JP4406133B2 - Endoscope position detection device for endoscope - Google Patents

Description

[0001]
【Technical field】
The present invention relates to an apparatus for detecting a position of a distal end portion of an endoscope.
[0002]
[Prior art and its problems]
For example, in an ultrasonic endoscope, an ultrasonic probe is provided at the distal end portion of the insertion portion in the body, and the ultrasonic transmission / reception means in the ultrasonic probe has an oscillation function for oscillating ultrasonic waves toward the test portion. And a reception function of an ultrasonic signal (echo signal) reflected by the test portion. In this ultrasonic endoscope, it is known that a three-dimensional image of a test part can be constructed by performing appropriate signal processing on the received ultrasonic signal while spiral scanning the ultrasonic probe.
[0003]
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 that performs radial scanning. For this reason, JP-A-6-261900 already discloses a magnetic field generator for generating a magnetic field specific to a position around a subject (patient) in order to perform a substantial spiral scan with a general-purpose ultrasonic probe and a driving device. On the other hand, an ultrasonic endoscope has been proposed in which a position sensor for specifying a relative position coordinate and inclination with respect to the magnetic field generator is arranged near the ultrasonic probe at the distal end portion of the endoscope. If the ultrasonic probe is moved in the body cavity and the position information is obtained while performing the radial scan, the actual 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 is indispensable, including the image processing apparatus.
[0004]
On the other hand, in a normal endoscope, regardless of whether it is a fiber type or an electronic type, an image by the objective optical system is observed as it is, and the position information in the body of the objective optical system is an ultrasonic endoscope. Compared to mirrors, it is currently less important. However, for example, it is sufficiently possible to create three-dimensional data of a human body lumen first by CT scan or MRI scan. If position information of the distal end of the endoscope is obtained, three-dimensional data of the lumen is obtained. More accurate subject information in the body cavity combined with the positional information can be obtained.
[0005]
OBJECT OF THE INVENTION
The present invention is applicable to an existing endoscope including an ultrasonic endoscope, and an object of the present invention is to obtain an endoscope distal end position detecting device capable of obtaining position information of the endoscope distal end. And
[0006]
SUMMARY OF THE INVENTION
The present invention uses a channel for connecting an extracorporeal operation unit and an in-vivo insertion unit, which is provided in an endoscope, regardless of whether it is an ultrasonic endoscope or a normal endoscope, and a position sensor is inserted into the end of the in-vivo insertion unit If a magnetic field generator is installed outside the subject (human body), a position detection system using a magnetic field generator and a position sensor can be built into existing endoscope equipment afterwards. It was completed based on.
[0007]
An endoscope distal end position detection apparatus according to the present invention includes an in-vivo insertion portion; an extracorporeal operation portion connected to the in-vivo insertion portion and operating the in-vivo insertion portion outside the body; A position sensor probe that can be inserted into and removed from the external operation unit side opening; A position sensor provided at the distal end of the position sensor probe; a relative rotation preventing means for preventing relative rotation of the distal end of the position sensor probe in the body insertion portion side passage; and installed outside the body in a pair with the position sensor. A magnetic field generator for generating a magnetic field specific to the position; and a position sensor for outputting position information of the sensor in the magnetic field specific to the position generated by the magnetic field generator from the output of the position sensor Control device; have, the relative rotation preventing means includes a non-circular cross-section distal portion formed to a position sensor probe tip, formed in the passage in the body insertion portion of the channel, the non-circular cross-section distal portion is engaged It is characterized by comprising a non-circular cross-sectional hole .
[0008]
The tip of the non-circular cross section of the relative rotation preventing means can be, for example, an elliptical cone or a long cone shaped tip with a rounded tip formed on the outer surface of the tip of the position sensor probe.
[0009]
The endoscope tip position detection device of the present invention can be applied to any type of endoscope as long as it has a channel. However, in the case of an ultrasound endoscope having an ultrasound probe at the tip of the body insertion portion, the channel Can utilize the suction channel connected to the balloon of this ultrasonic probe. Or if it is a normal endoscope, the forceps channel which has a raising stand in the opening part in the body insertion part side can be utilized. In the case of using a forceps channel, the relative rotation preventing means can be constituted by a non-circular cross-sectional tip formed at the tip of the position sensor probe and a groove formed on the raising base and engaged with the non-circular cross-sectional tip.
[0010]
In the endoscope distal end position detection device according to the present invention, it is preferable to provide an axial movement preventing means for blocking the axial movement of the inserted position sensor probe at the opening of the channel on the external operation section side. The axial movement preventing means includes, for example, a cylindrical screw cap that is screwed into the opening on the external operation unit side, and is deformed when the cylindrical screw cap is tightened, and is elastically applied to the outer peripheral surface of the position sensor probe. It can be constituted by an O-ring in contact. Alternatively, a cylindrical sliding cap supported so as to be movable in the axial direction in the opening on the external operation unit side, a cylindrical screwing cap screwed to the cylindrical sliding cap, and the cylindrical screwing cap are tightened It can be constituted by an O-ring that deforms when it is inserted and elastically contacts the outer surface of the position sensor probe, and a spring means that urges the cylindrical sliding cap in a direction approaching the opening on the external operation unit side.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
The illustrated embodiment is an example in which the present invention is applied to an ultrasonic endoscope. FIG. 1 shows an entire system of an endoscope distal end position detecting device. An ultrasonic endoscope 10 operates a flexible in-vivo insertion portion 11 and the in-vivo insertion portion 11 outside the body. And an ultrasonic probe 13 and an objective lens (not shown) are provided at the distal end of the internal insertion portion 11. The operation unit 12 is provided with an eye optical system 14 (FIGS. 2 and 3) for observing an image in a body cavity formed by an objective lens, and is connected to an ultrasonic diagnostic apparatus 15 to perform ultrasonic diagnosis. An ultrasonic connector 16 for transmitting an image and a light guide connector 17 (FIGS. 2 and 3) that are connected to the light source processor 24 and apply illumination light to the distal end portion of the in-vivo insertion portion 11 are connected.
[0012]
The ultrasonic diagnostic apparatus 15 drives ultrasonic transmission / reception means provided in the ultrasonic probe 13, and the ultrasonic transmission / reception means receives an electrical pulse signal from the ultrasonic diagnostic apparatus 15 and receives a test portion. An ultrasonic pulse is oscillated toward the center and an ultrasonic pulse signal reflected by the test portion is received. This ultrasonic pulse signal is converted into an electric ultrasonic echo signal. The ultrasonic diagnostic apparatus 15 includes a signal processing unit that receives and digitizes an ultrasonic echo signal, a storage device that stores the digital signal as an image signal, and other signal processing circuits and storage devices necessary as an ultrasonic endoscope. The stored image signal is displayed on the display device 25 as required. The above is the ultrasonic endoscope 10 and is well known.
[0013]
The present embodiment proposes an endoscope tip position detection apparatus that can be constructed afterwards with respect to the above-described existing ultrasonic endoscope 10. 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 drawn above the two-dot chain line in FIG. This 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 the position around the human body that is the subject. The position sensor probe 21 When the position sensor 20 is positioned in the magnetic field, the position information of the position sensor 20 with respect to the magnetic field generator 22 is output to the position sensor control device 23 as a current corresponding to the magnetic field. The position sensor control device 23 is connected to the microcomputer 18, digitizes this position information, and gives it to the microcomputer 18 as Euler angles representing the position coordinates in the space with respect to the magnetic field generator 22 and the inclination with respect to the magnetic field generator 22. The magnetic field generator 22 generates a unique magnetic field at a position facing in three orthogonal directions, and the position sensor 20 is composed of a three-axis coil in which the winding axis is oriented in three directions. When three magnetic field generators 22 are used, the position sensor 20 is configured as one uniaxial coil whose winding axis is oriented in one direction.
[0014]
The position sensor probe 21 is used by being inserted into one of the channels provided in the ultrasonic endoscope 10. As this channel, an existing channel, for example, a suction channel connected to the balloon of this ultrasonic probe or a forceps channel provided with a raising base can be used, or a dedicated channel may be provided in the ultrasonic endoscope 10.
[0015]
4 and 5 show examples of the position sensor probe 21. FIG. The position sensor probe 21 is formed in a diameter that can be inserted into the channel as described above as a whole, and in the flexible tube material 21a, a flexible and waisted core material 21b located at the shaft portion, A signal line 20a connected to the position sensor 20 is inserted. At the tip of the position sensor probe 21 (core material 21b), an elliptical cone or long cone tip 20b made of a hard material with a rounded tip is provided. It is fixed. The core material 21b is a non-magnetic material having hardness and flexibility that enables insertion into the channel when a pressing force is applied to the position sensor probe 21 from the rear, such as a stainless wire, a resin wire, a superelastic wire, etc. Consists of. A magnetic material is not preferable because it affects the magnetic field generated by the magnetic field generator 22. In the illustrated example, the position sensor 20 is assumed to be a coil in which the axial direction of the winding is directed to one linear direction, and therefore the signal line 20a is one set. When using three sets of coils oriented in three orthogonal directions, three sets are inserted.
[0016]
6 and 7 show an embodiment in which a balloon suction channel 30 of the ultrasonic endoscope 10 is used as a channel of the position sensor probe 21, and a rotation preventing mechanism for the position sensor probe 21 is formed in a passage at the tip portion thereof. Is shown. The balloon suction channel 30 is a channel that communicates with the inside of the balloon that covers the ultrasonic probe 13, and is a channel that is used when the liquid (deaerated water) in the balloon is sucked. A non-circular cross-section detent hole 31 corresponding to the shape of the position sensor probe 21 is formed at the tip of the balloon suction channel 30. When the position sensor probe 21 is inserted into the balloon suction channel 30 from the opening on the operation unit 12 side, the tip portion 20b of the elliptical cone shape or the long cone shape comes into contact with the rotation stop hole 31 and a pressing force is applied as it is. The position sensor probe 21 rotates while being guided by the anti-rotation hole 31 and is fitted into the anti-rotation hole 31, and the rotation of the position sensor probe 21 is prevented. Of course, the position sensor probe 21 may be rotated in order to match the orientation of the rotation stop hole 31 and the position sensor probe 21.
[0017]
8 and 9, the forceps channel 33 with the raising base of the ultrasonic endoscope 10 is used as the channel of the position sensor probe 21, and the rotation raising mechanism 34 of the position sensor probe 21 is formed by the raising base 34 at the distal end portion thereof. FIG. The forceps channel 33 is a channel for inserting various types of forceps, and an elevator base 34 is pivotally attached to the tip of the channel so as to be rotatable about a shaft 35. A tip end portion of the operation wire 36 is coupled to the elevator base 34, and a rear end portion of the operation wire 36 is led to an elevator base operation section 37 (FIG. 3) of the operation section 12. The elevator 34 is provided with a groove 34a corresponding to the elliptical cone-shaped or long cone-shaped distal end portion 20b made of a hard material obtained by rounding the distal end portion of the position sensor probe 21. Even if the tip portion 20b has a simple non-cross-sectional shape, it can be prevented from rotating in relation to the groove 34a. In this embodiment, the position sensor probe 21 is inserted into the forceps channel 33 from the opening on the operation unit 12 side, and the distal end portion (position sensor 20) of the position sensor probe 21 is located on the body insertion portion 11 side of the forceps channel 33. When the raising base 34 is raised by the raising base operating section 37 in the state of facing the opening, the distal end (ellipse) of the position sensor probe 21 is provided between the groove 34 a of the raising base 34 and the inner wall surface of the forceps channel 33. It is possible to prevent rotation by sandwiching the conical or long conical tip 20b).
[0018]
In both the embodiment of FIGS. 6 and 7 and the embodiments of FIGS. 8 and 9, the insertion and fixation (rotation prevention) of the distal end portion of the position sensor probe 21 to the channel is performed before the insertion portion 11 is inserted into the body. Because there is no special difficulty.
[0019]
The position sensor probe 21 inserted through the channel of the ultrasonic endoscope 10 as described above is desirably held so as not to move in the axial direction on the operation unit 12 side. 10 and 11 show embodiments of the axial direction movement preventing means of the position sensor probe 21, respectively.
[0020]
In the embodiment of FIG. 10, a base 40 is fixed to the end of the forceps channel 33 (or balloon suction channel 30) on the operation unit 12 side, and a screw cylinder 41 is fixed to the base 40. A cylindrical screw cap 42 is screwed onto the screw cylinder 41, and an O-ring 43 is sandwiched between the inner flange of the cylindrical screw cap 42 and the end surface of the screw cylinder 41. . In the free state, the O-ring 43 can freely move the position sensor probe 21 within its inner diameter, but is formed to have a diameter that prevents relative movement with the position sensor probe 21 when compressed. Accordingly, with the cylindrical screw cap 42 loosened, the position sensor probe 21 is inserted into the forceps channel 33 (balloon suction channel 30) from the cylindrical screw cap 42, screw cylinder 41, and base 40, and the tip thereof. In this state, the cylindrical screw cap 42 is tightened and the O-ring 43 is compressed and deformed to fix the position sensor probe 21 to the opening of the forceps channel 33 (or balloon suction channel 30). In addition, the axial movement can be prevented.
[0021]
In the embodiment of FIG. 11, a base 40 is similarly fixed to the end of the forceps channel 33 (or balloon suction channel 30) on the operation unit 12 side, and a spring cylinder 44 is fixed to the base 40. Has been. A cylindrical sliding cap 45 is fitted to the spring-carrying cylinder 44 so as to be movable in the axial direction. The cylindrical sliding cap 45 is similar to the cylindrical screwing cap 42 of the embodiment of FIG. The screw cap 46 is screwed. The same O-ring 43 as the O-ring 43 of the embodiment of FIG. 10 is sandwiched between the inner flange of the screw cap 46 and the end face of the cylindrical sliding cap 45. A coil spring 48 that stretches and urges the cylindrical sliding cap 45 in the direction of the spring hanging cylinder 44 is stretched between the spring hanging cylinder 44 and the cylindrical sliding cap 45. In this embodiment, the position sensor probe 21 is inserted into the forceps channel 33 (balloon suction channel 30) from the screw cap 46, the cylindrical sliding cap 45, the spring cylinder 44, and the base 40 with the screw cap 46 loosened. Insert to prevent rotation at the tip. Next, when the cylindrical sliding cap 45 is moved relative to the position sensor probe 21 while the coil spring 48 is extended, and the screw cap 46 is tightened while the coil spring 48 is extended, the O-ring 43 is compressed and deformed. Are fixed to the cylindrical sliding cap 45. When the tensile force applied to the cylindrical sliding cap 45 is released, the position sensor probe 21 is moved and urged in the direction to be inserted into the forceps channel 33 (balloon suction channel 30) by the force of the coil spring 48. The axial movement of the position sensor probe 21 can be prevented more reliably.
[0022]
The operation of the axial movement preventing means on the operation section 12 side of the position sensor probe 21 is performed before the insertion section 11 is inserted into the body, similarly to the rotation prevention means on the insertion section 11 side. There is no special difficulty because it is possible.
[0023]
As described above, the apparatus in which the position sensor probe 21 is inserted and fixed in the channel 30 (33) of the ultrasonic endoscope 10 and the connection in FIG. 1 is completed controls the ultrasonic probe 13 by the ultrasonic diagnostic apparatus 15. The tomographic image in the body cavity is obtained by performing ultrasonic scanning, and at the same time, the relative position coordinate and inclination of the position sensor 20 with respect to the magnetic field generator 22 are specified by the position sensor 20 located at the distal end of the body insertion portion 11. Position information can be obtained. Image information of a plurality of tomographic images obtained in this way is input to the microcomputer 18 via the ultrasonic diagnostic apparatus 15, and the position information is input to the microcomputer 18 via the position sensor control apparatus 23. Can be processed and stored, and further, three-dimensional image information can be displayed on the display device 19.
[0024]
In a use mode in which it is not necessary to obtain position information of the distal end portion of the endoscope using the position sensor 20 and the magnetic field generator 22, the position sensor probe 21 is extracted from the channel 30 or 33 of the ultrasonic endoscope 10. By removing the magnetic field generator 22, the position sensor control device 23, the microcomputer 18 and the display device 19 from the ultrasonic diagnostic device 15 (by removing elements above the two-dot chain line in FIG. 1), a normal electronic type It can be used as a convex ultrasound endoscope.
[0025]
In the above embodiment, the present invention is applied to an ultrasonic endoscope. However, the present invention is applicable to all endoscopes as long as the endoscope has a channel connecting an external operation unit and an internal insertion unit. It can be applied to an endoscope.
[0026]
【The invention's effect】
According to the present invention, if the endoscope has a channel connecting the external operation unit and the in-vivo insertion unit, it is applied to an existing endoscope including an ultrasonic endoscope, and the distal end portion of the endoscope Position information can be obtained, and an inexpensive position information detection apparatus can be constructed.
[Brief description of the drawings]
FIG. 1 is a system connection diagram showing an embodiment in which an endoscope tip position detection apparatus according to the present invention is applied to an ultrasonic endoscope.
FIG. 2 is a front view of an ultrasonic endoscope.
FIG. 3 is a conduit diagram of the ultrasonic endoscope.
FIG. 4 is a cross-sectional view showing an embodiment of a position sensor probe.
FIG. 5 is a view taken in the direction of arrow V in FIG.
FIG. 6 is a front view showing a cross section of the rotation preventing means portion on the side of the body insertion portion, showing an embodiment in which the balloon suction channel of the ultrasonic endoscope is used as the insertion channel of the position sensor probe.
7 is a cross-sectional view taken along line VII-VII in FIG.
FIG. 8 is a front view of a cross section of the rotation preventing means on the side of the body insertion portion, showing an embodiment in which a forceps channel having a raising base of an ultrasonic endoscope is used as an insertion channel of a position sensor probe.
9 is a sectional view taken along line IX-IX in FIG.
FIG. 10 is a cross-sectional view of the axial direction movement preventing means provided in the vicinity of the external operation portion side opening of the position sensor probe and its insertion channel.
FIG. 11 is a cross-sectional view showing another embodiment of the coaxial direction movement preventing means.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Ultrasonic endoscope 11 In-vivo insertion part 12 Extracorporeal operation part 13 Ultrasonic probe 15 Ultrasonic diagnostic apparatus 16 Ultrasonic connector 17 Light guide connector 18 Microcomputer 19 Display apparatus 20 Position sensor (magnetic sensor)
20a signal line 20b elliptical cone or long cone tip 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 30 balloon suction channel 31 non-rotating hole (non-circular cross section) hole)
33 Forceps channel 34 Raising stand 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 (7)

Insertion part in the body;
It is used for an endoscope having an extracorporeal operation unit connected to the in-vivo insertion unit and operating the in-vivo insertion unit outside the body; and a channel connecting the passage on the in-vivo insertion unit side and the opening on the external operation unit side. An endoscope tip position detection device,
A position sensor probe that can be inserted into and removed from the external operation unit side opening in the channel;
A position sensor provided at the tip of the position sensor probe;
Relative rotation preventing means for preventing relative rotation of the distal end portion of the position sensor probe in the body insertion portion side passage;
A magnetic field generator for generating a magnetic field specific to the position, which is installed outside the body in a pair with the position sensor; and an output of the sensor in the magnetic field specific to the position generated by the magnetic field generator from the output of the position sensor. position sensor control device for outputting position information; has,
The relative rotation preventing means comprises a non-circular cross-sectional tip formed at the tip of the position sensor probe and a non-circular cross-sectional hole formed in the passage of the body insertion portion of the channel with which the non-circular cross-sectional tip engages. An endoscope distal end position detecting device characterized in that the endoscope is provided. The endoscope tip position detecting device according to claim 1 ,
The endoscope is an ultrasonic endoscope having an ultrasonic probe at the distal end of the insertion portion in the body, and the channel is a suction channel position detection device for an endoscope which is a suction channel connected to a balloon of the ultrasonic probe. The endoscope tip position detecting device according to claim 1 ,
Channel is a forceps channel with elevator in the body insertion portion side opening, non-circular cross-section holes of the relative rotation preventing means formed on the elevator, in a groove portion in which the non-circular cross-section distal portion is engaged tip position detecting device is an endoscope. In the endoscope front-end | tip part position detection apparatus of any one of Claim 1 thru | or 3 ,
An endoscope distal end position detection device in which an axial movement preventing means for blocking an axial movement of an inserted position sensor probe is provided in an opening of the channel on the external operation unit side. In the endoscope front-end | tip part position detection apparatus of Claim 4 ,
The axial movement prevention means includes a cylindrical screw cap that is screwed into the opening on the external operation unit side, and an O-ring that deforms and elastically contacts the outer circumferential surface of the position sensor probe when the cylindrical screw cap is tightened. An endoscope distal-end position detecting device. In the endoscope front-end | tip part position detection apparatus of Claim 4 ,
The axial direction movement preventing means includes a cylindrical sliding cap supported so as to be axially movable in the opening on the external operation unit side, a cylindrical screwing cap screwed into the cylindrical sliding cap, and the cylindrical shape An internal view having an O-ring that deforms when the screw cap is tightened and elastically contacts the outer surface of the position sensor probe, and a spring means that biases the cylindrical sliding cap in a direction approaching the external operation portion side opening. Mirror tip position detection device. In the endoscope front-end | tip part position detection apparatus of any one of Claim 1 thru | or 6,
The distal end position detecting device of the endoscope, wherein the tip of the non-circular cross section of the relative rotation preventing means is an elliptical cone or long cone shaped tip with a rounded tip formed on the outer surface of the tip of the position sensor probe. .

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