JP2002369790A - Shape detecting system for endoscope - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily observe an endoscope image and an endoscope shape image and to improve operability of inserting operation into an inserting part. SOLUTION: In an endoscope shape detecting system provided with an endoscope provided with an inserting part with sites of different bending characteristics, a shape detecting means for detecting the inserting shapes of the inserting parts with different bending characteristics and a display control means forming a shape image of the inserting shape and displaying it on a displaying means, the display control means is characterized by forming the shape image in which the sites of different bending characteristics of the inserting part can be discriminated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope shape detection system, and more particularly to an endoscope shape detection system having a feature in a display portion of an endoscope shape image.

[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.

Accordingly, various position estimating apparatuses (shape estimating apparatuses) using a magnetic field have been proposed, for example, as disclosed in Japanese Patent Application No. 10-69075 previously filed by the present applicant.

[0006]

However, in the conventional position estimating device (shape estimating device), an endoscope shape image generated by the position estimating device is displayed in addition to the monitor displaying the endoscope image. A monitor is provided and the surgeon has 2
The insertion operation must be performed while observing the two monitors, and there is a problem in operability.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and allows an endoscope image and an endoscope shape image to be easily observed, and an endoscope capable of improving the operability of an insertion operation in an insertion portion. An object is to provide a mirror shape detection system.

[0008]

SUMMARY OF THE INVENTION An endoscope shape detecting system according to the present invention comprises an endoscope having an insertion portion having portions having different bending characteristics, and a shape detection means for detecting an insertion shape of the insertion portion. A display control means for generating a shape image of the insertion shape and displaying the image on a display means, wherein the display control means is capable of identifying portions of the insertion portion having different bending characteristics. It is characterized in that the above-mentioned shape image is generated.

[0009]

Embodiments of the present invention will be described below with reference to the drawings.

First Embodiment FIGS. 1 to 7 relate to a first embodiment of the present invention, FIG. 1 is a configuration diagram showing a configuration of an endoscope system, and FIG. 2 is an endoscope of FIG. FIG. 3 is a block diagram showing the functional configuration of the mirror system, FIG. 3 is a block diagram showing the configuration of the video processor and the device main body of the endoscope shape detecting device in FIG. 2, and FIG. 4 is a block showing the configuration of the image synthesizing device 14 in FIG. FIG. 5 is a diagram showing a display example of a monitor by the image synthesizing device of FIG. 4, FIG. 6 is a diagram showing a display example of a monitor of a first modification by the image synthesizing device of FIG. 4, and FIG. FIG. 14 is a diagram illustrating a display example of a monitor according to a second modified example by the image synthesizing device.

(Structure) As shown in FIGS. 1 to 3, an endoscope system 1 which is an endoscope shape detection system according to the present embodiment includes an endoscope apparatus 2 for performing an endoscopic inspection, An endoscope shape detection device 3 used for assisting the endoscope inspection,
The endoscope shape detecting device 3 is used as an insertion assisting means for inserting the insertion portion 7 of the electronic endoscope 6 into a body cavity of the patient 5 lying on the bed 4 and performing an endoscopic examination.

The electronic endoscope 6 has an operation section 8 provided with a bending operation knob at the rear end of an elongated insertion section 7 having flexibility, from which a universal cord 9 is extended. It is connected to the endoscope image processing device 10.

The electronic endoscope 6 transmits illumination light from a light source 11 in an endoscope image processing apparatus 10 through which a light guide is inserted, and transmits illumination light transmitted from an illumination window provided at a tip end of an insertion section 7. And illuminate the affected part and the like (see FIG. 2). The illuminated subject such as the affected part is imaged by an objective lens attached to an observation window provided adjacent to the illumination window to a CCD 12 serving as an image pickup device arranged at the image forming position, and the CCD 12 performs photoelectric conversion. (See FIG. 3).

The photoelectrically converted signal is subjected to signal processing by a video processor 13 in the endoscope image processing device 10 to generate a standard video signal, and the endoscope image is connected to the endoscope image processing device 10. The image is output to the image synthesizing device 14 (see FIG. 2).

In detail, as shown in FIG. 3, in the video processor 13, the CCD 12 of the electronic endoscope 6 is driven by the CCD driving circuit 16a, and the image signal from the CCD 12 is amplified by the preamplifier 16b. Processing circuit 16
In c, various signal processing such as sampling processing, A / D conversion processing, white balance processing, contour emphasis processing, and gamma correction are performed, D / A converted, and output to the image synthesizing apparatus 14.

Returning to FIG. 1, a forceps channel 17 is provided in the electronic endoscope 6, and, for example, 16 magnetic generating elements (or source coils) 18a, 18b,. 18p (hereinafter, symbol 1)
8i), the source coil 18i is installed in the insertion section 7 without displacement.

A source cable 20 extending from the rear end of the probe 19 has a connector at the rear end detachably connected to a device main body 21 of the endoscope shape detecting device 3. Then, by applying a high-frequency signal (drive signal) to the source coil 18i serving as a magnetic generation unit via the source cable 20 as a high-frequency signal transmission unit from the apparatus main body 21 side, the source coil 18i transmits an electromagnetic wave accompanied by a magnetic field to the periphery. Radiate.

A plurality of sense coils each composed of a single-core coil are arranged in a three-dimensional space.
Sense coil 22 oriented to, for example, the X axis which is the Z coordinate of
a, 22b, 22c, 22d, sense coils 22e, 22f, 22g, 22h oriented to the Y axis which is a second Z coordinate whose center Z coordinate is different from the first Z coordinate; Sense coils 22i, 22j, 22k, and 2 directed to a Z-axis that is a third Z-coordinate different from the first and second Z-coordinates;
Twenty-two 12 sense coils are arranged (hereinafter, the sense coil is represented by 22j).

The sense coil 22j is
j is connected to a device main body 21 via a sense cable 23 as a detection signal transmitting means from a connector of a sense coil unit 28 provided on a column 27 in which j is stored. The device main body 21 is provided with an operation panel 24 or a keyboard for a user to operate the device. Further, the image combining device 14 for inputting the detected endoscope shape image is connected to the device main body 21.

More specifically, as shown in FIG. 3, in the device main body 21 of the endoscope shape detecting device 3, a coil driving circuit 25a is provided.
The source coil 18i is driven by the
i is detected by the sense coil 22j in the sense coil unit 28, and the detection signal is transmitted to the preamplifier 25b.
, And after A / D conversion processing by the signal processing circuit 25c, for example, Japanese Patent Application No. 10-69 filed earlier by the present applicant.
No. 075, the position and orientation of the source coil 18i are estimated, the endoscope shape is calculated, and the endoscope shape image is D / A converted and output to the image synthesis device 14. I have.

The image synthesizing device 14 synthesizes the endoscope image from the video processor 13 and the endoscope shape image from the device main body 21 of the endoscope shape detecting device 3, and displays the synthesized image on the monitor 26. It has become.

More specifically, as shown in FIG. 4, the image synthesizing device 14 includes pre-processing circuits 31a and 31b for performing gain adjustment and the like on the R, G, and B endoscope image signals from the video processor 13. , 31c and endoscope shape detecting device 3
A pre-processing circuit 31d that performs gain adjustment and the like on the R, G, and B endoscope shape image signals from the apparatus main body 21 of FIG.
31e, 31f, and respective synchronization signals from the video processor 13 and the apparatus main body 21 (hereinafter, a synchronization signal from the video processor 13 is referred to as a first SYNC, and a synchronization signal from the apparatus main body 21 is referred to as a second SYNC) for various controls. And a controller 30 for generating a signal.

On the endoscope image signal side, the signals passed through the pre-processing circuits 31a, 31b and 31c are A / D converted by the A / D converters 32a, 32b and 32c by the control signal from the controller 30 based on the first SYNC. The data is stored in the frame memories 33a, 33b, and 33c by the control signal from the controller 30 based on the first SYNC. Then, the controller 30 based on the first SYNC
The frame memories 33a, 33b,
The R, G, and B endoscope image signals read from 33c are subjected to predetermined enlargement / reduction processing by arithmetic circuits 34a, 34b, and 34c, and are output to the input terminals a of switches 35a, 35b, and 35c. .

Similarly, on the endoscope-shaped image signal side, the signals passed through the pre-processing circuits 31d, 31e and 31f are converted by the A / D converters 32d, 32e and 32f by the control signals from the controller 30 based on the second SYNC. / D conversion, and the frame memories 33d, 33e, and 3 are also controlled by a control signal from the controller 30 based on the second SYNC.
3f. Then, a frame memory 33 is controlled by a control signal from the controller 30 based on the second SYNC.
The R, G, and B endoscope-shaped image signals read from d, 33e, and 33f are subjected to predetermined enlargement / reduction processing by arithmetic circuits 34d, 34e, and 34f, and switches 35a, 35
b, 35c are output to the input terminal b side.

The switches 35a, 35b and 35c switch the signals at the input terminal a and the signal at the input terminal b at predetermined timing according to the control signal from the controller 30, and output the signals to the D / A converters 36a, 36b and 36c. And D / A
The signals D / A-converted by the converters 36a, 36b and 36c are converted into standard TV signals by the post-processing circuits 37a, 37b and 37c and output to the monitor 26.

(Operation) In the present embodiment, as shown in FIG. 4, the image synthesizing device 14 switches the outputs of the switches 35a, 35b and 35c according to the control signal from the controller 30, as shown in FIG. The composite image is displayed on the monitor 26.

That is, in FIG. 5, for example, when the scan line is S1, the switches 35a, 35b, 3
The output of 5c is switched to an endoscope image on the input terminal a side,
When the scan line is S2, the switches 35a, 3
The input terminals of 5b and 35c are switched so that the input terminals X0 → X1a X1 → X2bX2 → X3a to be selected in the scan area.

At this time, the operation circuits 34d, 34e, 34
f outputs a signal obtained by reducing the endoscope shape image signal at a predetermined first reduction ratio to the input terminal b of the switches 35a, 35b, and 35c, and outputs the signals to the arithmetic circuits 34a, 34b, and 34.
In c, the switches 35a, 35b, and 35c output a signal obtained by reducing the endoscope image signal at a predetermined second reduction ratio to the input terminal b. As a result, a composite image in which the endoscope image is the parent image and the endoscope shape image smaller than the endoscope image is the child image is displayed on the monitor 26.

Although the arithmetic circuits 34a, 34b and 34c reduce the endoscope image signal at a predetermined second reduction ratio, it is not always necessary to reduce the image signal, and a composite image as shown in FIG. 5 is displayed. The signal processing may be performed as follows.

The composite image is not limited to the image shown in FIG. 5, but may be a composite image (FIG. 6) in which an endoscope shape image is a parent image and an endoscope image is a child image as shown in FIG. 6 or FIG. )
Also, the arithmetic circuits 34a, 34b, 34c and the arithmetic circuits 34d, 3d are displayed so as to display a composite image (FIG. 7) in which the endoscope image and the endoscope shape image have substantially the same size.
The reduction / enlargement processing may be performed by 4e and 34f, and the switching control of the switches 35a, 35b and 35c may be performed as described above.

(Effects) As described above, in the present embodiment, the output of the switches 35a, 35b and 35c is switched by the control signal from the controller 30 in the image synthesizing device 14 to convert the endoscope image and the endoscope shape image. Since the synthesized image is displayed on the monitor 26, the operator can observe the current insertion shape of the insertion section 7 together with the endoscope image, so that the insertion operation of the insertion section can be performed more easily and easily. .

The image synthesizing device 14 is a device main body 21 of the endoscope image processing device 10 or the endoscope shape detecting device 3.
It may be configured by incorporating it into a computer.

Second Embodiment FIGS. 8 to 12 relate to a second embodiment of the present invention, FIG. 8 is a block diagram showing a configuration of an endoscope system, and FIG. FIG. 10 is a block diagram showing the configuration of the device, and FIG.
FIG. 11 is an explanatory diagram for explaining the display on the monitor by the image synthesizing device of FIG. 9 in the state of FIG. 9, FIG. 11 is an explanatory diagram for explaining the display of the monitor by the image synthesizing device of FIG. FIG. 10 is an explanatory diagram illustrating a modified example of a synthesized image on a monitor by the image synthesizing device in FIG. 9.

Since the second embodiment is almost the same as the first embodiment, only different points will be described, and the same components will be denoted by the same reference numerals and description thereof will be omitted.

(Configuration) As shown in FIG. 8, in this embodiment, the electronic endoscope 6 is provided with a changeover switch 41, and a scope S for detecting the state of the changeover switch 41 is provided.
The video processor 13 includes a W detection circuit 42 and a communication control circuit 43 that outputs a switching signal to the image synthesizing device 14 based on a detection signal detected by the scope SW detection circuit 42.

Then, in the image synthesizing device 14, as shown in FIG. 9, a switching signal from the communication control circuit 43 is input to the controller 30, and the controller 30 operates the arithmetic circuits 34a, 34a based on the switching signal. 34b, 34
c, arithmetic circuits 34d, 34e, 34f and switch 35
a, 35b, 35c.

The switches 35a and 35a of this embodiment
Unlike the first embodiment, 5b and 35c are provided with an unconnected input terminal c in addition to an input terminal a for inputting an endoscope image signal and an input terminal b for inputting an endoscope shape image signal. Switches 35a, 35b and 35c are connected to the controller 3
The input terminal a, the input terminal b, and the input terminal c are switch-controlled by a control signal from 0.

The other structure is the same as that of the first embodiment.

(Operation) In the present embodiment, as shown in FIG. 9, the image synthesizing device 14 switches the outputs of the switches 35a, 35b and 35c by a control signal from the controller 30, as shown in FIG. Monitor composite image 26
To be displayed.

That is, the changeover switch 4 of the electronic endoscope 6
When 1 is in the first state, as shown in FIG. 10, first, the endoscope image is cut out of the character image portion and the in-vivo image portion by the operation circuits 34a, 34b, and 34c by the control signal from the controller 30. The endoscope shape image is calculated by the arithmetic circuit 34d,
34e and 34f reduce the image at a predetermined reduction ratio.

In response to a control signal from the controller 30, for example, when the scan line is S3, the input terminals of the switches 35a, 35b and 35c are scanned in order to display the character image portion and the body cavity image portion on the monitor 26. Area Input terminal to be selected Image to be displayed X0 → X1 c No image X1 → X2 a Character image part X2 → X3 c No image X3 → X4 a In-vivo image part X4 → X5 c Switch to no image.

For example, when the scan line is S4, the switches 35a, 35b, and 3 are used to display the reduced endoscope shape image and the in-vivo image portion on the monitor 26.
Input end of 5c is the scan area Input end to be selected Image displayed Y0 → Y1 c No image Y1 → Y2 b Endoscope shape image Y2 → Y3 c No image Y3 → Y4 a In-vivo image part Y4 → Y5c image Switch to none.

As a result, a composite image is displayed on the monitor 26 in which the in-vivo image portion is used as a parent image and the endoscope shape image smaller than the in-vivo image portion is used as a child image.

When the changeover switch 41 of the electronic endoscope 6 is in the second state, as shown in FIG. 11, a control signal from the controller 30 first causes the endoscope image to be processed by the arithmetic circuits 34a and 34b. , 34c, the character image portion and the in-vivo image portion are cut out, and the in-vivo image portion is reduced at a predetermined first reduction ratio.
The data is reduced at a predetermined second reduction ratio by d, 34e, and 34f. Here, the in-vivo image portion reduced at the first reduction ratio is an image smaller than the endoscope shape image reduced at the second reduction ratio.

In response to a control signal from the controller 30, for example, when the scan line is S5, the switch 35a is displayed on the monitor 26 in order to display the character image portion and the endoscope shape image reduced at the second reduction ratio on the monitor 26. , 35
Input end of b, 35c Scan area Input end to be selected Image displayed X0 → X1 c No image X1 → X2 a Character image part X2 → X3 c No image X3 → X4 b Endoscope shape image X4 → X5 c Switch so that there is no image.

Further, for example, when the scan line is S6, in order to display on the monitor 26 an in-vivo image portion reduced at the first reduction ratio and an endoscope shape image reduced at the second reduction ratio, Input end of switch 35a, 35b, 35c Scan area Input end to be selected Image displayed Y0 → Y1 c No image Y1 → Y2 a Body cavity image part Y2 → Y3 c No image Y3 → Y4 b Endoscope shape image Switch from Y4 to Y5 c No image.

Thus, the endoscope shape image is set as a parent image,
A composite image in which the in-vivo image portion smaller than the endoscope shape image is a child image is displayed on the monitor 26.

The composite images shown in FIGS. 10 and 11 are sequentially switched according to the state of the changeover switch 41 of the electronic endoscope 6.

Note that the composite image is not limited to FIGS. 10 and 11, but as shown in FIG. 12, a first superposition composite in which the endoscopic image of the child image is superimposed on the in-vivo image portion of the parent image. A second superimposed composite image obtained by superimposing the in-vivo image portion of the child image on the endoscope shape image of the image and the parent image may be used. In this case, the changeover switch 41 of the electronic endoscope 6 is also used.
Are sequentially switched according to the state of.

(Effects) As described above, in the present embodiment, in addition to the effects of the first embodiment, the composite image can be switched by the changeover switch 41. Therefore, the composite image can be switched according to the insertion operation. The operability can be further improved.

The image synthesizing device 14 is a device main body 21 of the endoscope image processing device 10 or the endoscope shape detecting device 3.
It may be configured by incorporating it into a computer. Instead of the changeover switch 41, the composite image may be switched according to the insertion operation by the operation panel 24 provided on the apparatus main body 21.

Third Embodiment FIGS. 13 to 15 relate to a third embodiment of the present invention, FIG. 13 is a block diagram showing a configuration of an endoscope system, and FIG. 14 is an endoscope of FIG. FIG. 15 is an explanatory diagram for explaining the operation of the mirror system, and FIG. 15 is a block diagram showing a configuration of a modification of the endoscope system of FIG.

Since the third embodiment is almost the same as the second embodiment, only different points will be described, and the same components will be denoted by the same reference numerals and description thereof will be omitted.

(Structure) As shown in FIG. 13, instead of the image synthesizing device 14 of the second embodiment, an endoscope image from the video processor 13 and a device main body 21 of the endoscope shape detecting device 3 are used. A switching device 51 is provided for switching between an endoscope-shaped image from the video processor 13 and a monitor 26 by a switching signal from the communication control circuit 43 of the video processor 13.

The other structure is the same as that of the first embodiment.

(Operation) In this embodiment, as shown in FIG. 14, when the changeover switch 41 of the electronic endoscope 6 is in the first state, a changeover signal from the communication control circuit 43 of the video processor 13 is used. The switching device 51 selects the endoscope image from the video processor 13 and outputs the image to the monitor 26.
Further, when the changeover switch 41 of the electronic endoscope 6 is in the second state, the changeover device 51 changes the device main body 21 of the endoscope shape detection device 3 by a changeover signal from the communication control circuit 43 of the video processor 13. And outputs the endoscope shape image to the monitor 26. The endoscope image and the endoscope shape image are sequentially switched according to the state of the changeover switch 41 of the electronic endoscope 6.

(Effects) As described above, in the present embodiment, the endoscope image or the endoscope shape image is output to the monitor 26 by the switching device 51, so that the configuration can be simplified and inexpensively. The same effect as in the embodiment can be obtained.

Note that, as shown in FIG.
When using a monitor 26a having two line inputs,
The endoscope image from the video processor 13 and the device main body 2 of the endoscope shape detection device 3 are input to each of two line inputs.
A switching unit 51a provided in a monitor 26a for inputting an endoscope shape image from the input unit 1 and switching between two line inputs
To the switching signal from the communication control circuit 43 of the video processor 13 to selectively display the endoscope image from the video processor 13 and the endoscope shape image from the device main body 21 of the endoscope shape detection device 3. Even if it is configured to
The same operation and effect as those of the embodiment can be obtained.

FIG. 16 is a block diagram showing the configuration of an electronic endoscope for generating an endoscope shape image in which a curved portion can be identified.
FIG. 18 is a diagram showing an endoscope shape image in which a bending portion by the electronic endoscope in FIG. 16 is identifiable; FIG. 18 is a first endoscope image in which the bending portion by the electronic endoscope in FIG. 16 is identifiable; FIG. 19 is a diagram showing a modified example, and FIG. 19 is a diagram showing a second modified example of an endoscope shape image in which a curved portion by the electronic endoscope in FIG. 16 can be identified.
FIG. 17 is a view showing a third modified example of the endoscope shape image in which the bending portion by the electronic endoscope in FIG. 16 can be identified.

By the way, the probe 19 is installed in the electronic endoscope 6.
In order to prevent the displacement between the source coil 18i and the insertion section 7, it is desirable to embed the probe 19 in the insertion section 7 as shown in FIG.

By embedding the probe 19 in the insertion section 7 in this manner, the absolute position of the source coil 18i with respect to the insertion section 7 is determined.

The insertion section 7 of the electronic endoscope 6 is composed of a distal rigid section 61, a curved section 62 and a flexible section 63 from the distal end, and an operating section 8 connected to the proximal end of the flexible section 63 has a vertical section. A bending operation knob 64 and a left / right bending operation knob 65 are provided. The operator operates the bending operation knobs 64 and 65 to insert the insertion section 7 into the body cavity while bending the bending section 62 in a desired direction. .

At this time, since the absolute position of the source coil 18i with respect to the insertion portion 7 is determined by embedding the probe 19 in the insertion portion 7 as described above, as shown in FIG. Can generate an endoscope shape image in which boundaries are marked at boundaries between the hard portion 61, the curved portion 62, and the soft portion 63. Thereby, the bending section 62 can recognize the endoscope shape image, so that the operability of the insertion operation of the insertion section 7 into the body cavity can be improved.

It is to be noted that, in addition to marking a boundary line at the boundary between the hard portion 61, the curved portion 62, and the soft portion 63, a boundary line shown in FIG.
As shown in FIG. 8, the distance from the distal end may be displayed in the endoscope shape image, or the distal end hard portion 61, the bending portion 62, and the flexible portion 63 in the endoscope shape image as shown in FIG. May be color-coded, and the flexible portion 6
In FIG. 3, the tip side and the hand side may be further color-coded as shown in FIG.

FIG. 21 is a diagram showing the arrangement of sense coil units capable of eliminating the influence of metal parts, and FIG. 22 is a modification of the arrangement of sense coil units capable of eliminating the influence of metal parts in FIG. FIG.

On the other hand, in each of the above embodiments, the sense coil unit 28 is provided on the column 27 (see FIG. 1), but if the column 27 is made of metal, the sense coil 22
This may affect the detection signal of j.

Therefore, as shown in FIG.
A monitor arm 102 capable of moving the monitor 26 to a desired position is provided at an upper end of the monitor coil 102, and a sense coil unit arm 10 is provided on a bottom surface of the monitor 26 attached to the monitor arm 102.
3, the sense coil unit 28 is attached. At this time, the sense coil unit 28 is installed at a position not affected by noise from the monitor 26.

For example, the position of the monitor 26 is raised by the monitor arm 102 so that the sense coil unit 28
When the user moves upward from the bed 4, the sense coil unit arm 103 is extended and the sense coil unit 28 is extended.
Is placed beside the bed 4.

When the sense coil unit 28 is not used, the sense coil unit arm 103 may be folded or contracted. In this case, the sense coil unit arm 103 is not locked unless it is set at a position where it should be used at the time of use. Therefore, a display indicating that the sense coil unit arm 103 is in an unlocked state, or an influence of metal on endoscope shape detection. May be displayed on the monitor 26 together with the endoscope shape display, or the endoscope shape display itself may be stopped.

The position of the sense coil unit 28 is measured by detecting the angle of each indirect portion of the monitor arm 102 and the state of the sense coil unit arm 103. When the sense coil unit 28 approaches the support 101, A display may be displayed on the endoscope shape display screen of the monitor 26 to the effect that metal may occur in the endoscope shape detection, or the endoscope shape display itself may be stopped.

The sense coil unit arm 103
Is not provided on the bottom surface of the monitor 26, but as shown in FIG.
1 and the sense coil unit 28 may be disposed at the tip thereof. At this time, the sense coil unit 28 is installed at a position that is not affected by the column 101 (metal). The sense coil unit 28 is moved up and down by the sense coil unit arm 103 in accordance with the height of the bed 4.

By arranging the sense coil unit 28 as shown in FIG. 21 or FIG.
Since the sense coil unit 28 can be arranged at a position not affected by (metal), an accurate endoscope shape can be displayed on the monitor 26.

[Supplementary Note] (Supplementary Note 1) An endoscope apparatus that outputs an endoscope image of the inside of the body cavity by an endoscope inserted into the body cavity, and insertion of the endoscope inserted into the body cavity An insertion shape measurement device that outputs a shape image of a shape, and an image synthesis unit that synthesizes the endoscope image from the endoscope device and the shape image from the insertion shape measurement device and displays the shape image on one display unit An endoscope shape detection system comprising:

(Additional Item 2) An endoscope apparatus for outputting an endoscope image in the body cavity by an endoscope inserted in the body cavity, and a shape of an insertion shape of the endoscope inserted in the body cavity An insertion shape measurement device that outputs an image, and an image switching unit that switches between the endoscope image from the endoscope device and the shape image from the insertion shape measurement device and displays the image on one display unit. An endoscope shape detection system characterized in that:

(Supplementary Note 3) The image switching means switches between the endoscope image and the shape image based on the state of a switch provided on the endoscope and causes one display means to display the image. Item 2 is an endoscope shape detection system.

(Supplementary Note 4) The image switching means switches between the endoscope image and the shape image based on a state of a switch provided in the insertion shape measuring device and causes one display means to display the image. An endoscope shape detection system according to claim 2, characterized in that:

(Appendix 5) An endoscope apparatus for outputting an endoscope image in the body cavity by an endoscope inserted in the body cavity, and an insertion shape of the endoscope inserted in the body cavity An insertion shape measurement device that outputs an image, an image synthesis unit that synthesizes the endoscope image from the endoscope device and the shape image from the insertion shape measurement device, and a synthesis synthesized by the image synthesis unit An endoscope shape detection system, comprising: one display means for displaying an image.

(Supplementary Note 6) The image synthesizing means includes a reducing means for reducing the endoscope image and / or the shape image, and converts the synthesized image displayed by the one display means.
The endoscope shape detection system according to claim 5, wherein the endoscope image is a main image, and the shape image is a composite image that is a sub-image smaller than the main image.

(Additional Item 7) The image synthesizing means includes a reducing means for reducing the endoscope image and / or the shape image, and the synthesized image displayed by the one display means is
The endoscope shape detection system according to claim 5, wherein the shape image is a main image, and the endoscope image is a composite image that is a sub-image smaller than the main image.

(Supplementary Item 8) The image synthesizing means includes a reducing means for reducing the endoscope image and / or the shape image, and the synthesized image displayed by the one display means is
The endoscope shape detection system according to claim 5, wherein a superimposed composite image is formed by superimposing the shape image reduced by the reduction unit on the endoscope image.

(Additional Item 9) The image synthesizing means includes a reduction means for reducing the endoscope image and / or the shape image, and the synthesized image displayed by the one display means is
The endoscope shape detection system according to claim 5, wherein the endoscope image reduced by the reduction unit is superimposed on the shape image to form a composite image.

(Additional Item 10) An endoscope provided with an insertion portion having portions having different bending characteristics, a shape detection means for detecting an insertion shape of the insertion portion, and a display device for generating and displaying a shape image of the insertion shape In the endoscope shape detection system comprising a display control means for displaying on the, the display control means,
The endoscope shape detection system according to claim 1, wherein the shape image that can identify the different bending characteristics of the insertion portion is generated.

(Additional Item 11) The endoscope shape detecting system according to Additional Item 10, wherein the portions of the insertion portion having different bending characteristics include a curved portion and a flexible portion.

(Additional Item 12) The endoscope shape detecting system according to Additional Item 11, wherein the portions of the insertion portion having different bending characteristics include a rigid tip portion.

(Additional Item 13) In the additional item 10, the display control means generates the identifiable shape image by a boundary line indicating a boundary between portions of the insertion portion having different bending characteristics. Endoscope shape detection system.

(Additional Item 14) The display control means generates the identifiable shape image by color-coding portions of the insertion portion having different bending characteristics, wherein the shape image is identifiable. Mirror shape detection system.

(Additional Item 15) The endoscope according to Additional Item 10, wherein the display control means generates the identifiable shape image by displaying a length from a tip of the insertion portion. Shape detection system.

(Additional Item 16) The endoscope shape detecting system according to Additional Item 10, wherein the portions having different bending characteristics are portions having different bending stiffness.

[0089]

As described above, according to the endoscope shape detection system of the present invention, the endoscope image shape of the curved portion can be recognized, so that the operability of the insertion operation of the insertion portion into the body cavity is improved. be able to.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a configuration of an endoscope system according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a functional configuration of the endoscope system of FIG. 1;

FIG. 3 is a block diagram showing a configuration of an apparatus main body of the video processor and the endoscope shape detection apparatus shown in FIG. 2;

FIG. 4 is a block diagram showing a configuration of the image synthesizing device 14 of FIG. 2;

FIG. 5 is a view showing a display example of a monitor by the image synthesizing apparatus of FIG. 4;

FIG. 6 is a view showing a display example of a monitor of a first modified example by the image synthesizing apparatus of FIG. 4;

FIG. 7 is a view showing a display example of a monitor of a second modified example by the image synthesizing apparatus of FIG. 4;

FIG. 8 is a block diagram showing a configuration of an endoscope system according to a second embodiment of the present invention.

FIG. 9 is a block diagram showing the configuration of the image synthesizing apparatus of FIG. 8;

FIG. 10 is an explanatory diagram illustrating display on a monitor by the image synthesizing device of FIG. 9 when a changeover switch is in a first state.

FIG. 11 is an explanatory diagram illustrating display on a monitor by the image composition device of FIG. 9 when the changeover switch is in a second state.

FIG. 12 is an explanatory diagram illustrating a modified example of a synthesized image on a monitor by the image synthesis device in FIG. 9;

FIG. 13 is a block diagram showing a configuration of an endoscope system according to a third embodiment of the present invention.

FIG. 14 is an explanatory diagram illustrating the operation of the endoscope system in FIG. 13;

FIG. 15 is a block diagram showing a configuration of a modification of the endoscope system in FIG. 13;

FIG. 16 is a configuration diagram illustrating a configuration of an electronic endoscope that generates an endoscope shape image in which a bending portion can be identified.

17 is a diagram showing an endoscope shape image in which a bending portion can be identified by the electronic endoscope in FIG. 16;

FIG. 18 is a diagram showing a first modification of the endoscope shape image in which the bending portion by the electronic endoscope in FIG. 16 can be identified.

FIG. 19 is a diagram showing a second modification of the endoscope shape image in which the bending portion by the electronic endoscope in FIG. 16 is identifiable;

FIG. 20 is a diagram showing a third modification of the endoscope shape image in which the bending portion by the electronic endoscope in FIG. 16 is identifiable;

FIG. 21 is a diagram showing an arrangement of a sense coil unit capable of removing an influence of a metal part;

FIG. 22 is a diagram showing a modification of the arrangement of the sense coil units that can remove the influence of the metal part in FIG. 21;

[Explanation of symbols]

REFERENCE SIGNS LIST 1 endoscope system 2 endoscope device 3 endoscope shape detection device 4 bed 6 electronic endoscope 7 insertion unit 8 operation unit 9 universal code 10 endoscope image processing device 11 ... Light source 12 ... CCD 13 ... Video processor 14 ... Image synthesizing device 17 ... Forceps channel 18i ... Source coil 19 ... Probe 20 ... Source cable 21 ... Device main body 22j ... Sense coil 23 ... Sense cable 24 ... Operation panel 26 ... Monitor 28 ... Sense coil unit 30 Controller 31a, 31b, 31c, 31d, 31e, 31f Preprocessing circuit 32a, 32b, 32c, 32d, 32e, 32f A
/ D converters 33a, 33b, 33c, 33d, 33e, 33f ... frame memories 34a, 34b, 34c, 34d, 34e, 34f ... arithmetic circuits 35a, 35b, 35c ... switches 36a, 36b, 36c ... D / A converters 37a, 37b, 37c: Post-process circuit

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Hiroki Moriyama 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Industrial Co., Ltd. No. 43-2 Olympus Optical Co., Ltd. (72) Takayasu Miyagi 2-chome Hatagaya 2-chome, Shibuya-ku, Tokyo (72) Inventor Hiroshi Ishii 2-chome Hatagaya 2-chome, Shibuya-ku, Tokyo No. 43-2, Olympus Optical Co., Ltd. (72) Inventor Masahiro Ohno 2-4-2 Hatagaya, Shibuya-ku, Tokyo (72) Inventor Makoto Toriyama 2-chome, Hatagaya, Shibuya-ku, Tokyo 43-2 Olympus Optical Co., Ltd. (72) Inventor Akira Taniguchi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Orin Inside the Optical Industry Co., Ltd. (72) Inventor Chieko Aizawa 2-43-2 Hatagaya, Shibuya-ku, Tokyo Orimus Optical Industry Co., Ltd. (72) Yasuo Hirata 2-43-2 Hatagaya, Shibuya-ku, Tokyo Ori (72) Inventor Yoshinao Daiaki 2-43-2, Hatagaya, Shibuya-ku, Tokyo F-term (reference) 2F041 UA00 4C061 AA04 BB01 CC06 DD03 FF45 HH51 JJ17 JJ19 NN05 SS11 SS21 WW03 WW04 WW10 WW13

Claims (7)

[Claims] 1. An endoscope having an insertion portion having a portion having a different bending characteristic, a shape detection means for detecting an insertion shape of the insertion portion, and a shape image of the insertion shape is generated and displayed on a display means. An endoscope shape detection system comprising: a display control unit; and wherein the display control unit generates the shape image in which portions of the insertion section having different bending characteristics can be identified. Shape detection system. 2. The endoscope shape detection system according to claim 1, wherein the portions of the insertion portion having different bending characteristics include a curved portion and a flexible portion. 3. The endoscope shape detection system according to claim 2, wherein the portion of the insertion portion having a different bending characteristic includes a tip rigid portion. 4. The apparatus according to claim 1, wherein the display control means generates the identifiable shape image by a boundary line indicating a boundary between portions of the insertion portion having different bending characteristics. Endoscope shape detection system. 5. The endoscope shape according to claim 1, wherein the display control means generates the identifiable shape image by color-coding portions of the insertion portion having different bending characteristics. Detection system. 6. The endoscope according to claim 1, wherein the display control unit generates the identifiable shape image by displaying a length from a distal end of the insertion portion. Shape detection system. 7. The endoscope shape detecting system according to claim 1, wherein the portions having different bending characteristics are portions having different bending stiffness.