| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a device for inserting a puncture needle safely, with which an operator can correctly feel that an end of the puncture needle has reached a target biological tissue when the puncture needle is inserted on a site where the biological tissues having different hardness compose layers. <P>SOLUTION: The device 3 for inserting the puncture needle is composed of an independent inner cylinder 1 and an outer cylinder 2. The outer cylinder 2 covers the whole body except for the tip of the inner cylinder 1, and a cutting force loaded to the inner cylinder 1 is measured by a measuring unit 7 of inserting force of the inner cylinder. The operator 4 pushes the device 3 for inserting the puncture needle and the insertion operation force is measured by a measuring unit 8 of inserting force of the puncture needle. The device 3 for inserting the puncture needle is also pushed by an auxiliary unit 6 for inserting the puncture needle, and feedback control is executed to equalize the inserting force of the inner cylinder and the insertion-operation force of the puncture needle, and the inserting force of the inner cylinder and an inserting force of the outer cylinder loaded against a frictional force applied on the outer cylinder are separated, so that the operator can easily detect the cutting force loaded to the inner cylinder 1. It results in that the operator can easily perceive the hardness of the biological tissue where the tip of the puncture needle reaches. <P>COPYRIGHT: (C)2011,JPO&INPIT |
