イレウスチューブバルーン内圧のセルフチューニング
Contents
1. Fig 2 Balloon pressure control system using a medical sy ringe Tleus tube Front balloon 100 00000000000000000000000 00 000000000000000000000000 00000000000000000000000000 100000000000000000000000000 1000000000000000000000000000 100 000000000000000000000000 0 0000000000000 5 2 g 9 2 g 5 2 2 gt vo 50 One way valve 00000000000000000000000 oo Ball screw Three way stopcock Fig 1 Composition of balloon pressure control system Water cylinder Ref 11 Medical syringe Ref 12 Ileus tube Balloon2. me ee 3 2 g 0000 45 A Syringe B w Pressure kPa Syringe C OOO 4 Co 2 000 Oooo HH A 11 1 0 7m Oo 3 oo co Co Co Co Co Co Co Co Co Co Co OO00 Fig 1000 Table 3 0000 11 11 1 Fig 20 OOO AD OO PCO OO DAQ 1111 1 OOO Co OOO Co Co 00000 00000 1 1 Co Co 0 1 14 COI 4 Co Co OO Co 0 00 50m 0 00000 oO 4 an oO 3 Cy 2 3 3 OF am nG oo ooo oS OOO CI 0
3. 1994 00000000 0000 40000 000000 13 00000 1993 1999 160 MATLAB SimulinkOOOOOOOO 171 2001 00000000 0000 0 18 CO 75 756 2359 2362 2009 1 000000000 OO 0 0 O00 000000 0 0000000000000 000 830 20070 4000000000000 3000000000000 000000 300000000000000000 19950 DOOOU000 200100000 100 4000 40000000000000000000 0o00 O00000 9000000000000 300000000000 0 00020040 111111 70 4000000000109
4. 2 1 1 3 2 2 Ooo ee one ee ea oo ee Nb Be ee eo 3 a ADO OOO 4 Table 1 Parts of balloon pressure control unit Model number Double balloon type 16Fr XFHM 050KPGR BNK0801 3 RE25 ADS 50 5 ADA16 8 2 CB L Products Create Medic Fujikura THK Maxon Maxon Item Ileus tube Pressure sensor Ball screw DC motor Motor driver AD DA converter Contec Table 2 Syringes used in an experiment Fig 3 Step response of the balloon pressure control system Time sec ux 0 1V Measurement results for three trials Syringe Products Capacity Inside diameter A TERUMO 1 29 3 mm B TOP 50 ml 29 1 mm 0 TOP 30 ml 22 9 mm Ooo Oo Ooo Co 0 1 Co Oooo Co P z P 2 0000000000000 e000 000000000000000 900 00000000000000000000 0000000000 0 F 2 P7 0000000000000000000 0 0 2 0 2 0 000 00 m0000 0000000000000000000 2 00 2 0000 000 00 000000000000000 Fa Ci Ke 1 ooo 1 0 1 CI Co OOo OOO 11 1 1 1 1 1 1 Co
5. 200000000SsTO00000000 00000000 ac PIDQG OOOO PID STOOOOO 0 28kPaQ 0 D00000 STOOOOOOOOO Fig 00000000 6 00 Figs 15000000000 18000000000000 3 4 d0 OOOOOOOOOOOOOOOOO PID ST 10 000000 1900000 2mm 5 111101001 010 0 000 27mm 000 200mmQO000000000000000 fo Oooo OH G
6. 40 8 amp 0 3000000000000 19750 400000 1 86 000 50000000 200000890 GO 200000 0000020100
7. One way valve Pressure sensor 52 58 po ooo 6 0 7 21 BEE Oooo 52 o 2 2 Soe goood a 2 0 3 ooog ooo o DC motor Ball screw 0000 0000 000l 00000 1 OO 0 0 00 OO 0 0 Table OOOO OOOO Ol 4 1 1 000 1 1 lom1G 00000 000 000 OOO 300 0000000 15kPa 0 3000000000 9 4 OHH Ss Model Syringe A 0000 2secQ 0 000000000
8. 2000000000 0 1000000000 200000000000000000 000000000000000000000000000 100000000000000000000000 00000000000000000000000000 ooo oo 1 1 11 1 1 10 15
9. 00 000000000000000000000000 000000000000000000000000000 2 100000000000000000000000000 11000 9 00000000000000000000000000 100000 00 0 Ke 00 0 0 3 1 00 m 0 2 Tr 0 8 Tp 2 5 a 10000000000000 1000000000000000 1 00000000000000000000000000 1300000000 100000000000000000 aB00 0 7 18 100000000000000000000 OOO 84degQ0000000000000000000 PID ST 00 0 00 0 0 0 0 58 20000000000000 100000000000000 1 00000000000 OOO A Co lomQoO000000g OO 1skPagOOOOOOOOOOOOOOOOOOOGO 8000000 2kPaQQ 17kPaQ OO 6 OO Fig 50 700 Table 20 0000000000000 1 0000000 000 5 1 PID ST O 000 0 0 00
10. 3 3 0 4 4 5 1 1 1 OO 3 0 1 0 4 4 fo Oooo OH HH Co Co OO OO 1 OO OO 1 mm Co Co 390 190110 120 130 110150160 170 180 1909 Small intestine model 3 a Experimental setup 3 mm b Healthy areas c Narrowed area A B and C D zones B C zone Fig 19 Experimental setup for pulling out an ileus tube from a small intestine model Pressure kPa 5 Nn Pulling out 15 20 25 30 35 40 Time sec Fig 20 Without control of balloon pressure 4 0 1 4 Co Ooo 4 4 Co yoo 0 1 A Ol 4 Oho 4 Co 1 2 1 1 1 1 1 og 1 1 1 0 1 00 STO 110000000000 0000 oo
11. Vol 10 No 2 7 160 20111 0 0 000 0 Self Tuning Control of Balloon Internal Pressure in Ileus Tube Takeshi SEKI Akihiro NAGANAWA Kiyoshi OKa and Junji YOSHINO The recent development of the double balloon and capsule endoscopes has enabled the observation of the en tire small intestinal area However it is difficult to use these endoscopes in patients who suffer from intestinal obstruction and adhesion We have developed a new endoscope that can be used in patients who suffer from these problems the instrument consists of an ileus tube and an optical fiberscope diameter 1 1 mm The entire small intestine can be observed by controlling the internal pressure of the balloon in the ileus tube and by pulling the tube out at a constant speed In our previous study we developed an internal pressure control device that consists of a balloon attached to an ileus tube and a medical syringe We also verified the control performance of this device However the performance of an endoscope using this control system cannot be guaranteed because of the various types of syringes used by doctors In this study we have designed a new two degrees of freedom control system having self tuning capabilities that enhances the control performance for various types of syringes The effects of the proposed method are illustrated by the experim
12. 10 10 Fig 1 Fig 8 a Fig 9 a 1 Nb Syringe A Magnitude ooco Syringe B Syringe C l 1 i 0 50 100 150 200 250 300 350 Time sec Fig 12 Coefficient 6 of the model in Eq 4 Fig 8 a Fig 9 a be Syringe C AL Syringe B Syringe A Amplitude 3 RU A f 0 50 100 150 200 250 300 350 Time sec Fig 13 Gain dx in Eq 6 Weight 1 Aluminum film Weight a Before pressurization b During pressurization Fig 14 Balloon pressurization methods used for the analysis of disturbance response characteristics Fig 19 a OOOOOOOOOOOOOOOOOOOOOO 8mmQOOO000000000000000000000 ABOOOO
13. 00000 15kPaQ O00 PO 1 0 0 0 03 Fig 2011100000000 0 00009000 OO Fig 211 2300000000000 OOO 00000000 0 OOO 1 3 8 0 000000 PID ST 6800000000 Fig 24000000000000 Figs 21000000000 A 000o 6 0000
14. 2 0 0000000000 900 Fig 8000 OOO STOOOOOOO 1111111010 0 Fig 100 000000 2950 320sec0 000000000 a 00000 0000000000 3100 320sec 0 0 9 PIDOOOON Fig 8 a 15 20 25 30 35 40 Time sec a Tracking performance for reference model Pressure kPa 16 8 30 32 34 36 38 40 Time sec b Settling performance Fig 8 Magnified version of Fig 5 Syringe A time 15 40 sec 0 3 _ 02 F PID ST PID 5 0 1 Mh Ny ii t NH ly f 1 it Al LUN 5 0 nl AL 0 1 tz 0 2 F 0 3 l 15 20 25 30 35 40 Time sec Fig 9 Control inputs Syringe A time 15 40 sec 15kPaQ 0 PDO A000000 AP 1 05kPa O 0 698 8000000000000 6 PIDOOOGOOOOO PID STOOOOOOOOOOOO 15 8 15 6 15 41 15 2 15 leads 4 148 146 144 142 8 Pa Pressure 9 10 11 12 13 14 15 16 17 18 Time sec Fig 15 Disturbance rejection property Syringe A 15 8 15 6 156 7 jpg kPa L 15 2 ee 15 pre
15. 2 DOO OOO000000000000000 000000 The cutting edge 17 4 473 479 2005 K Ikeda C P Swain and 11 Tajiri of capsule endoscopy development and innovations Past present and future 00000 17 4 481 491 2005 2004 OOO0 0000 0000 0000 0000 oo Oo E E 006 223710 1 1 1 11 277 280 23 2 oO Oa Gir N OOG om po lt oo N ol OOO 0o00 1 w N 2 a oF oo Cl 1 1 2010 1645 1647 76 766 SEE 1 ES ES ES ES ES 1 ES ESPEZI 120 130 nOoOOOOOOOOOOOOOOOOOPID ST OJOOOOOOOOOOOOOOO PID STO
16. OO 1 1 1 06 QO 3 go 2 1 1 O 2 2 1 2 2 2 2 0 1 Co 1 11 0 0 Ey 3 3 0 1 1 0 1 1 1 0 0 0 1 111 2sec 0000 0000 0000 000g oO oO oO 6mm 0000 3m 0000 0 3 4 Co G fo oo 34 1 1 9 O G G GO 5 12 eS ae 1 34 OOOO OOO OOO
17. Pro sTOOOOOOOOOOOOOOOOOOO OOOO ST 11 1 11 1 111 0 l 1 OO OO OO 1 000 000 0o00 OOO 11 1 5 1 1 1 1 1 1 Oho 4 1 4 OOOOH 4 OOO fo Co Co 1 H Yamamoto Y Sekine Y Sato T Higashizawa T Miy ata S lino K Ido and K Sugano Total enteroscopy with a nonsurgical steerable double balloon method Gastroin testinal Endoscopy 53 2 216 220 2001 270000 0000 00000 0000 000 0000 OOOOOU 00000 0000000000000000 0000000000 101 9 976 982 2004 NOOO 0000 00000 000 0000 0000 00000000000 1111000 10 0 00 17 451 457 2005 Gastroenterological Endoscpoty 47 3 305 312 2005
18. 15 Co Q N xX Co Ol fo LI 4 0 1 OI 4 5 APi 0 32 kPa AP 0 35 kPa 2 9 Pulling out 2 a 11 41 185 40 35 30 25 20 15 10 5 Time sec Fig 21 With control of balloon pressure Syringe A A B D 20 5 PID ST PID gt eS 19 7 tr AP1 0 20 kPa AP2 0 35 kPa 19 5 5 19 Pulling out 2 t t 1 8 185 40 35 30 25 20 15 10 5 0 Time sec Fig 22 With control of balloon pressure Syringe B Bt D 20 5 PID ST PID 3 Foo 20 A 19 7 55 S195 oe a APi 0 27 kPa r AP2 0 43 kPa 19 Pulling out 2 A i 1 1 40 35 30 25 20 15 10 5 0 Time sec Fig 23 With control of balloon pressure Syringe C A B C D T T 4 ga 0 2 j i i i 5 ER en S eee 0 5 10 15 20 25 30 35 40 Time sec Fig 24 Gain d in Fig 21 Syringe A oo
19. Co Co Tis s a 3 OOOO lt 0 00 8 00000000000000000000000 00000000 4 0 00 00 0000 4 2 STOOOO 8 0 0000000000 30 100000 10000000 nooo 00000 C s 000000e 10000 10 00 1 11 1 1 0000 3 a 2 OOO 5 1 51 0 1 1 1 Oo OO 4 1 1 5 1 0 000 0 0 10000000000000000 P 1 1 OO 1 OO OO Ooo OOOO 4 4 120 14 0 1 Co 2 gt 00000000000000000 Ol ooo 22 oO C 0O OOH OH O 0O G D0000 P 2 4 7 1 1 Oo 0000 400000 20000
20. 00000000000000000 11mm0000000 3 D00000000000000000000000000 000000 00000000000000000000 100000000 000000000000000000 University of Fukui D00000000000000000000000000 Akita University D00000000000000000000000000 Japan Atomic Energy Agency D00000000000000000000000000 Fujita Health University Received July 27 20100 000000000000000000000000000 TRIA 002 11 1002 2010 SICE 00000000000000000000000000 Oo oO Oo 1 1 21 000000000000 12 25 000000000 2 0000 2kPa 22
21. 000000000 OO Loo Fig 4000000000 0000000000 L z dxC z P z 5 000000 b dy 6 6 00000000 gD g oe g aA OG 3 3 De ress 2 3 A G E oS Sve 3 3 Soo go a ooo O eS OR 1 2 2 o 4 OH OH Oo 0 1 2 P 2 1 N6 1 250000000 00000000 HR Co Co 6000000 000000 Fig 3 0000000000 O g 4 STOOOOOOOOO O300000000000000000000000 OOOO01000000 2000 2 SrTOOOOOOOOOOOOOOOOOOGO
22. 0000000000 0000 PRODO 5 000000000 D STOO 2 000000000000 111110 1111100100 11101 0 0 00 0 PID ST O O PDOOOOOOOOOOOOOOOOST 1110110100 07 1100 Fig 100 5 1 OO OOOO OO 0 1 4 OOH HH OOOO OOOO OOOO A in v PID ST Pressure kPa ae an a PID 295 300 305 310 315 320 Time sec a Tracking performance for reference model a ty 8 310 312 314 316 318 320 Time sec b Settling performance Fig 10 Results of the reference response Syringe A time 295 320 sec ue PID ST PID V e m ti jil ait ll Ww helt A Input voltag 5 0 2 03 295 300 305 310 315 320 Time sec Fig 11 Control inputs Syringe A time 295 320 sec OOO v00 PIDOOO 03 8
23. 2000000 4 1 Fig 40 STOOOOOO 2000000000000 z o000000 c 000 0 0 Pwo gt lt 1 3 Ooo 4 OH fo Oooo oH P z 00 11 i Fiz Fig 4 Composition of two degrees of freedom control system h Fiz P 2 88 ieee gt dk gt Pe Identification W ____ 100 gt Fe NOU OOOO Fig 507000000000 P
24. I sTOO OOD noo 40sec 0 0 000 150 5000000 81 Fig 300 0 9 496 Pressure kPa 20 40 60 80 100 Time sec Fig 5 Reference response characteristics for syringe A 175 17 in Pressure kPa 0 20 40 60 80 100 Time sec Fig 6 Reference response characteristics for syringe B 17 5 Pressure kPa on 0 20 40 60 80 100 Time sec Fig 7 Reference response characteristics for syringe C 1000 Step 1 0 amp 00000 200 Step 2 000 lt 6 00 11 1 Step 5 DOOO00 0 Step 4 k 1000 107 5 I 100000 8 000000000000000000 100000000000000000000000005 0000000086 100000000 0000 10000008 0000 0000000000000 000 00000000000 61 2 5 20 0 3 000000000000000 5 30 0
25. d 148 0 146 1441 14 2 ee RE RE RE 8 9 10 11 12 13 14 15 16 17 18 Time sec Pressure kPa Fig 16 Disturbance rejection property Syringe B 15 8 15 6 15 4 15 2 15 peewee aad 14 8 14 6 14 4 142 Joy yy RE 8 9 10 11 12 13 14 15 16 17 8 Time sec Pressure kPa Fig 17 Disturbance rejection property Syringe C p Amplitude 8 9 10 11 12 13 14 15 16 17 18 Time sec Fig 18 Gain in Fig 15 Syringe A 00 1 000000 00000 0 0 8 000 00 000000000 Fig 9000000000 ST 100 0000000000000 Fig 1200000 2000000000 400 0 Fig 130 00000 STOO 11000000000000 000 Fig 80100 10000000000000000 000000 8866000000 1 000000000000000 0 1 Oo Co Co Co Co a 5 1 G 4 Oooo oO OOO OO 0 1 aan 4 5 1 111111 11 000 PID STOO 1 Fig 140000 Co I OO 1 111111 1 1 1 1 2 E HO ES LF ooo OO oo 5 1 A I fo 1
26. ent The obtained results show that balloon pressure in the reference response satisfactorily tracks the output of the reference model and can be settled within 2 in steady state In addition the disturbance rejection properties of the PID control method were affected by the changes in balloon pressure but this problem can be solved by using the proposed control system Furthermore despite the increase in the balloon pressure during the pulling out experiment performed using an intestinal model we were able to suppress influence of disturbances These results suggest that it is possible to pull the tube out at a constant speed Key Words Ileus tube Syringe Two degrees of freedom control system Self tuning ST control Loop gain bik 00000000000000000000000000 00000000000000000000000000 100000000000000000 0 00000000 00000000000000000000000000 100000000000000000000000000 10000000000000000000 2000000 00000000000000000000000000 00000000000000000000000000 100000000000000000 00000000 1900000000000 0 00000000000 1000000000 00000000000000000000000000 10000 0000000009000000000000 00000000000000000000000000 100000000000000000000000000 10000000000000 0000000000 10000000000000000000 0000000
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