JP2020028638A - Display control device, endoscope system, display control method, and display control program - Google Patents

Abstract

To provide a display control device, an endoscope system, a display control method, and a display control program capable of displaying detection accuracy of at least one of a position and a shape of an insertion part of an endoscope inserted into a subject in an easier-to-understand manner.SOLUTION: A detection unit 50 includes an acquisition part 60 and a display control part 68. The detection unit 50 in this embodiment acquires a detection signal indicating a magnetic field detected by a reception coil unit 22 including a plurality of reception coils 23 in which the acquisition part 60 is provided along an insertion part 10A inserted into a subject W in an endoscope 10, and a transmission coil unit 48 including a plurality of transmission coils 49 provided outside the subject W. The display control part 68 executes control to cause a display unit 52 to display information indicating detection accuracy of at least one of a position and a shape of the insertion part 10A detected on the basis of a detection signal on the basis of the detection signal acquired by the acquisition part 60.SELECTED DRAWING: Figure 4

Description

  The present disclosure relates to a display control device, an endoscope system, a display control method, and a display control program.

  2. Description of the Related Art Conventionally, in an examination of the inside of a subject using an endoscope (hereinafter, referred to as “endoscopy”), the shape of the insertion section of the endoscope inserted into the body of the subject is detected to change the shape of the insertion section. 2. Description of the Related Art A detection device for displaying a shape image to be displayed on a display unit is known. Further, as this type of detection device, one of a plurality of magnetic field generation elements and a plurality of magnetic field detection elements provided along the insertion portion of the endoscope, and the other plurality of elements provided outside the subject are provided. There is known a detection device that uses a detection signal representing a magnetic field detected by the detection device.

  As a technique related to improvement of detection accuracy by a detection device, for example, in Japanese Patent Application Laid-Open No. 2003-163, the insertion unit is configured to perform a predetermined insertion based on a comparison result obtained by comparing an electromotive force detected by a magnetic field detection element with a preset reference value. A technique is described for determining whether or not the sensor is located within an effective detection range that can be detected with a precision higher than the above. In addition, for example, Patent Document 2 discloses a technique in which a magnetic field generating element is driven by an AC signal having a drive frequency with a small noise frequency component to detect a shape in an environment with a small noise.

JP 2002-325721 A JP 2003-245243 A

  However, according to the technique described in Patent Document 1, the user determines whether the insertion section of the endoscope is within the effective detection range, in other words, whether the detection accuracy is good or bad. Although it is possible to know, the degree of detection accuracy itself was difficult to understand. Further, in the technology described in Patent Document 2, although measurement of environmental noise is performed, presentation (display) of the detection accuracy itself is not sufficient, and how much the detection accuracy itself is. It was difficult to understand.

  The present disclosure has been made in view of the above circumstances, the detection accuracy of at least one of the position and the shape of the insertion portion of the endoscope to be inserted into the subject, it is possible to display more easily, It is an object to provide a display control device, an endoscope system, a display control method, and a display control program.

  In order to achieve the above object, a display control device according to a first aspect of the present disclosure includes a plurality of magnetic field generating elements and a plurality of magnetic field detection devices provided along an insertion portion of an endoscope to be inserted into a subject. An acquisition unit that acquires a detection signal representing a magnetic field detected by one of the plurality of elements and the other plurality of elements provided outside the subject, and a detection signal based on the detection signal acquired by the acquisition unit. And a display control unit that controls the display unit to display information indicating the detection accuracy of at least one of the position and the shape of the insertion unit detected based on the information.

  The display control device according to a second aspect of the present disclosure is the display control device according to the first aspect, wherein the display control unit displays, as the information representing the detection accuracy, information predetermined in accordance with a shape of the insertion unit. Is controlled.

  In a display control device according to a third aspect of the present disclosure, in the display control device according to the second aspect, the display control unit controls the display unit to display the shape of the insertion unit together with information indicating the detection accuracy.

  The display control device according to a fourth aspect of the present disclosure is the display control device according to the third aspect, wherein the display control unit displays an image representing information representing detection accuracy in association with an image representing the shape of the insertion unit. The control to display on the section is performed.

  The display control device according to a fifth aspect of the present disclosure is the display control device according to the fourth aspect, wherein the display control unit is provided along the image of the insertion unit as information indicating the detection accuracy, and the accuracy deteriorates. Control is performed to display an image representing an area having a larger width.

  The display control device according to a sixth aspect of the present disclosure is the display control device according to any one of the first aspect to the fifth aspect, wherein the display control unit is configured to respond to the influence of noise as information representing detection accuracy. Control to display predetermined information on the display unit.

  The display control device according to a seventh aspect of the present disclosure is the display control device according to the sixth aspect, further comprising: a deriving unit that derives a noise level based on a detection signal output from at least one of the plurality of magnetic field detection elements. Also equipped.

  The display control device according to an eighth aspect of the present disclosure is the display control device according to the seventh aspect, wherein the detection signal includes a first detection signal used to detect at least one of the position and the shape of the insertion portion; A deriving unit including a signal and a second detection signal acquired at a different timing derives a noise level based on the second detection signal.

  The display control device according to a ninth aspect of the present disclosure is the display control device according to the eighth aspect, wherein the second detection signal includes a plurality of magnetic field detection signals in a state where each of the plurality of magnetic field generating elements does not generate a magnetic field. It is a detection signal output from at least one of the elements.

  A display control device according to a tenth aspect of the present disclosure is the display control device according to any one of the sixth to ninth aspects, wherein the display control unit indicates a noise level as information indicating the detection accuracy. Control is performed to display at least one of a graph and a numerical value representing a noise level on the display unit.

  An endoscope system according to an eleventh aspect of the present disclosure includes an endoscope including an insertion unit to be inserted into a subject, a plurality of magnetic field generating elements provided along the insertion unit, and a plurality of magnetic field detection elements. A detection device that detects at least one of the position and the shape of the insertion portion based on a detection signal representing a magnetic field detected by one of the plurality of elements and the other plurality of elements provided outside the subject; and a detection device. And a display control device according to any one of the first to tenth aspects for performing control for displaying information representing the detection accuracy of the image on the display unit.

  A display control method according to a twelfth aspect of the present disclosure includes a plurality of one of a plurality of magnetic field generation elements and a plurality of magnetic field detection elements, provided along an insertion section of the endoscope to be inserted into a subject, And, to obtain a detection signal representing a magnetic field detected by the other plurality of elements provided outside the subject, based on the detection signal, at least one of the position and shape of the insertion portion detected based on the detection signal This is a display control method in which a computer executes processing for performing control to display information indicating detection accuracy on a display unit.

  A display control program according to a thirteenth aspect of the present disclosure includes a plurality of ones of a plurality of magnetic field generating elements and a plurality of magnetic field detecting elements provided along an insertion portion of the endoscope to be inserted into a subject, And, to obtain a detection signal representing a magnetic field detected by the other plurality of elements provided outside the subject, based on the detection signal, at least one of the position and shape of the insertion portion detected based on the detection signal The computer executes a process for controlling to display information indicating the detection accuracy on the display unit.

  Further, a display control device of the present disclosure is a display control device having a processor, wherein the processor is provided along an insertion portion to be inserted into a subject in an endoscope, a plurality of magnetic field generating elements, and a plurality of A detection signal representing a magnetic field detected by one of the plurality of magnetic field detection elements and the other plurality of elements provided outside the subject is obtained, and based on the detection signal, detection is performed based on the detection signal. Control is performed to display information indicating the detection accuracy of at least one of the position and the shape of the insertion unit on the display unit.

  According to the present disclosure, it is possible to more easily display the detection accuracy of at least one of the position and the shape of the insertion section of the endoscope inserted into the subject.

FIG. 1 is a configuration diagram illustrating an example of a configuration of an endoscope system according to an embodiment. It is a block diagram showing an example of composition of an endoscope system of an embodiment. It is a lineblock diagram showing an example of a receiving coil unit and a transmitting coil unit of a detection device of an embodiment. FIG. 3 is a block diagram illustrating an example of a configuration of a detection unit according to the embodiment. In the endoscope system of the embodiment, a timing chart illustrating an example of a timing at which a magnetic field is generated by each transmission coil of the transmission coil unit and a timing at which a detection signal is output from each reception coil (ADC) of the reception coil unit. is there. FIG. 3 is a block diagram illustrating an example of a hardware configuration of a detection unit and each control unit according to the embodiment. 9 is a flowchart illustrating an example of a first derivation process performed by a detection unit according to the embodiment. FIG. 3 is an explanatory diagram for describing a shape image generated by a generation unit of the image processing unit according to the embodiment. FIG. 7 is a diagram illustrating an example of a state where a detection error image is added to a shape image when the shape of the insertion section of the endoscope according to the embodiment is linear. FIG. 5 is a diagram illustrating an example of a state in which a detection error image is added to a shape image when the shape of the insertion portion of the endoscope according to the embodiment is curved. FIG. 5 is a diagram illustrating an example of a state in which a detection error image is added to a shape image when the shape of the insertion portion of the endoscope according to the embodiment is a loop shape. FIG. 4 is a diagram illustrating an example of a composite image displayed on a display unit according to the embodiment. It is a flow chart which shows an example of the flow of the 2nd derivation processing performed by a primary detecting element of an embodiment. FIG. 10 is a diagram illustrating an example of a frequency analysis result when noise is generated by a second derivation unit of the embodiment. FIG. 4 is a diagram illustrating an example of a noise level image displayed on a display unit according to the embodiment. 6 is a timing chart illustrating another example of a detection period and a noise derivation period in the endoscope system of the embodiment. FIG. 15 is a diagram illustrating an example of a frequency analysis result when noise is generated by the second derivation unit at the timing illustrated in FIG. 14.

  Hereinafter, embodiments of the technology of the present disclosure will be described in detail with reference to the drawings.

  First, an overall configuration of an endoscope system 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a configuration diagram illustrating an example of a configuration of an endoscope system 1 according to the present embodiment.

  The endoscope system 1 includes an endoscope 10 that captures an image of the inside of the body of the subject W (hereinafter, referred to as an “endoscope image”), an endoscope inspection device 12, and a detection device 14.

  The endoscope 10 includes an insertion section 10A and an operation section 10B. When performing an endoscope inspection, the examiner operates the operation section 10B to insert the insertion section 10A into the subject W, and An endoscopic image of the inside of the body of the subject. The endoscope inspection device 12 connected to the endoscope 10 by the cable 11 includes a video processor 34, an overall control unit 40, a transmission unit 41, a detection unit 50, and a display unit 52 such as a liquid crystal display. The video processor 34 controls the endoscope 10 to capture an endoscopic image. The overall control unit 40 controls the entire endoscope system 1. The detection unit 50 detects the shape of the insertion unit 10A of the endoscope 10 and derives the detection accuracy of the detection device 14 (hereinafter, simply referred to as “detection accuracy”). The detection unit 50 of the present embodiment is an example of the display control device of the present disclosure. On the other hand, the detection device 14 includes a transmission unit 41 provided in the endoscope inspection device 12 and a reception unit 21 (see FIG. 2) provided inside the endoscope 10. The position of the insertion section 10A is detected by receiving the generated magnetic field by the reception section 21. Although the video processor 34, the overall control unit 40, the transmission unit 41, the detection unit 50, and the display unit 52 are illustrated in the same housing in FIG. 1, these units are provided in different housings, for example. A configuration may be used, or one or more may be provided in another housing.

  Next, a detailed configuration of the endoscope 10, the endoscope inspection device 12, and the detection device 14 will be described with reference to FIG. FIG. 2 is a block diagram illustrating an example of a configuration of the endoscope system 1 according to the present embodiment.

  As shown in FIG. 2, the endoscope 10 includes an image sensor 30 including an image sensor such as a charge coupled device (CCD) image sensor and a complementary metal-oxide-semiconductor (CMOS) image sensor. The endoscope 10 transmits light emitted from the light source 36 under the control of the video processor 34 through a transmission path (not shown), and emits the light from an emission unit (not shown) provided at the distal end of the insertion unit 10A. The inside of the subject W is illuminated by the light thus emitted. The reflected light from the subject W due to the illumination light forms an image on the image sensor 30 by an objective lens (not shown), and an image signal corresponding to the formed endoscope image as an optical image is transmitted via the cable 11. It is output to the video processor 34 of the endoscope inspection apparatus 12. A predetermined image processing is performed on the input image signal by the video processor 34, and the image data of the endoscope image obtained by the image processing is output to the detection unit 50.

As shown in FIG. 2, of the detection device 14, the transmission unit 41 provided in the endoscope inspection device 12 includes a transmission control unit 42 and a transmission coil unit 48. As shown in FIG. 3, the transmission coil unit 48 includes a plurality (12 in the present embodiment) of transmission coils 49, specifically, transmission coils 49 _1x , 49 _1Y , 49 _1Z , 49 _2x , and 49 _2Y. , 49 _2Z , _493x , _493Y , _493Z , _494x , _494Y , and _494Z . In the present embodiment, the transmission coil 49, may be collectively simply referred to as "transmission coil 49", to distinguish individually, codes representing individual after "transmission coil 49 _'(1X · · · _4Z ). The transmission coil 49 of the present embodiment is an example of the other plurality of elements of the present disclosure.

As shown in FIG. 3, the transmission coil 49 of the present embodiment has a set of three transmission coils 49 whose axes are oriented in the respective directions of the X axis, the Y axis, and the Z axis. , Four transmission coil groups. Specifically, the transmission coil unit 48 includes a set of a transmission coil 49 _1X oriented in the X-axis direction, a transmission coil 49 _1Y oriented in the Y-axis direction, and a transmission coil 49 _1Z oriented in the Z-axis direction; A transmission coil 49 _2X oriented in the direction, a transmission coil 49 _2Y oriented in the Y-axis direction, and a transmission coil 49 _2Z oriented in the Z-axis direction. The transmission coil unit 48 includes a set of a transmission coil 49 _3X oriented in the X-axis direction, a transmission coil 49 _3Y oriented in the Y-axis direction, and a transmission coil 49 _3Z oriented in the Z-axis direction. A transmission coil _494X , a transmission coil _494Y oriented in the Y-axis direction, and a transmission coil _494Z oriented in the Z-axis direction. Thus, the transmission coil unit 48 of the present embodiment is equivalent to a state in which four triaxial coils are provided as the transmission coil 49.

The transmission control unit 42 also includes a transmission circuit 46 connected to the transmission control unit 44 and the transmission coil 49, specifically, the transmission circuits 46 _1x , 46 _1Y , 46 _1Z , 46 _2x , 46 _2Y , 46 _2Z , 46 _3x , 46 _3Y , 46 _3Z , 46 _4x , 46 _4Y , and 46 _4Z . In the present embodiment, the transmission circuit 46 is simply referred to as the “transmission circuit 46” as in the case of the transmission coil 49 when collectively referred to. Symbols ( _1X ... _4Z ) are given.

  The transmission circuit 46 generates a drive signal for driving the transmission coil 49 under the control of the transmission control unit 44 and outputs the drive signal to the transmission coil 49 connected to each. Each transmission coil 49 emits an electromagnetic wave accompanied by a magnetic field to the surroundings when a drive signal is applied. Note that the transmission control unit 44 of the present embodiment causes each transmission circuit 46 to generate a drive signal at predetermined time intervals, for example, at intervals of several tens of milliseconds, and drives each transmission coil 49 sequentially.

On the other hand, as shown in FIG. 2, of the detection device 14, the reception unit 21 provided inside the endoscope 10 includes a reception control unit 20, a reception coil unit 22, and a reception circuit 24 (24 _{1 to} 24 ₁₆ ). comprises ADC (Analog-to-Digital Converter ) 26 (26 1 ~26 16), and I / F (Interface) 29. The reception control unit 20 controls the entire reception unit 21 and controls the driving of the reception coil unit 22.

Receiver coil unit 22, as shown in FIG. 3, the receiving coil 23 of the 16 as an example (as shown in FIG. 3 6), specifically includes a receiving coil _{23 1-23 16.} In the present embodiment, similarly to the transmission coil 49, each of the reception coil 23, the reception circuit 24, and the ADC 26 is simply referred to as “the reception coil 23”, “the reception circuit 24”, and “the ADC 26”. In order to distinguish the individual units, reference numerals ( ₁ ... ₁₆ ) representing the individual units are given after the "receiving coil 23", the "receiving circuit 24", and the "ADC 26". The receiving coil 23 of the present embodiment is an example of one of the plurality of elements of the present disclosure.

  Each receiving coil 23 of the receiving coil unit 22 is arranged in the insertion section 10A of the endoscope 10 along the direction in which the receiving coil 23 is inserted into the subject W. The receiving coil 23 detects a magnetic field generated by each transmitting coil 49 of the transmitting coil unit 48. Each receiving coil 23 is connected to a receiving circuit 24, and outputs a detection signal corresponding to the detected magnetic field to the receiving circuit 24. The receiving circuit 24 includes an LPF (Low Pass Filter), an amplifier (both not shown), and the like. The LPF removes disturbance noise, and outputs a detection signal amplified by the amplifier to the ADC 26. The ADC 26 converts the input analog detection signal into a digital detection signal and outputs the digital detection signal to the reception control unit 20. The reception control unit 20 transmits the detection signal input from each ADC 26 to the endoscope inspection device 12 via the I / F 29.

  The detection signal input to the endoscope inspection device 12 is input to the detection unit 50 via the I / F 53.

  The detection unit 50 detects the position of each receiving coil 23 based on a predetermined position detection algorithm based on the input detection signal. That is, the detection unit 50 of the present embodiment detects the magnetic field generated by each transmission coil 49 with the reception coil 23, and based on the detection signal output from the reception coil 23, the position and direction (direction) of each reception coil 23. ) Is detected. The method by which the detection unit 50 detects the position of the receiving coil 23 based on the detection signal is not particularly limited, and for example, a technique described in Japanese Patent No. 3432825 can be applied. According to the technology described in Japanese Patent No. 3432825, the distance between a specific transmission coil 49 and the reception coil 23 is determined from the measured value of the magnetic field generated by each transmission coil 49 and the estimated value of the direction of the reception coil 23. Calculate the estimate. Next, the estimated value of the position of the receiving coil 23 is calculated from the estimated value of the distance from each transmitting coil 49 to the receiving coil 23 and the known position of the transmitting coil 49. Next, a new estimated value of the direction of the receiving coil 23 is calculated from the estimated position of the receiving coil 23 and the measured value of the magnetic field of the receiving coil 23. Then, by using the new estimated value of the direction of the receiving coil 23 to repeat the calculation of the estimated value of the distance from the transmitting coil 49 to the receiving coil 23 and the calculation of the estimated value of the position of the receiving coil 23, The position and direction of the receiving coil 23 are derived.

  In addition, the detection unit 50 of the present embodiment detects the shape of the insertion unit 10A of the endoscope 10 based on the detected position and direction of each reception coil 23.

  FIG. 4 shows a functional block diagram of an example of the detection unit 50 of the present embodiment. As illustrated in FIG. 4, the detection unit 50 of the present embodiment includes an acquisition unit 60, a shape detection unit 62, a first derivation unit 63, a second derivation unit 64, an image generation unit 66, and a display control unit 68. The detection signal is input to the acquisition unit 60 from the detection device 14, specifically, from the reception control unit 20 of the endoscope 10 via the I / F 29 and the I / F 53. In the endoscope system 1 of the present embodiment, the detection signals include a first detection signal used for detecting the shape of the operation unit 10B of the endoscope 10 and a second detection signal used for deriving a noise level. There are two types. In FIG. 5, in the endoscope system 1 of the present embodiment, the timing at which a magnetic field is generated by each transmission coil 49 of the transmission coil unit 48, and the detection signal is output from each reception coil 23 (ADC 26) of the reception coil unit 22. 4 is a timing chart showing an example of the timing to be performed. For convenience, in the endoscope system 1 of the present embodiment, the timing at which the ADC 26 outputs the detection signal and the timing at which the detection unit 50 receives the detection signal are regarded as the same.

  As shown in FIG. 5, in the endoscopy in the endoscope system 1 of the present embodiment, a detection period for detecting the shape of the insertion section 10A of the endoscope 10 by the shape detection section 62 and a second derivation are described. There is a noise derivation period for deriving a noise level by the unit 64 and two periods.

  In the detection period, during the detection period in which each of the transmission coils 49 is sequentially driven to generate a magnetic field (FG1 to FG12), a magnetic field generated by each of the transmission coils 49 is detected. As a result, each of the reception coils 23 (ADC 26) is detected. The detection signals (S1 to S16) output from are referred to as “first detection signals”. In the endoscope system 1 of the present embodiment, the transmission control unit 44 does not cause the transmission circuit 46 to generate a drive signal during the noise derivation period. During the noise deriving period, the transmission coil 49 does not generate a magnetic field. In a state where no magnetic field is generated, the detection signal (Sn) output from one predetermined reception coil 23n (n is a number specifying one reception coil 23) (ADC 26n) is referred to as a “second detection signal”. "

  As illustrated in FIG. 5, the acquisition unit 60 of the present embodiment acquires the first detection signal and the second detection signal at different timings. The acquisition unit 60 outputs the acquired first detection signal to the shape detection unit 62. The acquiring unit 60 outputs the acquired second detection signal to the second deriving unit 64.

  The shape detection unit 62 detects the position and the direction of each reception coil 23 based on the first detection signal input from the acquisition unit 60. In addition, the shape detection unit 62 detects the shape of the insertion unit 10A based on the position and direction of the reception coil 23 detected using a predetermined position detection algorithm, and outputs information indicating the detected shape (hereinafter, “ And the position and direction of each receiving coil 23 to the image generating unit 66.

  The first deriving unit 63 derives a detection error corresponding to the position detection algorithm used for detection as detection accuracy based on the shape of the insertion unit 10A detected by the shape detection unit 62, and outputs information representing the detection error, Output to the image generation unit 66. The details of the method of deriving the detection error and the information indicating the detection error in the first deriving unit 63 will be described later.

  The second deriving unit 64 derives a noise level affecting the detection device 14 as detection accuracy based on the second detection signal input from the acquisition unit 60, and outputs information representing the noise level to the image generation unit. 66 is output. The details of the method of deriving the noise level and the information indicating the noise level in the second deriving unit 64 will be described later. The second deriving unit 64 of the present embodiment is an example of the deriving unit of the present disclosure.

  The image generation unit 66 inserts the insertion unit 10A from a predetermined viewpoint direction (details will be described later) based on the shape information of the insertion unit 10A input from the shape detection unit 62 and the position and direction of each reception coil 23. A shape image (details described later) representing the shape of is generated.

  In addition, the image generation unit 66 associates the image representing the detection error with the image representing the shape of the insertion unit 10A of the endoscope 10 based on the information representing the detection error input from the first derivation unit 63 (see FIG. Hereinafter, referred to as a “detection error image”). The details of the detection error image will be described later.

  Further, the image generation unit 66 generates an image (hereinafter, referred to as a “noise level image”) representing the noise level based on the information representing the noise level input from the second derivation unit 64. The details of the noise level image will be described later.

  Further, the image data of the endoscope image is input from the video processor 34 to the image generation unit 66. The image generation unit 66 of the present embodiment generates a composite image in which the image data of the generated shape image and the image data of the detection error image are combined with the image data of the endoscope image, and generates the image data of the generated composite image. Is output to the display control unit 68. Note that the image generation unit 66 of the present embodiment outputs the generated image data of the noise level image to the display control unit 68.

  The display control unit 68 controls the display unit 52 to display a composite image represented by the image data of the composite image output from the image generation unit 66. Further, the display control unit 68 performs control to cause the display unit 52 to display a noise level image represented by the image data of the noise level image.

  As an example, the detection unit 50 of the present embodiment is realized by a microcomputer or the like including the hardware shown in FIG. As shown in FIG. 6, the detection unit 50 includes a CPU (Central Processing Unit) 70, a ROM (Read Only Memory) 72, a RAM (Random Access Memory) 74, a HDD (Hard Disk Drive), and an SSD (Solid State Drive). , And a nonvolatile storage unit 76 such as a flash memory. The CPU 70, the ROM 72, the RAM 74, and the storage unit 76 are connected to a bus 79 so that they can communicate with each other. The storage unit 76 stores a first derivation processing program 78A for executing a first derivation processing, which will be described in detail later, and a second derivation processing program 78B for executing the second derivation processing. The CPU 70 reads out each of the first derivation processing program 78A and the second derivation processing program 78B from the storage unit 76, expands the read out program into the RAM 74, and executes each of the expanded first derivation processing program 78A and the second derivation processing program 78B. I do. When the CPU 70 executes each of the first derivation processing program 78A and the second derivation processing program 78B, the CPU 70 causes the acquisition section 60, the shape detection section 62, the first derivation section 63, the second derivation section 64, the image generation It functions as each of the unit 66 and the display control unit 68.

  In the endoscope system 1 of the present embodiment, the reception control unit 20, the overall control unit 40, and the transmission control unit 44 are also realized by the same hardware as the detection unit 50 (see FIG. 6).

  Next, the operation of the detection unit 50 of the present embodiment will be described. First, the first derivation process by the detection unit 50 will be described. The first derivation processing of the present embodiment includes detecting the shape of the insertion section 10A of the endoscope 10 by the shape detection section 62, specifying the detection error by the first derivation section 63, and generating the synthesized image by the image generation section 66. including. FIG. 7 is a flowchart illustrating an example of the flow of the first derivation process performed by the CPU 70 of the detection unit 50. As an example, in the detection unit 50 of the present embodiment, when the examiner gives an instruction to execute an endoscope inspection through an operation unit (not shown) of the endoscope inspection apparatus 12, the CPU 70 executes the operation. By executing the first derivation processing program 78A, the first derivation processing shown in FIG. 7 is executed.

  In step S100, the shape detection unit 62 analyzes the shape of the insertion unit 10A. In the present embodiment, the shape detection unit 62 detects the position and the direction of each reception coil 23 based on the first detection signal input from the acquisition unit 60. Further, the shape of the insertion section 10A is analyzed based on the detected position and direction of the reception coil 23. The shape detection unit 62 outputs the shape information of the insertion unit 10A and the position and direction of each reception coil 23 to the image generation unit 66. Further, shape detection section 62 outputs the shape information of insertion section 10A to first derivation section 63.

  In the next step S102, the image generation unit 66 generates a shape image representing the shape of the insertion unit 10A from a predetermined viewpoint direction based on the shape information of the insertion unit 10A and the position and direction of each receiving coil 23. I do. As an example, the predetermined viewpoint direction in the present embodiment is a direction predetermined as a viewpoint direction for grasping the entire shape of the insertion section 10A. A specific example of such a predetermined viewpoint direction is the Z-axis direction in the transmission coil unit 48 shown in FIG. 3. In the present embodiment, the direction in which the examiner looks at the subject W from the front (face side) Direction in which the surface is visually recognized). In this case, as shown in FIG. 8, the shape image 90 representing the shape of the insertion section 10A from a predetermined viewpoint direction is an image in a state where the surface along the Y axis and the Z axis is visually recognized.

  Note that the predetermined viewpoint direction is not limited to the direction shown in the present embodiment, and the viewpoint direction of the insertion unit 10A shown as the shape image 90 is switched according to the instruction or setting of the examiner. It may be.

  In the next step S104, the first derivation unit 63 derives a detection error based on the shape information input from the shape detection unit 62. In deriving the position of each receiving coil 23 by the shape detection unit 62, a detection error occurs according to the position detection algorithm used for the derivation. As an example, in the case of the position detection algorithm used by the shape detection unit 62 of the present embodiment, the detection error decreases as the shape of the insertion unit 10A is closer to a linear shape, and the detection error decreases as the shape of the insertion unit 10A curves. The error increases, and when a loop is drawn, the detection error increases.

  In the present embodiment, information representing the magnitude of the detection error is inserted along the image of the insertion section 10A and an image representing a region that becomes wider as the accuracy (error) deteriorates is inserted as a detection error image. The image is displayed on the display unit 52 together with the shape image of the unit 10A. FIG. 9A shows an image of the insertion section 10A (hereinafter, simply referred to as “shape image 90”) included in the shape image 90 when the shape of the insertion section 10A is linear, and a detection error image 80 having a width of H1. 5 shows an example of the state in which the operation is performed. FIG. 9B shows an example of a state in which a detection error image 80 having a width of H2 is added to the shape image 90 when the shape of the insertion portion 10A is curved. Further, FIG. 9C shows an example of a state in which a detection error image 80 having a width of H3 is added to the shape image 90 when the shape of the insertion portion 10A is a loop shape. In the example shown in FIGS. 9A to 9C, the width H1 is the narrowest and the width H3 is the widest (H1 <H2 <H3). As a specific example, the width H1 is 1 mm, the width H2 is 3 mm, and the width H3 is 5 mm.

  As an example, in the present embodiment, information indicating the correspondence between the shape information and the width of the detection error image 80 is stored in the storage unit 76 in advance. The first deriving unit 63 derives the width of the detection error image 80 according to the input shape information based on the information indicating the correspondence stored in the storage unit 76, and derives the width of the derived detection error image 80. Is output to the image generation unit 66 in association with the shape information.

  In the next step S106, the image generation unit 66 adds the detection error image 80 to the shape image 90 generated in step S102 based on the information representing the width of the detection error image 80 input from the first derivation unit 63. I do. Specifically, the image generation unit 66 generates the detection error image 80 and adds it to the shape image 90 as shown in FIGS. 9A and 9B described above.

  In the next step S108, the image generation unit 66 generates a composite image in which the shape image 90 to which the detection error image 80 has been added and the endoscope image in step S106, and displays the image data of the composite image. Output to the control unit 68. In the next step S110, the display control unit 68 causes the display unit 52 to display the composite image.

  FIG. 10 shows an example of the composite image 100 displayed on the display unit 52. The composite image 100 shown in FIG. 10 includes a shape image 90 to which the detection error image 80 is added and an endoscope image 94. In the present embodiment, an image obtained by synthesizing the shape image 90 and the endoscope image 94 in a state where they are arranged is the synthesized image 100. However, the method of synthesizing the shape image 90 and the endoscope image 94 is the same as that of the present embodiment. It is not limited to. The degree of superposition of the shape image 90 and the endoscope image 94 in the composite image 100, the size of each image, and the like need only be such that an image desired by the inspector is appropriately displayed in the endoscopic examination. For example, the synthesized image 100 may be an image synthesized in a state where at least a part of the shape image 90 and the endoscope image 94 are superimposed. Further, the combined image 100 may be configured to control the degree of superposition of the shape image 90 and the endoscope image 94 and the size of each image according to the size of the display unit 52 and the like.

  In the present embodiment, the display and non-display of the detection error image 80 can be switched according to the instruction of the examiner. As an example, in the present embodiment, when the display of the detection error image 80 is instructed, or when neither the display nor the non-display is instructed, the image generation unit 66 converts the detection error image 80 into the shape image 90. The display control unit 68 causes the display unit 52 to display a composite image of the endoscope image and the shape image 90 to which the detection error image 80 has been added. On the other hand, when the non-display of the detection error image 80 is instructed, the image generation unit 66 does not add the detection error image 80 to the acquisition unit 90, and the display control unit 68 determines the shape without the detection error image 80. The display unit 52 displays a composite image of the image 90 and the endoscope image.

  In the next step S112, the display control unit 68 determines whether or not to end the endoscopic examination. In the endoscope system 1 of the present embodiment, by operating an operation button or the like (not shown), the determination in step S112 is negative until an instruction to end the endoscopic inspection is received from the examiner, and Returning to S100, the processes in steps S102 to S110 are repeated. On the other hand, if an instruction to end the endoscopy has been received, the determination in step S112 is affirmative, and the first derivation process ends.

  Next, the second derivation processing by the detection unit 50 will be described. The second derivation process of the present embodiment includes derivation of the noise level by the second derivation unit 64. FIG. 11 is a flowchart illustrating an example of the flow of the second derivation process executed by the CPU 70 of the detection unit 50. As an example, in the detection unit 50 of the present embodiment, the operation unit (the endoscope inspection device 12) of the endoscope inspection apparatus 12 is performed by the inspector when the instruction to perform the endoscopic inspection is performed by the inspector as described above. When an instruction to derive the noise level is issued through the not-shown), the CPU 70 executes the second derivation processing program 78B to execute the second derivation processing shown in FIG. You. In the endoscope system 1 of the present embodiment, the second derivation process can be executed by the examiner or the like as described above, separately from the endoscopic examination. By adopting such a form, for example, before the start of the endoscopic inspection, when installing the endoscopic inspection device 12, and when performing periodic maintenance, etc., separately from the endoscopic inspection , Environmental noise can be measured. In other words, the detection unit 50 of the present embodiment can perform only the second derivation process by the second derivation unit 64 without performing the first derivation process (see FIG. 7) by the first derivation unit 63.

  In step S150 shown in FIG. 11, the second derivation unit 64 determines whether or not the noise derivation period described above with reference to FIG. 5 has been reached. If it is the detection period, the determination in step S150 is negative. On the other hand, when the detection period shifts to the noise derivation period, the determination in step S150 becomes affirmative, and the process shifts to step S152.

  In step S152, the second derivation unit 64 analyzes the second detection signal input from the acquisition unit 60. The example 64 performs frequency analysis by performing FFT (Fast Fourier Transform) on the second detection signal as an example of the analysis method.

  In the next step S154, the second derivation unit 64 determines whether or not noise has occurred based on the analysis result in step S152. In the present embodiment, a signal strength serving as a reference for determining noise (hereinafter, referred to as a “determination reference value”) is determined in advance, and for each frequency, whether the signal strength as an analysis result exceeds the determination reference value is determined. Is determined, and if it exceeds the determination criterion, it is determined that noise has occurred. FIG. 12 shows an example of a frequency analysis result when noise occurs. In the example illustrated in FIG. 12, since there is a signal having an intensity exceeding the determination reference value, the second deriving unit 64 determines that noise has occurred. Note that the determination method by which the second derivation unit 64 determines whether noise has occurred is not limited to the present embodiment. For example, a representative value such as a maximum value, an average value, and an RMS (Root Mean Square) value of the second detection signal is derived, and the derived representative value is compared with a determination reference value. When it exceeds, it is good also as a form which judges that noise has occurred. In the case of the determination method of this embodiment, although the accuracy of noise determination is lower than that of the determination method of the present embodiment, the time required for processing can be reduced, and the processing load can be reduced.

  If no noise has occurred, the determination in step S154 is negative, and the process proceeds to step S160. On the other hand, when noise is occurring, the determination in step S154 is affirmative, and the process proceeds to step S156. In step S156, the second deriving unit 64 derives the level of the generated noise. In the present embodiment, as an example, information indicating the correspondence between the signal strength and the noise level is stored in the storage unit 76 in advance. The second deriving unit 64 derives a noise level corresponding to the signal strength of the signal determined to be noise based on the information indicating the correspondence stored in the storage unit 76, and obtains the information indicating the derived noise level. Is output to the image generation unit 66.

  In the next step S158, the display control unit 68 causes the display unit 52 to display a noise level image as information representing the noise level derived in step S156.

  FIG. 13 shows an example of the noise level image 82 displayed on the display unit 52. The noise level image 82 shown in FIG. 13 shows the noise level by the same method as the display of the antenna state in the mobile phone. In the example shown in FIG. 13, the noise level is divided into four levels without including the case where no noise is generated, and by sequentially changing the colors of the four bar-shaped images included in the noise level image 82, Indicates the noise level. The specific noise level image 82 is not particularly limited. For example, an analysis result of the frequency analysis may be displayed. As a specific example, a graph of the frequency analysis result shown in FIG. Is also good. In this case, the detection unit 50 can present the noise level and the frequency at which the noise is generated in more detail than the noise level image 82 illustrated in FIG. It is preferable that the display format of the noise level image 82 can be selected by the inspector.

  Note that, in the present embodiment, the noise level image 82 is displayed in the margin of the combined image, an example of which is shown in FIG. 10, but the location where the noise level image 82 is displayed is not limited to this embodiment. Under the control of the display control unit 68, the display may be displayed on a display device or the like different from the display unit 52. In addition, for example, the noise level image 82 may be displayed, or instead of displaying the noise level image 82 on the display unit 52, an audio display may be performed.

  In the next step S160, the display control unit 68 determines whether to end the second derivation process. As an example, the display control unit 68 of the present embodiment determines that the second derivation process is to be terminated when the endoscopic examination is being performed and the endoscope examination is to be terminated. When the endoscope inspection is not performed, the display control unit 68 turns off the power supply (not shown) of the endoscope inspection device 12 and operates the operation unit (not shown) of the endoscope inspection device 12. It is determined that the second derivation process is to be ended when an end instruction is issued by the inspector via the interface. If the determination in step S160 is negative, the process returns to step S150, and the processes in steps S152 to S158 are repeated. On the other hand, if the determination in step S160 is affirmative, the second derivation process ends.

  As described above, the detection unit 50 of the present embodiment includes the acquisition unit 60 and the display control unit 68. The detection unit 50 according to the present embodiment includes a receiving coil unit 22 including a plurality of receiving coils 23 provided along an insertion unit 10A in which the acquisition unit 60 is inserted into the subject W in the endoscope 10; A detection signal representing a magnetic field detected by the transmission coil unit 48 including a plurality of transmission coils 49 provided outside W is acquired. In addition, based on the detection signal acquired by the acquisition unit 60, the display control unit 68 causes the display unit 52 to display information indicating the detection accuracy of at least one of the position and the shape of the insertion unit 10A detected based on the detection signal. Perform control.

  According to the detection unit 50 of the present embodiment, information indicating the detection accuracy is displayed. For example, the degree of the detection error and the noise level are displayed, so that the detection accuracy can be displayed more easily. it can. For example, as compared with a case where the detection accuracy is simply displayed as being good or bad, according to the detection unit 50 of the present embodiment, the degree of deterioration of the accuracy can be known, and the detection accuracy can be more easily understood.

  Further, the detection unit 50 of the present embodiment displays two types of information as a noise level image 82 indicating a noise level and a detection error image 80 indicating a detection error as detection accuracy. Therefore, according to the detection unit 50 of the present embodiment, the detection accuracy can be displayed in a more easily understandable manner than when any one type of detection accuracy is displayed. Further, according to the detection unit 50 of the present embodiment, since the detection error increases and the width of the detection error image 80 increases as the shape of the insertion unit 10A of the endoscope 10 is unfavorable, the detection error image 80 It is easy to understand that the shape of the insertion section 10A of the endoscope 10 is in an undesirable state.

  In the present embodiment, the description has been given of the mode in which the detection unit 50 derives the detection error by the first derivation unit 63 and derives the noise level by the second derivation unit 64, but is not limited to this embodiment. Instead, only one of the deriving units may be provided to derive one error.

  Further, the mode in which the second deriving unit 64 of the present embodiment derives the noise level using the second detection signal output from one reception coil 23 has been described, but is not limited to this embodiment. Alternatively, the second detection signal output from each of the plurality of reception coils 23 may be used. In this case, analysis such as frequency analysis may be performed on each of the plurality of second detection signals to determine noise. Further, the display control unit 68 may display a noise level image 82 indicating the presence or absence of noise and the noise level for each reception coil 23 (second detection signal).

  The above-described detection period and noise derivation period are examples, and are not limited to the present embodiment. For example, at least a part of the detection period and the noise derivation period may overlap. As an example, FIG. 14 shows an example of a time chart when the detection period and the noise derivation period are the same, in other words, when noise is also detected during the detection period. In the case shown in FIG. 14, in the predetermined receiving coil 23n, the first detection signal and the second detection signal are the same. As shown in FIG. 14, the signal value of the second detection signal is larger than in the case where the detection period is different from the noise derivation period. Also, as shown in FIG. 14, when the detection period and the noise derivation period are the same, noise is generated by the second derivation unit 64 on the second detection signal in the second derivation process. FIG. 15 shows an example of the frequency analysis result in this case. In the example illustrated in FIG. 15, the signal strength of the frequency corresponding to the detected amount of the generated magnetic field increases, so that the second deriving unit 64 determines the signal strength of the frequency band excluding this frequency band and the determination reference value. May be compared to derive the presence / absence of noise and the level of noise. In this case, when noise is included in the frequency band corresponding to the detected magnetic field, the noise is hardly detected, and the entire period including the detection period and the noise derivation period can be shortened.

  Further, as described above, in the detection unit 50 (endoscope system 1) of the present embodiment, the first derivation process (see FIG. 7) by the first derivation unit 63 is not performed, and the second derivation by the second derivation unit 64 is performed. Only processing is performed, and environmental noise can be measured separately from endoscopy. When only the second derivation process is performed as described above, only the noise derivation period may be provided, and the detection period may not be provided.

  Further, in the second derivation process performed by the second derivation unit 64 of the present embodiment, when it is determined that no noise is generated, nothing is displayed, but the present invention is not limited to this embodiment. Information indicating that no noise is generated may be displayed on the display unit 52 or the like, for example.

  In the present embodiment, the detection device 14 includes the transmission unit 41 including the transmission coil unit 48 that generates a magnetic field in the endoscope inspection device 12, and includes the reception coil unit 22 that detects the magnetic field in the endoscope 10. Although the receiving unit 21 is arranged, the detecting device 14 is not limited to this embodiment. For example, a magnetic field generating element that generates a magnetic field other than the transmission coil unit 48 (transmission coil 49) such as a spin torque oscillation element may be used. Further, for example, a magnetic field detecting element for detecting a magnetic field other than the receiving coil unit 22 (receiving coil 23) such as a Hall element or an MR (Magneto Resistive) element may be used. Further, the detection device 14 may be configured such that the reception unit 21 is disposed in the endoscope inspection device 12 and the transmission unit 41 is disposed in the endoscope 10.

  Further, in the present embodiment, an embodiment in which the detection unit 50 has the functions of the acquisition unit 60, the shape detection unit 62, the first derivation unit 63, the second derivation unit 64, the image generation unit 66, and the display control unit 68 will be described. However, some of these functions may be provided in another device or a plurality of devices. For example, one of the first derivation unit 63 and the second derivation unit 64 may be provided in a device outside the detection unit 50.

  Further, in the present embodiment, the form in which the shape detection unit 62 generates the combined image 100 in which the shape image 90 and the endoscope image 94 are combined has been described. However, the present invention is not limited to this embodiment. The endoscope image 94 may be displayed on the display unit 52 as a separate image without being combined. Further, each of the endoscope image 94 and the shape image 90 may be displayed on a separate display device.

  In the present embodiment, for example, a processing unit (processing unit) that executes various processes such as an acquisition unit 60, a shape detection unit 62, a first derivation unit 63, a second derivation unit 64, an image generation unit 66, and a display control unit 68. The following various processors can be used as the hardware structure. As described above, in addition to the CPU, which is a general-purpose processor that executes software (programs) and functions as various processing units, the above-described various processors include a circuit after manufacturing an FPGA (Field Programmable Gate Array) or the like. Dedicated electricity, which is a processor having a circuit configuration specifically designed to execute a specific process such as a programmable logic device (PLD) or an ASIC (Application Specific Integrated Circuit), which is a processor whose configuration can be changed. Circuit etc. are included.

  One processing unit may be configured by one of these various processors, or a combination of two or more processors of the same type or different types (for example, a combination of a plurality of FPGAs or a combination of a CPU and an FPGA). Combination). Further, a plurality of processing units may be configured by one processor.

  As an example of configuring a plurality of processing units with one processor, first, as represented by computers such as a client and a server, one processor is configured by a combination of one or more CPUs and software. There is a form in which the processor functions as a plurality of processing units. Second, as represented by a system-on-chip (System On Chip: SoC) or the like, a form in which a processor that realizes the functions of the entire system including a plurality of processing units with one integrated circuit (IC) chip is used. No. As described above, the various processing units are configured using one or more of the above-described various processors as a hardware structure.

  Further, as a hardware structure of these various processors, more specifically, an electric circuit (circuitry) in which circuit elements such as semiconductor elements are combined can be used.

  In the above embodiment, the first derivation processing program 78A and the second derivation processing program 78B have been described as being stored (installed) in the storage unit 76 in advance. However, the present invention is not limited to this. Each of the first derivation processing program 78A and the second derivation processing program 78B includes a CD-ROM (Compact Disk Read Only Memory), a DVD-ROM (Digital Versatile Disk Read Only Memory), and a USB (Universal Serial Bus) memory. It may be provided in a form recorded on a recording medium. Further, each of the first derivation processing program 78A and the second derivation processing program 78B may be configured to be downloaded from an external device via a network.

Endoscopic system 10 endoscope 1, 10A insertion portion, 10B operation unit 11 the cable 12 within the endoscopy device 14 detection apparatus 20 reception control unit 21 receiver 22 receiver coil unit ₂₃ 1 _{~ 23} 16, 23n receive coils 24 ₁ To 24 ₁₆ receiving circuit 26 _{1 to} 26 ₁₆ ADC
29 I / F
30 image sensor 34 video processor 36 light source 40 overall control unit 41 transmission unit 42 transmission control unit 44 transmission control unit 46 _1X , 46 _1Y , 46 _{1Z to} 46 _4X , 46 _4Y , 46 _4Z transmission circuit 48 transmission coil unit 49 _1X , 49 _1Y , 49 _1Z to _494X , _494Y , _494Z Transmission coil 50 Detection unit 52 Display unit 53 I / F
60 acquisition unit 62 shape detection unit 63 first derivation unit 64 second derivation unit 66 image generation unit 68 display control unit 70 CPU
72 ROM
74 RAM
76 Storage unit 78A First derivation processing program, 78B Second derivation processing program 79 Bus 80 Detection error image 82 Noise level image 90 Shape image 94 Endoscope image 100 Composite image FG1 to FG12 Magnetic fields H1 to H3 Widths S1 to S12, Sn Detection signal W Subject

Claims (13)

A plurality of magnetic field generating elements and one of a plurality of magnetic field detecting elements provided along an insertion portion to be inserted into a subject in an endoscope, and the other plurality of elements provided outside the subject. An acquisition unit that acquires a detection signal representing a magnetic field detected by the element of
Based on the detection signal acquired by the acquisition unit, a display control unit that performs control to display information representing the detection accuracy of at least one of the position and the shape of the insertion unit detected based on the detection signal on a display unit. ,
Display control device provided with. The display control unit performs control to cause the display unit to display predetermined information according to a shape of the insertion unit, as the information indicating the detection accuracy,
The display control device according to claim 1. The display control unit, along with information indicating the detection accuracy, performs control to display the shape of the insertion unit on the display unit,
The display control device according to claim 2. The display control unit performs control to display an image representing information representing the detection accuracy on the display unit in association with an image representing the shape of the insertion unit.
The display control device according to claim 3. The display control unit performs control to display an image that is provided along the image of the insertion unit and that represents an area that is wider as the accuracy is deteriorated, as information indicating the detection accuracy.
The display control device according to claim 4. The display control unit performs control to cause the display unit to display predetermined information according to the influence of noise as information representing the detection accuracy,
The display control device according to claim 1. Based on the detection signal output from at least one of the plurality of magnetic field detection elements, further comprising a derivation unit for deriving the level of the noise,
The display control device according to claim 6. The detection signal includes a first detection signal used for detecting at least one of the position and the shape of the insertion portion, and a second detection signal acquired at a timing different from the first detection signal.
The deriving unit derives a level of the noise based on the second detection signal,
The display control device according to claim 7. The second detection signal is a detection signal output from at least one of the plurality of magnetic field detection elements in a state where each of the plurality of magnetic field generation elements does not generate a magnetic field.
The display control device according to claim 8. The display control unit performs control to cause the display unit to display at least one of a graph representing the noise level and a numerical value representing the noise level, as the information representing the detection accuracy.
The display control device according to claim 6. An endoscope having an insertion portion to be inserted into the subject,
Provided along the insertion portion, a plurality of magnetic field generating elements, one of the plurality of magnetic field detecting elements, and the magnetic field detected by the other plurality of elements provided outside the subject A detection device that detects at least one of the position and the shape of the insertion portion based on the detection signal that represents the
The display control device according to any one of claims 1 to 10, wherein the display control device performs control to display information indicating detection accuracy of the detection device on a display unit.
Endoscope system equipped with A plurality of magnetic field generating elements and one of a plurality of magnetic field detecting elements provided along an insertion portion to be inserted into a subject in an endoscope, and the other plurality of elements provided outside the subject. Obtain a detection signal representing the magnetic field detected by the element of
Based on the detection signal, performing control to display information representing at least one of the detection accuracy of the position and the shape of the insertion portion detected based on the detection signal on a display unit,
A display control method in which processing is performed by a computer. A plurality of magnetic field generating elements and one of a plurality of magnetic field detecting elements provided along an insertion portion to be inserted into a subject in an endoscope, and the other plurality of elements provided outside the subject. Obtain a detection signal representing the magnetic field detected by the element of
Based on the detection signal, performing control to display information representing at least one of the detection accuracy of the position and the shape of the insertion portion detected based on the detection signal on a display unit,
A display control program that executes processing by a computer.