JP2020089763A - Injection/suction device - Google Patents

Abstract

To provide an injection/suction device and injection/suction system capable of injecting liquid such as an anticancer agent into an object site in a body preferably without destruction of cells and sucking liquid such as cytoplasmic matrix.SOLUTION: An injection/suction system 10 includes: a fine head 20 being movable in a body such as a human body P by a magnetic field; an injection/suction device 100 mounted on the fine head 20 and having an ultrafine tube 30 capable of injecting/sucking liquid; a mobile device 40 capable of moving the fine head 20 by force of the magnetic field; and a position detection device 50 capable of detecting a position of the fine head 20.SELECTED DRAWING: Figure 1

Description

The present invention relates to an injection/suction device for injecting a liquid such as a drug or aspirating a liquid such as a cytosolic substance into a target site in a human or animal body.

Delivery of a drug to the inside of a tumor is generally performed by inserting a catheter into a vein and injecting the drug into the vein from the catheter. However, it is difficult to increase the effect of anticancer drug because the drug is hard to spread to tumors with few blood vessels.

Therefore, a catheter including a tubular body and an incision member that is attached to the body and incises a living tissue has been proposed (for example, see Patent Document 1).

JP 2012-20105A

However, since the conventional catheter has an outer diameter of about 1 mm, it may destroy cells up to the tumor.

An object of the present invention is to provide an injection/suction device capable of injecting a liquid such as an anticancer agent into a target site in the body without destroying cells as much as possible and sucking a liquid such as a cytosolic matrix. Especially.

In order to achieve the above object, one embodiment of the present invention is a head that is formed of a magnetic material and that can be moved by a magnetic field in the body, and a head that is attached to the head with its tip open, and that has a liquid through the opening of the tip. A tube capable of injecting or aspirating, and the tube provides an injecting/suctioning device formed of a non-magnetic material.

According to the present invention, it is possible to inject a liquid such as an anticancer agent into a target site in the body without destroying cells as much as possible, and aspirate a liquid such as a cytosolic substrate.

FIG. 1 is a perspective view showing a schematic configuration example of an injection/suction system according to a first embodiment of the present invention. FIG. 2 is a perspective view of a main part of the injection/suction device according to the first embodiment of the present invention. FIG. 3A is a plan view of a main part of the injection/suction device according to the first embodiment of the present invention, and FIG. 3B is a sectional view taken along line AA of FIG. 3A. 4A to 4C are cross-sectional views showing an example of a manufacturing process of the ultrafine tube according to the first embodiment of the present invention. 5A and 5B show an example of a manufacturing process of the injection/suction device according to the first embodiment of the present invention, FIG. 5A is a sectional view in a plane direction, and FIG. 5B is a sectional view in a side direction. 6A and 6B are conceptual diagrams for explaining a method of collectively inactivating cancer cell clusters. 7A to 7C are conceptual diagrams for explaining a method of collectively inactivating a plurality of cancer cell clusters as one cluster. FIG. 8 is a perspective view of a main part of an injection/suction device according to the second embodiment of the present invention. 9A and 9B show an injection/suction device according to a third embodiment of the present invention, FIG. 9A is a perspective view of a main part, and FIG. 9B is a front view. FIG. 10 is a perspective view showing a schematic configuration example of an injection/suction system according to the fourth embodiment of the present invention. FIG. 11 is a perspective view showing a schematic configuration example of an injection/suction system according to the fifth embodiment of the present invention. FIG. 12 is a perspective view showing a schematic configuration example of an injection/suction system according to the sixth embodiment of the present invention. FIG. 13 is a perspective view showing a schematic configuration example of the injection/suction system according to the seventh embodiment of the present invention. FIG. 14 is a perspective view showing a schematic configuration example of an injection/suction system according to the eighth embodiment of the present invention. FIG. 15 is a perspective view showing a schematic configuration example of an injection/suction system according to the ninth embodiment of the present invention. FIG. 16 is a perspective view showing a schematic configuration example of an injection/suction system according to the tenth embodiment of the present invention. FIG. 17 is a conceptual diagram for explaining an example of the position control method for the fine head. 18A to 18D are cross-sectional views showing an example of the positions of the marks according to the first embodiment of the invention. FIG. 19 is a conceptual diagram for explaining an example of a procedure for detecting the position of the fine head. FIG. 20 is a conceptual diagram for explaining an example of a procedure for detecting the position of the fine head. FIG. 21 is a conceptual diagram for explaining an example of a procedure for detecting the position of the fine head. FIG. 22 is a conceptual diagram for explaining an example of a procedure for detecting the position of the fine head.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In each drawing, components having substantially the same function are denoted by the same reference numeral, and duplicate description thereof may be omitted.

[First Embodiment]
FIG. 1 is a perspective view showing a schematic configuration example of an injection/suction system according to a first embodiment of the present invention. The injection/suction system 10 includes a fine head 20 that can be moved by a magnetic field in the body such as the human body P and an injection/suction device 100 that is attached to the fine head 20 and has an ultrafine tube 30 that can inject or suck a liquid. The moving device 40 that can move the head 20 by the force of the magnetic field and the position detecting device 50 that can detect the position of the fine head 20 are provided. The moving device 40 and the position detecting device 50 are an example of a position control system capable of controlling the position of the head.

(Injection/suction device)
Considering the size of the cells (1 to 100 μm), the maximum width of the fine head 20 is preferably 100 μm or less, and more preferably 5 μm or less because the cells are not destroyed as much as possible when the fine head 20 is inserted into the body. In this embodiment, the maximum width is 1 μm. The fine head 20 is made of a magnetic material, for example, a material having a high magnetic permeability such as permalloy or silicon steel. The detailed structure of the fine head 20 will be described later.

The ultrafine tube 30 is attached to the fine head 20 with its tip open, and injects a liquid such as an anticancer agent through the opening at the tip and sucks a liquid such as a cytoplasmic substrate. The ultrafine tube 30 has, for example, an outer diameter of 100 nm to 1 μm and a length of 5 cm to 10 m. The ultrafine tube 30 is formed of a non-magnetic material, for example, a material having a low magnetic permeability such as aluminum, silver, gold, and quartz glass. However, gold is usually not suitable as a material of the film 2000 described later. In the present embodiment, an ultrafine tube 30 having a size that is at least half the diameter of many human bodies, such as an inner diameter of 150 nm, an outer diameter of 350 nm, and a length of 50 cm, is used.

A pump formed using, for example, an electric motor or a piezoelectric element is connected to the ultrafine tube 30. It should be noted that the injection/suction apparatus 100 may include only the fine head 20 and the ultrafine tube 30 without connecting a pump. In this case, the injection/suction device is capable of injecting the drug by the weight of the drug in a drip manner or inserting the drug into the bladder under increased pressure to aspirate urine.

(Moving device)
The moving device 40 can rotate and move the electromagnet 400, the first and second arms 410A and 410B supporting the electromagnet 400, and the first and second arms 410A and 410B about a horizontal axis. Possible first and second rotation driving parts 420A and 420B, and a third rotation driving part 420C capable of rotatively moving the second rotation driving part 420B around a vertical axis, and a rotation driving part. The base 430 supporting the 420C, the control unit 440 capable of controlling each unit of the moving device 40, and the operation unit 450 capable of instructing the control unit 440 the three-dimensional position of the fine head 20 to be moved. The first and second arms 410A and 410B, the first and second rotation drive units 420A and 420B, the third rotation drive unit 420C, the base 430, the control unit 440, and the operation unit 450 are electromagnets. 2 is an example of a movement control unit of a moving device capable of controlling the magnitude and direction of the magnetic force acting on the fine head by the magnetic field applied by.

The electromagnet 400 generates a magnetic field having a strength according to the magnitude of the electric current that is applied. The electromagnet 400 may be a superconducting electromagnet.

The first to third rotation drive units 420A to 420C can be configured using, for example, a prime mover having a motion unit, a piezoelectric element, or the like. The prime mover may be an electric motor or the like. The first to third rotation driving units 420A to 420C are connected to the first and second arms 410A and 410B, and move the first and second arms 410A and 410B to move the electromagnet 400. The first to third rotation drive units 420A to 420C are examples of drive units included in the movement control unit of the moving device.

The operation unit 450 is configured to be able to instruct the three-dimensional position of the fine head 20 to be moved, for example, by operating a lever or a computer.

The control unit 440 finely adjusts the strength of the magnetic field generated by the electromagnet 400 by controlling the magnitude of the current supplied to the electromagnet 400 based on the three-dimensional position designated by the operation unit 450, and the first 3 to 3C to finely adjust the position and orientation of the electromagnet 400 to control the magnitude and orientation of the magnetic force acting on the fine head 20, and to control the fine head 20 to the third order. The original position, that is, the target position is moved.

For example, the strength and position of the magnetic field applied by the electromagnet 400 to the fine head 20 are controlled so that the movement path of the ultrafine tube 30 is prevented from being bent, that is, the ultrafine tube 30 is inserted almost straight to the target position. By controlling the traveling direction of the fine head 20 by adjusting the direction of the fine head 20, that is, by adjusting the magnitude and direction of the magnetic force acting on the fine head 20, the ultrafine tube 30 is not entangled, and When the tube 30 is inserted into or removed from the body, the internal tissues are not so damaged. That is, when a knot is formed in the ultrafine tube 30 and the body tissue is damaged when it moves, or when the ultrafine tube 30 is very fine and the tube itself is as sharp as a thread-like blade, the trajectory bends. However, when pulling in one direction, a force is applied to the inner peripheral side of the bend and the internal tissue is cut off. Further, in this case, there is an advantage that the moving distance of the fine head 20 to the target position is shortened and the fine head 20 can easily reach the target position quickly. Even if there is refraction or bending in the movement path of the ultrafine tube 30, as long as the ultrafine tube 30 does not significantly damage the internal tissue due to the above-mentioned reason, the state of the ultrafine tube 30 with respect to the target position is also maintained. It is included in the state that it is inserted almost straight.

The position control of the fine head 20 by the control unit 440 may be, for example, control such as simply pulling the fine head 20 toward the target position, or returning to the left if too far to the right, or returning to the right if too far to the left. Alternatively, the control may be such that if it goes too far above, it goes back down, or if it goes too far below, it goes back up (see FIG. 17). Especially in the case of control such as returning to the left if it goes too far to the right, returning to the right if it goes too far to the left, returning it to the bottom if it has gone too far above, or returning it to the top if it has gone too far below. It can be corrected, and the fine head 20 can easily reach the target position accurately even in a human or animal body having a complicated structure.

The moving device 40 may also include a rotation drive unit between the first arm 410A and the electromagnet 400.

Further, the moving device 40 may be one in which the first arm 410A and the first rotation drive unit 420A are omitted, and the second arm 410B is a stretchable arm.

Before use, the fine head 20 and the ultrafine tube 30 are placed in a container filled with water, and the container is brought into close contact with the body of the patient at the time of use. You may move it.

Further, in the present invention, the purpose of using the moving device is to move the fine head.

(Position detection device)
The position detection device 50 supports a pair of X-ray CCD sensors 500 capable of detecting and photographing radiation emitted from a mark (see FIG. 18A) made of a radioactive substance applied to the fine head 20, and the X-ray CCD sensor 500. The first and second arms 510A and 510B, and the first and second rotation driving units 520A capable of rotationally moving the first and second arms 510A and 510B around a horizontal axis, respectively. 520B, a third rotation drive unit 520C capable of rotating and moving the second rotation drive unit 520B about a vertical axis, a base 530 supporting the rotation drive unit 520C, and each rotation drive unit 520A. , 520B and 520C, and a control unit 540 capable of detecting the position of the fine head 20, an operation unit 550 capable of instructing the three-dimensional position of the X-ray CCD sensor 500, and the detected fine head. And a display unit 560 capable of displaying 20 positions. The position where the mark made of a radioactive substance is formed may be the position on the tip side of the ultrafine tube 30 (see FIG. 18B). The display unit 560 may be omitted when the computer automatically confirms that the fine head 20 has reached the target position. The X-ray CCD sensor 500 is an example of a fluoroscopic imaging sensor included in the imaging unit of the position detection device.

The three-dimensional position of the fine head 20 can be known by detecting the position of the mark from the directions orthogonal to each other by the pair of X-ray CCD sensors 500.

The operation unit 550 is configured to be able to instruct a three-dimensional position of the X-ray CCD sensor 500 to move by operating a lever or a computer, for example.

The position detection device 50 is provided with a position sensor, an angle sensor, or the like at an indirect part between the first arm 510A and the second arm 510B or an indirect part between the second arm 510B and the base 530, or By providing a three-dimensional position sensor at the tip of the first arm 510A, the three-dimensional position of the tip of the first arm 510A, that is, the three-dimensional position of the X-ray CCD sensor 500 can be precisely (for example, in μm units). It is configured to measure. The position sensor, the angle sensor, and the like provided at the joint portion and the three-dimensional position sensor provided at the tip of the first arm 510A can measure the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit of the position detection device. 2 is an example of a transparent fluoroscopic sensor position detection unit.

The control unit 540 is an example of a position detection unit. The control unit 540 includes an image recognition processing unit capable of performing image recognition processing for recognizing an image by pattern recognition. The control unit 540 is, for example,

1. A pair of image data taken by the pair of X-ray CCD sensors 500 in mutually orthogonal directions is prepared.
2. In each image data, a portion corresponding to the mark is searched for by the image recognition processing unit, and the two-dimensional position of the mark in the photographing range of the image data is obtained.
3. The three-dimensional position of the X-ray CCD sensor 500 is added to the two-dimensional position of the mark in the image capturing range of each image data to obtain the three-dimensional position of the mark in the image capturing range of each image data, and a pair of image data is captured. The three-dimensional positions of the marks in the range are combined in the orthogonal direction to form the position of the fine head 20.
The position of the fine head 20 is detected by the procedure (see FIG. 19).

Further, the control unit 540 controls the first to third rotation drive units 520A to 520C based on the three-dimensional position designated by the operation unit 550 to move the X-ray CCD sensor 500 to the designated three-dimensional position. Let

The mark only needs to be present on the tip side of the fine head 20 or the ultrafine tube 30, and need not be formed separately from the fine head 20 and the ultrafine tube 30. That is, the material of the fine head 20 may be a substance that can be transmitted and photographed by the X-ray CCD sensor 500, and the fine head 20 itself may be a mark (see FIG. 18C). For example, a radioactive substance may be kneaded into the material of the fine head 20. In addition, the material of the ultrafine tube 30 is used as a substance that can be transmitted and imaged by the X-ray CCD sensor 500 (see FIG. 18D), and an entire image or a wide range image including the tip side of the ultrafine tube 30 is captured by the X-ray CCD sensor 500. In the image recognition processing, the portion corresponding to the tip end side of the image of the ultrafine tube 30 may be treated as the image of the mark so that it is reflected in the image data. For example, the ultrafine tube 30 may be made by kneading a radioactive substance into the material of the ultrafine tube 30.

The range marked by a doctor's hand or the like depends on the brightness of the doctor's hand who is working, but is within a range of accuracy in millimeters at most. Further, in many cases, the fine head 20 is simply moved around the “approximately” center of the range. For this reason, a huge X-ray CCD sensor for digital X-ray photography, which is generally large and has low accuracy in order to reduce costs, may be used as the position detection device 50. When the giant X-ray CCD sensor for digital X-ray photography is used as the position detecting device 50, the X-ray CCD sensor may be fixed at a predetermined position without using an arm until the treatment is completed. The elimination of the arm reduces the number of moving parts and in many cases facilitates maintenance. If it is desired to move the fine head 20 to the inside or the outside of the cell membrane with certainty, it is necessary to move the fine head 20 with high accuracy. However, a pressure gauge may be attached to the pump to measure the pressure. Since it is possible to determine whether the tip of 30 is inside or outside the cell membrane of the cell, the accuracy of position detection may be low. Therefore, also in this case, a giant X-ray CCD sensor for digital X-ray imaging may be used as the position detection device 50.

The position detection device 50 may also include a rotation drive unit between the first arm 510A and the X-ray CCD sensor 500.

Further, the position detection device 50 may be one in which the first arm 510A and the first rotation drive unit 520A are omitted, and the second arm 510B is a stretchable arm.

An X-ray CMOS sensor may be used instead of the X-ray CCD sensor.

Further, in the present invention, the purpose of using the position detecting device is to know the position of the tip side of the fine head or the ultrafine tube.

(Detailed structure of the fine head)
2 is a perspective view of the fine head 20 according to the first embodiment, FIG. 3A is a plan view of the fine head 20 according to the first embodiment, and FIG. 3B is a sectional view taken along line AA of FIG. 3A. It is a figure.

The fine head 20 includes a first head section 200 located on the front side, a second head section 210 located on the rear side, and a pair of connection sections 220 connecting the first and second head sections 200, 210. And has, for example, a rugby ball shape as a whole. The overall shape of the fine head 20 may be prismatic or cylindrical as long as it is fine and sharp.

The first head unit 200 has a shape that tapers toward the tip, such as a substantially triangular pyramid, and includes side surfaces 200a, 200b, and 200c and a bottom surface 200d. Further, the first head unit 200 is formed such that a living tissue can be incised, for example, the tip is formed at an acute angle. The first head unit 200 is made of, for example, a material having a high magnetic permeability. Further, the lattice constants of the materials of the first head portion 200 and the connecting portion 220 may be such that the first head portion 200 and the connecting portion 220 adhere to the liquid material for forming the second head portion 210. .. It should be noted that the first head portion 200 may be partially formed of a material different from the material of the other portions. For example, the tip portion may be formed of a material having low magnetic permeability, and the other portion may be formed of a material having high magnetic permeability. The first head unit 200 may have a wire-shaped or blade-shaped protruding portion as a part thereof.

The second head portion 210 has a shape that tapers toward the rear end, such as a substantially triangular pyramid having a flat vertex, and includes a bottom surface 210a, side surfaces 210b, 210c, 210e, and a top surface 210f. The second head portion 210 is formed of, for example, a material having high magnetic permeability. The second head portion 210 may be formed of a material having a lower melting point than that of the first head portion 200 (for example, a low melting point alloy). Further, the first and second head portions 200 and 210 may be formed of the same material. Further, either the first or second head portion 200 or 210 may be formed of a material having a high magnetic permeability, and the other may be formed of a material having a low magnetic permeability. Further, the second head portion 210 may be partially formed of a material different from the material of the other portions. For example, the rear end portion may be formed of a material having low magnetic permeability, and the other portion may be formed of a material having high magnetic permeability. The first head unit 200 may have a wire-shaped or blade-shaped protruding portion as a part thereof.

Although the connection part 220 is formed integrally with the first head part 200 in the present embodiment, it may be formed separately and attached to the first head part 200. It should be noted that the number of connecting portions 220 may be one or three or more.

The ultrafine tube 30 is provided so that its tip is located between the first and second head portions 200 and 210. The tip of the ultrafine tube 30 may be located at a position other than between the head portions 200 and 210.

(Method of manufacturing injection/suction device)
Next, a method of manufacturing the injection/suction device 100 will be described.

(1) Fabrication of first head portion and connecting portion of fine head The first fine head 20 is formed by a method for forming a fine three-dimensional structure using a focused ion beam (FIB) (see, for example, JP 2004-291140 A). The head unit 200 is manufactured. That is, the raw material gas containing the material of the first head portion 200 is sprayed from the gas nozzle onto the substrate, and FIB is irradiated onto the raw material gas to deposit a micro three-dimensional structure composed of decomposition products of the raw material gas on the substrate. .. Since branch-shaped projections are formed on the side walls of the deposited three-dimensional structure, the projections are removed by irradiation with FIB. Next, the substrate is removed from the micro three-dimensional structure to manufacture the first head unit 200.

Next, a pair of connecting parts 220 is formed on the bottom surface 200d of the first head part 200 by the above-described micro three-dimensional structure forming method. As a result, the first head portion 200 having the connecting portion 220 is manufactured.

Next, a mark formed of a radioactive substance is applied to the first head unit 200 or the second head unit 210 (see FIG. 18A). Note that the radioactive substance may be kneaded into the material of the first head portion 200 or the second head portion 210 (see FIG. 18C).

(2) Fabrication of Extra-fine Tube The ultra-fine tube 30 is produced by the following procedure using photolithography similar to the step of producing a nozzle of an inkjet printer.

First, a thin (for example, 250 nm thick) film 2000 is formed by vapor deposition or the like, and a thin shallow groove (for example, 150 nm width and 150 nm depth) 2000a is formed in this film 2000 by photolithography (see FIG. 4A).

Next, a thin film (for example, 100 nm thick) and a film 2010 formed of a material having a lower melting point than the film 2000 is placed over the groove 2000a (see FIG. 4B). At this time, if the film is directly formed by the vapor deposition apparatus, the molecules of the material of the film 2010 will also enter into the groove 2000a, so that the film 2010 formed by using the vapor deposition apparatus on another substrate (for example, a few places where it falls down). A large film that can cover the groove even if it is displaced may be arranged by a method of dropping it in a room having a high degree of vacuum. Note that the lattice constants of the material of the film 2000 and the material of the film 2010 may be selected such that the film 2000 and the film 2010 are integrated when the film 2010 is covered with the film 2000. Further, both the film 2000 and the film 2010 are preferably formed of a material having low magnetic permeability.

Next, the film 2010 is melted and the film 2000 is heated to a temperature at which it is not melted to melt only the film 2010. Then, it is cooled to solidify the film 2010 and integrated with the film 2000. Note that instead of heating and cooling, only the film 2010 may be melted or the film 2010 may be solidified by a chemical reaction in which a chemical is added. Since the liquid has surface tension, the melted film 2010 does not flow into the groove 2000a unless it is pushed.

Next, for example, with a fine processing machine such as a focused ion beam processing machine capable of processing 100 nm width, the film 2010 is cut in the thickness direction of the film 2010 while leaving 100 nm on both sides of the groove 2000a (see FIG. 4C). Thus, the ultrafine tube 30 having an inner diameter of 150 nm and an outer diameter of 350 nm is manufactured.

In addition, when inserting the ultrafine tube 30 into the body, the ultrafine tube 30 must be long (for example, 50 cm), but since most of the pattern is linear, the production of a photomask for forming the groove 2000a (pattern (For example, drawing) and cutting the film 2000 and the film 2010 in a short time, the productivity is relatively high.

(3) Fabrication of second head portion of fine head and connection of ultrafine tube Here, a mold (kata) 70 shown in FIG. 5 fabricated by fine processing such as photolithography or focused ion beam processing is used. The mold 70 is divided into a plurality of parts, and includes a first space part 700 that accommodates the first head part 200, a second space part 61 in which the second head part 210 is formed, and an ultrafine tube. A through hole 720 for accommodating 30 and a recess 730 are provided. Further, the lattice constant of the material of the mold 70 is such that the material injected into the second space 61 does not adhere to the mold 70. The mold 70 does not have to be divided. For example, one mold having an open upper surface in which a flat surface of the surfaces forming the second head unit 210 corresponds to the upper surface of the mold 70 may be used.

As shown in FIG. 5, the first head portion 200 is accommodated in the first space portion 700 of the mold 70, and the ultrafine tube 30 is accommodated in the through hole 720 and the recess 730.

Next, a liquid material is injected into the second space portion 701 from an injection hole (not shown) of the mold 70. Since the tip of the ultrafine tube 30 is inserted into the recess 730 of the mold 70, the tip of the ultrafine tube 30 is not clogged with the liquid material. Instead of providing the recess 730, the clogging may be cleared by cutting the tip of the ultrafine tube 30 after the liquid material is solidified.

Next, the liquid material injected into the second space 61 is solidified. The solidification of the liquid material may be cooling or a chemical reaction to which a chemical is added. The lattice constant of the liquid material after being solidified is preferably one that adheres to the ultrafine tube 30 and the connecting portion 220 and does not adhere to the mold 70.

Finally, the mold 70 is separated and the injection/suction apparatus 100 is taken out from the mold 70. The second head portion 210 is manufactured as described above, and the injection/suction device 100 in which the ultrafine tube 30 is connected to the second head portion 210 is manufactured.

Although the second head 210 is manufactured using the mold 70 in the above-described embodiment, it may be manufactured by fine processing such as focused ion beam processing. In this case, a hole for passing the ultrafine tube 30 is made in the second head portion 210, and the ultrafine tube 30 is pinched and fitted with a probe of a scanning probe microscope (SPM) or the like. The head part 210 can be manufactured.

Further, the head units 200 and 210 may not be divided. For example, there is no head portion corresponding to the second head portion 210, and a head portion having a shape in which the portion corresponding to the connecting portion 220 is connected to the portion corresponding to the first head portion 200, or a column or prism is one. The head portion may be integrally formed like a head portion having only a book shape. In that case, the integrally formed head portion may be partially formed of a material different from the material of the other portions. For example, the tip portion may be formed of a material having low magnetic permeability, and the other portion may be formed of a material having high magnetic permeability. Further, the integrally formed head portion may have a wire-shaped or blade-shaped protruding portion as a part thereof.

Further, the head portion may be divided into three or more. In that case, some of the divided head portions may be formed of a material having a high magnetic permeability, and the other may be formed of a material having a low magnetic permeability. Further, a part of each of the divided head parts may be formed of a material different from the material of the other parts. For example, in the divided head portion located on the tip side, the tip portion may be formed of a material having low magnetic permeability, and the other portion may be formed of a material having high magnetic permeability. Further, each of the divided head portions may have a wire-shaped or blade-shaped protruding portion as a part thereof.

Further, regardless of whether the head portion is divided or not, the head portion may be bonded to the ultrafine tube 30 using an adhesive. In this case, if the tip of the ultrafine tube 30 is fine and sharp, the width of the head portion may be smaller than the outer diameter of the ultrafine tube 30.

(Operation of injection/suction system)
Next, an operation example of the injection/suction system 10 will be described separately for (1) anti-cancer treatment and (2) brain tumor treatment.

(1) Anticancer treatment First, a patient is imaged using an X-ray CT apparatus, an MRI (magnetic resonance imaging) apparatus, a PET (positron emission tomography) apparatus, etc., and a three-dimensional image of the affected area is acquired. It should be noted that until the treatment is completed, it is advisable to firmly fix the body using metal fittings or the like so as not to move the body, as in the case of ordinary radiotherapy for cancer.

Next, the doctor looks at the obtained three-dimensional image of the patient and three-dimensionally marks the affected part, that is, the target part. The marking may be automatically performed by a computer. With the current state of the art of image processing, highly accurate automatic detection cannot be performed, but marking by a doctor's hand is at most millimeter unit accuracy, and it is sufficient if the accuracy is in accordance with it, so automatic detection by a computer is also sufficient. For three-dimensional marking, for example, marking is performed on an image viewed from a certain direction, marking is performed on an image viewed from a direction orthogonal to the certain direction, and both marking positions are combined on a three-dimensional coordinate. Good.

Next, the doctor operates the operation unit 450 of the moving device 40 to indicate the three-dimensional position of the fine head 20 of the injecting/suctioning device 100 to be moved, for example, the position near the center of the marking range. The control unit 440 controls the electromagnet 400 and the first to third rotation driving units 420A to 420C based on the three-dimensional position designated by the operation unit 450 to control the magnitude and direction of the magnetic force acting on the fine head 20. Then, the fine head 20 is inserted into the body, and the fine head 20 is moved in the direction of the target site, which is the designated three-dimensional position. The computer may automatically perform the operation by the doctor.

The movement and scanning of the X-ray CCD sensor 500 are repeated until a pixel that emits radiation of a certain value or more is found on the screen of the X-ray CCD sensor 500. If found, the X-ray CCD sensor 500 is moved so as to track the movement of the pixel thereafter, and scanning is repeated. A pixel that emits radiation of a certain value or more usually has only one pixel out of all pixels in the CCD, and only the process of searching for it is performed, so unlike image formation calculation such as CT, the amount of calculation is very small. Real-time scanning is possible. The computer may automatically move and scan the X-ray CCD sensor 500.

Next, the doctor confirms the position of the fine head 20 using the position detection device 50. When it is confirmed that the fine head 20 has reached the target position, the anticancer agent is injected into the target site via the ultrafine tube 30 by the pump. As shown in FIG. 6A, a plurality of cancer cells 1000 constitutes a cancer cell cluster (a mass made up of cells) 1100, and as shown in FIG. 6B, one cancer cell cluster 1100 By injecting the anticancer agent 1200 into the center, the cancer cells 1000 in the cancer cell cluster 1100 are inactivated. The computer may automatically confirm that the fine head 20 has reached the target position.

After the injection of the anti-cancer agent is completed, the fine head 20 is pulled out from the body by pinching the portion of the ultrafine tube 30 protruding outside the body and pulling it straight. When pulling out the fine head 20, instead of pulling it out to the front, the base of the ultrafine tube 30 may be cut off, a magnetic field may be applied to the fine head 20, and the fine head 20 may be pulled out.

At this time, if the position of the cancer cell 1000 to be treated next is close to the treatment site immediately before that, the ultrafine tube 30 is not pulled out at all, but only slightly pulled to the outside of the body, and the next treatment target is moved from there. It may be moved to the position of the cancer cell 1000.

When there are a plurality of marking areas, the above operation is repeated for all the remaining marking areas.

In addition, after once inactivating the cancer cells 1000 by the above operation, after a predetermined time (for example, several weeks to several months) whose length is determined according to the speed of division of the target cancer cells, etc. Therefore, the above operation may be repeated until the cancer cells 1000 completely disappear. Even when the cancer cells are so small that they cannot be confirmed from the images obtained by taking a picture of the patient, they grow to a size that allows the cancer cells to be confirmed and end-stage again as much as possible. By repeating the inactivation before eroding the cancer cells, it is possible to remove all the cancer cells existing in the patient's body even in the current situation where only relatively large cancer cells can be detected. The number of repetitions depends on the state such as the rate of division of the target cancer cells and the ease of diffusion into the whole body.

Moreover, the rate of division of cancer cells is twice as large as one month even if it is fast, that is, the number of divisions of cancer cells is about once a month. Further, as described above, in the present embodiment, since the cancer cells can be inactivated in cell cluster units instead of in cell units, the inactivation treatment pace of the cancer cells according to the present embodiment is It is unlikely that they will not keep up with the pace of division. Even if they cannot catch up, they have the effect of delaying the progression of cancer.

Further, when injecting the anticancer agent 1200, the fine head 20 may be moved to the outside of cells existing near the three-dimensional position designated by the operation unit 450, that is, to the outside of the cell membrane. Whether or not the tip of the fine head 20, that is, the ultrafine tube 30 has entered the cell membrane depends on, for example, the pressure required for injection and suction inside and outside the cell membrane (difference in viscosity between cytosolic matrix and interstitial fluid, etc.). According to the above), a pressure gauge is attached to a pump for injecting an anticancer drug through the ultrafine tube 30, and the magnitude of the pressure applied to the inside of the ultrafine tube 30 is investigated. It may be determined whether it is inside or outside and whether the tip of the ultrafine tube 30 has entered the cell membrane of the cell. Further, in that case, if the tip of the ultrafine tube 30 has entered the cell membrane, for example, one to one half of the average total length of the cells around the tip of the ultrafine tube 30 is gradually increased. The pressure may be measured again while advancing or retracting the tip of the ultrafine tube 30 by a certain length. If the tip of the ultrafine tube 30 is located outside the cell membrane of the cell, the injected anticancer agent will easily diffuse.

Further, as shown in FIG. 7A, a plurality of cancer cell clusters 1100 existing at positions close to each other may be collectively subjected to inactivation treatment as one cluster 1300. In this case, the anticancer agent 1200 is injected into the center of one cluster 1300 that is collected, and the anticancer agent 1200 is sprinkled from there. By collectively inactivating a plurality of cancer cell clusters 1100, the burden on the patient is reduced and the processing can be significantly speeded up.

Further, in the above-mentioned cancer treatment, an anticancer drug was used as a drug, but a drug other than the anticancer drug may be used. Further, it is preferable to use a drug suitable for the target site. For example, when the cancer cells at the target site are osteosarcoma, a drug such as hydrochloric acid capable of dissolving osteosarcoma may be used instead of the anticancer agent. In this case, the fine head 20 may be advanced while melting the bone existing on the path leading to the bone carcass using the device 100. In addition, when the treatment target includes both osteosarcoma and cancer cells other than osteosarcoma, two sets of micro heads 20, ultrafine tubules 30 and pumps are prepared for osteosarcoma and cancer cells other than osteosarcoma. You may use properly. In addition, a drug that changes the function of the gene in the cancer cell at the target site may be used.

(2) Brain tumor treatment In this case, the method may be the same as the above-mentioned cancer treatment, or may be the following procedure.

First, a patient is photographed using an X-ray CT apparatus, an MRI (magnetic resonance imaging) apparatus, a PET (positron emission tomography) apparatus, etc., and a three-dimensional image that can identify a brain tumor in the affected area is acquired.

Next, the doctor looks at the obtained three-dimensional image of the patient and stereoscopically marks the range including the range to be removed. At this time, marking may be performed in consideration of avoiding large holes in the blood vessel wall of a thick blood vessel. Since it is difficult to automatically and accurately calculate the range to be deflated from the CT image, MRI image, PET image, etc., the doctor may visually judge.

Then, as described above, the moving device 40 is used to move the fine head 20 to the inside of the cells existing in the marking range, that is, to the inside of the cell membrane. Whether or not the tip of the fine head 20, that is, the ultrafine tube 30 has entered the cell membrane depends on, for example, the pressure required for injection and suction inside and outside the cell membrane (difference in viscosity between cytosolic matrix and interstitial fluid, etc.). According to the above), a pressure gauge is attached to a pump for injecting an anticancer drug through the ultrafine tube 30, and the magnitude of the pressure applied to the inside of the ultrafine tube 30 is investigated. It may be determined whether it is inside or outside and whether the tip of the ultrafine tube 30 has entered the cell membrane of the cell. Further, in that case, if the tip of the ultrafine tube 30 does not enter the cell membrane, for example, a fraction of one to two minutes of the average total length of cells around the tip of the ultrafine tube 30 is gradually increased. The pressure may be measured again while advancing or retracting the tip of the ultrafine tube 30 by a length of about 1.

Next, the cytoplasmic substrate is sucked out by the pump through the ultrafine tube 30.

Next, the fine head 20 is pulled out from the inside of the body by pinching the portion of the ultrafine tube 30 protruding outside the body and pulling it straight.

Next, the cells are shrunk while gradually moving the tip of the ultrafine tube 30 so that other cells within the marking range can be processed so that the cells can be searched for by hand.

At this time, when the position of the cell to be treated next is close to the treatment site immediately before, the ultrafine tube 30 is not pulled out all the way but just pulled a little to the outside of the body, and from there to the inside of the cell to be treated. You may move it.

When it is judged that the area to be sufficiently shrunk has shrunk, the treatment is completed.

When treating a brain tumor, holes are made in a plurality of distant portions of the skull with a drill or the like, and from those holes, the tip of the ultrafine tube 30 can be advanced to a target position without being caught in the skull. The tube 30 may be inserted.

(Effects of this embodiment)
According to this embodiment, the following effects are achieved.
(A) The invasiveness of the catheter can be reduced as the diameter is reduced. However, if the guide wire has a very small diameter (for example, a diameter of 1 μm), it becomes soft even if it is made of a hard material, and it is not possible to obtain torque transmissibility that can be pushed into the body by a human hand. difficult. In addition, since the tube is hollow, it is even more difficult, and it is also difficult to give the catheter itself having a very small diameter sufficient torque transmission. Therefore, conventionally, it was difficult to make a catheter having a very small diameter. However, in the present embodiment, the fine head 20 formed of a magnetic material is attached to the tip of the ultrafine tube 30 formed of a non-magnetic material, and the fine head 20 is moved by magnetic force, so that the diameter is very small. Since the tube can be inserted into the body, it is possible to perform injection and suction similar to a catheter having a very small diameter (for example, 1 μm diameter).
(A) The fine head 20 has a structure that is divided into front and rear halves, and when the tip of the ultrafine tube 30 is located in the gap, the opening of the tip of the ultrafine tube 30 is less likely to be clogged with a fragment of the cell membrane or the like.
(C) In the present embodiment, no matter how many times the fine head 20 moves back and forth in the body, the organs are not destroyed much. Therefore, it is possible to repeat this insertion/removal to move to a plurality of locations, and to move a large number of parts in a short time. Inactivation of cells or cell clusters can be performed.
(D) By using a pump with an electric motor or a piezoelectric element for injecting or aspirating by the ultrafine tube 30, a very small amount of inhalation or exhalation can be performed. It is possible to inject a drug or the like, or to suck out the cytoplasmic matrix of only one cell at a pinpoint and wither it.
(E) Generally, the calculation amount of image formation calculation in CT, MRI, etc. is enormous, but in the position detection processing of the present embodiment, there is usually only one location out of the pixels forming a certain image. A pixel having a brightness equal to or higher than a value, that is, a position where a head that emits radiation is present is searched for, or the two-dimensional position of the fine head 20 measured by the X-ray CCD sensor 500 is added to the three-dimensional position of the arm tip. Therefore, the calculation amount is very small, and the position can be detected with a high frame rate and a high-speed response, that is, in real time.
(F) If the shape of the fine head is a cone or a pyramid, the bottom surface of the cone or the pyramid may be caught on the body when the fine head is pulled out from the body. With the rugby ball shape, the fine head 20 can be smoothly pulled out from the body.
(G) Since the radioactive substance emits radiation radially, the fine head 20 appears larger than the original size in the X-ray CCD sensor 500, and therefore, the fine head 20 can be easily identified even if it is very fine.

The cancer treatment and brain tumor treatment performed in the above-described embodiment can be applied not only to humans but also to animals such as pets.

[Second Embodiment]
FIG. 8 is a perspective view of a main part of an injection/suction device according to the second embodiment of the present invention. In the first embodiment, the fine head 20 of the injecting/suctioning device 100 is composed of the first and second head portions 200 and 210 and the connecting portion 220, but in the present embodiment, the fine head 20 is the first. The head unit 200 and the connecting unit 220 are used.

In the fine head 20 according to the second embodiment, the first head portion 200 and the pair of connecting portions 220 may be formed using, for example, a focused ion beam (FIB). However, the distance between the pair of connecting portions 220 may be a distance in contact with the ultrafine tube 30. Note that the first head unit 200 and the pair of connecting units 220 may be joined together after the first head unit 200 and the pair of connecting units 220 are manufactured separately. Moreover, the number of the connecting portions 220 may be one or three or more.

The joining of the fine head 20 and the ultrafine tube 30 is performed, for example, by bonding the pair of connecting portions 220 and the tip of the ultrafine tube 30 with an adhesive.

Considering the size of the cells (1 to 100 μm), the maximum width of the fine head 20 is preferably 100 μm or less, and more preferably 5 μm or less because the cells are not destroyed as much as possible when the fine head 20 is inserted into the body. In this embodiment, the maximum width is 1 μm. The fine head 20 is made of a magnetic material, for example, a material having a high magnetic permeability such as permalloy or silicon steel.

The first head unit 200 has a shape that tapers toward the tip, such as a substantially triangular pyramid, and includes side surfaces 200a, 200b, and 200c and a bottom surface 200d. Further, the first head unit 200 is formed such that a living tissue can be incised, for example, the tip is formed at an acute angle. The overall shape of the fine head 20 may be prismatic or cylindrical as long as it is fine and sharp. Further, the first head unit 200 may be partially formed of a material different from the material of the other portions. For example, the tip portion may be formed of a material having low magnetic permeability, and the other portion may be formed of a material having high magnetic permeability. The first head unit 200 may have a wire-shaped or blade-shaped protruding portion as a part thereof.

The outer diameter of the fine head 20 is larger than the outer diameter of the ultrafine tube 30. The outer diameter of the fine head 20 may be smaller than the outer diameter of the ultrafine tube 30.

The features of the parts other than the above parts are the same as those of the injection/suction device according to the first embodiment.

The fine head 20 according to the second embodiment can also be used as the fine head 20 in the fourth to tenth embodiments described in this specification.

The fine head 20 according to the second embodiment can reduce the number of parts.

[Third Embodiment]
9A and 9B show an injection/suction device according to a third embodiment of the present invention, FIG. 9A is a perspective view of a main part, and FIG. 9B is a front view. In the first embodiment, the tip of the fine head 20 of the injection/suction device 100 has a shape capable of cutting the biological tissue, but in the present embodiment, the tip of the ultrafine tube 2 has a shape capable of cutting the biological tissue. It is what

The fine head 20 of the third embodiment is composed of a columnar head portion 230 formed of a material having a high magnetic permeability using, for example, a focused ion beam (FIB). The head part 230 may be provided with inclined surfaces 230a and 230b having a shape capable of incising a living tissue at the front end and the rear end, for example, having an inclination angle θ of about 30°. The overall shape of the fine head 20 may be a prismatic shape as long as it is fine and sharp.

The ultrafine tube 30 of the third embodiment includes a sloped surface 30a having a shape capable of incising a biological tissue at the tip, for example, having a slope angle θ of about 30°.

The joining of the fine head 20 and the ultrafine tube 30 is performed, for example, by bonding the peripheral surface of the head portion 230 and the peripheral surface of the ultrafine tube 30 with an adhesive. In the present embodiment, the tip end of the head portion 230 is shifted and bonded to the rear end side of the ultrafine tube 30, but the tip end of the ultrafine tube 30 is moved to the rear end side of the head portion 230. You may adhere.

Considering the size of the cells (1 to 100 μm), the maximum width of the fine head 20 is preferably 100 μm or less, and more preferably 5 μm or less because the cells are not destroyed as much as possible when the fine head 20 is inserted into the body. In this embodiment, the maximum width is 1 μm. The fine head 20 is made of a magnetic material, for example, a material having a high magnetic permeability such as permalloy or silicon steel.

The head portion 230 may be partially formed of a material different from the material of the other portions. For example, the front end portion and the rear end portion may be formed of a material having low magnetic permeability, and the other portions may be formed of a material having high magnetic permeability. Further, the head portion 230 may have a wire-shaped or blade-shaped protruding portion as a part thereof.

The ultrafine tube 30 is formed of a material having a low magnetic permeability using, for example, the same photolithography as in the manufacturing process of a nozzle of an inkjet printer, and the tip of the ultrafine tube 30 is slanted by a fine processing machine such as a focused ion beam processing machine. It is made by cutting into pieces.

The ultrafine tube 30 is attached to the fine head 20 with its tip open, and injects a liquid such as an anticancer agent through the opening at the tip and sucks a liquid such as a cytoplasmic substrate. The ultrafine tube 30 has, for example, an outer diameter of 100 nm to 1 μm and a length of 5 cm to 10 m. The ultrafine tube 30 is formed of a non-magnetic material, for example, a material having a low magnetic permeability such as aluminum, silver, gold, and quartz glass. However, gold is usually not suitable as a material of the film 2000 described later. In the present embodiment, the ultrafine tube 30 having a size that is at least half the diameter of most human torso, such as an inner diameter of 150 nm, an outer diameter of 350 nm, and a length of 50 cm, is used.

A pump formed using, for example, an electric motor or a piezoelectric element is connected to the ultrafine tube 30. It should be noted that the injection/suction apparatus 100 may include only the fine head 20 and the ultrafine tube 30 without connecting a pump. In this case, the injection/suction device is capable of injecting the drug by the weight of the drug in a drip manner or inserting the drug into the bladder under increased pressure to aspirate urine.

The features of the parts other than the above parts are the same as those of the injection/suction device according to the first embodiment.

The fine head 20 and the extra-fine tube 30 according to the third embodiment can be used as the fine head 20 and the extra-fine tube 30 in the fourth to tenth embodiments described in this specification.

With the fine head 20 and the ultrafine tube 30 according to the third embodiment, it is possible to simplify the configuration.

[Fourth Embodiment]
FIG. 10 is a perspective view showing a schematic configuration example of an injection/suction system according to the fourth embodiment of the present invention. In the first embodiment, the moving device 40 includes an electromagnet 400, first and second arms 410A and 410B, first and second rotation driving units 420A and 420B, and a third rotation driving unit 420C. Although it is configured by the base 430, the control unit 440, and the operation unit 450, in the present embodiment, the moving device includes a plurality of electromagnets 460 to 467 provided at fixed positions, a control unit 468, and an operation unit. It is configured by the unit 469.

The moving device 40 includes electromagnets 460 to 467, a control unit 468 that can control each unit of the moving device 40, and an operation unit 469 that can instruct the control unit 468 the three-dimensional position of the fine head 20 to move. The control unit 468 and the operation unit 469 are examples of the movement control unit of the moving device that can control the magnitude and direction of the magnetic force that acts on the fine head by the magnetic field applied by the electromagnet.

The electromagnets 460 to 467 generate magnetic fields having strengths corresponding to the magnitudes of the electric currents respectively supplied. The electromagnet 400 may be a superconducting electromagnet.

The electromagnets 460 to 467 are provided so as to be located at respective vertices of a virtual regular hexahedron Q surrounding the human body P, for example. Further, the electromagnets 460 to 467 are provided, for example, so that the magnetic fields generated by the electromagnets 460 to 467 are oriented toward the position of the center of gravity of the virtual regular hexahedron Q, respectively. In that case, the fine head 20 can move to almost any position inside the virtual regular hexahedron Q.

The magnitude and direction of the resultant force of the magnetic force acting on the fine head 20 is usually the magnitude and direction of the resultant force of the magnetic forces acting on the fine head 20 by the magnetic fields applied to the fine head 20 by the electromagnets 460 to 467, respectively. .. For example, the distance between the current position of the fine head 20 and the electromagnet 460 is equal to the distance between the current position of the fine head 20 and the electromagnet 461, and the magnetic fields generated by the direction of the electromagnet 460 and the direction of the electromagnet 461 are When the direction is such that the direction of the fine head 20 is toward the current position, and the angle between the direction of the magnetic field generated by the electromagnet 460 and the direction of the magnetic field generated by the electromagnet 461 is 120 degrees, of the eight electromagnets When only the electromagnets 460 and 461 generate magnetic fields of the same strength, the fine head 20 moves in the direction passing through the midpoint of the line connecting the electromagnets 460 and 461 when viewed from the current position of the fine head 20. .. At this time, the magnitude of the resultant magnetic force acting on the fine head 20 is the same as the magnitude of the magnetic force acting on the fine head 20 by the magnetic field generated by only one of the electromagnet 460 and the electromagnet 461.

The position where the electromagnet is provided may be a position at each vertex such as a virtual tetrahedron surrounding the human body P. In that case, each of the electromagnets may be provided in such an orientation that the magnetic field generated by itself is directed to the position of the center of gravity of a virtual regular tetrahedron or the like. In the case of this example, the fine head 20 can be moved to almost any position inside a virtual tetrahedron or the like.

The operation unit 450 is configured to be able to instruct the three-dimensional position of the fine head 20 to be moved, for example, by operating a lever or a computer.

The control unit 440 finely adjusts the strength of the magnetic field generated by each of the electromagnets 460 to 467 by controlling the magnitude of the current supplied to each of the electromagnets 460 to 467 based on the three-dimensional position designated by the operation unit 450. Then, by controlling the magnitude and direction of the resultant force of the magnetic force acting on the fine head 20, the fine head 20 is moved in the direction of the instructed three-dimensional position, that is, the target position.

For example, in order to suppress the bending of the movement path of the ultrafine tube 30, that is, to insert the ultrafine tube 30 almost straight with respect to the target position, each of the electromagnets 460 to 467 applies a magnetic field to the fine head 20. By controlling the traveling direction of the fine head 20 that adjusts the strength, the position, and the direction, that is, the magnitude and direction of the resultant force of the magnetic force that acts on the fine head 20, the ultrafine tube 30 is not entangled, and When inserting or withdrawing the fine head 20 and the ultrafine tube 30 into the body, the internal tissues are not so damaged. That is, when a knot is formed in the ultrafine tube 30 and the body tissue is damaged when it moves, or when the ultrafine tube 30 is very fine and the tube itself is as sharp as a thread-like blade, the trajectory bends. However, when pulling in one direction, a force is applied to the inner peripheral side of the bend and the internal tissue is cut off. Further, in this case, there is an advantage that the moving distance of the fine head 20 to the target position is shortened and the fine head 20 can easily reach the target position quickly. Even if there is refraction or bending in the movement path of the ultrafine tube 30, as long as the ultrafine tube 30 does not significantly damage the internal tissue due to the above-mentioned reason, the state of the ultrafine tube 30 with respect to the target position is also maintained. It is included in the state that it is inserted almost straight.

The position control of the fine head 20 by the control unit 440 may be, for example, control such as simply pulling the fine head 20 toward the target position, or returning to the left if too far to the right, or returning to the right if too far to the left. Alternatively, the control may be such that if it goes too far above, it goes back down, or if it goes too far below, it goes back up (see FIG. 17). Especially in the case of control such as returning to the left if it goes too far to the right, returning to the right if it goes too far to the left, returning it to the bottom if it has gone too far above, or returning it to the top if it has gone too far below. It can be corrected, and the fine head 20 can easily reach the target position accurately even in a human or animal body having a complicated structure.

Before use, the fine head 20 and the ultrafine tube 30 are placed in a container filled with water, and the container is brought into close contact with the body of the patient at the time of use. You may move it.

The features related to the parts other than the above parts are the same as those of the injection/suction system according to the first embodiment.

The moving device 40 and the position detection device 50 are an example of a position control system capable of controlling the position of the head.

The moving device 40 according to the fourth embodiment can also be used as the moving device 40 in the embodiments of the second, third, and fifth to tenth embodiments described in this specification.

According to the moving device 40 according to the fourth embodiment, since the arm is eliminated, the number of movable parts is reduced, and the maintenance is easy in many cases.

[Fifth Embodiment]
FIG. 11 is a perspective view showing a schematic configuration example of an injection/suction system according to the fifth embodiment of the present invention. In the first embodiment, the fluoroscopic imaging sensor included in the imaging unit of the position detection device 50 is configured by the X-ray CCD sensor 500, but in the present embodiment, the fluoroscopic imaging included in the imaging unit of the position detection device 50 is used. The sensor for use is composed of an MRI sensor 570.

The position detecting device 50 includes an MRI sensor 570 capable of photographing a mark made of an MRI contrast agent applied to the fine head 20, and a slide drive capable of linearly moving the MRI sensor 570 in a direction perpendicular to the direction of the photographing surface. Three-dimensional position of the MRI sensor 570, a control unit 573 capable of driving and controlling the slide driving unit 571 and detecting the position of the fine head 20, and a base 572 supporting the MRI sensor driving unit 571. An operation unit 574 capable of instructing and a display unit 575 capable of displaying the detected position of the fine head 20. The position where the mark made of the MRI contrast agent is formed may be the position on the tip side of the ultrafine tube 30. The display unit 575 may be omitted when the computer automatically confirms that the fine head 20 has reached the target position. The MRI sensor 570 is an example of a fluoroscopic imaging sensor included in the imaging unit of the position detection device.

Imaging by nuclear magnetic resonance imaging is repeated while moving the MRI sensor 570 little by little in the direction perpendicular to the surface to be imaged, that is, a plurality of pieces of image data whose respective surfaces to be imaged are horizontal to each other by the MRI sensor 570. It is possible to know the three-dimensional position of the fine head 20 by taking a photograph and searching for a portion corresponding to the mark in the image data by image recognition processing.

If the material of the mark is a material having atoms that do not exist in the body, only the mark is reflected on the MRI sensor 570, and the position of the mark can be easily detected.

The strength of the static magnetic field and the gradient magnetic field applied to the body may be set so that the fine head 20 does not substantially move. Generally, the resolution of the MRI sensor decreases as the strength of the static magnetic field and the gradient magnetic field applied to the body decreases. For example, if the material of the mark is a material having atoms that do not exist in the body, only the mark is reflected on the MRI sensor. , It becomes easy to detect the position of the mark even in a weak magnetic field.

Since it hinders the position detection by the MRI sensor 570, it is preferable not to generate a magnetic field from the electromagnet 400 included in the moving device 40 during the photographing by the MRI sensor 570.

The slide driving unit 571 is connected to the MRI sensor 570 and moves the MRI sensor 570 in a direction perpendicular to the surface of the imaging target.

The operation unit 574 is configured to be able to instruct the position to which the MRI sensor 570 should move, for example, by operating a lever or a computer.

By providing a position sensor between the MRI sensor 570 and the slide driving unit 571, the position detection device 50 allows a reference position (for example, a predetermined position existing on the boundary with the MRI sensor 570) of the surface of the MRI sensor 570 to be imaged. The three-dimensional position (position) can be precisely measured (for example, in μm unit). The position sensor is an example of a fluoroscopic imaging sensor position detection unit capable of measuring the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit of the position detection device.

The control unit 573 is an example of a position detection unit. The control unit 573 includes an image recognition processing unit that can perform image recognition processing for recognizing an image by pattern recognition. The control unit 573, for example,

1. The MRI sensor 570 prepares a plurality of image data whose surfaces to be imaged are horizontal to each other.
2. A part corresponding to the mark in the image data is searched for by the image recognition processing unit, and the two-dimensional position of the mark in the photographing range of the image data is obtained.
3. The three-dimensional position of the reference position on the surface of the imaging target of the MRI sensor 570 is added to the two-dimensional position of the mark in the imaging range of the image data to obtain the position of the fine head 20.
The position of the fine head 20 is detected by this procedure (see FIG. 20). In addition, in 2, when a mark is found in a plurality of image data whose surfaces to be photographed are adjacent to each other, it may be treated that a mark is found in image data in which the surface to be photographed is the center.

The control unit 573 also controls the MRI sensor driving unit 571 based on the three-dimensional position designated by the operation unit 574 to move the MRI sensor 570 to the designated position.

The material of the mark may be a material having a nuclear spin other than 0 other than the MRI contrast agent.

Further, the mark only needs to be present at the position on the tip side of the fine head 20 or the ultrafine tube 30, and need not be formed separately from the fine head 20 and the ultrafine tube 30. That is, the material of the fine head 20 may be a substance that can be imaged by transmission through the MRI sensor 570, and the fine head 20 itself may be the mark. For example, the MRI contrast agent may be kneaded into the material of the fine head 20. In addition, the material of the ultrafine tube 30 is a substance that can be transmitted and imaged by the MRI sensor 570 so that the entire image including the tip side of the ultrafine tube 30 or a wide range image in the MRI sensor 570 is reflected in imaged image data. In the image recognition processing, the portion of the image of the ultrafine tube 30 corresponding to the tip side may be treated as the image of the mark. For example, the ultrafine tube 30 may be made by kneading an MRI contrast agent into the material of the ultrafine tube 30.

In addition, in particular, the material of the ultrafine tube 30 is used as a substance that can be transmitted and imaged by the MRI sensor 570, so that the entire image including the tip side of the ultrafine tube 30 or a wide range image in the MRI sensor 570 is reflected in the imaged image data. Then, in the image recognition processing, when the portion corresponding to the tip side of the image of the ultrafine tube 30 is treated as the image of the mark, the procedure for the control unit 573 to detect the position of the fine head 20 is as follows.

1. The MRI sensor 570 prepares a plurality of image data whose surfaces to be imaged are horizontal to each other.
2. The image recognition processing unit searches for a portion corresponding to the ultrafine tube 30 in the image data, and finds in the image data obtained by photographing the outermost part of the portion corresponding to the found ultrafine tube 30 that is not the root side of the ultrafine tube 30. The two-dimensional position of the mark in the shooting range of the image data is obtained by treating the object as a portion corresponding to the mark.
3. The three-dimensional position of the reference position on the surface of the imaging target of the MRI sensor 570 is added to the two-dimensional position of the mark in the imaging range of the image data to obtain the position of the fine head 20.
May be For example, if the numbers are sequentially assigned to the respective photographing positions from the root side of the ultrafine tube 30 or the opposite side, which image data is the outermost body imaged on the side other than the root side of the ultrafine tube 30? Can be easily determined simply by comparing the numbers. Usually, this procedure is used when the moving device 40 moves the fine head 20 so that the ultrafine tube 30 is inserted almost straight with respect to the target position. If the orientation of the ultrafine tube 30 is horizontal to the surface of the MRI sensor 570 to be imaged, normally this procedure cannot be used as it is, but in 2, the image data of the ultrafine tube 30 shows the ultrafine tube 30. The image recognition processing unit searches for a portion corresponding to the front end side of the image, that is, the image recognition processing unit searches for a portion corresponding to the mark in the image data prepared in 1 to detect the mark of the mark in the photographing range of the image data. It is sufficient to find the dimensional position.

In addition, in particular, the material of the ultrafine tube 30 is used as a substance that can be transmitted and imaged by the MRI sensor 570, so that the entire image including the tip side of the ultrafine tube 30 or a wide range image in the MRI sensor 570 is reflected in the imaged image data. In the image recognition processing, when the portion corresponding to the tip side of the image of the ultrafine tube 30 is treated as the image of the mark, the position detection device 50 includes a plurality of cross-sectional image data whose surfaces to be imaged are mutually horizontal. And a cross-sectional image three-dimensional processing unit that creates three-dimensional image data by supplementing the space between the two, and the image recognition processing unit is configured as an image recognition processing unit that can perform three-dimensional image recognition processing. The procedure for the portion 573 to detect the position of the fine head 20 is as follows.

1. The cross-sectional image three-dimensionalization processing unit prepares three-dimensional image data created from a plurality of image data whose surfaces to be imaged by the MRI sensor 570 are horizontal to each other.
2. Of the image of the ultrafine tube 30 reflected in the 3D image data, the portion corresponding to the tip side of the ultrafine tube 30 is treated as a mark image, and the portion of the 3D image data corresponding to the mark is processed by the image recognition processing unit. Then, the three-dimensional position of the mark in the shooting range of the three-dimensional image data is obtained.
3. At the three-dimensional position of the mark in the imaging range of the three-dimensional image data, the reference position of the imaging target range of the MRI sensor 570 (the reference position of the imaging target surface when the MRI sensor 570 is located at the end of the moving range) The three-dimensional position is added to the position of the fine head 20.
May be The three-dimensional image recognition process may be a process using an Interactive Closed Point algorithm or the like, or a map from infinite distance viewpoints in two orthogonal directions may be prepared, and two-dimensional image recognition may be performed for each of them. It may be a process of combining in the orthogonal direction.

The features related to the parts other than the above parts are the same as those of the injection/suction system according to the first embodiment.

The moving device 40 and the position detection device 50 are an example of a position control system capable of controlling the position of the head.

The position detection device 50 according to the fifth embodiment can also be used as the position detection device 50 in the second to fourth embodiments described in this specification.

According to the position detection device 50 according to the fifth embodiment, radiation is not required and safety is improved, and since the arm is eliminated, the number of movable parts is reduced and maintenance is easy in many cases.

[Sixth Embodiment]
FIG. 12 is a perspective view showing a schematic configuration example of an injection/suction system according to the fifth embodiment of the present invention. In the first embodiment, the fluoroscopic imaging sensor included in the imaging unit of the position detection device 50 is configured by the X-ray CCD sensor 500, but in the present embodiment, the fluoroscopic imaging included in the imaging unit of the position detection device 50 is used. The sensor for use is composed of the CT sensor 580.

The position detection device 50 includes a CT sensor 580 capable of photographing a mark made of a CT contrast agent applied to the fine head 20, and a slide drive capable of linearly moving the CT sensor 580 in a direction perpendicular to the direction of the photographing surface. Three-dimensional position of the CT sensor 580, and a control unit 583 capable of driving and controlling the slide drive unit 581 and detecting the position of the fine head 20, and a base 582 supporting the CT sensor drive unit 581. An operation unit 584 that can instruct the display and a display unit 585 that can display the detected position of the fine head 20 are provided. The position where the mark made of the CT contrast agent is formed may be the position on the tip side of the ultrafine tube 30. The display unit 585 may be omitted when the computer automatically confirms that the fine head 20 has reached the target position. The CT sensor 580 is an example of a fluoroscopic imaging sensor included in the imaging unit of the position detection device.

Imaging by computer tomography is repeated while moving the CT sensor 580 little by little in the direction perpendicular to the surface to be imaged, that is, a plurality of image data whose respective surfaces to be imaged are mutually horizontal are imaged by the CT sensor 580. Then, the three-dimensional position of the fine head 20 can be known by searching for a portion corresponding to the mark in the image data by image recognition processing.

The CT used in this embodiment may be X-ray CT, positron tomography (PET), single photon emission tomography (SPECT), or ultrasonic CT.

The slide driving unit 581 is connected to the CT sensor 580 and moves the CT sensor 580 in a direction perpendicular to the surface of the imaging target.

The operation unit 584 is configured to be able to instruct the position to move the CT sensor 580 by operating a lever or a computer, for example.

By providing a position sensor between the CT sensor 580 and the slide drive unit 581, the position detection device 50 allows a reference position (for example, a predetermined position existing on the boundary with the CT sensor 580) of the surface of the CT sensor 580 to be imaged. The three-dimensional position (position) can be precisely measured (for example, in μm unit). The position sensor is an example of a fluoroscopic imaging sensor position detection unit capable of measuring the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit of the position detection device.

The control unit 583 is an example of a position detection unit. The control unit 583 includes an image recognition processing unit capable of performing image recognition processing for recognizing an image by pattern recognition. The control unit 583, for example,

1. The CT sensor 580 prepares a plurality of image data whose surfaces to be imaged are horizontal to each other.
2. A part corresponding to the mark in the image data is searched for by the image recognition processing unit, and the two-dimensional position of the mark in the photographing range of the image data is obtained.
3. The three-dimensional position of the reference position of the surface of the CT sensor 580 to be imaged is added to the two-dimensional position of the mark in the imaging range of the image data to obtain the position of the fine head 20.
The position of the fine head 20 is detected by this procedure (see FIG. 20). In addition, in 2, when a mark is found in a plurality of image data whose surfaces to be photographed are adjacent to each other, it may be treated that a mark is found in image data in which the surface to be photographed is the center.

Further, the control unit 583 controls the CT sensor drive unit 581 based on the three-dimensional position designated by the operation unit 584 to move the CT sensor 580 to the designated position.

The material of the mark may be a substance other than the CT contrast agent that can be imaged through the CT sensor 580.

Further, the mark only needs to be present at the position on the tip side of the fine head 20 or the ultrafine tube 30, and need not be formed separately from the fine head 20 and the ultrafine tube 30. That is, the material of the fine head 20 may be a substance that can be transmitted and photographed by the CT sensor 580, and the fine head 20 itself may be the mark. For example, the CT contrast agent may be kneaded into the material of the fine head 20. Further, the material of the ultrafine tube 30 is made a substance that can be transmitted and imaged by the CT sensor 580, so that the entire image including the tip side of the ultrafine tube 30 or a wide range image in the CT sensor 580 is reflected in imaged image data. In the image recognition processing, the portion of the image of the ultrafine tube 30 corresponding to the tip side may be treated as the image of the mark. For example, the ultrafine tube 30 may be made by kneading a CT contrast agent into the material of the ultrafine tube 30.

In addition, in particular, the material of the ultrafine tube 30 is used as a substance that can be transmitted and imaged by the CT sensor 580, so that the entire image including the tip side of the ultrafine tube 30 or a wide range image in the CT sensor 580 is reflected in imaged image data. In the image recognition processing, when the portion corresponding to the tip side of the image of the ultrafine tube 30 is treated as the image of the mark, the procedure for the control unit 583 to detect the position of the fine head 20 is as follows.

1. The CT sensor 580 prepares a plurality of image data whose surfaces to be imaged are horizontal to each other.
2. The image recognition processing unit searches for a portion corresponding to the ultrafine tube 30 in the image data, and finds in the image data obtained by photographing the outermost part of the portion corresponding to the found ultrafine tube 30 that is not the root side of the ultrafine tube 30. The two-dimensional position of the mark in the shooting range of the image data is obtained by treating the object as a portion corresponding to the mark.
3. The three-dimensional position of the reference position of the surface of the CT sensor 580 to be imaged is added to the two-dimensional position of the mark in the imaging range of the image data to obtain the position of the fine head 20.
May be For example, if the numbers are sequentially assigned to the respective photographing positions from the root side of the ultrafine tube 30 or the opposite side, which image data is the outermost body imaged on the side other than the root side of the ultrafine tube 30? Can be easily determined simply by comparing the numbers. Usually, this procedure is used when the moving device 40 moves the fine head 20 so that the ultrafine tube 30 is inserted almost straight with respect to the target position. If the orientation of the ultrafine tube 30 is horizontal to the surface of the CT sensor 580 to be imaged, normally this procedure cannot be used as it is. However, in 2, the image data of the ultrafine tube 30 shows the ultrafine tube 30. The image recognition processing unit searches for a portion corresponding to the front end side of the image, that is, the image recognition processing unit searches for a portion corresponding to the mark in the image data prepared in 1 to detect the mark of the mark in the photographing range of the image data. It is sufficient to find the dimensional position.

In addition, in particular, the material of the ultrafine tube 30 is used as a substance that can be transmitted and imaged by the CT sensor 580, so that the entire image including the tip side of the ultrafine tube 30 or a wide range image in the CT sensor 580 is reflected in imaged image data. In the image recognition processing, when the portion corresponding to the tip side of the image of the ultrafine tube 30 is treated as the image of the mark, the position detection device 50 includes a plurality of cross-sectional image data whose surfaces to be imaged are mutually horizontal. And a cross-sectional image three-dimensional processing unit that creates three-dimensional image data by supplementing the space between the two, and the image recognition processing unit is configured as an image recognition processing unit that can perform three-dimensional image recognition processing. The procedure by which the portion 583 detects the position of the fine head 20 is

1. The cross-sectional image three-dimensionalization processing unit prepares three-dimensional image data prepared from a plurality of image data captured by the CT sensor 580, whose surfaces to be imaged are horizontal to each other.
2. Of the image of the ultrafine tube 30 reflected in the 3D image data, the portion corresponding to the tip side of the ultrafine tube 30 is treated as a mark image, and the portion of the 3D image data corresponding to the mark is processed by the image recognition processing unit. Then, the three-dimensional position of the mark in the shooting range of the three-dimensional image data is obtained.
3. At the three-dimensional position of the mark in the imaging range of the three-dimensional image data, the reference position of the imaging target range of the CT sensor 580 (the reference position of the surface of the imaging target when the CT sensor 580 is located at the end of the moving range). The three-dimensional position is added to the position of the fine head 20.
May be The three-dimensional image recognition process may be a process using an Interactive Closed Point algorithm or the like, or a map from infinite distance viewpoints in two orthogonal directions may be prepared, and two-dimensional image recognition may be performed for each of them. It may be a process of combining in the orthogonal direction.

The features related to the parts other than the above parts are the same as those of the injection/suction system according to the first embodiment.

The moving device 40 and the position detection device 50 are an example of a position control system capable of controlling the position of the head.

The position detection device 50 according to the sixth embodiment can also be used as the position detection device 50 in the second to fourth embodiments described in this specification.

With the position detecting device 50 according to the sixth embodiment, it is easier to obtain a higher resolution than in the fifth embodiment in which the magnetic field to be used is usually limited to a very weak one, and the arm is The elimination eliminates moving parts and in many cases facilitates maintenance.

[Seventh Embodiment]
FIG. 13 is a perspective view showing a schematic configuration example of an injection/suction system according to the fifth embodiment of the present invention. In the first embodiment, the fluoroscopic imaging sensor included in the imaging unit of the position detection device 50 is configured by the X-ray CCD sensor 500, but in the present embodiment, the fluoroscopic imaging included in the imaging unit of the position detection device 50 is used. The ultrasonic sensor is composed of an ultrasonic inspection probe 590.

The position detecting device 50 generates an ultrasonic wave in a fan shape for the fine head 20 also serving as a mark, and can receive the reflected ultrasonic wave, and an ultrasonic inspection probe 590. A first arm 591A supporting the 590, a telescopic drive part 592 capable of vertically moving the first arm 591A, and a second arm 591B supporting the telescopic drive part 592 and the slide drive part 593. A slide driving unit 593 capable of moving the second arm 591B in the horizontal direction, a base 594 supporting the slide driving unit 593, an ultrasonic inspection probe 590, and the first arm 591A. The piezoelectric element 598 capable of measuring the pressure between the piezoelectric element 598, the expansion/contraction driving unit 592, and the slide driving unit 593, and the control unit 595 capable of detecting the position of the fine head 20, and the ultrasonic inspection probe. An operation unit 596 capable of instructing the three-dimensional position of the child 590 and a display unit 597 capable of displaying the detected position of the fine head 20 are provided. The display unit 597 may be omitted when the computer automatically confirms that the fine head 20 has reached the target position. The ultrasonic inspection probe 590 is an example of a fluoroscopic imaging sensor included in the imaging unit of the position detection device.

The ultrasonic inspection probe 590 generates a sound wave in a fan shape, and a cross-sectional image of the body can be seen.

The ultrasonic inspection probe 590 is repeatedly moved while moving the ultrasonic inspection probe 590 little by little in the direction perpendicular to the surface to be imaged, that is, the ultrasonic inspection probe 590 moves each surface to be imaged. The three-dimensional position of the fine head 20 can be known by photographing a plurality of pieces of image data that are horizontal to each other and searching for a portion corresponding to the mark in the image data by image recognition processing.

It is preferable that the mark is formed of a material having characteristics such that it is easily distinguished from the internal tissue and the ultrafine tube 30 in the captured image data, that is, the acoustic impedance is sufficiently separated.

The slide drive unit 593 is connected to the ultrasonic inspection probe 590 via an arm and moves the ultrasonic inspection probe 590 in a direction perpendicular to the surface of the imaging target.

The piezoelectric element 598 is attached between the ultrasonic inspection probe 590 and the first arm 591A.

The operation unit 596 is configured to be able to instruct the position to which the ultrasonic inspection probe 590 should be moved, for example, by operating a lever or a computer.

The position detecting device 50 is provided with a position sensor between the first arm 591A and the expansion/contraction driving unit 592, and between the second arm 591B and the slide driving unit 593, so that the ultrasonic inspection probe 590 is provided. The three-dimensional position of the reference position (for example, the position in contact with the ultrasonic inspection probe 590) on the surface of the imaging target is precisely measured (for example, in μm unit). The position sensor is an example of a fluoroscopic imaging sensor position detection unit capable of measuring the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit of the position detection device.

The control unit 595 is an example of a position detection unit. The control unit 595 includes an image recognition processing unit capable of performing image recognition processing for recognizing an image by pattern recognition. The control unit 595 is, for example,

1. The ultrasonic inspection probe 590 prepares a plurality of image data whose surfaces to be imaged are horizontal to each other.
2. A part corresponding to the mark in the image data is searched for by the image recognition processing unit, and the two-dimensional position of the mark in the photographing range of the image data is obtained.
3. The three-dimensional position of the reference position of the surface of the ultrasonic inspection probe 590 to be imaged is added to the two-dimensional position of the mark in the imaging range of the image data to determine the position of the fine head 20.
The position of the fine head 20 is detected by this procedure (see FIG. 20). In addition, in 2, when a mark is found in a plurality of image data whose surfaces to be photographed are adjacent to each other, it may be treated that a mark is found in image data in which the surface to be photographed is the center.

Further, the control unit 595 controls the expansion/contraction driving unit 592 and the slide driving unit 593 based on the three-dimensional position designated by the operation unit 596 to move the ultrasonic inspection probe 590 to the designated position. .. For the movement of the ultrasonic inspection probe 590, check whether the magnitude of the force that presses the ultrasonic inspection probe 590 against the body is appropriate (whether it is too high or too low). It is preferable to do so. For example,

1. The slide driving unit 593 is adjusted to move the second arm 591, and slightly moved in the direction of the position designated by the operation unit 596.
2. The piezoelectric element 598 measures the pressure between the ultrasonic inspection probe 590 and the first arm 591. If the pressure is too low, the telescopic drive 592 is adjusted to move the ultrasound probe 590 slightly toward the body and then return to the beginning of 2. If the pressure is too high, the expansion/contraction drive unit 592 is adjusted to slightly move the ultrasonic inspection probe 590 in the direction opposite to the body direction, and then return to the beginning of step 2. If the pressure is appropriate, it is confirmed whether the position of the ultrasonic inspection probe 590 has reached the position designated by the operation unit 596, and if it has reached the position, the movement is completed, and if it has not reached 1 Return to.
The ultrasonic inspection probe 590 may be moved in this procedure. Note that the doctor may move the ultrasonic inspection probe 590 to a position where the ultrasonic inspection probe 590 comes into contact with the body at a pressure close to an appropriate height only by the hand of the doctor at first.

The mark only needs to be present at the tip end side of the fine head 20 or the ultrafine tube 30, and may be formed separately from the fine head 20 and the ultrafine tube 30. For example, the fine head 20 may be coated with a material that easily reflects ultrasonic waves having a frequency used, and the material may be used as a mark. In addition, the material of the ultrafine tube 30 is a substance that can be transmitted and imaged by the ultrasonic inspection probe 590, and the entire image or a wide range image including the tip side of the ultrafine tube 30 in the ultrasonic inspection probe 590 is displayed. In the image recognition processing, the portion corresponding to the tip end side of the image of the ultrafine tube 30 may be treated as the image of the mark so as to appear in the captured image data.

In addition, in particular, the material of the ultrafine tube 30 is used as a substance that can be transmitted and imaged by the ultrasonic inspection probe 590, and the entire image or a wide range image including the tip side of the ultrafine tube 30 in the ultrasonic inspection probe 590 is imaged. When the portion corresponding to the tip side of the image of the ultrafine tube 30 is treated as the image of the mark in the image recognition processing, the control unit 595 detects the position of the fine head 20. The procedure to do is

1. The ultrasonic inspection probe 590 prepares a plurality of image data whose surfaces to be imaged are horizontal to each other.
2. The image recognition processing unit searches for a portion corresponding to the ultrafine tube 30 in the image data, and finds in the image data obtained by photographing the outermost part of the portion corresponding to the found ultrafine tube 30 that is not the root side of the ultrafine tube 30. The two-dimensional position of the mark in the shooting range of the image data is obtained by treating the object as a portion corresponding to the mark.
3. The three-dimensional position of the reference position of the surface of the ultrasonic inspection probe 590 to be imaged is added to the two-dimensional position of the mark in the imaging range of the image data to determine the position of the fine head 20.
May be For example, if the numbers are sequentially assigned to the respective photographing positions from the root side of the ultrafine tube 30 or the opposite side, which image data is the outermost body imaged on the side other than the root side of the ultrafine tube 30? Can be easily determined simply by comparing the numbers. Usually, this procedure is used when the moving device 40 moves the fine head 20 so that the ultrafine tube 30 is inserted almost straight with respect to the target position. Note that if the orientation of the ultrafine tube 30 is horizontal to the surface of the ultrasonic inspection probe 590 to be imaged, this procedure cannot normally be used as it is, but in 2 the image data showing the ultrafine tube 30 is displayed. In the image of the ultrafine tube 30, the image recognition processing unit searches for the portion corresponding to the tip side, that is, the image recognition processing unit searches for the portion corresponding to the mark in the image data prepared in 1 to capture the image data. It is sufficient to find the two-dimensional position of the mark in the range.

In addition, in particular, the material of the ultrafine tube 30 is used as a substance that can be transmitted and imaged by the ultrasonic inspection probe 590, and the entire image or a wide range image including the tip side of the ultrafine tube 30 in the ultrasonic inspection probe 590 is imaged. When the portion corresponding to the tip end side of the image of the ultrafine tube 30 is treated as the image of the mark in the image recognition processing so that the image appears in the captured image data, the position detecting device 50 displays A cross-sectional image three-dimensional processing unit that composes three-dimensional image data by complementing a plurality of cross-sectional image data whose surfaces are mutually horizontal is provided, and the image recognition processing unit can perform three-dimensional image recognition processing. The procedure for the control unit 595 to detect the position of the fine head 20 as a possible image recognition processing unit,

1. The cross-sectional image three-dimensionalization processing unit prepares three-dimensional image data created from a plurality of image data whose surfaces to be imaged, which are imaged by the ultrasonic inspection probe 590, are horizontal to each other.
2. Of the image of the ultrafine tube 30 reflected in the 3D image data, the portion corresponding to the tip side of the ultrafine tube 30 is treated as a mark image, and the portion of the 3D image data corresponding to the mark is processed by the image recognition processing unit. Then, the three-dimensional position of the mark in the shooting range of the three-dimensional image data is obtained.
3. At the three-dimensional position of the mark in the imaging range of the three-dimensional image data, the reference position of the imaging target range of the ultrasonic inspection probe 590 (when the ultrasonic inspection probe 590 is located at the end in the moving range) , The reference position of the surface of the object to be photographed, etc.) to be the position of the fine head 20.
May be The three-dimensional image recognition process may be a process using an Interactive Closed Point algorithm or the like, or a map from infinite distance viewpoints in two orthogonal directions may be prepared, and two-dimensional image recognition may be performed for each of them. It may be a process of combining in the orthogonal direction.

The range marked by a doctor's hand or the like depends on the brightness of the doctor's hand who is working, but is within a range of accuracy in millimeters at most. Further, in many cases, the fine head 20 is simply moved around the “approximately” center of the range. For this reason, a huge X-ray CCD sensor for digital X-ray photography, which is generally large and has low accuracy in order to reduce costs, may be used as the position detection device 50. When the giant X-ray CCD sensor for digital X-ray photography is used as the position detecting device 50, the X-ray CCD sensor may be fixed at a predetermined position without using an arm until the treatment is completed. The elimination of the arm reduces the number of moving parts and in many cases facilitates maintenance. If it is desired to move the fine head 20 to the inside or the outside of the cell membrane with certainty, it is necessary to move the fine head 20 with high accuracy, but as described above, a pressure gauge is attached to the pump to measure the pressure. Since the method can determine whether the tip of the ultrafine tube 30 is inside or outside the cell membrane of the cell, the accuracy of position detection may be low. Therefore, also in this case, a giant X-ray CCD sensor for digital X-ray imaging may be used as the position detection device 50.

Further, the position detection device 50 may include a rotation drive unit between the piezoelectric element 598 and the first arm 591A.

An X-ray CMOS sensor may be used instead of the X-ray CCD sensor.

Further, the position detection device 50 may include another slide driving unit that can move the base 594 in a direction perpendicular to the moving direction of the slide driving unit 593.

Further, instead of using the first arm 591A, the extension/contraction drive unit 592, the second arm 591B, the slide drive unit 593, the base 594, the piezoelectric element 598, and the operation unit 596, a three-dimensional position sensor (a plurality of radio rangefinders) is used. Alternatively, the doctor may manually move the ultrasonic examination probe 590 to which an ultrasonic probe 590 having an infrared ray sensor or an infrared sensor for capturing an infrared pattern is attached. In that case, the control unit 595 may be able to instruct the direction in which the ultrasonic inspection probe 590 should be moved, by means of an image or sound.

The features related to the parts other than the above parts are the same as those of the injection/suction system according to the first embodiment.

The moving device 40 and the position detection device 50 are an example of a position control system capable of controlling the position of the head.

The position detection device 50 according to the seventh embodiment can also be used as the position detection device 50 in the second to fourth embodiments described in this specification.

According to the position detection device 50 according to the seventh embodiment, radiation is unnecessary and safety is improved.

[Eighth Embodiment]
FIG. 14 is a perspective view showing a schematic configuration example of an injection/suction system according to the eighth embodiment of the present invention. In the first embodiment, the position detection device 50 is composed of the imaging unit and the position detection unit, but in the present embodiment, it is composed of the measurement unit and the position detection unit. The measuring unit has three or more transparent distance measuring sensors capable of transparently measuring the distance to the mark, and the transparent distance measuring sensor measures the three-dimensional position of the mark. In the present embodiment, the transmission distance measuring sensor included in the measuring unit of the position detecting device 50 is composed of electromagnetic wave distance measuring sensors 600 to 602.

The position detection device 50 can display electromagnetic wave distance measurement sensors 600 to 602 capable of measuring the fine head 20 also serving as a mark, a control unit 603 capable of detecting the position of the fine head 20, and the detected position of the fine head 20. Display unit 604. The display unit 604 may be omitted when the computer automatically confirms that the fine head 20 has reached the target position. The electromagnetic wave distance measurement sensors 600 to 602 are an example of a fluoroscopic distance measurement sensor included in the measurement unit of the position detection device.

The electromagnetic wave distance measurement sensors 600 to 602 emit electromagnetic waves having different frequencies to the fine heads 20 and oscillate until the electromagnetic waves reflected by the fine heads 20 are detected by the respective frequencies. Get the distance from the number of times you did. If the distance between three or more places and the mark and the three-dimensional positions of the three or more places are known, the three-dimensional position of the mark can be known from the calculation and the three-dimensional position of the fine head 20 can be known.

The frequency of the electromagnetic wave used by the measurement unit to measure the distance is preferably a frequency that is not easily absorbed by the human body.

The mark is preferably formed of a material that easily reflects electromagnetic waves of the used frequency.

The ultrafine tube 30 is preferably formed of a material that does not easily reflect electromagnetic waves of the frequency used.

The electromagnetic wave distance measuring sensors 600 to 602 are fixed at predetermined positions separated from each other, for example, until the treatment is completed.

The control unit 603 is an example of a position detection unit. The control unit 603, for example,

1. The distances between the electromagnetic wave distance measuring sensors 600 to 602 and the marks are prepared by the electromagnetic wave distance measuring sensors 600 to 602.
2. Using the Pythagorean theorem, the distance prepared in 1 and the position of each of the electromagnetic wave distance measuring sensors 600 to 602 are used to find the difference in the three-dimensional position between one or more of the electromagnetic wave distance measuring sensors 600 to 602 and the mark.
The head position is obtained by adding the three-dimensional position of the electromagnetic wave distance sensor to the difference obtained in 3.2.
The position of the fine head 20 is detected by this procedure (see FIG. 21). It should be noted that one or more three-dimensional positions of the electromagnetic wave distance measuring sensors 600 to 602 are measured in advance (before 3). If fixed in place, only one measurement is needed. When all the three-dimensional positions of the electromagnetic wave distance measuring sensors 600 to 602 have been measured, the distance prepared in 1 and the three-dimensional position of the electromagnetic wave distance measuring sensors 600 to 602 are directly used in step 2. The position of the head may be obtained.

The mark only needs to be present at the tip end side of the fine head 20 or the ultrafine tube 30, and may be formed separately from the fine head 20 and the ultrafine tube 30. For example, the fine head 20 may be coated with a material that easily reflects an electromagnetic wave having a frequency used, and the material may be used as a mark.

The features related to the parts other than the above parts are the same as those of the injection/suction system according to the first embodiment.

The moving device 40 and the position detection device 50 are an example of a position control system capable of controlling the position of the head.

The position detection device 50 according to the eighth embodiment can also be used as the position detection device 50 in the second to fourth embodiments described in this specification.

According to the position detection device 50 of the eighth embodiment, radiation is not required and safety is improved, and since the arm is eliminated, the number of movable parts is reduced and maintenance is facilitated in many cases.

[Ninth Embodiment]
FIG. 15 is a perspective view showing a schematic configuration example of an injection/suction system according to the fifth embodiment of the present invention. In the first embodiment, the position detection device 50 is configured by the image capturing unit and the position detecting unit, but in the present embodiment, the position detecting device 50 is configured by the image capturing unit, the measuring unit, and the position detecting unit.

The position detection device 50 includes an electromagnetic wave distance measurement sensor 610 capable of measuring the fine head 20 that also serves as a measurement unit mark. Further, the position detection device 50 includes a pair of X-ray CCD sensors 500 capable of detecting and photographing radiation emitted from the mark made of a radioactive substance applied to the fine head 20, and a first X-ray CCD sensor 500 supporting the X-ray CCD sensor 500. And second arms 510A and 510B, and first and second rotation driving units 520A and 520B capable of rotationally moving the first and second arms 510A and 510B around a horizontal axis, respectively. A third rotation drive unit 520C capable of rotating and moving the second rotation drive unit 520B around a vertical axis, a base 530 supporting the rotation drive unit 520C, and each rotation drive unit 587A, 587B, The control unit 611 that can drive and control the 587C and detect the position of the fine head 20, the operation unit 612 that can instruct the three-dimensional position of the X-ray CCD sensor 500, and the detected position of the fine head 20. And a display unit 613 capable of displaying. The position where the mark for the imaging unit made of a radioactive substance is formed may be the position on the tip side of the ultrafine tube 30. The display unit 613 may be omitted when the computer automatically confirms that the fine head 20 has reached the target position. The X-ray CCD sensor 500 is an example of a fluoroscopic imaging sensor included in the imaging unit of the position detection device. The electromagnetic wave distance measurement sensor 610 is an example of a perspective distance measurement sensor included in the measurement unit of the position detection device.

In the present embodiment, two types of marks are provided, a mark for a photographing unit and a mark for a measuring unit. The photographing unit mark and the measurement unit mark are usually provided at the same position or close to each other. The photographing unit mark and the measurement unit mark may be the same.

The photographing unit photographs the mark for the photographing unit with the X-ray CCD sensor 500. The measuring unit measures the mark for the measuring unit by the electromagnetic wave distance measuring sensor 610. The position detecting unit uses the position of the place where the mark for the photographing unit is reflected in the X-ray CCD sensor 500 and the distance between the electromagnetic wave distance measuring sensor 610 and the mark for the measuring unit to determine the mark for the photographing unit and the X-ray CCD sensor. The depth coordinate corresponding to the distance to 500, that is, the position of the image capturing unit mark in the image data captured by the image capturing unit is obtained. In other words, the position detection device 50 obtains the coordinates of the image capturing unit marks on the two coordinate axes by the image capturing unit and the coordinate of the image capturing unit marks on the remaining one coordinate axis by the measuring unit, and You can know the three-dimensional position.

Although a pair of X-ray CCD sensors is provided in the first embodiment, only one X-ray CCD sensor is provided in this embodiment.

The frequency of the electromagnetic wave used by the measurement unit to measure the distance is preferably a frequency that is not easily absorbed by the human body.

The fine head 20 is preferably formed of a material that easily reflects electromagnetic waves of the frequency used.

The ultrafine tube 30 is preferably formed of a material that does not easily reflect electromagnetic waves of the frequency used.

The electromagnetic distance measuring sensor 610 is fixed at a predetermined position on the side surface of the X-ray CCD sensor 500, for example.

The operation unit 612 is configured so that the three-dimensional position of the X-ray CCD sensor 500 to be moved can be designated by lever operation or a computer, for example.

The position detection device 50 is provided with a position sensor, an angle sensor, or the like at an indirect part between the first arm 510A and the second arm 510B or an indirect part between the second arm 510B and the base 530, or By providing a three-dimensional position sensor at the tip of the first arm 510A, the three-dimensional position of the tip of the first arm 510A, that is, the three-dimensional position of the X-ray CCD sensor 500 can be precisely (for example, in μm units). It is configured to measure. The position sensor, the angle sensor, and the like provided at the joint portion and the three-dimensional position sensor provided at the tip of the first arm 510A can measure the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit of the position detection device. 2 is an example of a transparent fluoroscopic sensor position detection unit.

The control unit 611 is an example of a position detection unit. The control unit 611 includes an image recognition processing unit capable of performing image recognition processing for recognizing an image by pattern recognition. The control unit 611, for example,

1. Image data is prepared by the X-ray CCD sensor 500. The electromagnetic wave distance measuring sensor 610 measures the distance between the electromagnetic wave distance measuring sensor 610 and the measurement unit mark.
2. The image recognition processing unit searches for a portion corresponding to the photographing unit mark in the image data, and obtains the position of the photographing unit mark in the photographing range of the image data.
3. According to the Pythagorean theorem, the distance between the electromagnetic distance measuring sensor 610 and the measuring unit mark, the position of the photographing unit mark in the image data photographing range, the three-dimensional position of the X-ray CCD sensor 500, the three-dimensional position of the electromagnetic distance measuring sensor 610. The position is used to determine the distance between the position of the imaging unit mark and the position of the imaging unit mark on the X-ray CCD sensor 500.
4. The distance between the position of the image capturing unit mark and the position of the image capturing unit mark on the X-ray CCD sensor 500 is used as the depth coordinate of the position of the image capturing unit mark in the image capturing range of the image data. Obtain the three-dimensional position of the mark for the imaging unit.
5. The three-dimensional position of the X-ray CCD sensor 500 is measured in advance, and the three-dimensional position of the X-ray CCD sensor 500 is added to the three-dimensional position of the photographing unit mark in the photographing range of the image data to obtain the head position. ..
The position of the fine head 20 is detected by the procedure (see FIG. 22). In the present embodiment, since the photographing unit mark and the measuring unit mark are provided at substantially the same position, the position of the photographing unit mark and the position of the measuring unit mark are considered to be the same. The three-dimensional position of the electromagnetic wave distance measuring sensor 610 is measured in advance (before 3). If fixed in place, only one measurement is needed. Further, if the electromagnetic wave distance measuring sensor 610 is fixed at a predetermined position, the position of the electromagnetic wave distance measuring sensor 610 is added to the position of the photographing unit mark in the photographing range of the image data, so that the electromagnetic wave distance measuring sensor 610 is The distance between the position and the position of the photographing unit mark in the photographing range of the image data is obtained. In the above 3, the distance between the position of the electromagnetic wave distance measuring sensor 610 and the position of the mark for the photographing unit in the photographing range of the image data is set as one of the two sides sandwiching a right angle, and the distance between the electromagnetic wave distance measuring sensor 610 and Using the distance from the measurement unit mark, that is, the distance between the electromagnetic wave distance measurement sensor 610 and the imaging unit mark as the hypotenuse, the position of the imaging unit mark and the imaging unit mark on the X-ray CCD sensor 500 are determined by Pythagorean theorem. Find the distance to the reflected position. Also, instead of 3-5,

3. According to the Pythagorean theorem, the distance between the electromagnetic distance measuring sensor 610 and the measuring unit mark, the position of the photographing unit mark in the image data photographing range, the three-dimensional position of the X-ray CCD sensor 500, the three-dimensional position of the electromagnetic distance measuring sensor 610. Using the position, the difference in the three-dimensional position between the measurement unit mark and the electromagnetic distance measuring sensor 610 is obtained.
4. The three-dimensional position of the electromagnetic wave distance measuring sensor 610 is measured in advance, and the three-dimensional position of the electromagnetic wave distance measuring sensor 610 is added to the difference in the three-dimensional position obtained in 3 to obtain the position of the fine head 20.
May be

Further, the control unit 611 controls the first to third rotation drive units 520A to 520C based on the three-dimensional position designated by the operation unit 550 to move the X-ray CCD sensor 500 to the designated three-dimensional position. Let

Note that the mark for the imaging unit has only to be present at the tip side of the fine head 20 or the ultrafine tube 30, and need not be formed separately from the fine head 20 and the ultrafine tube 30. That is, the material of the fine head 20 may be a substance that can be transmitted and photographed by the X-ray CCD sensor 500, and the fine head 20 itself may be the mark for the photographing unit. For example, a radioactive substance may be kneaded into the material of the fine head 20. Further, the material of the ultrafine tube 30 is a substance that can be transmitted and imaged by the X-ray CCD sensor 500, and the entire image including the tip side of the ultrafine tube 30 or the image data of a wide range is captured by the X-ray CCD sensor 500. Thus, in the image recognition processing, the portion corresponding to the tip end side of the image of the ultrafine tube 30 may be treated as the image of the photographing unit mark in the image recognition processing. For example, the ultrafine tube 30 may be made by kneading a radioactive substance into the material of the ultrafine tube 30.

Further, the mark for the measuring portion may be formed at a position on the tip side of the fine head 20 or the ultrafine tube 30, and may be formed separately from the fine head 20 and the ultrafine tube 30. For example, the fine head 20 may be coated with a material that easily reflects an electromagnetic wave having a frequency used, and the material may be used as a mark.

The range marked by a doctor's hand or the like depends on the brightness of the doctor's hand who is working, but is within a range of accuracy in millimeters at most. Further, in many cases, the fine head 20 is simply moved around the “approximately” center of the range. For this reason, a huge X-ray CCD sensor for digital X-ray photography, which is generally large and has low accuracy in order to reduce costs, may be used as the position detection device 50. When the giant X-ray CCD sensor for digital X-ray photography is used as the position detecting device 50, the X-ray CCD sensor may be fixed at a predetermined position without using an arm until the treatment is completed. The elimination of the arm reduces the number of moving parts and in many cases facilitates maintenance. If it is desired to move the fine head 20 to the inside or the outside of the cell membrane with certainty, it is necessary to move the fine head 20 with high accuracy. However, a pressure gauge may be attached to the pump to measure the pressure. Since it is possible to determine whether the tip of 30 is inside or outside the cell membrane of the cell, the accuracy of position detection may be low. Therefore, also in this case, a giant X-ray CCD sensor for digital X-ray imaging may be used as the position detection device 50.

The position detection device 50 may also include a rotation drive unit between the first arm 510A and the X-ray CCD sensor 500.

Further, the position detection device 50 may be one in which the first arm 510A and the first rotation drive unit 520A are omitted, and the second arm 510B is a stretchable arm.

An X-ray CMOS sensor may be used instead of the X-ray CCD sensor.

The features related to the parts other than the above parts are the same as those of the injection/suction system according to the first embodiment.

The moving device 40 and the position detection device 50 are an example of a position control system capable of controlling the position of the head.

The position detection device 50 according to the ninth embodiment can also be used as the position detection device 50 in the second to fourth embodiments described in this specification.

[Tenth Embodiment]
FIG. 16 is a perspective view showing a schematic configuration example of an injection/suction system according to the tenth embodiment of the present invention. In the first embodiment, the radiation emitted from the mark made of a radioactive substance is detected and photographed by the X-ray CCD sensor 500, but in the present embodiment, the mark is a substance that easily absorbs the radioactive substance, that is, the X-ray CCD. It is made of a substance that is difficult to be reflected on the sensor 500, and detects and photographs the radiation while irradiating the mark with the radiation irradiation unit 620. That is, assuming that the detection/imaging performed in the first embodiment is positive type detection/imaging, the detection/imaging performed in the tenth embodiment is negative type detection/imaging.

The position detecting device 50 includes a radiation irradiating section 620 capable of irradiating a mark with radiation, a pair of X-ray CCD sensors 500 capable of detecting and photographing radiation emitted from the radiation irradiating section 620, and an X-ray CCD sensor 500. First and second arms 510A and 510B supporting the first and second arms 510A and 510B, and first and second rotation drive units capable of rotating and moving the first and second arms 510A and 510B, respectively, about a horizontal axis. 520A, 520B, a third rotation drive unit 520C capable of rotating and moving the second rotation drive unit 520B about a vertical axis, a base 530 supporting the rotation drive unit 520C, and each rotation drive A control unit 621 capable of driving and controlling the units 587A, 587B, 587C and detecting the position of the fine head 20, and an operation unit 550 capable of instructing the three-dimensional position of the X-ray CCD sensor 500 are detected. The display unit 560 is capable of displaying the position of the fine head 20. The position where the mark made of a substance that easily absorbs the radioactive substance is formed may be the position on the tip side of the ultrafine tube 30. The display unit 560 may be omitted when the computer automatically confirms that the fine head 20 has reached the target position. The X-ray CCD sensor 500 is an example of a fluoroscopic imaging sensor included in the imaging unit of the position detection device.

The three-dimensional position of the fine head 20 can be known by detecting the position of the mark from the directions orthogonal to each other by the pair of X-ray CCD sensors 500.

The operation unit 550 is configured to be able to instruct a three-dimensional position of the X-ray CCD sensor 500 to move by operating a lever or a computer, for example.

The position detection device 50 is provided with a position sensor, an angle sensor, or the like at an indirect part between the first arm 510A and the second arm 510B or an indirect part between the second arm 510B and the base 530, or By providing a three-dimensional position sensor at the tip of the first arm 510A, the three-dimensional position of the tip of the first arm 510A, that is, the three-dimensional position of the X-ray CCD sensor 500 can be precisely (for example, in μm units). It is configured to measure. The position sensor, the angle sensor, and the like provided at the joint portion and the three-dimensional position sensor provided at the tip of the first arm 510A can measure the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit of the position detection device. 2 is an example of a transparent fluoroscopic sensor position detection unit.

The control unit 621 is an example of a position detection unit. The control unit 621 includes an image recognition processing unit that can perform image recognition processing for recognizing an image by pattern recognition. The control unit 621, for example,

1. A pair of image data taken by the pair of X-ray CCD sensors 500 in mutually orthogonal directions is prepared. Note that the image data is captured while the mark is irradiated with radiation by the radiation irradiation unit 620.
2. In each image data, a portion corresponding to the mark is searched for by the image recognition processing unit, and the two-dimensional position of the mark in the photographing range of the image data is obtained. Next, the two-dimensional positions of the marks in the pair of image data are combined in the orthogonal direction to obtain the three-dimensional positions of the marks in the shooting range of the image data.
3. The position of the fine head 20 is obtained by adding the three-dimensional position of the X-ray CCD sensor 500 to the three-dimensional position of the mark in the imaging range of the image data.
The position of the fine head 20 is detected by the procedure (see FIG. 19).

The control unit 621 also controls the first to third rotation driving units 520A to 520C based on the three-dimensional position designated by the operation unit 550 to move the X-ray CCD sensor 500 to the designated three-dimensional position. Let

The mark only needs to be present on the tip side of the fine head 20 or the ultrafine tube 30, and need not be formed separately from the fine head 20 and the ultrafine tube 30. That is, the material of the fine head 20 may be a substance that can be imaged by transmission through the X-ray CCD sensor 500, and the fine head 20 itself may be the mark. For example, a radioactive substance may be kneaded into the material of the fine head 20. Further, the material of the ultrafine tube 30 is a substance that can be transmitted and imaged by the X-ray CCD sensor 500, and the entire image including the tip side of the ultrafine tube 30 or the image data of a wide range is captured by the X-ray CCD sensor 500. As such, in the image recognition processing, the portion of the image of the ultrafine tube 30 corresponding to the tip side may be treated as the image of the mark. For example, the ultrafine tube 30 may be made by kneading a radioactive substance into the material of the ultrafine tube 30.

The range marked by a doctor's hand or the like depends on the brightness of the doctor's hand who is working, but is within a range of accuracy in millimeters at most. Further, in many cases, the fine head 20 is simply moved around the “approximately” center of the range. For this reason, a huge X-ray CCD sensor for digital X-ray photography, which is generally large and has low accuracy in order to reduce costs, may be used as the position detection device 50. When the giant X-ray CCD sensor for digital X-ray photography is used as the position detecting device 50, the X-ray CCD sensor may be fixed at a predetermined position without using an arm until the treatment is completed. The elimination of the arm reduces the number of moving parts and in many cases facilitates maintenance. If it is desired to move the fine head 20 to the inside or the outside of the cell membrane with certainty, it is necessary to move the fine head 20 with high accuracy. However, a pressure gauge may be attached to the pump to measure the pressure. Since it is possible to determine whether the tip of 30 is inside or outside the cell membrane of the cell, the accuracy of position detection may be low. Therefore, also in this case, a giant X-ray CCD sensor for digital X-ray imaging may be used as the position detection device 50.

The position detection device 50 may also include a rotation drive unit between the first arm 510A and the X-ray CCD sensor 500.

Further, the position detection device 50 may be one in which the first arm 510A and the first rotation drive unit 520A are omitted, and the second arm 510B is a stretchable arm.

An X-ray CMOS sensor may be used instead of the X-ray CCD sensor.

The features related to the parts other than the above parts are the same as those of the injection/suction system according to the first embodiment.

The moving device 40 and the position detection device 50 are an example of a position control system capable of controlling the position of the head.

The position detection device 50 according to the tenth embodiment can also be used as the position detection device 50 in the second to fourth embodiments described in this specification.

[Eleventh Embodiment]
An injection/injection device including a head made of a magnetic material and movable by a magnetic field in the body, and a tube attached to the head with its tip open and capable of injecting or sucking a liquid through the opening of the tip. Suction device.

The ultrafine tubes 30 and the like in the first to third embodiments correspond to this embodiment.

[Twelfth Embodiment]
A head formed of a magnetic material, having a maximum width of 100 μm or less, and movable in a body by a magnetic field, and a head that is attached to the head with its tip open and can inject or suck liquid through the opening of the tip An injection/suction device equipped with a tube.

This embodiment mainly limits the diameter of the pipe in the eleventh embodiment.

[Thirteenth Embodiment]
A head formed of a magnetic material, having a maximum width of 5 μm or less, and movable by a magnetic field inside the body, and a head attached to the head with its tip open, capable of injecting or sucking a liquid through the opening of the tip An injection/suction device equipped with a tube.

This embodiment mainly limits the diameter of the pipe in the eleventh embodiment.

[Fourteenth Embodiment]
A head formed of a magnetic material, having a maximum width of 1 μm or less, and movable in a body by a magnetic field, and a head attached to the head with the tip open, and liquid can be injected or sucked through the opening of the tip. An injection/suction device equipped with a tube.

This embodiment mainly limits the diameter of the pipe in the eleventh embodiment.

[Fifteenth Embodiment]
The injection/suction apparatus according to any of the eleventh to fourteenth embodiments, wherein the tube is made of a non-magnetic material.

This embodiment mainly limits the material of the tube in the eleventh to fourteenth embodiments.

[Sixteenth Embodiment]
16. The injection/suction apparatus according to any one of the eleventh to fifteenth embodiments, wherein the head has a tip formed so as to be able to cut a biological tissue.

This embodiment mainly limits the shape of the head tip and the like in the eleventh to fifteenth embodiments.

[Seventeenth Embodiment]
The head has a first head portion having a shape that narrows toward a tip, and a second head portion that is arranged at a predetermined distance from the first head portion and has a shape that tapers toward a rear end. An eleventh portion, which includes a head portion and a connecting portion that connects the first and second head portions, and is provided such that the tip of the pipe is located between the first and second head portions. The injection/suction apparatus according to any one of Embodiments 1 to 16.

This embodiment mainly limits the overall shape of the head in the eleventh to sixteenth embodiments.

[Eighteenth Embodiment]
The injection/suction device according to any one of the eleventh to seventeenth embodiments, wherein a distal end of the tube is formed so that a living tissue can be incised.

This embodiment mainly limits the shape of the tube tip in the eleventh to seventeenth embodiments.

[Nineteenth Embodiment]
A head formed of a magnetic material and movable by a magnetic field in the body, a tube attached to the head with its tip open and capable of injecting or sucking a liquid through the opening of the tip, the head or the tube An injection/suction device having a mark present at the position on the tip side, an electromagnet capable of applying a magnetic field to the head, and the magnitude and direction of the magnetic force acting on the head by the magnetic field applied by the electromagnet can be controlled. An injection/suction system including: a moving device having a different movement control section; and a position detecting device capable of obtaining the position of the mark and detecting the position of the head based on the position of the mark.

The first to tenth embodiments and the like correspond to this embodiment.

[Twentieth Embodiment]
A head formed of a magnetic material, having a maximum width of 100 μm or less, and movable in a body by a magnetic field, and a head that is attached to the head with its tip open and can inject or suck liquid through the opening of the tip An injecting/suctioning device having a tube and a mark existing at the head or a position on the tip side of the tube, an electromagnet capable of imparting a magnetic field to the head, and a magnetic force acting on the head by the magnetic field imparted by the electromagnet. Injection including a movement device having a movement control unit capable of controlling the size and direction, and a position detection device capable of obtaining the position of the mark and detecting the position of the head based on the position of the mark・Suction system.

This embodiment mainly limits the diameter of the tube in the nineteenth embodiment.

[Twenty-first Embodiment]
A head formed of a magnetic material, having a maximum width of 5 μm or less, and movable by a magnetic field inside the body, and a head attached to the head with its tip open, capable of injecting or sucking a liquid through the opening of the tip An injecting/suctioning device having a tube and a mark existing at the head or a position on the tip side of the tube, an electromagnet capable of imparting a magnetic field to the head, and a magnetic force acting on the head by the magnetic field imparted by the electromagnet. Injection including a movement device having a movement control unit capable of controlling the size and direction, and a position detection device capable of obtaining the position of the mark and detecting the position of the head based on the position of the mark・Suction system.

This embodiment mainly limits the diameter of the tube in the nineteenth embodiment.

[Twenty-second Embodiment]
A head formed of a magnetic material, having a maximum width of 1 μm or less, and movable in a body by a magnetic field, and a head attached to the head with the tip open, and liquid can be injected or sucked through the opening of the tip. An injecting/suctioning device having a tube and a mark existing at the head or a position on the tip side of the tube, an electromagnet capable of imparting a magnetic field to the head, and a magnetic force acting on the head by the magnetic field imparted by the electromagnet. Injection including a movement device having a movement control unit capable of controlling the size and direction, and a position detection device capable of obtaining the position of the mark and detecting the position of the head based on the position of the mark・Suction system.

This embodiment mainly limits the diameter of the tube in the nineteenth embodiment.

[Twenty-third Embodiment]
The movement control unit of the moving device adjusts the magnitude and direction of the magnetic force acting on the head by the magnetic field applied by the electromagnet, and the head of the head is inserted so that the tube is inserted almost straight to the target position. The injection/suction system according to any of the nineteenth to twenty-second embodiments, which is a movement control unit capable of controlling the traveling direction.

The present embodiment mainly limits the operation of the movement control unit of the mobile device in the nineteenth to twenty-second embodiments.

[Twenty-fourth Embodiment]
The position detection device has a fluoroscopic imaging sensor, and an imaging unit capable of imaging the mark by the fluoroscopic imaging sensor, and a position capable of detecting the position of the head based on the mark imaged by the imaging unit. The injection/suction system according to any of the nineteenth to twenty-second embodiments, which is a position detection device having a detection unit.

The first to seventh and tenth embodiments and the like correspond to this embodiment.

[Twenty-fifth Embodiment]
The movement control unit of the moving device adjusts the magnitude and direction of the magnetic force acting on the head by the magnetic field applied by the electromagnet, and the head of the head is inserted so that the tube is inserted almost straight to the target position. The injection/suction system according to the twenty-fourth embodiment, which is a movement control unit capable of controlling the traveling direction.

This embodiment mainly limits the operation of the movement control unit of the mobile device in the twenty-fourth embodiment.

[Twenty-sixth Embodiment]
The injection/suction system according to the twenty-fourth or twenty-fifth embodiment, wherein the mark is formed separately from the head and the tube at a position on the tip side of the head or the tube.

This embodiment mainly limits the mark forming position in the 24th or 25th embodiment.

[Twenty-seventh Embodiment]
The injection/suction system according to the twenty-fourth or twenty-fifth embodiment, wherein the material of the head is a substance that can be imaged through the fluoroscopic sensor.

This embodiment mainly limits the mark forming position in the 24th or 25th embodiment.

[Twenty-eighth Embodiment]
The position detection unit of the position detection device has an image recognition processing unit capable of performing image recognition processing, and is a position detection unit capable of detecting the position of the head by the following procedures 1 to 3. The injection/suction system according to any one of the twenty-fourth to twenty-seventh embodiments.

1. Image data is prepared by the photographing unit.
2. A portion of the image data corresponding to the mark is searched for by the image recognition processing unit, and the position of the mark in the shooting range of the image data is obtained.
3. The three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is measured in advance, and the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is added to the position of the mark in the imaging range of the image data. The position of the head is obtained.

This embodiment mainly limits the procedure for detecting the position of the head in the 24th to 27th embodiments.

The present embodiment also includes an embodiment in which the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is measured in advance by a human hand or the like when the imaging unit is manufactured. For example, when an image is captured using a giant CCD sensor, the giant CCD sensor is usually fixed and not moved at a predetermined position, which corresponds to the present embodiment.

[Twenty-ninth Embodiment]
The position detection device includes a fluoroscopic imaging sensor position detection unit capable of measuring a three-dimensional position of a fluoroscopic imaging sensor included in the imaging unit, and the fluoroscopic imaging sensor position detection unit allows the fluoroscopic imaging unit to perform fluoroscopic observation. The injection/suction system according to the twenty-eighth embodiment, which is a position detection device capable of measuring the three-dimensional position of the imaging sensor.

This embodiment is different from the twenty-eighth embodiment in that the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is measured by a dedicated position sensor instead of being measured in advance by a human hand or the like. It is an embodiment.

[Thirtieth Embodiment]
The fluoroscopic imaging sensor of the imaging unit is a pair of two-dimensional image sensors, the image data prepared in 1 is a pair of image data captured from mutually orthogonal directions, and in 2 the respective images The image recognition processing unit searches for a portion corresponding to the mark in the data to obtain the two-dimensional position of the mark in the photographing range of the image data, and then the two-dimensional position of the mark in the photographing range of the pair of image data. The three-dimensional position of the mark in the image capturing range of the image data is obtained by combining the positions in the orthogonal direction, and the three-dimensional position of the fluoroscopic imaging sensor included in the image capturing unit is measured in advance in 3, and the image data is acquired. The injection/injection according to the twenty-eighth or twenty-ninth embodiment, wherein the position of the head is obtained by adding the three-dimensional position of the fluoroscopic imaging sensor included in the image capturing unit to the three-dimensional position of the mark in the image capturing range. Suction system.

The present embodiment limits the procedure of 1 to 3 in the 28th or 29th embodiment.

In addition, instead of 2-3
In the respective image data, a portion corresponding to the mark is searched by the image recognition processing unit to obtain a two-dimensional position of the mark in a shooting range of the image data,
Next, the three-dimensional position of the mark in the imaging range of each image data is obtained by adding the three-dimensional position of the fluoroscopic imaging sensor to the two-dimensional position of the mark in the imaging range of each image data. , The three-dimensional position of the mark in the shooting range of the pair of image data is combined in the orthogonal direction to obtain the position of the head.
May be

The first to fourth and tenth embodiments and the like correspond to this embodiment.

[Thirty-first Embodiment]
The fluoroscopic imaging sensor included in the imaging unit is a two-dimensional image sensor that obtains a cross-sectional image, and the image data prepared in 1 is a plurality of image data whose surfaces to be imaged are horizontal to each other. In the image data, a portion corresponding to the mark is searched for by the image recognition processing unit to obtain a two-dimensional position of the mark in the photographing range of the image data. The injection/suction system according to the twenty-eighth embodiment, wherein the position is a three-dimensional position of the reference position of the surface of the imaging target of the fluoroscopic imaging sensor included in the imaging unit.

This embodiment limits the procedure of 1 to 3 in the 28th embodiment.

The fifth to seventh embodiments and the like correspond to this embodiment.

[Thirty-second Embodiment]
The fluoroscopic imaging sensor included in the imaging unit is a two-dimensional image sensor that obtains a cross-sectional image, and the fluoroscopic imaging sensor position detection unit measures a reference position in the imaging target range of the fluoroscopic imaging sensor included in the imaging unit. A possible position detecting unit, wherein the image data prepared in 1 is a plurality of image data in which the surfaces of respective photographing targets are horizontal to each other, and in 2, the portion corresponding to the mark in the image data is the image. The recognition processing unit searches for the two-dimensional position of the mark in the imaging range of the image data, and in step 3, the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is set to the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit. The injection/suction system according to the twenty-ninth embodiment, which is a three-dimensional position of the reference position of the surface to be imaged.

The present embodiment limits the procedure of 1 to 3 in the 29th embodiment.

In this embodiment, the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit in the thirty-first embodiment is not previously measured by a human hand or the like, but is measured by a dedicated position sensor. It is an embodiment.

[Thirty-Third Embodiment]
The position detection unit of the position detection device has an image recognition processing unit capable of performing image recognition processing, and the material of the tube is a substance that can be imaged through the fluoroscopic sensor for transmission imaging. The image recognition processing unit included in the position detection unit is an image recognition processing unit that handles a portion of the image of the tube reflected in the image data prepared by the image capturing unit, which corresponds to the distal end side of the tube, as the image of the mark. The injection/suction system according to the twenty-fourth or twenty-fifth embodiment.

This embodiment mainly limits the mark forming position in the 24th or 25th embodiment.

[Thirty-fourth Embodiment]
The position detection unit of the position detection device has an image recognition processing unit capable of performing image recognition processing, and is a position detection unit capable of detecting the position of the head by the following procedures 1 to 3. The injection/suction system according to the thirty-third embodiment.

1. Image data is prepared by the photographing unit.
2. A portion of the image data corresponding to the mark is searched for by the image recognition processing unit, and the position of the mark in the shooting range of the image data is obtained.
3. The three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is measured in advance, and the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is added to the position of the mark in the imaging range of the image data. The position of the head is obtained.

In this embodiment, the procedure of head position detection is mainly limited in the thirty-third embodiment.

The present embodiment also includes an embodiment in which the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is measured in advance by a human hand or the like when the imaging unit is manufactured. For example, when an image is captured using a giant CCD sensor, the giant CCD sensor is usually fixed and not moved at a predetermined position, which corresponds to the present embodiment.

[35th Embodiment]
The injection/suction system according to the thirty-third embodiment, wherein the position detection unit of the position detection device is a position detection unit capable of detecting the position of the head by the following procedures 1 to 3.

1. Image data is prepared by the photographing unit.
2. Of the image of the tube shown in the image data, the portion corresponding to the tip side of the tube is treated as the image of the mark, and the portion corresponding to the mark in the image data is searched for by the image recognition processing unit. The position of the mark in the shooting range of the image data is obtained.
3. The three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is measured in advance, and the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is added to the position of the mark in the imaging range of the image data. The position of the head is obtained.

This embodiment mainly limits the procedure for detecting the position of the head in the thirty-third embodiment.

The present embodiment also includes an embodiment in which the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is measured in advance by a human hand or the like when the imaging unit is manufactured. For example, when an image is captured using a giant CCD sensor, the giant CCD sensor is usually fixed and not moved at a predetermined position, which corresponds to the present embodiment.

[Thirty-sixth Embodiment]
The position detection device includes a fluoroscopic imaging sensor position detection unit capable of measuring a three-dimensional position of a fluoroscopic imaging sensor included in the imaging unit, and the fluoroscopic imaging sensor position detection unit allows the fluoroscopic imaging unit to perform fluoroscopic observation. The injection/suction system according to the 34th or 35th embodiment, which is a position detection device capable of measuring the three-dimensional position of an imaging sensor.

The present embodiment differs from the 34th or 35th embodiment in that the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is measured by a dedicated position sensor instead of being measured beforehand by a human hand or the like. And the like.

[37th Embodiment]
The fluoroscopic imaging sensor of the imaging unit is a pair of two-dimensional image sensors, the image data prepared in 1 is a pair of image data captured from mutually orthogonal directions, and in 2 the respective images The image recognition processing unit searches for a portion corresponding to the mark in the data to obtain the two-dimensional position of the mark in the photographing range of the image data, and then the two-dimensional position of the mark in the photographing range of the pair of image data. The three-dimensional position of the mark in the image capturing range of the image data is obtained by combining the positions in the orthogonal direction, and the three-dimensional position of the fluoroscopic imaging sensor included in the image capturing unit is measured in advance in 3, and the image data is acquired. In any one of the 34th to 36th embodiments, the position of the head is obtained by adding the three-dimensional position of the fluoroscopic imaging sensor included in the image capturing unit to the three-dimensional position of the mark in the image capturing range. The described injection/suction system.

This embodiment limits the procedure of 1 to 3 in the 34th to 36th embodiments.

In addition, instead of 2-3
In the respective image data, a portion corresponding to the mark is searched by the image recognition processing unit to obtain a two-dimensional position of the mark in a shooting range of the image data,
Next, the three-dimensional position of the mark in the imaging range of each image data is obtained by adding the three-dimensional position of the fluoroscopic imaging sensor to the two-dimensional position of the mark in the imaging range of each image data. , The three-dimensional position of the mark in the shooting range of the pair of image data is combined in the orthogonal direction to obtain the position of the head.
May be

In the first to fourth and tenth embodiments, the case where the tip side of the entire image of the tube or the image of a wide range is treated as a mark corresponds to the present embodiment.

[38th Embodiment]
The fluoroscopic imaging sensor included in the imaging unit is a two-dimensional image sensor that obtains a cross-sectional image, and the image data prepared in 1 is a plurality of image data whose surfaces to be imaged are horizontal to each other. The image recognition processing unit searches for a portion corresponding to the tube in the image data, and is found in the image data obtained by photographing the outermost part of the portion corresponding to the found tube that is not the root side of the tube. The two-dimensional position of the mark in the image data is obtained by treating the one corresponding to the mark as the part corresponding to the mark, and in 3 the perspective of the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is included in the imaging unit. The injection/suction system according to any one of the thirty-fourth to thirty-sixth embodiments, wherein the three-dimensional position of the reference position of the surface of the imaging target of the imaging sensor is used.

This embodiment limits the procedure of 1 to 3 in the 34th to 36th embodiments.

In the fifth to seventh embodiments, the case where the tip side of the entire image of the tube or the image of a wide range is treated as a mark corresponds to the present embodiment.

[Thirty-ninth Embodiment]
The fluoroscopic imaging sensor included in the imaging unit is a two-dimensional image sensor that obtains a cross-sectional image, and the fluoroscopic imaging sensor position detection unit measures a reference position in the imaging target range of the fluoroscopic imaging sensor included in the imaging unit. A possible position detection unit, wherein the image data prepared in 1 is a plurality of image data in which the surfaces of respective photographing targets are horizontal to each other, and in 2, the portion corresponding to the tube in the image data is the image. Searching by the recognition processing unit, of the parts corresponding to the found tube, the one found in the image data of the outermost part of the part that is not the root side of the tube is treated as the part corresponding to the mark, The two-dimensional position of the mark in the image data is obtained, and in 3, the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is a tertiary position of the reference position of the imaging target surface of the fluoroscopic imaging sensor included in the imaging unit. The injection/suction system according to the thirty-sixth embodiment in the original position.

This embodiment limits the procedures of 1 to 3 in the 36th embodiment.

This embodiment is different from the thirty-eighth embodiment in that the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is measured by a dedicated position sensor instead of being measured beforehand by a human hand or the like. It is an embodiment.

[40th Embodiment]
The position detection device includes a cross-sectional image three-dimensionalization processing unit that creates three-dimensional image data by complementing a plurality of cross-sectional image data whose surfaces to be imaged are mutually horizontal, and the imaging unit has The fluoroscopic imaging sensor is a two-dimensional image sensor that obtains a cross-sectional image, the image recognition processing unit is an image recognition processing unit that can perform three-dimensional image recognition processing, and in 1, the cross-sectional image three-dimensional The conversion processing unit prepares three-dimensional image data created from a plurality of image data whose respective surfaces to be imaged, which are imaged by the fluoroscopic imaging sensor included in the image capturing unit, are prepared. In 3, the image recognition processing unit is searched for the portion corresponding to the mark to obtain the three-dimensional position of the mark in the photographing range of the image data, and in 3, the three-dimensional position of the fluoroscopic imaging sensor included in the photographing unit is The injection/suction system according to any one of the thirty-fourth to thirty-sixth embodiments, wherein a three-dimensional position of a reference position of an imaging target range of the fluoroscopic imaging sensor included in the imaging unit is set.

This embodiment limits the procedure of 1 to 3 in the 34th to 36th embodiments.

In the fifth to seventh embodiments, the case where the tip side of the entire image of the tube or the image of a wide range is treated as a mark corresponds to the present embodiment.

[Forty-first Embodiment]
The position detection device includes a cross-sectional image three-dimensionalization processing unit that creates three-dimensional image data by complementing a plurality of cross-sectional image data whose surfaces to be imaged are mutually horizontal, and the imaging unit has The fluoroscopic imaging sensor is a two-dimensional image sensor that obtains a cross-sectional image, the image recognition processing unit is an image recognition processing unit that can perform three-dimensional image recognition processing, and the fluoroscopic imaging sensor position detection Is a position detection unit capable of measuring a reference position of a range of an imaging target of a fluoroscopic imaging sensor included in the imaging unit, and in 1 the cross-sectional image three-dimensionalization processing unit is used for fluoroscopic imaging included in the imaging unit. Three-dimensional image data prepared from a plurality of image data whose surfaces to be imaged by the sensor are horizontal to each other are prepared, and in 2, the image recognition processing unit identifies a portion corresponding to the mark in the image data. The three-dimensional position of the mark in the photographing range of the image data is obtained by searching the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit in 3 and the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit The injection/suction system according to any one of the thirty-sixth embodiment, wherein the three-dimensional position is the reference position of the range.

This embodiment limits the procedures of 1 to 3 in the 36th embodiment.

In the present embodiment, in the 40th embodiment, the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is not preliminarily measured by a human hand or the like, but is measured by a dedicated position sensor. It is an embodiment.

[42nd Embodiment]
The position detection device has three or more transparent distance measuring sensors capable of transparently measuring the distance to the mark, and the transparent distance measuring sensor can measure the distance between the transparent distance measuring sensor and the mark. 23. The injection/suction system according to any of the nineteenth to twenty-second embodiments, which is a position detection device having a different measurement unit and a position detection unit capable of detecting the position of the head based on the distance.

The eighth embodiment and the like correspond to this embodiment.

[Forty-Third Embodiment]
The movement control unit of the moving device adjusts the magnitude and direction of the magnetic force acting on the head by the magnetic field applied by the electromagnet, and the head of the head is inserted so that the tube is inserted almost straight to the target position. The injection/suction system according to the forty-second embodiment, which is a movement control unit capable of controlling the traveling direction.

This embodiment mainly limits the operation of the movement control unit of the mobile device in the 42nd embodiment.

[44th Embodiment]
The injection/suction system according to the forty-second or forty-third embodiment, wherein the mark is formed separately from the head and the tube at a position on the tip side of the head or the tube.

This embodiment mainly limits the mark forming position in the 42nd or 43rd embodiment.

[45th Embodiment]
The injection/suction system according to the forty-second or forty-third embodiment, wherein the material of the head is a substance capable of transmission distance measurement by the transmission distance measurement sensor.

This embodiment mainly limits the mark forming position in the 42nd or 43rd embodiment.

[46th Embodiment]
The position detection unit of the position detection device according to any one of the 42nd to 45th embodiments, which is a position detection unit capable of detecting the position of the head by the following procedures 1 to 3. Injection/suction system.

1. The distance between each of the transparent distance measuring sensors and the mark is prepared by the transparent distance measuring sensor.
2. One or more of the transmission distance measurement sensors are measured in advance by measuring the three-dimensional position of the transmission distance measurement sensor and using the distance and the three-dimensional position of the transmission distance measurement sensor according to the Pythagorean theorem. And the difference in the three-dimensional position between the mark and the mark is obtained.
The three-dimensional position of the transmission distance measuring sensor is added to the difference obtained in 3.2 to obtain the position of the head.

The present embodiment mainly limits the procedure of head position detection in the 42nd to 45th embodiments.

The present embodiment also includes an embodiment in which the three-dimensional position of the fluoroscopic distance measuring sensor included in the measuring unit is measured in advance by a human hand or the like when the measuring unit is manufactured. For example, when the measurement is performed using the electromagnetic wave distance measuring sensor, the electromagnetic wave distance measuring sensor is usually fixed and not moved at a predetermined position, which corresponds to the present embodiment.

[Forty-seventh Embodiment]
The position detection device includes a transmission distance measurement sensor position detection unit capable of measuring a three-dimensional position of the transmission distance measurement sensor, and the transmission distance measurement sensor position detection unit detects the transmission distance measurement sensor position. The injection/suction system according to the 46th embodiment, which is a position detection device capable of measuring a three-dimensional position.

In the present embodiment, in the 46th embodiment, the three-dimensional position of the transmission distance measurement sensor included in the measurement unit is measured by a dedicated position sensor instead of being measured beforehand by a human hand or the like. It is an embodiment of.

[48th Embodiment]
The marks are a photographing unit mark and a measuring unit mark, and the position detection device includes a photographing unit that has a fluoroscopic photographing sensor and can photograph the photographing unit mark by the fluoroscopic photographing sensor; A measuring unit capable of measuring the distance between the transparent distance measuring sensor and the measuring unit mark by the transparent distance measuring sensor having a transparent distance measuring sensor capable of measuring the distance to the measuring unit mark; The injection according to any one of the nineteenth to twenty-second embodiments, which is a position detection device having a position detection unit capable of detecting the position of the head based on the imaging unit mark imaged by the imaging unit and the distance.・Suction system.

The ninth embodiment and the like correspond to this embodiment.

In the present embodiment as well, as in the thirty-first to thirty-first embodiments, even if the tip side of the entire image of the tube or the image of a wide range is treated as an imaging unit mark and the position of the mark is detected. Good. In this case, usually, the electromagnetic wave distance measurement can measure only the distance to a point, that is, the distance to a line or a surface, and therefore it is preferable to use only the head or the tip side of the tube as the measurement unit mark.

[49th Embodiment]
The movement control unit of the moving device adjusts the magnitude and direction of the magnetic force acting on the head by the magnetic field applied by the electromagnet, and the head of the head is inserted so that the tube is inserted almost straight to the target position. The injection/suction system according to the forty-eighth embodiment, which is a movement control unit capable of controlling a traveling direction.

The present embodiment mainly limits the operation of the movement control unit of the mobile device in the forty-eighth embodiment.

[Fifth Embodiment]
The injection/suction system according to the 48th or 49th embodiment, wherein the imaging unit mark is formed separately from the head and the tube at a position on the tip side of the head or the tube.

In this embodiment, in the 48th or 49th embodiment, the formation position of the imaging unit mark is mainly limited.

[51st Embodiment]
The injection/suction system according to the forty-eighth or forty-ninth embodiment, wherein the material of the head is a substance that can be radiographed by the fluoroscopic sensor.

In this embodiment, in the 48th or 49th embodiment, the formation position of the imaging unit mark is mainly limited.

[52nd Embodiment]
The injection/suction system according to the forty-eighth or forty-ninth embodiment, wherein the measuring portion mark is formed separately from the head and the tube at a position on the tip side of the head or the tube.

The present embodiment mainly limits the formation position of the measurement unit mark in the 48th or 49th embodiment.

[53rd Embodiment]
50. The injection/suction system according to the forty-eighth or forty-ninth embodiment, wherein the material of the head is a substance capable of transmitting distance measurement by the transmission distance measuring sensor.

The present embodiment mainly limits the formation position of the measurement unit mark in the 48th or 49th embodiment.

[54th Embodiment]
The position detection unit of the position detection device has an image recognition processing unit capable of performing image recognition processing, and is a position detection unit capable of detecting the position of the head in the following steps 1 to 5. The injection/suction system according to any one of the 48th to 53rd embodiments.

1. Image data is prepared by the photographing unit.
2. A portion of the image data corresponding to the photographing unit mark is searched for by the image recognition processing unit, and the position of the photographing unit mark in the photographing range of the image data is obtained.
3. The distance between the transparent distance measuring sensor and the measuring unit mark is measured in advance by the transparent distance measuring sensor.
In addition, the three-dimensional position of the fluoroscopic imaging sensor and the three-dimensional position of the fluoroscopic distance measuring sensor are measured in advance.
According to the Pythagorean theorem, the distance between the transmission distance measuring sensor and the measuring unit mark, the position of the photographing unit mark in the photographing range of the image data, the three-dimensional position of the perspective photographing sensor, the transmission distance measuring Using the three-dimensional position of the imaging sensor, the distance between the position of the imaging unit mark and the position of the imaging unit mark on the fluoroscopic imaging sensor is obtained.
4. The distance between the position of the image capturing unit mark and the position of the image capturing unit mark on the fluoroscopic image capturing sensor is defined as the depth coordinate of the position of the image capturing unit mark in the image capturing range of the image data, and the image The three-dimensional position of the mark for the photographing unit in the photographing range of the data is obtained.
5. The position of the head is obtained by adding the three-dimensional position of the fluoroscopic imaging sensor to the three-dimensional position of the imaging unit mark in the imaging range of the image data.

The present embodiment mainly limits the procedure of head position detection in the 48th to 53rd embodiments.

The present embodiment also includes an embodiment in which the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is measured in advance by a human hand or the like when the imaging unit is manufactured. For example, when an image is captured using a giant CCD sensor, the giant CCD sensor is usually fixed and not moved at a predetermined position, which corresponds to the present embodiment.

Further, the present embodiment also includes an embodiment in which the three-dimensional position of the fluoroscopic distance measuring sensor included in the measuring unit is measured by a human hand or the like in advance when the measuring unit is manufactured. For example, when the measurement is performed using the electromagnetic wave distance measuring sensor, the electromagnetic wave distance measuring sensor is usually fixed and not moved at a predetermined position, which corresponds to the present embodiment.

[55th Embodiment]
The position detection unit of the position detection device has an image recognition processing unit capable of performing image recognition processing, and is a position detection unit capable of detecting the position of the head by the following procedures 1 to 4. The injection/suction system according to any one of the 48th to 53rd embodiments.

1. Image data is prepared by the photographing unit.
2. A portion of the image data corresponding to the photographing unit mark is searched for by the image recognition processing unit, and the position of the photographing unit mark in the photographing range of the image data is obtained.
3. The distance between the transparent distance measuring sensor and the measuring unit mark is measured in advance by the transparent distance measuring sensor.
In addition, the three-dimensional position of the fluoroscopic imaging sensor and the three-dimensional position of the fluoroscopic distance measuring sensor are measured in advance.
According to the Pythagorean theorem, the distance between the transmission distance measuring sensor and the measuring unit mark, the position of the photographing unit mark in the photographing range of the image data, the three-dimensional position of the perspective photographing sensor, the transparent distance measuring The three-dimensional position of the measurement sensor and the perspective distance measurement sensor are used to determine the difference in the three-dimensional position of the measurement sensor.
4. The position of the head is obtained by adding the three-dimensional position of the fluoroscopic distance measuring sensor to the difference in the three-dimensional position.

The present embodiment mainly limits the procedure of head position detection in the 48th to 53rd embodiments.

The present embodiment also includes an embodiment in which the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is measured in advance by a human hand or the like when the imaging unit is manufactured. For example, when an image is captured using a giant CCD sensor, the giant CCD sensor is usually fixed and not moved at a predetermined position, which corresponds to the present embodiment.

Further, the present embodiment also includes an embodiment in which the three-dimensional position of the fluoroscopic distance measuring sensor included in the measuring unit is measured by a human hand or the like in advance when the measuring unit is manufactured. For example, when the measurement is performed using the electromagnetic wave distance measuring sensor, the electromagnetic wave distance measuring sensor is usually fixed and not moved at a predetermined position, which corresponds to the present embodiment.

[56th Embodiment]
The position detection device includes a fluoroscopic imaging sensor position detection unit capable of measuring a three-dimensional position of a fluoroscopic imaging sensor included in the imaging unit, and the fluoroscopic imaging sensor position detection unit allows the fluoroscopic imaging unit to perform fluoroscopic observation. The injection/suction system according to the 54th or 55th embodiment, which is a position detection device capable of measuring the three-dimensional position of the imaging sensor.

In this embodiment, in the 54th or 55th embodiment, the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is not measured in advance by a human hand or the like, but is measured by a dedicated position sensor. And the like.

[57th Embodiment]
The position detection device includes a transmission distance measurement sensor position detection unit capable of measuring a three-dimensional position of the transmission distance measurement sensor, and the transmission distance measurement sensor position detection unit detects the transmission distance measurement sensor position. The injection/suction system according to any of the 54th to 56th embodiments, which is a position detection device capable of measuring a three-dimensional position.

In the present embodiment, in the 54th to 56th embodiments, the three-dimensional position of the fluoroscopic distance measuring sensor included in the measuring unit is not measured in advance by a human hand or the like, but is measured by a dedicated position sensor. It is an embodiment such as a case.

[58th Embodiment]
The movement control unit of the moving device has an arm that supports the electromagnet and a drive unit that can move the arm, and adjusts the strength of the magnetic field generated by the electromagnet to allow the electromagnet to move. It is possible to control the magnitude of the magnetic force that acts on the head by the applied magnetic field, and adjust the position and orientation of the electromagnet to control the direction of the magnetic force that acts on the head by the magnetic field provided by the electromagnet. The injection/suction system according to any one of the nineteenth to fifty-seventh embodiments, which is a movement control unit capable of performing the movement control.

The present embodiment mainly limits the method of head movement control in the nineteenth to 57th embodiments.

The first to third and fifth to tenth embodiments and the like correspond to this embodiment.

[59th Embodiment]
In the fifty-eighth embodiment, the drive unit included in the movement control unit of the moving device includes a prime mover or a piezoelectric element having a motion unit, and the motion unit or the piezoelectric element is a drive unit connected to the arm. The described injection/suction system.

This embodiment is different from the 58th embodiment mainly in that the drive unit included in the movement control unit of the moving device is limited.

[60th Embodiment]
The electromagnets are a plurality of electromagnets, and the movement control unit of the moving device adjusts the strength of the magnetic field generated by each of the electromagnets, and the magnitude of the resultant magnetic force exerted on the head by the magnetic field provided by the electromagnets. The injection/suction system according to any one of the nineteenth to fifty-seventh embodiments, which is a movement control unit capable of controlling the direction and the direction.

The present embodiment mainly limits the method of head movement control in the nineteenth to 57th embodiments.

The fourth embodiment and the like correspond to this embodiment.

[61st Embodiment]
The said pipe|tube is an injection/suction system as described in any one of the 19th-60th embodiment formed from the nonmagnetic material.

This embodiment mainly limits the material of the tube in the 19th to 60th embodiments.

[62nd Embodiment]
The injection/suction system according to any one of the nineteenth to sixty-first embodiments, wherein the head has a tip formed so as to be able to incise a biological tissue.

In the present embodiment, the shape of the head tip is limited mainly in the nineteenth to sixty-first embodiments.

[63rd Embodiment]
The head has a first head portion having a shape that narrows toward a tip, and a second head portion that is arranged at a predetermined distance from the first head portion and has a shape that tapers toward a rear end. A nineteenth portion, which includes a head portion and a connecting portion that connects the first and second head portions, and the tube is provided such that a tip thereof is located between the first and second head portions. The injection/suction system according to any one of embodiments 62 to 62.

This embodiment mainly limits the overall shape of the head in the nineteenth to sixty-second embodiments.

[64th Embodiment]
The injection/suction system according to any one of the nineteenth to sixty-third embodiments, wherein the tube has a distal end formed so as to be capable of cutting biological tissue.

In this embodiment, in the nineteenth to sixty-third embodiments, the shape of the tube tip is mainly limited.

[65th Embodiment]
The movement control unit of the moving device has an arm that supports the electromagnet and a drive unit that can move the arm, and adjusts the strength of the magnetic field generated by the electromagnet to allow the electromagnet to move. It is possible to control the magnitude of the magnetic force that acts on the head by the applied magnetic field, and adjust the position and orientation of the electromagnet to control the direction of the magnetic force that acts on the head by the magnetic field provided by the electromagnet. The drive unit included in the movement control unit of the moving device includes a prime mover or a piezoelectric element having a motion unit, and the drive unit in which the motion unit or the piezoelectric element is connected to the arm. The movement control unit of the moving device adjusts the magnitude and direction of the magnetic force acting on the head by the magnetic field applied by the electromagnet so that the tube is inserted almost straight to the target position. Is a movement control unit capable of controlling the traveling direction of the head, and the position detection device has a fluoroscopic imaging sensor, and an imaging unit capable of imaging the mark by the fluoroscopic imaging sensor; A position detection device having a position detection part capable of detecting the position of the head based on the mark photographed by a section, wherein the head or the pipe is provided at a position on the tip side of the pipe separately from the head and the pipe. The fluoroscopic imaging sensor that forms the mark and is included in the imaging unit is a pair of two-dimensional image sensors, and the position detection device is a fluoroscopic imaging capable of measuring the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit. Is a position detecting device for measuring the three-dimensional position of the fluoroscopic imaging sensor of the imaging unit by the fluoroscopic imaging sensor position detecting unit, and the position detecting unit of the position detecting device is provided. 20th Embodiment, which is a position detection unit that has an image recognition processing unit that can perform image recognition processing and that can detect the position of the head by the following procedures 1 to 23. Injection/suction system described in.

1. Image data is prepared by the photographing unit. The image data is a pair of image data taken from mutually orthogonal directions.
2. In the image data, the image recognition processing unit searches for a portion corresponding to the mark to obtain the two-dimensional position of the mark in the image capturing range of the image data, and then, in the image capturing range of the pair of image data, The two-dimensional position of the mark is combined in the orthogonal direction to obtain the three-dimensional position of the mark in the photographing range of the image data.
3. The three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is measured in advance, and the three-dimensional position of the fluoroscopic imaging sensor included in the imaging unit is added to the three-dimensional position of the mark in the imaging range of the image data. The position of the head.

This embodiment is combined with the technical features described in the nineteenth, twentieth, twenty-third, twenty-fourth, twenty-fifth, twenty-sixth, twenty-eighth, twenty-ninth, thirty-eighth, and fifty-ninth embodiments. It is a thing.

[66th Embodiment]
The moving device according to any one of the first to 65th embodiments.

The present embodiment is the moving device according to any one of the first to 65th embodiments.

The purpose of the present embodiment is to provide an injection/suction system capable of injecting a liquid such as an anticancer agent into a target site in the body without destroying cells as much as possible and sucking a liquid such as a cytosolic matrix. It is to provide a mobile device to be configured.

According to the present embodiment, there is provided an injection/suction system capable of injecting a liquid such as an anticancer agent into a target site in the body without destroying cells as much as possible and sucking a liquid such as a cytosolic matrix. Can be configured.

[67th Embodiment]
The position detection device according to any one of the first to 65th embodiments.

The present embodiment is the position detection device according to any one of the first to 65th embodiments.

The purpose of the present embodiment is to provide an injection/suction system capable of injecting a liquid such as an anticancer agent into a target site in the body without destroying cells as much as possible and sucking a liquid such as a cytosolic matrix. An object of the present invention is to provide a constituent position detecting device.

According to the present embodiment, there is provided an injection/suction system capable of injecting a liquid such as an anticancer agent into a target site in the body without destroying cells as much as possible and sucking a liquid such as a cytosolic matrix. Can be configured.

It should be noted that the embodiment of the present invention is not limited to the above-described embodiment, and various modifications and implementations can be made without departing from the spirit of the present invention.

For example, in addition to the tenth embodiment, as in the tenth embodiment, the image capturing unit of the position detecting device and the mark that brighten only the position of the mark appear in the image data prepared by the image capturing unit of the position detecting device. In place of the combination with, the combination of the image capturing unit and the mark of the position detecting device may be used so that only the position of the mark appears dark in the image data prepared by the image capturing unit of the position detecting device. That is, the imaging performed by the imaging unit of the position detection device may be negative imaging instead of positive imaging.

INDUSTRIAL APPLICABILITY The injecting/suctioning device and the injecting/suctioning system of the present invention can inject a liquid such as an anticancer agent into a target site in the body without destroying cells as much as possible, and inhale a liquid such as a cytosolic matrix. Therefore, it is industrially useful.

10... Injection/suction system, 20... Fine head, 30... Extra-fine tube, 30a... Inclined surface, 40... Moving device, 50... Position detection device, 70... Mold, 100... Injection/suction device, 200... First head Part, 200a to 200c... Side surface, 200d... Bottom surface, 210... Second head part, 210a... Bottom surface, 210b-210e... Side surface, 210f... Top surface, 220... Connection part, 230... Head part, 230a, 230b... Inclination Surface, 400... Electromagnet, 410A... First arm, 410B... Second arm, 420A... First rotation drive section, 420B... Second rotation drive section, 420C... Third rotation drive section, 430... Base 440... Control unit, 450... Operation unit, 460-467... Electromagnet, 468... Control unit, 469... Operation unit, 500... X-ray CCD sensor, 510A... First arm, 510B... Second arm, 520A... 1st rotation drive part, 520B... 2nd rotation drive part, 520C... 3rd rotation drive part, 530... Base, 540... Control part, 550... Operation part, 560... Display part, 570... MRI sensor, 571 ... slide drive unit, 572... base, 573... control unit, 574... operation unit, 575... display unit, 580... CT sensor, 581... slide drive unit, 582... base, 583... control unit, 584... operation unit, 585 ... Display unit, 590... Ultrasonic inspection probe, 591A... First arm, 591B... Second arm, 592... Telescopic drive unit, 593... Slide drive unit, 594... Base, 595... Control unit, 596 ... operation unit, 597... display unit, 598... piezoelectric element, 600 to 602... electromagnetic wave distance measuring sensor, 603... control unit, 604... display unit, 610... electromagnetic wave distance measuring sensor, 611... control unit, 612... operation unit, 613... Display part, 620... Radiation irradiation part, 621... Control part, 700, 710... Space part, 720... Through hole, 730... Recessed part, 1000... Cancer cell, 1100... Cancer cell cluster, 1200... Anticancer Agent, 1300... Cluster, 2000... Membrane, 2000a... Groove, 2010... Membrane, P... Human body, Q... Virtual regular hexahedron

Claims (1)

A head formed of a magnetic material and movable by a magnetic field in the body,
A tube attached to the head in a state where the tip is opened, and a tube capable of injecting or sucking a liquid through the opening of the tip,
A mark existing at a position on the tip side of the head or the tube,
The head has a tip formed so as to be capable of incising biological tissue,
A moving device having an electromagnet capable of applying a magnetic field to the head, and a movement control unit capable of controlling the magnitude and direction of the magnetic force acting on the head by the magnetic field applied by the electromagnet,
The position of the mark is obtained, and the position detecting device capable of detecting the position of the head based on the position of the mark adjusts the magnitude and direction of the magnetic force acting on the head by the magnetic field applied by the electromagnet, An injection/suction device for controlling the advancing direction of the head so that the tube is inserted almost straight to the target position.