JP2006136663A - Endoscope shape detector - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an endoscope shape detector detecting the shape of an endoscope and attractingly moving a foreign substance in the celom by a magnetic force. <P>SOLUTION: A source coil driving circuit part of this endoscope shape detector is provided with an oscillator 110 generating a sine wave, a direct current source 112 supplying a predetermined direct current, a switch part 113 outputting by switching between an output of the oscillator 110 and an output of the direct current source 112, and a first coil driving part 114a amplifying the output of the switch part 113 and, for example, comprising an amplifier 111 supplying to three source coils 14a, 14b and 14c at the distal end. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an endoscope shape detecting apparatus that detects and displays an insertion shape of an endoscope using a magnetic field generating element and a magnetic field detecting element.

  2. Description of the Related Art In recent years, an endoscope shape detecting apparatus that detects the shape of an endoscope inserted into a body or the like using a magnetic field generating element and a magnetic field detecting element and performs display by a display means has come to be used.

  For example, Japanese Patent Application Laid-Open No. 2003-245243 and Japanese Patent Application Laid-Open No. 2003-47586 disclose an apparatus that detects an endoscope shape using a magnetic field and displays the detected endoscope shape. Then, a probe having a plurality of magnetic field generating elements arranged at a predetermined interval is inserted into a channel in the insertion portion of the endoscope that is inserted into the body, and the plurality of magnetic field generating elements are driven to generate a magnetic field around them. The three-dimensional image of the modeled insertion section is generated by detecting the three-dimensional position of each magnetic field generating element using a magnetic field detecting element that is generated and arranged outside the body, and generating a curve that continuously connects the magnetic field generating elements. Is displayed on the display means.

By observing the image, the surgeon can grasp the position of the distal end portion of the insertion portion inserted into the body, the insertion shape, and the like, and can smoothly perform the insertion operation to the target site.
Japanese Patent Laid-Open No. 2003-245243 JP 2003-47586 A

  However, in the conventional endoscope shape detection device, since the shape detection probe having a plurality of source coils is inserted into the insertion channel of the endoscope to detect the insertion shape, for example, under observation of the endoscope When a foreign object is found and collected in a body cavity, there is a problem that the shape detection probe must be pulled out from the insertion channel and a forceps such as a gripper must be inserted into the insertion channel again.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide an endoscope shape detection device capable of detecting the shape of an endoscope and attracting and moving a foreign substance in a body cavity by a magnetic force. It is said.

The endoscope shape detection apparatus of the present invention is
A plurality of magnetic field generating elements are arranged inside an insertion portion of an endoscope inserted into a subject, a plurality of magnetic field detecting elements are arranged outside the subject, and the magnetic field arranged inside the insertion portion Detecting means for detecting each position of the generating element using the position of the magnetic field detecting element as a reference;
In the endoscope shape detection apparatus having the shape estimation means for controlling the detection means and estimating the shape of the endoscope insertion portion based on the detection result of the detection means,
AC signal generating means for generating an AC signal for generating an AC magnetic field from the magnetic field generating element;
DC signal generating means for generating a DC signal for generating a DC magnetic field from the magnetic field generating element;
Output switching means for switching the output of the AC signal generating means and the output of the DC signal generating means and supplying the output to a predetermined magnetic field generating element.

  According to the present invention, it is possible to detect the shape of the endoscope and to attract and move a foreign substance in the body cavity by a magnetic force.

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

  FIGS. 1 to 17 relate to the first embodiment of the present invention, FIG. 1 is a configuration diagram showing the configuration of the endoscope system, and FIG. 2 is a diagram showing an arrangement example of coils built in the coil unit of FIG. 3 is a block diagram showing the configuration of the endoscope shape detection device of FIG. 1, FIG. 4 is a diagram showing the configuration of the reception block and the control block of FIG. 3, and FIG. 5 is a diagram showing the detailed configuration of the reception block of FIG. 6 is a timing diagram showing the operation of the 2-port memory and the like of FIG. 4, FIG. 7 is a diagram showing the configuration of the probe of FIG. 1, and FIG. 8 is a diagram of the first coil driving unit of the source coil driving circuit unit of FIG. FIG. 9 is a diagram showing the configuration of the second coil driving unit of the source coil driving circuit unit of FIG. 4, FIG. 10 is a flowchart showing the operation of the endoscope shape detecting device of FIG. 3, and FIG. FIG. 12 is a first diagram for explaining the operation of the endoscope shape detecting device of FIG. 3, and FIG. 12 is the endoscope of FIG. FIG. 13 is a third diagram illustrating the operation of the endoscope shape detection device of FIG. 3, and FIG. 14 is a diagram illustrating the operation of the endoscope shape detection device of FIG. FIG. 15 to explain, FIG. 15 to FIG. 15 to explain the operation of the endoscope shape detection apparatus of FIG. 3, FIG. 16 is a modification of the first coil drive unit of the source coil drive circuit unit of FIG. FIG. 17 is a diagram showing a modification of the arrangement of the source coils in FIG.

  As shown in FIG. 1, the endoscope system 1 in the present embodiment includes an endoscope apparatus 2 that performs an endoscopic examination, and an endoscope shape detection apparatus 3 that is used to assist the endoscopic examination. The endoscope shape detection device 3 is used as an insertion assisting means when performing an endoscopic examination by inserting the insertion portion 7 of the endoscope 6 into the body cavity of the patient 5 lying on the bed 4.

  The endoscope 6 is formed with an operation portion 8 provided with a bending operation knob at the rear end of the elongated insertion portion 7 having flexibility, and a universal cord 9 is extended from the operation portion 8 so that a video imaging system ( Or a video processor) 10.

  The endoscope 6 is inserted through a light guide, transmits illumination light from a light source unit in the video processor 10, emits illumination light transmitted from an illumination window provided at the distal end of the insertion unit 7, and illuminates a patient or the like. To do. An illuminated object such as an affected part is connected to an image sensor (CCD) disposed at the image formation position by an objective lens attached to an observation window provided adjacent to the illumination window, and this image sensor is photoelectrically converted. To do.

  The photoelectrically converted signal is subjected to signal processing by a video signal processing unit in the video processor 10 to generate a standard video signal, which is displayed on an image observation monitor 11 connected to the video processor 10.

  The endoscope 6 is provided with a forceps channel 12, for example, 16 magnetic field generating elements (or source coils) 14 a, 14 b,..., 14 p (hereinafter represented by reference numeral 14 i) from the insertion opening 12 a of the forceps channel 12. An insertion shape detection probe (hereinafter simply referred to as a probe) 15 having the insertion coil 7 is inserted, whereby the source coil 14 i is installed in the insertion portion 7.

  The source cable 16 extended from the rear end of the probe 15 has a rear end connector 16a detachably connected to a detection device (also referred to as a device main body) 21 as a device main body of the endoscope shape detection device 3. . Then, a high frequency signal (drive signal) is applied from the detection device 21 side to the source coil 14i serving as the magnetic field generating means via the source cable 16 as the high frequency signal transmitting means, so that the source coil 14i transmits the electromagnetic wave with a magnetic field to the surroundings. Radiate.

  The detection device 21 arranged near the bed 4 on which the patient 5 lies is provided with a (sense) coil unit 23, and a plurality of magnetic field detection elements (sense coils) are arranged in the coil unit 23. (More specifically, as shown in FIG. 2, for example, the sense coils 22a-1, 22a-2, 22a-3, 22a with the center Z coordinate being the first Z coordinate, for example, facing the X axis) -4, the sense coil 22b-1, 22b-2, 22b-3, 22b-4 facing the Y axis which is the second Z coordinate whose center Z coordinate is different from the first Z coordinate, and the center Z coordinate Twelve sense coils (hereinafter referred to as sense coils 22c-1, 22c-2, 22c-3, 22c-4) whose coordinates are directed to the Z axis, which is a third Z coordinate different from the first and second Z coordinates. (Represented by reference numeral 22j) Yl).

  The sense coil 22j is connected to the detection device 21 via a cable (not shown) from the coil unit 23. The detection device 21 is provided with an operation panel 24 for a user to operate the device. In addition, for example, a liquid crystal monitor 25 is disposed on the detection device 21 as display means for displaying the detected shape of the endoscope insertion portion (hereinafter referred to as an endoscope model).

  The number of sense coils is 12 and the number of source coils is 16. However, the present invention is not limited to this, and a plurality of sense coils and source coils capable of shape detection may be provided.

  As shown in FIG. 3, the endoscope shape detection device 3 includes a transmission block 26 that drives the source coil 14 i, a reception block 27 that receives a signal received by the sense coil 22 j in the coil unit 23, and a reception block 27. And a control block 28 that performs signal processing on the signal detected in (1).

  As shown in FIG. 4, in the probe 15 installed in the channel in the insertion portion 7 of the endoscope 6, 16 source coils 14i for generating a magnetic field are arranged at predetermined intervals as described above. These source coils 14i are connected to 16 source coil drive circuits 31 that generate drive signals having different frequencies constituting the transmission block 26.

  The source coil drive circuit unit 31 drives each source coil 14i with a sinusoidal drive signal having a different frequency, and each drive frequency is a drive frequency setting data storage means (not shown) or a drive frequency inside the source coil drive circuit unit 31. It is set by drive frequency setting data (also referred to as drive frequency data) stored in the setting data storage means. This drive frequency data is obtained from a source coil drive circuit unit 31 via a PIO (parallel input / output circuit) 33 by a CPU (central processing unit) 32 which is a shape estimation means for performing an endoscope shape calculation process in the control block 28. Is stored in a drive frequency data storage means (not shown).

  On the other hand, twelve sense coils 22 j in the coil unit 23 are connected to a sense coil signal amplification circuit unit 34 that constitutes a reception block 27.

In the sense coil signal amplifying circuit section 34, as shown in FIG. 5, twelve single core coils 22k constituting the sense coil 22j are respectively connected to the amplifying circuit 35k and 12 processing systems are provided. After a minute signal detected by the heart coil 22k is amplified by the amplifier circuit 35k, the filter circuit 36k has a band through which a plurality of frequencies generated by the source coil group passes, and unnecessary components are removed and output to the output buffer 37k. An ADC (analog-digital converter) 38k converts the control block 28 into a digital signal that can be read.
The reception block 27 includes a sense coil signal amplification circuit unit 34 and an ADC 38k. The sense coil signal amplification circuit unit 34 includes an amplification circuit 35k, a filter circuit 36k, and an output buffer 37k.

  Returning to FIG. 4, the 12 outputs of the sense coil signal amplifying circuit unit 34 are transmitted to the 12 ADCs 38 k and supplied from the control signal generating circuit unit 40 as numerical data writing means in the control block 28. It is converted into digital data having a predetermined sampling period by a clock. This digital data is written into a 2-port memory 42 as data output means via a local data bus 41 by a control signal from the control signal generation circuit unit 40.

  As shown in FIG. 5, the 2-port memory 42 is functionally composed of a local controller 42a, a first RAM 42b, a second RAM 42c, and a bus switch 42d. The ADC 38k starts A / D conversion by the A / D conversion start signal from the controller 42a, and the bus switch 42d alternately reads the first RAMs 42b and 42c while switching the RAMs 42b and 42c by the switching signal from the local controller 42a. Used as a memory, data is always taken in after a power-on by a write signal.

  Returning to FIG. 4 again, the CPU 32 transfers the digital data written in the 2-port memory 42 by the control signal from the control signal generation circuit 40 from the local data bus 43, the PCI controller 44 and the PCI bus 45 (see FIG. 5). Is read out via the internal bus 46, and the main memory 47 is used to perform frequency extraction processing (Fast Fourier Transform: FFT) on the digital data, and the magnetic field detection information of the frequency component corresponding to the driving frequency of each source coil 14i. The spatial position coordinates of each source coil 14i provided in the insertion portion 7 of the endoscope 6 are calculated from each digital data of the separated magnetic field detection information.

  Further, the insertion state of the insertion section 7 of the endoscope 6 is estimated from the calculated position coordinate data, display data forming an endoscope model is generated, and output to the video RAM 48. The data written in the video RAM 48 is read by the video signal generation circuit 49, converted into an analog video signal, and output to the liquid crystal monitor 25. When this analog video signal is input, the liquid crystal monitor 25 displays the endoscope model of the insertion portion 7 of the endoscope 6 on the display screen.

  In the CPU 32, magnetic field detection information corresponding to each source coil 14i, that is, electromotive force (amplitude value of a sine wave signal) generated in the single-core coil 22k constituting each sense coil 22j and phase information are calculated. The phase information indicates the polarity ± of the electromotive force.

  In this embodiment, as shown in FIG. 1, the detection device 21 has an extracorporeal marker 57 for displaying the position outside the body in order to confirm the position of the insertion portion 7 inserted into the body. And a detection device for detecting a reference plate 58 that is used to always display an endoscope model from a specific direction (of the patient 5) even if the posture of the patient 5 changes, for example, by attaching to the abdomen of the patient 5, etc. It can also be used by connecting to 21.

  The extracorporeal marker 57 accommodates one source coil therein, and the connector 59a at the base end of the cable 59 of the extracorporeal marker 57 is detachably connected to the detection device 21.

  By connecting this connector 59a, the source coil of the extracorporeal marker 57 is also driven in the same manner as the source coil in the probe 15, and the position of the source coil of the extracorporeal marker 57 detected by the coil unit 23 is also viewed internally. Similar to the mirror model, it is displayed on the monitor 25.

  For example, three source coils are disposed on the surface of the reference plate 58 inside the disk-shaped portion, and the connector 60a at the base end of the cable 60 connected to the three source coils is connected to the detection device 21. Is detachably connected.

  By detecting the positions of these three source coils, the surface on which they are arranged is determined. Then, it is used to draw an endoscope model so as to be an endoscope model observed when the insertion portion 7 is viewed from a direction perpendicular to the surface.

  As shown in FIG. 4, in this embodiment, the connector 21a, 21b, 21c to which the connector 16a of the probe 15, the connector 59a of the extracorporeal marker 57, and the connector 60a of the reference plate 58 are connected to the detection device 21, respectively. The connector receivers 21 a, 21 b, and 21 c are connected to the source coil drive circuit 31.

  As shown in FIG. 7, the probe 15 includes an outer sheath 70 constituting an outer sheath, a plurality of hollow source coils 14i, for example, sixteen source coils 14i, an elongated core wire 73 to which these source coils 14i are bonded and fixed, It is mainly composed of a pipe-shaped inner sheath 74 arranged in series with respect to the source coil 14i. That is, the source coil 14i and the inner sheath 74 are alternately arranged in series in the order of the source coil 14a, the inner sheath 74, the source coil 14b,.

  As shown in FIGS. 8 and 9, the source coil drive circuit unit 31 of the endoscope shape detection device 3 includes an oscillator 110 that generates a sine wave, a DC source 112 that supplies a predetermined DC current, and an oscillator 110 A first coil drive comprising a switch unit 113 that switches between the output and the output of the DC source 112 and an amplifier 111 that amplifies the output of the switch unit 113 and supplies it to, for example, the three source coils 14a, 14b, and 14c at the tip , And an oscillator 110 that generates a sine wave, and generates an alternating magnetic field in the other 11 source coils 14d, 14e,. The second coil driving unit 114b (FIG. 9) including the amplifier 111 to be driven) is configured according to the source coil 14i.

  The switch unit 113 is controlled by a DC / AC switching signal from the CPU 32 via the PIO 33. By setting the DC / AC switching signal to the “DC” side, the source coils 14a, 14b, 14c can be made to act as electromagnets by flowing a DC current through the source coils 14a, 14b, 14c. Further, by setting the DC / AC switching signal to the “AC” side, it is possible to radiate an electromagnetic wave with a magnetic field to the surroundings for shape detection as in the case of the source coils 14d, 14e,.

  In addition, the source coil that acts as an electromagnet by the coil driving unit 114a is not limited to the three source coils 14a, 14b, and 14c at the tip, and all source coils are used as the coil driving unit 114a in order to act any source coil as an electromagnet. Alternatively, the source coil may be configured to act as an electromagnet different from the three source coils 14a, 14b, and 14c at the tip.

  Next, the operation of this embodiment configured as described above will be described.

  As shown in FIG. 10, the endoscope 6 having the probe 15 disposed in the channel in step S1 is inserted into the intestine 100 as shown in FIG. 11, and insertion support by the endoscope shape detection device 3 is started. Then, in step S2, the CPU 32 sets the DC / AC switching signal to the “AC” side. In step S3, the source coil 14i (i = ap) is driven to detect the endoscope shape, and the endoscope shape is displayed on the liquid crystal monitor 25 as shown in FIG. At this time, although not shown, an observation image captured by the endoscope 6 is displayed on the image observation monitor 11.

  An operator refers to the endoscope shape displayed on the liquid crystal monitor 25 and continues insertion into the intestinal tract 100 to continue the examination.

  Then, as shown in FIG. 13, when the surgeon determines that the metal foreign object 120 is found in the intestinal tract 100 on the image observation monitor 11 and needs to be moved to a position where it can be collected or excreted, As shown in FIG. 14, after the probe 15 protrudes from the distal end of the endoscope 6 and the distal end portion of the probe 15 is positioned in the vicinity of the metal foreign object 120, an operation switch (not shown) provided in the operation unit 8 is provided. By operating, a switching control signal is transmitted to the CPU 32 of the endoscope shape detection device 3 via the video processor 15 (see FIG. 4).

   Therefore, in step S4, the CPU 32 monitors the generation of the switching control signal. When the switching control signal is detected, the shape detection is temporarily terminated in step S5. In step S6, the CPU 32 sets the DC / AC switching signal to “DC”. As shown in FIG. 14, the three source coils 14a, 14b, and 14c at the tip are made to act as electromagnets. As shown in FIG. 15, the metal foreign matter 120 is attracted to the source coils 14 a, 14 b and 14 c by this magnetic force, and the probe 15 is moved in this state to move the metal foreign matter 120 to a position where it can be collected or excreted. Do.

  And the process of step S2-S6 is repeated until shape detection is complete | finished in step S7.

  As described above, in this embodiment, when detecting the endoscope shape, by setting the DC / AC switching signal to the “AC” side, electromagnetic waves with magnetic fields are emitted from all the source coils 14i to the surroundings. Further, when collecting / moving the foreign substance in the body cavity, the desired source coils 14a, 14b, 14c can be operated as electromagnets by setting the DC / AC switching signal to the “DC” side. That is, it is possible to detect the shape of the endoscope and attract and move the foreign matter in the body cavity by magnetic force.

  The coil driving unit 114a is configured to switch the output of the oscillator 110 and the DC source 112, but when using the circuit power source of the source coil driving circuit unit 31, as shown in FIG. The output of the oscillator 110 via the amplifier 11 may be switched by the switch unit 113 and supplied to the source coils 14aa, 14b, and 14c.

  In addition, the source coils 14a, 14b, and 14c that are driven by the electromagnet are arranged at approximately equal intervals in the present embodiment, as in the case of the other source coils. However, the present invention is not limited to this, and as shown in FIG. May be arranged closer to the arrangement interval of the other source coils. In this case, when the electromagnet is driven, the metal foreign object can be held by a stronger magnetic force.

  Furthermore, since the DC source only needs to generate a holding force by magnetic force, the AC current is full-wave rectified, half-wave rectified, voltage doubled rectified, or a continuous pulse of the same polarity. It is also possible to have a shape.

  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.

1 is a configuration diagram showing the configuration of an endoscope system according to Embodiment 1 of the present invention. The figure which shows the example of arrangement | positioning of the coil incorporated in the coil unit of FIG. The block diagram which shows the structure of the endoscope shape detection apparatus of FIG. The figure which shows the structure of the receiving block and control block of FIG. The figure which shows the detailed structure of the receiving block of FIG. Timing chart showing the operation of the 2-port memory of FIG. The figure which shows the structure of the probe of FIG. The figure which shows the structure of the 1st coil drive part of the source coil drive circuit part of FIG. The figure which shows the structure of the 2nd coil drive part of the source coil drive circuit part of FIG. The flowchart which shows the effect | action of the endoscope shape detection apparatus of FIG. FIG. 3 is a first diagram for explaining the operation of the endoscope shape detection device of FIG. 2nd figure explaining an effect | action of the endoscope shape detection apparatus of FIG. 3rd figure explaining an effect | action of the endoscope shape detection apparatus of FIG. 4th figure explaining the effect | action of the endoscope shape detection apparatus of FIG. 5th figure explaining the effect | action of the endoscope shape detection apparatus of FIG. The figure which shows the structure of the modification of the 1st coil drive part of the source coil drive circuit part of FIG. The figure which shows the modification of arrangement | positioning of the source coil of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Endoscope system 2 ... Endoscope apparatus 3 ... Endoscope shape detection apparatus 4 ... Bed 5 ... Patient 6 ... Endoscope 7 ... Insertion part 8 ... Operation part 10 ... Video processor 12 ... Forceps channel 14i ... Source Coil 15 ... probe 16 ... cable 21 ... detection device 23 ... coil unit 22j ... sense coil 24 ... operation panel 26 ... transmission block 27 ... reception block 28 ... control block 31 ... source coil drive circuit 32 ... CPU
42 ... 2-port memory 42a ... Local controller 42b ... First RAM
42c ... second RAM
42d ... Bus switch 110 ... Oscillator 111 ... Amplifier 112 ... DC source 113 ... Switch part 114a ... First coil driving part 114b ... Second coil driving part Agent Patent attorney Susumu Ito

Claims (2)

A plurality of magnetic field generating elements are arranged inside an insertion portion of an endoscope inserted into a subject, a plurality of magnetic field detecting elements are arranged outside the subject, and the magnetic field arranged inside the insertion portion Detecting means for detecting each position of the generating element using the position of the magnetic field detecting element as a reference;
In the endoscope shape detection apparatus having the shape estimation means for controlling the detection means and estimating the shape of the endoscope insertion portion based on the detection result of the detection means,
AC signal generating means for generating an AC signal for generating an AC magnetic field from the magnetic field generating element;
DC signal generating means for generating a DC signal for generating a DC magnetic field from the magnetic field generating element;
An endoscope shape detection apparatus comprising: an output switching unit that switches between an output of the AC signal generation unit and an output of the DC signal generation unit and supplies the output to a predetermined magnetic field generation element. The endoscope shape detection device according to claim 1, wherein the predetermined magnetic field generation element supplied by the output switching unit is a predetermined number of magnetic field generation elements arranged at the distal end of the insertion portion.

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