JPH07204278A - Tactile sensor and body inserting medical instrument having the sensor - Google Patents
Tactile sensor and body inserting medical instrument having the sensorInfo
- Publication number
- JPH07204278A JPH07204278A JP6003134A JP313494A JPH07204278A JP H07204278 A JPH07204278 A JP H07204278A JP 6003134 A JP6003134 A JP 6003134A JP 313494 A JP313494 A JP 313494A JP H07204278 A JPH07204278 A JP H07204278A
- Authority
- JP
- Japan
- Prior art keywords
- tactile sensor
- pressure
- slit
- conductive material
- sensitive conductive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000004020 conductor Substances 0.000 claims abstract description 31
- 239000000463 material Substances 0.000 claims abstract description 31
- 238000003780 insertion Methods 0.000 claims description 26
- 230000037431 insertion Effects 0.000 claims description 26
- 230000002093 peripheral effect Effects 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 abstract 1
- 101700004678 SLIT3 Proteins 0.000 description 19
- 102100027339 Slit homolog 3 protein Human genes 0.000 description 19
- 238000000034 method Methods 0.000 description 18
- 210000004204 blood vessel Anatomy 0.000 description 13
- 238000001182 laser chemical vapour deposition Methods 0.000 description 7
- 238000005530 etching Methods 0.000 description 5
- 229920001971 elastomer Polymers 0.000 description 4
- 229920002635 polyurethane Polymers 0.000 description 4
- 239000004814 polyurethane Substances 0.000 description 4
- 238000007772 electroless plating Methods 0.000 description 3
- 229920002379 silicone rubber Polymers 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- VEXZGXHMUGYJMC-UHFFFAOYSA-N Hydrochloric acid Chemical compound Cl VEXZGXHMUGYJMC-UHFFFAOYSA-N 0.000 description 2
- GRYLNZFGIOXLOG-UHFFFAOYSA-N Nitric acid Chemical compound O[N+]([O-])=O GRYLNZFGIOXLOG-UHFFFAOYSA-N 0.000 description 2
- 208000007536 Thrombosis Diseases 0.000 description 2
- 238000002679 ablation Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 229910017604 nitric acid Inorganic materials 0.000 description 2
- 238000007500 overflow downdraw method Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- -1 polyethylene Polymers 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 239000004698 Polyethylene Substances 0.000 description 1
- 239000004642 Polyimide Substances 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 229910052804 chromium Inorganic materials 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000002249 digestive system Anatomy 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000010884 ion-beam technique Methods 0.000 description 1
- 239000004816 latex Substances 0.000 description 1
- 229920000126 latex Polymers 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000873 masking effect Effects 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 229910052763 palladium Inorganic materials 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 229920000573 polyethylene Polymers 0.000 description 1
- 229920000139 polyethylene terephthalate Polymers 0.000 description 1
- 239000005020 polyethylene terephthalate Substances 0.000 description 1
- 229920001721 polyimide Polymers 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 229920000098 polyolefin Polymers 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 239000004945 silicone rubber Substances 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 238000007740 vapor deposition Methods 0.000 description 1
- 230000004382 visual function Effects 0.000 description 1
Landscapes
- Endoscopes (AREA)
- Media Introduction/Drainage Providing Device (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、触覚センサおよびそれ
を取着してなる体内挿入用医療器具に関し、詳しくは、
他物体や障害物との僅かな接触をも感知できる触覚セン
サおよびその触覚センサをカテーテルや細管用ファイバ
スコープ等の体内挿入用医療器具の先端部に取着した安
全に体内の目的個所に医療器具を挿入することが可能な
体内挿入用医療器具に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tactile sensor and a medical instrument having the tactile sensor attached thereto for insertion into a body.
A tactile sensor that can detect even slight contact with other objects and obstacles, and the tactile sensor is attached to the tip of a medical instrument for insertion into the body such as a catheter or a fiberscope for a thin tube. The invention relates to a medical instrument for insertion into a body.
【０００２】[0002]
【従来の技術】現在、カテーテル等の体内挿入用医療器
具には、視覚機能や作業機能など様々な機能が付与され
ているが、先端部に他物体との接触を感知する機能を付
与したものはないので、例えばカテーテルを血管内に挿
入するとき、先端部に加わる荷重は、人間の手の感覚に
頼っているのが現状である。2. Description of the Related Art Currently, medical devices for insertion into the body such as catheters are provided with various functions such as visual function and working function, but those provided with a function of sensing contact with other objects at the tip thereof. Therefore, for example, when a catheter is inserted into a blood vessel, the load applied to the tip end depends on the sense of the human hand.
【０００３】[0003]
【発明が解決しようとする課題】このためカテーテルの
先端部で血管を穿孔したり、損傷を与える等の問題が発
生している。本発明の目的は、上記問題を解消し、カテ
ーテル等の体内挿入用医療器具を体内に挿入するとき、
僅かな衝撃をも感知でき、血管内壁を突き破ったり、損
傷を与えることが防止できる触覚センサを提供すること
である。また、本発明の他の目的は、血管内壁を突き破
ったり、損傷を与えることなく安全に体内の目的個所に
挿入することが可能な体内挿入用医療器具を提供するこ
とである。For this reason, problems such as perforation and damage of blood vessels occur at the tip of the catheter. The object of the present invention is to eliminate the above problems, when inserting a medical device for insertion into the body such as a catheter into the body,
It is an object of the present invention to provide a tactile sensor capable of sensing even a slight impact and preventing the inner wall of a blood vessel from being pierced or damaged. Another object of the present invention is to provide a medical instrument for insertion into a body, which can be safely inserted into a target site in the body without breaking through the inner wall of a blood vessel or damaging it.
【０００４】[0004]
【課題を解決するための手段】上記問題を解消するた
め、本発明者等は触覚センサの構成を検討した結果、感
圧導電性材料をセンサ部に用い、接触抵抗を受けたとき
に該感圧導電性材料の抵抗が変化することを利用するこ
とによって、接触抵抗を感知できることを見出し本発明
を完成した。In order to solve the above problems, the inventors of the present invention have studied the structure of a tactile sensor, and as a result, when a pressure-sensitive conductive material is used for the sensor section and the contact resistance is applied to the sensor, The inventors have completed the present invention by finding that the contact resistance can be sensed by utilizing the fact that the resistance of the piezoelectric material changes.
【０００５】即ち、本発明の触覚センサは、軟質管状材
の先端縁に形成される少なくとも１個の突起部と、該突
起部から垂直方向近傍の管状材側壁部に周方向に沿って
形成されるスリットと、そのスリット内に充填される感
圧導電性材料と、上記スリット内に設けられ感圧導電性
材料を厚み方向に挟む一対の電極と、この電極に接続さ
れて上記感圧導電性材料を導通する配線部と、この配線
部に接続される抵抗測定装置とを備え、上記突起部が受
ける外力によって感圧導電性材料の抵抗変化を感知する
構成としたことを特徴とするものである。That is, the tactile sensor of the present invention is formed along at least one projection formed on the tip edge of the soft tubular material and the tubular material side wall portion in the vicinity of the vertical direction from the projection along the circumferential direction. A slit, a pressure-sensitive conductive material filled in the slit, a pair of electrodes provided in the slit and sandwiching the pressure-sensitive conductive material in the thickness direction, and the pressure-sensitive conductive material connected to the electrodes. A wiring part that conducts material and a resistance measuring device connected to the wiring part are provided, and the resistance change of the pressure-sensitive conductive material is sensed by an external force received by the protrusion. is there.
【０００６】また、本発明の体内挿入用医療器具は、体
内挿入用医療器具の先端部に上記構成の触覚センサを取
着してなるものである。Further, the medical instrument for insertion into the body of the present invention is such that the tactile sensor having the above-mentioned structure is attached to the distal end portion of the medical instrument for insertion into the body.
【０００７】図１は、触覚センサを示す側面図である。
同図において、Ｓは触覚センサで、軟質管状材１の先端
縁には複数の突起部２が形成されている。該突起部から
垂直方向近傍の管状材側壁部には、周方向に沿ってスリ
ット３が形成されている。このスリット３の内部には、
感圧導電性材４が充填され、該感圧導電性材４を厚み方
向に挟む一対の電極７ａ，７ｂが設けられている。この
電極には、配線５が接続され、その配線回路中に電源１
０および電流計６と電圧計１１からなる抵抗測定装置が
接続されている。FIG. 1 is a side view showing a tactile sensor.
In the figure, S is a tactile sensor, and a plurality of projections 2 are formed on the tip edge of the soft tubular material 1. A slit 3 is formed along the circumferential direction on the tubular material side wall portion in the vicinity of the protrusion in the vertical direction. Inside this slit 3,
The pressure-sensitive conductive material 4 is filled, and a pair of electrodes 7a and 7b sandwiching the pressure-sensitive conductive material 4 in the thickness direction is provided. A wiring 5 is connected to this electrode, and a power supply 1 is connected to the wiring circuit.
A resistance measuring device including 0, ammeter 6 and voltmeter 11 is connected.
【０００８】上記軟質管状材１は、僅かな外力を受けて
もその先端縁部が変形する材質からなり、このような材
料としては、通常、軟質材料として知られている軟質ポ
リウレタン、軟質ポリイミド、軟質シリコンゴム等が例
示される。The soft tubular material 1 is made of a material whose tip edge is deformed even when a slight external force is applied. As such a material, soft polyurethane, soft polyimide, which is generally known as a soft material, An example is soft silicone rubber.
【０００９】また、上記触覚センサＳは、通常、体内挿
入用医療器具の先端部に取着して使用されるので、上記
軟質管状材１は、体内挿入用医療器具の外径に略等しい
内径を有するものが使用され、またその厚さは、５０〜
２００μｍ程度であることが好ましい。管状材１の厚さ
が上記範囲内であれば、突起部２にて外力を十分に受け
止めることができる。また、スリット３が形成しやすい
上に、体内挿入用医療器具の径が必要以上に大きくなる
ことがない。Further, since the tactile sensor S is usually used by being attached to the distal end of a medical instrument for insertion into the body, the soft tubular material 1 has an inner diameter substantially equal to the outer diameter of the medical instrument for insertion into the body. Is used, and the thickness is 50 to
It is preferably about 200 μm. When the thickness of the tubular member 1 is within the above range, the protrusion 2 can sufficiently receive the external force. Further, the slit 3 is easily formed, and the diameter of the medical instrument for insertion into the body does not become larger than necessary.
【００１０】触覚センサＳの突起部２は、触覚センサＳ
の接触圧力担体として作用するものである。この突起部
２の大きさ、形状等は特定されるものではなく、軟質管
状材１にかかる荷重（外力）を受け止めることができる
ものであればよい。The protrusion 2 of the tactile sensor S has a tactile sensor S.
Of the contact pressure carrier. The size, shape, and the like of the protrusion 2 are not specified, and may be any as long as the load (external force) applied to the soft tubular material 1 can be received.
【００１１】スリット３は、上記各突起部２から垂直方
向近傍の管状材側壁部に周方向に沿ってそれぞれ形成さ
れる。このスリット３を形成することによって、突起部
２との間に梁状の部分（ビーム）が形成される。The slits 3 are formed in the tubular material side wall portion in the vicinity of the vertical direction from the respective projections 2 along the circumferential direction. By forming the slit 3, a beam-shaped portion (beam) is formed between the slit 3 and the protrusion 2.
【００１２】上記構成によって、突起部２にかかる外力
によりビームが容易に変形するようになる。なお、図１
に示すように、スリット３は管状材１の周方向に沿って
長く形成されていることが好ましく、さらには、該スリ
ット３の中央部が突起部２の中央から垂直の位置にある
ように形成されていることが好ましい。また、上記スリ
ット３の幅や長さ、あるいはビーム厚さは、軟質管状材
１の大きさ、厚さ、弾性率等に応じて決定される。With the above structure, the beam is easily deformed by the external force applied to the protrusion 2. Note that FIG.
As shown in FIG. 3, the slit 3 is preferably formed to be long along the circumferential direction of the tubular material 1, and further, the central portion of the slit 3 is formed so as to be located vertically from the center of the protrusion 2. Is preferably provided. Further, the width and length of the slit 3 or the beam thickness is determined according to the size, thickness, elastic modulus and the like of the soft tubular material 1.
【００１３】上記スリット３は管状材１の側壁部を貫通
していてもよく、またその外壁部または内壁部において
閉鎖されていてもよい。本発明では、このスリット３の
内部に感圧導電性材４を充填するので、外壁部または内
壁部において閉鎖されていることが好ましく、特に、本
発明の体内挿入用医療器具がカテーテルである場合、こ
れを血管内へ挿入すると、上記間隙部内部に血栓ができ
る可能性があるが、スリット３が管状材１の外壁におい
て閉鎖されていると、この血栓の形成が防止されるので
好ましい。この場合、スリット３を閉鎖する部分は、前
記ビームの撓みを妨げないよう、十分な柔軟性を有する
ことが好ましい。このようなスリット３の閉鎖部分の態
様としては、管状材１の外壁または内壁と連続して形成
された態様や、ポリエチレン、ポリエチレンテレフタレ
ート等のポリオレフィン、ポリウレタン、ナイロン等の
ポリマーやラテックス等のゴム等よりなるフィルムでス
リット３の外側または内側が覆われた態様等が可能であ
る。なお該閉鎖部分の厚さは１０〜２０μｍ程度が適当
である。The slit 3 may penetrate the side wall portion of the tubular material 1 or may be closed at the outer wall portion or the inner wall portion thereof. In the present invention, since the pressure-sensitive conductive material 4 is filled in the slit 3, it is preferable that the slit 3 is closed at the outer wall portion or the inner wall portion. Particularly, when the medical device for insertion into the body of the present invention is a catheter. When this is inserted into a blood vessel, thrombus may be formed inside the gap portion, but it is preferable that the slit 3 is closed on the outer wall of the tubular member 1 because formation of this thrombus is prevented. In this case, the portion that closes the slit 3 preferably has sufficient flexibility so as not to hinder the bending of the beam. Examples of the form of the closed portion of the slit 3 include a form formed continuously with the outer wall or the inner wall of the tubular material 1, a polyolefin such as polyethylene and polyethylene terephthalate, a polymer such as polyurethane and nylon, and a rubber such as latex. A mode in which the outer side or the inner side of the slit 3 is covered with a film made of The thickness of the closed portion is preferably about 10 to 20 μm.
【００１４】上記突起部２およびスリット３は、軟質管
状材１の先端部を、エキシマレーザを用いたアブレーシ
ョン、集束イオンビーム（ＦＩＢ）等の方法によって加
工することにより形成できる。なお、上記突起部２は、
別に作製したものを管状材１の先端部に固定するように
してもよい。The protrusion 2 and the slit 3 can be formed by processing the tip of the soft tubular material 1 by a method such as ablation using an excimer laser or a focused ion beam (FIB). In addition, the protrusion 2 is
A separately manufactured product may be fixed to the tip of the tubular material 1.
【００１５】上記スリットの内部に充填される感圧導電
性材料としては、圧力を受けることによりその抵抗値が
変化するものであればよく、例えばシリコンゴムを母材
として、その中に金属やカーボン等の導電性粒子を分散
させたものが好適に使用できる。上記感圧導電性材料の
充填には、マイクロシリンジ、マイクロディスペンサに
よる注入等が使用できる。The pressure-sensitive conductive material filled in the slit may be any material whose resistance value changes when pressure is applied. For example, silicon rubber is used as a base material and metal or carbon is contained therein. Those in which conductive particles such as are dispersed can be preferably used. For filling the pressure-sensitive conductive material, injection with a microsyringe, a microdispenser, or the like can be used.
【００１６】上記突起部２、スリット３および感圧導電
性材４で構成される、図１のＴで示される触覚スイッチ
ユニットは、管状材１の周方向に沿って略等間隔となる
ように２〜６ユニット形成されていることが好ましい。
上記ユニット数が５以上であれば、管状材１の先端にか
かる外力が効率よく感知でき、一方、３以下であれば、
その形成が容易である。The tactile switch unit shown by T in FIG. 1, which is composed of the projection 2, the slit 3 and the pressure-sensitive conductive material 4, is arranged so as to be substantially equidistant along the circumferential direction of the tubular material 1. It is preferable that 2 to 6 units are formed.
If the number of units is 5 or more, the external force applied to the tip of the tubular material 1 can be sensed efficiently, while if it is 3 or less,
Its formation is easy.
【００１７】上記スリット３の内面部には、上記感圧導
電性材料を厚み方向に挟むように１対の電極７ａ，７ｂ
が設けられ、好ましくはスリット３の内面部の中央にそ
れぞれ設けられる。A pair of electrodes 7a and 7b are formed on the inner surface of the slit 3 so as to sandwich the pressure-sensitive conductive material in the thickness direction.
Are preferably provided in the center of the inner surface of the slit 3.
【００１８】上記電極７ａ，７ｂの形状としては特に限
定されない。また、上記電極７ａ，７ｂの構成材として
は、Ｎｉ，Ｃｒ，Ｐｄ等が例示される。The shapes of the electrodes 7a and 7b are not particularly limited. Moreover, Ni, Cr, Pd, etc. are illustrated as a constituent material of said electrode 7a, 7b.
【００１９】上記電極７ａ，７ｂの形成方法としては特
に限定されないが、例えば無電解メッキ法、斜め蒸着
法、レーザＣＶＤ、選択エッチング等の方法によて形成
される。また、配線部の形成方法も特に限定されない
が、例えば、次に示す方法によって形成することが好ま
しい。The method for forming the electrodes 7a, 7b is not particularly limited, but the electrodes 7a, 7b are formed by a method such as an electroless plating method, an oblique vapor deposition method, laser CVD, or selective etching. The method of forming the wiring portion is not particularly limited, but it is preferable to form the wiring portion by the following method, for example.
【００２０】図２は、上記配線部の形成方法の一例を説
明する模式図である。図２（２）に示すように、軟質管
状体の周面に無電解メッキ法により、導電材料（Ｎｉ）
をメッキする。ついで、図２（３）に示すように、Ｃｒ
（ＣＯ）6 ガス雰囲気中で、レーザＣＶＤ法によって上
記導電材料（Ｎｉ）層上にＣｒを堆積して、図２（４）
に示す配線部を形成する。ついで、図２（５）に示すよ
うに、Ｃｒが堆積した以外の導電材料（Ｎｉ）を希硝酸
でエッチング除去する。ついで、図２（６）に示すよう
に、上記配線部のＣｒを希塩酸でエッチング除去し、Ｎ
ｉ配線部を形成する。なお、上記の方法では、配線部の
形成に２段階のプロセスを用いたが、レーザＣＶＤ用の
原料を選択することによって、導電性の金属配線を直接
堆積することもできる。FIG. 2 is a schematic view for explaining an example of the method of forming the wiring portion. As shown in FIG. 2 (2), a conductive material (Ni) is formed on the peripheral surface of the soft tubular body by electroless plating.
To plate. Then, as shown in FIG.
In a (CO) 6 gas atmosphere, Cr is deposited on the above-mentioned conductive material (Ni) layer by a laser CVD method, as shown in FIG.
The wiring part shown in is formed. Then, as shown in FIG. 2 (5), the conductive material (Ni) other than the Cr deposited is removed by etching with dilute nitric acid. Then, as shown in FIG. 2 (6), Cr in the wiring portion is removed by etching with dilute hydrochloric acid, and N is removed.
The i wiring portion is formed. In the above method, the two-step process is used for forming the wiring portion, but conductive metal wiring can be directly deposited by selecting a raw material for laser CVD.
【００２１】触覚センサＳは、上記配線部に抵抗を測定
できる装置、例えば電流計、電圧計からなる抵抗測定装
置等を接続し、電源に接続して使用される。The tactile sensor S is used by connecting a device capable of measuring resistance to the wiring portion, for example, a resistance measuring device including an ammeter and a voltmeter, and connecting it to a power source.
【００２２】上記触覚センサＳによれば、触覚センサＳ
が血管等に接触して、突起部２に外力が加わると、感圧
導電性材が圧縮変形されて抵抗が変化するようになり、
電流計６、電圧計１１の数値が変化するようになる。し
たがって、上記電流計６、電圧計１１の数値変化を観
察、測定することによって、触覚センサＳが受ける僅か
な外力をも感知できるようになる。また、感圧導電性材
は、押圧される強さに応じてその抵抗が低下するので、
抵抗値変化の大きさによって、触覚センサＳの変形量、
即ち障害物等により受ける圧力の大きさが把握できるよ
うになる。According to the tactile sensor S, the tactile sensor S
When is contacted with a blood vessel or the like and an external force is applied to the protrusion 2, the pressure-sensitive conductive material is compressed and deformed so that the resistance changes,
The values of the ammeter 6 and the voltmeter 11 will change. Therefore, by observing and measuring the numerical changes of the ammeter 6 and the voltmeter 11, even a slight external force received by the tactile sensor S can be sensed. In addition, since the pressure-sensitive conductive material has its resistance lowered according to the strength of pressing,
The amount of deformation of the tactile sensor S depends on the magnitude of the resistance change,
That is, it becomes possible to grasp the magnitude of the pressure received by the obstacle or the like.
【００２３】上記触覚センサＳは、図３に示すように、
体内挿入用医療器具Ｍの先端部に取着して使用される。
上記触覚センサＳを体内挿入用医療器具Ｍに取着する際
には、図３に示すように、触覚センサＳの前端縁と体内
挿入用医療器具Ｍの先端面が面一となり、触覚センサＳ
の突起部２の全体が体内挿入用医療器具Ｍの先端面から
突出するように取着することが好ましい。なお、上記触
覚センサＳは、融着法、接着剤法等により体内挿入用医
療器具Ｍに固定されていることが好ましい。また、触覚
センサＳの配線部は、別途配線パターンを施した可撓性
フィルムを装着する方法で、体内挿入用医療器具Ｍに接
続できるが、体内挿入用医療器具Ｍに形成したルーメン
の一本に設けた配線部に、例えばレーザＣＶＤ法によっ
て接続させるようにすることが好ましい。The tactile sensor S, as shown in FIG.
It is used by being attached to the distal end of the medical instrument M for insertion into the body.
When attaching the tactile sensor S to the medical instrument M for insertion into the body, as shown in FIG. 3, the front edge of the tactile sensor S and the tip surface of the medical instrument M for insertion into the body are flush with each other.
It is preferable that the entire protrusion 2 is attached so as to protrude from the tip end surface of the medical instrument M for insertion into the body. The tactile sensor S is preferably fixed to the medical instrument M for insertion into the body by a fusion method, an adhesive method, or the like. Further, the wiring part of the tactile sensor S can be connected to the medical instrument M for insertion into the body by a method of mounting a flexible film having a separate wiring pattern, but one lumen formed in the medical instrument M for insertion into the body. It is preferable to connect to the wiring portion provided on the substrate by, for example, a laser CVD method.
【００２４】上記触覚センサＳを取着することができる
体内挿入用医療器具Ｍとしては、カテーテル、循環器系
内視鏡（例えば血管内視鏡）、消化器系内視鏡（例えば
大腸鏡）等が例示される。As the medical instrument M for insertion into the body to which the tactile sensor S can be attached, a catheter, a circulatory system endoscope (for example, an angioscope), a digestive system endoscope (for example, a colonoscope). Etc. are illustrated.
【００２５】[0025]
【作用】上記触覚センサの構成によれば、突起部が外力
を受けると、突起部がスリット側に押圧され、スリット
内に充填されている感圧導電性材料が圧縮変形され、抵
抗が変化するようになる。スリット内には、上記感圧導
電性材料を厚み方向に挟む一対の電極が設けられ、この
電極には上記感圧導電性材料を導通する配線部が接続さ
れ、その配線部には抵抗を測定できる装置を接続してい
るので、上記感圧導電性材料の上記抵抗変化をこの装置
で感知できるようになる。According to the structure of the tactile sensor, when the protrusion receives an external force, the protrusion is pressed to the slit side, the pressure-sensitive conductive material filled in the slit is compressed and deformed, and the resistance is changed. Like A pair of electrodes sandwiching the pressure-sensitive conductive material in the thickness direction is provided in the slit, and a wiring portion for conducting the pressure-sensitive conductive material is connected to the electrodes, and the resistance is measured on the wiring portion. By connecting the device, the resistance change of the pressure-sensitive conductive material can be sensed by the device.
【００２６】また、感圧導電性材料は、強く圧縮される
ほどその抵抗が小さくなるので、上記計測器の数値変化
の大きさにより、触覚センサが受けた外力の大きさの程
度を把握できるようになる。Since the pressure-sensitive conductive material has a smaller resistance as it is compressed more strongly, it is possible to grasp the magnitude of the external force received by the tactile sensor from the magnitude of the numerical change of the measuring instrument. become.
【００２７】また、上記体内挿入用医療器具の構成によ
れば、先端部に上記触覚センサを取着しているので、計
測器の抵抗値の変化を観察、測定することによって、体
内挿入用医療器具の先端部が、例えば血管壁等と接触し
たことが、また、その数値の変化量によって、その先端
部が受ける接触圧の大きさの程度を手元で把握できるよ
うになる。Further, according to the construction of the medical instrument for insertion into the body, since the tactile sensor is attached to the tip portion, the medical instrument for insertion into the body is observed by observing and measuring the change in the resistance value of the measuring instrument. The fact that the tip of the instrument comes into contact with, for example, the blood vessel wall, and the amount of change in the numerical value makes it possible to grasp at hand the degree of the contact pressure received by the tip.
【００２８】[0028]
【実施例】以下、実施例を示し本発明をより具体的に説
明する。なお、本発明がこの実施例に限定されないこと
はいうまでもない。 実施例１ （触覚センサの作製）内径φ１．５〜１．６mm、肉厚１
００μｍのポリウレタン製チューブの先端面に、エキシ
マレーザを用いたアブレーションプロセスを施して、高
さ２０μｍ、周方向長さ１００μｍの突起部を、さらに
該突起部から５０μｍ直下のチューブ側面に幅１００μ
ｍ、周方向長さ１０００μｍのチューブ壁部を貫通する
スリットを、それぞれ等間隔に４個ずつ形成した。つい
で、上記各スリット内部に幅方向に対向する１対の電極
を、レーザＣＶＤ法によって形成した。上記スリット内
部に、感圧導電性材料としてシリコンゴム中にカーボン
粒子を分散してなる感圧性導電性ゴムを、マイクロディ
スペンサによって充填した。ついで、上記ポリウレタン
製チューブに無電解メッキを施し、チューブ全体にＮｉ
メッキ層を形成した後、ついで、レーザＣＶＤ法によっ
て、配線部の形成を予定する部位にＣｒを堆積した。こ
の後、希硝酸によりＣｒでマスキングされていない部分
のＮｉをエッチング除去し、ついで希塩酸により上記マ
スキングに用いたＣｒをエッチング除去して、図１に示
すように、スリット３内部の感圧性導電性ゴム４を導通
するＮｉ配線部５を形成した触覚センサを得た。EXAMPLES Hereinafter, the present invention will be described more specifically by showing examples. Needless to say, the present invention is not limited to this embodiment. Example 1 (Production of tactile sensor) Inner diameter φ1.5 to 1.6 mm, wall thickness 1
An ablation process using an excimer laser is performed on the tip surface of a polyurethane tube of 00 μm to form a protrusion having a height of 20 μm and a length in the circumferential direction of 100 μm, and a width of 100 μ on the tube side face just below 50 μm from the protrusion.
m, and four slits penetrating the tube wall portion having a circumferential length of 1000 μm were formed at equal intervals. Then, a pair of electrodes facing each other in the width direction were formed inside each of the slits by a laser CVD method. The inside of the slit was filled with a pressure-sensitive conductive rubber, which was obtained by dispersing carbon particles in silicon rubber, as a pressure-sensitive conductive material using a micro dispenser. Then, electroless plating is applied to the polyurethane tube, and the entire tube is Ni-plated.
After forming the plated layer, Cr was then deposited by laser CVD on the portion where the wiring portion was to be formed. After that, Ni in a portion not masked with Cr is removed by etching with dilute nitric acid, and then Cr used for the masking is removed by etching with dilute hydrochloric acid. As shown in FIG. A tactile sensor having a Ni wiring portion 5 that conducts the rubber 4 was obtained.
【００２９】（触覚センサの実装）呼び外径φ１．６mm
のカテーテルの先端部に、上記触覚センサを装着し、融
着法によって固定するとともに、触覚センサの配線部
を、カテーテルに形成したルーメンの一本に設けた配線
部にＮｉを用いてレーザＣＶＤ法によって接続した。上
記カテーテルの配線部は、その末端部から外部に延設し
て電源に接続した。なお、配線回路に電流計および電圧
計を接続して、感圧性導電性ゴムの抵抗値変化を測定で
きるようにした。(Mounting of tactile sensor) Nominal outer diameter φ1.6mm
The above-mentioned tactile sensor is attached to the distal end of the catheter and fixed by a fusion method, and the wiring portion of the tactile sensor is subjected to the laser CVD method using Ni for the wiring portion provided in one of the lumens formed in the catheter. Connected by. The wiring part of the catheter was extended from its distal end to the outside and connected to a power source. An ammeter and a voltmeter were connected to the wiring circuit so that the resistance value change of the pressure-sensitive conductive rubber could be measured.
【００３０】（触覚センサの評価）上記カテーテルを血
管に挿入するとき、血管内壁貫通時に電流計の数値が大
きく増加した。また、カテーテルを血管内に挿入した
後、血管内壁を移動中に血管内壁に当接したとき、電流
計の数値が僅かに増加した。(Evaluation of tactile sensor) When the above catheter was inserted into a blood vessel, the value of the ammeter greatly increased when the inner wall of the blood vessel was penetrated. Also, after inserting the catheter into the blood vessel, the value of the ammeter slightly increased when the inner wall of the blood vessel was brought into contact with the inner wall of the blood vessel while moving.
【００３１】[0031]
【発明の効果】以上詳述したように、本発明の触覚セン
サの突起部に外力がかかると、スリットに充填された感
圧導電性材料の抵抗値が変化するようになり、他物体や
障害物との接触圧を、抵抗値測定器の数値変化として感
知することができる。上記触覚センサを体内挿入用医療
器具の先端部に取着し、これを体内に挿入したのち、目
的個所に医療器具を移動させるときに、抵抗値測定器の
数値変化を測定することによって、障害物等との接触状
態が感知できる。また、抵抗値測定器の数値変化の大き
さによって、触覚センサの変形量、即ち障害物等による
圧力の大きさが感知できる。このように、本発明の触覚
センサを先端部に取着した体内挿入用医療器具を体内で
移動させるときに、障害物等との接触状態が抵抗値測定
器の数値変化として手元で判るので、血管内壁を突き破
ったり、体内組織に損傷を与えたりすることが防止でき
るようになり、安全に体内の目的個所に医療器具を挿入
することが可能になる。As described above in detail, when an external force is applied to the protrusion of the tactile sensor of the present invention, the resistance value of the pressure-sensitive conductive material filled in the slit is changed, and other objects or obstacles are affected. The contact pressure with an object can be sensed as a numerical change of the resistance measuring device. The tactile sensor is attached to the tip of the medical instrument for insertion into the body, and after inserting it into the body, when moving the medical instrument to the target location, by measuring the numerical change of the resistance value measuring device, the obstacle The contact state with things etc. can be detected. Also, the amount of deformation of the tactile sensor, that is, the amount of pressure due to an obstacle or the like can be sensed based on the magnitude of the numerical change of the resistance measuring device. In this way, when moving the medical instrument for insertion into the body in which the tactile sensor of the present invention is attached to the distal end portion, the contact state with an obstacle or the like can be known at hand as a numerical change of the resistance measuring device, It is possible to prevent the inner wall of the blood vessel from being pierced or damage the internal tissues, and it is possible to safely insert the medical device into the target location in the body.
【図１】本発明の触覚センサの実施例を示す側面図であ
る。FIG. 1 is a side view showing an embodiment of a tactile sensor of the present invention.
【図２】配線部の形成方法の例を示す模式図である。FIG. 2 is a schematic diagram showing an example of a method of forming a wiring portion.
【図３】触覚センサを体内挿入用医療器具に取着した実
施例を示す模式斜視図である。FIG. 3 is a schematic perspective view showing an embodiment in which a tactile sensor is attached to a medical instrument for insertion into the body.
１ 軟質管状材 ２ 突起部 ３ スリット ４ 感圧導電材料 ５ 配線部 ６ 電流計 ７ａ，７ｂ 電極 １０ 電源 １１ 電圧計 Ｓ 触覚センサ 1 Soft Tubular Material 2 Protrusion 3 Slit 4 Pressure Sensitive Conductive Material 5 Wiring 6 Ammeter 7a, 7b Electrode 10 Power Supply 11 Voltmeter S Tactile Sensor
Claims (2)
とも１個の突起部と、該突起部から垂直方向近傍の管状
材側壁部に周方向に沿って形成されるスリットと、その
スリット内に充填される感圧導電性材料と、上記スリッ
ト内に設けられ感圧導電性材料を厚み方向に挟む一対の
電極と、この電極に接続されて上記感圧導電性材料を導
通する配線部と、この配線部に接続される抵抗測定装置
とを備え、上記突起部が受ける外力によって感圧導電性
材料の抵抗変化を感知する構成としたことを特徴とする
触覚センサ。1. A soft tubular material having at least one projection formed on a tip edge thereof, a slit formed along a circumferential direction on a tubular material side wall portion in the vicinity of the projection in the vertical direction, and a slit therein. A pressure-sensitive conductive material filled in, a pair of electrodes provided in the slit and sandwiching the pressure-sensitive conductive material in the thickness direction, and a wiring portion connected to the electrodes and conducting the pressure-sensitive conductive material. A tactile sensor comprising: a resistance measuring device connected to the wiring part; and a structure for sensing a resistance change of the pressure-sensitive conductive material by an external force received by the protruding part.
取着してなる体内挿入用医療器具。2. A medical instrument for insertion into the body, wherein the tactile sensor according to claim 1 is attached to a tip portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6003134A JPH07204278A (en) | 1994-01-17 | 1994-01-17 | Tactile sensor and body inserting medical instrument having the sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6003134A JPH07204278A (en) | 1994-01-17 | 1994-01-17 | Tactile sensor and body inserting medical instrument having the sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH07204278A true JPH07204278A (en) | 1995-08-08 |
Family
ID=11548889
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6003134A Pending JPH07204278A (en) | 1994-01-17 | 1994-01-17 | Tactile sensor and body inserting medical instrument having the sensor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07204278A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1057495A (en) * | 1996-08-21 | 1998-03-03 | Buaayu:Kk | Balloon catheter |
| WO1998043693A1 (en) * | 1997-03-27 | 1998-10-08 | Kabushiki Kaisha Tokai-Rika-Denki-Seisakusho | Catheter provided with obstacle sensing mechanism |
| JP2008272302A (en) * | 2007-05-01 | 2008-11-13 | Olympus Medical Systems Corp | Rotating self-propelled endoscope system |
| JP2010514523A (en) * | 2006-12-29 | 2010-05-06 | セント・ジュード・メディカル・エイトリアル・フィブリレーション・ディヴィジョン・インコーポレーテッド | Pressure-sensitive conductive composite contact sensor and method for sensing contact |
| WO2012153703A1 (en) * | 2011-05-09 | 2012-11-15 | 国立大学法人鳥取大学 | Pressure sensor, endoscope and endoscope device |
| JP2018009812A (en) * | 2016-07-11 | 2018-01-18 | ニプロ株式会社 | Pressure measuring device |
| WO2019181612A1 (en) * | 2018-03-20 | 2019-09-26 | テルモ株式会社 | Medical device |
| CN112238987A (en) * | 2019-07-17 | 2021-01-19 | 皮尔茨有限及两合公司 | Operation detection system for a filling nozzle of a filling plant and method for detecting operation at a filling nozzle of a filling plant |
-
1994
- 1994-01-17 JP JP6003134A patent/JPH07204278A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1057495A (en) * | 1996-08-21 | 1998-03-03 | Buaayu:Kk | Balloon catheter |
| WO1998043693A1 (en) * | 1997-03-27 | 1998-10-08 | Kabushiki Kaisha Tokai-Rika-Denki-Seisakusho | Catheter provided with obstacle sensing mechanism |
| JP2010514523A (en) * | 2006-12-29 | 2010-05-06 | セント・ジュード・メディカル・エイトリアル・フィブリレーション・ディヴィジョン・インコーポレーテッド | Pressure-sensitive conductive composite contact sensor and method for sensing contact |
| JP2008272302A (en) * | 2007-05-01 | 2008-11-13 | Olympus Medical Systems Corp | Rotating self-propelled endoscope system |
| WO2012153703A1 (en) * | 2011-05-09 | 2012-11-15 | 国立大学法人鳥取大学 | Pressure sensor, endoscope and endoscope device |
| JPWO2012153703A1 (en) * | 2011-05-09 | 2014-07-31 | 国立大学法人鳥取大学 | Pressure sensor, endoscope scope, endoscope placement |
| JP2018009812A (en) * | 2016-07-11 | 2018-01-18 | ニプロ株式会社 | Pressure measuring device |
| WO2019181612A1 (en) * | 2018-03-20 | 2019-09-26 | テルモ株式会社 | Medical device |
| JPWO2019181612A1 (en) * | 2018-03-20 | 2021-03-25 | テルモ株式会社 | Medical device |
| CN112238987A (en) * | 2019-07-17 | 2021-01-19 | 皮尔茨有限及两合公司 | Operation detection system for a filling nozzle of a filling plant and method for detecting operation at a filling nozzle of a filling plant |
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