CN101247752A - Device for analyzing endoscope insertion shape and system for analyzing endoscope insertion shape - Google Patents
Device for analyzing endoscope insertion shape and system for analyzing endoscope insertion shape Download PDFInfo
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- CN101247752A CN101247752A CNA2006800309432A CN200680030943A CN101247752A CN 101247752 A CN101247752 A CN 101247752A CN A2006800309432 A CNA2006800309432 A CN A2006800309432A CN 200680030943 A CN200680030943 A CN 200680030943A CN 101247752 A CN101247752 A CN 101247752A
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Abstract
The invention provides a apparatus for analyzing shape into which endoscope is inserted. An electronic endoscope system as an apparatus for analyzing a shape into which an endoscope is inserted comprises: an electronic endoscope having the insertion part to be inserted into a body cavity; a shape observing device for detecting the shape of the insertion part with the use of a plurality of source coils in the endoscope insertion part, a sense coil unit, and a shape processor, etc.; a display for displaying an endoscope image picked-up by the endoscope and the shape detected by the shape observing device; and a PC for performing the pattern classification of shape data, based on the shape detected by the shape processor on the basis of information which is detected by the shape processor.
Description
Technical field
The present invention relates to endoscope insertion shape analyzing device and endoscope insertion shape analyzing system that the situation that hinders this insertion etc. when inserting endoscope insertion part is analyzed.
Background technology
When carrying out observing, be crooked like that as the like large intestine of endoceliac tube chamber of subject and small intestinal etc. based on the insertion of endoscope.Therefore, be which kind of shape, then will improve the operability of the observation disposal of endoscope if clear and definite endoscope insertion part has been inserted into which position and the endoscope insertion part of tube chamber.
Therefore, in the past since, as the device that can when inserting endoscope, understand case of bending etc., the endoscope-shape detection device that use source coil (source coil) waits the inserted-shape that detects endoscope has been proposed.
At this, when utilizing the endoscopic observation subject, the thinking that has an operative doctor mainly concentrates on the look-out station of taking tube chamber and tendency on the endoscopic images that generates.Therefore, the thinking of operative doctor does not concentrate on mostly by endoscope-shape detection device and generates on the image of the inserted-shape that shows.When only producing obstacle in the insertion process of endoscope insertion part, operative doctor just can be paid close attention to the image of inserted-shape.This becomes the carrying out that hinders endoscopic observation and makes subject produce the reason of discomfort.
And, generally in endoscopic observation, record the record endoscopic images, and in the learning training of the affirmation of in the future look-out station and endoscopic procedure, use.
Therefore, propose a kind of endoscope image processing apparatus in the TOHKEMY 2004-147778 communique, it preserves endoscope inserted-shape data and endoscopic images data simultaneously, two image synchronization is reappeared, and can compare arbitrarily.
The device that described TOHKEMY 2004-147778 communique proposes utilizes the shape of endoscope inserted-shape observation device test example as the endoscope insertion part when large intestine inserts endoscope, utilize image processing apparatus to carry out shape analysis, the analysis result about the shape of endoscope insertion part is provided.
Described analysis result is the analysis result of relevant insertion section shape and operator's endoscopic procedure, and whether the shape by judging endoscope insertion part is the shape of being scheduled to and whether shows predetermined change of shape and realize.
And, except that inserted-shape etc., in that the front of insertion section side is actual when inserting operation, as inserting auxiliary information, responded the information of should insertion operating whether aptly if can grasp, with convenient.
For example, in the example in the past of TOHKEMY 2004-358095 communique, whether the periodic analysis insertion section becomes ring-type, shows this information when becoming ring-type.And the front of also carrying out the insertion section is in the analysis of situations such as halted state.
But, in the device analysis result that provides and the method that imports analysis result of described TOHKEMY 2004-147778 communique, for example there is following problem:
1) owing to belong to the simple judgement of whether satisfying predetermined condition, judge (for example, response local feature (angle etc.) can not obtain with global shape) so produce mistake,
2) owing to judging, so poor to the interferential ability to bear in outside according to the moment shape in a moment.
And, in the example in the past of TOHKEMY 2004-358095 communique, if become cyclic situation and moment of showing is observed this information in analysis, then can grasp this information, but because this shows by regular update, so missing under the situation of observing near the opportunity cyclic that analyzed as being, existing and leak the shortcoming of seeing this information.
Summary of the invention
The present invention In view of the foregoing proposes, and its purpose is, a kind of endoscope insertion shape analyzing device is provided, and it can stably carry out shape analysis, and can analyze endoscope according to the insertion section global shape and insert state.
And, the present invention also aims to, a kind of endoscope insertion shape analyzing device and endoscope insertion shape analyzing system are provided, it can be confirmed and the corresponding insertion auxiliary information of predetermined response to operating state to the insertion section of inserting operation etc. more reliably.
Description of drawings
Fig. 1 is the integrally-built block diagram of the electronic endoscope system of expression embodiments of the invention 1.
Fig. 2 is the figure that expression is built-in with the relation between the coordinate of the insertion section of endoscope shown in Figure 1 of source coil and source coil.
Fig. 3 is the data structure diagram of the structure of the inserted-shape data that generate of expression endoscope inserted-shape observation device.
Fig. 4 is the structure chart of the analysis window that shows on the display of image processing apparatus shown in Figure 1.
Fig. 5 is the flow chart about the processing of the inspection message of image processing apparatus shown in Figure 1 and endoscopic images and inserted-shape data.
Fig. 6 is the particular flow sheet that the shape analysis among Fig. 5 is handled.
Fig. 7 is the figure of explanation processing shown in Figure 6.
Fig. 8 is the figure that expression is stored in the structure of the lexicon file in the storage device of image processing apparatus shown in Figure 1.
Fig. 9 is 1st figure of expression according to the shape of lexicon file classification shown in Figure 8.
Figure 10 is 2nd figure of expression according to the shape of lexicon file classification shown in Figure 8.
Figure 11 is 3rd figure of expression according to the shape of lexicon file classification shown in Figure 8.
Figure 12 is 4th figure of expression according to the shape of lexicon file classification shown in Figure 8.
Figure 13 is 5th figure of expression according to the shape of lexicon file classification shown in Figure 8.
Figure 14 is the figure of annular buffer memory (ring buffer) constructed in the memorizer of image processing apparatus of expression embodiments of the invention 2.
Figure 15 is the flow chart that the handling process of the image processing apparatus that has used annular buffer memory shown in Figure 14 is described.
Figure 16 is the figure of explanation processing shown in Figure 15.
Figure 17 is the figure of the lexicon file of expression in can storage device that use in processing shown in Figure 15, that be stored in image processing apparatus.
Figure 18 is the figure that the code of expression in can storage device that use in processing shown in Figure 15, that be stored in image processing apparatus proofreaied and correct dictionary.
Figure 19 is the integrally-built block diagram of the endoscopic system of expression embodiments of the invention 3.
Figure 20 is the block diagram of structure of operation program of the PC of expression image processing apparatus shown in Figure 19.
Figure 21 is the figure of the windows registry opened of the output destination Registration Module of expression operation program shown in Figure 20.
Figure 22 is the 1st flow chart of the handling process of expression operation program shown in Figure 20.
Figure 23 is the 2nd flow chart of the handling process of expression operation program shown in Figure 20.
Figure 24 is the 3rd flow chart of the handling process of expression operation program shown in Figure 20.
Figure 25 is the interior overall structure figure that inserts surveillance of body with embodiments of the invention 4.
Figure 26 is that expression utilizes the endoscope inserted-shape observation device of embodiments of the invention 4 detected, is located at the figure of the coordinate of the source coil in the insertion section.
Figure 27 is the key diagram that expression utilizes the inserted-shape data that the endoscope inserted-shape observation device of embodiments of the invention 4 generates.
Figure 28 is the figure of the expression structure of utilizing the functional module that the image processing apparatus of embodiments of the invention 4 realizes etc.
Figure 29 is the sketch map of the data flow of expression analysis and processing module shown in Figure 28 etc. and handling process etc.
Figure 30 be the expression insertion auxiliary information of utilizing embodiments of the invention 4 renewal regularly with the difference of current time, the key diagram of the action that the demonstration of auxiliary information continues is inserted in control.
Figure 31 is the figure of expression about the variation of the display characteristic of the insertion auxiliary information of embodiments of the invention 4.
Figure 32 is the figure of the expression structure of utilizing the functional module that the image processing apparatus of embodiments of the invention 5 realizes etc.
Figure 33 is the key diagram of the data flow of expression analysis and processing module shown in Figure 32 etc. and handling process etc.
Figure 34 is the concrete example of programming of contents processing of the processing scripts of embodiments of the invention 5.
The specific embodiment
Below, with reference to the description of drawings embodiments of the invention.
(embodiment 1)
As shown in Figure 1, the electronic endoscope system 1 as the endoscope insertion shape analyzing device is made of endoscope apparatus 2, endoscope inserted-shape observation device 3 and image processing apparatus 4.
Fujinon electronic video endoscope 21 constitutes by being located at the not shown guide path (light guide) in the 21a of insertion section, is used for the observation light that intraluminal look-out station is thrown light on from the leading section irradiation of insertion section 21a.Fujinon electronic video endoscope 21 is provided with not shown electro-photographic element (for example CCD) at the intraluminal elongated insertion section 21a front end that is inserted into as the body cavity of subject.In addition, when fujinon electronic video endoscope 21 is driven control at this electro-photographic element, generate and export the photographed images signal of intraluminal look-out station.
In addition, be provided with bending section 21b at the fore-end of the insertion section of fujinon electronic video endoscope 21 21a, the operating portion 21c of base end side that can be by being located at insertion section 21a carries out bending operation.
And, on the operating portion 21c of fujinon electronic video endoscope 21, be provided with release-push 25.In addition, be provided with on the operating portion 21c be used for and video processor 22 between send to receive drive the described electro-photographic element of control and take the cable of the photographed images signal of generation.And, on operating portion 21c, be provided with leaded light cable (not shown) that the observation light from light supply apparatus 23 is directed to described guide path etc.
And, on fujinon electronic video endoscope 21, being provided with multiple source coil described later, this multiple source coil is configured for detecting the on position of the insertion section 21a in the tube chamber and the measuring ability of shape.This on position and SHAPE DETECTION function are by constituting along the multiple source coil of the insertion axle of insertion section 21a configuration and the sense coil device 31 of being located at a plurality of sense coils of having of endoscope inserted-shape observation device 3 (sense coil).
In addition, the multiple source coil disposes with the predetermined space definite according to the type of endoscope in the 21a of the insertion section of endoscope.
And, when video processor 22 is operated at the release-push 25 of endoscope 21, can carry out the output indication of the still image of photographed images.
In addition, video processor 22 has the not shown input function of the relevant endoscopic inspection message of input.
Observe monitor 24 based on y/c signal that in described video processor 22, generates or rgb signal etc., show endoscopic images.
Endoscope inserted-shape observation device 3 is peripheral devices of endoscope apparatus 2, is made of sense coil device 31, shape processing device 32 and monitor 33.Sense coil device 31 is the devices that detect the magnetic field of being sent by the multiple source coil on the insertion section 21a that is located at fujinon electronic video endoscope 21.Shape processing device 32 is according to the device of inferring the shape of endoscope insertion part by these sense coil device 31 detected magnetic fields.Monitor 33 is to show the device of inferring the shape of the endoscope insertion part that by this shape processing device 32.
As mentioned above, multiple source coil, sense coil device 31 and shape processing device 32 constitute the SHAPE DETECTION unit.
In addition, in endoscope inserted-shape observation device 3, can handle the anglec of rotation that is presented at the insertion section shape image on the monitor 33 that generates and amplify the shape display properties that dwindles etc. according to changing from the indication input of not shown guidance panel by shape processing device 32.In addition, the inserted-shape data that generated by shape processing device 32 can be exported to image processing apparatus 4.
In addition, PC41 the storage device 41f that has the 1st COM1 41a, the 2nd COM1 41b, dynamic image input port 41c, the memorizer 41e that for example constitutes, for example constitute as information memory cell by hard disk etc. by semiconductor element etc.As the unitary PC41 of shape analysis as hereinafter described, according to the inserted-shape data etc., calculate promptly to analyze to obtain and hinder ad-hoc location that endoscope inserts etc.
The 1st COM1 41a is used to be taken into from the inserted-shape data of the COM1 32a output of the shape processing device 32 of endoscope inserted-shape observation device 3.
The 2nd COM1 41b is used to be taken into from the splanchnoscopy information of the COM1 22a output of the video processor 22 of endoscope apparatus 2.
Dynamic image input port 41c is used for the dynamic image conversion of signals that the video processor 22 at endoscope apparatus 2 generates is predetermined compressing image data.
That is, the signal of video signal of the dynamic image that generates by video processor 22 is imported into the dynamic image input port 41c of image processing apparatus 4.And dynamic image input port 41c is converted to predetermined compression dynamic image signal data, the compressing image data of for example MJPEG form with the signal of video signal of this dynamic image.Compressing image data after the conversion is kept among the storage device 41f of PC41.
In addition, generally before splanchnoscopy begins, from the relevant endoscopic inspection message of video processor 22 inputs.Based on the data of this input, inspection message is displayed on the observation monitor 24 as the information of literal and numeral.And these inspection message data also can send to image processing apparatus 4 by the 2nd COM1 41b from COM1 22a, and are recorded among memorizer 41e or the storage device 41f.
And said inspection message for example refers to patient's name, birthdate, sex, age, patient's coding etc.
That is, image processing apparatus 4 is connected with video processor 22 as required, receives the various information datas from video processor 22, and is kept among memorizer 41e or the storage device 41f.
Below, the generation of the inserted-shape data of endoscope inserted-shape observation device 3 is described.
3 pairs of each frames by the shooting signal of video signal of the electro-photographic element shooting of fujinon electronic video endoscope 21 of endoscope inserted-shape observation device, generation comprises the inserted-shape data of the three-dimensional coordinate of M source coil among the insertion section 21a that is built in fujinon electronic video endoscope 21.Endoscope inserted-shape observation device 3 is according to these inserted-shape data, and generation insertion section shape image also is presented on the monitor 33, and the output of inserted-shape data is offered image processing apparatus 4.
As shown in Figure 2, in the 21a of the insertion section of fujinon electronic video endoscope 21, be built-in with M the source coil that is used to infer inserted-shape.And the position of each source coil constitutes reference point.About the coordinate system of the source coil that in endoscope inserted-shape observation device 3, detects, utilize the three-dimensional coordinate of m source coil of terminal number before the 21a of insertion section of following formula 1 expression j frame.
(X
j m, Y
j m, Z
j m) ... (formula 1)
Wherein, m=0,1 ..., M-1.And j represents to utilize the j frame of the shooting signal of video signal that the electro-photographic element takes.
The structure of expression by the inserted-shape data of the coordinate system of endoscope inserted-shape observation device 3 detected source coils is structure as shown in Figure 3, and the related data of a frame is used as a packet and sends.Packet is made of the data of rise time of form classification information, inserted-shape data, display attribute information, satellite information, source coil coordinate.
In the present embodiment, the form classification is used for the size of data that regulation is distributed to inserted-shape data rise time, display properties, satellite information, coil coordinate respectively.And the regulation of said size of data is meant the regulation of the quantity of information that comprises in precision, display properties and the satellite information of data number, inserted-shape data rise time, coil coordinate of the source coil of determining according to the type of endoscope.
At this, source coil is arranged in order configuration from insertion section 21a front end towards the operating portion 21c of the base end side of being located at insertion section 21a side.That is, the coordinate data of these source coils is the three-dimensional coordinates that are built in the source coil among the insertion section 21a of fujinon electronic video endoscope 21.In addition, about the coordinate of the source coil outside the detection range that is in endoscope inserted-shape observation device 3, be set at three-dimensional coordinate (0,0,0).
Below, use the flow chart of Fig. 5, the handling process of image processing apparatus 4 is described.That is be about from the inspection message of the video processor 22 of endoscope apparatus 2 and endoscopic images, and from the contents processing of the inserted-shape data of the shape processing device 32 of endoscope inserted-shape observation device 3.
This processing action realizes with application program (following application program (application program) is abbreviated as application program (application)) by open and carry out the inspection of being located at image processing apparatus 4 in PC41.
When the beginning splanchnoscopy, input checking information in video processor 22, the PC41 starting of image processing apparatus 4 is checked and is used application program.After this checks with the application program starting, on display 44, show analysis window 50 shown in Figure 4.Wherein, Fig. 4 represents to handle the displaying contents in the process of inserted-shape data.
At this,, the analysis window 50 as prerequisite is described at first with reference to Fig. 4.
Analysis window 50 comprises File menu 51, warning message viewing area 52, inspection message viewing area 53, endoscopic images viewing area 54, endoscope inserted-shape viewing area 55, satellite information viewing area 56, display parameters check box 57, assay value viewing area 58, time-serial position zone 59, the sub-information display area of time series territory 60, slide sign 61, start button 62 and stop button 63.
The X-axis in time-serial position zone 59 and the sub-information display area of time series territory 60 is time shafts, the left and right directions in the presentation graphs 4.Time-serial position zone 59 and the sub-information display area of time series territory 60 are when obtaining the inserted-shape data, and one side is along with effluxion carries out a little drawing, thus the zone that simultaneously makes the right of drawing position in Fig. 4 move formation curve.The value of the characteristic quantity of the expression endoscope insertion part 21a shape that calculates according to the PC41 of presentation video blood processor 4 is determined the point of the drawing position in Y direction.In the present embodiment, the angle that endoscope image processing apparatus 4 is calculated, insert length, draw as the coil position that stops of ad-hoc location.That is the processing that to observe with eyes of the ad-hoc location that utilizes curve to make to calculate.The scale of Y-axis, 0 independent respectively setting in position.In addition, Y direction refers to the above-below direction among Fig. 4.
As the options of display parameters check box 57, angle is arranged in the present embodiment, insert length and stop coil position.By selected this check box, selection is shown in the type of the parameter in time-serial position zone 59.
Relevant angle, insert each CALCULATION OF PARAMETERS method of length, identical with the method for putting down in writing in the TOHKEMY 2004-147778 communique as prior art.
Below, specify the relevant computational methods that stop coil position.
After selecting the File menu 51 of analysis window 50, can demonstrate and be used to select the inserted-shape file of image processing apparatus 4 track records and the not shown selection window of image file, thereby select to read in each file.The inserted-shape file refers to setting a file of inserted-shape data that endoscope inserted-shape observation device 3 generates in once checking.Image file refers to setting a file of compressing image data that the dynamic image input port 41c of image processing apparatus 4 generates.
Open and carry out at the PC41 of image processing apparatus 4 and check that when using application program, as shown in Figure 5, in step S1, PC41 reads in the initialization information of application program from initialization files.In addition, initialization files are stored among the storage device 41f of PC41 in advance.And PC41 is stored in the information of the initialization files that read among the memorizer 41e in the PC41, then display analysis window 50 on display 44.
In the present embodiment, the data size information that comprises every kind of form classification of the title of the fujinon electronic video endoscope 21 that can in electronic endoscope system 1, use and inserted-shape data as initialization information.Distance between the source coil when in addition, comprising that as initialization information the insertion section 21a that makes fujinon electronic video endoscope 21 becomes straight line and the parameter of in shape analysis is handled, using.In addition, below the distance between the source coil is called between source coil apart from information.
In addition, also comprise display position coordinate on the display 44 of analysis window 50 as initialization information.According to this display position coordinate, PC41 is display analysis window 50 on display 44.
In step S2, PC41 is set at and receives and preserve from the inspection message of video processor 22 and endoscopic images data, from the pattern of the inserted-shape data of the shape processing device 32 of endoscope inserted-shape observation device 3.
Then, in step S3, PC41 judges whether operative doctor operates mouse 42 or keyboard 43 is supressed the start button 62 that is shown in analysis window 50.And standby is pressed up to start button 62, after being pressed, and execution in step S4 and later step.
In step S4, PC41 opens the 1st COM1 41a, the beginning with endoscope inserted-shape observation device 3 between communicate by letter.In addition, in step S5, PC41 opens the 2nd COM1 41b, the beginning with video processor 22 between communicate by letter.
In step S6, PC41 sends the order of obtaining of inspection message for video processor 22 to the COM1 22a of video processor 22 from the 2nd COM1 41b.Receive this inspection message and obtain the video processor 22 of order to PC41 transmission inspection message.
In step S7, the inspection message that PC41 will send from video processor 22 in step S6 writes down and is kept at the storage device 41f, and is presented in the inspection message viewing area 53 of analysis window 50.
In step S8, PC41 sends the order of obtaining of inserted-shape data from the COM1 32a of the 1st COM1 41a to the shape processing device 32 of endoscope inserted-shape observation device 3.Receive these inserted-shape data and obtain the transmission output of the shape processing device 32 beginning inserted-shape data of order.Till this transmission lasts till that always sign off, the COM1 32a between PC41 and the shape processing device 32 closes.
In step S9, PC41 is received in the inserted-shape data that send output among the step S8 from shape processing device 32.And PC41 makes the inserted-shape data that receive be associated with the inspection message of record in step S7 and preservation, and writes down and be kept among the storage device 41f that is located among the PC41 as the inserted-shape file.Simultaneously, write down the inserted-shape data at any time among the memorizer 41e in PC41.
In step S10, PC41 will be converted to the compressing image data of MJPEG form from the dynamic image signal of video signal of video processor 22 inputs by dynamic image input port 41c.In addition, PC41 makes this compressing image data be associated with the inspection message of record in step S7 and preservation, and be kept at as image file among the storage device 41f of PC41, and the dynamic image that will be input to dynamic image input port 41c is presented in the endoscopic images viewing area 54 of analysis window 50.
In step S11, PC41 carries out the analyzing and processing of each step shown in Figure 6.After this analyzing and processing finished, in step S12, whether the stop button 63 of PC41 discriminatory analysis window 50 was pressed, and being judged to be stop button 63 when not being pressed, returns step S8, and the slide sign 61 of analysis window 50 is moved to right a step.
Be judged to be stop button 63 when being pressed, in step S13, PC41 closes the 1st COM1 41a and the 2nd COM1 41b, finishes the communicating by letter of information data between endoscope inserted-shape observation device 3 and the video processor 22.
Below, use the shape analysis of Fig. 6 description of step S11 to handle.
In step S21, PC41 obtains the scope type information that comprises in the form classification information of frame bag of inserted-shape data of former frame and the satellite information.
PC41 is according to the form classification of the inserted-shape data of being obtained, obtaining the data size information that is kept at the information that comprises in the frame bag among the memorizer 41e, corresponding with the form classification in step S1 shown in Figure 5, is each data with the frame bag resolution process of inserted-shape data.The title of form classification is presented in the satellite information viewing area 56 of analysis window 50.
And PC41 obtains the title of fujinon electronic video endoscope 21 from the satellite information that generates by described resolution process, and is presented in the satellite information viewing area 56 of analysis window 50.Simultaneously, PC41 is according to the title of the fujinon electronic video endoscope 21 that is obtained, and obtains to be kept among the step S1 in Fig. 5 between source coil among the memorizer 41e, corresponding with the title of fujinon electronic video endoscope 21 apart from information.
Then, in step S22, carry out the various analyzing and processing of following processing (1)～(7).
Handle (1): insert length calculation and handle (beginning to count the processing that is present in the source coil in the measurement range from front end)
Handle (2): the determination processing of ring formation (whether insertion section 21a exists the processing in cross point to Z-direction (with reference to Fig. 2) projection the time)
Handle (3): the computing of angle (angle calculation of bending section 21b is handled)
Handle (4): the computing of radius of curvature (computing of the local radius of curvature of insertion section 21a)
Handle (5): the angle calculation of root (being positioned near the insertion direction of principal axis of the source coil the root of insertion section 21a and the computing of the angle of the insertion direction of principal axis formation of each source coil) relatively
Handle (6): the calculating of the amount of movement of each frame (processing of calculating the amount of movement of each source coil based on the difference of the source coil position coordinates of former frame and present frame)
Handle (7): the calculating of the push-in stroke of each frame (calculating the processing of amount of movement) in the value of the position of each source coil projection when inserting direction of principal axis
Then, in step S23, according to shown in Figure 7, each assay value that calculates is generated sign (flag) respectively in step S22, arrange this sign and it is considered as bit sequence and is converted to bytecode, thus analysis result being compiled is code.
PC41 is kept at lexicon file shown in Figure 8 among the storage device 41f.This lexicon file manages bytecode explicitly with endoscope-shape classification ID, endoscope-shape classified information, endoscope's subsidiary classification auxiliary information, the operation auxiliary information relevant with bytecode.
Specifically, all shapes that endoscope-shape classification ID is used for endoscope-shape may be taked are classified, and distribute ID respectively.
And, in the present embodiment, as Fig. 9～shown in Figure 13, shape when for example bottom endoscope inserts roughly can be categorized as rectilinear form (Fig. 9), crotch-shaped (Figure 10), middle bending shape (Figure 11), ring formation shape (Figure 12), these five kinds of patterns of central protrusion shape (Figure 13), so will represent the character string (straight line, crotch, middle bending, ring formation, central protrusion) of various patterns, be stored in the lexicon file as the endoscope-shape classified information.
In addition, spiral-shaped when endoscope-shape classification auxiliary information refers to for ring formation and central protrusion is from by the insertion axial direction of rotation information of root when the direction of front end is observed insertion section 21a.
And operation auxiliary information refers to for the endoscope-shape corresponding with each code, removes the operation information that ring formation or spiral-shaped, crotch etc. hinder the needed insertion section 21a of the progressive reason of leading section.For example, when operation auxiliary information was rotary manipulation, the root that the direction of representing in operation auxiliary information by the operator is twisted insertion section 21a changed shape, so that the ring formation of insertion section 21a or spiral-shaped being disengaged make insertion section 21a become linearity.
Then, in step S24, being the lexicon file retrieval of keyword with the bytecode that in step S23, generates and obtaining the result, be presented in the warning message viewing area 52 of analysis window 50 (with reference to Fig. 4).Specifically, the information corresponding with the bytecode of obtaining is obtained in retrieval in step S23 from lexicon file, and in the warning message viewing area 52 of analysis window 50 display text information (endoscope-shape classified information, endoscope-shape classify auxiliary information, operation auxiliary information).In addition, when not corresponding information, do not carry out display process with bytecode.
Then, in step S25, generate the endoscope-shape image of the two-dimensional projection of relevant inserted-shape data, and be presented in the endoscope inserted-shape viewing area 55 of analysis window 50, change step S12 afterwards over to.
Like this, in the present embodiment, the shape of endoscope insertion part compiled one by one be code, and demonstration endoscope-shape pattern, the operation auxiliary information corresponding with this code, so can easily make up shape decision processing system, be prompted to the accuracy of operator's auxiliary information based on the integration of a plurality of decision conditions.
Promptly, the result of determination that can obtain based on the confluence analysis result is carried out pattern classification to the shape of endoscope insertion part, and the information corresponding with each pattern is provided, can stably carry out shape analysis, and can analyze endoscope according to the insertion section global shape and insert state.
And, by the action of retrieving from lexicon file/obtaining, show the information corresponding with each code, so needn't change (editor, reconstruction) program, only editing lexicon file is variable displaying contents.
(embodiment 2)
In the present embodiment, being provided with for example size (size) shown in Figure 14 in memorizer 41e is 8 annular buffer memory 90.
Obtaining counting Count from the data that begin to check is associated with the inserted-shape data, so in the present embodiment, by the memory location of the remainder of Count/8, realize the storage of the inserted-shape data of N time (wherein, N＜8) in the past and obtain as this annular buffer memory 90.Other structures are identical with embodiment 1.
In the present embodiment, the part that the shape analysis of step S11 is handled is different with embodiment 1, so use Figure 15～Figure 17 that difference is described.
In the shape analysis of present embodiment is handled, as Figure 15 and shown in Figure 16, in carrying out embodiment 1 after the processing of the step S21～S23 of explanation, in step S31, obtain to be stored in and for example pass by 3 times stored information (inserted-shape data) in the annular buffer memory 90.The position of annular buffer memory 90 is obtained according to each remainder of (Count-1)/8, (Count-2)/8, (Count-3)/8 by current data being obtained counting Count.And, past 3 times stored information of being obtained and the bytecode of obtaining at step S23 are combined, generate 4 bytecodes of 4 bytes.
In the present embodiment, PC41 is kept at lexicon file shown in Figure 17 among the storage device 41f.This lexicon file manages 4 bytecodes and endoscope-shape classification ID, endoscope-shape classified information, endoscope subsidiary classification auxiliary information, the operation auxiliary information corresponding with 4 bytecodes explicitly.
Then, in step S24, from lexicon file, retrieve and obtain and the corresponding information of obtaining at step S31 of 4 bytecodes, and in the warning message viewing area 52 of analysis window 50 display text information (endoscope-shape classification ID, endoscope-shape classified information, endoscope-shape classification auxiliary information, operation auxiliary information).In addition, when not corresponding information, do not carry out display process with bytecode.
Then, in step S32, the bytecode of obtaining is stored in the relevant position of the annular buffer memory 90 among the memorizer 41e of PC41 in step S23.
Then, identical with embodiment 1, in step S25, generate the endoscope-shape image of the two-dimensional projection of relevant inserted-shape data, and be presented in the endoscope inserted-shape viewing area 55 of analysis window 50, change step S12 afterwards over to.
In addition, the result that also can constitute more simply last time inserted-shape data is kept among the memorizer 41e, by with the comparison process of the result of inserted-shape data that ought be last time (for example, whether result last time is identical with result that ought be last time), determine the operation auxiliary information that will show.
And, also can in the storage device 41f of PC41, store code shown in Figure 180 and proofread and correct dictionary, in step S31, proofread and correct dictionary according to this code and proofread and correct 4 bytecodes.
Like this, in the present embodiment, identical with embodiment 1, the shape of endoscope insertion part compiled one by one be code, and show and this bytecode and the bytecode that obtains processing are in the past made up corresponding endoscope-shape pattern, the operation auxiliary information of 4 bytecodes of generation, so can prevent the fault processing that causes because of external disturbance, and can carry out judgement, thereby be prompted to the accuracy of operator's operation auxiliary information to the sequence of operations of endoscope.
And, by the action of retrieving from lexicon file/obtaining, and show the information corresponding with each 4 bytecode, so needn't change (editor, reconstruction) program, only editing lexicon file is variable displaying contents.
(embodiment 3)
As shown in figure 18, the PC41 of the image processing apparatus 4 of present embodiment for example have can with the 3rd COM1 41d that communicates by letter as the image collating device 100 of external device (ED).
The block diagram of the structure of the memory module of Figure 19 memorizer 41e that to be expression use as processing module and each application program of insertion shape analyzing application program 151, inserted-shape data record application program 151a, inserted-shape display application program 151b and the inserted-shape data-management application program 152 of the operation program that moves in the PC41 of image processing apparatus 4.
And inserted-shape data-management application program 152 is by constituting with the lower part: the 1st thread (thread) that is made of inserted-shape data acquisition module 161 and message transmission module 162; The 2nd thread that constitutes by inserted-shape data transmission blocks 163; And by exporting the 3rd thread that destination's administration module 164 and output destination Registration Module 165 constitute.
Use Figure 20～Figure 23 that the effect of the present embodiment of such formation is described.
Output destination Registration Module 165 in the 3rd thread is presented on the display 44 windows registry shown in Figure 20 171, with chosen in the check box 172 in the windows registry 171 nil case arranged, the inserted-shape data-management application program in the memorizer 41e of being stored in is with in the memorizer 141b zone.
Inserted-shape sending module 163 in the 2nd thread confirms by the output destination administration module 164 of the 3rd thread the inserted-shape data-management application program in the memorizer 41e is chosen to be the content that sends destination with whether storing presentation video collating unit 100 in the memorizer 141b zone.
And, when the inserted-shape sending module 163 in the 2nd thread is designated as transmission destination at image collating device 100,, carry out receiving processing by the transmission of the 3rd COM1 41d with image collating device 100 according to flow process shown in Figure 21.
When the transmission request that occurs from image collating device 100, the inserted-shape data transmission blocks 163 of the 2nd thread is read in the inserted-shape data in the buffer memory of common storage 141c, uses the 3rd COM1 41d that the inserted-shape data are sent to image collating device 100.After sending end, change the state of wait over to from the transmission request of image collating device 100, repeat identical processing.
Inserted-shape data acquisition module 161 in the 1st thread confirms by the output destination administration module 164 of the 3rd thread the inserted-shape data-management application program in memorizer 41e represents that with whether storing in the memorizer 141b zone inserted-shape data record application program 151a or inserted-shape display application program 151b or insertion shape analyzing application program 151 are chosen to be the content that sends destination.
The 1st thread carries out receiving by the transmission of COM1 32a with endoscope-shape observation device 3 according to flow process shown in Figure 22.In the present embodiment, illustrate that insertion shape analyzing application program 151 is chosen to be the situation that sends destination.
Inserted-shape data acquisition module 161 carries out the transmission request of inserted-shape data by 2 pairs of endoscope inserted-shape observation devices of COM1 3.
Endoscope inserted-shape observation device 3 sends the inserted-shape data by COM1 32a, and inserted-shape data acquisition module 161 receives the inserted-shape data, and writes in the buffer memory of common storage 141c.
Then, message transmission module 162 when having obtained effective window handle, sends message to this window handle from the window handle (window handle) that OS (operating system) retrieved/obtained insertion shape analyzing application program 151.As the independent variable of this message, specify the position of the buffer memory in the common storage 141c.
As shown in figure 23, insertion shape analyzing application program 151 is in step S41, and according to the independent variable of message, the buffer memory in the visit common storage 141c obtains the inserted-shape data.Step S8 among this Fig. 4 that is equivalent to constantly in embodiment 1, illustrate.
Insertion shape analyzing application program 151 is used the inserted-shape data-management application program that the inserted-shape data of being obtained copy in the memorizer 41e among the memorizer 141b, passes on the expression affirmation result that processing finish to inserted-shape data acquisition module 161.
Inserted-shape data acquisition module 161 continues to wait for from insertion shape analyzing application program 151 and passes on the affirmation result after sending message, having passed on the moment of confirming the result, repeats identical processing.
In addition, the miniature memory read/write structure of utilizing OS to prepare realizes reading in, write fashionable exclusive processing to common storage 141c.
Like this, in the present embodiment, on the basis of the effect of embodiment 1, shared inserted-shape data between a plurality of application programs, multiple arrangement, so can be easy to make a plurality of processing module concurrent activities of having divided function, can be easy to utilize the structure that meets the demands to come constructing system, and can reduce the cost of system development.
(embodiment 4)
As shown in figure 25, have and insert surveillance 201 in the body of embodiments of the invention 4: carry out endoscopic endoscope apparatus 202 by constituting with the lower part; Be used to observe the endoscope inserted-shape observation device 203 of endoscope inserted-shape; With the image processing apparatus 204 that constitutes the embodiment 4 that inserts monitoring arrangement, wherein, the endoscope inserted-shape data (abbreviating the inserted-shape data as) that this insertion monitoring arrangement analysis generates by endoscope inserted-shape observation device 203, auxiliary or support splanchnoscopy.
Fujinon electronic video endoscope 206 has the operating portion 212 that inserts the elongated insertion section 211 in the patient's body lumen and be located at the rear end of this insertion section 211.11 interpolations are being led to the guide path 213 that transmits illumination light in the insertion section.The rear end of this guide path 213 is connected with light supply apparatus 207, and the illumination light that provides from light supply apparatus 207 is provided, and penetrates (illumination light that is transmitted) from the illuminating window of the leading section 214 of being located at insertion section 211.
In addition, in insertion section 211, but be provided with the bending section of free bend in the rear end of leading section 214, be located at the not shown bending operation knob of operating portion 212 etc. by operation, can make the bending section bending.
In above-mentioned leading section 214, with the observation window of the adjacent setting of illuminating window on object lens 215 are installed.By these object lens 215, image optics picture on the shooting face of the charge coupled cell that is disposed at its image space place imaging apparatuss 216 such as (abbreviating CCD as).
This imaging apparatus 216 is connected with video processor 208 by holding wire, and the image pickup signal that optical image is carried out after the opto-electronic conversion is exported to video processor 208.
208 pairs of image pickup signals from imaging apparatus 216 outputs of video processor generate the signal processing of signal of video signal.Then, video processor 208 the signal of video signal that is generated for example rgb signal export to and observe monitor 209.And, on the display surface of observing monitor 209, show the image that photographs by imaging apparatus 216.
In addition, when light supply apparatus 207 carries out face preface illumination (Cis illumination of face) in the illumination light of utilizing R, G, B, synchronous synchronizing signal during video processor 208 outputs are thrown light on each, video processor 208 synchronously carries out signal processing with this synchronizing signal.
In addition, on the operating portion 212 of fujinon electronic video endoscope 206, be provided with the not shown switch that discharges indication etc., can control the action of video processor 208 by console switch.
And, in the present embodiment, be provided with and be used to detect the on position that is inserted into endoceliac insertion section 211 and the measuring ability of inserted-shape.Specifically, in the insertion section 211 of fujinon electronic video endoscope 206 along its length direction with predetermined space dispose multiple source coil C0, C1 ..., CM-1 (abbreviates C0～CM-1) as, these source coils C0～CM-1 is by being applied in the driving signal, and produces magnetic field around it.
And, utilize the built-in sense coil device 219 of a plurality of sense coils be located on the endoscope inserted-shape observation device 203, come the magnetic field of detection resources coil C0～CM-1.
That is, endoscope inserted-shape observation device 203 has: sense coil device 219, its detection are located at the magnetic field of the source coil C0～CM-1 in the fujinon electronic video endoscope 206; Shape processing device 221, it infers the shape (being called inserted-shape) of insertion section 211 according to the detection signal by these sense coil device 219 detected magnetic fields; Display 222, it shows by this shape processing device 221 infers the inserted-shape that.
Above-mentioned sense coil device 219 is configured in periphery of the examinating couch that the patient couches etc., and the magnetic field of detection resources coil C0～CM-1 is exported to shape processing device 221 to detected detection signal.
Shape processing device 221 is calculated each position coordinate data of source coil C0～CM-1 according to detection signal, and infers the inserted-shape of insertion section 211 according to the position coordinate data that this calculates.
Shape processing device 221 generates the signal of video signal of the inserted-shape of inferring the insertion section 211 that, the signal of video signal that is generated for example rgb signal export to display 222.So, in the display frame of this display 222, show inserted-shape.Operative doctor can be easy to more successfully insert operation etc. by observing this inserted-shape.
And the inserted-shape data of the three-dimensional coordinate information of this shape processing device 221 continuous generation expression inserted-shape in carrying out endoscopic process and shape display properties etc. are exported to image processing apparatus 204 by COM1 221a.This shape processing device 221 is inserted-shape data when image processing apparatus 204 output function release-pushes only also.
In addition, this endoscope inserted-shape observation device 203 is indicated input by illustrated guidance panel never etc., can change by the SHAPE DETECTION of shape processing device 221 and handle the anglec of rotation of the image that generates, be presented at the insertion section shape on the display device 222 and amplify the shape display properties of minification etc.
In addition, though do not illustrate, have the function to the relevant endoscopic inspection message of video processor 208 inputs, the inspection message of importing this video processor 208 also sends to image processing apparatus 204 by COM1 208a.
204 pairs of inserted-shape data of being imported of image processing apparatus, analyzing and processing is inserted the 211 pairs of response operating states that insert endoscopic procedure such as operation in endoceliac insertion section by reality, judge and whether be in the predetermined response operating state that notify operative doctor, when being in predetermined response operating state, generating and insert auxiliary information.
Therefore, image processing apparatus 204 has: personal computer (being designated hereinafter simply as PC) 225, and it is used to generate the analyzing and processing of auxiliary and buttressing operation doctor's insertion auxiliary information; Be used for this PC225 is carried out the mouse 226 and the keyboard 227 of various indication inputs; And as the display 28 of display device, its reproduction or show insertion auxiliary information that the analyzing and processing by PC225 generates etc.
PC225 has: COM1 225a, and it is taken into from the inserted-shape data of the COM1 221a output of the shape processing device 221 of described endoscope inserted-shape observation device 203; COM1 225b, it is taken into from the splanchnoscopy information of the COM1 208a output of the video processor 208 of described endoscope apparatus 202; Dynamic image input port 225c, it is taken by the imaging apparatus 216 of described fujinon electronic video endoscope 206, and the signal of video signal of the dynamic image that generates by video processor 208 is converted to the compressing image data of regulation; Carry out the CPU231 of Flame Image Process; Handling procedure storage part 232, the handling procedure of Flame Image Process is carried out in its storage by this CPU231; Memorizer 233, the data that its interim storage is handled by CPU231 etc.; And as the hard disk (HDD) 234 of recording equipment, the view data after its stores processor etc.CPU231 etc. interconnect by bus.
The dynamic image input port 225c of image processing apparatus 204 is transfused to signal of video signal, for example y/c signal of the dynamic image that generates by video processor 208, dynamic image input port 225c is converted to the signal of video signal of this dynamic image the signal of video signal data of the compressed dynamic image of regulation, the compressing image data of for example MJPEG form, and is kept in for example hard disk 234 in the PC225 etc.
In addition, before splanchnoscopy begins, from the relevant endoscopic inspection message of video processor 208 inputs, inspection message data according to this input, form with literal and numeral is presented on the observation monitor 209, and these inspection message data also can be recorded in the PC225 by the transmission of the COM1 225b in the image processing apparatus 4 from COM1 208a.
And said inspection message for example refers to patient's name, birthdate, sex, age, patient's code and time check data etc.
That is, image processing apparatus 204 lateral roots are connected with video processor 208 according to needs, receive and preserve the various information datas from video processor 208.
Use Figure 26 and Figure 27, the generation of inserting the inserted-shape data of the endoscope inserted-shape observation device 203 in the surveillance 201 in the body that constitutes like this is described.
221 pairs of each frames by the image pickup signal of imaging apparatus 216 shootings of fujinon electronic video endoscope 206 of the shape processing device of endoscope inserted-shape observation device 3, generation comprises the inserted-shape data of the three-dimensional coordinate of M source coil C0～CM-1 in the insertion section 211 that is built in fujinon electronic video endoscope 206.And this shape processing device 221 is according to the inserted-shape data, and the image of generation inserted-shape also is presented on the display device 222, and these inserted-shape data are exported to image processing apparatus 204.
The coordinate system of the source coil C0～CM-1 that detects by this endoscope inserted-shape observation device 203, the coordinate system during for example with the j-1 frame is represented then as shown in figure 26 (wherein, j is made as the 0th frame to first frame as shown in figure 27).
As shown in figure 26, from the insertion section 11 front i-1 (wherein, i=0,1 ..., M-1) the three-dimensional coordinate of source coil Ci be expressed as (X
j i, Y
j i, Z
j i).
Comprise the coordinate system data by this endoscope inserted-shape observation device 203 detected source coil C0～CM-1 the inserted-shape data structure as shown in figure 27, order according to captured frame, frame data that will be relevant with each frame (promptly the 0th frame data, the 1st frame data ...), send to image processing apparatus 204 successively as a bag.In each frame data that utilize bag to send, comprise the data such as rise time, display properties, satellite information and (source) coil coordinate of inserted-shape data.
And the coil coordinate data is represented source coil C0～CM-1 respectively, and 211 front end is configured in the three-dimensional coordinate of source coil of operating portion 212 sides of its cardinal extremity (front side) successively from the insertion section according to shown in Figure 26.In addition, the coordinate of the source coil outside the detection range of endoscope inserted-shape observation device 203 for example is set to predetermined constant, is in outside the detection range so that understand it.
Below, use Figure 28～Figure 30 explanation from the inspection message of the video processor 208 of the endoscope apparatus 202 that obtains image processing apparatus 204 and endoscopic images, and from the inserted-shape data of the shape processing device 221 of described endoscope inserted-shape observation device 203, to generating the endoscopic effect etc. that auxiliary information and for example big enteral of insertion monitor big enteral of inserting.
Image processing apparatus 204 is behind the beginning splanchnoscopy, and the CPU231 that constitutes PC225 begins to handle according to the handling procedure that is stored in the handling procedure storage part 232.
As shown in figure 28, the processing capacity module of being carried out by CPU231 comprises: frame data acquisition module 241, and it obtains frame data and is stored in the memorizer 233; Analysis and processing module 242, it carries out analyzing and processing to the frame data that are stored in the memorizer 233, and analytical data 233b and the insertion auxiliary information 233c that is generated are stored in the memorizer 233; And analysis result display control module 243, it carries out the demonstration of analysis result, and the demonstration (or display characteristic) of auxiliary information 233c is inserted in control.
As shown in figure 28, frame data acquisition module 241 and analysis and processing module 242 repeat to handle circularly.As the analysis result of analysis and processing module 242, carry out the processing of the condition criterion corresponding with predetermined response operating state, when belonging to this condition, generate and insert auxiliary information.And analysis result display control module 243 is according to predefined elapsed time information, inserts the demonstration of auxiliary information 233c and stops to show that the demonstration of (deletion) controls.
Frame data acquisition module 241 will be stored in the memorizer 233 from the frame data that endoscope inserted-shape observation device 203 sends, and is kept at as shown in figure 25 in the hard disk 234 as shown in figure 28.
Analysis and processing module 242 is used the frame data 233a in the memorizeies 233, calculate insertion section 211 in each place, source coil position towards the direction and the amount of movement of the source coil before 1 frame etc., be used to investigate the data of the response operating state of insertion section 211 (to inserting operation).And this analysis and processing module 242 is stored in the data that calculate in the memorizer 233 as analytical data 233b.
And, analysis and processing module 242 generates analytical data 233b according to the frame data 33a in the memorizer 233, and use frame data 233a (and the 33b of operational analysis data where necessary), be used to generate the analyzing and processing of inserting auxiliary information 233c, so that the relevant information the response operating state that does not have smoothly or insert is rightly operated in the insertion that is inserted into endoceliac insertion section 211 relative operative doctors shows as inserting auxiliary information.
When this situation, when analytical data 233b satisfies the response operating state of predetermined condition, generate and insert auxiliary information 233c, and be stored in the memorizer 233, described predetermined condition specifically, when being meant the operation of insertion section 211 having been carried out pushing at its base end side when operative doctor, the condition that the front of insertion section 211 moves hardly, the i.e. condition that the insertion of insertion section 211 can not be carried out smoothly.In this case, store before in the memorizer 233 when inserting auxiliary information 233c, upgrade its content.
At this, the relevant predetermined condition of inserting auxiliary information 233c of supplementary notes.
When meeting following condition, generate and insert auxiliary information 233c, that is, the axial amount of movement M0 of the relative insertion section 211 of source coil C0 of the foremost position of insertion section 211, with the ratio M0/Mn of the axial amount of movement Mn of the relative insertion section 211 of for example source coil CM-1 of the front side position of insertion section 211 less than threshold value (being 0.1) (being M0/Mn＜0.1) herein.
The insertion auxiliary information 233c that generates when satisfying above-mentioned condition, generating constantly by the inserted-shape data of character string information " front end stops " and the frame data that use in condition criterion in the present embodiment, T0 forms.
In addition, although satisfy the situation of above-mentioned condition represent operative doctor in the insertion section 211 front side insert operation, the leading section 214 of insertion section 211 almost stops, even continue to push side in front of the insertion section again, leading section 214 can progressive situation yet.
On the other hand, analysis result display control module 243 be above-mentioned relatively frame data acquisition module 241 and analysis and processing module 242 circular treatment independently, the processing module carried out at interval with certain hour.
This analysis result display control module obtains the insertion auxiliary information in the memorizer 233, current time Tn with and insert the corresponding inserted-shape data of the generation of auxiliary information 233c and generate the difference between the T0 constantly, less than predefined predetermined threshold Tt (during Tn-T0＜Tt), on the display 228 of image processing apparatus 204, being shown as the character string information that inserts the character string information of auxiliary information 233c for example, front end stops.Promptly, the analysis result display control module elapsed time that the inserted-shape data of using when generate inserting auxiliary information 233c generate T0 constantly less than time as the threshold value Tt of the scheduled time, continue to show the character string information that inserts auxiliary information 233c.
In addition, the value of threshold value Tt of this moment is redefined for the value of acquiescence, but users such as operative doctor for example also can utilize keyboard 227 change settings to think more suitably value for this user.And, for can with user's id information change setting threshold value Tt explicitly, also can set different values at each user.
Promptly, carry out endoscopic operative doctor observe the general interval that shows the display 228 that inserts auxiliary information etc. might be different because of each operative doctor, so also can be at each operative doctor setting threshold Tt, thereby each operative doctor can confirm to insert the demonstration of auxiliary information 233c (character string information) more rightly.
And if the time of Tn-T0＞Tt, then deletion is presented at the character string information on the display 228 of image processing apparatus 204.
Like this, in the present embodiment, when being judged to be satisfied and the corresponding condition of following response operating state, generate and insert auxiliary information 233c, promptly, the insertion of 211 the base end side operation in the insertion section relatively, the rate of travel of the front of insertion section 211 is enough little, and front moves hardly.And, generate T0 constantly in these inserted-shape data of using when generating this insertion auxiliary information 233c, confirm till time of demonstration of this insertions auxiliary information 233c lasting this demonstration to the operation doctor easily.
Below, use Figure 29, the flow process of the data of handling in frame data acquisition module 241 and analysis and processing module 242 and the handling process of analysis result display control module 243 are described.
Operative doctor inserts big enteral with the insertion section 211 of fujinon electronic video endoscope shown in Figure 25 206 from patient's anus when for example big enteral carries out splanchnoscopy in to body cavity.During this situation, operative doctor is gripping the base end side of insertion section 211, insertion section 211 is inserted in proper order the depths side of big enteral from its leading section 214 sides.
Image pickup signal by the imaging apparatus 216 that is provided with in the leading section 214 of the insertion section 211 of fujinon electronic video endoscope 6 photographs carries out signal processing by video processor 208, and generates picture signal, shows endoscopic images observing on the monitor 209.
And, each position of the source coil C0～CM-1 of 211 length direction configuration along the insertion section, detection signal by sense coil device 219 is detected by shape processing device 221, by the display 222 demonstration inserted-shapes of endoscope inserted-shape observation device 203.
And, send the frame data of the positional information that comprises each (source) coil to the PC225 of image processing apparatus 204 from shape processing device 221.And as shown in figure 28, the frame data acquisition module 241 by among (in the PC225) CPU231 is stored in frame data 233a in the memorizer 233.
And as shown in figure 29, analysis and processing module 242 is carried out analyzing and processing to (being stored in the memorizer 233) frame data 233a, generates analytical data 233b according to frame data 233a, and is stored in the memorizer 233.
And, as shown in figure 29,242 pairs of these analytical data of analysis and processing module 233b, whether satisfy the determination processing of predetermined condition (being M0/Mn＜0.1 in the present embodiment), when meeting this condition, generate and insert auxiliary information 233c, and storage (covering writes) is in memorizer 233.During this situation, if the insertion auxiliary information 233c before existing in the memorizer 233, then with its renewal.Repeat above processing.
And as shown in figure 29, analysis result display control module 243 obtains the processing (step S101) of the insertion auxiliary information 33c in the memorizer 233 at interval with certain hour, and obtains current time Tn.
And analysis result display control module 243 is in following step S102, and the inserted-shape data of carrying out current time Tn and inserting auxiliary information generate the difference between the T0 constantly whether less than the predetermined threshold Tt (determination processing of Tn-T0＜Tt).
Then, shown in step S103, analysis result display control module 243 shows the character string information that inserts auxiliary information 233c on the display 228 of image processing apparatus 204 when being judged to be Tn-T0＜Tt.Then, prepare the back insertion auxiliary information 233c obtain processing.
On the other hand, in the determination processing of step S102, when the inserted-shape data that are judged to be current time Tn and insert auxiliary information 233c generate constantly (the Tn-T0 〉=Tt) when predetermined threshold Tt is above of the difference between the T0, shown in step S104, analysis result display control module 243 is deleted the character string information of the insertion auxiliary information 233c on the display 228 that is presented at image processing apparatus 204.Then, prepare the back insertion auxiliary information 233c obtain processing.
Operative doctor is presented at the character string information of the insertion auxiliary information 233c on the display 228 of image processing apparatus 204 by observation, when the timing of this observation is being inserted after the generation regularly of auxiliary information 233c, for operative doctor, also can confirm to want the predetermined response operating state of knowing that whether is in.
Like this, analysis result display control module 243 is with the certain hour processing of repeating step S101～10S4 at interval.
Figure 30 represent based on above effect, analysis and processing module 242 insert timing, analysis result display control module 243 that auxiliary information upgrades obtain the timing of inserting auxiliary information 233c, with relation between the displaying contents of the character string information of the insertion auxiliary information 233c of demonstration on the display 228 of image processing apparatus 204.
As shown in figure 30, insert the renewal of auxiliary information 233c by analysis and processing module 242.Analysis result display control module 243 obtains at a certain time interval and inserts auxiliary information 233c, whether carries out the condition criterion in the elapsed time of Tn-T0＜Tt this moment and handles.And, when Tn-T0 in preset time Tt during, the demonstration of continue to show inserting the character string information of auxiliary information 233c.At this, continue the demonstration of " front end stops ".
Therefore, even operative doctor is later than the observation of the display surface of the display 228 that carries out image processing apparatus 204,, just can learn (affirmation) insertion auxiliary information 233c more reliably as long as in preset time (threshold value Tt).
In addition, in the above description, adopt the inserted-shape data corresponding to generate moment T0 as the moment of using in the judgement that whether continues to show with inserting auxiliary information 233c, but, for example also can adopt the moment that generates or upgrade insertion auxiliary information 233c so long as the time approaching with it gets final product.
Like this, as long as in the scheduled time before and after the time of generate inserting auxiliary information 233c, just can continue the displaying contents of " front end stops ", but at effluxion after the scheduled time, then do not carry out the demonstration of " front end stops ", and suitable update displayed content.
Like this,, can effectively prevent or reduce operative doctor and leak the situation of seeing insertion auxiliary information 233c, can confirm to insert auxiliary information 233c more reliably according to present embodiment.The operability of in the time of therefore, can improving splanchnoscopy insertion being operated.
In addition, in the present embodiment, according to the elapsed time before and after the time that generates insertion auxiliary information 233c, demonstration/deletion (not showing) of auxiliary information 233c is inserted in control, but also can constitute as shown in figure 31, change Show Color, display position, display size according to the elapsed time.
That is, also can be according to shown in the oblique line, in the predetermined elapsed time, utilize demonstrations color such as redness to carry out the demonstration that front end stops, when surpassing the predetermined elapsed time, stopping to show (deleting the demonstration that front end stops).
And, also can in the predetermined elapsed time, carry out the demonstration that front end stops, for example the demonstration (from its indication range) that front end is stopped from predetermined elapsed time front and back is rolled and is moved, and no longer shows behind effluxion.
And, also can in the predetermined elapsed time, carry out the demonstration that front end stops, for example dwindling the size of carrying out the character string that front end stops to show before and after the predetermined elapsed time, no longer demonstration behind effluxion.Perhaps, also can make up above-mentioned each mode.Also has roughly the same effect in this case.
And, in the present embodiment, insertion operation for insertion section 211, analysis and processing module 242 is carried out analyzing and processing according to the inserted-shape data, make and generate the corresponding insertion auxiliary information 233c of response operating state that almost stops with front, but also can be to the operation of extracting of fujinon electronic video endoscope 206, bending operation (angle operation), twist the endoscopic procedure that these operative doctors of operation carry out, response operating state according to inserted-shape data analysis insertion section 211, whether carry out actual determination processing of carrying out aforesaid operations, and this result of determination is contained in insert among the auxiliary information 233c.
For example, the amount of movement of the front side by also judging insertion section 211 and the front amount of movement of insertion section 211 insertion section 211 axially on moving direction, can judge extracting the response operating state of operation.
And, for example carry out can judging response operating state thus to bending operation from whether having only the determination processing of the bigger variation of inserted-shape of comparing more forward distolateral part with it near the cardinal extremity of bending section.
And, the demonstration of above-mentioned insertion auxiliary information is " front end stops ", even front side to operative doctor prompting continuing again to push insertion section 211, the also not progressive situation of leading section 214, and insert auxiliary, but when carrying out other endoscopic procedure, also can show the insertion auxiliary information 233c corresponding with this endoscopic procedure.
Under this situation, can suitably control the elapsed time when continuing to show according to as inserting the shown content of auxiliary information.
Like this, be judged to be operative doctor at analysis result display control module 243 and carried out extracting operation, bending operation, twisting operation during these endoscopic procedure of fujinon electronic video endoscope 6, stop the demonstration of the character string information of " front end stops " at least.And, as required, show the character string information of the insertion auxiliary information 233c of the relative endoscopic procedure of judging.Thus, operative doctor can confirm that whether the response action of insertion section 211 is in extracting operation, angle operation, twisting the state that operation is carried out smoothly of relative endoscope, can improve and insert the operability that operates in interior endoscopic procedure to comprising.
(embodiment 5)
Below, with reference to Figure 32～Figure 34 embodiments of the invention 5 are described.It is identical with structure shown in Figure 25 to have the structure of inserting surveillance in the body of embodiment 5.Present embodiment adopts the different handling procedure of handling procedure in a part and the program storage part 232 that is stored in image processing apparatus 204 shown in Figure 25.
Figure 32 represents according to this handling procedure by the functional module of CPU231 by the software realization.Handling procedure shown in Figure 32 is made of frame data acquisition module 241, analysis and processing module 251 and analysis result display control module 243.
At this, frame data acquisition module 241 carries out the processing identical with processing shown in Figure 28 with analysis result display control module 243.To this, the analysis and processing module 251 of present embodiment is by the script explanation module 251a of the explanation that is stored in the processing scripts 233d in the memorizer 233 and comprise that inserting auxiliary information generates the display characteristic change processing module 251b that the display characteristic change handled handles and constitute.
Like this, the generation of analysis and processing module 251 in carrying out embodiment 4 inserted the analyzing and processing of auxiliary information 233c, for example pass through the change setting of the content of condition enactment, insertion auxiliary information 233c ' can be generated, demonstration and the corresponding display characteristic of this insertion auxiliary information 233c ' can be changed corresponding to multiple situation.
And, in memorizer 233, store frame data 233a same as shown in Figure 28, analytical data 233b and insert auxiliary information 233c '.In addition, in the present embodiment, about being stored in the handling procedure in the handling procedure storage part 232, the processing scripts file that comprises the treatment step of the display characteristic of having recorded and narrated change of comprising condition enactment etc., when starting, CPU231 (with reference to Figure 25) reads this processing scripts file, and is stored in the memorizer 233 as processing scripts 233d.
In addition, processing scripts 233d for example adopts the grammer of Java (registered trade mark) Script as predetermined programming language, records and narrates the contents processing of the generation processing of the insertion auxiliary information that comprises analysis and processing module 251.For example Figure 34 represents the concrete example of this processing scripts 233d.In embodiment 4, analysis and processing module 42 judges whether the condition of M0/Mn＜0.1 of satisfied (being equivalent to " front end stops ") as shown in figure 28, when satisfying this condition, generates and inserts in auxiliary information and the write memory 233.
To this, in the present embodiment, in processing scripts 233d shown in Figure 34, change is to the contents processing (conditional content of if part) of analytical data, so that except that " front end stops ", also can generate the character string information of the insertion auxiliary information 233c ' of " front end retreats ".During this situation, in Figure 34, the symbol (positive and negative) of the push-in stroke of lateral coil in front of can confirming, and judge and extract operation.
In embodiment 4, the processing capacity about frame data acquisition module 241 grades shown in Figure 28 is converted into the processing of the language of the execute form that is compiled by CPU231 high-speed execution language.
To this, in the present embodiment, the content interpret (translation) of the programming language that the script explanation module 251a of analysis and processing module 251 will record and narrate in processing scripts 233d successively is the language of execute form.And display characteristic change processing module 251b carries out the processing of being explained successively.
When this situation, processing such as the generation of the obtaining of the analytical data 233b on the display characteristic change processing module 251b execute store 233, condition criterion, loop control, insertion auxiliary information and renewal.
Like this, the analysis and processing module 251 of present embodiment is explained the analysis content of recording and narrating successively in processing scripts 233d, and translation property ground is carried out.Therefore, in the work process that system is stopped (in the inspection), for example carry out the change etc. of the parameter value of above-mentioned insertion auxiliary information setting section easily, and carry out according to value after changing respectively, and the value of change setting when being optimal cases.
Like this, by the record content of change processing scripts 233d, can easily change the contents processing of display characteristic etc.For example, by changing the conditional content of top described change processing scripts, can easily change (comprising in the display characteristic) displaying contents that inserts auxiliary information.
To this, in embodiment 4,,, change the content of handling procedure, and compile the file that generates execute form according to content after changing so under the situation of carrying out, also need system is stopped than minor change owing to the content of carrying out after compiling.And, because the file that is not converted into execute form just can not carry out analyzing and processing, so spend time in the described simple operation that parameter value is set at optimum in the above yet.In addition, present embodiment has only analysis and processing module 251 to carry out by translation.
The action of the present embodiment of such formation is described with reference to Figure 33.In addition, Figure 33 represents data flow, and the handling process of analysis result display control module 243 of frame data acquisition module 241 and analysis and processing module 251.
Flow process overview and Figure 29 of deal with data shown in Figure 33 are contrasted then and can easily understand, and the condition criterion of M0/Mn＜0.1 that whether (is equivalent to " front end stops ") of carrying out in analysis and processing module shown in Figure 29 242 becomes the condition criterion that utilizes the content that processing scripts records and narrates.Below more specifically describe.
Frame data acquisition module 241 writes down frame data 233a in memorizer 233.
Then, analysis and processing module 251 is carried out the analyzing and processing of frame data 33a, obtains processing scripts 233d from memorizer 233 then.Processing scripts 233d has has for example recorded and narrated content shown in Figure 34.Then, script explanation module 251a interpretation process script 233d.And according to the treatment step of being explained, 251b handles by display characteristic change processing module.
As shown in figure 33, analysis and processing module 251 (display characteristic change processing module 251b) is obtained the analytical data 233b that is explained, carries out condition criterion, and when ineligible judgements, preparation is carried out condition criterion to the next frame data.On the other hand, when meeting this condition, upgrade the insertion auxiliary information 233c ' with the corresponding generation of this condition criterion, and write memory 233.Specifically, with the character string information write memory 233 of " front end stops " under the situation of embodiment 4 and other " front end retreats ".Repeat this processing.
On the other hand, analysis result display control module 243 is identical with the situation of embodiment 3, obtain the insertion auxiliary information 233c ' (step S101) in the memorizer 233 at a certain time interval, and obtain current time Tn, carry out difference that current time Tn and the inserted-shape data of inserting auxiliary information 323c ' generate T0 constantly whether less than the predetermined threshold Tt (judgement (step S102) of Tn-T0＜Tt).
And when the Tn-T0 that satisfies condition＜Tt, the character string information that will insert auxiliary information 233c ' is presented on the display 228 of image processing apparatus 204 (step S103).In the present embodiment, the character string information that shows " front end stops " and " front end retreats ".
And, (during Tn-T0 〉=Tt), deletion is presented at the character string information (step S104) on the display 228 of image processing apparatus 204 to the difference that generates T0 constantly in current time Tn and the inserted-shape data of inserting auxiliary information 233c ' more than predetermined threshold Tt.
Like this, make and insert surveillance 201 in the body,, can easily carry out the concrete special applications (customize) of movement content etc. so do not need to regenerate handling procedure according to the content action of in processing scripts 233d, recording and narrating.
In addition, in this body, insert in the surveillance 201, also can constitute and append the function of reading in processing scripts at arbitrary timing, thereby read in the processing scripts that institute proofreaies and correct or selects, and not need to finish to insert in the body action of surveillance 201 according to the indication of operative doctor.
Therefore, present embodiment has following effect.
Even do not regenerate the handling procedure that inserts surveillance in the body, can easily carry out concrete special applications yet.
In addition, adjusting when setting and when inspection, do not make the interior surveillance of inserting of body stop to realize special applications, so can easily in time confirm the special applications result, and the generation method of this insertion auxiliary information of one side correction/selection in inspection, one side is pointed out the insertion auxiliary information continuously (smooth and easy).In addition, can show the various insertion auxiliary informations that for operative doctor, can improve operability more aptly.Other aspects have the effect identical with embodiment 4.
In addition, by changing the content of processing scripts shown in Figure 34, can analyze the response operating state of the insertion section 211 of endoscopic procedure such as relative bending operation, and when being in predetermined response operating state, be shown as the insertion auxiliary information.
In addition, when showing the insertion auxiliary information, be not limited to be presented at the situation on the display 228 of image processing apparatus 204, also may be displayed on the observation monitor 209 of the display 222 of endoscope inserted-shape observation device 203 for example and endoscope apparatus 202, can also select to set the display device that shows.In addition, when showing the insertion auxiliary information, be not limited to utilize character string information to show, for example also can change the Show Color of the background parts of the inserted-shape that on the display 222 of endoscope inserted-shape observation device 203, shows, notify for example insertion auxiliary information of " front end stops " of operative doctor thus.
In addition, wait the embodiment that carries out formations such as part combination to wait to above-mentioned each embodiment and also belong to the present invention.The invention is not restricted to the foregoing description, can in the scope that does not change aim of the present invention, carry out various changes and modifications.
The application is based on Japanese Patent Application of filing an application on August 25th, 2005 2005-244686 number and Japanese Patent Application 2005-332009 number of filing an application on November 16th, 2005 and advocate its priority, and above-mentioned disclosure is quoted in the application's the description and claims.
Claims (18)
1. an endoscope insertion shape analyzing device is characterized in that, this endoscope insertion shape analyzing device has:
Endoscope, it has the endoceliac insertion section of insertion;
The SHAPE DETECTION unit, it detects the shape of described endoscope insertion part;
The shape analysis unit, it analyzes ad-hoc location or the specific part obtained in the detected shape in described SHAPE DETECTION unit based on the detected information in described SHAPE DETECTION unit; And
The pattern classification unit, the analysis result that it goes out according to described shape analysis element analysis carries out pattern classification to the resting shape of described endoscope insertion part.
2. endoscope insertion shape analyzing device according to claim 1 is characterized in that, described pattern classification unit carries out pattern classification by with the static schema code after the described resting shape encode to described resting shape.
3. endoscope insertion shape analyzing device according to claim 2, it is characterized in that, this endoscope insertion shape analyzing device has information memory cell, the static lexicon file that this information memory cell storage is associated described static schema code and the predetermined pattern information corresponding with described static schema code
Described pattern classification unit carries out pattern classification according to described static lexicon file to described resting shape.
4. endoscope insertion shape analyzing device according to claim 3 is characterized in that, described pattern information comprises that described endoscope inserts described endoceliac insertion operation auxiliary information.
5. according to claim 3 or 4 described endoscope insertion shape analyzing devices, it is characterized in that described information memory cell storage is used to proofread and correct the correction codes file of described static schema code,
Described static schema code is proofreaied and correct according to described correction codes file in described pattern classification unit, and according to described static lexicon file, described resting shape is carried out pattern classification.
6. according to the described endoscope insertion shape analyzing device of claim 2～5, it is characterized in that, described pattern classification unit generates the dynamic mode code of having integrated a plurality of described static schema codes, and, the dynamic shape of described endoscope insertion part is carried out pattern classification according to described dynamic mode code.
7. endoscope insertion shape analyzing device according to claim 6, it is characterized in that a plurality of described static schema code that is used to generate described dynamic mode code is based on the static schema code of the successive analysis result in time that described shape analysis element analysis goes out.
8. according to claim 6 or 7 described endoscope insertion shape analyzing devices, it is characterized in that, this endoscope insertion shape analyzing device has information memory cell, the dynamic lexicon file that this information memory cell storage is associated described dynamic mode code and the predetermined pattern information corresponding with described dynamic mode code
Described pattern classification unit carries out pattern classification according to described dynamic lexicon file to described dynamic shape.
9. endoscope insertion shape analyzing device according to claim 8 is characterized in that, described pattern information comprises that described endoscope inserts described endoceliac insertion operation auxiliary information.
10. according to Claim 8 or 9 described endoscope insertion shape analyzing devices, it is characterized in that described information memory cell storage is used to proofread and correct the correction codes file of described dynamic mode code,
Described dynamic mode code is proofreaied and correct according to described correction codes file in described pattern classification unit, and according to described dynamic lexicon file, described dynamic shape is carried out pattern classification.
11., it is characterized in that this endoscope insertion shape analyzing device also has according to the described endoscope insertion shape analyzing device of claim 1～10:
Data output destination registration unit, it registers the output destination of shape data of the shape of the detected described endoscope insertion part in described SHAPE DETECTION unit;
The data output unit, it exports described shape data to the output destination that is exported destination's registration unit registration by described data.
12. according to the described endoscope insertion shape analyzing device of claim 1～11, it is characterized in that, this endoscope insertion shape analyzing device also has display unit, and this display unit shows the detected shape of endoscopic images and described SHAPE DETECTION unit that described endoscope photographs.
13. an endoscope insertion shape analyzing device is characterized in that, this endoscope insertion shape analyzing device has:
Analytic unit, the SHAPE DETECTION information that its SHAPE DETECTION unit of shape that is inserted into the insertion section of endoceliac endoscope based on detection generates is analyzed with respect to the response operating state that inserts endoscopic procedure such as operation the insertion section;
Insert the auxiliary information generation unit, it generates and the predetermined corresponding insertion auxiliary information of analyzing by described analytic unit of response operating state; And
Indicative control unit, its basis is near the elapsed time information the moment that generates described insertion auxiliary information, control display characteristic, this display characteristic be export to display unit by described insertion auxiliary information generation unit, display characteristic when on this display unit, showing described insertion auxiliary information.
14. endoscope insertion shape analyzing device according to claim 13, it is characterized in that, described analytic unit is analyzed with respect to the response operating state of at least a operation in the described endoscopic procedure the insertion section, and described endoscopic procedure comprises insertion operation that the insertion section is inserted, extracts operation, makes the bending operation of the bending section bending of being located at the insertion section and make the operation of twisting that described insertion section twists what extracted described insertion section.
15. endoscope insertion shape analyzing device according to claim 14, it is characterized in that, analyzing the insertion section to described insertion operation or described when extracting the response operating state of operation, judging according to the rate of travel of the insertion amount of movement of the front side of the described relatively insertion section of front of described insertion section.
16. according to each described endoscope insertion shape analyzing device in the claim 13～15, it is characterized in that, described indicative control unit according to from generate with described insertion auxiliary information corresponding shape detect information the time be carved into elapsed time till the predefined scheduled time, control at least one side in the display size of the display position of the demonstration lasting characteristic that the demonstration that makes described insertion auxiliary information continues, the Show Color of described insertion auxiliary information, described insertion auxiliary information and described insertion auxiliary information.
17., it is characterized in that described analytic unit has according to each described endoscope insertion shape analyzing device in the claim 13～16:
The script Interpretation unit, it obtains the script that utilizes predetermined programming language to record and narrate contents processing, the language that the contents processing and the processing sequence of described script is interpreted as execute form; And
Processing unit, it is carried out one by one according to contents processing and the processing sequence explained by described script Interpretation unit.
18. an endoscope insertion shape analyzing system is characterized in that, this endoscope insertion shape analyzing device has:
The SHAPE DETECTION unit, it detects the shape of the insertion section of described endoscope;
Analytic unit, it is analyzed with respect to the response operating state that inserts endoscopic procedure such as operation the insertion section based on the unitary SHAPE DETECTION information of described SHAPE DETECTION;
Insert the auxiliary information output unit, the information of the predetermined response operating state that it will be analyzed by described analytic unit is exported to display unit as inserting auxiliary information; And
Indicative control unit, it is according to from generating the elapsed time information that detects the moment of information with described insertion auxiliary information corresponding shape, controls the display characteristic when showing described insertion auxiliary information by described display unit.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005244686A JP4789545B2 (en) | 2005-08-25 | 2005-08-25 | Endoscope insertion shape analyzer |
| JP244686/2005 | 2005-08-25 | ||
| JP332009/2005 | 2005-11-16 | ||
| JP2005332009A JP4794992B2 (en) | 2005-11-16 | 2005-11-16 | Insertion monitoring device |
| PCT/JP2006/314574 WO2007023631A1 (en) | 2005-08-25 | 2006-07-24 | Device for analyzing endoscope insertion shape and system for analyzing endoscope insertion shape |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101247752A true CN101247752A (en) | 2008-08-20 |
| CN101247752B CN101247752B (en) | 2010-05-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2006800309432A Active CN101247752B (en) | 2005-08-25 | 2006-07-24 | Device for analyzing endoscope insertion shape and system for analyzing endoscope insertion shape |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP4789545B2 (en) |
| CN (1) | CN101247752B (en) |
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| CN104755009A (en) * | 2013-04-15 | 2015-07-01 | 奥林巴斯医疗株式会社 | Endoscope system |
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| WO2016098252A1 (en) * | 2014-12-19 | 2016-06-23 | オリンパス株式会社 | Insertion and removal support device and insertion and removal support method |
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| WO2018116446A1 (en) | 2016-12-22 | 2018-06-28 | オリンパス株式会社 | Flexible tube inserting device |
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|---|---|---|---|---|
| JP4025621B2 (en) * | 2002-10-29 | 2007-12-26 | オリンパス株式会社 | Image processing apparatus and endoscopic image processing apparatus |
| JP4274854B2 (en) * | 2003-06-06 | 2009-06-10 | オリンパス株式会社 | Endoscope insertion shape analyzer |
| JP2005328999A (en) * | 2004-05-19 | 2005-12-02 | Olympus Corp | Medical device |
-
2005
- 2005-08-25 JP JP2005244686A patent/JP4789545B2/en not_active Expired - Fee Related
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2006
- 2006-07-24 CN CN2006800309432A patent/CN101247752B/en active Active
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| 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 |
| CN104968252A (en) * | 2013-02-05 | 2015-10-07 | 奥林巴斯株式会社 | Robotic-assisted surgical system and control method thereof |
| CN104755009A (en) * | 2013-04-15 | 2015-07-01 | 奥林巴斯医疗株式会社 | Endoscope system |
| CN104755009B (en) * | 2013-04-15 | 2017-04-19 | 奥林巴斯株式会社 | Endoscope system |
| CN107105966A (en) * | 2014-12-19 | 2017-08-29 | 奥林巴斯株式会社 | Plugging auxiliary apparatus and plug householder method |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN101247752B (en) | 2010-05-19 |
| JP2007054401A (en) | 2007-03-08 |
| JP4789545B2 (en) | 2011-10-12 |
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Effective date of registration: 20151116 Address after: Tokyo, Japan, Japan Patentee after: Olympus Corporation Address before: Tokyo, Japan Patentee before: Olympus Medical Systems Corp. |