CN102319052B - Image pickup system, capsule type medical system and image processing device - Google Patents

Abstract

The invention provides an image pickup system, a capsule type medical system and an image processing device. The image pickup system comprises an image pickup part, a pipe cavity information detection unit, a recording unit, an estimation unit, a judging unit, a direction calculation unit and a control unit, wherein the image pickup part is arranged in an insertion body inserted into a body cavity and is used for shooting images in the body cavity, the pipe cavity information detection unit detects the pipe cavity information corresponding to the trend of the body cavity according to the images shot by the image pickup part, the recording unit records the pipe cavity information detected by the pipe cavity information detection unit along the time, the estimation unit estimates the position and the direction of the image pickup part, the judging unit judges whether the set conditions of the detection action aiming at the pipe cavity detection information detected by the pipe cavity information detection unit are met or not, the direction calculation unit reads out the pipe cavity information recorded in the recording unit under the condition that the judging unit judges that the condition is not met, the direction calculation unit calculates the direction change information of the insertion body according to the pipe cavity information and the estimation results of the estimation unit, and the control unit controls and changes the direction of the insertion body according to the information calculated by the direction calculation unit.

Description

Camera system, capsule medical system and image processing apparatus

The application is that original bill application number is the application for a patent for invention (international application no: PCT/JP2007/062386 of No.200780052581.1, the applying date: on June 20th, 2007, denomination of invention: endoscopic system, camera system and image processing apparatus) divisional application.

Technical field

The present invention relates to endoscopic system, camera system and image processing apparatus in order to obtain endoceliac image to checking in body cavity, diagnosing.

Background technology

In recent years, in order to be widely used endoscope to checking in body cavity, diagnosing.Using endoscope in the situation that, expectation be that insertion section is successfully inserted in body cavity.

For example, in the TOHKEMY 2003-93328 communique as the 1st conventional example, detect direction that the leading section of insertion section should insert, i.e. target location according to endoscopic images, and be set the direction into this target location.

And, such bending control device is disclosed in the TOHKEMY 2006-116289 communique as the 2nd conventional example: bending control when it selects the 2nd bending control method of the 1st bending control method based on endoscope's photographed images and the detected image based on endoscope inserted-shape or CT image to insert.

But in the 1st conventional example, the state disappearing in can not detection corresponding with the trend of body cavity or tube chamber dark portion or dark portion when endoscopic images and endoscopic images, in the time taking the shooting state of mucomembranous surface, are difficult to the selected direction that should insert.In this case, in the 4th embodiment in the 1st conventional example, when the dark portion that becomes target location is in the time that image disappears, point out the direction that should insert according to the direction of extinction of this dark portion outward.

But owing to not storing the dark portion information before disappearing, thereby the prompting that precision is carried out the direction that should insert well becomes difficulty.

And disappearing from dark portion in during carrying out this prompting, when sight glass reverses, the direction of target location is also in rotary moving, thereby has the shortcoming that can not reproduce direction of extinction.

And, about the 2nd conventional example, in the selection mode based on endoscopic images, the same with the situation of the 1st conventional example under the state disappearing in dark portion, be still difficult to point out bending direction in the direction that should insert.

Summary of the invention

In view of above-mentioned aspect, the object of this invention is to provide and a kind ofly carry out the direction that should insert or the detection of bending direction utilizes endoscopic system, camera system and the image processing apparatus to the image that checks in body cavity, diagnoses such as endoscope to can successfully obtain.

The endoscopic system the present invention relates to, is characterized in that, this endoscopic system has:

Endoscope, its utilization is arranged on the image unit of insertion section front end and takes endoceliac image;

Position detection unit, it is used for inserting the positional information of this insertion section front end according to the tube chamber information of being taken by described image unit for insertion section front-end detection;

Record cell, it records the positional information being detected by described position detection unit in time;

Identifying unit, it determines whether to meet for the detection of described position detection unit detection position information and moves the condition setting; And

Direction calculating unit, in the case of not meeting the result of determination of described condition, this direction calculating unit is read the positional information being recorded in described record cell, and the information of the direction of described insertion section front end is inserted in output.

The camera system the present invention relates to, is characterized in that, this camera system has:

Image pickup part, it is arranged on and is inserted in endoceliac insertosome, and takes endoceliac image;

Tube chamber information detecting unit, it,, according to the image of being taken by described image pickup part, detects the tube chamber information corresponding with the trend of body cavity;

Record cell, it records the tube chamber information being detected by described tube chamber information detecting unit in time;

Evaluation unit, it estimates position and the direction of described image pickup part;

Identifying unit, it determines whether that meeting the detection that detects tube chamber information for described tube chamber information detecting unit moves the condition setting;

Direction calculating unit, in the situation that being judged to be not meet described condition by described identifying unit, this direction calculating unit is read the tube chamber information being recorded in described record cell, and calculates the information of the direction of mobile described insertosome according to the estimation result of this tube chamber information and described evaluation unit; And

Control unit, it controls the direction of mobile described insertosome according to the information being calculated by described direction calculating unit.

The image processing apparatus the present invention relates to, is characterized in that, this image processing apparatus has:

The input part of endoscopic images, this endoscopic images be by be arranged on be inserted into endoceliac insertion section front end image unit take;

Position probing processing unit, it carries out the Check processing of the positional information for importing this insertion section front end according to described endoscopic images for insertion section front end;

Record cell, it records the positional information being detected by described position probing processing unit in time;

Determination processing unit, whether it meets the determination processing of the condition setting for the Check processing of the positional information of described position probing processing unit; And

Direction calculating unit, in the case of the determination processing result that does not meet described condition, this direction calculating unit is read the positional information being recorded in described record cell, and the information of the direction of described insertion section front end is inserted in output.

A kind of capsule medical system the present invention relates to, is characterized in that, this capsule medical system has:

Capsule medical apparatus, its inside has image pickup part and Magnet;

Induced field generator, it is configured in the outside of described capsule medical apparatus, for responding to described capsule medical apparatus;

Position and direction detection device, it detects position and the direction of described capsule medical apparatus;

Evaluation unit, it estimates moving direction according to the image of being obtained by described capsule medical apparatus;

Record cell, it records the position that detected by described position and direction detection device and direction and the information of the moving direction estimated by described evaluation unit in time; And

Induced field control unit, it carries out the control of the induced field being produced by described induced field generator, so that capsule medical apparatus moves in body cavity according to the testing result of described evaluation unit and described position and direction detection device.

Accompanying drawing explanation

Fig. 1 is the integrally-built figure that the endoscopic system of embodiments of the invention 1 is shown.

Fig. 2 is the overall structure figure that the concrete structure of Fig. 1 is shown.

Fig. 3 is the figure that the structure of torsional capacity detecting unit is shown.

Fig. 4 is the block diagram that the structure of the functional module of PC main body is shown.

Fig. 5 is the block diagram that the functional structure of the bending control of main handling part is shown.

Fig. 6 A illustrates that the insertion section of endoscope is inserted into the figure of the state of large enteral.

Fig. 6 B is the figure that is illustrated in the image example that can obtain under the state of dark portion at image memory in the situation of Fig. 6 A.

Fig. 7 A illustrates that the insertion section of endoscope is inserted into the figure of the state of large enteral.

Fig. 7 B is the figure that is illustrated in the image example that in the situation of Fig. 7 A, dark portion disappears in image.

Fig. 8 A is the figure that the display case that shows bending direction etc. is shown.

Fig. 8 B is endoscopic images.

Fig. 9 illustrates the figure of bending section towards the bending control action of dark portion direction bending.

Figure 10 is the flow chart that the movement content of the main handling part of the present embodiment is shown.

Figure 11 is the action specification figure that the information of by the moment sequential storage absolute torsional capacity in Circular buffer device and corresponding image internal object position is shown.

Figure 12 is the action specification figure that the information of by the moment sequential storage absolute torsional capacity in Circular buffer device and corresponding endoscope-shape is shown.

Figure 13 is the integrally-built figure that the endoscopic system of the 1st variation of embodiment 1 is shown.

Figure 14 is the integrally-built figure that the endoscopic system of the 2nd variation of embodiment 1 is shown.

Figure 15 is the block diagram that the functional structure of the main handling part in the 2nd variation is shown.

Figure 16 is the flow chart that the movement content of the main handling part in the 2nd variation is shown.

Figure 17 is the integrally-built figure that the endoscopic system of the 3rd variation of embodiment 1 is shown.

Figure 18 is the flow chart that the movement content of the main handling part in the 3rd variation is shown.

Figure 19 is the integrally-built figure that the endoscopic system of the 4th variation of embodiment 1 is shown.

Figure 20 is the figure that the structure of the major part of embodiments of the invention 2 is shown.

Figure 21 is the overall structure figure of the capsule medical system of embodiment 2.

Figure 22 is the more detailed block diagram of the capsule medical system of Figure 21.

Figure 23 is the side illustration figure of capsule body.

Figure 24 illustrates applied rotating excitation field and the concept map of the action of the capsule body that caused by this rotating excitation field.

Figure 25 is the concept map that the action of the oscillating magnetic field (couple produces with magnetic field) that the rotating excitation field of Figure 24 is applied and the capsule body being caused by this oscillating magnetic field (couple produces with magnetic field) is shown.

Figure 26 is the figure that specific location information being recorded in time in record cell etc. is shown.

Figure 27 is the figure that the image example being obtained by the image unit of capsule body is shown.

Figure 28 illustrates the capsule body corresponding with each image in Figure 27 and the figure of tube chamber state.

Figure 29 is the flow chart that the movement content of embodiment 2 is shown.

Figure 30 is the figure that the structure of the major part in the variation of embodiment 2 is shown.

Figure 31 is the flow chart that a part for the movement content of variation is shown.

The specific embodiment

Below, with reference to the accompanying drawings of embodiments of the invention.

Embodiment 1

Fig. 1 to Figure 12 relates to embodiments of the invention 1, Fig. 1 illustrates the overall structure of the endoscopic system of embodiments of the invention 1, Fig. 2 illustrates the concrete structure of Fig. 1, Fig. 3 illustrates the structure of torsional capacity detecting unit, Fig. 4 illustrates the structure of the functional module of PC main body, and Fig. 5 illustrates the functional structure of the bending control of main handling part.

Fig. 6 A, 6B illustrate the image example that the insertion section of endoscope is inserted into the state of large enteral and can obtains under the state of dark portion at image memory in this case, Fig. 7 A, 7B illustrate that the insertion section of endoscope is inserted into the state of large enteral and dark portion disappears in image in this case image example, and Fig. 8 A, 8B illustrate the display case that shows bending direction etc.

Fig. 9 illustrates the bending control action of bending section towards the direction bending of dark portion, Figure 10 illustrates the movement content of the main handling part of the present embodiment, Figure 11 illustrates the information of by the moment sequential storage absolute torsional capacity in Circular buffer device and corresponding image internal object position, and Figure 12 illustrates the information of by the moment sequential storage absolute torsional capacity in Circular buffer device and corresponding endoscope-shape.

As depicted in figs. 1 and 2, the endoscopic system 1 of embodiments of the invention 1 has: endoscope apparatus 6, and it has and carries out endoscopic endoscope 2, light supply apparatus 3, processor 4 and endoscope monitoring device 5; As the personal computer main body of image processing apparatus (following brief note is PC main body) 7 and PC monitor 8, it carries out the image processing for bending control etc. to the endoscopic images of being taken by endoscope 2; And UPD device 11, it has the function as the position detection unit of at least leading section 10 in the insertion section 9 of endoscope 2.

As shown in Figure 1, endoscope 2 has: be inserted into the patient's 13 who lies on examinating couch 12 endoceliac elongated insertion section 9, and be located at the operating portion 14 of its rear end.The processor 4 that carries out the signal processing apparatus of signal processing from the adapter of end and the light supply apparatus 3 of generation illumination light and conduct of the extended general connecting line 15 of this operating portion 14 is connected.

As shown in Figure 2, insertion section 9 has: the leading section 10 that is located at these insertion section 9 front ends; The bending section 18 of free bend; And extend to the flexible flexible portion of having of operating portion 14 19 from the rear end of this bending section 18.

In operating portion 14, be provided with for example stick 21 as bending indication operating unit, it carries out bending indication operation towards the direction of expecting to bending section 18 by operator 20.Then, operator 20, by this stick 21 of operation, can make bending section 18 electricity bending via the motor unit 22 of the bending driver element of conduct electricity that is located at these operating portion 14 inside.

And in the present embodiment, the outer peripheral face of for example rear end side in insertion section 9 is provided with torsional capacity detecting unit 23, to can detect the torsional capacity in the situation that its axle reverses in insertion section 9.

As shown in Figure 2, be penetrated with the light guide 31 that transmits illumination light in insertion section 9, its rear end is connected with light supply apparatus 3 with general connection cable 15 via operating portion 14.Incide the rear end face of this light guide 31 from the illumination light of the light fixture 32 in light supply apparatus 3.Then, the illumination light transmitting by light guide 31 is from being fixed on the guide path front end face the illuminating window of being located at leading section 10, further via injecting to front side with the opposed illuminating lens 33 of this light guide front end face.

Then, utilize the illumination light that injects to the front side of the longitudinal axis of this leading section 10 from illuminating window, the front side of the endoceliac longitudinal axis that is inserted with insertion section 9 is thrown light on.Then, the field of view to object lens shown below 34 or image pickup scope throw light on.

On the observation window (camera window) arranging, the object lens 34 that make the endoceliac optical image imaging that becomes the object of observation are being installed with this illuminating window.Form camera head 36 by these object lens 34 with for example CCD35 of solid-state imager being configured on its image space.

This CCD 35, via the holding wire running through in insertion section 9, is connected with CCD drive circuit 37 and the signal processing circuit 38 of processor 4.CCD drive circuit 37 produces CCD and drives signal, and is applied to CCD 35.Drive applying of signal by CCD, CCD 35 carries out opto-electronic conversion to the optical image being imaged on the shooting face of CCD 35, and exports as ccd output signal or image pickup signal.

This image pickup signal is imported into signal processing circuit 38, and signal processing circuit 38 is carried out signal processing to image pickup signal, generates endoscopic images is presented to the endoscopic images signal (signal of video signal) on endoscope monitoring device 5, such as rgb signal etc.Endoscopic images signal is imported into endoscope monitoring device 5, in the 5a of the endoscopic images viewing area of endoscope monitoring device 5, shows endoscopic images.

In addition, this endoscopic images signal is also imported into the PC main body 7 as image processing apparatus, and processes and be utilized towards the image that moves towards the positional information inserting of body cavity at the front end detecting for making insertion section 9.And, in the endoscope 2 relating at the present embodiment, in insertion section 9, appropriate location for example, from leading section 10 to flexible portion 19, for example dispose as multiple coils (also referred to as UPD coil) 41a, 41b, the 41c etc. of positional information generation unit that produces respectively positional information using predetermined distance, to detect the inserted-shape (also referred to as endoscope-shape) of insertion section 9.

Then,, by detecting each coil position of these UPD coils 41a, 41b, 41c etc., can calculate the inserted-shape of insertion section 9.Particularly, for example, by detecting each position of multiple UPD coils (41a, 41b, 41c) of front of insertion section 9, except the front position of insertion section 9, can also detect its longitudinal axis direction (towards).

In addition, the example in the insertion section 9 that is configured in endoscope 2 shown in Figure 2, but can in not shown passage, insert the probe that is provided with UPD coil 41a, 41b, 41c etc., be inserted with the SHAPE DETECTION of the insertion section of this probe.

The cable of the rear end side of this UPD coil 41a, 41b, 41c etc. is connected with UPD device 11.

As shown in Figure 2, this UPD device 11 has UPD drive circuit 42, and this UPD drive circuit 42 drives UPD coil 41a, 41b, 41c etc. to produce magnetic field.

And this UPD device 11 has the sensor coil portion 43 that magnetic field detection is used, this sensor coil portion 43 is made up of the multiple sensor coil 43a, 43b, the 43c etc. that configure with the position relationship of regulation respectively in order to detect magnetic field.

And this UPD device 11 has: UPD coil position testing circuit 44, it detects the position of (calculating) each UPD coil 41a, 41b, 41c etc. according to the detection signal of sensor coil 43a, 43b, the 43c etc. of formation sensor coil portion 43; Inserted-shape calculates and display process circuit 45, and it is according to the positional information of each UPD coil 41a, 41b, 41c etc., carries out the computing of inserted-shape and the display process of the inserted-shape that calculates of insertion section 9; And shape display monitor 46, its signal of video signal being generated by display process by input shows inserted-shape.

In addition, in UPD device 11, at least sensor coil portion 43 is configured near of the examinating couch 12 of Fig. 1, use and cover the coordinate system (being called world coordinate system) that lies in the 3D region that is inserted with insertion section 9 in patient 13 on examinating couch 12, detect the position of UPD coil 41a, 41b, 41c etc., i.e. three-dimensional coordinate position in world coordinate system.

On the other hand, the endoscopic images being obtained by the camera head 36 that is located at leading section 10 follow insertion section 9 in body cavity (be below the such tube chamber of large intestine in) insertion and change.

Therefore, as described later, the positional information of the intraluminal dark portion (also referred to as the dark portion of tube chamber) of detecting according to endoscopic images is converted into world coordinate system.In addition, because the positional information of this dark portion is corresponding to the trend of tube chamber, thereby this positional information becomes the target location that insertion section front end should be inserted to (importings) to the target location of the deep side of tube chamber or answer bending bending direction.

In addition, the direction of observation of camera head 36 that is located at leading section 10 is parallel with the longitudinal axis of insertion section 9 in this endoscope 2, and above-mentioned direction of insertion or bending direction are in the direction identical with the direction of observation of camera head 36.

The information of the UPD coil 41a being detected by the such as UPD coil position testing circuit 44 in UPD device 11, the coil coordinate position of 41b, 41c etc. is also imported into PC main body 7.

As Fig. 2 is schematically shown, bending section 18 is configured at its length direction multiple bend arms is connected freely to rotate.And, in insertion section 9, be inserted with bent metal wire 51u, 51d, 51l, 51r along bending direction upper and lower, left and right.And the rear end of these bent metal wire 51u, 51d, 51l, 51r is connected with pulley 52a, 52b that for example formation is configured in the motor unit 22 in operating portion 14.(in addition,, in Fig. 2, bent metal wire 51l, 51r only illustrate rear end side.)

In operating portion 14, be provided with pulley 52a and pulley 52b, pulley 52a is upper to be wound around and (package) is installed has the metal wire being connected with the two ends of upper and lower each bent metal wire 51u, 51d, and the upper winding of pulley 52b is provided with the metal wire being connected with the two ends of each bent metal wire 51l, the 51r of left and right.

Each pulley 52a, 52b are connected with the rotating shaft of motor 53a, 53b respectively, and rotate along with the direction of rotation of the motor 53a, the 53b that freely rotate and reverse.These motor 53a, 53b are driven by Motor Drive portion 55, and Motor Drive portion 55 controls driving by drive control part 54.

And, formed so bending driver: this bend actuator, by utilizing motor 53a, 53b to make pulley 52a, 52b rotation, carries out the bending driving of electricity via bent metal wire 51u, 51d, 51l, 51r to bending section 18.

Because the amount of bow of bending section 18 is corresponding to the rotation amount that makes pulley 52a, 52b rotation via motor 53a, 53b, thereby the rotation amount of pulley 52a, 52b is called to pulley angle (pulley angle).

The activation point of bending driver is detected by rotary encoder 56a, 56b on the rotating shaft that is for example arranged on motor 53a, 53b as drive location detecting unit.The detection signal of rotary encoder 56a, 56b is imported into for example Motor Drive portion 55 and (being imported into by Motor Drive portion 55) drive control part 54.

Can detect according to the detection signal of rotary encoder 56a, 56b the amount of bow (angle of bend) of bending section 18.

Drive control part 54 can be according to the detection signal of this drive location detecting unit, control the rotary actuation amount (being equivalent to the pulley angle of pulley 52a, 52b) of motor 53a, 53b by Motor Drive portion 55, and can make bending section 18 bend to the amount of bow of having carried out bending indication.

That is, as mentioned above, utilize the stick 21 of the bending indication of the conduct operating unit being located on operating portion 14 to indicate up and down, any bending direction of left and right, and the instruction of this bending operation amount (angle of bend) is provided.

The appointment of bending direction and the instruction of bending operation amount upper and lower by carrying out, left and right, above-below direction stick motor 57a and left and right directions stick motor 57b rotation.This rotation amount is that bending operation amount is detected by rotary encoder 58a, 58b.The detection signal of rotary encoder 58a, 58b is imported into drive control part 54.

Then, drive control part 54 is controlled the rotary actuation amount of motor 53a, 53b by Motor Drive portion 55, to reach the value consistent with the bending operation amount being detected by rotary encoder 58a, 58b.

In addition, above-below direction stick motor 57a and left and right directions stick motor 57b, its rotary actuation has the drive control part 54 of the detection signal of rotary encoder 58a, 58b to control by input.

And in the present embodiment, this drive control part 54 is connected with PC main body 7, and can control according to carry out bending from the bending control information (or bending information) of PC main body 7 sides.

And the torsional capacity detecting unit 23 that detects the torsional capacity of insertion section 9 is example structures as shown in Figure 3.

As shown in Figure 3, torsional capacity detecting unit 23 has: the housing 61 of for example drum; Remain the 1 pair of bearing 62,62 rotating freely along the central shaft arrangement of housing 61 and by insertion section 9; And the sensor 63 (sensor 63 is the general names of the label 63a～63h in Fig. 3) of the torsional capacity of detection insertion section 9.

In housing 61, be provided with the through hole (through hole) running through for insertion section 9, in this through hole, be equipped with insertion section 9 is supported for to the 1 pair of bearing 62,62 rotating freely.And, in this housing 61, have: form light emitting diode (brief note the is LED) 63a of sensor 63, lens 63b, slit plectane 63c, fixed slit 63d, photodiode (brief note is PD) 63e, 63f, comparison circuit 63g, and enumerator 63h.

In housing 61, be fixed with LED 63a, this LED 63a along the direction parallel with the axle of housing 61, insertion section 9 axially send light.In the light path of this LED 63a, be equipped with lens 63b, these lens 63b assembles incident illumination and becomes for example parallel light beam.

In light path, be equipped with slit plectane 63c by these lens 63b, and this slit plectane 63c is arranged on the outer peripheral face of insertion section 9.

In the circumferential end side part of this slit plectane 63c, be formed with multiple slits that are radial formation with predetermined angular unit.Rear side at this slit plectane 63c is equipped with fixed slit 63d.

Be equipped with 1 couple of PD 63e, 63f at the rear side of this fixed slit 63d.In addition, in fixed slit 63d, be provided with substantially in parallel 4 slits so that transmission be formed on for example 4 slits on slit plectane 63c each light pass through respectively.Then, transmission the light of these 4 slits detected by PD 63e.

In addition, to be adjacent to these 4 slits and to be provided with 4 slits with the opposed mode of light shielding part of slit plectane 63c, transmission the light of these 4 slits detected by PD 63f.

The detection signal of PD 63e and 63f is imported into comparison circuit 63g.

Comparison circuit 63g compares the detection signal of PD 63e and the threshold value of the detection signal based on PD 63f.Then, for example in the case of the detection signal of PD 63e be more than threshold value, comparison circuit 63g output high (H) or 1 binary signal, being below threshold value in the situation that, export the binary signal of low (L) or 0.

Counter circuit 63h counts the output signal of comparison circuit 63g, calculates the relative torsion amount of the insertion section 9 being represented by the blank arrow in Fig. 3.In addition, also can only calculate the relative torsion amount of insertion section 9 with the detection signal of PD 63e side.

The relative torsion amount being calculated by this counter circuit 63h is imported into PC main body 7.As shown in Figure 2, PC main body 7 has as described later with inferior: CPU 71, and it detects the image processing of dark portion, and carries out the image processing of bending control corresponding to situation about disappearing with dark portion; For example hard disk (brief note for HDD) 72, it stores the program etc. of this image processing; Memorizer 73, it is as scratchpad area (SPA) or the working area of data; Interface portion (brief note for IF portion) 74, it becomes the interface of input endoscopic images signal etc. or the control information of output amount of bow; And as for example Circular buffer device 75 of record cell, the information of the front end state of the insertion section 9 that its stored energy recreates the past.

In HDD 72, store program of the processing that CPU 71 carries out etc., CPU 71 is by read in this program via HDD interface 72a, thereby has the processing corresponding with the disappearance of above-mentioned dark portion, the i.e. function of the main handling part 80 shown in Fig. 4.

And as shown in Figure 2, the main line being connected with CPU 71 grades is connected with PC monitor 8 via video processing circuits 76, and is connected with keyboard 77 via keyboard interface 77a.

Operator 20 can carry out data input and various indication operation to CPU 71 from this keyboard 77.And, for this CPU 71, can carry out such indication from the switch 78 being for example located in the operating portion 14 of endoscope 2: manually boot bending control corresponding to situation disappearing with dim spot.In addition, as this switch 78, can be formed by the mirror body switch (Scope Switch) being widely used as for the indicator cock of processor 4 grades.And, be not limited to carry out this indication from switch 78, can also carry out this indication from keyboard 77 grades.

As shown in Figure 4, the endoscopic images signal of exporting from signal processing circuit 38 is obtained interface 74a via (as the image input part) endoscopic images that forms interface portion 74, is stored as the view data of having carried out the endoscopic images after A/D conversion in the view data storage part 73a of for example memorizer 73 as data record unit.In addition, memorizer 73 be can replace and HDD 72 or not shown non-volatile flash memory etc. used.

And, the information of the UPD coil 41a being detected by UPD device 11, the coil coordinate position of 41b, 41c etc. is via coil coordinate position obtaining section interface 74b, in the endoscope-shape Parameter storage 73b of portion of memorizer 73, be stored as endoscope-shape parameter, specifically, be the data of storage coil coordinate position, coil direction (information of coil direction can be substituted by multiple coil coordinate positions).In addition, as endoscope-shape parameter, mainly can be divided into the parameter of front end shape of insertion section 9 and the parameter of the twist angle of insertion section 9 etc., thereby illustrate by front end shape and twist angle etc. in action case (Figure 10).

And for the relative twist angle being detected by twist angle detecting unit 23, it is obtained interface portion 74c via twist angle and is stored in for example endoscope-shape Parameter storage 73b of portion in memorizer 73.

And the amount of bow parameter of the motor unit 22 of this endoscope 2 is stored in (the 1st) amount of bow Parameter storage 73c of portion of memorizer 73 via the amount of bow control interface 74d of portion from the drive control part 54 of endoscope 2.

The main handling part 80 of CPU 71 is in predefined each moment, with each moment synchronously by above-mentioned view data, endoscope-shape parameter and amount of bow Parameter storage in memorizer 73.

Then, main handling part 80 carries out the processing shown in Fig. 5 to these view data, endoscope-shape parameter and amount of bow parameter, and is stored in successively in Circular buffer device 75.Fig. 5 illustrates the functional structure of main handling part 80.

As shown in Figure 5, main handling part 80 has the function as the function of the image internal object position detection part 81 of position detection unit and estimation portion 82 and absolute torsional capacity calculating part 83, image internal object position detection part 81 detects the target location (1) as positional information according to the tube chamber information in endoscopic images, front position and the direction of insertion section 9 calculated by estimation portion 82 according to coil coordinate position (multiple), definitely torsional capacity calculating part 83 calculates absolute torsional capacity according to relative torsion amount.

Image internal object position detection part 81, according to endoscopic images, detects the center (or position of centre of gravity) of the dark portion of the trend that is equivalent to tube chamber in endoscopic images for positional information.

And, for the dark portion position detecting according to endoscopic images, considered the value of Pixel Dimensions, the focal length etc. of CCD 35.Then, according to the information of the dark portion position of the front position for insertion section 9 in this moment, this direction is detected to the direction of insertion for insertion section front end.And, for the two-dimensional position information of this dark portion, can use the value that for example calculates from shape from shading (Shape From Shading) method the depth direction that also comprises this dark portion at interior three-dimensional position.Then, this three dimensional local information becomes the target location (1) of the front end of answering directed and importing insertion section 9.

In addition, the target location (1) being detected by image internal object position detection part 81 is by coordinate system converter section 81 ' the be converted to target location (1 ') of world coordinate system.

Target location (1 '), (insertion section 9) front position and direction and the definitely information of torsional capacity are stored in Circular buffer device 75 by moment order (in time) via target location management department 84, and this target location management department 84 is to managing for the target location using in bending control.

As shown in Figure 5, in this Circular buffer device 75, each information of target location (1 '), front position, direction and absolute torsional capacity is stored explicitly by moment order.

In Fig. 5, each information of the target location (1 '), front position, direction and the absolute torsional capacity that detect (calculating) at moment tn is set as respectively after target location (tn), front position, direction (tn) and absolute torsional capacity (tn), and these information are stored in the memory element of information of storage moment tn.

Equally, the information of the previous moment tn-1 of this moment tn is stored in and stores in the memory element of information of storage moment tn-1 of memory element adjacency of information of moment tn.Moment tn-2 etc. is stored too.In addition, in the situation that having read target location (1 ') from Circular buffer device 75, this 1 target location is recited as to target location (2).And because Circular buffer device 75 is formed by for example m memory element, thereby the information of for example target location (t1) of for example storing in the time of moment t1 utilizes the information of the target location (tm+1) of moment tm+1 to upgrade.Other information are also identical.

And the front position of insertion section 9, direction and definitely torsional capacity are imported into that (direction calculating unit of the information of output direction of insertion, more particularly) as the amount of bow calculation of parameter portion 85 of bending information computing unit.And target location (1 ') and the target location (2) of reading from Circular buffer device 75 are imported into this amount of bow calculation of parameter portion 85 via target location switching part 86.Amount of bow parameter is calculated in the target location that amount of bow calculation of parameter portion 85 use are inputted via target location switching part 86, and amount of bow parameter is outputed to (the 2nd) amount of bow Parameter storage 73d of portion of the memorizer 73 of Fig. 4.

In this case, the absolute torsional capacity that amount of bow calculation of parameter portion 85 use are calculated by torsional capacity calculating part 83 is eliminated the impact in the case of reversing from current time to the moment of tracing back to the past, carries out the good bending direction that comprises of precision and calculates in interior amount of bow.

And amount of bow calculation of parameter portion 85, by the front position of insertion section 9 and the information of direction with reference to being estimated by estimation portion 82, is calculated thereby carry out the amount of bow that precision is high.

And as shown in Figure 5, main handling part 80 also carries out such determination processing: image internal object position detection part 81 whether according to the condition setting, there is the condition of dark portion, detect target location according to endoscopic images.

Specifically, main handling part 80 has the function that is determined with the dark portion detection unit 87 of the dark portion of nothing according to endoscopic images, as the concrete processing being determined with without this dark portion, for example, carries out tone judgement, edge judgement (or gradient judgement).

Dark portion detection unit 87, judge to be determined with without dark portion from tone in the situation that, calculates the tone meansigma methods of the rgb signal entirety corresponding with endoscopic images.And, in the case of exceeding the red tone of threshold value in tone meansigma methods described in this, be judged to be without dark portion, wherein, described threshold determination does not have the state of dark portion.

Or can judge by the XYZ chromaticity coordinate, the R/G value etc. that calculate according to rgb signal.

Fig. 6 (A) is illustrated under the state that insertion section 9 is inserted into large enteral, detects the example of the insertion state of dark portion.The endoscopic images obtaining the in the situation that of this insertion state, as shown in Fig. 6 (B), detects dark portion.

On the other hand, Fig. 7 (A) illustrates the example of the insertion state that does not detect dark portion, and the endoscopic images in the situation that of this insertion state, as shown in Fig. 7 (B), does not detect dark portion.The in the situation that of this insertion state, because endoscopic images entirety becomes red tone, thereby can judge this insertion state according to tone meansigma methods.In addition, as shown in Fig. 7 (B), because endoscopic images entirety becomes red tone, thereby be called the image of carbuncle state.

And, in the situation that being determined with without dark portion, can replace the tone meansigma methods that uses endoscopic images entirety, and edge or the gradient of utilizing for example known Sobel (Sobel) wave filter to calculate endoscopic images are judged.This Sobel wave filter is the wave filter of Edge detected, can be configured to: according to the aggregate value of the Grad in situation in endoscopic images entirety, that applied Sobel wave filter, be determined with without dark portion.

In the situation that dark portion disappears, due to for intraluminal mucomembranous surface, make endoscope distal end be bordering on the shooting that approaches image under vertical state, thereby (comparing with the situation that dark portion does not disappear), the aggregate value of Grad reduces.Therefore, by whether the aggregate value of Grad is less than to certain threshold value compare, can have or not the judgement of dark portion.

Dark portion detection unit 87 is in the situation that being judged to be dark portion, as shown in Figure 5, in target location, the information of (1 ') is imported into the state of amount of bow calculation of parameter portion 85, but, in the situation that being judged to be without dark portion, carry out the switching of target location switching part 86, be imported into amount of bow calculation of parameter portion 85 from the information of Circular buffer device 75 sides, corresponding with the moment of tracing back to the past from current time target locations (2) via target location management department 84.

In addition, in this case, processing in Figure 10 is such as described later, and target location management department 84 also carries out such determination processing: fall back in time and whether the information of the target location (2) of reading from Circular buffer device 75 is appropriate as the target location using bending control.Then, controlling (from the selection of the target location (2) of Circular buffer device 75) is to make to be imported into amount of bow calculation of parameter portion 85 as the appropriate information in target location.

By there is as mentioned above the situation of dark portion in the image based on dark portion detection unit 87 is processed, as the condition of carrying out the action of detection position information according to the dark portion in image.

Then, as mentioned above, as the situation that dark portion disappears, be the image not satisfying condition in the case of being judged to be, the positional information that does not carry out dark portion in this image detects, and utilizes the past information that has dark portion.Thus, can guarantee the accuracy of detection of positional information.

And, when by operator 20 during to for example operation of the switch 78 manual indication of having carried out disappearing suitable with dark portion, above-mentioned main handling part 80 is read the information of the target location (2) in the past of reviewing from current time from Circular buffer device 75 via target location management department 84.

Then, main handling part 80 calculates and makes the front end of current insertion section 9 carry out bending amount of bow parameter (pulley angle) in the mode of the direction of past pointing target location (2).

Like this, the amount of bow calculation of parameter portion 85 of main handling part 80 carries out the Check processing of the target location (1 ') in world coordinate system, calculates the amount of bow parameter that makes leading section 10 point to this target location (1 ').Then, by amount of bow Parameter storage in the amount of bow Parameter storage 74d of portion of the memorizer 73 of Fig. 4.

This amount of bow parameter is that pulley 52a, the 52b rotation amount for the rotation amount of motor 53a, the 53b of motor unit 22 is pulley angle, namely only makes the target pulley angle of pulley 52a, 52b rolling target rotation amount.

This target pulley angle for example can be used the absolute angle that bends to target pulley angle from neutral condition (unbending state) to detect, and also can detect with the relative angle that the pulley angle from current time relatively bends to target pulley angle.

And, be stored in amount of bow parameter in this memorizer 73 as bending control information, be sent to the drive control part 54 of endoscope 2 via amount of bow control interface 74d.Then, for bending control.

Drive control part 54 makes motor 53a, the 53b rotation of motor unit 22, makes the state of pulley angle in target pulley angle.

And this amount of bow parameter is for example output to PC monitor 8 via video processing circuits 76, shows bending direction and amount of bow in the display frame of this PC monitor 8.Fig. 8 (A) illustrates the display case of this situation.

The display case of Fig. 8 (A) is in the display frame of the bending direction (brief note is U, D, L, R) of upper and lower, the left and right of bending section 18, for example, carry out display case as made stick 21 bend to the bending direction of state and the size of this amount of bow in above-mentioned target pulley angle with arrow.Here, represent the size of amount of bow by the length of arrow, but also can represent amount of bow with numerical value.

In the present embodiment, owing to thering is motor unit 22, thereby the example that also drives stick 21 is described, but in the case of not thering is the manual bending of motor unit 22 (aftermentioned), bending operation direction and the bending operation amount thereof that should operate the bending operation knob for carrying out manual bending can be presented to the PC monitor 8 as display unit.

In addition, be not limited to show the example of the bending information of bending direction and amount of bow in the display frame of PC monitor 8, amount of bow parameter can be outputed to for example processor 4, and be presented on endoscope monitoring device 5.Fig. 8 (B) illustrates the display case of this situation.In the display case of Fig. 8 (B), for example, in endoscopic images, show bending direction and amount of bow.In addition, can only show bending direction.And, can show bending direction etc. in the outside of endoscopic images.

As mentioned above, drive control part 54 is according to the amount of bow parameter sending via amount of bow control interface 74d, and drive motor 53a, 53b rotate to realize this driving control, and drive pulley 52a, 52b are to target pulley angle.

Thus, bending section 18 bendings, the front end of insertion section 9 is for example bent and is controlled to as shown in Figure 9: the direction Db of the front extreme direction Da of the insertion section 9 being estimated by main handling part 80 and the dark portion calculating (moving towards corresponding target location with tube chamber) is consistent.The in the situation that of Fig. 9, be bent and be controlled to that to make both sides' angle θ be 0.

In other words, the present embodiment detects such both direction Da, Db, and carries out the bending control as the motor unit 22 of the bending driving mechanism of electrodynamic type, so that the direction Da of front end is consistent with the direction Db of dark portion.

Owing to carrying out so bending control to make the front end of insertion section 9 towards the direction Db of dark portion, thereby operator 20 is by being for example pressed into the operation of insertion section 9, insertion section 9 successfully can be inserted into endoceliac deep side.

And as mentioned above, this main handling part 80 can also, according to the manual indication of operator 20, carry out the control processing of bending direction.

In this case, according to the manual indication of operator, switch as shown in Figure 5 target location switching part 86.,, with the same according to be judged to be to switch target location switching part 86 without the signal of dark portion by image processing, can also switch target location switching part 86 according to the index signal being designated as by manual indication without dark portion.

Like this, the present embodiment, except being determined with the dark portion of nothing to carry out bending control by image processing, according to the manual indication of operator 20, the in the situation that of disappearance, also can carry out bending and control so that bending section 18 points to the trend of tube chamber in dark portion.

The contents processing of the main handling part 80 of the present embodiment is described with reference to Figure 10 below.Figure 10 uses and automatically carries out bending situation about controlling according to processing result image and be illustrated.

In the time that action starts, carry out the processing of the initial setting of step S1.By the processing of this initial setting, main handling part 80 carries out the processing such as the removing of storage content of Circular buffer device 75 and the setting of the interval stored to Circular buffer device 75.

In next step S2, main handling part 80 is obtained the UPD coil 41a being detected by UPD coil device 11, the coil co-ordinate position information of 41b, 41c etc.Then,, in step S3, front position and the direction of current insertion section 9 are calculated according to the coil co-ordinate position information of this UPD coil 41a, 41b, 41c etc. by the estimation portion 82 of the Fig. 5 in main handling part 80.The front end shape information (pose information) of the front position in this situation and direction is also recited as to front end shape information (1).

In next step S4, main handling part 80 is obtained relative torsion amount.Then,, in next step S5, absolute torsional capacity calculating part 83 calculated example of main handling part 80 are as being set as the relative torsion amount of initial value the current absolute torsional capacity in 0 situation.

According to this absolute torsional capacity, calculation correction front position and the direction after the front end shape information (1) of described front position and direction.The front end shape information of this situation is set as to front end shape information (2), and (even if carry out twist operation before this moment, this front end shape information (2) is also absolute front position and the directional information that is not subject to this torsion effect.)。

In next step S6, main handling part 80 is obtained the view data of endoscopic images.Then, in step S7, the image internal object position detection part 81 of main handling part 80 detects the dark portion of tube chamber, and detects for making the front end (by the bending of bending section 18) of insertion section 9 point to the target location (1) of this dark portion direction.

In next step S8, the coordinate system converter section 81 of main handling part 80 ' this target location (1) the is converted to three-dimensional position of the world coordinate system the coil coordinate position in the case of calculating UPD coil 41a, 41b, 41c etc.

Then,, in next step S9, main handling part 80 is stored in the target location of this world coordinate system (1 ') and front end shape information (1) in Circular buffer device 75.Fig. 5 illustrates these information that are stored in Circular buffer device 75.In addition, in the time that this moment is set as to tn, front end shape information (1) is equivalent to front position, direction (tn) and absolute torsional capacity (tn) in the example of Fig. 5.

In next step S10, main handling part 80 is judged the appropriate property of target location (1 ').In this case, the dark portion detection unit 87 of main handling part 80 is determined with without dark portion according to the tone of endoscopic images etc.

In this case, in the situation that having dark portion, be judged to be target location (1 ') and meet specified accuracy, be i.e. appropriate (OK), in the situation that being judged to be without dark portion, be judged to be target location (1 ') imappropriate (NG).Then,, being judged to be target location (1 ') appropriate in the situation that, move on to next step S11.

In this step S11, main handling part 80 determines the bending direction of for example target location based on current (1 ') and front end shape information (1).And in step S12, main handling part 80 determines pulley angle according to front end shape information (2) (, initial value being set as to the current absolute torsional capacity in 0 situation).In addition, step S11 and step S12 can be merged and carry out in 1 processing.

In next step S13, this determined pulley angle is updated to target pulley angle by main handling part 80.

And, in step S14, carry out the demonstration of bending direction shown in information or the Fig. 8 at this target pulley angle etc.

Afterwards, get back to step S2, for repeating same treatment in the obtained coil coordinate position of next current time, torsional capacity, view data.

On the other hand, in step S10, be judged to be, in the ill-considered situation in target location (1 '), to move on to step S15.In this step S15, main handling part 80 is obtained target location (2) and front end shape information (2) from Circular buffer device 75.

In next step S16, for from the obtained target location of Circular buffer device 75 (2) and front end shape information (2), carried out the appropriate sex determination of the information of this target location (2) by target location management department 84., judge whether target location (2) suitably comprises dark portion and whether meet and can serve as precision and the condition of target location for bending control.

Be judged to be by target location management department 84 can not be as the target location in the situation that, obtain the information in the moment more shifting to an earlier date than (from the nearest moment in past of the current time) information of reading in previous moment from Circular buffer device 75.Then, carried out equally the appropriate sex determination of the information of target location (2) by target location management department 84.

In the situation that being judged to be to be used as target location, in step S17, carry out this target location (2) resetting as target location.After this resets, move on to step S11.Then, carrying out bending according to this target location controls.

In addition, make main handling part 80 move by manual indication in the situation that, the appropriate property judgement of the target location (1 ') of the step S10 in Figure 10 becomes the manual indication of operator 20.Then, in the time manually indicating, enter step S11, otherwise, in the time having carried out the manual indication of dark portion disappearance, move on to step S15.Figure 11 and Figure 12 are illustrated in the action specification figure in the situation of having been undertaken moving by manual indication.

Figure 11 illustrates the absolute torsional capacity being calculated by absolute torsional capacity calculating part 83 at moment tn, tn-1, tn-2, tn-3 in Circular buffer device 75 and the summary of image internal object position.

And Figure 12 illustrates the absolute torsional capacity being calculated by absolute torsional capacity calculating part 83 shown in Figure 11 and the summary of endoscope-shape and target location.At moment tn-3, near the detected image internal object position central authorities of endoscopic images.

Afterwards, when carried out being only pressed into the operation of rear end side of insertion section 9 for the front of insertion section 9 is inserted into intraluminal deep side, at moment tn-2, tn-1 subsequently, image internal object position changes to end near the central authorities of endoscopic images.

Then,, in the time further having carried out insertion section 9 to be pressed into the operation of intraluminal deep side, at moment tn, image internal object position disappears.In this state in the situation that, in the time that operator 20 console switch 78 grades have been carried out the manual indication of dark portion disappearance to main handling part 80, main handling part 80 is read the information such as the target location of moment tn-1 or tn-2 etc. from Circular buffer device 75, and calculating makes the bending direction of bending section 18 bendings etc.

And, can carry out bending via drive control part 54 and control, also can on PC monitor 8, show bending direction etc., and make stick 21 towards shown bending direction bending by operator 20.

Like this, in the case of the action pattern of manually indication, also can detect and the absolute torsional capacity of the insertion section 9 in the moment of being stored in over, thereby reverse in insertion section 9 in the situation that, also can precision get back to well the image state that detects dark portion midway.

Like this, according to the present embodiment, insertion section 9 is being inserted in the endoceliac situations such as large enteral, detect dark portion according to the endoscopic images being obtained by the image unit of front end that is located at insertion section 9, bending section 18 is carried out to bending control so that the front end direct detection of insertion section 9 goes out the direction of this dark portion.Therefore, insertion section 9 successfully can be inserted into endoceliac deep side.And operator 20 can successfully carry out splanchnoscopy.

And, according to the PC main body 7 of the image processing apparatus relating to as the present embodiment, by making this PC main body 7 be connected to be taken into endoscopic images etc. with endoscope apparatus 6, the image processing that can detect according to the dark portion for endoscopic images, carries out the front end of insertion section 9 to be inserted into detection and bending control of the direction etc. of endoceliac deep side.

In addition, this PC main body 7 has roughly the same effect in the 1st～4th following variation.

(the 1st variation)

The following describes the 1st variation of embodiment 1.Figure 13 illustrates the structure of the endoscopic system 1B of the 1st variation.

The 1st variation is the endoscopic system 1B in embodiment 1 without motor unit 22.Therefore, the 2B of endoscope that the 1st variation relates to, in the endoscope 2 of Fig. 1, is provided with the bending operation knob 21B (structure of this part more specifically illustrates in Figure 14 described later) being connected with the rotating shaft of pulley 52a, the 52b shown in Fig. 2 in operating portion 14.And operator 20, by this bending operation knob 21B is carried out to rotating operation, can make bending section 18 towards any direction bending upper and lower, left and right.

In the 1st variation, owing to not thering is motor unit 22, thereby do not carry out in embodiment 1 for motor unit 22 being carried out to the processing of electric drive control.Then,, in the 1st variation, PC main body 7, the i.e. bending control information of main handling part 80 are not output to the 2B of endoscope that adopts manual bending.This bending control information is output to PC monitor 8 or (being output to via signal processing circuit 38 as required) endoscope monitoring device 5.

Then, on PC monitor 8 or endoscope monitoring device 5, show direction and the amount of bow etc. (can only show bending direction) that should make bending operation knob 21B bending.As the display case of this situation, show the samely with the demonstration of described Fig. 8.But, this variation shows direction and the amount of bow that should make bending operation knob 21B bending.

In this variation, owing to detecting dark portion according to endoscopic images, and demonstration should make direction and the amount of bow of bending operation knob 21B bending, thereby operator 20 is by making like that bending operation knob 21B bending according to shown, insertion section 9 successfully can be inserted to (importing) to endoceliac deep side.

And this variation also can be widely used in the 2B of endoscope without motor unit 22.

(the 2nd variation)

The following describes the 2nd variation of embodiment 1.Figure 14 illustrates the structure of the endoscopic system 1C of the 2nd variation.

The 2nd variation is the structure further in the endoscopic system 1B of the 1st variation without UPD device 11.And, the 2C of endoscope that the 2nd variation relates to be in the 2B of endoscope relating in the 1st variation, further in insertion section 9, be not provided with UPD coil 41a, 41b, 41c ... structure.

And PC main body 7 is structures identical with the 1st variation.In addition, the in the situation that of Figure 14, bending control information is outputed to PC monitor 8 by PC main body 7, also outputs to the signal processing circuit 38 of endoscope apparatus 6 simultaneously, in the either party of PC monitor 8 and endoscope monitoring device 5, can show bending control information.In addition, the same with the situation of the 1st variation, the bending control information in this situation can be according to for example showing as shown in Figure 8.

And, the in the situation that of this variation, do not carry out the detection of the coil coordinate position of UPD coil 41a, 41b, 41c etc.Therefore, the main handling part 80C of PC main body 7 has example processing capacity as shown in figure 15.

Processing capacity shown in Figure 15 be in the processing capacity of Fig. 5, do not have the function of estimation portion 82 and coordinate system converter section 81 ' function.And as mentioned above, bending control information and the amount of bow parameter being calculated by amount of bow calculation of parameter portion 85 in Figure 15 are output to PC monitor 8 and signal processing circuit 38.

And Figure 16 illustrates the treatment step of the main handling part 80C in the situation of this variation.Treatment step shown in Figure 16 is the part processing after treatment of having omitted in the treatment step in Figure 10.Specifically, do not carry out the detection of the coil coordinate position of above-mentioned UPD coil 41a in Figure 10,41b, 41c etc.And, do not carry out the conversion process to world coordinate system yet.Therefore, the contents processing of Figure 16 is described with reference to the processing of Figure 10.

Carry out after the processing of initial setting of initial step S1 the same with Figure 10, the processing of not carrying out step S2, the S3 of Figure 10 just carry out step S4 relative torsion amount obtain processing.Then, from the detection of the dark portion of tube chamber that calculates step S7 of the absolute torsional capacity of step S5 the same with Figure 10 carry out.

After step S7, do not carry out the conversion process to world coordinate system of the step S8 of Figure 10, and carry out the storage to Circular buffer device of the target location (1) of step S9 ' and front end shape information (2).In this case, do not become the target location (1 ') in Figure 10 and become target location (1).

In next step S10 ', carry out the appropriate sex determination of this target location (1).Then, appropriate (OK) at the appropriate sex determination of this target location (1), in step S11 ', according to this target location (1), also carry out torsional capacity correction (in other words using front end shape information (2)) and carry out the decision at pulley angle.

Then, in step S13, this pulley angle is updated to target pulley angle, and carries out the demonstration of the bending direction of step S14, get back to afterwards step S4.In addition, the pulley angle in this situation and target pulley angle be due to the amount of bow corresponding to bending operation knob and bending direction, thereby can change to amount of bow and the bending direction of bending operation knob.

On the other hand, in step S10 ', the appropriate sex determination of target location (1) is in the situation of improper (NG), moves on to step S15.Processing from the information that obtains from Circular buffer device of step S15 is identical with the situation of Figure 10 to the processing that resets target location of step S17, and the description thereof will be omitted.

This variation can also be applied to the situation of the 2C of endoscope without UPD coil 41a, 41b, 41c etc., and the in the situation that of disappearance in dark portion, the information that uses dark portion in the past to exist, shows the bending information of controlling of wanting in this dark portion in the direction existing.Therefore, operator 20 carrys out bending operation according to the information of bending control, thereby insertion section 9 successfully can be inserted into endoceliac deep side.

And, even if this variation does not have the endoscope apparatus of the 2C of endoscope of UPD coil 41a, 41b, 41c etc. as mentioned above in the case of using, also can realize by the processing unit that PC main body 7 is set.And, owing to also not needing UPD device 11, thereby can realize the endoscopic system 1C successfully inserting with low cost.

(the 3rd variation)

The 3rd variation of embodiment 1 is described below with reference to Figure 17.The endoscopic system 1D of the 3rd variation shown in Figure 17 is the structure further in the endoscopic system 1B of the 1st variation without torsional capacity detecting unit 23.

In this case, use the 2B of endoscope using in Figure 13 of the 1st variation is shown.But, in this variation, be the structure that does not use torsional capacity detecting unit 23.Therefore the relative torsion amount that, this variation is not carried out the torsional capacity detecting unit 23 in embodiment 1 for example detects.The processing of this variation as shown in figure 18.

Processing shown in Figure 18 is essentially the processing after the part of the processing of having omitted Figure 10, thereby illustrates with reference to the processing of Figure 10.

As shown in figure 18, be the processing identical with the situation of Figure 10 from initial step S1 to step S3.After step S3, omit the step S4 of Figure 10 and S5 and carry out the processing that obtains view data of step S6.The relative torsion amount of, not carrying out the step S4 of torsional capacity detecting unit 23 is calculated and the processing of calculating the step S5 of absolute torsional capacity for this relative torsion amount.

After above-mentioned steps S6, carry out the processing of step S7 and step S8 the samely with Figure 10.

Then,, in next step S9 ', carry out the processing to the storage of Circular buffer device of target location (1 ') and front end shape information (1).In this case, replace the front end shape information (2) in Figure 10 and use front end shape information (1).

Then, the same with the situation of Figure 10, in next step S10, judge the appropriate property of target location (1 ').Then, appropriate in the situation that, carry out step S11 the same as Figure 10.In next step S12 ', determine pulley angle according to the result of step S11, and in step S13, carry out the renewal at target pulley angle.Then,, after the processing of the demonstration bending direction of next step S14, get back to step S2.

And, carry out the later processing of step S15 for the ill-considered situation in target location (1 ') in step S10 the samely with Figure 10.

According to this variation, even the in the situation that of disappearance in dark portion, also before reading out in this disappearance and occurring, there is the information of the endoscopic images of state of dark portion and front position, direction, detect and make bending section 18 bend to the direction of the target location corresponding with the direction of dark portion, and show this information.

Therefore, the in the situation that of this variation, even under the state of dark portion evanescence, the update that operator 20 also can be well on.

(the 4th variation)

The 4th variation of embodiment 1 is described below with reference to Figure 19.The endoscopic system 1E of the 4th variation shown in Figure 19 be in the endoscopic system 1D of the 3rd variation further use do not have UPD coil 41a, 41b, 41c ... the structure of the 2D of endoscope.

And, owing to being the 2D of endoscope without UPD coil 41a, 41b, 41c etc., because of but do not there is the structure of UPD device 11 yet.

And, illustrate with reference to the endoscopic system 1C of Figure 14, in this endoscopic system 1C, identical with the structure that is not provided with torsional capacity detecting unit 23.

The processing of this variation is in the contents processing of aforesaid Figure 18, roughly the same with the processing except step S2, S3, S8.And, in the processing of Figure 18, replace target location (1 ') and use target location (1).Other are the processing identical with Figure 18.

In this variation, the in the situation that of disappearance in dark portion, show such information, that is: carry out the bending information of bending section 18 towards the dark portion direction bending detecting according to the endoscopic images before this disappearance that makes of controlling.

Therefore, the in the situation that of this variation, even under the state of dark portion evanescence, the update that operator 20 also can be well on.

In addition, in the above embodiments 1 and variation thereof, be described by such example: by thering is the PC main body 7 as the function of image processing apparatus, show that bending section 18 is bent to according to endoscopic images (tube chamber information) makes the front end of insertion section 9 point to the bending control information of the trend of tube chamber or body cavity.

Information in this situation also can change the information of moving towards the direction of inserting (or mobile) of the front end for making insertion section 9 towards tube chamber or body cavity of reading.By changing and read like this, for example, even in the situation that not thering is bending section 18 (in embodiment 2 the capsule medical apparatus main body of explanation), also can be by this information as towards move towards to insert or the information of movement.And in this case, PC main body 7 has the function that changes the direction changing unit of the insertion section front end of extreme direction before insertion section.

And, as capsule medical apparatus main body, in the case of the capsule type endoscope with image unit, by the end of the side that is provided with image unit in the insertosome of capsule shape is considered as to insertion section front end, can apply the above embodiments 1 and variation thereof.

In the above embodiments 1 and variation thereof, be described being inserted in body cavity and image unit being built in to the camera systems such as the endoscopic system 1 in the situation of endoscope 2 of insertion section 9 front ends etc.In following embodiment 2, describe having in the situation that is inserted into the capsule medical system of the capsule medical apparatus main body of built-in image unit in endoceliac insertosome.

Embodiment 2

Figure 20 to Figure 29 relates to embodiments of the invention 2, Figure 20 illustrates the structure of the major part in embodiments of the invention 2, Figure 21 is the overall structure figure of the capsule medical system as camera system of embodiment 2, Figure 22 is the more detailed block diagram of the capsule medical system of Figure 21, Figure 23 is the side illustration figure of capsule body, and Figure 24 illustrates applied rotating excitation field and the concept map of the action of the capsule body that caused by this rotating excitation field.

And, Figure 25 is the concept map that the action of the oscillating magnetic field (couple produces with magnetic field) that the rotating excitation field of Figure 24 is applied and the capsule body being caused by this oscillating magnetic field (couple produces with magnetic field) is shown, Figure 26 illustrates specific location information being recorded in time in record cell etc., Figure 27 illustrates the image example being obtained by the image unit of capsule body, Figure 28 illustrates capsule body and the tube chamber state corresponding with each image in Figure 27, and Figure 29 illustrates the movement content of embodiment 2.

Figure 20 illustrates the structure of the major part of the capsule medical system 91 of embodiments of the invention 2.As shown in figure 20, the capsule medical system 91 of embodiments of the invention 2 has: capsule medical apparatus main body 93 (following brief note for capsule body), and it is as being inserted in patient 92 body cavity and to the capsule type endoscope performance function of taking in body cavity; And induced field generator 94, its surrounding that is configured in patient 92 is external, and capsule body 93 is applied to the rotating excitation field as induced field, from the position of this capsule body 93 of external induction and the direction of the longitudinal axis thereof.In addition, as described later, owing to being provided with image unit in prescribed direction in capsule body 93, thereby by position and direction from external control capsule body 93, can control position and the direction of image unit.,, by this control, can control shooting direction or the direction of observation of image unit.

And, this capsule medical system 91 has image and obtains and control device 95, this image is obtained with control device 95 and is configured in the external of patient 92, carry out radio communication with capsule body 93, obtain the image of being taken by capsule body 93, and carry out image processing by the image to obtained, control the rotating excitation field that induced field generator 94 is responded to.

Induced field generator 94 has: magnetic field generating unit 104, and it produces the rotating excitation field that the capsule body 93 lying in the patient 92 on examinating couch 96 is applied; Signal generating circuit 105, it produces for making this magnetic field generating unit 104 produce the AC signal of rotating excitation field; And magnetic field control circuit 106, it controls by controlling the AC signal of this signal generating circuit 105 rotating excitation field being produced by magnetic field generating unit 104.

And, this capsule medical system 91 has as the position of magnetic-field detecting unit and direction detection device 98, this position and direction detection device 98 produces the AC magnetic field that produces induction electromotive force for making to be built in resonance circuit described later 140 in capsule body 93, and detect because this AC magnetic field has produced the magnetic field that the resonance circuit 140 of induction electromotive force produces, with detect direction on position and the length direction thereof of capsule body 93 (towards).

The detection signal being detected by this position and direction detection device 98 be imported into image obtain with control device 95 in position and the 102a of direction calculating portion of main handling part 102.This position and the 102a of direction calculating portion calculate position and the direction thereof of (estimation) capsule body 93 according to detection signal.

The position of capsule body 93 and the information of direction thereof that calculate are output to induced field decision-making circuit 103, and this induced field decision-making circuit 103 determines the magnetic field control action of magnetic field control circuit 106, the i.e. induced field (more particularly rotating excitation field) that produced by magnetic field generating unit 104.In addition, can make position and direction detection device 98 integrated with position and the 102a of direction calculating portion.And the position of capsule body 93 calculating and the information of direction thereof are presented in the display device 107 shown in Figure 21 etc.

And, can make magnetic field control circuit 106 and induced field decision-making circuit 103 integrated and become for example induced field control circuit.Then, can carry out with the induced field control circuit after integrated the processing of a circuit of following explanation.

Image is obtained and is used the antenna 100 being for example arranged in examinating couch 96 grades to receive with control device 95 to comprise picture signal at interior modulation signal from capsule body 93 wireless transmissions.The image that the signal that utilizes antenna 100 to receive is imported in wireless circuit unit 125 is obtained circuit 125a, and image is obtained circuit 125a and carried out demodulation and generate picture signal (view data).

This view data be imported into the main handling part 102 that for example formed by PC as ad-hoc location test section 102b in the image of position detection unit or tube chamber information detecting unit.In image, ad-hoc location test section 102b detects ad-hoc location in image according to this view data, i.e. tube chamber information in image, that is the position of the dark portion of tube chamber.

Because the position of the dark portion of tube chamber in image is equivalent to the trend of tube chamber, thereby the direction that detects the position of this dark portion is regarded as responding to the moving direction of capsule body 93.Therefore, the interior ad-hoc location test section 102b of this image is also referred to as the evaluation unit of estimation moving direction.

The positional information of this dark portion of tube chamber is output to the induced field decision-making circuit 103 of the magnetic field control action that determines magnetic field control circuit 106.This induced field decision-making circuit 103, according to the information that is input to this induced field decision-making circuit 103, determines size, the frequency etc. of the AC signal being produced by signal generating circuit 105 via magnetic field control circuit 106.Thus, also determine the rotating excitation field that produced by magnetic field generating unit 104.

In addition, except the information from the main handling part 102 shown in this Figure 20 is imported into this magnetic field control circuit 106 via induced field decision-making circuit 103, the signal that produces for example corresponding with index signal in the situation that the operators such as operator have carried out manual indication magnetic field is also imported into this magnetic field control circuit 106.

And, be stored in the specific location information storage part 128a as record cell via the 102c of specific location information management department by the positional information of the dark portion of tube chamber that in image, ad-hoc location test section 102b detects.In addition, specific location information storage part 128a is set in for example storage part 128 described later, but is not limited to this.

The 102c of specific location information management department has the function of such identifying unit: this identifying unit monitors or the detection action of the interior ad-hoc location test section 102b of process decision chart picture to the dark portion of tube chamber.For example, as the condition setting for the action that is detected the dark portion of tube chamber position by ad-hoc location test section 102b in image, obtain the information that for example has or not the dark portion of tube chamber.

In the situation that having the dark portion of tube chamber and detecting its position, the 102c of specific location information management department presses its moment sequential storage in specific location information storage part 128a by this positional information.

On the other hand, in the situation that not there is not the dark portion of tube chamber, the 102c of specific location information management department stops the action from ad-hoc location test section 102b in image to induced field decision-making circuit 103 output informations.Then, the 102c of this specific location information management department is with reference to being stored in the specific location information in specific location information storage part 128a, according to the decision of controlling the induced field based on induced field decision-making circuit 103 from the information of the 102c of this specific location information management department output, wherein, described induced field moves capsule body 93.

Therefore, the 102c of this specific location information management department has the function of following direction calculating unit and control unit: this direction calculating unit moves capsule body 93, and this control unit moves capsule body 93 via induced field decision-making circuit 103 grades.

In the situation that being judged to be not have the dark portion of tube chamber, the 102c of specific location information management department reads the specific location information being stored in specific location information storage part 128a, do not detect and namely pass by the information in moment before the current time of the dark portion of tube chamber, and carry out such control, that is: produce the induced field of the state that capsule body 93 is got back to for example pass by the moment.

In addition, the specific location information 102c of management department shown in Figure 20 judges according to the information from ad-hoc location test section 102b in image the structure that the dark portion of tube chamber has or not, and is directly taken into the view data that obtains circuit 125a from image and is determined with without the dark portion of tube chamber but can be configured to.

And, can arrange according to view data and be determined with without the dark portion of tube chamber of the dark portion of tube chamber and have or not decision circuit, and can arrange according to the dark portion of this tube chamber and have or not the output signal of decision circuit to detect position detecting circuit of the dark portion of (calculating) tube chamber position etc.

In addition, as shown in Figure 21 and Figure 22, display device 107 and input device 108 are obtained with control device 95 and are connected with the image shown in Figure 20.

Display device 107 and input device 108 are obtained with control device 95 and are connected with image, this image is obtained with control device 95 and is carried out obtaining of the image taken by capsule body 93 etc., and control conduct imposes on direction and the size etc. of the rotating excitation field of the induced field of capsule body 93, this display device 107 shows image of being taken by capsule body 93 etc., this input device 108 is by by operators such as operators, it being operated, and the indication input index signal corresponding with operation.

This input device 108 for example has: the direction input device 108a that produces the index signal of magnetic direction; Produce the speed input equipment 108b of the index signal of the rotating excitation field of the speed corresponding with operation; And corresponding to the functional keys 108c that operates to produce the generations such as the eccentric rotating excitation field index signal corresponding with the function setting.

Below, to describing being inserted into the capsule body 93 that is provided with image unit in endoceliac insertosome.

As shown in figure 23, capsule body 93, at the outer peripheral face of the outer casing container 111 of the capsule shape as insertosome, is provided with the helical form projection (or spire) 112 that produces structural portion as the thrust that produces thrust by rotating.Then, can make capsule body 93 advance or retreat according to this direction of rotation.

And, by the airtight inside of this outer casing container 111, except be accommodated with objective lens optical system 113 and be configured in the imaging apparatus 114 on its image space and the illumination component 115 (with reference to Figure 22) that throws light on for making a video recording etc., be also accommodated with Magnet 116.

Described objective lens optical system 113 is configured in the inner side that is formed as hemispherical and transparent drive end bearing bracket 111a in outer casing container 111 for example, and make the optical axis of objective lens optical system 113 and the central shaft C of capsule body 93 cylindraceous consistent, the middle body of drive end bearing bracket 111a is observation window 117.In addition, although not shown in Figure 23, but illumination component 115 is configured in objective lens optical system 113 around.

Therefore, in this case, the visual field direction of objective lens optical system 113 is the optical axis direction of objective lens optical system 113, along the direction of the central shaft C cylindraceous of capsule body 93.

And, in capsule body 93, for example inner near the rear end of outer casing container 111, with the direction of regulation, be specifically wound into solenoid shape and its direction is set under the state of length direction of capsule body 93 in capsule interior loop 142, be accommodated with the capsule interior loop 142 that forms resonance circuit 140.

And, be configured near Magnet 116 central authorities on the length direction in capsule body 93 with the orthogonal direction of central shaft C on dispose the N utmost point and the S utmost point.In this case, it is consistent with the position of centre of gravity of this capsule body 93 that the center configuration of Magnet 116 becomes, the center that acts on the magnetic force of Magnet 116 in the situation that having applied magnetic field from outside becomes the position of centre of gravity of capsule body 93, is configured to easily and with magnetic means, magnet main body 93 is successfully advanced.

And Magnet 116 is configured to consistent with the customized configuration direction of imaging apparatus 114., in the case of show the image taken by imaging apparatus 114 above be set to the direction towards the N utmost point from the S utmost point of Magnet 116.

Utilize magnetic field generating unit 104 that rotating excitation field is imposed on to capsule body 93, make thus Magnet 116 magnetic rotation.In this case, the capsule body 93 that inside is fixed with this Magnet 116 rotates together with Magnet 116.

Now, the helical form projection 112 being located on the outer peripheral face of capsule body 93 is rotated contiguously with body cavity walls, thereby can make capsule body 93 advance.In addition, by making capsule body 93 towards the direction of rotation rotation contrary with the direction of rotation that makes its direction of advancing, can also make capsule body 93 retreat.

And, become the rotating excitation field of external magnetic field to being built-in with the capsule body 93 of Magnet 116 carry out magnetic control system in the case of utilizing like this, can know which direction the top of the image of being taken by capsule body 93 is according to the direction of external magnetic field.

In capsule body 93, except having above-mentioned objective lens optical system 113, imaging apparatus 114 and Magnet 116, as shown in figure 22, the signal also having being taken by imaging apparatus 114 carries out signal processing circuit 120 of signal processing etc.

In capsule body 93, be accommodated with: memorizer 121, the digital image signal that its temporary transient storage is generated by this signal processing circuit 120; Radio-circuit 122, it is modulated to the signal of video signal of reading from this memorizer 121 high-frequency signal and is converted to the signal that carries out wireless transmission, or carries out demodulation etc. to obtain the control signal sending with control device 95 from image; The capsule control circuit 123 of signal processing circuit 120 grades, it controls capsule body 93; And the battery 124 of signal processing circuit 120 etc., the power supply that it provides work to use to the electrical system of capsule body 93 inside.

And, in capsule body 93, being provided with the capacitor 141 being electrically connected with capsule interior loop 142, this capacitor 141 forms resonance circuit 140 together with described capsule interior loop 142.

In the situation that having produced AC magnetic field by described position and direction detection device 98, this resonance circuit 140 utilizes this AC magnetic field to produce induction electromotive force, thereby makes current flowing.

In addition, coil 142 has intrinsic self-resonant frequency, in the case of having produced the AC magnetic field that approaches this self-resonant frequency from described position and direction detection device 98, even without capacitor 141, also can produce effective induction electromotive force, without capacitor 141.Like this, can omit capacitor 141, can miniaturization, and can make this designs simplification.

And as shown in Figure 22, and capsule body 93 image that carries out radio communication is obtained and control device 95 has the wireless circuit unit 125 of carrying out radio communication via antenna 100 between the radio-circuit 122 in itself and capsule body 93.

This wireless circuit unit 125 has the image of obtaining the picture signal (view data) of being taken by capsule body 93 and obtains circuit 125a.

And, image obtain with control device 95 in be built-in with: main handling part 102, it is connected with wireless circuit unit 125, carries out, the processing such as aforesaid position and direction calculating, also carrying out the display process of displayed map picture except the view data for sending from capsule body 93; And control part 127, it is connected with this main handling part 102, and has the function of various control and induced field decision-making circuit 103.

And, image is obtained with control device 95 has storage part 128, this storage part 128 is connected with this control part 127, and the information of storing the information of the rotating excitation field being produced by magnetic field generating unit 104 via magnetic field control circuit 106 and setting by direction input device 108a etc.

And, in this storage part 128, also there is the memory area of the specific location information storage part 128a of the above-mentioned specific location information of storage.In this Figure 22, main handling part 102 is the structures that are connected with specific location information storage part 128a via control part 127, but as shown in figure 20, main handling part 102 can be and the direct-connected structure of specific location information storage part 128a.

And induced field decision-making circuit 103 shown in Figure 22 is provided in a side of the structure in control part 127, but as shown in figure 20, can be and main handling part 102 and the direct-connected structure of induced field decision-making circuit 103.

And display device 107 is connected with main handling part 102, and show by imaging apparatus 114 take and via radio-circuit 122,125 by main handling part 102 images after treatment etc.And, this main handling part 102 is due to photographic images when capsule body 93 rotates, thereby adopt such structure: the processing that the correction for direction that carries out the image when being presented in display device 107 is prescribed direction, makes the mode of the image that operator easily observes carry out image processing (having done record in No. 2003-299612, TOHKEMY) showing.

From the direction input device 108a and the speed input equipment 108b etc. that form input device 108 to the control part 127 input index signal corresponding with operation, control part 127 carries out the control action corresponding with index signal.

And, control part 127 is connected with storage part 128, in this storage part 128, store all the time via magnetic field control circuit 106 information of the direction of the rotating excitation field producing in magnetic field generating unit 104 according to the AC signal from signal field circuit 105 (normal direction of the magnetic field rotating plane of rotating excitation field) and magnetic direction.

Afterwards, in the case of having carried out making the operation of rotating excitation field direction or magnetic direction change, can make rotating excitation field direction or magnetic direction continuously and successfully change.In addition, storage part 128 can be located to control part 127 inside.

And the signal generating circuit 105 being connected with control part 127 via magnetic field control circuit 106 has: produce AC signal and control 3 AC signal generating circuits 131 of its frequency or phase place; And the drive division 132 being formed by 3 drivers of amplifying respectively each AC signal.The output signal of 3 drivers is supplied to 3 electric magnet 133a, the 133b, the 133c that form magnetic field generating unit 104.

In this case, electric magnet 133a, 133b, 133c are configured to produce the magnetic field on 3 orthogonal direction of principal axis.For example, electric magnet 133a, 133b, 133c are 1 group of opposed coils respectively with 2 coils, can consider that magnetic field separately produces the orthogonal opposed coil of 3 axle of direction etc.As the example of opposed coil, can consider 2 Helmholtz coils that are configured to patient 92 to be clipped in the middle etc.

In addition, magnetic field generating unit 104 can be that rotating excitation field generation Helmholtz coil forms with the coil that produces the rotating excitation field for responding to capsule body 93.

Capsule medical system 91 consists of the direction input device 108a of input device 108 operation, produce the index signal of magnetic direction.And, by speed of operation input equipment 108b, produce the index signal of the rotating excitation field of the speed corresponding with operation.

And, produce (interchange or the periodic) oscillating magnetic field setting by functional buttons being operated 108c.Utilize the rotating excitation field producing like this, can be for the Magnet of capsule body 93 116, the couple that generation is rotated this central shaft C self around the central point of the central shaft C of the length direction of capsule body 93.

In this case, owing to making central shaft C self exchange or periodically apply oscillating magnetic field so that the direction of oscillating magnetic field (as couple effect) changes in the other direction before rotating completely, thereby can make capsule body 93 fascinate or vibrate.

In addition, fascinate by the direction that makes not shown stick advance towards expectation in direction input device 108a, upwards produce the rotating excitation field that capsule body 93 is moved the party.

Figure 24 illustrates the situation while for example applying rotating excitation field, by capsule body 93 is applied to rotating excitation field, can make the Magnet 116 that is built in capsule body 93 rotate, and can make capsule body 93 advance or retreat by this rotation.

As shown in figure 24, in the rotating excitation field plane vertical with the direction (being y ') of the central shaft C of the length direction of capsule body 93, apply the rotating excitation field of the pole orientation that has changed this rotating excitation field in Figure 24.Thus, can make capsule body 93 and rotate around this length direction together with the Magnet 116 being fixed in capsule body 93 in the direction vertical with the length direction of capsule body 93.

According to this direction of rotation, engage with body cavity walls by the helical form projection 112 shown in Figure 23, can make capsule body 93 advance or retreat.

And Figure 25 illustrates the situation while for example rotating excitation field being applied to oscillating magnetic field (couple produces with magnetic field).Capsule body 93 is applied to oscillating magnetic field (couple produces with magnetic field), and this oscillating magnetic field acts in such a manner: make Magnet 116 swing (vibration) around the direction (being yz) of the central shaft C of the length direction of capsule body 93 in Figure 25.

Thus, capsule body 93 is around the central shaft C of its length direction rotation, and the eccentric direction that becomes to make this rotary middle spindle C tilts., can be in such state: the rotation torque of the gyro being rotated reduces, the action (below this action being called to rocking action) that axle is waved by action of gravity.

Like this, make capsule body 93 in the case of with the tube chamber of the roughly the same degree of diameter of this capsule body 93 in advance along the length direction of this tube chamber or retreat, make the rotating excitation field of capsule body 93 around its length direction rotation by applying, can make capsule body 93 successfully move.

On the other hand, in the part of tube chamber bending, capsule body 93 is encountered sweep, only in the situation that length direction rotates, is sometimes difficult to successfully move towards bending direction.

In this case, as mentioned above, by applying oscillating magnetic field, so that along the central shaft C Rao Qi center of the length direction of capsule body 93 and the power of central shaft C rotation is worked, thereby make capsule body 93 carry out rocking action, under the state of the bending direction of length direction that can be in the time of rocking action in tube chamber, capsule body 93 is successfully moved towards this direction.

In addition, by stick is fascinated, grasp all the time the state of capsule body 93 or the state of rotating excitation field, take can according to current direction of advance by the direction control of rotating excitation field as expect any direction.In the present embodiment, the state of rotating excitation field (specifically, rotating excitation field direction and magnetic direction) is stored in storage part 128 all the time.

Specifically, operation index signal in input device 108 in Figure 22 is imported into control part 127, the control signal of the generation rotating excitation field corresponding with index signal is outputed to magnetic field control circuit 106 by control part 127 (induced field decision-making circuit 103), and the information of this rotating excitation field direction and magnetic direction is stored in storage part 128.

Therefore, in storage part 128, store all the time the rotating excitation field being produced by magnetic field generating unit 104 and form information this rotating excitation field, periodically variable magnetic direction.In addition, storage part 128 is not limited to the situation of the storage information corresponding with the control signal of rotating excitation field direction from control part 127 and magnetic direction, also can be: according to the control signal that outputs to magnetic field control circuit 106 from control part 127, send to control part 127 from the decision rotating excitation field direction of magnetic field generating unit 104 actual outputs and the information of magnetic direction from magnetic field control circuit 106 sides by the AC signal in signal generating circuit 105 with through drive division 132, and be stored in storage part 128.

And, in the present embodiment, while beginning in the case of applying of rotating excitation field and apply while stopping or change rotating excitation field direction (be in other words in the direction of advance of capsule body 93 towards) etc., be controlled to rotating excitation field is changed continuously, can sharply not act on capsule body 93 to exert all one's strength, but steadily be applied to it.

And, in the present embodiment, along with the rotation of capsule body 93, the image of being taken by imaging apparatus 114 also rotates, thereby when this image is presented in display device 107 same as before, shown image also becomes the image of rotation, and the operability of the operation of the indication towards desired orientation of direction input device 108a declines, thereby expectation is to make the rotation of displayed map picture static.

Therefore, in the present embodiment, as illustrated in TOHKEMY 2003-299612 communique, carry out image rotating to proofread and correct the processing of the image static for rotation at main handling part 102 or control part 127.

In addition, can make image rotation according to magnetic direction information, and the rotation of cancelling capsule body 93 shows (and the relevant treatment that can carry out image etc. shows the still image of prescribed direction).

As illustrated in fig. 20, in the present embodiment, in image ad-hoc location test section 102b according to the image of the image unit of capsule body 93, the position of the dark portion of tube chamber in detected image.Then, according to the position of the dark portion of tube chamber or have or not the dark portion of tube chamber to control the generation in the magnetic field of carrying out magnetic induction, suitably reply does not detect the situation of the dark portion of tube chamber.

In the present embodiment, in order to tackle the situation that does not detect the dark portion of tube chamber, under the management of the 102c of specific location information management department, in specific location information storage part 128a according to example as shown in figure 26, by moment sequential storage: by the specific location information that in image, ad-hoc location test section 102b detects, and the computing information being calculated by position and the 102a of direction calculating portion is the position of capsule body 93 and the information of direction.

In the concrete example of Figure 26, store explicitly by moment order: for example, from moment ti (position (ti) of (as specific location information) the dark portion of tube chamber detecting in the captured image of i=1,2 etc., each moment ti m), and position and the direction (ti) of the capsule body 93 of the computing information as position and the 102a of direction calculating portion detecting at this moment ti.

Then, the 102c of specific location information management department, in the case of being judged to be not detect the state of the dark portion of tube chamber, reads the information being stored in specific location information storage part 128a for induction.

In addition, as described below, the 102c of specific location information management department does not detect the dark portion of tube chamber in the processing of regulation, can judge that this image state decides the processing of induced field.

That is, the in the situation that of common image, the dark portion of tube chamber is toroidal, the trend for tube chamber can be detected in this circular center.On the other hand, in the situation that tube chamber flattens, the image of obtaining is the dark portion (also referred to as concealed wire) of wire shaped or belt shape.

Then, under these circumstances, under the management of the 102c of specific location information management department, in image, the expansion center of this concealed wire is detected the position for the dark portion of tube chamber by ad-hoc location test section 102b.On the other hand, in the case of the expansion center that can not detect concealed wire, with reference to information in the past, detect the position of the dark portion of tube chamber by estimation.In image, ad-hoc location test section 102b, in the situation that can not estimating the dark portion of tube chamber, makes capsule body 93 get back to past state.

Figure 27 illustrates the image example being obtained by intraluminal capsule body 93.Capsule body 93 is according to the image difference obtaining at intraluminal position, the intraluminal state etc. of large intestine etc.Image A in Figure 27, B, C, D, E are according to position or the tube chamber state etc. of the intraluminal capsule body 93 in Figure 28 and different.In addition, in Figure 28, with the image A of Figure 27, B, C, D, E respectively corresponding image represented by same numeral A, B, C, D, E.

Image A in Figure 27, B, C are equivalent to be suitable for detecting the common image of dark portion.On the other hand, image D, E are equivalent to the image different from common image (specific image).

The image A of Figure 27 is in such state: in tube chamber, entered liquid or gas, the front extreme direction of tube chamber can have been detected as dark portion.

Image B is in such state: in tube chamber, entered liquid or gas, the front extreme direction of tube chamber can have been confirmed as to dark portion limpingly in picture.

Image C is in such state: in tube chamber, enter liquid or gas, and Existential Space between capsule and intestinal wall, and capsule body 93 is towards tube wall direction, can not detect the dark portion of the direction of advance that is equivalent to tube chamber.

Image D is in such state: flatten in the front of tube chamber, can confirm the contact portion of intestinal tissue, and can not confirm as clear and definite dark portion.

Image E is in such state: the dome cap (dome) of capsule body 93 and tube chamber close contact, although can confirm the blood vessel mobile at luminal surface, can only obtain the information of moving towards about tube chamber.

The in the situation that of image A, B, because capsule body 93 is positioned at the approximate centre of tube chamber, thereby obtain the information of dark portion (tube chamber direction).In this case, by capsule body 93 being applied to propulsive force towards dark portion direction, can make capsule body 93 advance along tube chamber.

On the other hand, the in the situation that of image D, tube chamber flattens, and can not detect clear and definite dark portion.But in this case, a little forms dark portion (concealed wire) gap of the tube chamber of flattening, for this line, the brightness of left and right tissue is par (being the part different from image C described later here).

Therefore, for example, it is the tube chamber state of specific image that the 102c of specific location information management department goes out according to the spectral discrimination of this state.

Meanwhile, whether the 102c of specific location information management department processes estimation concealed wire by image is the accuracy that represents the position in the gap of the tube chamber flattening, and determines whether the central authorities that can make capsule body 93 advance to this concealed wire.For example, in the case of can calculating the line width of concealed wire, its central authorities are detected as dark portion position, made the judgement of advancing.

In the case of making the judgement of advancing, the 102c of specific location information management department is according to this information, determine induced field via induced field decision-making circuit 103, by magnetic field control circuit 106 etc., magnetic field generating unit 104 is produced and provide to capsule body 93 magnetic field that makes its thrust of advancing.

In the case of making the judgement of not advancing, according to the track of describing with the capsule body 93 in past corresponding, the information that is stored in (being calculated by position and direction detection device 98 and position and the 102a of the direction calculating portion) past in specific location information storage part 128a, produce for respond to capsule body 93 so that its magnetic field retreating in tube chamber.

In the case of making like this judgement of not advancing, the track described according to the capsule body 93 in past (information in the past being calculated by position and direction detection device 98 and position and the 102a of direction calculating portion), produces induction capsule body 93 so that its magnetic field retreating in tube chamber.

Then, becoming after the state (state of image A or B) that can confirm dark portion the control that again makes capsule body 93 advance.

And in the situation that capsule body 93 is retreated, the formation space, position that capsule body 93 exists, becomes the state that can confirm dark portion on image sometimes.

In the time identifying dark portion, repeat same action.Therefore,, in the situation that capsule body 93 being retreated again start dark portion to be detected, expectation, for example, carries out the detection of dark portion retreat to a certain degree (distance longer than the total length of capsule body 93) at capsule body 93 after.

On the other hand, the in the situation that of image C, in examining the state that does not measure the state of dark portion and can confirm tube chamber fold.The inside of tube chamber fold is identified as concealed wire.

But, different from the state of above-mentioned image D, owing to observing in concealed wire left and right sides tissue intensity difference, thereby can identify and the difference of the state of image D.

In this case, estimate the direction of advance of tube chamber in the past with reference to the data of the locality data of capsule body 93 and dark portion detection in the past.Then, control the magnetic field being produced by induced field generator 94, so that the direction of capsule body 93 is towards the direct of travel of estimated tube chamber.

In the case of making capsule body 93 towards the trend of tube chamber by this direction conversion, become the image of the state of image A via the image of the state of image B, thereby can specify direct of travel.

Can observe the state of dark portion in the case of not reaching, according to the specific location information in the past of capsule body 93, first, can make the direction of capsule body 93 return, the control that makes afterwards capsule body 93 retreat according to the track of the capsule body in past 93.Then, can observe after the state of dark portion reaching, again start induction.Other actions are identical with image D.

The in the situation that of image E, can not obtain the information of dark portion (tube chamber direction) owing to excessively approaching tube chamber, can not control.Therefore,, in the case of the state in image E, be necessary to guarantee the information of dark portion (tube chamber direction).

The in the situation that of this image E, depict distinct blood vessel picture.This blood vessel picture can easily detect from image is processed.In this case, according to the locality information of the capsule body 93 in past and dark portion information, make the direction conversion and control of capsule body 93 towards the trend of tube chamber.In the case of having around capsule body 93 space, can change by this control the direction of capsule body 93, thereby in can detect the state of dark portion as image A, B.

But even at travel direction switching motion but capsule body 93 by the strong constraint of tube chamber in the situation that, capsule body 93 maintains state that can not travel direction conversion.In this case, with reference to the position in past and the information of directional information and dark portion of capsule body 93, the control that capsule body 93 is retreated.Afterwards, the same with the situation of image C.

And, also considered the situation that can not retreat, in this case, end capsule body 93 induction and make capsule body 93 in free state.Like this, capsule body 93 is stablized in the complete state along tube chamber.In this case, due to the state in as image D, thereby as long as according to the control in the example of image D, just can again start induction.

The representational action case of the present embodiment is described with reference to following Figure 29 below.

Illustrate taking in body cavity specifically from oral cavity to esophagus, Control the content to capsule body 93 in the intraluminal situation such as small intestinal, large intestine.

Figure 29 illustrates the Control the content of the present embodiment.As shown in the step S51 of Figure 29, in capsule body 93 is mobile in tube chamber, for example, makes a video recording with some cycles, and send captured image.

As shown in step S52, image obtain with control device 95 in image obtain circuit 125a and obtain this image.This image is imported into ad-hoc location test section 102b in the image in main handling part 102.

And as shown in step S53, position and direction detection device 98 be according to the signal from the resonance circuit 140 in capsule body 93, obtain the detection signal corresponding with the position of capsule body 93 and direction.

Then,, as shown in step S54, the position in main handling part 102 and the 102a of direction calculating portion calculate position and the direction of capsule body 93 according to this detection signal.

As shown in next step S55, ad-hoc location test section 102b moves according to obtained the detection that the obtained image of circuit 125a carries out the positional information of the dark portion of tube chamber by image in image.

And as shown in step S56, the positional information of the dark portion of tube chamber and the position of capsule body 93 and the information of direction are stored in specific location information storage part 128a by moment order via the 102c of specific location information management department.

And as shown in step S57, the 102c of specific location information management department is determined with without the dark portion of tube chamber.This judgement is for example by ad-hoc location test section 102b in the 102c of specific location information management department monitoring picture, the detection of the dark portion of tube chamber to be moved to carry out.

Then, in the situation that being judged to be the dark portion of tube chamber, as shown in step S58, induced field decision-making circuit 103 carrys out controlling magnetic field control circuit 106 according to the positional information of the current dark portion of tube chamber being detected by ad-hoc location test section 102b in image and the current position of capsule body 93 and the information of direction being calculated by position and the 102a of direction calculating portion, to determine the induced field being produced by magnetic field generating unit 104.

In next step S59, magnetic field generating unit 104, according to the information that determines induced field, produces the rotating excitation field as induced field, controls the direction that comprises capsule body 93 in interior movement.Then, get back to the processing of step S51.

On the other hand, in step S57, in the situation that being judged to be not exist the dark portion of tube chamber by the 102c of specific location information management department, move on to step S60.In this step S60, the 102c of specific location information management department reads positional information and the position of capsule body 93 and the information of direction of the dark portion of tube chamber that is stored in the past in specific location information storage part 128a.

Then, as shown in step S61, the 102c of specific location information management department is with reference to the specific location information in the past of reading, the information of the induced field that determines the direction reversion that makes rotating excitation field is outputed to induced field decision-making circuit 103, to make to turn back to the position of capsule body 93 and the state of direction thereof in the past that detects the dark portion of tube chamber.Then, move on to step S59, utilize such induced field to carry out magnetic induction capsule body 93.In addition, as the processing of step S61, as described in Figure 27 or Figure 28, can carry out different inductions according to the image state of obtaining.

By repeating above control processing, can carry out continuously the magnetic induction of capsule body 93, can make capsule body 93 automatically advance in body cavity.

According to the present embodiment moving like this, can use external magnetic field carry out magnetic control system, to make capsule body 93 in body cavity, more specifically say along the trend of tube chamber and successfully advance.Like this, by capsule body 93 is successfully advanced along the trend of tube chamber, can obtain at short notice image.Therefore, operator can successfully be diagnosed etc. with reference to obtained image.

And, in the present embodiment, the rotary magnetic induction that is provided with thrust generating unit (specifically helical form projection) and is attached with rotating excitation field in capsule type endoscope is described, but the inducing method of capsule type endoscope can be also the inducing method that obtains the type of thrust by magnetic pull.And position and direction detection device are not limited to detect in vitro the type in the magnetic field producing from capsule, can be also the magnetic field that utilizes capsule to detect to produce in vitro, and determine thus the position of capsule and the type of direction.

The following describes the variation of the present embodiment.Figure 30 illustrates the structure of the major part of the capsule medical system 91B of variation.

This capsule medical system 91B is configured to: the 102c of specific location information management department is not set in the capsule medical system 91 of Figure 20.Then,, in the situation that not detecting the dark portion of tube chamber, induced field decision-making circuit 103 decides induced field with reference to being stored in the information in the past in specific location information storage part 128a, to get back to its past state.

Or in the situation that not detecting the dark portion of tube chamber, in image, ad-hoc location test section 102b can send to induced field decision-making circuit 103 by the information that is stored in the past in specific location information storage part 128a, and gets back to the processing of the state in its past.

In Figure 20, the specific location information of the interior ad-hoc location test section 102b of position and the position of the 102a of direction calculating portion and the information of direction and image is that the positional information of the dark portion of tube chamber is stored in specific location information storage part 128a via the 102c of specific location information management department.On the other hand, in this variation, in position and the position of the 102a of direction calculating portion and the information of direction and image, the specific location information of ad-hoc location test section 102b is not just stored in specific location information storage part 128a via the 102c of specific location information management department.

The in the situation that of this variation, in the situation that detecting the dark portion of tube chamber, control action is identical with above-described embodiment 2.

That is, the action of this variation is described, in the situation that detecting the dark portion of tube chamber, if the step S51 of Figure 29 is to step S59.

On the other hand, the in the situation that of not detecting the dark portion of tube chamber in step S57, as the step S60 of Figure 31, for example, the interior ad-hoc location test section 102b of image reads positional information and the position of capsule body 93 and the information of direction of the dark portion of tube chamber that is stored in the past in specific location information storage part 128a.

In next step S61 ', the past information being stored in specific location information storage part 128a is sent to induced field decision-making circuit 103.Then, induced field decision-making circuit 103 decides the induced field of getting back to past state with reference to this information.Afterwards, move on to step S59.

In addition, in control handling procedure in the situation that of not detecting the dark portion of tube chamber in step S57, can be: the displacement of calculating the capsule body 93 in the stipulated time in this processing, below threshold value in the situation that in this displacement, stop induced field, make capsule body 93 in free state, by the vermicular movement of intestinal etc., capsule body 93 is moved.

According to this variation, according to the detection information of the dark portion of tube chamber, can shorten for capsule body 93 and in body cavity, check or the image diagnosed is obtained the time.And, in the situation that not detecting the dark portion of tube chamber and mobile spended time, also can stop the generation of induced field, utilize vermicular movement to carry out checking in the body cavity of capsule body 93.

And, according to this variation, can be reduced at the image processing while carrying out the control for making the induced field that capsule body 93 moves.

In addition, in embodiment 2 and variation thereof, be illustrated with automatically controlling the magnetic field structure that capsule body 93 is applied, insert or the direction of mobile capsule body 93 but can detect in walking upwards of body cavity, and this direction is presented in display device 107 etc.

In this case, operator can utilize display device 107 to confirm this direction.And, in the case of the pattern that is switched to manual controlling magnetic field from the pattern of automatic controlling magnetic field, can be according to the directional information being presented in display device 107, direction of operating input equipment 108a etc., manually promote the movement of capsule body 93.

In addition, above-described embodiment etc. partly being combined etc. to the embodiment forming waits and also belongs to the present invention.

Utilizability in industry

Being inserted into built-in camera head in endoceliac insertion section or insertosome, detect the positional information of the dark portion corresponding with the trend of body cavity according to the image of being taken by image unit, the direction that calculating should be inserted, and record in time this positional information etc., the condition declining in the detection of positional information, can be with reference to positional information in the past.Therefore, insertion section etc. successfully can be inserted into endoceliac deep side, can successfully carry out Checking and diagnosis.

Claims (7)

1. a camera system, is characterized in that, this camera system has:

Image pickup part, it is arranged on and is inserted in endoceliac insertosome, and takes endoceliac image;

Tube chamber information detecting unit, it,, according to the image of being taken by described image pickup part, detects the tube chamber information corresponding with the trend of body cavity;

Record cell, it records the tube chamber information being detected by described tube chamber information detecting unit in time;

Evaluation unit, it estimates position and the direction of described image pickup part;

Identifying unit, it determines whether that meeting the detection that detects tube chamber information for described tube chamber information detecting unit moves the condition setting;

Direction calculating unit, in the situation that being judged to be not meet described condition by described identifying unit, this direction calculating unit is read the tube chamber information being recorded in described record cell, calculates the information of the direction of mobile described insertosome according to the estimation result of this tube chamber information and described evaluation unit; And

Control unit, it controls the direction of mobile described insertosome according to the information being calculated by described direction calculating unit.

2. camera system according to claim 1, is characterized in that,

Described image pickup part is accommodated in the insertosome of capsule shape, and the insertosome of receiving the described capsule shape of described image pickup part is capsule type endoscope.

3. camera system according to claim 2, is characterized in that,

In described capsule type endoscope, be built-in with Magnet,

Described control unit is controlled the moving direction of described insertosome by controlling the external magnetic field being produced by magnetic field generation device, this magnetic field generation device applies the external magnetic field that the capsule type endoscope to being built-in with described Magnet carries out magnetic induction.

4. a capsule medical system, is characterized in that, this capsule medical system has:

Capsule medical apparatus, its inside has image pickup part and Magnet;

Induced field generator, it is configured in the outside of described capsule medical apparatus, for described capsule medical apparatus is applied to induced field;

Position and direction detection device, it detects position and the direction of described capsule medical apparatus;

Evaluation unit, it estimates moving direction according to the image of being obtained by described capsule medical apparatus;

Record cell, it records the position that detected by described position and direction detection device and direction and the information of the moving direction estimated by described evaluation unit in time; And

Induced field control unit, it carries out the control of the induced field being produced by described induced field generator, so that capsule medical apparatus moves in body cavity according to the testing result of described evaluation unit and described position and direction detection device.

5. capsule medical system according to claim 4, is characterized in that,

Described capsule medical system also has administrative unit, this administrative unit judges whether described evaluation unit can estimate moving direction with the condition of setting, and according to result of determination, utilize the information being recorded in described record cell whether to produce the information management by the induced field of described induced field control unit control.

6. an image processing apparatus, is characterized in that, this image processing apparatus has:

The input part of endoscopic images, this endoscopic images be by be arranged on be inserted into endoceliac insertion section front end image unit take;

Position detection unit, it carries out the Check processing of the positional information for importing this insertion section front end according to described endoscopic images for insertion section front end;

Record cell, it records the positional information being detected by described position detection unit in time;

Identifying unit, whether it meets the determination processing of the condition setting for the Check processing of the positional information of described position detection unit; And

Direction calculating unit, in the case of the determination processing result that does not meet described condition, this direction calculating unit is read the positional information being recorded in described record cell, and the information of the direction of described insertion section front end is inserted in output.

7. image processing apparatus according to claim 6, is characterized in that,

Described identifying unit is dark portion identifying unit, and this dark portion identifying unit will exist the dark portion corresponding with the trend of body cavity to carry out determination processing as described condition in endoscopic images.

Images