JP2004081852A - Needle-punching device and method for detecting operation state of needle of the needle-punching device - Google Patents
Needle-punching device and method for detecting operation state of needle of the needle-punching deviceDownload PDFInfo
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Abstract
Translated fromJapaneseDescription
Translated fromJapanese本発明は、生体組織の生検、薬液注入、内視鏡手術におけるトロカール穿刺、治療支援ロボットによる針穿刺等に利用される、針状の器具の挿入を支援する医療用機器に関し、特に、穿針装置及び該穿針装置の針の動作状態の検出方法に関するものである。 The present invention relates to a medical device that supports the insertion of a needle-shaped device used for biopsy of a living tissue, injection of a drug solution, trocar puncture in endoscopic surgery, needle puncture by a treatment support robot, and the like. The present invention relates to a needle device and a method for detecting an operation state of a needle of the needle device.
針を用いた医療行為は、いろいろあり、生体組織の生検や注射、血液を採取することは知られている。又、腹腔鏡手術等の低侵襲手術で術具を導入する孔を開ける際に用いられるトロカールも、先端が鋭利な一種の針である。外科的治療に使用される針穿刺は低侵襲治療の術具であり、これを患者に適応した場合、患者自身の社会復帰は総じて早く、患者の経済的、肉体的負担は低減される。There are various medical procedures using needles, and it is known to perform biopsy, injection, and blood sampling of living tissue. A trocar used for making a hole for introducing a surgical instrument in minimally invasive surgery such as laparoscopic surgery is also a kind of needle having a sharp tip. Needle puncture used in surgical treatment is a minimally invasive treatment tool, and when applied to a patient, the patient's own rehabilitation is generally quick and the economic and physical burden on the patient is reduced.
従来、医師は皮膚と脂肪層、皮下筋肉層などの生体組織の組織境界部を針を伝わる穿刺力の変化として知覚してきた。ところが、我々の計測では穿刺の際の針の荷重を荷重計で観察しても生体組織の組織境界部で顕著な変化が常に現れるとは限らない。これは、この荷重が先端の切開力と側面の摩擦力の合力であり、後者のほうが前者に優ることによる。Traditionally, physicians have perceived the boundaries of living tissue, such as the skin and the fat layer and subcutaneous muscle layer, as changes in the puncture force transmitted through the needle. However, in our measurement, even if the load of the needle at the time of puncturing is observed with a load meter, a remarkable change does not always appear at the tissue boundary of the living tissue. This is because this load is the combined force of the cutting force at the tip and the frictional force at the side, and the latter is superior to the former.
対象とする生体組織へ針を正確に到達させることは経験を要する。これを解消するために、刺入される針の長さを任意に決める手段が知られている（特許文献１参照。）。経 験 Accurately reaching the needle to the target biological tissue requires experience. Means for arbitrarily determining the length of a needle to be inserted is known to solve this problem (see Patent Document 1).
これまで、針に作用する荷重を検出し組織境界の貫通を検出する技術は公知であった。しかしながら、針側面に加わる摩擦力を合わせて計測することになるため、先端の切開力の変化を検出しがたく、より大きな問題として生体で生じる体動（呼吸動、拍動、ぜん動等）の影響を受け、体動と先端切開力の変化を区別することが困難である。Until now, a technique for detecting a load acting on a needle and detecting penetration of a tissue boundary has been known. However, since the frictional force applied to the side of the needle is measured together, it is difficult to detect the change in the incision force at the tip, and as a bigger problem the body movement (respiration, pulsation, peristalsis, etc.) that occurs in the living body Affected, it is difficult to distinguish between body motion and changes in tip dissection force.
穿刺に用いる針と生体との間の電気抵抗の変化から組織境界の貫通を検出する方法は公知である。しかしながら、針の中に電極、導線を構成する必要があり、針部を新規に開発、試験する必要が生じ、針部の部品点数の増加、価格の上昇などを生じる上、検出している物理量が荷重でないため、間接的な計測法であり、複雑な信号解析法を必要とする。方法 A method for detecting penetration of a tissue boundary from a change in electrical resistance between a needle used for puncturing and a living body is known. However, it is necessary to construct electrodes and conductors in the needle, which necessitates the development and testing of a new needle part, which leads to an increase in the number of parts in the needle part, an increase in price, etc. Is not a load, so it is an indirect measurement method and requires a complicated signal analysis method.
しかしながら、安全性確保のため及び針に作用する荷重の反作用における臓器の変形等を考慮すれば、何らかの方法により、針の挿入位置などの動作状態の確認が必要である。れ ば However, considering the deformation of the organ and the like due to the reaction of the load acting on the needle to ensure safety, it is necessary to confirm the operation state such as the insertion position of the needle by some method.
針穿刺、特に生体組織の生検など身体深部への刺入においてはＸ線による確認が多く行われている。腹腔へのトロカール穿刺は画像による確認を行わずになされることが多いが、まれに内蔵器を損傷する事故が発生する。他の針穿刺でも、画像による確認を行わない、若しくは行えない状況において臓器を損傷する事故が生じる問題点がある。Ｘ In the case of puncture into a deep part of the body such as needle puncture, especially biopsy of a living tissue, confirmation by X-rays is often performed. A trocar puncture into the abdominal cavity is often performed without confirming with an image, but in rare cases an accident may occur that damages the internal organs. Even with other needle punctures, there is a problem that an organ may be damaged in a situation where confirmation with an image is not performed or cannot be performed.
Ｘ線画像による確認が行われている場合、患者、医師共に被曝する。特に複数の患者に対して処置を行う医師の被曝の低減は重要な問題になっている。これを解消するため、治療支援用のシステムとして針シミュレータを介して医師が針穿刺行為を行うという手段が公知である（特許文献２参照。）。
しかし、患者にとっては針穿刺という低侵襲技術の恩恵を受けるために、新たな侵襲である被曝を受ける必要があることについては考慮されていない。このように、針穿刺による低侵襲性の有用性を相殺している問題点がある。However, it does not take into account that patients need to undergo a new invasive exposure to benefit from the minimally invasive technique of needle puncture. Thus, there is a problem that offsets the usefulness of minimally invasiveness by needle puncture.
本発明は、上記従来の２つの問題点を解決することを目的とするものであり、画像による確認を行わない状況でも安全な穿刺を行い、あわせて放射線による被曝を低減もしくは無くすことを目的とし、生体組織の境界を検出する穿針装置及び該穿針装置の針の動作状態の検出方法を実現するものである。An object of the present invention is to solve the above two conventional problems, and to perform a safe puncture even in a situation where confirmation by an image is not performed, and to reduce or eliminate radiation exposure. The present invention realizes a needle-punching device for detecting a boundary of a living tissue and a method of detecting an operating state of a needle of the needle-punching device.
本発明は上記課題を解決するために、中空又は中実の針部と、その側面を全部又は一部を覆う外筒部を備えた穿針装置であって、上記針部に作用する荷重を計測する１軸以上の針部荷重計が設けられていることを特徴とする穿針装置を提供する。The present invention, in order to solve the above problems, a hollow or solid needle portion, a needle-punching device provided with an outer cylinder portion that covers all or a part of the side surface thereof, the load acting on the needle portion A needle-punching device provided with a needle load meter having one or more axes for measurement.
上記外筒部に作用する荷重を計測する外筒部荷重計が設けられていることを特徴とする。An outer cylinder part load meter for measuring a load acting on the outer cylinder part is provided.
上記外筒部に作用する荷重を計測する外筒部荷重計が設けられていることを特徴とする。 外 An outer cylinder load meter for measuring a load acting on the outer cylinder is provided.
上記針部荷重計及び外筒部荷重計の測定結果を経時的データとして記録する記録装置が設けられており、該経時的データの一次又は二次以外の高次データにおける不連続部分は、生体組織境界部に対応するものであると判定する判定装置が設けられていることを特徴とする。A recording device for recording the measurement results of the needle load cell and the outer cylinder load cell as time-dependent data is provided, and a discontinuous portion in higher-order data other than the primary or secondary data of the time-dependent data is a living body. It is characterized in that a determination device for determining that it corresponds to the tissue boundary is provided.
本発明は上記課題を解決するために、中空又は中実の針部と、その側面を全部又は一部を覆う外筒部と、上記針部に作用する荷重を計測する１軸以上の針部荷重計と、上記外筒部に作用する荷重を計測する外筒部荷重計と、荷重計のデータを記録する記録装置と、判定装置を備えた穿針装置の針部の動作状態を検出する方法であって、上記針部荷重計及び外筒部荷重計の測定結果を記録装置で経時的データとして記録し、上記判定装置において該経時的データの一次又は二次以外の高次データにおける不連続部分により、上記針部が生体組織の組織境界部に対応する位置あると判定することを特徴とする穿針装置の針部の動作状態を検出する方法を提供する。In order to solve the above-mentioned problems, the present invention provides a hollow or solid needle portion, an outer cylinder portion that covers all or a part of the side surface thereof, and a needle portion having one or more axes for measuring a load acting on the needle portion. A load meter, an outer cylinder portion load meter that measures a load acting on the outer cylinder portion, a recording device that records data of the load meter, and an operating state of a needle portion of a needle sticker including a determination device is detected. A method of recording the measurement results of the needle load cell and the outer cylinder load cell as time-dependent data with a recording device, and using the determination device to determine whether the time-dependent data is higher or lower than primary or secondary data. There is provided a method for detecting an operation state of a needle portion of a needle sticking device, wherein it is determined that the needle portion is located at a position corresponding to a tissue boundary portion of a living tissue by a continuous portion.
本発明は上記課題を解決するために、中空又は中実の針部と、その側面を全部又は一部を覆う外筒部と、上記針部に作用する荷重を計測する１軸以上の針部荷重計と、上記外筒部に作用する荷重を計測する外筒部荷重計と、荷重計のデータを記録する記録装置と、判定装置を備えた穿針装置の針部の動作状態を検出する方法であって、上記針部荷重計及び外筒部荷重計により、針及び外筒に作用する合力及び／又はモーメントのベクトルの大きさと方向を測定し、該測定結果から、上記判定装置で、上記針部が生体組織の組織境界部に対応する位置にあると判定することを特徴とする穿針装置の針部の動作状態を検出する方法を提供する。In order to solve the above-mentioned problems, the present invention provides a hollow or solid needle portion, an outer cylinder portion that covers all or a part of the side surface thereof, and a needle portion having one or more axes for measuring a load acting on the needle portion. A load meter, an outer cylinder portion load meter that measures a load acting on the outer cylinder portion, a recording device that records data of the load meter, and an operating state of a needle portion of a needle sticker including a determination device is detected. In the method, the magnitude and direction of the resultant force and / or the vector of the moment acting on the needle and the outer cylinder are measured by the needle load cell and the outer cylinder load cell. There is provided a method for detecting an operation state of a needle portion of a needle sticking device, wherein it is determined that the needle portion is located at a position corresponding to a tissue boundary portion of a living tissue.
本発明に係る穿針装置及び該穿針装置の針の動作状態の検出方法は以上の構成であるから、Ｘ線等の画像装置を利用しないので、生体組織生検において、医師や患者に生じるＸ線による被曝など低減することができる。又、従来、医師の経験や勘によっていた的確な対象である組織への穿刺を、ばらつきなくある程度一定とすることができる。さらに、治療支援ロボットなどを利用して、生体組織生検を行う場合に針の動きを制御することが可能となる。Since the needle-punching device according to the present invention and the method of detecting the operating state of the needle of the needle-punching device have the above-described configuration, an imaging device such as an X-ray is not used. Exposure to X-rays can be reduced. In addition, the puncture into the tissue that is an accurate target, which has conventionally been based on the experience and intuition of the doctor, can be made constant to some extent without variation. Furthermore, it is possible to control the movement of the needle when performing a biopsy of a living tissue using a treatment support robot or the like.
本発明の発明を実施するための最良の形態を実施例に基づいて図面を参照して、以下に説明する。本発明では、針を用いた穿刺を安全かつ確実に行うために、穿刺では必要不可欠な針に作用する荷重を用いて、従来より安定して組織境界を検出することを実現した。 The best mode for carrying out the invention of the present invention will be described below based on embodiments with reference to the drawings. In the present invention, in order to perform puncture using a needle safely and reliably, it has been realized to detect a tissue boundary more stably than before using a load acting on the needle which is indispensable for puncture.
針部については、カテーテル留置針、生検針のように外筒部とその内部に配置された針部からなるものは、そのままの構造で使用可能である。その他の注射針のように従来内針と外針のような２重構造を有していないものについても、針先と針側面を分離した２重構造の針を用いて行うのであれば、本発明による組織境界検出法を使用することが可能である。About the needle part, the one consisting of the outer cylinder part and the needle part arranged inside thereof such as a catheter indwelling needle and a biopsy needle can be used with the same structure. For other types of injection needles that do not have a double structure like the conventional inner needle and outer needle, as long as they are performed using a double-structured needle with the needle tip and needle side separated, It is possible to use the tissue boundary detection method according to the invention.
針部は切開が可能である強度をもつ材料、例えばステンレス鋼、チタン及びその合金などの金属が代表的であるが、セラミックス、樹脂などの非金属材料を用いることも可能である。外筒部は、その接続された荷重計に力を伝達することの出来る強度をもつ材料、例えばステンレス鋼、チタン及びその合金などの金属が代表的であるが、セラミックス、樹脂などの非金属材料であっても前記の条件を満たす限り使用可能である。The needle portion is typically made of a material having a strength capable of being incised, for example, a metal such as stainless steel, titanium and an alloy thereof, but a non-metallic material such as ceramics and resin can also be used. The outer cylinder portion is typically made of a material having a strength capable of transmitting a force to the connected load cell, for example, a metal such as stainless steel, titanium and its alloys, and a nonmetallic material such as ceramics and resin. It can be used as long as the above condition is satisfied.
荷重計は、外筒と内針を接続する２つのセンサ部から構成される。軸数、組み合わせ方、針との装着の構造は、一体型または既存の針に装着する形態も可能である。センサの方式は、歪ゲージ、圧電効果を用いるもの、光学ファイバを用いるものなどが可能である。The load cell is composed of two sensor units that connect the outer cylinder and the inner needle. The number of shafts, the combination method, and the structure of attachment to the needle may be of an integrated type or a form of attachment to an existing needle. As a sensor system, a system using a strain gauge, a piezoelectric effect, a system using an optical fiber, and the like can be used.
本発明に係る穿針装置及び該穿針装置の針の動作状態の検出方法の実施例１を説明する。図１は、本発明に係る実施例１の全体構成を説明する図である。A first embodiment of the needle-punching device according to the present invention and a method of detecting the operating state of the needle of the needle-punching device will be described. FIG. 1 is a diagram illustrating the overall configuration of a first embodiment according to the present invention.
本発明に係る実施例１の穿針装置は、中空又は中実の針部３と、その側面を全部又は一部を覆う外筒部４と、上記針部３に作用する荷重を計測する１軸以上の針部荷重計と、上記外筒部に作用する荷重を計測する外筒部荷重計と、荷重計のデータを記録する記録装置とを備えている。針の動作状態をビデオカメラ５で観察するような構成としてもよい。The needle-punching device according to the first embodiment of the present invention includes a hollow or
実施例１の実証実験について図面を参照して説明する。本実験では、ビデオカメラの画像を穿刺の瞬間を判定するために使用した。針部３と外筒部４とは、ステッピングモータ２で、対象である生体組織に対して軸方向に移動するように構成されている。なお、針部荷重計及び外筒部荷重計は、図２中の荷重計７内に配置されている。実 証 A demonstration experiment of Example 1 will be described with reference to the drawings. In this experiment, the image of the video camera was used to determine the moment of puncture. The
本実験では実験動物（ブタ）の消化器上に図1の装置を装着し、消化器表面に針先端が刺入された瞬間の検出を行った。で は In this experiment, the device of Fig. 1 was mounted on the digestive organ of an experimental animal (pig), and the moment when the needle tip was inserted into the digestive organ surface was detected.
図３に実験結果の１例を示す。この実験系では呼吸動、拍動の影響を受け、本発明より先に行われている針に作用する総荷重から穿刺時期を判別する方法においては、ビデオ画像から得られた組織表面の貫通時において、明確な荷重変化が観察されずこれのみを用いた判別を行うことは非常に困難である。Fig. 3 shows an example of the experimental results. In this experimental system, the method of determining the puncture time from the total load acting on the needle, which is affected by respiratory movement and pulsation, and performed prior to the present invention, uses the method of determining the puncture time when penetrating the tissue surface obtained from the video image. , No clear change in load is observed, and it is very difficult to make a determination using only this.
一方、図１の装置を用いて計測した結果からは切り裂き反力の急激な減少と共に摩擦力の急激な上昇が同時期に観察される場合のみが、消化器表面を貫通した場合に相当した。On the other hand, from the results measured using the apparatus of FIG. 1, only the case where a sharp decrease in the frictional force was observed at the same time as the sharp decrease in the tearing reaction force was equivalent to the case where the gastrointestinal tract penetrated the digestive organ surface.
図２は、本発明に係る穿針装置の実施例２の基本構成を説明する図であり、特に、針部、外筒部及びロードセルの構成を説明する図である。これらの図をもとに以下、幾つかの適用例を説明する。 FIG. 2 is a diagram illustrating a basic configuration of a second embodiment of the needle sticking device according to the present invention, and is a diagram particularly illustrating a configuration of a needle unit, an outer cylinder unit, and a load cell. Some application examples will be described below based on these drawings.
本発明に係る実施例２の穿針装置は、中空又は中実の針部３と、その側面を全部又は一部を覆う外筒部４と、上記針部３に作用する荷重を計測する１軸以上の針部荷重計と、上記外筒部に作用する荷重を計測する外筒部荷重計と、荷重計のデータを記録する記録装置とを備えている。なお、針部荷重計及び外筒部荷重計は、荷重計７内に配置されている。The needle-punching device according to the second embodiment of the present invention measures a hollow or
そこで、本発明に係る穿針装置及び該穿針装置の針の動作状態の検出方法では、針側面部を針先端部と独立に運動可能な、針側面部と低い摩擦係数で接する外筒で覆い、針先端部には摩擦力がかからない構造とした上で先端部にかかる切開力のみを計測することにより、切開力の変化を効果的に計測して、その変化から針先端部の生体組織６内への挿入位置や動作状態が分かる。Therefore, in the needle-punching device and the method for detecting the operating state of the needle of the needle-punching device according to the present invention, the outer surface of the needle that can move independently of the needle tip and that contacts the needle side with a low coefficient of friction. The cover and the tip of the needle are structured so that no frictional force is applied, and by measuring only the incision force applied to the tip, the change in the incision force is effectively measured, and the biological tissue at the tip of the needle is measured based on the change. 6 and the operation state can be understood.
以下、針３、４を用いてどのように本発明の組織境界検出方法が有効に利用されるか示す。Hereinafter, how the tissue boundary detecting method of the present invention is effectively used using the
局所麻酔：
局所麻酔における針を留置する部位を血管内にしてしまうと重篤な合併症を引き起こす。従って、本発明による組織境界検出方法を使用し、対象部位で組織境界を貫通した信号を得ないように留意して穿刺を行えば、上記合併症を引き起こすことなく、安全かつ確実に局所麻酔を行うことが可能である。Local anesthesia:
Serious complications occur when the site where the needle is placed in local anesthesia is placed inside the blood vessel. Therefore, if the puncture is performed using the tissue boundary detection method according to the present invention and taking care not to obtain a signal penetrating the tissue boundary at the target site, local anesthesia can be safely and reliably performed without causing the above complications. It is possible to do.
腰椎麻酔および硬膜外麻酔：
腰椎麻酔および硬膜外麻酔においては、複数の組織層（皮膚、皮下組織、棘上じん帯、棘間じん帯、黄じん帯、硬膜等）を貫通した後に針を留置する必要がある。加えて、それぞれの層の厚さは個々人により異なるので、本発明による組織境界検出方法を使用することで、それぞれの組織境界を貫通した瞬間を検出し、その回数を考慮することで安全かつ確実に腰椎麻酔および硬膜外麻酔を行うことを可能とする。Lumbar and epidural anesthesia:
In lumbar anesthesia and epidural anesthesia, it is necessary to place a needle after penetrating a plurality of tissue layers (skin, subcutaneous tissue, supraspinal ligament, interspinous ligament, pelvic ligament, dura, etc.). In addition, since the thickness of each layer varies from person to person, using the method for detecting a tissue boundary according to the present invention, the moment when each tissue boundary is penetrated is detected, and by considering the number of times, it is safe and reliable. Lumbar anesthesia and epidural anesthesia.
採血法：
採血法には静脈血採血法、動脈血採血法があり、その部位により肘静脈採血法、大腿静脈採血法、大腿動脈採血法、橈骨動脈採血法また新生児を対象とした新生児採血法がある。これらはいずれも穿刺時に針先を血管内に留める必要があり、針が同一血管を２回貫通することは許されない。Blood collection method:
Blood sampling methods include venous blood sampling and arterial blood sampling, and depending on the site, elbow vein sampling, femoral vein sampling, femoral artery sampling, radial artery sampling, and neonatal blood sampling for neonates. All of these require that the needle tip be held in the blood vessel at the time of puncturing, and the needle is not allowed to penetrate the same blood vessel twice.
本発明の組織境界検出法を使用することで、一度血管表面を貫通した時点で針の送りを止めることが可能で、安全かつ確実に血管内に針を留置することを可能にする。同様の理由により静脈を確保する場合においても本発明を利用すれば安全かつ確実に確保を行うことが可能である。送 り By using the tissue boundary detection method of the present invention, it is possible to stop the feeding of the needle once it has penetrated the surface of the blood vessel, and it is possible to safely and reliably place the needle in the blood vessel. Even when a vein is secured for the same reason, it is possible to securely and reliably secure the vein by using the present invention.
中心動脈穿刺・カテーテル留置法：
中心動脈とは四肢以外の動脈を刺し、四肢の場合以上に確実な穿刺を必要とする。中心動脈には、内頸動脈などがあり、鎖骨下穿刺や鎖骨上穿刺が行われている。これらの穿刺を行う場合四肢で行う場合より生体深部まで穿刺を行う。従って、本発明の組織境界検出方法を用いれば組織による摩擦の増加で相対的に減少する針先の荷重変化を安定して検出し、穿刺を安全かつ確実に行い、また安全かつ確実にカテーテルを留置することを可能にする。Central artery puncture and catheter placement:
The central artery pierces an artery other than the limb and requires more reliable puncture than in the case of the limb. The central artery includes an internal carotid artery and the like, and subclavian puncture and supraclavicular puncture are performed. When performing these punctures, the puncture is performed deeper into the living body than when the puncture is performed with the limbs. Therefore, if the tissue boundary detection method of the present invention is used, the change in the load of the needle tip, which is relatively reduced due to the increase in the friction caused by the tissue, is stably detected, the puncture is performed safely and securely, and the catheter is safely and reliably used. Enables detention.
関節穿刺：
関節炎等の診断および治療のために用いられる。効果的な針先の留置位置は関節を包む関節包内であり、本発明の組織境界検出方法を用いれば、関節包を貫通したことを安定して判別でき関節腔に針先を留置可能で安全かつ確実な穿刺が出来る。Joint puncture:
It is used for diagnosis and treatment of arthritis and the like. The effective placement position of the needle tip is within the joint capsule surrounding the joint, and by using the tissue boundary detection method of the present invention, it is possible to stably determine that the joint capsule has been penetrated, and to place the needle tip in the joint cavity. Safe and reliable puncture can be performed.
胸部・腹部を対象とした穿刺：
胸部・腹部においては、ドレナージ用のカテーテルを留置する目的で穿刺を行う。胸部においてドレナージを必要とするのは、気胸、大量胸腔内液体貯留時に必要となる胸腔穿刺や心膜腔内に液体量が増加することにより心臓へ戻る静脈還流が圧迫障害される心タンポナーゼ時の心嚢穿刺が挙げられる。Puncture for the chest and abdomen:
In the chest and abdomen, puncture is performed for the purpose of placing a catheter for drainage. The need for drainage in the chest is due to pneumothorax, thoracic puncture, which is required during massive pleural fluid retention, or venous return to the heart due to increased fluid volume in the pericardial cavity. Pericardial puncture.
また、腹部においては経皮経肝胆道ドレナージや、経皮経肝胆嚢ドレナージ、さらには腹腔穿刺などが挙げられる。これらの手技では、目的部位が生体の深部であり、相対的に針先が目的部位の組織表面を貫通したことを判別することが困難となる。本発明の組織境界検出方法を利用することで針側面に作用する摩擦力の影響を排除し、針先の荷重変化を検知し、穿刺を安全かつ確実に行うことが可能である。に お い て In the abdomen, there are percutaneous transhepatic biliary drainage, percutaneous transhepatic gallbladder drainage, and peritoneal puncture. In these procedures, the target site is a deep part of the living body, and it is relatively difficult to determine that the needle tip has penetrated the tissue surface of the target site. By using the tissue boundary detection method of the present invention, it is possible to eliminate the influence of the frictional force acting on the side surface of the needle, detect a change in the load at the needle tip, and perform puncture safely and reliably.
本発明は、Ｘ線等の画像装置を利用しないので、生体組織生検において、医師や患者に生じるＸ線による被曝など低減することができ、しかも、従来、医師の経験や勘によっていた的確な対象である組織への穿刺を、ばらつきなくある程度一定とすることができので、治療支援ロボット等の医療用機器全般に適用できる。Since the present invention does not use an imaging device such as an X-ray, it is possible to reduce the exposure of a physician or patient to X-rays, etc. in a biological tissue biopsy. The puncture to the target tissue can be made constant to some extent without variation, so that it can be applied to all medical devices such as treatment support robots.
１ ロードセル
２ ステッピングモータ
３ 針部
４ 外筒部
５ ビデオカメラ
６ 生体組織
７ 荷重計DESCRIPTION OF SYMBOLS 1 Load cell 2
Claims (6)
Translated fromJapanese上記針部荷重計及び外筒部荷重計の測定結果を記録装置で経時的データとして記録し、上記判定装置において該経時的データの一次又は二次以外の高次データにおける不連続部分により、上記針部が生体組織の組織境界部に対応する位置あると判定することを特徴とする穿針装置の針部の動作状態を検出する方法。A hollow or solid needle portion, an outer cylinder portion covering all or a part of the side surface thereof, a one-axis or more needle portion load meter for measuring a load acting on the needle portion, and acting on the outer cylinder portion. An outer cylinder load meter that measures a load, a recording device that records data of the load meter, and a method of detecting an operation state of a needle portion of a needle stick device including a determination device,
The measurement results of the needle load cell and the outer cylinder load cell are recorded as time-dependent data in a recording device, and in the determination device, the discontinuous portion in the higher-order data other than the primary or secondary data of the time-dependent data is used as described above. A method for detecting an operation state of a needle portion of a needle sticking device, wherein it is determined that the needle portion is located at a position corresponding to a tissue boundary portion of a living tissue.
上記針部荷重計及び外筒部荷重計により、針及び外筒に作用する合力及び／又はモーメントのベクトルの大きさと方向を測定し、該測定結果から、上記判定装置で、上記針部が生体組織の組織境界部に対応する位置にあると判定することを特徴とする穿針装置の針部の動作状態を検出する方法。A hollow or solid needle portion, an outer cylinder portion covering all or a part of the side surface thereof, a one-axis or more needle portion load meter for measuring a load acting on the needle portion, and acting on the outer cylinder portion. An outer cylinder load meter that measures a load, a recording device that records data of the load meter, and a method of detecting an operation state of a needle portion of a needle stick device including a determination device,
The magnitude and direction of the resultant force and / or moment vectors acting on the needle and the outer cylinder are measured by the needle load cell and the outer cylinder load cell. A method for detecting an operation state of a needle portion of a needle-punching device, wherein it is determined that the needle portion is located at a position corresponding to a tissue boundary portion of a tissue.
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| JP2003289120AJP4385118B2 (en) | 2002-08-07 | 2003-08-07 | Needle-piercing device and method for detecting the operating state of the needle of the needle-piercing device |
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| JP4385118B2 JP4385118B2 (en) | 2009-12-16 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2007528238A (en)* | 2004-01-07 | 2007-10-11 | ユニベルシテ・ピエール・エ・マリー・キユリー | Trocar device for passing surgical instruments |
| JP2009226087A (en)* | 2008-03-24 | 2009-10-08 | Univ Waseda | Support device and its program for puncture planning and method for determining conditions of piercing |
| WO2011043126A1 (en) | 2009-10-06 | 2011-04-14 | オリンパス株式会社 | Guide device |
| JP2011147501A (en)* | 2010-01-19 | 2011-08-04 | National Institute Of Advanced Industrial Science & Technology | Device for inserting puncture needle |
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| JP2013013529A (en)* | 2011-07-04 | 2013-01-24 | National Institute Of Advanced Industrial Science & Technology | Device for inserting puncture needle |
| JP2013013530A (en)* | 2011-07-04 | 2013-01-24 | National Institute Of Advanced Industrial Science & Technology | Device for inserting puncture needle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007528238A (en)* | 2004-01-07 | 2007-10-11 | ユニベルシテ・ピエール・エ・マリー・キユリー | Trocar device for passing surgical instruments |
| JP4767175B2 (en)* | 2004-01-07 | 2011-09-07 | ユニベルシテ・ピエール・エ・マリー・キユリー | Trocar device for passing surgical instruments |
| JP2009226087A (en)* | 2008-03-24 | 2009-10-08 | Univ Waseda | Support device and its program for puncture planning and method for determining conditions of piercing |
| US8900123B2 (en) | 2009-03-02 | 2014-12-02 | Olympus Corporation | Endoscopy method and endoscope |
| US8808173B2 (en) | 2009-09-22 | 2014-08-19 | Olympus Corporation | Space ensuring device |
| US8348891B2 (en) | 2009-09-22 | 2013-01-08 | Olympus Corporation | Surgical method and medical device |
| WO2011043126A1 (en) | 2009-10-06 | 2011-04-14 | オリンパス株式会社 | Guide device |
| JP2011147501A (en)* | 2010-01-19 | 2011-08-04 | National Institute Of Advanced Industrial Science & Technology | Device for inserting puncture needle |
| JP2013013530A (en)* | 2011-07-04 | 2013-01-24 | National Institute Of Advanced Industrial Science & Technology | Device for inserting puncture needle |
| JP2013013529A (en)* | 2011-07-04 | 2013-01-24 | National Institute Of Advanced Industrial Science & Technology | Device for inserting puncture needle |
| JP2020202980A (en)* | 2019-06-18 | 2020-12-24 | 学校法人東京電機大学 | Puncture stress detection device |
| JP7340841B2 (en) | 2019-06-18 | 2023-09-08 | 学校法人東京電機大学 | Puncture stress detection device. |
| CN113576667A (en)* | 2021-07-20 | 2021-11-02 | 北京理工大学 | Force feedback method for percutaneous puncture surgery, electronic device and robot |
| CN113576667B (en)* | 2021-07-20 | 2023-12-22 | 北京理工大学 | Force feedback method for percutaneous puncture operation, electronic device and robot |
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