JP2004000551A - Endoscope shape detecting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an endoscope shape detecting device visually determining a reference surface position, the separation state of the endoscope shape from the reference surface, and the direction of the head of a patient and easily grasping the shape of the endoscope inserted in a subject inside such as the patient. <P>SOLUTION: A step S62_2 of displaying the reference surface and a step S-62_3 of displaying a marker are performed. The processing of the steps is additional processing. The processing of the reference surface display bears a supplementary role of visually facilitating the three-dimensional display of the endoscope shape by displaying the reference surface of a bed surface, and the like. Affine transformation in a step S62_21 is performed to transform a reference display symbol of a world coordinate system to a viewpoint coordinate system. Then, a 3D→-2D projection in a stepS62_22 is performed. The reference display symbol transformed to the viewpoint coordinate system is transformed and projected two-dimensionally so as to be displayed on a monitor. A symbol display such as the bed to be the reference surface of the step S62_23 is performed. A symbol assisting the three-dimensional description of the endoscope is displayed. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
[Industrial applications]
The present invention relates to an endoscope shape detection device that detects and displays an insertion shape of an endoscope using a magnetic field.
[0002]
[Prior art]
In recent years, endoscopes have been widely used in the medical and industrial fields. This endoscope, especially if the insertion part is flexible, can be inserted into a bent body cavity to diagnose organs deep in the body cavity without making an incision or insert a treatment tool into the channel if necessary. Therapeutic treatment, such as removing polyps and the like.
[0003]
In this case, for example, as in the case of examining the lower digestive tract from the anal side, some skill may be required to smoothly insert the insertion portion into a bent body cavity.
[0004]
In other words, when performing the insertion work, it is necessary to perform a work such as bending a bending portion provided in the insertion portion in accordance with the bending of the conduit to perform a smooth insertion, and for that purpose, the distal end position of the insertion portion is required. It is convenient to be able to know the position in the body cavity, the current bending state of the insertion portion, and the like.
[0005]
For this reason, for example, in Japanese Patent Application Laid-Open No. 3-295530, a receiving antenna (coil) provided in an insertion section is scanned with a transmission antenna (antenna coil) provided outside the insertion section to insert the insertion section. There is something that detects
[0006]
In this conventional example, it is possible to detect the endoscope shape, but the state where the voltage induced in the coil is maximized and minimized by scanning the antenna coil to detect the position of one coil And must be set to For this reason, even in detecting the position of one coil, it is necessary to scan the antenna coil over a wide range, and the position detection takes time for the scanning. Since it is necessary to detect the positions of a plurality of coils to detect the shape, a longer time is required to detect the shape.
[0007]
Further, US Patent No. 4,176,662 discloses an apparatus that emits a burst wave from a transducer at the tip of an endoscope, detects the burst wave with a plurality of surrounding antennas or transducers, and plots the position of the tip on a CRT. .
Further, US Patent No. 4,821,731 discloses a technique in which a quadrature coil outside the body is rotated, and the tip position of the catheter is detected from the output of a sensor provided on the catheter inside the body.
[0008]
These two are for detecting the position of the tip, and are not intended for detecting the shape.
[0009]
In addition, in PCT Application GB91 / 01431, a large number of dipole antennas are arranged in a grid pattern in the X and Y directions around an object into which an endoscope is inserted, and AC driving is performed. On the other hand, a coil built in the endoscope side Discloses a conventional example in which the position of the endoscope is derived from the signal obtained in (1).
[0010]
In this conventional example, it is difficult to accurately detect the endoscope shape unless a large number of dipole antennas are arranged in a grid in a range wider than the detection range, and a large space is required.
[0011]
Further, in the conventional example disclosed in PCT application WO 94/0438, a magnetic field from a plurality of source coils orthogonal to three axes is detected by a sense coil provided in the endoscope, and the detected endoscope shape is displayed in gray. Like that.
[0012]
[Problems to be solved by the invention]
If the image displayed on the display device is only the image of the endoscope insertion shape as described above, since the positional relationship between the image and the organ in the body cavity is unknown, if the viewpoint is rotated, any direction The information on whether the user is looking at the endoscope shape from the head, the direction of the head, etc., is, for example, only a numerical display of the angle displayed as text, and is not suitable for sensory judgment . In short, in the conventional example disclosed in the above-mentioned PCT application WO 94/0438, even if the insertion shape of the endoscope can be detected, the reference position or the like is not displayed in the displayed image of the endoscope shape. In addition, it has been difficult to grasp the shape of the endoscope inserted into a subject such as a patient, including the direction.
[0013]
The present invention has been made in view of the above-described problems, and it is possible to visually determine the position of the endoscope shape from the reference plane position and the reference plane, and the direction of the patient's head, so that the inside of the subject such as a patient can be determined. An object of the present invention is to provide an endoscope shape detecting device that allows easy understanding of the shape of an inserted endoscope.
[0014]
[Means to solve the problem]
In order to achieve the above object, an endoscope shape detection device according to the present invention detects an insertion shape of an endoscope inserted into a body cavity using a magnetic field, and displays the detected endoscope shape. In the shape detection device,
Existence area detection means for detecting the existence area of the endoscope inserted into the body cavity when performing an endoscopy,
Symbol display means for displaying a symbol of the presence area detected by the presence area detection means,
Display control means for displaying the symbol display by the symbol display means based on the presence area detected by the presence area detection means and the detected endoscope shape in a positional correspondence. Features.
[0015]
【Example】
Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings. FIGS. 1 to 13 relate to a first embodiment of the present invention, FIG. 1 shows a schematic configuration of an endoscope system having the first embodiment of the present invention, and FIG. 2 shows an endoscope of the first embodiment. FIG. 3 is a block diagram showing the configuration of the shape detection device, FIG. 3 shows the overall configuration of the endoscope shape detection device, FIG. 4 shows the configuration of the three-axis sense coil and the probe, and FIG. FIG. 6 is a cross-sectional view showing the configuration of a marker probe, FIG. 7 is a flow chart showing the processing contents of an endoscope shape detection device, and FIG. FIG. 9 is a flowchart showing a process of drawing a scope model for displaying an endoscope shape in a mode and a single screen mode, FIG. 9 is a flowchart showing a process of drawing a scope image, and FIG. Figure 11 shows the monitor screen FIG. 12 shows an output image of an endoscope shape displayed in a one-screen mode, FIG. 12 shows an output image of an endoscope shape displayed in a two-screen mode on a monitor screen, and FIG. 13 shows world coordinates fixed to a bed Show the system.
As shown in FIG. 1, an endoscope system 1 includes an endoscope device 2 that performs an inspection or the like using an endoscope 6 and an endoscope device 2 that is used together with the endoscope device 2 and that is inside an insertion portion 7 of the endoscope 6. By detecting each position, the shape of the insertion section 7 is estimated from each of the detected positions, and further, an endoscope displaying an image of a modeled (endoscope) insertion section shape corresponding to the estimated shape. And a mirror shape detecting device 3.
[0016]
A patient 5 as a subject is placed on a bed 4 (for endoscopy), and an insertion section 7 of an endoscope 6 is inserted into a body cavity of the patient 5.
The endoscope 6 has an elongated and flexible insertion portion 7, a wide operation portion 8 formed at the rear end thereof, and a universal cable 9 extending from a side portion of the operation portion 8. The connector 9A at the end of the universal cable 9 can be detachably connected to the video processor 11.
[0017]
A light guide (not shown) is inserted through the insertion portion 7, and the light guide is further inserted through a universal cable 9 extending from the operation portion 8 to reach a terminal connector 9A. Illumination light is supplied to the end face of the connector 9A from a lamp of a light source unit (not shown) built in the video processor 11, transmitted by the light guide, and transmitted to the end of the insertion portion 7 (illumination light emitting means). The illumination light transmitted from the front end face attached to the illumination window is emitted forward.
[0018]
A subject such as an inner wall or a diseased part in a body cavity illuminated by the illumination light emitted from the illumination window is focused on its focal plane by an objective lens (not shown) attached to an observation window formed adjacent to the illumination window at the distal end. An image is formed on a CCD as a placed solid-state imaging device.
[0019]
The CCD receives a CCD drive signal output from a CCD drive circuit in a signal processing unit (not shown) built in the video processor 11 to read out an image signal photoelectrically converted (by the CCD) and insert the CCD. 7 is processed by a signal processing unit via a signal line inserted through the inside of the camera 7 and converted into a standard video signal, output to the color monitor 12, and formed on the photoelectric conversion surface of the CCD by the objective lens. Is displayed in color.
[0020]
The operating section 8 is provided with a bending operation knob. By rotating the knob, the bending of the bending portion formed near the distal end of the insertion section 7 can be bent so that the inside of the body cavity is bent. The distal end is curved along the path so that it can be smoothly inserted.
[0021]
A hollow channel 13 is formed in the endoscope 6 in the insertion section 7, and a distal end of the treatment tool is inserted by inserting a treatment tool such as forceps through an insertion port 13 a at a base end of the channel 13. By projecting the side from the channel outlet on the distal end surface of the insertion section 7, a biopsy, a therapeutic treatment, or the like can be performed on an affected part or the like.
[0022]
Further, a probe 15 for detecting the position and shape (of the insertion portion 7 inserted into the body cavity) is inserted into the channel 13, and the distal end side of the probe 15 can be set at a predetermined position in the channel 13. it can.
[0023]
As shown in FIG. 4, the probe 15 has a plurality of source coils 16a, 16b,... (Represented by reference numeral 16i) as magnetic field generating elements for generating a magnetic field. For example, the flexible support member 20 and the inner wall of the tube 19 are fixed to each other with an insulating adhesive at a certain interval d in the interior of the tube 19.
[0024]
Each source coil 16i is formed of, for example, a solenoid-shaped coil in which a conductive wire insulated and wound on an insulative hard columnar core 10 is wound, and a lead wire connected to one end of each source coil 16i is shared. The lead wire 17 at the other end is inserted through the tube 19 to the hand side. The tube 19 is filled with an insulating filling member so that the tube 19 is not crushed even if the tube 19 is bent. Even when the tube 19 is bent and deformed, each source coil 16i has a structure in which the shape of the source coil 16i itself is not deformed because the conductive wire is wound around the hard core 10 and fixed with an adhesive. The function of generating a magnetic field is made to be constant even when the tube 19 is deformed.
[0025]
The position of each source coil 16i is set to a known position in the insertion section 7 of the endoscope 6, and by detecting the position of each source coil 16i, the discrete position of the insertion section 7 of the endoscope 6 is determined. The position (more precisely, the position of each source coil 16i) can be detected.
[0026]
By detecting these discrete positions, the position between them can be almost estimated. Therefore, by detecting the discrete positions, the general shape of the insertion portion 7 of the endoscope 6 inserted into the body cavity can be changed. It is possible to ask.
[0027]
The lead wire 17 connected to each source coil 16i is connected to a connector 18 provided at the rear end of the probe 15 or at the rear end of a cable extending from the rear end of the probe 15, and this connector 18 (Endoscope) It is connected to the connector receiver of the shape detection device main body 21. Then, as described later, a drive signal is applied to each source coil 16i to generate a magnetic field used for position detection.
[0028]
As shown in FIG. 1, three-axis sense coils 22a, 22b and 22c (represented by 22j) as magnetic field detecting elements for detecting magnetic fields are attached to known positions of the bed 4, for example, at three corners. These three-axis sense coils 22j are connected to the shape detecting device main body 21 via a cable 29 extending from the bed 4.
[0029]
As shown in FIG. 4, the three-axis sense coil 22j is wound in three directions so that the respective coil surfaces are orthogonal to each other, and each coil outputs a signal proportional to the strength of the magnetic field of an axial component orthogonal to the coil surface. To detect.
[0030]
The shape detection device main body 21 detects the position of each source coil 16i based on the output of the three-axis sense coil 22j, and estimates the shape of the insertion section 7 of the endoscope 6 inserted into the patient 5, A computer graphic image corresponding to the estimated shape is displayed on the monitor 23.
[0031]
Since the endoscope shape detecting device 3 uses magnetism, if there is a metal that is not transparent to magnetism, the endoscope shape detecting device 3 is affected by iron loss or the like, and is affected by a source coil 16i for generating a magnetic field and a three-axis for detecting. This affects the mutual inductance between the sense coils 22j. Generally, when the mutual inductance is represented by R + jX, a metal that is not transparent to magnetism affects both R and X.
[0032]
In this case, the amplitude and the phase of the signal measured by the quadrature detection generally used for detecting a minute magnetic field change. Therefore, in order to accurately detect a signal, it is desirable to set an environment that does not affect the generated magnetic field.
[0033]
To achieve this, the bed 4 may be made of a magnetically transparent material (in other words, a material that does not affect the magnetic field).
The magnetically transparent material may be, for example, a resin such as delrin, wood, or a nonmagnetic metal.
[0034]
In practice, an AC magnetic field is used to detect the position of the source coil 16i, so that the source coil 16i may be formed of a material that does not magnetically affect the frequency of the drive signal.
Therefore, the endoscope inspection bed 4 shown in FIG. 1 used with the present endoscope shape detecting device 3 is made of a nonmagnetic material that is magnetically transparent at least at the frequency of the generated magnetic field.
[0035]
In the block diagram of the endoscope shape detecting device 3 shown in FIG. 2, a drive signal from a source coil drive unit 24 is supplied to a source coil 16i in a probe 15 set in a channel 13 of the endoscope 6, and this drive is performed. A magnetic field is generated around the source coil 16i to which the signal is applied.
[0036]
The source coil drive unit 24 amplifies the AC signal supplied from the oscillating unit 25 (for generating a magnetic field) and outputs a drive signal for generating a required magnetic field.
The AC signal of the oscillating unit 25 is transmitted as a reference signal to a (mutual inductance) detecting unit 26 for detecting a small magnetic field detected by the three-axis sense coil 22j provided on the bed 4.
[0037]
The small magnetic field detection signal detected by the three-axis sense coil 22j is amplified by the (sense coil) output amplifier 27 and then input to the detection unit 26.
The detection unit 26 performs amplification and quadrature detection (synchronous detection) on the basis of the reference signal to obtain a signal related to the mutual inductance between the coils.
[0038]
Since there are a plurality of source coils 16i, the (source coil drive current) distributor 28 serving as switching means for switching so as to sequentially supply a drive signal to the lead wire connected to each source coil 16i is connected to the source coil drive unit 24 and It exists between the source coils 16i.
[0039]
The signal obtained by the detection unit 26 is input to a (source coil) position detection unit (or position estimation unit) 31 included in the shape calculation unit 30. The input analog signal is converted into a digital signal to perform position detection. Or the calculation of position estimation is performed to obtain position information estimated for each source coil 16i.
The position information is sent to the shape image generation unit 32, and the shape of the endoscope 6 (the insertion unit 7 thereof) is estimated by performing graphic processing such as interpolation processing for interpolating between the obtained discrete position information. , Generates an image corresponding to the estimated shape, and sends the generated image to the monitor signal generation unit 33.
[0040]
The monitor signal generation unit 33 generates a video signal such as RGB or NTSC or PAL representing an image corresponding to the shape, outputs the video signal to the monitor 23, and outputs the video signal to the display surface of the monitor 23 in the shape of the insertion portion of the endoscope 6. Display the corresponding image.
[0041]
After completing the calculation of one position detection, the position detection unit 31 sends a switching signal to the distributor 28, and supplies a drive current to the next source coil 16i to perform the position detection calculation (each position detection). Before the calculation of the detection is completed, a switching signal may be sent to the distributor 28 so that the signals detected by the sense coil 22j may be sequentially stored in the memory.
[0042]
The system control unit 34 includes a CPU and controls the operations of the position detection unit 31, the shape image generation unit 32, and the monitor signal generation unit 33. An operation unit 35 is connected to the system control unit 34. As shown in FIG. 3, the operation unit 35 includes a keyboard 35a, a mouse 35b, and the like. By operating these components, it is possible to select an endoscope shape drawing model or to change an endoscope shape displayed on the monitor 23. An instruction to display an image in the selected viewing direction can also be given.
[0043]
In particular, in this embodiment, a specific key input operation of the operation unit 35 (more specifically, the keyboard 35a in FIG. 3) is performed, and an instruction signal for two-screen display is input to the system control unit 34, so that the shape image generation unit 32 generates an image corresponding to one viewpoint direction, generates an image from a viewpoint direction different from the viewpoint direction by 90 °, and displays two images on the monitor 23 at the same time via the monitor signal generation unit 33.
[0044]
In other words, the shape image generation unit 32 has a function of a 2/1 shape image mode for generating two shape images from viewpoint directions orthogonal to each other and a shape image from one viewpoint direction, Accordingly, a two or one shape image is generated on the monitor 23, and the two or one shape image generated by the instruction is displayed on the monitor 23. FIG. 3 shows a state in which two shape images in the two-shape image mode are displayed on the monitor 23 of FIG.
[0045]
In this embodiment, the detection image display means (the shape image generation unit 32, the monitor signal generation unit 33, and the monitor 23) for simultaneously displaying the endoscope shapes from different viewpoint directions by 90 ° on two screens. Is a major feature.
[0046]
The shape calculation unit 30 indicated by the dotted line in FIG. 2 includes software. Marker probes 36a and 36b (simply referred to as markers) as auxiliary means for displaying a reference position and the like on a display screen for facilitating understanding of the display of the endoscope shape displayed on the monitor 23 are provided. It is configured to be connectable, and simultaneously displays the reference position and the like arbitrarily set by the operator using the markers 36a and 36b together with the endoscope shape on the display screen of the monitor 23, so that the endoscope shape can be easily grasped. To be able to.
[0047]
The markers 36a and 36b are connected to the current distributor 28, and drive signals are applied to the source coils in the markers 36a and 36b via the current distributor 28 in the same manner as the source coil 16i in the probe 15. In the first embodiment, the markers 36a and 36b are used to display the reference positions on the screen to facilitate grasping the endoscope shape. In the second embodiment, the usage mode can be selected (described later).
[0048]
In the case of endoscopy, since the patient 5 is on the bed 4, the position of the endoscope 6 is always on the bed 4.
That is, if the three-axis sense coil 22j serving as a sensor is provided at the four corners of the bed 4, the endoscope 6 (the source coil 16i in the endoscope) will be present in a region surrounded by the sensor group. For each of the installed three-axis sense coils 22j, the representation of the source coil 16i is limited.
[0049]
Assuming that the output of one triaxial sense coil 22 when driving the source coil 16i is Xi, Yi, Zi, the source is located at a distance from the triaxial sense coil 22 at which the magnetic field intensity is related by XiＸ2 + Yi ＾ 2 + Zi ＾ 2. The coil 16i will be present.
[0050]
However, a uniaxial coil is generally represented as a dipole, and its isomagnetic field is not spherical but elliptical.
Therefore, the position of the source coil 16i whose direction is unknown cannot be identified only from the isomagnetic field plane XiＸ2 + YiＹ2 + Zi ＾ 2 by one triaxial sense coil 22.
[0051]
Therefore, a distance associated with Xj ＾ 2 + Yj ＾ 2 + Zj ＾ 2 measured for each of the plurality of three-axis sense coils 22j provided on the bed 4 is used. In this case, since the installation positions of the three-axis sense coils 22j are known, they can be represented by, for example, one coordinate system fixed to the bed 4. In this case, the reference plane for position detection and shape detection is the bed 4.
It is assumed that the sense coil 22j detects a magnetic field intensity, which is generally expressed as Xs ＾ 2 + Ys ＾ 2 + Zs ＾ 2, on the isomagnetic field generated by the source coil 16i, and estimates the distance therebetween.
[0052]
Then, assuming an isomagnetic field surface including the magnetic field intensity from the magnetic field intensity detected by the sense coil 22j, the sense coil 22j exists on the isomagnetic field surface with respect to the center source coil 16i. The maximum value and the minimum value of the distance from the center to the isomagnetic field surface are Rmaxj and Rminj, respectively, and the sense coil 22j and the source coil 16i exist at the distance between them.
[0053]
That is, based on the sense coil 22j at a known position, the source coil 16i exists inside the maximum distance Rmaxj and outside the minimum distance Rminj as shown in FIG.
[0054]
The source coil 16i is present in the volume of the spherical shell represented by Rmaxj and Rminj corresponding to Xj, Yj, and Zj, which is measured by each three-axis sense coil 22j and differs for each three-axis sense coil 22j. Therefore, the center of gravity of the area can be detected as the coil position.
With this, the position is obtained, but if the difference between Rmax and Rmin is large, an error may occur.
[0055]
Therefore, by using the fact that the inclination of the source coil 16i is expressed in the phase information included in Xj, Yj, and Zj, the inclination in the previously obtained volume is obtained.
Thereby, the previous position is corrected so as to be a more accurate position.
Further, since the mutual interval between the source coils 16i is known, the source coil 16i may be further corrected with this value.
[0056]
An image 100 in which the shape of the insertion section 7 of the endoscope 6 estimated based on the plurality of pieces of position information detected in this manner is modeled as described later, and is displayed on the display surface of the monitor 23 as shown in FIG. Is displayed in the graphics output area. The area on the right side is a user interface area in which the user sets a viewpoint (distance between the position and the origin), a rotation angle, an elevation angle between the viewpoint position and the Z axis, and the like by key input from the keyboard 35b.
[0057]
FIG. 6 shows a specific example of the structure of the tube-shaped marker 36a. The marker body 41 is covered with a grip cover 42, in which a source coil 43 is housed, and the periphery thereof is filled with an insulating resin 44. The source coil 43 is formed by winding a conductive wire 46 around a core member 45 made of a magnetic material, and ends of the two wound conductive wires 46 are covered with shield wires 47 each covered with an insulating member 40. The shield wire 47 is further covered with a silicon tube 48. The rear end of the shield wire 47 reaches the connector 49a. The connector 49a is fixed to a connector receiving member.
[0058]
The connecting portion between the grip cover 42 and the silicon tube 48 and the connecting portion between the silicon tube 48 and the connector receiver 49b are each prevented from being broken by the break preventing member 50.
[0059]
FIG. 7 shows that the magnetic field generated by the source coil 16i in the scope is detected by the external three-axis sense coil 22j, and the position of the source coil 16i is obtained from the relationship between the magnetic field strength and the distance between the two points. 5 shows a flow of displaying an insertion portion shape (also simply referred to as a scope shape) in an inserted state on a monitor (also referred to as a CRT) based on each position detection.
The overall configuration of this flow can be roughly divided into the following four blocks B1 to B4 according to the processing contents.
[0060]
B1: Initialization block
In this block, the initialization work for all functions of this program is completed. Specifically, setting of initial parameters based on a method of outputting a scope shape on a CRT, calculation of the location of the source coil 16i from phase information and amplitude information obtained from magnetic field strength detected by hardware For example, the memory of basic data to be used in the memory is read, and various boards for controlling hardware are initialized.
[0061]
B2: Hardware control Bukok
In this system, the position coordinates of the source coil 16i arranged and fixed in the insertion section 7 of the endoscope 6 are calculated from the magnetic field intensity generated by the source coil 16i, and based on this, the position of the inserted endoscope 6 is determined. The shape of the insertion section 7 is estimated.
In this block, the drive of the source coil 16i is switched to generate a magnetic field, the intensity of the generated magnetic field is detected by the sense coil 22j, and the detected output is converted into a form in which the source coil position coordinates can be calculated and output. .
[0062]
The drive switching of the source coil 16i allows the user to know where the source coil is located on the endoscope 6, and the sense coils 22j for detecting the magnetic field strength of the source coil 16i are orthogonal as shown in FIG. The coils are manufactured so that the planes of the respective coils are parallel to the three axes, and are configured so that magnetic field strength components in three orthogonal directions can be detected for one sense coil 22j. The data of the detected magnetic field strength is output after being separated into amplitude data and phase data necessary for calculating the position of the source coil.
[0063]
B3: Source position calculation block
Based on the amplitude data and the phase data obtained by the magnetic field detection in the previous block, it is responsible for calculating the position coordinates of the source coil 16i using the relationship between the magnetic field strength and the distance between the two points. First, the amplitude data and the phase data are corrected for the difference in the diameter of each sense coil 22j in the axial direction and the positional relationship between the source coil 16i and the sense coil 22j. Calculate the magnetic field intensity considered to be detected at the installation position.
[0064]
The distance between the source coil 16i and the sense coil 22j is determined from the calculated magnetic field strength. However, since the orientation of the source coil 16i in the inserted state (the direction of the solenoid-shaped coil) is not known, the position of the source coil 16i can be limited only to within a certain spherical shell. Therefore, three or more sense coils 22j are prepared, an overlap of regions where the source coil 16i can exist is obtained, and the center of gravity of the region is output as the position coordinates of the source coil 16i.
[0065]
B4: Image display block
It builds a scope shape based on the data obtained as the source coil position coordinates and plays a role in outputting the image on the CRT. One or more coordinates obtained as the source coil position coordinates are used as data to construct smooth continuous coordinates as a whole. A modeling process is performed using the continuous coordinates to make the scope look like a scope (polygon pillar, color gradation, saturation, use of luminance, hidden line processing, perspective, etc.).
[0066]
Further, the scope image model displayed on the CRT can be rotated and enlarged / reduced in an arbitrary direction, and can also display a body marker or the like at which the viewpoint position of the current display and the head direction of the patient can be seen at a glance. The viewpoint position at the end is automatically saved and becomes the next initial viewpoint position. There is also a hot key for storing a viewpoint direction considered to be easy for the operator to see (described later as a second modification of the first embodiment).
Next, more detailed contents of each block will be described.
[0067]
B1: Initialization block
In the first step S11, a graphic page is initialized (VRAM is initialized). In addition, when updating the scope image displayed on the CRT, if a new image is overwritten, an observer is given an impression of an image in which rewriting flickers, and the image is not smooth. Therefore, a plurality of graphic pages are constantly switched to display an image, thereby realizing moving image smoothness.
In addition, the color and gradation to be used are set. The number of colors that can be used is limited by hardware. Therefore, as shown in FIG. 11, if the number of colors allocated to the image 100 in which the insertion unit 7 is modeled and displayed is increased and gradation display is performed, a three-dimensional image can be displayed. In FIG. 11, two circles indicate markers indicating the reference positions, and square frames indicate beds.
[0068]
By performing the gradation display in which the closer to the viewpoint, the brighter the display, and the farther the display, the darker the display becomes. The image 100 displayed two-dimensionally by the insertion unit 7 can be expressed with a three-dimensional effect and depth. Of course, increasing or decreasing the number of gradations is optional. In addition, the colors employed other than the gradation are also formed from the R, G, and B configurations, so that it is possible to express subtle saturation and luminance.
[0069]
In the next step S12, initialization of image parameters such as automatic reading of the initial viewpoint position is performed.
How the scope image is easy to see depends largely on the operator's preference. If the initial viewpoint position is fixed, the operator must re-set the viewpoint position at which the user can easily view the scope image, and the usability deteriorates.
[0070]
Therefore, by saving the desired viewpoint position in the form of a file (parameter file) and reading the file when starting the program, the scope image can be viewed from the viewpoint position that is easy for the operator to see immediately after the program starts. Was provided.
[0071]
In this embodiment, the output area of the scope image and the output area of the text screen are divided and displayed as shown in FIG.
By dividing the scope image and the text screen, the degree of rotation and enlargement / reduction of the scope image can be checked both visually and numerically. However, in the two-screen display mode shown in FIG. 12, the scope images are displayed on the left and right simultaneously.
In the next step S13, the principle original data storing the principle for deriving the source coil position is loaded. This data is reference data or reference information having the following relationship.
[0072]
The measurement principle is to detect the output of a single-axis source coil 16i with a sense coil 22j manufactured on three orthogonal axes, and obtain the distance between the source coil 16i and the sense coil 22j based on the magnetic field strength. In order to obtain the interval between the two coils, the maximum magnetic field intensity output and the minimum magnetic field intensity output due to the difference in the attitude (axial direction) of the source coil 16i are not directly solved from the hyperfunction indicating the magnetic field distribution created by the uniaxial source coil 16i. A new distance calculation method using the magnetic field strength output is adopted.
[0073]
That is, when the distance between the one-axis source coil 16i and the three-axis sense coil 22j is set to various values, when the axial direction of the source coil 16i is changed at each distance value, detection is performed at the position of the three-axis sense coil 22j. The measured maximum magnetic field intensity (maximum magnetic field intensity) and the minimum magnetic field intensity (minimum magnetic field intensity) are plotted and graphed as a maximum magnetic field intensity curve and a minimum magnetic field intensity. Curve data is prepared as reference data for distance calculation.
[0074]
By using this reference data, it is possible to calculate the distance of the uniaxial source coil 16i from the magnetic field strength detected by the triaxial sense coil 22j as follows.
[0075]
When a certain magnetic field strength H is detected, a radius when the value H is set to the maximum magnetic field strength value, that is, a minimum radius r_min at which the distance is minimum, and a radius when the value H is set to the maximum magnetic field strength value, that is, It is possible to add a limitation that the source coil 16i can only exist within the spherical shell sandwiched between the maximum radius r_max at which the distance becomes maximum. By performing this limitation at the position of each sense coil 22j, the area where the source coil 16i exists can be limited as shown in FIG.
[0076]
Data corresponding to the maximum magnetic field strength curve and the minimum magnetic field strength curve are stored in data storage means such as a hard disk, and when the operation of displaying the endoscope shape is started, the position detecting section 31 refers to the data as necessary.
[0077]
The actual measured value proportional to the magnetic field strength detected by the three-axis sense coil 22j is obtained by squaring the signals 22X, 22Y, and 22Z respectively detected by the three coils constituting the three-axis sense coil 22j. Is a value obtained by calculating the square root of 22X · 22X + 22Y · 22Y + 22Z · 22Z. The obtained value is calibrated by a standard magnetic field measuring device (for example, a Gauss meter) to obtain an accurate measured value of the magnetic field strength. Obtainable.
A file (max_min data file) recording the data of the maximum magnetic field strength and the minimum magnetic field strength is loaded, and the correction data is also loaded from the correction data file, and the correction of the diameter of the sense coil 22j is also performed. Position detection can be performed.
[0078]
After loading the data, hardware initialization is performed in the next step S14. In this step S14, the setting contents of the distributor 28 in FIG. 2 are reset to an initial state. In addition, the setting contents of the A / D converter (not shown) constituting the shape calculation unit 30 are reset to a setting state corresponding to the use environment (for example, the number of channels is set to the number of source coils and the number of markers to be used). In this way, the hardware is set to a usable state for shape calculation, and the next block B2 is operated.
[0079]
B2: Hardware control block
First, in step S21, as described with reference to FIG. 2, the switching signal is applied to the distributor 28 to select the source coil 16i and drive the source coil 16i. The magnetic field generated by the source coil 16i is detected by the sense coil 22j.
[0080]
Accordingly, as shown in step S22, the detection signal detected by the sense coil 22j is sampled by the A / D converter via a phase sensitive detector (PSD) (not shown) constituting the detection unit 26. The sampled data is temporarily written to a memory in the shape calculation unit 30.
For example, the CPU configuring the shape calculation unit 30 as shown in step S23 determines whether or not the driving for all the source coils 16i has been completed, and if not completed, drives the next source coil 16i. Control.
[0081]
When all the source coils 16i are driven, the amplitude data and the phase data are calculated from the data in the memory (the PSD data that has passed through the PSD) (the PSD calculation in step S24 in FIG. 7, the amplitude data and the phase in step S25 in FIG. 7). Data). When a marker is used, a drive signal is applied to each of the source coils contained in the connected marker similarly to the source coil 16i contained in the probe 15 to apply a drive signal to the marker source coil. The amplitude data and the phase data are calculated.
[0082]
The process proceeds to the next block B3 based on the amplitude data and the phase data. First, the magnetic field strength calculation in step S31 is performed using a correction coefficient.
Next, the maximum distance and the minimum distance (between the source coil 16i and the sense coil 22j) in step S32 in FIG. 7 are calculated using the maximum and minimum distance data.
[0083]
In this step S32, processing is performed until the maximum distance and the minimum distance between the sense coil 22j and the source coil 16i are calculated using the magnetic field strength obtained in the previous step S31.
[0084]
The fact that there is a proportional relationship between the distance between two points and the magnetic field strength is an extremely widely known physical phenomenon. However, since the magnetic field strength generated by the l-axis source coil 16i at one point in a certain space is generally represented by a hyperfunction, even if the direction of the source coil 16i is known and the magnetic field strength is measured, the existence of the source coil 16i It is not easy to calculate the direction and the distance to be performed.
[0085]
Therefore, when a certain magnetic field strength can be detected, it is assumed that the distance when the source coil 16i is oriented in the direction in which the output can be obtained most strongly is R_max, and that the source coil 16i is oriented in the direction in which the output can be weakest. If the distance in this case is R_min, the distance R_true between the true source coil 16i and the sense coil 22j can be limited to the range of R_min ≦ R_true ≦ R_max.
[0086]
The distance calculating means or method adopted here is an extremely simple means or method which does not require solving a complex super function, although the value of the distance R_true is not reliably obtained. Even if the direction of the axial source coil 16i is not known, the means or method has a wide range of application that can limit the range in which the source coil 16i exists.
[0087]
Next, the position coordinates of the source coil 16i are calculated in step S33. In this step S33, processing is performed until the coordinates of the source coil 16i are calculated from the distance between the sense coil 22j and the source coil 16i.
The range where the source coil 16i can exist when viewed from a certain sense coil 22j is a spherical shell surrounded by R_max and R_min obtained in the previous step S32.
In order to limit the range in which the source coil 16i can exist to a smaller space, the overlapping of the possible regions of the source coil 16i found from the plurality of sense coils 22j is used. For each sense coil 22j, there is always a region where the source coil 16i obtained from the same source coil 16i overlaps as long as the position of the source coil 16i does not move.
[0088]
The boundary of such a region is exactly the intersection of the spheres of radii R_max and R_min centered on the position of each sense coil 22j. Since it is an intersection of spheres, if there are at least three sense coils 22j, the existence of the source coil 16i can be limited to a minute area surrounded by eight intersections of spheres having a radius of R_max, R_min of each sense coil 22j.
[0089]
Since this source coil position limiting method is a simple arithmetic calculation of calculating the intersection of three spheres, the processing time is not required, and the area where the source coil 16i is present is limited to a very small area. This is a very good method that has been made possible.
[0090]
Thus, the position coordinates of each source coil 16i are calculated, and the position coordinate data of the source coil 16i in step S34 is obtained. When a marker is used, position coordinates are similarly calculated for the source coil of the marker.
The process moves to the next block B4 using these data.
[0091]
B4: Image display block
This block B4 is responsible for processing until the scope shape image in the inserted state is described on the CRT based on the position coordinate data of the source coil 16i.
The position coordinates of the source coil 16i are trajectories that have passed through the inserted scope. Therefore, based on this, the scope shape in the inserted state is estimated. After the insertion shape of the scope can be estimated, the result is drawn on a CRT. At that time, since the three-dimensional scope shape must be displayed on a two-dimensional CRT screen, a device for expressing the image more three-dimensionally is required.
[0092]
Further, if the scope image can be rotated in an arbitrary direction or the direction from which the scope image is being viewed can be instantaneously determined, the usability is further improved.
In view of the above, the device 3 is classified according to the function as described below, and a display method in which the features of each module are added is realized.
[0093]
S41 keyboard input processing
S42 Scope Model Description
(S43 reference plane display processing)
(S44 marker display processing)
Not all of these are needed to depict a scope image, so the features can be selected as needed. FIG. 7 shows only the keyboard input processing in S41 and the scope model depiction processing in S42. After the process of block B4, the process of setting the display screen video page in step S45 is performed, the modeled image data is set in the VRAM, and then the image data is output to the CRT, and the scope image display in step S46 is performed. Is performed. Then, by the process of determining whether or not to end the program (step S47), if the end is selected, the process ends, otherwise, the process returns to block B2 and the same operation is repeated.
Therefore, the features of each module will be described below.
[0094]
S41: Keyboard input processing
Here, when a key input corresponding to a given user command is performed, the process is performed until setting parameters and the like are changed according to the content of the key input.
[0095]
Equipped with an additional function that is considered to be highly requested by the user affects the usability of the device. The function selection is a simple task, and can be operated whenever the user desires, and the contents requested by the user need to be quickly realized.
[0096]
In this step S41, an input is obtained from the keyboard, and processing such as a command corresponding to the key input is performed.
[0097]
Commands corresponding to key input include rotation of the image around X, Y, and Z axes, enlargement / reduction of the image, display of an image from an initial viewpoint, display of an image from a user-registered viewpoint, There are user registration of the viewpoint position, division of a screen for image output, screen display for comment input, change of background color, ON / OFF of marker display, ON / OFF of numerical display of source coil coordinates, and program termination.
[0098]
Next, description of a scope model description which is a major feature of the first embodiment will be described.
Subsequent to the keyboard input processing in step S41, the scope model is described in step S42 shown in FIG.
[0099]
In the processing flow of the description of the scope model, the scope shape can be displayed in the one-screen mode as shown in FIG. 11 or in the two-screen mode shown in FIG. 12, according to the user's selection.
FIG. 8 shows a specific example of the processing flow for describing the scope model.
[0100]
First, in step S51, a process of loading a parameter file necessary for drawing is performed, and rotation angles (pitch, head, bank) around the X, Y, and Z axes, a viewpoint (view) Point), project screen, marker mode No. And the like, and temporarily write the data into a memory constituting the shape calculation unit 30, so that the CPU can perform drawing processing by referring to them when necessary.
[0101]
Next, each variable is initialized in step S52. The variables used for drawing are set to the initial values by referring to the loaded data and the like. Next, in step S53, it is determined whether or not f · 10 as a function key set as a key input for terminating the inspection is pressed (in FIG. 8, expressed as f · 10_key ON?). Ends the scope image display process, and if it is not pressed, determines whether or not the mode is the single screen mode (step S54).
[0102]
In this step S54, it is determined whether the HELP key, which is a hot key set as the screen mode switching key, is pressed or not, and whether or not the screen is in the single screen mode is determined. Then, it is determined whether or not the HELP key has been pressed (in FIG. 8, HELP_key ON?) (Step S55), and the mode can be switched to the two-screen mode.
[0103]
More specifically, for example, a 2-bit two-screen display flag is prepared, and this flag is set to 0 in the initial setting, and 1 is added every time the HELP key is pressed. The screen mode is determined by examining the value of this flag. If the flag value is 0, it is determined that the screen is in the 1-screen mode. Mode is determined.
[0104]
Also, when it is determined in step S54 that the screen mode is the two-screen mode, it is further determined whether or not the HELP key is pressed (step S56) so that the mode can be switched to the one-screen mode.
If it is determined in step S55 that the HELP key has been pressed (if the key for switching to the two-screen mode has been input in the one-screen mode), the two-screen mode is turned on in the next step S57. Then, the initial setting of the two-screen mode is performed in step S58.
[0105]
First, the setting of the graphic mode set in the single screen display mode is canceled, and the setting is made for the two screen display mode. In addition, a display frame is set for the two-screen display mode, and the two-screen display flag is turned on.
[0106]
In the next step S59, it is determined whether or not the head angle (the rotation angle around the Y axis) is larger than 0. If not, the head angle is set to 0 (step S60), and the next step is performed. The process proceeds to the left screen viewport setting process of S61. On the other hand, if it is determined that the value is larger than 0, the process shifts to the left screen viewport setting process in the next step S61 at the head angle.
[0107]
In order to display the vertical image endoscope shape (shape viewed from directly above) on the left display screen, a display area is set to the left from the center of the screen. Also, the set area is cleared. Further, when the inspection area display frame is displayed, a frame of the inspection area is drawn (display and non-display of the inspection area display frame can be selected in a modified example described later).
Thereafter, the scope image is drawn in step S62.
[0108]
Here, it is responsible for creating a scope shape from the source coil position coordinates obtained from the magnetic field detection and displaying the image three-dimensionally on a CRT. The obtained position coordinates of the source coil are discrete data of the number of source coils inserted into the scope. Therefore, the shape of the scope in the inserted state must be estimated based on these data. Further, the scope shape data thus obtained is output on a CRT as an image modeled as a three-dimensional shape. FIG. 9 shows the basic processing contents of this modeled image drawing.
[0109]
S62_a: Three-dimensional interpolation between calculated source coils
In the process of the three-dimensional interpolation between the calculated source coils in step S62_a, the source coil position coordinates calculated based on the magnetic field strength detection are discrete. Does not correspond to a scope shape whose position changes In order to create a smooth overall scope shape, three-dimensional interpolation is performed on the source coil position coordinate data.
[0110]
S62_b: Construction of three-dimensional model
Since the real scope has a thickness, no matter how smooth data points are obtained, it cannot be said that the real scope is described by connecting with a straight line having no thickness. Therefore, in the process of constructing the three-dimensional model in step S62_b, the connection between the trap data is performed using a cylinder or n-prism model, and the thickness can be displayed in accordance with the actual scope shape.
[0111]
S62_c: affine transformation
The scope shape is output as an image viewed from the designated viewpoint position. Therefore, in the affine transformation processing in step S62_c, scope shape model data obtained in the world coordinate system as a reference coordinate system for deriving the source coil position is transformed into a viewpoint coordinate system for screen display. Note that the viewpoint position can be changed by the user. The changed contents are referred to here.
[0112]
S62_d: 3D → 2D projection
Although the scope shape is originally three-dimensional, it must be converted to two-dimensional in order to output the image on the CRT screen. Therefore, the projection conversion from the three-dimensional image to the two-dimensional image in step S62_d is performed. At this time, the perspective may be emphasized with a perspective or the like.
[0113]
S62_e: rendering
The scope shape image obtained by the above processing is drawn on the CRT. In performing the rendering, in the rendering process in step S62_e, an n-side surface process and a hidden line process for expressing before and after the scope loop are performed. Processing such as adjusting the brightness and saturation of the side of the scope model based on the gradation display in the shading processing based on the perspective and the curvature of the scope, etc. may be performed to further emphasize the space between the solids.
[0114]
Some items described above are not necessarily required to be implemented. Of course, if implemented, the image can be reproduced on the CRT in a form including the effects of the improved items. Further, the processing need not be performed in the order shown in FIG. 9, and the same processing may be performed in a shorter time by changing the order according to the model displaying the shape of the insertion portion. .
[0115]
Through these processes, the inserted three-dimensional scope shape can be reproduced on the CRT from only the position coordinates of several source coils.
In this embodiment, an n-sided prism model and an n-sided connected model can be selected as the scope display as follows.
[0116]
After the process of drawing the scope image on the left screen is performed in step S62, the right view port is set in step S63 of FIG. 8, and the process of drawing the model of the right screen is performed (step S64).
[0117]
In the process of drawing the scope image on the right screen, drawing is performed at an angle obtained by adding 90 degrees to the head angle used in the process of drawing the left screen. Therefore, a process of modeling and drawing a scope shape from a viewpoint direction different from the viewpoint direction of the left screen by 90 degrees is performed. When the head angle is set to 0 in step S60 (drawing when the left screen is viewed from directly above), the drawing on the right screen is stopped when viewed from right beside.
[0118]
After that, the display screen video page is set using the image data subjected to the drawing processing (step S45), and then output to the CRT and the scope image is displayed (step S46). In this case, the scope image is displayed in the two-screen mode, and two scope shapes from orthogonal viewpoint directions are simultaneously displayed on the CRT as shown in FIG.
[0119]
On the other hand, if it is determined in step S55 that HELP_key is not pressed (in the case of the one-screen mode), the process of drawing the normal mode scope image in step S65, that is, the process of drawing the scope image in the one-screen mode is performed. This process is the same as step S62 or step S64. After this process, the image data is output to the CRT through the process of setting the display screen video page in step S45, and the image in which the scope is modeled is displayed in the single screen mode as shown in FIG.
[0120]
If it is determined in step S56 that HELP_key is not turned on (in the case of the two-screen mode), the process proceeds to step S59. If HELP_key is turned on in the determination in step S56 (when a command for switching to one screen mode is input in the two screen mode), the two screen mode is turned off in step S66, and the normal scope image After the screen setting (Step S67), the process proceeds to Step S65, and the scope shape is displayed in the single screen mode.
[0121]
In the flow of FIG. 8, the scope shape is displayed on the CRT in the two-screen mode or in the one-screen mode according to the key input selected by the user. In particular, in the two-screen mode, the scope shapes from mutually perpendicular viewpoint directions are simultaneously displayed side by side as shown in FIG. 12, so that the depth amount in the image from one viewpoint direction can be accurately calculated from the image from the orthogonal viewpoint direction. I can figure it out.
[0122]
As described above, in the case of a two-screen display, an image in which the viewpoint direction is vertical is displayed on the left side, and a horizontal image is displayed on the right side. When the viewpoint direction or the like is changed, an image is obtained from a different direction according to the change.
[0123]
Next, a model for constructing a three-dimensional model for modeling a scope shape and displaying it in a three-dimensional manner will be described.
When the n-sided model is selected, for example, as shown in FIG. 11, the cross section of the insertion portion is modeled as a regular n-sided polygon and displayed as an n-sided prism (in FIG. 11, n = 5). When the number n is increased, the shape becomes almost a circle. In this case, the shape of the insertion portion is displayed as a column.
[0124]
FIG. 10 shows a flow of specific processing contents of display in this model.
In FIG. 10A, the processing shown in FIG. 10B is performed for the processing of constructing the interpolation & three-dimensional model in step S62_1.
[0125]
Here, first, the three-dimensional B-spline interpolation in step S62_1 is performed. This interpolation is not a type of interpolation that always passes through the interpolation point, but creates a smooth curve while passing near the interpolation point. Compared to a natural spline that always passes through the interpolation point, its calculation is Processing is simple. Of course, a natural spline, another interpolation method, or interpolation using an approximate function may be used.
[0126]
The B-spline whose calculation processing is relatively simple is excellent in that the processing speed is high even when the three-dimensional capture is performed.
Next, an n-prism model construction is performed as a three-dimensional model construction in step S62_12.
[0127]
Here, a three-dimensional scope image is constructed from the interpolated data of the source coil position coordinates by an n-prism model (hereinafter, also including a cylinder). Next, the affine transformation of step S62_13 in FIG. 10B is performed. This affine transformation is one of the methods used when performing coordinate transformation of a figure in computer graphics, and is generally performed when dealing with coordinate transformation. Simple primary coordinate transformations such as translation, rotation, enlargement, and reduction are all included in the affine transformation. The rotation angle around the X axis is called a pitch angle, the rotation angle around the Y axis is called a head angle, and the rotation angle around the Z axis is called a bank angle.
[0128]
In this process, scope model data represented in the world coordinate system (see FIG. 13) fixed to the bed 4 is converted into model data viewed from a certain viewpoint position.
The viewpoint position can be set in any direction. Therefore, it is extremely difficult to trace the direction in which the viewpoint position has moved and to move the model data so as to follow the direction. Therefore, it is assumed that the viewpoint is fixed, and the world coordinate system, which should not originally move, is rotated for convenience. This gives the same result as obtaining an image with the viewpoint shifted.
This method is excellent in that the time lag with respect to the movement of the viewpoint can be extremely reduced since the direction of movement of the viewpoint can be handled by turning the world coordinate system for convenience, regardless of the direction in which the viewpoint moves.
[0129]
Next, a process of three-dimensional-two-dimensional projection (3D → 2D projection) in step S62_14 of FIG. 10B is performed.
In this 3D → 2D projection processing for performing a projection conversion from a three-dimensional image to a two-dimensional image, display can be realized in perspective or the like according to the purpose by performing the following projection method.
[0130]
a) If you have a perspective,
The three-dimensional shape looks larger as it is closer to the viewpoint and smaller as it is farther. This can be realized by a process of converting three-dimensional model data into two-dimensional data.
[0131]
In order to project the three-dimensional coordinates on the two-dimensional plane, the screen is virtually arranged perpendicularly to the viewpoint and on the opposite side of the three-dimensional image (3D image obtained up to S62_13). Then, the projection plane of the object viewed from the viewpoint is projected so that the projection image on the side closer to the viewpoint is larger than the projection image on the far side, and is displayed in perspective. This method is excellent in that a three-dimensional depth can be easily added to a two-dimensional projection image, and that the degree of emphasis can be easily changed. Of course, the display may be performed without attaching the perspective.
[0132]
Next, rendering processing of step S62_15 is performed. In this embodiment, as shown in FIG. 10B, selection can be made from the processing of the paste model display PM and the processing of the wire frame model display WM.
[0133]
The display in these models uses the world coordinate system fixed to the bed 4 shown in FIG. 13, and may adopt another coordinate system depending on the processing content.
[0134]
For example, the source coil coordinates are in the world coordinate system. The source coil coordinates are subjected to a rotation process to obtain the source coil coordinates viewed from the “viewpoint” (that is, the view coordinate system), and then the discrete source coil coordinates are obtained. Then, data interpolation is performed to find the source coil coordinates as viewed from the “viewpoint” where data interpolation has been performed.
[0135]
Next, in a three-dimensional model construction process, after generating a scope model using a wire frame or the like, a three-dimensional to two-dimensional conversion (perspective projection conversion) process is performed to display the scope model on a two-dimensional screen. Dimensional data is generated, and a pseudo three-dimensional image is rendered and displayed.
[0136]
Next, the paste model display PM of FIG. 10B will be described. This model is called a paste model because each surface of the n prism is painted out.
When rendering the scope shape image on the CRT, side processing of the n-gon is performed, and hidden line or hidden surface processing is performed to express before and after the loop when the scope has a loop shape. In the case of displaying by n prisms, it has n side surfaces. Of these, what is actually visible is only the side face on the viewpoint direction side. Therefore, the process of displaying only the side face on the viewpoint direction side and displaying it so as to hide the invisible side face or side, that is, a hidden line or hidden side Perform surface treatment. In this case, it can be realized by sorting a parameter (referred to as a z-buffer) indicating how close the camera is to the viewpoint position, and writing by overwriting from the side where the z-buffer is small (that is, far from the viewpoint).
[0137]
Next, the processing of the wireframe model display WM will be described.
The result is the same as the case where the portion excluding the sides of the n-prism model is painted with the background color, but this can be selectively used to shorten the processing time for painting the n-prism model. ing.
[0138]
In this model, if the z-buffer is written in ascending order, the wires on the back side of the scope model will be visible. Therefore, a hidden line-processed model can be constructed by appropriately performing hidden line processing to remove the data or by drawing a wire frame up to the (n / 2) th model data in the descending order of the z buffer.
[0139]
Next, in FIG. 10A, step S62_2 of displaying a reference plane and step S62_3 of displaying a marker are performed. The processing in steps S62_2 and S62_3 is an additional processing.
The reference plane display process has a supplementary role of displaying a reference plane such as a bet plane to make the three-dimensional display of the scope shape visually easy to understand.
[0140]
If the image displayed on the CRT is only a scope-shaped image, the positional relationship between the image and internal organs in the body cannot be determined. Then, if the viewpoint position is rotated, the information relating to the direction from which the scope shape is viewed and the direction of the head to which the head looks is only numerical value information of the angle displayed as text. This is not suitable for sensory judgment. Therefore, an auxiliary means for making such a judgment intuitively is provided.
[0141]
Here, this is realized as shown in FIG.
First, the affine transformation of step S62_21 is performed. In this process, the reference display symbol in the world coordinate system is converted to the viewpoint coordinate system.
Next, 3D->-2D projection of step S62_22 is performed.
A conversion process of projecting two-dimensionally so that the reference display symbol transferred to the viewpoint coordinate system can be displayed on the CRT.
[0142]
Next, a symbol such as a bed serving as a reference plane in step S62_23 is displayed. Displays a symbol that assists the three-dimensional image of the scope image. A specific example of the symbol is, for example, a bed surface display, which will be described below.
[0143]
By doing so, the position of the reference plane, the distance of the scope shape from the reference plane, and the direction of the patient's head can be visually determined, and the determination criteria such as the position of the scope shape are provided.
Next, a bed surface display, for example, will be described as a specific example of the reference display symbol.
[0144]
A reference plane parallel to the XY plane of the world coordinate system and perpendicular to the Z axis is displayed. The Z coordinate may be any position on the bet plane (Z = 0) as long as the position can be used as a reference. This plane does not move with the viewpoint coordinates. That is, when the viewpoint position is rotated in the X-axis direction Y direction, the bet surface is displayed as a line. Markers may be attached to rectangles such as pillows, right shoulder, left shoulder or both directions so that the head direction can be recognized.
Since this is represented by a simple single plate, it is excellent in that it does not hinder the scope image and that the rotation of the viewpoint can be recognized. In addition, a reference marker display or a rectangular parallelepiped display obtained by adding a frame in the Z direction to the bed display may be performed.
[0145]
Next, a marker display process of step S62_3 in FIG. 10A is performed.
[0146]
In the marker display processing, the process from calculating the position of a single source coil to displaying it separately from the source coil 16i inserted into the scope is performed. As means for confirming the position inserted in the scope, a means for displaying one or more markers that can move independently of the source coil 16i in the scope is provided.
[0147]
In an actual device, the position calculation means is exactly the same as that used for the source coil 16i inserted in the scope, and the display means is the same as before, and the affine transformation in step S62_31 is performed as shown in FIG. → 3D in step S62_32 → 2D projection → marker display in step S62_33.
Therefore, here, a display using an n-gon (including a circle) will be described as a specific example of the marker shape output. If the display of the marker is displayed in such a form, many colors cannot be used, and in the case of an apparatus configuration in which the same color as the scope shape must be used, it is possible to distinguish even if it overlaps the scope shape.
[0148]
In this marker display, by changing the shape according to the rotation of the viewpoint, it is possible to recognize from which direction the user is looking. Also, the image may be associated with the viewpoint so as to always be in front. At this time, although the viewpoint direction cannot be recognized from the marker, the marker is excellent in that a marker of a fixed size is always output.
[0149]
This is the same expression as when the marker is spherical. If the marker is spherical, it is possible to display the direction and depth of the viewpoint by giving information such as gradation and saturation luminance.
[0150]
By moving the marker outside the body using such means, it becomes possible to confirm the position of the scope shape in the inserted state in association with the marker, and to know the scope insertion position in association with the actual patient position. Means of capture may be provided.
[0151]
As described above, according to the first embodiment, since the means for modeling the scope shape when viewed from the viewpoint directions different from each other by 90 ° and providing a three-dimensional display simultaneously on two screens is provided, Even when the depth shape in the image of the scope shape when viewed from one viewpoint direction is difficult to understand accurately, it can be visually and accurately understood from the image of the scope shape from the orthogonal viewpoint direction (displayed simultaneously).
[0152]
Therefore, for example, when an operation of introducing the distal end side of the insertion portion inserted into the patient to the target site is performed, the three-dimensional shape of the insertion portion can be accurately grasped. The work or operation to be introduced can be performed easily and smoothly, and the operability for endoscopic examination using an endoscope can be improved.
[0153]
In addition, since a display means such as a marker is provided, it is easier to grasp the three-dimensional shape including the direction of the scope shape from the display position of the marker on the image of the scope shape.
[0154]
Further, a function of turning on / off the display of the inspection range reference frame may be provided as in the first modification of the first embodiment. The configuration of the first modified example is almost the same as that of the first embodiment, that is, in the configuration of FIG. 2 or FIG. It is responsible for the process of turning the display ON or OFF.
In particular, in the two-screen display, since information from two directions is displayed, it is clear from which direction the endoscope is drawn in the initial state.
[0155]
For this reason, it may be assumed that the display of the inspection range display frame that makes it easy to identify from which direction the user is looking may be complicated. Therefore, the inspection range display frame can be set so as not to be displayed. FIG. 14 shows the flow of this processing.
[0156]
Up to step S53 is the same as FIG. If the end is not selected in step S53, then, in step S71, the judgment of the inspection range reference frame display flag ON / OFF is performed. In this determination, the inspection range reference frame display is switched based on, for example, whether the HOME_CLR key set as the hot key for switching the inspection range reference frame display is pressed.
[0157]
If the HOME_CLR key has not been pressed, the inspection range reference frame display flag is OFF, and it is determined in the next step S72 whether the HOME_CLR key has been pressed (abbreviated as HOME_CLRON? In FIG. 14). Step S72 of this determination is for enabling the flag to be switched from OFF to ON. If the flag is OFF in this determination, the scope is changed to step S42 'similar to step S42 shown in FIG. 8 (this step S42' more precisely corresponds to steps S54 to S67 in step S42 in FIG. 8). Performs model drawing processing. In this case, the scope image is displayed in a mode in which the inspection range reference frame is not displayed as shown in FIG. FIG. 15A shows the case of the single screen mode.
[0158]
If the inspection range reference frame display flag is turned on in step S71, it is further determined in step S73 whether the HOME_CLR key has been pressed. If the HOME_CLR key has not been pressed, in step S74, processing for drawing the cube within the inspection range is performed, and then processing for drawing the scope model in step S42 'is performed. In this case, a scope image is displayed together with the cube serving as the inspection range reference frame, as shown in FIG. FIG. 15B also shows the case of the single screen mode.
[0159]
If the HOME_CLR key is pressed in step S73, the flag is set to OFF in step S75, and the process of drawing the scope model in step S42 'is performed.
[0160]
In addition, even when the HOME_CLR key is pressed in step S72, the inspection range reference frame display flag is turned on in step S76, and the process proceeds to step S42 'to perform the scope model drawing process through the process of drawing the cube within the inspection range in step S74. Will be.
[0161]
According to the first modification of the first embodiment, the scope shape is displayed by displaying the inspection range reference frame according to the user's selection, or the scope shape is displayed without displaying the inspection range reference frame. Can be freely set, the selection range of the user can be expanded, and the usability for the user can be improved. The other effects are the same as those of the first embodiment.
[0162]
Next, a second modification of the first embodiment will be described. This modified example has a function of storing the endoscope shape user setting view state and a function of setting the user to the user setting view state. Specifically, ON / OFF of the endoscope shape user setting view state storage is set. By inputting TAB_key as a hot key to be performed, the endoscope shape user setting view state is stored, and by inputting / _key as a hot key for converting the endoscope shape to the stored view state, the view state is set to the internal state. A process for converting the endoscope shape is performed. The hardware configuration of the second modification is the same as that of the first embodiment, and the processing contents are partially different.
[0163]
FIG. 16 shows a flow of processing contents of the second modification. Steps up to step S53 are the same as those in FIG. Subsequent to step S53, a determination is made in step S15 as to whether or not there is a key input. That is, since keyboard input can be performed after step S53, it is determined whether or not the key input has been performed.
[0164]
If there is no key input, the process returns to the endoscope shape display routine of step S16, and then the process of displaying the scope model on the CRT by the process of displaying the scope model in step S17 is performed, and the process returns to step S53. Note that the endoscope shape display routine of step S16 and the scope model display processing of step S17 simply show the same processing as steps S42 ', S45, and S46 in FIG.
[0165]
On the other hand, if it is determined in step S15 that a key input has been made, it is determined in steps S18a and S18b whether the input is TAB_key or / _key.
[0166]
If it is determined that it is not TAB_key or / _key in steps S18a and S18b, the process proceeds to step S16.
[0167]
If it is determined that the current endoscope shape is the TAB_key, in the next step S19a, the view of the current endoscope shape display used and set by the user when the TAB_key is pressed is stored in the current user setting view storage process. The state of the parameter is written to a file or the like, stored (or recorded), and then the process proceeds to step S16.
[0168]
On the other hand, if it is determined to be / _key, in the next step S19b, the view parameter of the viewpoint setting at the time of displaying the endoscope shape stored by the operation of TAB_key is stored in a file or the like by the processing of the stored user setting view parameter set. And sets the parameters for displaying the endoscope shape, and then proceeds to the processing of the endoscope shape display routine in step S16. In this case, the endoscope shape is displayed based on each parameter read from the file.
[0169]
According to the second modification, when a user has a view state suitable for his / her preference when displaying an endoscope shape, the user can press TAB_key as a hot key for storing the view state. , The view parameters can be stored, and if display is desired, the user can press the / _key as a hot key to set the view parameters and set the view parameters. The endoscope shape can be displayed using the parameters.
[0170]
Therefore, according to the second modified example, each time the endoscope shape is displayed, the user does not need to perform the troublesome work of setting each parameter of the display, and can use the view parameters suitable for the user's preference and the like. An endoscope shape can be displayed, and a convenient environment for displaying an endoscope shape can be provided.
[0171]
Next, a third modification of the first embodiment will be described. In this modified example, the endoscope shape can be rotated by ± 90 ° in the horizontal direction and displayed by inputting a hot key. Specifically, when a key input of ROLLUP is performed, the endoscope is displayed. The shape is displayed by rotating the shape by + 90 ° in the horizontal direction, and when the key input of RILLDOWN is performed, the shape of the endoscope is rotated by −90 ° in the horizontal direction and displayed.
[0172]
The hardware configuration of the third modification is the same as that of the first embodiment, and the processing contents are partially different. FIG. 17 shows a flow of processing contents of the third modification. Steps S15, S16, and S17 are the same as those in FIG. If it is determined in step S15 that there is a key input, it is determined whether the input is a ROLLUP key input or a ROLLDOWN key input. The head angle is set to + 90 ° (that is, set to a value rotated by 90 ° in the positive direction around the Y axis), and in the case of a key input of RILLDOWN, the head angle is set to −90 ° (that is, negative) in step S20b. Is set to a value rotated by 90 ° in the direction of (1), and then the process proceeds to an endoscope shape display routine of step S16.
[0173]
Other parameters for shape display are used as they are (unchanged). According to the third modification, even in the case of the one-screen mode, by performing the key input of ROLLUP or ROLLDOWN, the endoscope shape from the direction perpendicular to the viewpoint direction in the shape display before the key input is performed. Can be displayed, and there is an advantage that the shape can be easily grasped.
[0174]
In other words, in the two-screen mode, the image from the set viewpoint direction and the image from the viewpoint direction orthogonal thereto are also displayed at the same time. It is possible to switch and display an image from an orthogonal viewpoint direction. Normally, in the two-screen mode, the user interface area on the right side of the screen is used as a graphics output area, and two screens orthogonal to each other are displayed side by side. In the case where the display is switched from the orthogonal viewpoint direction by the input operation of the hot key, it is possible to grasp numerically since the setting state is a state in which the setting state is always displayed on the right side as a numerical value.
In addition, when an image is photographed or recorded as a still image, the information of the setting state can be recorded at the same time, so that it is convenient to easily understand the state of the recorded image.
[0175]
In the third modification, an image in a state where the head angle is rotated by + 90 ° or −90 ° by the hot key can be displayed, but the pitch angle which is the rotation angle of the X axis or the rotation angle of the Z axis can be displayed. Similarly, an image rotated by + 90 ° or −90 ° may be displayed for a certain bank angle. For example, when a hot key that changes the pitch angle to be displayed can be used, an image from a viewpoint direction that is further orthogonal to the two orthogonal viewpoint directions displayed in the two-screen mode can be displayed, so that the shape can be further improved. It becomes easy to grasp. Note that one or two images in the two-screen mode may be displayed with a different pitch angle.
[0176]
Next, a second embodiment of the present invention will be described.
The second embodiment has means or functions for enabling selection and setting of the use mode of the marker. This means or function will be described below.
[0177]
The configuration of this embodiment is almost the same as the first embodiment. That is, the configuration is the same as that of FIG. 2 or FIG. 3, and in this embodiment, the system control unit 34 further uses the marker connected by an instruction (selection) from the operation unit 35 (more specifically, the keyboard 35a). Is selected and set, and a marker is displayed on the monitor 23 in accordance with the selection. The contents of the processing in this case are shown in the flow of FIG.
[0178]
Up to step S53 is the same as FIG. If the end is not selected in step S53, it is determined whether or not f · 9_key as a function key corresponding to a key input of a preset screen on which a marker mode can be changed in step S80 is pressed.
[0179]
If the f.9_key is pressed, the marker mode is set in step S81. On the preset screen, you can change the date, time and marker mode. Select the item to be changed with the arrow keys, set the cursor etc. at the marker mode change position, and press the return key to set the marker mode To
When the marker mode is set, the process proceeds to the marker mode determination (selection) process in step S82.
[0180]
In the marker mode selection process, the type of marker used for identification and the display mode (base model) are selected based on, for example, the marker mode number. For example,
It is determined whether the marker mode number is 0 or not, and if it is 0, the mode is set to a mode in which no marker is displayed. If it is not 0, the display mode is set to the display mode corresponding to the marker mode number in the display mode setting process of step S83. That is,
If the marker mode number is 1 as shown in step S83a, the single hand marker display mode is set and the marker is displayed in a circular shape.
[0181]
If the marker mode number is 2 as shown in step S83b, the display mode is set to one body marker display mode and the marker is displayed in a square.
[0182]
If the marker mode number is 3 as shown in step S83c, the display mode is set to the two hand markers display mode, and the marker is displayed in a square and a circle.
[0183]
If the marker mode number is 4 as shown in step S83d, the display mode is set to one body marker + one hand marker display mode, the body marker is displayed in a square, and the hand marker is displayed in a circle.
[0184]
Here, the body marker indicates that the marker is used as a reference position for drawing. For example, assuming that a marker coil is installed at the position of the anus, the endoscope shape inside the body is drawn from this position. In this case, an endoscope shape with a Y coordinate larger than the value of the Y coordinate where the marker coil is installed is drawn (the head side is set in the positive direction of the Y coordinate as shown in FIG. 13). .
[0185]
Alternatively, among the source coils on the probe side, the source coil located inside the detection area from the marker coil is drawn together with the drawing of the marker coil, with the position of the marker coil as the boundary position of the drawing range. In this case, the source coil in the probe which is located outside the detection area from the marker coil is not drawn.
[0186]
When the detection area is set, and when the marker coil is set outside the detection area, drawing is performed only with the source coil in the probe in the detection area. On the other hand, the hand marker mode is a drawing mode in which the position of the detected marker coil is simply displayed.
[0187]
In the next step S84, it is determined whether or not the mode is the body marker display mode. If it is determined that the mode is not the mode, the mode is the hand marker display mode, and the process of drawing the hand marker is performed in the next step S85. This process performs the following a to e (shown in a description that can be applied to the marker drawing process in step S90).
[0188]
a. The detected marker data is converted according to the set viewpoint.
b. In the case of the two-screen mode, a conversion process for further rotating by 90 ° is added.
c. The marker data on the space is constructed from the detected marker data and the base model data.
d. The marker data is transformed into two-dimensional coordinates by perspective projection transformation.
e. The marker data is converted into the actual display coordinates of the monitor based on the converted data, and each marker data is displayed.
[0189]
After the process of drawing the hand marker is performed in step S85, the process of drawing the scope model is performed in the next step S86, and the position of the hand marker is displayed on the CRT and the image in which the scope is modeled is displayed. If the marker mode number is 0 in the determination in step S82, the process proceeds to step S86, where the scope is displayed as a modeled image without performing marker drawing.
[0190]
On the other hand, when it is determined in step S84 that the mode is the body marker display mode, in step S87, a comparison is made on the Y coordinate, that is, a comparison of the body marker coordinate value <the scope coordinate value is performed. By this comparison, a source coil that satisfies the condition of being inside the detection area from the body marker is extracted. Then, it is determined in next step S88 whether or not the number of scope data satisfying this condition ≧ 3 (that is, whether or not the number of source coils satisfying this condition ≧ 3).
[0191]
If this determination is satisfied, the scope model is drawn in the next step S89, and the marker is drawn in the next step S90. This marker drawing process also performs the above steps a to e.
[0192]
On the other hand, if the condition of the number of scope data ≧ 3 is not satisfied in the determination in step S89, only marker drawing is performed in step S90 without performing scope model drawing. In this case, if the number of scope data is small, accurate shape estimation or the like cannot be performed, so that the scope model drawing is not performed.
[0193]
Note that the scope model drawing processing in steps S86 and S89 is the same as step S42 'in FIG. 14 except for the marker drawing processing. (In the second embodiment, the marker drawing processing is described separately from the scope model drawing processing. Is performed).
[0194]
In the first embodiment, for example, two hand markers are displayed as shown in FIG. 11, but according to the second embodiment, one is set as a body marker and the body marker is displayed as a square. The image 100 of the scope shape in the case is, for example, as shown in FIG. 41, and the scope shape portion at the Y coordinate position (upper in FIG. 41) larger than the Y coordinate position of the body marker m indicated by a square is displayed. . The display of the distal end of the scope in the image 100 will be described later.
[0195]
According to the second embodiment, since the display means for displaying the marker in the desired marker mode is also provided, the three-dimensional shape including the direction of the scope shape can be grasped from the reference display position of the marker on the image of the scope shape. Becomes easier. The other effects are the same as those of the first embodiment.
[0196]
Next, a modification of the second embodiment will be described. In this modified example, in addition to the function of the second embodiment, a marker position storage mode for storing a reference marker position such as an anus is provided. In this storage mode, the marker position at that time is changed by a hot key input operation. When the endoscope shape is displayed, a marker is displayed at the stored marker position (for example, with a mark that is easily distinguishable unlike a hand marker or the like).
[0197]
Specifically, when the marker mode numbers are 5 and 6, the function is added. Marker mode number 5 is selectable when one marker coil is connected, and marker mode number 6 is selectable when two marker coils are used. The configuration of this modification is the same as that of the second embodiment, and performs processing with additional functions. FIG. 19 shows a flow of processing contents in this modified example.
[0198]
In the processing shown in FIG. 19, the display mode setting processing in step S83 in FIG. 18 is changed to the contents as in step S83 'shown in FIG. 20, and between the steps S88 and S90 in FIG. And step S112 of displaying an anus marker (used as a reference marker like a body marker) at the stored marker position performed when the result of the determination is ON. To perform the following processing.
[0199]
That is, the process up to step S82 is the same as that of FIG. 18. If the marker mode number is not 0 in the marker mode selection process of step S82, the display mode setting process of step S83 'shown in FIG. 20 is performed. In this process, when the marker mode numbers are 1 to 4, the display modes are set to steps S83a to S83d, respectively, as in FIG.
Further, when the marker mode number is 5 or 6, the position storage mode is one or two markers, and the position storage mode (one marker) shown in step S83e or the position storage mode (two markers) shown in S83f, respectively. Set to display mode.
[0200]
After the processing of setting the display mode corresponding to the marker mode numbers 1 to 6 is performed in this manner, it is determined whether or not the INS_key as a hot key for turning on and updating the position storage mode shown in step S83g is turned on. Is performed.
[0201]
If the marker mode number 5 or 6 is selected and INS_key is pressed, the current marker position is stored as shown in step S83h, and the marker coil at the time INS_key is pressed is displayed. The position (coordinate value) is stored in another area of the memory or the like. After that, as shown in step S83i, a process of setting the marker mode to the number 1 (a process of setting to 3 in the case of two markers) by the process of the marker mode set is performed, so that the marker can be used as a hand marker. The process moves to the next step S84.
[0202]
That is, when the marker mode number 5 or 6 is selected, when the hot key for turning on the position storage mode is pressed, the marker position at that time is stored, and after this storage operation, one or two are stored. (A marker mode number of 5 or 6 can be used as a hand marker except when the hot key is pressed, that is, the hot key is pressed) Before and after the time may be used as a hand marker).
[0203]
In step S84, it is determined whether or not the mode is the body marker display mode. When the selected number is 1 to 4, the processing is the same as that in FIG. 18, but when the number is 5 or 6, the stored marker position is displayed. (The marker used to select the number 5 or 6 is processed as a hand marker as described in the marker mode set in step S83i described above). .
[0204]
That is, if the selected number is 1 or 3 (in this case, it is used for selection of numbers 5 and 6 and also includes the one set as the hand marker in the marker mode set), the process proceeds to step S85 and the selection is made. If the numbers are 2, 4, 5, and 6, the process proceeds to step S87.
[0205]
In step S87, when the numbers are 2 and 4, this is the same as in FIG. 18, and when the numbers are 5 and 6, the stored marker positions are regarded as the body markers with the numbers 2 and 4. A Y coordinate comparison process is performed in the same manner as described above. Then, in the next step S88, it is determined whether or not the number of scope data is 3 or more. If it is 3 or more, the scope drawing process is performed in step S89, and if less than 3, the scope drawing process is not performed. Then, the process proceeds to the next step S111.
[0206]
If it is determined in step S111 that the current mode is the position storage mode, it is determined that the current mode is the position storage mode. An anus marker as a marker is displayed (if the number is 6, a marker indicating the reference coordinate position (easy to identify) is displayed at another stored marker position in addition to the anus marker), Move to the next step S90.
[0207]
In the marker drawing process of step S90, a body marker is drawn, and when numbers 5 and 6 are selected, the process goes through to the next step S45.
[0208]
While the system is operating in the storage mode of numbers 5 and 6 after the system is started, even if the screen is switched to another screen and the display returns to the main display, the reference coordinate position stored by the hot key is retained. That is, the stored reference coordinate position is valid.
[0209]
Then, when the hot key is pressed next time, the stored contents of the marker position stored up to that time are updated, and the new marker position is stored. That is, it does not change until it is reset by the next hot key.
[0210]
According to this modification, if the position storage mode is selected and the hot key is pressed at a position desired as a reference position such as an anus, the reference position is stored, and a marker can be constantly displayed at the reference position. The marker used for the storage setting of the reference position can be used as a hand marker for displaying other positions.
[0211]
For this reason, it is possible to provide a single marker having a function as a function of a body marker and a function of a hand marker, which can be effectively used for displaying a reference position and the like. Further, even if the marker is not fixed at the reference position as in the case of using as a body marker, simply pressing the hot key with the marker set at the reference position can display the reference position without moving. There are also benefits.
[0212]
Note that a plurality of reference positions may be stored by one marker in the marker position storage mode. In this case, the number of reference positions to be stored may be selectively set. The display of the reference position stored and displayed may be arbitrarily released. In this case, if a marker is set at the displayed reference position and a hot key input operation is performed to compare the stored reference position with the new reference position and it is determined that they match, the content is deleted. May not be displayed.
[0213]
In the above description, the case where the number of markers is up to 2 has been described. However, the present invention is not limited to this, and the basic processing is the same even when the number of markers is 3 or more. The same can be handled simply by increasing the number. That is, the number of used markers can be set, and the details (the number used as hand markers and the number used as body markers) can be set.
[0214]
The number of markers that can be set and used may be determined regardless of the number of marker coils that are actually connected. However, the coil is sequentially scanned to apply a voltage, and whether or not a current actually flows is determined. Thereby, the connected marker coil can be automatically detected, and the marker mode that can be set accordingly can be limited.
[0215]
Next, a third embodiment of the present invention will be described. This embodiment has a function of freezing and displaying a shape. In most cases, the patient always moves delicately. In this case, the detected endoscope image also moves delicately, which may make it difficult to grasp the shape. Therefore, in this embodiment, the shape image displayed continuously is frozen to make it easier to understand the endoscope shape.
[0216]
FIG. 21 shows a flow of processing of an operation for displaying a frozen shape in this embodiment. Up to step S53 is the same as FIG. If f · 10_key has not been pressed, the freeze mode ON / OFF is determined in the next step S91. In addition, the process can proceed to step S71 in FIG. 14 or step S80 in FIG.
[0219]
The determination of the freeze mode ON / OFF is made based on the freeze flag. When the freeze flag is OFF and, for example, one of the function keys, vf · 2_key, is pressed, the freeze mode is turned ON, and the freeze flag is turned ON. When vf · 2_key is further pressed, the freeze mode is released and the freeze flag is turned off.
[0218]
When it is determined in step S91 that the freeze mode is OFF, that is, in the case of the moving image mode, a process of acquiring data of 12 points of the source coil attached in the scope is performed in step S92. After performing the data acquisition processing for all the source coils attached in the scope, it is determined in the next step S93 whether or not vf · 2_key has been pressed.
[0219]
If this vf.2_key is not pressed, it is determined in next step S94 whether CTRL + arrow key or CTRL ++ (or-) key as a key for instructing rotation / zoom of the scope image is pressed. When these keys are pressed, the input parameters are changed corresponding to the pressed keys (step S95), and the keys are rotated or zoomed. Then, the process proceeds to the processing of displaying the scope model in step S101, and the scope shape is displayed on the CRT. This scope model display process simply represents, for example, the process after step S42 'in FIG.
[0220]
In step S93, when vf · 2_key is pressed, a process of setting the freeze mode to ON is performed (step S96). Turn on the freeze flag and enter freeze mode. When this freeze mode is set, the scope shape is displayed on the CRT by using the data for shape display acquired before the freeze, without taking in new 12 points of data for the scope shape display. I do.
[0221]
On the other hand, when it is determined in step S91 that the freeze mode is ON, it is further determined in next step S97 whether or not vf · 2_key is pressed. If vf · 2_key is not pressed, it is determined in next step S98 whether CTRL + arrow key or CTRL + plus (or minus) key as a key for instructing rotation / zoom of the scope image is pressed. Do.
[0222]
When the key is pressed, the input parameters are changed corresponding to the pressed key (step S99), and the key is rotated or zoomed. Then, the scope model is displayed on the CRT. If no key is pressed in step S98, the scope model is displayed on the CRT without being rotated or zoomed.
[0223]
If vf.2_key is pressed in step S97, the freeze mode is turned off in the next step S100, and the scope model is displayed on the CRT in the moving image mode.
[0224]
According to the third embodiment, the display of the scope shape in the frozen mode and the display of the scope shape in the moving image mode can be freely selected. Therefore, if the display in the moving image mode is selected, the scope shape can be displayed in a state close to real time.
[0225]
On the other hand, when the display in the freeze mode is selected, the scope shape can be displayed in a still image state. For example, in a case where the movement of the patient is worrisome, such as displaying the shape at a site close to the heart, the scope shape can be displayed in a still image state by selecting the freeze mode. The shape of the scope can be easily grasped without being affected by the distance. In the case of the freeze mode, when the freeze mode is selected, the shape data immediately before is used, and it is not necessary to obtain the shape data that changes every moment after the selection or to perform the shape calculation process. The display of the scope shape can be performed in a short time. The other effects are the same as those of the first modification and the second embodiment of the first embodiment.
[0226]
Note that even when the freeze mode is selected, the user may be able to set the time interval for updating the scope shape data when displaying the scope shape in the freeze mode. In other words, when the freeze mode is set, the scope shape is displayed in a still image with one shape data until the freeze mode is released, and the scope shape is displayed in the still image with new shape data every set time in addition to the mode in which the scope shape is continuously displayed with one shape data. You may enable it to continue displaying sequentially.
[0227]
The third embodiment also has the functions of the flow shown in FIGS. 14 and 19, and its features and representative functions including those shown and not shown in the flow will be described below. First, it has the following features.
(1) Insert a dedicated (source) probe 15 into the treatment tool channel 13 of the endoscope 6 inserted into the patient, or use the dedicated endoscope (without using the probe 15 that can be installed in the channel 13). By using a source coil provided in the insertion portion of the endoscope), the insertion shape of the endoscope can be detected three-dimensionally and displayed as a continuous image.
[0228]
(2) By attaching a dedicated marker (the marker shown in FIG. 6 or a marker having a structure different from that shown in FIG. 6), the positional relationship with the endoscope shape can be known on the screen.
(3) The displayed endoscope shape image can be rotated and zoomed within the designated range.
[0229]
(4) The shape image moved by rotation and zoom can be returned to the initial state. (5) A continuously displayed shape image can be frozen.
(6) A comment can be overwritten on the displayed shape image.
(7) The following items can be displayed on the screen.
[0230]
・ Date and time
・ Patient data (patient ID, name, gender, age and date of birth)
·comment
(8) The following items can be entered and changed on the screen.
[0231]
・ Patient data (patient ID, name, gender, age and date of birth)
·comment
(9) Patient data can be input in advance, and the contents can be listed.
[0232]
(10) Date and time can be set.
(11) A mode using a marker can be set.
(12) Characters can be input and displayed on the entire screen.
(13) All characters displayed on the screen can be deleted.
(14) A stopwatch can be used on the screen.
[0233]
(15) The following functions can be used in combination with the multi-video processor.
・ Display / non-display of the endoscope shape image can be selected on the color monitor.
-The displayed shape image can be frozen on the color monitor.
Next, a usage example of a typical function and a specific display screen in that case will be described.
[0234]
FIG. 22 shows a more specific display example of FIG. That is, FIG. 22 shows a normal display screen in which a shape image is displayed on the display surface of the color monitor 23, and a shape image is displayed in a graphics output area (also referred to as a scope image display frame) G. The date and time and patient data (patient ID, name, gender, age, and date of birth) are displayed in the date and time & patient data output area D & P above G. The user interface area on the right side of the graphics output area G A main hot key and corresponding set information and a comment are displayed in K (also referred to as a comment display frame). In FIG. 22, for example, two hand markers indicating a reference position are displayed. In the drawings after FIG. 23, the notation of the output areas G, D & P, and K is omitted for simplification.
[0235]
In FIG. 22, for example, by selecting data input in the date and time & patient data output area D & P by operating a mouse or a keyboard, for example, the name of patient data can be input as shown in FIG. Of course, other data can be input or changed.
Next, functions set by the function keys will be described.
[0236]
[F ・ 1]… Stopwatch
1. Pressing the function key [f.1] once starts the stopwatch. At this time, the time is displayed above the comment display frame K on the right side of the screen. FIG. 24 shows the display screen when the stopwatch is starting.
[0237]
2. Pressing the function key [f · 1] again stops the stopwatch. FIG. 25 shows a display screen when the stopwatch stops.
3. When the function key [f · 1] is pressed again, the display of the stopwatch is erased.
[0238]
[F · 2] ... erase all characters
1. Pressing the function key [f.2] once deletes all characters on the screen. FIG. 26 shows a display screen in a state where all characters on the screen have been deleted.
2. When the function key [f · 2] is pressed again, the display returns to the initial state.
Note that patient data and comments input on the screen before using this function are invalidated by using this function, and are not displayed even if the display is returned to the initial state.
[0239]
[F.3] ... extended comment input
1. When the function key [f · 3] is pressed once, a comment can be input in the scope image display frame.
[0240]
In this state, by pressing [SHIFT] + arrow keys ([→], [←], [↑], [↓]), [→], [←], [↑] are displayed in the scope image display frame, respectively. ] And [↓] can be entered.
2. When the function key [f · 3] is pressed again, the display returns to the normal display state while the input character remains. FIG. 27 shows a display screen in which a tip comment and [→] have been input to indicate the tip of the insertion section.
[0241]
If the arrow keys ([→], [←], [↑], [↓]) are pressed without pressing the [SHIFT] key, the cursor moves in the direction of the pressed key. When a comment is input in the scope image display frame G using this function, the user can input “[SHIFT] + arrow keys ([→], [←], [↑], [↓], [+], [-]) ... Rotation / zoom of scope image "cannot be performed, so an extended comment is input after setting in advance.
[0242]
[F.4] ... Title screen display
1. When the function key [f.4] is pressed once, the screen is switched to an input screen of a title screen so that text can be input. FIG. 28 shows this title screen screen.
2. When the function key [f.4] is pressed again, the title screen input screen disappears and the display returns to the normal display state. The text entered at this time is backed up, so the same text will be displayed the next time you call.
The arrow keys ([→], [←], [↑], [↓]) are used to move the cursor.
[0243]
[F ・ 5]… Prior input of patient data
1. Pressing the function key [f.5] once switches to the patient data list screen. FIG. 29 shows this patient data list screen.
2. When the function key [f.5] is pressed again, the patient data list screen disappears and the display returns to the normal display state.
[0244]
3. On the patient data list screen, enter the number to be registered in "Seq. No." as a number from 1 to 20 and press the return key to enter a patient data pre-input screen for inputting data for each patient in advance. Is called and data can be registered. FIG. 30 shows this patient data pre-input screen.
[0245]
If the user presses the [HOME CLR] key as a key for deleting all data while waiting for the input of “Seq. No.”, all of the patient data 1 to 20 can be deleted.
4. On the data entry screen for each patient,
<Item><Format>
Patient ID → Up to 15 alphanumeric characters
Name → up to 20 alphanumeric characters
Gender → up to 3 alphanumeric characters
Age → up to 3 alphanumeric characters
Date of birth → DD / MM / YY (D: day, M: month, Y: year)
Can be entered.
To select an item, press the up and down arrow keys ([↑], [↓]) or the return key.
[0246]
The left and right arrow keys ([→], [←]) are used to move the cursor.
5. When the input is completed, the function key [f.6] is pressed to register the patient data. When registered, the screen changes to the next “Seq. No.” patient data input screen. Therefore, repeatedly press function key [f · 6] until “Seq. No.” becomes 20, or press the function key. Press [f.9] or end the pre-input function. Since the registered patient data is backed up, the same patient data is displayed in the next list.
[0247]
[F ・ 7]… Selection of patient data
1. Pressing the function key [f.7] once switches the screen to the patient data list screen.
2. When the function key [f.7] is pressed again, the patient data list screen disappears and the display returns to the normal display state.
[0248]
3. Enter the number you want to select for "Seq. No." on the patient data list screen as a number from 1 to 20 and press the return key. Data for each patient is called at the top of the normal screen, and the patient Data can be displayed. That is, patient data can be selected. FIG. 31 shows a patient data list screen in which patient data input on the patient data pre-input screen of FIG. 30 is selected and displayed.
If the [HOME CLR] key is pressed when "Seq. No." is selected, all of the patient data 1 to 20 can be deleted.
[0249]
[F · 8] ... cursor display switching
1. When the function key [f.8] is pressed once on the normal display screen or the comment extended display screen, a cursor is displayed. The part where the cursor blinks is a position where the cursor can be input. FIG. 32 shows a display screen of this cursor.
2. When the function key [f · 8] is pressed again, the cursor disappears.
[0250]
[F.9] ... change of initial settings
1. When the function key [f · 9] is pressed once, the screen is switched to a preset screen for changing the initial settings. On the preset screen, the date and time can be changed, and the marker mode can be changed so as to correspond to the place (country) used, daylight saving time, and the like.
As described with reference to FIGS. 19 and 20, as the marker mode, in addition to the mode not using a marker, one hand marker, one body marker, two hand markers, a hand marker + body marker, and a marker The position can be selected from a memory marker position (1 marker mode) for storing the position and a memory marker position (2 marker mode).
[0251]
To select an item, press the up and down arrow keys ([↑], [↓]) or the return key. FIG. 33 shows this preset screen. The left and right arrow keys ([→], [←]) are used to move the cursor.
2. When the function key [f · 9] is pressed again, the preset screen disappears, the display returns to the normal display state, and the changed setting is set. If no item is changed, the display returns to the normal display state with the previous setting.
[0252]
[CTRL] + [→]
[CTRL] + [←]
[CTRL] + [↑]
[CTRL] + [↓]… rotate / zoom scope image
[CTRL] + [+]
[CTRL] + [-]
[Vf.1]
1. Pressing [CTRL] + left / right arrow keys ([→], [←]) rotates the scope image about the Y axis. FIG. 34 shows a shape image when, for example, FIG. 31 is rotated by 50 ° around the Y axis. The rotation amount is displayed in the comment frame.
[0253]
2. Pressing [CTRL] + up / down arrow keys ([↑], [↓]) rotates the scope image about the X axis. FIG. 35 shows a shape image when, for example, FIG. 31 is rotated by −75 ° around the X axis. The rotation amount is displayed in the comment frame.
3. Pressing [CTRL] + [+] moves the scope image away, and pressing [CTRL] + [-] moves the scope image closer. FIG. 36 shows a shape image when [CTRL] + [+] is pressed to zoom out (reduce), and FIG. 37 shows a shape image when [CTRL] + [−] is zoomed in (enlarged).
[0254]
In FIG. 36, the viewpoint indicating the distance increases, and in FIG. 37, the viewpoint decreases.
4. When the function key [vf · 1] is pressed, the viewpoint changed by the above operations 1 to 3 returns to the initial setting.
[0255]
[Vf ・ 2]… Freeze scope image
1. Pressing the function key [vf · 2] once freezes the scope image.
2. When the function key [vf · 2] is pressed again, the freeze is released.
[0256]
[Vf.3] ... Switch display of scope image
1. When the function key [vf · 3] is pressed once, the scope image displayed in the wire frame is displayed in a solid color. The shape images shown in FIG. 22 and thereafter (up to FIG. 37) are displayed in a wire frame (an example of a wire frame display is shown in a circle obtained by enlarging a part of FIG. 37), but [vf · 3] By pressing, the scope image is displayed in a solid color as shown in FIG.
2. When the function key [vf · 3] is pressed once more, the painting is canceled and displayed in a wire frame.
[0257]
(5) Other functions
・ Video output operation with multi video processor
[Vf ・ 4]… Freeze video image
-Pressing the function key [vf.4] once freezes the scope image displayed on the video monitor. Press again to release the freeze.
[Vf.5] ... Superimpose of video image
When the function key [vf.5] is pressed once, the video image (endoscope image) is superimposed on the scope image displayed on the video monitor. Press again to cancel the superimpose.
Note that these functions cannot be used unless the connection to the multi-video processor enables video signal output.
[0258]
In the case of endoscopy, the operator naturally observes the actual endoscope screen and pays attention to the presence or absence of a lesion. Therefore, it is necessary to observe images projected on a plurality of monitors, and it is expected that the burden on the surgeon will increase.To improve this, superimpose the image on the display screen of the endoscope image. The scope shape can be displayed.
[0259]
In this case, if the output of the endoscope shape detecting device is a signal different from a general video signal, the signal is converted into a normal video signal and output. For this conversion, a device called a scan converter is used. The operation of the scan converter, which is another device different from the endoscope shape detection device, can be operated by controlling the operation of the scan converter by controlling the personal computer in the shape detection device body via RS-232C or the like. There are cases.
[0260]
By connecting the endoscope shape detection device to the multi-video processor (and the endoscope shape) via the scan converter and displaying the endoscope shape on the video monitor, it is possible to control the freeze of the video image as described above.
Also, superimposition of video images can be controlled. When the output of the endoscope shape detecting device is a signal of the same standard as a general video signal, the same function can be realized by connecting the endoscope shape detecting device to a multi-video processor without passing through a scan converter.
[0261]
In recent years, there is hardware (specifically, a device capable of high-speed A / D conversion) that takes in a normal video signal and displays it on the screen of a personal computer or a workstation. Alternatively, an endoscope observation image may be displayed on a monitor of the shape detection device.
[0262]
[HELP]: Scope image 2 screen display
1. When the [HELP] key is pressed once, the scope image is displayed simultaneously in two directions, horizontal and vertical. FIG. 39 shows a screen of a scope image two-screen display. In a state where the viewpoint direction is not changed, a scope shape in the vertical direction (from the Z-axis direction) is usually on the left side and a scope shape in the horizontal direction (from the X-axis direction) is on the right side. Is displayed.
In the scope image two-screen display mode, the functions of [vf · 1] to [vf · 5] and the inspection end function of [f · 10] function as in the normal one-screen display mode.
[0263]
2. In addition, the scope image rotation and zoom functions function simultaneously on two screens.
Note that comments input on the screen before using this function are invalidated by using this function and are not displayed.
[0264]
[HOME_CLR]: Inspection range reference plane display ON / OFF
1. Pressing the [HOME_CLR] key once does not display the cube indicating the inspection range reference frame. FIG. 40 shows a screen in a state where the inspection range reference frame is not displayed, that is, the inspection range reference frame is deleted and the scope image is displayed.
2. When the [HOME_CLR] key is pressed again, the state is switched to a state in which the inspection range reference frame is displayed.
[0265]
In the above description, in the two-screen mode, it has been described that the scope shape can be displayed from a direction in which the viewpoint directions are different from each other by 90 °. However, the scope shape can be displayed from two directions in which the viewpoint directions are different from each other by 90 °. Including. In the two-screen mode, date and time data and patient data may be simultaneously displayed, or data display / non-display may be selected.
[0266]
In the two-screen mode, the viewpoint direction can be changed at the same time while the scope shapes are displayed from directions different from each other by 90 °. Further, the viewpoint direction of only one image of the scope shape can be changed. In this case, the viewpoint directions of the two images are different from 90 °.
[0267]
In the single screen mode, the scope shape is displayed in the graphics output area G below the date and time & patient data output area D & P as shown in FIG. 22, but in the area including the date and time & patient data output area D & P. The scope shape may be displayed. These may be selected and displayed. Further, the scope shape may be displayed in an area including the graphics output area G and the user interface area K, or a maximum display area (or a maximum display screen size) including the three areas D & P, G, and K. May be used to display the scope shape.
As described above, since the third embodiment has various functions regarding the display method and the like, it is very easy to understand the shape in the patient's body from the displayed endoscope shape.
[0268]
In the above-described embodiment and the like, the direction of the scope shape is easily grasped by displaying a marker or the like. However, for example, the distal end side of the endoscope shape displayed as shown in FIG. Changes the display method (e.g., displays only the leading edge in a different color from the rest, that is, changes the display color. In addition, displays the leading edge arrow, blinks the leading edge, If the other part is displayed in wireframe, the drawing model is changed, such as displaying the tip part with a paste model that fills in.) The tip side can be easily grasped from the displayed image. Alternatively, the shape of the scope may be easily determined so that the shape of the scope can be easily determined.
[0269]
If the number of the arranged three-axis sense coils 22j is increased, the position of the source coil 16i can be detected with higher accuracy, and the endoscope shape can be estimated with higher accuracy.
Note that different embodiments can be configured by partially combining the above-described embodiments and the like, and these also belong to the present invention.
[0270]
Further, a different embodiment can be configured by combining with the contents of a previous application (Japanese Patent Application No. Hei 6-137468) filed by the present inventor (for example, the source coil 16i on the probe 15 side disposed in the insertion portion). The three-axis sense coil 22j arranged at a known position around the subject such as the bed 4 may be replaced (see FIG. 60 of the earlier application), or three orthogonal planes may be used instead of the three-axis sense coil 22j. May be used (see FIGS. 53 to 56 of the previous application), the source coil 16i may be driven wirelessly, or the marker may be driven wirelessly. (See FIGS. 75 to 78 of the earlier application), or the source coils 16i may be simultaneously driven at different frequencies (see FIGS. 49 to 51 of the earlier application). Reference), the source coil 16i may be driven at a phase angle at which the influence of the transient response is reduced (see FIGS. 44 and 45 of the prior application), and the scope-shaped image and the background image may be used. The peripheral image may be displayed in a superimposed manner (see FIGS. 73 and 74 of the earlier application), or an actual image of an endoscope may be used instead of displaying a scope-shaped image as a computer graphic image such as a wire frame. The corresponding texture image may be called up from the memory in which is stored and displayed (see FIGS. 69 and 70 of the previous application), or other embodiments may be used. Belongs to.
[0271]
[Appendix]
(1) The endoscope shape detecting device according to claim 1, further comprising a shape detecting means.
(2) The endoscope shape detection device according to Appendix 1, wherein the shape detection means uses a reference surface for shape detection as a bed.
(3) The endoscope shape detecting device according to claim 1, further comprising a marker display unit for associating a positional relationship with the endoscope on the screen.
(4) There is provided an initial state setting means for returning the shape image rotated and rotated to the initial state.
(5) The endoscope shape detecting device according to supplementary note 3, further comprising a setting unit configured to use the marker.
(6) The endoscope shape detecting device according to claim 1, further comprising an erasing means for erasing all characters displayed on the screen.
[0272]
【The invention's effect】
As described above, according to the present invention, an insertion shape of an endoscope inserted into a body cavity is detected using a magnetic field, and an endoscope shape detection device that displays the detected endoscope shape has a reference plane. The user can visually determine the position of the endoscope from the reference plane and the direction of the patient's head, making it easier to grasp the shape of the endoscope inserted inside the subject, such as a patient. Have.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram of an endoscope system having a first embodiment of the present invention.
FIG. 2 is a block diagram illustrating a configuration of an endoscope shape detection device according to the first embodiment.
FIG. 3 is an overall configuration diagram of an endoscope shape detection device.
FIG. 4 is a configuration diagram of a three-axis sense coil and a probe.
FIG. 5 is an explanatory diagram showing how a position of a source coil in a probe is detected using a plurality of sense coils.
FIG. 6 is a sectional view showing a configuration of a marker probe.
FIG. 7 is a flowchart showing the processing contents of the endoscope shape detection device.
FIG. 8 is a flowchart of a scope model drawing process for displaying an endoscope shape in the two-screen mode and the one-screen mode.
FIG. 9 is a flowchart of a scope image depiction process.
FIG. 10 is a flowchart of a scope image depiction process in an n-prism model.
FIG. 11 is an explanatory diagram showing an output image of an endoscope shape displayed on a monitor screen in a one-screen mode.
FIG. 12 is an explanatory diagram showing an endoscope-shaped output image displayed on a monitor screen in a two-screen mode.
FIG. 13 is an explanatory diagram showing a coordinate system fixed to a bed.
FIG. 14 is a flowchart showing display / non-display of a display frame of an inspection range in a first modified example of the first embodiment.
FIG. 15 is an explanatory diagram showing an endoscope-shaped output image with display and non-display of an inspection range.
FIG. 16 is a flowchart for storing and setting view parameters of an endoscope shape display in a second modified example of the first embodiment.
FIG. 17 is a flowchart showing a display in which the endoscope shape in the third modified example of the first embodiment is rotated by 90 ° in the horizontal direction and displayed.
FIG. 18 is a flowchart of a process for displaying a marker in a selected marker mode according to the second embodiment of the present invention.
FIG. 19 is a flowchart showing a marker display process having a function of a position storage mode in a modification of the second embodiment.
FIG. 20 is a flowchart showing the contents of a display mode setting process in FIG. 19;
FIG. 21 is a flowchart of a process of an operation of displaying a frozen shape according to the third embodiment of the present invention.
FIG. 22 is a view showing a specific example of a normal display screen.
FIG. 23 is a view showing a specific example of a state of data input in a name column on a normal screen.
FIG. 24 is a diagram showing a specific example in which the stopwatch is operating.
FIG. 25 is a diagram showing a state where the stopwatch is stopped in FIG. 24;
FIG. 26 is a view showing a specific example of a state in which all characters are deleted.
FIG. 27 is a view showing a specific example of a state in which an extended comment is input.
FIG. 28 is a view showing a specific example of title screen display.
FIG. 29 is a diagram showing a specific example of a patient data list.
FIG. 30 is a diagram showing a specific example of a pre-input screen for patient data.
FIG. 31 is a view showing a specific example of a display when the patient data of FIG. 30 is selected.
FIG. 32 is a view showing a specific example of a state where a cursor is displayed in a comment frame.
FIG. 33 is a view showing a specific example of a preset screen for changing initial settings.
FIG. 34 is a view showing a specific example of display when the scope image is rotated around the Y axis.
FIG. 35 is a view showing a specific example of display when a scope image is rotated around the X axis.
FIG. 36 is a view showing a specific example of display when the scope image is zoomed out.
FIG. 37 is a view showing a specific example of a display when a scope image is zoomed in;
FIG. 38 is a diagram showing a specific example of display switching when displayed with a filled scope image.
FIG. 39 is a view showing a specific example of display when a scope image is displayed on two screens.
FIG. 40 is a view showing a specific example of display when the display range frame is deleted.
FIG. 41 is a view showing a display example when a front end portion is displayed in a display mode different from that of another model drawing.
[Explanation of symbols]
1. Endoscope system
2. Endoscope device
3. Endoscope shape detection device
4 ... bed
5 ... Patient
6 ... Endoscope
7. Insertion part
11 Video processor
12 ... Color monitor
13 ... Channel
15 ... Probe
16i: Source coil
19 ... Tube
21: Shape detection device body
22j ... 3-axis sense coil
23… Monitor
24: source coil drive unit
26 Detector
30: Shape calculation unit
31 ... Position detector
32 ... Shape image generation unit
33 monitor signal generator
34 ... System control unit
35 ... Operation unit
35a… Keyboard
36a, 36b ... marker

Claims (3)

In an endoscope shape detection device that detects the insertion shape of the endoscope inserted into the body cavity using a magnetic field and displays the detected endoscope shape,
Existence area detection means for detecting the existence area of the endoscope inserted into the body cavity when performing an endoscopy,
Symbol display means for displaying a symbol of the presence area detected by the presence area detection means,
Display control means for displaying the symbol display by the symbol display means based on the presence area detected by the presence area detection means, and the detected endoscope shape in a positional correspondence,
An endoscope shape detection device comprising: 2. The endoscope shape detecting device according to claim 1, wherein the display control means displays a marker that associates a positional relationship of the patient who undergoes the endoscopic examination. The endoscope shape detection device according to claim 1, wherein the display control unit controls whether or not to perform symbol display by the symbol display unit in accordance with the selection.

Images