療用管状部材３０の基端側に位置する。基端部３２も、管状部３１と同様に、管状の構造を内部に有する。基端部３２の管状の部分と、管状部３１の管状の部分とは連通している。すなわち、長尺状の部材は、基端部３２の管状の部分と、管状部３１の管状の部分の双方を通過しうる。基端部３２は、管状部３１よりも剛性の高い部材で構成されている。基端部３２は、医療従事者の操作が容易になるように、外周部にブレード状の形状を有していてよい。 The base end portion 32 is located on the base end side of the medical tubular member 30. The base end portion 32 also has a tubular structure inside, like the tubular portion 31. The tubular portion of the base end portion 32 and the tubular portion of the tubular portion 31 communicate with each other. That is, the elongated member can pass through both the tubular portion of the proximal end portion 32 and the tubular portion of the tubular portion 31. The base end portion 32 is made of a member having a higher rigidity than the tubular portion 31. The base end portion 32 may have a blade-like shape on the outer peripheral portion so as to be easy for a medical worker to operate.
　図１～図３は、医療用管状部材３０に医療用長尺部材４０が挿入されている状態を示している。医療用長尺部材４０は、医療用管状部材３０に挿入されて用いられる医療デバイスである。医療用長尺部材４０は、例えば、ガイドワイヤであってよい。医療用長尺部材４０がガイドワイヤである場合、患者の生体管腔内に先行して挿入された医療用長尺部材４０の基端側が、医療用管状部材３０の管状の部分に挿入される。医療用管状部材３０は、医療用長尺部材４０に沿って患者の生体管腔内に挿入される。医療用管状部材３０がある程度患者の生体管腔内に挿入されると、医療用管状部材３０は、振動付与装置１に装着される。医療用管状部材３０が振動付与装置１に装着されている状態で、医療従事者は、医療用管状部材３０に挿入されている医療用長尺部材４０を操作することが可能である。 FIGS. 1 to 3 show a state in which the medical long member 40 is inserted into the medical tubular member 30. The medical long member 40 is a medical device that is inserted and used in the medical tubular member 30. The medical long member 40 may be, for example, a guide wire. When the medical long member 40 is a guide wire, the proximal end side of the medical long member 40 previously inserted into the living lumen of the patient is inserted into the tubular portion of the medical tubular member 30. .. The medical tubular member 30 is inserted into the patient's biological lumen along the medical elongated member 40. When the medical tubular member 30 is inserted into the living lumen of the patient to some extent, the medical tubular member 30 is attached to the vibration applying device 1. With the medical tubular member 30 attached to the vibration applying device 1, the medical worker can operate the medical long member 40 inserted in the medical tubular member 30.
　医療用管状部材３０に挿入されている状態の医療用長尺部材４０を前後に動かしたり回転させたりする操作をする際、医療用管状部材３０の内側表面と、医療用長尺部材４０の外側表面との間の摩擦が大きいと、医療用長尺部材４０の操作性が低下する。振動付与装置１は、医療用管状部材３０に振動を付与することで、医療用管状部材３０と医療用長尺部材４０との間の摩擦を低減することができる装置である。 When the medical long member 40 inserted in the medical tubular member 30 is moved or rotated back and forth, the inner surface of the medical tubular member 30 and the outer side of the medical long member 40 are used. If the friction with the surface is large, the operability of the medical long member 40 is lowered. The vibration applying device 1 is a device capable of reducing friction between the medical tubular member 30 and the medical long length member 40 by applying vibration to the medical tubular member 30.
　振動付与装置１は、図１～図３に示すように、支持具１１と、フレーム１２と、振動部１３と、把持具１４と、弾性部材１５と、保持具１６とを備える。 As shown in FIGS. 1 to 3, the vibration applying device 1 includes a support 11, a frame 12, a vibrating portion 13, a gripping tool 14, an elastic member 15, and a holding tool 16.
　支持具１１は、貫通孔を有し、該貫通孔に医療用管状部材３０を通過させることができる。支持具１１は、貫通孔を通過している医療用管状部材３０を支持可能である。支持具１１は、例えば、図２に示すように、医療用管状部材３０の基端部３２を支持する。 The support 11 has a through hole, and the medical tubular member 30 can be passed through the through hole. The support 11 can support the medical tubular member 30 passing through the through hole. The support 11 supports the base end portion 32 of the medical tubular member 30, for example, as shown in FIG.
　支持具１１は、医療用管状部材３０を完全に固定して支持するのではなく、医療用管状部材３０の動きをある程度許容して、医療用管状部材３０を支持する。すなわち、支持具１１は、医療用管状部材３０の動きを制限はするが、医療用管状部材３０を完全に固定するわけではない。 The support tool 11 does not completely fix and support the medical tubular member 30, but allows the medical tubular member 30 to move to some extent and supports the medical tubular member 30. That is, the support 11 limits the movement of the medical tubular member 30, but does not completely fix the medical tubular member 30.
　フレーム１２は、支持具１１を固定することが可能な、剛性を有する部材である。フレーム１２は、支持具１１を固定することが可能であれば任意の形状であってよい。フレーム１２は、例えば、アルミニウムを材料とする部材であってよい。 The frame 12 is a rigid member capable of fixing the support 11. The frame 12 may have any shape as long as the support 11 can be fixed. The frame 12 may be, for example, a member made of aluminum.
　振動部１３は、支持具１１に支持されている医療用管状部材３０の基端部３２に振動を付与することが可能である。振動部１３は、図１～図３に示すＹ軸方向に沿って振動する。図１～図３に示すように、医療用管状部材３０の基端部３２の軸方向は、Ｚ軸方向と平行である。すなわち、振動部１３は、基端部３２の軸方向に対して垂直に振動する。 The vibrating portion 13 can apply vibration to the base end portion 32 of the medical tubular member 30 supported by the support tool 11. The vibrating unit 13 vibrates along the Y-axis direction shown in FIGS. 1 to 3. As shown in FIGS. 1 to 3, the axial direction of the base end portion 32 of the medical tubular member 30 is parallel to the Z-axis direction. That is, the vibrating portion 13 vibrates perpendicularly to the axial direction of the proximal end portion 32.
　振動部１３は、図２に示すように、医療用管状部材３０の基端部３２に対して、Ｙ軸方向に所定の距離だけ離れて配置されている。振動部１３は、Ｙ軸方向に沿って振動することができる。振動部１３は、Ｙ軸方向に沿って振動する際、Ｙ軸方向の負方向側に移動する際は基端部３２に接触し、Ｙ軸方向の正方向側に移動する際は基端部３２から離れる。このように、振動部１３が振動の際に医療用管状部材３０の基端部３２に接触したり離れたりすることにより、振動部１３は、医療用管状部材３０に振動を付与することができる。 As shown in FIG. 2, the vibrating portion 13 is arranged at a predetermined distance in the Y-axis direction with respect to the proximal end portion 32 of the medical tubular member 30. The vibrating unit 13 can vibrate along the Y-axis direction. When the vibrating portion 13 vibrates along the Y-axis direction, the vibrating portion 13 contacts the proximal end portion 32 when moving in the negative direction side in the Y-axis direction, and the proximal end portion 13 when moving in the positive direction side in the Y-axis direction. Move away from 32. In this way, when the vibrating portion 13 comes into contact with or separates from the proximal end portion 32 of the medical tubular member 30 during vibration, the vibrating portion 13 can apply vibration to the medical tubular member 30. ..
　振動部１３が医療用管状部材３０に振動を付与すると、医療用管状部材３０全体が振動する。そうすると、医療用管状部材３０と医療用長尺部材４０とが静止した状態で接触することがなくなるため、医療用管状部材３０と医療用長尺部材４０との間に静摩擦が生じなくなる。動摩擦は静摩擦に比べて小さいため、振動部１３が医療用管状部材３０に振動を付与することにより、医療用管状部材３０と医療用長尺部材４０との間の摩擦は低減される。また、振動部１３が医療用管状部材３０に振動を付与した際に、医療用管状部材３０の内部における医療用長尺部材４０の形状が変わることで、医療用管状部材３０と医療用長尺部材４０との間の動摩擦も低減しうる。 When the vibrating portion 13 applies vibration to the medical tubular member 30, the entire medical tubular member 30 vibrates. Then, since the medical tubular member 30 and the medical long member 40 do not come into contact with each other in a stationary state, static friction does not occur between the medical tubular member 30 and the medical long member 40. Since the dynamic friction is smaller than the static friction, the vibration portion 13 applies vibration to the medical tubular member 30 to reduce the friction between the medical tubular member 30 and the medical long member 40. Further, when the vibrating portion 13 applies vibration to the medical tubular member 30, the shape of the medical long member 40 inside the medical tubular member 30 changes, so that the medical tubular member 30 and the medical long member 30 are changed. The dynamic friction with the member 40 can also be reduced.
　振動部１３は、振動の大きさ及び振動の周波数が調整可能であってよい。振動付与装置１は、振動部１３の振動の大きさ及び振動の周波数を適切に調整することにより、医療用管状部材３０と医療用長尺部材４０との間の摩擦の低減を最適化することができる。 The vibration unit 13 may be able to adjust the magnitude of vibration and the frequency of vibration. The vibration applying device 1 optimizes the reduction of friction between the medical tubular member 30 and the medical long member 40 by appropriately adjusting the magnitude of vibration and the frequency of vibration of the vibrating unit 13. Can be done.
　振動部１３は、例えば骨伝導イヤフォン用に用いられるスピーカであってよい。振動部１３が骨伝導イヤフォン用に用いられるスピーカである場合の構成の一例を図５Ａ及び図５Ｂに示す。図５Ａは、振動部１３の概略構成を示す上面図である。図５Ｂは、振動部１３の概略構成を示す側面図である。振動部１３は、磁石１３１と、固定部材１３２と、コイル１３３とを備える。なお、図５Ａにおいては、可読性を高めるため、磁石１３１及び固定部材１３２のみを図示している。 The vibrating unit 13 may be a speaker used for, for example, bone conduction earphones. An example of the configuration when the vibrating unit 13 is a speaker used for bone conduction earphones is shown in FIGS. 5A and 5B. FIG. 5A is a top view showing a schematic configuration of the vibrating portion 13. FIG. 5B is a side view showing a schematic configuration of the vibrating portion 13. The vibrating unit 13 includes a magnet 131, a fixing member 132, and a coil 133. In FIG. 5A, only the magnet 131 and the fixing member 132 are shown in order to improve readability.
　磁石１３１は、平板状の磁石である。磁石１３１は、固定部材１３２に固定されている。 The magnet 131 is a flat plate magnet. The magnet 131 is fixed to the fixing member 132.
　固定部材１３２は、平板状の部材である。固定部材１３２は、図５Ａに示すように貫通孔を有していてよい。固定部材１３２上には、磁石１３１が固定されている。 The fixing member 132 is a flat plate-shaped member. The fixing member 132 may have a through hole as shown in FIG. 5A. A magnet 131 is fixed on the fixing member 132.
　コイル１３３は、電流が流れると電磁石として機能する。コイル１３３に交流電流が流されると、コイル１３３が生成する磁場が変動し、磁石１３１が図５Ｂに示すＡ方向に振動する。磁石１３１がＡ方向に振動することで、振動部１３は、磁石１３１付近に設置された医療用管状部材３０に振動を付与することができる。図１～図３に示す振動付与装置１の構成においては、図５Ｂに示すＡ方向は、図１～図３のＹ軸方向に対応する。 The coil 133 functions as an electromagnet when an electric current flows. When an alternating current is passed through the coil 133, the magnetic field generated by the coil 133 fluctuates, causing the magnet 131 to vibrate in the A direction shown in FIG. 5B. When the magnet 131 vibrates in the A direction, the vibrating portion 13 can apply vibration to the medical tubular member 30 installed near the magnet 131. In the configuration of the vibration applying device 1 shown in FIGS. 1 to 3, the A direction shown in FIG. 5B corresponds to the Y-axis direction of FIGS. 1 to 3.
　再び図１～図３に戻って、振動付与装置１の構成の説明を続ける。 Returning to FIGS. 1 to 3, the explanation of the configuration of the vibration applying device 1 will be continued.
　把持具１４は、振動部１３を把持し、振動部１３を所定の位置に配置する。把持具１４は、振動部１３を把持することが可能であれば任意の形状であってよい。 The gripping tool 14 grips the vibrating portion 13 and arranges the vibrating portion 13 at a predetermined position. The gripping tool 14 may have any shape as long as it can grip the vibrating portion 13.
　弾性部材１５は、図２に示すように、保持具１６を介して、医療用管状部材３０の基端部３２に弾性力を付与することが可能である。 As shown in FIG. 2, the elastic member 15 can apply an elastic force to the base end portion 32 of the medical tubular member 30 via the holder 16.
　弾性部材１５は、基端部３２を所定の位置に戻すように、基端部３２に弾性力を付与する。所定の位置は、例えば、基端部３２の軸方向がＺ軸方向と略平行になるような位置である。振動部１３がＹ軸の負方向に移動することにより、基端部３２がＹ軸の負方向側に押し下げられると、弾性部材１５は、基端部３２をＹ軸の正方向側へ押し戻すような弾性力を付与する。振動部１３がＹ軸の正方向に移動して、振動部１３と基端部３２とが離れているときに、基端部３２が所定の位置よりもＹ軸の正方向側に移動すると、弾性部材１５は、基端部３２をＹ軸の負方向側へ引き戻すような弾性力を付与する。 The elastic member 15 applies an elastic force to the base end portion 32 so as to return the base end portion 32 to a predetermined position. The predetermined position is, for example, a position where the axial direction of the base end portion 32 is substantially parallel to the Z-axis direction. When the base end portion 32 is pushed down to the negative direction side of the Y axis by moving the vibrating portion 13 in the negative direction of the Y axis, the elastic member 15 pushes the base end portion 32 back to the positive direction side of the Y axis. Gives a strong elastic force. When the vibrating portion 13 moves in the positive direction of the Y-axis and the vibrating portion 13 and the proximal end portion 32 are separated from each other, when the proximal end portion 32 moves to the positive direction side of the Y-axis from a predetermined position, The elastic member 15 applies an elastic force that pulls the base end portion 32 back to the negative direction side of the Y axis.
　弾性部材１５は、このように、振動部１３が医療用管状部材３０に付与した振動による医療用管状部材３０の変位に対抗するような弾性力を医療用管状部材３０に付与することにより、医療用管状部材３０をより効果的に振動させることができる。 In this way, the elastic member 15 applies an elastic force to the medical tubular member 30 so as to oppose the displacement of the medical tubular member 30 due to the vibration applied to the medical tubular member 30 by the vibrating portion 13, thereby performing medical treatment. The tubular member 30 can be vibrated more effectively.
　弾性部材１５は、例えば、バネ又はゴムなどを含んで構成されていてよい。 The elastic member 15 may include, for example, a spring or rubber.
　保持具１６は、弾性部材１５を所定の位置に保持する。振動付与装置１は、保持具１６を備えていなくてもよい。その場合、弾性部材１５が直接、医療用管状部材３０の基端部３２に弾性力を付与してよい。 The holder 16 holds the elastic member 15 in a predetermined position. The vibration applying device 1 does not have to include the holder 16. In that case, the elastic member 15 may directly apply an elastic force to the proximal end portion 32 of the medical tubular member 30.
　振動部１３が医療用管状部材３０の基端部３２に振動を付与する際、支持具１１によって支持されている基端部３２の部分のＹ軸方向の動きが制約されていると、基端部３２には、梃子のような力が働く。この際、振動部１３が基端部３２に振動を付与している位置は力点に相当し、支持具１１が基端部３２の動きを制約している位置は支点に相当する。支持具１１の位置を支点として基端部３２に付与された振動は、梃子のような動きで管状部３１に伝わり、管状部３１は振動する。 When the vibrating portion 13 applies vibration to the proximal end portion 32 of the medical tubular member 30, if the movement of the proximal end portion 32 supported by the support tool 11 in the Y-axis direction is restricted, the proximal end A force like a lever acts on the part 32. At this time, the position where the vibrating portion 13 applies vibration to the proximal end portion 32 corresponds to the force point, and the position where the support 11 restricts the movement of the proximal end portion 32 corresponds to the fulcrum. The vibration applied to the base end portion 32 with the position of the support tool 11 as a fulcrum is transmitted to the tubular portion 31 by a movement like a lever, and the tubular portion 31 vibrates.
　この際、振動部１３が基端部３２に振動を付与している位置である力点の位置と、支持具１１が基端部３２の動きを制約している位置である支点の位置との間の距離に応じて、管状部３１にどのように振動が伝わるかは変わる。振動付与装置１において、上述の力点の位置と支点の位置との距離は可変であってよい。すなわち、振動部１３と支持具１１との間のＺ軸方向の距離は可変であってよい。これは、例えば、把持具１４とフレーム１２との間のＺ軸方向の距離を可変とすることで実現することができる。 At this time, between the position of the force point where the vibrating portion 13 applies vibration to the proximal end portion 32 and the position of the fulcrum which is the position where the support 11 restricts the movement of the proximal end portion 32. How the vibration is transmitted to the tubular portion 31 changes depending on the distance of. In the vibration applying device 1, the distance between the position of the above-mentioned force point and the position of the fulcrum may be variable. That is, the distance between the vibrating portion 13 and the support 11 in the Z-axis direction may be variable. This can be achieved, for example, by making the distance between the gripper 14 and the frame 12 variable in the Z-axis direction.
　図６は、振動付与装置１の機能ブロック図である。図６においては、振動付与装置１の構成要素のうち、電気的に機能する構成要素を示している。振動付与装置１は、電気的に機能する構成要素として、振動部１３と、制御部１７と、記憶部１８と、センサ１９とを備える。 FIG. 6 is a functional block diagram of the vibration applying device 1. In FIG. 6, among the components of the vibration applying device 1, the components that function electrically are shown. The vibration applying device 1 includes a vibration unit 13, a control unit 17, a storage unit 18, and a sensor 19 as components that function electrically.
　振動部１３は、制御部１７から指令を受けて振動する。振動部１３は、制御部１７からの指令に応じた振動の大きさ及び振動の周波数で振動する。 The vibrating unit 13 vibrates in response to a command from the control unit 17. The vibrating unit 13 vibrates at the magnitude of vibration and the frequency of vibration in response to a command from the control unit 17.
　制御部１７は、振動付与装置１の各構成部を制御する。制御部１７は、例えばプロセッサとして構成される。制御部１７は、１以上のプロセッサを含んでよい。プロセッサは、特定のプログラムを読み込ませて特定の機能を実行する汎用のプロセッサ、及び特定の処理に特化した専用のプロセッサを含んでよい。制御部１７が行う制御の詳細については後述する。 The control unit 17 controls each component of the vibration applying device 1. The control unit 17 is configured as, for example, a processor. The control unit 17 may include one or more processors. The processor may include a general-purpose processor that loads a specific program and executes a specific function, and a dedicated processor specialized for a specific process. The details of the control performed by the control unit 17 will be described later.
　記憶部１８は、制御部１７から取得した情報を記憶する。記憶部１８は、制御部１７によって実行されるプログラム等を記憶する。記憶部１８は、例えば制御部１７による演算結果などの各種データを記憶する。記憶部１８は、制御部１７のワークメモリとして機能してよい。記憶部１８は、例えば半導体メモリ及び磁気メモリ等により構成されてよい。記憶部１８は、制御部１７と一体に構成されてよい。 The storage unit 18 stores the information acquired from the control unit 17. The storage unit 18 stores a program or the like executed by the control unit 17. The storage unit 18 stores various data such as a calculation result by the control unit 17, for example. The storage unit 18 may function as a work memory of the control unit 17. The storage unit 18 may be composed of, for example, a semiconductor memory, a magnetic memory, or the like. The storage unit 18 may be integrally configured with the control unit 17.
　センサ１９は、医療用長尺部材４０が医療用管状部材３０の内部を移動する際に受ける抵抗力を検出する。センサ１９は、例えば、力覚センサなどであってよい。センサ１９は、検出した抵抗力に対応する信号を、制御部１７に出力する。 The sensor 19 detects the resistance force that the medical long member 40 receives when moving inside the medical tubular member 30. The sensor 19 may be, for example, a force sensor. The sensor 19 outputs a signal corresponding to the detected resistance force to the control unit 17.
　制御部１７は、振動部１３が振動する際の、振動の大きさ及び振動の周波数を制御する。制御部１７は、センサ１９が検出した抵抗力に基づいて、抵抗力を低減させるように、振動の大きさ及び振動の周波数を制御してよい。この際、制御部１７は、振動の大きさ及び振動の周波数のいずれか一方を制御してもよいし、振動の大きさ及び振動の周波数の両方を制御してもよい。 The control unit 17 controls the magnitude of vibration and the frequency of vibration when the vibration unit 13 vibrates. The control unit 17 may control the magnitude of vibration and the frequency of vibration so as to reduce the resistance force based on the resistance force detected by the sensor 19. At this time, the control unit 17 may control either the magnitude of the vibration or the frequency of the vibration, or may control both the magnitude of the vibration and the frequency of the vibration.
　このように、制御部１７が、センサ１９が検出した抵抗力に基づいて、抵抗力を低減させるように、振動部１３の振動の大きさ及び振動の周波数を制御することで、医療用管状部材３０と医療用長尺部材４０との間の摩擦を低減することができる。 In this way, the control unit 17 controls the magnitude of vibration and the frequency of vibration of the vibration unit 13 so as to reduce the resistance force based on the resistance force detected by the sensor 19, so that the medical tubular member The friction between the 30 and the medical long member 40 can be reduced.
　振動部１３を振動させて、医療用管状部材３０と医療用長尺部材４０との間の摩擦を低減する際、最適な振動の大きさ及び振動の周波数は、医療用管状部材３０の形状、又は患者の生体管腔の形状などに応じて異なりうる。振動付与装置１は、医療用管状部材３０を患者の生体管腔内に挿入した状態で、センサ１９が検出した抵抗力に基づいて、抵抗力を低減させるように、振動部１３の振動の大きさ及び振動の周波数を制御することで、振動の大きさ及び振動の周波数を最適化することができる。 When the vibrating portion 13 is vibrated to reduce the friction between the medical tubular member 30 and the medical long member 40, the optimum vibration magnitude and vibration frequency are determined by the shape of the medical tubular member 30. Alternatively, it may differ depending on the shape of the patient's biological lumen and the like. The vibration applying device 1 has a large amount of vibration of the vibrating portion 13 so as to reduce the resistance force based on the resistance force detected by the sensor 19 in a state where the medical tubular member 30 is inserted into the living cavity of the patient. By controlling the frequency of vibration and vibration, the magnitude of vibration and the frequency of vibration can be optimized.
　このように、本実施形態に係る振動付与装置１によれば、振動部１３は、支持具１１に支持されている医療用管状部材３０の基端部３２に振動を付与することが可能である。これにより、本実施形態に係る振動付与装置１は、医療用管状部材３０と医療用長尺部材４０とが静止した状態で接触しないようにできるため、医療用管状部材３０と医療用長尺部材４０との間に静摩擦が生じないようにすることができる。従って、本実施形態に係る振動付与装置１は、医療用管状部材３０の内部に生じる摩擦を低減することができる。 As described above, according to the vibration applying device 1 according to the present embodiment, the vibrating portion 13 can apply vibration to the base end portion 32 of the medical tubular member 30 supported by the support tool 11. .. As a result, the vibration applying device 1 according to the present embodiment can prevent the medical tubular member 30 and the medical long member 40 from coming into contact with each other in a stationary state, so that the medical tubular member 30 and the medical long member 40 do not come into contact with each other. It is possible to prevent static friction from occurring between the 40 and the 40. Therefore, the vibration applying device 1 according to the present embodiment can reduce the friction generated inside the medical tubular member 30.
（第２実施形態）
　続いて、図７～図９を参照して、本開示の第２実施形態に係る振動付与装置２の構成について説明する。図７は、本開示の第２実施形態に係る振動付与装置２の概略構成を示す斜視図である。図８は、本開示の第２実施形態に係る振動付与装置２の概略構成を示す側面図である。図９は、本開示の第２実施形態に係る振動付与装置２の概略構成を示す上面図である。 (Second Embodiment)
Subsequently, the configuration of the vibration applying device 2 according to the second embodiment of the present disclosure will be described with reference to FIGS. 7 to 9. FIG. 7 is a perspective view showing a schematic configuration of the vibration applying device 2 according to the second embodiment of the present disclosure. FIG. 8 is a side view showing a schematic configuration of the vibration applying device 2 according to the second embodiment of the present disclosure. FIG. 9 is a top view showing a schematic configuration of the vibration applying device 2 according to the second embodiment of the present disclosure.
　図７～図９のいずれも、振動付与装置２に医療用管状部材３０が装着されている状態を示した図である。 Each of FIGS. 7 to 9 is a diagram showing a state in which the medical tubular member 30 is attached to the vibration applying device 2.
　第２実施形態に係る振動付与装置２は、主に、第１実施形態に係る振動付与装置１の振動部１３に対応する振動部２３が、基端部３２の軸方向と平行に振動する点で、第１実施形態に係る振動付与装置１と相違する。 In the vibration applying device 2 according to the second embodiment, mainly, the vibrating unit 23 corresponding to the vibrating unit 13 of the vibration applying device 1 according to the first embodiment vibrates in parallel with the axial direction of the base end portion 32. Therefore, it is different from the vibration applying device 1 according to the first embodiment.
　第２実施形態に係る振動付与装置２については、第１実施形態に係る振動付与装置１との相違点について主に説明し、第１実施形態に係る振動付与装置１との共通点及び類似する点については、適宜説明を省略する。 Regarding the vibration applying device 2 according to the second embodiment, the differences from the vibration applying device 1 according to the first embodiment will be mainly described, and the common points and similarities with the vibration applying device 1 according to the first embodiment will be described. The points will not be described as appropriate.
　振動付与装置２は、図７～図９に示すように、支持具２１と、フレーム２２と、振動部２３と、把持具２４と、弾性部材２５と、保持具２６とを備える。 As shown in FIGS. 7 to 9, the vibration applying device 2 includes a support 21, a frame 22, a vibration unit 23, a grip 24, an elastic member 25, and a holder 26.
　支持具２１は、貫通孔を有し、該貫通孔に医療用管状部材３０を通過させることができる。支持具２１は、貫通孔を通過している医療用管状部材３０を支持可能である。支持具２１は、例えば、図８に示すように、医療用管状部材３０の基端部３２を支持する。 The support 21 has a through hole, and the medical tubular member 30 can be passed through the through hole. The support 21 can support the medical tubular member 30 passing through the through hole. The support 21 supports, for example, the base end portion 32 of the medical tubular member 30 as shown in FIG.
　フレーム２２は、支持具２１を固定することが可能な、剛性を有する部材である。フレーム２２は、支持具２１を固定することが可能であれば任意の形状であってよい。 The frame 22 is a rigid member capable of fixing the support 21. The frame 22 may have any shape as long as the support 21 can be fixed.
　図７～図９に示す例においては、フレーム２２は、第１フレーム２２Ａと、第２フレーム２２Ｂとを備える。第２フレーム２２Ｂは、図８に示すように、第１フレーム２２Ａに嵌合されていてよい。第１フレーム２２Ａは、支持具２１を固定する。第２フレーム２２Ｂは、把持具２４を固定する。 In the examples shown in FIGS. 7 to 9, the frame 22 includes a first frame 22A and a second frame 22B. As shown in FIG. 8, the second frame 22B may be fitted to the first frame 22A. The first frame 22A fixes the support 21. The second frame 22B fixes the gripper 24.
　振動部２３は、支持具２１に支持されている医療用管状部材３０の基端部３２に振動を付与することが可能である。振動部２３は、図７～図９に示すＺ軸方向に沿って振動する。図７～図９に示すように、医療用管状部材３０の基端部３２の軸方向は、Ｚ軸方向と平行である。すなわち、振動部２３は、基端部３２の軸方向と平行に振動する。なお、図７～図９においては、振動付与装置２が２つの振動部２３を備える場合を示しているが、振動部２３の個数はこれに限定されず、振動部２３は１つであってもよい。 The vibrating portion 23 can apply vibration to the base end portion 32 of the medical tubular member 30 supported by the support tool 21. The vibrating unit 23 vibrates along the Z-axis direction shown in FIGS. 7 to 9. As shown in FIGS. 7 to 9, the axial direction of the base end portion 32 of the medical tubular member 30 is parallel to the Z-axis direction. That is, the vibrating portion 23 vibrates in parallel with the axial direction of the proximal end portion 32. Although FIGS. 7 to 9 show a case where the vibration applying device 2 includes two vibrating portions 23, the number of vibrating portions 23 is not limited to this, and the number of vibrating portions 23 is one. May be good.
　振動部２３は、医療用管状部材３０の基端部３２に対して、Ｚ軸方向に所定の距離だけ離れて配置されている。振動部２３は、Ｚ軸方向に沿って振動することができる。振動部２３は、Ｚ軸方向に沿って振動する際、Ｚ軸方向の正方向側に移動する際は基端部３２に接触し、Ｚ軸方向の負方向側に移動する際は基端部３２から離れる。このように、振動部２３が振動の際に医療用管状部材３０の基端部３２に接触したり離れたりすることにより、振動部２３は、医療用管状部材３０に振動を付与することができる。 The vibrating portion 23 is arranged at a predetermined distance in the Z-axis direction with respect to the proximal end portion 32 of the medical tubular member 30. The vibrating unit 23 can vibrate along the Z-axis direction. When the vibrating portion 23 vibrates along the Z-axis direction, the vibrating portion 23 contacts the proximal end portion 32 when moving in the positive direction side in the Z-axis direction, and the proximal end portion when moving in the negative direction side in the Z-axis direction. Move away from 32. In this way, when the vibrating portion 23 comes into contact with or separates from the base end portion 32 of the medical tubular member 30 during vibration, the vibrating portion 23 can apply vibration to the medical tubular member 30. ..
　振動部２３が医療用管状部材３０に振動を付与すると、医療用管状部材３０全体が振動する。そうすると、医療用管状部材３０と医療用長尺部材４０とが静止した状態で接触することがなくなるため、医療用管状部材３０と医療用長尺部材４０との間に静摩擦が生じなくなる。動摩擦は静摩擦に比べて小さいため、振動部２３が医療用管状部材３０に振動を付与することにより、医療用管状部材３０と医療用長尺部材４０との間の摩擦は低減される。また、振動部２３が医療用管状部材３０に振動を付与した際に、医療用管状部材３０の内部における医療用長尺部材４０の形状が変わることで、医療用管状部材３０と医療用長尺部材４０との間の動摩擦も低減しうる。 When the vibrating portion 23 applies vibration to the medical tubular member 30, the entire medical tubular member 30 vibrates. Then, since the medical tubular member 30 and the medical long member 40 do not come into contact with each other in a stationary state, static friction does not occur between the medical tubular member 30 and the medical long member 40. Since the dynamic friction is smaller than the static friction, the vibration portion 23 applies vibration to the medical tubular member 30 to reduce the friction between the medical tubular member 30 and the medical long member 40. Further, when the vibrating portion 23 applies vibration to the medical tubular member 30, the shape of the medical long member 40 inside the medical tubular member 30 changes, so that the medical tubular member 30 and the medical long member 30 are changed. The dynamic friction with the member 40 can also be reduced.
　把持具２４は、振動部２３を把持し、振動部２３を所定の位置に配置する。把持具２４は、振動部２３を把持することが可能であれば任意の形状であってよい。 The gripping tool 24 grips the vibrating portion 23 and arranges the vibrating portion 23 at a predetermined position. The gripping tool 24 may have any shape as long as it can grip the vibrating portion 23.
　図７～図９に示す例においては、把持具２４は、第１把持具２４Ａと、第２把持具２４Ｂとを備える。第１把持具２４Ａ及び第２把持具２４Ｂは、第２フレーム２２Ｂに固定されている。 In the examples shown in FIGS. 7 to 9, the gripping tool 24 includes a first gripping tool 24A and a second gripping tool 24B. The first gripping tool 24A and the second gripping tool 24B are fixed to the second frame 22B.
　弾性部材２５は、図８に示すように、保持具２６によって、Ｚ軸の正方向側の一端が所定の位置に保持されている。弾性部材２５は、医療用管状部材３０の基端部３２に弾性力を付与することが可能である。 As shown in FIG. 8, the elastic member 25 is held at a predetermined position at one end on the positive direction side of the Z axis by the holder 26. The elastic member 25 can apply an elastic force to the base end portion 32 of the medical tubular member 30.
　弾性部材２５は、基端部３２を所定の位置に戻すように、基端部３２に弾性力を付与する。所定の位置は、例えば、振動部２３が振動していない状態における基端部３２の位置である。振動部２３がＺ軸の正方向に移動することにより、基端部３２がＺ軸の正方向側に押されると、弾性部材２５は、基端部３２をＺ軸の負方向側へ押し戻すような弾性力を付与する。振動部１３がＺ軸の負方向に移動して、振動部２３と基端部３２とが離れているときに、基端部３２が所定の位置よりもＺ軸の負方向側に移動すると、弾性部材２５は、基端部３２をＺ軸の正方向側へ引き戻すような弾性力を付与する。 The elastic member 25 applies an elastic force to the base end portion 32 so as to return the base end portion 32 to a predetermined position. The predetermined position is, for example, the position of the base end portion 32 in a state where the vibrating portion 23 is not vibrating. When the base end portion 32 is pushed to the positive direction side of the Z axis by moving the vibrating portion 23 in the positive direction of the Z axis, the elastic member 25 pushes the base end portion 32 back to the negative direction side of the Z axis. Gives a strong elastic force. When the vibrating portion 13 moves in the negative direction of the Z axis and the vibrating portion 23 and the proximal end portion 32 are separated from each other, when the proximal end portion 32 moves to the negative direction side of the Z axis from a predetermined position, The elastic member 25 applies an elastic force that pulls the base end portion 32 back to the positive direction side of the Z axis.
　弾性部材２５は、このように、振動部２３が医療用管状部材３０に付与した振動による医療用管状部材３０の変位に対抗するような弾性力を医療用管状部材３０に付与することにより、医療用管状部材３０をより効果的に振動させることができる。 In this way, the elastic member 25 applies an elastic force to the medical tubular member 30 that opposes the displacement of the medical tubular member 30 due to the vibration applied to the medical tubular member 30 by the vibrating portion 23. The tubular member 30 can be vibrated more effectively.
　保持具２６は、弾性部材２５を所定の位置に保持する。保持具２６は、図７に示すように、貫通孔を有する。医療用管状部材３０は、保持具２６の貫通孔を通過した状態で、振動付与装置２に装着される。保持具２６は、医療用管状部材３０のＺ軸方向の動きを制約しない。すなわち、医療用管状部材３０は、保持具２６の貫通孔を通って、制約されずにＺ軸方向に動くことができる。 The holder 26 holds the elastic member 25 in a predetermined position. The holder 26 has a through hole as shown in FIG. The medical tubular member 30 is attached to the vibration applying device 2 in a state of passing through the through hole of the holder 26. The holder 26 does not restrict the movement of the medical tubular member 30 in the Z-axis direction. That is, the medical tubular member 30 can move in the Z-axis direction without being restricted through the through hole of the holder 26.
　振動付与装置２の機能ブロック図は、図６に示した振動付与装置１の機能ブロック図と同様である。振動付与装置２の各機能ブロックの機能は、振動付与装置１の各機能ブロックの機能と同様であるため、説明を省略する。 The functional block diagram of the vibration applying device 2 is the same as the functional block diagram of the vibration applying device 1 shown in FIG. Since the functions of the functional blocks of the vibration applying device 2 are the same as the functions of the functional blocks of the vibration applying device 1, the description thereof will be omitted.
　本発明は、上述した各実施形態で特定された構成に限定されず、特許請求の範囲に記載した発明の要旨を逸脱しない範囲内で種々の変形が可能である。例えば、各構成部、各ステップなどに含まれる機能などは論理的に矛盾しないように再配置可能であり、複数の構成部又はステップなどを１つに組み合わせたり、或いは分割したりすることが可能である。 The present invention is not limited to the configuration specified in each of the above-described embodiments, and various modifications can be made within a range that does not deviate from the gist of the invention described in the claims. For example, the functions included in each component and each step can be rearranged so as not to be logically inconsistent, and a plurality of components or steps can be combined or divided into one. Is.
　例えば、図１に示した振動部１３は、医療用管状部材３０の基端部３２の真ん中に振動を付与し、基端部３２に上下方向（Ｙ軸方向）の振動を付与しているが、振動部１３の位置を左右どちらに偏らせることで、上下方向ではなく、基端部３２の軸に対する回転方向へ振動を付与することも可能である。このように、振動部１３が医療用管状部材３０の基端部３２に振動を付与する方向は、容易に変形可能である。 For example, the vibrating portion 13 shown in FIG. 1 applies vibration to the center of the base end portion 32 of the medical tubular member 30, and applies vibration to the base end portion 32 in the vertical direction (Y-axis direction). By biasing the position of the vibrating portion 13 to the left or right, it is possible to apply vibration not in the vertical direction but in the rotational direction with respect to the axis of the base end portion 32. As described above, the direction in which the vibrating portion 13 applies vibration to the base end portion 32 of the medical tubular member 30 is easily deformable.
　また、例えば、振動部１３は、常時振動するのではなく、間欠的に振動してもよい。これにより、振動部１３の消費電力を低減することができる。また、振動部１３が振動する時間を低減することで、患者が振動によって違和感を感じる時間を低減することができる。また、医療用長尺部材４０を操作する医療従事者が繊細な操作をする際に、振動部１３の振動を停止させることで、医療従事者は、振動による違和感を感じずに繊細な操作をすることができる。例えばスイッチを操作してオン／オフさせることによって、振動部１３を間欠的に振動させてよい。あるいは、医療用長尺部材４０が一定時間操作されていないとき、及び、医療用管状部材３０に挿入されたカメラで画像が撮影されているときなどに振動部１３の振動を自動で停止させることで、振動部１３を間欠的に振動させてもよい。 Further, for example, the vibrating unit 13 may vibrate intermittently instead of constantly vibrating. As a result, the power consumption of the vibrating unit 13 can be reduced. Further, by reducing the time for the vibrating unit 13 to vibrate, it is possible to reduce the time for the patient to feel discomfort due to the vibration. Further, when the medical worker who operates the long medical member 40 performs a delicate operation, the vibration of the vibrating portion 13 is stopped so that the medical worker can perform the delicate operation without feeling discomfort due to the vibration. can do. For example, the vibrating unit 13 may be vibrated intermittently by operating a switch to turn it on / off. Alternatively, the vibration of the vibrating unit 13 is automatically stopped when the medical long member 40 has not been operated for a certain period of time, or when an image is taken by a camera inserted in the medical tubular member 30. Then, the vibrating portion 13 may be vibrated intermittently.
　また、振動部１３は、基端部３２の軸方向に対して垂直、基端部３２の軸方向と平行、及び基端部３２の軸に対する回転方向の少なくとも２つの振動方向に振動する構成であってもよい。この際、制御部１７は、振動方向を制御してもよい。 Further, the vibrating portion 13 is configured to vibrate in at least two vibration directions perpendicular to the axial direction of the proximal end portion 32, parallel to the axial direction of the proximal end portion 32, and rotational to the axial direction of the proximal end portion 32. There may be. At this time, the control unit 17 may control the vibration direction.
　また、本実施形態において、医療従事者が医療用長尺部材４０を操作する場合を例に挙げて説明したが、カテーテルロボットが医療用長尺部材４０を操作してもよい。 Further, in the present embodiment, the case where the medical worker operates the medical long member 40 has been described as an example, but the catheter robot may operate the medical long member 40.
　また、本実施形態において、医療用長尺部材４０がガイドワイヤである場合を例に挙げて説明したが、医療用長尺部材４０は、例えばカテーテルであってもよい。 Further, in the present embodiment, the case where the medical long member 40 is a guide wire has been described as an example, but the medical long member 40 may be, for example, a catheter.
　また、本実施形態において、振動付与装置１がセンサ１９を備える場合を例に挙げて説明したが、センサ１９は必須の構成ではない。振動付与装置１は、センサ１９を備えていなくてもよい。 Further, in the present embodiment, the case where the vibration applying device 1 includes the sensor 19 has been described as an example, but the sensor 19 is not an indispensable configuration. The vibration applying device 1 does not have to include the sensor 19.
　本開示は、振動付与装置に関する。 This disclosure relates to a vibration imparting device.
　１、２　振動付与装置
　１１　支持具
　１２　フレーム
　１３　振動部
　１４　把持具
　１５　弾性部材
　１６　保持具
　１７　制御部
　１８　記憶部
　１９　センサ
　２１　支持具
　２２　フレーム
　２２Ａ　第１フレーム
　２２Ｂ　第２フレーム
　２３　振動部
　２４　把持具
　２４Ａ　第１把持具
　２４Ｂ　第２把持具
　２５　弾性部材
　２６　保持具
　３０　医療用管状部材
　３１　管状部
　３２　基端部
　４０　医療用長尺部材
　１３１　磁石
　１３２　固定部材
　１３３　コイル
  1, 2 Vibration applying device 11 Support 12 Frame 13 Vibrating part 14 Grip 15 Elastic member 16 Holder 17 Control 18 Storage 19 Sensor 21 Support 22 Frame 22A 1st frame 22B 2nd frame 23 Vibration part 24 Grip 24A 1st gripper 24B 2nd gripper 25 Elastic member 26 Holder 30 Medical tubular member 31 Tubular part 32 Base end 40 Medical long member 131 Magnet 132 Fixing member 133 Coil

Claims (10)

  1. 　生体管腔内に挿入される医療用管状部材を支持可能な支持具と、
    　前記支持具に支持されている前記医療用管状部材の基端部に振動を付与することが可能な振動部と、を備える振動付与装置。     A support that can support a medical tubular member that is inserted into the lumen of a living body,
    A vibration applying device including a vibrating portion capable of applying vibration to a base end portion of the medical tubular member supported by the support.
  2. 　請求項１に記載の振動付与装置において、
    　前記基端部に弾性力を付与することが可能な弾性部材を更に備える、振動付与装置。     In the vibration applying device according to claim 1,
    A vibration applying device further comprising an elastic member capable of applying an elastic force to the base end portion.
  3. 　請求項２に記載の振動付与装置において、
    　前記弾性部材は、前記基端部を所定の位置に戻すように前記基端部に弾性力を付与する、振動付与装置。     In the vibration applying device according to claim 2,
    The elastic member is a vibration applying device that applies an elastic force to the base end portion so as to return the base end portion to a predetermined position.
  4. 　請求項１から３のいずれか一項に記載の振動付与装置において、
    　前記支持具が前記医療用管状部材を支持する位置と、前記振動部が前記基端部に振動を付与する位置との間の距離が可変である、振動付与装置。     In the vibration applying device according to any one of claims 1 to 3.
    A vibration applying device in which the distance between a position where the support tool supports the medical tubular member and a position where the vibrating portion applies vibration to the base end portion is variable.
  5. 　請求項１から４のいずれか一項に記載の振動付与装置において、
    　前記振動部は、前記基端部の軸方向に対して垂直に振動する、振動付与装置。     In the vibration applying device according to any one of claims 1 to 4.
    The vibrating portion is a vibration applying device that vibrates perpendicularly to the axial direction of the base end portion.
  6. 　請求項１から４のいずれか一項に記載の振動付与装置において、
    　前記振動部は、前記基端部の軸方向と平行に振動する、振動付与装置。     In the vibration applying device according to any one of claims 1 to 4.
    The vibrating portion is a vibration applying device that vibrates in parallel with the axial direction of the base end portion.
  7. 　請求項１から４のいずれか一項に記載の振動付与装置において、
    　前記振動部は、前記基端部の軸に対して回転方向に振動する、振動付与装置。     In the vibration applying device according to any one of claims 1 to 4.
    The vibrating portion is a vibration applying device that vibrates in a rotational direction with respect to the axis of the base end portion.
  8. 　請求項１から４のいずれか一項に記載の振動付与装置において、
    　前記振動部は、前記基端部の軸方向に対して垂直、前記基端部の軸方向と平行、及び前記基端部の軸に対して回転方向の少なくとも２つの振動方向に振動可能であり、
    　前記振動方向を制御する制御部を更に備える、振動付与装置。     In the vibration applying device according to any one of claims 1 to 4.
    The vibrating portion can vibrate in at least two vibration directions perpendicular to the axial direction of the proximal end portion, parallel to the axial direction of the proximal end portion, and rotational to the axial direction of the proximal end portion. ,
    A vibration applying device further comprising a control unit for controlling the vibration direction.
  9. 　請求項１から８のいずれか一項に記載の振動付与装置において、
    　前記振動部は、振動の大きさ及び振動の周波数を調整可能である、振動付与装置。     In the vibration applying device according to any one of claims 1 to 8.
    The vibrating portion is a vibration applying device capable of adjusting the magnitude of vibration and the frequency of vibration.
  10. 　請求項９に記載の振動付与装置において、
    　前記医療用管状部材の内部を移動する医療用長尺部材が前記医療用管状部材の内部を移動する際に受ける抵抗力を検出するセンサと、
    　前記振動の大きさ及び前記振動の周波数を制御する制御部と、を更に備え、
    　前記制御部は、前記センサが検出した前記抵抗力に基づいて、前記抵抗力を低減させるように、前記振動の大きさ及び前記振動の周波数の少なくともいずれか一方を制御する、振動付与装置。     In the vibration applying device according to claim 9,
    A sensor that detects the resistance force that a long medical member that moves inside the medical tubular member receives when it moves inside the medical tubular member.
    A control unit for controlling the magnitude of the vibration and the frequency of the vibration is further provided.
    The control unit is a vibration imparting device that controls at least one of the magnitude of the vibration and the frequency of the vibration so as to reduce the resistance force based on the resistance force detected by the sensor.
PCT/JP2020/045548 2019-12-27 2020-12-07 Vibration imparting device WO2021131652A1 (en)

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JP2014068777A (en) * 2012-09-28 2014-04-21 Satoru Sakamoto Vibration imparting device
JP2018523298A (en) * 2015-06-03 2018-08-16 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． Electroactive polymer based actuator device
JP2019535482A (en) * 2016-11-23 2019-12-12 シー・アール・バード・インコーポレーテッドＣ Ｒ Ｂａｒｄ Ｉｎｃｏｒｐｏｒａｔｅｄ Linearly actuable catheter, system and method

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JP2008528106A (en) * 2005-01-20 2008-07-31 フローカルディア， インコーポレイテッド Vibrating catheter device and manufacturing method thereof
JP2014068777A (en) * 2012-09-28 2014-04-21 Satoru Sakamoto Vibration imparting device
JP2018523298A (en) * 2015-06-03 2018-08-16 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． Electroactive polymer based actuator device
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