JP4905691B2 - Apparatus for measuring compressive force of flexible linear body - Google Patents

Description

  The present invention relates to a force measuring device, and more particularly to a measuring device for compressive force acting on a flexible linear body.

  A linear body having flexibility has been put into practical use as a linear medical instrument inserted into a body tube. For example, a guidewire or catheter inserted into a body tube such as a blood vessel, ureter, bronchi, digestive tract, or lymphatic vessel, or a wire with an embolic coil at the tip for embolizing an aneurysm is known. It has been. These linear bodies are inserted into a tube in the body and guided to the target site by an operation from outside the body.

The tube into which the linear body is inserted is not necessarily linear, and is often partially bent or branched. In addition, the diameter of the tube is not necessarily constant, and the tube itself may be thin, or the diameter of the tube may be thin due to an obstacle inside the tube such as a thrombus generated in the blood vessel. However, in the conventional linear body, there is no means for detecting the situation ahead of the linear body in the traveling direction, and the operation of the linear body has to be relied on by the operator's intuition, and is skilled in guiding operations from outside the body. Was necessary. Therefore, as an apparatus for detecting the presence of an obstacle ahead of the linear body in the traveling direction, an apparatus is disclosed in which a pressure sensor is provided at the tip of the linear body (for example, see Patent Document 1).
JP-A-10-263089

  However, a device provided with a pressure sensor at the tip of a linear body is difficult to realize, especially for an extremely fine linear body. For example, in the case of a guide wire inserted into a cerebral blood vessel, the diameter is about 0.35 mm, and it is difficult to provide a small pressure sensor at the tip of such an ultrathin linear body. Further, it is more difficult to insert the wiring into the linear body in order to extract the pressure sensor signal to the outside.

  Further, when the tube into which the linear body is inserted is bent or the diameter of the tube is small, the insertion resistance of the linear body is affected by friction with the tube. Therefore, the output of the pressure sensor provided at the tip of the linear body may not always match the force sense when the operator inserts. Therefore, even when using a device that provides a pressure sensor at the tip of a linear body, based on the force information of the insertion resistance of the linear body gripped by the operator with a fingertip outside, that is, depending on the operator's intuition. The operation of the linear body will be performed. In addition, since the operator's sense of force can be known only by the operator, it is difficult to quantify the skill of the skilled operator and to convey it to an inexperienced operator.

  Furthermore, it is uneconomical to prepare linear bodies having various materials for adapting to different applications and to provide a pressure sensor for each of them, resulting in an increase in manufacturing cost.

  Therefore, a main object of the present invention is to provide a linear body having various materials that can detect the presence of an obstacle inside the pipe outside the pipe when operating the linear body inserted into the pipe. It is to provide a measuring device that can be applied.

  A measuring apparatus according to the present invention is a measuring apparatus that measures a compressive force in a longitudinal axis direction acting on a flexible linear body, and includes a main body in which a through-hole through which the linear body passes is formed. In the middle of the through hole, a space is formed in which the linear body can be bent in a predetermined direction when a compressive force acts on the linear body. Further, the through hole is configured such that a plurality of paths having different path lengths penetrating the space are formed in the linear body. The measuring device further includes a bending sensor that detects the degree of bending, and a conversion circuit that converts the detected degree of bending into a compressive force that acts on the linear body.

  In this case, the bending sensor detects the degree of bending of the linear body when the tip of the linear body contacts the obstacle and the longitudinal compression force acts on the linear body. The detected bending degree of the linear body is set to a longitudinal compressive force acting on the linear body based on the correlation between the predetermined linear body bending degree and the compressive force acting on the linear body. Convert. Therefore, it is possible to detect the presence of an obstacle ahead of the linear body in the traveling direction from the increase in compressive force. At this time, a measuring device is provided at a position for operating the linear body outside the tube into which the linear body is inserted, and the longitudinal compressive force acting on the linear body is measured. The compression force acting on the linear body can be quantitatively measured even for an extremely thin linear body that is difficult to provide.

  The through hole is configured such that a plurality of paths of linear bodies in the space are formed. The paths of the plurality of linear bodies are formed so that the path lengths of the linear bodies that penetrate the space are different. If the longer path is used for a rigid (ie, a large Young's modulus) linear body with little change in shape against the compression force, the degree of curvature of the linear body against the compression force acting on the linear body is increased. Therefore, it is possible to improve the measurement accuracy of the compression force. In addition, if a shorter path is used for a flexible linear body that is likely to buckle when a compressive force in the longitudinal axis direction is applied (that is, a Young's modulus is small), the length of the linear body can be curved. Since the buckling load of the linear body can be increased by shortening the length, the range in which the compressive force can be accurately measured without the linear body buckling can be expanded. Therefore, it is possible to provide a measuring device capable of measuring the compressive force in the longitudinal axis direction acting on the linear body regardless of the Young's modulus of the linear body. It is economical because it can be applied to the body.

  Preferably, the measuring apparatus is formed with a plurality of inlets for inserting the linear body into the through hole and guiding the linear body to each of the plurality of paths. In this case, if an appropriate entrance is selected according to the hardness (Young's modulus) of the linear body and the linear body is inserted into the through hole, the path length of the linear body penetrating the space is appropriate. Selected. Therefore, the compressive force in the longitudinal axis direction acting on the linear body can be accurately measured.

  Preferably, the measurement device includes a presence detection sensor that detects the presence or absence of a linear body at the entrance of the through hole. In this case, since the presence detection sensor can detect whether or not the linear body is inserted into the through hole, it can be externally determined whether or not the linear body is inserted into the through hole from an appropriate entrance to the linear body. Judgment can be made.

  Preferably, the presence detection sensor is a photoelectric sensor. In this case, the presence or absence of the linear body is detected by utilizing the fact that the light emitted from the light projecting unit is blocked by the linear body inserted into the through hole and the amount of light received by the light receiving unit changes. Can do.

  Preferably, the measuring device is used by being incorporated in a medical device. For example, when used by being incorporated in a Y connector, a linear body can be operated from an input port of the Y connector, and a drug can be injected from another input port.

  Preferably, the measuring device is used by being attached to a training simulator for simulating a human body. In this case, the skill of the skilled operator can be quantified, and a quantitative technique can be transmitted to an operator with little experience. Therefore, it is possible to improve the procedure of an operator with little experience at an early stage.

  As described above, this measuring apparatus can detect the presence of an obstacle inside the pipe outside the pipe when operating the linear body inserted into the pipe. Moreover, this measuring device can be applied to a linear body having various materials.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following drawings, the same or corresponding parts are denoted by the same reference numerals, and description thereof will not be repeated.

(Embodiment 1)
FIG. 1 is a schematic diagram showing the appearance of the main body of the measuring apparatus according to the first embodiment of the present invention. As shown in FIG. 1, this measuring device includes a measuring device main body 2, and a through-hole 3 through which a flexible linear body 1 passes is formed in the measuring device main body 2. Two entrances for inserting the linear body 1 into the through hole 3 are formed. That is, the linear body 1 is inserted into the through-hole 3 from either the first input port 4 or the second input port 5. The inserted linear body 1 goes out of the measuring apparatus main body 2 from the output port 6.

  FIG. 2 is a schematic cross-sectional view showing the internal structure of the measuring device main body taken along the line II-II shown in FIG. As shown in FIG. 2, the first input port 4, the second input port 5, and the output port 6 are formed in a tapered shape so as to increase the entrance and exit through which the linear body 1 penetrates to improve the insertion property. Has been. The through-hole 3 is formed so as to have restraining portions 7 to 9 that restrict movement of the linear body 1 in directions other than the longitudinal axis direction at both ends thereof. In the restraining portions 7 to 9 inside the measuring device main body 2, the diameter of the through hole 3 is slightly larger than the diameter of the linear body 1 (for example, 105% to 120% of the diameter of the linear body 1). The length of the hole 3 along the longitudinal direction of the linear body 1 is several times the diameter of the linear body 1. Therefore, the linear body 1 is restrained in the restraining portions 7 to 9 from moving in directions other than the longitudinal axis direction.

  Further, in the middle of the through-hole 3 (that is, inside the measuring device main body 2 with respect to the restraining portions 7 to 9 formed at the end of the through-hole 3), the inner wall of the through-hole 3 is bent and the through-hole 3 is bent. A space 10 having an expanded cross-sectional area 3 is formed. In the space 10, the movement of the linear body 1 in a predetermined direction is not restricted. That is, in the space 10, the height of the through hole 3 in the direction perpendicular to the paper surface is slightly larger than the diameter of the linear body 1 (for example, 105% to 120% of the diameter of the linear body 1). As shown in FIG. 3, which is a schematic cross-sectional view of the measurement device main body taken along the line III-III shown in FIG. 2, the cross-sectional shape of the through hole 3 in the space 10 is rectangular. Therefore, the linear body 1 is restricted in operation in the short side direction of the rectangular cross section of the through-hole 3 (that is, the direction perpendicular to the paper surface in FIG. 2 and the horizontal direction in FIG. 3). On the other hand, the operation of the linear body 1 in the long side direction of the rectangular cross section of the through-hole 3 (that is, the direction parallel to the paper surface in FIG. 2 and the vertical direction in FIG. 3) is not restricted, and the linear body 1 Can move in the long side direction. Note that the cross-sectional shape of the through hole 3 in the space 10 is not limited to a rectangular shape, and may be any shape as long as the direction in which the linear body 1 can move in the space 10 is defined.

  The measuring device main body 2 defines the bending direction of the linear body 1 inside the through hole 3 when a compressive force in the longitudinal axis direction acts on the linear body 1. That is, the restraining part 7 and the restraining part 9 and the restraining part 8 and the restraining part 9 are not formed in parallel, and the restraining parts 7 and 8 have a predetermined angle with respect to the restraining part 9. When the linear body 1 penetrates the through-hole 3, it becomes a curved shape. For example, as shown in FIG. 2, the rigid linear body 1 a that is inserted from the first input port 4 and goes out from the output port 6 through the restraining portion 7 and the restraining portion 9 becomes a curved shape in the space 10 and passes through the through hole 3. It penetrates.

  As shown in FIG. 2, the space 10 is the inner wall side facing the inside of the curved shape of the rigid linear body 1 a (that is, the side connecting the restraining portion 7 and the restraining portion 9 in a straight line in the cross section, 2 is formed so as to have a substantially triangular shape with the bottom side of the space 10 shown in FIG. The second input port 5 communicates with the space 10 through the restraint portion 8 on the inner wall forming a side inclined with respect to the bottom side.

  The direction in which the rigid linear body 1a can move within the through hole 3 (that is, the space 10) is defined (that is, the rigid linear body 1a operates in the short side direction of the rectangular cross section of the through hole 3). Therefore, when the compressive force in the longitudinal axis direction acts on the rigid linear body 1a, the rigid linear body 1a moves toward the outside of the curved shape. That is, the rigid linear body 1a is further curved in the space 10, and the bending degree of the rigid linear body 1a is increased. Then, the rigid linear body 1a is positioned so that the degree of bending (the height of the crest of the bending) of the rigid linear body 1a is uniquely determined with respect to a predetermined compressive force.

  FIG. 4 is a schematic cross-sectional view showing the curvature of the rigid linear body 1a inside the measuring device body 2 when a compressive force acts on the rigid linear body 1a. As shown in FIG. 4, when the compressive force F in the longitudinal axis direction acts on the rigid linear body 1a, the rigid linear body 1a moves toward the outside of the curved shape, and the rigid linear body 1a is further curved. is doing. Along with the bending of the rigid linear body 1a, the height h of the peak of the bending, that is, the distance from the inner wall of the space 10 where the through hole 3 is not bent to the rigid linear body 1a increases. The measuring apparatus main body 2 is a one-dimensional one-dimensional optical line sensor 11 (a plurality of light receiving elements that receive light, and the plurality of light receiving elements are arranged in a row in the height direction of the bending peak. An optical array sensor), and detects the degree of curvature of the rigid linear body 1a.

  FIG. 5 is a schematic diagram showing the overall configuration of the measuring apparatus. As shown in FIG. 5, the line sensor 11 includes a light source 12 that emits light (for example, an infrared LED) and a light receiver 13 that is disposed at a position facing the light source 12 in the space 10 and receives light emitted from the light source 12. (For example, a phototransistor). That is, the light source device 12 and the light receiver 13 are disposed with the space 10 so as to face each other with the linear body 1 interposed therebetween, along the direction intersecting the longitudinal axis direction of the linear body 1, and The linear body 1 is arranged in the same direction as the direction in which the linear body 1 curves when a compressive force in the longitudinal axis direction is applied to the linear body 1. The measuring device also includes a lighting circuit 14 that causes the light source device 12 to emit light. When the light receiver 13 receives the light emitted from the light source 12, the rigid linear body 1 a is on a light receiving element among the light receiving elements arranged in one dimension, and the light emitted from the light source 12 is a rigid linear body. The amount of light received by the light receiving element is reduced by blocking 1a. The measuring device gives the rigid linear body 1a the height h (degree of curvature) of the bending of the rigid linear body 1a, which is detected by the position of the light receiving element where the amount of light received by the light receiver 13 is small. A conversion circuit 15 is provided for converting into a compressive force acting in the longitudinal axis direction. In the measuring device main body 2, the optical path from the light source 12 to the light receiver 13 is made of a material that transmits light used for detection.

  By detecting the position of the light receiving element that reduces the amount of light received by the light source device 12, the position of the intersection between the line sensor 11 and the rigid linear body 1a can be detected. The height h (curvature) of the curved line of the rigid linear body 1a can be detected from the position of this intersection. Then, the correlation between the predetermined degree of bending of the rigid linear body 1a and the compressive force acting on the rigid linear body 1a is input to the conversion circuit 15, and the conversion circuit 15 determines the rigid linear body 1a. By converting the degree of curvature into a compressive force acting on the rigid linear body 1a, the compressive force acting on the rigid linear body 1a can be measured. In addition, in order to appropriately form an image of the rigid linear body 1a on the light receiver 13, an optical element such as a lens, a slit, or a filter that blocks outside light may be installed in the present optical system.

  Since the rigid linear body 1a has a large Young's modulus (for example, 130 GPa) and is difficult to bend, the shape change with respect to the compressive force is small. Therefore, in order to obtain good measurement accuracy in the measurement apparatus of the present invention, the rigid linear body penetrating through the space 10 where the rigid linear body 1a can be bent when a compressive force acts on the rigid linear body 1a. It is necessary to increase the path length 1a and to increase the degree of bending of the rigid linear body 1a when a compressive force is applied. Therefore, as shown in FIG. 2, the rigid linear body 1 a passes through the through-hole 3 so as to be inserted from the first input port 4, pass through the restraint portion 7 and the restraint portion 9, and exit to the outside from the output port 6. The path length penetrating through 10 is w1.

  Here, the restraining portion is a portion that restrains the movement of the linear body 1 in a direction other than the longitudinal axis direction in the through hole 3. As shown in FIGS. 2 and 4, the rigid linear body 1a is curved when a compressive force F in the longitudinal axis direction acts on the rigid linear body 1a penetrating the through hole 3, but the rigid linear shape at that time is curved. The length of the body 1a that can be bent is determined by the restraint portion 7 and the restraint portion 9 that restrains the rigid linear body 1a from moving in directions other than the longitudinal axis direction. In other words, the path length w1 is a direction in which the rigid linear body 1a is curved because it is constrained by the restraining portion 7 and the restraining portion 9 when the compressive force F in the longitudinal axis direction acts on the rigid linear body 1a. This is the distance connecting the points at both ends of the portion that does not move to. In other words, the path length w <b> 1 is a point that is an end on the inner side (space 10 side) of the measuring device main body 2 at a portion where the movement of the rigid linear body 1 a other than the longitudinal axis direction is restrained in the restraining portion 7. And a point that becomes an end on the inner side (space 10 side) of the measuring device main body 2 at a portion where the movement of the rigid linear body 1a in the restraining portion 9 is restrained in a direction other than the longitudinal axis direction.

  On the other hand, in the case of a soft linear body that has a small Young's modulus (for example, 90 GPa) and is easily bent, the path length through which the flexible linear body penetrates the space 10 is increased, and the length that the flexible linear body can be bent is increased. , Easy to buckle. If the linear body buckles, the compressive force cannot be measured accurately, and the measurement device cannot be established. Therefore, it is necessary to reduce the path length of the flexible linear body that penetrates the space 10 and to set the length so that the flexible linear body does not buckle.

FIG. 6 is a schematic cross-sectional view of a measuring apparatus when a flexible linear body is used. As shown in FIG. 6, when the flexible linear body 1 b is used, the flexible linear body 1 b is inserted into the through hole 3 from the second input port 5. The second input port 5 communicates with the bent inner wall of the substantially triangular space 10 through the restricting portion 8. The direction extending from the first input port 4 toward the inside of the measuring device main body 2 (the extension of the restricting portion 7) with respect to the direction extending from the output port 6 toward the inside of the measuring device main body 2 (the extending direction of the restricting portion 9). The acute angle θ ₁ (see FIG. 10) formed by the direction of movement (direction) is a direction extending from the second input port 5 toward the inside of the measuring device main body 2 with respect to the direction of extension of the restraint 9 (the extension of the restraint 8). The measuring device main body 2 is formed so as to be larger than the acute angle θ ₂ (see FIG. 10) formed by the current direction. The soft linear body 1b inserted from the second input port 5 passes through the through hole 3 so as to exit from the output port 6 to the outside of the measuring apparatus main body 2 through the restricting portion 8 and the restricting portion 9. And the path | route length (namely, the length which can bend the flexible linear body 1b) which penetrates the space 10 in the flexible linear body 1b is w2 smaller than w1. FIG. 10 is a schematic diagram showing an angle formed by the extending direction of the restraining portion.

  As shown in FIG. 6, when the compressive force in the longitudinal axis direction acts on the soft linear body 1b penetrating the through-hole 3, the length of the flexible linear body 1b that can be bent is the restraining portion 7 and the restraining portion 9 In other words, the rigid linear body 1a is determined by being restricted from moving in directions other than the longitudinal axis direction. In other words, the path length w2 is a direction in which the flexible linear body 1b is curved because it is restrained by the restraining portion 8 and the restraining portion 9 when a compressive force in the longitudinal axis direction acts on the soft linear body 1b. This is the distance connecting the points at both ends of the part that does not move.

  Thus, if the path length of the flexible linear body 1b is set to w2, the longitudinal compressive force acting on the flexible linear body 1b can be accurately obtained without buckling the flexible linear body 1b having a small Young's modulus. It can be measured well.

  In addition, since the Young's modulus is different between the soft linear body 1b and the hard linear body 1a, the degree of curvature of the linear body 1 when the same compressive force is applied is different. Thus, when using the several linear body 1 from which a material differs, each correlation with the degree of curvature of the linear body 1 to be used and the compressive force of the longitudinal direction which acts on the linear body 1 is beforehand shown. It is only necessary to measure and store these correlations in the conversion circuit 15. The measuring device includes a selector 16 shown in FIG. 5, and if the selector 16 selects which correlation to use in accordance with the linear body 1 to be used, the same measuring device can be made of various materials (that is, It can be applied to the linear body 1 having a Young's modulus.

  As described above, in this measuring apparatus, the linear body 1 moves in a predetermined direction when a compressive force in the longitudinal axis direction acts on the linear body 1 in the middle of the through hole 3 through which the linear body 1 passes. A space 10 that can be bent is formed. As shown in FIG. 2, the path length that penetrates the space 10 of the rigid linear body 1 a that is inserted from the first input port 4 into the through hole 3 and passes through the through hole 3 through the restraining portions 7 and 9. Is w1. Further, as shown in FIG. 6, the path length of the flexible linear body 1 b that is inserted into the through hole 3 from the second input port 5 and passes through the through hole 3 through the restraining portions 8 and 9 and passes through the space 10. The size is w2. That is, the through hole 3 is configured such that a plurality of paths of the linear body 1 are formed so that the path lengths penetrating the space 10 in the linear body 1 are different.

  Further, the linear body 1 inserted into the through hole 3 from the first input port 4 passes through the restraining portions 7 and 9 and goes to a path in which the length through which the linear body 1 penetrates the space 10 is w1. Guided. On the other hand, the linear body 1 inserted into the through-hole 3 from the second input port 5 passes through the restraining portions 8 and 9 and goes to a path where the length through which the linear body 1 penetrates the space 10 is w2. Guided. That is, the measurement apparatus main body 2 is formed with a first input port 4 and a second input port 5 as a plurality of inlets, and by inserting the linear body 1 into the through hole 3 from each inlet, One specific path is selected from among a plurality of paths through which the linear body 1 passes through the through hole 3. By guiding the linear body 1 to the selected specific path, the path length through which the linear body penetrates the space is determined.

  With such a configuration, when the Young's modulus of the linear body 1 is large, an entrance that increases the path length through which the linear body 1 penetrates the space 10 is appropriately selected. When the distance is small, it is possible to appropriately select an entrance that reduces the path length. Therefore, it is possible to provide a measuring device that can accurately measure the compressive force in the longitudinal axis acting on the linear body 1 regardless of the Young's modulus of the linear body 1. Since it can be applied to the linear body 1 having (that is, Young's modulus), it is economical.

  In the description of the first embodiment, the optical line sensor 11 is used as a bending sensor for detecting the degree of bending of the linear body 1. However, the bending sensor may be of any type. . For example, a non-contact distance sensor that detects the height of the curved peak of the linear body 1 or a position sensor that detects the position of the linear body may be used.

  In addition, since the through-holes may be configured so that a plurality of linear body paths having different path lengths through the space in the linear body are formed, the linear body is inserted into the through-hole. It is not always necessary to have multiple entrances. For example, a measuring device in which one entrance is formed, and a measuring device including a movable switching unit for guiding a linear body to one of a plurality of paths inside the measuring device main body can be considered. . However, it is considered that the productivity, reliability, and maintainability of the measuring device are all reduced by providing the movable part. Therefore, as described in the first embodiment, a measuring device in which a linear body is inserted into a through-hole and a plurality of inlets for guiding each of a plurality of paths is formed is advantageous.

(Embodiment 2)
FIG. 7 is a schematic cross-sectional view illustrating the internal structure of the measurement apparatus main body according to the second embodiment. The measurement apparatus according to the second embodiment and the measurement apparatus according to the first embodiment described above basically have the same configuration. However, in the second embodiment, as shown in FIG. 7, presence detection sensors 21 and 22 that detect the presence or absence of the linear body 1 at the first input port 4 and the second input port 5 as a plurality of inlets. Are different from those of the first embodiment.

  In order to accurately measure the compressive force in the longitudinal axis direction acting on the linear body 1, the material of the linear body 1 and the selected input port need to be appropriately combined. As shown in FIG. 7, if presence detection sensors 21 and 22 that detect the presence or absence of the linear body 1 are provided in the first input port 4 and the second input port 5, the linear body 1 is connected to which input port. You can know what is inserted.

  For example, the linear body 1 used is selected for the conversion circuit 15 shown in FIG. 5 for converting the degree of bending of the linear body 1 detected by the bending sensor into a compressive force acting on the linear body 1. A switch can be provided. Then, the presence detection sensors 21 and 22 detect the input port in which the linear body 1 is inserted, and the detected result can be input to the CPU of the conversion circuit 15. If the linear body 1 selected by the switch and the input port into which the linear body is inserted are collated, the through hole 3 from an appropriate entrance (input port) to the linear body 1 being used. It can be determined from the outside of the measuring apparatus main body 2 whether the linear body 1 is inserted into the main body. If an appropriate entrance is not used, a warning signal can be generated by a visualizing device such as a lamp or an auralizing device such as a speaker to be recognized by the operator.

  As the presence detection sensors 21 and 22, for example, light such as visible light and infrared light is emitted from the light projecting unit as signal light, and the light reflected by the detection object is detected by the light receiving unit, or is blocked by the detection object. It is possible to use a photoelectric sensor that obtains an output signal by detecting a change in the amount of light detected by the light receiving unit. For example, illumination as a light projecting part and phototransistor as a light receiving part can be arranged on opposite sides of the inner wall of the first input port 4 and the second input port 5. In this case, if the linear body 1 is inserted, the light quantity is changed because the light is blocked, and if the change in the light quantity is detected by a phototransistor, it can be detected that the linear body 1 is inserted.

  Note that the presence detection sensors 21 and 22 are not limited to photoelectric sensors. For example, proximity sensors or contact-type or non-contact-type displacement sensors may be used.

  Below, the example which puts the measuring device of this invention into practical use is shown. FIG. 8 is a schematic diagram showing an example in which the measurement device main body is used by being incorporated in a Y connector. According to FIG. 8, a measuring device for measuring a compressive force in a longitudinal axis direction acting on a linear body, which is a linear medical instrument inserted into a body tube, is used by being incorporated in another medical device. An example is shown. As shown in FIG. 8, the Y connector 30 includes a first input port 31, a second input port 32, another input port 33, and an output port 34. The measuring device main body 2 is incorporated in a passage that connects the first input port 31, the second input port 32, and the output port 34 inside the Y connector 30.

  The linear body 1 is, for example, a linear medical instrument such as a guide wire inserted into a body tube such as a blood vessel or a ureter, a catheter, or a wire with a coil for embolizing an aneurysm attached to the tip. . The linear body 1 is inserted into the Y connector 30 from the first input port 31 or the second input port 32, and reaches the target site in the body by an operation from the first input port 31 or the second input port 32 side. Be guided.

  By measuring the increase in the longitudinal compressive force acting on a linear medical instrument inserted into a body tube, the load acting on the body tube as a reaction force of the compressive force is measured. can do. That is, since it can detect that the front-end | tip of a medical device contacts the inner wall of a pipe | tube, it can prevent that an excessive load acts on the pipe | tube in a body. In addition, since the measuring device of the present invention is incorporated in the Y connector 30, a linear medical instrument is operated from the first input port 31 or the second input port 32 of the Y connector 30, and other input ports are used. A drug can be injected from 33. For example, physiological saline for reducing friction between the catheter and the guide wire can be injected from the other input port 33. Further, for example, after guiding the catheter inserted into the blood vessel from the outside of the human body to the target site, an angiographic contrast agent can be injected from the other input port 33 and the angiographic contrast agent can be injected into the target site in the body.

  FIG. 9 is a schematic diagram illustrating an example in which a measurement device is attached to a training simulator that simulates a human body. As shown in FIG. 9, the simulator 41 displays a simulated fluoroscopic image 42 equivalent to a fluoroscopic image of a human body tube into which a linear medical instrument is inserted. A catheter 46 is connected to the measurement apparatus body 2, and a guide wire 45 that penetrates the through hole 3 of the measurement apparatus body 2 is in the catheter 46. The trained operator 44 operates the guide wire 45 while viewing the simulated perspective image 42. The simulator 41 changes the insertion resistance with respect to the inserted guide wire 45. When the operator 44 holding the guide wire 45 applies a force in the longitudinal axis direction to the guide wire 45, if there is an insertion resistance, a compressive force acts on the guide wire 45 in the longitudinal axis direction. The resistance force at the time of operation, that is, the compressive force acting on the guide wire 45 measured by the measuring device is displayed on the display device 47 and also transmitted to the simulator 41 through the cable 43, and the guide wire 45 inside the simulator 41. This contributes to the change of insertion resistance.

  As shown in FIG. 9, the measurement device main body 2 and the simulator 41 are separated, but the measurement device main body 2 may be integrated with the simulator 41. Further, instead of providing the display device 47, the compression force acting on the guide wire 45 may be displayed on the simulated fluoroscopic image 42 of the simulator 41.

  As a result, the skill of the skilled operator can be quantified, and a quantitative technique can be transmitted to an operator with little experience. Therefore, it is possible to improve the procedure of an operator with little experience at an early stage.

  In the description so far, the measurement apparatus main body 2 has two inlets, that is, the first input port 4 and the second input port 5 as inlets for inserting the linear body 1 into the through hole 3. Although an example in which it is formed has been described, three or more inlets may be formed in the measurement apparatus main body 2. In this case, since the path length that penetrates the space 10 of the linear body 1 corresponding to the Young's modulus of the linear body 1 can be selected more precisely, the longitudinal axis acting on the linear body 1 can be selected. The compressive force can be measured with higher accuracy.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  The measuring device of the present invention can be applied particularly advantageously to a measuring device for compressive force acting on a flexible linear body such as a linear medical instrument inserted into a body tube.

FIG. 3 is a schematic diagram illustrating an external appearance of a main body of the measurement device according to the first embodiment. It is a cross-sectional schematic diagram which shows the structure inside a measuring device main body in the cross section by the II-II line shown in FIG. It is a cross-sectional schematic diagram of the measuring device main body in the cross section by the III-III line shown in FIG. It is a cross-sectional schematic diagram which shows the curve of the rigid linear body inside a measuring device main body when compressive force acts on a rigid linear body. It is a schematic diagram which shows the whole structure of a measuring device. It is a cross-sectional schematic diagram of a measuring device in the case of using a flexible linear body. 6 is a schematic cross-sectional view showing an internal structure of a measurement apparatus main body according to Embodiment 2. FIG. It is a schematic diagram which shows the example in which a measurement apparatus main body is incorporated in a Y connector. It is a schematic diagram which shows the example which attaches and uses a measuring device for the simulator for training which simulates a human body. It is a schematic diagram which shows the angle which the extending direction of a restraint part makes.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Linear body, 1a Hard linear body, 1b Soft linear body, 2 Measuring apparatus main body, 3 Through-hole, 4 1st input port, 5 2nd input port, 6 Output port, 7, 8, 9 Constraint 10 space, 11 line sensor, 12 light source, 13 light receiver, 14 lighting circuit, 15 conversion circuit, 16 selector, 21, 22 presence sensor, 30 Y connector, 31 first input port, 32 second Input port, 33 other input port, 34 output port, 41 simulator, 42 simulated fluoroscopic image, 43 cable, 44 operator, 45 guide wire, 46 catheter, 47 display device.

Claims (6)

A measuring device that measures a compressive force in a longitudinal direction acting on a linear body having flexibility,
A main body in which a through-hole through which the linear body passes is formed,
In the middle of the through hole, a space is formed in which the linear body can bend in a predetermined direction when the compressive force acts on the linear body,
The through-hole is configured so that a plurality of paths are formed in which the path length of the linear body penetrating the space is different, and
A bending sensor for detecting the degree of bending;
A measuring apparatus comprising: a conversion circuit that converts the degree of curvature detected to the compressive force acting on the linear body.   The measuring apparatus according to claim 1, wherein a plurality of inlets are formed to insert the linear body into the through hole and guide the linear body to each of the plurality of paths.   The measuring apparatus according to claim 2, further comprising a presence detection sensor that detects presence or absence of the linear body at the entrance.   The measurement apparatus according to claim 3, wherein the presence detection sensor is a photoelectric sensor.   The measuring apparatus according to claim 1, wherein the measuring apparatus is used by being incorporated in a medical device.   6. The measuring device according to claim 1, wherein the measuring device is used by being attached to a training simulator for simulating a human body.

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