JP2006247292A - Endoscope insertion profile detector - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an endoscope insertion profile detector capable of drawing an insertion profile figure within a predetermined region of a display part by executing a predetermined display alteration process when a part of the insertion profile figure is drawn outside the predetermined region of the display part. <P>SOLUTION: This endoscope insertion profile detector 8 is provided with a signal detecting part 33 detecting the insertion profile of an insertion tube 11 of the endoscope 3, an image formation part 36 forming image signals for drawing the insertion profile as the insertion profile figure, and a monitor 9 displaying the insertion profile figure based on the image signals. When at least one part of the insertion profile figure is drawn outside the predetermined region on the monitor screen 9a of the monitor 9, the display alteration part 36c executes a predetermined display alteration process relative to the image signals so that the insertion profile figure is drawn within the predetermined region. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an endoscope insertion shape detection device, and in particular, when a part of an insertion shape figure is drawn outside a predetermined area of a display unit, the insertion shape figure is obtained by performing a predetermined display change process. The present invention relates to an endoscope insertion shape detection device capable of rendering the image in a predetermined area of the display unit.

  Conventionally, endoscopes have been widely used in the medical field, industrial field, and the like. Endoscopes are used, for example, in the medical field when observing or performing various treatments on a body cavity part, tissue, or the like that is an affected part. In particular, when inserting an endoscope from the anus side of a living body and performing observation and various treatments on the lower digestive tract, in order to smoothly insert the insertion portion of the endoscope into a bent body cavity, 2. Description of the Related Art An endoscope insertion shape detection device that can detect the position, bending state, and the like of an insertion portion in a body cavity is used in combination with an endoscope.

As an endoscope insertion shape detection device as described above, for example, there is one proposed in Patent Document 1. In the endoscope insertion shape detection device proposed in Patent Document 1, a magnetic field generated from a source coil arranged at a predetermined interval on an insertion shape detection probe inserted into an insertion portion of an endoscope is applied to a patient. After the signal detection unit, which is the detection unit, detects the signal through the sense coil disposed on the bed to be placed, the three-dimensional shape of the insertion unit is calculated from the position information of the source coil obtained based on the signal, The three-dimensional shape is converted into an insertion shape figure that is a two-dimensional shape viewed from a predetermined viewpoint, and is displayed on a monitor.
Japanese Patent No. 3290153

  However, in the endoscope insertion shape detection device proposed in Patent Document 1, a part of the insertion shape figure of the insertion portion displayed on the monitor as the display portion protrudes outside the display area of the monitor. There may be a situation in which is not displayed. In such a case, the surgeon cannot confirm the state of the insertion portion of the insertion shape figure of the insertion portion that is not displayed and is inconvenient for the insertion operation of the endoscope. It was.

  The present invention has been made in view of the above-described points. When a part of an insertion shape figure drawn by the endoscope insertion shape detection device is drawn outside a predetermined area of the display unit, the predetermined display is performed. It is an object of the present invention to provide an endoscope insertion shape detecting device capable of rendering the insertion shape figure in a predetermined area of a display unit by performing a change process.

  An endoscope insertion shape detection device according to the present invention is a detector for detecting an insertion shape of an insertion portion of an endoscope inserted into a subject, and for rendering the insertion shape as an insertion shape figure and drawing it. An image generation unit configured to generate an image signal; and a display unit configured to display the insertion shape graphic based on the image signal, wherein the image generation unit displays at least part of the insertion shape graphic on the display unit. A display change unit that performs a predetermined display change process on the image signal so that the inserted shape figure is drawn in the predetermined area of the display area when drawn outside the predetermined area in the area; Have.

  According to the endoscope insertion shape detection device of the present invention, when a part of the insertion shape figure is drawn outside a predetermined area of the display unit, the insertion shape figure is obtained by performing a predetermined display change process. The image can be drawn in a predetermined area of the display unit.

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

  FIG. 1 is a diagram illustrating an overall configuration of an endoscope system according to the present embodiment. FIG. 2 is a block diagram illustrating an internal configuration of the endoscope insertion shape detection device according to the present embodiment. FIG. 3 is a diagram illustrating an example of an insertion shape graphic drawn on the monitor screen by the endoscope insertion shape detection device according to the present embodiment. FIG. 4 is a flowchart showing the contents of control performed by the endoscope insertion shape detection apparatus according to the present embodiment. FIG. 5 is a diagram showing a state in which the insertion shape figure of the insertion portion is drawn outside the first predetermined area of the monitor screen. FIG. 6 is a diagram showing a state after the first display change process is performed on the inserted shape figure shown in FIG. FIG. 7 is a diagram illustrating a state where the insertion shape figure of the insertion unit is drawn outside the second area of the monitor screen. FIG. 8 is a diagram illustrating a state after the second display change process is performed on the inserted shape graphic illustrated in FIG. 7.

  As shown in FIG. 1, the endoscope system 1 captures an image in a body cavity in a body cavity of a patient 2 as a subject, and outputs the captured image in the body cavity as an imaging signal. A video processor 4 that performs image processing on the imaging signal output from the endoscope 3 and outputs the image signal, and a desired part imaged by the endoscope 3 based on the imaging signal output from the video processor 4 A monitor 5 for displaying an image of the above, an insertion shape detection probe 6, a bed 7 on which the patient 2 can be placed, an endoscope insertion shape detection device 8, and a monitor screen 9a. The monitor 9 is a display unit for displaying the shape figure.

  The endoscope 3 includes an insertion portion 11 that is inserted into a body cavity and the like, an operation portion 12 that is connected to the proximal end side of the insertion portion 11, holds and operates the endoscope 3, and an operation portion 12 has a universal cord 13 extending from the side of 12 and connected to an external device such as a video processor 4.

  Inside the distal end portion 14 which is the distal end of the insertion portion 11, an objective optical system 15 for forming an image of the subject, an image of the subject imaged by the objective optical system 15, and the captured subject A CCD (solid-state imaging device) 16 is provided for outputting the above image as an imaging signal. The imaging signal output from the CCD 16 is output to a signal line 17 having one end connected to the back of the CCD 16. The signal line 17 is provided so as to pass through the insertion unit 11, the operation unit 12, and the universal cord 13, and the other end is electrically connected to the video processor 4. For this reason, the imaging signal output from the CCD 16 is output to the video processor 4 via the signal line 17.

  A probe insertion port 18 for inserting the insertion shape detection probe 6 is provided on the side of the operation unit 12. The probe insertion port 18 communicates with a probe channel 19 provided so as to be inserted through the insertion portion 11, and is formed so that the insertion shape detection probe 6 can be inserted into the probe channel 19. Yes.

  The insertion shape detection probe 6 has a size, a shape, and the like that can be inserted into the probe insertion port 18 and the probe channel 19 of the endoscope 3 and generates a magnetic field corresponding to the insertion shape of the insertion portion 11 in the body cavity. Therefore, a plurality of source coils 21 as magnetic field generating elements are provided at a predetermined interval. A cable 22 for connecting to the endoscope insertion shape detection device 8 extends from the proximal end side of the insertion shape detection probe 6, and the endoscope insertion shape detection device 8 is connected via the cable 22. By driving the source coil 21, a magnetic field is generated.

  The endoscope insertion shape detection device 8 includes a plurality of sense coils as magnetic field detection elements for detecting the magnetic field generated by the source coil 21 and a coil unit 23 that outputs the detected magnetic field as a magnetic field signal. It has been.

  The endoscope insertion shape detection device 8 is provided with an operation panel 8a on the exterior surface. The operation panel 8a includes, for example, an automatic / manual changeover switch that can switch the timing at which the endoscope insertion shape detection device 8 performs the first display change process and the second display change process to either automatic or manual, The endoscope insertion shape detection device 8 includes a plurality of switches such as a switch for instructing the timing when the first display change process and the second display change process are manually performed. When the operator manually performs the first display change process and the second display change process, the first display change is performed by setting the automatic / manual changeover switch to manual and then pressing the switch at a desired timing. Processing and second display change processing can be performed. The detailed contents of the first display change process and the second display change process will be described later. In the following description of the present embodiment, the first display change process and the second display change process will be described. In the processing, it is assumed that the timing at which the endoscope insertion shape detection device 8 performs the first display change process and the second display change process is set as automatic.

  In addition, as shown in FIG. 2, the endoscope insertion shape detection device 8 includes a source coil drive unit 31 that drives the source coil 21 and a magnetic field generation timing and frequency of the source coil 21 via the source coil drive unit 31. A source coil control unit 32, a signal detection unit 33, a signal recording unit 34, a source coil position analysis unit 35, an image generation unit 36, and a monitor drive unit 39 are provided inside. The image generation unit 36 includes an insertion shape image generation unit 36a, a memory unit 36b, and a display change unit 36c.

  The signal detection unit 33 as a detection unit detects the magnetic field signal output from the coil unit 23, amplifies the magnetic field signal to a level at which signal processing is possible, and outputs the amplified signal.

  The signal recording unit 34 temporarily records the magnetic field signal output from the signal detection unit 33.

  The source coil position analysis unit 35 analyzes the three-dimensional position coordinate of the source coil 21 based on the magnetic field signal recorded in the signal recording unit 34 and outputs it as a three-dimensional position coordinate information signal.

  The insertion shape image generation unit 36 a calculates the three-dimensional shape of the insertion unit 11 based on the three-dimensional position coordinate information signal of the source coil 21 output from the source coil position analysis unit 35. Further, the insertion shape image generation unit 36a generates an insertion shape graphic of the insertion unit 11 from the calculated three-dimensional shape of the insertion unit 11, and outputs it as an insertion shape graphic signal that is an image signal.

  The memory unit 36b temporarily records the insertion shape graphic signal of the insertion unit 11 output from the insertion shape image generation unit 36a.

  The display changing unit 36c is configured such that a part or all of the insertion shape graphic of the insertion unit 11 generated by the insertion shape image generation unit 36a is a two-dimensional coordinate in the monitor screen 9a based on the insertion shape graphic signal recorded in the memory unit 36b. As depicted above, coordinate correction is performed based on the insertion shape graphic signal recorded in the memory unit 36b, and the insertion shape graphic signal after the coordinate correction is output. In addition, the display change unit 36c is configured such that when a part of the insertion shape figure of the insertion unit displayed on the monitor which is the display unit is drawn outside a predetermined area on the monitor screen 9a, the insertion change recorded in the memory unit 36b is displayed. Based on the shape graphic signal, a predetermined display change process is performed so that the inserted shape graphic generated by the insertion shape image generation unit 36a is rendered in a predetermined area in the monitor screen 9a, and the predetermined display change process is performed. The inserted shape graphic signal is output. The detailed contents of the first display change process and the second display change process as the predetermined display change process will be described later.

  The monitor drive unit 39 drives the monitor 9 based on the insertion shape graphic signal output from the display change unit 36c, and renders the insertion shape graphic of the insertion unit 11 on the monitor screen 9a.

  Next, the operation when the endoscope system 1 according to the present embodiment is used will be described with reference to FIGS.

  First, the operator inserts the insertion shape detection probe 6 into the endoscope 3 through the probe insertion port 18. Thereafter, the surgeon connects the universal cord 13 of the endoscope 3 to the video processor 4, connects the cable 22 of the insertion shape detection probe 6 to the endoscope insertion shape detection device 8, and inserts the endoscope 3. The part 11 is inserted into the body cavity of the patient 2. Then, the CCD 16 captures an image in the body cavity and outputs the captured image in the body cavity as an imaging signal. The video processor 4 performs image processing and the like based on the imaging signal output from the CCD 16, and outputs the imaging signal after the image processing and the like to the monitor 5. The monitor 5 displays an image of the body cavity imaged by the endoscope 3 based on the imaging signal output from the video processor 4.

  In addition, the source coil control unit 32 of the endoscope insertion shape detection device 8 generates a magnetic field at different timing for each source coil 21 via the source coil drive unit 31. Take control. The source coil 21 generates a magnetic field according to the insertion shape of the insertion portion 11 in the body cavity based on the control content of the source coil control portion 32. The magnetic field generated from the source coil 21 is detected by the coil unit 23, and the coil unit 23 outputs a magnetic field signal based on the magnetic field.

  The magnetic field signal output from the coil unit 23 is detected by the signal detection unit 33 of the endoscope insertion shape detection device 8, amplified to a signal processable level and output, and temporarily output by the signal recording unit 34. To be recorded. The source coil position analysis unit 35 analyzes the three-dimensional position coordinates of each source coil 21 based on the magnetic field signal recorded in the signal recording unit 34 and outputs the three-dimensional position coordinate information. The insertion shape image generation unit 36 a calculates the three-dimensional shape of the insertion unit 11 based on the three-dimensional position coordinate information signal of each source coil 21 output from the source coil position analysis unit 35, and then calculates the calculated insertion unit 11. From the three-dimensional shape, an insertion shape graphic of the insertion unit 11 is generated and output as an insertion shape graphic signal. The memory unit 36b temporarily records the insertion shape graphic signal of the insertion unit 11 output from the insertion shape image generation unit 36a. The display changing unit 36c is configured such that a part or all of the insertion shape graphic of the insertion unit 11 generated by the insertion shape image generation unit 36a is a two-dimensional coordinate in the monitor screen 9a based on the insertion shape graphic signal recorded in the memory unit 36b. Coordinate correction is performed so as to be drawn above, and an inserted shape figure signal after the coordinate correction is output. The monitor drive unit 39 drives the monitor 9 based on the insertion shape graphic signal output from the display change unit 36c, and renders the insertion shape graphic of the insertion unit 11 as shown in FIG. 3, for example, on the monitor screen 9a. (Step S1 in FIG. 4).

  Here, for example, when the surgeon inserts the insertion portion 11 into a deep part of the body cavity, the insertion shape of the insertion portion 11 may be depicted as an insertion shape figure as shown in FIG. In such a case, in the display change unit 36c, the center portion on the proximal end side of the inserted shape figure drawn on the monitor screen 9a includes the center portion Xc of the horizontal axis in the monitor screen 9a as shown in FIG. Then, it is determined whether or not the image is drawn in the first area which is an area between the coordinates X1 and the coordinates X2 (step S2 in FIG. 4). This determination is performed by, for example, detecting the position on the proximal end side of the inserted shape figure in the horizontal axis direction of the monitor screen 9a based on the difference in pixel values of the image, and then detecting the detected position as coordinates in the horizontal axis direction. This is done depending on whether or not it is between X1 and coordinate X2. Note that the dotted lines drawn in FIGS. 5 and 6 are virtual for indicating the first region, and are not actually displayed on the monitor screen 9a.

  When it is detected from the result of the determination that the center portion on the proximal end side of the inserted shape figure drawn on the monitor screen 9a is drawn outside the first region, the display changing unit 36c The rendering position of the inserted shape graphic is changed based on the inserted shape graphic signal recorded in the memory unit 36b so that the central portion on the base end side of the graphic is depicted in the central portion Xc of the horizontal axis in the monitor screen 9a. The rendering position changing process, which is the first display changing process, is performed (step S3 in FIG. 4), and the inserted shape figure signal after the rendering position changing process is performed is output. When the monitor drive unit 39 drives the monitor 9 based on the inserted shape graphic signal output from the display change unit 36c, the rendering position is changed on the monitor screen 9a as shown in FIG. 6, for example. An insertion shape figure of the subsequent insertion portion 11 is drawn (step S4 in FIG. 4). In addition, when the central part of the base end side of the inserted shape figure drawn on the monitor screen 9a is drawn in the region between X1 and X2 as shown in FIG. The position change process is not performed. The coordinates X1 and coordinates X2 on the monitor screen 9a are values recorded in a memory (not shown) provided in the display change unit 36c. For example, the operator operates the operation panel 8a of the endoscope insertion shape detection device 8. The value may be changed to a desired value by operating the, or may be a fixed value set in advance.

  Further, for example, when the surgeon inserts the insertion portion 11 into a deep part of the body cavity, the insertion shape of the insertion portion 11 may be depicted as an insertion shape figure as shown in FIG. In such a case, the display changing unit 36c causes the entire inserted shape figure drawn on the monitor screen 9a to be within a second area that is an area within the frame A in the monitor screen 9a as shown in FIG. It is determined whether or not the image is drawn (step S5 in FIG. 4). This determination is performed, for example, by detecting whether there is an inserted shape figure outside the range of the frame A of the monitor screen 9a based on the difference between the pixel values of the image. In FIG. 7, a frame A drawn by a dotted line is a virtual one for indicating the second region, and is not actually displayed on the monitor screen 9a.

  When it is detected from the result of the determination that at least a part of the inserted shape figure drawn on the monitor screen 9a is drawn outside the second area, the display changing unit 36c Is changed in the third area, which is the area in the frame B in the monitor screen 9a, based on the inserted shape graphic signal recorded in the memory unit 36b, the entire enlargement factor of the inserted shape graphic is changed. The rendering size changing process, which is the second display changing process, is performed (step S6 in FIG. 4), and the inserted shape figure signal after the rendering size changing process is performed is output. In FIG. 8, a frame B drawn by a dotted line is a virtual one for indicating the third region, and is not actually displayed on the monitor screen 9a.

  When the monitor drive unit 39 drives the monitor 9 based on the inserted shape graphic signal output from the display change unit 36c, the monitor screen 9a is displayed on the monitor screen 9a after the rendering size is changed as shown in FIG. An insertion shape figure of the insertion unit 11 is drawn (step S7 in FIG. 4). Note that when the entire inserted figure drawn on the monitor screen 9a is drawn in the area within the frame A as shown in FIG. 7, the drawing size changing process as described above is not performed. The frame A and the frame B in the monitor screen 9a are areas recorded in a memory (not shown) provided in the display change unit 36c. For example, the operator operates the operation panel 8a of the endoscope insertion shape detection device 8. May be an area that can be changed to a desired area size, desired position, or the like, or may be a fixed area that is set in advance.

  As described above, the endoscope insertion shape detection device 8 according to the present embodiment, when the central portion of the insertion shape figure of the insertion portion 11 is drawn outside the first region of the monitor screen 9a, is drawn. By performing the rendering position changing process on the inserted shape graphic, the entire inserted shape graphic can be rendered in the first region. In addition, as described above, the endoscope insertion shape detection device 8 of the present embodiment, when at least a part of the insertion shape figure of the insertion unit 11 is drawn outside the second area of the monitor screen 9a, By performing the rendering size changing process on the inserted shape figure, the entire inserted shape figure can be drawn in a third region narrower than the second region. Due to such an effect of the endoscope insertion shape detection device 8 of the present embodiment, the operator can perform the insertion operation of the endoscope 3 more smoothly than in the conventional case.

The figure which shows the whole structure of the endoscope system which concerns on this embodiment. The block diagram which shows the internal structure of the endoscope insertion shape detection apparatus which concerns on this embodiment. The figure which shows an example of the insertion shape figure which the endoscope insertion shape detection apparatus which concerns on this embodiment draws on a monitor screen. The flowchart which shows the content of the control which the endoscope insertion shape detection apparatus which concerns on this embodiment performs. The figure which shows the state by which the insertion shape figure of the insertion part was drawn outside the 1st predetermined area | region of the monitor screen. The figure which shows the state after the 1st display change process was performed with respect to the insertion shape figure shown in FIG. The figure which shows the state by which the insertion shape figure of the insertion part was drawn out of the 2nd area | region of the monitor screen. The figure which shows the state after the 2nd display change process was performed with respect to the insertion shape figure shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Endoscope system, 2 Patient, 3 Endoscope, 4 Video processor, 5 Monitor, 6 Insertion shape detection probe, 7 Bed, 8 Endoscope insertion shape detection apparatus, 8a Operation panel, 9 Monitor, 9a Monitor screen , 11 Insertion section, 12 Operation section, 13 Universal cord, 14 Tip section, 15 Objective optical system, 16 CCD, 17 Signal line, 18 Probe insertion port, 19 Probe channel, 21 Source coil, 22 Cable, 23 Coil unit, 31 source coil drive unit, 32 source coil control unit, 33 signal detection unit, 34 signal recording unit, 35 source coil position analysis unit, 36 image generation unit, 36a insertion shape image generation unit, 36b memory unit, 36c display change unit, 39 Monitor Driving Department Agent Patent Attorney Susumu Ito

Claims (3)

A detection unit that detects an insertion shape of an insertion unit of an endoscope that is inserted into a subject, an image generation unit that generates an image signal for rendering the insertion shape as an insertion shape figure, and the image, and the image A display unit for displaying the inserted shape figure based on a signal,
The image generation unit renders the insertion shape graphic in the predetermined region of the display area when at least a part of the insertion shape graphic is drawn outside the predetermined region in the display area of the display unit. As described above, an endoscope insertion shape detection apparatus comprising a display change unit that performs a predetermined display change process on the image signal.   The predetermined display change process of the display change unit includes a first center region outside the first predetermined region in which the center portion on the proximal end side in the inserted shape figure includes the central portion of the horizontal axis of the display region which is the predetermined region. When the image is drawn, the rendering position of the inserted shape graphic is changed so that the central portion of the base end side of the inserted shape graphic is drawn at the center of the horizontal axis of the display area. The endoscope insertion shape detection apparatus according to claim 1, further comprising a first display change process. The predetermined display changing process of the display changing unit is configured to insert the insertion into the image signal when at least a part of the inserted figure is drawn outside a second predetermined area that is the predetermined area. The shape graphic is drawn by changing the enlargement ratio of the inserted shape graphic so that the entire shape graphic is drawn in a third predetermined area of the display area that is different from the second predetermined area. The endoscope insertion shape detection apparatus according to claim 1, further comprising a second display change process.

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