CN101056575A - Endoscope shape detection device - Google Patents
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- CN101056575A CN101056575A CN 200580038920 CN200580038920A CN101056575A CN 101056575 A CN101056575 A CN 101056575A CN 200580038920 CN200580038920 CN 200580038920 CN 200580038920 A CN200580038920 A CN 200580038920A CN 101056575 A CN101056575 A CN 101056575A
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Abstract
The source coil drive circuit section (31) of an endoscope profile detector (3) comprises an oscillator (110) generating a sine wave, and an amplifier (111) for amplifying the sine wave and generating (driving) an AC field in a source coil (14i) through a switch section (112). The switch section (112) can supply a DC current to the source coil (14i) while switching to the output of the amplifier (111). The source coil drive circuit section (31) is provided with a DC resistance detecting section (113) for measuring the DC resistance of the source coil (14i) from a potential drop when the switch section (112) is supplying a DC current to the source coil (14i).
Description
Technical field
The present invention relates to the endoscope-shape detection device that uses magnetic field producing component and magnetic field detection element to detect endoscope inserted-shape etc. and show.
Background technology
In recent years, adopted a kind of endoscope-shape detection device, this device uses magnetic field producing component and magnetic field detection element to detect to insert the shape of the endoscope that waits in the body etc., and the use display unit shows.
For example, open to disclose in 2003-245243 communique etc. the spy of Japan and a kind ofly use magnetic field to detect endoscope-shape and show the device of detected endoscope-shape.This device drives a plurality of magnetic fields producing component that disposes with predetermined distance in the insertion section of inserting intravital endoscope, make it produce magnetic field on every side.Then, use to be configured in external magnetic field detection element, according to producing the three-dimensional position that each magnetic field producing component is detected in magnetic field.Three dimensional local information according to detected each magnetic field producing component generates the curve that each magnetic field producing component is connected continuously, by the 3-D view of the insertion section after the display unit display modelization.
Operative doctors etc. are by observing this image, can hold the position of the leading section that inserts intravital insertion section and inserted-shape etc., can successfully be inserted into the operation of target site etc.
Yet, open in the endoscope-shape detection device of 2003-245243 communique record the above-mentioned spy of Japan, detection a plurality of magnetic fields producing component with predetermined distance configuration in the insertion section is the broken string or the short circuit of source coil, judges whether to use endoscope-shape detection device.Therefore, when the broken string that detects source coil or short circuit are judged as can not use endoscope-shape detection device the time, can not obtain the information of the position of leading section of insertion section of endoscope-shape detection device and inserted-shape etc., the operation of inserting target site can only rely on the experience of operative doctor, thereby can not expect effectively to be inserted into the operation of target site to have the probability of bringing obstacle to actual inspection.
Summary of the invention
The present invention In view of the foregoing makes, and the purpose of this invention is to provide a kind of endoscope-shape detection device that can detect the degradation of this element according to the SHAPE DETECTION that disposes with predetermined distance with the electric rerum natura of element in the insertion section.
Description of drawings
Fig. 1 is the structure chart of structure that the endoscopic system of embodiments of the invention 1 is shown.
Fig. 2 is the figure that the configuration example of the coil in the coil unit that is built in Fig. 1 is shown.
Fig. 3 is the structure chart of structure that the endoscope-shape detection device of Fig. 1 is shown.
Fig. 4 is the figure that the structure of the reception piece of Fig. 3 and controll block is shown.
Fig. 5 is the figure of detailed structure that the reception piece of Fig. 3 is shown.
Fig. 6 is the sequential chart of action that two port stores etc. of Fig. 4 are shown.
Fig. 7 is the figure of structure that the fujinon electronic video endoscope of Fig. 1 is shown.
Fig. 8 is the figure of memory-mapped that two port stores of Fig. 4 are shown.
Fig. 9 is the figure of structure that the source coil drive circuit portion of Fig. 4 is shown.
Figure 10 is the flow chart that the effect to the endoscopic system of Fig. 3 describes.
Figure 11 is the block diagram of built-in function structure that the endoscope-shape detection device of Fig. 1 is shown.
Figure 12 is the figure that endoscope-shape detection device that Fig. 1 is shown is depicted in an example of the inserted-shape figure on the monitor picture.
Figure 13 is the flow chart that the demonstration control that the endoscope-shape detection device of Fig. 1 carries out is shown.
Figure 14 is that the inserted-shape figure that the insertion section of embodiment 1 is shown is depicted in the figure that the 1st of monitor picture is stipulated extra-regional state.
Figure 15 illustrates inserted-shape figure shown in Figure 14 has been carried out the 1st figure that shows the state after change is handled.
Figure 16 is the figure that inserted-shape figure that the insertion section of embodiment 1 is shown is depicted in the 2nd extra-regional state of monitor picture.
Figure 17 illustrates inserted-shape figure shown in Figure 16 has been carried out the 2nd figure that shows the state after change is handled.
Figure 18 is the figure of structure of source coil drive circuit portion that the endoscope-shape detection device of embodiments of the invention 2 is shown.
Figure 19 is the figure of memory-mapped that two port stores of embodiment 2 are shown.
Figure 20 is the flow chart that the effect to the endoscopic system of embodiment 2 describes.
Figure 21 is the figure of structure of source coil drive circuit portion that the endoscope-shape detection device of embodiments of the invention 3 is shown.
Figure 22 is the flow chart that the effect to the endoscopic system of embodiment 3 describes.
Figure 23 is the key diagram that the processing to Figure 22 describes.
Figure 24 is the figure of structure of variation that the source coil drive circuit portion of Figure 21 is shown.
Figure 25 is the key diagram that the effect to the source coil drive circuit portion of Figure 24 describes.
Figure 26 is the figure of structure of source coil drive circuit portion that the endoscope-shape detection device of embodiments of the invention 4 is shown.
Figure 27 is the figure of structure that the gain variable amplifier portion of Figure 26 is shown.
Figure 28 is the flow chart that the effect to the endoscopic system of embodiment 4 describes.
Figure 29 is the figure of structure of the 1st variation that the gain variable amplifier portion of Figure 27 is shown.
Figure 30 is the figure of structure of the 2nd variation that the gain variable amplifier portion of Figure 27 is shown.
Figure 31 is the flow chart of the variation of Figure 28.
Figure 32 is the figure of memory-mapped that two port stores of embodiment 4 are shown.
Figure 33 is the flow chart that the effect to the variation of the endoscopic system of embodiment 4 describes.
Figure 34 is the figure of memory-mapped of variation that two port stores of embodiment 4 are shown.
Figure 35 is the figure that the variation to the data in two port stores that are stored in embodiment 4 describes.
Figure 36 is the figure of variation that the endoscopic system of embodiment 4 is shown.
The specific embodiment
Below, with reference to accompanying drawing embodiments of the invention are described.
(embodiment 1)
Fig. 1 to Figure 17 relates to embodiments of the invention 1, Fig. 1 is the structure chart that the structure of endoscopic system is shown, Fig. 2 is the figure that the configuration example of the coil in the coil unit that is built in Fig. 1 is shown, Fig. 3 is the structure chart of structure that the endoscope-shape detection device of Fig. 1 is shown, Fig. 4 is the figure that the structure of the reception piece of Fig. 3 and controll block is shown, Fig. 5 is the figure of detailed structure that the reception piece of Fig. 3 is shown, Fig. 6 is the sequential chart of action that two port stores etc. of Fig. 4 are shown, Fig. 7 is the figure of structure that the fujinon electronic video endoscope of Fig. 1 is shown, Fig. 8 is the figure of memory-mapped that two port stores of Fig. 4 are shown, Fig. 9 is the figure of structure that the source coil drive circuit portion of Fig. 4 is shown, Figure 10 is the flow chart that the effect to the endoscopic system of Fig. 3 describes, Figure 11 is the block diagram of built-in function structure that the endoscope-shape detection device of Fig. 1 is shown, Figure 12 is the figure that endoscope-shape detection device that Fig. 1 is shown is depicted in an example of the inserted-shape figure on the monitor picture, Figure 13 is the flow chart that the demonstration control that the endoscope-shape detection device of Fig. 1 carries out is shown, Figure 14 is that the inserted-shape figure that the insertion section is shown is depicted in the figure that the 1st of monitor picture is stipulated extra-regional state, Figure 15 illustrates inserted-shape figure shown in Figure 14 has been carried out the 1st figure that shows the state after change is handled, Figure 16 is the figure that inserted-shape figure that the insertion section is shown is depicted in the 2nd extra-regional state of monitor picture, and Figure 17 illustrates inserted-shape figure shown in Figure 16 has been carried out the 2nd figure that shows the state after change is handled.
As shown in Figure 1, endoscopic system 1 in the present embodiment has and carries out endoscopic endoscope apparatus 2 and be used for auxiliary endoscopic endoscope-shape detection device 3, the insertion auxiliary unit of this endoscope-shape detection device 3 when carrying out splanchnoscopy in the body cavity that insertion section 7 insertions of fujinon electronic video endoscope 6 is lain in the patient 5 on the examinating couch 4.
Fujinon electronic video endoscope 6 is formed with the operating portion 8 that is provided with the bending operation knob in the rear end with flexible elongated insertion section 7, extends general connecting line 9 from this operating portion 8, and this general connecting line 9 is connected with video processor 10.
This fujinon electronic video endoscope 6 is inserted and is connected with photoconduction, sends the illumination light of the light source portion from video processor 10 in, makes the illumination light outgoing that transmits from the illuminating window of the front end that is arranged on insertion section 7, and patient's grade is thrown light on.The shot object image of illuminated affected part etc. is imaged on the imaging apparatus (CCD) that is disposed at its image space by the object lens that are installed on the observation window with the adjacent setting of illuminating window, and this imaging apparatus carries out opto-electronic conversion to the shot object image of imaging.
Specifically, 7 front end is that the inside of leading section 200 is provided with in the insertion section: be used to make the objective lens optical system 201 of shot object image imaging, and the CCD (solid-state imager) 101 to making a video recording by this shot object image of objective lens optical system 201 imagings and this shot object image of being made a video recording being exported as image pickup signal.The image pickup signal of being exported from CCD 101 is output to the holding wire 993 that an end is connected with the rear of CCD 101.Holding wire 99 is arranged to insert the inside of logical insertion section 7, operating portion 8 and general connecting line 16, and the other end of holding wire 99 is electrically connected with video processor 10.Therefore, the image pickup signal of being exported from CCD 101 is output to video processor 10 via holding wire 99.
The signal of telecommunication of the shot object image after the opto-electronic conversion carries out signal processing by the signal of video signal handling part in the video processor 10, by the signal of video signal of this signal of video signal handling part generation standard, this signal of video signal is presented at the image viewing that is connected with video processor 10 and uses on the monitor 11.
This fujinon electronic video endoscope 6 is provided with pliers passage 12, from the insertion mouth 12a of this pliers passage 12 insert logical for example have 16 magnetic field producing components (or source coil) 14a, 14b ..., 14p (following by symbol 14i representative) probe 15, thereby source coil 14i is set in insertion section 7.
Be connected with checkout gear (also being designated as apparatus main body) 21 disassembled and assembled freely ground from the adapter 16a of the rear end of the extended source power cable 16 in the rear end of this probe 15 as the apparatus main body of endoscope-shape detection device 3.Then, apply the driving signal via source power cable 16 to the source coil 14i that becomes the magnetic field generation unit, thereby make source coil 14i produce magnetic field as the driving signal transfer unit from checkout gear 21 sides.
And, be configured near the examinating couch 4 that patient 5 lain these checkout gears 21 and move freely at above-below direction and be provided with (sensing) coil unit 23 (lifting), in this coil unit 23, dispose a plurality of magnetic field detection elements (sensor coil).
More specifically describe, for example dispose as shown in Figure 2 towards the Z at center coordinate be for example X-axis of 1Z coordinate sensor coil 22a-1,22a-2,22a-3,22a-4, be sensor coil 22b-1,22b-2,22b-3, the 22b-4 of the Y-axis of the 2Z coordinate different and be and sensor coil 22c-1, the 22c-2 of the Z axle of the 1st 3Z coordinate different, 12 sensor coils (following) of 22c-3,22c-4 towards the Z at center coordinate by symbol 22j representative with the 2Z coordinate towards the Z at center coordinate with the 1Z coordinate.
As shown in Figure 4, in the probe 15 in the insertion section 7 that is arranged at fujinon electronic video endoscope 6, as mentioned above, dispose 16 source coil 14i that are used to generate magnetic field with predetermined distance.These source coils 14i is connected with the source coil drive circuit portion 31 of the driving signal that constitutes 16 frequencies that differ from one another of generation that send piece 26.
The source coil drive circuit portion 31 bases driving signal of the sine wave of different frequency separately drive each source coil 14i, and each driving frequency is to set according to the driving frequency setting data of not doing in illustrated driving frequency setting data memory element or the driving frequency setting data preservation unit (also being designated as the driving frequency data) that is stored in source coil drive circuit portion 31 inside.These driving frequency data are that CPU (CPU) 32 is via in PIO (parallel imput output circuit) the 33 driving frequency data storage cells (not illustrating) that are stored in the source coil drive circuit portion 31 by the shape estimation unit that carries out endoscope-shape computing etc. in controll block 28.
On the other hand, 12 sensor coil 22j in the coil unit 23 are connected with the sensor coil signal amplification circuit portion 34 that constitutes reception piece 27.
In sensor coil signal amplification circuit portion 34,12 holocentric coil 22k that constitute sensor coil 22j as shown in Figure 5 are connected the processing system that 12 systems are set with amplifying circuit 35k respectively, amplify by amplifying circuit 35k by the detected tiny signal of each holocentric coil 22k, in filter circuit 36k, has the frequency band that a plurality of frequencies that the source coil group produces are passed through, be output among the output buffer 37k after removing unwanted component, in ADC (analog/digital converter) 38k, be converted into the digital signal that controll block 28 can be read in afterwards.
In addition, receive piece 27 and be made of sensor coil signal amplification circuit portion 34 and ADC 38k, sensor coil signal amplification circuit portion 34 is made of amplifying circuit 35k, filter circuit 36k and output buffer 37k.
Get back to Fig. 4, the output of 12 systems of this sensor coil signal amplification circuit portion 34 is sent to 12 above-mentioned ADC 38k, is the numerical data that clock that control signal produces circuit part 40 and provides is converted into the sampling period of regulation according to the numeric data writing units in controll block 28.This numerical data is written in two port stores 42 as the data output unit via local data's bus 41 according to the control signal that produces circuit part 40 from control signal.
In addition, two port stores 42 as shown in Figure 5, on function, constitute by local control 42a, 1RAM 42b, 2RAM42c and bus switch 42d, according to timing shown in Figure 6, ADC 38k begins the A/D conversion according to the A/D conversion start signal from local control 42a, bus switch 42d according to from the switching signal of local control 42a when switching RAM42b, 42c, RAM 42b, 42c alternately are used as readout memory and write memory, according to write signal, behind power connection, carry out data all the time and be taken into.
Get back to Fig. 4 once more, CPU 32 reads the numerical data that is written in two port stores 42 according to the control signal that produces circuit part 40 from control signal via the internal bus 46 that is made of local data's bus 43, pci controller 44 and pci bus 45 (with reference to Fig. 5).Then, CPU32 uses main storage 47 to carry out frequency to digital data and extracts processing (fast Fourier transform: FFT), separation and Extraction is to the magnetic field detection information of the frequency component corresponding with the driving frequency of each source coil 14i, according to the locus coordinate of each the source coil 14i in the probe 15 of each numerical data calculating and setting in the insertion section 7 of insertion fujinon electronic video endoscope 6 of the isolating magnetic field detection information of institute.
And, estimate to generate the insertion state of the insertion section 7 of fujinon electronic video endoscope 6 video data that forms mirror phantom type, and it is outputed in the video-ram 48 from the position coordinate data that calculates.Video signal generation circuit 49 is read the data that are written in this video-ram 48, and converts thereof into analog video signal and output to LCD monitor 25.LCD monitor 25 shows the mirror phantom type of the insertion section 7 of fujinon electronic video endoscope 6 in display frame when this analog video signal of input.
In CPU 32, calculate the magnetic field detection information corresponding with each source coil 14i, that is, and the electromotive force (amplitude of sine wave signal) and the phase information that in the holocentric coil 22k that constitutes each sensor coil 22j, produce.In addition, phase information represent the polarity of electromotive force ±.
And, in the present embodiment, as shown in Figure 1, confirm to insert the position of intravital insertion section 7 in order to make checkout gear 21, external tag device 57 and datum plate 58 also can be connected on the checkout gear 21 and use, described external tag device 57 is used to be presented at external position, and the abdominal part of described datum plate 58 by being installed in patient 5 etc. gone up and so on, even being used for that patient 5 position always changes also can be from (patient's 5) assigned direction display device phantom type etc.
Then, by connecting this adapter 59a, the same with the situation of source coil in the probe 15, the source coil of external tag device 57 also is driven, by also the same with mirror phantom type being presented on the monitor 25 in position of the source coil of coil unit 23 detected external tag devices 57.
And datum plate 58 has for example 3 source coils in the internal configurations of its disk shape part, and the adapter 60a of the cardinal extremity of the cable 60 that is connected with these 3 source coils is connected with checkout gear 21 disassembled and assembled freely ground.
Decide the face that disposes these source coils by the position of detecting these 3 source coils.Then, this face is used to carry out describing of mirror phantom type, so that observing under the situation of seeing insertion section 7 perpendicular to the direction of this face.
And, as shown in Figure 4, in the present embodiment, checkout gear 21 is provided with connector body 21a, 21b, the 21c of the adapter 60a of the adapter 59a of adapter 16a, external tag device 57 of linking probe 15 respectively and datum plate 58, and each connector body 21a, 21b, 21c are connected with source coil drive circuit 31.
As shown in Figure 7, in fujinon electronic video endoscope 6, dispose illumination light is sent to the photoconduction 100 of insertion section 7 and has the probe 15 of multiple source coil 14i, and in the leading section of insertion section 7, be provided with the CCD 101 that subject is made a video recording.Then, come driven CCD 101 according to the driving signal from video processor 10, the image pickup signal of being made a video recording by CCD 101 is sent to video processor 10 via buffer circuit 102.Driving signal and image pickup signal is received and dispatched between video processor 10 and CCD 101 by the interior holding wire 99 that is inserted in the insertion section 7.
On the other hand, the operating portion 8 of the base end side of fujinon electronic video endoscope 6 is provided with nonvolatile memory 103, and this nonvolatile memory 103 stores the mirror body ID data of identification fujinon electronic video endoscope 6 and is used to differentiate the various differentiation data of the state that is arranged on the source coil 14i in the probe 15.Nonvolatile memory 103 is by the flash memory formations such as (R) of can electricity rewriting.
These mirror body ID data and various differentiation data are taken in the endoscope-shape detection device 3 via video processor 10 when endoscopic system 1 starting.In endoscope-shape detection device 3, as shown in Figure 8, produce circuit part 40 via control signal and mirror body ID data and various differentiation data (Rth1, Rth2, Δ R) are stored in the specified address zone of two port stores 42 for example (with reference to Fig. 4).
The source coil drive circuit portion 31 of endoscope-shape detection device 3 has as shown in Figure 9: produce sinusoidal wave agitator 110 and should sine wave amplify and make source coil 14i produce the amplifier 111 of (driving) AC magnetic field via switch portion 112.And, switch portion 112 can offer source coil 14i to the output that DC current switches to amplifier 111, be provided with dc resistance test section 113 in source coil drive circuit portion 31, this dc resistance test section 113 is measured the dc resistance of source coil 14i according to the voltage drop when switch portion 112 offers source coil 14i to DC current.
Source coil drive circuit portion 31 has a plurality of above-mentioned agitators 110, amplifier 111, switch portion 112 and dc resistance test section 113 corresponding to source coil 14i, can measure the dc resistance of multiple source coil 14i when driving multiple source coil 14i.Measure repeatedly, for example 2 times dc resistance Rold1, Rold2 are stored in the specified address zone of two port stores 42 (with reference to Fig. 8).
Endoscope-shape in the present embodiment of such formation is detected processing to be described.
When endoscopic system 1 starting, video processor 10 is read mirror body ID data and various differentiation data (Rth1, Rth2, Δ R) from the nonvolatile memory 103 of fujinon electronic video endoscope 6, mirror body ID data and various differentiation data (Rth1, Rth2, Δ R) are sent to endoscope-shape detection device 3.
The CPU 32 of endoscope-shape detection device 3 produces circuit part 40 via control signal and mirror body ID data and various differentiation data (Rth1, Rth2, Δ R) is stored in the specified address zone of two port stores 42 (with reference to Fig. 8) as shown in figure 10 in step S1.
Then, the CPU 32 of endoscope-shape detection device 3 gauge tap portion 112 in step S2 offers source coil 14i to DC current, by the dc resistance Rnew of dc resistance test section 113 detection resources coil 14i.Then, CPU 32 judges detected resistance value Rnew and whether satisfies Rth1＜Rnew＜Rth2 with respect to differentiating data Rth1, Rth2 in step S3, under the situation that does not satisfy Rth1＜Rnew＜Rth2, CPU 32 is judged as source coil 14i broken string or short circuit takes place, in step S4, ban use of probe 15, be presented on the monitor 25 end process makeing mistakes.
Under the situation that satisfies Rth1＜Rnew＜Rth2, CPU 32 reads the past value as reference value from two port stores 42 in step S5, for example go up detected dc resistance Rold1 of last time and last time, Rold2, in step S6, calculate the poor of resistance value Rold1, Rold2 and resistance value Rnew, i.e. variable quantity 1=|Rold1-Rnew| and variable quantity 2=|Rold2-Rnew|.
Then, CPU 32 compares variable quantity 1 or variable quantity 2 in step S7 with differentiation data Δ R, judge whether to satisfy any one party of variable quantity 1＞Δ R or variable quantity 2＞Δ R.The timeliness of the resistance value of this variable quantity 1 and variable quantity 2 expression source coil 14i changes.
Then, CPU 32 is when being judged as any one party that satisfies variable quantity 1＞Δ R or variable quantity 2＞Δ R, be judged as source coil 14i near the period that reaches broken string or short circuit, in step S8, supervise expression the warning of changing probe 15 etc. to be presented on the monitor 25, enter step S9, when variable quantity 1 and variable quantity 2 are all in Δ R, directly enter step S9 from step S7.
Then, CPU 32 in step S9, in two port stores 42 last last time resistance value be rewritten as Rold2, and last time resistance value be rewritten as Rnew, end process.
In addition, above-mentioned processing is carried out with time division way at all 16 source coil 14i.And, because 16 source coil 14i carry out field drives with time division way when SHAPE DETECTION, thereby the processing of the step S2 in the above-mentioned processing～step S9 can do not carry out field drives during in, continue to carry out with time division way at all 16 source coil 14i.And, when finishing the SHAPE DETECTION processing, can finally be stored in the resistance value Rold1, the Rold2 that are stored in two port stores 42 in the nonvolatile memory 103 of fujinon electronic video endoscope 6, rewrite nonvolatile memory 103.
So in the present embodiment, differentiate the state of source coil by the dc resistance (electric rerum natura) that detects each source coil, thereby can suitably manage probe according to differentiating the timeliness variation of surveillance probes as a result.
In addition, for example in Japan's special permission endoscope-shape detection device that No. 3290153 communique proposed, also considered following situation, that is: be presented at outside the viewing area that a part as the inserted-shape figure of the insertion section on the monitor of display part exceeds monitor and produce the whole situation that does not show.So in this case, operative doctor can not be confirmed the state of insertion section at exceeding and the part that do not show in the inserted-shape figure of insertion section.
In the present embodiment, be depicted under the extra-regional situation of regulation of display part, handle, can be depicted in above-mentioned inserted-shape figure in the zone of display part by showing change in the part of the inserted-shape figure that endoscope-shape detection device is described.Below, use Fig. 1 and Figure 11 to Figure 17 that details are described.
As shown in Figure 1, the guidance panel 24 that is arranged on the outer dress face of endoscope-shape detection device 3 for example shows that change is handled and the 2nd shows that the timing that change is handled switches to the automatic/hand change-over switch of any one party of automatic or manual, 3 indications are manually carried out the 1st and shown that change is handled and the 2nd a plurality of switches of periodic switch etc. when showing the change processing constitute to endoscope-shape detection device by carrying out the 1st to endoscope-shape detection device 3.Manually carrying out the 1st at operative doctor shows under the situation that change is handled and the 2nd demonstration change is handled, after the automatic/hand change-over switch being set at manually, by pressing switch, can carry out the 1st and show that change is handled and the 2nd demonstration change is handled in the timing of expectation.In addition, the 1st shows that change processing and the 2nd shows that changing the detailed content of handling describes in the back, and, in the following explanation of present embodiment, suppose that the 1st shows that change is handled and the 2nd show that change is handled and endoscope-shape detection device 3 is carried out the 1st show that change is handled and the 2nd show that the timing setting of change processing is automatic.
And, endoscope-shape detection device 3 has in inside as shown in figure 11: produce regularly or the source coil control part 232 of frequency etc. constitutes above-mentioned source coil drive circuit portion 31 by the source coil drive division 231 of drive source coil 14i with via the magnetic field that source coil drive division 231 is controlled source coil 14i; The signal detecting part 233 that constitutes by above-mentioned sensor coil signal amplification circuit portion 34 and ADC 38k; The signal record portion 234 that constitutes by above-mentioned two port stores 42; Source coil position analysis portion 235 and image production part 236 by above-mentioned CPU 32 realizations; And the monitor drive division 239 that constitutes by above-mentioned video signal generation circuit 49.And image production part 236 is by inserted-shape image production part 236a, storage part 236b and show that changing unit 236c constitutes.
Signal detecting part 233 as test section detects the field signal of being exported from coil unit 23, this field signal is amplified to the level that can carry out signal processing exports.
The field signal that signal record portion 234 blotters are exported from signal detecting part 233.
Source coil position analysis portion 235 exports as the three-dimensional location coordinates information signal according to the three-dimensional location coordinates that is recorded in the field signal analysis source coil 14i in the signal record portion 234.
Inserted-shape image production part 236a calculates the 3D shape of insertion section 7 according to the three-dimensional location coordinates information signal of the source coil 14i that is exported from source coil position analysis portion 235.And inserted-shape image production part 236a is that the inserted-shape figure signal is exported according to the inserted-shape figure of the 3D shape generation insertion section 7 of the insertion section 7 that calculates as picture signal.
Storage part 236b blotter is from the inserted-shape figure signal of the insertion section 7 that inserted-shape image production part 236a is exported.
Show that changing unit 236c carries out coordinates correction according to the inserted-shape figure signal that is recorded in the storage part 236b, make part or all of inserted-shape figure of the insertion section 7 that inserted-shape image production part 236a is generated be depicted on the two-dimensional coordinate in the monitor picture 25a, and the inserted-shape figure signal behind the coordinates correction has been carried out in output.And, be depicted under the extra-regional situation of regulation among the monitor picture 25a being shown in a part as the inserted-shape figure of the insertion section on the monitor of display part, show the demonstration change processing that changing unit 236c stipulates according to the inserted-shape figure signal that is recorded in the storage part 236b, this inserted-shape figure that makes inserted-shape image production part 236a be generated is depicted in the interior regulation zone of monitor picture 25a, and exports the inserted-shape figure signal after the demonstration change of having carried out regulation is handled.In addition, the 1st show that change is handled and the 2nd show that the detailed content of change processing describes in the back as what the demonstration of afore mentioned rules change was handled.
Monitor drive division 239 is depicted in the inserted-shape figure of insertion section 7 on the monitor picture 25a according to the inserted-shape figure signal driving monitor 25 from showing that changing unit 236c is exported.
At first, operative doctor detects inserted-shape with probe 15 and inserts in mouthful 12a insertion fujinon electronic video endoscope 6 from probe.Afterwards, operative doctor is connected the general connecting line 9 of fujinon electronic video endoscope 6 on the video processor 10, and the cable 16 that inserted-shape is detected with probe 15 is connected on the endoscope-shape detection device 3, and the insertion section 7 of fujinon electronic video endoscope 6 is inserted in patient 5 the body cavity.So 101 pairs of endoceliac pictures of CCD are made a video recording, and this endoceliac picture of being made a video recording is exported as image pickup signal.Then, video processor 10 is according to carrying out Flame Image Process etc. from the image pickup signal that CCD 101 exported, and the image pickup signal that has carried out after the Flame Image Process etc. is outputed to monitor 11.Monitor 11 comes the endoceliac picture that fujinon electronic video endoscope 6 is made a video recording is carried out pictorial display according to the image pickup signal of being exported from video processor 10.
And the source coil control part 232 of endoscope-shape detection device 3 is controlled each source coil 14i via source coil drive division 231, so that each source coil 14i produces magnetic field in different timing.Source coil 14i produces the magnetic field corresponding with the inserted-shape of endoceliac insertion section 7 according to the control content of source coil control part 232.The above-mentioned magnetic field that source coil 14i is produced is detected by coil unit 23, and coil unit 23 outputs are based on the field signal in above-mentioned magnetic field.
The field signal that coil unit 23 is exported is detected in the signal detecting part 233 of endoscope-shape detection device 3, be amplified to the level that can carry out signal processing afterwards and export, by blotter in signal record portion 234.Source coil position analysis portion 235 analyzes the three-dimensional location coordinates of each source coil 14i according to being recorded in signal record portion 234 interior field signals, exports as three-dimensional location coordinates information.Inserted-shape image production part 236a calculates the 3D shape of insertion section 7 according to the three-dimensional location coordinates information signal of each source coil 14i that is exported from source coil position analysis portion 235, generate the inserted-shape figure of insertion section 7 afterwards according to the 3D shape of the insertion section 7 that calculates, export as the inserted-shape figure signal.Storage part 236b blotter is from the inserted-shape figure signal of the insertion section 7 that inserted-shape image production part 236a is exported.Show that changing unit 236c carries out coordinates correction according to the inserted-shape figure signal that is recorded in the storage part 236b, make part or all of inserted-shape figure of the insertion section 7 that inserted-shape image production part 236a is generated be depicted on the two-dimensional coordinate in the monitor picture 25a, and the inserted-shape figure signal behind the coordinates correction has been carried out in output.Monitor drive division 239 is depicted in upward (the step S101 of Figure 13: the generation step of inserted-shape figure) of monitor picture 25a to the inserted-shape figure of insertion section for example shown in Figure 12 7 according to from showing that the inserted-shape figure signal that changing unit 236c is exported drives monitor 25.
Here, for example when operative doctor inserted endoceliac deep to insertion section 7, the inserted-shape of insertion section 7 was depicted as inserted-shape figure shown in Figure 14 sometimes.In this case, show coordinate X1 that changing unit 236c judges whether the central part of the base end side that is depicted in the inserted-shape figure on the monitor picture 25a be depicted in the central part Xc that comprises the transverse axis in the monitor picture 25a shown in Figure 14 to the zone between the coordinate X2 i.e. (the step S102 of Figure 13: the position probing step of inserted-shape figure) in the 1st zone.Whether this judgement is for example after the difference according to the pixel value of image detects the position of base end side of the inserted-shape figure on the X direction of monitor picture 25a, carry out between coordinate X1 on this X direction and coordinate X2 according to this detected position.In addition, the dotted line that Figure 14 and Figure 15 described is the imaginary dotted line that is used to represent the 1st zone, thereby in fact is not presented on the monitor picture 25a.
When according to above-mentioned result of determination, the central part that detects the base end side of the inserted-shape figure that is depicted on the monitor picture 25a is depicted in the 1st zone when outer, show that changing unit 236c carries out showing that change is handled and promptly describing location change and handle (the step S103 of Figure 13: the location change step of inserted-shape figure) according to being recorded in the 1st of the position of describing that inserted-shape figure signal in the storage part 236b changes this inserted-shape figure, make the central part of base end side of this inserted-shape figure be depicted in the central part Xc of the transverse axis in the monitor picture 25a, and output has carried out describing the inserted-shape figure signal after location change is handled.When monitor drive division 239 drives monitor 9 according to the inserted-shape figure signal of being exported from demonstration changing unit 236c, the inserted-shape figure of the insertion section 7 after having depicted carrying out for example shown in Figure 15 on the monitor picture 25a to describe location change (the step S104 of Figure 13: the generation step of location change inserted-shape figure).In addition, the central part of the base end side of the inserted-shape figure on being depicted in monitor picture 25a is depicted under the situation in the zone between the X1 to X2 shown in Figure 14, does not carry out the above-mentioned location change processing of describing.And, coordinate X1 among the monitor picture 25a and coordinate X2 are recorded in to be arranged at the value in the illustrated memorizer etc. do not done that shows in the changing unit 236c, for example, can be that guidance panel 24 by operative doctor operation endoscope-shape detection device 3 changes to the value of expected value, and also can be predefined fixed value.
And for example when operative doctor inserted endoceliac deep to insertion section 7, the inserted-shape of insertion section 7 was depicted as inserted-shape figure shown in Figure 16 sometimes.In this case, show that the interior zone of frame A that changing unit 236c judges whether the integral body that is depicted in the inserted-shape figure on the monitor picture 25a is depicted in the monitor picture 25a shown in Figure 16 is (the step S105 of Figure 13: the size detection step of inserted-shape figure) in the 2nd zone.Whether this judgement is for example to have the inserted-shape figure to carry out outward according to the scope of the frame A of the poor detection monitor picture 25a of the pixel value of image.In addition, in Figure 16, be the imaginary frame that is used to represent the 2nd zone by the frame A of dotted lines, thereby in fact be not presented on the monitor picture 25a.
When according to above-mentioned result of determination, the at least a portion that detects the inserted-shape figure that is depicted on the monitor picture 25a is depicted in the 2nd zone when outer, show that changing unit 236c carries out according to being recorded in the 2nd the showing that change is handled and promptly describe dimension modifying and handle (the step S106 of Figure 13: the dimension modifying step of inserted-shape figure) of amplification that inserted-shape figure signal in the storage part 236b changes the integral body of this inserted-shape figure, make the integral body of this inserted-shape figure be depicted in zone in the frame B in the monitor picture 25a promptly in the 3rd zone, and output has carried out describing the inserted-shape figure signal after dimension modifying is handled.In addition, in Figure 17, be the imaginary frame that is used to represent the 3rd zone by the frame B of dotted lines, thereby in fact be not presented on the monitor picture 25a.
When monitor drive division 239 according to when showing that inserted-shape figure signal that changing unit 236c is exported drives monitor 25, at the inserted-shape figure of the insertion section 7 after describing size (the step S107 of Figure 13: the generation step of dimension modifying inserted-shape figure) that depicted change for example shown in Figure 17 on the monitor picture 25a.In addition, the integral body of the inserted-shape figure on being depicted in monitor picture 25a is depicted under the situation in the zone in the frame A shown in Figure 16, does not carry out the above-mentioned dimension modifying processing of describing.And, frame A among the monitor picture 25a and frame B are recorded in to be arranged at the zone in the illustrated memorizer etc. do not done that shows in the changing unit 236c, for example, it can be guidance panel 24 by operative doctor operation endoscope-shape detection device 3, the zone of variable peak width, desired locations etc. for expectation, and also can be predefined fixed area.
The endoscope-shape detection device 3 of present embodiment as mentioned above, central part at the base end side of the inserted-shape figure of insertion section 7 is depicted under the 1st extra-regional situation of monitor picture 25a, handle by this inserted-shape figure being described location change, can be depicted in the integral body of this inserted-shape figure in the 1st zone.And, the endoscope-shape detection device 3 of present embodiment as mentioned above, at least a portion at the inserted-shape figure of insertion section 7 is depicted under the 2nd extra-regional situation of monitor picture 25a, handle by this inserted-shape figure being described dimension modifying, can be depicted in the integral body of this inserted-shape figure than in the 3rd narrow zone of the 2nd zone.According to this effect that the endoscope-shape detection device 3 of present embodiment has, the comparable insertion operation of in the past more successfully carrying out fujinon electronic video endoscope 6 of operative doctor.
(embodiment 2)
Figure 18 to Figure 20 relates to embodiments of the invention 2, Figure 18 is the figure of structure that the source coil drive circuit portion of endoscope-shape detection device is shown, Figure 19 is the figure that the memory-mapped of two port stores is shown, and Figure 20 is the flow chart that the effect to endoscopic system describes.
Because embodiment 2 and embodiment 1 are much at one, thereby only difference described, same structure is enclosed same-sign and omitted explanation.
In the present embodiment, as shown in figure 18, the source coil drive circuit portion 31 of endoscope-shape detection device 3 constitutes a plurality of of quantity with source coil 14i: agitator 110, amplifier 111, measure the current detecting part 114 that flows into the alternating current in the source coil 14i, the voltage detection department 115 of the alternating voltage that mensuration applies source coil 14i, and the impedance computation portion 116 of calculating the impedance Z new of source coil 14i according to the alternating current of being measured and alternating voltage.
And the mirror body ID data of nonvolatile memory 103 and various differentiation data are taken in the endoscope-shape detection device 3 via video processor 10 when endoscopic system 1 starting.In endoscope-shape detection device 3, as shown in figure 19, produce circuit part 40 via control signal mirror body ID data and various differentiation data (Zth1, Zth2, Δ Z) are stored in the specified address zone of two port stores 42.
Other structures are identical with embodiment 1.Endoscope-shape in the present embodiment of such formation is detected processing to be described.
When endoscopic system 1 starting, video processor 10 is read mirror body ID data and various differentiation data (Zth1, Zth2, Δ Z) from the nonvolatile memory 103 of fujinon electronic video endoscope 6, mirror body ID data and various differentiation data (Zth1, Zth2, Δ Z) are sent to endoscope-shape detection device 3.
The CPU 32 of endoscope-shape detection device 3 produces circuit part 40 via control signal and mirror body ID data and various differentiation data (Zth1, Zth2, Δ Z) is stored in the specified address zone of two port stores 42 (with reference to Figure 19) as shown in figure 20 in step S 11.
Then, the CPU 32 of endoscope-shape detection device 3 measures the alternating current that flows in the source coil 14i by current detecting part 114 in step S12, and measure the alternating voltage that source coil 14i is applied by voltage detection department 115, in impedance computation portion 116, calculate the impedance Z new of source coil 14i according to the alternating current of being measured and alternating voltage.
Then, whether CPU 32 judges detected impedance Z new in step S13 satisfied with respect to differentiating data Zth1, Zth2 | Zth1|＜| Znew|＜| Zth2|, do not satisfying | Zth1|＜| Znew|＜| under the situation of Zth2|, CPU 32 is judged as source coil 14i broken string or short circuit takes place, in step S14, ban use of probe 15, be presented on the monitor 25 end process makeing mistakes.
Satisfying | Zth1|＜| Znew|＜| under the situation of Zth2|, CPU 32 reads detected impedance Z old1 of last last time and last time, Zold2 from two port stores 42 in step S15, in step S16, calculate the poor of impedance Z old1, Zold2 and impedance Z new, i.e. variable quantity 1=||Zold1|-|Znew|| and variable quantity 2=||Zold2|-|Znew||.
Then, CPU 32 compares variable quantity 1 or variable quantity 2 in step S17 with differentiation data Δ Z, judge whether to satisfy any one party of variable quantity 1＞Δ Z or variable quantity 2＞Δ Z.The timeliness of the impedance of this variable quantity 1 and variable quantity 2 expression source coil 14i changes.
In addition, CPU 32 is when being judged as any one party that satisfies variable quantity 1＞Δ Z or variable quantity 2＞Δ Z, be judged as source coil 14i near the period that reaches broken string or short circuit, in step S18, supervise expression the warning of changing probe 15 etc. to be presented on the monitor 25, enter step S19, when variable quantity 1 and variable quantity 2 are all in Δ Z, directly enter step S19 from step S17.
Then, CPU 32 is rewritten as Zold2 to last last time of impedance in two port stores 42 in step S19, impedance last time is rewritten as Znew, end process.
In addition, above-mentioned processing is carried out with time division way at all 16 source coil 14i.And, because 16 source coil 14i carry out field drives with time division way when SHAPE DETECTION, thereby the processing of the step S12 in the above-mentioned processing～step S19 can do not carry out field drives during in, continue to carry out with time division way at all 16 source coil 14i.And, when finishing the SHAPE DETECTION processing, can finally be stored in the impedance Z old1, the Zold2 that are stored in two port stores 42 in the nonvolatile memory 103 of fujinon electronic video endoscope 6, rewrite nonvolatile memory 103.
So in the present embodiment, also can obtain the effect identical with embodiment 1.
(embodiment 3)
Figure 21 to Figure 25 relates to embodiments of the invention 3, Figure 21 is the figure of structure that the source coil drive circuit portion of endoscope-shape detection device is shown, Figure 22 is the flow chart that the effect to endoscopic system describes, Figure 23 is the key diagram that the processing to Figure 22 describes, Figure 24 is the figure of structure of variation that the source coil drive circuit portion of Figure 21 is shown, and Figure 25 is the key diagram that the effect to the source coil drive circuit portion of Figure 24 describes.
Because embodiment 3 and embodiment 2 are much at one, thereby only difference described, same structure is enclosed same-sign and omitted explanation.
In the present embodiment, as shown in figure 21, CPU 32 constitutes the output voltage values that comes control generator 110 according to the impedance Z of the source coil 14i that is calculated by impedance computation portion 116.Other structures are identical with embodiment 2.
Endoscope-shape in the present embodiment of such formation is detected processing to be described.
As shown in figure 22, step S11～S14 is identical with embodiment 2, when the processing of step S11～S14 finished, CPU 32 came the output voltage values of control generator 110, end process according to the impedance Z of the source coil 14i that is calculated by impedance computation portion 116 in step S21.Other effects are identical with embodiment 2.
Here, in step S21, coming the output voltage values of control generator 110 to describe according to the impedance Z of source coil 14i.
The equivalent circuit of source coil 14i as shown in figure 23 is such, when the cable resistance of probe 15 is made as r1, r2, the D.C. resistance of source coil 14i is made as rc, the inductance of source coil 14i is made as Lc, the electric current that flows in the source coil 14i is made as I, the output voltage of amplifier 111 is made as V, the output frequency of amplifier 111 is made as f, and when establishing R=r1+r2+rc, magnetic field Φ that produces from source coil 14i and the impedance Z of seeing from amplifier 111 are respectively:
Φ＝Lc·I
|Z|＝(R
2+(2πfLc)
2)
1/2
Because I=V/|Z|, thereby CPU 32 bases | the output voltage values of Z| control generator 110 is set V, so that I is the predetermined electric current value, thereby obtains the output of constant magnetic field, and with R be that r1, r2, rc are irrelevant.
In addition, as shown in figure 24, the source coil drive circuit portion 31 of endoscope-shape detection device 3 can adopt the structure that embodiment 1 and embodiment 2 are combined, and can distinguish dc resistance and the impedance of detection resources coil 14i.
Under the situation of the structure of Figure 24, can detect D.C. resistance R, CPU 32 can obtain inductance L c according to impedance Z and D.C. resistance R.Therefore, the output voltage values of control generator 110 is set V, so that Φ=LcI=LcV/|Z| is a setting, thereby obtains the output of constant magnetic field.
As the processing of the situation of the structure of Figure 24, as shown in figure 25, can after the processing of the step S11～S19 that has carried out embodiment 2, carry out the processing of step S21.
So in the present embodiment, can be controlled at the output of constant magnetic field to source coil magnetic field according to the electric rerum natura of coil.
(embodiment 4)
Figure 26 to Figure 36 relates to embodiments of the invention 4, Figure 26 is the figure of structure that the source coil drive circuit portion of endoscope-shape detection device is shown, Figure 27 is the figure of structure that the gain variable amplifier portion of Figure 26 is shown, Figure 28 is the flow chart that the effect to endoscopic system describes, Figure 29 is the figure of structure of the 1st variation that the gain variable amplifier portion of Figure 27 is shown, Figure 30 is the figure of structure of the 2nd variation that the gain variable amplifier portion of Figure 27 is shown, Figure 31 is the flow chart of the variation of Figure 28, Figure 32 is the figure that the memory-mapped of two port stores is shown, Figure 33 is the flow chart that the effect to the variation of endoscopic system describes, Figure 34 is the figure of memory-mapped that the variation of two port stores is shown, Figure 35 is the figure that the variation that is stored in the data in two port stores is described, and Figure 36 is the figure that the variation of endoscopic system is shown.
Because embodiment 4 and embodiment 3 are much at one, thereby only difference described, same structure is enclosed same-sign and omitted explanation.
In the present embodiment, as shown in figure 26, setting can make the 111a of gain variable amplifier portion of gain-variable replace amplifier 111 by the control of CPU 32.
As shown in figure 27, the 111a of gain variable amplifier portion amplifies and makes source coil produce the GCA (gain-controlled amplifier) 121 of (drivings) AC magnetic field and gain setting data (computing/setting numeric data) are converted to data transaction portion 122 formations of 8 Bits Serial data by making from the sine wave of agitator 110, according to the gain of setting GCA121 from the serial gain setting data of data transaction portion 122, thereby drive multiple source coil 14i.
Other structures are identical with embodiment 3.
Endoscope-shape in the present embodiment of such formation is detected processing to be described.
As shown in figure 28, step S11～S14 is identical with embodiment 3, when the processing of step S11～S14 finishes, CPU 32 in step S22 according to the gain of the GCA of the impedance Z ride gain variable amplifier 111a of portion of the source coil 14i that calculates by impedance computation portion 116, end process.Other effects are identical with embodiment 3.
In addition, use the gain setting data to set the gain of GCA 121, yet be not limited thereto, for example as shown in figure 29, can use and switch the operational amplifier 131 that a plurality of feedback resistances are set gain, constitute the 111a of gain variable amplifier portion with the data transaction portion 132 of the parallel data of the feedback resistance of the gain setting data transaction become being set operational amplifier 131, as shown in figure 30, also can use digital potentiometer 141 to constitute the feedback resistance of operational amplifier 131, can be provided with and become the gain setting data transaction data transaction portion 142 of the control signal of digital potentiometer 141 to constitute the 111a of gain variable amplifier portion.
In addition, the source coil drive circuit portion 31 of endoscope-shape detection device 3 can adopt the structure that embodiment 1 and embodiment 2 are combined, and can distinguish dc resistance and the impedance of detection resources coil 14i.In this case, as shown in figure 31, can after the processing of the step S11～S19 that has carried out embodiment 2, carry out the processing of step S22.
In addition, for example open to disclose in 2003-290129 communique etc. and a kind ofly use magnetic field to detect endoscope-shape and show the device of detected endoscope-shape the spy of Japan.Then, thereby driving a plurality of magnetic fields producing component with the predetermined distance configuration in the insertion section of inserting intravital endoscope produces magnetic field around it, use is configured in the three-dimensional position that external magnetic field detection element detects each magnetic field producing component, the curve that generation connects each magnetic field producing component seriality is by the 3-D view of the insertion section after the display unit display modelization.
Operative doctors etc. are by observing this image, can hold the position of the leading section that inserts intravital insertion section and inserted-shape etc., can successfully be inserted into the operation of target site etc.
Yet, open in the endoscope-shape detection device of 2003-290129 communique above-mentioned spy, it is sinusoidal wave to use agitator to produce, use amplifier to amplify, sine-wave current is flowed in the coil, produce (driving) AC magnetic field, yet because Amplifier Gain is fixed, thereby when the coil kind changes, can not carry out suitable driving.
That is, in thick endoscope, use big coil, in thin endoscope, use little coil, and conductor length etc. is also different (because the length of the insertion section of endoscope, material → thin, thereby the D.C. resistance height.Can not ignore during driving.)。Its result, when the coil kind changed, impedance also changed, and existed electric current for example excessive and make probability that coil blows or electric current too small and can only produce the probability of low-intensity magnetic field.
These can change treatment process or data according to the coil that will use, solve with this, yet because the kind difference of the coil that is disposed during the endoscope that each change is used, thereby can need frequently to carry out the renewal of software or data.
In present embodiment 4, can carry out SHAPE DETECTION and estimation simply according to the coil data of the best, and not update software or data.Below, use Figure 32 to Figure 36 that details are described.
As shown in Figure 7, the operating portion 8 of the base end side of fujinon electronic video endoscope 6 is provided with nonvolatile memory 103, this nonvolatile memory 103 stores the mirror body ID data of the above-mentioned fujinon electronic video endoscope 6 of identification and is used to differentiate the various differentiation data of the state that is arranged on the source coil 14i in the probe 15, store computing/setting numeric data in addition, i.e. the gain setting data of the driving signal that uses during the source coil 14i in driving is arranged at probe 15.
These gain setting data (computing/setting numeric data) are taken in the endoscope-shape detection device 3 via video processor 10 when endoscopic system 1 starting.In endoscope-shape detection device 3, shown in figure 32, producing circuit part 40 (numeric data writing unit) via control signal is stored in gain setting data (computing/setting numeric data) in the specified address zone of the 2RAM 42c of two port stores 42 for example (with reference to Fig. 4).
The source coil drive circuit portion 31 of endoscope-shape detection device 3 is made of the 111a of gain variable amplifier portion shown in Figure 27.Promptly, source coil drive circuit portion 31 as shown in figure 27, have a plurality of coil drive 111a of portion, the 111a of this coil drive portion is by constituting with the lower part, that is: produce sinusoidal wave agitator 110, should sine wave amplify and make source coil produce the GCA 121 of (driving) AC magnetic field, and the data transaction portion 122 that gain setting data (computing/setting numeric data) is converted to 8 Bits Serial data, source coil drive circuit portion 31 is according to the gain of setting GCA 121 from the serial gain setting data of data transaction portion 122, thus driving multiple source coil 14i.
The CPU 32 of endoscope-shape detection device 3 is when endoscopic system 1 starting, as shown in figure 33, in step S201, video processor 10 is read gain setting data (computing/setting numeric data) from the nonvolatile memory 103 of fujinon electronic video endoscope 6, gain setting data (computing/setting numeric data) are sent to endoscope-shape detection device 3.
Then, in step S202, the CPU 32 of endoscope-shape detection device 3 produces circuit part 40 via control signal and gain setting data (computing/setting numeric data) is stored in the specified address zone of 2RAM 42c of two port stores 42 (with reference to Figure 32).
For example, as be disposed at the probe 15 in the fujinon electronic video endoscope 6 source coil drive condition and the gain setting value of GCA 121 is set under the situation of " 11001000 ", (computing/setting numeric data) is stored in the nonvolatile memory 103 these data " 11001000 " as the gain setting data, and data " 11001000 " are written in the specified address zone of 2RAM42c of two port stores 42.
This moment the gain setting data of fujinon electronic video endoscope 6 when this specified address region memory contains the gain setting data of acquiescence or used endoscopic system 1 last time, thereby CPU 32 rewrites the processing of the data in specified address zone, storage gain setting data (computing/setting numeric data).
Then, in step S203, from the specified address zone of 2RAM 42c, read gain setting data (computing/setting numeric data), output to source coil drive circuit portion 31 (with reference to Figure 27).Thus, in source coil drive circuit portion 31, gain setting data (computing/setting numeric data) convert serial gain setting data to by data transaction portion 122, the gain of GCA 121 be set to be configured in fujinon electronic video endoscope 6 in the corresponding setting value of probe 15.
Then, drive source coil 14i carries out the endoscope-shape detection in step S204, detected endoscope-shape is presented on the LCD monitor 25 end process.
Like this, with be configured in fujinon electronic video endoscope 6 in the corresponding computing/setting numeric data of the source coil of probe 15 to be the gain setting data be stored in via video processor 10 in the specified address zone of 2RAM 42c of two port stores 42 from the nonvolatile memory 103 of fujinon electronic video endoscope 6, use these gain setting data directly to set the gain of GCA 121, thereby at probe 15 that each connected, can both be under the drive condition of the best drive source coil simply, and not update software or tables of data.
In addition, in Figure 27, in source coil drive circuit portion 31, use the gain setting data to set the gain of GCA 121, yet be not limited thereto, can use the 111a of gain variable amplifier portion for example shown in Figure 29 to constitute source coil drive circuit portion 31, also can use the 111a of gain variable amplifier portion shown in Figure 30 to constitute source coil drive circuit portion 31.
And, as computing/setting numeric data, be described with the gain setting data instance, yet be not limited thereto, can be stored in the number and the coil spacing that for example are configured in the source coil in the probe 15 in the nonvolatile memory 103 of fujinon electronic video endoscope 6 as computing/setting numeric data, as shown in figure 34, the data of expression number of source coil and coil spacing are write in the specified address zone of 2RAM 42c of two port stores 42.
Endoscope's kind has various, and length different endoscope in insertion section is arranged.Long insertion section coil number is many, and short insertion section coil number is few.For example open in the endoscope-shape detection device of 2000-93986 communique, in bending section, dispose coil spacing narrowlyer the spy of Japan, in bending section coil spacing dispose broad.
And, open in the endoscope-shape detection device of 2003-245242 communique the spy of Japan, when describing endoscope-shape, carry out interpolation and handle and describe level and smooth shape.This processing needs coil spacing/coil number.
And, also have the endoscope-shape detection device of opening the bending section in the 2001-231743 communique the spy of Japan with 2 positions.
Therefore, as shown in figure 35, for example the number at source coil is 10, coil spacing is 5cm from 5 coils of endoscope distal end to the, from 10 coils of the 5th coil to the is under the situation of 10cm, to " 10; 5; 5; 5; 5; 5,10,10,10,10,10 " result who has done behind the coding is stored in the nonvolatile memory 103 of fujinon electronic video endoscope 6 as computing/settings numeric data; as shown in figure 34; the data of the number of representing source coil and coil spacing are write in the specified address zone of 2RAM 42c of two port stores 42; thus, endoscope-shape detection device 3 can use these data to describe shape.
In addition, endoscope-shape detection device 3 is taken into the computing/setting numeric data in the nonvolatile memory 103 that is stored in fujinon electronic video endoscope 6 via video processor 10, yet be not limited thereto, endoscope-shape detection device 3 can directly be taken into the computing/setting numeric data in the nonvolatile memory 103 that is stored in fujinon electronic video endoscope 6.
And, computing/setting numeric data in the nonvolatile memory 103 that is stored in fujinon electronic video endoscope 6 is stored in the independent storage card (not illustrating), when using this fujinon electronic video endoscope, as shown in figure 36, can insert storage card in the groove 351 that is arranged in the endoscope-shape detection device, read computing/setting numeric data, even in the fujinon electronic video endoscope that does not have nonvolatile memory 103, also can use present embodiment, even and also can not be taken into computing/setting numeric data by groove 351 via video processor 10.
The invention is not restricted to the embodiments described, can carry out various changes, change etc. in the scope that does not change main idea of the present invention.
Claims (15)
1. an endoscope-shape detection device is characterized in that, this endoscope-shape detection device has:
Test section, the arrangements of components of a side in its a plurality of magnetic fields producing component and a plurality of magnetic field detection element is in the inside, insertion section of inserting tested intravital endoscope, the opposing party's arrangements of components in the subject outside, is detected the position of above-mentioned the opposing party's element each position of a side's who is configured in inside, above-mentioned insertion section element as benchmark;
Shape estimation portion, it estimates the shape of endoscope insertion part according to the testing result of above-mentioned test section;
The physics value test section, it detects the electric physics value of above-mentioned magnetic field producing component;
Storage part, it stores the reference value of above-mentioned electric physics value; And
State-detection portion, the state that it detects above-mentioned magnetic field producing component according to the electric physics value and the said reference value of the detected above-mentioned magnetic field of above-mentioned physics value test section producing component.
2. endoscope-shape detection device according to claim 1 is characterized in that,
Above-mentioned storage portion stores by the past value of the electric physics value of the detected above-mentioned magnetic field of above-mentioned physics value test section producing component as the said reference value;
The variable quantity of above-mentioned electric physics value calculates according to the past value that is stored in the above-mentioned electric physics value in the above-mentioned storage part with by this sub-value of the detected above-mentioned electric physics value of above-mentioned physics value test section in above-mentioned state-detection portion, and detects the state of above-mentioned magnetic field producing component according to this result of calculation.
3. endoscope-shape detection device according to claim 2, it is characterized in that, above-mentioned state-detection portion compares the reference value of the variable quantity of above-mentioned electric physics value and this variable quantity, detects the state of above-mentioned magnetic field producing component according to the comparative result of this variable quantity after relatively.
4. endoscope-shape detection device according to claim 3 is characterized in that,
Above-mentioned state-detection portion according to above-mentioned electric physics value the 1st in the past constantly value and calculate variable quantity during the 1st by this sub-value of the detected above-mentioned electric physics value of above-mentioned physics value test section,
And according to above-mentioned electric physics value the 2nd in the past constantly value and calculate variable quantity during the 2nd by this sub-value of the detected above-mentioned electric physics value of above-mentioned physics value test section.
5. according to the described endoscope-shape detection device of claim 1 to 4, it is characterized in that, this endoscope-shape detection device also has: inform control part, it is used for the information notification control of the information of informing to the user according to the state by above-mentioned state-detection portion detected above-mentioned magnetic field producing component.
6. according to the described endoscope-shape detection device of claim 1 to 4, it is characterized in that, this endoscope-shape detection device also has: the driving condition control part, it is according to the driving condition of being controlled above-mentioned magnetic field producing component by the state of above-mentioned state-detection portion detected above-mentioned magnetic field producing component.
7. endoscope-shape detection device according to claim 6 is characterized in that, above-mentioned driving condition control part informs that the timeliness of above-mentioned magnetic field producing component changes.
8. endoscope-shape detection device according to claim 5, it is characterized in that, this endoscope-shape detection device also has: the driving condition control part, it is according to the driving condition of being controlled above-mentioned magnetic field producing component by the state of above-mentioned state-detection portion detected above-mentioned magnetic field producing component.
9. endoscope-shape detection device, it has: test section, the arrangements of components of a side in its a plurality of magnetic fields producing component and a plurality of magnetic field detection element is in the inside, insertion section of inserting tested intravital endoscope, the opposing party's arrangements of components in the subject outside, is detected the position of above-mentioned the opposing party's element each position of a side's who is configured in inside, above-mentioned insertion section element as benchmark; And shape estimation portion, it controls above-mentioned test section, and estimates the shape of endoscope insertion part according to the testing result of above-mentioned test section;
It is characterized in that this endoscope-shape detection device possesses:
The physics value test section, it detects the electric physics value of above-mentioned magnetic field producing component; And
The driving condition control part, it controls the driving condition of above-mentioned magnetic field producing component according to above-mentioned electric physics value.
10. endoscope-shape detection device according to claim 9 is characterized in that, above-mentioned driving condition control part informs that the timeliness of above-mentioned magnetic field producing component changes.
11., it is characterized in that above-mentioned electric physics value is the dc resistance of above-mentioned magnetic field producing component according to claim 9 or 10 described endoscope-shape detection devices.
12., it is characterized in that above-mentioned electric physics value is the resistance value of above-mentioned magnetic field producing component according to claim 9 or 10 described endoscope-shape detection devices.
13. endoscope-shape detection device according to claim 9 is characterized in that, above-mentioned driving condition control part is controlled the driving voltage of above-mentioned magnetic field producing component according to above-mentioned electric physics value.
14. endoscope-shape detection device according to claim 13 is characterized in that, above-mentioned electric physics value is the resistance value of above-mentioned magnetic field detection element.
15. endoscope-shape detection device according to claim 13 is characterized in that, resistance value and dc resistance that above-mentioned electric physics value is above-mentioned magnetic field detection element.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004331069A JP4647972B2 (en) | 2004-11-15 | 2004-11-15 | Endoscope shape detection device |
| JP331069/2004 | 2004-11-15 | ||
| JP071716/2005 | 2005-03-14 | ||
| JP104130/2005 | 2005-03-31 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101056575A true CN101056575A (en) | 2007-10-17 |
| CN100571605C CN100571605C (en) | 2009-12-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005800389201A Expired - Fee Related CN100571605C (en) | 2004-11-15 | 2005-11-14 | Endoscope-shape detection device |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP4647972B2 (en) |
| CN (1) | CN100571605C (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102939040A (en) * | 2010-06-09 | 2013-02-20 | 奥林巴斯医疗株式会社 | Probe shape detection device and probe shape detection method |
| CN104755005A (en) * | 2012-10-16 | 2015-07-01 | 奥林巴斯株式会社 | Observation device, observation assistance device, observation assistance method and program |
| CN105050476A (en) * | 2013-03-26 | 2015-11-11 | 奥林巴斯株式会社 | Insertion device |
| CN105828686A (en) * | 2014-02-19 | 2016-08-03 | 奥林巴斯株式会社 | Display device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003245243A (en) * | 2002-02-22 | 2003-09-02 | Olympus Optical Co Ltd | Shape detector for endoscope |
-
2004
- 2004-11-15 JP JP2004331069A patent/JP4647972B2/en active Active
-
2005
- 2005-11-14 CN CNB2005800389201A patent/CN100571605C/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102939040A (en) * | 2010-06-09 | 2013-02-20 | 奥林巴斯医疗株式会社 | Probe shape detection device and probe shape detection method |
| CN102939040B (en) * | 2010-06-09 | 2015-02-25 | 奥林巴斯医疗株式会社 | Probe shape detection device and probe shape detection method |
| CN104755005A (en) * | 2012-10-16 | 2015-07-01 | 奥林巴斯株式会社 | Observation device, observation assistance device, observation assistance method and program |
| CN105050476A (en) * | 2013-03-26 | 2015-11-11 | 奥林巴斯株式会社 | Insertion device |
| CN105050476B (en) * | 2013-03-26 | 2017-09-26 | 奥林巴斯株式会社 | Insertion apparatus |
| CN105828686A (en) * | 2014-02-19 | 2016-08-03 | 奥林巴斯株式会社 | Display device |
| CN105828686B (en) * | 2014-02-19 | 2017-10-17 | 奥林巴斯株式会社 | Display device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100571605C (en) | 2009-12-23 |
| JP2006136664A (en) | 2006-06-01 |
| JP4647972B2 (en) | 2011-03-09 |
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