JP2005095634A - Endoscope device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an endoscope device which can extract the subject part and display the part at the center of a screen even when the subject part is imaged from a plurality of directions. <P>SOLUTION: This endoscope device has an endoscope to image the subject part, a recognizing means to recognize a position of the subject part, a detecting means to detect a position of the distal end of the endoscope and a light-recepting direction, and an image cutting-out means to extract image information of a prescribed area centering the subject part from the image information obtained by the endoscope based on the position of the distal end of the endoscope and the light recepting direction detected by the detecting means and a position of the subject part recognized by a recognizing means when the distal end of the endoscope in the subject part side is moved. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an endoscope device into which forceps, scissors, cusers, lasers and the like used for surgery using an endoscope are inserted, and an endoscope capable of extracting image information of a desired region It relates to the device.

  In recent years, many operations have been performed to delete tumors while observing a subject with an endoscope. Surgery using such an endoscope is performed by inserting surgical members such as forceps, scissors, cueers, and lasers into the forceps holes of the endoscope. In surgery using an endoscope, there is a demand for observation from a plurality of directions in order to observe a subject in more detail. In particular, in order to know the three-dimensional structure with a monocular endoscope having only one light receiving system, an operation of observing from a plurality of directions is essential, and a stereoscopic image can be obtained by having two light receiving systems on the left and right. Even in a three-dimensional endoscope capable of obtaining the above, the more detailed three-dimensional structure can be understood by observing from a plurality of directions.

  For example, as shown in FIG. 14, when the inside of the abdominal wall is imaged using a stereoscopic endoscope for abdominal surgery, a so-called laparoscope, the entrance of the portion where the laparoscope is inserted is narrow and can only be rotated around the entrance. Therefore, the test portion P can be displayed on the screen from the entrance side as shown in FIG. 14A, but the test is performed from the direction beyond the display area i as shown in FIG. 14B. If the part P is imaged, the part P to be examined cannot be extracted, and the part P to be examined cannot be displayed on the screen as it is. In this case, in order to display the test part P, the display area is enlarged and displayed.

  However, conventionally, an operation using an endoscope is performed by inserting a forceps, a scissors, a curser, a laser, or the like into the forceps hole of the endoscope. However, the forceps hole of the endoscope is usually one. In addition, since the diameter is small, the number of surgical members such as forceps, scissors, cueers, and lasers that can be inserted is limited, and the degree of freedom of operation is low. In addition, in surgery using an endoscope, there is a desire to observe from a plurality of directions in order to observe the examination part in more detail, but when the entrance of the part where the endoscope is inserted is narrow and cannot be translated, If the test part is photographed from a plurality of directions, the test part cannot be displayed with the center of the screen.

  An object of the present invention is to provide an endoscope apparatus capable of extracting a test part and displaying it at the center of a screen even when one test part is photographed from a plurality of directions. To do.

  In order to achieve the above object, the first invention of the present application detects an endoscope for photographing a portion to be examined, a recognition means for recognizing the position of the portion to be examined, a position of the tip of the endoscope, and a light receiving direction. Detecting means for detecting the position of the endoscope tip detected by the detecting means and the light receiving direction when the tip of the endoscope on the test part side is moved, and the position of the test part recognized by the recognition means. The gist of the present invention is to include image cutout means for extracting image information of a predetermined region centered on the portion to be examined from image information obtained by the endoscope based on the position.

  In the endoscope apparatus according to the first invention of the present application, when the tip of the endoscope on the side to be examined is moved, the position of the tip of the endoscope detected by the detection means and the direction of receiving light are recognized. Based on the position of the test part recognized by the means, the image information of a predetermined area centered on the test part is extracted from the image information obtained by the endoscope. Even when the test part is photographed from a plurality of directions, the test part can be extracted and displayed at the center of the screen.

  In addition, the second invention of the present application is an endoscope for photographing the test part, a recognition means for recognizing the position of the test part, a detection means for detecting the position of the tip of the endoscope and the direction of receiving light. When the distal end of the endoscope side to be examined is moved, the position of the distal end of the endoscope detected by the detecting means and the light receiving direction and the position of the examined portion recognized by the recognizing means are determined. Furthermore, the gist of the present invention is to have a light receiving direction moving means for moving the light receiving direction of the endoscope to the test portion side.

  In the endoscope apparatus according to the second invention of the present application, when the tip of the endoscope on the side to be examined is moved, the position of the tip of the endoscope detected by the detecting means and the direction of receiving light are recognized. Based on the position of the test part recognized by the means, the direction in which the endoscope receives light moves to the test part side, so even if one test part is imaged from a plurality of directions, The test part can be extracted and displayed at the center of the screen.

  According to the present invention, it is possible to extract a test part and display it at the center of the screen even when one test part is photographed from a plurality of directions.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a view showing a first embodiment of an endoscope device according to the first invention of the present application. As shown in FIG. 1, the endoscope device 1 includes an outer cylinder 3 and an endoscope device body 5. As shown in FIG. 2A, the outer cylinder 3 is a circular cylinder having a circular cross section, and the endoscope device body 5 is inserted therein. As shown in FIG. 1, the endoscope device body 5 is a cylindrical member that is inserted into the outer cylinder 3 and has five through holes C1 to C5 provided in the same direction as the longitudinal direction of the outer cylinder 3. is there. The outer shape of the endoscope device body 5 is slightly smaller than the inner diameter of the outer cylinder 3. Further, as shown in FIG. 2B, the central axes of the through holes C1 to C5 are arranged so as not to coincide with the central axis of the endoscope device body 5.

  For example, as shown in FIG. 3A, a stereoscopic endoscope 7 having a right light receiving system 7R and a left light receiving system 7L is inserted into the through hole C1 of the endoscope device 1. For example, as shown in FIG. 3A, forceps 9 having a through hole 9a therein is inserted into the through hole C2. As shown in FIG. 3C, a surgical device 11 such as a scissors is inserted into the through hole 9a.

  FIG. 4 shows a longitudinal section when the stereoscopic endoscope 7 is inserted into the through hole C1 of the endoscope device 1 and the forceps 9 is inserted into the through hole C2. As shown in FIG. 4, the stereoscopic endoscope 7 inserted into the through-hole C1 of the endoscope device 1 has a degree of freedom of movement in the through-hole C1 indicated by the arrow F1, and the through-hole C1 indicated by the arrow F2. Can have a degree of freedom of rotation within. Furthermore, the stereoscopic endoscope 7 inserted into the through-hole C1 of the endoscope device 1 rotates the endoscope device body 5 as indicated by the arrow f2, without moving the outer cylinder 3, The position can be moved.

  Also, a forceps 9 whose tip can be bent is inserted into one of the through holes C2 to C5 of the endoscope device 1, for example, C2, and the device 11 is inserted into the through hole 9a of the forceps 9. When inserted, the device 11 has a degree of freedom of movement of the forceps 9 in the through hole C2 indicated by the arrow f1, a degree of freedom of rotation of the forceps 9 in the through hole C1 indicated by the arrow f3, and an arrow f4. The degree of freedom of movement of the device 11 in the through-hole 9a, the degree of freedom of bending of the forceps 9 shown by the arrow f5, and the degree of freedom of rotation in the through-hole 9a in the bent state of the forceps 9 shown by the arrow f6 And the freedom of movement of the forceps 9 indicated by the arrow f7 in a bent state. Further, the forceps 9 inserted into the through hole C2 of the endoscope device 1 is rotated without rotating the outer cylinder 3 by rotating the endoscope device body 5 as indicated by the arrow f2. Can be moved.

  Thus, in the endoscope device 1 according to the first embodiment of the first invention of the present application, the endoscope device body 5 having the five through holes C1 to C5 is inserted into the outer cylinder 3. Therefore, the degree of freedom of operation of the stereoscopic endoscope 7 and the forceps 9 inserted through the through holes C1 to C5 can be increased. In addition, the device 11 inserted into the forceps hole 9a of the forceps 9 further increases the degree of freedom.

  FIG. 5 is a view showing a second embodiment of the endoscope device according to the first invention of the present application. In FIG. 5, the same components as those shown in FIGS. 1 to 3 are designated by the same symbols, and detailed description thereof is omitted. As shown in FIG. 5, the endoscope device 20 is inserted into the motor 21 that rotates the endoscope device body 5 inserted into the outer cylinder 3 and the through hole of the endoscope device body 5. A motor 23 that rotates the stereoscopic endoscope 7, a rotation control unit 25 that controls the rotation direction and amount of rotation of the motor 21 and the motor 23, and a rotation operation button (not shown) are provided. An operation unit 27 for outputting a corresponding rotation command to the rotation control unit 25 is provided.

  The endoscope device body 5 is rotated by the motor 21 via a gear 21a provided on the outer periphery thereof and a gear 21b provided on the rotation shaft of the motor 21 and meshed with the gear 21a. Similarly, the stereoscopic endoscope 7 is rotated by the motor 23 via the gear 23a and the gear 23b.

  In the endoscope device 20, when the operator issues a command to rotate the endoscope device body 5 by the angle r shown in FIG. 6A using the operation unit 27, the rotation control unit 25 The motor 21 is controlled to rotate the endoscope device body 5 by an angle r, and the motor 23 is controlled to rotate the stereoscopic endoscope 7 by an angle −r shown in FIG.

  Thereby, even if the endoscope device body 5 is rotated, the stereoscopic endoscope 7 does not rotate with respect to the outer periphery 3, so that the right-side light receiving system 7R and the left-side light receiving system 7L of the stereoscopic endoscope 7 There is no such thing as reversing. For this reason, when the device body 5 for endoscopes is rotated, rotation of the image obtained by the three-dimensional endoscope 7 can be prevented.

  Thus, in the endoscope device 20 according to the second embodiment of the first invention of the present application, the stereoscopic endoscope 7 is rotated in the reverse direction in accordance with the rotation of the endoscope device body 5. When the endoscopic device body 5 is rotated, rotation of an image obtained by the stereoscopic endoscope 7 can be prevented.

  FIG. 7 is a view showing an embodiment of an endoscope apparatus according to the second invention of the present application. As shown in FIG. 7, the endoscope apparatus 30 includes a stereoscopic endoscope 31, a detection unit 33, an imaging unit 35, a cutout control unit 37, and a display unit 39. The stereoscopic endoscope 31 includes a right light receiving system 31R, a left light receiving system 31L, and a lens system having a wide-angle imaging range provided in each of the right light receiving system 31R and the left light receiving system 31L.

  The detection means 33 detects the position of the tip of the stereoscopic endoscope 31 and the light receiving direction based on a predetermined reference position. For example, ultrasonic waves are transmitted from three positions, and the ultrasonic waves are received by three ultrasonic wave receivers provided at the distal end of the stereoscopic endoscope 31, and the distal end of the stereoscopic endoscope 31 is calculated based on the difference between the reception times. The position and the direction to receive light are obtained. The detection means 33 is not limited to this. For example, the stereoscopic endoscope 31 is supported by a bendable arm, and the position of the distal end of the stereoscopic endoscope 31 and light reception are determined based on the amount of bending and rotation of the arm. The direction to be detected may be detected. The imaging unit 35 obtains image information by converting an optical image obtained by the stereoscopic endoscope 31 into an electrical signal. Note that the imaging unit 35 desirably has a high resolution.

  The cut-out control unit 37 includes a mode switch 37a, and when the stereoscopic endoscope 31 is moved while the mode switch 37a is being pressed, the test unit at the center of the display screen is the first time when the mode switch is pressed. Image information is extracted so as to be near the center of the screen even after the stereoscopic endoscope 31 is moved.

  The display unit 39 includes a monitor (not shown), and displays the image information obtained by the imaging unit 35 on the monitor. The display unit 39 displays the image information extracted by the cutout control unit 37 on the monitor.

  Next, the image information extraction method of the cutout control unit 37 will be described with reference to FIGS. When the stereoscopic endoscope 31 is rotated by an angle α as shown in FIG. 8, the cutout control unit 37 first detects the angle α and the length from the rotation fulcrum of the stereoscopic endoscope 31 by the detection means 33. Is obtained on the basis of the position of the tip of the stereoscopic endoscope 31 and the direction in which light is received. The length from the fulcrum of the stereoscopic endoscope 31 is that the fulcrum is in the vicinity of the entrance to the abdominal wall. Therefore, the entrance to the abdominal wall is confirmed on the display screen. It can be obtained from the difference in the position of the tip of the stereoscopic endoscope 31 after being inserted into the abdominal wall.

  When the angle α and the length from the fulcrum of the stereoscopic endoscope 31 are known, the center of the image information to be extracted is any of the lines B on the line B obtained by extending the central axis of the stereoscopic endoscope 31 to the subject P side. It turns out that it becomes a position. For this reason, if the position of the image information to be extracted is located on the line B, that is, the position in the depth direction is designated, the center of the image information to be extracted can be obtained. The position in the depth direction is specified by three-dimensionally displaying the left-side screen and the left-side light receiving system 31L in which the image information obtained by the right-side light receiving system 31R is three-dimensionally displayed as shown in FIG. This is performed by moving the cursors A displayed on the right-side screen displayed in FIG.

  As a result, the cutout control unit 37 knows the rotated angle α, the length from the fulcrum of the stereoscopic endoscope 31, and the distance from the stereoscopic endoscope 31 to the test part P. The center position can be determined. Then, the cut-out control unit 37 extracts image information of a predetermined area around the obtained center position of the image information to be extracted, and supplies the image information to the display unit 39. As a result, an image centered on the test part P is displayed on the monitor of the display unit 39.

  For example, as shown in FIG. 10A, when the stereoscopic endoscope 31 is rotationally moved from the position indicated by the solid line to the position indicated by the dotted line, image information centered on the test portion P is extracted, and FIG. As shown in (b) and (c), the test part P is displayed at the center of the screen.

  Next, another example of the image information extraction method of the cutout control unit 37 will be described with reference to FIG. First, the control unit 37 stores, as a template image, a characteristic part or the whole of the image information obtained by photographing the test part P, or image information obtained by adding image processing such as contour enhancement to the test part P, if necessary. The position of this template image from the part P is stored. In this state, when the mode switch 37a is pressed and the stereoscopic endoscope 31 is moved, the image information converted by the imaging unit 35 or the image information subjected to the image processing in the same manner when the image processing is added. The stored template images are matched, that is, template matching is performed. Then, the center position of the image information to be extracted is obtained based on the movement amount of the template image at the time of template matching. And the image information of the predetermined area | region which made this calculated | required center position the center of the to-be-tested part P is extracted from the image information after the said stereoscopic endoscope 31 movement. Then, the cutout control unit 37 supplies the extracted image information to the display unit 39. As a result, an image centered on the test part P is displayed on the monitor of the display unit 39. In addition, if the operation | movement which performs said template matching for every predetermined time during the movement of the stereoscopic endoscope 31 is carried out for every predetermined time, a predetermined area | region centering on the to-be-tested part P will follow also during the movement of the stereoscopic endoscope 31. Image information can be displayed on the display unit 39.

  In this case, since the extraction of the image information by the cutout control unit 37 is performed based on the image information converted by the imaging unit 35, the detection unit 33 that detects the position of the distal end of the stereoscopic endoscope 31 and the direction in which the light is received is unnecessary. It becomes.

  As described above, the endoscope apparatus 30 according to the embodiment of the second invention of the present application includes the position of the distal end of the stereoscopic endoscope 31 detected by the detection means 33, the direction of light reception, and the target specified on the display image. Since the image information of a predetermined area centered on the test part P is extracted from the image information obtained by the stereoscopic endoscope 31 based on the position of the test part P, one test part Even when P is photographed from a plurality of directions, the test part P can be extracted and displayed at the center of the screen.

  In addition, since image information of a predetermined area centered on the test part P is extracted based on the amount of movement of the template image when template matching is performed after the movement of the stereoscopic endoscope 31, one test object Even when the part P is photographed from a plurality of directions, the test part P can be extracted and displayed at the center of the screen.

  Next, an embodiment of an endoscope apparatus according to the third invention of the present application will be described. The configuration of the endoscope apparatus according to the third invention of the present application is the same as that of the embodiment of the endoscope apparatus according to the second invention of the present application shown in FIG. did.

  In the embodiment of the endoscope apparatus according to the second invention of the present application, image information of a predetermined region centered on the test part P is extracted from the image information converted by the imaging unit 35. In the endoscope apparatus according to the third invention of the present application, the light receiving system itself of the stereoscopic endoscope 31 is directed toward the test part P.

  In this case, as the stereoscopic endoscope 31 to be used, a soft mirror capable of changing the direction of the tip is used, and a light receiving direction moving means for moving the direction of the tip is provided, or the distal end of the stereoscopic endoscope 31 is bent. A light receiving direction moving means capable of changing the rate is provided.

  For example, when the stereoscopic endoscope 31 is rotated by an angle α as shown in FIG. 8, the angle α and the length from the fulcrum of the stereoscopic endoscope 31 can be obtained based on the detection result of the detection means 33. it can. For this reason, if the position d in the depth direction of the test part P is specified in the same manner as described above, the cut-out control unit 37 determines the angle α, the angle Y (Y = β−α), and the stereoscopic endoscope 31. When the stereoscopic endoscope 31 is rotated by an angle α from the length L from the fulcrum to the distal end and the length L + d from the test part P to the fulcrum, the distal end of the stereoscopic endoscope 31 is placed on the subject P. The angle β for turning can be obtained. The light receiving direction moving means operates so that the tip of the stereoscopic endoscope 31 faces this angle β.

  If the direction of the tip of the stereoscopic endoscope 31 cannot be changed as in the case where a rigid endoscope is used as the stereoscopic endoscope 31, a prism capable of changing the bending rate as shown in FIG. 40 is provided at the distal end of the stereoscopic endoscope 31. This prism is provided with a bellows 40a on a surface through which light does not pass, and the angle θ of the prism 40 is changed by changing the amount of water injected into the prism 40. Thus, in one embodiment of the third invention of the present application, the image information itself obtained by the stereoscopic endoscope 31 is image information centered on the portion P to be examined.

  In the above-described embodiment of the present invention, the case where the present invention is applied to the stereoscopic endoscope 31 has been described as an example. However, the present invention is not limited to this, and an endoscope, an ultrasonic endoscope, etc. It can also be applied to.

It is a figure which shows the structure of embodiment of the device for endoscopes used for this invention 1st invention. It is sectional drawing (a) of the outer cylinder of the device for endoscopes shown in FIG. 1, and sectional drawing (b) of the device body for endoscopes. It is the figure (a) which shows the stereoscopic endoscope inserted in the through-hole shown in FIG. 1, the figure (b) which shows forceps, and the figure (c) which showed the device inserted in forceps. It is sectional drawing of the longitudinal direction of the device for endoscopes when a stereoscopic endoscope and forceps are inserted in the device for endoscopes shown in FIG. It is a figure which shows the structure of other embodiment of the device for endoscopes used for this invention 1st invention. It is a figure which shows a state when rotating the device main body for endoscopes shown in FIG. It is a figure which shows the structure of one Embodiment of the endoscope apparatus which concerns on this invention 1st invention. It is a figure for demonstrating the extraction method of image information. It is a figure for demonstrating the method to designate the position of a to-be-tested part. FIG. 5A is a diagram showing a case where the test part is imaged from two directions, and FIG. 10B is a diagram showing a display image obtained when the test part is imaged from two directions. It is a figure for demonstrating the other method of extracting image information. It is a figure for demonstrating how to obtain | require an angle when a front-end | tip is made to face to a to-be-tested part when an endoscope is rotated. It is the figure which showed the prism which can change the bending rate of light. It is a figure which shows the prior art example in the case of image | photographing the to-be-tested part in an abdominal wall from two directions using a laparoscope.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Endoscope device 3 Outer cylinder 5 Endoscope device main body 7 Stereoscopic endoscope 9 Forceps 11 Device 20 Endoscope device 21a, 21b, 23a, 23b Gear 21, 23 Motor 25 Rotation control part 30 Endoscope Mirror device 31 Stereoscope 33 Detection means 35 Imaging unit 37 Cutout control unit 37a Mode switch 39 Display unit P Tested part

Claims (5)

  Endoscope for photographing the test part, recognition means for recognizing the position of the test part, detection means for detecting the position of the tip of the endoscope and the direction of light reception, and the test part side of the endoscope When the tip is moved, based on the position of the tip of the endoscope detected by the detection means and the light receiving direction and the position of the test part recognized by the recognition means, the test part is centered. An endoscope apparatus comprising: an image cutout unit that extracts image information of a predetermined region from image information obtained by the endoscope.   The recognizing means recognizes the position of the test part based on the position designated by the operator on the three-dimensionally displayed image information based on the image information obtained by the endoscope. The endoscope according to claim 1.   An endoscope that obtains image information by photographing a test part, and image information obtained before the movement of the endoscope is matched with image information obtained after the endoscope is moved, and this matching is performed. And an image cutout means for extracting image information of a predetermined region centered on the test portion from the image information after moving the endoscope based on the amount of movement of the image information. apparatus.   Endoscope for photographing the test part, recognition means for recognizing the position of the test part, detection means for detecting the position of the tip of the endoscope and the direction of light reception, and the test part side of the endoscope The direction in which the endoscope receives light when the tip is moved, based on the position and light receiving direction of the endoscope detected by the detecting means and the position of the test part recognized by the recognizing means. An endoscope apparatus characterized by comprising: a light receiving direction moving means for moving the lens to the test portion side. The recognition means recognizes the position of the test part based on a position designated by an operator on an image displayed three-dimensionally based on image information obtained by the endoscope. 4. The endoscope apparatus according to 4.

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