JP2006223850A - Electronic endoscope system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an electronic endoscope capable of identifying not only the present position of a leading edge of an endoscope but also a position that corresponds to an image photographed by the endoscope. <P>SOLUTION: The electronic endoscope system comprises a photographing means for photographing the inside of the subject's body using an image sensor installed on the leading edge of the endoscope, a position detection means for detecting the position of the leading edge of the endoscope, a memory means for storing, at a predetermined timing, an image photographed by the photographing means as a still picture associated with position information detected by the position detection means while photographing, and a display means for displaying the still picture and the position information associated with the still picture which are both stored in the memory means and also for displaying the image photographed by the photographing means along with the position information detected by the position detection means as a video. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an electronic endoscope system for observing an image picked up by an image pickup device provided at a distal end portion of an endoscope inserted into a body cavity.

  In recent years, various electronic endoscope systems that detect the position of an insertion portion of an endoscope inserted into the body have been proposed. Among them, there is an electronic endoscope system using a magnetic field generator that generates a magnetic field by flowing an alternating current through a coil, and a magnetic field detection sensor that detects the magnetic field generated by the magnetic field generator using a coil or the like. . In the electronic endoscope system, the position of the distal end portion of the endoscope is detected based on the magnitude of the induced current generated by the magnetic field detection sensor disposed at the distal end of the insertion portion of the endoscope. The electronic endoscope system described above is disclosed in, for example, Patent Document 1 below.

JP 2001-145598 A

  Patent Document 1 discloses a distal end portion of a treatment instrument in which a magnetic field generated by a magnetic field generator disposed outside a body of a subject is inserted into a forceps conduit (forceps channel) from a forceps port of an endoscope. An electronic endoscope system that detects a bending form of an insertion portion of an endoscope by a magnetic field detection sensor disposed in the endoscope is disclosed. According to this electronic endoscope system, it is possible to detect the position and locus of the distal end portion of the endoscope.

  In a normal examination, the surgeon moves the endoscope inserted into the body while confirming where the lesion is in the body. When a lesion is found, the operation of moving the endoscope is temporarily interrupted, and an image near the lesion is captured and recorded. However, in the conventional electronic endoscope system, information for specifying a place where each of one or a plurality of images is captured has not been provided. For this reason, it takes a lot of time and effort to rely on the experience and memory of the operator to return the distal end of the endoscope to the position of interest to the operator, such as where the lesion was found. There was a point. This problem becomes more prominent when the exact position of a lesion is specified at a location where the shape is complicated and there are many branches, such as the lungs.

  In view of the above circumstances, the present invention provides an electronic endoscope system that can specify not only the current position of the distal end portion of an endoscope but also a location corresponding to an image captured by the endoscope. Objective.

  In order to solve the above-described problem, an electronic endoscope system according to claim 1 of the present invention includes an imaging unit that images the inside of a subject with an imaging element disposed at a distal end portion of the endoscope, Position detecting means for detecting the position of the mirror tip, and recording means for recording an image captured by the imaging means as a still image associated with position information detected by the position detecting means at the time of imaging at a predetermined timing; Display means for displaying a still image recorded in the recording means and position information associated with the still image, and displaying an image picked up by the image pickup means as a moving image together with position information detected by the position detection means It is characterized by having.

  According to the first aspect of the present invention, the surgeon can observe the state of the body where the endoscope tip is currently located as a moving image together with the position information. In addition, according to the present invention, the surgeon can observe a still image recorded at a predetermined timing together with position information regarding a place where the still image is captured. Therefore, the surgeon can easily position the distal end portion of the endoscope at the place where the still image taken in the past is taken.

  According to the electronic endoscope system of the second aspect of the present invention, it is desirable to have an operation means for instructing the predetermined timing. This makes it possible to record a still image at any timing of the operator.

  According to the electronic endoscope system according to claim 3 of the present invention, the position detecting means includes a magnetic field generating means for sequentially generating magnetic fields in at least two directions orthogonal to each other, and a distal end portion of the endoscope. And a magnetic field detection sensor for generating an induced current by the magnetic field generated by the magnetic field generating means, and by correlating the direction of each magnetic field generated by the magnetic field generating means with the magnitude of the induced current, The position of the endoscope tip at the time of occurrence is detected.

  According to the electronic endoscope system according to claim 4 of the present invention, the above-described association is performed by setting the magnitude of the induced current to a coordinate on a coordinate system with the magnetic field generation source as the origin and at least two directions as axes. This is done by converting.

  According to the electronic endoscope system of the fifth aspect, the magnetic field generation means has a magnetic field generator disposed outside the body of the subject as a magnetic field generation source.

  According to the electronic endoscope system according to claim 6, the recording unit records a plurality of still images, and the display unit displays at least a part of the plurality of still images recorded in the recording unit. Can do.

  According to the electronic endoscope system of the seventh aspect, it is preferable that the display unit displays the still image with a lower resolution than the moving image. As a result, the processing burden on the system can be reduced.

  According to the present invention, the captured still image and the currently captured moving image are displayed in a state associated with the captured position information. As a result, the operator can easily and accurately specify not only the current position of the distal end portion of the endoscope but also the location corresponding to the image captured by the endoscope. Therefore, by using the electronic endoscope system according to the present invention, the surgeon can move the endoscope so as to match the position information associated with each of the still images and the moving images. It becomes possible to move the tip of the endoscope to a position of interest quickly and accurately.

  Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing an electronic endoscope system according to the present invention. FIG. 2 is a block diagram showing a part of the electronic endoscope system 1 extracted in detail. The electronic endoscope system 1 includes an endoscope 3 to be inserted into the body of a subject, a processor 5, a magnetic field generated by being arranged around the subject to which the endoscope 3 is inserted and connected to the processor 5. And a monitor 9 for displaying an image picked up by the endoscope 3.

  The endoscope 3 includes a light guide 11 for transmitting irradiation light from the processor 5 to the endoscope 3, a light distribution lens 13 for irradiating irradiation light emitted from the light guide distal end portion 11a into the body of the subject, An objective lens 15 that collects light from the body of the subject, an image sensor 17 such as a color CCD that images the inside of the subject via the objective lens 15, a forceps channel 18, and the distal end portion of the endoscope 3. A magnetic field detection sensor 19 is provided.

  The processor 5 includes a light source unit 21 that provides irradiation light to the endoscope 3, a system controller 23 that controls each processing unit of the processor 5, an image recording switch 25, and a timing that controls the timing of the entire electronic endoscope system 1. Detected by the controller 27, the image sensor control / drive unit 29 that controls the image capture of the image sensor 17 at a predetermined timing controlled by the timing controller 27, the pre-stage image signal processor 31, the first image memory 33, and the magnetic field detection sensor 19. Position detection signal processing unit 35 that performs A / D conversion on the detected position detection signal, generation of relative position information of magnetic field detection sensor 19 with respect to magnetic field generator 7 based on the position detection signal, and driving of magnetic field generator drive circuit 41 A control calculation unit 37 that performs control, a magnetic field generator drive circuit 41 that supplies current to the magnetic field generator 7, and a plurality of still images Second image memory 43 data, and the like can be recorded, having a subsequent image signal processing unit 45.

  The magnetic field generator 7 is arranged around the subject in advance for performing endoscopic observation and endoscopic treatment. The magnetic field generator 7 has three coils that generate magnetic fields in the X, Y, and Z directions orthogonal to each other. Then, by supplying an alternating current to each coil, an alternating magnetic field is generated in each of the X, Y, and Z directions. In this embodiment, the magnetic field generator 7 that generates magnetic fields in three directions is used. However, the magnetic field generator 7 that generates magnetic fields only in two directions orthogonal to each other may be used.

  Endoscopic observation and endoscopic treatment for a subject using the electronic endoscope system 1 are executed as follows.

  The system controller 23 drives and controls the light source unit 21 to illuminate the body cavity. Specifically, the light source unit 21 includes a light source 47 that is a lamp that emits white light, a substantially disc-shaped dimming diaphragm 49 that adjusts the amount of light output from the light source 47, a motor 51 that rotationally drives the dimming diaphragm 49, A motor drive / control unit 53 that drives and controls the motor 51, a light source power source 55 that supplies power to the light source 47, and a lens 57 that guides the light emitted from the light source 47 to the light guide rear end portion 11b. The white light incident on the light guide incident end 11 b illuminates the body cavity via the light guide 11 and the light distribution lens 13.

  The light reflected in the body cavity forms an optical image on the light receiving surface of the image sensor 17 via the objective lens 15. The image sensor 17 generates an image signal of each color corresponding to the optical image in synchronization with the drive signal from the image sensor control / drive unit 29 transmitted in synchronization with the timing signal transmitted from the timing controller 27. , Periodically transmitted to the previous image signal processing unit 31 of the processor 5.

  As shown in FIG. 2, the pre-stage image signal processing unit 31 includes a buffer 31a, a video filter 31b, and an A / D conversion unit 31c. The image signal that has been subjected to processing such as A / D conversion by the preceding image signal processing unit is stored in the first image memory 33 as moving image data. As shown in FIGS. 1 and 2, the pre-stage image signal processing unit 31 also transmits an image signal to the second image memory 43. However, the second image memory 43 is prohibited from receiving an image signal except when the image recording switch 25 is operated.

  While the series of imaging processes described above is being performed, the system controller 23 transmits a predetermined control signal to the arithmetic processing unit 37 to execute a magnetic field generation process. The magnetic field generation process is executed in synchronization with a timing signal transmitted from the timing controller 27 to the control calculation unit 37. Here, the timing signal transmitted to the control calculation unit 37 has the same cycle as the timing signal transmitted to the image sensor control / drive unit 29. The control calculation unit 37 drives the magnetic field generator 7 via the magnetic field generator drive circuit 41. Specifically, the magnetic field generator drive circuit 41 is configured to be able to supply an alternating current independently to each of the coils corresponding to the X, Y, and Z directions in the magnetic field generator 7. The control calculation unit 37 drives the magnetic field generator drive circuit 41 each time the predetermined control signal is received once, and the magnetic field generator 7 continuously generates different three-direction magnetic fields once each. Thus, an alternating current is sequentially supplied to each coil. Even if the magnetic field is generated continuously, the deviation at the time of generating each magnetic field is set to be very small, and can be regarded as substantially the same timing in practice.

  When a magnetic field is generated from the magnetic field generator 7, the position detection sensor 19 generates an induced current under the influence of the magnetic field. The generated induced current is input to the position detection signal processing unit 35. The position detection signal processing unit 35 includes a buffer 35a, a level detector 35d that detects the magnitude of the position detection signal, and an A / D conversion unit 35c. In the position detection signal processing unit 35, the induced current is input to the level detector 35d via the buffer 35a. The level detector 35d generates and outputs a position detection signal corresponding to the induced current. The position detection signal output from the level detector 35d is A / D converted by the A / D converter 35c and then transmitted to the control calculator 37.

  Here, the induced current generated by the position detection sensor 19 changes corresponding to the distance between the magnetic field generator 7 and the position detection sensor 19. That is, by detecting the induced current when the magnetic field is generated in each of the X, Y, and Z directions, the three-dimensional relative position of the position detection sensor 19 to the magnetic field generator 7 when the magnetic field is generated, more specifically, the magnetic field. The three-dimensional relative position of the endoscope tip with respect to the generator 7 can be detected. Therefore, the control calculation unit 37 associates each direction of the magnetic field being generated with the level of the input position detection signal, and generates relative position information of the position detection sensor 19 with respect to the magnetic field generator 7. That is, the relative position information includes a position detection signal level when a magnetic field in the X direction is generated, a position detection signal level when a magnetic field in the Y direction is generated, and a position detection signal level when a magnetic field in the Z direction is generated. The control calculation unit 37 of the present embodiment generates, as relative position information, coordinates in a three-dimensional coordinate system with the magnetic field generator 7 as the origin and axes in the X, Y, and Z directions.

  In the control calculation unit 37, the character information generation unit 39 converts the relative position information into character information for display on the monitor 9. As shown in FIGS. 1 and 2, the character information generation unit 39 also transmits relative position information to the second image memory 43. However, writing of relative position information is prohibited in the second image memory 43 except when the image recording switch 25 is operated.

  In synchronization with the timing signal from the timing controller 27, moving image data is input from the first image memory 33 and relative position information is input from the character information generating unit 39 to the subsequent image signal processing unit 45. The timing signal is transmitted corresponding to the cycle of the monitor 9, for example. The post-stage image signal processing unit 45 superimposes relative position information on the moving image data, performs processing such as D / A conversion, and outputs the processed image to the monitor 9 as a moving image.

  FIG. 3 shows an example of the screen of the monitor 9. The moving image data (and relative position information) output from the subsequent image signal processing unit 45 forms a moving image display area 67 on the screen of the monitor 9. The moving image display area 67 includes a moving image 71 and coordinate information 73. Imaging by the image sensor 17 and position detection using the position detection sensor 19 and the like are always performed. Imaging, position detection, and monitor output are all processed synchronously. Accordingly, the moving image 71 and the coordinate information 73 are updated in real time while being associated with each other.

  While observing the moving image 71, the operator operates the image recording switch 25 at an arbitrary timing. By this operation, a predetermined signal is transmitted from the image recording switch 25 to the system controller 23. When the predetermined signal is received, the system controller 23 transmits a control signal instructing each processing unit, including the timing controller 27, to record the currently captured image as a still image. By receiving the control signal, the second image memory 43 records the image signal transmitted from the previous-stage image signal processing unit 31 as still image data. The second image memory 43 records the relative position information transmitted from the character information generation unit 39 in a state associated with the still image data.

  Each time the image recording switch is operated, the above still image generation and recording processing is performed. Therefore, a plurality of sets of still image data and relative position information associated with the data are recorded in the second image memory 43.

  In the second image memory 43, one or more sets of still image data and character information recorded in association with each other are output to the subsequent image signal processing unit 45 in synchronization with the timing signal from the timing controller 27. Is done. The post-stage image signal processing unit 45 performs D / A conversion processing or the like on the still image data and character information read from the second image memory 43. Then, the processing unit 45 outputs the still image data and the like to the monitor 9 at the same timing as when moving image data is output.

  As shown in FIG. 3, the still image data output from the subsequent image signal processing unit 45 forms a still image display area 69 on the screen of the monitor 9. The still image display area 69 includes still images 75A and 75B and coordinate information 77A and 77B corresponding to the still images. The still images 75A and 75B and the coordinate information 77A and 77B corresponding to the still images are arranged and displayed according to a predetermined rule. Examples of the predetermined array include the order of recording time. In this way, each time the image recording switch 25 is pressed, a set of still images and coordinate information is sequentially displayed in the still image display area 69.

  Here, the still images 75A and 75B are displayed on the monitor 9 mainly for the purpose of confirming the imaging location. Therefore, it is sufficient if the image quality can be confirmed even in a rough imaging state in the body cavity. Therefore, in the present embodiment, the sampling number when still image data is written to the second image memory 43 is set to be smaller than the sampling number when moving image data is written to the first image memory 33. That is, the still images 75A and 75B are set to a lower resolution than the moving image 71 updated in real time. As a result, more still images can be recorded with a smaller storage capacity, and the processing load is reduced. In order to efficiently observe the same reason and a plurality of imaging locations, the still images 75A and 75B in the still image display area 69 are displayed smaller than the moving image 71 in the moving image display area 67. .

  In the present embodiment, three still images can be displayed in one screen. Therefore, as shown in the broken line area in FIG. 3, a space for displaying one still image (and coordinate information corresponding to the still image) is secured below the still image 75B (coordinate information 77B). However, the number of still images displayed in the still image display area 69 can be arbitrarily changed by the operator's setting or the like.

  In addition, when image recording is instructed three times or more, the second image memory 43 may be overwritten in order from the oldest data, or still images are sequentially stored until a predetermined capacity is satisfied in the second image memory 43. It may be configured to record data and the like. In the former configuration, only three latest still images are always displayed in the still image display area 69. In the case of the latter configuration, the still image display area 69 may be configured to always display only the latest three still images, or all the still images recorded by scrolling the area 69 can be displayed. You may comprise so that a display is possible.

  By using the endoscope system as described above, the following treatment is possible. During a series of observations by the surgeon or after the observation, the insertion portion of the endoscope 3 is moved so that the character information of the still image to be observed again matches the character information 73 displayed in real time. As a result, for example, the distal end portion of the endoscope can be accurately and easily moved again to the recorded lesioned portion and the approximate location.

FIG. 1 is a diagram showing an electronic endoscope system according to an embodiment of the present invention. FIG. 2 is a diagram illustrating an extracted part of the electronic endoscope system according to the embodiment. FIG. 3 shows a monitor screen during operation of the electronic endoscope system of the embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Electronic endoscope system 3 Endoscope 5 Processor 7 Magnetic field generator 9 Monitor 17 Image sensor 19 Magnetic field detection sensor 23 System controller 25 Image recording switch 35 Position detection signal processing part 37 Control calculating part 39 Character information preparation part 43 No. Two image memory

Claims (7)

An imaging means for imaging the inside of the subject with an imaging device disposed at the distal end of the endoscope;
Position detecting means for detecting position information of the endoscope distal end; and
A recording unit that records an image captured by the imaging unit as a still image associated with the position information detected by the position detection unit at the time of imaging at a predetermined timing;
The still image recorded in the recording unit and the position information associated with the still image are displayed, and the image captured by the imaging unit is displayed together with the position information detected by the position detection unit. And an electronic endoscope system characterized by comprising:   The electronic endoscope system according to claim 1, further comprising operation means for instructing the predetermined timing. The position detecting means includes a magnetic field generating means for sequentially and successively generating magnetic fields in at least two directions orthogonal to each other;
A magnetic field detection sensor disposed at a distal end portion of the endoscope and generating an induced current by a magnetic field generated by the magnetic field generation means;
The position of the endoscope distal end when the magnetic field is generated is detected by associating the direction of each magnetic field generated by the magnetic field generation means with the magnitude of the induced current. 2 is an electronic endoscope system.   The association is performed by converting the magnitude of the induced current into coordinates on a coordinate system with the magnetic field generation source as an origin and the at least two directions as axes. Electronic endoscope system.   The electronic endoscope system according to claim 4, wherein the magnetic field generation unit includes a magnetic field generator disposed outside the body of the subject as the magnetic field generation source. The recording means records a plurality of still images,
6. The electronic endoscope system according to claim 1, wherein the display unit displays at least a part of the plurality of still images recorded in the recording unit.   The electronic endoscope system according to claim 1, wherein the display unit displays the still image with a lower resolution than the moving image.

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