JP2014158577A - Endoscope system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve a problem in that, in an endoscope system that provides warning or brakes an instrument when the leading end of the instrument and an organ come close to each other by a fixed distance, providing warning or brake an instrument may be undesirable depending on the state of an operation, and in such a situation, inappropriate warning and inappropriate braking of the instrument may occur.SOLUTION: An endoscope system comprises: an insertion part with a first observing part for observing an observation target; a second observing part for observing at least part of the observation target and the leading end of the insertion part or treatment instrument; and a control part including emergency operation part control means for actuating an emergency operation part, reference face setting means for setting a reference face based on information obtained from the second observing part, and calculation means for calculating an estimated time taken for the leading end of the insertion part or treatment instrument to reach the reference face. When the estimated time is not longer than a predetermined time, the control part exerts control so as to actuate the emergency operation part.

Description

  The present invention relates to an endoscope system.

  In the case of in-vivo observation and treatment, in order to reduce the burden on the living body, there are many methods in which an endoscope or a treatment instrument is inserted into the living body through a small-diameter hole without performing incision. Yes. In this case, the device is operated with great care so as not to inadvertently come into contact with an organ in the living body, and at the same time, an apparatus as described in, for example, Japanese Patent Laid-Open No. 2000-287995 (Patent Document 1) is used. By using it, the possibility of unintentional contact with the organ can be reduced. That is, the apparatus described in Patent Document 1 detects that the instrument tip has approached a certain distance from the organ by monitoring the pressure in the balloon disposed at the instrument tip, and issues a warning accordingly. That's it.

JP 2000-287995 A

  In a device that issues a warning when the tip of an instrument and an organ are close to a certain distance, such as the technique disclosed in Patent Document 1 described above, a warning such as when approaching an organ at a careful low speed is given. Warnings are issued even in situations that are not necessary. Other situations where no warning is required include touching the organ for the purpose of performing treatment or resting near the organ for the purpose of laser irradiation. In addition, although human error is reduced by issuing a warning, further reduction of errors is desired. The present invention has been made in view of the above problems.

  The proposed endoscope system includes an insertion unit having a first observation unit for observing an observation target, a second observation unit for observing at least a part of the observation target, and the distal end of the insertion unit or the treatment tool, Emergency action part control means for activating the emergency action part, reference surface setting means for setting a reference surface based on information obtained from the second observation part, until the distal end of the insertion part or treatment instrument reaches the reference surface And a control unit having a calculating means for calculating the predicted time, and when the predicted time is equal to or less than a predetermined time, the control unit controls the emergency operation unit to operate.

  Another embodiment of the present invention is a method used in an endoscope system, and includes an image of at least a part of an observation target and an insertion part or a distal end part of a treatment tool having a first observation part. Obtaining by the second observation unit, setting the reference plane based on the image obtained from the second observation unit by the control unit, until the distal end of the insertion unit or treatment instrument reaches the reference plane Calculating an estimated time, and controlling the emergency operation unit to operate when the estimated time is equal to or less than a predetermined time.

  According to the present invention, when observation or treatment is performed using an instrument inserted into the body, the emergency operation unit operates so as to suppress unintended contact with the organ surface. Unintended contact can be suppressed.

It is the schematic of the structure of the endoscope system in 1st Embodiment. It is a block diagram and a basic flow chart of a control processing device in a 1st embodiment. It is the schematic of the structure of the endoscope system in 2nd Embodiment. It is a block diagram of the control processing apparatus in 2nd Embodiment. It is the schematic of the structure of the endoscope system in 3rd Embodiment. It is a figure which shows the position of the reference plane in 4th Embodiment. It is a figure which shows the position of the reference plane in 5th Embodiment. It is a figure which shows the position of the reference plane in 6th Embodiment. It is a figure which shows the movement with respect to the organ surface of an instrument. It is a figure which shows the movement with respect to the organ surface of an instrument.

[First Embodiment]
FIG. 1 shows an outline of the structure of the first embodiment of the proposed endoscope system. In FIG. 1, 1 indicates a human body and represents a cross section of the abdomen. 2 indicates the inside of the abdominal cavity, and 3 indicates the surface of the organ in the abdominal cavity 2 that is the object of observation or treatment. Reference numeral 4 denotes a reference plane, details of which will be described later. Reference numeral 10 denotes an endoscope having an observation unit (first observation unit) for observing a target site on the organ surface 3 that is an observation target or treatment target in the abdominal cavity 2. Although an observation unit included in the endoscope 10 is not illustrated, the observation unit may be configured by an imaging unit having an optical system or a fiber connected to the imaging unit. The imaging unit included in the endoscope 10 may be an object that captures a two-dimensional image or an object that captures a three-dimensional image. The endoscope 10 is grasped and operated by an operator outside the human body 1, but the operator is not shown in the figure. Further, an illumination device, an image processing device, a display device, a recording device, and the like connected to the endoscope 10 are not shown. Reference numeral 11 denotes a channel hole provided in the axial direction of the endoscope 10 for passing a treatment instrument for treatment. Reference numeral 12 denotes a fiber that is a treatment tool that can freely penetrate the channel hole 11 and performs treatment by laser irradiation from the tip. Reference numeral 13 denotes a trocar for introducing the endoscope 10 into the abdominal cavity 2. Reference numeral 14 denotes a treatment tool braking device which is an emergency operation unit for braking the movement of the fiber 12 in the channel hole 11 relative to the reference plane 4, and 15 is a brake for the movement of the endoscope 10 in the trocar 13 relative to the reference plane 4 The endoscope braking device which is an emergency operation part for applying is shown. Here, although the fiber 12 is provided in the endoscope 10, the treatment tool may be provided separately from the endoscope 10.

  Reference numeral 16 denotes an observation unit (second observation unit) for observing a necessary part of the organ surface 3 in the abdominal cavity 2, the endoscope 10, the fiber 12, and the like, and includes an image including their three-dimensional information. A camera composed of a two-lens CCD for imaging is shown. The camera 16 has illumination means for the imaging target. Reference numeral 17 denotes a three-dimensional observation apparatus that creates three-dimensional coordinate data of an imaging target from imaging information of the camera 16, and reference numeral 18 denotes a control processing apparatus that is a control unit that processes the data of the three-dimensional observation apparatus 17 and controls the subsequent apparatus. Indicates. A warning device 19 is an emergency operation unit controlled by the control processing device 18. Reference numeral 20 denotes a braking control device that is controlled by the control processing device 18 and controls the treatment instrument braking device 14 and the endoscope braking device 15 to brake the movement of the instrument.

  The camera 16 has at least a part of the organ surface 3 in the abdominal cavity 2 and at least the distal end portion of the endoscope 10 or the fiber 12 as an imaging range. The three-dimensional observation device 17 creates three-dimensional coordinate data of the imaging target from the imaging information of the camera 16. Various types of three-dimensional measuring devices are commercially available, not limited to internal use, and detailed explanations thereof are omitted.

  The control processing device 18 processes the three-dimensional coordinate data created by the three-dimensional observation device 17 in order of time, thereby grasping the three-dimensional coordinates and movement state of the endoscope 10 or the fiber 12. The three-dimensional coordinates of the organ surface 3 are also grasped at the same time and set as the three-dimensional coordinates of the reference plane 4. The control processing device 18 predicts the estimated time (time) until the endoscope 10 or the fiber 12 comes into contact with the reference surface 4 based on the information of the organ surface 3 and the three-dimensional coordinates of the endoscope 10 or the fiber 12 over time. Interval) is calculated. Further, the control processing device 18 compares the calculated time interval with a predetermined reference value (time interval). When the calculated time interval is less than or equal to a predetermined value (not more than a predetermined reference value), the warning device 19 is controlled to warn the outside, and the movement of at least one of the endoscope 10 and the fiber 12 is braked. Thus, the braking control device 20 is controlled.

  When the warning device 19 is controlled to issue a warning from the control processing device 18, the warning device 19 notifies the surgeon using means such as voice, vibration, and light emission. Here, the warning device 19 may be a warning device that generates a warning sound, for example.

  The brake control device 20 brakes the movement of the instrument with respect to at least one of the treatment instrument braking device 14 and the endoscope braking device 15 when the control processing device 18 is controlled to brake the movement of the instrument. Control to apply.

  Although it has been described that the three-dimensional observation device 17 acquires information from the camera 16 configured with a two-lens CCD, the present invention is not limited to this. That is, the three-dimensional observation device 17 can also acquire information from other alternative means, for example, a 3D ultrasonic observation device that is widely used for both medical and industrial purposes.

  The operation of the control processing device 18 will be described with reference to FIG. FIG. 2A is an internal block diagram of the control processing device 18, 21 is a three-dimensional coordinate data input from the three-dimensional observation device 17, 30 is a warning control output to the warning device 19, and 32 is a braking control device 20. The braking control output is shown.

  Reference numeral 22 denotes an organ coordinate extraction circuit which has an image processing algorithm for extracting coordinates relating to the organ surface 3 from the three-dimensional coordinate data input 21 and corresponds to a reference plane setting means for setting a reference plane. The coordinate data regarding the organ surface 3 extracted by the organ coordinate extraction circuit 22 is set as the coordinate data of the reference plane 4. Reference numeral 23 denotes an instrument coordinate extraction circuit having an image processing algorithm for extracting coordinates related to the endoscope 10 or the fiber 12 included in the insertion portion from the three-dimensional coordinate data input 21.

  Reference numeral 24 denotes a distance calculation circuit for calculating the distance between the endoscope 10 or the fiber 12 and the reference plane 4. The distance calculation circuit 24 calculates the distance between the coordinate data related to the endoscope 10 or the fiber 12 from the instrument coordinate extraction circuit 23 and the coordinate data of the reference plane 4 from the organ coordinate extraction circuit 22. Reference numeral 25 denotes a speed calculation circuit that calculates the relative speed between the endoscope 10 or the fiber 12 and the reference plane 4 from the time-order distance data calculated by the distance calculation circuit 24. 26 is a prediction time calculation circuit that calculates a prediction time until the endoscope 10 or the fiber 12 reaches the reference plane 4 from the distance calculated by the distance calculation circuit 24 and the relative speed calculated by the speed calculation circuit 25. Show.

  Reference numeral 27 denotes a warning reference value circuit, and 28 denotes a braking reference value circuit, and a value for comparison with the predicted time until the endoscope 10 or the fiber 12 reaches the reference plane 4 calculated by the predicted time calculation circuit 26. At least one is stored in each. Reference numeral 29 denotes a warning reference value comparison circuit corresponding to an emergency operation unit control means for controlling the operation of the warning device 19 which is an emergency operation unit. The warning reference value comparison circuit 29 compares the predicted time calculated by the predicted time calculation circuit 26 until the endoscope 10 or the fiber 12 reaches the reference plane 4 with the reference value of the warning reference value circuit 27, Based on the result, the warning control output 30 for the warning device 19 is determined. Reference numeral 31 denotes a braking reference value comparison circuit corresponding to an emergency operation unit control means for controlling the operation of each of the braking devices 14 and 15 that are the braking control device 20 and the emergency operation unit. The braking reference value comparison circuit 31 compares the predicted time until the endoscope 10 or the fiber 12 reaches the reference plane 4 calculated by the predicted time calculation circuit 26 with the reference value of the braking reference value circuit 28. Based on the result, the braking control output 32 for the braking control device 20 is determined.

  The organ coordinate extraction circuit 22 and the instrument coordinate extraction circuit 23 are image processing circuits and can be configured to have a buffer memory for a plurality of frames. There are various methods for extracting organ coordinates and instrument coordinates. For example, there is a method in which outline drawing data of the endoscope 10 and the fiber 12 is previously stored, and a three-dimensional coordinate portion that matches the data is extracted as coordinate data related to the endoscope 10 or the fiber 12. In this case, even if the three-dimensional coordinate portion does not match all of the outline drawing data of the endoscope 10 or the fiber 12, it is possible to determine the coordinate data by matching a part thereof by the processing algorithm. In FIG. 1, the endoscope 10 is written as a rigid endoscope, but even in the case of a flexible endoscope, it is possible to extract the distal end portion by having outline drawing data of the distal end portion. . Further, the organ coordinate extraction circuit 22 converts the three-dimensional coordinate data of the organ surface 3 from the three-dimensional coordinate data of the input three-dimensional coordinate data input 21 by erasing the coordinate data area related to the endoscope 10 or the fiber 12. There is a way to get it. In this method, for the organ surface 3 that becomes the blind spot of the endoscope 10 or the fiber 12 when viewed from the camera 16, coordinate data may be created by performing complementary processing using surrounding coordinate data. Further, the coordinate data of the organ surface 3 that becomes the blind spot may be created by diverting the coordinate data of the organ surface 3 acquired when the endoscope 10 or the fiber 12 is present at another position. The coordinate data of the organ surface 3 obtained as described above is set as the coordinate data of the reference plane 4.

  The distance calculation circuit 24 uses the reference plane 4 and the endoscope 10 based on the coordinate data of the reference plane 4 from the organ coordinate extraction circuit 22 and the coordinate data related to the endoscope 10 or the fiber 12 from the instrument coordinate extraction circuit 23. Alternatively, the distance from the fiber 12 is calculated. In this case, the processing time can be shortened by limiting the range to be calculated to, for example, the interval between the distal end portion of the endoscope 10 or the fiber 12 and the specific portion of the reference plane 4. When the frame rate of the camera 16 is 60 fps, and the organ coordinate extraction circuit 22, the instrument coordinate extraction circuit 23, and the distance calculation circuit 24 operate in synchronization therewith, the distance calculation circuit 24 is set for each frame, that is, every 16.7 ms. Calculate the distance.

  The speed calculation circuit 25 obtains the relative speed between the reference plane 4 and the endoscope 10 or the distal end portion of the fiber 12 from the plurality of distances in the order of time calculated by the distance calculation circuit 24. For example, if the distance between the tip of the fiber 12 and the reference surface 4 is 40 mm and it becomes 38 mm after 16.7 ms, the relative speed is calculated as (40 mm-38 mm) /16.7 ms, and the fiber is at a speed of 0.12 m / s. The distance between the tip of 12 and the reference plane 4 is reduced.

  The predicted time calculation circuit 26 uses the distance calculated by the distance calculation circuit 24 and the relative speed calculated by the speed calculation circuit 25 to predict the time required for the endoscope 10 or the tip of the fiber 12 to reach the reference plane 4 ( Time interval). For example, assuming that the moving speed of the current instrument is 0.12 m / s, the predicted time is 38 mm when the distance from the distal end portion of the current endoscope 10 or fiber 12 to the reference plane 4 is 38 mm. Calculated at 38mm / 120mm / s and expected to be about 0.3 seconds. In this case, a method may be used in which the acceleration is obtained from the change in speed and the expected time to reach is calculated by calculation taking the acceleration into account.

  When the reference value set in the warning reference value circuit 27 is 0.5 seconds, for example, the warning reference value comparison circuit 29 compares the reference value with the predicted time calculated by the predicted time calculation circuit 26, for example, 0.3 seconds. In this case, since the predicted time 0.3 seconds is shorter than the reference value 0.5 seconds (below), the warning control output 30 is enabled and the warning device 19 is activated. If the predicted time is longer than the reference value, the warning control output 30 is disabled and the warning device 19 is not activated. The warning reference value circuit 27 has a plurality of reference values, the warning reference value comparison circuit 29 compares the reference values with each reference value, and warns with, for example, different timbres based on the comparison result with each reference value. Techniques can also be taken.

  When the reference value set in the braking reference value circuit 28 is 0.2 seconds, for example, the braking reference value comparison circuit 31 compares the reference value with the predicted time calculated by the predicted time calculation circuit 26, for example, 0.3 seconds. In this case, since the predicted time 0.3 seconds is longer than the reference value 0.2 seconds, the braking control output 32 is disabled and the braking control device 20 is not operated. If the predicted time is less than or equal to the reference value, the brake control output 32 is enabled and the brake control device 20 is operated. When the braking control device 20 is operated, at least one of the treatment instrument braking device 14 and the endoscope braking device 15 performs a braking operation, and the distal end portion of the instrument is prevented from approaching the reference plane 4, that is, the organ surface 3. Work like so.

  The braking operation in the treatment instrument braking device 14 can be realized by increasing the friction between the endoscope 10 and the fiber 12, and the braking operation in the endoscope braking device 15 can be realized by increasing the friction between the trocar 13 and the endoscope 10. . In addition, although an electromagnetic brake can be mentioned as an example of the simple means which can be taken, it is not restricted to this. In addition, for those in which the operator does not directly hold or operate the device, such as when performing surgery remotely, the electromagnetic brake may be used, or the manipulator drive circuit may be stopped.

  The operation of the control processing device 18 will be described with reference to FIG. FIG. 2B is a basic flowchart in the control processing device 18.

  In step 50, the operation of the control processor 18 is started.

  Next, in the three-dimensional coordinate data input step 51, three-dimensional coordinate data of the imaging target portion in the abdominal cavity 2 is sequentially input from the three-dimensional observation device 17. For example, when the system frame rate is 60 fps, it is input every 16.7 ms. Here, the input three-dimensional coordinate data is the three-dimensional coordinate data in the three-dimensional coordinate data input 21 from the three-dimensional observation device 17.

  When the three-dimensional coordinate data is input, the operation proceeds to the organ coordinate extraction step 52 next. In the organ coordinate extraction step 52, the coordinate data of the organ surface 3 is extracted based on the three-dimensional coordinate data input in the three-dimensional coordinate data input step 51. Since the processing method to extract is mentioned above, it omits here. The extracted coordinate data of the organ surface 3 is set as the coordinate data of the reference plane 4. The coordinate data of the reference surface 4 may be set every time the coordinate data of the organ surface 3 is input, or only when the coordinate data of the organ surface 3 is input for the first time. Good. When the coordinate data of the reference surface 4 is set only when the coordinate data of the organ surface 3 is first input, the coordinate data of the reference surface 4 is stored in a memory or the like for subsequent processing. Can be stored.

  Similarly, in the instrument coordinate extraction step 53, the coordinate data of the endoscope 10 or the fiber 12 is extracted based on the three-dimensional coordinate data input in the three-dimensional coordinate data input step 51. The instrument coordinate extraction step 53 is performed after the organ coordinate extraction step 52 in this embodiment, but may be performed before the organ coordinate extraction step 52, or each step may be performed in parallel. It may be broken.

  Next, the operation proceeds to the distance calculation step 54. In the distance calculation step 54, the distance between the endoscope 10 or fiber 12 and the reference plane 4 is calculated based on the extracted coordinate data of the endoscope 10 or fiber 12 and the coordinate data of the reference plane 4. In this case, the processing time can be shortened by limiting the range to be calculated to, for example, the interval between the distal end portion of the endoscope 10 or the fiber 12 and the specific portion of the reference plane 4.

  When the distance calculation step 54 is performed, the operation proceeds to the speed / predicted time calculation step 55. In the speed / predicted time calculating step 55, the interval between the endoscope 10 or the fiber 12 calculated in the distance calculating step 54 and the reference plane 4 is processed in order of time. The speed / predicted time calculation step 55 calculates a predicted time (time interval) until the endoscope 10 or the fiber 12 comes into contact with the reference surface 4 when the interval is narrowed with time. As an example of the calculation method, the current speed is obtained by dividing the difference between the distances in different frames by the frame interval, and the predicted time until contact is calculated by dividing the current distance by the speed.

  When the predicted time is calculated, the operation proceeds to warning control determination step 56. In the warning control determination step 56, the predicted time calculated in the speed / predicted time calculation step 55 is compared with a predetermined time interval that is a warning reference value. If the predicted time is longer than the predetermined time interval, the operation proceeds to step 57 and the warning control output 30 that is an output to the warning device 19 is disabled. On the other hand, if the predicted time is less than or equal to the predetermined time interval, operation proceeds to step 58 where the warning control output 30 is enabled.

  Similarly, in the braking control determination step 59, the predicted time calculated in the speed / predicted time calculating step 55 is compared with a predetermined time interval that is a braking reference value. If the predicted time is longer than the predetermined time interval, operation proceeds to step 60 where the braking control output 32, which is an output to the braking control device 20, is disabled. On the other hand, if the predicted time is less than or equal to the predetermined time interval, operation proceeds to step 61 where the braking control output 32 is enabled. The braking control determination step 59 is performed after the warning control determination step 56 in the present embodiment, but may be performed before the warning control determination step 56, or each step may be performed in parallel. It may be broken.

  Thereafter, the operation proceeds to step 62 and ends.

  In the endoscope system of the present embodiment, a predicted time until the instrument reaches the reference plane is calculated, and at least one of warning and braking of the movement of the instrument is performed based on the predicted time. As a result, appropriate warnings and braking according to the situation are possible, and unintended contact with the organ surface of the instrument can be suppressed.

[Second Embodiment]
FIG. 3 shows the outline of the structure of the second embodiment of the proposed endoscope system. In FIG. 3, the reference plane 4 is in front of the organ surface 3 when viewed from the endoscope 10 or the fiber 12, that is, outside the organ surface 3 and between the distal end portion of the endoscope 10 or the fiber 12 and the organ surface 3. Is provided. The reference surface 4 can be freely set such as the distance from the organ surface 3, the surface shape, and the size.

  FIG. 4 shows an internal block diagram of the control processing device 18 in the present embodiment. Since most of the operations are the same as in the first embodiment, only the differences will be described.

In the first embodiment, the coordinate data of the organ surface 3 obtained by the organ coordinate extraction circuit 22 is set as the coordinate data of the reference plane 4. On the other hand, in this embodiment, the reference plane setting circuit 33 corresponding to the reference plane setting means for setting the reference plane 4 sets the coordinate data of the reference plane 4 from the coordinate data of the organ surface.

  The reference plane setting circuit 33 sets the coordinate data of the reference plane 4 from the coordinate data of the organ surface 3 obtained by the organ coordinate extraction circuit 22 by a predetermined method. A simple example of the method is to assume a virtual curved surface at a certain distance from the organ surface 3 and set the coordinate data of the virtual curved surface as the coordinate data of the reference surface 4. The coordinate data of the reference surface 4 may be set every time the coordinate data of the organ surface 3 is input, or only when the coordinate data of the organ surface 3 is input for the first time. Good. When the coordinate data of the reference surface 4 is set only when the coordinate data of the organ surface 3 is first input, the coordinate data of the reference surface 4 is stored in a memory or the like for subsequent processing. Can be stored.

  Since the endoscope 10 and the fiber 12 are not used in contact with the organ surface 3, it is not a problem that the reference plane 4 is in front of the organ surface 3 when viewed from the endoscope 10 or the fiber 12. . When the endoscope 10 and the fiber 12 protruding from the endoscope 10 are compared, the distal end portion of the fiber 12 is away from the imaging unit of the endoscope 10, so that the possibility of unintentional contact with the organ increases. . In addition, even when a tumor or the like is formed in the organ and the organ is larger than usual, the possibility of unintentional contact with the organ is increased. Thus, the possibility of unintentional contact with the organ differs depending on the situation. Therefore, when the possibility of unintentional contact with the organ is high as in the present embodiment, the possibility of unintentional contact with the organ is set by setting the reference surface 4 in front of the organ surface 3. Can be lowered. In addition, in a situation where the possibility of unintentional contact with an organ is high, the reference plane 4 may be set closer to the front so that the possibility of unintentional contact with the organ under the situation can be reduced. it can.

[Third Embodiment]
FIG. 5 shows an outline of the structure of the third embodiment of the proposed endoscope system. In FIG. 5, 34 is a treatment instrument such as forceps. Here, although the treatment tool 34 is provided in the endoscope 10, the treatment tool 34 may be provided separately from the endoscope 10. Since the forceps are used for the purpose of sandwiching or suppressing the organ surface 3, the tip of the forceps reaches the back side of the normal organ surface 3. Therefore, in FIG. 5, the reference plane 4 is set farther than the organ surface 3 as viewed from the endoscope 10 or the treatment instrument 34, that is, inside the organ surface 3 (inside the organ). The set position of the reference plane 4 is determined by the type of treatment to be performed, the type of target organ, and the like. It is possible to set the reference plane 4 to the near side of the organ surface 3 in a situation where the possibility of unintentional contact with the organ is high, and to the back side in a situation where the possibility is low.

  Since the operation of the control processing device 18 in the present embodiment is almost the same as that in the second embodiment, only the differences will be described with reference to FIG. The reference plane setting circuit 33 sets the coordinate data of the reference plane 4 from the coordinate data of the organ surface 3 obtained by the organ coordinate extraction circuit 22. In this case, the reference plane 4 is provided farther from the organ surface 3 when viewed from the endoscope 10 or the treatment instrument 34, that is, inside the organ surface 3 (inside the organ). The coordinate data of the reference surface 4 may be set every time the coordinate data of the organ surface 3 is input, or only when the coordinate data of the organ surface 3 is input for the first time. Good. When the coordinate data of the reference surface 4 is set only when the coordinate data of the organ surface 3 is first input, the coordinate data of the reference surface 4 is stored in a memory or the like for subsequent processing. Can be stored.

  When the possibility of unintentional contact with an organ is low as in this embodiment, a more appropriate warning according to the type of treatment to be performed by setting the reference surface 4 inside the organ surface 3 And braking becomes possible.

[Fourth Embodiment]
FIG. 6 is a diagram showing the position of the reference plane in the fourth embodiment of the proposed endoscope system. 6A and 6B, for the sake of simplicity, the trocar 13, the fiber 12, the endoscope 10, the camera 16, and the like connected to the outside of the human body 1 and the devices connected to the outside of the human body 1 are omitted. However, there are actually devices similar to those shown in FIG. 3, for example. In the human body 1, for example, the lungs move periodically by breathing. In addition, periodic movements accompanying peripheral organs also occur. In that case, FIGS. 6A and 6B show the organ surface 3 at the minimum time and the maximum time in the movement of the organs. Reference numeral 35 denotes a site where the organ surface 3 swells most.

  In the present embodiment, the position of the reference surface 4 can be changed in accordance with the movement of the organ surface 3. Therefore, the shape of the reference surface 4 is different between FIGS. 6 (a) and 6 (b). The coordinate data of the reference surface 4 is set by the reference surface setting circuit 33.

  The operation of the reference plane setting circuit 33 in this embodiment is as follows. Based on the coordinate data of the organ surface 3 generated by the organ coordinate extraction circuit 22, the coordinate data of the reference plane 4 is set at a certain distance in front. By performing this in real time, the reference plane 4 can follow the movement of the organ surface 3. If the period and amplitude are extracted and grasped in advance from the periodic movement of the organ surface 3, the movement of the organ surface 3 can be predicted, and the reference plane 4 can be set using the predicted value. It is. Further, it is not always necessary to shift the reference plane 4 from the organ surface 3 to the near side (near side). At least a part of the reference plane 4 is set on the organ surface 3 according to the scene, or at least a part of the reference surface 4 is set on the organ surface. It is also possible to set by shifting from 3 to the far side (back side).

  By setting the reference surface 4 to follow the movement of the organ surface 3 as in the present embodiment, more appropriate warning or braking according to the periodic movement of the organ is possible, The possibility of unintended contact can be reduced.

[Fifth Embodiment]
FIG. 7 is a diagram illustrating the position of the reference plane in the fifth embodiment of the proposed endoscope system. 7A and 7B, for the sake of simplicity, the trocar 13, the fiber 12, the endoscope 10, the camera 16, and the like that are inserted into the abdominal cavity 2 and devices connected to the outside of the human body 1 are omitted. However, there are actually devices similar to those shown in FIG. In the human body 1, for example, the lungs move periodically by breathing. In addition, predictable periodic movements occur in the surrounding organs. In this case, FIGS. 7A and 7B show the organ surface 3 at the minimum time and the maximum time in the movement of the organs. Reference numeral 35 denotes a site where the organ surface 3 swells most.

  The reference plane 4 is set based on coordinate data obtained from the organ surface 3 in a state where the organ surface 3 is most swollen regardless of the movement of the organ surface 3. The reference plane 4 in FIGS. 7A and 7B has the same shape. The coordinate data of the reference surface 4 is set by the reference surface setting circuit 33.

The operation of the reference plane setting circuit 33 in this embodiment is as follows. By analyzing the coordinate data extracted by the organ coordinate extraction circuit 22 in order of time, the movement of the organ surface having periodicity is extracted. For this periodically moving part, the coordinate data of the reference plane 4 is set based on the organ surface 3 at a predetermined time in the motion, for example, the most swollen organ surface 3 of the motion. Further, the reference plane 4 does not necessarily have to be on the organ surface 3, and at least a part of the reference plane 4 can be set to be shifted by a predetermined distance from the organ surface 3 to the far side or the near side. is there.

As in this embodiment, by setting the reference plane 4 based on the organ surface 3 at a predetermined time of the periodically moving organ, more appropriate warning and braking according to the periodic movement of the organ is possible. Thus, the possibility of unintended contact between the instrument and the organ can be reduced.

[Sixth Embodiment]
FIG. 8 is a diagram showing the position of the reference plane in the sixth embodiment of the proposed endoscope system. 8A and 8B, for the sake of simplicity, the trocar 13, the fiber 12, the endoscope 10, the camera 16, and the like connected to the outside of the human body 1 and the devices connected to the outside of the human body 1 are omitted. However, there are actually devices similar to those shown in FIG.

  When performing endoscopic surgery, a method of supplying gas to the abdominal cavity 2 in order to obtain a visual field in the abdominal cavity 2 may be used. In this case, there is a case where an operation such as pressurization is performed for the purpose of further securing a visual field or decompression is performed in order to reduce a burden on an organ. FIG. 8A shows the organ surface 3 and the reference surface 4 during decompression, and FIG. 8B shows the organ surface 3 and the reference surface 4 during pressurization. The organ surface 3 shown in FIG. 8B is depressed below the organ surface 3 shown in FIG. 8A due to the air pressure inside the abdominal cavity 2.

  The reference plane 4 follows the movement of the organ surface 3. This can be realized by setting the coordinate data of the reference plane 4 in real time based on the coordinate data of the organ surface 3 extracted by the organ coordinate extraction circuit 22 as in the fourth embodiment. As another method, pressurization / decompression operation information is given to the reference plane setting circuit 33, and the reference plane setting circuit 33 determines the organ surface 3 based on the correspondence relationship between the pressure grasped in advance and the position of the organ surface 3. The reference plane 4 can be set by predicting the position.

  By setting the reference surface 4 based on the movement of the organ surface 3 as in the present embodiment, more appropriate warnings and braking can be performed according to treatments such as pressurization and decompression on the organ. The possibility of unintended contact with can be reduced.

[Seventh Embodiment]
9 and 10 are diagrams for explaining the movement of the instrument relative to the organ surface. FIG. 9A shows that the fiber 12 is moving toward the organ surface 3. FIG. 9B shows that the endoscope 10 is moving toward the organ surface 3. In this case, since the distal end portion of the fiber 12 is separated from the imaging portion of the endoscope 10 as shown in FIG. 9B, the instrument is placed more than the distal end portion of the endoscope 10 shown in FIG. When moved relative to the organ surface, the possibility of unintentional contact between the instrument and the organ increases.

  FIG. 10A shows that the fiber 12 is moving toward the organ surface 3. FIG. 10B shows that the endoscope 10 is moving toward the organ surface 3 with a fiber 12 protruding from the tip of the channel hole 11 by a fixed length, while lying at an angle lying close to 90 degrees with respect to the organ surface 3. It is shown that. In the case of FIG. 10A, as described above, since the tip of the fiber 12 is away from the imaging unit of the endoscope 10, the possibility of unintentional contact with an organ increases. Further, as shown in FIG. 10 (b), even when the tip of the fiber 12 is not the portion closest to the organ surface 3, the endoscope 10 approaches at an angle that is not perpendicular to the organ surface 3. In this case, it is difficult to grasp the distance between the organ surface 3 and the part of the endoscope that is closest to the surface. Therefore, the possibility of unintentional contact between the instrument and the organ increases to some extent.

  Although two examples of the difference in the possibility of unintentional contact between an instrument and an organ have been described with reference to FIGS. 9 and 10, the present invention is not limited to this example, and the shape of the instrument tip, the direction of travel of the instrument, and the type of organ Differences in the possibility of unintentional contact with organs also depend on differences in conditions and the like. In addition, even if the conditions of the instrument, the organ, and the arrival time are the same, the possibility of unintentional contact with the organ is higher when the speed of the instrument toward the organ is faster. Even if the conditions of the instrument, the organ, the arrival time, and the speed are the same, the higher the acceleration, the higher the possibility of unintended contact with the organ. As described above, unintended contact with an organ varies depending on the speed, acceleration, shape, organ type and state of the treatment tool, and therefore, it is preferable to set a reference plane according to the respective conditions. For example, when the shape of the treatment tool is sharp, the reference surface is preferably provided at a position away from the organ.

On the other hand, when a treatment is performed on an organ, since the contact between the instrument and the organ is intended, it is preferable to provide the reference plane at a distance, that is, inside the organ. In this case as well, it is preferable to set the reference plane according to the respective conditions such as the type of treatment to be performed, the shape of the treatment tool, and the type of organ.

  Therefore, in order to cope with such a situation, in this embodiment, at least a part of the reference plane 4 is shifted away or near by a predetermined distance. This gives a difference in the shape of the tip of the instrument to the reference plane setting circuit 33, defines a warning value from the information by the reference plane setting circuit 33, and at least part of the reference plane 4 is defined based on the warning value. This can be realized by shifting a predetermined distance away or near. Here, when the warning value is large, the reference plane 4 is set closer (near side). This enables more appropriate warnings and braking according to the shape, orientation, traveling direction, speed, and acceleration of the instrument tip, the type of treatment to be performed, and the type and condition of the organ. The possibility of non-contact can be reduced. In the present embodiment, the reference plane setting circuit 33 sets the reference plane 4 according to the situation and shifts the reference plane 4 by a predetermined distance according to the warning value. As another method, it is also possible to reduce the possibility of unintentional contact with an organ by changing the reference value of the warning reference value circuit 27 or the reference value of the braking reference value circuit 28. The coordinate data of the reference surface 4 may be set every time the coordinate data of the organ surface 3 is input, or only when the coordinate data of the organ surface 3 is input for the first time. Good. When the coordinate data of the reference surface 4 is set only when the coordinate data of the organ surface 3 is first input, the coordinate data of the reference surface 4 is stored in a memory or the like for subsequent processing. Can be stored.

4 Reference plane, 10 Endoscope (first observation unit), 14 Treatment instrument braking device (emergency operation unit), 15 Endoscope braking device (emergency operation unit), 16 Camera (second observation unit), 18 Control processing device (control unit), 19 Warning device (emergency operation unit)

Claims (20)

An insertion part having a first observation part for observing the observation object;
A second observation unit for observing at least a part of the observation target and the distal end portion of the insertion unit or treatment tool;
An emergency operation part control means for operating the emergency action part, a reference surface setting means for setting a reference surface based on information obtained from the second observation part, and a distal end part of the insertion part or the treatment instrument is the reference part A control unit having a calculation means for calculating a predicted time to reach the surface,
The endoscope system according to claim 1, wherein when the predicted time is equal to or less than a predetermined time, the control unit controls the emergency operation unit to operate.   The endoscope system according to claim 1, wherein the treatment tool is provided in the insertion portion.   The endoscope system according to claim 1, wherein the treatment tool is provided separately from the insertion portion.   The endoscope system according to any one of claims 1 to 3, wherein the second observation unit is an observation unit that acquires an image including three-dimensional information.   The endoscope system according to any one of claims 1 to 4, wherein the emergency operation unit is a braking unit that brakes movement of the insertion unit or the distal end portion of the treatment tool with respect to the reference surface.   The endoscope system according to any one of claims 1 to 4, wherein the emergency operation unit is a warning machine that emits a warning sound.   7. The reference surface according to claim 1, wherein at least a part of the reference surface is set outside the observation target and between the insertion portion or the distal end portion of the treatment tool and the observation target. 8. Endoscope system.   The endoscope system according to any one of claims 1 to 6, wherein at least a part of the reference plane is set inside the observation target.   The endoscope system according to any one of claims 1 to 8, wherein a position of the reference plane is set following a movement of the observation target.   When the observation target has a periodic movement or a predictable movement, the reference plane is shifted by a predetermined distance from the position of the observation target at the predetermined time in the movement or the position. The endoscope system according to any one of claims 1 to 8, wherein the endoscope system is set at a predetermined position.   The shape, orientation, traveling direction, speed, and acceleration of the insertion portion or the distal end portion of the treatment instrument, the type of treatment to be performed, and the type of the observation target in the traveling direction of the insertion portion or the distal end portion of the treatment instrument and 10. The reference plane is set at a position shifted by a predetermined distance from the position of the observation target based on a warning value defined by at least one of the states. The endoscope system described in 1. A method used in an endoscope system, comprising:
Acquiring an image of at least a part of the observation target and the distal end portion of the insertion portion or the treatment tool having the first observation portion by the second observation portion;
Setting a reference plane based on the image obtained from the second observation unit by the control unit;
Calculating an estimated time until the insertion portion or the distal end of the treatment tool reaches the reference plane;
Controlling the emergency operation unit to operate by the control unit when the predicted time is equal to or less than a predetermined time.   The method according to claim 12, wherein the second observation unit is an observation unit that acquires an image including three-dimensional information.   The method according to claim 12, wherein the emergency operation unit is a braking unit that brakes movement of the insertion unit or the distal end portion of the treatment tool with respect to the reference surface.   The method according to claim 12, wherein the emergency operation unit is a warning machine that emits a warning sound.   16. The reference surface according to claim 12, wherein at least a part of the reference surface is set outside the observation target and between the insertion portion or the distal end portion of the treatment tool and the observation target. the method of.   The method according to claim 12, wherein at least a part of the reference plane is set inside the observation target.   The method according to claim 12, wherein the position of the reference plane is set following the movement of the observation target.   When the observation target has a periodic movement or a predictable movement, the reference plane shifts the position of the observation target for a predetermined time in the movement or the position by a predetermined distance. The method according to claim 12, wherein the method is set to a position. The shape of the insertion portion or the distal end of the treatment instrument, the direction, the traveling direction, the speed and the acceleration, the type of treatment to be performed, and the traveling direction of the distal end of the insertion portion or the treatment instrument are controlled by the control unit. Further comprising defining a warning value based on at least one of the type and condition of the observation object;
The method according to claim 12, wherein the reference plane is set to a position obtained by shifting the position of the observation target by a predetermined distance based on the warning value.

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