JP3506770B2 - Endoscope position detection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a magnetic field generating element and a magnetic field detection.
Endoscope position detection using an element to detect the position of the endoscope
Equipment related. [0002] 2. Description of the Related Art In recent years, endoscopes have been used in medical and industrial fields.
Widely used in the field. This endoscope is especially
If the entry is soft, insert it into a bent body cavity.
Deeper diagnosis of internal organs without incision
If necessary, insert a treatment tool into the channel to
Therapeutic treatment such as resection of the soup can be performed. In this case, for example, from the anal side to the lower digestive tract
Insert the insertion part into a bent body cavity as in
When some skill is required for smooth insertion
There is. [0004] That is, when the insertion work is performed,
Bending the bending part provided in the insertion part according to the bending of
Work is required for a smooth insertion,
The position of the tip of the insertion section in the body cavity
Or, if it is possible to know the current bending state of the insertion
It is profitable. For this reason, for example, Japanese Patent Application Laid-Open No. 3-295530
In the official gazette, the antenna for reception (coil) provided in the insertion section is
And the transmitting antenna (antenna coil) provided outside the insertion section.
) To detect the insertion state of the insertion section.
You. [0006] Japanese Patent Application Laid-Open No. Hei 5-177000
In the catheter guide device, the transmitting means is the tip of the catheter, etc.
And receive the signal to determine the position of the transmitting means
Are disclosed. In US Patent 4,176,662,
Emits a burst wave from the transducer at the end of the endoscope.
Detected by multiple surrounding antennas or transducers
To plot the tip position on a CRT
Have been. In addition, US patent 4,821,731
Rotates a quadrature coil outside the body and attaches it to a catheter inside the body
Of the catheter tip from the output of the sensor
Is disclosed. [0008] PCT application No. GB91 / 01431
In the published gazette, an XY around an object into which an endoscope is inserted is described.
A large number of dipole antennas are arranged in a grid
The signal obtained by the coil built into the endoscope
A conventional example for deriving the position of the endoscope is disclosed. [0009] [Problems to be solved by the invention]
In the conventional example, it is built into the endoscope to detect the position or shape.
Insufficient consideration has been given to the method of fixing coils
Was. Therefore, when inserting the endoscope into the patient,
Due to the bending of the insertion section, the built-in object inside the endoscope moves,
Of the coil for position detection due to friction etc.
And the coil may be deformed. When a coil is deformed, the coil generates
The induced magnetic field changes, or the induced signal
Since the level changes, highly accurate position detection or
The disadvantage is that shape detection becomes impossible. The present inventionThe purpose of the
The protection and fixing of the output element can be realized by one member,
Endoscope position detection device that enables highly accurate position detection
To provide. [0012] SUMMARY OF THE INVENTION An endoscope position detecting apparatus according to the present invention is provided.
The device is inserted into the flexible insert of the endoscopeProvided
A magnetic field generating element for generating a magnetic field and detecting the generated magnetic field
One of the magnetic field detecting elementsThe insertion part is inserted
Generating the magnetic field located at a known position around the subject
The other of the element and the magnetic field detecting element and the magnetic field generating element.
The magnetic field generated by the raw element is detected by the magnetic field detecting element
The magnetic field located at the known position from the detected signal
In the insertion portion for the generating element or the magnetic field detecting element
The magnetic field detecting element or the magnetic field generating elementCalculate the position of
Position calculating means,Having flexibility in the insertion portion.
Tube member is provided, and the magnetic field is generated by an insulating member.
The raw element or the magnetic field detecting element is covered and
The magnetic field generating element or the magnetic field detecting element is a member.
Configured to be fixed to the tube memberFeatures
And [0013] [0014] BRIEF DESCRIPTION OF THE DRAWINGS FIG.
Will be explained. FIGS. 1 to 43 show a first embodiment of the present invention.
Are shown. As shown in FIG. 1, an endoscope system 1
Is an endoscope apparatus 2 for performing inspections and the like using the endoscope 6,
Used together with the endoscope device 2, the position of the insertion section 7 of the endoscope 6
The function of the first embodiment for detecting the position is provided.
Estimating the shape of the image and displaying the image corresponding to that shape
And an endoscope shape detecting device 3. The bed 4 (for endoscopy) contains a subject and
3 is placed in the body cavity of the patient 5 as shown in FIG.
The insertion portion 7 of the endoscope 6 shown in FIG. This endoscope 6
Is formed in the elongated and flexible insertion portion 7 and the rear end thereof.
The operation unit 8 has a wide width and extends from a side portion of the operation unit 8.
And a universal cable 9
At the end of the cable 9, a connector 9A is provided.
The connector 9A is connected to the light source unit 36 in the video processor 11.
Detachable and can be connected. A signal cable is further connected from the connector 9A.
9B is extended and provided at the end of the signal cable 9B.
The signal connector 9C is connected to a signal processor in the video processor 11.
It can be detachably connected to the controller 37. As shown in FIG. 4, the insertion portion 7 transmits illumination light.
The light guide 38 to be fed is inserted,
38 is a universal cable extended from the operation unit 8.
The cable 9 is inserted through the cable 9 and reaches the terminal connector 9A. this
The end face of the connector 9A is provided with a lamp 36A in the light source section 36.
Illumination light is supplied from the
To form the illumination light emitting means at the tip of the insertion portion 7.
) Illumination light transmitted from the tip surface attached to the illumination window
Is emitted forward. The illumination light emitted from the illumination window is illuminated.
The illuminated subject such as the inner wall or affected area in the body cavity is
Objective lens attached to observation window formed adjacent to bright window
A solid-state imaging device disposed on the focal plane by the
An image is formed on the CCD 29. The CCD 29 is a CC in the signal processor 37.
CCD drive signal output from D drive circuit 37A
Signal is applied, photoelectric conversion (with CCD 29)
The read image signal is read out and inserted through the insertion section 7 or the like.
The signal is processed by the signal processing circuit 37B through the
Is converted to a standard video signal and output to the color monitor 12.
Then, an image is formed on the photoelectric conversion surface of the CCD 29 by the objective lens 39.
The endoscope image is displayed in color. The operation section 8 is provided with a bending operation knob 8A.
By rotating the knob 8A,
Bendable portion 7A formed near the tip of the insertion portion 7
To bend the body passage that is bent
Smooth by bending the tip side along the song
So that it can be inserted into Further, as shown in FIG.
A hollow channel 13 is formed in the insertion portion 7,
A forceps or the like is inserted through the insertion port 13a at the base end of the channel 13.
By inserting the treatment tool, the distal end of the treatment tool
7 to protrude from the channel outlet at the tip
To perform a biopsy or therapeutic procedure. The channel 13 (inserted into the body cavity)
A probe for detecting the position and shape of the inserted insertion portion 7)
Probe 15 and insert the probe 15
Can be set at a predetermined position in the console 13. Figure 5
The probe when the probe 15 is fixed in the channel 13
1 shows an example of the tip side of the probe 15. As shown in FIG. 5, the probe 15 has a magnetic
Source coils as magnetic field generating elements that generate a field
16a, 16b, ... (represented by reference numeral 16i) are insulated
In a flexible and flexible tube 19 having a circular cross section, for example,
At a constant interval d, the inner wall of the tube 19
It is fixed with an adhesive 20. Each source coil 16i is made of, for example, an insulating hard material.
A cylindrically-shaped core 10 is wound with an insulated conductor.
Composed of a solenoid-shaped coil
The surface is coated with an insulating adhesive 20 to form the coil 10
To the tube 19
Also fixed to the inner wall. Then, the tube 19 is bent and deformed.
In this case, each source coil 16i is connected to the hard core 10
Is wound around and fixed with the adhesive 20.
The source coil 16i itself has a structure that does not deform its shape.
The function of generating the magnetic field is when the tube 19 is deformed.
Even if it is, it will be unchanged. Also, for example, a source coil at the end (tip)
The position of 16a corresponds to the exit surface of the channel 13 (the tip thereof).
Faces) so that the most advanced saw
By detecting the position of the coil 16a, the endoscope 6
Position of the distal end surface of the insertion section 7 (more precisely,
Of the length of the source coil 16a (in the axial direction of the insertion portion 7).
(Only two positions behind). The position of the source coil 16a at the tip is an endoscope.
6 at known positions and at regular intervals d.
Source coil 16i, each source coil 1
The position of 6i is set to a known position in the insertion section 7 of the endoscope 6.
And the position of each source coil 16i is
By detecting, the discrete position of the insertion portion 7 of the endoscope 6 is determined.
(More precisely, the position of each source coil 16i)
it can. By detecting these discrete positions,
And the position between them can be almost estimated, and
Insertion of the endoscope 6 inserted into the body cavity by detecting the position
The shape of the part 7 can be obtained. The outer diameter near the tip of the probe 15 is different
Slightly larger than the part of
It is good to be able to be positioned and installed in close contact with the nearby inner wall
No. And when it is no longer necessary to display the endoscope shape
(For example, insert to the vicinity of the target site deep inside the body cavity
In order to smoothly insert the distal end of the part 6,
Use the display of the endoscope shape),
Pull to remove the probe 15 at hand,
13 may allow a treatment tool or the like to be inserted. Leads connected to each source coil 16i
The line 17 is provided at the rear end of the probe 15 or the probe 1
5 The connector provided at the rear end of the cable extending from the rear end
Connector 18 which has an (endoscope) shape
It is connected to the connector receiver of the detection device main body 21. Soshi
As described later, a drive signal is applied to each source coil 16i.
Is applied to generate a magnetic field used for position detection. FIG. 6 shows the structure of a modified probe 15 '.
Show. The probe 15 'is an insulating member and has flexibility.
Flexible support member in a sheath tube 19 '
A source coil 16i is attached at every fixed distance d to 46
Can be The support member 46 is moved in the longitudinal direction (in the insertion portion 7).
(When placed in the axial direction of the insertion part 7)
The sheath tube 19 'is made of a member having no property.
Even when bent, the interval between the source coils 16i is constant.
I am trying to become. Each source coil 16i is made of a magnetic material 47 made of copper wire.
48 formed by a coil wound around two wound terminals
One of the copper wires is shared, for example, along the support member 46.
The copper wire 48 extended from the other terminal
Each of the source coils 16i extends rearward and has a sheath.
Connection of the connector 49 (see FIG. 3) at the proximal end of the tube 19 '
Connected to a point. Note that each source coil 16i is configured
Do not share one of the two terminals of each coil
It may be extended to the rear side with two copper wires each.
No. The magnetic material 47 of each source coil 16i passes through
A through hole is provided, and the support member 46 is passed through the through hole, and
It is fixed at a constant interval d with an edge adhesive 20.
You. When the sheath tube 19 'is made thin,
Part is crushed by the force from the
Inside the sheath tube 19 '.
Around the source coil 16i.
Material 50 is filled. At the tip of the sheath tube 19 ',
Channel with a spherical tip 55 attached
13 has improved slippage when inserted. Also,
No break between rear end of tube 19 'and connector 49
56 are provided. Also, the connector 49 is handled by the surgeon.
For ease of disinfection and sterilization considering the connector
It is covered with a cap 57. In FIG. 3, this probe 15 'is connected to a channel.
FIG. In FIG. 3, the probe 15 '
In addition, a structure that allows insertion of forceps etc. through the insertion port 14
are doing. The source coil 16i is as shown in FIG. 5 or FIG.
May be constituted by a single-axis coil, or as shown in FIG.
As described above, the structure is the same as that of the three-axis sense coil 22j (described later).
And the three-axis source coil 16i. When formed by three-axis source coil 16i
Are made of non-magnetic or magnetic material, for example, cubic
Is formed by winding three coils around a hard core 10
You. By using the non-magnetic core 10, adjacent
Affects the magnetic field distribution generated by other source coils.
It may be omitted, or it can be
If not close, use a magnetic core 10
A source coil as a magnetic field generating element with a coil wound
May be configured. Further, as shown in FIG.
Make a hole in the part where the coil is not wound, and
Through the lead wires 17 connected to both ends of the
(One end of each coil can be common). In addition, the core 10
Without, for example, three including the hollow part of three coils
Of the coil is fixed with an insulating adhesive
good. Also, as shown in FIG.
For example, in three corners, a magnetic field detection element for detecting a magnetic field is provided.
Triaxial sense coils 22a, 22b, 22c as slaves
(Represented by 22j) are attached.
The sense coil 22j is a cable extended from the bed 4.
Is connected to the main body 21 of the shape detecting device. The three-axis sense coil 22j is as shown in FIG.
Each in three directions so that each coil surface is orthogonal
And each coil is axially perpendicular to its coil plane.
A signal proportional to the strength of the component magnetic field is detected. The shape detecting device main body 21 has a three-axis sense.
Of each source coil 16i based on the output of the coil 22j.
Detecting the position and inserting the endoscope 6 inserted into the patient 5
The shape of the part 7 is estimated, and a computer corresponding to the estimated shape is
The monitor graphic image is displayed on the monitor 23. The endoscope shape detecting device 3 utilizes magnetism.
Therefore, if there is a metal that is not transparent to magnetism, iron loss
The source for generating the magnetic field
Between the coil 16i and the three-axis sense coil 22j for detection
Affects mutual inductance. Generally, mutual in
When the conductance is represented by R + jX, (transparent to magnetism
No metal will affect both R and X)
You. In this case, it is generally used for detecting a minute magnetic field.
The amplitude and phase of the signal measured by quadrature detection
It will be. Therefore, detect the signal with high accuracy
In an environment where the generated magnetic field is not affected.
Is desirable. To achieve this, a magnetically transparent
The material (in other words, a material that does not affect the magnetic field)
You just need to make C4. Examples of this magnetically transparent material
For example, resin such as Delrin, wood, non-magnetic material metal
Good. Actually, the position of the source coil 16i is detected.
Uses an alternating magnetic field, so that
It may be formed of a material which does not affect the air. So, in the book
Endoscope shown in FIG. 1 used with endoscope shape detecting device 3
The inspection bed 4 has at least the frequency of the generated magnetic field.
Is made of a magnetically transparent non-magnetic material. FIG. 2 is a schematic configuration of the endoscope shape detecting device 3.
Is shown in a block diagram. Installed in the channel 13 of the endoscope 6
The source coil 16i in the probe 15
A drive signal is supplied from the coil drive unit 24, and the drive signal
A magnetic field is generated around the source coil 16i to which the signal is applied
I do. The source coil driving section 24 (the magnetic field generator)
The AC signal supplied from the oscillation unit 25 is amplified and
A drive signal for generating a necessary magnetic field is output. oscillation
The AC signal of the unit 25 is a three-axis sense provided on the bed 4.
For detecting a small magnetic field detected by the coil 22j.
(Mutual inductance) sent to the detection unit 26 as a reference signal
Will be issued. The minute amount detected by the three-axis sense coil 22j
The magnetic field detection signal is increased by the (sense coil) output amplifier 27.
After the width, it is input to the detection unit 26. In the detection unit 26
Amplify and quadrature detection (synchronous detection)
Wave) and related to the mutual inductance between the coils
Get the signal. The existence of a plurality of source coils 16i
Drive to the lead wire connected to each source coil 16i
Switching means for switching to supply signals sequentially
(Source coil drive current) distributor 28
It exists between the drive unit 24 and the source coil 16i. The signal obtained by the detection unit 26 is
(Source coil) position detecting unit (or
Analog signal input to the position estimating unit 31
Is converted into a digital signal to calculate position estimation or position estimation
Is calculated for each source coil 16i.
Obtain location information. This position information is stored in the shape image generation unit 32.
Is interpolated between the obtained discrete position information
Graphic processing such as interpolation processing to insert the endoscope 6 (
Estimate the shape of part 7) and image corresponding to the estimated shape
Is generated and sent to the monitor signal generation unit 33. The monitor signal generator 33 generates an image corresponding to the shape.
RGB, NTSC or PAL video signal representing the image
Is generated, output to the monitor 23, and displayed on the display surface of the monitor 23.
An image corresponding to the shape of the insertion section of the endoscope 6 is displayed. The position detecting section 31 detects one position.
After the calculation is completed, a switching signal is sent to the distributor 28.
Supply a drive current to the next source coil 16i,
Perform position detection calculation (before each position detection calculation is completed)
, A switch signal is sent to the distributor 28, and the sense coil
The signals detected at 22j are sequentially stored in the memory
May be). The system control section 34 is composed of a CPU or the like.
And a position detector 31, a shape image generator 32, and a monitor.
The operation of the signal generator 33 is controlled. Also, this system
An operation panel 35 is connected to the system control unit 34.
Operate the keyboard and switches on the panel 35
To select an endoscope-shaped drawing model or monitor 2
The shape of the endoscope displayed in 3 with respect to the selected viewing direction
Can be changed to a different display state. The shape calculator 30 shown by the dotted line in FIG.
Including software. Further, the endoscope shape detecting device shown in FIG.
Reference numeral 3 denotes the endoscope position detecting device of the first embodiment.
In FIG. 6, the mirror position detecting devices are denoted by reference numerals 16i, 22j, 24 to
28 and 31. The configuration of the endoscope shape detecting device 3 is
FIG. 8 shows a physical representation. That is, the oscillation unit 25
An oscillator 25a is provided.
It is amplified by the constituent amplifier 24a and forms the distributor 28.
A plurality of sources are switched by the source coil switching circuit 28a.
Source coil 16i.
A magnetic field is generated around the file 16i. Each magnetic field is detected by each sense coil 22j.
After being amplified by the amplifier 27, respectively.
The band pass filter 26a constituting the
A phase detector having a phase detection circuit 26b and a low-pass filter 26c
Phase difference with the oscillation output together with the magnetic field strength in the early detection circuit 26d
Are detected. The phase detection circuit 26b outputs the output of the oscillator 25a.
Phase detection (quadrature detection) is performed with reference to the signal. Synchronous detection
The output signal of the path 26d is output from the A / D
Digital signal via each channel of converter 30a
After the conversion, the detection data storage unit 30 of the RAM 30b
b ', and the data in the storage section 30b' is
It is transferred to the PU 30c, and the CPU 30c performs position estimation and
And calculation such as shape calculation. A / D converter 30
The switching of each channel a is performed by the timing control circuit 30d.
It is performed by In this case, for example, one source coil 16
When the calculation for i is completed, the CPU 30c
Sends a termination signal to the timing control circuit 30d,
When receiving the end signal, the path 30d switches the source coil.
A switching control signal is sent to the circuit 28a, and the next source coil
A drive signal is applied to the controller 16i. The CPU 30c is, for example, a reference for the RAM 30b.
Referring to the reference information stored in the information storage unit 30b ",
To estimate the position of the source coil 16i.
Interpolation is performed using the information of each position obtained, and the endoscope shape
Make an estimate. Generate an image corresponding to the estimated shape
Then, as shown in FIG.
3 is output to the image corresponding to the estimated endoscope shape.
Is displayed. The reference information storage unit 30b ″ will be described later.
The data of the two curves Cu and Cd in FIG.
You. FIG. 9 shows the drive of the source coil for shape detection.
5 shows a flow of a dynamic operation and signal detection by a sense coil.
First, after setting the parameter i to 1 (step S1),
The i-th source coil 16 according to the source coil switching signal
i is selected and a drive current is supplied to the source coil 16i.
(Step S2). Next, wait for the transition response time Δt (step
S3) After this time Δt, detection is performed by the sense coil 22j.
The detected signal is sampled (step S4). Soshi
Then, the i-th source coil driven next is the last source coil.
It is determined whether or not it is a coil (step S5).
Otherwise, i is incremented to i + 1 (step
Step S6) Drive current is again supplied to the i-th source coil 16i.
Return to the step of flowing, while the case of the last source coil
Ends. After the time Δt of the transient response, the sense coil
Explanatory drawing of the reason for sampling the detection signal by 22j
Is shown in FIG. Source coil switching shown in FIG.
The source coil 16i is selected by the signal and the source coil is selected.
When a drive current is applied to the coil 16i, the source coil 16
Drive current is determined according to the resistance component and the inductance component of i.
For the frequency of the flow, the source coil 16i is actually
The flowing drive current is equal to the time Δt as shown in FIG.
It shows transient response characteristics between the two. For this reason, the sense coil 22j detects
The detection signal is affected by the transient response characteristic as shown in FIG.
Signal. Therefore, the timing control circuit 3
0d corresponds to the A / D converter 30a after this time Δt.
And control to read. Transient in this way
A detection signal which does not affect the response is used. Figure
7 uses a 3-axis source coil as the source coil 16i
The position of a certain source coil 16i is changed to a three-axis sense coil.
22 shows a state in which detection is performed at 22j. In the three-axis source coil 16i,
Each of the three orthogonal coils is 16x, 16y, 16
z, the three coils of the triaxial sense coil 22j are
X, 22Y, and 22Z. In addition, each
It is assumed that there is no variation in the file. And three axis source carp
Each coil 16x, 16y, 16z
The three coils of the three-axis sense coil 22j (
22X, 22Y, 22Z) are as follows:
Is defined as Of the three-axis source coil 16i, the coil
The output of the sense coil when driving 16x is represented by Xx, Y
x, Zx The output of the sense coil when driving the coil 16y is X
y, Yy, Zy The output of the sense coil when driving the coil 16z is X
z, Yz, Zz And The three coils 16x, 16y, 16z
The detection signal output corresponding to the square of the magnetic field strength formed respectively
Force Xx ＾ 2 + Yx ＾ 2 + Zx ＾ 2, Xy ＾ 2 + Yy ＾ 2
+ Zy ＾ 2, Xz ＾ 2 + Yz ＾ 2 + Zz ＾ 2
The eight positions to be detected are the detection positions of the source coil 16i.
Obtained as a complement. The X obtained by the synchronous detection of the detection unit 26
x, Yx, Zx, Xy, Yy, Zy, Xz, Yz, Zz
The sensor (three-axis sense coil 22j) is used as the source
Existence of source coil 16i at pointed coordinates
One quadrant (of the eight quadrants) is determined. This
As a result, the position of the source coil 16i is determined.
In the embodiment, the position of the source coil 16i is
Position is directly measured using the signal corresponding to the detected magnetic field strength.
Standards obtained by measurement in advance without calculating
Calculate (estimate) the location by referring to the data
). As described above, the three-axis source coil 16i
And the use of the three-axis sense coil 22j,
The position of the coil 16i can be detected. Also shown in FIG.
As shown in FIG.
If arranged, the position of each source coil 16i can be determined more accurately.
It can be detected. FIG. 11 is a diagram showing a state where the solenoid is expressed as a coreless solenoid.
3) Sense coil using one-axis source coil 16i
14 shows how the position is detected in the file 22j. Endoscopy
In this case, since the patient 5 is on the bed 4, the endoscope 6
Is always on bed 4. In other words, sensors 3 at four corners of the bed 4
If the axis sense coil 22j is provided, it is surrounded by this sensor group.
Endoscope 6 (inside source coil 16i)
Since it will be present, the installed 3-axis sense coil 2
The representation of source coil 16i is limited every 2j
It is. One when driving source coil 16i
The outputs of the three-axis sense coil 22 are denoted by Xi, Yi, and Zi.
Then, it is related by Xi ＾ 2 + Yi ＾ 2 + Zi ＾ 2
Saw the distance from the three-axis sense coil 22 to the magnetic field strength.
The coil 16i will be present. However, a uniaxial coil is generally a dipole.
The isomagnetic field surface is not a sphere but is shown in FIG.
It becomes elliptical as shown. So which direction
The position of the source coil 16i whose position is unknown
Isomagnetic field plane Xi ＾ 2 + Yi ＾ 2 + by sense coil 22
It cannot be identified only from Zi ＾ 2. Therefore, a plurality of three-axis sensors
Xj ＾ 2 + measured for each of the coil 22j
The distance associated with Yj ＾ 2 + Zj ＾ 2 is used. This
In the case of, the installation positions of the three-axis sense coils 22j are known.
For example, it is expressed in one coordinate system fixed to the bed 4
I can do it. Isomagnetic field generated by source coil 16i
Magnetic field strength whose plane is expressed as Xs ＾ 2 + Ys ＾ 2 + Zs ＾ 2
Is detected by the sense coil 22j to estimate the distance therebetween.
Think about it. Then, the voltage detected by the sense coil 22j is detected.
Assuming a uniform magnetic field surface that includes the magnetic field strength from the magnetic field strength
Then, the equal magnetic field is applied to the central source coil 16i.
The sense coil 22j exists on the surface,
And the minimum and maximum distances from the
Sense in Rmaxj, Rminj and the distance between them
The existence of the coil 22j and the source coil 16i
Become. That is, the sense coil 22j at a known position is
Based on the standard, as shown in FIG. 11, the maximum distance Rmaxj
Source coil outside the minimum distance Rminj
16i will be present. Each of the three-axis sense coils 22j is measured.
Xj, Yj, Zj different for each three-axis sense coil 22j
Of the spherical shell represented by Rmaxj and Rminj corresponding to
Source coil 16i exists in the volume
The center of gravity of that area as the coil position
Can be detected. With this, the position is obtained, and Rmax,
If the difference between Rmin is large, an error may occur.
You. Then, the phase information included in Xj, Yj, Zj
The fact that the inclination of the source coil 16i is expressed in the report
To find the slope in the previously found volume
You. This allows the leading position to be more accurate
Correct the position. The distance between the source coils 16i
Since is known, it may be further corrected by this value. In this case, as shown in FIG.
Are continuous, the obtained discrete source coil 16
Slope (dx / dl, dy / d) of i-position (indicated by x)
l, dz / dl) are interpolated based on the source coil position
Equal to the tangent direction at the source coil position of the curve l,
It should be an approximate value, so make further position corrections.
Is also good. The plurality of pieces of position information detected in this way
The estimated shape of the insertion section 7 of the endoscope 6 will be described later.
Image 100 modeled on the display surface of the monitor 23
For example, in the graphics output area on the left as shown in FIG.
Is displayed. The area on the right is operated by the user from the operation panel 35.
Point of view (distance between position and origin), rotation
A user who sets the turning angle, the elevation angle between the viewpoint position and the z-axis, etc.
Interface area. FIG. 15 shows the source coil 16i in the scope.
The magnetic field produced by the external triaxial sense coil 22j is detected.
Source coil from the relationship between the magnetic field strength and the distance between the two points.
Of the source coil 16i
Insertion section shape in the inserted state based on
On the monitor (also called CRT)
The flow to be displayed is shown. The overall structure of this flow is
Divided into the following four blocks B1 to B4 for each processing content
I can do it. B1: Initialize Bloc
k) This block initializes all functions of this program
Work is completed. Specifically, the scope shape is displayed on the CRT.
Initial parameter setting based on output method
Phase information and amplitude obtained from the magnetic field strength detected by the wear
From the information, the position of the source coil 16i is calculated.
Memory for basic data used for
Initialization of various boards for controlling hardware
You. For details of the processing,
Will be described in the description item. B2: Hardware control
re Control Block) In this system, it is arranged and fixed in the insertion portion 7 of the endoscope 6.
The position coordinates of the source coil 16i
Calculate from the magnetic field strength generated by
The shape of the insertion section 7 of a certain endoscope 6 is estimated. This block
In this case, the drive of the source coil 16i is switched to generate a magnetic field.
And the generated magnetic field intensity is detected by the sense coil 22j.
Then, this detection output can calculate the source coil position coordinates.
It is responsible for converting it to a form and outputting it. The drive switching of the source coil 16i is performed
You can see where the source coil is located on the mirror 6.
And a sensor for detecting the magnetic field strength of the source coil 16i.
As shown in FIG. 6, three orthogonal coils 22j
Manufactured so that the plane of each coil is parallel to the axis
And three orthogonal directions per sense coil 22j
Is configured to be able to detect the magnetic field intensity component of Inspection
Generated magnetic field strength data calculates source coil position
Are separated into amplitude data and phase data necessary for
Output. B3: Source position calculation block (Sourcr P
osition Calculate Block) The amplitude data obtained by the magnetic field detection in the previous block and
Based on the phase data, the relationship between the magnetic field strength and the distance between two points
And calculate the position coordinates of the source coil 16i.
Take on. First, the amplitude and phase data are
Of the diameter of each coil 22j in the axial direction
The relationship between the position of the coil 16i and the position of the sense coil 22j
Performs correction and detects at the installation position of each sense coil 22j
Calculate the magnetic field strength considered to be applied. From the magnetic field strength thus calculated, the source
The distance between the coil 16i and the sense coil 22j is obtained.
However, the posture of the inserted source coil 16i (the
Source coil is not known.
The location of the le 16i is limited only to within a certain spherical shell
Can not. Therefore, three or more sense coils 22j are prepared.
Then, the overlap of the area where the source coil 16i can exist is determined.
The position of the center of gravity of the region is determined by the position of the source coil 16i.
Output as a target. B4: Image Display Block (Image Display Block)
Block) Based on the data obtained as the source coil position coordinates,
Until the image is output on a CRT.
Take on. One or more obtained as source coil position coordinates
Smooth continuous coordinates as a whole based on the above coordinates
To build. These continuous coordinates make it look like a scope shape.
To perform the modeling process (polygon pillar, color gradation,
Use of saturation, brightness, hidden line processing, perspective, etc.). Further, the scope image displayed on the CRT is displayed.
The model can be rotated and scaled in any direction,
A body that allows you to see at a glance the current viewing point and the patient's head direction
-Markers can also be displayed. The viewpoint position at the end is automatically saved.
Will be the next initial viewpoint position. Considered to be easy for the operator to see
There is also a hot key that memorizes the viewpoint direction that can be obtained. Then each
The detailed contents of each block will be described. B1: Initialization block In the first step S11, graphic page initialization (V
(RAM initialization). In addition, the Scho
When updating the image, overwriting the new image
Give the observer the impression of the image flickering,
It disappears with a smooth image. Therefore, multiple groups
Displaying images by constantly switching between traffic pages
Thus, smoothness like a moving image is realized. Also,
Color and gradation to be used as described above. The number of colors that can be used is limited for each hardware
Are assigned in the form of pallet numbers.
You. However, there are only two gradations by default. So
Here, richer gradations can be realized within the range of available colors.
Therefore, I set the pallet. For example, in FIG.
Frame F1, markers m1, m2, display model (not shown)
3 colors in the name part and all the rest are modeled for the insertion part 7
Used for gradation display of the image 100. Thus, the closer to the viewpoint, the brighter and farther
The insertion part 7 can be displayed two-dimensionally.
To give the image 100 displayed in 3D and depth
Made it possible to do so. Of course, increasing or decreasing the number of gradations
Is optional. Also, besides the gradation,
It is made of R, G, and B components, and has subtle saturation and brightness.
It is possible to express. At the next step S12, the initial viewpoint position is automatically set.
Initialize image parameters such as reading. Suko
How you feel it is easy to see the statue is
Depends largely on the tastes of the elderly. If the initial viewpoint position
Once fixed, the surgeon feels that the scope image is easy to see
Must be reset to a new viewpoint position.
Hands drop. Therefore, the desired viewpoint position is stored in the file
(Parameter file) and save the program
By reading that file when the program starts, the program
Immediately after the start, a scope image can be obtained from
A means to be seen was provided. In this embodiment, the scope image and the text
Split screen display. Scope image and text screen
The degree of rotation and enlargement / reduction of the scope image
Can be confirmed visually and numerically. Next
Principle for Deriving Source Coil Position in Step S13
Load the principle data that stores This data is
Is reference data or reference information. Relationship between magnetic field strength and distance between two points The measurement principle is that the output of the one-axis source coil 16i is orthogonal 3
Detected by the sense coil 22j manufactured on the shaft, and its magnetic field
Between the source coil 16i and the sense coil 22j due to the strength
It is to get the distance. To get the distance between both coils,
Super box showing magnetic field distribution created by uniaxial source coil 16i
Instead of solving directly from the number, the attitude of the source coil 16i
Maximum magnetic field strength output due to difference in (axial direction)
New distance calculation using the minimum and magnetic field strength output
The law was introduced. The graph shown in FIG.
This is the basic data of the principle. This is a shield loop
It is a graph of the data actually measured in the system. One
That is, the one-axis source coil 16i and the three-axis sense coil 22
When the distance to j is set to various values, the software
When the axial direction of the source coil 16i is changed,
Of the largest magnetic field strength detected at the position of the file 22j
(Maximum magnetic field strength value) and the smallest magnetic field strength value (min.
Magnetic field strength values) are plotted,
The upper curve Cu is the maximum magnetic field.
The lower curve Cd represents the minimum magnetic field strength curve.
I have. The two curves Cu and Cd represent the distance between both coils.
If the separation is small, depending on the direction of the source coil 16i
Although a difference occurs in the detected value, the size of the source coil 16i is large.
As the distance between the coils becomes sufficiently large compared to the
There will be no difference in the values issued. This is due to the dipole
When the magnetic field formed by a small distance is
Although it is not a plane, it is large enough for the size of the dipole
At a great distance, almost independent of the size of the dipole
With a result consistent with the qualitative physical phenomenon of becoming a sphere
is there. Further, when a certain magnetic field strength H is detected,
Sandwiched between the minimum radius r_min and the maximum radius r_max
The limitation that the source coil 16i can exist only in the spherical shell
Can be added. And the measurement range of FIG.
Then, the distance in this spherical shell (= r_max-r_min)
Is approximately 60 mm without depending much on the value of the magnetic field strength H.
This can be seen from the two curves Cu and Cd. FIG. 17 (a) is for obtaining the data of FIG.
Is shown. For example, as shown in FIG.
3-axis sense coil 22 (center of the cube is the origin
To the known distance r1, for example.
Source coil 16 is placed, and the source coil
Change the direction of 16 (its axial direction) and place it at the origin.
The magnetic field strength is measured by the axis sense coil 22 and the maximum
The value H1 and the minimum value H1 'are measured. That is, the direction of the source coil 16 is changed.
And the magnetic field detected by the three-axis sense coil 22 accordingly.
The field strength changes and the maximum value H1 and
And the minimum value H1 '. In general, the direction of the axis of the source coil 16 is
The directions are (the center of) the sense coil 22 and the source coil 16.
(Center of FIG. 17 (a))
The direction of the source coil 16 shown by the solid line
Large value H1, orthogonal to the source coil 16 shown by this solid line
In the state shown by the two-dot chain line, almost the minimum value H1 'is obtained.
You. Similarly, the value of the distance r1 is changed to r2,
Is measured in the same manner with the three-axis sense coil 22 at a distance r2 of
A maximum value H2 and a minimum value H2 'are obtained. Further change the distance
The same measurement is performed, and the maximum value obtained at each distance is obtained.
Plot the value and the minimum value, the maximum value and the minimum value
Are connected by lines so as to interpolate
The curve of maximum magnetic field strength Cu and the curve of minimum magnetic field strength Cd
can get. The data of these curves Cu and Cd are
Stored in data storage means such as a disk
When the display operation starts, for example, the base of the RAM 30 in FIG.
The information is transferred to and stored in the quasi-information storage unit 30b ",
0c is referenced as needed. It is to be noted that detection is performed by the three-axis sense coil 22.
The actual measured value proportional to the magnetic field strength is
Detected by each of the three coils constituting the coil 22
The signals 22X, 22Y, and 22Z are each squared and summed.
Value, 22X · 22X + 22Y · 22Y + 22Z · 22
This is the value obtained by calculating the square root of Z.
Calibration (calibration) with a field measurement device (for example, Gauss meter)
To obtain accurate measurements of magnetic field strength.
Obtainable. The data shown in FIG.
Detailed measurements in a shielded shielded room
It is what went. Referring to the two curves Cu and Cd in FIG.
Illuminated and detected by the three-axis sense coil 22
From the strength of the magnetic field,
It is possible to estimate the three-dimensional area where the coil 16 exists.
Wear. For example, a certain magnetic field strength Ha can be obtained by measurement.
In this case, the distance corresponding to the magnetic field strength Ha is as shown in FIG.
From (b), the value of the magnetic field strength Ha is represented by curves Cd, Cu and
Source code in the distance range between the intersecting distances ra and ra '
Can be estimated to be a three-dimensional area where the file 16 exists.
You. In other words, if a certain magnetic field strength is obtained,
Are the curve Cd of the minimum magnetic field strength and the curve Cu of the maximum magnetic field strength
The minimum distance r_min and the maximum distance r_m that intersect respectively
ax. FIG. 18 shows the case of r_max (maximum magnetic field).
Field strength) and the measured value in the shielded room
Field measurements at other locations (specifically, living rooms)
This is a comparison between the measured value and the
It is almost the same as the measured value in the room. In other words, in the living room
The measured value almost matches the measured value in the shielded room
And the magnetic field strength for the distance of the measured value
Characteristics are almost the same as those measured in the shielded room.
Coincide with each other (not shown, but the same
Properties). Therefore, the tune of the measured value in the shield room
If the shape of the line function is determined in advance, it can be used in other environments.
The maximum magnetic field strength curve in that environment with high accuracy using the function
Lines and minimum field strength curves can be determined. That is, the situation where the environment of the endoscopy changes
However, in the environment, several magnetic fields in the max and min directions
A measuring device capable of measuring the field strength
The maximum magnetic field strength in the environment by measuring the magnetic field
And minimum magnetic field strength curve data can be obtained.
Time to find detailed data for each environment
Can be omitted. Thus, FIG. 18 is very universal data
It represents something. The data of the maximum magnetic field strength and the minimum magnetic field strength
Data file (max_min data file)
Load) and supplement from the correction data file.
The official data is also loaded, and the following corrections are made. Correction of sense coil diameter How much the magnetic field strength at the installation position of the sense coil 22j is
Accuracy is a very important issue. straight
The sense coil 22j produced by the three axes is
It is almost impossible to manufacture with the same diameter, the difference in diameter
There is a difference in the output detection value. In addition, source coil 1
The output value also changes depending on the direction and direction of 6i. Then, the magnetic field is actually detected, and the source code is detected.
Of magnetic field 16i and sense coil 22j and magnetic field detection value
Was examined for changes. As a result, the diameter of each size
For each sign of the phase data obtained during magnetic field detection
Just multiply the two sets of correction coefficients, the size of the diameter
Correct the difference and the relationship between the arrangement of the coils 16i and 22j.
I found that I can do it. Then, for each axis measured in advance,
Initialize the correction coefficient for each code of the phase data
Take in at step B1. The results are used to calculate the magnetic field strength.
This is described in the position calculation block B3. After loading the above data, the next step
In S14, hardware initialization is performed. This step S
In FIG. 14, for example, a source coil switching circuit 28a shown in FIG.
Reset the settings of to reset to the initial state. A /
Reset the setting contents of the D converter 30a and use environment
To the setting state corresponding to. In this way, the hardware
Set to a state where shape calculation can be used, and
Operate B2. B2: Hardware control block First, in step S21, as described with reference to FIG.
A switching signal is applied to the coil switching circuit 28a to
Of the source coil 16i
I do. The magnetic field generated by the source coil 16i is
It is detected by the coil 22j. Therefore, as shown in step S22,
The detection signal detected by the coil 22j is converted to a phase detection circuit 2
After 6 the sampling is performed by the A / D converter 30a.
The sampled data is temporarily written to the RAM 30b.
Be included. As shown in step S23 (CPU 30c
Is the timing control circuit 30d built into the probe 15.
D) All the source coils 16i have been driven.
Judge whether it is completed or not.
Control circuit 30d so as to drive the file 16i.
Control. Then, all the source coils 16i are driven.
In this case, the data in the RAM 30b (that is, the phase detection
From the PSD data passed through the circuit 26d) to the amplitude data,
Calculate phase data (PSD of step S24 in FIG. 15)
Calculation, referring to the amplitude data and phase data in step S25.
See). The following block is obtained from the amplitude data and the phase data.
Then, the process proceeds to step B3. First, the magnetic field strength in step S31
The degree calculation is performed using the correction coefficient. This magnetic field strength calculation
The specific contents of the related flow are shown in FIG. Where
Add a description of the flow. (A1) First, Step S31
_1 is used to determine the sign of the phase data. The sense coil 22j has a single axis having different diameters.
I have three coils. Therefore, each one axis
When classifying the signs of phase data for coils, there are eight types
Is classified as This is performed as follows. A1_1. To determine the sign at high speed,
Create a conditional operator that outputs 1 if-and 0 if-(S
IG (x) → (x <0)? 0: 1). a1_2. Check the sign of the phase data with the smallest diameter,
Substitute the result for the parameter x (x + = SIG (ph
i)). A1_3. Shift the bits of x to the left. a1_4. Check the sign of the phase data of the next diameter, and
The result is added to the parameter x. a1_5. Shift the bits of x to the left. A1_6. Sign of phase data with maximum diameter
And add the result to the parameter x. like this
, The sign of the phase data for each diameter
The set can be replaced by eight different values of x,
The processing can be performed at a higher speed than the judgment of the signal. (A2) In the next step S31_2, the amplitude data
Correct the effects of differences in diameter and arrangement included in the data.
In (a1), the combination of the phase data is
Has been replaced with a value, so there are eight
Write down the conversion formula. This makes it fast and appropriate for each amplitude data
It is possible to multiply by various correction coefficients. In the processing up to this point, differences in diameter and arrangement
Correction of the data for the target is completed. (A3) Calculate the magnetic field strength in the next step S31_3
You. In (a2), the size of the diameter of each direction component and
The effect of the difference in coil arrangement on output can be corrected.
Therefore, calculate the square root of the sum of squares of each component.
Thus, the magnetic field strength can be calculated. By the above procedure,
From the output of the sense coil 22j manufactured with three orthogonal axes,
The magnetic field strength can be calculated more accurately and at high speed. Next, in step S32 in FIG.
Distance and minimum) between the coil 16i and the sense coil 22j.
The calculation of the distance is based on the maximum and minimum distance data (data in FIG. 16).
The method is performed using This step S32 is the same as the previous step.
Using the magnetic field strength obtained in step S31, the sense coil 2
Maximum distance and minimum distance between 2j and source coil 16i
The processing up to the calculation is performed. There is a proportional relationship between the distance between two points and the magnetic field strength.
Being a very common physical phenomenon
You. However, an l-axis source coil 1
The magnetic field strength generated by 6i is generally expressed by a hyperfunction.
Even if the direction of the source coil 16i is known,
Even if the degree is measured, the direction in which the source coil 16i exists
It is not easy to calculate distance and distance. Then, when a certain magnetic field strength can be detected,
The source coil 16i moves in the direction in which the output can be obtained most strongly.
R_max, the weakest distance assuming that it is facing
Assume that source coil 16i is oriented in the direction that can be removed
If the distance in the case of R_min is R_min, the true source coil
Distance R_true between the sensor 16i and the sense coil 22j.
Is in the range of R_min ≦ R_true ≦ R_max
Can be limited to The magnetic field intensity M obtained in the previous step S31
And the magnetic field intensity data of the already read R_max curve.
Data m, and pick up points where mb ≤ M ≤ mt.
Step. Assuming that there is a linear change between mb and mt,
The distance corresponding to the magnetic field strength M at the halfway point is R_max.
And The same applies to R_min. here
Therefore, it is assumed that the line between mb and mt changes linearly.
This is because the calculation has been simplified.
No. In addition, the function form f (x) of the R_max curve is derived.
And even if it is calculated as R_max = f (M), of course,
good. The means or method for calculating the distance employed here
Means that the value of the distance R_true cannot be determined reliably
Extremely required to solve complex hyperfunctions
It is a simple and convenient means or method.
Even if the direction of 6i is not known, the source coil 16i
Means or methods with a wide range of applications that can limit the range of existence of
Become. Next, in step S33, the source coil 16i
Is calculated. In this step S33, the sense
From the distance between the coil 22j and the source coil 16i,
The processing up to calculating the coordinates of the coil 16i is performed. Ah
Source coil 16 as viewed from the sense coil 22j
The range in which i can exist is the value of R obtained in the previous step S32.
_Max and R_min inside the spherical shell
You. The range in which such a source coil 16i can exist is
Multiple sense coils to limit space
Source coil 16i found from 22j can exist
Utilize superposition of regions. Each sense coil 22
j, the source obtained from the same source coil 16i
The existence region of the coil 16i is located at the position of the source coil 16i.
The area where everything overlaps must be
Exists. The boundary of such a region is
Radius R_max, R_mi about the position of the file 22j
It is nothing but the intersection of n spheres. Because it is the intersection of spheres,
If there are at least three sense coils 22j, the source coil
Il 16i represents R_max, R_ of each sense coil 22j.
A minute area surrounded by eight intersections of a sphere with a radius of min
Its existence can be limited to the area. The three sense coils 22j are connected to Sa, Sb,
Sc, respectively, Ra_max, Ra_min, Rb
_Max, Rb_min, Rc_max, Rc_min
And the distance is obtained, the source coil 16i
Existence is restricted in a minute space with the next 8 points as vertices
You. Ra-max, Rb_max, Rc_ma
intersection of spheres with x as radius Ra-min, Rb_max, Rc_max
Intersection of spheres with radius Ra_max, Rb_min, Rc_max respectively
Intersection of spheres with radius Ra_max, Rb_max and Rc_min are respectively
Intersection of spheres with radius Ra_min, Rb_min, Rc_max respectively
Intersection of spheres with radius Ra_min, Rb_max, and Rc_min are respectively
Intersection of spheres with radius Ra-max, Rb_min, Rc_min respectively
Intersection of spheres with radius Ra_min, Rb_min and Rc_min are respectively
Intersection of spheres with radius Then, the center of gravity of the minute area surrounding these eight points is
It is output as the position coordinates of the file 16i. Furthermore, sense
As the number of coils 22j increases, the source coil 16i
Can be limited to a smaller area, and the source coil
The position of 16i can be obtained more accurately. This source coil position limiting method has three
Since it is a simple arithmetic calculation of calculating the intersection of spheres,
The processing time is not required, and the existence of the source coil 16i is not required.
Enabled to restrict the location area to a very small area
This is a very good method. Thus, the position of each source coil 16i is
The position coordinates are calculated, and the source coil 1 in step S34 is calculated.
6i position coordinate data is obtained. Using these data
The process moves to the next block B4. B4: Image display block This block B4 stores the position coordinate data of the source coil 16i.
The scope shape image in the inserted state based on the data
Responsible for processing until rendering on RT. Source coil 16
The position coordinate of i is the trajectory of the inserted scope
is there. Therefore, based on this, the scope shape in the inserted state
Is estimated. Once the insertion shape of the scope can be estimated, the result
Is drawn on the CRT. Then a three-dimensional scope shape
Must be displayed on a two-dimensional CRT screen,
It is necessary to devise a way for the image to be more three-dimensionally represented.
Become. Also, the scope image rotates in any direction
Let me know what the scope image from now
If you can instantly determine whether you are looking at the
The usability is further improved. In light of this,
In this system, it is classified by function as follows,
Display method that combines the features of each module
The law was realized. S41 Keyboard Input Processing S42 Scope image description processing S43 reference plane display processing S44 marker display processing All of this is necessary to describe a scope image.
The function can be selected as needed. In this method, a scope shape that can be selected is selected.
By incorporating auxiliary means for display, more three-dimensional
The ability to reproduce the co-op shape image on a CRT
Is excellent. The features of each module are explained below.
I will tell. S41: Keyboard input processing Here, enter the key corresponding to the given user command.
If force is applied, set parameters etc. according to the content
To change. Addition that is considered to be highly requested by the user
Equipped with functions means that the system is easy to use
Influences. In addition, function selection is a simple task,
Can be operated whenever the user desires,
It needs to be realized quickly. This step S41 is specifically shown in FIG.
The following processing is performed. First, as shown in step S41_1
Get input from keyboard. Key input is made
The input contents are assigned to the input key variable KB
Is done. Next, in step S41_2, an erroneous command is input.
Check. Here, if the entered key is incorrect
Judge whether or not. Specifically, a command erroneous input flag
Check by checking the bag. When this flag is ON
At step S41_4 of the next determination process.
Is determined whether the key is not an error. On the other hand,
If there is, go to the next command processing step S41_3.
No. In the step S41_4, the input key is really correct.
Confirm whether or not. The three kinds of judgment results are processed. If Yes: command according to key input
Process. Variable d that temporarily stores the contents of key input
Substitute the contents of umy into the input key variable KB (S41_5)
After that, the flow advances to the step S41_3 of the command processing. If No: the content of the key input is discarded. Input key change
Discard the contents of several KB and turn off the erroneous command input flag.
It is set to F (S41_6). In the case of no input: the user notices an erroneous input.
May be delayed. However, even in such a case
The loop image needs to be updated. Here is this
This is a process to deal with
No action is taken until a decision is made, and other command
Prohibition. According to this procedure, the user can perform key operations.
Command cancellation is possible safely even if wrong.
You. Next, the contents of step S41_3 of the command processing will be described.
I will tell. In this process, the input command is processed.
And reflect it in the creation of the scope image. This command
As shown in FIG. 21, the specific contents of the
Perform 3_1 to 3_13. 3_1. Rotation of image around x axis Image obtained when the viewpoint is rotated about the x-axis
Output an image. For example, when the x key is input, the x-axis direction
The viewpoint rotates. The coordinates of the viewpoint position moved in this way
Then, the rotation angle is calculated. This rotation angle is used as a variable pitch.
substitute. This variable is used when creating a scope image
Output image referenced by the affine transformation of
Is obtained. 3_2. Rotate image around y-axis Image obtained when the viewpoint is rotated about the y-axis
Output an image. For example, when the y key is pressed,
The viewpoint rotates. The coordinates of the viewpoint position moved in this way
Then, the rotation angle is calculated. This rotation angle is substituted for the variable head.
Enter. This variable is used when creating a scope image.
The output image referred to by the affine transformation and rotated about the y-axis is
can get. 3_3. Rotation of image around z axis Image obtained when the viewpoint is rotated about the z-axis
Output an image. For example, when the z key is input,
The viewpoint rotates. The coordinates of the viewpoint position moved in this way
Then, the rotation angle is calculated. This rotation angle is converted into a conversion bank.
Enter. This variable is used when creating a scope image.
The output image referenced by the affine transformation and rotated around the z-axis
can get. 3_4. Enlargement and reduction of image image The distance between the origin and the viewpoint position has been increased or decreased
Output the image of the case. For example, identify with the notation E
Is pressed, the position of the viewpoint is changed without changing the direction.
Image the distance between the point and the origin. New viewpoint position at this time
The distance between the point and the origin is substituted into the variable viewpoint.
You. In response to this change in the viewpoint position, 3
Projection of 2D images onto 2D images (Project Screen
) Is also changed and substituted into the variable screen.
This adjusts the perspective as the viewpoint changes
To do that. These variables are 3D-2D projection
(Abbreviated as 3D → 2D projection)
Thus, an output image obtained by enlarging or reducing the image is obtained. 3_5. Image image display from initial viewpoint position View point changed by rotation, enlargement or reduction
To the initial viewpoint position specified by the
Output the image. For example, if the initial viewpoint position is (0, 0, 10
0), and press the R key
If you decide to set the viewpoint position when
On input, variables pitch, head, bank, view
Whether each point of wpoint and screen is the initial viewpoint position
The values calculated from them are substituted together. These variables
Is referred to in the same manner as 3_1 to 4
These output images are obtained. This allows you to move your viewpoint
Reset the viewpoint position even if you do not know
And become possible. 3_6. Image from user registration viewpoint position
Image display This function is similar to 3_5. The big difference is the perspective
The position is not the initial value specified on the device side, and is registered by the user.
Viewpoint position. User at a certain viewpoint position
The registration method is shown in 3_7 below. Viewable position for registration
Can be any number. This function allows you to change the viewpoint position.
Even after changing as in
It is possible to obtain an output image from the device. 3_7. User registration of viewpoint position View the image output from a certain viewpoint at any time
The user can register this viewpoint position so that
it can. Here, if you register the viewpoint position, 3_6 function
Can be used. For example, when the U key identified by the
Then, save the viewpoint position coordinates at that time as data.
You. Alternatively, the variable pitc calculated from the viewpoint position coordinates
h, head, bank, viewpoint, scr
een or the like may be stored. There are several registration keys
And multiple viewpoint positions can be stored. Ma
In addition, updating the data of the viewpoint position coordinates once saved
Is also possible. 3_8. Multiple split screens for image output Image output is usually one screen, but this is divided into multiple
Scope images simultaneously from multiple viewpoint positions
Enable output. For example, a bifurcation identified by the notation 2 or 4
When the 4 key is pressed, the screen is divided into two or four. This and
Screen image according to the screen division amount.
The coordinate conversion is performed so that the image fits. In the notation of 0
By pressing the identified 0 key, it was divided into multiple
You can select the active screen of the screen. 3_9. Display of comment input screen Text output screen for patient list and system usage
Switch to the comment input screen. For example, T
When you press the T key identified by the notation,
Overlay comment input text screen on output screen
-Wrap, output cursor and prompt for comment
You. 3_10. Change background color When the scope image is difficult to see due to the influence of the surroundings,
The color of the background color can be changed by changing the palette. example
For example, if you enter the B key identified by the notation B, the background color
For the B of the RGB palette that determines the
Values can be changed, subtle shades can be changed
You. 3_11. ON / OFF of marker display In this system, the scope image in the inserted state
Independently, a single coil (hereinafter, marker) attached to a finger, etc.
It has a function to display the position. Using markers during surgery
In this case, for example, the M key identified by the notation M
Press the key to display the marker position on the CRT.
It is. When the M key is pressed, the marker is changed to C
Status flag for output on RT is set
You. If set, the program that displays the marker
Is executed and the marker is displayed. After using the marker
Presses the M key again. Status flag released
To go through the routine for outputting markers.
Prohibit and cancel marker display. With this function, the marker and the image output image
Can be compared, the position of the imaged scope image
A marker can be provided as an auxiliary means for knowing the location. 3_12. Numerical display of source coil coordinates O
N / OFF Normally the output image is only its shape, but
For example, if you enter the N key identified by the notation N,
Outputs the value of the source coil coordinates detected simultaneously with the image
it can. ON and OFF means are the same as in 3_11
It is. For example, by inputting the N key,
The status flag for the indication is set. Numeric display
Is no longer needed, enter the N key again to
Cancels the status flag and cancels the numerical display. From this, in addition to the visual positional relationship,
It is possible to obtain a natural positional relationship. 3_13. The end of the program Terminate the program more safely. For example, when the Q key is pressed, the program ends.
it can. However, when the Q key is input by mistake,
To prevent the ram from terminating,
Response has been made. (3_a) Check command erroneous input flag
I do. (3_b) If the flag is OFF, turn the flag ON
And substitute the contents of the input key variable KB for the variable duty
I do. (3_c) Input if flag is ON
The command is executed according to the key variable KB. This procedure
Causes the program to close accidentally while the system is in use.
The danger of losing can be avoided. As described above, for each command
And one key is assigned,
Simple. And when a key is pressed,
Set the parameters required to implement the function change
Do not hinder the flow of the program.
No. Further, the functions of these commands are realized.
Parameter is set to one processing (source coil
Driven, the magnetic field is detected, and the source coil position is detected.
Until the scope shape is output to the CRT)
Command is always referenced somewhere in between.
The time lag before functions are realized is extremely small.
Please. In this method, an instantaneous
Despite being able to cope with the situation, it is useful for drawing the scope shape
This is an excellent measure of having very little impact. This
After the processing of step S41_3 of the next step S42
Proceed to the scope image depiction process. S42: Scope image description processing Here, the source coil position coordinates obtained from the magnetic field detection
, Create a scope shape and convert the image into a 3D image
Until it is displayed on the CRT. Source carp obtained
Position coordinates of the source coil inserted into the scope
This is data of discrete numbers. So, these data
Must estimate the scope shape in the inserted state based on
No. Furthermore, the scope shape obtained in this way
Shape data on a CRT as a three-dimensional shape
Being able is the biggest point of this system. The processing flow of this scope image depiction processing
Are as shown in FIG. Each detailed processing content,
Each block is touched for a more realistic display.
Step by step to explain why it is essential
Go. S42_a: Between calculated source coils
3D interpolation Three-dimensional interpolation between the calculated source coils in step S42_a
In the processing of the source code calculated by the magnetic field strength detection,
Since the file position coordinates are discrete, only this calculated data
The trajectory becomes angular even if you connect the
It does not correspond to the scope shape to be converted. Smooth whole score
Source coil position coordinate data to create a loop shape.
3D interpolation is performed on the data. S42_b: Construction of three-dimensional model Real scope has thickness, so how smooth
Even if data points are obtained,
By connecting them with lines, etc., they described the real scope
I can't say. Therefore, the three-dimensional model in step S42_b
In the process of constructing a file, the connection between the intercept data is expressed as a cylinder or n
Performed with a polygonal prism model,
Display according to the shape of the loop. S42_c: Affine transformation The scope shape is an image viewed from the specified viewpoint position
Output. Therefore, the affine transformation in step S42_c
In the processing of, the reference coordinate system for deriving the source coil position
Shape model data obtained in the world coordinate system
Into a viewpoint coordinate system for screen display. The viewpoint position
Can be changed by the user. Changed
The contents are referred to here. S42_d: 3D → 2D projection Although the scope shape is originally three-dimensional, the image is
In order to output on the surface, it must be converted to two dimensions
No. Therefore, from the three-dimensional image of step S42_d,
Performs projection conversion to an image. At this time, the perspective
The perspective may be emphasized. S42_e: Rendering Scope shape image obtained by previous processing
Is drawn on the CRT. Steps for drawing
In the rendering process of S42_e, the side of the n-polygon
Processing, hidden line processing to represent before and after the scope loop
Work. Gradation table in shading processing by perspective
And the brightness of the side of the scope model by the curvature of the scope
Adjust the color and saturation, etc.
May be emphasized. Note that some of the items described above must be
It is not necessary to do so. Of course,
Image on the CRT including the effects of the improved items
Can be reproduced. Also, it is necessary to perform the steps in the order shown in FIG.
It is not necessary to use a model that displays the shape of the insertion section.
The same order in less time
In some cases. Through these processes, several source coil
3D scope in the inserted state from only the position coordinates of the
The shape can be reproduced on a CRT. Also, this fruit
In this example, the scope display is an n-sided prism as shown below.
So that you can select the model and the n-gon connection model
I have. Therefore, according to the following specific example, the three-dimensional model
Construction is explained. First, the case of the n-sided prism model will be described.
In this model, for example, as shown in FIG.
Model a surface as a regular n-gon and display it as an n-prism
(In FIG. 14, n = 5). increase the number of n
And almost a circle, in this case it should be displayed as a cylinder
become. The flow of the display processing contents in this model is as follows.
FIG. 23 is obtained. In FIG. 23A, in step S42_1,
The process of interpolation and construction of a three-dimensional model is shown in FIG.
Perform the processing. Here, first, the third order of step S42_1
The original B-spline interpolation is performed. This interpolation is
It is not a type of interpolation that always passes through the interpolation point, but
It creates a smooth curve while passing by
Compared to the natural spline that always passes through the insertion point,
The reason is simple. Of course, using natural splines
Can use other interpolation methods or interpolation using approximate functions.
No. The B-spline whose calculation process is relatively simple is
Excellent in that the processing speed is fast even if 3D capture is performed
ing. Next, three-dimensional model construction in step S42_12
To construct an n-prism model. Here, the capture data of the source coil position coordinates is
From the data, the n polygonal column model (hereinafter, also includes the cylinder,
To construct a three-dimensional scope image.
You. The actual processing is as shown in the flow of FIG. Seo
And (i + 1) th data obtained by interpolating the source coil position coordinates.
Consider the case of creating an n-polygonal model for data. First, as in step S51, i to i +
Find direction vector P toward point 1 and its magnitude | P |
I will. Next, the origin is the starting point as in step S52.
The vector P is translated as described above. The translation
Let K be the vector and let its magnitude be | K |. This baek
The torque K is shown in FIG. Next, as in step S53, the vector K
To the coordinate axis direction, for example, the y-axis (where
Is first rotated about the y-axis (FIG. 25 (b)) and then x
By rotating around the axis (FIG. 25 (c)), the vector K
In the y-axis direction). Next, the y-axis direction is changed as in step S54.
Two points y1 and y2 on the facing vector K are determined. However,
Let a ≦ y1 <y2 ≦ | K | −a, 2a <| K |
26 (a)). Next, two points y as in step S55
A vector of size a perpendicular to vector K from 1, y2
A1 and A2 are created (FIG. 26B). Next, as shown in step S56, the vector A
1 and A2 are rotated in steps of (360 / n) °, and A1, A
Get the coordinates of 2 and use this as the basic data for the n-polygonal prism
(FIG. 26 (c)). Next, it is determined as in step S57.
The top and bottom y-axis values of the data
In this way, basic model data is created. Next, the basics obtained as in step S58
When the vector P is aligned in the y-axis direction with respect to the model data
, The inverse of the transformation performed on
Model data can be created (FIG. 27A). Next,
Returning to step S51 again in the judgment of step S59, the same
When processing is performed on all interpolation data, the scope shape
The prism model data is completed (FIG. 27B). Here, a ≦ y1 <y2 ≦ | K |
A in the condition of −a, 2a <| K |
You. If this condition is not taken into account,
If model data is created around point i,
Data overlap with each other as shown in FIG.
The scope shape cannot be displayed smoothly. The above conditions are met
Then, the n polygonal column model data will not overlap
Therefore, the model data are connected as shown by the dotted line in FIG.
By doing so, a smooth n-prism model can be created. For the calculation of model data, the vector P is
Aligning to a certain axis direction and inverting again
It seems to be troublesome, but simple rotation around each axis
, The calculation is very easy. this
The method calculates n prism model data only by rotation around the axis.
This is an excellent way to do it. Of course, the prism model around the vector P
Calculating the conversion equation for generating
Since the direction of is not constant, it is a difficult formula,
A prism model may be created by using this. Next, step S42_13 in FIG.
Affine transformation of This affine transformation is
Used when performing coordinate transformations on graphics
One of the methods commonly used when dealing with coordinate transformations.
You. Simple primary coordinates such as translation, rotation, enlargement, and reduction
All transformations are included in the affine transformation. Figure 29 shows the x-axis
Rotation angle (pitch angle), rotation angle around the y-axis (head
Angle), affine by rotation angle around z axis (bank angle)
The state of conversion is shown. In this process, it is represented in the world coordinates described above.
Scope model data from a certain viewpoint position
Convert to the seen model data. The viewpoint position can be set in any direction.
I have to. Therefore, in which direction the viewpoint has moved
And transfer model data in a manner that follows the direction.
Activating requires a very difficult process. So
Here, assuming that the viewpoint is fixed,
Rotate the world coordinate system, which should not be there. this
Obtains an image with the viewpoint shifted as shown in FIG.
Gives similar results. In this method, when the viewpoint moves in any direction,
In any case, it can be handled by turning the world coordinate system for convenience.
The time lag for moving the viewpoint
This is an excellent tool in that it can be used. Next, step S42_14 in FIG.
Of 3D-2D projection (3D → 2D projection)
U. This 3D that performs projection transformation from a three-dimensional image to a two-dimensional image
→ In the processing of 2D projection, use the following projection method
Thus, the display can be realized in perspective or the like according to the purpose. A) When attaching a perspective, The three-dimensional shape is larger for objects closer to the viewpoint, and
It looks small. This is to convert 3D model data into 2D
It can be realized by processing to convert to data. To project three-dimensional coordinates onto a two-dimensional plane
Virtual screen perpendicular to the viewpoint and 3
Opposite of two-dimensional image (3D image obtained up to S42_13)
(See FIG. 31A). In such a state
The projection plane of the object viewed from the viewpoint is as shown in FIG.
The projection image P1 closer to the viewpoint is more than the projection image P2 farther from the viewpoint.
growing. Move the projection screen back and forth and
It is easy to change the degree of
You. This method uses a cubic method for a two-dimensional projected image.
The original depth can be easily added and the
It is easy to change the degree of emphasis
Are better. Position of the projection screen facing the viewpoint
When it is provided in a position, an angle may be provided. This is a script
To see how the projected picture changes depending on how the screen is tilted
The degree of emphasis on the perspective
Can be confirmed. B) When no perspective is attached, Also, instead of attaching a perspective,
A projection method as shown in FIG. Projection at this time
Images are represented by images of the same thickness P3 regardless of the viewpoint position.
Is done. There is no perspective, so the sense of depth is somewhat
It becomes scarce, but the viewpoint is approached due to the perspective
The image becomes extremely large or far away when
That they do n’t get too small
You. Next, rendering in step S42_15
Is performed. In this embodiment, as shown in FIG.
Paste model display PM and wireframe model display
It can be selected from the processing with the WM. Before proceeding to the description of the display in these models
FIG. 32 shows a coordinate system such as the world coordinate system described above. FIG.
(A) shows the world coordinate system fixed to the bed 4, and FIG.
2 (b) shows a visual field coordinate system set by the user,
Its origin coincides with the origin of the world coordinate system. FIG. 32
(C) Model coordinate system used to display scope shape
, Which matches the world coordinate system. FIG. 33 shows the display of the scope shape.
During the processing, a coordinate system suitable for each processing is adopted
Is shown. For example, the source coil coordinates are in the world coordinate system.
And rotate the source coil coordinates to
Source coil coordinates (that is, view coordinate system)
After the calculation, the data complement is applied to the discrete source coil coordinates.
Source code viewed from the “viewpoint” where data interpolation has been performed
Find file coordinates. Next, in the three-dimensional model construction processing, the wire
After generating a scope model using a
3D to 2D conversion (perspective projection transformation)
) Process to generate 2D data and 3D data
Then, the pseudo three-dimensional image is rendered and displayed. Next, the paste model display P shown in FIG.
M will be described. This model fills each face of n polygonal prism
Therefore, it is called a paste model. Scope shape image C
Side processing and scope of n-polygon when drawing on RT
Is a loop-like expression
Explanation of 1_a hidden line or hidden surface processing described below
Next, we will explain other processing to enhance the three-dimensional effect
I do. 1_a: Hidden line or hidden surface processing When the scope model is displayed with n polygonal pillars, n sides
Will have. Of those, what you actually see is
Only the side surface on the point direction side,
It is displayed so that it can be seen, and hides the invisible side or side etc.
Processing, that is, hidden line or hidden surface processing (hereinafter, referred to as
Simply referred to as hidden line processing). Therefore, how close each side is to the viewpoint position
(Denoted as z buffer. This is the
The z value (distance from the viewpoint) is stored in the buffer memory.
) And the z-buffer is small (
Start from the side). Side sticking
The method of overwriting is overwriting. This method has a small z-buffer
Write over the large surface of the z-buffer over the surface
Since only the area to be rewritten is drawn in order to find the area to be replaced,
Processing speed is improved. Further, in this method, the scope model is
When it is in this position, determine which
You can use it when you refuse. Generally, the scope model is a screw
When it is in that position, find out which is above,
And decide whether to overwrite or go under
There must be. Although this method is reliable, it is slightly
It takes time. So, all the z-buffers of the whole model
Sorts and renders from the smallest
In other words, even if it is in the twist position,
Model is always drawn later.
There is no need to Actually, the z-buffer method
Before and after judgments are made in units of pixels within the processing.
This creates the overall shape of the scope model in less time
This is an excellent method in that it can be done. Specifically, the flow is as shown in FIG.
Perform line processing. First, a 3D image such as scope shape coordinate data
Image data is fetched, and each side is viewed from the viewpoint in step S61.
A parameter that indicates how close to the point position is
Z-buffer z-buffer that performs processing for each polygon to be formed
), And sorts them in ascending order of z buffer value. Next
In step S62, the surface is defined from the polygon data.
And the normal vector N of the surface
I will. In the next step S63, the light vector I is set.
In the next step S64, the normal vector N and the ray vector
In order to find the angle with the vector I, the normal vector
N, 0.0005 for each magnitude of ray vector I
The plus value is used as the diffuse reflection light value of each value. In the next step S65, the normal vector N,
From the light vector I and the diffuse reflection light value, Lambert (Lam
(Bert) law (incident light spreads equally in all directions)
(Scattered) to obtain the light intensity t. In the next step S66, the light intensity value is set to 0 or less.
It is judged whether it is above or not. If it is 0 or more, it is checked in the next step S67.
Paint on the surface of the polygon far from the point, and
Proceed to step S68. On the other hand, if it is less than 0, the light
Since it is not set, the process proceeds to step S68,
Judge whether all surface data has been completed
The above-described processing is performed for, and the processing ends. In this device, the display device has a scope shape.
The time required to draw one screen has increased
Displayed when repeating drawing / erasing on the same screen
The moving image of the scope flickers. Therefore,
The screen displayed as shown in FIG.
The screen. ) Screens that are not displayed separately from the
Called the surface. ) To set the next screen after the current front screen to the back screen
After drawing above, replace with the front screen. FIG.
Refer to the flow shown in 5 (b) to prevent flickering below
A display method using the back screen will be described. First, as shown in step S71, the drawing target
The screen is designated as the back screen, and the back screen is specified in step S72.
Erase shapes on the screen. In other words, the video used for display
VRAM as display memory, for front screen and back screen
Prepare the target screen for drawing while the front screen is displayed
To the VRAM of the back screen not displayed at that time
And then delete the figure on the back screen of the VRAM
I do. The back screen that has been erased in the next step S73
Necessary images such as scopes, reference planes, markers, etc.
You. When this drawing is completed, as shown in step S74
Drawing of the front screen and the latest image displayed up to this point
Display the completed screen.
You. During this display, the back screen replaced from the front screen
Is used for the next drawing. By this operation, one screen is drawn.
The process is not visible to the user, and is instantaneously replaced with the next screen
No flickering in the moving image seen by the user
Become. 1_b: stereoscopic effect emphasis processing Here, it is configured as a scope shape model in the inserted state.
The image image by the built n prism model gives a three-dimensional
Responsible for processing to further emphasize going. The switch in the inserted state
The co-op shape is a three-dimensional shape. However,
The medium for displaying images (CRT) is two-dimensional,
How to display a two-dimensional image on a CRT
Greatly affects the usability of the system. Less than
Is an example of processing for enhancing the stereoscopic effect and depth. 1_c: Shading processing Because the scope shape is three-dimensional,
I can make light and dark. This is a gradation display of such light and dark
It is a means to reproduce by doing. Scope curvature
Depending on the light and darkness is varied. The number of available colors is hard
Restrictions such as 16 out of 4096 colors per wear
Exists and the number of available colors is low, the default
Is also small. Therefore, this gradation can be used effectively.
Pallet change. The color is a light source
Normal vector for each tor and each scope modeling aspect
The angle was set according to the angle between them. This process is performed as shown in FIG. S
The co-op image is displayed as an n-polygonal prism. First,
In step S81, parameter i is set to 1 and the next step
In step S82, a normal vector N of the i-th side surface of the n prism is obtained.
I will. In the next step S83, the aspect is constituted.
Of the normal vector N to the quadrangle and the light source vector I
Take the inner product. The light source vector I is directed from the viewpoint to the origin.
And In the next step S84, the brightness corresponding to the value of the inner product is determined.
Color the sides with a rusa. In this case, if the inner product is 0
Is the darkest color and the inner product = 1 is the brightest color
Show. Otherwise, divide equally by the amount of available gradation
You. Of course, the more you can set a wide range of gradations,
Can be expressed smoothly. Next, the parameter i is incremented by one.
(Step S85) It is determined whether or not i is equal to n.
(Step S86), the same processing is performed up to the n-th side.
repeat. According to this method, the light source direction and the viewpoint direction match.
The viewpoint direction is always displayed brightest,
By gradation display, three-dimensional impression of scope picture is emphasized more
Excellent in that it can be cut. Of course, the light source position and viewpoint
The position may be different. At this time,
Therefore, the display may be dark even in the front direction of the viewpoint.
This is especially useful when you want to emphasize the depth of the scope image.
It is a means that has been adopted. The darkest gradation color and background
The background color is used to distinguish it from the color.
May be colored. 1_d: Use of luminance and saturation of color The number of available colors is, for example, 256 out of 16384 colors.
If the color is particularly abundant, color shading
You can do it. FIG. 37 shows the processing contents. fundamentally
This is the same as the shading processing, and is performed in step S in FIG.
The "brightness" at 84 is the same as that in step S84 'in this flow.
The only difference is that the color has been changed to "color". Therefore
The description of the flow is omitted. Since a variety of colors can be used, for example,
The side of the scope model facing the
The side can be displayed in a cool color. Of course the color
Is not limited to this. [0230] This displays the brightness of the scope in a colorful manner.
Scope, compared to simply displaying light and dark
3D effect can be emphasized. Also, the shadow of the CRT installation environment, etc.
It seems that the contrast of the CRT must be suppressed by sound
Even if it is, the scope image will not be difficult to see,
It is excellent in that. Further, by combining with the use of luminance,
More diverse displays are also possible. For example, if the ray direction is
Then, the distance from the viewpoint is displayed by luminance. To do this
The three-dimensional impression of the scope is different from the color, from the viewpoint direction
The depth of the image can be displayed as a difference in brightness.
A three-dimensional image can be realized. Of course, the three-dimensional effect brightness
So, the depth may be represented by saturation, and the depth is also the viewpoint direction
Express depth from any direction, not just from
Is also good. For example, in the height direction from the bed surface,
If you make a difference, the insertion state of the scope is
You can check if it is key. The processing using the saturation and luminance is shown in FIG.
Shown in low. This flow is the same as the flow of FIG.
83 is the same, instead of the next step S84
In step S84a, the distance from the starting point to the side surface is calculated.
Processing, and in the next step S84b, according to the distance.
Process to color the side with the brightness and saturation according to the value of the inner product
To do business. In this method, the three-dimensional effect of the scope image
And depth can be realized with a more three-dimensional image.
In that the relative position can be predicted from the
Means. Next, processing of the wire frame model display WM
Will be described. The part excluding the side of the n prism model
The same result as when filling with the background color
But this is the surface of the n prism model (paint)
To shorten the processing time for
I have. In this model, the z buffer is small.
If you write in the correct order, you can see the wire behind the scope model
I will. Therefore, hidden line processing to remove it is implemented as appropriate
Or (n / 2) th model data in descending order of z buffer
By drawing a wire frame up to the data
Dell can build. FIG. 39 shows the flow of this display. First
In step S91, perform n-sided polygon modeling, and
In S92, vertices obtained by modeling are connected by straight lines. this
In the state, the wire behind the scope model is visible
Therefore, by performing hidden line processing in the next step S93,
The scope image can be obtained by the frame model display WM.
You. Next, in FIG.
Step S42_2 and two-point marker display S42_3 are performed.
Steps S42_2 and S42_3 are added.
Processing. The processing of the reference plane display is based on the base
By displaying the reference plane, you can see the 3D display of the scope shape.
It plays an auxiliary role to make it visually understandable. In this embodiment, an image displayed on a CRT
Is only an image of the scope shape, and that image
The positional relationship between the body and internal organs is unknown. Then, the viewpoint
If you rotate the position, the scope shape from any direction
You are looking at it, what direction is your head facing?
Information on the angle is displayed as a numerical value
Information only. This is not suitable for sensory judgment
You. Therefore, a supplement that can make such a judgment intuitively.
Auxiliary means were provided. Here, as shown in FIG.
Is achieved. First, the affine transformation of step S42_21
I do. In this process, the reference display symbol of the world coordinate system is
Convert to viewpoint coordinate system. Next, step S42_22-3
D → −2D projection is performed. Reference display moved to viewpoint coordinate system
Projects symbols in two dimensions so that they can be displayed on a CRT
Perform conversion processing. Next, the reference plane of step S42_23 is used.
A symbol such as a bed is displayed. Scope image 3
Displays a symbol that assists in two-dimensional drawing. Symbol
Specific examples of files will be described below. By doing so, the reference plane position and
Departure of the scope shape from the reference plane,
Visually determine and determine criteria such as the position of the scope shape
Excellent in terms of offering. Next, the reference display symbol
2_a bed surface display etc.
I do. 2_a: Bet surface display Reference plane parallel to the xy plane of the world coordinate system and perpendicular to the z-axis
Is displayed. Even if the z coordinate is on the bet plane (z = 0),
Any position may be used as long as it can be a reference.
This plane does not move with the viewpoint coordinates. That is, the viewpoint position
However, when rotated in the x-axis direction y direction, the bet surface is displayed as a line
Is done. A rectangle like a pillow,
Markers may be attached to the right shoulder, left shoulder, or both directions.
Since this is represented by a simple single plate, the scope image
Excellent in that it can recognize the rotation of the viewpoint without getting in the way
ing. 2_b: Reference marker display This is a display represented by FIG. 40 (a). Here, both shoulders
Two markers m3 and m4 in the direction and a marker m5 in the foot direction
Exists. Shoulder markers m3 and m4 are oriented perpendicular to z coordinate
The foot direction marker m5 points in a direction perpendicular to the x coordinate.
40 (a) when viewed from the z direction.
It is displayed as a line segment. For this reason, the viewpoint position rotates in the x-axis direction.
And the markers m3 and m4 on both shoulders are displayed as line segments.
And the marker m5 in the foot direction faces the front, and the marker is circular.
So you know the direction. The number of markers is different between the top and bottom
Is for describing the head direction so as to be easily identified. Ma
The number and shape of the markers can be arbitrary, and which markers correspond to which axes
It is optional. Make the marker three-dimensional,
You may add an option or luminance saturation. This method is
The scope shape and marker do not overlap, so the scope shape
Excellent in that it is easy to see. 2_c: rectangular parallelepiped display. Add a frame in the z direction to the bet display of 2_a
This is the symbol displayed as. Any size of rectangular parallelepiped
However, if it is within the detection range of the system or more
The scope shape will be displayed inside the cuboid,
The feeling that the loop is in the inserted state is increased. Further
And the height of the box in the z direction, the z coordinate of the model
Can be easily estimated. In this method, when the scope is in the insertion state,
The scope shape can be actually
Easy to connect with the scope in the inserted state
Is excellent. Conversely, in one corner of the scope image,
May be displayed and rotated in conjunction with the movement of the viewpoint. 2_d: Mixed display The reference symbols listed above may be combined.
FIG. 40 (b) shows the bed surface display of 2_a and the reference of 2_b.
This is a case where marker display is combined. Like this
Then, the reference for the z-axis is a plane display,
The head direction information can be recognized by the mark. That
The display may be combined in any manner. [0248] Such means is used for each symbol.
It is excellent in that the effects can be shared. Next, FIG.
The processing of marker display in step S42_3 of (a) is performed.
U. In the marker display process, the marker is inserted into the scope.
Apart from the inserted source coil 16i, a single source
It is responsible for calculating and displaying the coil position. scope
Check the position of the position inserted in the
As a means to do this, what is the source coil 16i in the scope?
Providing means for displaying one or more markers that can move independently
Was. On an actual device, the position calculating means
Used for the source coil 16i inserted in the
The display means is exactly the same, and the display means is the same as before.
As shown in (d), the affine transformation in step S42_31 is performed.
Change → 3D → 2D projection → step S42_32
This is a process of displaying a marker in S42_33. Therefore,
Here, as a specific example of the marker shape output, an n-gon (a circle
) Will be described. Marker display like this
Display in a different shape, many colors cannot be used, and
In the case of a device configuration where color must be used, the scope shape and
Even if they overlap, they can be distinguished. This marker display is shaped according to the rotation of the viewpoint.
Can be changed so that you can see
Wear. In addition, correspondence is provided so that it is always in front of the viewpoint.
It may be. In this case, the direction from the marker to the viewpoint
Cannot be recognized, but a marker of a certain size is always output.
It is excellent in that it is. This is based on the assumption that the marker is spherical.
The expression is similar to the case. Note that if the marker is spherical
Give information such as gradation, saturation and luminance
It is also possible to display the direction and depth of the viewpoint
Noh. Using such a means, the marker can be moved outside the body.
The scope shape in the inserted state.
It is possible to check in relation to power and insert a scope
Provide a catching means to know the position in relation to the actual patient position
Can be provided. So far, we have described the display using the n prism model
However, the display in the n-gon connection model will be described next. In the n prism model, the scope shape is rear.
Although it can be displayed on the screen, it takes some processing time. There
, Which simplified the model configuration and enabled high-speed display
You can build and select (use) a rectangular connection model
I did it. The processing flow is as shown in FIG. This
The basic processing contents in the processing listed here are n prism
Same as when used in the model. So, about the difference
Will be explained. Complementation of step S42_1 'in FIG.
FIG. 41 (b) shows the contents of the processing of the construction of the interval & three-dimensional model.
Show. In this model, first, in step S42_11 '
Performs affine transformation. The conversion from the world coordinate system to the viewpoint coordinate system is performed.
In the process using the n prism model (step S in FIG. 23B)
42_13). However, in the n prism model
Performed a transformation on the interpolated data, but here
Conversion was performed on the source coil position data first.
You. By doing so, the affine transformation amount can be reduced,
Improve the processing speed of the program. In the next step S42_12 ', three-dimensional interpolation
I do. This process is the same as described above. The difference is the n prism
In the model, the data is in the world coordinate system.
This is data in the point coordinate system. In the next step S42_13 ', 3D → 2D
Perform projection. This process is the same as described above. But now
The times are projections of points of no size. Next step S42
At _14 ', an n-gon connection model is constructed. The processing contents of this n-gon connection model are shown in FIG.
Shown in In FIG. 42, the rendering in FIG.
This is also shown including the step S42_15 'of FIG. First, in step S101, the viewpoint from the target point
And the distance to the light source. In the next step S102
It is determined whether to perform shading processing. Shah
When performing the reading process, in the next step S103
Performed processing to determine brightness according to the distance to the source
Thereafter, the perspective processing in the next step S104 is performed.
Proceed to determine whether or not to perform shading
If not, the process proceeds to this determination. When performing a perspective process, the following
In step S105, the size is determined according to the distance to the viewpoint.
After performing the process for determining
Proceed to the drawing process, and in this n-gon drawing process, each point
Draws simply connected n-gons to match the center of the shape
In other words, an image is formed in which n polygons are connected. Also Perspective
Even when the active processing is not performed, the processing shifts to the drawing processing. In the next step S107, the wire-free
Is determined whether or not to perform the game display WM (that is,
Perform paste model display PM or wireframe display W
Select whether to perform M), and in the wire frame display WM
If not, the paste model in the next step S108
The process proceeds to the display of
Fill the inside with a rusa. On the other hand, the wireframe display
In this case, hidden line processing is performed in the next step S109.
Display in wireframe model. Up to now, the n polygons are connected to form
Create a loop image. In addition, the obtained points are converted to n-gon model
Match the center of the shape and 'flesh' around the interpolated data points
The image may be output in the form in which is performed. Above
If NO is selected in the judgment process, the minimum
An n-gon connected model having a function is output. In this method, the processing time of the n prism model
It is a model that eliminates as much as possible,
High-speed display (less than half the processing time of n prism model)
It is excellent in that it is capable. Note that, in the flow of FIG.
Select YES to add the same processing as for the n-polygon model.
The three-dimensional effect may be further emphasized by adding a reason. Basic processing
Are the same, so a brief description that only shows the differences
And The following functions are added to the n-gon connection model
4_a perspective processing and the like. 4_a: Perspective This is not possible because the target of 3D → 2D conversion is large
This is because it has no point. And the conversion target
If the target is a shape having a size, not a point,
The same effect can be obtained. This shape can be any shape
Good, but this model was devised for fast display
Pair that is centered on the point at which the
It is desirable to have a nominal shape. 4_b: Hidden line processing For the version that fills the n-gon, the model
No special treatment required because the ring itself also serves as a hidden line treatment
It is excellent in that it is. Wireframe version
When performing hidden line processing with
Or use the background color inside the n-gon
Once overpainted, overwrite wireframe
Can be achieved. 4_c: Shading processing In this model, there is no scope face, so the shell
The depth of the scope model
May be. Specifically, the side closest to the light source is bright,
The far side is darkened, while the number of colors available
Is displayed in accordance with the gradation. At this time, the depth of the model can be expressed.
You. As an application, the center and the end of the model are slightly different.
It is also possible to have a kana gradation difference. In this case,
Although the gradation for indicating the overall depth decreases,
Since the model is displayed as if it were swollen due to the gradation difference,
You can emphasize the stereoscopic effect of the loop. 4_d: Utilizing color saturation and luminance This is similar to the n prism model, and the same effect is expected.
You. 4_e: Wireframe display Here, a simple and hidden line
Provide a display method including processing functions. First, all wire frames are represented by n-gons.
Instead, only the root data is displayed in an n-gon
From here to the tip, add a half-n-sided polygon
(See FIG. 43A). This method uses hidden line processing
Without performing the same processing as when performing hidden line processing
With an excellent means that you can create ear frame shape
is there. Further, the same half-n-gons should not be overlapped.
Including angle distortion set according to the curvature of the scope orientation
The shapes may be overlapped (see FIG. 43 (b)). This one
The method emphasizes curvature information in addition to the effects of the above means,
Excellent in getting closer to the real scope image
I have. As described above, according to the first embodiment,
For example, a magnetic field is generated in the flexible insertion portion 7 of the endoscope 6.
A source coil 16i as a generated magnetic field generating element
Insulating so that the shape of the source coil 16i does not change
The probe 15 is fixed to the inner wall of the probe 15 via an adhesive 20 or the like.
Is arranged around the subject into which the insertion portion 7 is inserted.
Detects the magnetic field generated by the source coil 16i at a known position
A three-axis sense coil 22j as a
And the magnetic field generated by each source coil 16i
From the detection signal detected by the three-axis sense coil 22j.
The three-axis sense coil 22j arranged at the known position
Position of each source coil 16i in the insertion portion 7 with respect to
Since the position is calculated by the position calculator 31,
When inserting the insertion section 7 into the subject, the insertion section 7
Each source coil inside the insertion portion 7 is bent even if
16i is fixed by a fixing means so that the shape does not change.
From the calculation of the position of each source coil 16i
The position of the insertion section 7 of the endoscope 6 can be accurately detected. Ma
The output of the position calculator 31 is used to estimate the shape of the
By providing shape estimating means to perform
The shape of the high insertion portion 6 can be estimated, and the estimated
By displaying the image corresponding to the shape,
The shape of the entrance can be easily determined. [0275] Also, they are arranged at the above known positions.
Plural 3-axis sense coils 22 constituting magnetic field detecting means
j, a one-axis or three-axis saw constituting the magnetic field generating means.
The strength of the magnetic field generated by the coil 16i and the AC drive
Phase information and the shape of the iso-magnetic surface by the magnetic field generating means
In consideration of the above, the area where each magnetic field generating means exists is detected or
Estimate and calculate or estimate its three-dimensional position
Therefore, the magnetic field detecting means is positioned at a known position such as a corner of the bed 4.
When placed on the bed 4, the patient 4
The position can be accurately detected with respect to the required position detection range.
Calculation or estimation becomes possible. That is, the three-axis sense coil 22j is
By arranging several (three or four) in 4 etc., each 3
According to the magnetic field strength detected by the axis sense coil 22j.
Therefore, the three-dimensional region where the source coil 16i exists is estimated.
And are estimated by the respective three-axis sense coils 22j.
Of the source coil 16i from the overlapping portion of the three-dimensional region
The location area is estimated. In this case, use phase information
Thus, an area outside the detection range or the like can be excluded. In the first embodiment, the detected magnetic field strength
Using the reference information from the signal corresponding to the
Estimate the area where the source coil 16i exists
Area calculation rather than distance calculation by calculation.
Can be done in a short time. The arrangement of the three-axis sense coil 22j is described below.
The number of source coils 16i can be more precisely
Position detection, and the endoscope shape can be accurately estimated.
Can be determined. [0279] In addition, the endoscope shape obtained by the user
It can also be displayed in the shape viewed from the point direction,
By setting the viewpoint to perform the insertion operation, the insertion
Many of the advantages described in the first embodiment, such as
Have. Next, a first modification of the first embodiment will be described with reference to FIG.
It will be described in the light of the above. In the first embodiment, for example, as shown in FIG.
As described above, considering the transient characteristics of the source coil 16i,
To capture the signal detected by the sense coil 22j
Was delayed. On the other hand, in this modification, FIG.
Between the oscillator 25a and the amplifier 24a.
To compare with the reference voltage from generator 58
Signal from the oscillator 25a drives each source coil 16i
Phase detector that detects that the phase angle is suitable for
59 are arranged. The reference voltage generator 58 is connected to each source core.
The voltage value of the sine wave corresponding to the power factor angle of the
Is output to the phase detector 59 as a pressure, and the phase detector 59
Phase detection when the sine wave of the vibrator 25a matches the reference voltage
A signal is output and the sine wave of the oscillator 25a is amplified by the amplifier.
Pass through the 24a side. Each source coil 16i generates a sine wave.
Power is amplified from the oscillator 25a through the phase detector 59.
After that, through the contact selected by the switching circuit 28a
A drive current is supplied. The time that supplies this drive current
From the phase detector 59 to the timing control circuit 30d.
This is performed in synchronization with the rising edge of the transmitted phase detection signal.
You. Also, the voltage excited across the sense coil 22j is
A / D converter 30 for amplified and synchronously detected detection signal
The timing at which the data is read into the CPU 30c via a
This is performed in synchronization with the rise of the phase detection signal. Here, the phase detection signal is generated as follows.
You. Oscillator 2 that generates a sine wave as a source of a drive signal
The signal e from 5a e = Em sin (ωt + θ) [V] It can be expressed as. Where: Em: maximum amplitude voltage
[V], θ: initial phase [rad], ω = 2πf, f: drive
Dynamic frequency [Hz], t: time [s]. Each source coil 16i has
Power factor angle calculated from pure resistance components Ri [Ω] and Li [H]
φi φi = arc tan (ωLi / Ri) Then, the reference voltage Vref = Em sin φi [V] And the signal e [V] of the transmission source by a comparator
A phase detection signal is obtained when they match. The supplied drive current i [A] is i = Asin (ωt + θ−φ) −Asin (θ−φ) · exp (−a
t) Here, A = Em / (R · R + ωL · ωL), a = R /
L. In the above equation representing the drive current i, θ = φ
Indicates that the second term on the right side is 0
Therefore, no transient DC component is generated. That is,
To be able to drive the coil in a steady state from the moment
Become. Therefore, at the same time as switching the coil,
The detection signal of the file 22j is read to the CPU side.
And become possible. In practice, the sense coil 22j is excited.
Delay until the input voltage becomes the output of the synchronous detector 26d
Make sure to read in time. Driving source coil 16i in this manner
Switch between multiple source coils
Time from start of drive to start of capture of detection signal
Has been shortened greatly, and the operating time of the entire system has been reduced.
Speed up. FIG. 45 shows the structure of a source coil according to this modification.
The operation of driving and reading the detection signal by the sense coil
The timing explanatory drawing is shown. As can be seen from the comparison with FIG.
At a short time Δt 'after driving the source coil
I can. In this modification, a signal for precise measurement is used.
Means for shielding the trunk line is provided. Shown in FIG.
To supply the drive current to the source coil 16i
Signal for transmitting detection signal of signal line and sense coil
Twist two wires connected to each coil
Reduce the superposition of radiation and disturbance from the signal line.
You. However, even in this twisted signal line,
Because the above effects are present to some extent,
Cable when the drive signal cable of the
Due to the effects of weak electromagnetic waves radiated from the
The detection signal of the coil has been swung about 2-3 times
The detection signal cable of the sense coil
When the stray capacitance approaches, disturbance on the signal line via the stray capacitance
May not be able to measure accurately due to superimposition
An elephant gets up. Solving such problems, stable and
Make accurate measurements possible. The specific method is explained next.
I will tell. First, a drive signal cable for the source coil 16i is provided.
The file 60a will be described. This cable 60a
Probe 15 having a built-in source coil 16i (FIG. 4)
6 shows two source coils for simplicity)
To sequentially drive each source coil 16i.
Sinusoidal current is supplied. At this time, each source coil 16i is connected to
Of the electromagnetic waves radiated from each signal line
The frequency component is superimposed on the signal line of the other source coil 16i
Current to the coil that you do not want to drive
It generates an unnecessary magnetic field, so such unnecessary electromagnetic
Can be done for each cable twisted to absorb waves
Only the base of the coil is covered with the shield 60b, and the driving means
(Including, for example, the switching circuit 28 and the amplification circuit 24)
So that the connection end of the
I do. Next, a detection signal cable of the sense coil 22j is provided.
The file 40a will be described. This cable 40a has three axes
Each of the three coils constituting the sense coil 22j
One end is connected (in FIG. 46, a pair of
Cable only), the other end of each sense coil 22j
The section is a synchronous detection means (the amplifier 27 and the synchronous detection circuit of FIG. 8)
26d). The voltage transmitted by this cable 40a is
It is a weak signal of several tens μV to 1 mV,
AC magnetic field from the
May be buried in the fluctuation superimposed on the cable 40a.
is there. Therefore, it is necessary to absorb such unnecessary superimposed noise.
Of each coil as much as possible for each cable twisted
Cover to the root with shield 40b and connect on the synchronous detection means side
The terminal is connected to the reference potential of the synchronous detection means. The driving means and the synchronous detection means
Connect each reference potential point of
To With this configuration, the source coil
Leakage due to interference and radiation between the drive signal lines of the
Has almost no effect on the sense coil 22j.
Above, the shadow of the sense coil 22j on the detection signal by the human body etc.
The sound will be minimal. Accordingly, the signal detected by the sense coil 22j is
The noise in the signal can be almost eliminated
Then, the AC magnetic field generated by the source coil 16i causes
The signal component excited by the sensing coil 22j is stable and accurate
Will be able to measure. Next, a second modification of the first embodiment will be described.
I will tell. This second modification improves the accuracy of position derivation.
It is for. Located at a certain distance from the source coil
Source coil from the magnetic field strength obtained by the sense coil
The area where the file exists is precisely defined and its three-dimensional position is determined.
When calculating, to obtain a narrow closed space (closed area)
Requires at least 3 (or 3 sets) sense coils 22j
It is. However, actually, the sense coil 22j has 3
In the case of only a pair, the source coil 16i and the sense coil
When the distance of 22j is too short or too long, 3
Possibility of not being able to reliably obtain detection signals even in one of the sets
In this case, there is a closed state where the source coil 16i exists.
Because it is no longer possible to limit the space to a narrow area,
The position of the source coil 16i is virtually impossible.
I will. Therefore, in this modification, the level of the detection signal is
Derivation of source coil position in a stable state regardless of
Be able to do it. Therefore, as shown in FIG.
Is used. It is assumed that the detectable range of the sense coil 22j is
Has a radius of 30 to 100 cm, and the required detection area
The area width is (x, y, z) = (40, 60, 40) [cm]
And a size of (200 × 70 cm) endoscopy
Four four-axis sense coils 22j in each
a (0,0,0), Qb (60,0,0), Qc (6
0, 100, 0) and Qd (0, 100, 0)
Position is set to cm]. Then this 4
A rectangle with a vertex at the point is required inside a square pillar
To be detected is included. Smell this setting
When the source coil 16i moves within the detection area,
The distance between the four sets of sense coils 22j is 30 to 1 respectively.
If it is within 00 cm, the position can be reliably derived. Also 4 pairs
, The distance from one set of sense coils 22j is less than 30cm
When it is full, the other three sets of sense coils 22j are detected.
The position is derived using the signal. In the above setting, one set of sense coil
When the distance to the le 22j is less than 30 cm, the other three sets
Because there is always a distance of 30 cm or more,
This makes it possible to reliably obtain three sets of detection signals,
Position detection (or position estimation) can be performed with good accuracy.
Further, the distance between the source coil 16i and the sense coil 22j
Is larger than 100 cm
This is the same as the case of the distance less than 30 cm described above. However, the source coil 16i and the sense coil
The combination where the distance of 22j is larger than 100cm
There may be more than two sets, in which case the source coil
16i, increase the drive current of the sense coil 22j.
Increase the sensitivity of the force to increase the detectable distance
Measurement again, and three or more sets are within the detectable range.
This process is repeated until the process is completed. This allows the saw
The position of the coil 22j can be derived. The size of the bed 4 or the sense coil 2
Due to conditions where the detection range of 2j is different from the above value or range
In the case where two of the four sets cannot be used for position detection
Can be dealt with in substantially the same manner. For example,
Sense coil 2 if you want to secure more
2j, the distance between the source coils 16i is increased.
Increase drive current and increase sensitivity of sense coil 22j output
Is possible when combined with the radiation direction of the bed 4 (y
The direction cannot be expanded as it is beyond the bed width. Then, three or more sets fall within the detectable range.
The drive current of the source coil 16i decreases and the sense coil
Detectable range by lowering the sensitivity of 22j output
The source coil is shifted by moving it closer to the coil 22j.
The position of the file 16i can be derived. According to the above method, the level of the detection signal is
Derivation of source coil position in a stable state regardless of
Can be done. Also in all the above cases
In deriving the position of the source coil, the number of sense coil pairs
The size of the closed space becomes smaller as the number of
Therefore, the accuracy of position derivation is improved. For this reason,
Of the sense coil where the source coil exists in the output area
All detection signals are obtained by using for position derivation
Accuracy can be obtained. FIG. 48 is an explanatory diagram of the above method. FIG.
The curve C1 in 8 calculates the relative distance described in FIG.
Of measured data of magnetic field strength against relative distance
For example, a graph on the maximum magnetic field strength side is shown. Actually sense carp
A certain magnetic field intensity value is detected from the detection signal by the
The source coil 16i and the sensor
The distance from the coil 22j is determined by the curve C which intersects the intensity value.
In the range between 1 and the graph on the minimum magnetic field strength side (not shown)
Exists. The signal detected by the sense coil 22j is amplified.
Can be accurately detected by the dynamic range of the instrument
Range is restricted. For this reason, in the normal setting state (such as sensitivity),
Is the measurable band MR shown in the vertical axis direction with respect to the curve C1.
Normal range detection range D shown in the horizontal axis direction corresponding to the output value
1 becomes a detectable distance range (in the sense coil 22j,
Corresponding to a radius of 30 to 100 cm). In this case,
Lowering the gain of the instrument (that is, lowering the sensitivity)
The available range can be shifted to a smaller range
And lower the drive current value for driving the source coil 16i.
Can also be shifted to a smaller radius side. In other words, drive
When the dynamic current is reduced or the gain of the amplifier is reduced,
The range that can be detected by the output value of the coil 22j is the curve C
As shown by a curve C2 in which the value of the vertical axis of 1 is relatively lowered.
In this case, the detection range is D2,
Can be detected. Conversely, drive current or sensitivity is increased.
And the range that can be detected by the output value of the sense coil 22j is
Curve C3 in which the value in the vertical axis direction of curve C1 is relatively increased.
In this case, the detection range is D3, which is large.
Detection on the distance side becomes possible. Next, a second embodiment of the present invention will be described with reference to FIG.
Will be explained. The endoscope shape detecting device 41 shown in FIG.
By changing the frequency of the signal, the distributor 28 of FIG.
Configuration. Therefore, the source coil driving section 24
A drive signal having a different frequency fi is output for each coil 16i.
You. A drive signal having a different frequency fi for each source coil 16i
Signal, the plurality of source coils 16i
Driving at the same time enables high-speed processing. In the endoscope shape detecting device 3 of the first embodiment,
In other words, the plurality of source coils 16i have a certain frequency.
It is driven sequentially from the one arranged on the tip side by sinusoidal current.
The detection signal level of the sense coil 22j at that time.
The position coordinates of the source coil 16i one by one
A detection signal to be output is obtained. But this
In the method described above, when the number of source coils 16i increases, 1
Since the time required for shape detection for each time increases,
It is difficult to capture shape data in time
U. Therefore, in this embodiment, the source coil 16
Shape in real time, almost unaffected by the number of i
Enable to capture calculation data. next
FIG. 50 shows a specific configuration. For example, 12 source coils 16i are built-in
A description will be given of a case where the shape of the probe is detected.
As shown in FIG. 50, the oscillation units 25 have different frequencies.
.. 25l that oscillate at the
The amplifiers 24a, 24b,.
After each current amplification, the source coil 16
a, 16b,... 16l,
A magnetic field of a certain frequency. On the other hand, each sense coil 22j has these magnetic
Generates a detection signal proportional to the field strength,
7, the synchronous detection circuit 2 constituting the detection unit 26
6di, synchronous detection with reference to the signal of the oscillator 25i.
And the sense coil 22j by the source coil 16i
Only the signal component proportional to the magnetic field strength at the position is extracted.
The bandpass filter 2 of each synchronous detection circuit 26di
6ai is in a band through which only the signal of the frequency of the oscillator 25i passes.
Is set. Each synchronous detection circuit 26di performs synchronous detection.
Each waved signal is, for example, an A / D converter of 12 channels.
Data 30aj is sampled at high speed and its A / D
Temporarily stored in the RAM 30b connected to the inverter 30aj
And the data in the RAM 30b is sent to the CPU 30c.
The data is read, and processing of position calculation and shape estimation is performed. So
Other configurations are the same as those in FIG. 8, and the description thereof will be omitted. Driving of source coil 16i in this embodiment
And a file indicating the content of the data acquisition process by the sense coil.
The row is shown in FIG. In step S111, each oscillator 25
i are driven at different frequencies and each source
A drive current is passed through the coil 16i. Next, each sense coil 2
The detection signal of 2j is sampled. In this case, each saw
The state in which the drive current is passed through the coil 16i (leave it flowing)
Can be delayed by the time of the transient response.
Sampling the detection signal of each sense coil 22j
it can. Of course, immediately after the first drive current is applied,
Consider the transient response of As can be seen from the comparison with FIG.
It is necessary to take in data for position detection or shape detection.
Can be. Further, in this embodiment, position detection or
Can capture data for shape detection
Therefore, even when the insertion part moves fast,
Can be performed. Note that, for example, the twelve source coils 16i
Are different frequencies that are not integral multiples of each other (for example, 10.
0, 10.5, 11.0, 11.5, 12.0, 12
5, 13.0, 13.5, 14.0, 14.5, 15.
0,15.5 [KHz]) and the AC current
Generate a world. According to this configuration, the software of the configuration of the first embodiment is obtained.
Multiple times (for example, 12
) Of the source coils can be derived. Ma
In this embodiment, the endoscope shape is displayed on the monitor screen.
In this case, as shown in FIG.
And output the endoscope shape. In FIG. 52, the area on the left is
The area is the graphics output area, and the right side is the operation
Viewpoint, rotation angle, viewpoint position by key input from the panel 35
Interface for setting the elevation angle between the camera and the z-axis
Area. Other effects are almost the same as those of the first embodiment.
You. FIG. 53 shows an endoscope provided with a third embodiment of the present invention.
1 shows a mirror system 70. This system 70 is shown in FIG.
In the system 1, instead of the three-axis sense coil 22j
As shown in FIG. 55 (a), a magnetoresistive element (MR element and
Abbreviation) Sensor 75j formed of 76a, 76b, 76c
Are used, and the sensors 75j are provided at three corners of the bed 4.
(Or four) at known positions.
You. The endoscope type in this system 70
FIG. 54 shows the configuration of the state detection device 3 '. This device 3 '
In FIG. 2, instead of the triaxial sense coil 22j, MR
Used by sensor 75j with elements 76a, 76b, 76c
It is. Also, the sense coil output amplifier 27 outputs the sensor output.
Power amplifier 27 ', and the mutual inductance detecting unit 26
Is replaced by a magnetic field strength detector 26 '. Also,
The source coil position detector 31 stores the reference data
Position detection or position estimation with reference to the data of the cable 31b
I do. Each sensor 75j is connected as shown in FIG.
Three MR elements 7 whose resistance changes according to the magnetic field strength
6a, 76b, 76c are vertically adjacent to each other
Three MR elements 76
Sensor 7 formed by connecting a, 76b, 76c in series
5 are used as output terminals for the detection signal of the magnetic field strength.
You. In this case, the MR elements 76a, 76b, 76c
Each resistance value is based on the magnetic field strength components in the X, Y, and Z directions.
It is provided so as to change from the reference value. The resistance change ΔRq of each MR element 76q is shown in FIG.
55 proportional to the square of the magnetic field Hq as shown in FIG.
Therefore, the resistance change ΔR of the two terminals of the sensor 75j is
As shown in FIG. 55B, the magnetic field components H in the x, y, and z directions
It is the sum of the squares of x, Hy, and Hz. In this embodiment, the output of the sensor 75j is
The advantage is that the signal proportional to the sum of squares of the field strength can be directly detected.
There is a This signal is square-rooted by the magnetic field strength detector 26 '.
The magnetic field strength is detected by the calculation of. More sauce carp
With reference to the data in the table 31b, the
The position of each source coil 16i is calculated. The data of this table 31b is the same as that of the first embodiment.
Is obtained in the same way as That is, in FIG.
And a sensor 75j is provided in place of the three-axis sense coil 22.
And the curve of the maximum magnetic field strength as shown in FIG.
Table of reference data of curve Cd of Cu and minimum magnetic field strength
It has been converted to FIG. 56 shows sensors at three known positions.
A, B, C (corresponding to 75a, 75b, 75c)
And a plurality of sources (specifically, for example, a source coil 1
6i), when sensors A, B, and C are driven,
An output corresponding to the positional relationship with the source is generated. The outputs of the sensors A, B, and C at that time are
These are νa, νb, and νc, respectively. In addition, for each sensor in advance
And the spatial output that should be the output of the sensor
The data of the cloud is secured in a memory or the like. FIG. 57 shows data on sensor A, for example.
Shows a table. Now, there is one source at a certain position
And the sensor output ν obtained when a magnetic field is generated
a is compared with νa1 to νaL in the table of FIG.
Find an integer l such that l ≦ νa <νak (k = l + 1)
You. Similarly, conditions for other sensor outputs νb and νc
Integers m and n that satisfy At this time, the output data νa satisfying the condition
Spatial coordinate groups Pai, Pb corresponding to 1, νbm, νcn
j and Pck exist, and their relationship is as shown in FIG.
ing. Therefore, these three-dimensional areas are common areas
The area becomes the spatial coordinate area of the source. Further in that area
The position of the center of gravity may be obtained and used as the three-dimensional position of the source. The space of a plurality of sources obtained in this way
Connect the coordinate area (or the spatial coordinate position obtained from the center of gravity)
Process, and then insert the endoscope by shape estimation.
The inset shape can be determined. FIG.
Through the three-dimensional position or area
Connection, and estimate the shape of the insertion section to display on the monitor screen.
A model of the shape of the insertion section is displayed. Display more simplified
In this case, the estimation is performed as shown in FIG.
The three-dimensional area or three-dimensional position of the source coil
3D-2D projection, etc., displayed on the monitor screen and inserted part shape
May be omitted (the dotted line in FIG. 59 indicates
Shows the line when interpolated, omits this interpolation and displays
Is also good). The third embodiment is almost the same as the first embodiment.
Since the position is detected using a table at the time, position detection or
The processing time for position estimation can be reduced. In addition, the MR element
The sum of signals proportional to the square of the magnetic field strength in three directions.
The process of calculating the magnetic field strength
There is also a merit that can be performed quickly. Insertion type
To omit the process of drawing the shape in a model and display it
The outline of the insertion shape of the insertion part can be displayed very quickly
You. Also, after first displaying as shown in FIG.
Draw with an easy-to-understand model (such as the above n prism model)
You may do it. FIG. 60A shows an endoscope shape inspection of the fourth embodiment.
The output device 42 is shown. This third embodiment is the same as FIG.
A plurality of sensors, that is, a plurality of sense coils
And a magnetic field source on the bed side,
This is a configuration in which the three-axis source coil 44j is arranged. First
As in the embodiment, the endoscope and the bed 4 are each already installed.
Installed in a known location. Therefore, the driving signal passed through the distributor 28 is 3
The voltage is sequentially applied to the axis source coil 44j and the probe 15 side
The signal detected by the sense coil 43i of the
Amplified and form the shape calculation unit 30 via the detection unit 26
(Sense coil) This is input to the position detector 31 '. This position detecting section 31 'is a three-axis source coil.
44j relative to the position of the sense coil 43i.
To be detected. Other configurations are the same as in the first embodiment.
The effect of this modified example is almost the same as that of the first embodiment.
You. FIG. 60B shows an endoscope of a modification of the fourth embodiment.
The mirror shape detection device 42 'is shown. This modification is shown in FIG.
In (a), the three-axis sense coil 43i is a one-axis sense coil.
A single-axis source coil 44j has a three-axis saw in the coil 43i '.
It is changed to a coil 44j ',
The configuration is the same as that of the embodiment. The effect is almost the same
is there. FIG. 61A shows an endoscope according to the fifth embodiment of the present invention.
4 shows a mirror shape detection device 45. This fifth embodiment is shown in FIG.
In (a), by changing the frequency of the drive signal,
The configuration is such that the distributor 28 of FIG. Accordingly, the driving section 24 is provided with the source coil 44j.
A drive signal having a different frequency fj is output every time. Others
The configuration is similar to that of the fourth embodiment. Effect of the fifth embodiment
Is almost the same as in the second embodiment. In the first to fifth embodiments or modifications,
After amplifying the signal from the sense coil,
Even after conversion and subsequent detection etc. are all digital signal processing,
Good. [0339] The tip of the endoscope which is the maximum position of interest
Only one source coil or sense coil is built in
May be. In this case, the position of the tip of the endoscope is detected
Function as an endoscope tip position detection device
You. Next, a sixth embodiment of the present invention will be described with reference to FIG.
You. FIG. 62 shows an endoscope system 51 including a sixth embodiment.
You. In the above-described embodiment and the modified example, the estimated
The endoscope shape is drawn on the monitor 23 as a dedicated display device
However, in this embodiment, the data is output to the monitor 23.
Switching video signal on monitor 12 displaying endoscopic image
To be displayed. Therefore, the detection device main body 2
1 is connected to a video processor via a connection cable 52.
11 is input to the external video signal input terminal
By operating the switch 53, the display of the color monitor 12 is displayed.
The endoscope image and endoscope shape can be selectively displayed on the display surface.
I am able to do it. Furthermore, in this embodiment, the video processor 1
The timing of drive signal for CCD reading
The reference signal is determined via the cable 54 by the shape detection device.
It is sent to the installation main body 21. And the endoscope shape
Drive signal to source coil 16i to detect
The timing to perform this operation is the period when the drive signal is not output.
The timing is adjusted so as to be performed in between. FIG. 63 shows the operation period of this system 51.
It shows the situation in between. The light source section in the video processor 11 is
As shown in FIG. 63 (a), the light is sequentially illuminated with R, G, and B plane-sequential light.
I will tell. The CC (not shown) built in the endoscope 6
D is not illuminated as shown in FIG.
In the period, a CCD drive period is set, and the CCD drive period is set.
CCD drive signal for driving the CCD during the live period
Signal is applied and the image signal is photoelectrically converted by this CCD.
(Imaging signal) is read. On the other hand, a drive signal period during which a drive signal is output
Is the CCD drive period during which the CCD drive signal is output
During the illumination (exposure) period
To prevent the drive signal from affecting the imaging signal
At the same time, the CCD drive signal is detected by the sense coil
Influence on the signal can be prevented.
In other words, a means to eliminate the mutual interference of the functions
Building. Other configurations are the same as those of the first embodiment shown in FIG.
It has a similar configuration. According to this embodiment, the shape of the endoscope can be detected.
Signal for the endoscope becomes noise in the endoscope image signal
The CCD drive signal can be prevented and the sense coil
To prevent the detection signal from becoming noise. That
Other functions and effects are almost the same as those of the first embodiment. In the sixth embodiment, the picture
In the in-picture method, the endoscope image is displayed
An endoscope image may be displayed in an endoscope shape. Ma
In addition, in the sixth embodiment, there is no interference with the imaging signal.
When detecting the shape of the endoscope,
Freeze the image so that the image is free of noise
Is also good. (Add a function for setting to the operation panel 35 of FIG. 1)
). [0346] Also, for each field of image capture,
Every frame, every few frames, every few fields, endoscope
Automatically captures observation images every time the mirror shape rendering process is completed
Generate magnetic field for shape detection and capture magnetic field strength
May be performed. Next, an endoscope system according to a seventh embodiment of the present invention will be described.
The stem 61 will be described with reference to FIG. This system
61 is the endoscope system 51 of FIG.
Head mounted display (hereinafter abbreviated as HMD) 6
2, a TV camera 63 for confirming the position of the patient 5,
Computer for extracting the outline of the body of the patient 5 from the V camera 63
Data 64 and perform image processing for virtual reality.
An image processing device 65 is provided. The image processing device 65 is the main part of the shape detecting device 21.
Is connected to, for example, the shape image generation unit 32 (see FIG. 2).
Image processing is performed on the shape image generated by the shape image generation unit 32.
For viewing the right eye (or left eye) at a slightly different viewpoint
A shape image is generated and the shape generated by the shape image generation unit 32
The image is used as the left-eye shape image together with the monitor signal generator 3.
HMD62 (for right-eye observation and left-eye observation) via 3
Output to the crystal display, and attach the HMD62 to the head.
Surgeon stereoscopically observes the endoscope shape in virtual reality
Have to be able to. Also, in this embodiment, the TV camera 63
The position of the patient 5 on the bed 4
By generating a shape video signal, this body shape
Virtual reality of the endoscope by overlapping
So that you can observe it. In this way, the shape of the body
By displaying the overlap, the insertion section 7 of the endoscope 6
So that you can see how much is actually inserted
ing. The color monitor 12 has the same configuration as in FIG.
And the liquid crystal display of one of the HMD62
Displayed on the screen (overlapping on the body shape)
One of the endoscope shapes can be selected and displayed. [0350] Fig. 65 shows bed 4 using TV camera 63.
FIG. 9 is an explanatory diagram of a method for detecting the position of the patient 5 above.
You. In FIG. 65, an image captured by the TV camera 63
Is an image of a dotted arrow below the cable,
The image obtained by the mirror shape detection device 3 is the image shown below.
The contour is extracted by the computer 64, and the (monitor signal
They are displayed in an overlapping manner as shown in FIG. patient
The body 5 has a bodymer for detecting the position and direction.
A mosquito 67 is mounted. This can be singular or plural
No. The body marker 67 has a position detection coil.
Built-in. The position of this body marker
At the reference point such as the lateral position of the pelvis of the patient 5,
When displaying, overlap with the standard body shape graphic model
It may be displayed. When the patient lies on the bed 4 for endoscopy
The TV camera for position confirmation provided above the bed 4
The computer 63 including the body marker 67
4. Capture the image. Bodyma worn on the body of patient 5
The marker 67 is a part of the contour line of the patient 5, and
Extract only the contour image of patient 5 and superimpose it on the shape display
The image is also drawn on the color monitor 12 or the like. [0353] The superimposed image was obtained before endoscopy.
Image based on all-around image of patient 5 body taken in advance
Image or magnetically determined position of body marker 67
Then, the direction of the patient 5 is derived, and the computer 64
And may be displayed. Actually take it with TV camera 63 etc.
The color (bed etc.) on the embedded image is synthesized by the shape detection device
If the color is similar to the color of the endoscope displayed
-It is difficult to determine on the monitor 12. [0354] Then, the endoscope shape displayed by the user is displayed.
May be changed. Also, color monitor
The thickness of the endoscope displayed on the screen 12
May be. By detecting the direction of the patient 5's body,
-The image displayed on the monitor 12 is always in front of the patient 5
An image from a direction may be used. Of course, obtained
May be rotated. like this
Can be converted to an image from the same place as the user's viewpoint.
Function, the user may misrecognize the endoscope shape.
And can be eliminated. [0356] In the above example, the user can adjust his or her viewpoint.
The resulting image was rotated, but the user also
As with the demarker 67, a sensor for position detection
In this case, the image can be automatically rotated or deformed. Use
In the case of a user, since the endoscope 6 is inserted,
Mount where the movement is large and does not hinder the movement of the user
Will be. The position of the sensor is the same as the user's viewpoint
Can not physically. (A sensor must be installed in the skull.
Therefore, when using the sensor position
Adjustment means for adjusting the viewpoint and the viewpoint may be provided. For example, the shape on the endoscope inspection bed 4
Place the probe for detection, and the displayed probe shape
Rotate, scale, and zoom in and out of the way
In that state, press the switch for viewpoint correction to change the viewpoint
And offset adjustment of the sensor position. [0358] This is the case when the above-mentioned HMD62 is used.
Need to do the same. Sensor 68 for HMD62
May be fixed. In this way, the line of sight and sensor position
Because there is no difference, it can be used with almost no correction
It is possible. Detect user position using magnetic sensors
In the case of the endoscope, use magnetic coupling as in the case of the endoscope.
The source coil in the endoscope shape detecting probe 15
Instead of driving at the same time as detecting the position of 16i,
Driving at a low cost to reduce mutual magnetic interference
May be. FIG. 66 illustrates the case of driving by this time division.
The figure is shown. The narrow pulse period is fixed to the HMD62.
Indicates the period for driving the magnetic sensor
Source coil 16i for detecting the endoscope shape
Shows a period during which is driven. According to this embodiment, the virtual reality
You can view the endoscope shape three-dimensionally with
A place for performing examinations using the mirror 6 or procedures using the endoscope 6
In the case, the target portion intended for the distal end portion of the insertion portion 7 of the endoscope 6
Introducing to the vicinity can be done easily and in a short time.
There are merits such as The other effects are the same as in the first embodiment.
Have fruit. Note that the magnetic cell fixed to the HMD 62
To drive the sensor and the source coil for endoscope shape detection.
In this case, instead of driving in time division, each frequency is changed.
Instead, the detection may be performed so that they are driven completely simultaneously. this
In this case, all sensor positions are obtained at the same time,
The position, shape, and user position change quickly when the endoscope is inserted.
However, following it, the position and shape can be obtained quickly.
These processes use well-known quadrature detection.
It can be done, but even analog, A / D conversion and digital
Processing may be performed. [0362] The magnetic field generating core used for the position detection is used.
The coil for detecting the magnetic field and the magnetic field
Same due to variations, winding variations, ambient temperature differences, etc.
Variations in magnetic field strength that occur even when current is supplied,
Variations in the detected signal strength even when in the field strength field
Will occur. [0363] Therefore, in advance, the variation is the same.
Measure the current value to generate the magnetic field strength,
Be able to correct. For example, from the source coil to the axial direction
To get 2 gauss strength at 30cm
Current value and measure the ratio to the reference current value in the table value.
And drive at that ratio. Senseco
Illustrates the signal output at a field strength of 2 Gauss
First, measure and compare the ratio with the reference value as a table.
Correction is performed by applying. This correction coefficient needs to be set for each coil
Can be set from the keyboard provided on the device.
You may make it so. Also, in the connector of the probe 15
The value is stored in the ROM provided in the
It may be included. Also, the value to be stored
The value to be set may be compressed and coded. Endoscopy
The coil installed on the inspection bed 4 is the same as the device except at the time of failure.
The combination of
May be set in advance. [0365] The coil on the bed side is basically like this.
Are always combined with the same device. Also, shape detection
The distance between the coils in the probe 15 for
Assembled with known values. So, in the center of the bed
Place the probe 15 on the straight line, and
The variation of each coil in the probe 15
May be corrected. Also, if the detected position is
So that they are aligned on a straight line or the interval is a known value
To set the correction coefficient and adjust the drive current
Is also good. By doing so, the expensive R
It is no longer necessary to incorporate an OM (these are
The same applies to special endoscopes.) Next, an eighth embodiment of the present invention will be described. General
Detectable range of the sense coil used for position detection
Depends on the dynamic range of the device. for that reason,
The source coil and the sense coil increase the detection signal level.
From a small distance when the
Until the signal level becomes very small,
A sufficient dynamic range is required. However, in actual endoscopy,
The bed is used and the patient is on the bed
Only the area above the bed needs to be detected.
If the patient has a general physique,
The position of the endoscope is a very limited area. In other words, the dynamic recording limited in practical use
It is only necessary to have a nozzle. On the other hand, consider the image to be displayed
When only the endoscope image is displayed,
It is difficult to determine whether the drawing is
No. Therefore, in this embodiment, the display of the detectable area is
Prepare as a point for the operator to confirm the viewpoint direction
You. In this area, sufficient detection accuracy can be obtained.
So that the endoscope's shape display is inside this area.
Perform only for those that exist. This processing flow
As shown in FIG. The value of the reference cuboid or the like is determined in advance in the detection range.
(Detection area), and this is set in step S121.
Get the detection range. In other words, the actual
The detection range is taken as reference data. Next step S
At 122, construction of the scope image drawing is started. this
In this case, the position of the endoscope obtained by interpolating the coil position
Compare the coordinates with the surface surrounding the detection area and determine whether it is within the detection area
Is determined (step S123). By comparison, only when it is determined that the area is inside the area
The image data is stored in the video RAM (step S1).
24) If the data is out of the range, discard the data.
Step S125). Image data stored in video RAM
Is displayed on the CRT (step S126), and the image is constructed.
It is determined whether or not the process is completed (step S126).
Until the process is completed. In this embodiment, when the current value is within the detection range, the display is made.
However, if it is out of the detection range, the process ends without displaying.
The shape of the endoscope outside this detection area is
It is not displayed because the degree is not enough. However, the shapes existing outside the region are not displayed at all.
If you do not show it, most of the endoscope
However, when it is out of the area, almost no shape is displayed.
In some cases, it may not be possible. So, for example,
As shown in FIG. 68, different display methods are used inside and outside the area.
It may be displayed. In FIG. 68, it is within the detection range.
In the determination process (step S123),
Is stored in the first RAM (step S124).
a) If it is outside the range, it is stored in the second RAM (step
S125a). These 1st RAM and 2nd RAM are stored.
Change the display method of the stored image data, such as different display densities.
Is displayed on the CRT (step S126a). Other
Are the same processing contents as in FIG. The display density is changed between inside and outside the detection range.
It is not limited to those that further
On the other hand, a different color system (the endoscope is a warm color system)
If it is cold, it may be displayed (for example,
Prepare such a LUT). Pixels used for drawing
To make the displayed image coarser. (Prepare display mask
EXOR, OR, etc.)
Good. Continuous endoscope shape is displayed together with detection accuracy
Therefore, the endoscope shape can be reliably obtained. That is, the position of the source coil must be interpolated.
Comparing the endoscope's position coordinates obtained in step 2 with the plane surrounding the area
However, if the comparison indicates that it is within the area,
In the drawing method of the endoscope shape detection device that always draws
According to this, accurate shape display can be performed. What
Note that the processing of FIG. 67 or FIG.
May be performed in step S42. Next, a ninth embodiment of the present invention will be described. Above
In the embodiments described above, when displaying the endoscope shape,
To be displayed as computer graphics
On the other hand, in this embodiment, for example, the image is displayed as an actual endoscope image.
It is. The detected or estimated endoscope shape is:
Draw with a wire frame inside the computer,
Source, and shading the set surface for display.
Was explained. However, this image processing is generally
Computer processing speed required fast calculation and drawing ability
Also, due to the capacity of the built-in memory,
It may be difficult to get a comfortable drawing speed
You. In this case, processing is simplified to improve the drawing speed.
A simple model is desired. However, a much simplified model
Is very different from the actual endoscope image.
Even if you draw it, it will remind you of the endoscope itself
There is a risk of getting worse. In such a case, this embodiment is adopted.
This allows high-speed processing even on computers with small processing capabilities
And display the shape of the endoscope in a shape that is easier to grasp
It becomes possible. Therefore, in this embodiment, the text
A means for displaying an endoscope shape by attaching a tea,
Actual endoscope image as texture to be pasted
Scanned by a scanner, stored in ROM,
Prepare a texture as an image pattern. That is,
High-speed semiconductor memory
Prepare it on the moly. Then, as shown in FIG.
Coordinates and text corresponding to the position of the issued endoscope
Texture so that the coordinates of the center of the cha pattern match
Paste. The texture to be pasted is shown in FIG.
In the case of using a square as in
Therefore, a level difference occurs in the displayed image,
The contours may be connected by a Pezier curve or a spline curve.
In addition, a known ancheliath may be applied. The texture to be used is shown in FIG.
As shown in FIG.
Capture the image and prepare it. The direction of the light source is the storage area
Depending on the size of the image and the quality of the displayed image
Needless to say, you can prepare textures by increasing or decreasing
Absent. When the endoscope insertion section 7 is tilted,
Prepare the image 7a separately in FIGS. 70 (b) and (c).
Is also possible. The inclination of the endoscope insertion section 7 itself and the light source direction
The more textures you store, the better
Reduces the number of calculations required to display images, enabling faster drawing
It works. [0383] To make the image of the endoscope stand out from the background
Then, known edge enhancement may be performed. This example
According to the display notes for composing the image of the endoscope
Write image pattern in advance to video RAM
That is, the image of the ROM is written. This is because the coordinates at which the endoscope exists are determined.
After that, simply sort and write the corresponding pattern
In other words, it is only necessary to transfer data between memories.
This eliminates the need for complicated arithmetic processing and reduces the drawing speed.
It can always be performed at high speed. [0385] The texture to be used is the actual endoscope.
Because it uses a mirror, it is intuitively
Easy to do. It is displayed in the same color as the existing endoscope.
Reconstruct the actual endoscope shape in the surgeon's head.
It can be done very easily. Next, a tenth embodiment of the present invention will be described. This
In the embodiment of the present invention, the display color is switched every fixed length.
It is something. The shape of the inserted endoscope insertion part is
Displayed on the monitor in computer graphics
However, unlike the actual exterior of the endoscope insertion section,
Was not displayed. Therefore, the position of the built-in coil must be changed.
Displayed using a different color from the endoscope shape
However, how long is actually inserted into the patient's body
The surgeon can determine whether the
Needed to be Particularly, the installation interval of the position detecting coil is fixed.
The coil position with other pseudo endoscope indications.
Distinguish (eg, endoscopes are grayscale, coil
(The position is indicated by a red dot.)
The insertion length can be obtained depending on what is done. But the real
When performing an endoscopy, the purpose is to insert the endoscope
But not for the purpose of observing and treating internal tissues.
Such a counting operation places a burden on the operator. [0389] Therefore, a computer graphic
By changing the basic color of the endoscope shape shown for each fixed length
To be displayed. For example, the color that can be displayed on the device
Some distance on the straight line drawn on the color chart
Color set as the basic color. This is repeated according to the drawing length.
Thus, the color is changed every fixed distance. This constant distance
May be set by the user. [0391] Rather than expressing only the coil position with another color
Also allows for a lot of drawing area, making it easy to insert visually
Understand the length. Display with repeated gradation changes
You may make it appear. Paste on black and white binary screen
The pattern may be changed. For simplicity, the endoscope insertion part was straight.
An image in this case is shown in FIG. Fixed length from tip
Displayed by changing color of Ca, Cb, Cc, Cd, Ce every time
I am trying to be. [0393] Such a display is as shown in FIG.
Data of colors Ca, ..., Ch to be pasted into
Are stored in the specified address locations in the rear
This can be realized by reading. Each pattern is a user
However, you may make it freely set. FIG. 72 shows the basic flow of drawing. Ma
, The parameter n is initialized to 0 in step S131.
You. In the next step S132, insertion is performed from the distal end.
Therefore, the position of the tip is detected, and this position is referred to as Psn (where
Is set to n = 0) and set by the user from this position Psn.
Search for a position Psn + 1 on the endoscope position at a distance l
You. At the next step S133, the parameter n is
Whether it is equal to or less than the detected insertion length / l
(That is, n ≦ detected insertion section length / l),
If this condition is satisfied, n is set to n + 1 (step
Step S134), the process returns to step S132 again, and the same processing is performed.
Repeat the process. On the other hand, if the condition is not satisfied, the next scan
Proceed to step S135 to search for the distance l from the tip
Are displayed in different colors, ie, as shown in FIG.
Is displayed and the process ends. Next, an eleventh embodiment of the present invention will be described with reference to FIG.
I will explain. This example captures and displays surrounding images
To do. Display the shape of the endoscope detected by magnetism
When performing with computer graphics, biological tissue, etc.
Is difficult to detect, so only the endoscope is displayed.
No. Therefore, the positional relationship between the living body and the endoscope is not intuitive.
Difficult to light. In order to solve this, in the first embodiment,
A reference plane such as a bed plane is now displayed. This place
In this case, since it is a computer-created texture,
Unlike the sight of the endoscope room at the time, immediately the actual endoscope
In some cases, it may be difficult to recognize the shape in association with. this
In order to prevent
It may be displayed. An endoscope shape inspection of the eleventh embodiment shown in FIG.
In the output device 101, video input is performed on the shape detection device main body 21.
A video camera 102 is connected as a
The endoscopic examination room 103 is imaged by the video camera 102. [0400] In this endoscopic examination room 103, a bed 4 and the like are provided.
An image of the bed 4 etc. is taken with the video camera 102
The shape detection device main body 2 is
1 is output. This shape detection device main body 21 is
A / D converter in the image processing unit 21a
And converts it into a digital signal and stores it in the memory. This memo
The reproduced image is reproduced on the monitor 23 via the monitor signal generator.
You. The surgeon responds to the image displayed on the monitor 23.
7 by operating the keyboard 35a and the mouse 35b.
4 to perform the processing shown in
It can be displayed as an image. Next, the flow in FIG. 74 will be described. First,
In step S141, an image is captured by the video camera 102.
To include That is, an image signal from the video camera 102
Is A / D converted and stored in the memory. The image stored in the next step S142
Process of playing back on a monitor and correcting the played back image
I do. In other words, unnecessary images with photo retouching software etc.
Correct the parts and noise parts, and you need the corrected image
Select an area with the mouse 35b and use it as an image for pasting.
And store it in memory. At the next step S143, the endoscope shape is detected.
The control program is called and the memory
The area to read the image for attachment and paste as the background screen
Is specified. In the next step S144, deformation, enlargement,
Perform small adjustment and adjust to the shape display image of the shape detection device.
After mixing (mixing), paste in step S145
By determining the data, the background image is determined. This
As a result, the endoscope detected in the background of the actual endoscope room
Since the shape of the mirror is expressed, the shape of the endoscope inside the patient's body
But easy to understand. Next, a twelfth embodiment of the present invention will be described. This
Does not use a cable to drive the source coil
To drive wirelessly. In the first embodiment, etc.
To detect the position of the coil, use the sense coil to
A detection signal corresponding to each time is obtained. This place
In this case, synchronous detection is performed to detect minute signals.
You. Then, a signal having the same frequency as the drive signal of the source coil is output.
Use the reference signal based on the drive signal to extract the signal
The detector performs quadrature detection on the received signal, and
Signal amplitude and phase with respect to the drive signal.
You. In this case, the drive signal is transmitted via a cable.
The signal is transmitted to the detector on the shape detection device side.
Can restrict the surgeon's freedom of movement or provide a marker for the patient.
When a source coil is provided, the patient's
May be limited. Therefore, this embodiment
Now, the signal that generates the reference signal can be transmitted wirelessly.
Device that can perform position detection wirelessly
You. FIG. 75 shows a probe 1 provided with a source coil.
The configuration on the 31st side is shown. Battery or external electromagnetic field
An antenna consisting of an antenna coil that generates an AC signal
The power supply means 132 supplies power to the power supply means 133,
The power supply means 133 generates a stabilized DC power supply and oscillates.
A voltage necessary for the operation is supplied to the means 134 and the like. The oscillating means 134 oscillates at a predetermined frequency,
This oscillating signal is applied to the radiating means 135 and the radiating means 13
5 is amplified to be a drive signal of a certain level and internally amplified.
To the source coil 136i, and a magnetic field is generated around it.
Let it live. [0410] Also, a reference pulse for external synchronization is generated.
The reference signal generating means 137 which generates
A reference pulse is generated as a reference from the signal.
And radiates from the radiating means 138. [0411] The radiating means 138 controls the amplitude of the drive signal.
An AGC circuit is provided to make it constant, and
The quasi-pulse is transmitted using the spread spectrum method. FIG.
6 shows a more specific configuration of FIG. Power supply
Generated by the antenna coil 132a constituting the feeding means 132
The AC signal obtained is supplied to the rectifier and
Rectified by the DC conversion circuit 133 a
Is converted, and furthermore, a constant DC
Power supply voltage. This DC power supply voltage forms the oscillating means 134
Oscillating at a predetermined frequency
The AGC circuit 135a constituting the radiating means 135
Is amplified to a certain level, and furthermore, the changeover switch 13
5b are sequentially applied to the source coil 136i. [0413] Also, the reference signal generating means 137 is constituted.
The spreading code generator 137a outputs the output of the oscillator 134a to zero.
It becomes 0 when it becomes b, and it becomes 1 at the next zero cross point
Monitor the oscillation signal output level and generate a pulse signal
I do. This pulse signal is output from modulator 138a, for example, to F
SK modulation is performed, and the PN code is further converted by the spread modulator 138b.
Is spread-modulated. Spread modulated signals can be used as needed.
And amplified from the reference pulse transmitting coil 138c.
Shoot. This signal spectrum becomes broad. [0414] The changeover switch 135b generates a spread code.
Using a counter or the like that counts the output of the creature 137a
Switching is performed by the formed switching controller 135c.
On the other hand, the shape detection device main body side provided with the sense coil 22j
FIG. 77A shows the configuration of the reference signal generation circuit 141 of FIG.
You. [0415] The main body of the shape detection device is a reference signal generation circuit 14.
1 and a signal radiated from the coil 138c.
Received by the antenna coil 142. The received signal is transmitted
With reference to the PN code of the spread code generator 143 similar to that on the transmitting side,
The signal is despread by the despreading circuit 144 and
After filtering, the demodulation circuit 146 returns to the original signal.
Is done. Therefore, the demodulated signal is the reference drive signal.
Form PLL loop to generate pulse signal as signal
This PLL loop locks the phase to the reference frequency.
U. Phase locked and tuned to reference frequency
The signal becomes a reference wave (reference signal) with the same reference phase,
This reference wave is output to the synchronous detection circuit,
Used for synchronous detection for the detected detection signal. The PN code on the receiving side matches the PN code on the transmitting side.
Otherwise, the signal will be spread and the signal will not be reproduced. One
In other words, change the PN code of all coils whose position is to be detected.
If there is no interference, connect multiple reference waves at the same time
Can be obtained without any That is, when applied to FIG.
If the source coil is driven and sense coil
Detection can be performed wirelessly. The modulation and demodulation are
Any known method may be employed. The power supply means 132 shown in FIG.
When the antenna coil 132a is adopted as shown in FIG.
Generates electromagnetic fields etc. on the detection device side or separately from this device
The energy that supplies the energy to the antenna coil 132a
Lugi supply means is required, and this energy supply means
47 is an oscillator 148 as shown in FIG.
A coil 149 for emitting the oscillation output and a DC power supply 15
0, and this DC power supply 150 is
A power source generated by rectification or the like from the power source may be used. The oscillator 149 is, for example, the oscillator 134a
Frequency much higher than the frequency of
z to several hundreds) and at the frequency of the oscillator 134a
Has little effect on the magnetic field generated. The sending side
The modulated wave may be a drive signal (oscillation signal) itself.
No. This embodiment is used for displaying a marker.
You can also. FIG. 78A shows a modification of the twelfth embodiment.
9 shows an exemplary wireless magnetic field generation unit 159. This nothing
The linear magnetic field generation unit 159 is connected to the coil unit 152.
And a drive unit 156. For example, as shown in FIG.
A magnetic field attached to the object you want to know and for detecting its position
Coil with built-in source coil 151 used for generation
A connector 153 is provided in the unit 152, and the source
Drive circuit 154 for driving the coil 151 and the battery 155
Connected with connector receiver 157 of built-in drive unit 156
By connecting the
It constitutes a linear magnetic field generating means. The drive circuit 154 and the battery 155
At 76, a connector is connected to the output terminal of the AGC circuit 135a.
Receiver 157, and connect to this connector receiver 157.
Source coil 151 connected via the
Only one of them is driven. Further, as shown in FIG.
Cable 156 to a position where the
8 and the coil unit 152 and the drive unit 156
May be connected. Of this cable 158
Connected to connector 153 and connector receiver 157 at both ends
A possible connector means is provided. The connector 15
3 and the like, and the coil unit 15
2 and the drive unit 156 may be connected.
No. With such a structure, the shape detecting device side
Omit the cable between the coil and the coil used for the marker
So that when attached to a patient,
Almost unrestricted, and when used by the surgeon,
Is almost unlimited. Next, a thirteenth embodiment of the present invention will be described. This
In the embodiment of the present invention, for example, as a marker display that is easy to understand visually,
The position of the palm is displayed. This is actually
In order to realize this, a small number of source coils or sense coils
At least one can be detached and fixed to any place such as the palm
A means for cutting is provided. The twelfth embodiment is, for example, a diagram of the first embodiment.
2, the palm position detection data shown in FIG.
Vise 111 as magnetic field generating means for marker display
Have. The device 111 is the same as the device shown in FIG.
Two sources for detecting palm position as shown
It has coils 116a and 116b,
Thin plates 112a and 112b (for example, styrene resin
Is fixed with an adhesive between the flexible materials of high polymer such as
FIG. 79 shows the outer surface (front surface) of one plate 112a.
An index 114 indicating a direction at the time of fixing as shown in FIG.
Is provided, and is attached to and detached from the back surface of the other plate 112b.
An adhesive 113 is applied as a free fixing means. Then, as shown in FIG.
With the agent 113, the palm (or glove) 11 of the surgeon or caregiver
5 is attached. The above adhesive 113
Is covered with release paper before use, and peel off the release paper immediately before
Thus, it can be attached and fixed at a desired place. Bonding
Even without applying the agent, fix with surgical tape etc.
Is also good. It also helps to locate the patient's body
May be used as a body marker. The index 114 is, for example, as shown in FIG.
The fingertip side and the wrist side are displayed as shown in FIG.
Can confirm the fixing direction. Saw used for detection
The coils 116a and 116b are connected by a cable 117.
Even if it is connected to the shape detection device in a wired manner, FIG.
(B) Connect to the drive unit as shown in (b)
(It is not connected to the device) Can generate AC magnetic field wirelessly
You may do it. Of course, as shown in FIG.
An AC magnetic field may be generated. The source coil 1 detected by the shape detecting device
The positions of 16a and 116b are respectively set to P0 (x0, y0,
z0) and P1 (x1, y1, z1). P01 =
If (P1-P0), one vector can be set.
You. This vector overlaps with your palm from your wrist to your fingertip
In this way, the surgeon puts it on the palm. [0431] As shown in FIG.
The position is shared with the endoscope-shaped image 118 on the monitor screen.
Alternatively, a graphic 119 imitating the palm may be displayed.
Then, as shown in FIG.
You can do it. Also, in practice, the endoscope should be checked from outside the body.
Distance between the endoscope and the operator's palm.
May be displayed as auxiliary information. FIG. 81 shows an endoscope type modification of the thirteenth embodiment.
2 shows a state detection device 121. This device 121 is shown in FIG.
In the first embodiment of the present invention, it can be further used for marker display and the like.
Units 12 each having a built-in source coil
2a, 122b, 122c (represented by 122q)
I am. Also, a keyboard is provided in the shape detecting device main body 21.
35b and a mouse 35c are connected. The operation panel 35 is shown in an enlarged view.
User-defined marker switch 123a, body marker
Switch 123b, marker setting mode ON / OFF switch
Switch 123c, instrument marker switch 123d, hand
Switch 123e, marker setting switch 123f
(Represented by 123k), etc.
Switch 123k to operate coil unit 122q.
To allow the surgeon to specify the optional coil to use.
I have. [0434] Each of the coil units 122q is
As in 9, a means for sticking and fixing to the surgeon is provided.
Have been. The operation panel 35 has a cursor key 1
24, a display / coil switching key 125 is provided.
You. [0435] Next, by operating the operation panel 35,
The desired coil unit can be defined by a user-defined marker or bodymer.
The processing for setting the mosquito, the instrument marker, and the like is shown in the flow of FIG.
It will be described in the light of the above. This processing is performed, for example, in step S in FIG.
42 is incorporated in the process of describing the scope image. At the time of operation in this step S42 (in FIG. 82,
CPU is a marker setting mode switch 1
23c is monitored for ON / OFF (step S15).
1) Turn on the marker setting mode switch 123c,
In the setting mode, the coil unit that can be set as a marker
The display corresponding to the knit 122q blinks, or other
Displayed on the monitor 23 screen in a different color than the coil unit
Is done. [0437] As in step S152, the coil unit
For example, the display unit of the unit number N corresponding to the
Flashes. Therefore, the blinking coil unit 123q
To set the body marker switch 123b etc.
The worker switch is turned on (step S153). The flashing coil unit 122q is the operator
Wants to set the coil unit 123p (p = a, b,
c) Hold coil unit 123p to know if
When it is moved above the position detector, the coil unit
The display mark corresponding to the knit 123p is displayed on the monitor screen.
Moving. Therefore, the desired coil unit 123p is
If not selected, eg mouse cursor
Select with a pointing device, etc., or use the cursor keys
Select the desired coil unit by selecting
(Step S154).
Set the coil unit 123p corresponding to the member M,
Further, the display format is set (step S155). Next, the marker setting switch 123f is turned on.
To set the marker, and set the desired coil unit 123p
Register the marker. (Steps S156 and S157). This
The operator sequentially sets the necessary markers as
(For example, a body marker indicating the position of the right side of the patient,
Body marker indicating body side, body marker indicating anus position
Register as mosquito). The monitor screen has a marker display pattern.
Option is also displayed, which is the same as selecting a coil unit.
Select with the mouse or cursor displayed. Coil unit
Switching between function selection and display selection is displayed at the center of the cursor.
Use the / Coil switch key to switch the display format.
Can be. Here, when only the position can be detected
Was described, but the detected signal
And the effect of the change due to the inclination of the sense coil
ing. Then, it becomes possible to detect the inclination. What
When using the position derivation method that can detect even the inclination
The source coil or the sense coil placed on the palm
One is good. The coil unit to be installed has
In the direction corresponding to the fingertip and the direction corresponding to the wrist
This is indicated. (Integrating multiple coils
It can also be applied to objects composed of ) Deriving only the position of the source coil or sense coil
In the equation, for example, when using two source coils,
In the method of deriving to the direction of the coil, the source coil is
If one is used, the direction in which the palm is facing cannot be specified.
To determine the direction, three parameters are needed,
Palm position used when detecting and drawing including the direction of
FIG. 83 shows the detection device 161. The palm position detecting device 161 shown in FIG.
Corresponds to one source coil 11 in the device 111 in FIG.
6c is added. Like this one saw
By adding the coil 116c, three source coils
One plane that includes the rules 116a, 116b, and 116c
Can be defined, so that the orientation of the palm can be determined. [0445] Thus, it is detected that the direction of the palm changes.
To change the drawing pattern of the marker to be displayed.
This makes it easier for the surgeon to grasp the three-dimensional positional relationship. Figure
84, three source coils 116a, 11a
6b, position vectors of positions P0, P1, P2 of 116c
Are vP0, vP1, and vP2. The origin O is
Set to center. [0446] At this time, P1P0 = vP1−vP0 (1) P2P0 = vP2-vP0 (2) Is represented by Here, for example, P1P0 is positioned from position P0.
Has a length of P1 and is directed from the position P0 to the position P1.
Represents a vector. Now, the three points for detecting the palm to be displayed are
Is a position vector on this plane as r.
And, in general, r = vP0 + s (vP1-vP0) + t (vP2-vP0) (3) It is expressed as Substituting r = vP0, vP1, vP2
By solving (3), the unit vectors in the x, y, and z axis directions are
a. b. As c, equation (3) is la + mb + nc = 0 (4) (At least one of l, m and n is not 0
integer). In this case, u = (l, m, n) is P0, P
1. Determine the direction vector perpendicular to the plane containing the three points P2
Will be. Then, let the position vector of the viewpoint be q
And the inner product of u and q, whether the angle is obtuse, acute, or right
Take negative, positive, and 0 values (positive for acute angles, obtuse angles are
negative). The sign of this value indicates whether the palm is facing the viewpoint,
It is possible to determine whether the back of the hand is facing the viewpoint. Therefore, the colors displayed on the screen for the palm and the back are different.
Try to change. This device 161 is used for endoscope shape inspection.
81 (for example, the coil unit 1 in the device 121 in FIG. 81).
This device 161 is designated as 22a, 122b, 122c.
To use three markers) to display markers.
FIG. 85 shows the power display process. A marker has been set from the main state
It is determined whether or not this is the case (step S161). Set
Is set, three of each set coil unit
The position of the source coil is detected, and the drawing position of the marker is obtained.
Is obtained (step S161). Next, the pattern corresponding to the marker setting mode
Then, the image of the marker at the detected position,
It is displayed in a different color (step S163).
Return to main after processing. [0453] When the marker is displayed in this manner, the palm or the palm is displayed.
The color gradually changes according to the angle of inclination from the instep
(For example, a color that changes from warm to cool)
(Display color is selected from a table). Also, the table
As the shape shown is deformed according to the angle and position
You may. FIG. 86 shows a palm using two source coils.
Palm position detection data that can detect position and direction
The vise 171 is shown. This device 171 corresponds to FIG.
In the device 111, two source coils 116
a and 116b are not in the same direction.
It is provided in P0 and P1 and can be attached to the palm.
Can be. [0455] As shown in FIG.
If the direction vectors of a and 116b are a and b, a. b
The vector c representing a plane parallel to c = ga + hb (g and h are at least one non-zero integer)
number) And the perpendicular to this plane is the cross product of a and b. In other words, the vector determined by i = a × b is
83, and i and the viewpoint method, as described in the case of FIG.
The value of the inner product w of the vector indicating the direction is positive or negative, and the direction of the palm is 0.
The direction can be determined. FIG. 88 is a flowchart showing the processing contents of marker display.
Show. Steps up to step S162 are the same as those in FIG. Next
In step S173, a vector c parallel to the plane is calculated.
Then, a vector i perpendicular to the vector c is calculated.
You. Next, the vector i and the viewpoint direction vector q
Is calculated (step S174). Soshi
Then, the sign of this value w is determined (step S175).
In the case of
Draw (step S176a), and if negative, this marker
Draw the palm side pattern of the mosquito graphic (step S
176b), if 0, the marker graphic
A side pattern is drawn (step S176c). Further, when additional drawing is to be performed,
Is the vector i and q when the instep pattern is drawn
Side putter according to the angle made with it (as can be seen from the value of w)
And the process returns to the main (step S177).
a). Also, when a palm-side pattern is drawn, the angle
To rotate the side pattern according to the
Step S177b). In the embodiment shown in FIG. 53, the magnetic field strengths in three directions are detected.
Three MR elements (serial connection)
89), for example, 90 degrees as shown in FIG.
MR elements whose detection axes are orthogonal to two surfaces forming
71 and 72 are installed, and these MR elements 71 and 72 are mounted.
90 degrees reciprocating motion with step motor 74 and solenoid
And measure the magnetic field strength every 90 degrees of rotation.
Therefore, the magnetic field strength at that location may be measured.
No. Also, a Hall element may be used instead of the MR element.
No. A plurality of coils, MR elements, etc.
When using as a sensor, make a hole in the core
By using the elongated probe 15 or endoscope 6
Each interval is regulated to a known length, and the obtained sensor position is
The accuracy of the placement can be improved. A narrow tubular space such as the channel 13 of the endoscope 6
In the case of the probe 15 inserted in the space, the diameter should be as small as possible.
Provide a position regulating member outside the sensor to make it thinner
Can be difficult. [0463] Therefore, the detection unit for the surface to be connected is
Drill holes for connection.
May be performed. FIG. 90 (a)
2 shows a sensor. Each sensor 80 is a cubic sensor support
The MR elements 82a, 82b,
82c is fixed with an adhesive or the like, and is fixed to the connecting cord 83 at a constant interval.
Fixed every time. In this case, the center of MR element 82a is located at the center of FIG.
0 (b), a hole 84 for inserting a cord is formed.
The connecting cord 83 can pass through this hole 84.
I'm trying. Note that the cubic sensor support member 81 also
A hole 84 '(see FIG. 91) for inserting a cord is formed.
You. On the other hand, a hole 84 for connection is made in the MR element 82a.
Instead, a structure as shown in FIG. 91 may be used. In the sensor 80 'shown in FIG.
(A) The MR element 82a and the MR element 82c are integrated.
And an MR element 82c '. This MR element 8
2c 'denotes MR element parts 85a and 85c whose detection directions are orthogonal to each other.
Element sensors formed on the same plane for two-way detection
Is formed. It should be noted that the surface adjacent to the surface provided with the MR element 82c '
FIG. 89 (a) shows the surface in contact with and without the hole 84 '.
The MR element 82b for one-way detection is attached similarly to
It is. Thus, the connection in the sensor support member 81
The MR element may not be provided on a necessary surface. In FIG. 91, MR element 82c '
MR elements with orthogonal detection directions are integrated on the same plane
Although it is configured, two MR elements may be attached.
It is clear that For positioning the sensor having such a structure,
For this purpose, the interval u is determined as shown in FIG.
Each sensor (80 etc.) is connected to a fixing member such as
Just wear it. And, a length shorter than the total length of the fixing member
Insert into the tube 87, for example, tension on the fixing member
FIG. 92 (b) in a state where
As shown in FIG.
Fill and harden the resin until it has elasticity
Good. FIG. 93 shows an example of positioning.
The sensor 80 to the cylindrical split molds 91 and 92
Close the split mold at each position of
Fat may be poured in and cured. This place
In this case, fix the lead wire to the cord 83
In the loosened state, pour in the resin and allow it to cure.
So that the lead wire will not break easily even when bent.
You can do it. [0470] The mantle member or heat collection that was extended when cured
Insert into the shrinkable mantle. In this way, the
To ensure the strength of the probe
In addition, slip when inserting into the channel,
It can be secured by surface treatment. The inside is filled with resin
Therefore, it does not buckle. In the above-described embodiment and the like, the endoscope
Insert the probe into the channel to a known position in the endoscope
Explain that a magnetic field source or a magnetic field detection sensor should be placed.
However, the present invention is not limited to this.
(For example, in the tip)
Even if it is provided by attaching it to the built-in or outer peripheral surface, etc.
good. The endoscope has a built-in image sensor such as a CCD.
The optical endoscope is not limited to
For example, a fiberscope) may be used. Also, the corner of bed 4
Limited to those where a magnetic field source or a magnetic field detection sensor is placed
Not specified, around bed 4 or on bed 4
It may be arranged at a position on the other side. [0473] Also, using a one-axis or three-axis coil,
Limited to those forming a coil or a sense coil
Not a two-axis coil (one coil from a three-axis coil)
May be used). Also, coils are printed on a flexible substrate or the like.
Put the formed thing into a tube and install it in the channel
The probe that can be used for position detection or shape detection
It may be used as a bus. Also, mark the coil like this
Form the channel into a tube by printing
It may be applied to a tube which is used. Also, coils are printed on a flexible substrate or the like.
The formed product is spirally wound around the insertion part of the endoscope
And attached to the insertion part to detect the position and shape
You may do it. Note that the above-described embodiments and the like have flexibility.
Then, a magnetic field is generated in the endoscope insertion section inserted into the subject.
A source coil as an element is placed and its shape changes.
The object that is fixed so that there is no
At a known position outside the
Place a coil or magnetoresistive element inside the insertion section,
What was fixed so that the shape of the
Was. The present invention is not limited to these, and
Also applicable to rigid endoscopes with rigid insertion
Wear. Use of multiple rigid endoscopes such as laparoscopic surgery
When performing surgery or examinations,
Knowing the positional relationship of the tip accurately makes the work smoother
Play an important role in Therefore, if the
Near the eyepiece of an existing rigid endoscope
Fix the lobe in two known places or use the source
A probe with two coils placed at a known distance
Fix parallel to the central axis of the endoscope. When changing the direction of the tip of a rigid endoscope,
The fixed part of the probe is bent because the eyepiece moves considerably.
You need to be resistant to the song and the source coil
It is necessary to harden with insulating material, but other parts are hard
Avoid unnecessary tension when moving the endoscope
Keep it flexible. The position of the source coil thus arranged
The distance from the end of the rigid endoscope to
When the positions of the two source coils are detected,
At a known distance on a straight line connecting two source coils
It can be seen that there is a tip portion. In this case, a rigid endoscope
It is not necessary to provide a source coil inside the
It can also be used for rigid endoscopes with a large thickness. [0480] Further, the present invention relates to a device inserted into a living body such as a human body.
It is not limited to the one that is inserted
For the part to be inspected (object)
Magnetic field generating element and magnetic field detecting element in flexible probe
Place one of the children so that its shape does not deform
The magnetic field generating element and the magnetic field detecting element are fixed with an insulating member or the like.
The other child was placed at a known position outside the test area
It can be applied to things. Also, medical instruments or devices
Inspection tools such as inserts or for industrial use inside the lumen of the plant
A magnetic field is generated at a known position, such as inside the
One of the raw element and the magnetic field detection element is fixed with an insulating member or the like.
Fixed or attached, a flexible insert inserted into the lumen or
Check the position of the rigid insertion part or the position of the insertion tool near the hand.
It may be possible to output or estimate. [0481] In these cases, too,
The detected magnetic field is detected by the magnetic field detecting element,
Based on the arranged magnetic field generating element or magnetic field detecting element
Probe or insertion tool inserted into the target area or lumen
Detecting the position of the magnetic field generating element or the magnetic field detecting element,
In addition, at least one position of the probe or insertion tool
Position, or estimate the shape of the probe or insert,
The estimated shape can be displayed. The above
In the examples, a signal corresponding to the magnetic field strength is obtained by measurement,
Refer to the reference data obtained in advance by measurement, etc.
There is a source coil 16i or the like arranged in the entrance 7 or the like.
Region or position is calculated.
Therefore, the source coil 16i and the like
The position and the inclination may be derived. In the first embodiment, a three-axis sense coil
22j using coils orthogonal to the three axes,
To compensate for variations such as noise,
You may make it perform also about the coil 16i etc. What
You may display the whole shape of the endoscope,
(For example, only the tip part) can be selected and displayed
May be. Also, only the direction of the tip is represented by arrows etc.
May be. Only the coil position for detection, other interpolation
The expression may be distinguished from the present endoscope shape and color.
A symbol such as x may be attached to only that portion. From bed
The threshold is set at the distance of, warm color when it is far from that position,
When close, cool colors or vice versa, saturation, lightness, hue
It may be expressed by changing it. Also, the shape detected by this shape detecting device
Represents the process of inserting the endoscope.
You may make it memorize | store in a disk etc. In addition, endoscope
A magnetic field generating element or a magnetic field detecting element
When fixing one of the contacts, use a hard tip
May be fixed to the base member, or may constitute a bendable portion.
The shape of the hard curved piece is not deformed by insulating members
It may be fixed as follows. Also, the magnetic field placed in the insertion part
The detecting element or the magnetic field generating element is at least one of the outer surfaces.
The portion may be formed to have a curved surface. Note that the magnetic field generating element is located in a space around the periphery.
Generates a magnetic field with strong directivity in one axial direction
In the case of an element, three orthogonal magnetic field detection elements
That can detect the magnetic field strength component in the axial direction
Is desirable. This is one or two axial field strength components.
If you can only detect the magnetic field,
The detected magnetic field greatly depends on the relative orientation to the element.
When the field strength becomes very small and when it becomes large
The level difference increases. Therefore, from the detected signal
Limiting the range of the distance between two elements to a narrow range
Because it can hardly be done. On the other hand, the magnetic field strength components in three orthogonal axial directions
If a magnetic field with strong directivity can be detected
However, the orientation dependency is smaller than the above case,
The range of the distance between the two elements from the
It can be limited to a narrow range. Also, three orthogonal magnetic field detecting elements are used.
In the case of an element that can detect the magnetic field strength component in each direction,
It is desirable that the detection sensitivity is as equal as possible. This
In the case of, the magnetic field is calculated by the square root of the sum of the squares of the respective magnetic field strength components.
This is because field strength can be obtained. Meanwhile, in each direction
If the detection sensitivity is different, to calculate the magnetic field strength
Correction is required, but can be used once the correction is made. In addition,
An embodiment formed by partially combining the above-described embodiments and the like.
Examples and the like also belong to the present invention. Further, the present invention relates to the above-described embodiments and the like.
In addition to the contents of the following notes (claims, objectives, actions, effects
Etc.). [Appendix] 1. A flexible insertion portion that can be inserted into the test portion;
At a known position outside the
Magnetic field generating element and a magnetic field
Used in combination with one of the magnetic field sensing elements
And the magnetic field generating element and the
The other one of the magnetic field detecting elements is disposed in the insertion portion.
So that the position at the insertion portion is known.
The shape of the magnetic field generating element or the magnetic field detecting element is deformed.
Fixing means for fixing with an insulating member so as not to
Probe for detecting the entrance position. Claim 1 relates to the insertion portion of the endoscope.
In contrast to the device for detecting the position,
Claim 1 (hereinafter simply abbreviated as 1) is limited to an endoscope
Not the position of the flexible insertion part to be inserted into the test part.
It is intended to accurately detect the position. Insertion
To detect the position of the insertion part, a magnetic field generating element or
Since the magnetic field detection element is fixed with an insulating member,
Magnetic field generating element or magnetic field detecting element
Shaping is prevented. And a known external part
Magnetic field detecting element or magnetic field generating element
The position of the magnetic field generating element or magnetic field detecting element in the insertion part
Can be detected with high accuracy, and the position of the insertion
It can be detected (estimated) well. [0488] 2. A flexible tube and within said tube
And generates a magnetic field around it when a drive signal is applied.
A magnetic field generating element and a magnetic field detecting element for detecting a magnetic field.
The shape of the magnetic field generating element or the magnetic field detecting element is not deformed.
Fixing means for fixing with an insulating member so that
Probe for detection. 1 has an insertion portion to be inserted into the subject
This probe is inserted into the
Or other devices or other devices inserted into the
To the position of the device or other device.
The purpose is to accurately detect the position. Flexible
Tube, so it can be attached to instruments and other devices
Can also be done easily. The order of appliances and other devices as in 1
Position can be accurately detected. Also in the tube
Since the magnetic field generating element or the magnetic field detecting element is fixed to
Cleaning and disinfection after use is easy. [0489] 3. A probe for detecting the position of claim 2.
Therefore, the number of the magnetic field generating element and the magnetic field detecting element is small.
In both cases, the magnetic field generating element is composed of a coil. 4. Claims 1. A position detecting probe according to claim 2,
The tube can be inserted into a human body. [0490] 5. A flexible insertion section that can be inserted into the subject
With the insertion tool having
Magnetic field generating means having a magnetic field generating element for generating
A magnetic field detection element that detects the magnetic field generated by the magnetic field generation element
Magnetic field detecting means having the
Insulate one of the magnetic field generating element and the magnetic field detecting element
Via a member, the magnetic field generating element or the magnetic field detecting element
Fixing means for fixing the shape of the
The other of the field generating element and the magnetic field detecting element
An installation means for setting a known position outside the inspection unit;
The detection detected by the magnetic field detection element outside or inside the insertion portion
From the output signal to a known position outside the part to be tested
The magnetic field generating element or the magnetic field detecting element disposed in the unit
Position estimation means for estimating the position of the child
Position detection device. Claim 1 detects the position of the insertion section of the endoscope
This device is inserted into the subject
Detecting the position of the insertion part of the insertion tool including the endoscope
Aim. Its operation and effect are introspective to claim 1.
It is almost the same as the one in which the mirror is replaced with an insertion tool. 6. A device for detecting the position of the insertion portion of claim 5.
Therefore, the magnetic field generating means has a plurality of the magnetic field generating elements.
I do. 7. A device for detecting the position of an insertion portion of claim 5, wherein
The field detecting means has a plurality of the magnetic field detecting elements. 8. An insertion portion position detecting device for claim 5, wherein
One has a plurality of the magnetic field generating elements or the magnetic field detecting elements
You. 9. Claims 1. An apparatus for detecting the position of an insertion portion of claim 8,
The position estimating means estimates a plurality of the positions, and further estimates
Of the insertion portion to be inserted into the subject from a plurality of positions.
It has an insertion portion shape estimating means for estimating the shape. 10. A device for detecting the position of the insertion portion of claim 9, further comprising:
Table that displays the image corresponding to the shape of the insertion section estimated at
Indicating means. [0492] 11. With the insertion part position detecting device of claim 7
The magnetic field generating element is composed of a coil wound with a conductive wire.
Is done. 12. An insertion portion position detection device for claim 7,
The magnetic field detecting element is a coil wound around a conductor or a magnetic field strength.
It is composed of a magnetoresistive element whose resistance value changes. 13. An insertion portion position detection device for claim 7,
The magnetic field generating element is a coil with a conductive wire wound around a hard core member
It consists of. 14． An insertion portion position detection device for claim 7,
The magnetic field detection element is a coil with a conductive wire wound around a hard core member
It consists of. 15. An insertion portion position detection device for claim 7,
The fixing means fixes the magnetic field generating element or the magnetic field detecting element.
Is an insulating adhesive. [0493] 16. With the insertion part position detecting device of claim 7
And the magnetic field detecting element or the magnetic field detecting element disposed in the insertion portion.
Indicates that the magnetic field generating element expands and contracts in the axial direction of the insertion portion.
It is connected by a fixing member having no property. 17． An insertion portion position detection device for claim 7,
The magnetic field detecting element or the magnetic field generator disposed in the insertion portion;
The raw element is shaped so that at least a part of the outer surface is curved.
Is done. 18. An insertion portion position detection device for claim 7,
The magnetic field detecting element or the magnetic field generating element is shielded.
Signal transmission via the cable. 19. A device for detecting the position of an insertion portion of claim 6, wherein
Are driven at different timings
Is done. 20. A device for detecting the position of an insertion portion of claim 6, wherein
Are driven at different frequencies.
You. 21. With the insertion part position detecting device of claim 6
And the plurality of magnetic field generating elements are simultaneously driven.
Is done. 22. A device for detecting the position of the insertion portion of claim 20,
The frequencies should be frequencies that are not integral multiples of each other.
Is set. 23. An insertion portion position detection device for claim 7,
When the magnetic field generating element is driven by the drive signal, the transient response
If it indicates, the detection signal detected by the magnetic field detection element
Delay the timing of capturing the
Take in. 24. An insertion portion position detection device for claim 7,
When driving the magnetic field generating element, the driving signal of the magnetic field generating element is used.
Signal with a phase angle that reduces transient response characteristics
Drive. 25. An insertion portion position detection device for claim 7,
A magnetic field generating element and at least the magnetic field of the magnetic field detecting element;
The field detection element has directivity in each of three orthogonal axes.
Consists of three coils each wound to have
It is a triaxial coil. [0495] 26. Device for detecting position of insertion part of claim 25
Wherein the position estimating means includes a coil for each of the three-axis coils.
Considering the diameter of the magnetic field generating element or the magnetic field generating element in the insertion portion,
Has correction means for calculating the position of the magnetic field detecting element.
You. 27. An insertion portion position detection device for claim 7,
The position estimating means is installed at a known position outside the subject.
At least three or more magnetic field detecting elements or three or more magnetic fields
Using the position information of the generating element, each magnetic field generated in the insertion section is generated.
Three-dimensional area where the presence of a raw element or a magnetic field detection element is predicted
Is calculated. 28. A device for detecting the position of an insertion portion of claim 25, wherein
The position estimating means responds to a detection signal of the magnetic field detecting element by
With reference to reference information serving as a reference, the magnetic field generating element and
Estimate the distance range where the distance to the magnetic field detecting element exists.
It has reference information serving as a reference for the operation. 29. A device for detecting the position of the insertion portion of claim 28, wherein
The position estimating means considers the orientation of the magnetic field generating element and
The detection is performed by the magnetic field detecting element at a known distance from the magnetic field generating element.
Maximum and minimum values of the signal corresponding to the possible magnetic field strength
Is obtained by changing the value of the known distance.
Information. 30. An insertion portion position detection device for claim 7,
The magnetic field generating element or the magnetic field detecting element in the insertion portion is
It is connected to the position estimating means by wire. 31. With the insertion part position detecting device of claim 7
Wherein the magnetic field generating element or the magnetic field detecting element is
It is wirelessly connected to the position estimating means. 32. An insertion portion position detection device for claim 7,
The magnetic field detecting element or the magnetic field generating element in the insertion portion is
It is wirelessly connected to the position estimation
Has means for generating DC power from supplied energy
You. 33. A device for detecting the position of an insertion portion of claim 10,
Display a marker including a reference position on the display means.
For displaying the marker. 34. A device for detecting a position of an insertion portion of a claim 33, wherein
The marker display means can be installed at an arbitrary position outside the subject.
Before forming the one provided in the insertion portion
The same type of magnetic field as the magnetic field generating element or the magnetic field detecting element
It has a generating element or a magnetic field detecting element. 35. An insertion portion position detecting device for claim 34, wherein
The marker display means is a magnetic field generator which can be placed in the operator's hand.
Having a raw element or the magnetic field detecting element,
In response to the set point set, the display means displays the corresponding set point.
Display the corresponding mark. [0497] 36. Device for detecting position of insertion part of claim 10
Wherein the display means displays the shape of the insertion portion.
First and second image memories for storing the first image
The image data stored in the memory is output to the display means.
During insertion, the insertion portion shape estimating means
The image data in the middle of the calculation for estimating the shape is
Store in memory. 37. A device for detecting the position of an insertion portion of claim 10,
The display means is for displaying an image corresponding to the insertion portion.
Image patterns that store multiple different image patterns
Having a turn storage means, wherein the display means has a shape of the insertion portion.
An image corresponding to the shape of the insertion section estimated by the estimation means
The pattern is read from the image pattern storage means and displayed.
Show. 38. An insertion portion position detecting device for claim 6, wherein
The display means displays a schematic shape of the subject on the image.
Pine pose and display. 39. An insertion portion position detection device for claim 7,
The magnetic field detecting means is a detection signal detected by the magnetic field detecting element.
Synchronous detection using a reference signal based on the drive signal from
Is extracted. 40. An insertion portion position detection device for claim 7,
The insertion part is adapted to receive the magnetic field generated by driving the magnetic field generating element.
It is formed of a member that does not affect the operation. 41. An insertion portion position detection device for claim 7,
A mounting table on which the subject is mounted, wherein the mounting table is
Influences the magnetic field generated by driving the field generating element.
It is formed of a member that does not shrink. 42. Flexible insertion section insertable into lumen
With the insertion tool having
Magnetic field generating means having a magnetic field generating element for generating
A magnetic field detection element that detects the magnetic field generated by the magnetic field generation element
Magnetic field detecting means having the
Insulate one of the magnetic field generating element and the magnetic field detecting element
Via a member, the magnetic field generating element or the magnetic field detecting element
Fixing means for fixing the shape of the
The other of the field generating element and the magnetic field detecting element is connected to the tube
Setting means for setting to a known position outside the lumen,
Represents a detection signal detected by the magnetic field detection element in the insertion tool.
From the signal into the insert to a known location outside the lumen
The position of the magnetic field generating element or the magnetic field detecting element
Position estimating means for estimating the position.
Place. The position of the insertion tool having the insertion portion to be inserted into the lumen
The purpose is to detect with high accuracy. Magnetic field generation in the insertion tool
To accurately detect the position of the raw element or magnetic field detection element
Thereby, the position of the insertion tool can be accurately detected or estimated. 43. Flexible insertion that can be inserted into the subject
Illumination having a portion and emitting illumination light to the distal end side of the insertion portion
Light emitting means and objective optical system for observing the illuminated subject
With an endoscope having a magnetic field
Magnetic field generating means having a magnetic field generating element for generating
A magnetic field detection element that detects the magnetic field generated by the magnetic field generation element
Magnetic field detecting means having the
Insulate one of the magnetic field generating element and the magnetic field detecting element
Member, the shape of the magnetic field generating element or the magnetic field detecting element
Fixing means for fixing the magnetic field so as not to be deformed, and generating the magnetic field
The other of the element and the magnetic field detecting element outside the subject.
Setting means for setting to a known position of the outside of the subject or
Detection signal detected by the magnetic field detection element in the insertion portion
From within the insertion section relative to a known position outside the subject
The position of the magnetic field generating element or the magnetic field detecting element
Position estimation means for estimating the position of the endoscope.
Output device. Although the configuration of the endoscope is described more specifically,
It has substantially the same purpose, function, and effect as the first aspect. 44. Endoscope insertion part position detection of claim 43
A magnetic field generating element or a magnetic field.
It has a plurality of detecting elements, and has a plurality of detecting elements estimated by the position estimating means.
The shape of the insertion portion inserted into the subject from a number of positions
It has an insertion portion shape estimating means for estimating the shape. 45. An endoscope insertion portion position detecting device for claim 44.
And further estimated by the insertion portion shape estimation means.
Has display means for displaying an image corresponding to the shape of the insertion section
You. 46. The endoscope insertion portion position detecting device of claim 43
The magnetic field generating element or the magnetic field detecting element
It is fixed to a hard tip hard member provided at the tip. 47. The endoscope insertion portion position detecting device of claim 43
The insertion portion has a bendable portion, and the magnetic field
The generating element or the magnetic field detecting element is a hard
Fixed to a curved piece of quality. 48. The endoscope insertion portion position detecting device of claim 43
The endoscope includes an imaging device having a function of performing photoelectric conversion.
A non-imaging element driving period in which the imaging element is not driven
The magnetic field generating element is driven within the interval. 49. The endoscope insertion portion position detecting device of claim 43
The endoscope includes an imaging device having a function of performing photoelectric conversion.
The magnetic field within an exposure period during which the image sensor is exposed.
Drive the field generating element. 50. The endoscope insertion portion position detecting device of claim 43
The endoscope has a channel through which a treatment tool can be inserted.
One of the magnetic field generating element and the magnetic field detecting element.
One is installed in the channel. [0501] 51. Flexible insertion that can be inserted into the subject
Installed inside the unit or at a known location outside the subject
A driving signal for driving the magnetic field generating element.
Signal to generate a magnetic field around the magnetic field generating element.
Driving step, and setting at a known position outside the subject.
A magnetic field detecting element that has been removed or installed in the insertion section,
A magnetic field whose strength changes according to the distance from the magnetic field generating element
A magnetic field detection step of detecting a detection signal corresponding to
From the detection signal, the magnetic field generating element outside the subject or
Installed in the insertion section from each known position of the magnetic field detection element
The magnetic field generating element or the magnetic field detecting element
And a position estimating step of estimating a three-dimensional position.
Insertion part position detection method. Position of the insertion part to be inserted into the subject
Claims how to detect. 52. A method for detecting the position of an insertion portion of a claim 51, wherein
The magnetic field generating element or the magnetic field detecting element is included in the insertion portion.
Number, and each third order estimated in the position estimation step.
The insertion portion inserted into the subject with reference to the original position
Shape estimation step for estimating the shape of
Display step of displaying an image corresponding to the part shape
You. An image corresponding to the shape of the insertion section inserted into the subject
It is intended to be displayed. Estimated in the position estimation step
Inserted into the subject with reference to each three-dimensional position
Estimate the shape of the insertion part and correspond to the estimated insertion part shape
Display the image to be displayed. For this reason, the user must
Can be visually grasped, and other operations such as insertion of the insertion section
Installation is easy. 53. Method for detecting insertion part position of claim 51
And when a plurality of the magnetic field detecting elements are arranged,
The driving step is different for each magnetic field generating element.
The driving signal is applied in the timing. 54. A method for detecting a position of an insertion portion of a claim 51, wherein
When a plurality of magnetic field detecting elements are arranged,
The output step is the magnetic field detected by each magnetic field detection element.
The detection signal corresponding to the intensity of the
Take in. 55. A method for detecting the position of an insertion portion of a claim 51, wherein
The magnetic field detecting element has magnetic field strength components in three orthogonal axes directions.
And the position estimating step includes detecting the
Refer to the reference data prepared in advance corresponding to the
3D position in 3D area between small distance and maximum distance
The magnetic field detecting element or the magnetic field generating element in the insertion portion
Calculate that the child exists. 56. Method for detecting insertion portion position of claim 55
Wherein the reference data indicates the direction of the magnetic field generating element.
Considering the magnetic field generated by the magnetic field generating element,
The magnetic field which can be detected at a known distance from the magnetic field generating element
The maximum value and the minimum value of the detection signal of the detection element are determined by the known distance.
This is data obtained by changing the separation. 57. A method for detecting the position of an insertion portion of a claim 55, comprising:
The position estimating step is a magnetic field detecting element in the insertion portion or
The three-dimensional area where the magnetic field generating element exists is outside the subject.
The magnetic field detecting element or the magnetic field
By performing it for each field generating element, a plurality of 3
Calculate that it exists at a three-dimensional position in the common area of the three-dimensional area
Put out. 58. A method for detecting a position of an insertion portion of a claim 51, wherein
The step of estimating the shape includes the steps of:
Is a link connecting each three-dimensional position corresponding to each magnetic field generating element.
It has a closing step. 59. A method for detecting the position of an insertion portion of a claim 58, comprising:
The shape estimation step interpolates between the three-dimensional positions.
connect. 60. A method for detecting a position of an insertion portion of a claim 51, wherein
The display step includes a step of temporarily changing the shape of the insertion portion to a viewpoint.
Corresponding to the projected shape simulated on the imaginary screen.
Image. 61. Method for detecting insertion part position of claim 60
In the display step, the position of the viewpoint is arbitrarily set.
Can be set. 62. A method for detecting the position of an insertion portion of a claim 60, wherein
The display step is a projection that is simulated on the screen.
Invisible from the viewpoint side in the image corresponding to the shadow shape
A hidden surface or a hidden line process in which no part is displayed is performed. 63. A method for detecting the position of an insertion portion of a claim 60, comprising:
The display step is performed in perspective according to the distance value from the viewpoint.
The image is displayed. 64. A method for detecting the position of an insertion portion of a claim 60, wherein
The displaying step includes the step of displaying a three-dimensional image when displaying in the projection shape.
Is performed to enhance the stereoscopic effect. 65. A method for detecting the position of an insertion portion of claim 64, wherein
The stereoscopic effect emphasis processing is based on the reflection model by the pseudo ray.
At least one of color gradation, luminance gradation, saturation, and hue.
Change the three to emphasize the three-dimensional effect. [0505] 66. Method for detecting insertion part position of claim 51
Wherein the displaying step corresponds to the shape of the insertion portion.
When displaying an image to be inserted, the cross section of the
Is displayed as a polygonal prism. 67. A method for detecting the position of an insertion portion of claim 66, wherein
The displaying step paints the surface of the polygonal prism. 68. A method for detecting the position of an insertion portion of claim 66, wherein
Displaying the polygonal pillar in a wire frame.
You. 69. A method for detecting a position of an insertion portion of a claim 51, wherein
The displaying step displays an image corresponding to the shape of the insertion section.
When shown, the insertion part is a connected polygon obtained by connecting polygons.
Is displayed in a pseudo manner. 70. A method for detecting a position of an insertion portion of a claim 51, wherein
Displaying the image in response to a specified command.
Perform the corresponding processing and display. 71. Method for detecting insertion part position of claim 70
And the command performs affine transformation processing. 72. A method for detecting the position of an insertion portion of claim 71, wherein
A command using the affine transformation converts the image into a three-dimensional
Rotate around at least one coordinate axis of the intersection,
The image is enlarged or reduced. 73. A method for detecting the position of an insertion portion of a claim 72, comprising:
The command is used to move the image from a predetermined viewpoint position.
Registered by the user to display in a state corresponding to when viewed
Display in a state corresponding to when viewed from the
View point specified for each screen divided into multiple
A comment to be displayed in a corresponding state when viewed from the position
Display the input screen, change the background color of the image,
ON / OFF of marker display with image, 3D position
ON / OFF of numerical display of
End, at least one processing instruction.
You. 74. A method for detecting the position of an insertion portion of a claim 52, comprising:
The displaying step includes displaying the insertion section when displaying the image.
The display color of the image is changed for each predetermined length. 75. A method for detecting the position of an insertion portion of a claim 52, comprising:
The displaying step is performed on an upper surface of a bed on which the subject is placed.
Is displayed. 76. Flexible insertion that can be inserted into the subject
An insertion tool having a portion, and an insulating portion provided in the insertion portion.
A first coil element whose shape is fixed by a material,
A second coil element located at a known outside position;
A drive signal is applied to one of the first and second coil elements.
In addition, a drive signal for generating a magnetic field around the one side is generated.
Generating means, and the other of the first and second coil elements
A detection signal corresponding to the magnetic field formed at the other position.
Magnetic field detecting means for detecting a signal,
The second position in the insertion section based on a known position outside the sample
Three-dimensional position or three-dimensional area where one coil element exists
Position calculating means for calculating an area,
Output device. 1 is a more specific configuration, its purpose,
The use and effect are almost the same as those of 1. 77. A device for detecting the position of the insertion portion of claim 76, wherein
The insertion using the information of the three-dimensional position or three-dimensional area is performed.
Shape estimating means for estimating the shape of the entrance portion;
Image display means for displaying an image corresponding to the shape of the insertion portion;
Having. [0508] As described above, according to the present invention,Magnetic
Protection and fixation of field generating element or magnetic field detecting element with one member
High precision position detection.
You.

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 showing a configuration of an endoscope shape detection device. FIG. 3 is an external view of an endoscope. FIG. 4 is an overall configuration diagram of the endoscope apparatus. FIG. 5 is a cross-sectional view showing a configuration on the distal end side of a probe. FIG. 6 is a sectional view showing a configuration of a probe. FIG. 7 is an explanatory diagram showing how a position of a source coil of a probe is detected using a sense coil. FIG. 8 is a block diagram showing a specific configuration of an endoscope shape detection device. FIG. 9 is a flowchart for explaining an operation of driving a source coil and detecting a signal by a sense coil. FIG. 10 is a timing chart for explaining an operation of driving a source coil and detecting a signal by a sense coil. FIG. 11 is an explanatory diagram showing a state in which a plurality of sense coils provided around a bed detect an existing range of one source coil in the endoscope. FIG. 12 is an explanatory diagram showing a shape of a uniform magnetic field surface formed by a uniaxial coil. FIG. 13 is an explanatory diagram showing how the position is corrected from the inclination. FIG. 14 is an explanatory diagram showing an output image of an endoscope shape displayed on a monitor screen. FIG. 15 is a flowchart showing the processing content of the endoscope shape detection device. FIG. 16 is a characteristic diagram showing a graph in which values of the maximum magnetic field strength and the minimum magnetic field strength detected by the sense coil at a known distance between the sense coil and the source coil in the shield room are measured by changing the distance. FIG. 17 is an explanatory diagram of a measurement method and the like for obtaining the data of FIG. 16; FIG. 18 is a comparison diagram showing that measured values in a shielded room and a living room almost coincide with each other. FIG. 19 is a flowchart of a magnetic field strength calculation process. FIG. 20 is a flowchart of a keyboard input process. FIG. 21 is a flowchart of command processing. FIG. 22 is a flowchart of a scope image depiction process. FIG. 23 is a flowchart of a scope image depiction process in an n-prism model. FIG. 24 is a flowchart of building an n-prism model. FIG. 25 is an explanatory diagram of origin movement and the like in the construction of an n-prism model. FIG. 26 is an explanatory diagram of a process of generating n-prism data by rotating a vector perpendicular to a vector parallel to the y-axis at constant angle intervals in constructing an n-prism model. FIG. 27 is an explanatory diagram showing a state in which n-prism model data is generated by performing an inverse conversion to an original vector. FIG. 28 is an explanatory diagram showing restrictions when generating n-prism model data. FIG. 29 is an explanatory diagram showing rotation of a shaft by affine transformation. FIG. 30 is an explanatory diagram of changing viewpoint change to rotation of the world coordinate system. FIG. 31 is an explanatory diagram of a state where projection conversion is performed from three-dimensional coordinates to two-dimensional coordinates. FIG. 32 is an explanatory diagram of a world coordinate system and the like. FIG. 33 is an explanatory diagram of a process of displaying a stereoscopic image and a coordinate system adopted. FIG. 34 is a flowchart of hidden line processing in an n-prism model. FIG. 35 is an explanatory diagram of flicker prevention processing. FIG. 36 is a flowchart for performing shading processing using colors. FIG. 37 is a flowchart of a shading process using colors. FIG. 38 is a flowchart of a shading process using luminance and saturation. FIG. 39 is a flowchart of an n-prism model using a wire frame. FIG. 40 is an explanatory diagram showing a display example of an endoscope shape. FIG. 41 is a flowchart in the case of displaying with an n-gon connection model. FIG. 42 is a flowchart of a drawing process in the n-gon connection model. FIG. 43 is an explanatory view showing an example of display by wire frame display. FIG. 44 is a block diagram showing an overall configuration of an endoscope shape detection device according to a first modification of the first embodiment; FIG. 45 is a timing chart for explaining the operation. FIG. 46 is an explanatory view showing shielded cables of a source coil and a sense coil. FIG. 47 is an explanatory view showing a state where sense coils are arranged at four positions of a bed. FIG. 48 is an explanatory diagram of an operation of changing a detection range by increasing or decreasing a drive current in a second modified example of the first embodiment. FIG. 49 is a block diagram showing an overall configuration of an endoscope shape detecting device according to a second embodiment of the present invention. FIG. 50 is a block diagram showing a more specific configuration of the endoscope shape detection device according to the second embodiment. FIG. 51 is a flowchart showing processing of magnetic field generation and magnetic field detection according to the second embodiment. FIG. 52 is an explanatory diagram showing a monitor screen for displaying an endoscope shape and the like. FIG. 53 is an overall configuration diagram of an endoscope system including a third embodiment of the present invention. FIG. 54 is a block diagram illustrating a configuration of an endoscope shape detection device according to a third embodiment. FIG. 55 is a view showing a sensor formed of a magnetoresistive element, its equivalent circuit and characteristics. FIG. 56 is an explanatory diagram showing a relationship between a sensor and a source in a third embodiment of the present invention. FIG. 57 is an explanatory view showing a data table of a sensor A. FIG. 58 is an explanatory diagram showing that a source position is determined from a spatial coordinate group corresponding to output data. FIG. 59 is an explanatory view showing a state where the source position determined in FIG. 58 is displayed; FIG. 60 is a block diagram showing a configuration of an endoscope shape detecting device according to a fourth embodiment of the present invention. FIG. 61 is a block diagram showing a configuration of an endoscope shape detection device according to a fifth embodiment of the present invention. FIG. 62 is an overall configuration diagram of an endoscope system including a sixth embodiment of the present invention. FIG. 63 is an explanatory diagram in which a CCD drive signal period and a drive signal period do not overlap. FIG. 64 is an overall configuration diagram of an endoscope system including a seventh embodiment of the present invention. FIG. 65 is an explanatory diagram for detecting a position of a patient. FIG. 66 is an explanatory diagram in which position detection and shape detection are driven in a time-division manner. FIG. 67 is a flowchart showing the contents of processing in an eighth embodiment of the present invention. FIG. 68 is a flowchart showing the contents of processing in a modification of the eighth embodiment. FIG. 69 is an explanatory diagram of a processing operation in the ninth embodiment of the present invention. FIG. 70 is an explanatory diagram of a texture to be pasted. FIG. 71 is an explanatory diagram of an image or the like displayed by the tenth embodiment of the present invention. FIG. 72 is a flowchart of a process of changing and displaying a color for each fixed length according to the tenth embodiment. FIG. 73 is a configuration diagram of an endoscope shape detection device according to an eleventh embodiment of the present invention. FIG. 74 is a flowchart showing processing content for generating a background image according to the eleventh embodiment. FIG. 75 is a block diagram showing a configuration on a probe side according to a twelfth embodiment of the present invention. FIG. 76 is a more specific configuration diagram of FIG. 75; FIG. 77 is a configuration diagram of a reference signal generation circuit and the like. FIG. 78 is a configuration diagram of a magnetic field generation unit according to a modification of the twelfth embodiment. FIG. 79 is a diagram showing a palm position detecting device according to a thirteenth embodiment of the present invention. FIG. 80 is an explanatory view showing a display example of a monitor screen. FIG. 81 is a configuration diagram of an endoscope shape detection device according to a first modification of the thirteenth embodiment. FIG. 82 is a flowchart showing the contents of processing for setting a marker by operating the operation panel of the first modification; FIG. 83 is a view showing a device for detecting a palm position according to a second modification of the thirteenth embodiment; FIG. 84 is an explanatory view showing a plane and the like formed by three source coils of the second modification; FIG. 85 is a flowchart of the marker display operation in the second modified example. FIG. 86 is a diagram showing a device for detecting a palm position according to a third modification of the thirteenth embodiment; FIG. 87 is an explanatory view showing a plane and the like formed by two source coils of a third modified example. FIG. 88 is a flowchart showing the operation of marker display in the third modified example. FIG. 89 is a perspective view showing an example in which means for detecting a magnetic field in three axial directions by a magnetoresistive element and a step motor is formed. FIG. 90 is a view showing a sensor to which the magnetoresistive elements are connected and a magnetoresistive element in which a connection hole is formed. FIG. 91 is a view showing a sensor in which magnetoresistive element portions having different detection directions are provided on the same surface. FIG. 92 is an explanatory view showing a method of positioning the sensor and the like; FIG. 93 is an explanatory view showing how positioning is performed using a cylindrical split mold. [Description of Signs] 1 endoscope system 2 endoscope device 3 endoscope shape detecting device 4 bed 5 patient 6 endoscope 7 insertion unit 11 video processor 12 color monitor 13 Channel 15 Probe 16i Source coil 20 Adhesive 21 Shape detection device body 22j Triaxial sense coil 23 Monitor 24 Source coil drive 26 Detector 30 Shape calculator 31 Position detector 32 Shape Image generator 33 Monitor signal generator 34 System controller 35 Operation panel

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Masanao Hara 1-34-14 Hatsudai, Hatsudai, Shibuya-ku, Tokyo TN Building Inside Olympus Software Co., Ltd. (56) References JP-A-3-295530 (JP, A) JP-A-4-8341 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) A61B 1/00-1/32

Claims (1)

(57) provided in the insertion portion having flexibility of the Claims 1 endoscope
Magnetic field generating element for generating the generated magnetic field and the generated magnetic field
One of the magnetic field detecting elements to be detected, and the other of the magnetic field generating element and the magnetic field detecting element arranged at a known position around the subject into which the insertion portion is inserted, and the magnetic field generating element The position of the magnetic field detecting element or the magnetic field generating element in the insertion portion with respect to the magnetic field generating element or the magnetic field detecting element disposed at the known position is calculated from a detection signal obtained by detecting the generated magnetic field by the magnetic field detecting element. position calculating means comprises a tube member is provided, et al having flexibility in the insertion portion of
And the magnetic field generating element or the magnetic field detecting element
The magnetic field generating element is covered with the insulating member.
Or the magnetic field detecting element is fixed to the tube member
An endoscope position detecting device characterized by being configured as described above .