Wire sensor

Abstract

To provide a wire sensor capable of appropriately detecting a force applied to a wire-shaped (linear) member.SOLUTION: A wire sensor that detects a force applied to a wire comprises: a housing that stores the wire extending in a first direction; a first strain generating body provided in the housing so as to be positioned on one side in a second direction orthogonal to the first direction to the wire stored in the housing; a second strain generating body provided in the housing so as to be positioned on one side in a third direction orthogonal to the first direction and the second direction to the wire stored in the housing; a first strain gauge bonded to the first strain generating body; and a second strain gauge bonded to the second strain generating body.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a wire sensor. [Background technology]

[0002] Catheter therapy, in which a flexible, long, thin tube called a catheter is inserted into the patient's body to treat the affected area, is widely used. Specifically, for example, balloon therapy, in which a catheter is inserted into a blood vessel, and stent therapy are used. In balloon therapy, a balloon is inflated via a catheter to expand the affected area (for example, the area where blood vessel narrowing has occurred). In stent therapy, a stent (metal mesh) is placed in the area expanded by the balloon to prevent the affected area from narrowing again.

[0003] In catheter therapy, before inserting a catheter into the patient's body, a doctor first inserts a metal wire called a guidewire into the patient's body, and then inserts the catheter along the guidewire.

[0004] Here, as a sensor to be used together with a guidewire, Patent Document 1 discloses a sensor comprising a wire passage portion including a through hole through which a wire-shaped member passes and which is formed to allow bending of the wire-shaped member inside, and a load detection portion which detects the force acting on the inner wall of the through hole by the curved portion of the wire-shaped member. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2007-202675 A Summary of the Invention [Problem to be solved by the invention]

[0006] An object of the present invention is to provide a wire sensor that can suitably detect a force applied to a wire-shaped (linear) member. [Means for solving the problem]

[0007] According to a first aspect of the present invention, A wire sensor for detecting a force applied to a wire, a housing that houses the wire extending in a first direction; a first strain body provided in the housing so as to be located on one side of the wire housed in the housing in a second direction perpendicular to the first direction; a second strain generating body provided in the housing so as to be located on one side of the wire housed in the housing in a third direction perpendicular to the first direction and the second direction; a first strain gauge attached to the first strain body; and a second strain gauge attached to the second strain element.

[0008] According to a second aspect of the present invention, A wire sensor for detecting a force applied to a wire, a housing that houses the wire extending in a first direction; a first strain body provided in the housing so as to be located on one side of the wire housed in the housing in a second direction perpendicular to the first direction; a first strain gauge attached to the first strain body; There is provided a wire sensor in which the wire housed in the housing abuts against the first strain element when no force to be detected is applied to the wire. Effect of the Invention

[0009] The wire sensor of the present invention can suitably detect a force applied to a wire-shaped (linear) member. [Brief description of the drawings]

[0010] [Figure 1]Fig. 1 is a perspective view of a wire sensor according to an embodiment, showing a sensor unit disposed inside a housing seen through the housing. [Diagram 2] FIG. 2 is an exploded perspective view of the housing. [Diagram 3] FIG. 3 is a perspective view of the sensor unit. [Figure 4] Figures 4(a) and 4(b) are explanatory diagrams showing the arrangement of the sensor unit inside the housing. Figure 4(a) shows the inside of the housing as viewed from the positive side in the Y direction, and Figure 4(b) shows the inside of the housing as viewed from the negative side in the X direction. [Diagram 5] FIG. 5 is an explanatory diagram showing the positional relationship between the tops of the six sensor units arranged in the housing and the guide grooves. [Figure 6] Fig. 6(a) is an explanatory diagram showing the arrangement of devices at the doctor's hand when performing catheter treatment, and Fig. 6(b) is a plan view showing the shape of the tip of a guidewire. [Figure 7] 7(a) and 7(b) are explanatory diagrams for explaining the principle of force detection in a guidewire. Fig. 7(a) shows the state of the preload applied to the sensor unit abutting against the guidewire in the X direction when no force is applied in the longitudinal direction of the guidewire. Fig. 7(b) shows the state of the load applied to the sensor unit abutting against the guidewire in the X direction when force is applied in the longitudinal direction of the guidewire. [Figure 8] Figures 8(a) and 8(b) are explanatory diagrams for explaining the principle of force detection in a guidewire. Figure 8(a) shows the state of the preload applied to the sensor unit abutting against the guidewire in the Y direction when no force is applied in the longitudinal direction of the guidewire. Figure 8(b) shows the state of the load applied to the sensor unit abutting against the guidewire in the Y direction when force is applied in the longitudinal direction of the guidewire. [Figure 9] 9(a) and 9(b) are explanatory diagrams for explaining preload. Fig. 9(a) shows the wire sensor in a state where no force is applied in the longitudinal direction of the guidewire. Fig. 9(b) shows the wire sensor in a state where force is applied in the longitudinal direction of the guidewire. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] <Embodiment> A wire sensor 100 according to an embodiment of the present invention will be described with reference to FIGS.

[0012] [Structure of wire sensor 100] As shown in FIG. 1, the wire sensor 100 includes a rectangular housing 10 and six sensor units S housed inside the housing 10. X1 , S X2 , S X3 , S Y1 , S Y2 , S Y3 It mainly has:

[0013] In the following, for convenience of explanation, the longitudinal direction of the housing 10 is called the axial direction. Also, one direction in an orthogonal plane perpendicular to the axial direction is called the X direction, and a direction perpendicular to the X direction in the orthogonal plane is called the Y direction. The axial direction, the X direction, and the Y direction are perpendicular to each other. In FIG. 1, the axial direction is a direction extending between the lower left and upper right of the paper, the X direction is a direction extending between the upper left and lower right of the paper, and the Y direction is a direction extending in the vertical direction of the paper. The front side and rear side of the axial direction, the positive side and negative side of the X direction, and the positive side and negative side of the Y direction are defined as shown in FIG. 1. The axial direction is an example of a first direction, the X direction is an example of a second direction, and the Y direction is an example of a third direction.

[0014] The housing 10 is a box that houses six sensor units therein, and constitutes the external appearance of the wire sensor 100. The housing 10 is formed, for example, from resin, metal, or the like.

[0015] 1 and 2, the housing 10 is a rectangular parallelepiped having a central axis CA extending in the axial direction. The housing 10 has a first plate 11 located at the front side in the axial direction, a second plate 12 located at the rear side in the axial direction, a third plate 13 located at the positive side in the X direction, a fourth plate 14 located at the negative side in the X direction, a fifth plate 15 located at the positive side in the Y direction, and a sixth plate 16 located at the negative side in the Y direction. The first plate 11 and the second plate 12 are each perpendicular to the axial direction. The third plate 13 and the fourth plate 14 are each perpendicular to the X direction. The fifth plate 15 and the sixth plate 16 are each perpendicular to the Y direction.

[0016] The first plate 11 is a square flat plate. A pinhole (opening) PH1 is formed in the center of the first plate 11, penetrating the first plate 11 in the axial direction. When viewed in the axial direction, the center of the pinhole PH1 is located on the central axis CA. A slit SL1 is formed in the center of the first plate 11 in the X direction, extending in the Y direction. One end of the slit SL1 opens to the side of the first plate 11 on the positive side in the Y direction, and the other end of the slit SL1 communicates with the pinhole PH1.

[0017] The second plate 12 is a square flat plate. A pinhole (opening) PH2 is formed in the center of the second plate 12, penetrating the second plate 12 in the axial direction. When viewed in the axial direction, the center of the pinhole PH2 is located on the central axis CA. A slit SL2 is formed in the center of the second plate 12 in the X direction, extending in the Y direction. One end of the slit SL2 opens to the side of the second plate 12 on the positive side in the Y direction, and the other end of the slit SL2 communicates with the pinhole PH2.

[0018] The third plate 13 and the fourth plate 14 are rectangular flat plates whose long sides extend in the axial direction and whose short sides extend in the Y direction. The fifth plate 15 and the sixth plate 16 are rectangular flat plates whose long sides extend in the axial direction and whose short sides extend in the X direction.

[0019] In this embodiment, first plate 11, second plate 12, third plate 13, fourth plate 14, and sixth plate 16 are fixedly connected to each other to form a bathtub-shaped structure (a box shape with one side open). Fifth plate 15 is detachable from the bathtub-shaped structure.

[0020] 6 sensor units S X1 , S X2 , S X3 , S Y1 , S Y2 , S Y3 The six sensor units S X1 , S X2 , S X3 , S Y1 , S Y2 , S Y3 As shown in FIG. 3, each of the strain gauges 30 includes a strain element 20 and a strain gauge 30 attached to the strain element 20.

[0021] The flexure body 20 is a member that generates a strain when it receives a load from a guide wire GW (described later) that passes through the inside of the housing 10. The flexure body 20 is formed of, for example, resin, metal, or the like.

[0022] 3, the flexure body 20 has a rectangular parallelepiped base 21 and a thick semicircular head 22. For the flexure body 20, the direction in which the base 21 and the head 22 are aligned is called the height direction, the longitudinal direction of the base 21 is called the length direction, and the direction perpendicular to the height direction and the length direction is called the width direction.

[0023] The upper surface of the head 22 is the top surface 20a of the flexure body 20. The top surface 20a is a curved surface that is curved in an arc shape along the length direction so as to be convex upward in the height direction. A guide groove 20g extending in the length direction is formed in the center in the width direction at the apex (contact portion) 20at (the uppermost position in the height direction) of the top surface 20a. The lower surface of the base portion 21 is the bottom surface (base portion) 20b of the flexure body 20.

[0024] The strain gauges 30 are attached, one on each of the surfaces on one side and the other side in the width direction of the base 21. When the wire sensor 100 is in use, the strain gauges 30 are connected to the control unit 200 (FIG. 6(a)) by wiring (not shown).

[0025] In this embodiment, the lengthwise dimension of the lower end of the head 22 is greater than the lengthwise dimension of the upper end of the base 21. Therefore, at the connection between the base 21 and the head 22, protrusions 20p are formed where the head 22 protrudes from the base 21 on both sides in the lengthwise direction.

[0026] As shown in Figure 1, the sensor part S X1 , S X3 is fixed to the fourth plate 14 of the housing 10. Specifically, the sensor unit S X1 The sensor section S is fixed to the fourth plate 14 in the vicinity of the front end in the axial direction with the bottom surface 20b of the strain generating body 20 in contact with the inner surface of the fourth plate 14. X3 is fixed near the rear end in the axial direction of the fourth plate 14 with the bottom surface 20b of the strain generating body 20 abutting against the inner surface of the fourth plate 14.

[0027] Sensor section S X1 , S X3 When the sensor portion S is fixed to the fourth plate 14, X1 , S X3 The height direction of the sensor S coincides with the X direction of the wire sensor 100. X1 , S X3 The length direction and width direction of the sensor section S correspond to the axial direction and Y direction of the wire sensor 100, respectively. X1 , S X3 The guide groove 20g of the sensor portion S extends in the axial direction. X1 , S X3 is disposed inside the housing 10 with the top portion 20at of the top surface 20a of the strain body 20 facing the positive side in the X direction.

[0028] As shown in Figure 1, the sensor part S X2 The sensor unit S is fixed to the third plate 13 of the housing 10. X2 Specifically, the strain generating body 20 is fixed near the center of the third plate 13 in the axial direction with the bottom surface 20b of the strain generating body 20 in contact with the inner surface of the third plate 13.

[0029] Sensor section S X2 When the sensor portion S is fixed to the third plate 13, X2The height direction of the sensor S coincides with the X direction of the wire sensor 100. X2 The length direction and width direction of the sensor section S correspond to the axial direction and Y direction of the wire sensor 100, respectively. X2 The guide groove 20g of the sensor portion S extends in the axial direction. X2 is disposed inside the housing 10 with the top portion 20at of the top surface 20a of the strain body 20 facing the negative side in the X direction.

[0030] As shown in Figure 1, the sensor part S Y1 , S Y3 is fixed to the fifth plate 15 of the housing 10. Specifically, the sensor unit S Y1 The sensor section S is fixed to the fifth plate 15 in the vicinity of the front end in the axial direction with the bottom surface 20b of the strain generating body 20 in contact with the inner surface of the fifth plate 15. Y3 is fixed near the rear end in the axial direction of the fifth plate 15 with the bottom surface 20b of the strain generating body 20 in contact with the inner surface of the fifth plate 15.

[0031] Sensor section S Y1 , S Y3 When the sensor portion S is fixed to the fifth plate 15, Y1 , S Y3 The height direction of the sensor S coincides with the Y direction of the wire sensor 100. Y1 , S Y3 The length direction and width direction of the sensor section S correspond to the axial direction and the X direction of the wire sensor 100, respectively. Y1 , S Y3 The guide groove 20g of the sensor portion S extends in the axial direction. Y1 , S Y3 is disposed inside the housing 10 with the top portion 20at of the top surface 20a of the strain body 20 facing the negative side in the Y direction.

[0032] As shown in Figure 1, the sensor part S Y2 The sensor unit S is fixed to the sixth plate 16 of the housing 10. Y2 Specifically, the strain body 20 is fixed near the center of the sixth plate 16 in the axial direction with the bottom surface 20b of the strain body 20 in contact with the inner surface of the sixth plate 16.

[0033] Sensor section S Y2 When the sensor portion S is fixed to the sixth plate 16, Y2 The height direction of the sensor S coincides with the Y direction of the wire sensor 100. Y2 The length direction and width direction of the sensor section S correspond to the axial direction and the X direction of the wire sensor 100, respectively. Y2 The guide groove 20g of the sensor portion S extends in the axial direction. Y2 is disposed inside the housing 10 with the top portion 20at of the top surface 20a of the strain body 20 facing the positive side in the Y direction.

[0034] Sensor section S X1 , S X2 , S X3 , S Y1 , S Y2 , S Y3 In the axial direction, the sensor part S X1 , sensor part S Y1 , sensor part S X2 , sensor part S Y2 , sensor part S X3 , sensor part S Y3 They are arranged in the following order.

[0035] As shown in FIG. 4(a), the sensor part S X1 , S X2 , S X3 are arranged in this order along the axial direction from the front to the rear. X2 is the sensor part S X1 , S X3 Therefore, in the axial direction, the sensor part S X1 From the center of the sensor part S X2 The distance to the center of the length of the sensor part S X2 From the center of the sensor part S X3 The distances to the center in the longitudinal direction are equal to each other.

[0036] As shown in FIG. 4(a), the sensor unit S X1 , sensor part S X3The top 20at (and the guide groove 20g) of the strain generating body 20 is located on the positive side of the X-direction from the central axis CA of the housing 10, and the sensor section S X2 The top 20at (and the guide groove 20g) of the strain body 20 is located on the negative side in the X direction from the central axis CA of the housing 10. X1 , S X2 , S X3 are provided such that the top 20at (and the guide groove 20g) of the strain body 20 is located on the opposite side to the bottom surfaces 20b of the first and second pinholes PH1 and PH2 in the X direction.

[0037] As shown in FIG. 4(b), the sensor part S Y1 , S Y2 , S Y3 are arranged in this order along the axial direction from the front to the rear. Y2 is the sensor part S Y1 , S Y3 Therefore, in the axial direction, the sensor part S Y1 From the center of the sensor part S Y2 The distance to the center of the length of the sensor part S Y2 From the center of the sensor part S Y3 The distances to the center in the longitudinal direction are equal to each other.

[0038] As shown in FIG. 4(b), the sensor section S Y1 , sensor part S Y3 The top 20at (and the guide groove 20g) of the strain generating body 20 is located on the negative side of the Y direction from the central axis CA of the housing 10, and the sensor section S Y2 The top 20at (and the guide groove 20g) of the strain body 20 is located on the positive side of the Y direction from the central axis CA of the housing 10. That is, the sensor section S Y1 , S Y2 , S Y3 are provided such that the top 20at (and the guide groove 20g) of the strain body 20 is located on the opposite side to the bottom surfaces 20b of the first and second pinholes PH1 and PH2 in the Y direction.

[0039] In this way, the six sensor parts S X1, S X2 , S X3 , S Y1 , S Y2 , S Y3 Each of the apexes 20at (and the guide grooves 20g) is disposed at a position offset in a predetermined direction from the central axis CA. X1 , S X2 , S X3 , S Y1 , S Y2 , S Y3 When viewed from the axial direction, each of the apexes 20at (and the guide grooves 20g) is located on a circumference centered on the central axis CA. X1 The guide grooves 20g of the other sensor parts are visible only in the sensor part S. X1 It is located behind and cannot be seen.

[0040] [How to use Wire Sensor 100] A method of using the wire sensor 100 will be described taking as an example a case where the wire sensor 100 is used in vascular catheter treatment in which a catheter is inserted into a blood vessel.

[0041] In vascular catheter treatment, a doctor inserts a metal wire called a guidewire into a patient's blood vessel, and then inserts a catheter along the guidewire. The wire sensor 100 is used to detect (sense) the force applied in the longitudinal direction of the guidewire when the guidewire is fed into the patient's blood vessel.

[0042] FIG. 6(a) shows the configuration of the equipment at hand when the guidewire GW is inserted into the patient's body and advanced to the affected area.

[0043] The guide wire GW extends from the position closest to the doctor's hand through the torquer 400, the wire sensor 100, and the Y-shaped connector 300 into the patient's body. The wire sensor 100 has six sensor units S X1 , S X2 , S X3 , S Y1 , S Y2, S Y3 The strain gauge 30 is connected to a control unit 200 that receives the output of the strain gauge 30, and is attached to a Y-shaped connector 300. A branch pipe of the Y-shaped connector 300 is connected to an indeflator (not shown) for expanding and contracting the balloon.

[0044] For example, a collet chuck (not shown) is built into the torquer 400. The torquer 400 is configured to easily perform a transition between a gripping state in which the collet chuck grips the guidewire GW and a release state in which the collet chuck releases the grip of the guidewire GW.

[0045] The guide wire GW can be disposed on the wire sensor 100, for example, as follows.

[0046] First, the fifth plate 15 (FIG. 1) is removed, and the guide wire GW is placed in the pinholes PH1 and PH2 through the slit SL1 of the first plate 11 and the slit SL2 of the second plate 12. Then, the guide wire GW extending between the pinholes PH1 and PH2 is inserted into the four sensor units S. X1 , S X2 , S X3 , S Y2 Finally, the fifth plate 15 is attached. At this time, the guide wire GW extending between the pinhole PH1 and the pinhole PH2 is aligned with the two sensor units S fixed to the fifth plate 15. Y1 , S Y3 The guide grooves 20g are disposed in the respective guide grooves 20g.

[0047] As a result, the guide wire GW is housed inside the guide sensor 100 in a state in which it extends along the central axis CA. In this state, the sensor portion S X1 , S X3 The strain body 20 of the sensor section S abuts against the guide wire GW arranged inside the housing 10 from the negative side in the X direction (FIG. 7(a)). X2 The strain generating body 20 abuts against the guide wire GW arranged inside the housing 10 from the positive side in the X direction (FIG. 7(a)). Y1 , SY3 The strain generating body 20 abuts against the guide wire GW arranged inside the housing 10 from the positive side in the Y direction (FIG. 8(a)). Y2 The strain body 20 comes into contact with the guide wire GW arranged inside the housing 10 from the negative side in the Y direction (FIG. 8(a)).

[0048] Here, as described above, the sensor unit S X1 , sensor part S X3 The top 20at (and the guide groove 20g) of the strain generating body 20 is located on the positive side of the X-direction from the central axis CA of the housing 10, and the sensor section S X2 The top 20at (and the guide groove 20g) of the strain body 20 is located on the negative side of the X direction from the central axis CA of the housing 10. Therefore, as shown in FIG. X1 , S X3 The guide wire GW applies a load (load) L X1 , L X3 In addition, the sensor part S X2 A load L is applied to the positive side of the X direction by the guide wire GW. X2 has been added.

[0049] Similarly, as described above, the sensor unit S Y1 , sensor part S Y3 The top 20at (and the guide groove 20g) of the strain generating body 20 is located on the negative side of the Y direction from the central axis CA of the housing 10, and the sensor section S Y2 The top 20at (and the guide groove 20g) of the strain body 20 is located on the positive side of the Y direction from the central axis CA of the housing 10. Therefore, as shown in FIG. Y1 , S Y3 A load L is applied to the positive side of the Y direction by the guide wire GW. Y1 , L Y3 In addition, the sensor part S Y2 A load L is applied to the negative side of the Y direction by the guide wire GW. Y2 has been added.

[0050] In this way, the sensor portion S of the wire sensor 100 X1 , SX2 , S X3 , S Y1 , S Y2 , S Y3 A load from the guidewire GW is applied to the sensor unit even when no external force (external force to be detected) is applied to the guidewire GW. In the present invention and this specification, a load applied from the guidewire to the sensor unit in a state where the guidewire is not deflected in response to the application of an external force (external force to be detected) (i.e., a state where no external force to be detected is applied to the guidewire) is called a preload (preload). The preload can be applied, for example, by a force that causes a linear member such as a wire arranged in a curved (bent) state to return to its original linear shape.

[0051] The doctor injects a contrast agent into the patient's blood vessels and advances the guidewire GW to the affected area while grasping the position of the blood vessels on an X-ray. The area near the tip GWt of the guidewire GW is curved as shown in Fig. 6(b). The doctor feeds the guidewire GW along the desired path in the blood vessel while rotating the guidewire GW to change the direction of the tip GWt, until the tip GWt of the guidewire reaches the affected area.

[0052] For example, a doctor inserts the guidewire GW into the patient's body while holding the torquer 400 with the right hand and the Y-shaped connector 300 with the left hand. When advancing the guidewire GW to the affected area, the doctor places the torquer 400 in a released state, picks up the guidewire GW, and moves it in the forward direction (the direction approaching the affected area). When returning the guidewire GW to the outside of the patient's body, the doctor places the torquer 400 in a released state, picks up the guidewire GW, and moves it in the return direction (the direction approaching the outside of the body). When changing the direction of the tip of the guidewire GW, the doctor places the torquer 400 in a gripped state and rotates the torquer 400.

[0053] At this time, when a force is applied in the longitudinal direction of the guidewire GW, the guidewire GW is bent. X1 , S X2 , S X3 , S Y1 , S Y2 , SY3 Load L applied to X1 , L X2 , L X3 , L Y1 , L Y2 , L Y3 The force acting in the longitudinal direction of the guidewire GW is detected based on the fact that the value of varies in accordance with the bending of the guidewire GW.

[0054] Specifically, for example, as shown in FIG. 7(b), the guide wire GW moves toward the sensor section S in response to the bending of the guide wire GW. X1 , S X3 Load L applied to X1 , L X3 The value of becomes smaller, and the guide wire GW moves toward the sensor part S X2 Load L applied to X2 Similarly, as shown in FIG. 8(b), the guide wire GW may move toward the sensor section S in response to the bending of the guide wire GW. Y1 , S Y3 Load L applied to Y1 , L Y3 The value of becomes smaller, and the guide wire GW moves toward the sensor part S Y2 Load L applied to Y2 The value of may be large.

[0055] The control unit 200 determines the load L X1 , L X2 , L X3 , L Y1 , L Y2 , L Y3 Based on the change in each value of the load L, the magnitude of the force applied in the longitudinal direction of the guidewire GW is calculated. X1 , L X2 , L X3 , L Y1 , L Y2 , L Y3 The manner in which the value of L changes is merely an example. Various types of deflection occur in the guidewire GW, and the load L X1 , L X2 , L X3 , L Y1 , L Y2 , L Y3Each value of indicates various changes according to the manner in which the guidewire GW is bent.

[0056] The magnitude of the force detected by the wire sensor 100 indicates, for example, the magnitude of the force required to feed the guidewire GW. The magnitude of the force detected by the wire sensor 100 may be displayed on a display unit (not shown) to assist, for example, the operation of the guidewire GW by a doctor. Alternatively, the transition of the fluctuation in the magnitude of the force detected by the wire sensor 100 may be stored as data in a storage unit (not shown).

[0057] The advantageous effects of the wire sensor 100 of this embodiment are summarized below.

[0058] In the wire sensor 100 of the present embodiment, when no force to be detected is applied to the guidewire GW, the guidewire GW accommodated in the wire sensor 100 and the sensor unit S X1 , S X2 , S X3 , S Y1 , S Y2 , S Y3 Therefore, the sensor section S X1 , S X2 , S X3 , S Y1 , S Y2 , S Y3 When bending of the guidewire GW occurs, the wire sensor 100 can immediately detect the bending. Therefore, the wire sensor 100 can suitably ( satisfactorily) detect the force applied to the guidewire GW based on the bending of the guidewire GW in response to the application of the force.

[0059] The wire sensor 100 of this embodiment has a sensor portion S that faces the guidewire GW along the X direction and abuts against the guidewire GW. X1 , S X2 , S X3 , and a sensor portion S that faces the guide wire GW along the Y direction and abuts against the guide wire GW. Y1 , S Y2 , S Y3Therefore, no matter in what direction the guidewire GW bends in response to the application of the force to be detected to the guidewire GW (i.e., even if the bending occurs only in the X direction or the Y direction), it is possible to detect the application of the force to be detected to the guidewire GW. Therefore, the force applied to the guidewire GW can be suitably detected based on the bending of the guidewire GW in response to the application of the force.

[0060] In the wire sensor 100 of this embodiment, the guide wire GW is a sensor portion S X1 , S X2 , S X3 , S Y1 , S Y2 , S Y3 The guidewire GW is housed in a state where a preload is applied to each of the guidewires GW and the guidewire GW is inserted into the guidewire GW. Therefore, regardless of the state of bending of the guidewire GW in response to the application of the force to be detected to the guidewire GW, the application of the force to be detected to the guidewire GW can be more suitably detected.

[0061] More details on this point are as follows. For example, as shown in FIG. 9(a), each sensor unit (sensor unit S in FIG. 9(a)) is connected to the guide wire GW. X1 , S X2 , S X3 Consider the wire sensor 500 that accommodates the guidewire GW without applying a preload to each of the sensor parts (only the sensor parts S in FIG. 9(b)). In this case, as shown in FIG. 9(b), the deflection generated in the guidewire GW is reflected by each sensor part (the sensor parts S in FIG. 9(b)). X1 , S X2 , S X3 In the case where the guide wire GW is moved away from the guide wire GW (only the guide wire GW is shown), the load applied to each sensor portion remains zero even though the guide wire GW is bent (i.e., the force to be detected is applied to the guide wire GW).

[0062] In this manner, the guide sensor 100 of the present embodiment is configured such that the guidewire GW applies a preload to each sensor portion. Therefore, when a force to be detected is applied to the guidewire GW, the load L X1 , LX2 , L X3 , L Y1 , L Y2 , L Y3 Therefore, the force applied to the guidewire GW can be more appropriately detected based on the bending of the guidewire GW in response to the application of the force.

[0063] The guide sensor 100 of this embodiment includes a sensor unit S X1 , S X2 , S X3 , S Y1 , S Y2 , S Y3 Each of the strain generating bodies 20 has a guide groove 20g. Therefore, the guide wire GW can be held and guided inside the housing 10 in an excellent manner.

[0064] In the guide sensor 100 of the present embodiment, the fifth plate 15 of the housing 10 is removable. Therefore, the guide wire GW can be easily placed inside the wire sensor 100 while visually checking the inside of the housing 10.

[0065] In the guide sensor 100 of this embodiment, slits SL1 and SL2 for guiding the guidewire GW to the pinholes PH1 and PH2 are formed in the first plate 11 and the second plate 12. Therefore, even if the end of the guidewire GW cannot be inserted into the pinholes PH1 and PH2, for example, in a situation where one end of the guidewire GW has already been inserted into the patient's body, the guidewire GW can be disposed in the pinholes PH1 and PH2 using the slits SL1 and SL2.

[0066] <Modification> In the wire sensor 100 of the above embodiment, the following modifications may also be used.

[0067] In the above embodiment, the housing 10 is a rectangular parallelepiped, but is not limited to this. The housing 10 may have any structure, such as a triangular prism, a polygonal prism, or a cylinder, that has a space inside to place the sensor unit. The housing 10 does not necessarily have to be long in the axial direction.

[0068] In the housing 10 of the above embodiment, the fifth plate 15 is removable, but is not limited to this. The housing 10 may be in any form in which a part of the housing 10 is movable relative to other parts of the housing 10 and the inside of the housing 10 can be viewed by moving the part. Alternatively, the housing 10 may be a box body in which the first plate 11 to the sixth plate 16 are all connected in an inseparable state. In the housing 10 of the above embodiment, at least one of the slits SL1 and SL2 may be omitted.

[0069] In the above embodiment, the wire sensor 100 is used with the housing 10 attached to the Y-shaped connector 300, but this is not limited thereto. For example, a handle extending from the housing 10 to the outside of the housing 10 may be provided. In this case, a user using the wire sensor 100 may operate the torquer 400 with his / her right hand and hold the handle extending from the housing 10 with his / her left hand.

[0070] A user of the wire sensor 100 may hold the wire sensor 100 by directly gripping the housing 10. However, by holding the housing 10 via the Y-shaped connector 300 or a handle, it is possible to suppress the occurrence of distortion and temperature changes in the first plate 11 to the sixth plate 16 of the housing 10. As a result, the sensor section S X1 , S X2 , S X3 , S Y1 , S Y2 , S Y3 Therefore, the influence on detection in the detection can be suppressed.

[0071] In the wire sensor 100 of the above embodiment, the sensor portion S X1 , S X2 , S X3 , S Y1 , S Y2 , S Y3 The shape of the flexure body 20 is arbitrary. For example, the flexure body 20 may be a cylinder, a triangular prism, a square prism, any polygonal prism, etc. extending in the height direction. The flexure body 20 does not have to have the guide groove 20g.

[0072] In the wire sensor 100 of the above embodiment, the sensor portion S X1 , S X2 , S X3 , S Y1 , S Y2 , S Y3 Two strain gauges 30 are attached to each of the strain generating bodies 20 of the sensor unit S. X1 , S X2 , S X3 , S Y1 , S Y2 , S Y3 The number of strain gauges 30 attached to each of the strain bodies 20 is arbitrary.

[0073] In the wire sensor 100 of the above embodiment, three sensor portions S abutting against the guide wire GW along the X direction. X1 , S X2 , S X3 and three sensor parts S abutting against the guide wire GW along the Y direction. Y1 , S Y2 , S Y3 However, the number of sensor units may be more or less than that in the above embodiment.

[0074] In the wire sensor 100 of the above embodiment, six sensor units S X1 , S X2 , S X3 , S Y1 , S Y2 , S Y3 Each of the sensor units S includes a strain gauge 30 and a strain body 20, but is not limited to this. X1 , S X2 , S X3 , S Y1 , S Y2 , S Y3 In at least one of the above, the strain gauge 30 may be omitted. In this case, the strain body 20 to which the strain gauge 30 is not attached substantially functions as a support portion that supports the guide wire GW.

[0075] In the wire sensor 100 of the above embodiment, the sensor portion S X1 , SX2 , S X3 , S Y1 , S Y2 , S Y3 The sensor unit S is configured to be preloaded, but is not limited to this. X1 , S X2 , S X3 , S Y1 , S Y2 , S Y3 Each of the pinholes PH1 and PH2 may be configured to abut against the guidewire GW extending between the first pinhole PH1 and the second pinhole PH2 (the guidewire GW in a state where no force to be detected is applied) without receiving a preload from the guidewire GW. Even in this embodiment, when the guidewire GW is bent, the bend can be detected immediately, and the force applied to the guidewire GW can be suitably detected. Alternatively, each of the pinholes PH1 and PH2 may be configured to be positioned with a gap from the guidewire GW extending between the first pinhole PH1 and the second pinhole PH2 (the guidewire GW in a state where no force to be detected is applied). Even in this embodiment, the deflection of the guidewire GW can be detected by the sensor units arranged in the X direction and the Y direction, and the force applied to the guidewire GW can be suitably detected.

[0076] The wire sensor 100 of the above embodiment has three sensor units S X1 , S X2 , S X3 and three sensor units S Y1 , S Y2 , S Y3 In this case, too, it is possible to detect the application of a force in the longitudinal direction of the guidewire GW regardless of the direction in which the guidewire GW is bent, and it is possible to suitably detect the force applied in the longitudinal direction of the guidewire GW.

[0077] The wire sensor 100 of the above embodiment has six sensor units S X1 , S X2 , S X3 , S Y1 , S Y2 , S Y3In this case, too, the force applied to the guidewire GW can be suitably detected based on the configuration in which the guidewire GW that is not subjected to the force to be detected abuts against the sensor unit or the configuration in which a preload is applied.

[0078] In the above embodiment, the control unit 200 may be provided as a part of the wire sensor 100, integrally with the wire sensor 100. For example, the control unit 200 may be provided inside the housing 10 or on the outer surface of the housing 10.

[0079] In the above embodiment, the detection of the force to be detected may be the detection of the magnitude of the force to be detected (detection of the magnitude of the force applied to the guidewire GW) and / or the presence or absence of the force to be detected (presence or absence of a force being applied to the guidewire GW).

[0080] In the above embodiment, the wire sensor 100 is used for a guidewire GW used in vascular catheter treatment. However, the use of the wire sensor 100 is not limited to this, and the wire sensor 100 can be used for any linear member. Specifically, for example, the wire sensor 100 can be used for an endoscope cable. In the present invention, a wire means a linear member having flexibility. An endoscope cable and the like are also included in the wire of the present invention.

[0081] As long as the characteristics of the present invention are maintained, the present invention is not limited to the above-described embodiments, and other forms conceivable within the scope of the technical idea of ​​the present invention are also included within the scope of the present invention. [Explanation of symbols]

[0082] 10: Housing; 20: Strain body; 30: Strain gauge; 100: Wire sensor; 200: Control unit; GW: Guide wire; PH1, PH2: Pinhole; S X1 , S X2 , S X3 , S Y1 , S Y2 , S Y3 : Sensor section

Claims

1. A wire sensor that detects the force applied to a wire, A housing for the wire extending in the first direction, A first strain-generating body is provided within the housing so as to be located on one side of a second direction perpendicular to the first direction with respect to the wire housed within the housing, A second strain-generating body is provided within the housing so as to be located on one side of a third direction perpendicular to the first and second directions with respect to the wire housed within the housing, A first strain gauge attached to the first strain-generating body, A wire sensor comprising a second strain gauge attached to the second strain-generating body.

2. The wire sensor according to claim 1, wherein, when no force to be detected is applied to the wire, the wire housed in the housing is in contact with the first strain body and / or the second strain body.

3. The wire sensor according to claim 2, wherein the wire housed in the housing applies a preload to the first strain body and / or the second strain body.

4. The housing has a pair of openings, each of which connects the inside and outside of the housing, and which are arranged in the first direction and each of which the wire is arranged. The first strain-generating body has a first base fixed to the housing and a first contact portion that contacts the wire, and is provided such that the first contact portion is located on the side of the pair of openings opposite to the first base in the second direction. The wire sensor according to claim 3, wherein the second strain-generating body has a second base fixed to the housing and a second contact portion that contacts the wire, and is provided such that the second contact portion is located on the opposite side of the pair of openings from the second base portion in the third direction.

5. The wire sensor according to claim 1, wherein the first strain-generating body and the second strain-generating body are provided at positions different from each other in the first direction.

6. The wire sensor according to claim 1, wherein the first strain-generating body and / or the second strain-generating body have guide grooves that guide the wire along the first direction.

7. A third strain-generating body is provided within the housing so as to be located on the other side in the second direction with respect to the wire housed within the housing, A fourth strain-generating body is provided within the housing so as to be located on the other side in the third direction with respect to the wire housed within the housing, A third strain gauge attached to the third strain generating body, The wire sensor according to claim 1, further comprising a fourth strain gauge attached to the fourth strain-generating body.

8. A fifth strain-generating body is provided within the housing so as to be located on one side in the second direction with respect to the wire housed within the housing, A sixth strain-generating body is provided within the housing so as to be located on one side in the third direction with respect to the wire housed within the housing, The fifth strain gauge attached to the fifth strain-generating body, The system further comprises a sixth strain gauge attached to the sixth strain-generating body. In the first direction, the third strain-generating body is provided between the first strain-generating body and the fifth strain-generating body. The wire sensor according to claim 7, wherein in the first direction, the fourth strain-generating body is provided between the second strain-generating body and the sixth strain-generating body.

9. A wire sensor that detects the force applied to a wire, A housing for the wire extending in the first direction, A first strain-generating body is provided within the housing so as to be located on one side of a second direction perpendicular to the first direction with respect to the wire housed within the housing, The system comprises a first strain gauge attached to the first strain-generating body, A wire sensor in which, when no force to be detected is applied to the wire, the wire housed within the housing contacts the first strain-generating body.

10. The wire sensor according to claim 9, wherein the wire housed within the housing applies a preload to the first strain body.

11. The wire sensor according to claim 9, wherein the first strain-generating body has a guide groove that guides the wire along a first direction.

12. The housing has a pair of openings, each of which connects the inside and outside of the housing, and which are arranged in the first direction and each of which the wire is arranged. The wire sensor according to claim 9, wherein the first strain-generating body has a first base fixed to the housing and a first contact portion that contacts the wire, and is provided such that the first contact portion is located on the opposite side of the pair of openings from the first base portion in the second direction.

13. A second strain-generating body is provided within the housing so as to be located on one side of a third direction perpendicular to the first and second directions with respect to the wire housed in the housing, The system further comprises a second strain gauge attached to the second strain-generating body, The wire sensor according to claim 12, wherein the second strain-generating body has a second base fixed to the housing and a second contact portion that contacts the wire, and is provided such that the second contact portion is located on the opposite side of the pair of openings from the second base portion in the third direction.

14. A third strain-generating body is provided within the housing so as to be located on the other side in the second direction with respect to the wire housed in the housing, A fourth strain-generating body is provided within the housing so as to be located on the other side in the third direction with respect to the wire housed in the housing, A third strain gauge attached to the third strain generating body, The system further comprises a fourth strain gauge attached to the fourth strain generating body, The third strain-generating body has a third base fixed to the housing and a third contact portion that contacts the wire, and is provided such that the third contact portion is located on the side of the pair of openings opposite to the third base in the second direction. The wire sensor according to claim 13, wherein the fourth strain-generating body has a fourth base fixed to the housing and a fourth contact portion that contacts the wire, and is provided such that the fourth contact portion is located on the opposite side of the pair of openings from the fourth base portion in the third direction.

15. A fifth strain-generating body is provided within the housing so as to be located on one side in the second direction with respect to the wire housed in the housing, A sixth strain-generating body is provided within the housing so as to be located on one side in the third direction with respect to the wire housed in the housing, The fifth strain gauge attached to the fifth strain-generating body, The system further comprises a sixth strain gauge attached to the sixth strain-generating body, The fifth strain-generating body has a fifth base fixed to the housing and a fifth contact portion that contacts the wire, and is provided such that the fifth contact portion is located on the opposite side of the pair of openings from the fifth base in the second direction. The sixth strain-generating body has a sixth base fixed to the housing and a sixth contact portion that contacts the wire, and is provided such that the sixth contact portion is located on the opposite side of the pair of openings from the sixth base in the third direction. In the first direction, the third strain-generating body is provided between the first strain-generating body and the fifth strain-generating body. The wire sensor according to claim 14, wherein in the first direction, the fourth strain-generating body is provided between the second strain-generating body and the sixth strain-generating body.

16. The wire sensor according to any one of claims 1 to 15, wherein a part of the housing is movable relative to the other part of the housing, and the inside of the housing can be made visible by moving the part.

17. The wire sensor according to any one of claims 1 to 15, wherein the housing has a slit formed therein for housing the wire inside the housing.

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