JPH05285143A - Ultrasonic probe for intracelom examination - Google Patents

Abstract

PURPOSE:To provide the ultrasonic probe for an intracelom examination, which eliminates an uneven rotation of an ultrasonic vibrator and can always obtain a distinct ultrasonic image. CONSTITUTION:When an inserting part is bent in accordance with an inserting path in a celom, and a difference is generated between length of a flexible shaft 21 and length of a sheath 20, the flexible shaft 21 moves in the axial direction within a range of length of a slot 27a being a movable range of a connecting pin 26 in accordance with a stress generated in the flexible shaft 21. Also, when the bending amount of the inserting part 1 is further increased in accordance with the inserting path, and the flexible shaft 21 comes into contact with the sheath 20, the connecting pin 26 moves forward and backwared along the slot 27a through two rings 28 having a large diameter by a ring supporting member 29 moved forward and backward minutely in the axial direction by an advance/retreat driving device 30, the flexible shaft 21 moves forward and backward minutely in the axial direction, while rotating, and the connecting pin 26 is moved to an appropriate position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an ultrasonic probe for in-body examination, which is inserted into a body cavity to emit ultrasonic waves and obtain a tomographic image of organs in the body cavity by means of ultrasonic echo. The present invention relates to an ultrasonic probe for in-body examination, which rotates a transducer to perform scanning.

[0002]

2. Description of the Related Art Generally, an ultrasonic probe for in-vivo examination has a flexible insertion portion connected to an operation portion, and an ultrasonic transmission / reception portion such as a vibrator is incorporated in a distal end constituent portion of the insertion portion. Scanning is performed by rotating the ultrasonic transmitting / receiving unit.

A rotating mechanism of an ultrasonic wave transmitting / receiving section of an ultrasonic probe for in-body examination of this type is disclosed in, for example, Japanese Patent Application Laid-Open No. 2-573.
As disclosed in Japanese Patent Laid-Open No. 42-42, a scanning shaft in the operation unit and a vibrator at the tip of the insertion unit are connected by a flexible shaft spirally wound with a metal wire, and the rotation torque of the scanning unit is vibrated at the end of the insertion unit. It is designed to be transmitted to children.

The insertion portion of such an ultrasonic probe for in-body examination is bent into various shapes in the body cavity for the purpose of diagnosis. The shape changes the contact state between the flexible shaft, which is a rotational force transmitting member, and the outer sheath, and a complicated force such as a frictional force, an axial compression force, or a pulling force is applied to the flexible shaft. This force hinders the smooth rotation of the flexible shaft, causing uneven rotation of the ultrasonic transducer, which causes image distortion and image shake.

In order to solve such a problem, for example, as disclosed in Japanese Utility Model Laid-Open No. 13288/1993, an axial compression force applied to the flexible shaft when the insertion portion in the body cavity is bent. Alternatively, in order to remove the pulling force, there has been proposed a rotation mechanism of an ultrasonic transducer in which the base end side of a flexible shaft is slidable in the axial direction.

[0006]

However, in the rotating mechanism of the ultrasonic vibrator as disclosed in Japanese Utility Model Laid-Open No. 3-13288, the force applied to the flexible shaft is removed to rotate the vibrator. For smoothness, the base end side of the flexible shaft is slidable in the axial direction, but this sliding is passive only and does not positively eliminate uneven rotation. That is, this mechanism does not operate until a stress with which the flexible shaft base end is naturally slid is applied, and therefore there is a drawback in that rotation unevenness of the ultrasonic transducer still occurs.

The present invention has been made in view of the above circumstances, and provides an ultrasonic probe for in-vivo examination capable of removing a rotational unevenness of an ultrasonic transducer and always obtaining a clear ultrasonic image. It is an object.

[0008]

The ultrasonic probe for in-vivo examination of the present invention comprises an insertion portion to be inserted into a body cavity,
An ultrasonic transducer rotatably supported at the tip of the insertion portion, a rotational force generating means provided on the proximal side of the insertion portion, an output shaft of the rotational force generation means, and the ultrasonic transducer. A flexible shaft that connects the rotary shaft and a drive unit that drives the flexible shaft to move back and forth in the axial direction, and the insertion portion is inserted into the body cavity,
At least when the insertion shaft and the flexible shaft come into contact with each other, the driving device drives the flexible shaft to move back and forth in the axial direction.

[0009]

Embodiments of the present invention will be described below with reference to the drawings.

1 to 5 relate to a first embodiment of the present invention. FIG. 1 is a block diagram showing the construction of the main part of an ultrasonic probe for in-body cavity inspection, and FIG. 2 is an ultrasonic probe for in-body cavity inspection. The block diagram which shows the structure of the built-in ultrasonic endoscope, FIG. 3 is a perspective view which shows the structure of the drive mechanism of a flexible shaft, FIG. 4 is the explanatory view which shows the structure of an ultrasonic transducer, and FIG. It is a block diagram which shows the structure of the principal part of the modification of the ultrasonic probe for medical applications.

As shown in FIG. 2, an ultrasonic endoscope having a built-in ultrasonic probe for in-vivo examination of the present embodiment has an insertion section 1 formed of a flexible flexible tube, and an insertion section 1 of this insertion section 1. Bending part 2 connected to the tip side and bendable by remote control
And the optical observation part 3 connected to the tip side of the bending part 2.
And an ultrasonic wave transmitting / receiving unit 4 connected to the tip side of the optical observation unit 3.

The optical observation section 3 includes an observation window 5 having an objective lens (not shown) built therein, an illumination window 6 having an emission end face of a light guide fiber (not shown), an air supply port 7 for air supply and water supply, and a water supply port. A water spout 8 is provided.

An operating portion 9 is connected to the proximal end side of the inserting portion 1, and the operating portion 9 is used for the subject image transmitted from the observation window 5 through, for example, an image guide fiber (not shown). An eyepiece portion 10 for observation, an angle knob 11 for bending the bending portion 2 via a bending wire (not shown), a water feeding switch 12 and an air feeding switch 13 for controlling air feeding, water feeding, and the like. Further, it further has a built-in rotation driving means 14 for rotationally driving an ultrasonic head, which will be described later, formed of an ultrasonic transducer inside the ultrasonic wave transmitting / receiving section 4. Further, a light source device 16 for an optical observation system and a signal processing device 17 for controlling the ultrasonic wave transmitting / receiving unit 4 to perform signal processing are connected to the operation unit 9 via connection cords 18a and 18b. And further the signal processing device 17
A monitor 19 for displaying a signal-processed ultrasonic image is connected to.

As shown in FIG. 1, the above-mentioned ultrasonic probe for inspecting a body cavity built in the ultrasonic endoscope is formed of a material having a high ultrasonic transmissivity which is inserted through the insertion portion 1,
An ultrasonic transducer composed of an ultrasonic transducer which rotatably supports a flexible shaft 21 in a sheath 20 whose base end is fixed to the operation portion 9 and which transmits and receives ultrasonic waves in a radial direction via a lens 22. A sound wave head 23 is fixedly provided at the tip of the flexible shaft 21. In the sheath 20, an ultrasonic transmission medium 24 made of a liquid having a high ultrasonic transmissivity is provided with the ultrasonic head 23 and the sheath 2.
It is filled between 0 and 0, and leakage is prevented by the sealing material 25. Although not shown, the ultrasonic transmission medium 24
A lubricant is filled between the flexible shaft 21 and the sheath 20 other than that filled with.

As shown in FIG. 3, on the proximal end side of the flexible shaft 21, for example, two connecting pins 26 are fixed in the radial direction. A rotation transmission cylinder 27 is arranged on the outer periphery of the flexible shaft 21 with the same shaft. An elongated hole 27a for guiding is formed in the front and rear of the rotation transmitting cylinder 27 in the axial direction, and the connecting pin 26 penetrates through the elongated hole 27a. The tip of the connecting pin 26 is loosely sandwiched between two large diameter rings 28 having a circular cross section. The two rings 28 are arranged parallel to each other in the axial direction in the outer circumferential direction of the rotation transmission cylinder 27, and a part of them is attached to the ring support member 29. .. The ring support member 29 is easily moved within the range of the length of the elongated hole 27a with respect to the axial stress from the flexible shaft 21, and is also moved slightly in the axial direction by the advancing / retreating drive device 30. It has become.

That is, when the ring support member 29 is moved slightly back and forth in the axial direction by the forward / backward drive device 30, the ring support member 29 having a large diameter 2
Since the two rings 28 slightly move in the axial direction, the connecting pin 26 moves back and forth along the elongated guide hole 27a, whereby the flexible shaft 21 moves slightly forward and backward in the axial direction while rotating.

Returning to FIG. 1 again, the output gear 32 attached to the rotary shaft of the motor 31 which is the rotational force generating means,
The rotation transmission gear 3 fixed to the base end of the rotation transmission cylinder 27
It meshes with 3. An encoder 34 that detects the amount of rotation is mounted on the rotation shaft of the motor 31. Further, a signal for driving and controlling the ultrasonic head 23 is transmitted from the signal processing device 17 via a slip ring 35 axially attached to the rotation shaft of the rotation transmission gear 33.

FIG. 4A is an exploded view of an ultrasonic transducer 36 for transmitting and receiving ultrasonic waves contained in the ultrasonic head 23, and FIG. 4B is an exploded view of the ultrasonic transducer 36. A cross section is shown. As shown in FIG. 4A, the ultrasonic transducer 36 is
The piezoelectric vibrator 37 includes a plurality of donut-shaped acoustic matching layers 38 having the same outer circumference and different inner diameters.
As shown in (b), it is formed by laminating the acoustic matching layer 38 on the piezoelectric vibrator 37.

The vibration frequency of the piezoelectric vibrator 37 is determined by its thickness and mechanical characteristics. However, the acoustic impedance of the piezoelectric vibrator 37 and the acoustic impedance in the radiated medium often differ greatly. Therefore, the acoustic matching layer 38 is laminated to match the piezoelectric vibrator 37 with the medium. The thickness of the acoustic matching layer 38 is said to be efficient if it is approximately λ / 4. In this embodiment, a plurality of donut-shaped acoustic matching layers 38 having a thickness of λ / 4 are laminated to form a concave ultrasonic transducer 36.

The operation of the ultrasonic probe for in-vivo examination constructed as above will be described.

The insertion portion 1 of the ultrasonic endoscope incorporating the ultrasonic probe for in-body cavity inspection is inserted into the body cavity while observing the optical observation portion 3. By rotating the motor 31, the rotation transmission cylinder 27 rotates via the output gear 32 and the rotation transmission gear 33 fixed to the output shaft of the motor 31. At this time, the flexible shaft 21 of the ultrasonic probe for in-vivo examination is moved slightly in the axial direction while being rotated by the advancing / retreating drive device 30 in the rotational driving means 14. The ultrasonic head 23 rotates via the flexible shaft 21. In synchronization with the rotation of the motor 31,
A drive pulse is applied from the signal processing device 17 to the ultrasonic head 23 via the slip ring 35 to perform radial scanning. In addition, the ultrasonic head 23
Is received and is transmitted to the signal processing device 17 via the slip ring 35 to generate an ultrasonic image, which is displayed on the monitor 19 and used for ultrasonic diagnosis.

In the body cavity, the insertion section 1 needs to be bent according to the insertion path. As a result, the length of the flexible shaft 21 in the inserted portion and the length of the sheath 20 are different from each other, and stress is generated in the flexible shaft 21 in the axial direction. In response to this stress, the flexible shaft 21 moves in the long hole 2 which is the movable range of the connecting pin 26.
It moves in the axial direction within the range of the length of 7a to eliminate the difference in length. Further, when the bending amount of the insertion portion 1 is increased according to the insertion path or the observation direction, the flexible shaft 21 comes into contact with the sheath 20, and this friction may hinder the flexible shaft 21 from moving in the axial direction. However, in the present embodiment, by moving the ring support member 29 slightly forward and backward in the axial direction by the forward / backward drive device 30, the two large-diameter rings 28 are slightly moved axially, and the connecting pin 26 serves as a guide. Since the flexible shaft 21 moves back and forth along the elongated hole 27a and moves slightly in the axial direction while rotating, the minute movement of the flexible shaft 21 can be caused by the friction between the flexible shaft 21 and the sheath 20. Flexible shaft 21
Release the axial stop and move the connecting pin 2 to the proper position.
Move 6

Therefore, in the ultrasonic probe for in-vivo examination of the first embodiment, when the insertion portion 1 is bent in accordance with the insertion path, the length of the flexible shaft 21 and the sheath 2 of the inserted portion.
Even if a difference occurs in the length of 0 and stress is generated in the flexible shaft 21 in the axial direction, the flexible shaft 21 is connected to the connecting pin 26 by the stress.
In the range of the length of the elongated hole 27a, which is the movable range, the axial length moves to eliminate the difference in length, so that the stress applied to the flexible shaft 21 can be eliminated and the ultrasonic head 23 can be stably rotated. be able to. Further, the bending amount of the insertion portion 1 is increased according to the insertion path or the observation direction, and the flexible shaft 21
When the flexible shaft 21 may be prevented from moving in the axial direction by this friction, the ring support member 29 is slightly moved in the axial direction by the advancing / retreating drive device 30 to cause the friction. Since the movement stop of the flexible shaft 21 in the axial direction is released and the connecting pin 26 is moved to an appropriate position, the ultrasonic head 23 can always be stably rotated, and a clear ultrasonic image can be obtained. it can.

Although the forward / backward drive device 30 is supposed to move the ring support member 29 slightly forward / backward in the axial direction at the time of insertion,
Not limited to this, the advance / retreat drive instruction switch may be provided in the signal processing device 17, and the advance / retreat drive apparatus 30 may be driven by the advance / retreat drive instruction switch when the ultrasonic image is disturbed due to uneven rotation.

Further, as shown in FIG. 5, the angle knob 1
The potentiometer 39 for detecting the operation amount of No. 1 and the control circuit 4 for controlling the minute forward / backward movement amount in the axial direction of the forward / backward drive device 30 by a signal from the potentiometer 39.
By providing 0 and 0, the ring support member 29 may be moved slightly forward and backward in the axial direction according to the bending amount, and the connecting pin 26 may be moved to an appropriate position.

Next, the second embodiment will be described.

6 and 7 relate to the second embodiment, and FIG.
FIG. 7 is a configuration diagram showing a configuration of a main part of the ultrasonic probe for in-body cavity inspection, and FIG. 7 is a configuration diagram showing a configuration of a main part of a modified example of the ultrasonic probe for in-vivo inspection.

The ultrasonic probe for in-vivo examination of the second embodiment moves the flexible shaft 21 slightly forward and backward by the advance / retreat drive device 30 in the first embodiment as means for eliminating friction between the flexible shaft 21 and the sheath 20. Instead, a means for eliminating the friction between the flexible shaft 21 and the sheath 20 by vibrating the sheath 20 by using a piezoelectric vibrator is used, and other configurations are the first.
Since it is the same as the embodiment, only different configurations will be described, the same configurations will be denoted by the same reference numerals, and description thereof will be omitted.

As shown in FIG. 6, the ultrasonic probe for in-vivo examination of the second embodiment includes a piezoelectric vibrator 50 fixed to the outer peripheral surface of the sheath 20, and a drive circuit 51 for driving the piezoelectric vibrator 50. The drive circuit 51 causes the piezoelectric vibrator 50 to apply vibration of low amplitude and low frequency to the sheath 20, for example, in the axial direction. Other configurations and operations are first
Same as the embodiment.

In the ultrasonic probe for in-body-cavity examination of the second embodiment having the above-mentioned structure, when the bending amount of the insertion portion 1 is increased according to the insertion path or the observation direction, the flexible shaft 2
1 may contact the sheath 20, and this friction may hinder the flexible shaft 21 from moving in the axial direction. However, in this embodiment, the drive circuit 51 causes the piezoelectric vibrator 50 to cause the sheath 20 to move to a low amplitude and low frequency. Vibration is applied, for example, in the axial direction, and the stop of the axial movement of the flexible shaft 21 due to friction is released by this vibration, and the connecting pin 26 is moved to an appropriate position.
The ultrasonic head 23 can always be stably rotated, and a clear ultrasonic image can be obtained. Other effects are the same as those of the first embodiment.

Incidentally, as in the first embodiment, the signal processing device 1
7 may be provided with a drive instruction switch to drive the drive device 51 by this drive instruction switch when the ultrasonic image is disturbed due to uneven rotation.

As shown in FIG. 7, the encoder 34
Control circuit 5 for controlling the drive device 51 by a signal from
2 is provided, the piezoelectric vibrator 50 is vibrated according to the rotation state of the motor 31, and the connecting pin 2 is placed at an appropriate position.
6 may be moved.

That is, the encoder 34 rotatably mounted on the rotary shaft of the motor 31 is connected to the flexible shaft 2 via the rotation transmission cylinder 27.
The signal corresponding to the rotation state of No. 1 is output. When the output signal of the encoder 34 is input and the duty ratio of the output signal is larger than a predetermined reference value, the driving circuit 51 is driven to vibrate the piezoelectric vibrator 50, and the vibration causes the flexible shaft 21 to move. A control circuit 52 for releasing the axial movement stop, moving the connecting pin 26 to an appropriate position, and controlling the duty ratio of the output signal of the encoder 34 to fall within a predetermined reference value may be provided. good.

Next, a third embodiment will be described.

FIGS. 8 and 9 relate to the third embodiment, and FIG.
FIG. 9 is a configuration diagram showing a configuration of a main part of the ultrasonic probe for in-vivo examination, and FIG. 9 is a configuration diagram showing a configuration of a main part of a modified example of the ultrasound probe for in-vivo inspection.

In the ultrasonic probe for in-vivo examination of the third embodiment, as a means for eliminating friction between the flexible shaft 21 and the sheath 20, the piezoelectric vibrator 50 is fixed to the rotation transmission tube 27, and the piezoelectric vibrator 50 is fixed. Is used to vibrate the rotation transmission cylinder 27 to eliminate the friction between the flexible shaft 21 and the sheath 20. Since other configurations are the same as those in the first embodiment, the same reference numerals are given and description thereof is omitted. To do. As shown in FIG. 8, the ultrasonic probe for in-vivo examination of the third embodiment has a rotation transmission tube 27.
The piezoelectric vibrator 50 fixed to the outer peripheral surface of the piezoelectric vibrator 50 and the drive circuit 51 for driving the piezoelectric vibrator 50 are provided.
1, the piezoelectric vibrator 50 applies vibrations of low amplitude and low frequency to the rotation transmission cylinder 27, for example, in the axial direction. Other configurations and operations are the same as those in the first embodiment.

In the ultrasonic probe for in-body-cavity inspection of the third embodiment having the above-described structure, when the bending amount of the insertion portion 1 is increased according to the insertion path or the observation direction, the flexible shaft 2
1 may contact the sheath 20, and this friction may hinder the flexible shaft 21 from moving in the axial direction. In this embodiment, however, the drive circuit 51 causes the piezoelectric vibrator 50 to rotate the rotation transmission cylinder 2.
7 is given a low amplitude, low frequency vibration in the axial direction,
This vibration releases the axial stop of the flexible shaft 21 due to friction and moves the connecting pin 26 to an appropriate position, so that the ultrasonic head 23 can always be stably rotated and a clear ultrasonic wave can be obtained. You can get an image. Other effects are the same as those of the first embodiment.

As in the first embodiment, the signal processing device 1
7 may be provided with a drive instruction switch to drive the drive device 51 by this drive instruction switch when the ultrasonic image is disturbed due to uneven rotation.

Further, as shown in FIG.
Control circuit 5 for controlling the drive device 51 by a signal from
2 is provided, the piezoelectric vibrator 50 is vibrated according to the rotation state of the motor 31, and the connecting pin 2 is placed at an appropriate position.
6 may be moved.

That is, the encoder 34 rotatably mounted on the rotary shaft of the motor 31 is connected to the flexible shaft 2 via the rotation transmission cylinder 27.
The signal corresponding to the rotation state of No. 1 is output. When the output signal of the encoder 34 is input and the duty ratio of the output signal is larger than a predetermined reference value, the driving circuit 51 is driven to vibrate the piezoelectric vibrator 50, and the vibration causes the flexible shaft 21 to move. A control circuit 52 for releasing the axial movement stop, moving the connecting pin 26 to an appropriate position, and controlling the duty ratio of the output signal of the encoder 34 to fall within a predetermined reference value may be provided. good.

Next, a fourth embodiment will be described.

FIG. 10 is a configuration diagram showing the configuration of the main part of the ultrasonic probe for in-vivo examination according to the fourth embodiment.

Since the fourth embodiment has almost the same structure except that the means for eliminating the friction between the flexible shaft 21 and the sheath 20 in the first embodiment is different, only different structures will be described and the same reference numerals will be given to the same structures. Is attached and the description is omitted.

In the ultrasonic probe for in-vivo examination of the fourth embodiment, as shown in FIG. 10, a cutout 60 is fixed to the proximal end side of the flexible shaft 21. The cutout 60 has a key groove 61 formed therein, which is relatively non-rotatable, but is connected to a rotation transmission gear 63 via a key 62 so as to freely move in the axial direction. The output gear 64 attached to the rotation shaft of the motor 31 meshes with the rotation transmission gear 63, and the output gear 64 and the rotation transmission gear 63 are engaged with each other.
The combination with and constitutes a speed reducer.

The cutout 60 is fixed to a wire 66 having a hollow cylindrical passage through a plurality of bearings 65. An iron plate 67 and a spring 68 are fixed to the arm 66. The spring 68 is fixed to the housing of the operation unit 9 on the side opposite to the arm 66.

A strain gauge (not shown) is attached to the cutout 60, and the output of this strain gauge is the rotation transmission gear 6
It is connected to the controller 69 via a slip ring 35 which is fixed to the rotation transmission gear 63 through the shaft of No. 3. The output of the controller 69 is connected to an electromagnet 70 provided near the iron plate 67. Other configurations are the same as those in the first embodiment.

The operation of the ultrasonic probe for in-vivo examination of the fourth embodiment having the above-mentioned structure will be described.

By inserting the insertion portion 1 into the body cavity and rotating the motor 31, the cutout 60 is rotated via the output gear 64 and the rotation transmission gear 63 fixed to the output shaft thereof. The ultrasonic head 23 rotates via the flexible shaft 21. In synchronization with the rotation of the motor 31, a drive pulse is applied from the signal processing device 17 to the ultrasonic head 23 via the slip ring 35, and radial scanning is performed. Further, the ultrasonic head 23 receives an echo from the living body, and this echo signal is transmitted via the slip ring 35 to the signal processing device 17.
An ultrasonic image is generated by being transmitted to the monitor 19, is displayed on the monitor 19, and is used for ultrasonic diagnosis.

When the insertion portion 1 is bent into a complicated shape during insertion and the force such as the frictional force applied to the flexible shaft 21 becomes large,
Stress is applied to the cutout 60 and the output of a strain gauge (not shown) changes. The output of the strain gauge is input to the controller 69, and when the output of the strain gauge corresponding to the stress applied to the cutout 60 exceeds a predetermined value, the controller 69 operates the electromagnet 70. The electromagnet 70 causes the iron plate 67
As a result, the arm 66 and the edge 60 move axially. After that, when the electromagnet is turned off, the spring 6
8 causes the arm 66 and the edge 60 to return to their original positions.

As described above, in the ultrasonic probe for in-vivo examination of the fourth embodiment, when the insertion portion 1 is bent in accordance with the insertion path, the length of the flexible shaft 21 at the inserted portion and the sheath 20. Even if a stress is generated in the flexible shaft 21 in the axial direction even if there is a difference in the lengths, the sheath 66 and the flexible shaft 21 and the flexible shaft 21 are actively moved in the axial direction. The positional relationship of 21 is changed, the external force applied to the flexible shaft 21 is reduced, and the image flow of the ultrasonic image due to uneven rotation is avoided. Therefore, a clear ultrasonic image can always be obtained.

In this embodiment, the rotation transmission gear 6
3 and the cutout 60 are connected via the key 62 and the key groove 61, but the present invention is not limited to this, and for example, the actual flat 3-
Coupling by spheres and grooves may be used, as shown in 13288. Further, the reduction gear is configured by the combination of the output gear 64 and the rotation transmission gear 63, but the invention is not limited to this. As the reduction gear, three or more gears may be combined, or a pulley and a timing belt may be used. It may be configured.

Next, a fifth embodiment will be described.

11 and 12 relate to the fifth embodiment,
FIG. 11 is a configuration diagram showing a configuration of a main part of the ultrasonic probe for in-body examination, and FIG. 12 is an explanatory diagram illustrating a structure of a flexible shaft.

Since the fifth embodiment has almost the same structure except that the means for eliminating the friction between the flexible shaft 21 and the sheath 20 in the fourth embodiment is different, only different structures will be described and the same reference numerals will be given to the same structures. Is attached and the description is omitted.

As shown in FIG. 12, the flexible shaft 21a and the cutout 60 are electrically insulated and joined together. The flexible shaft 21a is formed by closely winding spirally a metal wire, and leads the lead wire 71 from the inner metal wire and the outer metal wire.

As shown in FIG. 11, the lead wire 71 passes through the inside of the cutout 60, is passed through the slip ring 35, and is input to the controller 69 having a built-in resistance meter. The output of the controller 69 is connected to the auxiliary motor 72, and a ball screw 73 is attached to the output shaft of the auxiliary motor 72. The cutout 60 is fixed to the arm 66a having a cylindrical hollow path through a plurality of bearings 65. The screw 66a has a screw hole 73a and the ball screw 7
3 is fitted. The other structure is the same as that of the fourth embodiment.

The operation of the ultrasonic probe for in-vivo examination of the fifth embodiment having the above-described structure will be described.

When the motor 31 is driven, the cutout 60 rotates, and the ultrasonic head 23 rotates via the flexible shaft 21,
Radial scanning is performed as in the fourth embodiment.

When the flexible shaft 21a is bent into a complicated shape and a stress is generated, the contact state between the metal wire inside the flexible shaft 21a and the metal wire outside the flexible shaft 21a changes. The controller 69 detects this change in the contact state as a change in the resistance value between the inner and outer metal wires, and operates the auxiliary motor 72. Sub motor 7
By the operation of 2, the ball screw 73 rotates, and the screw 66a
Moves back and forth. Therefore, the edge 60 moves in the axial direction.

In addition to the effect of the fourth embodiment, the ultrasonic probe for in-vivo examination of the fourth embodiment has a resistance between the metal wire inside and outside the flexible shaft for detecting the external force applied to the flexible shaft 21a. Since the value is used, it is possible to detect even when the force is applied only to a part of the flexible shaft 21a.

Next, a sixth embodiment will be described.

13 and 14 relate to the sixth embodiment,
FIG. 13 is a configuration diagram showing a configuration of a main part of the ultrasonic probe for in-body cavity inspection, and FIG. 14 is an enlarged view of a tip portion of the ultrasonic probe for in-body cavity inspection.

Since the sixth embodiment has almost the same structure except that the means for eliminating the friction between the flexible shaft 21 and the sheath 20 in the fourth embodiment is different, only different structures will be described and the same reference numerals will be given to the same structures. Is attached and the description is omitted.

As shown in FIG. 14, in this embodiment, the coaxial cable 74 connected to the ultrasonic head 23 also serves as a flexible shaft which is a rotation transmitting body. Coaxial cable 74
A metal wire 75 is roughly wound around the outer circumference of the wire for reinforcement. Fibers are mixed in the coating of the coaxial cable 74. The point that the cutout 60 is connected to the base end of the coaxial cable 74 is the same as the fourth embodiment.

The coaxial cable 74 and the ultrasonic head 23
Is contained in a rigid polyethylene sheath 76,
The inside thereof is filled with an ultrasonic transmission medium (not shown). The tip of the sheath 76 has a hole 7 for inserting the ultrasonic wave transmission medium.
7 and a screw portion 78 are formed. Furthermore, a cap 79 for closing the hole 77 is coupled to the tip by a screw portion 78.

Further, as shown in FIG.
Is fixed to the arm 80 having a cylindrical hollow path through a plurality of bearings 65. Iron plates 80 a are attached to both sides of the armpit 80 and are sandwiched by a plurality of electromagnets 81. The electromagnet 81 is controlled by a controller 82 having a timer (not shown).

The operation of the ultrasonic probe for in-vivo examination of the sixth embodiment having the above-mentioned structure will be described.

When the motor 31 is driven, the cutout 60 is rotated, the ultrasonic head 23 is rotated, and radial scanning is performed in the fourth manner except that the ultrasonic head 23 is rotated through the coaxial cable 74. Same as the embodiment.

The controller 82 has a timer (not shown) built therein. For example, the electromagnet 8 is set once every minute.
1 to actuate the arm 80 in the axial direction.

Therefore, in the ultrasonic probe for in-vivo examination of the sixth embodiment, in addition to the effect of the fourth embodiment, since the sensor for detecting the stress applied to the rotation transmitting body is not used, the structure of the controller 82 is constituted. Is simple and the cost can be reduced.

If a flexible shaft formed by closely winding a metal wire is used, bubbles remain between the metal wires and move to the wave transmitting / receiving surface of the ultrasonic head 23 during diagnosis, degrading the sensitivity. However, in this embodiment, since the coaxial cable 74 is used as the rotation transmitting body, there is no decrease in sensitivity due to such bubbles.

The sheath 76 and the cap 79 are joined by the threaded portion 78, but the invention is not limited to this. For example, an adhesive that is insoluble in water and body fluid but soluble in a specific solvent is used. The sheath 76 and the cap 79 may be joined, or an adhesive tape may be wound and fixed.

Further, although the timer set time in the controller 80 is set to 1 minute, the setting time is not limited to this, and it can be changed by the switch provided in the operation section 9 so that the operation interval of the electromagnet 81 is optimized according to the diagnosis site. It may be set to and used.

Next, a seventh embodiment will be described.

FIG. 15 is a structural diagram showing the structure of the main part of the ultrasonic probe for in-vivo examination according to the seventh embodiment.

The seventh embodiment has almost the same structure except that the means for eliminating the friction between the flexible shaft 21 and the sheath 20 in the fourth embodiment is different. Therefore, only different structures will be described and the same reference numerals will be given to the same structures. Is attached and the description is omitted.

As shown in FIG. 15, the cutout 60 is fixed to the arm 85 having a cylindrical hollow passage through a plurality of bearings 65. The arm 85 is provided with a lever 86, and the lever 86 is exposed to the exterior of the operation unit 9. In addition, the arm 85 uses the spring 87 to operate the operation unit 9
It is fixed to the case.

The operation of the ultrasonic probe for in-vivo examination of the seventh embodiment having the above-mentioned structure will be described.

When the motor 31 is driven, the cutout 60 rotates, the ultrasonic head 23 rotates via the flexible shaft 21,
Radial scanning is performed as in the fourth embodiment.

In the case where image deletion, image shake or the like occurs during ultrasonic diagnosis, when the lever 86 exposed from the exterior of the operation unit 9 is moved by hand, the arm 85 moves in the axial direction. This allows
The edge 60 moves, and the image deletion, image shake, etc. are eliminated. Further, when the lever 86 is released, the action of the spring 87 causes
Waku 85 returns to its original position.

Therefore, in the ultrasonic probe for in-vivo examination of the seventh embodiment, in addition to the effect of the fourth embodiment, the sensor for detecting the stress applied to the rotation transmitting member and the actuator for moving the arm 85 are not used. In addition, the structure is simple and the cost can be reduced.

Further, since the arm 85 is moved only when the doctor determines that it is necessary, it is possible to avoid the problem that the arm moves just when the case photograph is taken and the photograph is blurred.

Next, the eighth embodiment will be described.

FIG. 16 is a constitutional view showing the constitution of the main part of the ultrasonic probe for in-vivo examination according to the eighth embodiment.

Since the eighth embodiment has almost the same structure except that the means for eliminating friction between the flexible shaft 21 and the sheath 20 in the fourth embodiment is different, only different structures will be described and the same reference numerals will be given to the same structures. Is attached and the description is omitted.

As shown in FIG. 16, the cutout 60 is fixed to the arm 90 having a cylindrical hollow path through a plurality of bearings 65. The arm 90 is fixed to the housing of the operation unit 9 via a piezoelectric actuator 91. The switch 92 provided on the operation unit 9 is connected to the piezoelectric actuator 91.

The operation of the ultrasonic probe for in-vivo examination of the eighth embodiment having the above-mentioned structure will be described.

When the motor 31 is driven, the cutout 60 rotates, the ultrasonic head 23 rotates via the flexible shaft 21,
Radial scanning is performed as in the fourth embodiment.

When an image deletion, an image shake, or the like occurs during ultrasonic diagnosis, when the switch 92 provided on the operation unit 9 is operated, the piezoelectric actuator 91 is actuated and the arm 90 moves in the axial direction. As a result, the edge 60 moves, and the image deletion, image fluctuation, and the like are eliminated.

Therefore, in the ultrasonic probe for in-vivo examination of the eighth embodiment, in addition to the effect of the fourth embodiment, since the sensor for detecting the stress applied to the rotation transmitting body is not used, the structure is simple. Yes, the cost can be reduced.

Further, since the arm 90 is moved only when the doctor determines that it is necessary, it is possible to avoid the problem that the arm moves just when the case photograph is taken and the photograph is blurred.

Further, since the arm 90 can be moved by operating the switch 92, the burden on the operating doctor can be reduced.

Although the switch 92 is provided in the operation section 9, it may be provided in the signal processing device 17, or a foot switch or a remote controller may be used. Also,
It goes without saying that a plurality of these switch means may be provided at the same time.

The ultrasonic probe for in-vivo examination of each of the first to eighth embodiments is incorporated in an ultrasonic endoscope having an optical observation system, but the invention is not limited to this. The ultrasonic probe for inspection may be configured independently, or the ultrasonic probe for in-vivo inspection configured alone may be inserted into a channel or the like of an ordinary endoscope to perform ultrasonic diagnosis.

[0095]

As described above, according to the present invention,
The ultrasonic probe for in-vivo examination of the present invention is provided with an insertion portion to be inserted into the body cavity, an ultrasonic transducer rotatably supported at the distal end of the insertion portion, and a proximal end side of the insertion portion. A rotational shaft generating means, a flexible shaft connecting the output shaft of the rotational force generation device and the rotational shaft of the ultrasonic transducer, and a drive device for driving the flexible shaft forward and backward. When the insertion portion is inserted into the body cavity and at least when the insertion portion and the flexible shaft come into contact with each other, the drive means drives the flexible shaft to move back and forth in the axial direction. There is an effect that unevenness can be removed and a clear ultrasonic image can always be obtained.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a configuration of a main part of an ultrasonic probe for in-vivo examination according to a first embodiment.

FIG. 2 is a configuration diagram showing a configuration of an ultrasonic endoscope having a built-in ultrasonic probe for in-vivo examination according to the first embodiment.

FIG. 3 is a perspective view showing a configuration of a drive mechanism for a flexible shaft according to the first embodiment.

FIG. 4 is an explanatory diagram showing a structure of an ultrasonic transducer according to the first embodiment.

FIG. 5 is a configuration diagram showing a configuration of a main part of a modified example of the ultrasonic probe for in-vivo examination according to the first embodiment.

FIG. 6 is a configuration diagram showing a configuration of a main part of an ultrasonic probe for in-vivo examination according to a second embodiment.

FIG. 7 is a configuration diagram showing a configuration of a main part of a modified example of the ultrasonic probe for in-vivo examination according to the second embodiment.

FIG. 8 is a configuration diagram showing a configuration of a main part of an ultrasonic probe for in-vivo examination according to a third embodiment.

FIG. 9 is a configuration diagram showing a configuration of a main part of a modified example of the ultrasonic probe for in-vivo examination according to the third embodiment.

FIG. 10 is a configuration diagram showing a configuration of a main part of an ultrasonic probe for in-vivo examination according to a fourth embodiment.

FIG. 11 is a configuration diagram showing a configuration of a main part of an ultrasonic probe for in-vivo examination according to a fifth embodiment.

FIG. 12 is an explanatory diagram illustrating a structure of a flexible shaft according to a fifth embodiment.

FIG. 13 is a configuration diagram showing a configuration of a main part of an ultrasonic probe for in-vivo examination according to a sixth embodiment.

FIG. 14 is an enlarged view of the distal end portion of the ultrasonic probe for in-vivo examination according to the sixth embodiment.

FIG. 15 is a configuration diagram showing a configuration of a main part of an ultrasonic probe for in-vivo examination according to a seventh embodiment.

FIG. 16 is a configuration diagram showing a configuration of a main part of an ultrasonic probe for in-vivo examination according to an eighth embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Insertion part 20 ... Sheath 21 ... Flexible shaft 23 ... Ultrasonic head 26 ... Connection pin 27 ... Rotation transmission cylinder 27a ... Oblong hole 28 ... Ring 29 ... Ring support member 30 ... Advance / retract drive device 31 ... Motor

Claims (1)

[Claims] 1. An insertion section to be inserted into a body cavity, an ultrasonic transducer rotatably supported at the tip of the insertion section, and a rotational force generating means provided on the proximal side of the insertion section, An examination in a body cavity, comprising: a flexible shaft connecting an output shaft of a rotational force generating unit and a rotary shaft of the ultrasonic transducer; and a driving unit for driving the flexible shaft forward and backward in the axial direction. Ultrasonic probe.