WO2015151778A1 - 体内監視カメラシステム - Google Patents
体内監視カメラシステム Download PDFInfo
- Publication number
- WO2015151778A1 WO2015151778A1 PCT/JP2015/057744 JP2015057744W WO2015151778A1 WO 2015151778 A1 WO2015151778 A1 WO 2015151778A1 JP 2015057744 W JP2015057744 W JP 2015057744W WO 2015151778 A1 WO2015151778 A1 WO 2015151778A1
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- WIPO (PCT)
- Prior art keywords
- forceps
- camera unit
- camera
- gripping
- support tube
- Prior art date
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00066—Proximal part of endoscope body, e.g. handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
- A61B1/053—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion being detachable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
- A61B1/0661—Endoscope light sources
- A61B1/0676—Endoscope light sources at distal tip of an endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
- A61B1/0661—Endoscope light sources
- A61B1/0684—Endoscope light sources using light emitting diodes [LED]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
Definitions
- the present invention relates to an in-vivo monitoring camera system including an imaging unit introduced into the body.
- Endoscopic surgery is a minimally invasive procedure in which examination or treatment is performed without opening the patient.
- a treatment tool such as forceps and an endoscope are separately introduced into a patient's body cavity. The surgeon grasps the image of the distal end portion of the treatment tool inserted into the body cavity in the observation field of view of the endoscope, and performs the treatment work while observing the treatment state of the affected area with the treatment tool with the endoscope.
- a treatment tool and an endoscope are introduced into a body cavity through a tube punctured on a body wall (for example, the abdominal wall) in a patient's abdomen or the like. This cylinder is a tubular member called a so-called trocar.
- the surgeon enlarges the image by bringing the endoscope closer to the organ and performs incision or suture of the organ, but at this time, the visual field of the surgeon becomes very narrow. For this reason, there is a demand for an apparatus that can widely grasp the state outside the work area (for example, the movement of the treatment tool outside the work area, the bleeding state, the residual state of residues such as gauze).
- Patent Document 1 discloses that when a camera unit is collected through a trocar, the gripping part (grip part) gripped by forceps is configured to be rotatable so that the camera unit is not caught.
- Patent Document 1 discloses an example in which gripping portions are provided at both ends of a camera unit. One gripping part needs to be used when the camera unit is mounted, and the other gripping part needs to be used when the camera unit is collected.
- the gripping part used at the time of mounting is constituted by a member having excellent rigidity so that the gripping part can be firmly held and the posture of the camera unit can be held.
- the gripping part used at the time of collection is composed of a disk-shaped rotating mechanism or an elastic member (sponge etc.), and the posture of the camera unit can be easily changed when the camera unit is pulled into the trocar at the time of collection. . For this reason, it is necessary to appropriately select the gripping part to be used at the time of mounting and at the time of collection.
- Patent Document 1 when the camera unit is rotated, or when a trocar is added and insertion and recovery are performed with separate (for example, different directions) forceps, the insertion and recovery are performed.
- the gripping part to be gripped must be changed from time to time. As a result, there arises a problem that the camera unit cannot be easily collected from the body.
- the present invention has been made in view of the above-described problems, and an object of the present invention is to provide an in-vivo monitoring camera system that makes it possible to easily collect an imaging unit from the body.
- an in-vivo monitoring camera system includes an imaging unit introduced into the body, and the imaging unit has at least an outer shape of a circular arc when viewed from above.
- Each gripping part includes the gripping part, and the medical part holds the posture of the imaging unit with respect to the medical instrument against an external force from the medical instrument holding the gripping part.
- the imaging unit is displaced around the contact point between the gripping part and the medical instrument with respect to an external force from other than the medical instrument that holds the gripping part by displacing the imaging part following the displacement of the instrument. Or the imaging unit is rotated so as to rotate the contact.
- the imaging unit can be easily collected from the body.
- FIG. 1 A schematic diagram which shows the structure of an internal monitoring camera system.
- FIG. 1 A schematic diagram which shows the structure of an internal monitoring camera system.
- FIG. 1 A schematic diagram which shows the structure of an internal monitoring camera system.
- FIG. 1 A schematic diagram which shows the structure of an internal monitoring camera system.
- FIG. 1 A schematic diagram which shows the structure of an internal monitoring camera system.
- FIG. 1 A schematic diagram which shows the structure of an internal monitoring camera system.
- FIG. (A) is sectional drawing which shows the structure of a cannula
- (b) is sectional drawing which shows the state which inserted the camera support tube shown in FIG. 3 in the cannula
- (c) is the camera support tube inserted in the cannula.
- (A)-(g) is a schematic diagram which shows the installation method of the camera unit in the body.
- FIG. (A) is the figure which showed the state before holding a camera unit with forceps
- (b) is the figure which showed the state after holding a camera unit with forceps.
- FIG. 1 shows the state by which the camera unit was pressed on the front-end
- FIG. 1 shows the state by which the camera unit was pressed on the front-end
- FIGS. 15A to 15D illustrate the movement of the camera unit with respect to the forceps when the camera unit shown in FIG. 15D is grasped with forceps and a pulling force is applied and a rotational motion occurs.
- E is a diagram illustrating this movement as a movement of the forceps with the camera unit side fixed.
- FIGS. 1 to 16 Embodiments of the present invention will be described with reference to FIGS. 1 to 16 as follows.
- members having the same functions as those shown in the respective embodiments are denoted by the same reference numerals, and description thereof is omitted as appropriate.
- the shape and dimensions (length, size, width, etc.) of the configuration shown in each drawing do not strictly reflect the actual shape and size, respectively, and the drawing is clarified and simplified. From the point of view, it is changed appropriately.
- FIG. 1 is a schematic diagram showing the configuration of the in-body monitoring camera system.
- the in-body monitoring camera system 1 includes an imaging device and a control system.
- the imaging apparatus includes a camera unit (imaging unit) 11 and a camera-side cable 12 connected to the camera unit 11.
- the control system includes a camera support tube 13, a cable connector 15, a device-side cable 16, a camera unit control device 17, and a display 18.
- One end of the camera support tube 13 is introduced into the body through the inside of the cannula 31 punctured in the abdominal wall.
- the camera unit 11 performs in-vivo imaging, and is introduced into the body through a tubular member called a trocar. Then, in a state where the camera side cable 12 is passed through the camera support tube 13, one end (inside the body) of the camera support tube 13 and the camera unit 11 in the body are joined by the support tube joint 14. Yes.
- the camera unit 11 is connected to a camera unit control device 17 via a camera side cable 12, a cable connector 15, and a device side cable 16. An image captured by the camera unit 11 is transmitted to the camera unit control device 17, and a control signal from the camera unit control device 17 is transmitted to the camera unit 11.
- the camera unit control device 17 displays the video transmitted from the camera unit 11 on the display 18.
- FIG. 2A is a schematic cross-sectional view of the camera unit according to Embodiment 1, and FIG. 2B is a top view thereof.
- the camera unit 11 has the following configuration.
- the camera unit 11 includes a circuit board 19, a camera housing (housing) 21, a solid-state imaging device 25, a lens 26, a lighting device 27, and a control circuit 28.
- the circuit board 19, the solid-state imaging device 25, the lens 26, the illumination device 27, and the control circuit 28 are accommodated in the camera housing 21.
- the solid-state imaging device 25, the illumination device 27, and the control circuit 28 are electrically connected to the circuit board 19.
- a concave support tube joint 14 is provided on the upper surface of the camera housing 21.
- the support pipe joint portion 14 has a hole structure with a circular opening, and a convex locking claw 23 is provided on the inner wall thereof.
- the camera housing 21 has two gripping portions 22. One of the two gripping portions 22 protrudes from one of the opposing side surfaces of the camera casing 21, and the other of the two gripping portions 22 protrudes from the other of the side surfaces.
- the camera side cable 12 is connected to the circuit board 19 and led out to the outside of the camera unit 11 through the inside of the support pipe joint 14.
- the circuit board 19 and the connection part between the circuit board 19 and the camera side cable 12 are sealed with resin or the like.
- the camera side cable 12 is bonded and fixed to the support tube joint 14 at a portion inside the support tube joint 14 from which the camera side cable 12 is drawn (the bottom of the concave support tube joint 14).
- the adhesive fixing sealing fixing with an adhesive or an O-ring may be mentioned. It is possible to prevent water and foreign matter from entering the camera unit 11 from the bonded and fixed portion. Since the camera side cable 12 is introduced into the body cavity through the trocar, it is made of a flexible material.
- the solid-state image sensor 25 is a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) image sensor or the like.
- the solid-state imaging element 25 and the lens 26 constitute an imaging unit 24.
- the lighting device 27 illuminates the inside of the body, thereby clarifying the image taken by the camera unit 11.
- the illumination device 27 is preferably small, and an LED (Light Emitting Diode) can be suitably used.
- FIG. 3 shows a schematic structure of the camera support tube and the support tube joint.
- FIG. 3 (a) is a perspective view of the camera support tube shown in FIG.
- the camera support tube 13 is a cylindrical tube, and has a concave locking hole 123 in the vicinity of the end on the side to be introduced into the body. From the viewpoint of bonding strength with the camera unit 11, the camera support tube 13 is formed of a hard material.
- FIG. 3B is a cross-sectional view of the camera support tube and the support tube joint portion shown in FIG. 1
- FIG. 3C is a cross section showing a joint state of the camera support tube and the support tube joint portion shown in FIG. FIG.
- the locking claws 23 of the support tube joint 14 are fitted into the locking holes 123 of the camera support tube 13. Thereby, the camera support tube 13 can be fixed to the support tube joint 14.
- FIG. 3D is a cross-sectional view showing a modification of the camera support tube and the support tube joint
- FIGS. 3E and 3F are deformations of the camera support tube shown in FIG. It is a perspective view which shows an example.
- a locking claw 523 is connected to the camera support tube 13 as shown in FIG.
- a locking hole 423 may be provided in the portion 14.
- the camera support tube 13 may be provided with a groove-shaped recess 723 instead of the locking hole 123. Accordingly, when the camera support tube 13 is inserted into the support tube joint portion 14, it is not necessary to perform an operation of matching the positions of the locking holes 123 and the locking claws 23, and the both can be easily joined. desirable.
- the camera support tube 13 has a structure in which the outer diameter of the tube decreases from the groove-shaped recess 723 toward the end portion to be introduced into the body, that is, the outer shape of a truncated cone. May be.
- the camera support tube 13 may have a structure in which the inner diameter is constant and only the outer diameter is changed (the outer shape is reduced toward the tip). Accordingly, when the instrument is inserted into the camera support tube 13, it is more preferable because the instrument is not caught by being caught in the middle (the narrowed portion).
- FIG. 4A is a cross-sectional view showing the structure of the cannula
- FIG. 4B is a cross-sectional view showing a state in which the camera support tube is inserted into the cannula
- FIG. 4C is an insert into the cannula. It is sectional drawing which shows the joining state of the made camera support tube and the camera unit.
- the cannula 31 is a tubular device.
- the cannula 31 has a structure in which one end portion (outside the body) is thicker than the other end portion (inside the body), and a valve 37 having resilience is provided inside the one end portion (outside the body).
- the valve 37 has a valve structure at its central portion that is expanded when an external force is applied from the thick end (outside the body) to the narrow end (inside the body).
- the camera support tube 13 When joining the camera unit 11 to the camera support tube 13 in the body, first, as shown in FIG. 4B, the camera support tube 13 is inserted into the camera support tube 13 with the camera-side cable 12 passed. One end is pressed against the thick end (outside the body) of the cannula 31. Then, the camera support tube 13 is inserted into the cannula 31 until one end of the camera support tube 13 is exposed from the narrow end (inside the body) of the cannula 31. At this time, the valve 37 is pushed and expanded by the camera support tube 13, and the valve 37 strongly tightens the camera support tube 13 due to the restoring property of the valve 37. As a result, the camera support tube 13 is fixed to the cannula 31.
- the other end (outside the body) of the camera support tube 13 is also exposed from the cannula 31.
- the camera side cable 12 is used as a guide, and one end portion (inside the body) of the camera support tube 13 is inserted into the support tube joint portion 14 as described above.
- the locking claw 23 is fitted into the locking hole 123, and the camera unit 11 and the camera support tube 13 are joined with high mechanical strength.
- FIGS. 5A to 5G are schematic views showing a method for installing the camera unit in the body.
- FIG. 6 is a schematic diagram showing how to use the camera unit.
- the operator opens a plurality of ports in the abdominal wall 41, which are holes for inserting forceps (medical instruments) or endoscopes into the body cavity. 32c is inserted. Further, in order to install the camera unit 11 in the body cavity, a port is opened at a position in the abdominal wall 41 where the entire organ including the affected part can be looked over, and the cannula 31 is inserted into this port. Specifically, the cannula 31 is inserted into the port by puncturing the obturator into the port while a needle-shaped obturator is passed through the cannula 31.
- the diameter of the cannula 31 is preferably short.
- the cannula 31 preferably has a diameter of 3 mm or less.
- the surgeon sends gas into the body through the trocars 32a to 32c, and expands the body cavity in advance. Thus, a space for inserting the instrument is secured.
- the operator inserts the endoscope 34 into the body cavity through the trocar 32c. Then, while observing the inside of the body using the endoscope 34, the camera unit 11 held by the forceps 33a is inserted into the body cavity through the trocar 32b.
- the operator operates the forceps 33a to move the camera unit 11 to the vicinity of the cannula 31.
- the forceps 33b is inserted into the body cavity through the cannula 31.
- the operator pulls out the forceps 33b from the cannula 31 while holding the camera side cable 12 using the forceps 33b or a dedicated lifting instrument.
- the camera side cable 12 is led out of the body.
- the grip portion 22 of the camera unit 11 is in a state of being gripped by the forceps 33a.
- the operator inserts the forceps 33c into the body cavity through the trocar 32a.
- the camera side cable 12 led out of the body is passed through the camera support tube 13 while holding the two gripping portions 22 provided on both side surfaces of the camera unit 11 with the two forceps 33a and 33c, respectively.
- the support tube joint 14 and the opening of the cannula 31 are made parallel and close to each other.
- the camera support tube 13 is inserted into the cannula 31.
- the operator inserts the end portion (inside the body) of the camera support tube 13 exposed from the cannula 31 into the support tube joint portion 14 using the camera side cable 12 as a guide.
- the camera support tube 13 and the camera unit 11 are joined.
- the operator pulls up the camera support tube 13 so that the inside of the body cavity can be imaged as wide as possible, thereby bringing the camera unit 11 and the end portion inside the body of the cannula 31 into contact with each other. . Since the camera support tube 13 is strongly tightened by the valve 37 (see FIG. 4) of the cannula 31, the camera support tube 13 and the camera unit 11 maintain this posture.
- the camera side cable 12 and the device side cable 16 are connected using the cable connector 15 as shown in FIG.
- the local image of the treatment unit is displayed on the display 118 by the endoscope control device 117, and the entire image of the organ 42 captured by the camera unit 11 is displayed on the display 18 by the camera unit control device 17.
- the surgeon can grasp the state outside the work area on the display 18 while performing the treatment with the forceps 33a and 33c while magnifying and observing the work area (local image) on the display 118. Specifically, it is possible to grasp the movement of forceps and the like outside the work area, the presence / absence of bleeding sites, the bleeding status, and the residual status of residues such as gauze.
- the operator pulls the camera support tube 13 toward the outside of the body in a state where the grasping portion 22 of the camera unit 11 in the body is gripped by the forceps 33a and 33c, and the camera support tube 13 is connected to the support tube joint portion of the camera unit 11. Pull out from 14.
- the operator inserts the forceps 33c into the body cavity through the trocar 32a. Then, the gripping portions 22 on both end faces of the camera unit 11 are gripped by the forceps 33a and 33c so that the support tube joint portion 14 and the opening of the cannula 31 are parallel and close to each other. Perform removal work.
- the operator pulls out the camera support tube 13 from the cannula 31, separates the camera support tube 13 and the camera side cable 12, and then removes the camera unit 11 and the camera side cable 12 from the trocar 32a or 32b. To derive.
- FIG. 7A is a diagram illustrating a state before the camera unit is gripped with forceps
- FIG. 7B is a diagram illustrating a state after the camera unit is gripped with forceps.
- the grasping portion 22 of the camera unit 11 is grasped by the forceps 33 (the forceps 33a to 33c).
- the camera unit 11 is inserted into the body or recovered from the body from the trocar 32 (each trocar 32a to 32c) with the gripping portion 22 held.
- the forceps 33 is held by the forceps 33 so that the camera unit 11 and the forceps 33 are aligned. 11 is inserted into the trocar 32.
- the gripping part 22 needs to be rigid so that the forceps 33 can firmly hold the gripping part 22 and hold the posture of the camera unit 11 with respect to the forceps 33 constant.
- the scissors part that actually grips the camera unit 11 and the forceps 33 is located inside the body. For this reason, the angle at which the forceps 33 grips the grip portion 22 is limited by the installation position of the trocar 32. Further, unlike the case outside the body, it is difficult to adjust the positional relationship between the camera unit 11 and the forceps 33 so that the posture of the camera unit 11 and the posture of the forceps 33 are linear. Therefore, when the forceps 33 grips the gripping part 22, the camera unit 11 is often greatly inclined with respect to the forceps 33.
- the camera unit 11 When the camera unit 11 that is greatly inclined with respect to the forceps 33 is pulled into the trocar 32, the camera unit 11 has a contact point between the grip portion 22 and the forceps 33 (position where the forceps 33 is gripping the grip portion 22). A large rotational movement is generated as a fulcrum. In order to prevent the forceps 33 from coming off the gripping part 22 and dropping the camera unit 11 when this rotational movement occurs, the gripping part 22 has an optimum size and is excellent in ease of rotation. It is required to have an anti-slip mechanism.
- the feature of the gripping part 22 according to each embodiment is that it has a mechanism that achieves both the functions necessary for the insertion and the functions necessary for the recovery.
- the gripping portion 22 follows the displacement of the forceps 33 while maintaining the posture of the camera unit 11 with respect to the forceps 33 with respect to the external force from the forceps 33 holding the gripping portion 22.
- the camera unit 11 is displaced.
- the gripping portion 22 according to each embodiment is configured to move the camera unit 11 around the contact point between the gripping portion 22 and the forceps 33 with respect to an external force from other than the forceps 33 holding the gripping portion 22.
- the camera unit 11 is rotated so as to rotate or to move the contact.
- FIG. 8 is an explanatory diagram relating to the optimum length of the gripping portion.
- 8 (a) and 8 (b) are top views showing a gripping portion having a length in an appropriate range
- FIG. 8 (c) is a top view showing a gripping portion shorter than the proper range
- (D) is a top view showing a gripping part longer than an appropriate range.
- Each of the gripping portions 22 shown in FIGS. 8A to 8D protrudes left and right from the camera housing 21 (see “projection direction” in FIG. 8A). It has the outer shape.
- the gripping portion 22 shown in FIGS. 8A and 8B is an example having an appropriate length of the gripping portion 22, and the length of the gripping portion 22 in the protruding direction is the example.
- the diameter of the circle 22c constituting the outer shape of the gripping portion 22 (the arc) is not less than the diameter.
- the gripping portion 22 shown in FIG. 8C is an example in which the length of the gripping portion 22 is too short, and the length of the gripping portion 22 in the protruding direction is less than the radius of the circle 22c.
- the gripping portion 22 shown in FIG. 8D is an example in which the length of the gripping portion 22 is too long, and the length of the gripping portion 22 in the protruding direction exceeds the diameter of the circle 22c.
- the maximum length of the gripping portion 22 in the protruding direction (that is, the length of the longest portion). )) May be greater than or equal to the radius of the circle 22c and less than or equal to the diameter.
- FIG. 9 is a cross-sectional view showing a state when the camera unit shown in FIG. 9A is a view showing a state where forceps are inserted into the trocar
- FIG. 9B is a view showing a state where the camera unit is gripped using forceps
- FIG. It is a figure which shows the state in which a camera unit passes a trocar.
- FIG. 9A shows a cross-sectional view of the state shown in FIGS. 9B and 9C rotated 90 degrees about the extending direction of the forceps 33. Yes.
- the gripping part 22 of the camera unit 11 when the gripping portion 22 of the camera unit 11 is gripped by the forceps 33, the angle ⁇ formed by the camera unit 11 and the forceps 33 increases.
- FIG. 9C in this state, when the camera unit 11 is to be pulled into the trocar 32, the gripping part 22 presses against the tip (inside of the body) of the trocar 32, and the gripping part 22 and the forceps 33. Rotational motion about the contact 61 with the center (fulcrum) occurs.
- the tip of the gripping part 22 has an arc shape, and the vicinity of the center of the circle 22c can be used as the center of the rotational movement, so that the edge of the gripping part 22 rotates without being greatly shaken during the rotational movement. . Therefore, the camera unit 11 can be pulled into the trocar 32 smoothly.
- 9A to 9C can be said to be a case in which a fulcrum of rotational motion exists slightly inside the tip of the forceps 33.
- FIG. 9A to 9C can be said to be a case in which a fulcrum of rotational motion exists slightly inside the tip of the forceps 33.
- FIG. 10 is a cross-sectional view showing a case where the outer shape of the gripping portion is generally rectangular when viewed from above.
- (A) of FIG. 10 is a figure which shows the state which hold
- (b) of FIG. 10 is a figure which shows the state by which the forceps was pulled up and the camera unit was pressed on the front-end
- FIG. 10C is a view showing a state where the camera unit is caught by the tip of the trocar when the forceps are further pulled up, the forceps are removed, and the camera unit is dropped.
- the width of the gripping portion 22 along the direction perpendicular to the protruding direction may be equal to the width of the camera casing 21 along the same direction. desirable.
- the width of the gripping part 22 is smaller than the width of the camera casing 21, a constriction occurs at the boundary between the camera casing 21 and the gripping part 22, and when the pulling up while rotating, the constriction causes the camera to The unit 11 is easily caught on the tip (inside the body) of the trocar 32.
- FIG. 11 is a cross-sectional view showing a state when the camera unit shown in FIG.
- FIG. 11A is a view showing a state where the camera unit is gripped using forceps
- FIG. 11B is a view showing a state where the forceps are pulled up and the camera unit is pressed against the tip of the trocar
- FIG. 11C is a view showing a state where the forceps are further pulled up and the camera unit is pulled into the trocar.
- FIG. 11A when the gripping part 22 is gripped by the forceps 33, the forceps 33 and the gripping part 22 are in contact with each other at the contact point 61. Then, as shown in FIG. 11 (b), a rotational motion around the contact 61 occurs. Then, as shown in FIG. 11C, the camera unit 11 can be pulled into the trocar 32 without dropping.
- the grip 22 is gripped by the tip of the forceps 33.
- the vicinity of the center of the circle 22c is set as the center of the rotational motion.
- the edge of the gripping part 22 rotates without being greatly shaken during the rotational movement. Therefore, the camera unit 11 can be pulled into the trocar 32 smoothly.
- the gripping part 22 has a sufficient function.
- FIG. 12 is a cross-sectional view showing a state when the camera unit shown in FIG. (A) of FIG. 12 is a figure which shows the state which hold
- (b) of FIG. 12 is a figure which shows the state where the forceps was pulled up and the camera unit was pressed on the front-end
- FIG. 12C is a diagram showing a state in which when the forceps are further pulled up, the camera unit hits the tip of the trocar, the forceps are removed, and the camera unit is dropped.
- FIG. 13 is a cross-sectional view showing a state when the camera unit shown in FIG.
- FIG. 13A is a diagram showing a state in which the camera unit is gripped by using forceps
- FIG. 13B is a diagram showing a state in which the forceps are pulled up and the camera unit is pressed against the tip of the trocar
- FIG. 13C is a view showing a state where the camera unit is caught by the tip of the trocar when the forceps are further pulled up, the forceps are detached, and the camera unit is dropped.
- FIG. 13A when the gripping portion 22 of the camera unit 11 is too long, the forceps 33 often grips the gripping portion 22 at the contact point 61 that is far from the center of the circle 22c.
- FIG. 13B when the forceps 33 is pulled up and the camera unit 11 is pressed against the tip (inside of the body) of the trocar 32, the reverse rotation of the case shown in FIGS. It produces a rotational movement.
- the camera unit 11 is easily hooked sideways so as to close the tip (inside of the body) of the trocar 32. As a result, the camera unit 11 is detached from the forceps 33 and the camera unit 11 is easily dropped.
- the length of the gripping portion 22 in the protruding direction is not less than the radius of the circle 22c and not more than the diameter.
- FIG. 14 is a diagram showing a comparison between an example in which the cross-sectional shape of the gripping portion is a rectangle having a constant thickness and an example in which the gripping portion has a tapered shape.
- FIG. 14A is a diagram showing a state where the gripping portion is gripped with forceps in an example having a tapered shape
- FIG. 14B is a state where the gripping portion is gripped with forceps in an example having a rectangular shape
- 14 (c) is an enlarged plan view of the camera unit
- FIG. 14 (d) is an enlarged view of a main part showing a state in which the gripping part is gripped with forceps in an example of a tapered shape.
- FIG. 14E is an enlarged view of a main part showing a state in which the gripping part is gripped with forceps in an example of a rectangular shape.
- 14 (a) and 14 (d) has a shape that gradually becomes thinner toward the edge 22e of the gripping portion 22. This is a tapered cross-sectional shape.
- the gripping portion 22 shown in FIGS. 14B and 14E has a uniform thickness over the entire gripping portion 22. This is a rectangular cross-sectional shape.
- the contact 61 between the gripping portion 22 and the forceps 33 is connected to the edge of the gripping portion 22 and / or In the vicinity.
- the forceps 33 is easily detached from the grip portion 22 when slipping occurs. If the gripping portion 22 is thinned, the gripping portion 22 can be easily grasped by the forceps 33, but the mechanical strength of the gripping portion 22 is reduced, so that it is difficult to firmly hold the camera unit 11 by the forceps 33.
- the gripping portion 22 has a tapered cross-sectional shape.
- the gripping portion 22 has a structure in which the thickness of the gripping portion 22 decreases toward the edge 22e, it is easy to grip even a relatively small forceps 33, so that the work can be performed regardless of the type of forceps 33. For this reason, workability
- the schematic shape (top view and cross-sectional shape) of the gripping portion 22 has been mainly described in detail.
- the gripping portion 22 has an uneven surface, and the gripping portion 22 is made of a material.
- a mechanism having a non-slip function can be added to the grip portion 22.
- the example which formed the groove-shaped pattern in the holding part 22 is demonstrated, if it has an equivalent function, it will not be limited to this.
- FIG. 15 is a diagram showing an example of the groove pattern of the gripping portion.
- FIG. 15 (a) is a view showing an example in which a plurality of arcuate grooves are formed in the gripping portion.
- a plurality of grooves 50 are formed in the gripping portion 22 shown in FIG.
- Each of the plurality of grooves 50 extends in an arc when viewed from above (in other words, an arcuate shape). Further, none of the plurality of grooves 50 is formed on the edge 22e of the grip portion 22.
- the teeth of the forceps 33 bite into the groove 50 and can be gripped firmly.
- the force with which the forceps 33 pushes or pulls the camera unit 11 can be reliably transmitted to the gripping portion 22, so that the camera unit 11 can be easily displaced following the displacement of the forceps 33. .
- the force applied to the camera unit 11 from the trocar 32 causes the teeth of the forceps 33 to slide along the groove 50 (in a circle), thereby Eleven rotational movements occur.
- the camera unit 11 can be smoothly pulled into the trocar 32 without being caught by the trocar 32 in the same manner as the case shown in FIGS. 9A to 9C, for example.
- the camera unit 11 can be prevented from dropping by adopting a configuration in which the groove 50 is not formed on the edge 22e.
- FIG. 15 is the figure which showed the example which formed the groove
- a groove 51 is formed along the outer periphery of the gripping part 22 in the gripping part 22 shown in FIG. Even when the teeth of the forceps 33 that have slid along the groove 50 come off the end of the groove 50, the teeth of the forceps 33 remain in the groove 51, and the forceps 33 is prevented from being detached from the gripping portion 22. Can do.
- FIG. 15C is a view showing an example in which a circular groove pattern is formed.
- a plurality of grooves 52 are formed in the gripping portion 22 shown in FIG. Each of the plurality of grooves 52 extends around the circumference in a top view (partially, a circular arc in a top view). Further, none of the plurality of grooves 52 is formed on the edge 22 e of the gripping portion 22.
- the interval between the two adjacent grooves 52 in the vicinity of the edge 22e of the gripping portion 22 is smaller than the interval between the two adjacent grooves 52 in the center of the gripping portion 22 and in the vicinity thereof. That is, the pitch of the grooves 52 is finer toward the outer peripheral side of the gripping part 22 and becomes coarser toward the center side of the gripping part 22. This is because the forceps 33 is mainly in contact with the groove 52 in the vicinity of the center of the circle 22c (see FIG. 8 etc.), and if the pitch of the grooves 52 on the center side of the gripping portion 22 is too fine, the center of the circle 22c If the contact point 61 and the contact 61 (see FIG.
- FIG. 15D shows the movement of the camera unit relative to the forceps when the camera unit shown in FIG. 15 (d) is grabbed with forceps and a pulling force is applied and rotational motion occurs. It is the figure demonstrated with progress.
- FIG. 16E is a diagram illustrating this movement as movement of the forceps with the camera unit side fixed.
- a plurality of grooves 53 are formed along the outer periphery of the gripping part 22 in the gripping part 22 shown in FIG.
- the interval between the two adjacent grooves 53 in the vicinity of the edge 22e of the grip portion 22 is smaller than the interval between the two adjacent grooves 50 in the center of the grip portion 22 and in the vicinity thereof.
- the forceps 33 moves away from the forceps 33 and is inappropriate.
- the pitch of the grooves 53 is made fine on the outer peripheral side of the gripping part 22 and roughened on the central side, so that the movement guide function from the end to the central part described above and rotation It is possible to obtain a pattern that is compatible with ease.
- (E) of FIG. 15 is the figure which showed the example which formed the elastic material on the surface of the holding part as a slip prevention mechanism.
- an elastic material 54 is formed along the outer periphery of the gripping portion 22 in addition to the groove 50.
- the elastic material 54 is made of, for example, silicone.
- the grooves 50 to 53 and the elastic member 54 may form the same pattern (reversal pattern) on both surfaces of the gripping portion 22, but if both surfaces are the same pattern, sliding motions in the same direction occur on both surfaces. Slippery. For this reason, it is desirable to form different patterns on the both sides of the gripping part 22 in places where it is difficult to slip, for example, in the vicinity of the edge 22e of the gripping part 22. Further, even on the center side of the gripping portion 22, in order to achieve both the movement guide function and the ease of rotation, the configuration of FIG. 15C and the configuration of FIG. 15D are combined. Can be taken. Needless to say, the examples are not limited to those described above.
- the gripping portion 22 can apply the force from the grasped forceps 33 to the camera unit 11 as it is when inserted in a linear direction, and to the camera unit 11 when the camera unit 11 is recovered. It has a structure that is difficult to come off against the applied rotational movement. As a result, it is possible to achieve both gripping strength and ease of rotation, speeding up the installation work, and preventing the camera unit 11 from being soiled by dropping. Therefore, the installation work time of the camera unit 11 can be shortened, and the operation time for installation can be prevented from increasing. In addition, since the installation work is simplified, the surgeon is not stressed, and the safety is high in terms of mental human effects.
- the in-vivo monitoring camera system includes an imaging unit (camera unit 11) introduced into the body, and the imaging unit has at least one grip having an outer shape of a circular arc when viewed from above.
- Each gripping part holds the posture of the imaging unit relative to the medical instrument against an external force from a medical instrument (forceps 33) holding the gripping part.
- the imaging unit is displaced following the displacement of the instrument, and the contact point between the gripping part and the medical instrument against an external force other than a medical instrument that grips the gripping part (for example, the trocar 32)
- the imaging unit is rotated around the center, or the imaging unit is rotated so that the contact is rotated.
- the imaging unit when the imaging unit is inserted into the body by the medical instrument, the insertion can be performed while maintaining the posture of the imaging unit with respect to the medical instrument by the external force from the medical instrument.
- the imaging unit when the imaging unit is collected from the body, the imaging unit is rotated by an external force from a member other than the medical instrument, and the inclination of the imaging unit can be optimized. Is possible.
- each gripping part can be shared at the time of insertion and recovery, it is possible to easily recover from the body of the imaging unit.
- the in-vivo monitoring camera system according to aspect 2 of the present invention is the above-described aspect 1, wherein at least one of the gripping portions includes a plurality of grooves, and the plurality of grooves are arranged in an arc when viewed from above or a circumference when viewed from above. It extends and is not formed on the edge of the gripping part.
- the in-vivo monitoring camera system according to aspect 3 of the present invention is the above-described aspect 2, wherein the interval between the two adjacent grooves in the vicinity of the edge of the at least one gripping part is the center of the gripping part and the vicinity thereof. Less than the interval.
- an elastic material is formed on at least one gripping portion.
- At least one of the gripping portions has a shape that gradually becomes thinner toward an edge of the gripping portion.
- the in-body monitoring camera system is any one of Aspects 1 to 5, wherein the imaging unit includes a casing (camera casing 21), and at least one gripping part is The grip portion is provided so as to protrude from the housing, and the length of the grip portion in the projecting direction of the grip portion is not less than the radius of the circle constituting the outer shape of the grip portion and not more than the diameter.
- the present invention can be used for an in-body monitoring camera system including an imaging unit introduced into the body, and is particularly suitable for endoscopic surgery and the like.
- Camera unit (imaging part) 21 Camera housing (housing) 22 gripping part 22c circle 22e edge 33 forceps (medical instrument) 50 to 53 Groove 54 Elastic material 61 Contact
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Abstract
Description
図1は、体内監視カメラシステムの構成を示す模式図である。
図2の(a)は実施の形態1に係るカメラユニットの模式的断面図であり、図2の(b)はその上面図である。
図3に、カメラ支持管および支持管接合部の概略構造を示す。
図4の(a)はカニューレの構造を示す断面図であり、図4の(b)はカメラ支持管をカニューレに挿入した状態を示す断面図であり、図4の(c)はカニューレに挿入されたカメラ支持管とカメラユニットとの接合状態を示す断面図である。
図5の(a)~(g)は、カメラユニットの体内設置方法を示す模式図である。
次に、カメラユニット11とカメラ支持管13とを分離させる方法について説明する。
図7の(a)は、鉗子でカメラユニットを把持する前の状態を示した図であり、図7の(b)は、鉗子でカメラユニットを把持した後の状態を示した図である。
本実施の形態に係る握持部の構成について、図8~図13を参照して説明する。
実施の形態1では、主に握持部22の概略平面(上面視)の形状を詳細に説明したが、握持部22の断面形状(すなわち、握持部22の厚みの分布)についても、把持しやすく、カメラユニット11を回転させやすい構造がある。以下、握持部22を、握持部22の縁に向けて徐々に薄くなる形状とした構造(テーパ形状構造)について説明する。
実施の形態1および2では、主に握持部22の概略形状(上面視および断面形状)に関して詳細に説明したが、握持部22の表面に凹凸を設けたり、握持部22の材質を変更したりすることで、握持部22に滑り止め機能を有する機構を追加することもできる。以下では、握持部22に溝状のパターンを形成した例を説明するが、同等の機能を有するものであれば、これに限定されるものではない。
各実施の形態に係る握持部22は、直線的な方向への挿入時には、把持した鉗子33からの力をそのままカメラユニット11に与えることができ、カメラユニット11の回収時には、カメラユニット11に加わる回転運動に対して外れにくい構造を備えている。このことにより、把持強度と回転容易性とを併せ持ち、設置作業の迅速化、および落下によるカメラユニット11の汚れ防止が実現できる。従って、カメラユニット11の設置作業時間の短縮が図れ、設置のために手術時間が増加することも防げる。また、設置作業が簡単になるので術者にストレスをかけることもなく、精神的な人的効果の面からも安全性が高い。
本発明の態様1に係る体内監視カメラシステムは、体内に導入される撮像部(カメラユニット11)を備えており、上記撮像部は、上面視円弧の外形を有している少なくとも1つの握持部を備えており、各上記握持部は、上記握持部をつかんでいる医療器具(鉗子33)からの外力に対しては、該医療器具に対する上記撮像部の姿勢を保持させつつ該医療器具の変位に追従して上記撮像部を変位させ、上記握持部をつかんでいる医療器具以外(例えば、トロッカー32)からの外力に対しては、上記握持部と上記医療器具との接点を中心として上記撮像部を回転させる、または、該接点を回転移動させるように上記撮像部を回転させる。
21 カメラ筐体(筐体)
22 握持部
22c 円
22e 縁
33 鉗子(医療器具)
50~53 溝
54 弾性材
61 接点
Claims (6)
- 体内に導入される撮像部を備えており、
上記撮像部は、上面視円弧の外形を有している少なくとも1つの握持部を備えており、
各上記握持部は、
上記握持部をつかんでいる医療器具からの外力に対しては、該医療器具に対する上記撮像部の姿勢を保持させつつ該医療器具の変位に追従して上記撮像部を変位させ、
上記握持部をつかんでいる医療器具以外からの外力に対しては、上記握持部と上記医療器具との接点を中心として上記撮像部を回転させる、または、該接点を回転移動させるように上記撮像部を回転させることを特徴とする体内監視カメラシステム。 - 少なくとも1つの上記握持部は、溝を複数有しており、
複数の上記溝は、
上面視円弧または上面視円周に延伸しており、
上記握持部の縁に形成されていないことを特徴とする請求項1に記載の体内監視カメラシステム。 - 上記少なくとも1つの握持部の縁近傍における隣接する2つの上記溝の間隔が、該握持部の中央およびその近傍における該間隔より小さいことを特徴とする請求項2に記載の体内監視カメラシステム。
- 少なくとも1つの上記握持部に、弾性材が形成されていることを特徴とする請求項1から3のいずれか1項に記載の体内監視カメラシステム。
- 少なくとも1つの上記握持部は、該握持部の縁に向けて徐々に薄くなる形状であることを特徴とする請求項1から4のいずれか1項に記載の体内監視カメラシステム。
- 上記撮像部は、筐体を備えており、
少なくとも1つの上記握持部は、上記筐体から突出して設けられており、
該握持部の突出方向における該握持部の長さは、上記握持部の外形を構成する円の半径以上直径以下であることを特徴とする請求項1から5のいずれか1項に記載の体内監視カメラシステム。
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JP2016511507A JP6334680B2 (ja) | 2014-03-31 | 2015-03-16 | カメラユニット |
US15/129,044 US10542879B2 (en) | 2014-03-31 | 2015-03-16 | In-body monitoring camera system and camera unit with gripping portion |
CN201580016380.0A CN106163363B (zh) | 2014-03-31 | 2015-03-16 | 体内监视摄像机*** |
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