JP3881525B2 - Flexible endoscope device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a flexible endoscope apparatus for observing the inside of a gastrointestinal tract or the like.
[0002]
[Prior art]
A flexible endoscope apparatus that is inserted into the gastrointestinal tract has a flexible insertion section that bends freely along the inner wall of the gastrointestinal tract or the like, and it is difficult to grasp the bending state of the insertion section from outside the body. It is.
[0003]
For this reason, it may be difficult to determine how the insertion portion is inserted into the gastrointestinal tract, or it may not be possible to determine how to perform the next insertion / removal operation.
[0004]
Therefore, if X-ray fluoroscopy is performed, the bending state of the insertion portion can be seen through. However, X-ray irradiation not only needs to be performed in a special room surrounded by a thick lead wall but also continuous X-rays. Fluoroscopy has the problem of radiation exposure and can have a very bad effect on the human body.
[0005]
Therefore, a magnetic field generating member is attached to the distal end of the insertion portion of the endoscope, the position of the magnetic field generating member is detected by a magnetic sensor arranged outside the human body, and the position of the distal end of the insertion portion inside the body is displayed on the monitor screen. There is a display (Japanese Patent No. 2959723).
[0006]
[Problems to be solved by the invention]
However, in the device that detects the position of the magnetic field generating member attached to the distal end of the insertion portion as described above, the bending state of the insertion portion is not known only by knowing the position of the distal end of the insertion portion. There are many cases where position detection cannot be continued in a good state because it is easily affected by noise.
[0007]
Accordingly, an object of the present invention is to provide a flexible endoscope apparatus that can continuously detect and display the bending state of a flexible insertion portion inserted into the body and changes thereof without radiation exposure. To do.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, the flexible endoscope apparatus of the present invention is a flexible endoscope apparatus in which a flexible built-in object such as a treatment instrument insertion channel is inserted and arranged in a flexible insertion portion. A plurality of flexible bending detection optical fibers having bending detection units whose light transmission amount changes in accordance with the angle of the angle, the bending detection units are arranged with their positions shifted in the axial direction of the built-in objects. The bending state of the built-in object at the position where each bending detection unit is located is detected from the light transmission amount of each bending detection optical fiber, and this is displayed on the monitor screen as the bending state of the insertion part. It is what you do.
[0009]
The bend detection unit may be one in which a light absorption unit is formed only in a predetermined direction in the middle of the bend detection optical fiber, and a plurality of bend detection optical fibers are attached to one flexible belt-like member. And the strip | belt-shaped member may adhere to the outer wall part of a built-in thing.
[0010]
A plurality of belt-like members may be fixed in a positional relationship rotated by 90 ° or 180 ° around the axis of the built-in object.
Further, the band-shaped member may be embedded in the wall portion of the built-in object, and the built-in object may be the treatment instrument insertion channel.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described with reference to the drawings.
FIG. 2 shows the overall configuration of the flexible endoscope apparatus, and a portion near the distal end of the insertion portion flexible tube 1 whose base end is connected to the operation portion 2 is an operation knob disposed in the operation portion 2. The curved portion 1a is bent in an arbitrary direction by rotating 3.
[0012]
A distal end main body 4 in which an observation window or the like is arranged is connected to the distal end of the insertion portion flexible tube 1, and an internal image captured by a solid-state imaging device (not shown) built in the distal end main body 4. The video signal of the mirror observation image is sent to the external video processor 7 through the video signal line 6 extending from the operation unit 2, and the endoscopic observation image is displayed on the observation image monitor 8.
[0013]
A treatment instrument insertion channel 5 (built-in) made of a flexible tube such as a tetrafluoroethylene resin tube for guiding the treatment instrument is inserted in the insertion section flexible tube 1 in the longitudinal direction over the entire length. Is arranged. 5a is a treatment tool insertion port, and 5b is a treatment tool protrusion.
[0014]
The treatment instrument insertion channel 5 is provided with a flexible synthetic resin belt-shaped member 20 on which a plurality of bending detection optical fibers 21 to be described later are arranged, and an end of the bending detection optical fiber 21 is an optical signal input / output. It is connected to the device 30.
[0015]
A signal output line of the optical signal input / output device 30 is connected to a computer 40, and an insertion state display monitor 41 for displaying an image using a cathode ray tube or a liquid crystal is connected to the computer 40.
[0016]
FIG. 1 shows the vicinity of the distal end body 4, the imaging surface of the solid-state imaging device 9 b is arranged at the projection position of the subject by the observation objective optical system 9 a, and the distal end of the treatment instrument insertion channel 5 is connected to the distal end body 4. It is fixed. In addition to this, an illumination light guide, an air / water supply pipe, and the like are also provided, but their illustration is omitted.
[0017]
Reference numeral 20 denotes a belt-like member in which a plurality of bending detection optical fibers 21 are arranged. As shown in FIG. 3 which shows a cross section perpendicular to the axis of the treatment instrument insertion channel 5, a pair of belt-like members 20 is a treatment tool. It is fixed to the outer wall surface of the insertion channel 5 by bonding or the like in a positional relationship rotated around the 180 ° axis.
[0018]
Note that the belt-like member 20 in this embodiment is disposed so as to be positioned in the upper direction (that is, the extending direction on the front side of the operation unit 2 shown in FIG. 2) and the lower side in the observation screen.
[0019]
Returning to FIG. 1, the plurality of bending detection optical fibers 21 are changed in order and smoothly bent back, and a bending detection unit 22 is formed in the vicinity of the bending back portion of each bending detection optical fiber 21.
[0020]
For example, about 5 to 30 bending detectors 22 are arranged over the entire length of the treatment instrument insertion channel 5 with an interval of, for example, several centimeters in the axial direction of the treatment instrument insertion channel 5.
[0021]
The bending detection unit 22 is formed by forming a light absorption part only in a predetermined direction (for example, upward or downward) in a middle part of the optical fiber 21 for bending detection in which a plastic core is covered with a clad. Since the amount of transmitted light changes corresponding to the degree to which the bending detection unit 22 is bent, the bending angle of the portion where the bending detection unit 22 is arranged can be detected by detecting this.
[0022]
The principle is as described in US Pat. No. 5,633,494, but will be briefly described below.
In FIG. 4, reference numerals 21a and 21b denote the core and clad of one bending detection optical fiber 21, and the bending detection unit 22 absorbs light that has passed through the core 21a without being totally reflected into the core 21a. The light absorbing portion 22a is formed in a specific direction (here, “downward”) of the clad 21b.
[0023]
Then, as shown in FIG. 5, when the bending detection optical fiber 21 is bent upward, the amount (area) of light that hits the light absorbing portion 22a out of the light passing through the core 21a increases. 21 light transmission amount decreases.
[0024]
On the contrary, as shown in FIG. 6, when the bending detection optical fiber 21 is bent downward, the amount (area) of light that hits the light absorbing portion 22a out of the light that passes through the core 21a decreases, so that bending detection is performed. The light transmission amount of the optical fiber 21 for use increases.
[0025]
Since the bending amount of the bending detection optical fiber 21 and the light transmission amount in the light absorption unit 22a are in a certain relationship (for example, a linear function relationship), the light transmission amount of the bending detection optical fiber 21 is detected. By this, it is possible to detect the bend angle of the bend detection unit 22 portion where the light absorption unit 22a is formed.
[0026]
Therefore, when a plurality of bending detection units 22 are arranged at intervals in the axial direction of the insertion portion flexible tube 1, the intervals between the bending detection units 22 and the detected bending angles of the respective bending detection units 22. Therefore, the bending state in the vertical direction of the entire insertion portion flexible tube 1 can be detected.
[0027]
Then, as schematically shown in FIG. 7, the second bend detection unit 22 'is arranged by shifting the position to the left and right with respect to the bend detection unit 22 as described above, and the two bend detection units 22, 22' are arranged. If there is no twist in the left and right direction, there is no difference in the amount of light transmission between the two, and the difference in the amount of light transmission between the two increases according to the amount of twist in the left and right direction.
[0028]
Therefore, by measuring the light transmission amount of each bending detection unit 22, 22 'and comparing the measured values, it is possible to detect the amount of twist in the left-right direction of the portion where the bending detection unit 22, 22' is arranged. it can. The three-dimensional bending state of the entire insertion portion flexible tube 1 can be detected by detecting and comparing the light transmission amount in each of the bending detection portions 22 and 22 '.
[0029]
This principle is as described in U.S. Pat. No. 6,127,672, etc. In the present invention, two bending detectors 22 and 22 'shifted to the left and right are arranged at 180.degree. Symmetrical positions of the treatment instrument insertion channel 5. It is what.
[0030]
FIG. 8 shows an optical signal input / output device 30, and light emitted from one light emitting diode 31 enters all the bending detection optical fibers 21. Reference numeral 32 denotes a drive circuit for the light emitting diode 31.
[0031]
A photodiode 33 for converting the light intensity level into a voltage level and outputting it is arranged for each exit end of each bending detection optical fiber 21, and the output from each photodiode 33 is amplified by an amplifier 34. Thereafter, the signal is converted into a digital signal by the analog / digital converter 35 and sent to the computer 40.
[0032]
When the insertion portion flexible tube 1 of the flexible endoscope apparatus configured as described above is inserted into the body, as shown in FIG. 9, the insertion portion guide member 50 has an entrance portion ( For example, the insertion portion flexible tube 1 is passed through the insertion portion guide member 50.
[0033]
Therefore, the insertion portion guide member 50 is provided with an encoder 60 for detecting the insertion length L of the insertion portion flexible tube 1 (that is, the passage length with respect to the insertion portion guide member 50) L, and an output signal from the encoder 60 is provided. Is sent to the computer 40.
[0034]
FIG. 10 shows an example of such an insertion portion guide member 50, in which a plurality of rotatable spherical members 51 urged by a compression coil spring 52 sandwich the insertion portion flexible tube 1 from the periphery. Is arranged.
[0035]
Accordingly, each spherical member 51 rotates in proportion to the insertion length L of the insertion portion flexible tube 1, and one of the spherical members 51 has a number of pulses proportional to the insertion length L of the insertion portion flexible tube 1. Are connected to each other.
[0036]
However, the insertion length L of the insertion portion flexible tube 1 in the insertion portion guide member 50 can be detected as described in, for example, JP-A-56-97429 and JP-A-60-217326. Light reflection from the surface of the flexible tube 1 may be used, and other means may be used.
[0037]
In this way, as shown in FIG. 9, the bending state detection signal and the insertion length detection signal of the insertion portion flexible tube 1 are input to the computer 40 from the optical signal input / output device 30 and the encoder 60 to guide the insertion portion. An image 50 ′ of the member 50 and an image 1 ′ showing the bending state of the insertion portion flexible tube 1 are displayed on the insertion state display monitor 41.
[0038]
At this time, the display position of the image 50 ′ of the insertion portion guide member 50 is fixed on the insertion state display monitor 41, and the image 1 ′ showing the bent state of the insertion portion flexible tube 1 at the portion inserted in front of it. Is changed in real time in accordance with the change of the insertion portion flexible tube 1, the state of the insertion portion flexible tube 1 in the body can be easily grasped.
[0039]
FIG. 11 is a flowchart showing an outline of the contents of software of the computer 40 for displaying such an image on the insertion state display monitor 41, and S in the figure indicates a step.
[0040]
In order to display an accurate bending state on the insertion state display monitor 41, first, before inserting the insertion portion flexible tube 1 into the body, the bending angle of the insertion portion flexible tube 1 of the endoscope actually used. It is preferable to perform calibration for comparing the detection signal obtained from the bending detection optical fiber 21 (S1).
[0041]
When the insertion portion flexible tube 1 is inserted into the body, a detection signal of the insertion length L of the insertion portion flexible tube 1 is input from the encoder 60 (S2), and the insertion portion guide member 50 is inserted into the insertion portion flexible tube 1. Which position is located is calculated (S3).
[0042]
Next, detection signals V ₁ ... From the respective bending detection optical fibers 21 are input (S 4), the detection signals V ₁ ... Are converted into bending angles based on the calibration data (S 5), and the respective bending detection units 22. From the bending angle of the portion, the position of each bending detection unit 22 on the three-dimensional coordinates is calculated (S6).
[0043]
The insertion state display monitor 41 does not move the position of the image 50 ′ of the insertion portion guide member 50, and smoothly displays the positions of the respective bending detection portions 22 to display the insertion portion flexible tube 1. The bent state is displayed (S7), and the process returns to S2 to repeat S2 to S7.
[0044]
When such display is performed, the display on the insertion state display monitor 41 is a two-dimensional image, but since three-dimensional data about the position of each bending detection unit 22 is obtained, not only “upward” but also “upward” The bending state of the insertion portion flexible tube 1 in an arbitrary rotation direction can be displayed.
[0045]
An insertion state display monitor corresponding to the amount of rotation around the axis of the insertion portion flexible tube 1 is detected from the spherical member 51 of the insertion portion guide member 50 and the rotation direction around the axis of the insertion portion flexible tube 1 is detected. If the display image 41 is rotated, the image can be displayed on the insertion state display monitor 41 as if the orientation of the patient's body is fixed.
[0046]
In addition, this invention is not limited to the said Example, For example, like 2nd Example shown by FIG. 12, a pair of strip | belt-shaped member 20 was rotated 90 degrees around the axis line of the treatment tool penetration channel 5. FIG. You may adhere to the positional relationship. In that case, if the belt-like member 20 is disposed at a position corresponding to either the vertical direction or the horizontal direction of the observation screen, signal processing is easy.
[0047]
Further, as in the third embodiment shown in FIG. 13, the belt-like member 20 may be fixed in a groove formed on the outer surface of the treatment instrument insertion channel 5 as shown in FIG. As in the fourth embodiment, the belt-like member 20 may be embedded between layers of the treatment instrument insertion channel formed by overlapping the inner and outer double (or triple) tubes 5i and 5o.
[0048]
The belt-like member 20 may be attached to a built-in object other than the treatment instrument insertion channel 5.
[0049]
【The invention's effect】
According to the present invention, the amount of transmitted light changes in accordance with the angle of the angle bent at the bend detection unit formed on the plurality of flexible bend detection optical fibers, and the amount of light transmitted by each bend detection optical fiber. Since the bending state of the built-in object is detected and displayed as the bending state of the insertion part at the position where each bending detection part is located, the bending state of the endoscope insertion part inserted into the body is continuously maintained without radiation exposure. Since the optical fiber for bending detection is attached to a built-in object inserted in the insertion portion, the optical fiber for bending detection is hard to be damaged, and the insertion property of the endoscope may be hindered. In addition, the detection optical fiber can be easily manufactured as a unit integrated with the built-in object.
[Brief description of the drawings]
FIG. 1 is a side sectional view of a distal end portion of an insertion portion of a flexible endoscope apparatus according to an embodiment of the present invention.
FIG. 2 is a schematic view of the overall configuration of a flexible endoscope apparatus according to an embodiment of the present invention.
FIG. 3 is a cross-sectional view in a cross section perpendicular to the axis of the treatment instrument insertion channel of the embodiment of the present invention.
FIG. 4 is a schematic cross-sectional view of a bending detection portion of a bending detection optical fiber used in an embodiment of the present invention.
FIG. 5 is a schematic cross-sectional view showing a bent state of a bending detection portion of a bending detection optical fiber used in an embodiment of the present invention.
FIG. 6 is a schematic cross-sectional view of a state in which a bend detection unit of a bend detection optical fiber used in an embodiment of the present invention is bent in a reverse direction.
FIG. 7 is a schematic diagram for explaining the principle of detecting a three-dimensional bending state using a bending detection optical fiber used in an embodiment of the present invention.
FIG. 8 is a circuit diagram of an optical signal input / output device according to an embodiment of the present invention.
FIG. 9 is a schematic diagram showing an overall configuration of a usage state of the flexible endoscope apparatus according to the embodiment of the present invention.
FIG. 10 is a front sectional view of the insertion portion guide member according to the embodiment of the present invention.
FIG. 11 is a flowchart schematically showing the contents of software of a computer according to an embodiment of the present invention.
FIG. 12 is a cross-sectional view in a cross section perpendicular to the axis of the treatment instrument insertion channel of the second embodiment of the present invention.
FIG. 13 is a cross-sectional view in a cross section perpendicular to the axis of the treatment instrument insertion channel of the third embodiment of the present invention.
FIG. 14 is a cross-sectional view in a cross section perpendicular to the axis of a treatment instrument insertion channel according to a fourth embodiment of the present invention.
[Explanation of symbols]
1 Insertion section flexible tube (insertion section)
1 'Inserted portion Flexible tube image 5 Treatment instrument insertion channel (built-in)
20 Band-shaped member 21 Optical fiber for bending detection 22 Bending detection unit 30 Optical signal input / output device 40 Computer 41 Insertion state display monitor (monitor screen)
50 Inserting portion guide member 50 ′ Inserting portion guide member image 60 Encoder

Claims (4)

A flexible endoscope device in which a flexible built-in object such as a treatment instrument insertion channel is inserted and arranged in a flexible insertion portion,
A plurality of flexible bend detection optical fibers having bend detection units whose light transmission amount changes in accordance with the angle of the bent angle, and the bend detection units are shifted in the axial direction of the built-in object. Adhering to the built-in objects as arranged,
By detecting the bending state of the internal object in the portion detection unit bending each of the light transmission amount of each bending detection optical fiber is located, which it was possible to display on the monitor screen as the flexion of the insertion portion In
A flexible endoscope apparatus, wherein the plurality of bending detection optical fibers are attached to one flexible belt-like member, and the belt-like member is embedded in a wall portion of the built-in object . The flexible endoscope apparatus according to claim 1, wherein the bend detection unit is configured such that a light absorption unit is formed only in a predetermined direction in the middle of the bend detection optical fiber. The flexible endoscope apparatus according to claim 1 or 2 , wherein a plurality of the band-like members are fixed in a positional relationship rotated by 90 ° or 180 ° around an axis of the built-in object. 4. The flexible endoscope apparatus according to claim 1, wherein the built-in object is the treatment instrument insertion channel.

Images