JP2008093454A - Endoscope apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an endoscope apparatus in which the diameter of the insertion part can be thined and an insertion shape can be displayed. <P>SOLUTION: In the endoscope apparatus which utilizes a magnetic field having a first coil means with a plurality of coil elements placed along the axis direction of an insertion part inside the insertion part of the endoscope and a second coil means with a plurality of coil element placed at predetermined positions outside the endoscope to enable a shape of the insertion part to be detected by calculating each position information of the coil elements in the first coil means, a guide ring through which a bent operation wire with one end fixed to the tip end of the insertion part and the other end connected to the bent operation member along the axis direction are set in the insertion part and the plurality of coil elements of the first coil means are set at predetermined intervals along the axis direction on the guide ring or the angle wire guide. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an endoscope apparatus having a function of displaying a shape of an endoscope insertion portion in a pseudo manner using a plurality of coil elements.

  In recent years, endoscopes have come to be widely used for examinations in body cavities and plant interiors in the medical and industrial fields.

  In particular, when the inside of a body cavity is to be inspected, there is one that can detect the shape of the insertion portion so that it can be smoothly inserted into a bent body cavity and display the shape of the insertion portion. For example, Japanese Patent Laid-Open No. 2000-342514 discloses a conventional example for detecting and displaying the shape of the insertion portion.

  Japanese Patent Laid-Open No. 10-305005 discloses an endoscope that can vary the hardness of an insertion portion.

  If various means for facilitating insertion into the large intestine, such as a function for detecting the shape of the insertion portion and a function for varying the hardness, are included, the insertion portion becomes larger in diameter, which may make insertion difficult.

  The present invention has been made in view of the above-described points, and an object thereof is to provide an endoscope apparatus capable of reducing the diameter of an insertion portion.

  An endoscope apparatus according to the present invention includes a first coil means having a plurality of coil elements arranged along an axial direction of an insertion portion in an insertion portion of the endoscope, and a predetermined outside of the endoscope. By calculating the position information of each of the plurality of coil elements in the first coil means using the magnetic field generated by the second coil means having the plurality of coil elements arranged at the positions, In the endoscope apparatus capable of detecting a shape, a bending operation wire having one end fixed to the distal end of the insertion portion and the other end connected to a bending operation member is inserted into the insertion portion along the axial direction. A guide ring and an angle wire guide are provided, and a plurality of the coil elements of the first coil means are provided on the guide ring or the angle wire guide for a predetermined time along the axial direction. The endoscope apparatus characterized by being provided with.

  ADVANTAGE OF THE INVENTION According to this invention, the diameter of the insertion part of the endoscope provided with the function which can display an insertion part shape can be reduced.

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

(First embodiment)
1 to FIG. 6 relate to a first embodiment of the present invention, FIG. 1 shows an overall configuration of an endoscope apparatus including the first embodiment, FIG. 2 shows a configuration of an insertion portion, 3 shows the configuration of the shape detection probe, FIG. 4 shows the configuration of the hardness adjusting material, FIG. 5 shows an explanatory view of the action of the shape detection probe when the bending portion is bent, and FIG. 6 shows the configuration of FIG. The movement range of the magnetic field generating coil is shown.

  As shown in FIG. 1, an endoscope apparatus 1 having a first embodiment of the present invention includes an electronic endoscope (hereinafter simply referred to as an endoscope) 2 for performing an endoscopic examination, A light source device 3 to which the endoscope 2 is detachably connected and supplies illumination light; and a video processor 4 to which the endoscope 2 is detachably connected and performs signal processing on an imaging means built in the endoscope 2; The monitor 5 that is connected to the video processor 4 and displays an endoscopic image captured by the imaging means when the video signal output from the video processor 4 is input, and the connection cable 6 that is connected to the endoscope 2. The shape detection device 7 that performs signal processing on the shape detection probe formed inside the endoscope 2 by being detachably connected, and the shape detection probe disposed around the patient into which the endoscope 2 is inserted Used for shape detection Having a Na 8, it is connected to the shape detecting apparatus 7, by the video signal outputted from the shape detecting apparatus 7 is input, and a shape display monitor 9 for displaying the insertion portion shape of the endoscope 2.

  The endoscope 2 is inserted into a body cavity or the like, and has an elongated insertion portion 11 having flexibility (softness), an operation portion 12 provided at the rear end of the insertion portion 11, and a side portion of the operation portion 12. The connector 14 provided at the end of the universal cord 13 is detachably attached to the light source device 3. Illumination light is supplied from the light source device 3 to the front end surface of a light guide base (not shown) protruding from the connector 14, and illumination is performed by the light guide 21 (see FIG. 2) inserted into the universal cord 13 and the insertion portion 11. Light is transmitted and emitted from the front end surface of the light guide fixed to the illumination window of the distal end portion 15 of the insertion portion 11 to illuminate a subject 18 (shown schematically in FIG. 1) such as an affected portion.

  The insertion portion 11 is provided at the distal end of the rigid distal end 15 provided at the distal end thereof, and at the rear end of the distal end portion 15. The bending portion 16 can be freely bent, and the rear end of the bending portion 16 extends to the front end of the operation portion 12. And a long flexible part (flexible part) 17. Further, the operation section 12 is provided with a bending operation knob 19, and by bending the bending operation knob 19, for example, as shown in FIG. 1, the bending section 16 is bent in a desired direction. Can do.

  Further, a hardness adjustment knob 20 is provided near the front end of the operation portion 12, and the hardness of the flexible portion 17 of the insertion portion 11 can be adjusted by rotating the hardness adjustment knob 20.

FIG. 2 shows the internal configuration of the insertion portion 11. As shown in FIG. 2, a light guide 21 and a signal cable 22 are inserted into the insertion portion 11. The distal end of the light guide 21 is fixed to the illumination window of the distal end portion 15 and emits illumination light from the distal end surface.
The illuminated subject is imaged on the focal plane by the objective lens 23 attached to the observation window adjacent to the illumination window. An imaging unit is attached so that the solid-state imaging device 24 is disposed at the position of the focal plane.

  The solid-state image sensor 24 is connected to the signal cable 22. This signal cable 22 is further connected to the video processor 4 from the connector 14 of FIG. Then, a drive signal from a drive signal generation circuit inside the video processor 4 is applied to the solid-state image sensor 24, whereby a signal photoelectrically converted by the solid-state image sensor 24 is read out, and the internal signal of the video processor 4 is read out. The video signal is converted into a video signal by the video signal generation circuit, the video signal is output to the monitor 5, the subject image captured by the solid-state imaging device 24 is displayed on the display surface of the monitor 5, and the subject image displayed on the monitor 5 Is observed to perform endoscopy.

An annular joint piece 27 is rotatably connected to the rear end of the distal end portion 15 by a rivet or the like, and the joint piece 27 is rotatably connected to the rear end of the joint piece 27 by a rivet or the like. A large number of joint pieces 27 are rotatably connected in the longitudinal direction of the insertion portion 11 to form the bending portion 16.
The joint piece 27 at the rearmost end is connected to the flexible portion 17 by a connecting pipe 29.

  Further, a shape detection probe 31 is built in the insertion portion 11. As shown in FIG. 3, a magnetic field generating coil 34 formed by winding a copper wire 33 around a magnetic body 32 such as ferrite or permalloy is attached to the shape detection probe 31 at a predetermined interval in the longitudinal direction of the wire 35. In the range from the part 15 to the bending part 16, it is incorporated at a predetermined interval. In addition, signal lines 36 are connected to both ends of each magnetic field generating coil 34. In this case, for example, each signal line 36 extends in a different direction and is connected to the signal line 36 connected to the adjacent magnetic field generating coil 34 or the like. It is extended so as not to overlap.

  This shape detection probe 31 is covered with an outer tube 37 made of a polyolefin-based heat-shrinkable tube and is in close contact with the copper wire 33, the signal wire 36, etc. The outer shape in the portion where the magnetic field generating coil 34 is not present can be made thin.

  In the present embodiment, as shown in FIG. 2, the shape detection probe 31 has only the magnetic field generating coil 34 provided from the distal end portion 15 to the connecting tube 29 portion at the rear end of the bending portion 16. Inside, only a thin and flexible thin diameter portion 31 a in which the wire 35 and the signal line 36 are covered with an outer tube 37 is inserted. For this reason, the outer diameter of the soft portion 17 can be made almost the same as when the shape detection probe 31 is not provided.

In the present embodiment, a hardness adjusting material 38 is built in the flexible portion 17.
The hardness adjusting member 38 in the present embodiment basically includes a metal wire 39, a metal closely wound coil 40, and a magnetic field generating coil 41.

  The end portion on the distal end side of the wire 39 is fixed to a connecting pipe 29 that connects the distal end portion 15 and the bending portion 16 by attachment means such as brazing. The end on the hand side of the wire 39 is connected to a hardness adjustment knob 20 provided near the front end of the operation unit 13 so that the wire 39 can be pulled by turning the hardness adjustment knob 20.

As shown in FIG. 4, in the longitudinal direction of the wire 39, the closely wound coil 40 and the magnetic field generating coil 41 in which the copper wire 43 is wound around the magnetic body 42 are arranged so that the magnetic field generating coil 41 has a predetermined interval. Are alternately arranged so as to contact each other.
In this case, the tip of the most advanced tightly wound coil 40 is fixed to the wire 39 by, for example, a solder 44. A wire 39 is slidably inserted into the other closely wound coil 40 and the hollow portion of the magnetic body 42 except for the most recent densely wound coil 40. The closely wound coil 40 and the magnetic field generating coil 41 have substantially the same diameter.

  Further, a coil stopper (not shown) is provided on the proximal side of the hardness adjusting member 38, and the tightly wound coil 40 on the most proximal side is fixed. When the hardness adjustment knob 20 is rotated in the direction of pulling the wire 39, a compression force can be applied to the closely wound coil 40 to adjust the hardness of the hardness adjusting material 38 to be high. When it is rotated in the loosening direction, the compression force acting on the closely wound coil 40 is relaxed so that the hardness can be adjusted to be small.

A signal line 45 is connected to each magnetic field generating coil 41. The signal line 45 is extended to the hand side so as to be along the outside of the closely wound coil 40 and the magnetic field generating coil 41.
The signal line 45 extends to the connector 14, and is connected to the connection cable 6 by the shape detection connector 46 together with the signal line 36 of the shape detection probe 31.

  The outer sides of the closely wound coil 40, the magnetic field generating coil 41, and the signal line 45 are covered with an outer tube 47 such as a heat shrinkable tube, and are covered so as to be in close contact with the closely wound coil 40, the magnetic field generating coil 41, and the signal line 45. .

FIG. 5 is a diagram showing the action of the shape detection probe 31 when the bending portion 16 is bent. FIG. 6 shows a moving range by a bending operation of a magnetic field generating coil (indicated by 34a) in the vicinity of the connecting tube 29.
When the bending operation is performed, the built-in object may move to the distal end side or move to the proximal side depending on the bending direction.

The moving range of the magnetic field generating coil 34a is within the range of the connecting tube 29 as shown in FIG.
Since the connecting pipe 29 is a hard part, the vicinity of the connecting pipe 29 of the bending part 16 and the flexible part 17 is easily bent particularly when an external force is applied.

  In the shape detection probe 31, the magnetic field generating coil 34 is a hard part, but since the small diameter part 31 a other than the magnetic field generating coil 34 is soft, a force is easily applied to the boundary between the magnetic field generating coil 34 and the small diameter part 31 a. . For this reason, if the magnetic field generating coil 34 is in a position where it can be easily bent, there is a possibility that a break is likely to occur at the boundary between the magnetic field generating coil 34 and the small diameter portion 31a.

  In the present embodiment, the moving range of the coil 34a is the range of the connecting pipe 29, that is, the hard portion, and therefore, it is difficult for bending force to be applied to the boundary between the coil 34a and the small diameter portion 31a. Can be improved.

Next, the operation of this embodiment will be described.
When the hardness adjustment knob 20 is rotated to pull the wire 39, the tightly wound coil 40 tries to move to the proximal side, but is fixed by a coil stopper (not shown) on the proximal side. A force for pressure bonding acts on the magnetic field generating coil 41, and the hardness of the entire hardness adjusting member 38 is hardened, so that the hardness of the insertion portion 11 can be adjusted to be increased.

  An AC signal is sequentially applied from the shape detection device 7 to the magnetic field generating coil 34 and the magnetic field generating coil 41 arranged at predetermined intervals in the insertion portion 11, and a magnetic field is generated around each magnetic field generating coil 34 and the magnetic field generating coil 41. Is generated.

  The magnetic fields generated by the magnetic field generating coils 34 and the magnetic field generating coils 41 are detected by a plurality of magnetic field detecting coils 10 (see FIG. 22) respectively arranged at predetermined positions inside the antenna 8 and input to the shape detecting device 7. The internal signal processing unit calculates the three-dimensional positions of the magnetic field generation coils 34 and the magnetic field generation coils 41 based on the positions of the plurality of magnetic field detection coils, based on the amplitude and phase amount of the detection signal.

  Further, an image of the insertion portion shape that models the shape of the insertion portion 11 is generated by connecting the magnetic field generation coil 34 and the magnetic field generation coil 41 from a three-dimensional position to a smooth curve. Is displayed on the display surface of the shape display monitor 9.

  The outer diameter of the shape detection probe 31 is larger because the magnetic field generating coil 34 is present in the bending portion 16, but the outer tube 37 that covers the wire 35 and the signal line 36 is not present in the soft portion 17 without the magnetic field generating coil 34. Since it is only the small diameter part 31a, an outer diameter can be made small.

  In the present embodiment, a magnetic field generating coil 41 having substantially the same outer diameter as the closely wound coil 40 that substantially determines the outer diameter of the hardness adjusting material 38 is inserted on the side of the hardness adjusting material 38 built in the soft portion 17. Therefore, the outer diameter of the soft portion 17 is maintained to be the same as the outer diameter of the soft portion in the case of the endoscope provided with the hardness adjusting material in the conventional example, and has the same hardness adjusting function as that, An endoscope 2 that can display the shape of the insertion portion can be realized.

Therefore, this embodiment has the following effects.
In the bending portion 16, the outer diameter of the shape detection probe 31 is large, but the hardness adjusting material 38 is not disposed. In the soft portion 17, the hardness adjusting member 38 is disposed, but the outer diameter of the shape detection probe 31 can be reduced. Therefore, it is possible to realize the endoscope 2 that can be reduced in diameter as the entire insertion portion 11 with the hardness adjustment function and the shape detection function.

  Further, the signal line 36 connected to the magnetic field generating coil 34 disposed in the distal end portion 15 or the bending portion 16 is repetitive compared to the signal line 45 connected to the magnetic field generating coil 41 disposed in the flexible portion 17. Although the frequency of disconnection due to the bending operation is high, in this embodiment, when the disconnection or the like occurs, it is necessary to replace the magnetic field generating coil of the entire insertion portion 11 by exchanging only the shape detection probe 31 side. Therefore, the repair cost can be reduced.

  In this embodiment, the magnetic field generating coil is provided in the insertion portion and the magnetic field is detected by the antenna outside the insertion portion. However, the magnetic field detection coil is provided in the insertion portion to detect the magnetic field generated from the outside of the insertion portion. It is good also as composition to do.

(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to FIGS. FIG. 7 shows a configuration near the insertion portion in the endoscope according to the second embodiment of the present invention, FIG. 8 shows a guide ring connected to the joint piece, and FIG. 9 shows a sectional view of the angle wire guide. .

The bending portion 16 in the endoscope 2B of the second embodiment shown in FIG. 7 is formed by a plurality of annular joint pieces 27. The most advanced joint piece 27 is connected to the rear end of the distal end portion 15. The joint piece 27 at the end is connected to the connection pipe 29.
A distal end of a bending operation wire 50 that performs a bending operation in the vertical direction is connected and fixed to the most advanced joint piece 27 or the distal end portion 15.

  The pair of bending operation wires 50 pass through guide rings 51 a and 51 formed on the joint piece 27 as guide members from the distal end portion 15 to the operation portion 13 and angle wire guides 52 a and 52 arranged in the flexible portion 17. The traction member (not shown) wound around the drum 53 constituting the bending operation mechanism in the operation unit 13 is connected. The guide ring 51a attached to the upper (UP) direction side of the endoscopic image is composed of a magnetic field generating coil 54 formed by winding a copper wire 33 around a magnetic body 32 as shown in FIG.

The signal line 56 connected to the magnetic field generating coil 55 disposed at the distal end portion 15 and the signal line 56 connected to the magnetic field generating coil 54 are bundled in the soft portion 17.
In addition, the guide ring 51 attached to the lower (DOWN) direction side of the endoscopic image is formed of a known annular metal member.

  As shown in FIG. 9, the angle wire guide 52a inserted in the UP direction of the endoscopic image has a metal closely wound coil 57 and a magnetic field generating coil 58 formed by winding a copper wire 43 around a magnetic body 42 in order. They are arranged alternately.

A signal line 59 connected to the magnetic field generating coil 58 extends along the outside of the closely wound coil 57 and the magnetic field generating coil 58, and an outer tube 60 such as a silicon tube is covered on the outer side.
The signal line 59 is bundled with the signal line 56 in the operation unit 13 and connected to the shape detection connector 46 shown in FIG.

  Note that the angle wire guide 52 inserted in the lower (DOWN) direction side of the endoscopic image is formed of only the metal closely wound coil 57. The other configuration is the same as that of the first embodiment.

Next, the operation of this embodiment will be described.
Since the magnetic field generating coils 54 and 58 other than the most advanced magnetic field generating coil 55 provided at the distal end portion 15 are provided in the guide ring 51a and the angle wire guide 52a, the insertion portion 11 does not require a shape detection probe. Only the signal lines 56 and 59 need to be inserted, and the outer diameter of the insertion portion 11 can be reduced.

The present embodiment has the following effects.
Since an endoscope having a function of detecting the shape of the insertion portion can be realized by inserting a thin signal line in place of the shape detection probe in the insertion portion 11, the entire insertion portion can be made thin.

  Note that the first and second embodiments may be combined, and the positions of the plurality of magnetic field generating coils may be arranged in separate units for the bending portion 16 and the flexible portion 17 and combined. Specifically, a combination of the guide ring 51 and the hardness adjusting material 38, the shape detection probe 31 and the angle wire guide 52, the guide ring 51 and the shape detection probe 31 may be used.

  In the present embodiment, the magnetic field generating coil is disposed in the built-in part of the insertion portion 2, specifically, the hardness adjusting member 38, the guide ring 51, and the angle wire guide 52, but the signal cable 22 and the light guide fiber 21. A configuration in which a magnetic field generating coil is covered and fixed to other built-in objects such as a forceps channel and an air / water supply pipe (not shown) may be employed.

(Third embodiment)
Next, a third embodiment of the present invention will be described with reference to FIGS. FIG. 10 shows the configuration of the endoscope distal end portion of the third embodiment, and FIG. 11 shows the cross-sectional structure of the signal cable.

  A tip cover 62 is attached to the front end side of the outer periphery of the substantially cylindrical tip portion main body 61 constituting the tip portion 15 of the endoscope 2C of the third embodiment, and the rear end end of the outer periphery of the tip portion main body 61 The front end side of the most advanced joint piece 63 is fixed to the side. The joint piece 63 at the next stage is rotatably connected to the rear end of the joint piece 63, and the bending portion 16 is formed from the rotatable connecting portion.

The outer periphery of the bending portion 16 is covered with an outer tube 64, and the distal end of the outer tube 64 is fixed to the outer peripheral surface of the distal end main body 61 with a string and an adhesive.
An objective unit 65 is attached to an imaging hole formed in the axial direction of the tip body 61 with a screw or the like (not shown).

The objective unit 65 is a lens frame 66 in which a plurality of objective lenses 67 are incorporated using spacers, and the lens frame 66 is fixed to the imaging hole portion of the tip body 61.
On the optical axis of the objective unit 65, an imaging unit 68 is connected and attached.

  In this imaging unit 68, the element mounting frame 70 to which the solid-state imaging element 69 is attached is fitted to the lens frame 66 and is movable in the optical axis direction. The element mounting frame 70 is fixed to the lens frame 66 in a state in which the surface is in focus, and the circuit board 71 on which the electrical component 71a is mounted is disposed on the back side of the solid-state image sensor 69 to arrange the solid-state image sensor 69 Connected with.

For example, the signal line 73 of the signal cable 72 including ten signal lines is connected to the solid-state imaging unit 70 and the circuit board 71.
The periphery of the signal line 73, the circuit board 71, and the electrical component 71a from the back of the solid-state image sensor 69 to the signal cable 72 is filled or coated with a filler 74, and the periphery is covered with a heat shrink tube 75, and then the heat shrink tube Heat is applied to 75 and contracted in the radial direction, and then the heat-shrinkable tube 75 is cured.

A side hole 75 a is provided in the heat shrinkable tube 75, and the signal line 73 a is led to the outside of the heat shrinkable tube 75.
As shown in the cross-sectional view of the signal cable 72 in FIG. 11, two of the ten signal lines are signal lines 73 a and the rest are signal lines 73. These signal lines 73 and 73a are protected by an outer skin 76 covering the outer periphery thereof.

  Further, a protrusion 77 is provided at the rear end of the tip end body 61. The protrusion 77 is fixed with an adhesive or the like in a state in which the magnetic field generating coil 78 is fitted. The magnetic field generating coil 78 is configured by winding a copper wire 80 around a magnetic material 79.

Both ends of the magnetic field generating coil 78 are connected to the signal line 73a, and the connecting portion is reinforced with an insulating adhesive 81.
The strength of the signal line 73a is improved by making it thicker than signal lines connected to other coil elements (not shown).

Next, the operation of this embodiment will be described.
Since the signal line 73a connected to the state-of-the-art magnetic field generating coil 78 is a multi-core cable combined with the signal line 73 of the imaging unit 68, the signal line 73a is efficiently aligned and arranged over the entire length. It can be used efficiently, and as a result, it can be thinned.

  The present embodiment has the following effects.

  Durability is improved by thickening the signal line 73a connected to the state-of-the-art magnetic field generating coil 78 without increasing the diameter of the insertion portion, compared to the case where the shape detection probe is incorporated in the insertion portion. can do.

(Fourth embodiment)
Next, a fourth embodiment of the present invention will be described with reference to FIG. FIG. 12 shows a cross-sectional structure of the distal end portion 15 of the endoscope 2D according to the fourth embodiment.
Since this embodiment has a structure similar to that of the third embodiment shown in FIG. 10, the same reference numerals are used for the same members, and only different points will be described.

  In the third embodiment, the most advanced magnetic field generating coil 78 is arranged outside the imaging unit 68 so as to be adjacent to the imaging unit 68. However, in this embodiment, the most advanced magnetic field generating coil 78 is disposed inside the imaging unit 68. The magnetic field generating coil 78 is accommodated.

  A part of the rear end of the element mounting frame 70 is extended to the rear side of the solid-state imaging device 69, and a step is formed in the extended portion to provide a coil mounting portion 82 so that the magnetic field generating coil 78 is brought into contact therewith. And fixed with an adhesive.

  The eight signal lines 73 in the signal cable 72 including the ten signal lines 73 and 73a are connected to the solid-state imaging device 69 and the circuit board 71, and the two signal lines 73a are connected to the magnetic field generating coil 78, respectively. .

The signal line 73, the signal line 73a, the circuit board 71, and the electrical component 71a from the back of the solid-state image sensor 69 to the signal cable 72 are filled or coated with a filler 74, and these are covered with a shield member 83, The outer side is covered with a heat shrinkable tube 75.
Thereafter, heat is applied to the heat-shrinkable tube 75 to shrink it in the radial direction, and then the heat-shrinkable tube 75 is cured. The other configuration is the same as that of the third embodiment.

Next, the operation of this embodiment will be described.
In the present embodiment, a state-of-the-art magnetic field generating coil 78 is built in the state of the imaging unit 68, and has the same effect as the third embodiment.
Therefore, this embodiment has the following effects.

That is, the signal line 73a connected to the state-of-the-art magnetic field generating coil 78 is strengthened and the magnetic field generating coil 78 is hardly damaged, so that the frequency of repair is reduced.
On the other hand, in addition to the disconnection of the signal line 73, the imaging unit 68 is repaired more frequently due to a failure of the solid-state imaging device 69 or a circuit than the state of the art magnetic field generating coil 78 is repaired.

  In the third embodiment, every time the imaging unit 68 is repaired, it is necessary to reconnect the state-of-the-art magnetic field generating coil 78 and the signal line 73a, but this embodiment does not require this. Therefore, the workability of repair is further improved.

(Fifth embodiment)
Next, a fifth embodiment of the present invention will be described with reference to FIG. FIG. 13 shows an overall configuration of an endoscope apparatus according to the fifth embodiment, and FIG. 14 shows an overall view of a stylet.

  As shown in FIG. 13, an endoscope apparatus 91 having a fifth embodiment of the present invention includes an electronic endoscope (hereinafter simply abbreviated as an endoscope) 92 for performing an endoscopic examination, An endoscope 92 is detachably connected to a light source device 93 that supplies illumination light, and a video processor 94 is connected to the endoscope 92 so as to be detachable and performs signal processing on an imaging means built in the endoscope 92. A monitor 95 that is connected to the video processor 94 and displays an endoscopic image captured by the imaging means when a video signal output from the video processor 94 is input, and is detachably inserted into the endoscope 92. A stylet 96 that adjusts the hardness, a shape detection device 98 that performs signal processing to detect the shape of the insertion portion by detachably connecting a connection cable 97 connected to the stylet 96, and an endoscope. 9 Is placed around the patient to be inserted, and is detachably connected to the antenna 99 used for shape detection and the shape detection device 98, and the video signal output from the shape detection device 98 is input to And a shape display monitor 100 for displaying the shape of the insertion portion of the mirror 2.

  The endoscope 92 is inserted into a body cavity or the like, and has an elongated insertion portion 101 having flexibility (softness), an operation portion 102 provided at the rear end of the insertion portion 101, and a side portion of the operation portion 102. The connector 104 provided at the end of the universal cord 103 is detachably attached to the light source device 93. Illumination light is supplied from the light source device 93 to the front end surface of the light guide base (not shown) protruding from the connector 104, and the illumination light is transmitted by the light guide fiber (not shown) inserted into the universal cord 103 or the insertion portion 101. Then, the light is emitted from the distal end surface of the light guide fiber fixed to the illumination window of the distal end portion 105 of the insertion portion 101, and illuminates a subject 108 (schematically shown in FIG. 13) such as an affected portion.

  The insertion portion 101 is provided at the distal end of a hard distal end 105 provided at the distal end thereof, and at the rear end of the distal end portion 105. And a long flexible part (flexible part) 107. Further, the operation section 102 is provided with a bending operation knob 109, and by bending the bending operation knob 109, the bending section 106 is bent in a desired direction as shown in FIG. 13, for example. Can do.

In addition, a treatment instrument insertion port 110 is provided near the front end of the operation unit 102. By inserting a treatment instrument or the like from the treatment tool insertion port 110, treatment is performed in a channel 111 formed inside the insertion unit 101. The tool can be inserted.
As shown in FIG. 14, the stylet 96 includes magnetic field detection coils 112a and 112b in its longitudinal direction.

  The stylet 96 includes a soft portion 113, a hard (adjustable) portion 114 capable of adjusting the hardness, a grip 115, and a handle 116 from the distal end side.

  The grip 115 is provided with a connector 117 and is connected to the shape detection device 98 via the connection cable 97.

  In the present embodiment, a magnetic field is generated by a magnetic field generating coil arranged inside the antenna 99, and the generated magnetic field is detected by the magnetic field detection coils 112 a and 112 b and input to the shape detection device 98 via the connection cable 97. The shape of the insertion portion 101 is estimated by detecting the positions of the magnetic field detection coils 112a and 112b.

FIG. 15 shows a cross-sectional structure of the soft portion 113 of the stylet.
A substantially hemispherical tip member 118 is provided at the tip of the stylet 96.

A distal end of a wire 119 for adjusting the hardness is fixed to the distal end member 118, and the wire 119 is connected to the handle 116 at the rear end through the soft portion 113, the hard portion 114, and the grip 115.
A cam groove 129 is provided inside the grip 115, and a pin 130 provided on the handle 116 is engaged.

  Magnetic field detection coils 112a are fixed at predetermined intervals in the axial direction of the wire 119, and are covered with a sheath tube 120 made of a flexible member such as polyethylene.

The magnetic field detection coil 112a is configured by winding a copper wire 122 around a magnetic body 121, and a signal line 123a is connected to the magnetic field detection coil 112a.
The two signal lines 123a are extended to the rear hard part 114 side so as to be wound around the wire 119 in the soft part 113.
The outer tube 120 is filled with a filler 124 such as silicon that prevents buckling and the like.

FIG. 16 shows a cross-sectional structure of the rigid portion 114 of the stylet 96.
At the connection portion between the soft portion 113 and the hard portion 114, the connection member 125 is fixed to the wire 119.

  On the rear end side of the connecting member 125, the metal densely wound coil 126 and the magnetic field detecting coil 112b are alternately arranged. The magnetic field detection coil 112b is configured by winding a copper wire 128 around a magnetic body 127, and a signal line 123b is connected to the magnetic field detection coil 112b.

Note that the closely wound coil 126 and the magnetic field detection coil 112b are not fixed to the wire 119 (the wire 119 is slidable in the hollow portion of the annular magnetic body 127).
The closely wound coil 126 provided on the most proximal side is fixed to the grip 115 by a stopper (not shown).

  Then, when the operation of turning the handle 116 shown in FIG. 14 is performed and the pin 130 is moved rearward along the cam groove 129, a compressive force acts on the closely wound coil 126, and its hardness can be increased. As a result, the hardness of the hard part 114 can be set to be high.

  The signal line 123a connected to the magnetic field detection coil 112a and the signal line 123b connected to the magnetic field detection coil 112b are extended to the grip 115 on the hand side along the outside of the closely wound coil 126, and contact points of the connector 117 Connected to the department. The outer peripheral portion of the rigid portion 114 shown in FIG.

Next, the operation of this embodiment will be described.
By rotating the handle 116, the pin 130 provided on the handle 116 moves along the cam groove 129, so that the handle 116 moves in the axial direction relative to the grip 115 to pull the wire 119. Can do.

  When the wire 119 is pulled, the tightly wound coil 126 and the magnetic field detecting coil 112b are crimped, the entire hard portion 114 is hardened, and the hardness of the insertion portion 101 through which the stylet 96 is inserted (in the channel 111) is adjusted. Can do.

  In addition, the magnetic field generated by the magnetic field generating coil inside the antenna 99 is detected by the magnetic field detection coil 112a and the magnetic field detection coil 112b, and signal processing is performed on the detection signal, thereby calculating the shape of the insertion portion 101. The insertion portion shape is displayed on the shape display monitor 100.

The present embodiment has the following effects.
In the case of the endoscope 92 that does not have the hardness adjustment function and the shape detection function, if there is only one channel 111, it is conventionally difficult to grasp the shape of the insertion portion 101 when adjusting the hardness with a stylet. There wasn't.

  In this embodiment, by combining the stylet 96, the hardness adjustment and the shape detection can be performed at the same time. Therefore, the shape of the insertion portion when adjusting the hardness can be easily grasped without providing a plurality of channels or increasing the diameter. be able to.

(Sixth embodiment)
Next, a sixth embodiment of the present invention will be described with reference to FIGS. In the endoscope apparatus of the present embodiment, for example, in the endoscope apparatus 91 of FIG. 13, the stylet 96 is inserted from the insertion port 110 of the endoscope 92 and the stylet 96 is inserted into the channel 111. Instead, a shape detection probe 131 as shown in FIG. 17 is inserted.

  A plurality of magnetic field detection coils 112 a are arranged in the longitudinal direction inside the elongated probe portion 132 in the shape detection probe 131. For example, the internal configuration is the same as that of the soft portion 113 in FIG. 15, and the signal line 123 a connected to each magnetic field detection coil 112 a is connected to a contact portion (not shown) of the connector 133 at the rear end of the shape detection probe 131. Yes. This connector 133 is connected to the shape detection device 98 via a connection cable 97 shown in FIG. As in the case of the stylet 96, the shape of the insertion portion of the endoscope 92 is detected, and the shape can be displayed on the shape display monitor 100.

  FIG. 17 shows the shape detection probe 131 with the cover 134 attached. The shape detection probe 131 is provided with a connector 133 at the rear end of the probe portion 132 via a bend stop 135.

The cover 134 includes a tube-shaped cover member 136 made of thin polyethylene or the like and an elastic ring 137 made of rubber or the like provided at the rear end of the hand side.
The inner diameter of the ring 137 is smaller than the outer diameter of the folding stop 135 and can be easily fixed by fitting the ring 137 into the folding stop 135 while being elastically deformed.
The length of the cover member 136 is longer than that of the probe portion 132, and the inner diameter of the cover member 136 is set larger than the outer diameter of the insertion port 110.

Next, the operation of this embodiment will be described.
When the shape detection probe 131 is inserted into the channel insertion port 110, the cover member covers the mouth of the insertion port 110 and the shape detection probe 131 is inserted in the direction of the arrow as shown in FIG. Is compressed and folded.

  After the shape detection probe 131 is pulled out from the channel, the cover member 136 is extended so that the probe member 132 inserted into the channel is covered with the cover member 136 so that the state shown in FIG. The probe unit 132 can be prevented from directly touching peripheral devices and the like, and contamination by the probe unit 132 can be prevented).

The present embodiment has the following effects.
By combining the clean shape detection probe 131 and the clean cover 134, it is possible to carry and prepare for inspection without worrying about the probe 132 inserted in the channel becoming dirty.

  The shape of the insertion portion may be confirmed many times by one endoscopic examination, and it is necessary to insert and remove the shape detection probe 131 from and to the channel many times. It is not necessary to take care so that the probe unit 132 does not touch peripheral devices, operators, patients, etc., and endoscopy can be easily performed.

(Modification of the sixth embodiment)
Next, a modification of the sixth embodiment of the present invention will be described with reference to FIGS. FIG. 19 is an explanatory view showing a state where the cover is attached to the endoscope treatment tool, FIG. 20 is a cross-sectional view of the attachment portion, and FIG. 21 is an endoscope treatment with the fixing portion attached to the insertion port. The state of inserting and removing the tool is shown. In this modification, the endoscope apparatus including the sixth embodiment can be used in the same manner with another endoscope treatment tool of the shape detection probe 131.

  In other words, in this modification, the insertion port 110 of the endoscope 92 described above is not only used with the shape detection probe 131 with the cover 134 attached, but also with a raw 141 with a cover 141 attached as shown in FIG. An endoscopic treatment tool 142 such as a forceps is inserted and used.

  Endoscopic treatment tool 142 such as a biopsy forceps is provided with a distal end portion such as a correct inspection cup 144 at the distal end of an elongated sheath portion 143, and an operator grasps and opens and closes the rear end of the sheath portion 143. An operation unit main body 145 is provided.

  A cover 141 to be attached to the endoscope treatment instrument 142 includes a tube-shaped cover member 146 such as polyethylene, and a C-shape made of, for example, a synthetic resin provided at an end of the cover member 146 on the hand side. And a fixing portion 148 formed of an elastic body such as rubber provided at the tip of the cover member 146.

  Since the clip 147 provided at the rear end of the cover 141 is C-shaped as shown in FIG. 20, the clip 145 is used for the endoscope so as to grip the operation portion main body 145 having a circular cross section. The treatment instrument 142 can be detachably fixed.

  Further, the fixing portion 148 provided at the tip of the cover 141 is configured to be detachable from the insertion port 110 so as to cover the member forming the insertion port 110 as shown in FIG. ing.

Next, the operation of this modification will be described.
This modification has substantially the same operation as that of the sixth embodiment.
Specifically, when the endoscope treatment instrument 142 is inserted through the insertion port 110 and introduced into the internal channel, a fixing portion 148 at the tip of the cover 141 is attached to the insertion port 110 as shown in FIG. Therefore, as the endoscope treatment tool 142 is inserted, the cover member 146 is folded.

  Further, when the endoscope treatment instrument 142 is pulled out from the inserted state, the fixing portion 148 is fixed to the insertion port 110, so that the folded cover member 146 is extended at the time of pulling out and is inserted into the channel. Is always covered with a cover member 146. Therefore, the sheath part 141 does not touch the peripheral device.

  This modification has the following effects.

The effect is almost the same as in the sixth embodiment.
When the treatment instrument 142 for endoscope is pulled out from the channel, the portion that has been in contact with the body fluid is reliably covered, so that the sheath portion 143 further touches the peripheral device or the like as compared with the sixth embodiment. Endoscopy can be done without worrying about

(Seventh embodiment)
Next, a seventh embodiment of the present invention will be described with reference to FIGS. FIG. 22 shows a schematic configuration of an endoscope apparatus 151 provided with the seventh embodiment, and FIG. 23 shows an endoscopic image and an output image of the insertion portion shape.

  In the seventh embodiment, basically, for example, in the endoscope apparatus 1 of the first embodiment, an image synthesis device 152 that synthesizes an output signal of the video processor 4 and an output signal of the shape detection device 7. Output to a common monitor 153 and printer 154.

The solid-state image sensor 34 of the endoscope 2 is connected to the video processor 4 by a signal cable 21 or the like.
Further, the magnetic field generating coils 34 and 41 of the endoscope 2 are connected to the shape detecting device 7, and the magnetic field detecting coil 10 inside the antenna 8 is also connected to the shape detecting device 7.

  The switch unit 155 provided in the endoscope 2 is provided with an enlargement instruction switch, a release switch, and the like. An enlargement instruction instruction signal is input to the video processor 4 and is inputted by an enlargement processing circuit inside the video processor 4. Enlarge and output. The release instruction signal is input to the video processor 4 and also to the printer 154.

  In the present embodiment, when a release instruction is given, the shape of the insertion portion is also output as an output image at the same time.

Next, the operation of this embodiment will be described.
When, for example, a release switch of the switch unit 155 is operated, the instruction signal is input to the video processor 4 and the printer 154. The video processor 4 changes from the moving image processing state to the still image state, and the image synthesizing device 152 performs synthesis to The image and the image of the insertion portion shape are output to the monitor 153 and the printer 154, and the printer 154 performs an operation of printing the output image by the image composition device 152 after the time required to set the still image. .

  Then, as shown in FIG. 23, the output image from the printer 154 is output as an internal mirror image 157 and an insertion portion shape image 158 are simultaneously accompanied.

  The present embodiment has the following effects.

  In particular, the endoscope image 157 is recorded together with the insertion portion shape image 158, although it is difficult to determine from the image which part of the body cavity is the endoscopic image when enlarged. Therefore, when viewing the endoscopic image 157 after the examination, it is possible to easily identify which part in the body cavity from the insertion portion shape image 158.

  Next, an endoscope apparatus according to a modification will be described. FIG. 24 shows a schematic configuration of the endoscope apparatus 161 of the present modification, and FIG. 25 shows an endoscope image, an insertion portion shape, and an ultrasonic output image.

An endoscope apparatus 161 according to a modified example employs an ultrasonic endoscope 163 including an ultrasonic transducer 162 instead of the endoscope 2 shown in FIG. 22, and the ultrasonic endoscope 163 includes the video processor 4, It is connected to the shape detection device 7 and the ultrasonic observation device 164.
The output signals of the video processor 4, the shape detection device 7, and the ultrasonic observation device 164 are input to the filing device 165 so that the output signals can be filed.

The filing device 165 has a function of processing and synthesizing in addition to recording of an input signal.
The filing device 165 is connected to an output device 166 such as a monitor or a printer.

  Further, by operating, for example, a release switch of the switch unit 167 provided in the ultrasonic endoscope 162, each output signal of the video processor 4, the shape detection device 7, and the ultrasonic observation device 164 can be recorded in the filing device 165. I have to.

Next, the operation of this embodiment will be described.
Since the filing device 165 directly stores the data of the insertion portion shape, it can arbitrarily store data such as the insertion portion shape images 168 and 169 viewed from different directions as in the output image shown in FIG. The endoscopic image 170 and the ultrasonic image 171 can be output as one output image by processing.

The present embodiment has the following effects.
Although it is difficult to determine which part of the body cavity the ultrasound image 171 is from the image, the ultrasound image 171 is recorded together with the shape data of the insertion portion shape images 168 and 169. The shape image can be easily identified by displaying the shape image three-dimensionally.
Note that embodiments and the like configured by partially combining the above-described embodiments and the like also belong to the present invention.

[Appendix]
1. First coil means having a plurality of coil elements arranged along the axial direction of the insertion portion;
A second coil means having a plurality of coil elements arranged in a predetermined position,
Calculation means for calculating position information of each of the plurality of coil elements in the first coil means by detecting a magnetic field generated by one of the first coil means and the second coil means by the other coil means. When,
In an endoscope apparatus having display control means for displaying the shape of the endoscope insertion portion on a display means in a pseudo manner based on the calculation result of the calculation means,
A part of the built-in object disposed inside the insertion portion is made of a magnetic material, and a conductive wire is wound around the built-in object made of the magnetic material to form at least a part of the plurality of coil elements. An endoscope apparatus characterized by the above.

2. In Supplementary Note 1, the built-in object can be detachably disposed with respect to the channel. 3. In Supplementary Notes 1 and 2, the built-in object is a hardness adjusting member of the insertion portion.
4). In Supplementary Note 3, the hardness adjusting member includes means for alternately arranging densely wound coils and coil elements and pulling the tip.

(Functions of Supplementary Notes 1, 3, and 4)
As long as there is a hardness adjusting member, no coil element is required for the shape detection probe, and the outer diameter of the shape detection probe can be reduced.
(Functions of Supplementary Notes 2, 3, and 4)
Even if a plurality of channels are not provided or the channel diameter is not increased, both the function of the endoscopic examination auxiliary tool built in the channel and the shape detection function are simultaneously functioned.

5. In Supplementary Note 1, the built-in object is a guide member for the bending operation wire.
(Operation of Appendix 5)
Only the signal line of the coil element needs to be built in without incorporating the shape detection probe, which is thinner than the shape detection probe.

6). In Supplementary Notes 1 to 5, the plurality of coil elements are configured as separate units in the bending tube and the serpentine tube.
(Operation of Appendix 6)
The coil element in the bending tube and the coil element in the serpentine tube can be converted separately.

7. The signal line extended from the coil element arranged at the tip and the signal line extended from the imaging unit were combined to form a multicore cable.

8). In Supplementary Note 7, the coil element disposed at the tip is built in the imaging unit.

(Background to appendices 7 and 8)
There exists Unexamined-Japanese-Patent No. 2000-342514 as a prior art example.
(Problem of conventional example)
The signal line connected to the coil disposed in the insertion portion may be disconnected by being repeatedly bent at the bending node.
Since the signal wire of the coil provided at the tip portion is inserted through the entire bending portion, the frequency of disconnection is higher than that of other coils.
When strengthened by making the signal line thicker, in the conventional probe, since the signal line is placed outside the coil element, the probe itself may be thickened.

(Purpose of Supplementary Notes 7 and 8)
The purpose is to improve the durability of the signal line connected to the coil at the tip.
(Operations of Appendix 7 and 8)
Since the signal line connected to the state-of-the-art coil element and the signal line of the imaging unit are combined into a multi-core cable, the signal lines are aligned and arranged over the entire length, so that the space is efficiently used and used.

9. A cover member for covering a portion to be inserted into a channel of an auxiliary tool, comprising fixing means for fixing to the proximal side of an endoscopic examination auxiliary tool that can be detachably incorporated in a forceps channel of the endoscope.

10. In Appendix 9, the cover is compressible in the axial direction.

11. In Supplementary Note 9, the front end side of the cover is detachable from the forceps opening.

(Background to Addendum 9, 10, 11)
There is JP-A-11-290341 as a conventional example.
(Problem of conventional example)
The shape detection probe, the stylet, the endoscopic treatment tool, etc., which are endoscopic inspection aids inserted into the endoscope channel, must be kept clean. There is a holding device for holding an endoscopic treatment tool such as Japanese Patent Application Laid-Open No. 11-290341, but when a shape detection probe or the like is inserted into and removed from a channel many times in one inspection, Since the probe touches the body fluid in the channel, care must be taken not to touch the peripheral devices, the operator, the patient, etc. before applying the holding device.

(Purpose of Supplementary Notes 9, 10, and 11)
The purpose is to improve operability.
(Operation of Supplementary Notes 9, 10, and 11)
Since there is a cover member, the insertion part in the channel of the endoscopic examination aid can be prevented from touching the periphery when not inserted into the channel.

12 In addition to the function of performing endoscopy, the first coil means having a plurality of coil elements arranged along the axial direction of the insertion portion is incorporated,
Position information of each of the plurality of coil elements in the first coil means using the magnetic field by the first coil means and the second coil means having a plurality of coil elements disposed at predetermined external positions. In an endoscope that can detect the shape of the insertion portion by calculating,
A part of the built-in object disposed inside the insertion portion is made of a magnetic material, and a conductive wire is wound around the built-in object made of the magnetic material to form at least a part of the plurality of coil elements. Endoscope characterized by.

13. The endoscope according to appendix 13, wherein the endoscope has a channel, and the built-in object can be removably disposed with respect to the channel.
14 The endoscope according to appendix 13 or 14, wherein the built-in object is a hardness adjusting member that can adjust the hardness of the insertion portion.

1 is an overall configuration diagram of an endoscope apparatus provided with a first embodiment of the present invention. FIG. The figure which shows the structure of an insertion part. The longitudinal cross-sectional view which shows the structure of a shape detection probe. The longitudinal cross-sectional view which shows the structure of a hardness adjusting material. Explanatory drawing of an effect | action of the shape detection probe at the time of curving a bending part. The figure which shows the moving range of the magnetic field generation coil in the case of FIG. The figure which shows the structure of the insertion part vicinity in the endoscope of the 2nd Embodiment of this invention. The longitudinal cross-sectional view which shows the guide ring connected to the joint piece. The longitudinal cross-sectional view of an angle wire guide. The longitudinal cross-sectional view which shows the structure of the endoscope front-end | tip part of the 3rd Embodiment of this invention. The figure which shows the cross-section of a signal cable. The longitudinal cross-sectional view which shows the structure of the endoscope front-end | tip part of the 4th Embodiment of this invention. The whole block diagram of the endoscope apparatus provided with the 5th Embodiment of this invention. The figure which shows the whole stylet. The longitudinal cross-sectional view which shows the structure of the soft part of a stylet. The longitudinal cross-sectional view which shows the structure of the hard part of a stylet. The figure which cuts off a part and shows the shape detection probe which concerns on the 6th Embodiment of this invention. The figure which shows a mode that a shape detection probe is inserted in an insertion port. The figure which shows the treatment tool for endoscopes which concerns on the modification of 6th Embodiment with a cover. FIG. 20 is a cross-sectional view of the clip portion of FIG. 19. The figure which shows a mode that the fixing | fixed part is mounted | worn with an insertion port, and the treatment tool for endoscopes is inserted and removed. The block diagram of the principal part of the endoscope apparatus provided with the 7th Embodiment of this invention. The figure which shows the output image by a printer. The block diagram of the principal part of the endoscope apparatus of the modification of 7th Embodiment. The figure which shows the output image by an output device.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Endoscope apparatus 2 ... Endoscope 3 ... Light source apparatus 4 ... Video processor 5 ... Monitor 6 ... Connection cable 7 ... Shape detection apparatus 8 ... Antenna 9 ... Monitor for shape display 11 ... Insertion part 12 ... Operation part 13 ... Universal cord 14 ... Connector 15 ... Tip part 16 ... Bending part 17 ... Soft part 19 ... Bending operation knob 20 ... Hardness adjusting knob 21 ... Light guide 24 ... Solid-state imaging device 29 ... Connecting pipe 31 ... Shape detection probe 32, 42 ... Magnetic Body 33, 43 ... Copper wire 34, 41 ... Magnetic field generating coil 35 ... Wire 36, 45 ... Signal wire 37 ... Exterior tube 38 ... Hardness adjusting material 39 ... Wire 40 ... Coil

Claims (1)

First coil means having a plurality of coil elements arranged along the axial direction of the insertion part in the insertion part of the endoscope, and a plurality of coil elements arranged at predetermined positions outside the endoscope An endoscope capable of detecting the shape of the insertion portion by calculating position information of each of the plurality of coil elements in the first coil means by using a magnetic field generated by the second coil means having In the device
A guide ring and an angle wire guide through which a bending operation wire having one end fixed to the distal end of the insertion portion and the other end connected to the bending operation member are provided in the insertion portion along the axial direction. An endoscope apparatus, wherein the guide ring or the angle wire guide is provided with a plurality of coil elements of the first coil means at predetermined intervals along the axial direction.

Images