JP2000279425A - Navigation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To visually and easily grasp a distance between a target object and an object and also to permit a user to easily obtain required kinds of navigation information. SOLUTION: The position and attitude of an endoscope 3 and a testee body 1 in a three-dimensional space are measured and navigation information for navigating the object to a target is generated. Then navigation information is displayed on a liquid crystal monitor 13 by changing a color, a line thickness, a plotting size and plotting density, for example, when the information is displayed in accordance with relation in the position and attitude of the endoscope 3 and the testee body 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation apparatus for changing navigation information based on position and orientation information of a target object and a target in a three-dimensional space.

[0002]

2. Description of the Related Art As disclosed in, for example, JP-A-9-173352 and JP-A-10-5245, various types of medical and surgical navigation devices have been proposed.

[0003] In the medical navigation system disclosed in Japanese Patent Application Laid-Open No. 9-173352, information (external shape, medical image information) of a desired part of the subject designated by subject desired part designating means is displayed. It is displayed by the device. Further, the video information obtained from the appearance photographing means, the outer shape information measured by the outer shape measuring means, and medical image information obtained from the medical image shooting means,
The images are superimposed and displayed by the image display means.

Further, in the surgical operation support apparatus disclosed in Japanese Patent Application Laid-Open No. 10-5245, image data of a tomographic image of a surgical site, a surgical instrument, and a blood vessel detecting means for detecting a blood vessel near the distal end of the surgical instrument are provided. Position detecting means for detecting the current position of the surgical instrument, computing means for calculating the position of the distal end of the surgical instrument and the insertion direction of the surgical instrument, and a part where the distal end of the surgical instrument is located An image selecting means for selecting image data, and an image synthesizing means for superimposing a predetermined pattern indicating the tip of the surgical instrument on the image selected by the image selecting means, the position of the surgical instrument, which changes every moment, is detected. The displayed blood vessel is superimposed on the selected tomographic image and displayed. Thus, the operator visually confirms the position information of the distal end of the surgical instrument inserted into the body of the subject on a tomographic image.

[0005]

However, the navigation disclosed in the above publication has the following problems.

That is, in the medical navigation system disclosed in Japanese Patent Application Laid-Open No. 9-173352, information on a desired part of the subject specified by the desired part specifying means is displayed, and the user desires. It is difficult to navigate the object desired portion designating means to the portion. Also, when the image information obtained by the external appearance photographing means and the outline information measured by the outline measuring means, and the medical image information obtained by the medical image photographing means are displayed in a superimposed manner, the gaze direction of the displayed information, that is, It is difficult to obtain a sense of distance in a direction perpendicular to the display surface. Furthermore, no information is given when the subject and the subject-desired-portion specifying unit are located in a place that is within the measurement range but outside the display range. It is difficult to determine from the screen display whether the approach can be made.

Further, in the surgical operation support apparatus disclosed in Japanese Patent Application Laid-Open No. H10-5245, in order to know the distance between the blood vessel and the surgical instrument, the distal end position of the surgical instrument on the displayed tomographic image is detected. The user must always be aware of the distance from the position of the blood vessel.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned points, and the navigation information to be displayed is changed in accordance with the relative three-dimensional position and orientation of a target object and a navigation target object. It is an object of the present invention to make it easy to visually grasp the distance between an object and an object to be navigated, and to provide a navigation device that allows a user to easily obtain necessary types of navigation information.

[0009]

To achieve the above object, a navigation apparatus according to the first aspect of the present invention measures the position and orientation of a target and a target in a three-dimensional space, and determines the position of the target. A navigation device that generates navigation information for navigating to a goal,
Display means for displaying the navigation information in different modes according to the position and orientation relationship between the object and the target is further provided.

That is, according to the navigation apparatus of the first aspect of the present invention, the navigation information is displayed in different modes according to the position and orientation relationship between the target and the target, so that the user can easily. Thus, the position and orientation in the three-dimensional space can be grasped.

Note that the above-described configuration is equivalent to first and second
The target corresponds to the subject 1, the affected part to be operated on, and a site to be noted in the operation, but is not limited to the subject where the entity exists, It also includes a virtual target displayed as a two-dimensional or three-dimensional model image reconstructed from image information of the target. The end object corresponds to the endoscope 3, but also includes a treatment tool such as a suction tube and tweezers for performing observation and operation on a target. The display means corresponds to the liquid crystal monitor 13, but also includes a video information display device such as a CRT display or a head mounted display. The “different aspect” means the color, the line thickness, the size to be drawn, and the density of the drawing when displaying the navigation information.

According to a second aspect of the present invention, there is provided a navigation apparatus for measuring the position and orientation of a target and a target in a three-dimensional space, and generating navigation information for navigating the target to the target. The device, if the position and orientation in the three-dimensional space can be measured, the target object or the target model image;
A display unit that displays at least one of navigation direction information and distance information between the object and the target, and displays information indicating that measurement is not possible when measurement is not possible. And

That is, according to the navigation device of the present invention, when the position and orientation in the three-dimensional space can be measured, the model image of the object or the target, the navigation direction information, and the object Since at least one of the distance information between the target and the target is displayed, the user can easily grasp the position and orientation in the three-dimensional space. In addition, since information indicating that measurement is impossible is displayed, the user can easily know that measurement is not possible.

Note that the above-described configuration is equivalent to first and second
The target corresponds to the subject 1, the affected part to be operated on, and a site to be noted in the operation, but is not limited to the subject where the entity exists, It also includes a virtual target displayed as a two-dimensional or three-dimensional model image reconstructed from image information of the target. The end object corresponds to the endoscope 3, but also includes a treatment tool such as a suction tube and tweezers for performing observation and operation on a target. The display means corresponds to the liquid crystal monitor 13, but also includes a video information display device such as a CRT display or a head mounted display.

In the first embodiment, the model image corresponds to the wireframe three-dimensional model data 10, but any model data that can represent the external shape is used in general three-dimensional computer graphics. Includes data structures. Further, in the second embodiment, a line expressing the orthogonally projected image 27 of the endoscope 3 corresponds to the line. However, as long as it can express the external shape, an expression method used in general three-dimensional computer graphics is used. Including. further,
In the first and second embodiments, this model image corresponds to the three-dimensional volume data 11 of the target part.
This includes a form in which a plurality of dimensional pixel data exist.

Although the arrow 21 corresponds to the navigation direction information in the first embodiment, the navigation direction information may be a two-dimensional geometric figure such as a triangle or a circle, a three-dimensional geometric figure such as a cone, or visual data such as image data. Including those that can be confirmed.

The distance information corresponds to the numeral 31 indicating the distance to the affected part in the first embodiment, but includes the numeral indicating the distance to an arbitrary target. Alternatively, this corresponds to the rod 30 indicating the distance to the diseased part in the first embodiment, but it may be a two-dimensional geometric figure such as a triangle or a circle, a three-dimensional geometric figure such as a cylinder, or a visual data such as image data. Including those that can be confirmed.

In the first embodiment, the information indicating that measurement is not possible corresponds to the character information 28 of "measurement impossible state", but this is arbitrary character information expressing the measurement impossible state. including. Furthermore, this includes any symbolic pattern defined to indicate that measurement is not possible, which in the first embodiment is a yellow and 60 pixel thick frame 29.

According to a third aspect of the present invention, there is provided the navigation apparatus according to the first or second aspect, wherein the object has an image pickup means, and the object is picked up by the image pickup means. The image is superimposed on other information and can be displayed on the display means.

That is, according to the navigation apparatus of the present invention, the image picked up by the image pickup means for the object is displayed so as to be superimposed on other information, so that the actual image information is displayed on the display means. By obtaining the navigation information as information in the same space, the user can easily grasp the position, shape, and state of the invisible entity from the navigation information.

The above configuration corresponds to a first embodiment described later. The object corresponds to the endoscope 3 in the first embodiment, but also includes a microscope. The display means corresponds to the liquid crystal monitor 13 in the first embodiment, but also includes a video information display device such as a CRT display or a head mounted display.

[0022]

Embodiments of the present invention will be described below with reference to the drawings.

[First Embodiment] FIG. 1 is a diagram showing a configuration of a navigation device according to a first embodiment of the present invention.

That is, the subject 1 is lying on the operating table while lying on his back. The head of the subject 1 has an infrared ray L
Hard sensing plate 2 with EDs arranged in a triangular shape
Are attached by a tape so that the attachment position and posture with respect to the head do not easily change.
Further, a rigid sensing plate 4 having infrared LEDs arranged in a triangular shape is fixedly attached to the endoscope 3. On these sensing plates 2 and 4, the positional relationship between the arranged LEDs does not change. Further, the position where each LED is arranged is measured in advance with respect to the coordinate system defined on each of the sensing plates 2 and 4, and is stored in the sensor information storage unit 5 as LED definition data. The sensor information storage unit 5 is connected to the sensor control unit 6. Then, the sensor assembly 7 of the image capturing system is arranged so that the sensing plates 2 and 4 are located within the measurement range. The sensing plates 2 and 4 and the sensor assembly 7 are connected to the sensor control unit 6 to constitute a three-dimensional position and orientation measurement unit.

The three-dimensional position and orientation information measured by such three-dimensional position and orientation measurement means is passed from the sensor control unit 6 to the navigation information control unit 8. Here, the external shape information and the internal tomographic image information of the subject, the affected part to be operated on, and the part to be noted in the operation are measured by CT or M
It is measured in advance by RI and has a low resolution (for example, 32 ×
32 × 32 voxel resolution), medium resolution (for example, 1
28 × 128 × 128 voxel resolution), high resolution (eg, 512 × 512 × 512 voxel resolution)
3D model data 10 (high-resolution wireframe 3D model data 10a, medium-resolution wireframe 3D model data 10b, low-resolution wireframe 3D model data 10c) by an image processing computer or the like. And three-dimensional volume data 11 (high-resolution three-dimensional volume data 11a, medium-resolution three-dimensional volume data 11b, and low-resolution three-dimensional volume data 11c), and are stored in the navigation information storage unit 9 as data.

The navigation information storage unit 9 also stores a distance map 12 in advance. Here, the distance map 12 is, as shown in FIGS. 2 and 3, a value of a three-dimensional array in which the shortest distance from the surface of a target part (subject, affected part to be operated on, a part to be noted in surgery) And the subscript number of the array is a variable corresponding to the three-dimensional position coordinates in the space where the target part exists. For example, when the minimum division unit is 0.1 [mm], 1/10 of the subscript number is used.
Is the coordinate value expressed in millimeters. Such a distance map is created in advance for each target site by a distance map creating computer or the like, and stored as data in the navigation information storage unit 9. Note that coordinate transformation calculations are performed so that the wireframe three-dimensional model data 10, the three-dimensional volume data 11, and the distance map 12 all have the same coordinate system.

An image obtained from the optical system of the endoscope 3 is taken into the navigation information control unit 8 via a camera control device (not shown) and an image input board.

The navigation information generated by the navigation information control section 8 is displayed to the user by a liquid crystal monitor 13 as information display means. As shown in FIG. 4, the data of the subject 1 and the subject itself measure a coordinate value m on the data of the feature point and a coordinate value p defined by the sensing plate 2 of the corresponding feature point, It is associated by calculating a coordinate transformation matrix (pHm) 14. This coordinate transformation matrix 14 is stored in the navigation information storage unit 9.

Here, as shown in FIG. 5, the coordinate transformation matrix is a three-row, three-column rotation component R representing a rotation operation in a three-dimensional space, and a three-row, one-row representing a translation operation in a three-dimensional space. This is a 4-by-4 matrix composed of a column translation component T and a constant component.

A coordinate conversion matrix (cHe) 15 from a coordinate system defined by the sensing plate 4 to a coordinate system used in a camera model expressing the optical system of the endoscope 3 as shown in FIG. , A coordinate transformation matrix (f_cto) from the camera model coordinate system to the actual coordinate system on the liquid crystal monitor 13
s) 16 is also obtained and stored in the navigation information storage unit 9.

Next, the operation in such a configuration will be described.

During the operation of the present navigation device, the sensor control unit 6, which is a component of the three-dimensional position and orientation measuring means, is used.
Measures the three-dimensional position of each infrared LED of the sensing plates 2 and 4 and stores the LE stored in the sensor information storage unit 5.
Using the D definition data, the sensing plates 2, 4 and 3
The three-dimensional position and orientation are defined by the sensing plate 2
It is calculated as the coordinate value of the origin of the space defined by the sensing plate 4 in the dimensional space and the value of the unit vector of the X, Y, and Z axes of the space defined by the sensing plate 4. Then, based on the three-dimensional position and orientation information, a coordinate conversion matrix (pHe) from the sensing plate 2 attached to the head of the subject 1 to the sensing plate 4 attached to the endoscope 3 as shown in FIG. 17 is calculated.
This coordinate transformation matrix 17 and the coordinate transformation matrices 14, 15,
8, the data of the target part is converted into position data on the liquid crystal monitor 13, and the navigation information control unit 8 generates navigation information using this position data.

An image from the optical system of the endoscope 3 is also input to the navigation information control unit 8, so that the navigation information and the image are superimposed,
The image is displayed on the liquid crystal monitor 13 as shown in FIG.

Here, as shown in FIG. 7, the tip end position of the endoscope 3 is coordinate-transformed using the coordinate transformation matrices 14, 15, and 17 and the distance map 12 is referred to to determine the position of the target part. The relative distance from the tip of the endoscope 3 is obtained.
Therefore, when the subject 1 and the endoscope 3 are in a measurable state on the liquid crystal monitor 13 as shown in FIG. The target distance is displayed as the distance to the affected part, expressed by the length of the stick 30 and the numeral 31.

In the surgical operation using the endoscope 3, the subject 1
The endoscope 3 must be inserted into the affected area from the outside while paying attention to a site that should not be damaged, and the affected area must be treated.

When the endoscope 3 is outside the subject 1, a model image of the target part is generated as a wire frame image 18 having an outer shape as shown in FIG. And
In the present embodiment, the color and thickness of the line of the wire frame image 18 are changed in accordance with the relative distance between the tip of the endoscope 3 and the target part obtained by the above method. Further, the color and thickness of the bar 30 indicating the distance to the affected part, the numeral 31 and the color of the background are also changed.

For example, when the relative distance is 10 mm or more, the color of the line of the wire frame image 18 is blue, the thickness of the line is 1 pixel, the color of the bar 30 indicating the distance is blue, and the thickness of the bar 30 is thick. The background color of the numeral 31 is 20 pixels, and the background color of the numeral 31 is blue. When it is separated by 0 mm or more and less than 10 mm, the line color of the wire frame image 18 is yellow, the thickness of the line is 2 pixels, and the distance bar 30 The color is yellow, the thickness of the bar 30 is 30 pixels, the background color of the numeral 31 is yellow,
When it is inserted more than 0mm and less than 10mm,
The color of the line of the wireframe image 18 is purple, the thickness of the line is 2 pixels, the color of the bar 30 indicating the distance is purple, the thickness of the bar 30 is 30 pixels, the background color of the numeral 31 is purple, and so on. Let it.

As described above, when the distance reaches a preset distance, the color of the wire frame image 18 drawn in a color corresponding to the distance changes, or the thickness of the line changes. Can visually grasp the distance to the target portion. Further, when the endoscope 3 approaches the site to be watched for more than a certain distance, the line of the wire frame image 18 representing the site to be watched is drawn thick, so that the user can view the site to watch. You can visually grasp that you have approached too much. For example, when the reference value of the distance map 12 regarding the part to be noted becomes 10 mm or less, the thickness of the line is changed five times.

In addition, the density of the wire frame image 18 drawn according to the relative distance between the endoscope 3 and the target part is also changed. That is, as the relative distance decreases, the drawing is performed by switching to the more detailed wireframe three-dimensional model data 10, and as the relative distance increases, the drawing is switched to the thinned wireframe three-dimensional model data 10. I do. For example, if the distance to the target part is less than 30 mm, the high-resolution wireframe three-dimensional model data 10a is used. If the distance to the target part is 30 mm or more and less than 100 mm, the medium-resolution wireframe three-dimensional model data is used. If the distance to the target part is 100 mm or more using 10b, the low-resolution wireframe three-dimensional model data 1
0c is used. Due to this effect, coarse wireframe three-dimensional model data must be used in order to shorten the time until drawing is completed, and detailed information cannot be displayed when approaching, or on the contrary, a detailed wireframe three-dimensional model Since the data was used, there was no problem that the time required to complete the drawing was extended by drawing unnecessary details when it was far from the target site. A sufficient drawing speed can be realized.

In the present embodiment, the endoscope 3
Is inserted into the subject 1, the model image of the subject 1 to be drawn is changed from the wire frame image 18 to the drawing shown in FIG. 9 according to the relative distance between the endoscope 3 and the surface of the target portion. (B) is automatically switched to the internal tomographic image 19 of three-dimensional volume data. Here, the relative distance between the distal end of the endoscope 3 and the target site is obtained by the above method. For example, when the relative distance becomes 5 mm, the model image of the subject is switched from the wire frame image 18 to the internal tomographic image 19 of the three-dimensional volume data according to the viewing direction of the endoscope. By this switching, the user requests the switching operation of the internal tomographic image 19 of the three-dimensional volume data, which becomes important after the insertion, instead of the wireframe image 18 of the subject that becomes unnecessary after the insertion of the endoscope 3. It can be easily obtained without being done.

As described above, when the endoscope 3 is inserted into the subject, the navigation information displayed to the user includes the internal tomographic image 19 of the three-dimensional volume data of the subject 1 and the affected part. Wire frame image 2 of the area to be careful
0. In this state, when the endoscope 3 approaches the target part by a certain set value or more, not only the drawing attribute of the wire frame image 20 but also the color of the internal tomographic image 19 of the drawn three-dimensional volume data is changed.

If the target region does not exist within the photographing range of the endoscope 3, the direction in which the target region exists is indicated by an arrow 21 as shown in FIG. 9C. Here, whether the model image is within the drawing range depends on whether the coordinates of each point of the model image calculated at the time of drawing the model image are coordinates present as points on the monitor to be displayed. Can be determined by examining the following points.

That is, as shown in FIG. 10, the coordinates of the model image are converted to the coordinates of the display screen (step S1), and it is determined whether or not the converted point is a coordinate value within the display range (step S2). . And if there is a point in the display range,
A model image is displayed (step S3). On the contrary,
If there is no point within the display range, the coordinates of the representative point of the model image are converted into the coordinates of the display screen (step S5).
4) The coordinates of the tip of the endoscope 3 are converted into coordinates of the display screen (step S5), and the distance and direction between the representative point of the model image and the tip of the endoscope 3 are calculated (step S6). That is,
Coordinate value 23 in the model data coordinate system of the representative point of the target part
Is converted into coordinate values on the liquid crystal monitor 13 by the coordinate conversion matrices 14, 15, 16, and 17, so that the relative distance between the center 22 of the endoscope image, that is, the tip of the endoscope 3 and the target portion is obtained. The direction can be determined. Then, by changing the size of the arrow 21 indicating the target portion so as to be proportional to this distance, the user can capture the target portion within the imaging range of the endoscope 3 by moving the endoscope 3 by how much. Can understand visually what can be done.

When the measurement is impossible, the sensor control unit 6
A message indicating that measurement is impossible is output instead of the three-dimensional position and orientation information. Upon receiving this message, the navigation information control unit 8 deletes the model image as the navigation information, and outputs the character information 2 indicating "measurable state".
8 and a frame 29 of yellow and 60 pixels in thickness are generated and displayed to the user on the liquid crystal monitor 13 as shown in FIG. With this operation, the user can easily know that the endoscope 3 or the subject 1 is at a position where measurement is not possible, and the possibility of performing an erroneous operation based on navigation information that does not match the actual state is reduced.

It is to be noted that each configuration of the present embodiment can be variously modified and changed.

For example, the part to be navigated is not limited to the above-mentioned part, but may be any part created from the external shape information of the subject 1 or the internal tomographic image information. Further, it is possible to perform a simulation on the assumption that the subject 1 does not actually exist and the sensing plate is attached to the head of the virtual subject.

The three-dimensional position and orientation measurement means is replaced with a generally well-known three-dimensional position and orientation measurement method such as a method using a magnetic sensor or a method using a mechanical link, a joint, an encoder or a potentiometer. be able to. Furthermore, when the subject is fixed, the three-dimensional position and orientation of the subject are measured in advance, this information is stored in the sensor information storage unit, and the calculation of the relative three-dimensional position and orientation with respect to the navigation target is performed. When the system is operating, it is only necessary to measure the three-dimensional position and orientation of the navigation target.

Further, the wire frame expressing the outer shape information of the target part can be replaced by various expression methods used in three-dimensional computer graphics such as polygons. Alternatively, a contour line or an equidistant line with respect to the viewing direction may be used.

The endoscope 3 which is the object to be navigated may be plural. Further, the navigation target object may be an object having no observation means such as a treatment tool.

The determination as to whether the target site is within the observation range is not limited to the above method.

The method of calculating the relative distance between the navigation target and the target site is not limited to the distance map.
The distance between the representative point of the navigation target and the representative point of the target portion may be obtained by a generally known method of calculating the distance between points in a three-dimensional space.

Further, the color change due to the distance may be not only a change using a certain value as a boundary value as described above, but also a stepwise change due to a plurality of boundary values or a continuous change.

Similarly, the change in the line thickness depending on the distance may be not only a change using a certain value as a boundary value as described above, but also a stepwise change due to a plurality of boundary values or a continuous change.

By setting the color to be a transparent color and the line thickness to be 0, it is not necessary to substantially display the navigation information.

Further, the variation of the density of the model image drawing depending on the distance is not determined by preparing a plurality of data having different roughnesses as described above and switching the data, but by continuously changing the data from a single data. good.

The pattern displayed when the target portion is out of the observation range is not limited to the arrow 21 but may be a triangle, a circle,
A rod or the like may be used, and the magnitude of the distance may be represented by the magnitude of the shape.

Further, the change in the size of the arrow 21 due to the distance may be not only a continuous change as described above, but also a stepwise change due to a certain set value.

Further, the data of the target portion need not be stored separately for each resolution if a means for determining the roughness of the drawing at the time of execution is added from a single data.

Further, the navigation information indicating the measurement impossible state may be one of the character information 28 or the frame 29.

Also, the color information and line thickness as attributes of the navigation information, the roughness of the drawing of the model image, the size of the pattern, the boundary value at the time of the change due to the distance, and the character information of the navigation information indicating the measurement impossible state The character string of 28 may be defined by the user.

[Second Embodiment] Next, a second embodiment of the present invention will be described.
An embodiment will be described.

FIG. 11 is a diagram showing the configuration. In this embodiment, the configuration is the same as that of the first embodiment except for the following points.

That is, the endoscope 3 does not need to pass the photographing information of the optical system to the navigation information control unit 8. In the present embodiment, a vector 24 representing a path (minimally invasive path) into which the endoscope 3 is to be inserted is stored in advance in the navigation information storage unit 9 as data. Then, the coordinate values 25 of the front end and the rear end of the endoscope 3 are obtained with respect to the coordinate system defined by the sensing plate 4 fixedly attached to the endoscope 3, and the navigation information storage unit 9 It is stored in.

Next, the operation in such a configuration will be described.

During operation of the navigation apparatus according to the present embodiment, the sensor control unit 6
The three-dimensional position of each infrared LED is measured, and the three-dimensional position and orientation of the sensing plates 2 and 4 are calculated using the LED definition data stored in the sensor information storage unit 5. From this three-dimensional position and orientation information, a coordinate conversion matrix 17 from the sensing plate 2 attached to the head of the subject 1 to the sensing plate 4 attached to the endoscope 3 is calculated. This coordinate transformation matrix 17 and the aforementioned coordinate transformation matrix 1
The position and orientation of the endoscope 3 with respect to the data of the target site are obtained from the coordinates 4, 15 and the coordinate value 25.

As shown in FIG. 12, the navigation information control unit 8 navigates the three-section plane image 26 of the three-dimensional volume data 11 including the affected part and the orthographic projection image 27 of the endoscope 3 projected on its cross section. It is generated as information and displayed on the liquid crystal monitor 13. For example, if the coordinates of the representative point of the affected part are represented as (260, 180, 280), the three-section image 26 of the three-dimensional volume data 11 is x = 260.
YZ plane, y = 180 ZX plane, z = 280 XY
It becomes a plane.

The relative distance between the target part and the end of the endoscope 3 can be obtained by referring to the distance map 12 using the position of the end of the endoscope 3.

In the present embodiment, the orthographic projection image 27 and the three-section plane image 26 of the endoscope 3 are continuously colored in accordance with the relative distance between the target part and the end of the endoscope 3. Change. The orthographic image 27 of the endoscope 3 continuously changes the thickness of the line as shown in FIG. 13 according to the relative distance between the target site and the end of the endoscope 3. By these changes, the user can easily grasp the approach of the endoscope 3 to the target portion.

The posture of the endoscope 3 obtained from the coordinate values 25 of the front end position and the rear end position of the endoscope 3 is compared with data of a vector 24 representing a path to be inserted, and a certain set value ( If there is an inclination of 10 degrees or more, the color and line thickness of the orthographic image 27 of the endoscope 3 are changed. Due to this change, the user can easily grasp that the current insertion direction of the endoscope 3 has deviated from the direction defined as the insertion direction.

It is to be noted that each configuration of the second embodiment can be variously modified and changed.

For example, the part to be navigated is not limited to the above-described part, but may be any part created from the external shape information of the subject and the internal tomographic image information. Also, assuming that the subject does not actually exist and the sensing plate is attached to the head of the virtual subject,
It is also possible to perform a simulation.

The three-dimensional position and orientation measuring means is replaced with a generally well-known three-dimensional position and orientation measurement method such as a method using a magnetic sensor or a method using a mechanical link, a joint, an encoder or a potentiometer. be able to. By using the calculation for calculating the relative three-dimensional position and orientation with respect to the navigation target, it is only necessary to measure the three-dimensional position and orientation of the navigation target when the system is operating.

Further, there may be a plurality of navigation target objects. Furthermore, if the object to be navigated can measure a mechanical shape, the endoscope 3
However, the present invention is not limited to this, and can be replaced with another thing such as a suction tube or tweezers.

The coordinates of the end of the endoscope 3 do not need to coincide with the mechanical end, and data indicating that the end of the endoscope 3 is virtually longer may be given. Further, the tip coordinates may be given by a formula using the extension amount from the mechanical tip position as a parameter, and the tip coordinates based on the extension amount designated by the user may be sequentially obtained.

Further, the color change due to the distance may be not only a continuous change as described above, but also a change using a certain value as a boundary value or a stepwise change using a plurality of boundary values.

Similarly, the change in the line thickness depending on the distance may be not only a continuous change as described above, but also a change with a certain value as a boundary value or a stepwise change with a plurality of boundary values.

The method of calculating the magnitude of the inclination is not limited to this method.

Further, the user may be able to define the boundary value when the attribute is changed due to the color, line thickness, or distance, which is the attribute of the navigation information.

The navigation object may be a microscope. In this case, by obtaining the focal length of the microscope from the microscope main body and using this as the coordinates of the tip of the endoscope 3 in the present embodiment, the focal position can be set as a point to be navigated.

Although the present invention has been described based on the above embodiments, the present invention is not limited to the above embodiments, and various modifications and applications are possible within the scope of the present invention. . Here, the summary of the present invention is as follows.

(1) A navigation device for generating information for navigating a target to a target, a three-dimensional position / posture measuring means for measuring the three-dimensional position / posture of the target and the target, and the three-dimensional position / posture Based on the measurement result of the measuring means, information generating means for generating information necessary for navigation, and display means for displaying the information generated by the information generating means, the display means, the object and According to at least one of information on the distance information of the target, direction information from the target to the target, and information on whether the target or the target is located within the measurement range of the three-dimensional position and orientation measurement means. A navigation device displaying navigation information in a display mode selected from a plurality of display modes.

The embodiment relating to the configuration described in (1) corresponds to the first and second embodiments. That is, in the first and second embodiments, the target is:
The subject 1, the affected area to be operated on, the site to be careful in the operation correspond, but not limited to the subject in which the entity exists,
A virtual target displayed as a two-dimensional or three-dimensional model image reconstructed from image information of a real target acquired in advance is also included. The navigation target object is
The endoscope 3 corresponds, but also includes a treatment tool such as a suction tube and tweezers for observing and operating a target. The three-dimensional position and orientation measurement means corresponds to a sensor using an infrared LED (sensing plates 2 and 4, a sensor assembly 7, a sensor information storage unit 5, and a sensor control unit 6). A well-known three-dimensional position and orientation measurement method such as a method using a mechanical link, a joint, an encoder, and a potentiometer is also included. The information generating means includes a navigation information storage unit 9
And the navigation information control unit 8. The display means corresponds to the liquid crystal monitor 13, but also includes a video information display device such as a CRT display or a head mounted display. In this specification, the term “plurality of display forms” means colors, line thicknesses, drawn sizes, and density of the navigation information when displaying the navigation information.

According to the configuration described in (1), the relative position and posture of the target and the object in the three-dimensional space are measured by the three-dimensional position and posture measuring means. The information generating means generates information necessary for navigation based on the measurement result of the three-dimensional position and orientation measuring means. The display means includes, as the navigation information generated by the information generation means, distance information between the object and the target, direction information from the object to the target, the object or the target being the three-dimensional position and orientation measurement means. The navigation information is displayed in a display mode selected from a plurality of display modes in accordance with at least one of the information items indicating whether the navigation information is located within the measurement range. As a result, the user determines whether the distance between the target and the target, the direction from the target to the target, the target or the target is the above-mentioned 3rd.
It can be easily grasped whether the position is within the measurement range of the three-dimensional position and orientation measurement means.

(2) When the target and the object can be measured by the three-dimensional position measuring means, the display means includes external shape information of the target or the object, internal tomographic information of the target, At least one of the direction of the target or the target and the distance information to the target is displayed, and in other cases, information indicating that measurement is impossible is displayed. The navigation device according to 1).

The embodiment relating to the configuration described in (2) corresponds to the first and second embodiments. That is, the outer shape information corresponds to the wire frame three-dimensional model data 10 in the first embodiment, but any data structure used in general three-dimensional computer graphics as long as the model data can express the outer shape. Including. Further, in the second embodiment, a line expressing the orthogonally projected image 27 of the endoscope 3 corresponds to the line. However, as long as it can express the external shape, an expression method used in general three-dimensional computer graphics is used. Including. The internal fault information is
In the first and second embodiments, the three-dimensional volume data 11 of the target part corresponds, but a mode in which a plurality of two-dimensional pixel data exist is also included. The direction of the object is the first
In the embodiment of the present invention, the arrow 21 corresponds, but includes a two-dimensional geometric figure such as a triangle or a circle, a three-dimensional geometric figure such as a cone, and image data such as image data. In the first embodiment, the distance information to the target corresponds to the numeral 31 indicating the distance to the affected part, but includes the numeral indicating the distance to an arbitrary target. Alternatively, this corresponds to the rod 30 indicating the distance to the diseased part in the first embodiment, but it may be a two-dimensional geometric figure such as a triangle or a circle, a three-dimensional geometric figure such as a cylinder, or a visual data such as image data. Including those that can be confirmed.

In the first embodiment, the information indicating that measurement is not possible corresponds to the character information 28 of “measurement impossible state”, but this is arbitrary character information expressing the measurement impossible state. including. Alternatively, this includes any symbolic pattern that is defined as indicating a non-measurable, although in the first embodiment the frame 29 is yellow and has a thickness of 60 pixels.

(3) The object has an image pickup means,
The navigation device according to (1), wherein the display unit is capable of displaying an image captured by the imaging unit and the navigation information in a superimposed manner.

The embodiment relating to the configuration described in (3) corresponds to the first embodiment. That is, in the first embodiment, the object having the imaging means corresponds to the endoscope 3, but also includes a microscope. The display means corresponds to the liquid crystal monitor 13 in the first embodiment, but also includes a video information display device such as a CRT display or a head mounted display.

According to the configuration described in (3), the object described in (1) has an imaging unit, and the image obtained from the imaging unit and the information generation unit described in (1) are used. The navigation information obtained by the means is superimposed and displayed. That is, by obtaining the actual image and the navigation information as information on the same space on the display means,
The user can easily grasp the position, shape, and state of the invisible entity from the navigation information.

(4) The navigation device according to any one of (1) to (3), wherein the display color of the navigation information is changed according to the distance or direction between the target and the object. .

The embodiment relating to the configuration described in (4) corresponds to the above-described first and second embodiments. That is, the display color of the navigation information corresponds to the wire frame image 18 and the internal tomographic image 19 of the target part drawn on the monitor in the first embodiment, but the arrow in the first embodiment. 21 is also included. In the second embodiment, the three-section image 26 of the target portion drawn on the monitor is displayed.
And the orthographic projection image 27 of the endoscope 3.

According to the configuration described in (4), the above 3
By changing the color of the navigation information according to the relative distance between the target and the object measured by the three-dimensional position and orientation measuring means, the user can visually recognize that the relative distance is too close. Can be easily grasped. In addition, by changing the color of the navigation information according to the relative direction, the user can easily visually recognize that the relative direction is deviated. Alternatively, the user can visually and easily grasp the state of the relative distance and direction by simultaneously evaluating the relative distance and direction and changing the color.

(5) In any one of the above (1) to (3), the thickness of a line is varied in displaying the navigation information according to the distance or direction between the target and the object. A navigation device as described.

The embodiment relating to the configuration described in (5) corresponds to the first and second embodiments. That is, the line thickness of the navigation information corresponds to the wire frame image 18 of the target portion drawn on the monitor in the first embodiment, but the arrow 2 in the first embodiment corresponds to the thickness of the line.
1 is also included. In the second embodiment, this corresponds to the orthographic image 27 of the endoscope 3 drawn on the monitor.

According to the configuration described in (5), the above-mentioned 3
By changing the thickness of the navigation information line according to the relative distance between the target and the object measured by the three-dimensional position and orientation measurement means, the user may be notified that the relative distance is too close. Can be easily grasped visually. Further, by changing the thickness of the line of the navigation information according to the relative direction, the user can easily visually recognize that the relative direction is shifted or the like. Alternatively, by simultaneously evaluating the relative distance and direction and changing the line thickness, the user can
The state of the relative distance and direction can be easily grasped visually.

(6) According to the distance (1), the target external shape model and the target internal tomographic image are selectively displayed on the display means according to the distance between the target and the object. The navigation device according to any one of (1) to (3).

The embodiment relating to the configuration described in (6) corresponds to the first embodiment. That is, in the first embodiment, the outer shape model corresponds to the wireframe image 18, but various expression methods used in three-dimensional computer graphics such as polygons, and contour lines and equidistant lines with respect to the line of sight are also included. Including. The internal tomographic image corresponds to the internal tomographic image 19 in the first embodiment.

According to the configuration described in (6), the above 3
By switching between the target external shape model and the internal tomographic image in accordance with the relative distance between the target and the target measured by the three-dimensional position and orientation measurement means, the user can position the target near the target. You can easily grasp what you are doing. Further, information according to different states of the inside and outside of the set distance can be easily obtained.

(7) According to any one of the above (1) to (3), the target model image is displayed on the display means with different depiction roughness in accordance with the distance between the target and the object. The navigation device according to any one of the above.

An embodiment relating to the configuration described in (7) corresponds to the first embodiment. That is, the target model image corresponds to the wire frame image 18 in the first embodiment. However, various expression methods used in three-dimensional computer graphics such as polygons, and contour lines and equidistant lines with respect to the line of sight are also used. Including.

According to the configuration described in (7), the density of the drawing of the target model image varies depending on the relative distance between the target and the object, for example, coarse when the distance is far and fine when the distance is short. By doing so, it is possible to balance the load of drawing the target model image with the amount of information to be displayed. Thus, the user can obtain an appropriate amount of information at an appropriate drawing speed according to the distance.

(8) According to the feature (1), an image representing the target and directional information of the target are alternatively displayed on the display means according to the distance between the target and the object. The navigation device according to any one of (1) to (3).

The embodiment relating to the configuration described in (8) corresponds to the first embodiment. In other words, the image representing the target corresponds to the wire frame image 18 in the first embodiment, but various expression methods used in three-dimensional computer graphics such as polygons, contour lines for the line of sight, and equidistant lines. And internal tomographic image information.
In the first embodiment, the direction information of the target corresponds to the arrow 21 in the first embodiment, but is visually confirmed by a two-dimensional geometric figure such as a triangle or a circle, a three-dimensional geometric figure such as a cone, or image data. Including what can be done.

According to the configuration described in (8), the positional relationship of the display means with respect to the display area is calculated by the information generation means from the relative distance and direction between the target and the object. When the image representing the target is not drawn in the area, switching to the direction information of the target allows the user to grasp the position and direction of the target and the target object without losing sight.

(9) The direction information of the target is displayed on the display means in accordance with the distance between the target and the object with a symbol having at least any one of a size and a shape different from the target. The navigation device according to any one of (1) to (3).

The embodiment relating to the configuration described in (9) corresponds to the first embodiment. That is, the symbol corresponds to the arrow 21 in the first embodiment, but a symbol that can be visually confirmed such as a two-dimensional geometric figure such as a triangle or a circle, a three-dimensional geometric figure such as a cone, or image data. Including.

According to the configuration described in (9), by expressing the relative distance between the target and the object by the size or shape of the symbol, the user can visually recognize not only the direction but also the distance. Can be easily grasped.

(10) A target for navigation, an object to be navigated with respect to the target, and a three-dimensional position and orientation for measuring the three-dimensional position and orientation of the target and / or the object to be navigated A measuring means, an information calculating means for generating and controlling navigation information based on the measurement information measured by the three-dimensional position and orientation measuring means, and an information displaying means for displaying the navigation information generated and controlled by the information calculating means. ,
In the navigation apparatus, the information calculation means includes: a relative distance and / or direction between the target object and the navigation target object measured by the three-dimensional position and orientation measurement means; The navigation device changes the attribute or the type of the navigation information so as to be a visual expression of the measurement result according to

The embodiment relating to the configuration described in (10) corresponds to the above-described first and second embodiments. That is, in the first and second embodiments, the target object corresponds to the subject 1, the affected part to be operated on, and a site to be noted in the operation, but is not limited to the subject in which the entity exists. A virtual target displayed as a two-dimensional or three-dimensional model image reconstructed from image information of a real target acquired in advance is also included. The navigation target object corresponds to the endoscope 3, and includes a treatment tool such as a suction tube and tweezers for performing observation and operation on the target object. The three-dimensional position and orientation measurement means corresponds to a sensor using an infrared LED (sensing plates 2 and 4, a sensor assembly 7, a sensor information storage unit 5, and a sensor control unit 6). A well-known three-dimensional position and orientation measurement method such as a method using a mechanical link, a joint, an encoder, and a potentiometer is also included. The information calculation means corresponds to the navigation information storage unit 9 and the navigation information control unit 8. The information display means corresponds to the liquid crystal monitor 13, but also includes a video information display device such as a CRT display or a head mounted display. "Attribute of navigation information"
In this specification, the term "color" means the color, the thickness of the line, the size of the drawn image, and the density of the drawn image when the navigation information is displayed.

According to the configuration described in (10), the relative position and orientation of the target object and the navigation target object in the three-dimensional space are measured by the three-dimensional position and orientation measurement means. The information calculation means determines the three-dimensional position and orientation information of the target and / or the navigation target object measured by the three-dimensional position and orientation measurement means, and / or whether or not the measurement can be performed. As the information on the distance and / or direction, and / or the information on the measurement state, the navigation information is generated and controlled. In the information display means,
The navigation information generated and controlled by the information calculation means is displayed. As a result, the user can easily grasp the positional relationship between the target object and the navigation target object, and / or the relative posture state, and / or the measurement availability state.

(11) When the three-dimensional position and orientation measuring means can measure normally, the navigation information
A model image of the external shape of the target and / or the navigation target, a model image of internal tomographic image information of the target, a symbolic pattern indicating a direction in which the target and / or the target to be navigated are present, A character including at least one of a numerical value representing a distance to a target and / or a symbolic pattern, and character information and / or a symbolic pattern indicating that measurement is impossible when the three-dimensional position and orientation measuring means cannot measure. The navigation device according to the above (10), wherein

The embodiment relating to the configuration described in (11) corresponds to the above-described first and second embodiments. That is, the model image of the external shape corresponds to the wireframe three-dimensional model data 10 in the first embodiment.
If the model data can represent the external shape, general 3
It also includes data structures used in three-dimensional computer graphics. Further, in the second embodiment, a line expressing the orthogonally projected image 27 of the endoscope 3 corresponds to the line. However, as long as it can express the external shape, an expression method used in general three-dimensional computer graphics is used. Including. In the first and second embodiments, the model image of the internal tomographic image information corresponds to the three-dimensional volume data 11 of the target part.
This includes a form in which a plurality of dimensional pixel data exist. The symbolic pattern indicating the direction in which the navigation target exists is the arrow 21 in the first embodiment,
This includes visual confirmation such as two-dimensional geometric figures such as triangles and circles, three-dimensional geometric figures such as cones, and image data.
The numerical value indicating the distance to the target corresponds to the numeral 31 indicating the distance to the affected part in the first embodiment, but includes a numeral indicating the distance to an arbitrary target. In the first embodiment, the symbolic pattern representing the distance to the target corresponds to the bar 30 indicating the distance to the diseased part. Includes things that can be visually confirmed such as scientific figures and image data. In the first embodiment, the character information indicating the unmeasurable state corresponds to the character information 28 of “measurable state”, but includes any character information expressing the unmeasurable state. The symbolic pattern indicating that measurement is impossible is yellow in thickness and 60 in thickness in the first embodiment.
Pixel box 29 is relevant, but includes any symbolic pattern defined to indicate unmeasurable.

(12) The object to be navigated has an observing function, and the observation image obtained from the object to be navigated having the observing function in the information display means and the navigation information obtained by the information calculating means are used to calculate the information. (1) characterized by superimposed display by means
The navigation device according to 0).

The embodiment relating to the configuration described in (12) corresponds to the first embodiment. That is, the navigation target having the observation function corresponds to the endoscope 3 in the first embodiment, but also includes a microscope. The information display means corresponds to the liquid crystal monitor 13 in the first embodiment, but also includes a video information display device such as a CRT display or a head mounted display.

According to the configuration described in (12), the object to be navigated described in (10) has an observation function, and the observation image obtained from this observation function and the observation image described in (10) are used. The navigation information obtained from the information calculation means is superimposed. By obtaining the actual video information and navigation information on the same space on the information display means, the user can easily grasp the position, shape and state of the invisible entity from the navigation information. it can.

(13) The color of the navigation information is changed according to the relative distance and / or direction between the target object and the navigation target object. The navigation device according to any one of the above.

The embodiment relating to the configuration described in (13) corresponds to the first and second embodiments. That is, the color of the navigation information corresponds to the wireframe image 18 and the internal tomographic image 19 of the target portion drawn on the monitor in the first embodiment, but the arrow 21 in the first embodiment corresponds to the color of the navigation information. Including. Further, in the second embodiment, a three-section plane image 26 of the target portion drawn on the monitor and an orthographic image 27 of the endoscope 3 correspond thereto.

According to the configuration described in (13), the color of the navigation information changes according to the relative distance between the target and the navigation target measured by the three-dimensional position and orientation measuring means. Thus, the user can easily visually recognize that the relative distance is too close. In addition, by changing the color of the navigation information according to the relative direction, the user can easily visually recognize that the relative direction is deviated. Alternatively, the user can visually and easily grasp the state of the relative distance and direction by simultaneously evaluating the relative distance and direction and changing the color.

(14) The thickness of the navigation information line is changed according to the relative distance and / or direction between the target and the navigation target. The navigation device according to any one of the above.

The embodiment relating to the configuration described in (14) corresponds to the above-described first and second embodiments. That is, the line thickness of the navigation information corresponds to the wire frame image 18 of the target portion drawn on the monitor in the first embodiment, but the arrow 2 in the first embodiment corresponds to the thickness of the line.
1 is also included. In the second embodiment, this corresponds to the orthographic image 27 of the endoscope 3 drawn on the monitor.

According to the configuration described in (14), the line thickness of the navigation information is determined according to the relative distance between the target and the navigation target measured by the three-dimensional position and orientation measuring means. Changes, the user can easily visually recognize that the relative distance is too close. Further, by changing the thickness of the line of the navigation information according to the relative direction, the user can easily visually recognize that the relative direction is shifted or the like. Alternatively, by evaluating the relative distance and the direction at the same time and changing the thickness of the line, the user can easily grasp the state of the relative distance and the direction easily.

(15) The model image of the target is switched between the external shape and the internal tomographic image information according to the relative distance between the target and the navigation target. (12) The navigation device according to any of (12).

The embodiment relating to the configuration described in (15) corresponds to the first embodiment. In other words, the model image of the external shape corresponds to the wire frame image 18 in the first embodiment. However, various expression methods used in three-dimensional computer graphics such as polygons, contour lines with respect to the viewing direction, and equidistant lines are used. Also includes lines. Further, in the first embodiment, the internal tomographic image information is the internal tomographic image 1
9 corresponds to this.

According to the configuration described in (15), the model image of the outer shape and the internal shape are formed in accordance with the relative distance between the target and the navigation target measured by the three-dimensional position and orientation measuring means. By switching the tomographic image information, the user can easily grasp that the navigation target is located near the target.
Further, information according to different states of the inside and outside of the set distance can be easily obtained.

(16) The density of a model image to be displayed is changed according to the relative distance between the target and the navigation target.
The navigation device according to any one of (0) to (12).

The embodiment relating to the configuration described in (16) corresponds to the first embodiment. That is, in the first embodiment, the model image is the wireframe image 1
8, which also includes various expression methods used in three-dimensional computer graphics such as polygons, contour lines for the viewing direction, and equidistant lines.

According to the configuration described in (16), the density of the drawing of the model image is coarse depending on the relative distance between the target and the navigation target, for example, when it is far, and when it is near. By making a fine change, it is possible to balance the load of model image drawing with the amount of information to be displayed. Thus, the user can obtain an appropriate amount of information at an appropriate drawing speed according to the distance.

(17) According to the relative distance and direction between the target and the navigation target, a model image of the target and / or the target to be navigated and the target and / or the target to be navigated are displayed. (1) characterized by switching between a symbol pattern in an existing direction.
The navigation device according to any one of (0) to (12).

The embodiment relating to the configuration described in (17) corresponds to the first embodiment. That is, in the first embodiment, the model image is the wireframe image 1
8, which also includes various expression methods used in three-dimensional computer graphics such as polygons, contour lines for the line of sight, equidistant lines, and internal tomographic image information. The symbolic pattern corresponds to the arrow 21 in the first embodiment, but can be visually confirmed such as a two-dimensional geometric figure such as a triangle or a circle, a three-dimensional geometric figure such as a cone, or image data. Including things.

According to the configuration described in (17), the information relation to the display area of the information display means is calculated by the information calculation means from the relative distance and direction between the target and the navigation target. However, for example, when the model image is not drawn in the display area, by switching to the symbolic pattern, the user can grasp the position and the direction of the target object and the navigation target object without losing sight.

(18) The size of the symbolic pattern indicating the direction in which the target exists is changed according to the relative distance between the target and the navigation target. The navigation device according to any one of (12) to (12).

The embodiment relating to the configuration described in (18) corresponds to the first embodiment. That is, the symbolic pattern corresponds to the arrow 21 in the first embodiment, but can be visually confirmed such as a two-dimensional geometric figure such as a triangle or a circle, a three-dimensional geometric figure such as a cone, or image data. Including things.

According to the configuration described in (18), by expressing the relative distance between the target object and the navigation target object by the size of the pattern, the user can control not only the direction but also the distance. It can be easily grasped visually.

[0134]

As described in detail above, according to the present invention,
By changing the displayed navigation information according to the relative three-dimensional position and orientation of the target and the navigation target, the distance between the target and the navigation target can be easily grasped visually. , And a navigation device that allows a user to easily obtain necessary types of navigation information.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a navigation device according to a first embodiment of the present invention.

FIG. 2 is a diagram illustrating a distance map.

FIG. 3 is a diagram for explaining a distance map.

FIG. 4 is a diagram showing a relationship between data of a subject and the subject itself.

FIG. 5 is a diagram for explaining a coordinate conversion matrix that associates data of a subject with the subject itself.

FIG. 6 is a diagram illustrating a coordinate transformation matrix from a coordinate system defined by a sensing plate attached to an endoscope to a coordinate system used in a camera model expressing an optical system of the endoscope; FIG. 5 is a diagram for explaining a coordinate conversion matrix to a coordinate system on a liquid crystal monitor.

FIG. 7 is a diagram for explaining a coordinate conversion matrix from a sensing plate attached to the head of the subject to a sensing plate attached to the endoscope.

FIG. 8 is a diagram for explaining the conversion of target region data to position data on a liquid crystal monitor using a plurality of coordinate conversion matrices.

FIGS. 9A to 9D are diagrams showing display examples on a liquid crystal monitor, in particular, FIG. 9A shows an image from an optical system of an endoscope superimposed on a wire frame image as navigation information. Display, (B) a display in which an image from the optical system of the endoscope is superimposed on an internal tomographic image of three-dimensional volume data as navigation information, and (C) a target portion exists within the imaging range of the endoscope. (D) shows a display when measurement is not performed, and (D) shows a display when measurement is impossible.

10 is an operation flowchart for performing a display as shown in FIG. 9C.

FIG. 11 is a diagram showing a configuration of a navigation device according to a second embodiment of the present invention.

FIG. 12 is a diagram illustrating a display example according to the second embodiment and a coordinate transformation matrix used for performing such display.

FIG. 13 is a diagram for explaining changing a line thickness of an orthographic image of the endoscope in accordance with a relative distance between a target portion and a distal end of the endoscope.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Subject 2, 4 Sensing plate 3 Endoscope 5 Sensor information storage part 6 Sensor control part 7 Sensor assembly 8 Navigation information control part 9 Navigation information storage part 10, 10a, 10b, 10c Wireframe three-dimensional model data 11, 11a , 11b, 11c 3D volume data 12 Distance map 13 LCD monitor 14, 15, 16, 17 Coordinate transformation matrix 18, 20 Wireframe image 19 Internal tomographic image 21 Arrow 22 Endoscope video center 23 Representative point of target site Coordinate values in the model data coordinate system 24 Vector 25 Coordinate values of the end position and end position of the endoscope 26 Trisection plane image 27 Orthogonal projection image of the endoscope 28 Character information 29 Yellow frame 60 pixels thick 30 Bar indicating the distance to the affected part 31 Number indicating the distance to the affected part

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Akihito Saito 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Industrial Co., Ltd. (72) Inventor Hiroshi Matsuzaki 2-4-2-3 Hatagaya, Shibuya-ku, Tokyo No. Within Olympus Optical Co., Ltd. (72) Inventor Akio Kosaka 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Co., Ltd. (72) Takeo Asano 2-43-2, Hatagaya, Shibuya-ku, Tokyo No. Olympus Optical Co., Ltd. F term (reference) 5E501 AA24 AA25 AC15 BA03 CA03 CB14 FA14 FA27

Claims (3)

[Claims] 1. A navigation device that measures the position and orientation of a target and a target in a three-dimensional space and generates navigation information for navigating the target to the target. A navigation device, further comprising a display means for displaying in a different manner according to the position and orientation relationship of the target. 2. A navigation apparatus for measuring the position and orientation of an object and a target in a three-dimensional space and generating navigation information for navigating the object to the target. If possible, display at least one of the model image of the target or the target, navigation direction information, and distance information between the target and the target. If measurement is not possible, measurement is impossible. A navigation device further comprising display means for displaying information indicating the fact. 3. The object according to claim 1, wherein the object has an image pickup means, and the image picked up by the image pickup means can be superimposed on other information and displayed on the display means. Navigation device.