JPH1094512A - Taction detector - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid to restrict action of an operator and to use a device in a clean region so as to make sterilization unnecessary by providing the first medical device part being directly used to an object and the second medical device part used by being mounted on the operator. SOLUTION: A catheter 2 with a taction sensor being the first medical device part and a taction display 32 being the second medical device part are provided separately. In addition, the catheter 2 detects a condition where it is brought into contact with an organism 1 by means of a taction sensor 13 and driving and detection of this taction sensor 13 are performed by means of a sensor driving and detecting circuit and the information detected by means of this sensor driving and detecting circuit is wirelessly transmitted to a receiving circuit of the taction display 32. The receiving circuit drives a projection member by means of a driving circuit in accordance with a received signal and transmits it to a guide of an operator. It is possible thereby to avoid to restrict action of the operator and to use it in a clean region so as to make sterilization unnecessary.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a medical instrument such as an endoscope and a catheter, and more particularly to a tactile sensor for transmitting a contact state between a medical instrument and a living body to an operator when used.

[0002]

2. Description of the Related Art In general, in a medical instrument such as an endoscope or forceps, tactile information received from a living body by a curved portion or a gripper portion is not transmitted to an operator, so that an operator applies excessive operating force. Or, conversely, the operating force may be insufficient, requiring experience and skill. Therefore,
There has been proposed a medical device including a unit that detects a contact state with an object and feeds back the information to an operator. Conventional techniques of this kind are disclosed in JP-A-1-62115, JP-A-3-80827 and JP-A-2-772.
No. 26, and the like. In these technologies, a medical instrument such as an endoscope or forceps, which contacts a patient, and a device for transmitting tactile information with a living body to an operator are connected by wire.

For this reason, the contact information transmitting section must have a structure that can be sterilized similarly to a medical instrument that comes into contact with a patient, and the structure becomes complicated. Moreover, it is necessary to use parts that can withstand sterilization, and thus there are many design restrictions. Furthermore, since the cable is used, the operation of the operator while receiving the tactile information is restricted. In addition, since the medical device and an external device for transmitting tactile information to the operator are connected by wire, the above-mentioned tactile information can be obtained when the operator is operating another medical device. I can't.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems of the prior art, and it is an object of the present invention to provide a medical device which does not limit the action of an operator and which is used in a clean area so that sterilization is unnecessary. It is an object of the present invention to provide a tactile sense detection device having a tactile sense presentation part separated from an instrument.

[0005]

According to the present invention, there is provided a tactile sensing device provided with means for detecting a contact state between an object and a medical instrument. A second medical instrument section used by being worn by an operator is provided separately, the first medical instrument section includes a tactile sensor section for sensing a contact state with an object, and the tactile sensor section A sensor drive detection circuit unit for driving and detecting the unit, and a transmission circuit unit for wirelessly transmitting information detected by the sensor drive detection circuit unit. The second medical instrument unit includes an operator Fixing means, a tactile presentation unit provided on a contact surface with an operator, a reception circuit unit for a signal transmitted from the transmission circuit unit, and a drive circuit for driving the tactile presentation unit in accordance with the received signal And a battery unit. With this configuration, the distance between the tactile sensor section provided on the first medical instrument section on the object side used by the operator and the tactile presentation section provided on the second medical instrument section on the operator side Since the signal is transmitted wirelessly, even if the first medical instrument section on the object side is configured to be sterilizable, the tactile presentation section on the second medical instrument section side attached to the operator is, for example, By mounting surgical gloves and the like on the second medical device, the second medical device can be handled as a device that does not require sterilization. Thereby, unlike the prior art, there is no limitation due to sterilization in the device on the tactile sensation providing unit side.

[0006]

BEST MODE FOR CARRYING OUT THE INVENTION

<First Embodiment> A first embodiment of the present invention will be described with reference to FIGS. (Construction) This embodiment is an example of a catheter equipped with a tactile sensor, which is a kind of a medical instrument used directly for an object. FIG. 1 shows a state in which a catheter 2 with a tactile sensor is inserted into a luminal organ of a living body 1. The tactile sensor-equipped catheter 2 has a long insertion portion 3 for insertion into a human body, and a branch portion 6 which is divided into an insertion port 4 and a cable outlet 5 is provided at a proximal end of the insertion portion 3. .

As shown in FIGS. 2 and 3 (b) and 3 (c), the insertion portion 3 is composed of a multi-lumen tube 7, and the distal end thereof is fitted with a distal tip 9 forming a distal opening 8 in a fitted state. Wearing is fixed. The multi-lumen tube 7 has a large-diameter insertion channel 11 formed at the center thereof, and a plurality of small-diameter lumens are provided at appropriate intervals around the large-diameter insertion channel 11. And
For example, an ultrafine endoscope 12 is inserted into the insertion channel 11 from the insertion opening 4 of the branching portion 6.

[0008] A tactile sensor 13 is mounted at the tip of the sensor-equipped catheter 2. That is, as shown in FIG. 3A, three tactile sensor chips 14 are mounted on the outer surface of the chip 9 at intervals of 120 °. The tactile sensor chip 14 is fitted into a recess 15 formed on the outer surface of the chip 9, and the entire outer surface of the tactile sensor chip 14 is covered with a resin 16 and solidified. The resin 16 has a function of deforming when subjected to an external force and transmitting pressure to the tactile sensor chip 14. Further, the tactile sensor chip 1 is covered with the resin 16 and buried in the recess 15.
4 is completely watertightly shut off from the outside. The signal line 17 of each tactile sensor chip 14 is shown in FIGS.
As shown in (b), it is inserted through a small-diameter lumen 18 provided in the multi-lumen tube 7.

On the other hand, in the distal end region of the multi-lumen tube 7, small-diameter lumens 19 located between positions where the tactile sensor chips 14 are arranged at intervals of 120 ° as shown in FIG. SMA wire 2
0 is inserted and installed. Each SMA wire 20
Is a shape memory alloy that has the property of shrinking when heated,
Each SMA wire 20 has a slot 2 formed in the tip 9.
It is folded back at one point and locked and fixed there. S
The folded ends of the MA wire 20 are fixed to separate connecting parts 22. The folded both ends of the SMA wire 20 are connected to the bending signal line 23 via the separate connecting parts 22. Then, a bending mechanism for bending the bending portion 24 in the distal end region of the multi-lumen tube 7 by selectively controlling the energization of each SMA wire 20 is configured.

Tactile sensor signal line 17 and bending signal line 2
Reference numeral 3 is connected to an external control device 26 through a cable 25 led out from the cable outlet 5 of the branch portion 6. The control device 26 controls the tactile sensor 13 and the bending mechanism. A joystick 27 which is an external operation device is connected to the control device 26.

On the other hand, as shown in FIG. 1, a tactile display 32 as the other medical device is fixed to the vicinity of the wrist of the operator's hand 31 which pushes and operates the catheter 2 with a tactile sensor as one medical device. It is fixed by means. For example, a tactile display 32 is tied around a wrist of the operator's hand 31 with a belt 33. In this use state, the surgeon wears the rubber glove 34, so that the tactile display 32 is separated from the tactile sensor-equipped catheter 2, and the dirty area is handled.

FIGS. 4 and 5 show the structure of a tactile display 32 to be mounted on the operator's hand 31. FIG. The tactile display 32 has a display unit 36 provided inside a display main body 35, and a belt 3 for inserting and fixing the operator's hand 31 on the upper surface of the display main body 35.
3 is provided with a belt hole 37 passing therethrough.

A plurality of protrusions are provided on the lower surface of the display unit 36 as tactile presentation units. Each protruding portion is formed of a protruding member 41 made of a magnetic material, and the tip portion protrudes from the lower surface of the display main body 35. The protruding member 41 causes an arbitrary vertical vibration by controlling on / off of excitation of an electromagnetic coil 42 provided around the protruding member 41. The electromagnetic coil 42 can vibrate the projection member 42 at an arbitrary frequency and an arbitrary strength by a driving circuit described later.

FIG. 6 is a block diagram showing the configuration of the present apparatus. First, in the control device 26 for controlling the catheter 2 with a tactile sensor, an SMA power supply circuit 45, a sensor drive detection circuit 46, a switching regulator 47
And a transmission circuit 48. The switching regulator 47 receives power supply from an external power supply through an outlet 49 and supplies power to the SMA energizing circuit 45, the sensor drive detection circuit 46, and the transmission circuit 48. Also,
The operation signal of the joystick 27 is input to the SMA energizing circuit 45 to control the energization of the SMA wire 20.

On the other hand, the respective signals of the three tactile sensor chips 14 are input to a sensor drive detection circuit 46.
Naturally, the drive of the tactile sensor 13 is also performed by the tactile sensor drive detection circuit 46. In this manner, the tactile information detected by the tactile sensor chip 14 is detected by the sensor drive detection circuit 46, and the information is wirelessly transmitted to the tactile display 32 by the transmission circuit 48.

The tactile display 32 comprises a receiving circuit 51, a driving circuit 52, a display unit 36 and a small battery 53. The small battery 53 supplies power to the receiving circuit 51, the driving circuit 52, and the display unit 36. The receiving circuit 51 that wirelessly receives the sensor signal transmits the information to a driving circuit 52 that drives the display unit 36. Upon receiving this information, the drive circuit 52 causes the electromagnetic coil 42 to perform appropriate drive to reproduce the above sensor information, and appropriately drives the display unit 36. In this manner, the display unit 36 can vibrate the projection member 41 at various frequencies and various strengths and transmit the vibration to the operator's hand 31. Thus, the surgeon can reproduce the pressed state received by the sensor 13 at the distal end of the catheter 2 on his / her hand and detect it.

(Operation) As shown in FIG. 1, the operator pushes the insertion portion 3 of the catheter 2 with the tactile sensor into the hollow organ of the living body 1. Since the luminal organ of the living body 1 is complicatedly bent, the surgeon operates the joystick 27 in accordance with the bending, and appropriately energizes the SMA wire 20. Then, the previous SMA wire 20 is heated by energization, and its length is reduced in the axial direction.
The bending portion 24 of the catheter with sensor 2 can be bent in the direction in which the MA wire 20 is arranged.

Next, as shown in FIG. 7, it is assumed that the distal end of the catheter 2 comes into contact with the tube wall of the living body 1, and if pushed further, the tube wall may be damaged or inserted into a state where it cannot be inserted. At this time, the tactile sensor 13 corresponding to the contact position detects the pressing information and transmits the signal to the external control device 26. The external control device 26 wirelessly transmits a signal to the tactile display 32. The tactile display 32 reproduces the strength of the pressing force detected by the tactile sensor 13 on the projection member 41 by driving the electromagnetic coil 42. Then, the surgeon can know the pressing force received by the distal end of the catheter 2 by the movement of the projection member 41 touching his skin. The surgeon knows this, and the SM arranged in the opposite direction to the tactile sensor chip 14 is used.
The A wire 20 can be selectively heated by using the joystick 27, and can perform the avoidance movement in the direction of the arrow as shown in FIG.

The tactile display unit 32 has a plurality of projecting members 41, which are provided with three tactile sensor chips 14 provided at the tip of the catheter 2, as described above.
Can be reproduced by a combination of the plurality of protrusion members 41. Therefore, the surgeon can know which tactile sensor chip 14 is receiving what amount of pressing force by the movement of a certain pattern of the projection member 41.

(Effects) In the first embodiment, the surgeon can insert the catheter 2 while wearing the tactile display 32 on the wrist and further wearing the rubber glove 34 thereon. Therefore, since the operator's hand 31 and the catheter 2 are not connected at all by wire, there is an advantage that the operator can move his / her own hand 31 freely. Secondly, since the tactile display 32 and the catheter 2 are not connected by a line as in the prior art, the catheter 2 and the tactile display 32 do not need to be sterilized in the same manner.
Is sterilized, but the tactile display 32 is
Since it is used in a standard device, it can be handled at the same level as a general device.

(Modification) A method of wirelessly transmitting a signal from the control device 26 to the tactile display 32 is based on FM wave, AM
Any of a method using a radio wave such as a wave and a short wave, and a method using light such as an infrared pulse may be used. The tactile sensor 13 mounted on the distal end of the catheter 2 may be a ceramic vibrator or PVDF using the piezoelectric effect, or may be a type that vibrates the ceramic piezoelectric element itself.
Naturally, a pressure-sensitive conductive rubber or a strain sensor is used, and a simple on / off switch can also be used. Further, a pressure-sensitive sensor that detects a change in capacitance or an optical pressure-sensitive sensor that detects pressure by detecting a change in light amount or light interference may be used. In the first embodiment, the tactile sensation presentation unit used in the tactile display 32 is a combination of the projection member 41 and the electromagnetic coil 42, but is not necessarily physically transmitted to the living body 1, and may be, for example, a sound, for example, It may be displayed on a monitor. Further, even in the case where the vibration is transmitted as in the first embodiment, for example, the vibration of a pager motor using an electromagnetic motor or the vibration of a piezoelectric ceramic itself may be used.

<Second Embodiment> A second embodiment of the present invention will be described with reference to FIGS. (Construction) The second embodiment is an example of an endoscope which is a kind of a medical instrument directly used for an object.
This endoscope 60 has a hood 63
Is provided detachably. The hood 63 is arranged ahead of the curved portion 64. The hood 63 is provided with a tactile sensor using this as a base member. That is, a plurality of pressure-sensitive sensors 65 are provided on the outer surface of the hood 63 at predetermined intervals in the circumferential direction. The endoscope 60 is connected to an external camera control unit 66 and also to a light source device (not shown). The camera control unit 66 causes the monitor 67 to display an endoscope image.
A receiving device 68 for wirelessly receiving an output signal from the pressure-sensitive sensor 65 is connected to the camera control unit 66. The position of the pressure sensor 65 receiving the external force and the magnitude of the output of the pressure sensor 65 can be displayed on the monitor 67 by visual means.
The bending section 64 of the insertion section 61 is configured to be bent by a bending operation knob 70.

Further, the hood 63 is specifically constructed as shown in FIG. The hood 63 is made of a hard resin material. And it is provided by fitting to the distal end portion 62 of the endoscope 60, and is detachably attached to the distal end portion 62. This hood 63
The pressure-sensitive sensor 65 is provided on the outer surface of the sensor. The pressure-sensitive sensor 65 is made of, for example, pressure-sensitive conductive rubber. The pressure sensor 65 is connected to a detection circuit 71 embedded inside the resin of the hood 63, and the detection circuit 71 is connected to a telemetry circuit 72 also embedded inside the resin of the hood 63. . further,
The hood 63 is embedded in the resin inside the resin. Also in the case of this embodiment, the same tactile display as described above is fixed around the wrist of the operator's hand 31 operating the endoscope 60 by fixing means. However, it can be used without using the tactile display as in the usage mode described in the following operation. If a tactile display is used, the same operation as in the first embodiment can be obtained.

(Operation) As in the first embodiment, when the endoscope 60 is inserted into a hollow organ, the distal end of the insertion portion 61 is
The pressure-sensitive sensor 65 outputs a signal when it hits a curved tube part of a living organ or hits an obstacle. Detection circuit 7
1 detects the output of the pressure sensor 65,
2 to wirelessly transmit to an external receiving device 68. The receiving device 68 can display the position of the pressure-sensitive sensor 65 on the monitor 67 and the magnitude of the pressing received from the sensor 67 in response to the signal. The surgeon knows what kind of pressure is being applied to the distal end of the insertion portion of the endoscope 60 by the information, and performs an appropriate bending operation on the bending portion 64 using the bending operation knob 70 based on the information. Endoscope 4
0 can be inserted.

(Effect) This is basically the same as the first embodiment. As a special effect of the second embodiment, since the hood 63 is detachable from the endoscope 60, there is no need to use a special endoscope, and the hood 63 can be used for any endoscope. Further, when displaying the output of the pressure sensor 65 from the pressure sensor 65 provided on the hood 63 on the external monitor 67, a signal line is provided using a channel of the endoscope 60 itself, for example, to transmit a signal. Because it can be transmitted irrespective of the channel of the endoscope 60,
The treatment can be performed by inserting forceps or the like into the channel of the endoscope 60 as in the related art.

<Third Embodiment> A third embodiment of the present invention will be described with reference to FIGS. (Configuration) The third embodiment is also an example in which the medical instrument is an endoscope which is a kind of probe. The second embodiment differs from the second embodiment in that a cylindrical hood is used in the second embodiment, but in the third embodiment, a sheet-shaped sensor unit 75 is configured as shown in FIG. is there. That is, the sensor unit 75 includes a sheet-shaped resin layer as the base member 76, and the first sensor 77, the second sensor 78, the detection circuit 79, the telemetry circuit 80, and the battery 81 are embedded inside the base member 76. It is made. The first sensor 77 is a pressure-sensitive sensor as described in the first and second embodiments. The second sensor 78 may be a pressure-sensitive sensor, but is another type of sensor such as a temperature sensor or a pH sensor. An adhesive surface 82 is formed on the lower surface of the sensor unit 75.

As shown in FIG. 11, the sensor unit 75 is wound around the outer peripheral surface of the distal end portion 62 of the endoscope 60 and mounted. Since the sensor unit 75 is formed of a sheet-shaped resin layer as the base member 76, the sensor unit 75 is flexible and can be easily wound around the endoscope 60. Further, since the adhesive surface 82 is provided on the lower surface, the fixing to the endoscope 60 is easy.

(Operation / Effect) The operation of this embodiment is the same as that of the second embodiment. As a unique effect of the present embodiment, as described above, the sensor unit 75 includes a sheet-shaped resin layer as the base member 76, and the endoscope 6
Since the endoscope 60 is attached to the endoscope 60 by the operation of being wound around 0, the endoscope of any diameter can be easily attached.

(Modification) As a modification of the third embodiment, as shown in FIG.
Is considered to be long. This is the same configuration as the sensor unit 75 described above, but by winding the sensor unit 75 spirally, the endoscope 6
It is possible to create a state in which a plurality of sensors 83 are mounted in the zero longitudinal direction. The one shown in FIG. 12B constitutes a cylindrical sensor unit 75 which is long in the axial direction, and is fitted to and attached to the endoscope 60. A unique effect of these modifications is that a plurality of sensors can be easily attached in the longitudinal direction of the endoscope.
The state in which the endoscope hits an obstacle or the like can be detected more accurately.

<Fourth Embodiment> A fourth embodiment of the present invention will be described with reference to FIGS. (Configuration) In the fourth embodiment, a medical instrument used directly on an object to be used is an example of a kind of grasping forceps as a probe. The grasping forceps 90 is provided with a grasping portion 92 at the distal end of the insertion portion 91, and can open and close the grasping portion 92 by opening and closing a handle 93 at hand, thereby grasping a living organ or the like. In order to detect this gripped state, a tactile sensor 95 is attached and provided on the inner surface of the gripping member 94 of the gripper 92. An output signal from the tactile sensor 95 is transmitted to a transmitting unit 96 provided outside the grasping forceps 90.
Is transmitted to A detection circuit 97 of a tactile sensor 95 and a transmission circuit 98 are provided inside the transmission unit 96, so that a tactile sensor signal can be wirelessly transmitted to a tactile display device 100 described later. . A tactile display device 1 is provided to the operator's hand operating the steering wheel.
00 is pasted.

As shown in FIG. 14, the tactile display 1
00 is a piezoelectric vibrator 101, a driving circuit 102, a receiving circuit 1
03 and the button battery 104 are arranged in a line, and they are sandwiched between the first sheet 105 and the second sheet 106 of the base member. First sheet 105
Is provided with an adhesive surface 107 on its lower surface. The tactile display device 100 is attached and fixed to the operator's hand.

(Operation) The signal of the tactile sensor 95 provided on the forceps 90 at the destination is wirelessly transmitted to the tactile display device 100, and the received signal is received by the receiving circuit 103. The driving circuit 102 reproduces the tactile sensor signal. The piezoelectric vibrator 101 is optimally driven and controlled. Then, the piezoelectric vibrator 10
1 generates a vibration state according to a tactile sensor signal, and can present a tactile sensation to an operator.

(Effects) Basically, as in the first embodiment, the sensor signal is wirelessly transmitted to the display device 100, so that the display device 100 does not need to be sterilized by wearing gloves, for example. Can be used as A specific effect of the present embodiment is that the piezoelectric vibrator 101 and the driving circuit 102 are provided inside the sheet-shaped base member.
And the like, so that the first sheet 105 and the second sheet 1 can be used after use even without gloves.
By peeling off 06, the drive circuit and the like inside it can be used again without any contamination.

(Addition) In the first embodiment and the fourth embodiment, the state in which the tactile display device is provided in the operator's hand has been described. This tactile display device is not limited to a single device.A plurality of tactile display devices are prepared, and the same tactile display device is prepared by mounting the same tactile sensor signals simultaneously by not only the surgeon but also the assistant. It is also possible for some humans to feel the same at the same time. This allows multiple people to share the same information in one technique,
Work proceeds smoothly. It is also effective for the training of surgeons.

[Supplementary Notes] (Group 1) 1-1. In a tactile sense detection device provided with means for detecting a contact state between an object and a medical instrument, a first medical instrument section used directly on the object and a second medical instrument section used by being attached to an operator A medical instrument section is provided, and the first medical instrument section includes:
A tactile sensor unit for sensing a contact state with an object, a sensor drive detection circuit unit for driving and detecting the tactile sensor unit, and a transmission circuit unit for wirelessly transmitting information detected by the sensor drive detection circuit unit The second medical instrument section includes means for fixing to a surgeon, a tactile presentation section provided on a contact surface with the surgeon, and a reception circuit section for a signal transmitted from the transmission circuit section. And a drive circuit for driving the tactile presentation unit in response to the received signal, and a battery unit.

1-2. The first medical device is an endoscope or a catheter, and a tactile sensor is provided in the insertion section. 1-3. The first medical instrument is forceps. 1-4. The tactile sensor is a pressure sensor. 1-5. The tactile presentation unit is a vibration type tactile presentation device.

(Group 2) 2-1. In a probe including a sensor for detecting a contact state with the object, a sensor unit, a sensor drive detection circuit unit, a transmission circuit unit, and a battery unit are disposed on a same base member, and the base member Is a tactile sensor that is detachably attached to the outer periphery of the probe. 2-2. The probe is an endoscope or a catheter. 2-3. The sensor is a pressure sensor. 2-4. The base member is a cylindrical hood mounted on the tip of the probe. 2-5. The base member is a flexible sheet. 2-6. The sheet was provided with an adhesive surface. 2-7. There were a plurality of the sensors, which were arranged separately.

(Problems with Two Groups) As a conventional example of the two-group invention, there is Japanese Patent Application Laid-Open No. 2-77226. In this technique, a sensor is provided on a hood or the like which is detachable from an endoscope. However, the signal line is inserted into the channel of the endoscope and connected to an external warning device. Therefore, since other forceps cannot be inserted into the endoscope channel at the same time, there is a problem that performing an endoscopic procedure becomes complicated.

(Purpose of the two groups) The problem of the above-mentioned prior art is solved, and it can be used by being attached to a conventional endoscope.
A tactile detection device that does not sacrifice an endoscope function that can use forceps at the same time is provided.

(Operation of Two Groups) When a sensor is provided in an endoscope or the like by adopting a structure of two groups, a signal is wirelessly transmitted to the outside. Therefore, unlike the related art, there is no need to insert a signal transmission line into the channel of the endoscope, so that another forceps or the like can be inserted and used in the endoscope channel as before. As a result, as a function, a sensor is added to the conventional endoscope, and the effect that the treatment with the forceps performed by the conventional endoscope can be performed at the same time is obtained.

[0041]

As described above, according to the present invention, there is provided a tactile sense detection device having a tactile sense presentation portion separated from a medical device used in a clean area without restricting the operation of the operator and eliminating the need for sterilization. An apparatus can be provided. Then, the tactile sensation presentation unit can be handled as an instrument that does not require sterilization.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing a state in which a catheter with a tactile sensor according to a first embodiment is used by being inserted into a luminal organ of a living body.

FIG. 2 is a longitudinal sectional view of a distal end portion of the catheter with a tactile sensor according to the first embodiment.

FIG. 3 (a) is a cross-sectional view taken along line AA ′ in FIG. 2,
(B) is a cross-sectional view along line BB 'in FIG. 2, (c) is a cross-sectional view along line CC' in FIG.

FIG. 4 is a perspective view of the tactile display of the device according to the first embodiment as viewed from below.

FIG. 5 is a sectional view of a tactile display in the device of the first embodiment.

FIG. 6 is an explanatory diagram showing the device of the first embodiment by blocks.

FIG. 7 is an explanatory view of the state of use of the catheter of the first embodiment.

FIG. 8 is an explanatory diagram of an endoscope apparatus according to a second embodiment.

FIG. 9A is a front view of a distal end of the endoscope according to the second embodiment, and FIG. 9B is a cross-sectional view of the hood attached to the distal end of the endoscope according to the second embodiment.

10A is a plan view of a sensor unit according to a third embodiment, and FIG. 10B is a cross-sectional view of the sensor unit according to the third embodiment.

FIG. 11 is a perspective view of a state where the sensor unit according to the third embodiment is mounted on an endoscope.

FIG. 12 is a perspective view showing a modification of the sensor unit.

FIG. 13 is a perspective view of a grasping forceps according to a fourth embodiment.

14A is a sectional view of a sensor unit according to a fourth embodiment, and FIG. 14B is a plan view of the sensor unit.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... living body, 2 ... catheter with a tactile sensor, 12 ... microscopic endoscope, 13 ... tactile sensor, 14 ... tactile sensor chip,
26: control device, 27: joystick, 31: operator's hand, 32: tactile display, 34: rubber gloves, 35 ...
Display body, 36 ... Display unit, 41
... projecting member, 42 ... electromagnetic coil, 45 ... SMA energizing circuit, 46 ... sensor drive detecting circuit, 47 ... switching regulator, 48 ... transmitting circuit, 51 ... receiving circuit, 52 ...
Drive circuit, 53 ... battery.

Claims (1)

[Claims] 1. A tactile detection device provided with means for detecting a contact state between an object and a medical instrument, comprising: a first medical instrument section directly used for the object;
A second medical instrument unit used by being worn by an operator is provided. The first medical instrument unit includes a tactile sensor unit that senses a contact state with an object, and driving and detection of the tactile sensor unit. And a transmission circuit unit for wirelessly transmitting information detected by the sensor drive detection circuit unit. The second medical instrument unit includes means for fixing to an operator. A tactile presentation unit provided on a contact surface with an operator, a reception circuit unit for a signal transmitted from the transmission circuit unit, a driving circuit for driving the tactile presentation unit in accordance with the received signal, and a battery unit. Is provided.