JP2000079087A - Endoscope form detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To display an endoscope form without partly exceeding a display region even when sizes etc., of subject are different in the case where the endoscope form is displayed in such a size that a user is easy to see. SOLUTION: Positions of source coils 18-1, 18-2, etc., provided in an insertion portion 11 to be inserted into a patient 5 are magnetically detected by use of sense coils 19-1, 19-2, etc., of an external coil unit 20, and referenced localization information of a source oil of a marker 21 installed at a reference position of the patient 5 is detected by use of the sense coils 19-1, 19-2, etc. This referenced localization information is set at a center position of a display surface of a form display monitor 24 to display the form of the insertion portion 11 to display a pseudo-display of the form of the insertion portion 11, so in the case where it is displayed with the size of an insertion form enlarged to be easy to see, it can be displayed without partly exceeding a display region even when the size or the like of the patient 5 is changed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope shape detecting device for detecting and displaying the shape of an insertion portion of an endoscope inserted into a living body or the like.

[0002]

2. Description of the Related Art In recent years, endoscopes have been widely used in the medical and industrial fields. This endoscope, especially if the insertion part is flexible, can be inserted into a bent body cavity to diagnose organs deep inside the body cavity without making an incision, and if necessary, insert a treatment tool into the channel. Therapeutic treatment such as resection of polyps and the like.
In this case, for example, as in the case of examining the lower gastrointestinal tract from the anal side, some skill may be required to smoothly insert the insertion portion into a bent body cavity.

[0003] In other words, when performing an insertion operation, it is necessary to perform an operation such as bending a bending portion provided in the insertion portion in accordance with the bending of the conduit to perform smooth insertion. It is convenient to be able to know the position of the distal end and the like in the body cavity, the current bending state of the insertion portion, and the like.

[0004] For this reason, for example, Japanese Patent Application No. Hei.
No. 0-0607575 discloses that a plurality of source coils incorporated in an endoscope, a plurality of sense coils arranged in a coil unit, a magnetic field generation signal is supplied to a source coil for generating a magnetic field, and a detection generated in the sense coil is performed. A control unit that amplifies and analyzes the signal to calculate the position of each sense coil and a monitor that displays the shape of the endoscope generated by the control unit constitute an endoscope shape detection device.

In the display method in the conventional apparatus, the estimated endoscope shape is displayed at a reference point in the detection space at the center of the display area of the monitor, and if necessary, the user changes the setting of the enlargement ratio. Display is enlarged around the center of the display area.

[0006]

As described above, in the display method in the conventional apparatus, the estimated endoscope shape is displayed at a reference point in the detection space at the center of the display area of the monitor,
In the case of a patient with a large body, a patient with a small body, or the like, the user enlarges the display by changing the setting of the enlargement ratio as necessary.

However, when the shape of the endoscope is enlarged when it is not displayed at the center of the display area, a part of the endoscope shape protrudes outside the display area, and the display area is effectively used. Cannot expand. In addition, even if the magnified display is set to be easy to see, if the patient of the subject changes, the position of the endoscope shape displayed on the examination bed will also move due to misalignment of each patient, differences in body type, etc. However, a part of the endoscope shape protrudes outside the display area, and the user often needs to reset the magnification.

(Object of the Invention) The present invention has been made in view of the above-mentioned point, and when the endoscope shape is displayed in a size that is easy for the user to see, even if the size of the subject is different. An object of the present invention is to provide an endoscope shape detecting device capable of displaying an endoscope shape without part of the shape protruding outside a display area.

[0009]

In order to solve the above-mentioned problems, a first coil means comprising a plurality of coils arranged along an insertion axis of an endoscope insertion portion to be inserted into a subject; A second coil unit arranged at a predetermined position, a third coil unit arranged at an arbitrary reference position on the subject, the first coil unit and the second coil unit; A transmitting and receiving means for transmitting and receiving a first magnetic signal to and from the coil means, and for transmitting and receiving a second magnetic signal between the third coil means and the second coil means;
Based on a first detection signal obtained by transmitting and receiving the first magnetic signal, first position information indicating a position of the first coil unit with respect to the second coil unit is calculated,
Based on the second detection signal obtained by the transmission and reception of the second magnetic signal, the third coil
Calculating means for calculating second position information representing the position of the coil means, position information correcting means for correcting the first position information based on the second position information, and correction by the position information correcting means. Display control means for simulatingly displaying the insertion shape of the endoscope insertion portion on the display means based on the corrected position information, and an enlarged display instruction for giving an instruction for enlarged display of the insertion shape displayed on the display means Means, the position of the first coil means provided in the endoscope insertion section based on the second position information representing the position of the third coil means arranged at an arbitrary reference position Even if the information is corrected and the insertion shape of the endoscope insertion portion is displayed near the center of the display means, and an instruction to enlarge the insertion shape is given, a part of the subject may be out of the display area. Size that is easy for the user to see It was to be shown.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. (First Embodiment) FIGS. 1 to 4 relate to a first embodiment of the present invention, and FIG. 1 is a block diagram showing a configuration of an endoscope system provided with an endoscope shape detecting device. 1 is a configuration diagram showing the configuration of one control unit, FIG. 3 is a flowchart showing the operation of the endoscope shape detection device of FIG. 1, and FIG. 4 is an explanatory diagram for explaining steps S3 and S4 of FIG. As shown in FIG. 1, an endoscope system 1 is an endoscope apparatus 2 for performing an endoscopic examination.
And an endoscope shape detecting device 3 according to the first embodiment of the present invention, which detects and displays an inserted shape of the endoscope during the endoscopic examination.

An endoscope device 2 is an endoscope (abbreviated as a scope) inserted into the body of a patient 5 standing on an examination bed 4.
6, a video processor 7 including a light source unit (not shown) for supplying illumination light to the scope 6 and a video signal processing unit for performing signal processing on an image pickup device built in the scope 6, and an image in the video processor 7 An image observation monitor 8 on which an endoscope image is displayed by inputting a standard video signal generated by the signal processing unit, and the operator is displayed on the image observation monitor 8. By observing an endoscopic image, an endoscopic examination can be performed.

The scope 6 has an elongated and flexible insertion section 11 and an operation section 12 provided at the rear end of the insertion section 11.
And a universal cable 13 extended from the operation unit 12. A connector at an end of the universal cable 13 is connected to the video processor 7. The operation unit 12 is provided with a bending knob 14.
By operating, the bending portion 16 provided adjacent to the distal end portion of the insertion portion 11 can be bent.

In the present embodiment, an insertion shape detection probe 17 is inserted through a treatment instrument channel provided along the axis of the insertion portion 11, and the insertion shape detection probe (hereinafter simply referred to as a probe). The abbreviation 17 has, for example, twelve source coils 18-1 to 18-12 attached at predetermined intervals along the probe axis. Therefore, by inserting the probe 17 into the treatment instrument channel and positioning and fixing the tip or the rear end thereof, the twelve source coils 18 are provided at predetermined intervals in the axial direction of the insertion portion 11.
-1 to 18-12 are arranged.

The endoscope shape detecting device 3 uses the probe 17
And a coil unit 20 disposed at a known position outside the body of the patient 5 and having, for example, twelve sense coils 19-1 to 19-12, and one source coil fixed to, for example, the navel of the patient 5. A built-in marker 21;
A cable 17a of the probe 17, a cable 20a extended from the coil unit 20, and a cable 21a of the marker 21 are connected, and a control unit 23 for controlling the apparatus 3 and performing processing such as position estimation, and the control unit 23
And a shape display monitor 24 for displaying an endoscope insertion shape, and an input unit 25 for inputting setting or change of an enlargement ratio to the control unit 23. Is connected.

In this embodiment, the source coils 18-1 to 18-12 are provided in the treatment instrument channel of the scope 6.
By inserting and fixing the probe 17 with
The source coil 18-1 is inserted into the scope 6 (the insertion part 11 thereof).
Although the source coils 18-1 to 18-12 may be directly incorporated into the (insertion part 11) of the scope 6 without the intervention of the probe 17.

As shown in FIG. 2, the control unit 23 includes a system processor 31 for performing control processing of the device 3 and for estimating a position and the like, and a source coil disposed inside the scope 6 by a control signal from the system processor 31. 18-1 to 18-12 and a drive circuit 32 for supplying a drive current for generating an AC magnetic field to the source coil of the marker 21, and a sense coil 19-1 in the coil unit 20
After amplifying the magnetic field detection current input from the CPU 19 to 19-12, the system processor 3
1 and a system processor 31
Of the insertion part 11 of the scope 6 and the marker 2 generated in
An image generation circuit 34 converts the digital data at the position 1 into an analog video signal and outputs the analog video signal. The control unit 23 has an input unit 25 including, for example, a keyboard for inputting setting or change of an enlargement ratio. Is connected.

In the endoscope shape detecting apparatus 1 according to the present embodiment, the source coils 18-1 to 18-12, the sense coils 19-1 to 19-12, and the like are fixed to the inspection bed 4 of FIG. When processing such as position detection is performed in a detection coordinate system 27 orthogonal to (X, Y, Z) and displayed on the shape display monitor 24, a display coordinate system 28 of (X ', Y', Z ') is used. Perform position display.

In this case, if the enlargement ratio is 1, for example, X '= Y, Y' =-X, Z 'in the display coordinate system 28.
The display is performed using the coordinates of the detection coordinate system 27 by the conversion formula of = Z.

In the present embodiment, an AC signal is sequentially applied to the plurality of source coils 18-1 to 18-12 disposed on the scope 6, and the applied source coil 18-i (i =
1) to the sense coil 19-1
19-12, the position of each source coil 18-i is calculated to display the insertion shape of the insertion portion 11 of the scope 6, and one source set at the reference position of the patient 5. A marker 21 with a built-in coil;
By calculating the position of the marker 21, reference position detecting means for detecting the reference position of the patient 5 and source coils 18-1 to 18-12 based on information on the reference position of the patient 5 detected by the reference position detecting means. Correction means for correcting the display position of the patient, the correction is performed to remove the influence of the positional deviation of each patient 5 lying on the examination bed 4, and to display the detection position of the marker 21 in an endoscope shape. By setting the insertion shape at the center position of the monitor 24 and displaying the insertion shape, even if the size of the patient 5 changes, it is set to an appropriate magnification that is hardly affected by the size, thereby enabling the operator (user) Is characterized in that it can be displayed in an easily viewable size.

Next, the operation of the present embodiment will be described with reference to FIG. First, the system processor 31 in the control unit 23 performs a process of calculating the position of each source coil 18-i in the scope 6 in step S1 of FIG. That is, the system processor 31 controls the drive circuit 32 to sequentially apply an AC drive signal from i = 1 to 12 to the source coil 18-i in the scope 6 and to apply an AC drive signal around the source coil 18-i. A magnetic field is generated and the alternating magnetic field is applied to the sense coils 19-1 to 19 of the coil unit 20.
At -12, the magnetic field detection current is amplified by a detection circuit 33 and converted into a digital value. The digital value is captured by the system processor 31, and the 12 source coils 18-1 to 18 incorporated in the scope 6 are read. A process of calculating the position of −12 is performed.

Next, the source coils 18-1 to 18-1 of the scope 6
Similarly to the case of 18-12, the reference position of the patient 5, specifically, the position of the marker 21 fixed near the navel of the patient 5 is set to 1
The calculation is performed by the two sense coils 19-1 to 19-12 (step S2). 1 by the system processor 31
By calculating the positions of the two source coils 18-1 to 18-12 and the position of the marker 21, the image generation circuit 3
4, a scope image 6 ′ (the insertion portion image 11 ′ of the insertion portion 11) and a marker image 21 ′ are displayed on the shape display monitor 24 as shown in FIG.

Next, by giving an input instruction for display position correction from the input unit 25 (or by selecting an automatic display position correction mode for automatically performing display position correction),
The system processor 31 corrects the detection coordinates of the scope 6 and the marker 21 based on the position of the marker 21 obtained in step S3.

That is, before the correction, the endoscope shape is displayed at the position as shown in FIG. 4A, while the marker 21 is displayed on the basis of the calculated position information of the marker 21. The coordinates of the detection data of the 12 points of the scope 6 and the detection position data of the marker 21 are corrected by the offset value so that is the center of the display. The display coordinates are also corrected in accordance with this, and the display is performed as shown in FIG.

For example, when the display position of the marker image 21 'is the display coordinate system 28, the center (X
o ', Yo', Zo '), the eccentric position (Xo'-
A, Yo'-B, Zo'-C), the position (Xo'-A, Yo'-B,
Zo'-C) and the position of each source coil 18-i (Xs
i ′, Ysi ′, Zsi ′) from the offset value (A,
B, C), the position is corrected, and then displayed, so that the marker image 21 ′ is at the center of the display as shown in FIG. So that it is displayed near the center of.

As shown in FIG. 4B, where the endoscope shape is displayed near the center of the display surface, the user can arbitrarily set or change the magnification from the input unit 25 as necessary. By doing so, the scope shape image 6 ′ and the marker image 21 ′ that have been enlarged (as shown in FIG. 4C) from the detected position data of the scope 6 and the detected position data of one marker 21 at the specified enlargement ratio are obtained. Generate (Step S
4).

In this case, if there is no instruction to change the enlargement ratio,
The scope image 6 'and the marker image 21' are generated using the previously set enlargement ratio as the designated enlargement ratio.

Finally, the scope shape image 6 'and the marker image 21' generated in the previous step S4 are displayed on the shape display monitor 24 as shown in FIG. 4C (step S4).
5) End this shape display processing or return to step S1.

In the present embodiment, if the marker 21 is set at the reference position to be set at the center of the display area when displaying the insertion shape, the body type and size of the patient 5, In the case where the displacement of patient 5 is different,
The inserted shape can be expanded and displayed near the center of the display range.
Therefore, even when the enlargement ratio is changed, and except when the value is an excessively large enlargement ratio, even when the size of the patient 5 is different, it is possible to effectively prevent the insertion shape from protruding from the display area. In addition, it is possible to eliminate or reduce the trouble that the user has to reset the enlargement ratio.

That is, if an appropriate enlargement ratio is set at first, even if the size of the patient 5 is different, the enlargement ratio is hardly changed, and a part of the insertion shape does not protrude from the display area. It can be displayed in an appropriate size, and the operator can hardly use cumbersome operations such as changing and resetting the enlargement ratio, thereby realizing an endoscope shape detection device that is easy to use or has good operability.

As described above, according to the present embodiment, the display position is always corrected by the position information of the marker 21 with respect to the position information of each source coil, and the display position of the endoscope shape is set at the center of the display area. Since it is displayed around the vicinity,
The endoscope shape can be enlarged and displayed by effectively using the display area, and the display position of the endoscope shape can be displayed almost independently of the endoscope even if the patient 5 to be inspected is replaced. Therefore, as long as the enlargement ratio set by the user is not excessively large, the endoscope shape can be largely displayed in the display area without part of the insertion shape protruding.
That is, when the endoscope shape is displayed in a size that is easy for the user to see, even if the size of the subject is different, a part of the endoscope shape can be displayed without protruding outside the display area.

(Second Embodiment) FIGS. 5 to 8 relate to a second embodiment of the present invention, FIG. 5 is a configuration diagram showing a configuration of an endoscope shape detecting device, and FIG. Is a flowchart showing the operation of the endoscope shape detecting device of FIG. 7, FIG. 7 is an explanatory diagram for explaining step S12 of FIG. 6, and FIG. 8 is a step S1 of FIG.
FIG. 6 is an explanatory diagram for explaining No. 6;

The configuration of the second embodiment of the present invention is similar to that of FIG.
This is the same as the first embodiment except that one marker 21 is replaced with three markers 41, 42, and 43 in the endoscope shape detection device 3 of FIG. Three markers 41, 4
2 and 43 each have one built-in source coil. For example, the source coil is fixed to the vicinity of the anus, the left flank, and the right flank of the patient 5, and is connected to the drive circuit 32 in the control unit 23 via the cables 41a, 42a, and 43a, respectively. It is connected.

In the endoscope shape detecting apparatus 3 according to the present embodiment, three markers 41, 42, 43 each having a built-in source coil fixed to a reference position of the patient 5, and the three markers 41, 42, respectively. , 43 are provided with correction means for correcting the display position / magnification ratio from the calculated position of the source coil.
The information which is not affected by the change in the position of the patient 5 is obtained from the position information of each source coil incorporated in 2, 43, and the endoscope shape is detected by setting an enlargement ratio at which the image is drawn on the entire display screen. The endoscope shape is set near the center of the display, and the display screen is effectively used to enlarge the display.

Next, the operation of the second embodiment will be described with reference to FIG.
This will be described with reference to FIG. The system processor 31 in the control unit 23 first detects the sense coils 19-1 to 19-12.
12 source coils 18-1 to 18-1 incorporated in the scope 6 using the digital value of the magnetic field detection current detected by
The position of 8-12 is calculated (step S11).

Next, the source coils 18-1 to 18-1 of the scope 6
18-18, the reference position of the patient 5 as shown in FIG.
Specifically, for example, the positions of the markers 41 to 43 fixed near the anus, the left flank, and the right flank are calculated (step S1).
2). Here, the maximum value and the minimum value in the XYZ directions are obtained in the detection coordinate system 27 from the three marker positions whose positions have been estimated (step S13).

Next, the detection coordinate system 2 obtained in step S12
In step 7, the center of the coordinates is obtained from the maximum value and the minimum value in the XYZ directions (step S14). Further, an enlargement ratio at which the maximum value and the minimum value in the XYZ directions are maximized in the XYZ directions in the detection coordinate system 27 determined in step S13 is determined (step S15).

Then, the magnification obtained in step S15, the detected position data of the scope 6, and the three markers 41 to 4
A scope image 6 'and marker images' 41 'to 43' as shown in FIG. 8 are generated from the detected position data 3 (step S16). Finally, the scope image 6 'and the marker images 41' to 43 'generated in the previous step S16 are displayed on the insertion shape display monitor 24 as shown in FIG. 8 (step S17), and the processing of this shape display is completed. I do.

According to the present embodiment, three markers 41
By automatically setting the enlargement rate based on the patient's body type (body size) from the positions of ~ 43, in addition to the effect of the first embodiment, enlargement suitable for the patient's body type (body size) The endoscope shape can be enlarged and displayed by always effectively using the display area.

(Third Embodiment) FIGS. 9 and 10 relate to a third embodiment of the present invention. FIG. 9 is a flowchart showing the operation of the endoscope shape detecting device. FIG. FIG. 9 is an explanatory diagram illustrating step S23. The configuration of the third embodiment of the present invention is the same as that of the second embodiment of the present invention, and the processing of the insertion shape is partially different.

In this embodiment, in addition to the second embodiment, a drawing correction means for correcting the size of the endoscope to be drawn and the size of the marker is provided, and an enlarged display of the second embodiment is provided. In addition to the above, a feature is provided that a function is provided to prevent the size of the endoscope shape and the size of the marker to be drawn when the image is enlarged from becoming too large.

Next, the operation of the third embodiment will be described with reference to FIG.
This will be described with reference to FIG. The flowchart of FIG.
15 are the same as in FIG. The system processor 31 in the control unit 23 first detects the sense coils 19-1 to 19-1.
Twelve source coils 1 incorporated in the scope 6 using the digital value of the magnetic detection current detected in 19-12
The positions of 8-1 to 18-12 are calculated (step S1).
1).

Next, the source coils 18-1 to 18-1 of the scope 6
As in 18-12, near the anus of patient 1 as in FIG.
The positions of the markers 41 to 43 fixed to the left flank and the right flank are calculated (step S12). Here, the maximum value and the minimum value in the XYZ directions are obtained in the detection coordinate system 27 from the estimated marker positions (step S13). Next, the center of the coordinates is determined from the maximum and minimum values in the XYZ directions in the coordinate system determined in step S13 (step S14).
Further, XYZ is used in the detection coordinate system 27 obtained in step S14.
An enlargement ratio that maximizes the maximum value and the minimum value in the direction in a range where the maximum value and the minimum value are drawn on the entire display screen is obtained (step S15).

Then, the detected position data of the scope 6 and the detected position data of the three markers 41 to 43 are converted into a step S.
Enlargement is performed at the enlargement ratio obtained in step 15 to obtain enlarged display positions of the scope image 6 'and the marker images 41' to 43 '(step S21). In this state, as shown in the upper part of FIG. 10, the scope image 6 ′ and the marker images 41 ′ to 43 ′ have a magnification that maximizes the use of the entire display screen.
The drawing of the scope image 6 'is too thick or the marker images 41' to 4 '
The size of 3 'drawing may be too large. Next, a drawing coefficient obtained by multiplying the enlargement ratio obtained in step S15 by a certain coefficient is obtained. The drawing coefficient determines the width of the scope to be drawn and the size of the marker as shown in the lower part of FIG. 10 (step S22).

Thereafter, the scope image 6 'and the marker images 41' to 43 'are determined at the display position determined in step S21 using the drawing coefficients determined in step S22.
Is generated (step S23). Finally, the scope image 6 'and the marker image 41' generated in the previous step S23
To 43 'are displayed as shown in the lower part of FIG.
24) Then, this process ends.

According to the present embodiment, in addition to the effects of the second embodiment, the thickness of the endoscope to be drawn and the size of the marker are corrected in addition to the effects of the second embodiment. When the endoscope shape is enlarged and displayed, the size of the endoscope shape to be drawn and the size of the marker can be displayed with an appropriate thickness and size without becoming too large or too large according to the enlargement ratio, The endoscope shape can be enlarged and displayed in a size that is always easy for the user to see.

(Fourth Embodiment) FIG. 11 is an explanatory diagram of an operation in a fourth embodiment of the present invention. In the present embodiment, for example, in the endoscope shape detecting device 3 of the second embodiment or the endoscope shape detecting device of the third embodiment shown in FIG. By designating an arbitrary area on the display screen to be enlarged, the area can be enlarged and displayed.

Next, the operation of the present embodiment will be described using the above-described components and the like. As described above, the drive signal is sequentially applied to the plurality of source coils 18-1 to 18-12, and the generated magnetic field is detected by the sense coils 19-1 to 19-12 to thereby determine the position of each source coil 18-i. After the calculation, the shape of the endoscope is displayed on the shape display monitor 24.

In this case, for example, in the case of the third embodiment, the scope image 6 'and the marker images 41' to 43 'are displayed on the shape display monitor 24 as in the lower case of FIG. You. When the user wants to further enlarge and observe a part of the scope image 6 ′ displayed on the shape display monitor 24,
As shown in FIG. 11A, an area 51 to be enlarged is designated by an instruction means such as a mouse. The control unit 23 is shown in FIG.
Only the area is enlarged and displayed as shown in FIG.

This embodiment is not limited to the second and third embodiments, but can be applied to the first embodiment. Further, the present embodiment can be applied to a configuration of a conventional endoscope shape detecting device. For example, in FIG. 1 showing the first embodiment, in a configuration having no marker 21 (accordingly, a configuration having no means for correcting a display position by detecting the position of the marker 21), a user inputs a signal from a mouse or the like of the input unit 25. The present invention can be applied to a case in which the user designates an arbitrary area to be enlarged on the display screen to give an instruction to enlarge and display the area.

According to the present embodiment, by designating (the area for which enlarged display is desired) in the scope shape displayed on the monitor, only the designated area can be enlarged and displayed. It is possible to further magnify and observe only the region desired to be obtained. Others have the same effects as the first to third embodiments.

In the first embodiment and the like, a plurality of source coils 18-1 to 18-12 are arranged on the scope 6 side, and a plurality of sense coils 19-1 to 19-12 are connected to a known part outside the scope 6. And the marker 21 is a source coil, but a plurality of sense coils 19-1 to 19-12 are arranged at predetermined intervals in the scope 6, and a plurality of sense coils 19-1 to 19-12 are arranged at known positions outside the scope 6. Source coil 18-1
18-12, and the marker 21 may be a sense coil.

For example, in the first embodiment, when the insertion shape is displayed on the display means by detecting the position of the marker 21, the insertion shape is set near the center, and when the enlarged display is performed, a part of the insertion shape is set. Is controlled so as to prevent the data from protruding from the display area, but means for changing the reference position at which the insertion shape is displayed may be provided.

For example, in the initial state of the insertion operation when the distal end side of the insertion portion 11 is inserted from the anus, the marker 2
The relative position information of the first source coil 18-1 provided on the most distal end side of the insertion section 11 with respect to the reference position where 1 has been detected is determined, and in this case, the reference position (marker position) is determined. The insertion state (insertion shape) that is actually inserted is changed by an insertion operation, such as setting the upper end of the display screen and mainly displaying the shape of the distal end side of the insertion section 11 positioned below the display screen. Correspondingly, the reference position of the display (and the enlargement ratio if necessary) may be changed.

The embodiments and the like constituted by partially combining the above-described embodiments and the like also belong to the present invention. For example, in the second embodiment, the function of automatically setting the size of the insertion shape displayed on the display means is provided, but it may be possible to manually specify the size. Also in the first embodiment, in addition to the mode for manually specifying the enlargement ratio, the enlargement ratio may be automatically determined and the shape may be displayed.

According to the present invention, if a source coil or the like is provided in another medical device such as an ultrasonic probe inserted into a subject other than an endoscope, the shape of the medical device can be displayed. Also, the present invention can be applied to a position detecting device of a medical device other than an endoscope.

[Supplementary Notes] (1) First coil means to be inserted into the subject, second coil means arranged at a predetermined position, and an arbitrary position on the subject A third coil means that can be arranged, a first magnetic signal is transmitted and received between the first coil means and the second coil means, and the third coil means and the second coil means Second between
Transmitting and receiving means for transmitting and receiving the magnetic signal, and a first detection signal obtained by transmitting and receiving the first magnetic signal,
First position information indicating the position of the first coil unit with respect to the second coil unit is calculated, and the second position information is calculated based on a second detection signal obtained by transmitting and receiving the second magnetic signal. Calculating means for calculating second position information indicating the position of the third coil means with respect to the coil means; and position information for correcting the first position information based on the second position information calculated by the calculating means Correcting means for correcting the first position based on the corrected position information corrected by the position information correcting means;
And a display control means for displaying the position information of the coil means on the display means.

(2) First coil means inserted into the subject, second coil means arranged at a predetermined position, and disposable at any position on the subject A third coil means, the first coil means and the second
Transmitting and receiving a first magnetic signal to and from the third coil means, and transmitting and receiving a second magnetic signal to and from the third coil means and the second coil means; Based on a first detection signal obtained by transmitting and receiving a magnetic signal, first position information indicating a position of the first coil unit with respect to the second coil unit is calculated, and transmission and reception of the second magnetic signal are performed. Calculating means for calculating second position information indicating the position of the third coil means with respect to the second coil means based on the second detection signal obtained by the second detecting means; and A position information correcting unit for correcting the first position information; and a position information of the first coil unit displayed on a display unit based on the corrected position information corrected by the position information correcting unit. Location information Quasi as, the display means the position detecting device for a first scaling controllable display control means displays the location information of the coil means to be displayed, characterized by comprising to.

(3) A first coil comprising a plurality of coils arranged along the insertion axis of the endoscope insertion portion to be inserted into the subject
Coil means, a second coil means arranged at a predetermined position, a third coil means which can be arranged at an arbitrary position on the subject, the first coil means, Transmitting and receiving means for transmitting and receiving a first magnetic signal to and from the second coil means, and transmitting and receiving a second magnetic signal to and from the third coil means and the second coil means; 1 obtained by transmitting and receiving the magnetic signal
Based on the detection signal, the first position information indicating the position of the first coil means with respect to the second coil means is calculated, and the second detection signal obtained by transmitting and receiving the second magnetic signal is calculated. Calculating means for calculating second position information indicating a position of the third coil means with respect to the second coil means, and a position for correcting the first position information based on the second position information Information correcting means, based on the corrected position information corrected by the position information correcting means, and pseudo-display the insertion shape of the endoscope insertion portion,
Display control means capable of controlling enlargement / reduction of a pseudo display image of the insertion shape of the endoscope insertion portion displayed on the display means based on the second position information. State detection device.

(4) In an endoscope shape detecting device that detects the magnetic field generated by a plurality of source coils with a sense coil to calculate the position of each source coil and displays the shape of the endoscope, one patient , A patient position detecting means for detecting a position of a patient from the calculated position of the source coil, and a position correcting means for correcting a display position of the source coil based on position information of the patient detected by the patient position detecting means. An endoscope shape detecting device comprising:

(5) In an endoscope shape detecting device which calculates the position of each source coil by detecting a magnetic field generated by a plurality of source coils with a sense coil and displays the shape of the endoscope, at least three A source coil fixed to a patient, position correction means for correcting the display position of the source coil from the calculated position of the source coil, and magnification setting means for setting a magnification of the source coil from the calculated position of the source coil are provided. An endoscope shape detecting device, characterized in that:

(6) In an endoscope shape detecting device that calculates the position of each source coil by detecting the magnetic field generated by a plurality of source coils with a sense coil and displays the shape of the endoscope, at least three A source coil fixed to a patient, position correction means for correcting the display position of the source coil from the calculated position of the source coil, magnification setting means for setting a magnification of the source coil from the calculated position of the source coil, drawing An endoscope shape detecting device provided with drawing correction means for correcting the thickness of the endoscope shape and the size of the marker to be performed.

(7) In an endoscope shape detecting device for detecting the magnetic field generated by a plurality of source coils with a sense coil to calculate the position of each source coil and displaying the shape of the endoscope, An endoscope shape detecting apparatus, comprising: an instructing means for instructing an arbitrary area on a screen for displaying a screen.

(8) A first coil composed of a plurality of coils arranged along the insertion axis of the endoscope insertion portion to be inserted into the subject
Coil means, a second coil means arranged at a predetermined position, a third coil means which can be arranged at an arbitrary reference position on the subject, and the first coil means Transmitting and receiving means for transmitting and receiving a first magnetic signal between the means and the second coil means, and transmitting and receiving a second magnetic signal between the third coil means and the second coil means; Calculating first position information indicating a position of the first coil unit with respect to the second coil unit based on a first detection signal obtained by transmitting and receiving the first magnetic signal; Calculating means for calculating second position information indicating the position of the third coil means with respect to the second coil means, based on a second detection signal obtained by the transmission and reception of the magnetic signal; The first position based on position information A location information correction means for correcting the distribution,
Display control means for displaying the insertion shape of the endoscope insertion portion on a display means in a pseudo manner based on the corrected position information corrected by the position information correction means, and enlarged display of the insertion shape displayed on the display means And an enlarged display instructing means for instructing the endoscope.

(9) In Supplementary Note 8, if there is no input of the enlargement ratio of the enlargement display from the enlargement display instruction means, the enlargement display is performed at the set enlargement ratio or the enlargement ratio set last time. (10) In Supplementary Note 8, the value of the enlargement factor when performing further enlarged display is automatically set by using the second position information or the like, and is set using the value of the enlargement factor set on the display means. There is an automatic display mode for displaying an insertion shape in a pseudo manner.

[0065]

As described above, according to the present invention, the first coil means comprising a plurality of coils arranged along the insertion axis of the endoscope insertion portion to be inserted into the subject, A second coil means arranged at a determined predetermined position; a third coil means capable of being arranged at an arbitrary reference position on the subject; the first coil means and the second coil means;
Transmitting and receiving a first magnetic signal to and from the third coil means, and transmitting and receiving a second magnetic signal to and from the third coil means and the second coil means; Based on a first detection signal obtained by transmitting and receiving a magnetic signal, first position information indicating a position of the first coil unit with respect to the second coil unit is calculated, and transmission and reception of the second magnetic signal are performed. Calculating means for calculating second position information indicating the position of the third coil means with respect to the second coil means based on the second detection signal obtained by the second detecting means; and Position information correcting means for correcting the first position information, and display control for pseudo-displaying the insertion shape of the endoscope insertion portion on the display means based on the corrected position information corrected by the position information correcting means. Means and said display hand And an enlarged display instructing means for instructing an enlarged display of the insertion shape displayed on the display unit. Therefore, based on the second position information indicating the position of the third coil means arranged at an arbitrary reference position. The position information of the first coil means provided in the endoscope insertion section is corrected, and the insertion shape of the endoscope insertion section is displayed near the center of the display means, thereby giving an instruction to enlarge the insertion shape. Also in the case of performing, a part of the subject can be displayed in a size that is easy for the user to see without protruding from the display area.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an endoscope system including an endoscope shape detection device according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a control unit in FIG.

FIG. 3 is a flowchart showing the operation of the endoscope shape detecting device of FIG. 1;

FIG. 4 is an explanatory diagram for explaining steps S3 and S4 in FIG. 3;

FIG. 5 is a configuration diagram showing a configuration of an endoscope shape detection device according to a second embodiment of the present invention.

FIG. 6 is a flowchart showing the operation of the endoscope shape detection device in FIG. 5;

FIG. 7 is an explanatory diagram for explaining step S12 in FIG. 6;

FIG. 8 is an explanatory diagram for explaining step S16 in FIG. 6;

FIG. 9 is a flowchart showing the operation of the third embodiment of the present invention.

FIG. 10 is an explanatory diagram of step S23 in FIG. 9;

FIG. 11 is an explanatory diagram of the operation of the fourth embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Endoscope system 2 ... Endoscope apparatus 3 ... Endoscope shape detecting apparatus 4 ... Examination bed 5 ... Patient 6 ... Endoscope (scope) 7 ... Video processor 8 ... Monitor for image observation 11 ... Insertion part 12 ... Operation unit 13 ... Universal cable 16 ... Bending part 17 ... Insertion shape detection probe 18-1 to 18-12 ... Source coil 19-1 to 19-12 ... Sense coil 20 ... Coil unit 21 ... Marker 23 ... Control unit 24 ... Shape display monitor 25 ... Input unit 31 ... System processor 32 ... Drive circuit 33 ... Detection circuit 34 ... Image generation circuit

Continued on the front page (72) Inventor Sumihiro Uchimura 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Co., Ltd. (72) Inventor Akira Taniguchi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optics Within Kogyo Co., Ltd. (72) Ken Kawabata 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Kogyo Co., Ltd. (72) Fumiyuki Onoda 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optics Inside the Industrial Co., Ltd. (72) Inventor Chieko Aizawa 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Industrial Co., Ltd. (72) Masanori Hara 1-34-14, Hatsudai, Shibuya-ku, Tokyo Hatsudai TN Building Olympus Systems Corporation (72) Inventor Kazutaka Tsuji 1-34-14 Hatsudai, Shibuya-ku, Tokyo Hatsudai TN Building Olympus Systems Corporation F-term (reference) 2F063 AA04 BD15 DA01 DA05 GA01 KA01 MA05 4C061 AA04 AA29 BB00 CC06 DD03 FF2 1 HH52 HH60 JJ17 NN05 SS21 WW03 WW13 5C054 CC07 HA12

Claims (1)

[Claims] A first coil means comprising a plurality of coils arranged along an insertion axis of an endoscope insertion portion to be inserted into a subject; and a first coil means arranged at a predetermined position. A second coil means, and a third coil means which can be arranged at an arbitrary reference position on the subject.
A first magnetic signal is transmitted and received between the first coil means and the second coil means, and a first magnetic signal is transmitted and received between the third coil means and the second coil means. Transmitting and receiving means for transmitting and receiving the second magnetic signal; and a first signal indicating a position of the first coil means with respect to the second coil means based on a first detection signal obtained by transmitting and receiving the first magnetic signal. Calculate the location information of
Based on the second detection signal obtained by the transmission and reception of the second magnetic signal, the third coil means with respect to the second coil means
Calculating means for calculating second position information representing the position of the coil means, position information correcting means for correcting the first position information based on the second position information, and correction by the position information correcting means. Display control means for simulatingly displaying the insertion shape of the endoscope insertion portion on the display means based on the corrected position information, and an enlarged display instruction for giving an instruction for enlarged display of the insertion shape displayed on the display means Means for detecting an endoscope shape.