Drive device

Abstract

A drive device according to the present disclosure can be connected to an image diagnosis catheter that is provided with an ultrasonic transmission / reception unit, and is provided with: a drive motor; a slip ring that can rotate together with the ultrasonic transmission / reception unit; a brush that is electrically connected to the slip ring by coming into contact with the slip ring; and a power transmission unit that is capable of transmitting the driving force of the drive motor to the slip ring. A replaceable unit that is provided with the slip ring is configured to be attachable to or detachable from a device body that is provided with the drive motor between an attached state and a detached state. The attached state is a state in which the driving force of the drive motor is transmitted to the slip ring by the power transmission unit, and the detached state is a state in which the driving force of the drive motor is not transmitted to the slip ring by the power transmission unit.

Description

Drive device

[0001] The present disclosure relates to a drive device.

[0002] Conventionally, an imaging catheter using intravascular ultrasound (IVUS: Intravascular Ultrasound) has been known for acquiring an image for diagnosing a diseased site in a living body. Patent Document 1 discloses this type of imaging catheter. The imaging catheter described in Patent Document 1 includes an ultrasonic transmission / reception unit and a drive shaft. Patent Document 1 also discloses an external device to which the imaging catheter is connected. The external device described in Patent Document 1 includes a motor for rotating the ultrasonic transmission / reception unit and the drive shaft of the imaging catheter, which are rotating bodies driven by rotation by the motor of the external device, and the external device as a stationary body.

[0003] Japanese Unexamined Patent Application Publication No. 2017-51500

[0004] The external device described in Patent Document 1 usually includes a slip ring and a brush. By providing the external device with a slip ring and a brush, while suppressing physical twisting at the connecting part between the ultrasonic transmission / reception unit and the drive shaft of the imaging catheter, which are rotating bodies rotationally driven by the motor of the external device, and the external device as a stationary body, an electrical connection between the two can be maintained.

[0005] However, at the contact part where the slip ring and the brush contact, there is a risk of generating wear powder due to wear. If wear powder is trapped in the contact part of the slip ring and the brush, there is a risk of generating image noise caused by electrical noise in the ultrasonic image as an intracavity image. Also, for example, when the slip ring or the brush needs to be replaced due to breakage of the brush, etc. Therefore, in a drive device including a drive motor capable of rotationally driving the ultrasonic transmission / reception unit of an imaging catheter, such as the external device described in Patent Document 1, regular maintenance of the slip ring and the brush is required.

[0006] An object of the present disclosure is to provide a drive device capable of improving the maintainability of a slip ring and a brush.

[0007] A drive device as a first aspect of the present disclosure is a drive device connectable to an imaging diagnostic catheter equipped with an ultrasonic transmitting and receiving unit, comprising: a drive motor; a slip ring electrically connectable to the ultrasonic transmitting and receiving unit and rotatable together with the ultrasonic transmitting and receiving unit; a brush electrically connected to the slip ring by contacting the slip ring; and a power transmission unit capable of transmitting the driving force of the drive motor to the slip ring, wherein the interchangeable part equipped with the slip ring is configured to be detachably attached to the device body equipped with the drive motor between an attached state and a detached state, the attached state is a state in which the driving force of the drive motor is transmitted to the slip ring by the power transmission unit, and the detached state is a state in which the driving force of the drive motor is not transmitted to the slip ring by the power transmission unit.

[0008] One embodiment of the present disclosure is the drive device described in (1) above, wherein the power transmission unit is a magnetic coupling unit capable of transmitting the driving force of the drive motor to the slip ring by magnetic force.

[0009] One embodiment of the present disclosure is a drive device as described in (1) or (2) above, wherein the replacement tool is the drive device described in (1) or (2) above, comprising the brush.

[0010] A drive device as one embodiment of the present disclosure is the drive device as described in (3) above, wherein the brush comprises a brush body in contact with the slip ring and a holder that holds the brush body, and the holder comprises a brush substrate on which a circuit electrically connected to the brush body is formed and a brush-side contact portion that can electrically connect the circuit of the brush substrate to the device body.

[0011] A drive device as one embodiment of the present disclosure is the drive device described in (4) above, wherein the device body includes a body-side contact portion that is electrically connected by contact with the brush-side contact portion when the replacement tool is mounted, and at least one of the brush-side contact portion and the body-side contact portion is biased toward the other when the replacement tool is mounted.

[0012] One embodiment of the present disclosure is a drive device according to any one of (1) to (5) above, which includes (6) an image generation unit capable of generating an image based on ultrasonic waves acquired by the ultrasonic transmitting and receiving unit.

[0013] According to this disclosure, it is possible to provide a drive device that can improve the maintainability of slip rings and brushes.

[0014] This figure shows an imaging diagnostic system including a drive device as one embodiment of the present disclosure. This figure shows an imaging diagnostic catheter of the imaging diagnostic system shown in Figure 1, and shows the pushed-in state of the probe and inner tube. This figure shows an imaging diagnostic catheter of the imaging diagnostic system shown in Figure 1, and shows the pulled-out state of the probe and inner tube. This figure shows the distal end of the imaging diagnostic catheter shown in Figure 2A. This is a partial cross-sectional view of a part of the drive device shown in Figure 1. This figure shows the disassembled state of the drive device shown in Figure 4. This is a perspective view showing the vicinity of the slip ring and brush of the imaging diagnostic device shown in Figure 1. This is a cross-sectional view at the position of line II in Figure 6. This is a cross-sectional view at the position of line II-II in Figure 6. This is a perspective view showing the slip ring, brush and support shaft shown in Figures 7 and 8.

[0015] Hereinafter, embodiments of the drive device relating to this disclosure will be described with reference to the drawings. In each figure, identical components are denoted by the same reference numerals.

[0016] Figure 1 shows an image diagnostic system 100 equipped with a drive device 120a as one embodiment of the drive device according to the present disclosure. As shown in Figure 1, the image diagnostic system 100 comprises an image diagnostic catheter 110 and a drive device 120a. Figure 1 shows the image diagnostic catheter 110 connected to the drive device 120a.

[0017] Figures 2A and 2B show the diagnostic imaging catheter 110 as shown in Figure 1. As will be described in detail later, Figures 2A and 2B show different positions of the probe 10 in the longitudinal direction A within the sheath 20. Figure 3 shows the distal end of the diagnostic imaging catheter 110 (hereinafter referred to as the "distal end"). The diagnostic imaging catheter 110 is configured to acquire tomographic images of the lumen of, for example, a blood vessel. As shown in Figure 1, the diagnostic imaging catheter 110 is driven by being connected to a drive device 120a.

[0018] The drive unit 120a can be connected to a diagnostic imaging catheter equipped with an ultrasound transmitting / receiving unit. However, the drive unit 120a may also be connected to a diagnostic imaging catheter equipped with an optical transmitting / receiving unit, in addition to a diagnostic imaging catheter equipped with an ultrasound transmitting / receiving unit. Specifically, the drive unit 120a of this embodiment can be connected to a diagnostic imaging catheter that utilizes IVUS, as well as a dual-type diagnostic imaging catheter that utilizes both IVUS and OCT (Optical Coherence Tomography) or OFDI (Optical Frequency Domain Imaging). Furthermore, the drive unit 120a of this embodiment is configured to be connectable not only to a diagnostic imaging catheter that utilizes IVUS, as well as a dual-type diagnostic imaging catheter that utilizes both IVUS and OCT or OFDI, but also to a diagnostic imaging catheter that does not utilize IVUS and utilizes OCT or OFDI. Furthermore, the drive device 120a of this embodiment is capable of generating intracavitary images using at least one of ultrasound and light, corresponding to the diagnostic imaging catheter connected to the drive device 120a. In other words, the drive device 120a of this embodiment includes a control unit 127 capable of generating images based on ultrasound acquired by the ultrasound transmitting / receiving unit 61a (see Figure 3), which will be described later, of the diagnostic imaging catheter 110.

[0019] Furthermore, the drive unit 120a may further include, for example, a display unit capable of displaying images generated by the control unit 127. In addition, the drive unit 120a may include, for example, a communication unit capable of transmitting image data of images generated by the control unit 127 to an external device.

[0020] <Image diagnostic catheter 110> First, an example of an image diagnostic catheter that can be connected to the drive unit 120a will be described with reference to Figures 1 to 3. In this embodiment, as an example of an image diagnostic catheter that can be connected to the drive unit 120a, a dual-type image diagnostic catheter 110 that utilizes both IVUS and OCT or OFDI will be described as an example.

[0021] Hereinafter, the longitudinal direction of the imaging catheter 110 will be referred to as "longitudinal direction A". The side of the imaging catheter 110 inserted into the body in longitudinal direction A will be referred to as the "distal side". Furthermore, the proximal side of the imaging catheter 110 manipulated outside the body in longitudinal direction A will be referred to as the "proximal side". The direction from the proximal side to the distal side of the imaging catheter 110 may simply be referred to as "insertion direction A1". Also, the direction from the distal end to the proximal end of the imaging catheter 110 may simply be referred to as "extraction direction A2".

[0022] As shown in Figures 1 to 3, the diagnostic imaging catheter 110 comprises a probe 10, a long sheath 20, an inner tube 30, and an outer tube 40. The parts of the diagnostic imaging catheter 110 will be described in detail below.

[0023] [Probe 10] As shown in Figure 3, the probe 10 comprises an imaging unit 60, a drive shaft 13, and electrical signal lines 14a and optical transmission lines 14b extending within the drive shaft 13. The imaging unit 60 comprises an ultrasonic transmitting / receiving unit 61a, an optical transmitting / receiving unit 61b, a contrast marker member 61c, a housing 61d, and a protective member 61e.

[0024] As shown in Figure 3, the imaging unit 60 is fixed to the distal end of the drive shaft 13. The ultrasonic transmitting / receiving unit 61a of the imaging unit 60 includes an ultrasonic transducer 62. The ultrasonic transducer 62 can transmit ultrasonic waves based on pulse signals into the lumen of a living body and receive ultrasonic waves reflected from the surrounding biological tissue. The ultrasonic transducer 62 may include, for example, a main body and electrodes. The main body may include a piezoelectric element. The piezoelectric element includes, for example, a piezoelectric material such as ceramics or quartz. The ultrasonic transmitting / receiving unit 61a can transmit and receive ultrasonic waves using the ultrasonic transducer 62. The ultrasonic transmitting / receiving unit 61a shown in Figure 3 is located distal to the optical element 61b1 of the optical transmitting / receiving unit 61b, which will be described later.

[0025] The optical transmitting / receiving unit 61b can continuously transmit transmitted light to the lumen and continuously receive light reflected from the surrounding biological tissue. The optical transmitting / receiving unit 61b shown in Figure 3 includes an optical element 61b1. The optical element 61b1 is connected to the distal end of the optical transmission line 14b and has a lens function for focusing light and a reflective function for reflecting light.

[0026] The optical element 61b1 shown in Figure 3 is a ball lens comprising a planar portion inclined with respect to the longitudinal direction A and a spherical portion. The planar portion is coated with a reflective coating that reflects light propagating from the optical transmission line 14b. The constituent material of the reflective coating is not particularly limited as long as it can reflect light, but examples include aluminum. Light propagating from the optical transmission line 14b is reflected at the planar portion, focused at the spherical portion, and transmitted to the lumen. Light reflected by the biological tissue surrounding the lumen is focused at the spherical portion, reflected at the planar portion, and propagated to the optical transmission line 14b. In this way, the optical transmitting and receiving unit 61b can transmit and receive light through the optical element 61b1.

[0027] The contrast marker member 61c is X-ray transparent. Specifically, the contrast marker member 61c is made of a material with high X-ray opacity. More specifically, the contrast marker member 61c can be made of a material with high X-ray opacity such as platinum, gold, iridium, or tungsten.

[0028] The contrast marker member 61c shown in Figure 3 is positioned proximal to the optical element 61b1 of the light transmitting / receiving unit 61b. The contrast marker member 61c is fixed to the housing 61d.

[0029] The housing 61d directly or indirectly supports the ultrasonic transmitting / receiving unit 61a, the optical transmitting / receiving unit 61b, and the contrast marker member 61c. The proximal side of the housing 61d is connected to the drive shaft 13. The housing 61d only needs to be integrated with the drive shaft 13. Therefore, the housing 61d may be directly connected to the drive shaft 13 by adhesive or the like, or it may be indirectly connected to the drive shaft 13 via a connector or the like.

[0030] As shown in Figure 3, the housing 61d has a transmitting / receiving opening 61d1. The transmitting / receiving opening 61d1 allows ultrasonic waves transmitted and received by the ultrasonic transmitting / receiving unit 61a and light transmitted and received by the optical transmitting / receiving unit 61b to pass through. In other words, the ultrasonic transmitting / receiving unit 61a can transmit ultrasonic waves based on pulse signals to the lumen through this transmitting / receiving opening 61d1. The ultrasonic transmitting / receiving unit 61a can also receive ultrasonic waves reflected from the surrounding biological tissue through this transmitting / receiving opening 61d1. Furthermore, the optical transmitting / receiving unit 61b can transmit light to the lumen through this transmitting / receiving opening 61d1. The optical transmitting / receiving unit 61b can also receive light reflected from the surrounding biological tissue through this transmitting / receiving opening 61d1.

[0031] The ultrasonic transmitting / receiving unit 61a may be supported by the housing 61d via a backing member. The backing member scatters and attenuates ultrasonic waves directed from the ultrasonic transmitting / receiving unit 61a toward the side opposite to the transmitting / receiving opening 61d1 of the housing 61d. The configuration for fixing the backing member to the housing 61d is not particularly limited. The backing member may be fixed to the housing 61d by, for example, adhesive bonding.

[0032] The housing 61d may be formed, for example, by machining from a metal block or by MIM (metal powder injection molding).

[0033] The protective member 61e is attached to the housing 61d so as to cover the distal end of the housing 61d. The protective member 61e has a substantially hemispherical outer shape that is convex toward the insertion direction A1. By providing the protective member 61e, friction and snagging with the inner surface of the sheath 20 can be suppressed, and damage to the sheath 20 by the housing 61d can be suppressed. The protective member 61e may be made of, for example, a resin material. The protective member 61e may also be configured to include, for example, a coil. The protective member 61e may also be, for example, a resin tube member that is fitted onto and fixed to the housing 61d.

[0034] As shown in Figures 2A, 2B, and 3, the drive shaft 13 extends through the inside of the sheath 20, the inner tube 30, and the outer tube 40. As described above, the distal end of the drive shaft 13 is connected to the housing 61d of the imaging unit 60. The proximal end of the drive shaft 13 is held by the hub 32, which will be described later and constitutes the proximal end of the inner tube 30.

[0035] As shown in Figure 3, the electrical signal line 14a extends within the drive shaft 13. When the imaging catheter 110 is connected to the drive unit 120a (see Figure 1), the electrical signal line 14a electrically connects the ultrasonic transmitting / receiving unit 61a of the imaging unit 60 to the drive unit 120a (see Figure 1). Multiple electrical signal lines 14a are provided. Each electrical signal line 14a is connected to the electrode of the ultrasonic transmitting / receiving unit 61a of the imaging unit 60. In Figure 3, for the sake of explanation, only one electrical signal line 14a is shown. Multiple electrical signal lines 14a may be composed of, for example, a twisted pair cable in which two electrical signal lines 14a are twisted together. Each electrical signal line 14a can be a flexible, thin wire member with an outer diameter greater than 0 mm and less than or equal to 0.1 mm. Each electrical signal line 14a can be composed of, for example, a conductor and a covering material formed of an insulating material that covers the conductor.

[0036] As shown in Figure 3, the optical transmission line 14b extends within the drive shaft 13. The optical transmission line 14b optically connects the optical transmitting / receiving unit 61b of the imaging unit 60 to the drive device 120a (see Figure 1). As shown in Figure 3, the optical transmission line 14b is connected to the optical element 61b1 of the optical transmitting / receiving unit 61b of the imaging unit 60. The optical transmission line 14b includes, for example, an optical fiber as an optical transmission path.

[0037] [Sheath 20] The sheath 20 is a long member inserted into a lumen such as a blood vessel. As shown in Figures 2A, 2B, and 3, the sheath 20 comprises a main body portion 20a and a guidewire insertion portion 20b. A first hollow portion 21a is partitioned inside the main body portion 20a. A second hollow portion 21b is partitioned in the guidewire insertion portion 20b. The probe 10 is housed in the first hollow portion 21a of the main body portion 20a. The probe 10 can move forward and backward in the longitudinal direction A within the first hollow portion 21a. A guidewire W can be inserted through the second hollow portion 21b of the guidewire insertion portion 20b. As shown in Figure 3, a contrast marker portion 23 having X-ray contrast properties may be provided in the guidewire insertion portion 20b. The contrast marker section 23 can be constructed from, for example, a highly radiopaque metal pipe or metal coil made of platinum, gold, iridium, tungsten, or other materials. Furthermore, the tubular guidewire insertion section 20b shown in Figure 3 is adjacent to the distal end of the tubular main body section 20a, so as to be parallel to each other. The main body section 20a and the guidewire insertion section 20b may be formed by joining different tubular members by heat fusion or the like.

[0038] Furthermore, a communication hole 22a1 is formed at the distal end of the main body portion 20a, connecting the inside and outside of the first hollow portion 21a. Additionally, a reinforcing member 22 may be provided at the distal end of the main body portion 20a to firmly join and support the guide wire insertion portion 20b. The reinforcing member 22 has a communication passage 22a formed therein, connecting the inside of the first hollow portion 21a, which is located proximal to the reinforcing member 22, with the communication hole 22a1. However, the reinforcing member 22 is not required at the distal end of the main body portion 20a.

[0039] The communication hole 22a1 is a priming fluid discharge hole for discharging the priming fluid. When using the imaging diagnostic catheter 110, a priming process is performed in which the priming fluid is filled into the main body portion 20a of the sheath 20. During the priming process, the priming fluid can be released to the outside through the communication hole 22a1, and gases such as air can be discharged from the main body portion 20a of the sheath 20 along with the priming fluid.

[0040] The sheath 20 and reinforcing member 22 are preferably formed from a flexible material, but the material is not particularly limited. Examples of constituent materials include various thermoplastic elastomers such as styrene-based, polyolefin-based, polyurethane-based, polyester-based, polyamide-based, polyimide-based, polybutadiene-based, trans-polyisoprene-based, fluororubber-based, and chlorinated polyethylene-based materials, and combinations of one or more of these (polymer alloys, polymer blends, laminates, etc.) can also be used. In addition, a hydrophilic lubricating coating layer that exhibits lubricity when wet may be placed on the outer surface of the sheath 20.

[0041] [Inner tube 30 and outer tube 40] The inner tube 30 houses the proximal end of the drive shaft 13 and is movable within the outer tube 40 together with the drive shaft 13. As shown in Figures 1, 2A, and 2B, the inner tube 30 comprises an inner tube body 31 and a hub 32. The inner tube body 31 is inserted into the outer tube 40 so as to be movable back and forth. The hub 32 is connected to the proximal side of the inner tube body 31.

[0042] As shown in Figures 1, 2A, and 2B, the outer tube 40 is fixed to the proximal end of the sheath 20. The outer tube 40 in this embodiment comprises an outer tube body 41, a distal connector 42, and a proximal connector 43. The outer tube body 41 is located radially outside the inner tube body 31, and the inner tube body 31 moves back and forth inside the outer tube body 41. The distal connector 42 connects the proximal end of the main body portion 20a of the sheath 20 to the distal end of the outer tube body 41. The proximal connector 43 is fixed to the proximal end of the outer tube body 41.

[0043] The drive shaft 13, electrical signal line 14a, and optical transmission line 14b of the probe 10 described above extend from the main body portion 20a of the sheath 20, through the outer tube 40 connected to the proximal side of the main body portion 20a, to the hub 32 that constitutes the proximal end of the inner tube 30.

[0044] The probe 10 and the inner tube 30 described above are connected to each other so that they can move forward and backward integrally in the longitudinal direction A. Therefore, for example, when an operation is performed to push the inner tube 30 toward the insertion direction A1, the inner tube 30 is pushed into the outer tube 40 toward the insertion direction A1. When the inner tube 30 is pushed into the outer tube 40 toward the insertion direction A1, the probe 10 connected to the inner tube 30 moves in the insertion direction A1 within the main body portion 20a of the sheath 20. As a result, the pushed-in state shown in FIG. 2A is achieved. When an operation is performed to pull the inner tube 30 from the pushed-in state shown in FIG. 2A toward the extraction direction A2, the inner tube 30 is pulled out from the outer tube 40 in the extraction direction A2. When the inner tube 30 is pulled out from the outer tube 40 in the extraction direction A2, the probe 10 connected to the inner tube 30 moves in the extraction direction A2 within the main body portion 20a of the sheath 20. Then, the pulled-out state shown in FIG. 2B is achieved.

[0045] As shown in FIG. 1, in a state where the hub 32 of the inner tube 30 of the catheter 110 for image diagnosis is connected to the driving device 120a, the driving device 120a can move the probe 10 and the inner tube 30 in the extraction direction A2 while rotating the probe 10 from the pushed-in state shown in FIG. 2A to the pulled-out state shown in FIG. 2B. Hereinafter, this operation may be referred to as a "pull-back imaging operation". Based on the ultrasonic waves and light acquired by the ultrasonic transmission / reception unit 61a and the optical transmission / reception unit 61b of the imaging unit 60 during this pull-back imaging operation, the control unit 127 of the driving device 120a can generate a tomographic image of the lumen such as a blood vessel as an in-vivo image over a predetermined range in the longitudinal direction A.

[0046] <Drive device 120a> Next, the details of the drive device 120a of the present embodiment will be described.

[0047] As shown in FIG. 1, the drive device 120a of the present embodiment includes a first drive motor 121, a second drive motor 122, and a ball screw 123. The first drive motor 121 is a power source for rotating the probe 10 (see FIG. 2A etc.) of the imaging catheter 110 for imaging diagnosis connected to the drive device 120a. That is, the imaging unit 60 of the imaging catheter 110 for imaging diagnosis is rotationally driven by the first drive motor 121 and can rotate around the central axis O (see FIG. 3) of the drive shaft 13. Also, the second drive motor 122 is a power source for moving the probe 10 and the inner tube 30 (see FIG. 2A etc.) of the imaging catheter 110 for imaging diagnosis connected to the drive device 120a in the longitudinal direction A. The ball screw 123 converts the rotational motion of the second drive motor 122 into motion in the screw axis direction. Thereby, the probe 10 and the inner tube 30 of the imaging catheter 110 for imaging diagnosis can be moved in the longitudinal direction A by the second drive motor 122. Thus, according to the drive device 120a, it is possible to execute a pull-back imaging operation of moving the probe 10 and the inner tube 30 in the removal direction A2 while rotating the probe 10 of the connected imaging catheter 110 for imaging diagnosis.

[0048] Also, the drive device 120a of the present embodiment includes a connection detection unit 124 capable of detecting the connection of the imaging catheter 110 for imaging diagnosis. Further, the connection detection unit 124 may detect the presence or absence of the ultrasonic transmission / reception unit 61a (see FIG. 3) of the imaging catheter 110 for imaging diagnosis based on the electrical connection with the ultrasonic transmission / reception unit 61a of the imaging catheter 110 for imaging diagnosis. Also, the connection detection unit 124 may detect the presence or absence of the optical transmission / reception unit 61b (see FIG. 3) of the imaging catheter 110 for imaging diagnosis based on the optical connection with the optical transmission / reception unit 61b of the imaging catheter 110 for imaging diagnosis. That is, the drive device 120a may detect, in conjunction with the connection detection of the imaging catheter 110 for imaging diagnosis, by the connection detection unit 124, whether the connected imaging catheter 110 for imaging diagnosis includes the ultrasonic transmission / reception unit 61a and whether the connected imaging catheter 110 for imaging diagnosis includes the optical transmission / reception unit 61b.

[0049] As described above, the drive unit 120a of this embodiment includes a control unit 127. The control unit 127 controls not only the image generation described above, but also various operations of the drive unit 120a. Specifically, the control unit 127 includes a processor such as a general-purpose processor such as a CPU (central processing unit) or MPU (Micro Processing Unit), or a dedicated processor specialized for a specific process. In this embodiment, the control unit 127 controls, for example, the operation of the first drive motor 121 and the second drive motor 122 of the drive unit 120a. The control unit 127 may further include a storage unit such as a ROM (read-only memory) or RAM (random access memory).

[0050] As described above, the drive unit 120a may further include a display unit capable of displaying the image generated by the control unit 127. The display unit is, for example, a display. The display unit is, for example, an LCD, an organic EL display, or an HMD. "LCD" is an abbreviation for Liquid Crystal Display. "EL" is an abbreviation for Electro Luminescence. "HMD" is an abbreviation for Head-Mounted Display.

[0051] As described above, the drive device 120a of this embodiment has a drive function that rotates the probe 10 (see Figure 2A, etc.) of the diagnostic imaging catheter 110 and drives it to move in the longitudinal direction A, as well as an image generation function that generates an ultrasound image based on the ultrasound received by the ultrasound transmitting / receiving unit 61a (see Figure 3) of the diagnostic imaging catheter 110. Furthermore, the drive device 120a may also have a display function that displays the generated image. However, the drive device 120a may have only the drive function described above. In other words, the diagnostic imaging system 100 may include a control device having the image generation function described above, separately from the drive device 120a. Also, the diagnostic imaging system 100 may include a display device having the display function described above, separately from the drive device 120a. In such cases, the drive device 120a and the control device may be electrically connected by, for example, a cable. The control device and the display device may also be electrically connected by, for example, a cable.

[0052] <<Regarding the slip rings 130 and brushes 140 of the drive unit 120a>> As shown in Figure 1, the drive unit 120a is equipped with slip rings 130 and brushes 140. Figure 1 schematically shows the arrangement of the slip rings 130 and brushes 140 in the drive unit 120a. The details of the arrangement of the slip rings 130 and brushes 140 in the drive unit 120a will be described below.

[0053] Figure 4 is a partial cross-sectional view of a part of the drive unit 120a. As shown in Figure 4, the drive unit 120a includes a slip ring 130 and brushes 140, as well as a magnetic coupling unit 190 as a power transmission unit.

[0054] The slip ring 130 can be electrically connected to the ultrasonic transmitting / receiving unit 61a (see Figure 3, etc.) of the diagnostic imaging catheter 110 (see Figure 1, etc.). Specifically, with the diagnostic imaging catheter 110 connected to the drive unit 120a, the slip ring 130 is electrically connected to the ultrasonic transmitting / receiving unit 61a.

[0055] The slip ring 130 is rotatable together with the ultrasonic transmitting / receiving unit 61a (see Figure 3, etc.) of the diagnostic imaging catheter 110 (see Figure 1, etc.). Specifically, with the diagnostic imaging catheter 110 connected to the drive unit 120a, the ultrasonic transmitting / receiving unit 61a of the diagnostic imaging catheter 110 and the slip ring 130 of the drive unit 120a are rotatable by the driving force of the first drive motor 121 of the drive unit 120a.

[0056] The brush 140 is electrically connected to the slip ring 130 by coming into contact with it.

[0057] The magnetic coupling unit 190 can transmit the driving force of the first drive motor 121 to the slip ring 130 by magnetic force. In other words, the driving force of the first drive motor 121 is transmitted to the slip ring 130 via the magnetic coupling unit 190. As a result, the slip ring 130 rotates. Therefore, when the imaging diagnostic catheter 110 is connected to the drive device 120a, the ultrasonic transmitting and receiving unit 61a of the imaging diagnostic catheter 110 rotates together with the slip ring 130.

[0058] Thus, the drive unit 120a is configured such that the driving force of the first drive motor 121 is transmitted to the slip ring 130 via the magnetic coupling unit 190. Therefore, in the drive unit 120a, the slip ring 130 is easier to remove from the first drive motor 121 compared to a configuration in which the slip ring is directly or indirectly fixed to the first drive motor 121. This makes it easier to perform tasks such as replacing the slip ring 130. In addition, by removing the slip ring 130, it becomes easier to inspect the brush 140 that contacts the slip ring 130. In this way, the maintainability of the slip ring 130 and the brush 140 can be improved.

[0059] As described above, in the drive device 120a of this embodiment, the power transmission unit that can transmit the driving force of the first drive motor 121 to the slip ring 130 is a magnetic coupling unit 190 that can transmit the driving force of the first drive motor 121 to the slip ring 130 by magnetic force, but the configuration is not limited to this. The power transmission unit may be composed of power transmission members such as gears.

[0060] Figure 5 shows the disassembled state of the drive unit 120a of this embodiment. As shown in Figure 5, the drive unit 120a comprises a device body 120a1 and a replaceable part 120a2 that can be attached to and detached from the device body 120a1.

[0061] As shown in Figures 4 and 5, the main body of the device 120a1 is equipped with a first drive motor 121. The replacement part 120a2 is equipped with a slip ring 130. The replacement part 120a2 is detachable from the main body of the device between an installed state (see Figure 4) and a detached state (see Figure 5). The installed state of the replacement part 120a2 is the state in which the driving force of the first drive motor 121 is transmitted to the slip ring 130 by the power transmission unit. As described above, the power transmission unit in this embodiment is a magnetic coupling unit 190. Therefore, in this embodiment, the driving force of the first drive motor 121 is transmitted to the slip ring 130 by the magnetic coupling unit 190. The detached state of the replacement part 120a2 is the state in which the driving force of the first drive motor 121 is not transmitted to the slip ring 130 by the power transmission unit. In this embodiment, the driving force of the first drive motor 121 is not transmitted to the slip ring 130 by the magnetic coupling unit 190.

[0062] Thus, the drive unit 120a is configured such that the replacement tool 120a2, which includes the slip ring 130, can be attached to the main unit 120a1, which includes the first drive motor 121, and detached between an attached state (see Figure 4) and a detached state (see Figure 5). This allows the slip ring 130 to be easily replaced by replacing the entire replacement tool 120a2, thereby improving the maintainability of the slip ring 130.

[0063] Furthermore, in this embodiment, the drive device 120a is configured such that the driving force of the first drive motor 121 is transmitted to the slip ring 130 via the magnetic coupling section 190, which acts as a power transmission section. Because the power transmission section is comprised of the magnetic coupling section 190, the replacement tool 120a2, which includes the slip ring 130, can be easily attached to and detached from the device body 120a1, which includes the first drive motor 121. In other words, the maintainability of the slip ring 130 can be further improved.

[0064] Furthermore, as shown in Figure 4, the replacement tool 120a2 of this embodiment includes a brush 140 in addition to the slip ring 130. In other words, by replacing the entire replacement tool 120a2, the brush 140 can be easily replaced in addition to the slip ring 130, further improving the maintainability of the slip ring 130 and the brush 140.

[0065] Furthermore, as shown in Figures 4 and 5, the brush 140 of this embodiment comprises a brush body 141 and a holder 142. The brush body 141 is in contact with a slip ring. The holder 142 holds the brush body 141. As shown in Figures 4 and 5, the holder 142 of this embodiment includes a brush substrate 142a on which a circuit electrically connected to the brush body 141 is formed. The holder 142 also includes a brush-side contact portion 142b that allows the circuit of the brush substrate 142a to be electrically connected to the device body 120a1. In this way, because the replacement tool 120a2 comprises a brush substrate 142a and a brush-side contact portion 142b, the electrical connection between the device body 120a1 and the replacement tool 120a2 can be easily achieved by attaching the replacement tool 120a2 to the device body 120a1.

[0066] Furthermore, the main body 120a1 is equipped with a main body-side contact portion 128 that is electrically connected to the brush-side contact portion 142b when the replacement tool 120a2 is installed (see Figure 4). The main body-side contact portion 128 is electrically connected to the control unit 127. At least one of the brush-side contact portion 142b and the main body-side contact portion 128 (in this embodiment, the main body-side contact portion 128) is biased toward the other (in this embodiment, the brush-side contact portion 142b) when the replacement tool 120a2 is installed (see Figure 4). More specifically, the main body-side contact portion 128 in this embodiment is equipped with a contact portion 128a that contacts the brush-side contact portion 142b when the replacement tool 120a2 is installed (see Figure 4), and an elastic body 128b that biases the contact portion 128a toward the brush-side contact portion 142b. In this way, by ensuring that the brush-side contact portion 142b and the main body-side contact portion 128 are pressed against each other when the replacement part 120a2 is installed (see Figure 4), the electrical connection between the device body 120a1 and the replacement part 120a2 can be stabilized.

[0067] Further details of the drive unit 120a of this embodiment will be described below.

[0068] As shown in Figures 4 and 5, the main body 120a1 of this embodiment includes, in addition to the first drive motor 121, a control unit 127 including a main board on which the circuit is formed, and a housing 126 that houses the first drive motor 121 and the control unit 127. The first drive motor 121 and the control unit 127 may be fixed to the housing 126. Also, as shown in Figure 1, the main body 120a1 of this embodiment includes a second drive motor 122, a ball screw 123, and a base member 125. The housing 126 is supported by the base member 125 via the ball screw 123. The driving force of the second drive motor 122 is converted into a driving force in the screw axis direction by the ball screw 123. As a result, the housing 126 that houses the first drive motor 121 and the control unit 127 can move in the screw axis direction relative to the base member 125.

[0069] Furthermore, the main body of the device 120a1, when the replacement part 120a2 is attached (see Figure 4), forms a magnetic coupling part 190 as a power transmission part together with the power receiving part 190b of the replacement part 120a2, and is equipped with a power supply part 190a that transmits the driving force of the first drive motor 121 to the power receiving part 190b. As shown in Figure 4, the power supply part 190a in this embodiment is fixed to the motor shaft 121a of the first drive motor 121.

[0070] However, the main body of the device 120a1 may be configured to include the first drive motor 121 and the power supply unit 190a, and is not limited to the configuration described above in this embodiment. Also, as described above, the power transmission unit is not limited to the magnetic coupling unit 190. Therefore, the power supply unit 190a and the power receiving unit 190b are not limited to a configuration in which they act on each other by magnetic force in a non-contact state. In other words, the power supply unit 190a and the power receiving unit 190b may not be configured to act on each other by magnetic force in a non-contact state, but may be configured to act on each other in a contact state, for example, with multiple gears.

[0071] As shown in Figure 4, the replacement device 120a2 of this embodiment includes, in addition to the slip ring 130 and brush 140, a support shaft 150, a support body 160, a catheter connection part 170, and a connection plate part 195 that can be attached to the device body 120a1.

[0072] As described above, the slip ring 130 is electrically connected to the ultrasonic transmitting / receiving unit 61a (see Figure 3) when the imaging diagnostic catheter 110 is connected to the drive unit 120a (see Figure 1). More specifically, the slip ring 130 in this embodiment is electrically connected to the ultrasonic transmitting / receiving unit 61a (see Figure 3) via the conductive member 201 (see Figures 6 to 9), which will be described later, and the electrical signal line 14a of the imaging diagnostic catheter 110 (see Figure 3).

[0073] As described above, the slip ring 130 is rotatable together with the ultrasonic transmitting / receiving unit 61a (see Figure 3) of the diagnostic imaging catheter 110 by the driving force of the first drive motor 121. More specifically, the diagnostic imaging catheter 110 in this embodiment can be connected to the catheter connection part 170 of the replacement device 120a2. As shown in Figure 4, with the replacement device 120a2 attached, the diagnostic imaging catheter 110 can be connected to the catheter connection part 170 of the replacement device 120a2 through the opening 126a of the housing 126 of the device body 120a1. The catheter connection part 170 includes a holding part 175 that holds the drive shaft 13 (see Figure 2A, etc.) of the probe 10 of the diagnostic imaging catheter 110 to be connected. The holding part 175 also holds the support shaft 150 that supports the slip ring 130 on its outer circumferential surface. A power receiving part 190b is attached to the base end of the support shaft 150. Therefore, as shown in Figure 4, with the replacement device 120a2 attached, the driving force of the first drive motor 121 of the device body 120a1 is transmitted to the power receiving part 190b of the replacement device 120a2, causing the support shaft 150 and the slip ring 130 supported by the support shaft 150 to rotate. As a result, the holding part 175 of the catheter connection part 170 that holds the support shaft 150, and the drive shaft 13 of the diagnostic imaging catheter 110 held by the holding part 175, rotate. Consequently, the ultrasonic transmitting and receiving unit 61a (see Figure 3) attached to the tip of the drive shaft 13 also rotates. In this way, the slip ring 130 of this embodiment can rotate together with the ultrasonic transmitting and receiving unit 61a (see Figure 3) of the diagnostic imaging catheter 110 by the driving force of the first drive motor 121 of the device body 120a1. The shape of the magnetic coupling part 190 is not particularly limited as long as the driving force of the first drive motor 121 is transmitted by magnetic force. For example, the motor shaft 121a and the support shaft 150 may be arranged in parallel.

[0074] Figure 6 is a perspective view showing the vicinity of the slip ring 130 and brush 140 in the replacement tool 120a2 of this embodiment. Figure 7 is a cross-sectional view at the position of line II in Figure 6. Figure 8 is a cross-sectional view at the position of line II-II in Figure 6. Figure 9 is a perspective view showing the slip ring 130, brush 140 and support shaft 150 shown in Figures 7 and 8.

[0075] As shown in Figures 7 to 9, the slip ring 130 of this embodiment comprises a metal conductive ring 131 and an insulating member 132. As shown in Figures 8 and 9, the conductive ring 131 forms a contact portion 180 by contacting the brush 140. The insulating member 132 holds the conductive ring 131. More specifically, the insulating member 132 of this embodiment is cylindrical. The conductive ring 131 is held on the outer surface 132a of the cylindrical insulating member 132.

[0076] For the sake of explanation, in the following, in the replacement tool 120a2, the direction along the central axis O of the outer circumferential surface 131a of the conductive ring 131 will be described as "central axis direction B". Also, in the replacement tool 120a2, the direction around the central axis O of the outer circumferential surface 131a of the conductive ring 131 will be described as "circumferential direction C". Furthermore, in the replacement tool 120a2, the radial direction of a virtual circle centered on the central axis O of the outer circumferential surface 131a of the conductive ring 131 will be described as "radial direction D".

[0077] In this embodiment, multiple conductive rings 131 are arranged on the outer surface 132a of the insulating member 132 at intervals in the direction B of the central axis (three in this embodiment).

[0078] The conductive ring 131 and insulating member 132 of this embodiment are integrally molded. Specifically, the metal conductive ring 131 of this embodiment is integrally molded on the outer surface 132a of the resin cylindrical insulating member 132. The metal material constituting the conductive ring 131 is not particularly limited as long as it is a conductive material, but may be, for example, a bronze, brass, silver, or gold alloy. The resin material constituting the insulating member 132 is not particularly limited as long as it is an insulating material, but may be, for example, polycarbonate or FRP resin. "FRP" is an abbreviation for Fiber Reinforced Plastic. The conductive ring 131 and insulating member 132 are not limited to the integral molding described above, but may be bonded together, for example, via an adhesive.

[0079] As shown in Figures 8 and 9, the brush 140 is electrically connected to the slip ring 130 by contacting the slip ring 130. More specifically, the brush body 141 of the brush 140 in this embodiment forms a contact portion 180 with the slip ring 130 by contacting a conductive ring 131 held on the outer surface 132a of the insulating member 132. The slip ring 130 and the brush 140 are electrically connected by this contact portion 180.

[0080] Furthermore, the brush body 141 of the brush 140 is configured to slide against the outer circumferential surface of the slip ring 130, which rotates due to the driving force of the first drive motor 121. More specifically, the brush body 141 of the brush 140 in this embodiment is slidable against the slip ring 130 by a contact portion 180 that contacts the outer circumferential surface 131a of the conductive ring 131 of the slip ring 130.

[0081] As shown in Figures 7 to 9, in this embodiment, multiple brush bodies 141 are arranged at intervals along the central axis direction B. The position of the brush body 141 in the central axis direction B corresponds to the position of the conductive ring 131 in the central axis direction B. Therefore, each brush body 141 contacts the conductive ring 131 located at the corresponding position. Also, as shown in Figure 8, in this embodiment, two brush bodies 141 contact one conductive ring 131. In other words, in this embodiment, two contact portions 180 are formed for one conductive ring 131. These two contact portions 180 are formed at positions that are substantially opposite each other in the radial direction D.

[0082] As shown in Figures 7 to 9, the brush body 141 of this embodiment is made of a metal wire member that is cantilevered by a holder 142 so that its tip end can be elastically bent and deformed. The metal material constituting the brush body 141 may be, for example, a copper-silver alloy. In this embodiment, the brush body 141 is brought into contact with the conductive ring 131 located on the outer circumferential surface of the slip ring 130 so that the brush body 141 is in a state of elastic bending and deformation. In this way, in this embodiment, the restoring force of the brush body 141 in the state of elastic bending and deformation is utilized to ensure a predetermined contact pressure of the brush body 141 to the slip ring 130.

[0083] As shown in Figures 7 to 9, the support shaft 150 of this embodiment passes through the insulating member 132 of the slip ring 130 and also supports the insulating member 132.

[0084] As shown in Figures 7 and 8, the support shaft 150 of this embodiment has a through hole 150a inside that penetrates in the direction of the central axis B. For example, an optical transmission member 200 that is optically connected to the optical transmitting / receiving unit 61b (see Figure 3) of the diagnostic imaging catheter 110 may be placed in this through hole 150a. The optical transmission member 200 of this embodiment can be optically connected to the optical transmitting / receiving unit 61b via an optical transmission line 14b.

[0085] Furthermore, as shown in Figures 7 and 8, in addition to the through hole 150a described above, the support shaft 150 of this embodiment has a housing hole 150b in which the conductive member 201 is housed. In the support shaft 150 of this embodiment, three housing holes 150b are formed around the through hole 150a. The conductive member 201 housed in the housing hole 150b can be electrically connected to the conductive ring 131 of the slip ring 130 and the electrical signal line 14a (see Figure 3) of the diagnostic imaging catheter 110.

[0086] As shown in Figures 6 and 7, the support shaft 150 penetrates the support body 160 in the direction of the central axis B. More specifically, in this embodiment, the support shaft 150 penetrates the support body 160 in the direction of the central axis B so as to pass through the internal space S that the support body 160 partitions inside.

[0087] Furthermore, the support shaft 150 in this embodiment is integrally molded with the conductive ring 131 and the insulating member 132. In other words, in this embodiment, the conductive ring 131, the insulating member 132, and the support shaft 150 are integrally molded. Specifically, the metal support shaft 150 of this embodiment, the resin insulating member 132 supported on the outer surface of the support shaft 150, and the metal conductive ring 131 supported on the outer surface 132a of the insulating member 132 are integrally molded. However, the conductive ring 131, the insulating member 132, and the support shaft 150 are not limited to an integrally molded configuration. The conductive ring 131 and the insulating member 132 may be bonded to each other, for example, via an adhesive. Also, the insulating member 132 and the support shaft 150 may be bonded to each other, for example, via an adhesive.

[0088] The support shaft 150 in this embodiment is made of metal, but it may also be made of resin.

[0089] As shown in Figures 6 and 7, the support 160 of this embodiment comprises a cylindrical body 161, a first wall 162 that closes one end of the cylindrical body 161, and a second wall 163 that closes the other end of the cylindrical body 161. The space surrounded by the cylindrical body 161, the first wall 162, and the second wall 163 is the internal space S of the support 160. As shown in Figures 7 and 8, an opening 161a is formed in the peripheral wall of the cylindrical body 161 of this embodiment, which is connected to the internal space. The brush 140 is fixed to the cylindrical body 161 such that the brush body 141 enters the internal space through the opening 161a of the cylindrical body 161, and the plate-shaped holder 142 closes the opening 161a of the cylindrical body 161. As shown in Figures 7 and 8, a sealing member 143, such as a rubber material, is sandwiched between the edge of the opening 161a of the cylindrical body 161 and the brush holder 142. In this way, the internal space S is sealed by the support body 160 and the brush holder 142.

[0090] The contact portion 180 of the slip ring 130 and brush 140 described above is formed in the internal space S. In this way, even if wear particles are generated at the contact portion 180, these wear particles can be contained within the internal space S so that they do not scatter from the internal space S. In addition, dust and other particles that could become electrical noise can be prevented from entering the internal space S from the outside.

[0091] As shown in Figure 7, the first wall 162 and the second wall 163 have through holes 162a and 163a through which the support shaft 150 passes. Bearing members 166 are provided in the through holes 162a and 163a of the first wall 162 and the second wall 163, respectively, to rotatably support the support shaft 150. In other words, the support shaft 150 extends in the direction of the central axis of the cylindrical body 161 so as to pass through the internal space S, and penetrates the through holes 162a and 163a of the first wall 162 and the second wall 163, respectively. Furthermore, the support shaft 150 is rotatably supported by the bearing members 166 provided in the through holes 162a and 163a of the first wall 162 and the second wall 163, respectively.

[0092] As described above, the support 160 of this embodiment comprises a cylindrical body 161, a first wall 162, and a second wall 163, but is not limited to this configuration. Other configurations are also acceptable as long as they demarcate the internal space S where the contact portion 180 of the slip ring 130 and the brush 140 are located. Furthermore, although the support 160 of this embodiment is made of metal, it may also be made of resin.

[0093] The drive device relating to this disclosure is not limited to the specific configuration shown in the embodiments described above, and various modifications, changes, and combinations are possible without departing from the scope of the claims. In the embodiments described above, an imaging diagnostic catheter 110 equipped with both an ultrasonic transmitting / receiving unit 61a and an optical transmitting / receiving unit 61b is described as an example of connecting the drive device 120a, but an imaging diagnostic catheter equipped with an ultrasonic transmitting / receiving unit 61a but without an optical transmitting / receiving unit 61b may also be connected to the drive device 120a.

[0094] This disclosure relates to a drive device.

[0095] 10: Probe 13: Drive shaft 14a: Electrical signal line 14b: Optical transmission line 20: Sheath 20a: Main body 20b: Guide wire insertion part 21a: First hollow part 21b: Second hollow part 22: Reinforcement member 22a: Communication passage 22a1: Communication hole 23: Contrast marker part 30: Inner tube 31: Inner tube body 32: Hub 40: Outer tube 41: Outer tube body 42: Distal connector 43: Proximal connector 60: Imaging unit 61a: Ultrasonic transmitting / receiving unit 61b: Optical transmitting / receiving unit 61b1: Optical element 61c: Contrast marker member 61d: Housing 61d1: Transmitting / receiving opening 61e: Protective member 62: Ultrasonic transducer 100: Diagnostic imaging system 110: Diagnostic imaging catheter 120a: Drive unit 120a1: Main body of the device 120a2: Replacement part 121: First drive motor 121a: Motor shaft 122: Second drive motor 123: Ball screw 124: Connection detection part 125: Base member 126: Housing 126a: Opening 127: Control unit 128: Main body side contact part 128a: Contact part 128b: Elastic body 130: Slip ring 131: Conductive ring 131a: Outer surface of conductive ring 132: Insulating member 132a: Outer surface of insulating member 140: Brush 141: Brush body 142: Holder 142a: Brush substrate 142b: Brush side contact part 143: Seal member 150: Support shaft 150a: Through hole 150b: Housing hole 160: Support body 161: Cylindrical body 161a: Opening 162: First wall 163: Second wall 166: Bearing member 170: Catheter connection part 175: Holding part 180: Contact part 190: Magnetic coupling part (example of power transmission part) 190a: Power supply part 190b: Power receiving part 195: Connecting plate part 200: Optical transmission member 201: Conductive member A: Longitudinal direction of imaging diagnostic catheter A1: Insertion direction A2: Removal direction B: Central axis direction C: Circumferential direction D: Radial direction O: Central axis of drive shaft S: Internal space W: Guide wire

Claims

1. A drive device connectable to an imaging diagnostic catheter equipped with an ultrasonic transmitting and receiving unit, comprising: a drive motor; a slip ring electrically connectable to the ultrasonic transmitting and receiving unit and rotatable together with the ultrasonic transmitting and receiving unit; a brush electrically connected to the slip ring by contacting the slip ring; and a power transmission unit capable of transmitting the driving force of the drive motor to the slip ring, wherein the interchangeable part equipped with the slip ring is configured to be detachably attached to the device body equipped with the drive motor between an attached state and a detached state, the attached state is a state in which the driving force of the drive motor is transmitted to the slip ring by the power transmission unit, and the detached state is a state in which the driving force of the drive motor is not transmitted to the slip ring by the power transmission unit.

2. The drive device according to claim 1, wherein the power transmission unit is a magnetic coupling unit capable of transmitting the driving force of the drive motor to the slip ring by magnetic force.

3. The drive device according to claim 1 or 2, wherein the replacement device comprises the brush.

4. The drive device according to claim 3, wherein the brush comprises a brush body in contact with the slip ring and a holder that holds the brush body, and the holder comprises a brush substrate on which a circuit electrically connected to the brush body is formed and a brush-side contact portion that can electrically connect the circuit of the brush substrate to the device body.

5. The drive device according to claim 4, wherein the device body is provided with a body-side contact portion that is electrically connected by contact with the brush-side contact portion when the replacement device is mounted, and at least one of the brush-side contact portion and the body-side contact portion is biased toward the other when the replacement device is mounted.

6. The drive device according to claim 1 or 2, further comprising an image generation unit capable of generating an image based on ultrasonic waves acquired by the ultrasonic transmitting and receiving unit.

Images