JP2005205184A - 診断支援装置 - Google Patents
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00163—Optical arrangements
- A61B1/00188—Optical arrangements with focusing or zooming features
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/042—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by a proximal camera, e.g. a CCD camera
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/055—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances having rod-lens arrangements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/064—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using markers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
- G02B23/2476—Non-optical details, e.g. housings, mountings, supports
- G02B23/2484—Arrangements in relation to a camera or imaging device
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2072—Reference field transducer attached to an instrument or patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
- A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3954—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/02—Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computerised tomographs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
Abstract
【解決手段】 内視鏡装置10を架台保持装置50によって患者付近に固定し、内視鏡装置10の硬性内視鏡10a内の対物光学系を含む第1撮影光学系により形成される広角像と対応する透過画像とを重畳して第1モニター2に表示すると同時に、第2撮影光学系により形成される拡大像と対応する透過画像と重畳して第2モニター3に表示する。第2撮影光学系に含まれるペシャンプリズム24を光軸に対して垂直な面内でシフトさせることにより、拡大像の撮影範囲を移動させることができ、これに応じて透過画像の表示範囲をシフトさせることにより、ずれのない重畳表示が可能である。
【選択図】 図1
Description
内視鏡装置の座標系:(XE, YE, ZE)
なお、内視鏡ローカル座標原点67は、硬性鏡10aの瞳位置である。また、軸XE, YEは、それぞれ軸XS, YSと平行である。
位置測定装置の座標系:(XG, YG, ZG)
透視画像基準マーカーの座標系:(XM, YM, ZM)
透視画像撮影時には、患者の体表面に透視画像基準マーカー90を固定し、断層診断装置100により患者と透視画像基準マーカー90を同時に撮影し、透視画像内の透視画像基準マーカーを基準に内視鏡画像と合成する。
断層診断装置の座標系:(XCT, YCT, ZCT)
r = √(XE 2 + YE 2),
r = ZE・tanω
XE = r・cosθ
YE = r・sinθ
R’ = R + ξ3・R3 + ξ5・R5 + ξ7・R7 + …
但し、R = f・tanω = f・r/Z、
f は硬性鏡の焦点距離、Zは物体距離、
DIST = ξ3・R2 + ξ5R4 + ξ7・R6 + …である。
XE’ = R’・cosθ
YE’ = R’・sinθ
T = m1・XE’
U = m1・YE’
となる。
XE″ = XE´ - ΔXS × 2
YE″ = YE´ - ΔYS × 2
V = m2・XE″
W = m2・YE″
となる。
内視鏡装置10ローカル座標系:(XE, YE, ZE)
視野シフト機構部の座標系:(XS, YS)
位置測定装置の座標系(グローバル座標系):(XG, YG, ZG)
透視画像基準マーカーの座標系:(XM, YM, ZM)
断層診断装置の座標系:(XCT, YCT, ZCT)
内視鏡装置10のローカル円筒座標系:(r, θ, ZE)
内視鏡装置10の1次結像面のローカル円筒座標系:(R’, θ)
内視鏡装置10の1次結像面のローカル直交座標系:(XE’, YE’)
内視鏡装置10の第1の撮像素子上の座標系:(T, U)
内視鏡装置10の第2の撮像素子上の座標系:(V, W)
10 内視鏡装置
10a 硬性鏡
11 対物レンズ群
12 リレーレンズ
23 第1再結像レンズ
24 ペシャンプリズム
25 フォーカスレンズ
26 第2再結像レンズ
27 移動機構
27a XYステージ
27b シフト量測定装器
29 位置検出器
30,40 CCDカメラ
50 内視鏡保持装置
66 内視鏡マーカー
67 内視鏡ローカル座標原点
70 位置測定装置
80 画像合成装置
80a CPU
80b RAM
80g ROM
90 透視画像基準位置マーカー
100 断層診断装置
Claims (5)
- 被検体の内部構造を光学系を介して撮像素子上に結像させて撮影する内視鏡装置と、
該内視鏡装置を前記被検体に対して固定可能に保持する保持装置と、
前記内視鏡装置により撮影された前記被検体の所定部位の内視鏡画像に、断層診断装置により得られた断層画像に基づいて生成された前記所定部位の透視画像を重畳する画像合成手段と、
該画像合成手段により合成された画像を表示する表示手段と、
前記内視鏡装置の光学系による結像位置と前記撮像素子の位置とを前記光学系の光軸に対して垂直な面内で相対的にシフトさせる第1のシフト手段と、
該第1のシフト手段によるシフトに伴う前記内視鏡画像の撮影範囲の変化に対応させて前記透視画像の表示範囲をシフトさせる第2のシフト手段とを備え、
前記第1のシフト手段によるシフト後の内視鏡画像と前記第2のシフト手段によるシフト後の透視画像とを前記画像合成手段により合成して前記表示手段に表示させることを特徴とする診断支援装置。 - 前記断層診断装置は、CT装置、またはMRI装置であることを特徴とする請求項1に記載の診断支援装置。
- 前記第1のシフト手段は、前記内視鏡装置の光学系に含まれるペシャンプリズムと、該ペシャンプリズムを光軸に垂直な面内で二次元的に移動させるプリズム移動機構とを備えることを特徴とする請求項1または2に記載の診断支援装置。
- 前記内視鏡装置は、被検体の像を形成する対物光学系と、該対物光学系により形成される被検体の像の所定範囲を再結像させる第1再結像光学系と、該第1再結像光学系により形成される像を撮影する第1撮像素子と、前記対物光学系により形成される像の前記所定範囲の一部を拡大して再結像させる第2再結像光学系と、該第2再結像光学系により形成される像を撮影する第2撮像素子とを備え、
前記画像合成手段は、前記第1撮像素子により撮影された第1の内視鏡画像とこれに対応する範囲の前記透視画像とを合成して第1の合成画像を生成すると共に、前記第2撮像素子により撮影された第2の内視鏡画像とこれに対応する範囲の前記透視画像とを合成して第2の合成画像を生成し、
前記第1のシフト手段は、前記第2撮影光学系による結像位置と前記第2撮像素子の位置とを相対的にシフトさせ、
前記第2のシフト手段は、前記第2の合成画像を構成する透視画像の表示範囲をシフトさせ、
前記表示手段は、前記第1の合成画像を表示する第1の表示装置と、前記第2の合成画像を表示する第2の表示装置とを含むことを特徴とする請求項1〜3のいずれかに記載の診断支援装置。 - 内視鏡設置時に内視鏡装置の基準位置を第1の座標値、透視画像の基準位置を第2の座標値として測定する位置測定装置と、
第1撮影光学系と、
前記第1撮影光学系を介して所定範囲の視野の像を撮像して第1画像信号を出力する第1撮像デバイスと、
少なくとも一枚のレンズを含み、前記所定範囲の視野中の少なくとも一部の像を形成する第2撮影光学系と、
前記第2撮影光学系を介して、前記像を撮像して第2画像信号を出力する第2撮像デバイスと、
前記第2撮影光学系中のレンズの光軸と前記第2撮像デバイスとを相対的にシフトさせることによって、前記第2撮影光学系を介して前記第2撮像デバイスによる撮像範囲を、前記所定範囲の視野内で移動させるシフト装置と、
前記シフト装置によってシフトされた前記レンズの光軸と前記第2撮像デバイスとのシフト量を第3の座標値として出力する内視鏡装置と、
前記第1の座標値と前記第2の座標値に基づいて第1画像信号に透視画像を合成し、前記第1の座標値と前記第2の座標値と第3の座標値に基づいて第2画像信号に透視画像を合成する画像合成装置と、
当該画像合成装置から出力された前記第1の画像信号を表示する第1の表示装置と、
第2の画像信号を表示する、第2の表示装置を備えることを特徴とする診断支援装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004349139A JP2005205184A (ja) | 2003-12-22 | 2004-12-01 | 診断支援装置 |
US11/016,913 US20050148854A1 (en) | 2003-12-22 | 2004-12-21 | Diagnosis supporting device |
DE102004061875A DE102004061875A1 (de) | 2003-12-22 | 2004-12-22 | Einrichtung zur Diagnoseunterstützung |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003424646 | 2003-12-22 | ||
JP2004349139A JP2005205184A (ja) | 2003-12-22 | 2004-12-01 | 診断支援装置 |
Publications (2)
Publication Number | Publication Date |
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JP2005205184A true JP2005205184A (ja) | 2005-08-04 |
JP2005205184A5 JP2005205184A5 (ja) | 2008-12-25 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2004349139A Withdrawn JP2005205184A (ja) | 2003-12-22 | 2004-12-01 | 診断支援装置 |
Country Status (3)
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US (1) | US20050148854A1 (ja) |
JP (1) | JP2005205184A (ja) |
DE (1) | DE102004061875A1 (ja) |
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JP2017074178A (ja) * | 2015-10-14 | 2017-04-20 | 株式会社 オルタステクノロジー | 撮像装置及びそれを用いた内視鏡装置 |
JP2020151404A (ja) * | 2019-03-22 | 2020-09-24 | ソニー・オリンパスメディカルソリューションズ株式会社 | 医療用画像処理装置、医療用観察装置、医療用観察システム、医療用画像処理装置の作動方法および医療用画像処理プログラム |
JP2021509031A (ja) * | 2017-12-28 | 2021-03-18 | エシコン エルエルシーEthicon LLC | 手術室内の装置を判定するための外科用ハブ空間認識 |
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DE102004061875A1 (de) | 2005-07-21 |
US20050148854A1 (en) | 2005-07-07 |
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