JP5780517B2 - Puncture needle insertion device - Google Patents

Description

  The present invention relates to a puncture needle insertion device for inserting a biopsy, drug solution injection, trocar puncture in endoscopic surgery, and other needle-like instruments into living tissue.

  Medical practices using puncture needles are various, such as injection to administer medicinal solution, biopsy to take a sample of diseased tissue, blood collection to collect blood, trocar puncture to open a hole to introduce surgical instrument in endoscopic surgery . Since damage to normal tissue due to puncture is limited to the puncture route, it is a very minimally invasive surgical treatment and diagnostic action, and since only a puncture needle is used, it is simple and can reduce surgical costs.

However, there are many difficulties in safely and accurately reaching the puncture needle to the target biological tissue, and one of them is a problem of determining whether the tip of the puncture needle has correctly reached the target biological tissue.
Taking epidural anesthesia as an example, it must pass through several layers of biological tissues such as skin, muscle, and ligaments, and puncture must be stopped before the dura mater. At this time, since the cutting force applied to the tip of the puncture needle changes every time it reaches the living tissue having different hardness, the skilled operator relies on this to determine which living tissue the tip of the puncture needle has reached. Judgment. However, since the frictional force generated between the side surface of the puncture needle and the biological tissue increases as the puncture becomes deeper, it becomes difficult to perceive the change in the cutting force applied to the tip of the puncture needle at the end of the puncture needle.

  On the other hand, in the following Patent Document 1, each of the double needles provided with a hollow or solid needle part and an outer cylinder part that covers all or part of the side surface and can move independently of the needle part. A puncture needle insertion device provided with a load meter has been proposed. The cutting force applied to the tip of the puncture needle by this puncture needle insertion device is applied to the center needle portion, and the frictional force generated between the side surface of the puncture needle and the biological tissue is applied to the outer cylinder portion. The penetration of the living tissue can be determined by the change in the value of the load meter provided in the needle part.

JP 2004-81852 A

  However, in Patent Document 1 described above, the cutting force is measured by a load meter, and the change is determined by signal processing such as state determination using a threshold value. However, the hardness of the biological tissue varies depending on the patient. It is difficult to determine the puncture state with a uniform algorithm and parameters. In general, in a medical practice using a puncture needle, a skilled operator perceives not only penetration of living tissue but also contact with a foreign body due to various cutting force changes when puncturing the puncture needle. Since the needle is delicately operated, if the uniform judgment is made by signal processing of the change in the cutting force, there is a possibility that various information about the change in the cutting force may not be transmitted to the operator.

  Therefore, the inventors know in Japanese Patent Application No. 2010-9248 the biological tissue to which the tip of the puncture needle has reached when the surgeon inserts the puncture needle into a site where biological tissues of different hardness form layers. By separating the cutting force applied to the tip of the puncture needle and the frictional force generated between the side surface of the puncture needle and the living tissue, the operator can remove the living tissue intended for the end of the puncture needle. When it is possible to accurately detect that it has reached the target, and to safely puncture the target biological tissue regardless of the skill level of the operator, and to operate the puncture needle by remote control such as a robot hand However, a puncture needle insertion device has been proposed in which information on the end of the puncture needle reaching the target biological tissue can be accurately transmitted to the robot hand control system.

  In this puncture needle insertion device, a puncture provided with an inner cylinder part provided with a puncture needle at the tip and an outer cylinder part which covers at least a part of the side surface of the inner cylinder part and can move independently of the inner cylinder part A puncture needle insertion device for inserting a needle, and when inserting the puncture needle insertion device into a living body, an inner cylinder portion puncture input loaded against a cutting force acting on the inner cylinder portion; Separation means is provided for separating the outer cylinder part stab input that is loaded against the frictional force acting on the outer cylinder part.

As this separating means, a force corresponding to the inner cylinder part stab input is applied by a puncture operation force from an operator or a robot arm, and a force corresponding to the outer cylinder part stab input is applied to a linear actuator such as a motor. This is realized by being applied by the insertion driving force generated by.
More specifically, as shown in FIG. 1, the insertion operation force by the operator 4 is applied to the inner cylinder portion 1, and the insertion drive force by the linear actuator 6 is applied to the outer cylinder portion 2, The linear actuator is controlled by the control system shown in FIG. 2 so that the cylindrical portion 1 and the outer cylindrical portion 2 maintain a substantially constant relative position to cancel the external cylindrical portion stab input.
As a result, the surgeon can accurately detect that the end of the puncture needle has reached the target biological tissue, and safely inserts the target biological tissue regardless of the difference in the skill of the operator. It becomes possible.

The insertion driving force by such a linear actuator or the like cancels the force corresponding to the outer cylinder part stab input. For example, a sensor for detecting the relative position between the inner cylinder part and the outer cylinder part fails, When a linear actuator that applies insertion driving force to the cylinder or its control system breaks down, excessive insertion driving force against the operator's intention is generated in the outer tube portion 2, and smooth insertion operation is performed. It may be impossible.
For example, in FIG. 1, the sensor 12 that detects the relative position between the inner cylinder part and the outer cylinder part fails, and the outer cylinder part 2 regardless of the actual relative positions of the inner cylinder part 1 and the outer cylinder part 2. When the detection signal indicating that it is biased in the anti-piercing direction is continuously output to the inner cylinder portion 1, an excessive insertion driving force is output from the linear actuator 6 to the outer cylinder portion 2 without limit. Therefore, contrary to the surgeon's intention, only the outer tube portion 2 enters the living tissue, and in the worst case, there is a possibility of damaging blood vessels and important organs.

Further, for example, assuming that an external force unrelated to the puncturing operation is accidentally applied to either the inner tube portion 1 or the outer tube portion 2 during the puncture procedure, one of the forces greatly deviates from the other. In view of safety, it is not preferable to enter the living tissue. Furthermore, in the event of an emergency or trouble, the inner cylinder part 1 and the outer cylinder part 2 can be linked to ensure the same procedure as a normal puncture needle insertion device without being affected by the linear actuator 6 or the like. It is also necessary to do.
Therefore, an object of the present invention is to prepare for such a case, and by restricting the relative position between the inner tube portion 1 and the outer tube portion 2 within a predetermined range, the inner tube portion 1 and the outer tube portion 2 are excessively biased. By preventing this from happening, it is possible to promptly detect an abnormality to the surgeon and prompt a safety measure, and to ensure the same operation as a normal puncture needle insertion device in any situation.

In order to achieve the above object, the following technical means were taken in the puncture needle insertion device of the present invention. That is,
(1) and the cylindrical portion in having a puncture needle at the tip, covering at least a portion of the side surface of the inner cylinder part, piercing the puncture needle having a movable outer tubular portion independently of the inner cylinder part A puncture needle insertion device, wherein when inserting the puncture needle insertion device into a living body, an inner tube portion puncture input applied against a cutting force acting on the inner tube portion is applied by an operator. The outer cylinder part puncture input loaded against the friction force acting on the outer cylinder part is given by the puncture driving force from the puncture needle insertion assistance device, and the puncture needle insertion assistance device is so that the outer cylinder part and the inner cylinder portion to maintain a constant relative position, by feedback controlling the piercing driving force, separation for separating and the inner cylinder part barbs inputs, and said outer cylinder portion thorns input In the puncture needle insertion device provided with the means, when the relative position of the inner tube portion and the outer tube portion deviates more than a predetermined distance, A stop for limiting the relative position of the person is provided between the outer cylinder part and the inner cylinder part.

(2) The puncture needle insertion device described above, wherein a limit switch that is turned off when the stopper comes into contact with the inner wall of the outer cylinder part is provided, and the insertion drive that acts on the outer cylinder part The power was stopped.

(3) In the puncture needle insertion device described above, when the insertion driving force acting on the outer cylinder portion is stopped by the limit switch, the outer cylinder portion and the insertion assisting force are directly output. The electromagnetic clutch that disconnects the dynamic actuator was activated at the same time.

(4) In the puncture needle insertion device described above, when the insertion driving force acting on the outer cylinder portion is stopped by the limit switch, the pressure chamber of the pneumatic actuator that outputs the insertion assisting force The solenoid valve that releases the atmosphere was activated at the same time.

  According to the present invention, even when an abnormality occurs in the insertion assisting force feedback control system and the outer cylinder part is biased more than a predetermined distance from the inner cylinder part, the stopper provided on the inner cylinder part is Abutting against the inner wall can reliably prevent the relative positions of the two from deviating further, and the safety of the puncture operation can be greatly improved.

The figure which shows the structure of the conventional puncture needle insertion apparatus. The figure which shows the control system of the conventional puncture needle insertion apparatus. The figure which shows the structure of the puncture needle insertion apparatus of Example 1. FIG. The figure which shows the structure of the puncture needle insertion apparatus of Example 2. FIG. The figure which shows the action | operation of the limit switch of Example 2. FIG.

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

[Example 1]
FIG. 3 shows a state in which the puncture needle insertion device 3 according to the first embodiment of the present invention is inserted into the living tissue 5 by the operator 4 and the linear motion actuator 6.

The puncture needle insertion device 3 includes an inner cylinder portion 1 and an outer cylinder portion 2. The inner cylinder portion 1 has a puncture needle at the tip, and the outer cylinder portion 2 covers the whole except for the tip of the puncture needle. The inner cylinder part 1 and the outer cylinder part 2 are not fixed to each other. As will be described later, the positive direction stopper 29 and the negative direction stopper 30 provided on the inner cylinder part 1 are opposite to the outer cylinder part 2. The inner wall of the insertion direction can be moved independently as long as it is in contact with the inner wall of the insertion direction and stopped.
An inner cylinder part-outer cylinder part relative position measuring device 12 for measuring a relative position in the insertion direction of the inner cylinder part 1 and the outer cylinder part 2 is provided, and the outer cylinder part 2 is used as a puncture needle insertion assisting device. The linear motion actuator 6 is used, which is connected to the terminal end of the puncture needle and generates a positioning force in the insertion direction of the puncture needle insertion device 3. The operator 4 applies a puncture operation force to the puncture needle insertion device 3 with the operation handle 13 and inserts the puncture needle into the biological tissue 5, and then the puncture needle at the tip of the inner tube portion 1 is applied to the target biological tissue. To reach. The insertion operation force at that time is directly transmitted to the end of the inner cylinder portion 1.

  The linear actuator 6 is based on the measured value of the sensor 12 that detects the relative position between the inner cylinder part and the outer cylinder part by a control system using a computer or the like shown in FIG. The position of the terminal end of the outer tube portion 2 is feedback controlled so that the relative position between the portions is kept constant.

  The inner cylinder portion 1 is provided with a forward stop 29 so that a predetermined gap is formed with respect to the inner wall of the outer cylinder portion 2 in the anti-piercing direction. When the outer cylinder part 2 moves excessively in the insertion direction with respect to the inner cylinder part 1, the positive direction stopper 29 comes into contact with the inner wall of the outer cylinder part 2 in the anti-insertion direction.

(Function)
The operation of the control system will be described. Since the tip of the puncture needle insertion device 3 cuts the living tissue 5, the cutting force is applied to the inner cylinder portion 1. An inner cylinder portion stab input that resists cutting force is loaded at the end of the inner cylinder portion 1. The insertion operation force applied by the surgeon 4 resists this load. On the other hand, since the side surface of the puncture needle insertion device 3 is in contact with the living tissue 5, the frictional force is applied to the outer cylinder portion 2. The outer cylinder part 2 is loaded with an outer cylinder part stab input against the frictional force at the end of the outer cylinder part 2. The insertion driving force generated by the linear actuator 6 resists this load.

When the surgeon 4 pushes the inner cylinder part 1, the living tissue 5 is cut, and the inner cylinder part 1 protrudes from the outer cylinder part 2 by the pushed amount, and the relative position between the inner cylinder part 1 and the outer cylinder part 2. Changes. By performing feedback control so that the relative position does not change, the state in which the inner cylinder portion 1 is always covered with the outer cylinder portion 2 is maintained, and the frictional force is prevented from being applied to the inner cylinder portion 1. it can.
That is, the linear motion actuator 6 that drives the outer cylinder part 2 and its control system separate the inner cylinder part stab input loaded on the inner cylinder part 1 and the outer cylinder part stab input loaded on the outer cylinder part 2. The separating means is configured.

  When the operation is completed or when the tip of the puncture needle insertion device 3 is temporarily pulled back to correct the insertion route, the operator 4 applies the operation force to the inner tube portion 1 in the anti-insertion direction. In this case, the relative position between the inner tube portion 1 and the outer tube portion 2 is feedback-controlled, so that the friction force with the living tissue acting on the outer tube portion 2 is not affected. The outer cylinder portion 2 follows the inner cylinder portion 1 and can be pulled back smoothly.

  Thereby, the cutting force applied to the inner cylinder part 1 and the frictional force applied to the outer cylinder part 2 are separated, and the operator 4 can easily perceive the cutting force applied to the inner cylinder part 1. . As a result, the operator 4 can easily perceive the hardness of the living tissue reached by the tip of the puncture needle, and can be pulled back very smoothly.

On the other hand, when the feedback control system described above becomes abnormal, such as when the linear actuator 6 or the sensor 12 that detects the relative position between the inner cylinder part and the outer cylinder part fails, the inner cylinder part 1 and the outer cylinder part 2 Regardless of the relative position, there is a possibility that the linear motion actuator 6 continuously outputs a driving force to the outer tube portion 2 in the insertion direction or the anti-insertion direction.
For example, the sensor 12 that detects the relative position between the inner tube portion and the outer tube portion is not greatly affected by the relative position between the inner tube portion 1 and the outer tube portion 2, and the outer tube portion 2 is greatly displaced in the anti-insertion direction. When the detected value is continued, the linear motion actuator 6 tries to compensate for the deviation by driving the outer cylinder portion 2 in the insertion direction. However, at that time, the positive direction stopper 29 provided on the inner cylinder part 1 abuts against the inner wall of the outer cylinder part 2 in the anti-insertion direction, and prevents the outer cylinder part 2 from protruding further in the insertion direction. Can do. On the other hand, since the surgeon 4 is loaded with the driving force in the insertion direction of the outer tube portion 2 via the positive direction stopper 29, the surgeon 4 immediately notices an abnormality and the linear actuator 6 You can take measures such as turning off. This is the same even when an external force in the insertion direction unintended by the operator 4 is accidentally applied to the outer cylinder portion 2.

  As described above, it is possible to reliably prevent the outer tube portion 2 from entering the living tissue alone beyond the inner tube portion 1 and damaging blood vessels and important organs by simply providing the forward-direction stopper 29. However, in this embodiment, a negative direction stopper 30 is provided in the inner cylinder portion 1 so that a predetermined gap is formed with respect to the inner wall of the outer cylinder portion 2 in the insertion direction. The tool 30 comes into contact with the inner wall in the insertion direction of the outer cylinder part 2 when the outer cylinder part 2 moves excessively in the anti-insertion direction with respect to the inner cylinder part 1.

  That is, due to the abnormality of the sensor 12 that detects the relative position between the inner cylinder part and the outer cylinder part, the outer cylinder part 2 is largely displaced in the insertion direction regardless of the relative positions of the inner cylinder part 1 and the outer cylinder part 2. When the detected value is continued, the linear motion actuator 6 tries to compensate for the deviation by driving the outer cylinder portion 2 in the anti-piercing direction. However, in that case, the negative direction stopper 30 provided in the inner cylinder part 1 abuts against the inner wall of the outer cylinder part 2 in the insertion direction, and prevents further movement of the outer cylinder part 2 in the counter-insertion direction. Can do. At that time, since the driving force in the anti-piercing direction of the outer cylinder portion 2 is transmitted to the operator 4 via the negative direction stopper 30, the operator 4 immediately notices an abnormality and is reflective. In addition, it is possible to take measures such as increasing the operation force in the insertion direction applied to the inner cylinder portion 1 or turning off the linear actuator 6.

In order to enable the surgeon 4 to quickly turn off the linear actuator 6 against such an abnormality, a switch 14 that can turn off the linear actuator 6 is provided in the vicinity of the operation handle 13 or the like, in particular, the linear actuator 6 is only pressed when pressed. It is preferable that a switch 14 to be turned on is provided so that the operator 4 can turn off the linear actuator 6 by reflexively separating the switch 14 in the event of an abnormality.
Further, when the stopped linear motion actuator 6 becomes resistance of operation by the operator 4 via a driving force transmission mechanism (deceleration mechanism or the like) to the outer cylinder portion 2, in conjunction with this switch, If the electromagnetic clutch 28 or the like is operated so that the outer cylinder portion 2 is disconnected from the linear actuator 6, the insertion operation force loaded on the inner cylinder portion 1 by the operator 4 is directly passed through the negative direction stopper 30. Since it is transmitted to the outer cylinder part 2, it is possible to continue the operation with the same operation as a normal puncture needle insertion apparatus not provided with a puncture needle insertion assistance apparatus while suppressing the protruding amount of the outer cylinder part 2. It becomes possible.

  In addition, when performing the puncture needle pull-back operation, the pull-back operation force loaded on the inner tube portion 1 by the operator 4 is transmitted as it is to the outer tube portion 2 via the positive / negative direction stopper 29, so that the outer tube portion The puncture needle can be pulled back by the same operation as that of a normal puncture needle insertion device that does not include the puncture needle insertion assistance device while 2 is housed in the inner cylinder portion 1. When a pneumatic actuator is used as the direct acting actuator 6, an electromagnetic valve that relieves the compression chamber may be operated in conjunction with the switch operation.

[Example 2]
The second embodiment is provided when the forward stop 29 provided in the inner cylinder portion 1 abuts against the inner wall in the anti-insertion direction of the outer cylinder portion 2 or in the inner cylinder portion 1 at the time of abnormality as described above. The safety is further enhanced by automatically turning off the linear motion actuator in conjunction with the negative direction stopper 30 coming into contact with the inner wall of the outer cylinder portion 2 in the insertion direction.
FIG. 4 shows a state where the puncture needle insertion device 3 according to the second embodiment of the present invention is inserted into the living tissue 5 by the operator 4 and the linear motion actuator 6.

  In this embodiment, a positive direction limit switch 31 that is turned off by the positive direction stopper 29 when the positive direction stopper 29 comes close to the inner wall of the outer cylinder portion 2 in the insertion direction is provided on the inner wall of the outer cylinder portion. It has been. Similarly, a negative direction limit switch 32 that is turned off by the negative direction stopper 30 when the negative direction stopper 30 comes close to the inner wall of the outer cylinder portion 2 in the anti-piercing direction is provided.

  The positive direction limit switch 31 and the negative direction limit switch 32 are normally closed switches, and are respectively input to motor amplifiers that control the motors constituting the linear actuator 6 as shown in FIG. When the positive direction stopper 29 comes into contact with the inner wall of the outer cylinder part 2 and when the negative direction stopper 30 comes into contact with the inner wall of the outer cylinder part 2 in the opposite direction, the motor amplifier The motor is turned off and the motor constituting the linear motion actuator 6 is stopped.

  In this embodiment as well, if an electromagnetic clutch or an electromagnetic valve for separating the linear actuator 6 from the outer cylinder portion 2 is operated in conjunction with the positive direction limit switch 31 and the negative direction limit switch 32, the normal direction switch 31 is operated. It is possible to perform a puncture operation and a retraction operation by the same operation as the puncture needle insertion device.

In the above embodiment, the inner cylinder portion 1 is provided with the positive direction stopper 29 and the negative direction stopper 30 that come into contact with the inner wall of the outer cylinder portion 2 in the anti-insertion direction and the inner wall of the insertion direction. These stoppers are provided on the inner wall of the inner cylinder 1 and are brought into contact with a protrusion formed on the inner cylinder 1 so that the relative positions of the inner cylinder 1 and the outer cylinder 2 do not deviate more than a predetermined distance. Good. Moreover, although both the positive direction stopper 29 and the negative direction stopper 30 are provided, only one of them may be provided according to an abnormality occurrence mode.
Further, the positive limit switch 31 and the negative limit switch 32 are not limited to turning off the motor amplifier, but the detection value of the sensor 12 for detecting the relative position between the inner cylinder portion and the outer cylinder portion is set to zero, Alternatively, only the output from the amplifier to the linear actuator 6 may be turned off to enter a tamby state. Further, when the positive direction limit switch 31 and the negative direction limit switch 32 are switched from OFF to ON so that chattering in which the positive direction limit switch 31 and the negative direction limit switch 32 repeat ON and OFF does not occur, the linear motion actuator It is preferable to increase the output to 6 gradually or increase after a predetermined time.

  As described above, according to the present invention, biological tissues having different hardness, such as lumbar anesthesia, epidural anesthesia, biopsy, blood sampling, central artery puncture, joint puncture, and trocar puncture in endoscopic surgery, are layered. When an operator or the like inserts a puncture needle into a site where important tissue with different hardness exists around the puncture route, the relative position generated between the inner tube portion and the outer tube portion is kept constant. Thus, by performing feedback control of the insertion assisting force acting on the outer cylinder part, the inner cylinder part input and the outer cylinder part input are completely separated. Input operation can be performed smoothly. Even when an abnormality occurs in the insertion assisting force feedback control system and the outer cylinder part is displaced by a predetermined distance or more with respect to the inner cylinder part, the stopper provided in the inner cylinder part hits the inner wall of the outer cylinder part. In contact with each other, the relative position between the two is surely limited, so that it can be expected to be widely used as a puncture needle insertion device with extremely high safety.

DESCRIPTION OF SYMBOLS 1 Inner cylinder part 2 Outer cylinder part 3 Puncture needle insertion apparatus 4 Operator 5 Biological tissue 6 Puncture needle insertion auxiliary apparatus 12 Inner cylinder part outer cylinder part relative position measurement apparatus 13 Operation handle 14 Switch 28 Clutch 29 Positive direction Stopper 30 Negative direction stop 31 Positive direction limit switch 32 Negative direction limit switch

Claims (4)

A puncture needle puncture needle for inserting a puncture needle having an inner cylinder portion provided with a puncture needle at the tip and an outer cylinder portion which covers at least a part of the side surface of the inner cylinder portion and can move independently of the inner cylinder portion Input device,
When the puncture needle insertion device is inserted into the living body, the inner cylinder part puncture input applied against the cutting force acting on the inner cylinder part is given by an operator and acts on the outer cylinder part. The external cylinder portion puncture input loaded against the frictional force is given by the puncture driving force from the puncture needle insertion assist device,
The puncture Haritoge input auxiliary device, so that the outer cylinder part and the inner cylinder part to maintain a constant relative position, by feedback controlling the piercing driving force, and the inner cylinder part barbs input, the In the puncture needle insertion device provided with a separating means for separating the outer tube portion puncture input,
A stopper is provided between the inner cylinder part and the outer cylinder part to restrict the relative position between the inner cylinder part and the outer cylinder part when the relative position between the inner cylinder part and the outer cylinder part deviates more than a predetermined distance. Puncture needle insertion device. The puncture needle insertion device according to claim 1,
When the relative position of the inner cylinder part and the outer cylinder part is limited by the stopper, a limit switch that operates in conjunction with this is provided to stop the insertion driving force acting on the outer cylinder part The puncture needle insertion device according to claim 1, wherein When the insertion driving force acting on the outer cylinder portion is stopped by the limit switch, an electromagnetic clutch that disconnects the outer cylinder portion and the linear actuator that outputs the insertion driving force is simultaneously operated. The puncture needle insertion device according to claim 1 or 2. When the insertion driving force acting on the outer cylinder portion is stopped by the limit switch, an electromagnetic valve that releases the pressure chamber of the pneumatic actuator that outputs the insertion driving force to the atmosphere is operated simultaneously. The puncture needle insertion device according to claim 1 or 2.

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