JP2011062291A - Shape detector - Google Patents

Shape detector Download PDF

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Publication number
JP2011062291A
JP2011062291A JP2009214390A JP2009214390A JP2011062291A JP 2011062291 A JP2011062291 A JP 2011062291A JP 2009214390 A JP2009214390 A JP 2009214390A JP 2009214390 A JP2009214390 A JP 2009214390A JP 2011062291 A JP2011062291 A JP 2011062291A
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Prior art keywords
shape
bending angle
scope
distance
sensors
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JP2009214390A
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Japanese (ja)
Inventor
Junko Ishiwa
Koji Ose
Yoshitaka Shibahara
浩司 大瀬
祥孝 柴原
淳子 石和
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Hoya Corp
Hoya株式会社
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Priority to JP2009214390A priority Critical patent/JP2011062291A/en
Publication of JP2011062291A publication Critical patent/JP2011062291A/en
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a shape detector suitable for accurately detecting the shape of a scope. <P>SOLUTION: The shape detector includes: a plurality of bending angle detecting sensors disposed from the base end to the distal end of a scope insertion part and detecting the bending angle of the scope insertion part in places where the sensors are disposed; distance change detecting sensors detecting the quantity of change in the distance between adjacent bending angle detecting sensors; an actual distance calculating means calculating the actual distance between the adjacent bending angle detecting sensors by adding the detected quantity of change to the initial value of distance; and a shape calculating means calculating the shape of insertion from the base end to the distal end of the scope insertion part by using the calculated actual distance between the bending angle detecting sensors and the detected bending angles in the respective places. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a shape detection device that detects the shape of a medical scope inserted into a body cavity.

  A fiberscope and an electronic scope are generally known as medical devices used when an operator diagnoses a body cavity of a patient. For example, an operator who uses an electronic scope inserts the insertion portion of the electronic scope into a body cavity and guides the distal end portion provided at the distal end of the insertion portion to the vicinity of the subject. The surgeon operates an operation unit such as an electronic scope as necessary to illuminate the subject with illumination light emitted from the light source device. The surgeon images the reflected light image of the illuminated subject with a solid-state imaging device such as a CCD (Charge Coupled Device) mounted on the tip. The surgeon observes the captured image of the subject through a monitor and performs diagnosis and treatment.

  A subject to be examined using a medical scope includes a lower digestive tract such as a large intestine. In general, since the inside of the lower digestive tract is complicated and complicated, it is difficult to smoothly insert the medical scope into the lower digestive tract. Therefore, various devices having a function of assisting the insertion operation into the body cavity have been proposed. As an example, a shape detection device having a function of detecting a scope shape inserted into a body cavity is known. A specific configuration example of this type of shape detection apparatus is described in Patent Document 1.

  In the shape detection device described in Patent Document 1, a three-axis gyro sensor that detects a posture is embedded at predetermined intervals from the distal end of the electronic scope to the proximal end of the insertion section. The shape detection device collects posture data from a three-axis gyro sensor embedded at each point. The shape detection device performs calculations using the collected posture data to generate insertion shape data. The generated insertion shape data is imaged as a scope shape inserted into the body cavity. The surgeon can confirm the curved state of the insertion portion from the imaged scope shape, and can estimate the approximate position of the distal end within the digestive tract.

Japanese Patent No. 3910688

  The shape detection device described in Patent Document 1 calculates a scope shape on the assumption that the sensor arrangement interval is always constant. However, the sensor arrangement interval may deviate from the initial value depending on the secular change and mechanical characteristics of the substrate on which the sensor is mounted. In the shape detection apparatus described in Patent Document 1, since the scope shape is calculated by accumulating the detection results of each detection point, errors in the sensor arrangement interval are accumulated in the scope shape calculation process, and the scope shape calculation accuracy is increased. Is pointed out.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a shape detection apparatus suitable for accurately detecting the scope shape.

  A shape detection device according to an embodiment of the present invention that solves the above-described problems is provided with a plurality of bending angle detection sensors that are arranged from the proximal end to the distal end of the scope insertion portion and detect the bending angle of the scope insertion portion at the arrangement location. The distance change detection sensor for detecting the change amount of the distance between the adjacent bending angle detection sensors and the detected change amount are added to the initial value of the distance to calculate the actual distance between the adjacent bending angle detection sensors. A shape that calculates the insertion shape from the proximal end to the distal end of the scope insertion section using the actual distance calculation means, the calculated actual distance between each bending angle detection sensor, and the detected bending angle at each placement location. And a calculating means.

  According to the shape detection device according to the present invention, by managing the relative position of each bending angle detection sensor using the distance change detection sensor, it is possible to control the relative position of the component on which the sensor is mounted according to changes over time, mechanical characteristics during bending, and the like. The problem that the relative position changes and the detection accuracy of the inserted shape is reduced is preferably solved.

  Here, the number of the bending angle detection sensors and the distance change detection sensors arranged may be larger on the distal end side of the scope insertion portion that is often bent than on the proximal end side that is less bent. According to such a configuration, the bending angle detection sensor and the distance change detection sensor are densely arranged on the distal end side to improve the accuracy of shape detection, and the processing load of the shape calculating means is reduced by sparsely arranging on the proximal end side. The effect of reducing is obtained.

  The bending angle detection sensor is, for example, a piezoelectric sensor that is deformed as the scope insertion portion is bent at the arrangement location and generates a voltage corresponding to the deformation.

  The distance change detection sensor is, for example, a strain gauge in which one end of the gauge base is bonded and fixed to one of the adjacent bending angle detection sensors, and the other end of the gauge base is bonded and fixed to the other of the adjacent bending angle detection sensors. .

  The scope insertion part may be configured to include an outer skin member and a tubular part that is covered by the outer skin member and protects a built-in part of the scope insertion part. In this case, the bending angle detection sensor and the distance change detection sensor may be provided in, for example, a tubular part.

  The bending angle detection sensor and the distance change detection sensor are provided, for example, on any one tubular part of a spiral tube covering a built-in component, a mesh tube covering the spiral tube, and a forceps channel pipe through which a treatment instrument is inserted. It is done.

  The shape detection apparatus according to the present invention may further include an insertion shape imaging unit that images the insertion shape calculated by the shape calculation unit.

  The shape detection apparatus according to the present invention includes a dummy scope insertion unit, a deformation unit that deforms the dummy scope insertion unit, and a shape calculation so that the calculated insertion shape is reproduced by the dummy scope insertion unit. It may be configured to further include deformation control means for controlling the deformation means according to the calculation result of the means to deform the dummy scope insertion portion.

  ADVANTAGE OF THE INVENTION According to this invention, the suitable shape detection apparatus for detecting a scope shape accurately is provided.

1 is an external view of a medical observation system according to an embodiment of the present invention. It is a block diagram which shows the structure of the medical observation system of embodiment of this invention. It is a figure which shows typically the internal structure of the flexible tube which the electronic scope of embodiment of this invention has. It is a figure which expands and shows the area | region A of FIG. It is a flowchart which shows the shape detection process performed by the shape detection circuit which the processor of embodiment of this invention has. It is a figure for demonstrating the shape detection process of embodiment of this invention. It is a figure which shows typically the structure of the insertion shape reproduction apparatus used in another embodiment.

  Hereinafter, a medical observation system according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is an external view of a medical observation system 1 according to the present embodiment. As shown in FIG. 1, the medical observation system 1 includes an electronic scope 100 for photographing a subject. The electronic scope 100 includes a flexible tube 11 covered with a flexible sheath (outer skin) 11a. Connected to the distal end of the flexible tube 11 is a distal end portion 12 that is sheathed by a rigid resin casing. The bending portion 14 at the connecting portion between the flexible tube 11 and the distal end portion 12 is remotely operated from the hand operating portion 13 connected to the proximal end of the flexible tube 11 (specifically, the rotation of the bending operation knob 13a). The operation is flexible. This bending mechanism is a well-known mechanism incorporated in a general electronic scope, and is configured to bend the bending portion 14 by pulling the operation wire in conjunction with the rotation operation of the bending operation knob 13a. When the direction of the distal end portion 12 changes according to the bending operation by the above operation, the imaging region by the electronic scope 100 moves.

  As shown in FIG. 1, the medical observation system 1 has a processor 200. The processor 200 is an apparatus that integrally includes a signal processing device that processes a signal from the electronic scope 100 and a light source device that illuminates a body cavity that does not reach natural light via the electronic scope 100. In another embodiment, the signal processing device and the light source device may be configured separately.

  The processor 200 is provided with a connector portion 20 corresponding to the connector portion 10 provided at the proximal end of the electronic scope 100. The connector unit 20 has a coupling structure corresponding to the connector unit 10 and is configured to electrically and optically connect the electronic scope 100 and the processor 200.

  FIG. 2 is a block diagram illustrating a configuration of the medical observation system 1. As shown in FIG. 2, the medical observation system 1 includes a monitor 300 connected to a processor 200 via a predetermined cable. In FIG. 1, a monitor 300 that does not have a characteristic configuration according to the present invention is not shown in order to simplify the drawing.

  As illustrated in FIG. 2, the processor 200 includes a system controller 202 and a timing controller 204. The system controller 202 controls each element constituting the medical observation system 1. The timing controller 204 outputs clock pulses for adjusting signal processing timing to various circuits in the medical observation system 1.

  The lamp 208 emits white light after being started by the lamp power igniter 206. As the lamp 208, a high-intensity lamp such as a xenon lamp, a halogen lamp, a mercury lamp, or a metal halide lamp is suitable. Illumination light emitted from the lamp 208 is collected by the condenser lens 210, is limited to an appropriate amount of light through the diaphragm 212, and enters an incident end of an LCB (light carrying bundle) 102.

  A motor 214 is mechanically connected to the diaphragm 212 via a transmission mechanism such as an arm or a gear (not shown). The motor 214 is a DC motor, for example, and is driven under the drive control of the driver 216. The aperture 212 is operated by the motor 214 to change the opening degree so that the image displayed on the monitor 300 has an appropriate brightness, and limits the amount of illumination light emitted from the lamp 208 according to the opening degree. To do. The appropriate reference for the brightness of the image is changed according to the brightness adjustment operation of the front panel 218 by the operator. Note that the dimming circuit that controls the brightness by controlling the driver 216 is a well-known circuit and is omitted in this specification.

  Illumination light incident on the incident end of the LCB 102 propagates by repeating total reflection inside the LCB 102. The illumination light that has propagated through the LCB 102 is emitted from the exit end of the LCB 102 disposed at the tip of the electronic scope 100. The illumination light emitted from the exit end of the LCB 102 illuminates the subject via the light distribution lens 104. The reflected light from the subject forms an optical image on the light receiving surface of the solid-state image sensor 108 via the objective lens 106.

  The solid-state image sensor 108 is, for example, a single-plate color CCD having a Bayer-type pixel arrangement, accumulates an optical image formed by each pixel on the light receiving surface as charges according to the amount of light, and each color of R, G, B The signal is converted according to. The converted signal is amplified by the preamplifier 110 and input to the driver signal processing circuit 112.

  The driver signal processing circuit 112 drives and controls the solid-state imaging device 108 at a timing synchronized with the frame rate of the video processed on the processor 200 side in accordance with the clock pulse of the timing controller 204. The memory 114 stores unique information of the electronic scope 100 (for example, the number of pixels and sensitivity of the solid-state imaging device 108, a compatible rate, or a model number). The driver signal processing circuit 112 accesses the memory 114 and reads unique information of the electronic scope 100.

  The driver signal processing circuit 112 outputs the unique information read from the memory 114 to the system controller 202 and the output signal of the solid-state image sensor 108 to the signal processing circuit 220, respectively. Between the driver signal processing circuit 112 and the system controller 202 or the signal processing circuit 220, an insulating circuit (not shown) using a photocoupler or the like is disposed. That is, the electronic scope 100 and the processor 200 are electrically insulated.

  The system controller 202 performs various calculations based on the unique information output from the driver signal processing circuit 112 and generates a control signal. The system controller 202 uses the generated control signal to control the operation and timing of various circuits in the processor 200 so that processing suitable for the electronic scope connected to the processor 200 is performed. The system controller 202 may be configured to have a table in which a model number of the electronic scope is associated with control information suitable for the electronic scope of this model number. In this case, the system controller 202 refers to the control information in the correspondence table, and controls the operation and timing of various circuits in the processor 200 so that processing suitable for the electronic scope connected to the processor 200 is performed.

  The signal processing circuit 220 adds predetermined signals such as clamp, knee, γ correction, interpolation processing, AGC (Auto Gain Control), AD conversion, etc., to the output signal of the solid-state image sensor 108 output via the driver signal processing circuit 112. Processing is performed, and buffering is performed in a frame memory (not shown) in units of frames. The buffered signal is swept from the frame memory at a timing controlled by the timing controller 204 and converted into a video signal conforming to a predetermined standard such as NTSC (National Television System Committee) or PAL (Phase Alternating Line). Is done. As the converted video signals are sequentially input to the monitor 300, a color image of the subject is displayed on the monitor 300.

  Next, a shape detection process for detecting the shape of the electronic scope 100 inserted into the body cavity will be described. In the electronic scope 100, a portion from the flexible tube 11 to the distal end portion 12 is inserted into a body cavity. Among these, since the front-end | tip part 12 is a resin-made housing | casing which has rigidity as mentioned above, even if it inserts in a body cavity, a shape does not change substantially (namely, shape is known). Further, the bending amount of the bending portion 14 (in other words, the direction of the distal end portion 12) is known from the rotational operation amount of the bending operation knob 13a. Therefore, if the unknown shape of the flexible tube 11 can be detected, shape detection of the entire insertion portion from the flexible tube 11 to the distal end portion 12 is achieved.

  FIG. 3 is a diagram schematically showing the internal structure of the flexible tube 11. As shown in FIG. 3, the flexible tube 11 has a multilayer structure for protecting the built-in objects. Built-in objects include, for example, an LCB 102, a forceps channel pipe through which a treatment tool is inserted, air that has been swept from a pump or an air / water pipe from which cleaning water is ejected from a tank, and solid-state imaging There are signal cables for transmitting drive signals for the element 108 and output signals of the solid-state imaging element 108. This multilayer structure includes a double spiral tube (an inner spiral tube 11b and an outer spiral tube 11c) that accommodates a built-in object. The double spiral tube is coaxially arranged so that the outer surface of the inner spiral tube 11b and the inner surface of the outer spiral tube 11c are in close contact with each other. The outer surface of the outer spiral tube 11c is covered with a mesh tube 11d configured by braiding a stainless steel fine wire, for example. The outer surface of the reticulated tube 11d (the outermost part of the flexible tube 11) is covered with a tubular sheath 11a made of, for example, polyethylene resin or fluororesin.

  FIG. 4 is an enlarged view of region A in FIG. As shown in FIG. 4, a plurality of piezoelectric sensors PZT (black circles in FIG. 4) are embedded in the mesh tube 11d. Between all the adjacent piezoelectric sensors PZT, a strain gauge SG (coiled figure in FIG. 4) is arranged. One end of the gauge base constituting the strain gauge SG is bonded and fixed to one of the two piezoelectric sensors PZT, and the other end of the gauge base is fixed to the other of the two piezoelectric sensors PZT. The piezoelectric sensor PZT may be embedded in a crossing portion of the mesh constituting the mesh tube 11d, or may be embedded in a non-crossing portion (for example, near an intermediate position between adjacent crossing portions). The embedding interval of the piezoelectric sensor PZT is appropriately set in consideration of required performance (for example, the shape detection accuracy of the electronic scope 100) and resources (for example, the arithmetic processing capability and memory size of the processor 200). The shape detection accuracy of the electronic scope 100 is improved as the embedding interval of the piezoelectric sensor PZT is set shorter (as the number of embeddings is increased). As the embedding interval of the piezoelectric sensor PZT is set longer (as the number of embeddings is reduced), the resources spent on the shape detection process are reduced.

  FIG. 5 is a flowchart showing a shape detection process executed by the shape detection circuit 222 included in the processor 200. In the following description and drawings in this specification, the processing step is abbreviated as “S”.

FIG. 6 is a diagram for explaining the shape detection process of FIG. The shape detected by the medical observation system 1 of the present embodiment is the three-dimensional shape of the flexible tube 11. However, in the description using FIG. 6, the two-dimensional shape of the flexible tube 11 is replaced for convenience. In this description, the mesh tube 11d includes n piezoelectric sensors PZT i (i = 1 to n) and m (m = n−1) strain gauges SG j (j = 1 to m). It is assumed that they are arranged only in a linear shape in the longitudinal direction. Further, the piezoelectric sensor PZT i and the strain gauge SG j are arranged on the proximal end side of the flexible tube 11 as the numbers i and j are smaller, and are arranged on the distal end side of the flexible tube 11 as the numbers i and j are larger. It is assumed that

  The shape detection process in FIG. 5 is started by an operation of the front panel 218, for example. The shape detection circuit 222 initializes parameters (i, j = 1) at the start of execution of the shape detection process of FIG. 5 (S1).

When the electronic scope 100 is inserted into the body cavity and the flexible tube 11 is bent, the mesh tube 11d disposed inside the flexible tube 11 is bent similarly. Each piezoelectric sensor PZT i is deformed as the mesh tube 11d is bent, and generates a voltage corresponding to the deformation. The shape detection circuit 222 detects the voltage value generated by each piezoelectric sensor PZT i and stores it in the memory 224 (S2).

The mesh tube 11d is selected of material or designed in shape so as to ensure flexibility. For this reason, the mesh tube 11d expands or contracts slightly as the flexible tube 11 is bent, or the mesh shape changes (the relative positions of the intersecting meshes change, and the rhombus mesh in FIG. 4 changes). For example, it may be deformed such that it is crushed in the vertical direction, the horizontal direction or the oblique direction, or the rhombus is enlarged or reduced as a whole. With such deformation of the mesh tube 11d, the distance between adjacent piezoelectric sensors PZT i changes. The shape detection circuit 222 detects a change in the resistance value of each strain gauge SG j according to a change in the distance between the piezoelectric sensors PZT i and stores it in the memory 224 (S3). In FIG. 2, for the sake of clarity, the connection between the shape detection circuit 222 and the piezoelectric sensor PZT i or the strain gauge SG j is not shown.

Shape detection circuit 222 holds a first function representing the relationship between the deformation amount (bending angle) and the generated voltage value of the piezoelectric sensor PZT i. Also, holding the second function representing the relationship between the resistance change amount and the amount of strain of the strain gauge SG j. In the subsequent processing, the shape detection circuit 222 uses the generated voltage value data of each piezoelectric sensor PZT i stored in the memory 224 and the resistance change amount data of each strain gauge SG j to use the first and second functions. And the shape of the electronic scope 100 inserted into the body cavity is detected.

Specifically, the shape detection circuit 222 sets the position (x 1 , θ 1 ) of the piezoelectric element PZT 1 embedded on the most proximal side of the flexible tube 11 to a predetermined reference position (S4). Shape detection circuit 222, using the first function, the generated voltage value data of the piezoelectric element PZT 1, to calculate the bending angle of the braid tube 11d buried portion of the piezoelectric element PZT 1 (S5). Next, the shape detection circuit 222 calculates a distance D 1 from the piezoelectric elements PZT 1 to PZT 2 from the resistance change amount data of the strain gauge SG 1 bonded and fixed to the piezoelectric element PZT 1 using the second function. (S6). The distance D 1 is obtained by adding the strain amount calculated from the resistance change amount data to the initial distance between the piezoelectric elements PZT 1 and PZT 2 (that is, the distance when the strain gauge SG 1 is not distorted). Value. The shape detection circuit 222 calculates the position (x 2 , θ 2 ) of the piezoelectric element PZT 2 from the position (x 1 , θ 1 ) and the distance D 1 (S7).

The shape detection circuit 222 determines whether i = n (S8). When i ≠ n (S8: NO), i and j are both incremented by 1 (S9), and the processes of S5 to S8 are repeatedly executed. When i = n (S8: YES), as shown in FIG. 6, the mesh tube shape data representing the shape of the mesh tube 11d from the buried portion of the piezoelectric element PZT 1 to the buried portion of the piezoelectric element PZT n. Is calculated, the process proceeds to S10.

  The rotation operation amount of the bending operation knob 13a is detected by, for example, an optical encoder (not shown). In addition, the shape detection circuit 222 holds a third function indicating the relationship between the rotation operation amount of the bending operation knob 13 a and the bending amount of the bending portion 14. In the process of S10, the shape detection circuit 222 calculates the bending amount of the bending portion 14 from the rotation operation amount of the bending operation knob 13a using the third function.

  In the process of S11, the shape detection circuit 222 pastes the texture of the sheath 11a on a line drawing expressed by the mesh tube shape data, and generates a shape model of the flexible tube 11. The shape detection circuit 222 further adds the texture model of the distal end portion 12 oriented in the direction corresponding to the bending amount of the bending portion 14 to the distal end of the shape model of the flexible tube 11. The shape detection circuit 222 outputs the data of the inserted shape image restored in this way to the signal processing circuit 220 (S12), and ends the shape detection processing of FIG. The signal processing circuit 220 performs image processing using the data of the insertion shape image so that the insertion shape image is displayed on the monitor 300 in parallel with the observation image or on a small screen. Note that the shape detection process in FIG. 5 is executed again after a predetermined timing, for example, in order to update the insertion shape image displayed on the monitor 300.

  According to the medical observation system 1 of the present embodiment, by managing the relative position of each piezoelectric sensor PZT using the strain gauge SG, the aging of the parts on which the sensor is mounted, the mechanical characteristics at the time of bending, etc. The problem that the relative position changes and the detection accuracy of the inserted shape is reduced is preferably solved. The surgeon confirms the insertion shape image detected with high accuracy through the monitor 300, thereby accurately grasping the bending state of the insertion portion and the position in the body cavity, so that the electronic scope 100 is placed in the lower digestive tract such as the large intestine. Can be inserted smoothly.

  The above is the description of the embodiment of the present invention. The present invention is not limited to the above-described configuration, and various modifications can be made within the scope of the technical idea of the present invention. For example, the piezoelectric sensor PZT and the strain gauge SG may be mounted on another tubular component having flexibility such as a forceps channel pipe, the inner spiral tube 11b, and the outer spiral tube 11c.

  For example, the arrangement interval of the piezoelectric sensors PZT is not limited to a fixed interval. The piezoelectric sensors PZT are densely arranged in order to improve detection accuracy, for example, at a relatively easily bent portion near the bending portion 14 (on the distal end side), and reduce the processing load on the processor 200 on the proximal end side where the bending is relatively small. Therefore, they may be arranged sparsely.

  The measurement values by the piezoelectric sensor PZT and the strain gauge SG may be detected by radio (for example, RFID: Radio Frequency IDentification).

  The insertion shape of the electronic scope 100 is virtually reproduced in the display screen in the present embodiment, but may be physically reproduced in another embodiment. FIG. 7 is a diagram schematically showing a configuration of an insertion shape reproduction device 400 that physically reproduces the insertion shape of the electronic scope 100 used in another embodiment.

  As shown in FIG. 7, the insertion shape reproduction device 400 includes a dummy scope 410 having a shape approximate to an insertion portion from the flexible tube 11 to the distal end portion 12. The dummy scope 410 is made of the same material as the sheath 11a, for example, and has flexibility. A plurality of abutting members 420 are supported at positions where they are abutted against the dummy scope 410 on the upper side surface and the lower side surface from the proximal end to the distal end of the dummy scope 410. The abutting member 420 is configured to be movable up and down so as to deform the dummy scope 410 by pressing the upper side surface or the lower side surface of the dummy scope 410.

  The shape detection circuit 222 deforms the dummy scope 410 by controlling each abutting member 420 instead of the processing of S11 and S12 of FIG. That is, the shape detection circuit 222 calculates the movement amount of each abutting member 420 based on the mesh tube shape data or the bending amount of the bending portion 14. Each abutting member 420 moves up and down according to the calculation result to deform the dummy scope 410. Thereby, the shape corresponding to the amount of bending of the mesh tube shape data and the bending portion 14 is reproduced by the dummy scope 410.

  As an alternative to the abutting member 420, the inside of the dummy scope 410 may be filled with ER (Electrorheological Fluid) fluid, MR (Magnetorheological Fluid) fluid, or the like. In this case, when an external voltage is applied to the fluid, the viscosity of the fluid increases, and the semi-solid fluid holds the dummy scope 410 in a shape corresponding to the mesh tube shape data.

DESCRIPTION OF SYMBOLS 1 Medical observation system 11 Flexible tube 11d Reticulated tube 100 Electronic scope 200 Processor 222 Shape detection circuit PZT Piezoelectric sensor SG Strain gauge

Claims (8)

  1. A bending angle detection sensor that is arranged in plural from the proximal end to the distal end of the scope insertion portion, and detects the bending angle of the scope insertion portion at the arrangement location;
    A distance change detection sensor for detecting a change in distance between the adjacent bending angle detection sensors;
    An actual distance calculation means for calculating the actual distance between the adjacent bending angle detection sensors by adding the detected amount of change to the initial value of the distance;
    A shape for calculating an insertion shape from the base end to the distal end of the scope insertion portion by using the calculated actual distance between the bending angle detection sensors and the detected bending angle at each of the placement positions. Calculation means;
    A shape detection apparatus comprising:
  2.   The shape detection device according to claim 1, wherein the number of the bending angle detection sensors and the distance change detection sensors arranged is greater on the distal end side of the scope insertion portion than on the proximal end side. .
  3.   The said bending angle detection sensor is a piezoelectric sensor which deform | transforms with the bending of the said scope insertion part in the said arrangement | positioning location, and generate | occur | produces the voltage according to this deformation | transformation. The shape detection device according to any one of the above.
  4.   The distance change detection sensor is a strain gauge in which one end of a gauge base is bonded and fixed to one of the adjacent bending angle detection sensors, and the other end of the gauge base is bonded and fixed to the other of the adjacent bending angle detection sensors. The shape detection device according to any one of claims 1 to 3, wherein the shape detection device is characterized in that:
  5. The scope insertion part is
    A skin member;
    A tubular part that is covered with the outer skin member and protects a built-in part of the scope insertion portion;
    Have
    The shape detection apparatus according to any one of claims 1 to 4, wherein the bending angle detection sensor and the distance change detection sensor are provided in the tubular part.
  6.   The bending angle detection sensor and the distance change detection sensor are provided in any one of the tubular parts of a spiral tube covering the built-in component, a mesh tube covering the spiral tube, and a forceps channel pipe through which a treatment tool is inserted. The shape detection apparatus according to claim 5, wherein the shape detection apparatus is provided.
  7. An insertion shape imaging means for imaging the calculated insertion shape;
    The shape detection apparatus according to claim 1, further comprising:
  8. A dummy scope insert,
    Deformation means for deforming the dummy scope insertion portion;
    Deformation control means for controlling the deformation means according to the calculation result by the shape calculation means to deform the dummy scope insertion section so that the calculated insertion shape is reproduced by the dummy scope insertion section,
    The shape detection apparatus according to claim 1, further comprising:
JP2009214390A 2009-09-16 2009-09-16 Shape detector Withdrawn JP2011062291A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013040820A (en) * 2011-08-12 2013-02-28 Ohbayashi Corp Mode analysis method, mode analysis system, displacement measuring method, and displacement measurement system
WO2013065606A1 (en) * 2011-10-31 2013-05-10 オリンパス株式会社 Tubular insertion device
GB2497518A (en) * 2011-12-08 2013-06-19 Haemoband Surgical Ltd Elongate probe with at least one bend sensor
DE102016006423A1 (en) * 2016-05-31 2017-11-30 OLYMPUS Winter & lbe GmbH Optical unit, surgical instrument and method for measuring deformation of an optical unit
WO2018122946A1 (en) * 2016-12-27 2018-07-05 オリンパス株式会社 Shape acquisition method and control method for medical manipulator

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013040820A (en) * 2011-08-12 2013-02-28 Ohbayashi Corp Mode analysis method, mode analysis system, displacement measuring method, and displacement measurement system
WO2013065606A1 (en) * 2011-10-31 2013-05-10 オリンパス株式会社 Tubular insertion device
JP2013094337A (en) * 2011-10-31 2013-05-20 Olympus Corp Tubular insertion device
CN103906459A (en) * 2011-10-31 2014-07-02 奥林巴斯株式会社 Tubular insertion device
US9086340B2 (en) 2011-10-31 2015-07-21 Olympus Corporation Tubular insertion device
GB2497518A (en) * 2011-12-08 2013-06-19 Haemoband Surgical Ltd Elongate probe with at least one bend sensor
DE102016006423A1 (en) * 2016-05-31 2017-11-30 OLYMPUS Winter & lbe GmbH Optical unit, surgical instrument and method for measuring deformation of an optical unit
WO2018122946A1 (en) * 2016-12-27 2018-07-05 オリンパス株式会社 Shape acquisition method and control method for medical manipulator

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