JP2005021353A - Surgery supporting apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To support a surgery by simply providing a virtual image corresponding to a live endoscopy image on a real time basis and recognizing an approach situation of a treatment tool. <P>SOLUTION: A VE (Virtual Endoscopy) image creation device 3 is provided with a recording part 31 storing CT image DB; a recording part 32 storing treatment tool image DB; a VE image construction part 35 constructing the VE image based on data and the CT image from an insertion amount detecting part 21 and a tilt angle sensor 22; a treatment tool image construction part 36 constructing the treatment tool image based on the data and treatment tool shape image from an insertion amount detecting part 23 and a tilt angle sensor 24; and an image composition part 37 creating a composite image formed by superimposing the treatment tool image on the VE image. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a surgery support apparatus that supports surgery using an image.
[0002]
[Prior art]
In recent years, diagnosis based on images has been widely performed. For example, three-dimensional virtual image data in a subject is obtained by capturing a tomographic image of the subject using an X-ray CT (Computed Tomography) apparatus or the like. The diagnosis of an affected area has been performed using the virtual image data.
[0003]
In the CT apparatus, by continuously feeding the subject in the body axis direction while continuously rotating the X-ray irradiation / detection, a helical continuous scan (helical scan) is performed on the three-dimensional region of the subject. A three-dimensional virtual image is created from tomographic images of successive slices in a three-dimensional region.
[0004]
One such 3D image is a 3D image of the lung bronchi. The three-dimensional image of the bronchus is used to three-dimensionally grasp the position of an abnormal part suspected of lung cancer, for example. In order to confirm the abnormal portion by biopsy, a bronchoscope is inserted and a biopsy needle, biopsy forceps, or the like is taken out from the distal end portion and a tissue sample is taken.
[0005]
In a duct in the body having a multi-stage branch such as the bronchi, when the location of the abnormal part is close to the periphery of the branch, it is difficult to correctly reach the target site in a short time, for example, In Japanese Patent Application Laid-Open No. 2000-135215, etc., a three-dimensional image of a pipeline in the subject is created based on image data of a three-dimensional region of the subject, and a target along the pipeline is created on the three-dimensional image. By obtaining a path to a point, creating a virtual endoscopic image of the duct along the path based on the image data, and displaying the virtual endoscopic image, the bronchoscope An apparatus for navigating to a target site has been proposed.
[0006]
By the way, in diagnosis using an internal organ in the abdominal region as a subject, conventionally, in order to make a diagnosis while creating a three-dimensional virtual image of the subject mainly in the abdominal region and displaying the same, as described above. Image analysis software has been put to practical use.
[0007]
An image system using this kind of image analysis software is used for diagnosis by doctors to grasp changes in the lesion of a subject in the patient's abdominal region, etc. in advance while viewing the virtual image before surgery. It is common to be done on a desk, usually.
[0008]
[Patent Document 1]
Japanese Patent Laid-Open No. 2000-135215
[Problems to be solved by the invention]
Conventionally, even when performing an operation on a subject in the body of the abdominal region, it is desired to quickly provide information on an abnormal part of the subject in the body to the surgeon as needed.
[0010]
However, since the image system using the image analysis software described above constructs a virtual image from a preoperative CT image, the approach status of the treatment tool during the operation is not displayed.
[0011]
The present invention has been made in view of the above circumstances, and supports surgery by providing a virtual image that can easily and in real time correspond to a live endoscopic image and recognize the approach status of a treatment instrument. It is an object of the present invention to provide a surgical operation support device that can be used.
[0012]
[Means for Solving the Problems]
The surgical operation support apparatus according to the present invention treats an affected area with the treatment tool under observation by an endoscope image obtained by inserting an endoscope and a treatment tool capable of specifying the visual field direction into a body cavity and picked up by the endoscope. In the surgical operation support apparatus for supporting the surgery performed, a CT image storage means for storing a plurality of CT image data in the body cavity, a treatment instrument shape image storage means for storing the shape image data of the treatment instrument, An insertion position input means for inputting an insertion position of the endoscope into the body cavity, an insertion amount detection means for detecting the insertion amount of the endoscope, and an insertion inclination angle detection for detecting the insertion inclination angle of the endoscope And a virtual endoscopic image construction means for constructing a virtual endoscopic image synchronized with the endoscopic image in real time from the plurality of CT image data based on the insertion position, the insertion amount, and the insertion inclination angle. The treatment instrument A treatment instrument insertion position input means for inputting an insertion position into the cavity, a treatment instrument insertion amount detection means for detecting the insertion amount of the treatment instrument, and a treatment instrument insertion inclination angle detection for detecting the insertion inclination angle of the treatment instrument Based on the means, the treatment instrument insertion position, the treatment instrument insertion amount, and the treatment instrument insertion inclination angle, a virtual treatment tool image that is synchronized with the endoscope image in real time from the plurality of treatment instrument shape images is constructed. A treatment instrument image construction means, and an image composition means for synthesizing the virtual endoscopic image and the virtual treatment instrument image to generate a composite image are configured.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
[0014]
1 to 14 relate to the first embodiment of the present invention, FIG. 1 is a block diagram showing the rigidity of the surgical operation support device, FIG. 2 is a view showing the use state of the rigid endoscope of FIG. 1, and FIG. 2 is a diagram showing the configuration of the main part of the trocar on the rigid endoscope side in FIG. 2, FIG. 5 is a diagram showing the configuration of the treatment instrument in FIG. 2, and FIG. 6 is a diagram in FIG. FIG. 7 is a diagram illustrating a configuration of a main part of the trocar on the treatment instrument side, FIG. 7 is a first flowchart illustrating a process flow of the surgery support apparatus in FIG. 1, and FIG. 8 is a flowchart illustrating a process flow of the surgery support apparatus in FIG. FIG. 9 is a view showing a composite image display screen for displaying the composite image constructed and generated by the processing of FIGS. 7 and 8, and FIG. 10 is a view showing the internal image displayed on the endoscope image display monitor of FIG. The figure which shows the 1st example of an endoscopic image, FIG. 11 is a figure which shows the composite image display screen displayed corresponding to the endoscopic image of FIG. 12 is a diagram showing a second example of the endoscopic image displayed on the endoscopic image display monitor of FIG. 1, and FIG. 13 is a composite image display screen displayed corresponding to the endoscopic image of FIG. FIG. 14 is a diagram showing a modification of the composite image display screen displayed on the VE image display monitor of FIG.
[0015]
As shown in FIG. 1, the surgery support apparatus 1 according to the present embodiment includes a rigid endoscope 2, a VE image generation apparatus 3, a system controller 4, a CCU 5, a light source device 6, an insufflator 7, an electric knife 8, and an ultrasonic treatment. The apparatus 9, the VTR 10 and the like are arranged in the operating room. Note that a treatment instrument 8 a is connected to the electric knife 8 and the insufflator 7.
[0016]
The imaging signal imaged by the imaging unit 11 of the rigid endoscope 2 is transmitted to the CCU 5 and subjected to image processing, and then output to the VTR 10 and the system controller 4 that record the image.
[0017]
The system controller 4 stores a communication I / F unit 12 that transmits and receives setting information to and from each device of the CCU 5, the light source device 6, the insufflator 7, the electric knife 8, the ultrasonic treatment device 9, and the VTR 10, and stores various programs. A memory 13, a display I / F unit 15 that displays an image signal from the CCU 5 on the endoscope image display monitor 14, and a CPU 16 that controls these units. A remote controller 17 is connected to the CPU 16 via the communication I / F unit 12, and various data can be input by the remote controller 17.
[0018]
As will be described later, the rigid endoscope 2 includes an insertion amount detector 21 that detects the insertion amount of the rigid endoscope 2 (endoscope), and an inclination angle sensor that detects the insertion inclination angle of the rigid endoscope 2 (endoscope). 22 are provided.
[0019]
The treatment instrument 8a has a probe 18 to be inserted into the body. As will be described later, the treatment instrument 8a detects the insertion amount of the probe 18 (treatment instrument), and an insertion inclination of the probe 18. An inclination angle sensor 24 for detecting an angle (treatment tool) is provided.
[0020]
The VE image generation device 3 is a virtual end that is a virtual image in which the gaze direction coincides with an endoscopic image captured by the rigid endoscope 2 based on a CT image obtained in advance by a CT device (not shown). In addition to generating a scopy image (VE image), a virtual image of the treatment instrument is generated, and a composite image is generated by superimposing the treatment instrument virtual image on the VE image.
[0021]
Specifically, the VE image generation device 3 includes a recording unit 31 storing a CT image DB (database) constructed from a plurality of CT images, and a treatment instrument image DB constructed from shape images of various treatment instruments. Recording unit 32 storing (database), memory 33 storing various programs, (endoscope) insertion amount detection unit 21, (endoscope) tilt angle sensor 22, (treatment tool) insertion Obtained by the communication I / F unit 34 and the communication I / F unit 34 that transmit / receive data to / from the quantity detection unit 23, the (treatment instrument) inclination angle sensor 24, and the communication I / F unit 12 of the system controller 4. Endoscope) obtained by the communication I / F unit 34 and the VE image construction unit 35 that constructs a VE image based on the data from the insertion amount detection unit 21 and the (endoscope) tilt angle sensor 22 and the CT image of the CT image DB. (Treatment tool) insertion amount detection 23, (treatment tool) The treatment tool image construction unit 36 that constructs a treatment tool image based on the data from the tilt angle sensor 24 and the treatment tool shape image of the treatment tool image DB, and the VE image constructed by the VE image construction unit 34 An image composition unit 37 that generates a composite image in which the treatment instrument images constructed by the treatment instrument image construction unit 36 are superimposed, and a display I / F unit 39 that displays the composite image generated by the image composition unit 37 on the VE image display monitor 38. And a CPU 40 for controlling these components, and a keyboard 41 and a mouse 42 for inputting various data are connected to the CPU 40.
[0022]
As shown in FIG. 2, the rigid endoscope 2 is inserted into the body of the patient 100 together with the treatment tool 8a via the trocars 43a and 43b.
[0023]
As shown in FIG. 3, the rigid endoscope 2 includes a TV camera 44 a on the insertion base end side, and a tilt angle sensor 22 is provided on the grip portion 45 a on the insertion base end side. The tilt angle sensor 22 measures the insertion tilt angle of the rigid endoscope 2 with a gyro or the like and outputs the measured tilt angle to the VE image generation device 3.
[0024]
Also, as shown in FIG. 4, an insertion amount detection unit 21 is provided on the proximal end side of the trocar 43a that guides the insertion portion 46a of the rigid endoscope 2 into the body of the patient 100. A roller 47a that contacts the outer peripheral surface of the insertion portion 46a and rotates according to the insertion of the insertion portion 46, and a rotary encoder 48a that detects the amount of rotation of the roller 47a and outputs the rotation amount to the VE image generation device 3 as the insertion amount of the insertion portion 46. Is done.
[0025]
Similarly, as shown in FIG. 5, the treatment instrument 8 a is provided with an inclination angle sensor 23 in the operation portion 45 b on the insertion proximal end side of the probe 18. This inclination angle sensor 23 measures the insertion inclination angle of the probe 18 of the treatment instrument 8a by a gyro etc. and outputs it to the VE image generation device 3.
[0026]
As shown in FIG. 6, the insertion amount detection unit 24 is provided on the proximal end side of the trocar 43b that guides the insertion portion 46b of the probe 18 of the treatment instrument 8a into the body of the patient 100. 24 is a roller 47b that contacts the outer peripheral surface of the insertion portion 46b and rotates in accordance with the insertion of the insertion portion 46, and a rotary encoder 48b that detects the amount of rotation of the roller 47b and outputs it to the VE image generation device 3 as the insertion amount of the insertion portion 46. It consists of.
[0027]
The operation of the present embodiment configured as described above will be described. As shown in FIGS. 7 and 8, in step S1, the coordinates of the endoscope insertion point, which is the insertion position of the rigid endoscope 3 into the body of the patient 39, is input using the keyboard 41. This coordinate system coincides with the coordinate system of the CT image.
[0028]
In step S2, the coordinates of the endoscope attention point, which is the position where the affected area exists, are input using the keyboard 41. In step S3, the line-of-sight direction of the VE image is determined based on the coordinate data of the endoscope insertion point and the coordinates of the endoscope attention point.
[0029]
When the insertion of the rigid endoscope 2 is started, the insertion amount of the rigid endoscope 2 is measured by the insertion amount detection unit 21 in step S4, and the display magnification of the VE image is determined based on the insertion amount in step S5 (the distance is determined). Correspondingly, increase the magnification when it is close to the organ, and decrease the magnification when it is far away).
[0030]
When the line-of-sight direction and display magnification are determined in this way, a VE image is generated based on the line-of-sight direction and display magnification by the VE image construction unit 35 in step S6. The VE image at this time is a virtual image of an organ optical image similar to a live endoscopic image.
[0031]
Next, in step S7, the coordinates of the treatment instrument insertion point, which is the insertion position of the treatment instrument 8a into the body of the patient 39, is input using the keyboard 41.
[0032]
In step S8, the coordinates of the treatment tool attention point, which is the position for treating the affected area, are input using the keyboard 41. In step S9, the treatment tool insertion direction is determined based on the coordinate data of the treatment tool insertion point and the coordinates of the treatment tool attention point.
[0033]
When the insertion of the treatment instrument 8a is started, the insertion amount of the treatment instrument 8a is measured by the insertion amount detection unit 23 in step S10, and the insertion depth of the treatment instrument 8a is determined based on the insertion amount in step S11. In step S12, a treatment instrument image is generated, and in step S13, a composite image in which the treatment instrument image is superimposed on the VE image is generated and displayed on the VE image display monitor 38.
[0034]
After the surgeon adjusts the insertion state of the rigid endoscope 2 and the treatment instrument 8a so that the live endoscopic image matches the composite image with reference to the composite image, tracking is performed using the keyboard 41 in step S14 ( When instructed to start (following live endoscopic image), the VE image becomes a blood vessel placement virtual image in which, for example, the organ portion is deleted from the virtual image of the organ optical image similar to the live endoscopic image.
[0035]
In step S15, the inclination angle sensor 22 measures the insertion inclination angle of the rigid endoscope 2, and in step S16, the line-of-sight direction of the endoscopic image captured by the rigid endoscope 2 is determined based on the insertion inclination angle. Further, in step S17, the insertion amount of the rigid endoscope 2 is measured by the insertion amount detector 21, and the display magnification of the VE image is determined based on the insertion amount in step S18.
[0036]
When the line-of-sight direction and display magnification are determined in this way, a VE image is generated based on the line-of-sight direction and display magnification by the VE image construction unit 35 in step S19. The VE image at this time is a blood vessel placement virtual image in which the organ portion is deleted.
[0037]
Next, in step S20, the insertion angle of the treatment instrument 8a is measured by the inclination angle sensor 24, and in step S21, the insertion direction of the treatment instrument 8a is determined based on the insertion inclination angle. Further, the insertion amount of the treatment instrument 8a is measured by the insertion amount detection unit 23 in step S22, the insertion depth of the treatment instrument 8a is determined based on the insertion amount in step S23, and a treatment instrument image is generated in step S24. In S25, a composite image in which the treatment instrument image is superimposed on the VE image (blood vessel placement virtual image) is generated and displayed on the VE image display monitor 38.
[0038]
Next, the composite image display screen displayed on the VE image display monitor 38 will be described. As shown in FIG. 9, the VE display screen 101 is a composite image display area 102 that displays a composite image generated by the image composition unit 37, and a two-dimensional image display that displays a plurality of two-dimensional CT images related to the VE image. The area 103 includes an insertion point display field 104 for displaying an insertion point of the rigid endoscope 2 and an insertion point of the treatment instrument 8a.
[0039]
For example, when a live endoscopic image 14a as shown in FIG. 10 is displayed on the endoscopic image display monitor 14, the viewing direction and size of the live endoscopic image 14a are displayed on the VE display screen 101. A real-time blood vessel placement virtual image 102a (= composite image) in which, for example, the organ portion on which the treatment instrument shape image 109 as shown in FIG. 11 is superimposed is superimposed is displayed in the composite image display area 102.
[0040]
In addition, when the rigid endoscope 2 is tilted from the state of FIG. 10 and a live endoscope image 14b as shown in FIG. 12 is displayed on the endoscope image display monitor 14, it follows (tracks) and performs live tracking. A blood vessel placement virtual image 102b (= composite image) in which a treatment instrument shape image 109 as shown in FIG. 13 is superimposed in real time, for example, with the size (magnification) matched with the line-of-sight direction of the endoscopic image 14b is deleted. Is displayed in the composite image display area 102.
[0041]
As described above, in the present embodiment, the insertion inclination angle and the insertion amount of the rigid endoscope 2 and the treatment instrument 8a are measured, and the line-of-sight direction of the live endoscopic image is based on the data of the insertion inclination angle and the insertion amount. Since a composite image in which the treatment instrument shape image 109 is superimposed on a real-time VE image that matches the size (magnification) with the image is generated and displayed, information necessary for the procedure (for example, blood vessel arrangement information) can be visually confirmed. Since the approach of the treatment tool to the affected area can be confirmed and supported, the procedure can be safely and appropriately supported.
[0042]
In the present embodiment, by using the keyboard 41, as shown in FIG. 14, a marker 151 indicating the position of the affected part can be superimposed on the composite image.
[0043]
15 to 19 relate to the second embodiment of the present invention, FIG. 15 is a block diagram showing the rigidity of the surgery support apparatus, FIG. 16 is a flowchart for explaining the operation of the surgery support apparatus in FIG. 15, and FIG. 16 is a first diagram for explaining the processing of FIG. 16, FIG. 18 is a second diagram for explaining the processing of FIG. 16, and FIG. 19 is a third diagram for explaining the processing of FIG.
[0044]
Since the second embodiment is almost the same as the first embodiment, only different points will be described, and the same components are denoted by the same reference numerals and description thereof will be omitted.
[0045]
As shown in FIG. 15, in the present embodiment, the VE image generation device 3 expands the pneumoperitoneum information (abdominal pressure data) of the pneumothorax 7 on the composite image under the control of the CPU 40, and the pneumoperitoneum information And an insufflation information feedback unit 201 for correcting and correcting the composite image based on the above. Other configurations are the same as those of the first embodiment.
[0046]
In this embodiment, as shown in FIG. 16, after step S18 described in the first embodiment, in step S101, the CPU 40 obtains the pneumoperitoneum information (abdominal pressure data) of the pneumo-abdominal device 7, and the step In step S102, the insufflation information feedback unit 201 controls the VE image construction unit 35 and the image composition unit 37 to generate a composite image in which insufflation information is fed back, and then the process proceeds to step S20. Other operations are the same as those in the first embodiment.
[0047]
As a result of this processing, as shown in FIGS. 17 to 19, it is possible to display a composite image using a VE image in a state where the body cavity is inflated in accordance with the abdominal pressure. 17 and 18 show a composite image display screen when the abdominal pressure increases sequentially, and FIG. 19 shows a composite image display screen when the abdominal pressure becomes the set pressure.
[0048]
As described above, in this embodiment, in addition to the effects of the first embodiment, a composite image obtained by feeding back the abdominal pressure information by the abdominal cavity can be used, so that the procedure is supported by a more realistic composite image. Is possible.
[0049]
20 to 22 relate to a third embodiment of the present invention, FIG. 20 is a block diagram showing the rigidity of the surgery support apparatus, and FIG. 21 is a composite image display displayed on the endoscope image display monitor of FIG. The figure which shows a screen and FIG. 22 are flowcharts explaining the effect | action of the surgery assistance apparatus of FIG.
[0050]
Since the third embodiment is almost the same as the second embodiment, only different points will be described, and the same components are denoted by the same reference numerals and description thereof will be omitted.
[0051]
As shown in FIG. 20, in this embodiment, the VE image generation device 3 controls the insertion amount and insertion inclination angle of the rigid endoscope 2, the insertion amount and insertion inclination angle of the treatment instrument 8 a, and the insufflator 7 under the control of the CPU 40. Log recording unit 301 that records the pneumoperitoneum information in time series, and the insertion amount and insertion inclination angle of the rigid endoscope 2 recorded by the log recording unit 301 under the control of the CPU 40, the insertion amount and insertion inclination angle of the treatment instrument 8a, A log reproduction unit 302 that reads out the insufflation information of the insufflator 7 in time series, and the CPU 40 inserts the insertion amount and the insertion inclination angle of the rigid endoscope 2, the insertion amount and the insertion inclination angle of the treatment instrument 8a, and the insufflation device. 7, the VE image construction unit 35, the treatment instrument image construction unit 36, the image composition unit 37, and the pneumoperitone information feedback unit 201 are controlled. Other configurations are the same as those of the second embodiment.
[0052]
As shown in FIG. 21, data recording to the log recording unit 301 is started and stopped by clicking a start / stop button 311 provided on the composite image display screen with a mouse. Data reproduction from the log reproduction unit 302 is performed by clicking the reproduction button 312 with the mouse.
[0053]
In this embodiment, as shown in FIG. 22, when the start / stop button 311 is clicked with a mouse in step S151, the insertion amount and the insertion inclination angle of the rigid endoscope 2 into the log recording unit 301 in step S152, the treatment The time series recording of each information of the insertion amount and insertion inclination angle of the instrument 8a and the insufflation information of the insufflator 7 is started, and the recording is stopped by clicking the start / stop button 311 again with the mouse in step S153. To do.
[0054]
When the reproduction button 312 is clicked with the mouse in step S154, the log reproduction unit 302 inserts the rigid endoscope 2 in the log recording unit 301 in step S155, the insertion inclination angle, and the treatment tool 8a insertion amount. And the time-series record of each information of the insertion inclination angle and the insufflation information of the insufflator 7 is read and output to the CPU 40.
[0055]
In step S156, the CPU 40 controls the VE image construction unit 35, the treatment instrument image construction unit 36, the image composition unit 37, and the pneumoperitone information feedback unit 201 to reproduce the composite image during the procedure.
[0056]
As described above, in the present embodiment, in addition to the effects of the second embodiment, the composite image during the procedure can be easily reproduced even after the procedure is completed, so that the procedure can be easily confirmed. It becomes.
[0057]
The present invention is not limited to the above-described embodiments, and various changes and modifications can be made without departing from the scope of the present invention.
[0058]
【The invention's effect】
As described above, according to the present invention, surgery can be supported by providing a virtual image that can easily and in real time correspond to a live endoscopic image and recognize the approach status of the treatment instrument. There is an effect.
[Brief description of the drawings]
FIG. 1 is a block diagram showing the stiffness of the surgical operation support apparatus according to the first embodiment of the present invention. FIG. 2 is a diagram showing a usage state of the rigid endoscope of FIG. 1. FIG. FIG. 4 is a diagram showing a configuration of a main part of the trocar on the rigid endoscope side in FIG. 2. FIG. 5 is a diagram showing a configuration of the treatment instrument in FIG. 2. FIG. FIG. 7 is a first flowchart showing a process flow of the surgery support apparatus of FIG. 1. FIG. 8 is a second flowchart showing a process flow of the surgery support apparatus of FIG. FIG. 10 is a view showing a composite image display screen for displaying a composite image constructed and generated by the processing of FIGS. 7 and 8. FIG. 10 is a diagram showing a first endoscope image displayed on the endoscope image display monitor of FIG. FIG. 11 is a diagram showing a composite image display screen displayed corresponding to the endoscopic image of FIG. 10. FIG. 12 is an endoscope of FIG. FIG. 13 is a diagram showing a second example of an endoscopic image displayed on the image display monitor. FIG. 13 is a diagram showing a composite image display screen displayed corresponding to the endoscopic image of FIG. FIG. 15 is a diagram showing a modified example of the composite image display screen displayed on the VE image display monitor of FIG. 15. FIG. 15 is a block diagram showing the rigidity of the surgical operation support apparatus according to the second embodiment of the present invention. FIG. 17 is a first diagram for explaining the processing of FIG. 16. FIG. 18 is a second diagram for explaining the processing of FIG. 16. FIG. 19 is for explaining the processing of FIG. FIG. 20 is a block diagram showing the rigidity of the surgical operation support apparatus according to the third embodiment of the present invention. FIG. 20 shows a composite image display screen displayed on the endoscope image display monitor of FIG. FIG. 22 is a flowchart for explaining the operation of the surgery support apparatus in FIG. Akira]
DESCRIPTION OF SYMBOLS 1 ... Surgery support apparatus 2 ... Rigid endoscope 3 ... VE image generation apparatus 4 ... System controller 5 ... CCU
6 ... light source device 7 ... pneumo-abdominal device 8 ... electric knife 9 ... ultrasonic treatment device 10 ... VTR
DESCRIPTION OF SYMBOLS 11 ... Imaging part 21 ... (Endoscope) Insertion amount detection part 22 ... (Endoscope) Inclination angle sensor 23 ... (Treatment tool) Insertion amount detection part 24 ... (Treatment tool) Inclination angle sensor 31 ... Recording part (CT Image DB)
32. Recording unit (treatment instrument image DB)
33 ... Memory 34 ... Communication I / F unit 35 ... VE image construction unit 36 ... Treatment instrument image construction unit 37 ... Image composition unit 38 ... VE image display monitor 39 ... Display I / F unit 40 ... CPU

Claims (3)

An operation that supports an operation in which an affected part is treated by the treatment tool under observation by an endoscope image that is inserted into the body cavity and is imaged by the endoscope and the treatment tool that can specify the visual field direction. In the support device,
CT image storage means for storing a plurality of CT image data in the body cavity;
A treatment instrument shape image storage means for storing shape image data of the treatment instrument;
An insertion position input means for inputting an insertion position of the endoscope into the body cavity;
An insertion amount detecting means for detecting an insertion amount of the endoscope;
An insertion inclination angle detecting means for detecting an insertion inclination angle of the endoscope;
Virtual endoscopic image construction means for constructing a virtual endoscopic image synchronized with the endoscopic image in real time from the plurality of CT image data based on the insertion position, the insertion amount, and the insertion inclination angle;
A treatment instrument insertion position input means for inputting an insertion position of the treatment instrument into the body cavity;
A treatment instrument insertion amount detection means for detecting the insertion amount of the treatment instrument;
A treatment instrument insertion inclination angle detecting means for detecting an insertion inclination angle of the treatment instrument;
Based on the treatment instrument insertion position, the treatment instrument insertion amount, and the treatment instrument insertion inclination angle, a virtual treatment instrument image that constructs a virtual treatment instrument image synchronized with the endoscope image in real time from the plurality of treatment instrument shape images. Construction means,
An operation support apparatus comprising: an image combining unit that combines the virtual endoscopic image and the virtual treatment instrument image to generate a combined image. The surgery support apparatus according to claim 1, wherein the virtual endoscopic image is an image in which a line-of-sight direction and a magnification coincide with those of the endoscopic image. The surgery support apparatus according to claim 1 or 2, wherein the virtual endoscopic image is a blood vessel arrangement virtual image showing a blood vessel arrangement in the endoscopic image.

Images