JP2000079088A - Endoscope form detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To let an endoscope form be more easily recognized by changing a display of it with a display corresponding to an X-ray image display. SOLUTION: An insertion portion 11 is inserted into a patient 5 lying on an examination bed 4, and source coils 18-1, 18-2, etc., disposed in it in the length direction are magnetically detected by use of sense coils 19-1, 19-2, etc., disposed outside, so positions of the source coils 18-1, 18-2, etc., are detected by processing by a control unit 23. In a form display monitor 24, view directions in a normal display mode to display the insertion portion 11 in a view direction in which an inertion direction is set as the vertical direction in displaying, and in a display mode corresponding to an X-ray image to display it in which a length direction of an employed patient 5 is set in the horizontal direction in fluoroscopy are changeable or selective, thereby an insertion form can be easily recognized even by an operator who is used to X-ray image display.

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 using a magnetic field.

[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.

[0003] In this case, for example, as in the case of examining the lower digestive tract from the anal side, some skill may be required to smoothly insert the insertion portion into a bent body cavity.

[0004] In other words, when the insertion operation is performed, 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.

[0005] For this reason, for example, Japanese Patent Application Laid-Open
In the endoscope shape detection device disclosed in JP-A-107875, the endoscope detection shapes from different viewpoints are simultaneously displayed on two screens. In this device, the endoscope insertion shape is displayed from an arbitrary viewpoint by a user operation. Further, the viewpoint position desired by the user is held, and the display from the viewpoint position is displayed immediately after the apparatus is started.

[0006]

Prior to the use of such an endoscope shape detecting device using a magnetic field, an endoscopic examination was performed under fluoroscopy. In a conventional device, X
There is no relation with the display of the endoscope X-ray image under fluoroscopy.
The endoscope shape display was difficult to understand for a user who had performed an endoscopy under fluoroscopy.

More specifically, when displaying the insertion shape, the height of the patient is set in the vertical direction on the monitor screen, whereas the display of the endoscope X-ray image by X-ray fluoroscopy is performed. In the display, the height of the patient is displayed sideways.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned points, and has an endoscope shape detection device capable of switching to a display corresponding to an X-ray image display so that the shape of an insertion portion of the endoscope can be easily understood. It is intended to provide a device.

[0009]

Means for Solving the Problems To solve this problem, there are provided a plurality of magnetic field generating means, and magnetic field detecting means for detecting a magnetic field generated from the magnetic field generating means, and each magnetic field is detected from the magnetic field detection result. In the endoscope shape detection device that calculates the position of the generating means and displays the shape of the endoscope on the endoscope shape display means, displays the shape of the endoscope in the viewing direction of the endoscope X-ray image display or the like. By providing a display changing means for changing the direction of the visual field, the shape of the endoscope can be observed in a state where it can be easily associated with the endoscope X-ray image display.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. (First Embodiment) FIGS. 1 to 9 relate to a first embodiment of the present invention, and FIG. 1 shows an entire configuration of an endoscope system provided with the first embodiment of the present invention. 2 shows a schematic functional configuration of the control unit, FIG. 3 shows a flowchart of the operation of the endoscope shape detecting device of FIG. 1, and FIG.
5 shows the contents of the endoscope shape drawing processing in the flow of FIG. 4, FIG. 5 shows the contents of the one-screen mode processing of FIG. 4, and FIG.
7 shows the endoscope insertion shape in the one-screen mode displayed on the shape display monitor, and FIG. 8 shows the contents of the two-screen mode displayed on the shape display monitor. FIG. 9 shows the endoscope insertion shape in the normal display mode in the two-screen mode and the X-ray image corresponding mode displayed on the shape display monitor.

As shown in FIG. 1, an endoscope system 1 includes an endoscope apparatus 2 for performing an endoscopy, and the present invention for detecting and displaying an inserted shape of the endoscope during the endoscopy. And the endoscope shape detecting device 3 according to the first embodiment.

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.

Accordingly, by inserting the probe 17 into the treatment instrument channel and positioning and fixing the distal end or the rear end thereof, the twelve source coils 18-1 are arranged at predetermined intervals in the axial direction of the insertion portion 11. 18-18 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, a cable 21 of the probe 17, and a cable 22 extended from the coil unit 20. Is connected, and a control unit 23 that performs processing such as control and position estimation of the device 3, and a video signal output from an output end of the control unit 23 for inputting a video signal to display an endoscope insertion shape The control unit 23 is connected to an input unit 25 for inputting an instruction or selection of a screen display mode.

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 is composed of a system processor 31 for performing arithmetic processing such as control of the apparatus 3 and position estimation, and a source coil arranged inside the scope 6 by a control signal from the system processor 31. A drive circuit 32 for supplying a drive current for generating an AC magnetic field to the coil units 20-1 to 18-12;
A detection circuit 33 that amplifies a magnetic field detection current input from the sense coils 19-1 to 19-12, converts the current into analog-digital, and outputs the result to the system processor 31;
An image generation circuit 34 converts the digital data of the shape of the insertion section 11 of the scope 6 generated by the system processor 31 into an analog video signal and outputs the same. The control unit 23 instructs or selects a screen display mode. For example, an input unit 25 including a keyboard, an operation panel provided on a front panel or the like, and a mouse (or another pointing device such as a trackball) for inputting is connected.

In this embodiment, in accordance with an instruction from the input unit 25, one insertion shape is displayed when the (endoscope) insertion shape displayed on the shape display monitor 24 is observed from a specified viewpoint direction. Display in one-screen mode, and also display an insertion shape from a viewpoint direction different from the viewpoint direction by 90 °.
Display in screen mode can be performed. In addition, in the present embodiment, in addition to the normal display mode for displaying the insertion shape as described above, the X for displaying the insertion shape closely related to the case of displaying the endoscope X-ray image by X-ray fluoroscopy. A line image corresponding display mode is provided.

In the normal display mode, when the insertion shape is displayed on the insertion shape display monitor 24, the vertical direction is set to the height direction of the patient 5 and displayed. That is, in FIG. 1, the longitudinal direction (left-right direction) of the inspection bed 4, that is, the −Y direction in the orthogonal coordinate system (X, Y, Z) fixed to the inspection bed 4 is the vertical direction of the insertion shape display monitor 24. Is set to More specifically, the vicinity of the anus of the patient 5 into which the distal end of the scope 6 is inserted in the longitudinal direction of the bed 4 is set on the lower side in the vertical direction (of the insertion shape display monitor 24), and the abdomen side of the patient 5 is inserted (the insertion shape). Display monitor 2
4) It is set and displayed on the upper side in the vertical direction.

On the other hand, in the display mode corresponding to the X-ray image, the vertical direction when displaying the insertion shape on the insertion shape display monitor 24 is set with reference to the height direction of the operator (user). The height direction of the patient 5 lying on the bed 4 with respect to the patient is displayed on the insertion shape display monitor 24 in the horizontal direction.

In other words, in the X-ray image corresponding display mode, in FIG. 1, the short side direction (coordinate system (X,
In (Y, Z), the X direction) is set in the vertical direction of the insert shape display monitor 24, and the insert shape is displayed on the insert shape display monitor 24.

For example, in FIG. 1, an X-ray apparatus (not shown) irradiates X-rays from above the paper surface to below the paper surface to obtain an endoscope X-ray image by X-ray fluoroscopy. In FIG. 1, the direction is indicated by a display direction D1 corresponding to the X-ray image.

Also, in the X-ray image corresponding display mode, one inserted shape is displayed when the inserted shape displayed on the shape display monitor 24 is observed in the X-ray image corresponding display direction D1 in FIG. Display in screen mode and the directions D1 and 90
° It is possible to perform display in a two-screen mode in which an insertion shape when observed in a different display direction D2 corresponding to an X-ray image is also displayed.

In the two-screen mode, the normal mode and X
Even in the line image corresponding display mode, the vertical direction of the two insertion shapes displayed on the shape display monitor 24 is common, and the observation directions are different by 90 °.

For example, when the X-ray image correspondence display is instructed in the two-screen mode, the direction D1 and the direction D1
Do not change the vertical direction around (ie in the horizontal plane) 90
The endoscope insertion shape when viewed from the direction of the direction D2 after rotating by degrees is displayed, that is, the directions D1 and D in the two-screen mode.
Two endoscope insertion shapes when viewed from two directions can be displayed. An instruction to switch between the normal mode and the X-ray image corresponding display mode is input to the input unit 2.
5 can be performed.

That is, in the present embodiment, when the normal insertion shape is observed, the insertion shape is displayed in the normal display mode in which the direction corresponding to the first viewing direction is set as the vertical direction of the display. A field of view for performing display and an insertion shape display in an X-ray image corresponding display mode in which an insertion shape is displayed with a direction corresponding to a second field of view direction in the case of endoscope X-ray image observation being a vertical direction of the display. A direction changing means, and an instructing means for instructing the switching of the display mode is provided to the view direction changing means, so that a user who is accustomed to the endoscope X-ray image display can easily understand the endoscope shape. The display can be performed.

The view direction changing means comprises the system processor 31 and the image generation circuit 34 shown in FIG. 2. For example, the display is switched from the display of the insertion shape in the normal display mode to the X-ray image display mode to display the insertion shape. When the instruction is issued, the insertion shape in the normal mode in the one-screen mode is converted into the insertion shape from the reference viewpoint direction with the −Z-axis direction in FIG. 1 as the viewpoint direction. The processing of rotating 90 ° in the counterclockwise direction is performed to convert the direction of the visual field to be displayed as an insertion shape (in one screen mode) in the X-ray image corresponding display mode. The display in the two-screen mode is generated by rotating the inserted shape by 90 ° with reference to one inserted shape in the two-screen mode (this is the same as one inserted shape in the one-screen mode) as described later. .

Next, the operation of the first embodiment will be described with reference to FIG.
This will be described with reference to FIG. First, the system processor 31 in the control unit 23 acquires the setting state of the screen configuration of the user in step S1. That is, the setting information of the screen configuration of whether the endoscope insertion shape is displayed on one screen or the endoscope insertion shape is displayed on two screens is obtained. Next, an AC signal is simultaneously or sequentially applied to the twelve source coils 18-1 to 18-12 to generate a magnetic field around the source coil, and the magnetic field is applied to twelve sense coils arranged at known positions. The positions of the twelve source coils 18-1 to 18-12 incorporated in the scope 6 are calculated using the digital values of the detected magnetic field detection currents in steps 19-1 to 19-12 (step S2). ).

Next, it is determined whether or not there is a screen mode change request in step S3. If there is no screen mode change request, the process proceeds to step S4. If there is a screen mode change request, branch A
To determine the current screen mode (step S1).
1) If the current screen mode is the one-screen mode, the mode is changed to the two-screen mode (step S12), and the process proceeds to step S4. Conversely, if the current screen mode is the two-screen mode, the mode is changed to the one-screen mode (step S13), and the process proceeds to step S4.

In step S4, it is determined whether there is a request to change the display mode in the two-screen mode and X-ray corresponding display mode. If there is a request to change the display mode corresponding to X-ray, the process proceeds to branch C to determine the current display mode (step S21). If the current display mode is the normal display mode, the display mode is changed to the X-ray image corresponding display mode (step S22), and the process proceeds to step S5. vice versa,
If the current display mode is the X-ray image compatible display mode, the display mode is changed to the normal display mode (step S23), and step S5 is performed.
Move on to

Next, the contents of the endoscope shape drawing process in step S5 in FIG. 3 will be described with reference to FIG. As shown in FIG. 4, first, the endoscope shape model drawing mode in step S31 is determined, and if the drawing mode is the one-screen mode, one-screen mode processing (step S32) is performed. If the two-screen mode, the two-screen mode processing is performed. (Step S33) is performed, and the process ends.

In this case, the drawing processing of the endoscope shape in the one-screen mode corresponds to the case of viewing from the viewpoint direction input or selected by the user from the input unit 25 or the like. In the two-screen mode, the viewpoint direction in the one-screen mode and the vertical direction of the display at that time are maintained.
This corresponds to the direction perpendicular to the direction of the viewpoint rotated by 0 ° (described later with reference to FIG. 6).

FIG. 5 shows a detailed flow of the one-screen mode process in step S32 of FIG. First, in step S41, the position coordinates of the source coil are acquired and converted into view coordinates,
Next, endoscope shape model data is created (step S4).
2). Then, the endoscope shape model data is stored in a VR (not shown) in the image generation circuit 34 in the control unit 23.
Deploy to AM (step S43).

As a result, the endoscope shape model data developed in the VRAM is output to the shape display monitor 24, and the endoscope shape model 41a as shown in FIG. 7 is displayed on the shape display monitor 24. (Step S44).

It should be noted that the endoscope shape model 41a displayed on the shape display monitor 24 is actually displayed in, for example, a gray scale, and is displayed with a three-dimensional effect. For example, in the case of the shape shown in FIG. 7, the front end portion is bright on the near side, and the portion overlapping the front end portion is displayed dark, and is displayed three-dimensionally so that the bent state can be recognized. 8 and the like other than FIG. 7 are actually displayed so as to have a three-dimensional effect. Note that a display having a three-dimensional effect may be performed by hatching instead of gray scale. Here, step S4
The procedure for creating endoscope shape model data 2 is the same as that of Japanese Patent Application No. 10-69075 filed earlier.

FIG. 6 shows the flow of the two-screen mode processing in step S33 of FIG. 4. First, a display area for two screens is set in step S51, and then a viewpoint is set (step S52). Next, the position coordinates of the source coil are converted into visual field coordinates (step S53), and endoscope shape model data on the left side of the two screens is created (step S54).

Then, the endoscope shape model data is developed in a VRAM (not shown) in the image generation circuit 34 in the control unit 23 (step S55). Next, the left endoscope shape model of the two screens is rotated by 90 ° to create the right endoscope shape model (step S56). The model data on the right side is developed in the VRAM (step S57). As a result, the endoscope shape models 41a and 41b as shown in FIG. 8 are displayed on the shape display monitor 24 in the two-screen mode (step S58).

In the case of the X-ray image corresponding display mode, in step S52, the viewpoint is set in the X-ray image corresponding display direction D1 (-Z direction) as shown in FIG. Direction) is the viewing direction, that is, the shape display monitor 24.
Is set in the vertical direction when the insertion shape is displayed, and an endoscope shape model is created in step S54.

In the endoscope-shaped model created in step S56, the model on the left side is rotated by 90 ° in the horizontal plane direction to create a model whose viewpoint is set in the display direction D2 corresponding to the X-ray image in FIG. You.

The procedure for creating the endoscope shape model data in step S54 is described in Japanese Patent Application No. 10-6907 filed earlier.
Same as No. 5. The normal display mode and the X-ray image corresponding display mode are switched according to the flow shown in FIG. 3. For example, when the normal display mode and the X-ray image corresponding display mode are switched in the two-screen mode, as shown in FIG. The endoscope shape models 41c and 41d in the two normal display modes and the endoscope shape models 41e and 41f in the X-ray image corresponding display mode are displayed according to the switching instruction. Although not shown, the endoscope shape model in the normal display mode and the endoscope shape model in the X-ray image corresponding display mode are similarly displayed in the single screen mode in response to the switching instruction.

Therefore, according to the present embodiment, it is possible to display the insertion shape in a display form that the operator can easily confirm the insertion state. For example, in the case of an operator who is accustomed to X-ray fluoroscopy, if an instruction input of an X-ray image corresponding display mode is performed from the input unit 25, a viewpoint direction corresponding to a normal observation state in X-ray fluoroscopy and a display in that case are displayed. Since the insertion shape can be displayed in the display direction by the means, it is easy to grasp the insertion state.

In the case of a surgeon who does not use X-ray fluoroscopy very much, if the display is instructed or selected in the normal display mode, the insertion direction can be set to the vertical direction of the display means. Since the display is performed, it is easy to grasp the insertion state.

[0044]

Second Embodiment Next, a second embodiment of the present invention will be described with reference to FIGS. 10 and 11
FIG. 10 shows a flow of a process in a two-screen mode, and FIG. 11 shows an endoscope insertion shape and the like displayed on a shape display monitor.

In this embodiment, in FIG. 1, when an instruction to display the endoscope insertion shape in the X-ray image corresponding mode is given, the sign figure is displayed. Are the same as in the first embodiment.

Next, the operation of the second embodiment will be described with reference to FIG. In FIG. 10, the flow from step S51 to step S57 is the same as FIG. 6 in the first embodiment.

After step S57, the current display mode is determined in step S61. If the display mode is the normal display mode, the endoscope shape is displayed as it is (step S5).
8). On the other hand, if the display mode is the X-ray image corresponding display mode, the sign figure is developed in the VRAM (step S62). Then, the sign figure is displayed together with the endoscope shape (step S5).
8).

As a result, the monitor 24 for shape display is shown in FIG.
The endoscope insertion shape models 41e and 41f accompanied by the sign graphics 51 as shown in FIG. Although FIG. 11 shows the case of the two-screen mode, the endoscope insertion shape model with the sign 51 is displayed even in the one-screen mode in the X-ray image compatible display mode. Other configurations and operations are the same as those of the first embodiment.

According to the present embodiment, during the display corresponding to the endoscope X-ray image display, the sign FIG.
Since 1 is displayed, the user can easily recognize that the display corresponding to the endoscope X-ray image display is being performed. The other effects are the same as those of the first embodiment. Note that characters and symbols may be used instead of figures.

In the first embodiment, the scope 6
A plurality of source coils 18-1 to 18-12 are arranged on the side, and a plurality of sense coils 19-1 to 19-12 are arranged at known positions outside the scope 6. -1 to 19-12 may be arranged at predetermined intervals or the like, and a plurality of source coils 18-1 to 18-12 may be arranged at known positions outside the scope 6.

For example, the vertical direction of the display surface in the case of displaying the insertion shape in the X-ray image corresponding mode has been described as the X direction in FIG. 1, but in the present invention, the case where the insertion shape is displayed on the shape display monitor 24 is described. The direction of the field of view can be freely changed. For example, even when the patient 5 lays down from the Y-axis direction in FIG. 1, the insertion shape can be displayed in the normal mode and the X-ray image corresponding mode corresponding thereto.

That is, in this case, the insertion direction is inclined (in the XY plane) from the horizontal direction (−Y axis direction) in FIG. 1, and accordingly, the display in the case of displaying the insertion shape in the normal mode is performed accordingly. The vertical direction (vertical direction) of the screen is set to the insertion direction inclined from the horizontal direction. When the insertion shape is displayed in the X-ray image corresponding mode, the insertion direction is set to the horizontal direction of the display screen and displayed.

[Supplementary Notes] (1) First coil means having a plurality of coils arranged along the insertion axis of the endoscope insertion section, and a plurality of coils arranged at a predetermined position. A second coil unit, a transmission / reception unit for transmitting / receiving a magnetic signal between the first coil unit and the second coil unit, and a second transmission / reception unit based on a detection signal obtained by transmitting / receiving the magnetic signal. Calculating means for calculating the position information of each of the plurality of coils in the first coil means and the plurality of coils in the first coil means, and the insertion shape of the endoscope insertion section is pseudo-displayed on the display means based on the calculation results of the calculating means. An endoscope shape detecting apparatus having a display control means for displaying, wherein a view direction changing means capable of instructing a change in a view direction of the insertion shape displayed on the display means is provided. Mirror shape Detection device.

(2) First coil means having a plurality of coils arranged along the insertion axis of the endoscope insertion section, and second coil means having a plurality of coils arranged at predetermined positions. Coil means; calculation means for calculating position information of each of the plurality of coils in the second coil means and the first coil means based on a detection signal obtained by transmitting and receiving the magnetic signal; and the calculation means Display control means for simulatingly displaying the insertion shape of the endoscope insertion portion on a display means based on the calculation result of the endoscope insertion section, wherein the vertical direction of the display screen of the display means is First to display in accordance with the insertion direction of the endoscope insertion section
And a second display mode in which the horizontal direction of the display screen is made to coincide with the insertion direction of the endoscope insertion section and the display mode can be changed. Endoscope shape detection device.

(3) A plurality of magnetic field generating means, and a magnetic field detecting means for detecting a magnetic field generated from the magnetic field generating means, wherein the position of each magnetic field generating means is calculated from the magnetic field detection result, In the endoscope shape detection device that displays the shape of the endoscope on the endoscope shape display means, the endoscope shape display means simultaneously displays a plurality of endoscope shapes from different viewpoint directions, and the An endoscope shape detecting device, comprising: means for switching to a display corresponding to an endoscope image. (4) The endoscope shape detecting device according to appendix 3, wherein a figure or a character indicating the state is displayed while a display corresponding to the endoscope image obtained by X-ray fluoroscopy is displayed.

[0056]

As described above, according to the present invention, the first coil means having a plurality of coils arranged along the insertion axis of the endoscope insertion portion is provided at a predetermined position. The second coil means having a plurality of coils arranged therein, and the magnetic field generated in one of the first coil means and the second coil means is detected by the other coil means, whereby the first coil means Calculating means for calculating position information of each of the plurality of coils in the means; and display control means for simulatingly displaying the shape of the endoscope insertion portion on a display means based on the calculation result of the calculating means. In the endoscope shape detection device, display change means for changing the view direction of the insertion shape displayed on the display means to the view direction of an endoscope image under X-ray fluoroscopy is provided. Accustomed to fluoroscopy Show an endoscope shape state easy to understand even if the person.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of an endoscope system including a first embodiment of the present invention.

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

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

FIG. 4 is a flowchart showing the contents of an endoscope shape drawing process in FIG. 3;

FIG. 5 is a flowchart showing the contents of one-screen mode processing of FIG. 4;

FIG. 6 is a flowchart showing the contents of a two-screen mode process of FIG. 4;

FIG. 7 is a view showing an endoscope insertion shape in a one-screen mode displayed on a shape display monitor.

FIG. 8 is a diagram showing an endoscope insertion shape in a two-screen mode displayed on a shape display monitor.

FIG. 9 is a diagram showing an endoscope insertion shape in a normal display mode and an X-ray image corresponding mode in a two-screen mode displayed on a shape display monitor.

FIG. 10 is a flowchart showing the contents of a two-screen mode process according to the second embodiment of the present invention.

FIG. 11 is a diagram showing a state in which the endoscope insertion shape in the X-ray image corresponding mode in the two-screen mode displayed on the shape display monitor is displayed together with a sign figure.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Endoscope system 2 ... Endoscope apparatus 3 ... Endoscope shape detection 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 23 ... Control unit 24 ... Shape display Monitor 25 ... Input unit 31 ... System processor 32 ... Drive circuit 33 ... Detection circuit 34 ... Image generation circuit 41a-41f ... Endoscope insertion shape model

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Sumihiro Uchimura 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Industrial Co., Ltd. (72) Inventor Yasuhiro Yoshizawa 2-43-2 Hatagaya, Shibuya-ku, Tokyo Within Olympus Optical Co., Ltd. (72) Inventor Akira Taniguchi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Co., Ltd. (72) Inventor Fumiyuki Onoda 2-43-2, Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Co., Ltd. (72) Inventor Chieko Aizawa 2-43-2, Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical 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 Table T N building Olympus Systems Co., Ltd. in

Claims (1)

[Claims] (1) A first coil means having a plurality of coils arranged along an insertion axis of an endoscope insertion section, and a plurality of coils arranged at predetermined positions. A second coil unit, and a magnetic field generated by one of the first coil unit and the second coil unit is detected by the other coil unit, whereby a position of each of the plurality of coils in the first coil unit is detected. An endoscope shape detection device comprising: an operation unit for calculating information; and a display control unit for simulatingly displaying the shape of the endoscope insertion unit on a display unit based on the operation result of the operation unit. An endoscope shape detecting device, comprising: a display changing unit that changes and displays a viewing direction of the insertion shape displayed on the display unit.