JP2001145630A - Front end position detector for endoscope - Google Patents
Front end position detector for endoscopeInfo
- Publication number
- JP2001145630A JP2001145630A JP33191999A JP33191999A JP2001145630A JP 2001145630 A JP2001145630 A JP 2001145630A JP 33191999 A JP33191999 A JP 33191999A JP 33191999 A JP33191999 A JP 33191999A JP 2001145630 A JP2001145630 A JP 2001145630A
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- Japan
- Prior art keywords
- position sensor
- endoscope
- channel
- opening
- magnetic field
- Prior art date
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- Ultra Sonic Daignosis Equipment (AREA)
Abstract
Description
【０００１】[0001]
【技術分野】本発明は、内視鏡の先端部位置を検出する
装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for detecting a position of a distal end of an endoscope.
【０００２】[0002]
【従来技術およびその問題点】例えば、超音波内視鏡で
は、体内挿入部の先端部に超音波プローブが設けられて
おり、この超音波プローブ内の超音波送受信手段は、被
検部に向けて超音波を発振する発振機能と、被検部で反
射した超音波信号（エコー信号）の受信機能を備えてい
る。この超音波内視鏡では、超音波プローブをスパイラ
ルスキャンさせながら受信された超音波信号に適当な信
号処理を施すことにより、被検部の三次元画像を構築で
きることが知られている。2. Description of the Related Art For example, in an ultrasonic endoscope, an ultrasonic probe is provided at a distal end of a body insertion portion, and an ultrasonic transmitting / receiving means in the ultrasonic probe is directed toward a portion to be inspected. It has an oscillating function of oscillating ultrasonic waves and a function of receiving an ultrasonic signal (echo signal) reflected by the test portion. It is known that this ultrasonic endoscope can construct a three-dimensional image of a test portion by performing appropriate signal processing on an ultrasonic signal received while performing a spiral scan of an ultrasonic probe.
【０００３】しかし、超音波プローブをスパイラルスキ
ャンするには、専用の超音波プローブと駆動装置を必要
とし、ラジアルスキャンを行う汎用の超音波プローブで
三次元画像を得ることはできなかった。このため既に、
特開平６‐２６１９００号公報は、汎用の超音波プロー
ブと駆動装置で実質的なスパイラルスキャンを行うた
め、被験者（患者）の周囲に位置に固有な磁場を発生さ
せる磁場発生器を配置する一方、内視鏡の先端部の超音
波プローブの近くにこの磁場発生器との相対的位置座標
及び傾斜を特定するための位置センサを配置した超音波
内視鏡を提案している。ラジアルスキャンを行いなが
ら、超音波プローブを体腔内で移動させその位置情報を
得れば、事実上のスパイラルスキャンを行うことができ
る。しかし、この超音波内視鏡は、画像処理装置を含
め、超音波プローブ、位置センサ、磁場発生器を含むシ
ステム全体を一体不可欠にしているため、高価であると
いう問題があった。However, spiral scanning of an ultrasonic probe requires a dedicated ultrasonic probe and a driving device, and a three-dimensional image cannot be obtained with a general-purpose ultrasonic probe for performing radial scanning. Because of this,
Japanese Patent Application Laid-Open No. Hei 6-261900 discloses that a general-purpose ultrasonic probe and a driving device perform a substantial spiral scan, so that a magnetic field generator for generating a magnetic field specific to a position around a subject (patient) is arranged. An ultrasonic endoscope has been proposed in which a position sensor for specifying relative position coordinates and an inclination with respect to the magnetic field generator is arranged near an ultrasonic probe at a distal end portion of the endoscope. If the ultrasonic probe is moved in the body cavity while performing the radial scan and the position information is obtained, a virtual spiral scan can be performed. However, this ultrasonic endoscope has a problem that it is expensive because the entire system including the ultrasonic probe, the position sensor, and the magnetic field generator, including the image processing device, is made integral.
【０００４】一方、通常の内視鏡においては、ファイバ
タイプであると電子タイプであるとを問わず、対物光学
系による像をそのまま観察しており、対物光学系の体内
における位置情報は、超音波内視鏡に比べれば、現在の
ところ重要度が低い。しかし、例えば、最初にＣＴスキ
ャンやＭＲＩスキャンで人体の管腔の３次元データを作
ることは十分可能であり、仮に、内視鏡先端部の位置情
報が得られれば、管腔の３次元データと位置情報と結合
したより正確な体腔内の被験者情報を得ることができ
る。On the other hand, in an ordinary endoscope, an image by an objective optical system is observed as it is, regardless of whether it is a fiber type or an electronic type. At present, its importance is lower than that of an acoustic endoscope. However, for example, it is sufficiently possible to first create three-dimensional data of a lumen of a human body by a CT scan or an MRI scan. If the positional information of the endoscope tip can be obtained, the three-dimensional data of the lumen can be obtained. And more accurate subject information in the body cavity combined with the position information.
【０００５】[0005]
【発明の目的】本発明は、超音波内視鏡を含む既存の内
視鏡に適用可能であり、内視鏡の先端部の位置情報を得
ることができる内視鏡の先端部位置検出装置を得ること
を目的とする。SUMMARY OF THE INVENTION The present invention is applicable to an existing endoscope including an ultrasonic endoscope, and is capable of obtaining position information of the end of the endoscope. The purpose is to obtain.
【０００６】[0006]
【発明の概要】本発明は、超音波内視鏡、通常の内視鏡
を問わず、内視鏡に備えられる、体外操作部と体内挿入
部とを連絡するチャンネルを利用して、位置センサを体
内挿入部先端に挿入し、被験者（人体）の外部に磁場発
生器を設置すれば、磁場発生器と位置センサによる位置
検知システムを既存の内視鏡設備に事後的に構築するこ
とが可能であるとの着眼に基づいて完成されたものであ
る。SUMMARY OF THE INVENTION The present invention relates to a position sensor using a channel provided between an ultrasonic endoscope and a normal endoscope, which is provided in the endoscope and communicates between an extracorporeal operation section and an intracorporeal insertion section. By inserting a magnetic field generator outside the subject (human body) and inserting a magnetic field generator outside the subject, a position detection system using a magnetic field generator and position sensors can be retroactively constructed on existing endoscope equipment. It was completed based on the observation that
【０００７】本発明による内視鏡の先端部位置検出装置
は、体内挿入部；この体内挿入部に連結され、該体内挿
入部を体外で操作する体外操作部；及びこの体内挿入部
側の開口部と体外操作部側の開口部とを連結するチャン
ネル；を有する内視鏡に用いる内視鏡の先端部位置検出
装置であって、チャンネルに体外操作部側開口部から体
内挿入部側開口部へ挿通可能な位置センサプローブ；こ
の位置センサプローブの先端部に設けられた位置セン
サ；体内挿入部の外側から上記チャンネルの体内操作部
側開口に回転を防止した状態で挿入可能な位置センサ固
定部材；位置センサプローブの先端部と位置センサ固定
部材とを固定する固定手段；位置センサと対をなして体
外に設置される、位置に固有な磁場を発生させる磁場発
生器；及び位置センサの出力から、磁場発生器により作
られる位置に固有な磁場内における該位置センサの位置
情報を出力する位置センサ制御装置；を有することを特
徴としている。An endoscope position detecting device for an endoscope according to the present invention comprises: a body insertion portion; an external operation portion connected to the body insertion portion for operating the body insertion portion outside the body; and an opening on the body insertion portion side And a channel connecting the part and an opening on the side of the extracorporeal operation part. A device for detecting the position of the distal end of an endoscope used for an endoscope, wherein the channel has an opening from the extracorporeal operation part side to a part inside the body. A position sensor probe that can be inserted into the position sensor probe; a position sensor provided at the tip of the position sensor probe; a position sensor fixing member that can be inserted from the outside of the body insertion portion into the opening inside the body operation portion of the channel while preventing rotation. Fixing means for fixing the tip of the position sensor probe and the position sensor fixing member; a magnetic field generator for generating a position-specific magnetic field, which is installed outside the body in pairs with the position sensor; From the output, the position sensor control device for outputting position information of the position sensor in specific a magnetic field to the position created by the magnetic field generator; is characterized by having a.
【０００８】本発明の内視鏡先端部位置検出装置は、チ
ャンネルを有する内視鏡であれば種類を問わずに適用で
きるが、体内挿入部側開口部に起上台を有する鉗子チャ
ンネルを有する内視鏡の場合、位置センサ固定部材は、
この鉗子チャンネル内への挿入部と、鉗子チャンネルの
体内挿入部側開口部の非円形断面部に係合する非円形断
面部とを備えるのが実際的である。そして、位置センサ
プローブの先端部と位置センサ固定部材との固定手段
は、最も簡単にはねじを用いることができる。The endoscope end position detecting device of the present invention can be applied to any type of endoscope as long as it has a channel. In the case of an endoscope, the position sensor fixing member is
It is practical to have an insertion portion into the forceps channel and a non-circular cross-section that engages with the non-circular cross-section of the opening on the body insertion portion side of the forceps channel. The fixing means between the tip of the position sensor probe and the position sensor fixing member can most simply use a screw.
【０００９】本発明の内視鏡先端部位置検出装置は、チ
ャンネルの体外操作部側開口部に、挿入した位置センサ
プローブの軸方向移動を阻止する軸方向移動防止手段を
設けることが好ましい。この軸方向移動防止手段は、例
えば、体外操作部側開口部にねじ螺合させた筒状螺合キ
ャップと、この筒状螺合キャップを締め込んだとき変形
して位置センサプローブ外周面に弾接するＯリングとに
よって構成することができる。あるいは、体外操作部側
開口部に軸方向に移動可能に支持した筒状摺動キャップ
と、この筒状摺動キャップに螺合させた筒状螺合キャッ
プと、この筒状螺合キャップを締め込んだとき変形して
位置センサプローブ外面に弾接するＯリングと、筒状摺
動キャップを体外操作部側開口部から離れる方向に付勢
するばね手段とによって構成することができる。In the endoscope distal end position detecting device of the present invention, it is preferable that an axial movement preventing means for preventing the inserted position sensor probe from moving in the axial direction is provided in the opening of the channel on the extracorporeal operation portion side. The axial movement preventing means includes, for example, a cylindrical screw cap screwed into the opening on the side of the extracorporeal operation section, and an elastic member that is deformed when the cylindrical screw cap is tightened to deform on the outer peripheral surface of the position sensor probe. It can be constituted by an O-ring in contact. Alternatively, a cylindrical sliding cap that is movably supported in the axial direction at the opening on the side of the external operation section, a cylindrical screw cap that is screwed to the cylindrical sliding cap, and the cylindrical screw cap is tightened. It can be constituted by an O-ring which is deformed when it is inserted and elastically contacts the outer surface of the position sensor probe, and a spring means for urging the cylindrical sliding cap in a direction away from the external operation unit side opening.
【００１０】[0010]
【発明の実施の形態】図示実施形態は、超音波内視鏡に
本発明を適用した例である。図１は、内視鏡の先端部位
置検出装置の全体の系統を示すもので、超音波内視鏡１
０は、可撓性の体内挿入部１１と、この体内挿入部１１
を体外で操作する操作部１２とを有し、体内挿入部１１
の先端部には超音波プローブ１３と対物レンズ（図示せ
ず）が設けられている。操作部１２には、対物レンズに
よって結像された体腔内の像を観察する眼視光学系１４
（図２、図３）が備えられ、また、超音波診断装置１５
に接続して超音波診断画像を伝達するための超音波コネ
クター１６、及び光源プロセッサ２４に接続して体内挿
入部１１の先端部に照明光を与えるライトガイドコネク
ター１７（図２、図３）が接続されている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The illustrated embodiment is an example in which the present invention is applied to an ultrasonic endoscope. FIG. 1 shows an entire system of a distal end position detecting device of an endoscope.
Reference numeral 0 denotes a flexible body insertion portion 11 and the body insertion portion 11
And an operation unit 12 for operating the outside of the body,
An ultrasonic probe 13 and an objective lens (not shown) are provided at the tip of the. An operation unit 12 includes a visual optical system 14 for observing an image in a body cavity formed by the objective lens.
(FIGS. 2 and 3) and the ultrasonic diagnostic device 15
And a light guide connector 17 (FIGS. 2 and 3) which is connected to a light source processor 24 and supplies illumination light to the distal end portion of the in-body insertion portion 11 by transmitting an ultrasonic diagnostic image. It is connected.
【００１１】超音波診断装置１５は、超音波プローブ１
３内に備えられている超音波送受信手段を駆動するもの
であり、超音波送受信手段は、超音波診断装置１５から
の電気パルス信号を受けて被検部に向けて超音波パルス
を発振し、被検部で反射した超音波パルス信号を受信す
る。この超音波パルス信号は電気的な超音波エコー信号
に変換される。超音波診断装置１５は、超音波エコー信
号を受け取ってデジタル化する信号処理部と、このデジ
タル信号を画像信号として記憶する記憶装置その他の超
音波内視鏡として必要な信号処理回路及び記憶装置を備
えており、記憶された画像信号は、要求に応じ、表示装
置２５に表示される。以上は、超音波内視鏡１０であ
り、周知である。The ultrasonic diagnostic apparatus 15 includes the ultrasonic probe 1
The ultrasonic transmission / reception means drives the ultrasonic transmission / reception means provided in 3, receives an electric pulse signal from the ultrasonic diagnostic apparatus 15, oscillates an ultrasonic pulse toward a target portion, The ultrasonic pulse signal reflected by the test section is received. This ultrasonic pulse signal is converted into an electric ultrasonic echo signal. The ultrasound diagnostic apparatus 15 includes a signal processing unit that receives and digitizes an ultrasound echo signal, a storage device that stores the digital signal as an image signal, and other signal processing circuits and storage devices required as an ultrasound endoscope. The provided and stored image signal is displayed on the display device 25 upon request. The above is the ultrasonic endoscope 10, which is well known.
【００１２】本実施形態は、以上の既存の超音波内視鏡
１０に対して事後的に構築できる内視鏡の先端部位置検
出装置を提案するものである。図１の二点鎖線より上方
に描いた、先端部に位置センサ（磁気センサ）２０を有
する位置センサプローブ２１、磁場発生器２２及び位置
センサ制御装置２３及びマイコン１８、表示装置１９が
本実施形態で新たに加えた主たる要素である。磁場発生
器２２は、位置センサ制御装置２３の制御信号を受け
て、被検者である人体の周囲に、位置に固有な磁場を発
生させるものであり、位置センサプローブ２１は、その
先端部の位置センサ２０が磁場内に位置することで、位
置センサ２０自身の磁場発生器２２に対する位置情報を
この磁場に対応する電流として、位置センサ制御装置２
３に出力する。位置センサ制御装置２３は、マイコン１
８に接続されており、この位置情報をデジタル化して、
磁場発生器２２に対する空間中の位置座標及び磁場発生
器２２に対する傾きを表すオイラー角としてマイコン１
８に与える。磁場発生器２２は直交三方向に向く位置に
固有の磁場を発生させるものであり、位置センサ２０は
巻線の軸線方向が直交三方向に向く三軸コイルからなる
ものである。磁場発生器２２が三つ使用される場合に
は、位置センサ２０は巻線の軸線方向が一方向に向く一
つの一軸コイルとして構成される。The present embodiment proposes a device for detecting the position of the distal end of an endoscope which can be constructed afterwards with respect to the existing ultrasonic endoscope 10 described above. A position sensor probe 21 having a position sensor (magnetic sensor) 20 at the tip, a magnetic field generator 22, a position sensor control device 23, a microcomputer 18, and a display device 19, which are drawn above the two-dot chain line in FIG. Is the main element newly added. The magnetic field generator 22 receives a control signal from the position sensor control device 23 and generates a magnetic field specific to a position around a human body as an examinee. When the position sensor 20 is located in the magnetic field, the position information of the position sensor 20 with respect to the magnetic field generator 22 is used as a current corresponding to the magnetic field, and the position sensor control device 2
Output to 3. The position sensor control device 23 includes the microcomputer 1
8 and digitizes this location information,
The microcomputer 1 calculates the Euler angles representing the position coordinates in space with respect to the magnetic field generator 22 and the inclination with respect to the magnetic field generator 22.
Give 8 The magnetic field generator 22 generates a unique magnetic field at positions oriented in three orthogonal directions, and the position sensor 20 is formed of a three-axis coil whose windings are oriented in three orthogonal directions. When three magnetic field generators 22 are used, the position sensor 20 is configured as one uniaxial coil in which the axial direction of the winding is in one direction.
【００１３】位置センサプローブ２１は、超音波内視鏡
１０に備えられているいずれかのチャンネルに挿入して
使用される。このチャンネルは、既存のチャンネル、例
えば起上台を備えた鉗子チャンネルを使用できる他、超
音波内視鏡１０に専用のチャンネルを設けてもよい。The position sensor probe 21 is used by being inserted into any one of the channels provided in the ultrasonic endoscope 10. As this channel, an existing channel, for example, a forceps channel provided with a raising table can be used, or a dedicated channel may be provided in the ultrasonic endoscope 10.
【００１４】図４は、位置センサプローブ２１の例を示
している。位置センサプローブ２１は、全体として上述
のようなチャンネルに挿入可能な径に形成されており、
柔軟なチューブ材２１ａの中に、軸部に位置する可撓性
で腰のある芯材２１ｂと、位置センサ２０に連なる信号
線２０ａとを挿入したもので、位置センサプローブ２１
（芯材２１ｂ）の先端部には、雄ねじ部２０ｃを有する
先端硬質材２０ｄが固定されている。芯材２１ｂは、位
置センサプローブ２１に後方から押込力を与えたときに
チャンネルへの挿入を可能にする適当な硬さと可撓性を
有する非磁性材料、例えばステンレス線、樹脂製線材、
超弾性線材等から構成する。磁性材料は磁場発生器２２
による磁場に影響を与えるため好ましくない。位置セン
サ２０は、図示例では、巻線の軸線方向が一つの直線方
向に向く一つのコイルを想定しており、従って信号線２
０ａは、１セットであるが、位置センサ２０として巻線
方向の軸線が直交三方向に向く三組のコイルを使用する
場合には、３セットが挿入される。FIG. 4 shows an example of the position sensor probe 21. The position sensor probe 21 is formed in a diameter that can be inserted into the above-described channel as a whole,
A flexible tube member 21a in which a flexible and stiff core member 21b located at a shaft portion and a signal line 20a connected to the position sensor 20 are inserted, and a position sensor probe 21
A distal end hard member 20d having a male screw portion 20c is fixed to a distal end portion of the (core member 21b). The core material 21b is made of a non-magnetic material having appropriate hardness and flexibility that enables insertion into the channel when a pushing force is applied to the position sensor probe 21 from behind, for example, a stainless wire, a resin wire,
It is composed of a superelastic wire or the like. The magnetic material is a magnetic field generator 22
This is not preferred because it affects the magnetic field due to In the illustrated example, the position sensor 20 assumes one coil in which the axis direction of the winding is oriented in one linear direction.
0a is one set, but when three coils are used as the position sensor 20 whose axes in the winding direction are directed in three orthogonal directions, three sets are inserted.
【００１５】図５、図６は、超音波内視鏡１０の起上台
付き鉗子チャンネル３３を位置センサプローブ２１のチ
ャンネルとして利用し、この鉗子チャンネル３３の体内
操作部１１側の開口部に、位置センサプローブ２１の先
端硬質材２０ｄに固定される位置センサ固定部材２６を
設けた実施形態を示している。鉗子チャンネル３３は、
各種の鉗子を挿入するためのチャンネルで、その先端部
に軸３５で回動可能に起上台３４が枢着されている。起
上台３４には、操作ワイヤ３６の先端部が結合されてお
り、操作ワイヤ３６の後端部は、操作部１２の起上台操
作部３７（図３）に導かれている。FIG. 5 and FIG. 6 show that the forceps channel 33 with the raising table of the ultrasonic endoscope 10 is used as a channel of the position sensor probe 21, and the forceps channel 33 is positioned at the opening on the side of the in-body operating section 11. An embodiment in which a position sensor fixing member 26 fixed to the distal end hard material 20d of the sensor probe 21 is provided is shown. The forceps channel 33 is
A channel into which various forceps are inserted, and a raising table 34 is pivotally attached to the tip of the channel so as to be rotatable about a shaft 35. The front end of the operation wire 36 is connected to the elevator 34, and the rear end of the operation wire 36 is guided to the elevator operating unit 37 of the operation unit 12 (FIG. 3).
【００１６】位置センサ固定部材２６は、鉗子チャンネ
ル３３内に挿入される円形断面部（または小径部）２６
ａと、鉗子チャンネル３３の開口部の非円形断面部に回
転不能に挿入される非円形断面部２６ｂとを備えてい
る。円形断面部２６ａは、位置センサプローブ２１先端
部の雄ねじ部２０ｃに螺合される雌ねじ部２６ｃを有
し、非円形断面部２６ｂは、起上台３４に形成した溝３
４ａに係合する山形断面部２６ｄを含んでいる。The position sensor fixing member 26 has a circular cross section (or small diameter) 26 inserted into the forceps channel 33.
a and a non-circular cross-section 26 b that is non-rotatably inserted into the non-circular cross-section of the opening of the forceps channel 33. The circular section 26a has a female thread 26c screwed into the male thread 20c at the tip of the position sensor probe 21, and the non-circular section 26b has a groove 3 formed in the elevator 34.
4a includes a chevron-shaped section 26d that engages with 4a.
【００１７】以上の位置センサプローブ２１と位置セン
サ固定部材２６を結合するには、操作部１２側の開口部
から鉗子チャンネル３３内に位置センサプローブ２１を
挿入し、その先端（先端硬質材２０ｄ）を鉗子チャンネ
ル３３の体内挿入部１１側の開口部から突出させる。こ
の突出状態において、位置センサ固定部材２６の雌ねじ
部２６ｃを雄ねじ部２０ｃに螺合させて固定し、固定し
た後、今度は位置センサプローブ２１を鉗子チャンネル
３３内に引き込んで、円形断面部２６ａを鉗子チャンネ
ル３３に嵌め、非円形断面部２６ｂを鉗子チャンネル３
３の開口部の非円形断面部に嵌める。このときには、山
形断面部２６ｄは、起上台３４の溝３４ａに同時に嵌ま
る。よって、位置センサプローブ２１の回転が阻止され
る。以上の作業は、勿論、体内挿入部１１を体内へ挿入
する前に行うものであり、特別の困難はない。In order to connect the position sensor probe 21 and the position sensor fixing member 26, the position sensor probe 21 is inserted into the forceps channel 33 from the opening on the operation section 12 side, and the tip (hard tip material 20d) is inserted. Is projected from the opening of the forceps channel 33 on the side of the insertion portion 11 in the body. In this protruding state, the female screw portion 26c of the position sensor fixing member 26 is screwed and fixed to the male screw portion 20c. After fixing, the position sensor probe 21 is pulled into the forceps channel 33, and the circular cross section 26a is removed. The non-circular cross section 26b is fitted into the forceps channel 33 and the forceps channel 3
3 is fitted into the non-circular cross section of the opening. At this time, the chevron section 26d fits into the groove 34a of the elevator 34 at the same time. Therefore, rotation of the position sensor probe 21 is prevented. The above operation is, of course, performed before the body insertion portion 11 is inserted into the body, and there is no particular difficulty.
【００１８】以上のようにして超音波内視鏡１０のチャ
ンネルに挿通した位置センサプローブ２１は、操作部１
２側において軸方向に移動しないように保持することが
望ましい。図７及び図８は、それぞれ、位置センサプロ
ーブ２１の軸方向移動防止手段の実施形態を示してい
る。The position sensor probe 21 inserted into the channel of the ultrasonic endoscope 10 as described above is
It is desirable to hold the two sides so as not to move in the axial direction. 7 and 8 show an embodiment of the means for preventing the position sensor probe 21 from moving in the axial direction, respectively.
【００１９】図７の実施形態では、鉗子チャンネル３３
の操作部１２側の端部には、口金４０が固定されてお
り、この口金４０に、ねじ筒４１が固定されている。ね
じ筒４１には、筒状螺合キャップ４２が螺合されてお
り、この筒状螺合キャップ４２の内方フランジとねじ筒
４１の端面との間に、Ｏリング４３が挟着されている。
Ｏリング４３は、自由状態ではその内径内で位置センサ
プローブ２１を自由に移動させることができるが、圧縮
されると位置センサプローブ２１との相対移動が阻止さ
れる径に形成されている。従って、先端部に位置センサ
固定部材２６を固定して鉗子チャンネル３３に挿通した
位置センサプローブ２１を、口金４０、ねじ筒４１、及
び緩めた筒状螺合キャップ４２に挿通し、その状態で、
筒状螺合キャップ４２を締め込み、Ｏリング４３を圧縮
変形させることで、位置センサプローブ２１を鉗子チャ
ンネル３３の開口部に固定し、その軸方向移動を防止す
ることができる。In the embodiment shown in FIG.
A base 40 is fixed to the end of the operation unit 12 side, and a screw cylinder 41 is fixed to the base 40. A cylindrical screw cap 42 is screwed to the screw cylinder 41, and an O-ring 43 is sandwiched between an inner flange of the cylindrical screw cap 42 and an end surface of the screw cylinder 41. .
The O-ring 43 is formed to have a diameter that allows the position sensor probe 21 to move freely within its inner diameter in a free state, but prevents relative movement with the position sensor probe 21 when compressed. Accordingly, the position sensor probe 21 having the position sensor fixing member 26 fixed to the distal end portion and inserted into the forceps channel 33 is inserted into the base 40, the screw cylinder 41, and the loosened cylindrical screw cap 42, and in this state,
By tightening the cylindrical screw cap 42 and compressing and deforming the O-ring 43, the position sensor probe 21 is fixed to the opening of the forceps channel 33, and its axial movement can be prevented.
【００２０】図８の実施形態では、鉗子チャンネル３３
の操作部１２側の端部には、同様に口金４０が固定され
ており、この口金４０には、ばね掛け筒４４が固定され
ている。このばね掛け筒４４には、軸方向に移動可能に
筒状摺動キャップ４５が嵌められており、この筒状摺動
キャップ４５には、図７の実施形態の筒状螺合キャップ
４２と同様の螺合キャップ４６が螺合されている。この
螺合キャップ４６の内方フランジと筒状摺動キャップ４
５の端面との間には、図７の実施形態のＯリング４３と
同じＯリング４３が挟着されている。そして、この実施
形態では、ばね掛け筒４４と筒状摺動キャップ４５との
間に、コイルばね４８が張設されている。この実施形態
では、先端部に位置センサ固定部材２６を固定して鉗子
チャンネル３３に挿通した位置センサプローブ２１を、
口金４０、ねじ筒４４、筒状摺動キャップ４５及び緩め
た筒状螺合キャップ４６に挿通する。次に、筒状摺動キ
ャップ４５をコイルばね４８を圧縮しながら位置センサ
プローブ２１に対して相対移動させ、そのコイルばね４
８の圧縮状態で螺合キャップ４６を締め込むとＯリング
４３が圧縮変形して筒状摺動キャップ４５に固定され
る。筒状摺動キャップ４５へ加えていた押込力を開放す
ると、位置センサプローブ２１はコイルばね４８の力に
より鉗子チャンネル３３から引き抜かれる方向に移動付
勢されるから、位置センサ固定部材２６を鉗子チャンネ
ル３３に引き込み、より確実に位置センサプローブ２１
の軸方向移動を防止することができる。In the embodiment of FIG. 8, the forceps channel 33
Similarly, a base 40 is fixed to the end of the operation unit 12 side, and a spring hooking cylinder 44 is fixed to the base 40. A cylindrical sliding cap 45 is fitted on the spring hooking cylinder 44 so as to be movable in the axial direction. The cylindrical sliding cap 45 is the same as the cylindrical screw cap 42 of the embodiment of FIG. Screw cap 46 is screwed. The inner flange of the screw cap 46 and the cylindrical sliding cap 4
7, the same O-ring 43 as the O-ring 43 of the embodiment of FIG. In this embodiment, a coil spring 48 is stretched between the spring hooking cylinder 44 and the cylindrical sliding cap 45. In this embodiment, the position sensor probe 21 that has the position sensor fixing member 26 fixed to the distal end and inserted into the forceps channel 33 is
It is inserted through the base 40, the screw cylinder 44, the cylindrical sliding cap 45, and the loose cylindrical screwing cap 46. Next, the cylindrical sliding cap 45 is moved relative to the position sensor probe 21 while compressing the coil spring 48, and the coil spring 4
When the screw cap 46 is tightened in the compressed state of 8, the O-ring 43 is compressed and deformed and fixed to the cylindrical sliding cap 45. When the pressing force applied to the cylindrical sliding cap 45 is released, the position sensor probe 21 is urged to move in a direction in which the position sensor probe 21 is pulled out of the forceps channel 33 by the force of the coil spring 48. 33, the position sensor probe 21 is more reliably
Can be prevented from moving in the axial direction.
【００２１】以上の位置センサプローブ２１の操作部１
２側での軸方向移動防止手段の操作は、体内挿入部１１
側での位置センサプローブ２１と位置センサ固定部材２
６との結合作業と同様に、体内挿入部１１を体内へ挿入
する前に行うことができるから、特別の困難はない。The operation unit 1 of the position sensor probe 21 described above
The operation of the axial movement preventing means on the side 2
Sensor probe 21 and position sensor fixing member 2 on the side
6 can be performed before the body insertion portion 11 is inserted into the body as in the case of the connection with the body 6, so that there is no particular difficulty.
【００２２】以上のように、超音波内視鏡１０のチャン
ネル３３に位置センサプローブ２１を挿入固定し、図１
の接続を完了した装置は、超音波診断装置１５により超
音波プローブ１３を制御して超音波走査を行うことによ
り体腔内の断層像を得、同時に、体内挿入部１１先端に
位置する位置センサ２０によって、該位置センサ２０の
磁場発生器２２との相対的位置座標及び傾斜を特定する
位置情報を得ることができる。このようにして得た複数
枚の画像情報は、超音波診断装置１５を介してマイコン
１８に入力され、位置情報は、位置センサ制御装置２３
を介してマイコン１８に入力され、マイコン１８が必要
な画像処理を施して、これを記憶し、さらに三次元画像
情報を表示装置１９に表示することができる。As described above, the position sensor probe 21 is inserted and fixed in the channel 33 of the ultrasonic endoscope 10, and FIG.
The device that has completed the connection is obtained by controlling the ultrasonic probe 13 by the ultrasonic diagnostic device 15 and performing ultrasonic scanning to obtain a tomographic image in the body cavity, and at the same time, the position sensor 20 located at the tip of the body insertion portion 11. Accordingly, it is possible to obtain position information specifying relative position coordinates and inclination of the position sensor 20 with respect to the magnetic field generator 22. The plurality of pieces of image information obtained in this way are input to the microcomputer 18 via the ultrasonic diagnostic apparatus 15, and the position information is stored in the position sensor control unit 23.
The microcomputer 18 performs necessary image processing, stores the processed image, and displays three-dimensional image information on the display device 19.
【００２３】そして、位置センサ２０と磁場発生器２２
とを用いた内視鏡先端部の位置情報を得ることが不要な
使用態様では、位置センサプローブ２１を超音波内視鏡
１０のチャンネル３３から抜き取り、磁場発生器２２と
位置センサ制御装置２３、マイコン１８及び表示装置１
９を超音波診断装置１５から外すことにより（図１の二
点鎖線より上方の要素を除去することにより）、通常の
電子式コンベックス型超音波内視鏡として使用すること
ができる。The position sensor 20 and the magnetic field generator 22
In a usage mode in which it is not necessary to obtain the position information of the endoscope tip using the position sensor probe 21, the position sensor probe 21 is extracted from the channel 33 of the ultrasonic endoscope 10, and the magnetic field generator 22 and the position sensor control device 23, Microcomputer 18 and display device 1
By removing 9 from the ultrasonic diagnostic apparatus 15 (by removing the elements above the two-dot chain line in FIG. 1), it can be used as a normal electronic convex ultrasonic endoscope.
【００２４】以上の実施形態は、超音波内視鏡に本発明
を適用したものであるが、本発明は、体外の操作部と体
内挿入部とを結ぶチャンネルを有する内視鏡であれば、
すべての内視鏡に適用することができる。In the above embodiment, the present invention is applied to an ultrasonic endoscope. However, the present invention relates to an endoscope having a channel connecting an external operation unit and a body insertion unit.
It can be applied to all endoscopes.
【００２５】[0025]
【発明の効果】本発明によれば、体外の操作部と体内挿
入部とを結ぶチャンネルを有する内視鏡であれば、超音
波内視鏡を含む既存の内視鏡に適用して、内視鏡の先端
部の位置情報を得ることができ、安価な位置情報検出装
置を構築することができる。According to the present invention, an endoscope having a channel connecting an operation part outside the body and an insertion part in the body can be applied to an existing endoscope including an ultrasonic endoscope. It is possible to obtain position information of the distal end of the endoscope, and it is possible to construct an inexpensive position information detecting device.
【図１】本発明による内視鏡の先端部位置検出装置を超
音波内視鏡に適用した一実施形態を示す系統接続図であ
る。FIG. 1 is a system connection diagram showing an embodiment in which an endoscope position detecting device of an endoscope according to the present invention is applied to an ultrasonic endoscope.
【図２】超音波内視鏡の正面図である。FIG. 2 is a front view of the ultrasonic endoscope.
【図３】同超音波内視鏡の管路図である。FIG. 3 is a duct diagram of the ultrasonic endoscope.
【図４】位置センサプローブの一実施形態を示す断面図
である。FIG. 4 is a cross-sectional view showing one embodiment of a position sensor probe.
【図５】超音波内視鏡の起上台を有する鉗子チャンネル
を位置センサプローブの挿通チャンネルとする実施形態
を示す、体内挿入部側の開口部に装着した位置センサ固
定部材と位置センサの関係を示す要部断面図である。FIG. 5 is a view showing an embodiment in which a forceps channel having a raising stand of an ultrasonic endoscope is used as an insertion channel of a position sensor probe, and shows a relationship between a position sensor fixing member and a position sensor attached to an opening on the body insertion section side. It is an important section sectional view shown.
【図６】図５のVI‐VI線に沿う断面図である。FIG. 6 is a sectional view taken along the line VI-VI in FIG. 5;
【図７】位置センサプローブとその挿通チャンネルの体
外操作部側開口部近傍に設けた軸方向移動防止手段の断
面図である。FIG. 7 is a cross-sectional view of a position sensor probe and an axial movement preventing means provided near an opening on the extracorporeal operation unit side of an insertion channel thereof.
【図８】同軸方向移動防止手段の別の実施形態を示す断
面図である。FIG. 8 is a sectional view showing another embodiment of the coaxial movement preventing means.
１０ 超音波内視鏡 １１ 体内挿入部 １２ 体外操作部 １３ 超音波プローブ １５ 超音波診断装置 １６ 超音波コネクター １７ ライトガイドコネクター １８ マイコン １９ 表示装置 ２０ 位置センサ（磁気センサ） ２０ａ 信号線 ２０ｃ 雄ねじ部 ２０ｄ 先端硬質材 ２１ 位置センサプローブ ２１ａ チューブ材 ２１ｂ 芯材 ２２ 磁場発生器 ２３ 位置センサ制御装置 ２４ 光源プロセッサ ２５ 表示装置 ２６ 位置センサ固定部材 ２６ａ 円形断面部 ２６ｂ 非円形断面部 ２６ｃ 雌ねじ部 ２６ｄ 山形断面部 ３３ 鉗子チャンネル ３４ 起上台 ３６ 操作ワイヤ ４０ 口金 ４１ ねじ筒 ４２ 筒状螺合キャップ ４３ Ｏリング ４４ ばね掛け筒 ４５ 筒状摺動キャップ ４６ 螺合キャップ ４８ コイルばね DESCRIPTION OF SYMBOLS 10 Ultrasonic endoscope 11 Internal insertion part 12 Extracorporeal operation part 13 Ultrasonic probe 15 Ultrasonic diagnostic device 16 Ultrasonic connector 17 Light guide connector 18 Microcomputer 19 Display device 20 Position sensor (magnetic sensor) 20a Signal line 20c Male screw part 20d Hard tip material 21 Position sensor probe 21a Tube material 21b Core material 22 Magnetic field generator 23 Position sensor control device 24 Light source processor 25 Display device 26 Position sensor fixing member 26a Circular cross section 26b Non-circular cross section 26c Female thread section 26d Mountain cross section 33 Forceps channel 34 Elevator 36 Operation wire 40 Base 41 Screw cylinder 42 Cylindrical screw cap 43 O-ring 44 Spring hook cylinder 45 Cylindrical sliding cap 46 Screw cap 48 Coil spring
Claims (6)
れ、該体内挿入部を体外で操作する体外操作部；及びこ
の体内挿入部側の開口部と体外操作部側の開口部とを連
結するチャンネル；を有する内視鏡に用いる内視鏡の先
端部位置検出装置であって、 上記チャンネルに体外操作部側開口部から体内挿入部側
開口部へ挿通可能な位置センサプローブ；この位置セン
サプローブの先端部に設けられた位置センサ；上記体内
挿入部の外側から上記チャンネルの体内操作部側開口に
回転を防止した状態で挿入可能な位置センサ固定部材；
上記位置センサプローブの先端部と位置センサ固定部材
とを固定する固定手段；上記位置センサと対をなして体
外に設置される、位置に固有な磁場を発生させる磁場発
生器；及び上記位置センサの出力から、磁場発生器によ
り作られる位置に固有な磁場内における該位置センサの
位置情報を出力する位置センサ制御装置；を有すること
を特徴とする内視鏡の先端部位置検出装置。1. An internal insertion portion; an external operation portion connected to the internal insertion portion and operating the internal insertion portion outside the body; and an opening on the internal insertion portion side and an opening on the external operation portion side connected to each other. A position sensor probe that can be inserted into the channel from the opening on the external operation unit side to the opening on the body insertion unit side, the position sensor probe; A position sensor provided at the distal end of the probe; a position sensor fixing member that can be inserted from the outside of the body insertion part into the opening on the body operation part side of the channel while preventing rotation;
Fixing means for fixing the tip of the position sensor probe and the position sensor fixing member; a magnetic field generator for generating a position-specific magnetic field, which is installed outside the body in a pair with the position sensor; A position sensor control device for outputting position information of the position sensor in a magnetic field unique to a position generated by the magnetic field generator from the output;
ンネルは、体内挿入部側開口部に起上台を有する鉗子チ
ャンネルであり、位置センサ固定部材は、この鉗子チャ
ンネル内への挿入部と、鉗子チャンネルの体内挿入部側
開口部の非円形断面部に係合する非円形断面部とを備え
ている内視鏡の先端部位置検出装置。2. The detection device according to claim 1, wherein the channel is a forceps channel having an erect base at an opening on the body insertion portion side, and the position sensor fixing member includes an insertion portion into the forceps channel, and a forceps. A non-circular cross-section that engages with the non-circular cross-section of the channel-side opening portion of the channel.
て、上記位置センサプローブの先端部と位置センサ固定
部材との固定手段は、ねじである内視鏡の先端部位置検
出装置。3. The end position detecting device for an endoscope according to claim 1, wherein the fixing means for fixing the distal end of the position sensor probe to the position sensor fixing member is a screw.
検出装置において、チャンネルの体外操作部側開口に
は、挿入した位置センサプローブの軸方向移動を阻止す
る軸方向移動防止手段が設けられている内視鏡の先端部
位置検出装置。4. The detecting device according to claim 1, wherein an axial movement preventing means for preventing the inserted position sensor probe from moving in the axial direction is provided in the opening on the side of the extracorporeal operation section of the channel. End position detecting device for an endoscope.
向移動防止手段は、体外操作部側開口部にねじ螺合させ
た筒状螺合キャップと、この筒状螺合キャップを締め込
んだとき変形して位置センサプローブ外周面に弾接する
Ｏリングとを有する内視鏡の先端部位置検出装置。5. The detecting device according to claim 4, wherein the axial movement preventing means includes a cylindrical screw cap screwed into the opening on the extracorporeal operation unit side, and the cylindrical screw cap is tightened. An endoscope position detecting device for an endoscope having an O-ring that is deformed when it comes into contact with the outer peripheral surface of the position sensor probe.
向移動防止手段は、体外操作部側開口部に軸方向に移動
可能に支持した筒状摺動キャップと、この筒状摺動キャ
ップに螺合させた筒状螺合キャップと、この筒状螺合キ
ャップを締め込んだとき変形して位置センサプローブ外
面に弾接するＯリングと、上記筒状摺動キャップを体外
操作部側開口部から離れる方向に付勢するばね手段とを
有する内視鏡の先端部位置検出装置。6. The detection device according to claim 4, wherein the axial movement preventing means comprises a cylindrical sliding cap supported in the external operation unit side opening so as to be movable in the axial direction, and the cylindrical sliding cap. A threaded cylindrical screw cap, an O-ring that deforms when the cylindrical screw cap is tightened and elastically contacts the outer surface of the position sensor probe, An endoscope position detecting device for an endoscope, comprising a spring means for urging in a direction away from the endoscope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP33191999A JP4394226B2 (en) | 1999-11-22 | 1999-11-22 | Endoscope position detection device for endoscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP33191999A JP4394226B2 (en) | 1999-11-22 | 1999-11-22 | Endoscope position detection device for endoscope |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2001145630A true JP2001145630A (en) | 2001-05-29 |
| JP4394226B2 JP4394226B2 (en) | 2010-01-06 |
Family
ID=18249114
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP33191999A Expired - Fee Related JP4394226B2 (en) | 1999-11-22 | 1999-11-22 | Endoscope position detection device for endoscope |
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| JP (1) | JP4394226B2 (en) |
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| EP1269931A1 (en) * | 2001-06-29 | 2003-01-02 | Terumo Kabushiki Kaisha | Medical energy irradiation apparatus |
| US7008416B2 (en) | 2001-06-29 | 2006-03-07 | Terumo Kabushiki Kaisha | Medical energy irradiation apparatus |
| JP2006149484A (en) * | 2004-11-25 | 2006-06-15 | Olympus Corp | Ultrasonic diagnosis apparatus |
| EP2913000A3 (en) * | 2010-05-28 | 2015-12-02 | C.R. Bard, Inc. | Apparatus for use with needle insertion guidance system |
| US9901714B2 (en) | 2008-08-22 | 2018-02-27 | C. R. Bard, Inc. | Catheter assembly including ECG sensor and magnetic assemblies |
| US9999371B2 (en) | 2007-11-26 | 2018-06-19 | C. R. Bard, Inc. | Integrated system for intravascular placement of a catheter |
| US10046139B2 (en) | 2010-08-20 | 2018-08-14 | C. R. Bard, Inc. | Reconfirmation of ECG-assisted catheter tip placement |
| US10105121B2 (en) | 2007-11-26 | 2018-10-23 | C. R. Bard, Inc. | System for placement of a catheter including a signal-generating stylet |
| US10231643B2 (en) | 2009-06-12 | 2019-03-19 | Bard Access Systems, Inc. | Apparatus and method for catheter navigation and tip location |
| US10238418B2 (en) | 2007-11-26 | 2019-03-26 | C. R. Bard, Inc. | Apparatus for use with needle insertion guidance system |
| US10271762B2 (en) | 2009-06-12 | 2019-04-30 | Bard Access Systems, Inc. | Apparatus and method for catheter navigation using endovascular energy mapping |
| US10349890B2 (en) | 2015-06-26 | 2019-07-16 | C. R. Bard, Inc. | Connector interface for ECG-based catheter positioning system |
| US10349857B2 (en) | 2009-06-12 | 2019-07-16 | Bard Access Systems, Inc. | Devices and methods for endovascular electrography |
| US10602958B2 (en) | 2007-11-26 | 2020-03-31 | C. R. Bard, Inc. | Systems and methods for guiding a medical instrument |
| US10751509B2 (en) | 2007-11-26 | 2020-08-25 | C. R. Bard, Inc. | Iconic representations for guidance of an indwelling medical device |
| US10849695B2 (en) | 2007-11-26 | 2020-12-01 | C. R. Bard, Inc. | Systems and methods for breaching a sterile field for intravascular placement of a catheter |
| US10863920B2 (en) | 2014-02-06 | 2020-12-15 | C. R. Bard, Inc. | Systems and methods for guidance and placement of an intravascular device |
| US10973584B2 (en) | 2015-01-19 | 2021-04-13 | Bard Access Systems, Inc. | Device and method for vascular access |
| US10992079B2 (en) | 2018-10-16 | 2021-04-27 | Bard Access Systems, Inc. | Safety-equipped connection systems and methods thereof for establishing electrical connections |
| US11000207B2 (en) | 2016-01-29 | 2021-05-11 | C. R. Bard, Inc. | Multiple coil system for tracking a medical device |
| US11207496B2 (en) | 2005-08-24 | 2021-12-28 | C. R. Bard, Inc. | Stylet apparatuses and methods of manufacture |
-
1999
- 1999-11-22 JP JP33191999A patent/JP4394226B2/en not_active Expired - Fee Related
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| EP1269931A1 (en) * | 2001-06-29 | 2003-01-02 | Terumo Kabushiki Kaisha | Medical energy irradiation apparatus |
| US7008416B2 (en) | 2001-06-29 | 2006-03-07 | Terumo Kabushiki Kaisha | Medical energy irradiation apparatus |
| US7022118B2 (en) | 2001-06-29 | 2006-04-04 | Terumo Kabushiki Kaisha | Medical energy irradiation apparatus |
| JP2006149484A (en) * | 2004-11-25 | 2006-06-15 | Olympus Corp | Ultrasonic diagnosis apparatus |
| JP4668592B2 (en) * | 2004-11-25 | 2011-04-13 | オリンパス株式会社 | Body cavity probe device |
| US11207496B2 (en) | 2005-08-24 | 2021-12-28 | C. R. Bard, Inc. | Stylet apparatuses and methods of manufacture |
| US10602958B2 (en) | 2007-11-26 | 2020-03-31 | C. R. Bard, Inc. | Systems and methods for guiding a medical instrument |
| US10849695B2 (en) | 2007-11-26 | 2020-12-01 | C. R. Bard, Inc. | Systems and methods for breaching a sterile field for intravascular placement of a catheter |
| US11779240B2 (en) | 2007-11-26 | 2023-10-10 | C. R. Bard, Inc. | Systems and methods for breaching a sterile field for intravascular placement of a catheter |
| US10105121B2 (en) | 2007-11-26 | 2018-10-23 | C. R. Bard, Inc. | System for placement of a catheter including a signal-generating stylet |
| US10165962B2 (en) | 2007-11-26 | 2019-01-01 | C. R. Bard, Inc. | Integrated systems for intravascular placement of a catheter |
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| US10231753B2 (en) | 2007-11-26 | 2019-03-19 | C. R. Bard, Inc. | Insertion guidance system for needles and medical components |
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| US9999371B2 (en) | 2007-11-26 | 2018-06-19 | C. R. Bard, Inc. | Integrated system for intravascular placement of a catheter |
| US10966630B2 (en) | 2007-11-26 | 2021-04-06 | C. R. Bard, Inc. | Integrated system for intravascular placement of a catheter |
| US10751509B2 (en) | 2007-11-26 | 2020-08-25 | C. R. Bard, Inc. | Iconic representations for guidance of an indwelling medical device |
| US11027101B2 (en) | 2008-08-22 | 2021-06-08 | C. R. Bard, Inc. | Catheter assembly including ECG sensor and magnetic assemblies |
| US9901714B2 (en) | 2008-08-22 | 2018-02-27 | C. R. Bard, Inc. | Catheter assembly including ECG sensor and magnetic assemblies |
| US10271762B2 (en) | 2009-06-12 | 2019-04-30 | Bard Access Systems, Inc. | Apparatus and method for catheter navigation using endovascular energy mapping |
| US11419517B2 (en) | 2009-06-12 | 2022-08-23 | Bard Access Systems, Inc. | Apparatus and method for catheter navigation using endovascular energy mapping |
| US10231643B2 (en) | 2009-06-12 | 2019-03-19 | Bard Access Systems, Inc. | Apparatus and method for catheter navigation and tip location |
| US10912488B2 (en) | 2009-06-12 | 2021-02-09 | Bard Access Systems, Inc. | Apparatus and method for catheter navigation and tip location |
| US10349857B2 (en) | 2009-06-12 | 2019-07-16 | Bard Access Systems, Inc. | Devices and methods for endovascular electrography |
| EP3662827A1 (en) * | 2010-05-28 | 2020-06-10 | C.R. Bard, Inc. | Apparatus for use with needle insertion guidance system |
| EP2913000A3 (en) * | 2010-05-28 | 2015-12-02 | C.R. Bard, Inc. | Apparatus for use with needle insertion guidance system |
| US10046139B2 (en) | 2010-08-20 | 2018-08-14 | C. R. Bard, Inc. | Reconfirmation of ECG-assisted catheter tip placement |
| US10863920B2 (en) | 2014-02-06 | 2020-12-15 | C. R. Bard, Inc. | Systems and methods for guidance and placement of an intravascular device |
| US10973584B2 (en) | 2015-01-19 | 2021-04-13 | Bard Access Systems, Inc. | Device and method for vascular access |
| US10349890B2 (en) | 2015-06-26 | 2019-07-16 | C. R. Bard, Inc. | Connector interface for ECG-based catheter positioning system |
| US11026630B2 (en) | 2015-06-26 | 2021-06-08 | C. R. Bard, Inc. | Connector interface for ECG-based catheter positioning system |
| US11000207B2 (en) | 2016-01-29 | 2021-05-11 | C. R. Bard, Inc. | Multiple coil system for tracking a medical device |
| US11621518B2 (en) | 2018-10-16 | 2023-04-04 | Bard Access Systems, Inc. | Safety-equipped connection systems and methods thereof for establishing electrical connections |
| US10992079B2 (en) | 2018-10-16 | 2021-04-27 | Bard Access Systems, Inc. | Safety-equipped connection systems and methods thereof for establishing electrical connections |
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