JP2021016631A - Endoscope shape display control device, operation method of endoscope shape display control device, and operation program of endoscope shape display control device - Google Patents

Abstract

To provide an endoscope shape display control device, an operation method of the endoscope shape display control device, and an operation program of the endoscope shape display control device which enable a user to grasp the shape of the insertion part of an endoscope and the relative position of a magnetic field device with respect to the insertion part.SOLUTION: The endoscope shape display control device comprises: an information acquisition unit that acquires magnetic field measurement data indicating the intensity of a magnetic field detected by a magnetic field detection element, as information for detecting the shape of an insertion part; and an image generation unit that generates a shape display image for displaying the shape of the insertion part on the basis of the acquired magnetic field measurement data, and displays, on the shape display image, a first position marker indicating the relative position of a magnetic field device with respect to the insertion part, in addition to the shape of the insertion part.SELECTED DRAWING: Figure 3

Description

The present disclosure relates to an endoscope shape display control device, an operation method of the endoscope shape display control device, and an operation program of the endoscope shape display control device.

Endoscopes for observing the lower gastrointestinal tract such as the large intestine are known. The lower gastrointestinal tract is intricately curved, unlike the upper gastrointestinal tract, such as the esophagus, which extends relatively linearly. Therefore, when an endoscope is inserted into the lower gastrointestinal tract, which is a subject such as a patient, the insertion portion of the endoscope is also complicatedly curved. In order to grasp the shape of the insertion portion of the endoscope inserted into the subject, an endoscope shape detecting device that detects the shape of the insertion portion of the endoscope in the subject (for example, Patent Document). 1 and 2) are known.

The endoscopic shape detecting apparatus described in Patent Documents 1 and 2 uses magnetism to acquire information for imaging the shape of the insertion portion in the subject, and inserts the device based on the acquired information. It has a function to image the shape of the part. For example, a plurality of magnetic field generating elements are arranged at intervals in the insertion portion of the endoscope. The endoscope shape detecting device detects the magnetic field generated by each magnetic field generating element in the insertion portion by the magnetic field detecting element arranged outside the subject. Since the strength of the magnetic field of each detected magnetic field generating element represents the position of each part of the insertion portion with respect to the magnetic field detecting element outside the subject, the endoscope shape detecting devices described in Patent Documents 1 and 2 have each. The information on the strength of the magnetic field of the magnetic field generating element is used as information for imaging the shape of the insertion portion to generate an image showing the shape of the insertion portion. Then, the generated image is displayed on the monitor and presented to a user such as an operator (doctor).

Japanese Unexamined Patent Publication No. 2004-551 Japanese Unexamined Patent Publication No. 9-28660

In the endoscope shape detecting devices of Patent Documents 1 and 2, a plurality of magnetic field generating elements are provided in the insertion portion of the endoscope, and the magnetic field detecting elements paired with the magnetic field generating elements are arranged outside the subject. It is provided in the magnetic field device. In the endoscope shape detecting device, the shape of the insertion part of the endoscope in the state of being inserted in the subject is detected by using the magnetic field by cooperating with the endoscope and the magnetic field device. ing. In the endoscope shape detecting devices described in Patent Documents 1 and 2, the magnetic field detecting element is provided in the magnetic field device and the magnetic field generating element is provided in the endoscope. On the contrary, the magnetic field detecting element is used for endoscopy. Even if a magnetic field generating element is provided in the magnetic field device in the mirror, the same function can be realized.

When detecting the shape of the insertion portion, the position of the insertion portion is detected as a position relative to the magnetic field device. Therefore, if the relative positional relationship between the insertion part and the magnetic field device is not appropriate, it will affect the detection accuracy, so it is required to show whether the insertion part and the magnetic field device can be used in an appropriate positional relationship. It had been.

The technology of the present disclosure is an endoscope shape display control device and an endoscope shape display control device that can allow the user to grasp the shape of the insertion portion of the endoscope and the relative position of the magnetic field device with respect to the insertion portion. It is an object of the present invention to provide an operation method of the endoscope shape display control device and an operation program of the endoscope shape display control device.

The endoscope shape display control device according to one aspect of the present disclosure includes an endoscope in which one of a magnetic field generating element and a magnetic field detecting element is arranged in an insertion portion inserted into a subject, and a magnetic field generating element and magnetic field detection. It is used in an endoscopic shape detection device that has the other side of the element and has a magnetic field device that is placed outside the subject, and detects the shape of the insertion part of the endoscope that is inserted inside the subject. It is an endoscope shape display control device that images the shape of the insertion part inserted in the sample, and is used to detect the shape of the insertion part by magnetic field measurement data indicating the strength of the magnetic field detected by the magnetic field detection element. An information acquisition unit that is acquired as information of the above, and an image generation unit that generates a shape display image that displays the shape of the insertion unit based on the acquired magnetic field measurement data. In addition to the shape of the insertion unit, the insertion unit is It includes an image generation unit that displays a first position indicator indicating the relative position of the magnetic field device on the shape display image.

In the endoscope shape display control device of the above aspect, the image generation unit may display a figure indicating the range in which the housing of the magnetic field device exists as the first position indicator.

Further, in the endoscope shape display control device of the above aspect, the figure may include at least two lines indicating the positions of both ends of the housing.

Further, in the endoscope shape display control device of the above aspect, the image generation unit may display an external view of the housing as a first position indicator.

Further, in the endoscope shape display control device of the above aspect, the image generation unit may display the examination table on which the subject is placed in the shape display image in addition to the shape of the insertion unit.

Further, in the endoscope shape display control device of the above aspect, when an extracorporeal marker arranged outside the subject and the position is detected by using the magnetic field device is used, the information acquisition unit. Acquires the magnetic field measurement data for detecting the position of the extracorporeal marker in addition to the magnetic field measurement data for detecting the shape of the insertion portion, and the image generator obtains the magnetic field measurement data for detecting the position of the extracorporeal marker. A second position marker indicating the relative position of the extracorporeal marker may be displayed on the shape display image.

Further, in the endoscope shape display control device of the above aspect, when the housing of the extracorporeal marker is provided with the identification color display unit in which the identification color is displayed, the image generation unit displays the identification color. The second position sign may be displayed on the shape display image in the same color as the color displayed in the unit.

The method of operating the endoscope shape display control device according to one aspect of the present disclosure includes an endoscope in which one of a magnetic field generating element and a magnetic field detecting element is arranged in an insertion portion inserted into a subject, and a magnetic field generating element. And a magnetic field device that has the other of the magnetic field detection elements and is placed outside the subject, and is used for the endoscope shape detection device that detects the shape of the insertion part of the endoscope inserted in the subject. This is an operation method of the endoscope shape display control device that images the shape of the insertion part inserted in the subject, and inserts magnetic field measurement data indicating the strength of the magnetic field detected by the magnetic field detection element. An information acquisition step to be acquired as information for detecting the shape of the insertion portion, and an image generation step to generate a shape display image for displaying the shape of the insertion portion based on the acquired magnetic field measurement data. In addition, it includes an image generation step of displaying a first position indicator indicating the relative position of the magnetic field device with respect to the insertion portion on the shape display image.

The operation program of the endoscope shape display control device according to one aspect of the present disclosure includes an endoscope in which one of a magnetic field generating element and a magnetic field detecting element is arranged in an insertion portion inserted into a subject, and a magnetic field generating element. And a magnetic field device that has the other of the magnetic field detection elements and is arranged outside the subject, and is used for the endoscope shape detection device that detects the shape of the insertion part of the endoscope inserted in the subject. This is an operation program of the endoscope shape display control device that images the shape of the insertion part inserted in the subject, and inserts magnetic field measurement data indicating the strength of the magnetic field detected by the magnetic field detection element. An information acquisition unit that is acquired as information for detecting the shape of the insertion unit, and an image generation unit that generates a shape display image that displays the shape of the insertion unit based on the acquired magnetic field measurement data. In addition, the computer functions as an image generation unit that displays a first position indicator indicating the relative position of the magnetic field device with respect to the insertion unit on the shape display image.

According to the technique of the present disclosure, an endoscope shape display control device and an endoscope shape display capable of allowing the user to grasp the shape of the insertion portion of the endoscope and the relative position of the magnetic field device with respect to the insertion portion. It is possible to provide an operation method of the control device and an operation program of the endoscope shape display control device.

It is explanatory drawing which shows the state of the endoscopy using the endoscopy system which concerns on 1st Embodiment. It is the schematic which shows the whole structure of the endoscope system. It is a block diagram which shows the electrical structure of the said endoscope system. It is explanatory drawing which shows a mode that a plurality of detection coils detect a magnetic field generated by a plurality of generation coils. It is explanatory drawing which shows an example of the magnetic field measurement data. It is explanatory drawing for demonstrating the discrimination process by a discrimination unit and the position detection process of each detection coil by a position detection part. It is explanatory drawing which shows an example of the shape detection processing of the insertion part. It is a functional block diagram of an image generation part. It is explanatory drawing which shows an example of the magnetic field generator information. It is explanatory drawing which shows an example of sleeper information. It is a figure which shows the positional relationship between a magnetic field generator and a bed. It is a figure which shows the positional relationship between a magnetic field generator and a bed. It is explanatory drawing which shows an example of the processing in a modeling part. It is a flowchart for demonstrating the flow of the shape display image generation processing by a display control unit. It is explanatory drawing which shows an example of the 3D model generation processing of an insertion part. It is a figure which shows an example of the shape display image. It is explanatory drawing which shows the state of the endoscopy using the endoscopy system which concerns on 2nd Embodiment. It is the schematic which shows the whole structure of the endoscope system. It is a block diagram which shows the electrical structure of the said endoscope system. It is explanatory drawing which shows an example of the magnetic field measurement data. It is explanatory drawing which shows an example of coil position data. It is explanatory drawing which shows an example of the 3D model generation processing of an insertion part. It is a figure which shows an example of the shape display image. It is a figure which shows an example of the shape display image. It is a figure which shows an example of the shape display image. It is a figure which shows an example of the shape display image. It is a figure which shows an example of the shape display image.

"First embodiment"
[Overall configuration of the endoscope system]
FIG. 1 is a schematic view showing an overall configuration of an endoscope system 9 including an endoscope shape display control device according to the first embodiment of the present disclosure. As shown in FIG. 1, the endoscope system 9 includes an endoscope 10, a light source device 11, a navigation device 12, a magnetic field generator 13, a processor device 14, and a monitor 15. The endoscopy system 9 is used for endoscopy in the body of a subject H such as a patient. Subject H is an example of a subject. The endoscope 10 is, for example, an endoscope inserted into the digestive tract such as the large intestine, and is a flexible endoscope having flexibility. The endoscope 10 is connected to an insertion portion 17 to be inserted into the digestive tract, an operation portion 18 connected to the base end side of the insertion portion 17 and gripped by the operator OP to perform various operations, and an operation portion 18. It has a universal code 19 provided.

The endoscopy is performed, for example, in a state where the subject H is laid down on the top surface 16A of the bed 16. In the case of a large intestine examination, the insertion portion 17 of the endoscope 10 is inserted into the digestive tract from the anus by the surgeon OP who is a doctor. The light source device 11 supplies the endoscope 10 with illumination light that illuminates the inside of the large intestine, which is an observation site. The processor device 14 generates the observation image 41 by processing the image captured by the endoscope 10. The observation image 41 is displayed on the monitor 15. The surgeon OP proceeds with the endoscopy while confirming the observation image 41. The observation image 41 displayed on the monitor 15 is basically a moving image, but it is also possible to display a still image as the observation image 41 as needed.

Further, the endoscope system 9 has a navigation function for navigating a procedure such as an insertion operation of the endoscope 10 performed by the operator OP. Here, the navigation means the endoscopy of the operator OP by presenting the insertion state including the position and shape of the insertion portion 17 of the endoscope 10 in the body of the subject H to the operator OP. It means to support the procedure of the mirror 10. The navigation function detects the insertion state of the insertion unit 17 using the magnetic field MF and presents the detected insertion state.

The navigation function is realized by the navigation device 12, the magnetic field generator 13, and the magnetic field measuring device in the endoscope 10 described later. The magnetic field generator 13 generates a magnetic field MF. The magnetic field generator 13 has a configuration in which a plate-shaped housing 5 is attached to a stand 6. The magnetic field generator 13 is arranged at a predetermined position within a range in which the generated magnetic field MF reaches the body of the subject H. The position where the magnetic field generator 13 is arranged will be described later. The magnetic field generator 13 is an example of a magnetic field device according to the technique of the present disclosure.

The magnetic field measuring device in the endoscope 10 detects the magnetic field MF generated by the magnetic field generator 13 and measures the strength of the detected magnetic field MF. The navigation device 12 detects the insertion state of the insertion unit 17 by deriving the relative position between the magnetic field generator 13 and the insertion unit 17 based on the result of the magnetic field measurement by the magnetic field measurement device. The processor device 14 generates a shape display image 42 showing the insertion state detected by the navigation device 12.

The monitor 15 displays the observation image 41 and the shape display image 42. A monitor 15 for displaying the observation image 41 and the shape display image 42 may be provided separately.

Further, in FIG. 1, the position where the magnetic field generator 13 is arranged does not indicate the position where the magnetic field generator 13 is actually arranged. The relative positional relationship between the magnetic field generator 13 and the sleeper 16 is shown in FIGS. 8 and 9 as will be described later. The magnetic field generator 13 is an example of a magnetic field device.

As shown in FIG. 2, the insertion portion 17 is a tubular portion having a small diameter and a long length, and the soft portion 21, the curved portion 22, and the tip portion 23 are sequentially formed from the proximal end side to the distal end side. It is composed of being connected. The flexible portion 21 has flexibility. The curved portion 22 is a portion that can be bent by the operation of the operating portion 18. An imaging device 48 (see FIG. 3) or the like is arranged at the tip portion 23. Further, although not shown in FIG. 2, on the tip surface of the tip portion 23, an illumination window 46 (see FIG. 3) that illuminates the observation portion with illumination light and an observation window in which the subject light reflected by the illumination light is incident. 47 (see FIG. 3), a treatment tool outlet (not shown) for the treatment tool to protrude, and a cleaning nozzle for cleaning the observation window 47 by injecting gas and water into the observation window 47 (FIG. 3). Not shown) and are provided.

A light guide 33, a signal cable 32, an operation wire (not shown), and a pipeline for inserting a treatment tool (not shown) are provided in the insertion portion 17. The light guide 33 extends from the universal cord 19 and guides the illumination light supplied from the light source device 11 to the illumination window 46 at the tip portion 23. The signal cable 32 is used for power supply to the image pickup apparatus 48 in addition to communication of the image signal from the image pickup apparatus 48 and the control signal for controlling the image pickup apparatus 48. Like the light guide 33, the signal cable 32 also extends from the universal cord 19 and is arranged up to the tip portion 23.

The operation wire is a wire for operating the curved portion 22, and is arranged between the operating portion 18 and the curved portion 22. The pipe for inserting the treatment tool is a pipe for inserting a treatment tool (not shown) such as forceps, and is arranged from the operation portion 18 to the tip portion 23. In addition, a fluid tube for supplying air and water is provided in the insertion portion 17. The fluid tube supplies the tip 23 with gas and water for cleaning the observation window 47.

Further, in the insertion portion 17, a plurality of detection coils 25 are provided from the soft portion 21 to the tip portion 23 at preset intervals. Each detection coil 25 corresponds to a magnetic field detection element that detects the magnetic field MF. Each detection coil 25 is affected by the magnetic field MF generated from the magnetic field generator 13, so that an induced electromotive force is generated by the action of electromagnetic induction, and an induced current is generated by the induced electromotive force. The value of the induced current generated from each detection coil 25 represents the strength of the magnetic field MF detected by each detection coil 25, and this is the magnetic field measurement result. That is, the magnetic field measurement result means a value corresponding to the magnitude of the induced current representing the strength of the magnetic field MF.

The operation unit 18 is provided with various operation members operated by the operator OP. Specifically, the operation unit 18 is provided with two types of curved operation knobs 27, an air supply / water supply button 28, and a suction button 29. Each of the two types of bending operation knobs 27 is connected to an operation wire, and is used for a left-right bending operation and a vertical bending operation of the bending portion 22. Further, the operation unit 18 is provided with a treatment tool introduction port 31 which is an entrance of a pipeline for inserting the treatment tool.

The universal cord 19 is a connection cord for connecting the endoscope 10 to the light source device 11. The universal cord 19 includes a signal cable 32, a light guide 33, and a fluid tube (not shown). Further, a connector 34 connected to the light source device 11 is provided at the end of the universal cord 19.

By connecting the connector 34 to the light source device 11, the light source device 11 supplies the endoscope 10 with electric power, a control signal, illumination light, gas, and water necessary for operating the endoscope 10. Further, the image signal of the observation portion acquired by the imaging device 48 (see FIG. 2) of the tip portion 23 and the magnetic field measurement result based on the detection signal of each detection coil 25 are transmitted from the endoscope 10 to the light source device 11. Will be done.

The connector 34 is not electrically connected to the light source device 11 by using a metal signal line or the like, and instead, the connector 34 and the light source device 11 are connected to each other by optical communication (non-contact communication). ) Is connected so that communication is possible. The connector 34 transmits and receives a control signal exchanged between the endoscope 10 and the light source device 11 and transmits an image signal and a magnetic field measurement result from the endoscope 10 to the light source device 11 by optical communication. The connector 34 is provided with a Laser Diode (hereinafter referred to as LD) 36 connected to the signal cable 32.

The LD36 is used for transmitting a large amount of data from the endoscope 10 to the light source device 11, specifically, transmitting an image signal and a magnetic field measurement result. The LD36 transmits an image signal and a magnetic field measurement result, which were originally in the form of an electric signal, in the form of an optical signal to a photodiode (hereinafter referred to as PD) 37 provided in the light source device 11. ..

Although not shown, a small-capacity control signal exchanged between the endoscope 10 and the light source device 11 is converted into an optical signal for both the connector 34 and the light source device 11 separately from the LD36 and PD37. An optical transmission / reception unit for transmitting / receiving is provided. Further, the connector 34 is provided with a power receiving unit (not shown) that receives power by wireless power supply from the power feeding unit (not shown) of the light source device 11.

The light guide 33 in the connector 34 is inserted into the light source device 11. Further, the fluid tube (not shown) in the connector 34 is connected to the air supply / water supply device (not shown) via the light source device 11. As a result, the light source device 11 and the air supply / water supply device supply the illumination light, the gas, and the water to the endoscope 10, respectively.

The light source device 11 supplies illumination light to the light guide 33 of the endoscope 10 via the connector 34, and supplies gas and water supplied from the air supply / water supply device (not shown) to the fluid tube of the endoscope 10. Supply to (not shown). Further, the light source device 11 receives the light signal transmitted from the LD 36 by the PD 37, converts the received light signal into the original image signal which is an electric signal and the magnetic field measurement result, and then outputs the light signal to the navigation device 12.

The navigation device 12 outputs an image signal for generating the observation image 41 input from the light source device 11 to the processor device 14. Further, the navigation device 12 controls the drive of the magnetic field generator 13 described later, detects the shape of the insertion portion 17 in the body of the subject H, and generates the shape display image 42 from this detection result. It is output to the processor device 14 as information for the purpose.

As described above, the endoscope 10 in this example is a one-connector type having one connector 34 connected to the light source device 11. The endoscope 10 is communicably connected to each of the processor device 14 and the navigation device 12 via the light source device 11 to which the connector 34 is connected.

The magnetic field generator 13 has a plurality of generating coils 39 corresponding to a plurality of magnetic field generating elements. Each generating coil 39 includes, for example, an X-axis coil, a Y-axis coil, and a Z-axis coil that generate an alternating magnetic field (AC magnetic field) in a direction corresponding to the XYZ coordinate axes of the Cartesian coordinate system XYZ by applying a driving current. .. Each generating coil 39 generates a magnetic field MF having the same frequency. Each generating coil 39 generates a magnetic field MF at different timings from each other under the control of the navigation device 12, which will be described in detail later.

<Endoscope>
FIG. 3 is a block diagram showing an electrical configuration of the endoscope system 9. As shown in FIG. 3, the endoscope 10 includes a light guide 33, an irradiation lens 45, an illumination window 46, an observation window 47, an image pickup device 48, a magnetic field detection circuit 49, a general control circuit 50, and the like. It has a signal cable 32, an LD36, and a fluid tube and a cleaning nozzle (not shown).

The light guide 33 is a large-diameter optical fiber, a bundle fiber, or the like. The incident end of the light guide 33 is inserted into the light source device 11 via the connector 34. The light guide 33 is inserted into the connector 34, the universal cord 19, and the operation portion 18, and the emission end faces the irradiation lens 45 provided in the tip portion 23 of the insertion portion 17. As a result, the illumination light supplied from the light source device 11 to the incident end of the light guide 33 is irradiated to the observation portion from the irradiation lens 45 through the illumination window 46 provided on the tip surface of the tip portion 23. Then, the illumination light reflected by the observation portion is incident on the imaging surface of the imaging device 48 as the image light of the observation portion through the observation window 47 provided on the tip surface of the tip portion 23.

One end side of the above-mentioned fluid tube (not shown) is connected to an air supply / water supply device (not shown) through a connector 34 and a light source device 11, and the other end side of the fluid tube (not shown) is an insertion portion. It is connected to an air supply / water supply nozzle (not shown) provided on the tip surface of the tip portion 23 through the inside of the 17 and the like. As a result, the gas or water supplied from the air supply / water supply device (not shown) is ejected from the air supply / water supply nozzle (not shown) onto the observation window 47, and the observation window 47 is washed.

The image pickup device 48 includes a condenser lens 52 and an image pickup device 53. The condenser lens 52 collects the image light of the observation portion incident from the observation window 47, and forms the image light of the collected observation portion on the image pickup surface of the image pickup device 53. The image pickup device 53 is a CMOS (complementary metal oxide semiconductor) type or CCD (charge coupled device) type image pickup device. The image sensor 53 is, for example, a color image sensor to which any of R (Red), G (Green), and B (Blue) microfilters is assigned to each pixel. The image sensor 53 images an observation site to be observed. More specifically, the image sensor 53 captures the image light of the observation portion imaged on the imaging surface (converts it into an electric signal) and outputs the image signal of the observation portion to the integrated control circuit 50.

Further, the image pickup device 53 is provided with an oscillation unit 53a that outputs a reference signal (clock signal) of, for example, a crystal oscillator, and the image pickup element 53 uses the reference signal oscillated from the oscillation section 53a as a reference. Outputs the image signals that make up the moving image. The reference signal interval defines the frame rate. The frame rate is, for example, 30 fps (frames per second).

The magnetic field detection circuit 49 is electrically connected to each detection coil 25 in the insertion portion 17. The magnetic field detection circuit 49 outputs magnetic field measurement data 55 including the magnetic field measurement results of each detection coil 25 according to the magnetic field MF generated from the generation coil 39 of the magnetic field generator 13 to the integrated control circuit 50.

The central control circuit 50 is configured to include various arithmetic circuits including a CPU (Central Processing Unit) and various memories, and comprehensively controls the operation of each part of the endoscope 10. The integrated control circuit 50 functions as a signal processing unit 57, a magnetic field measurement control unit 58, and an image signal output unit 59 by executing a control program stored in a memory (not shown). The magnetic field detection circuit 49 and the magnetic field measurement control unit 58 together form a magnetic field measurement unit. The magnetic field measuring unit measures a plurality of magnetic field MFs originating from each of the generating coils 39 corresponding to the plurality of magnetic field generating elements based on the detection signal output by the detection coil 25, thereby measuring the magnetic field for each magnetic field MF. Output the measurement result. The magnetic field measuring unit and the detection coil 25 are combined to form a magnetic field measuring device.

The signal processing unit 57 performs various signal processing on the image signals sequentially output from the image sensor 53. The signal processing includes, for example, analog signal processing such as correlation double sampling processing and signal amplification processing, and A / D (Analog / Digital) conversion processing for converting an analog signal into a digital signal after analog signal processing. .. The image signal after the signal processing is performed is called a frame image signal 61. The signal processing unit 57 outputs the frame image signal 61 to the image signal output unit 59 according to the frame rate. The frame image signal 61 is used as moving image data of the observation site. As described above, the plurality of frame image signals 61 are image signals that are acquired by the image sensor 53 when the image pickup device 53 executes moving image shooting and are output at preset time intervals.

The magnetic field measurement control unit 58 acquires magnetic field measurement data 55 including a plurality of magnetic field measurement results of each detection coil 25 via the magnetic field detection circuit 49, and outputs the acquired magnetic field measurement data 55 to the image signal output unit 59. ..

As shown in FIG. 4, the magnetic field measurement results of each detection coil 25 show, for example, each generation coil 39 that generates a magnetic field MF and each detection even if the strength of the magnetic field generated by each generation coil 39 is the same. It varies depending on the distance and orientation between each of the coils 25. For example, the first generating coil 39 shown in FIG. 4 has a different distance and direction from each of the first to third detection coils 25, as shown by a solid line. Therefore, with respect to the magnetic field MF generated by one first generating coil 39, the magnetic field measurement results of the first to third detection coils 25 are different. The relationship between each of the second generation coil 39 and the third generation coil 39 and each of the first to third detection coils 25 is the same.

On the contrary, even if the strength of the magnetic field MF generated by each of the first to third generation coils 39 is the same, the magnetic field of one first detection coil 25 for each magnetic field MF of each generation coil 39. The measurement results are different. Here, for example, consider the case where each of the first to third generation coils 39 is an X-axis coil, a Y-axis coil, and a Z-axis coil, respectively. In this case, the third order of the first detection coil 25 corresponding to the XYZ coordinate axes is based on the magnetic field measurement result of one first detection coil 25 for each magnetic field MF of each of the X-axis, Y-axis and Z-axis coils. The original coordinate position can be detected. The same applies to the second detection coil 25 and the third detection coil 25. If the three-dimensional coordinate positions of the detection coils 25 provided in the insertion portion 17 at preset intervals can be detected, the shape of the insertion portion 17 can be detected.

Actually, based on the magnetic field measurement result, the angle of each detection coil 25 is detected in addition to the three-dimensional coordinate position of each detection coil 25. The shape of the insertion portion 17 is detected based on the information of the three-dimensional coordinate position and the angle. In the following, in order to avoid complication, the angle will be omitted and only the three-dimensional coordinate position will be described.

FIG. 5 is an explanatory diagram for explaining an example of the magnetic field measurement data 55 acquired by the magnetic field measurement control unit 58. The magnetic field measurement control unit 58 includes a plurality of magnetic field measurement results in which each of the plurality of detection coils 25 detects each of the plurality of magnetic field MFs generated by the plurality of generation coils 39 and is output from each detection coil 25. The magnetic field measurement data 55 is acquired.

In FIG. 5, (1) to (4) are data strings showing the magnetic field measurement results of the plurality of detection coils 25 with respect to the magnetic field MF generated by each of the generating coils 39. For example, "D11" is a magnetic field measurement result in which the magnetic field MF generated by the first generating coil 39 is detected by the first detecting coil 25. “D12” is a magnetic field measurement result obtained by detecting the magnetic field MF generated by the first generating coil 39 with the “second detection coil”. Similarly, “D42” is a magnetic field measurement result in which the magnetic field MF generated by the fourth generating coil 39 is detected by the second detecting coil 25. “D43” is a magnetic field measurement result obtained by detecting the magnetic field MF generated by the fourth generating coil 39 with the third detecting coil 25.

The magnetic field measurement control unit 58 sequentially acquires the magnetic field measurement results of each detection coil 25 while synchronizing with the magnetic field generation timing of each generation coil 39 in the magnetic field generator 13. For example, the magnetic field measurement control unit 58 acquires the magnetic field measurement results of all the detection coils 25 for each magnetic field MF of all the generating coils 39 in one magnetic field measurement period defined by the synchronization signal described later. To do. As a result, the magnetic field measurement control unit 58 acquires the magnetic field measurement data 55 including a plurality of magnetic field measurement results relating to all combinations of each generation coil 39 and each detection coil 25 in one magnetic field measurement period.

For example, when nine generation coils 39 are provided in the magnetic field generator 13 and 17 detection coils 25 are provided in the insertion portion 17, 17 magnetic field measurement results for each generation coil 39 are provided. Is obtained. Therefore, the magnetic field measurement control unit 58 acquires the magnetic field measurement data 55 including a total of 9 × 17 = 153 magnetic field measurement results within one magnetic field measurement period. The magnetic field measurement data 55 including a plurality of magnetic field measurement results related to all such combinations is referred to as total magnetic field measurement data. In this example, unless otherwise specified, the magnetic field measurement data 55 shall include the total magnetic field measurement data.

As shown in FIG. 6, the image signal output unit 59 adds a frame start signal VD to each of the plurality of frame image signals 61 sequentially input from the signal processing unit 57, and outputs the frame image signal 61. To do. In FIG. 6, “frame 1”, “frame 2”, “frame 3” ... Are frame numbers indicating the output order of the plurality of frame image signals 61, which are shown for convenience. The frame start signal VD is, for example, a vertical synchronization signal.

Further, the image signal output unit 59 adds the magnetic field measurement data 55 to the frame image signal 61 and outputs the frame image signal 61. That is, the frame start signal VD and the magnetic field measurement data 55 are included in all of the frame image signals 61 output by the image signal output unit 59. As shown in FIG. 6, the magnetic field measurement data 55 is added to the signal invalid region ND between the frame image signals 61 corresponding to the blanking time of the image sensor 53. The blanking time is, for example, a vertical blanking period. As described above, the frame start signal VD is also a signal included in the vertical blanking period of the plurality of frame image signals 61.

In FIG. 3, the image signal output unit 59 outputs the frame image signal 61 to the LD 36 described above via the signal cable 32. The LD 36 transmits an optical signal obtained by converting the frame image signal 61 into an optical signal toward the PD 37 of the light source device 11.

In this way, the image signal output unit 59 outputs the frame image signal 61 acquired from the image pickup device 53 via the signal processing unit 57 to the outside of the endoscope 10. Further, by using the frame start signal VD included in the frame image signal 61 as a synchronization signal, the image signal output unit 59 functions as a synchronization signal generation unit.

<Light source device>
The light source device 11 includes an illumination light source 63, a PD 37, a light source control unit 64, a signal relay unit 62, and a communication interface 65. The illumination light source 63 is configured to include a semiconductor light source such as an LD (Laser Diode) or a light emitting diode (LED), and emits white light having a wavelength ranging from a red region to a blue region as illumination light. It is a light source. As the illumination light source 63, in addition to the white light source, a special light light source that emits special light such as purple light and infrared light may be used. The illumination light emitted from the illumination light source 63 is incident on the incident end of the light guide 33 described above.

The light source control unit 64 is configured to include various arithmetic circuits including a CPU and various memories, and controls the operation of each part of the light source device 11 such as the illumination light source 63.

The PD37 receives the optical signal transmitted from the LD36. The PD 37 converts the frame image signal 61 received in the form of an optical signal into the form of the original electric signal, and inputs the converted frame image signal 61 to the signal relay unit 62. The signal relay unit 62 is composed of, for example, an FPGA (Field Programmable Gate Array). The FPGA is a processor whose circuit configuration can be changed after manufacturing, and the circuit configuration includes various arithmetic circuits and various memory circuits.

<Navigation device>
The navigation device 12 includes an image signal acquisition unit 68, an insertion state detection unit 70, a magnetic field generation control unit 71, a display output unit 74, an image generation unit 77, an instruction input unit 80, an information storage unit 81, and the like. Have. Each part of the navigation device 12 is composed of various arithmetic circuits (not shown) including one or a plurality of CPUs, and operates by executing a control program stored in a memory (not shown).

The image signal acquisition unit 68 acquires the frame image signal 61 from the signal relay unit 62 via the communication interface 65. Then, the image signal acquisition unit 68 outputs the acquired frame image signal 61 to the display output unit 74.

Further, the image signal acquisition unit 68 extracts the frame start signal VD and the magnetic field measurement data 55 included in the frame image signal 61, and outputs the extracted frame start signal VD and the magnetic field measurement data 55 to the insertion state detection unit 70. Further, the image signal acquisition unit 68 extracts the frame start signal VD from the frame image signal 61, and outputs the extracted frame start signal VD to the magnetic field generation control unit 71.

The insertion state detection unit 70 determines the insertion state of the insertion unit 17 of the endoscope 10 inserted into the body of the subject H based on the frame start signal VD and the magnetic field measurement data 55 acquired from the image signal acquisition unit 68. To detect. The insertion state detection unit 70 has a position detection unit 72 and an insertion unit shape detection unit 73.

The position detection unit 72 detects the position of each detection coil 25 based on the frame start signal VD and the magnetic field measurement data 55. The position detection unit 72 is provided with a discrimination unit 72A.

As shown in FIG. 6, the discriminating unit 72A discriminates a plurality of magnetic field measurement results included in the magnetic field measurement data 55 with reference to the correspondence relationship 75. Correspondence relationship 75 is information representing the storage order of a plurality of magnetic field measurement results corresponding to a plurality of combinations of each generation coil 39 and each detection coil 25 included in the magnetic field measurement data 55. Based on the correspondence relationship 75, the determination unit 72A determines which combination of each generation coil 39 and each detection coil 25 corresponds to each magnetic field measurement result included in the magnetic field measurement data 55.

Specifically, in the magnetic field measurement, the magnetic field measurement result of each detection coil 25 is obtained for the generation order in which each generating coil 39 generates the magnetic field MF and the magnetic field MF of one generating coil 39 with reference to the frame start signal VD. The acquisition order of is decided. A plurality of magnetic field measurement results corresponding to the combination of each generation coil 39 and each detection coil 25 are stored in the magnetic field measurement data 55 according to the generation order and the acquisition order. Therefore, the discriminating unit 72A refers to the correspondence relationship 75 that defines the storage order with the frame start signal VD as a reference, and which combination of the plurality of magnetic field measurement results included in the magnetic field measurement data 55 (“D11”, “D11”, “ It can be determined whether or not it corresponds to "D12", "D13" ...).

The position detection unit 72 detects the position of each detection coil 25, specifically, the three-dimensional coordinate position as the coil position data 76, based on the plurality of magnetic field measurement results determined by the discrimination unit 72A. The coil position data is a relative position with respect to the magnetic field generator 13. In FIG. 6, for example, P1 indicates the three-dimensional coordinate position (x11, y11, z11) of the first detection coil 25. The same applies to P2, P3, P4 and the like.

In FIG. 3, the position detection unit 72 outputs the coil position data 76 to the insertion unit shape detection unit 73. The insertion portion shape detection unit 73 detects the shape of the insertion portion 17 in the body of the subject H based on the position data 76 input from the position detection unit 72.

FIG. 7 is an explanatory diagram for explaining an example of the shape detection process of the insertion portion 17 by the insertion portion shape detection unit 73. As shown in FIG. 7, the insertion portion shape detection unit 73 performs interpolation processing for interpolating each position with a curve based on the positions (P1, P2, ...) Of each detection coil 25 indicated by the position data 76. The central axis C of the insertion portion 17 is derived, and the insertion portion shape data 78 indicating the shape of the insertion portion 17 is generated. The interpolation process for interpolating with a curve is, for example, Bezier curve interpolation. The insertion portion shape data 78 includes the tip position PT of the tip portion 23 of the insertion portion 17.

In FIG. 3, the insertion portion shape detection unit 73 outputs the insertion portion shape data 78 to the image generation unit 77. The insertion state detection unit 70 has a discrimination process by the discrimination unit 72A, a position detection process for detecting the position data 76 of each detection coil 25, and an insertion unit 17 each time the image signal acquisition unit 68 acquires a new frame image signal 61. The shape detection process of the above and the output of the insertion portion shape data 78 are repeated.

The image generation unit 77 generates a shape display image 42 based on the insertion portion shape data 78. As shown in FIG. 8, the image generation unit 77 is provided with a modeling unit 77A and a rendering unit 77B. As will be described in detail later, in the image generation unit 77, the modeling unit 77A generates a 3D (Dimension) model of the insertion unit 17 based on the insertion unit shape data 78, and the rendering unit 77B becomes the 3D model of the insertion unit 17. On the other hand, by performing rendering processing, a 2D (Dimension) shape display image 42 showing the shape of the insertion portion 17 is generated. The image generation unit 77 outputs the data of the generated shape display image 42 to the processor device 14.

The image generation unit 77 updates the shape display image 42 every time new insertion unit shape data 78 is input. Then, each time the shape display image 42 is updated, the image generation unit 77 outputs the updated data of the shape display image 42 to the processor device 14.

The instruction input unit 80 is an interface when the user uses the navigation device 12. The instruction input unit 80 is composed of, for example, a display provided with a touch panel that enables a user to perform touch operations, operation buttons, and the like. The instruction input unit 80 is provided so that instructions for each unit of the navigation device 68 can be input.

The information storage unit 81 is composed of, for example, a non-volatile memory such as a flash memory. The non-volatile memory retains the data stored in the memory even when the power of the navigation device 12 is turned off. The information storage unit 81 stores various setting information such as peripheral device information 82, which will be described later.

Further, the shape display image 42 not only shows the shape of the insertion portion 17, but also shows information capable of grasping the relative positional relationship between the insertion portion 17, the bed 16 and the magnetic field generator 13. Is done. The image generation unit 77 acquires peripheral device information 82, which is information on peripheral devices of the endoscope 10 including the sleeper 16 and the magnetic field generator 13, from the information storage unit 81. Peripheral device information 82 is information for specifying the relative positional relationship between the insertion portion 17 and the sleeper 16 and the magnetic field generator 13 in the three-dimensional coordinate space of the 3D model. In the image generation unit 77, the modeling unit 77 generates a 3D model based on the peripheral device information 82 in addition to the insertion unit shape data 78. The peripheral device information 82 includes magnetic field generator information 82A regarding the magnetic field generator 13 and sleeper information 82B regarding the sleeper 16.

As shown in FIG. 9, the magnetic field generator information 82A is the size information of the magnetic field generator 13, and as an example, the horizontal length Mx of the housing 5 of the magnetic field generator 13 and the vertical direction of the housing 5. Includes a length My1 and a height My2 from the floor to the top of the housing 5.

Further, as shown in FIG. 10, the sleeper information 82B is size information of the sleeper 16 used at the time of endoscopy, and as an example, the lateral length Bx of the top surface 16A and the longitudinal direction of the top surface 16A. Includes the length By and the height Bz of the top surface 16A from the floor. Further, the sleeper information 82B includes the installation position of the magnetic field generator 13 with respect to the sleeper 16 (for example, the center on the right side or the center on the left side).

As described above, the position of each magnetic field detection coil 25 in the insertion portion 17 is detected as a relative position with respect to the position of the generation coil 39 of the magnetic field generator 13. Therefore, for example, the center position of the housing 5 of the magnetic field generator 13 in the XY plane is set as the origin of the 3D model. The modeling unit 77A determines the position of the insertion unit 17 in the 3D model based on the insertion unit shape data 78 with reference to the origin set in the 3D model.

The modeling unit 77A uses the magnetic field generator information 82A and the sleeper information 82B to determine the positions of the magnetic field generator 13 and the sleeper 16 in the 3D model with reference to the set origin.

Further, the position and direction in which the magnetic field generator 13 is installed are set in a predetermined position and direction. Specifically, as shown below, the position and orientation in which the magnetic field generator 13 is installed are set with reference to the sleeper 16. Therefore, once the position of the magnetic field generator 13 is determined in the 3D model, the position of the sleeper 16 in the 3D model can be determined based on the sleeper information 82B.

Here, the arrangement of the magnetic field generator 13 and the sleeper 16 will be described. FIG. 11 is a top view of the magnetic field generator 13 and the sleeper 16, and FIG. 12 is a side view of the magnetic field generator 13 and the sleeper 16. As shown as an example in FIGS. 11 and 12, the magnetic field generator 13 and the sleeper 16 are in the longitudinal direction of the top surface 16A of the sleeper 16 (in the direction of the By arrow in FIG. 11) and the lateral direction of the housing 5 of the magnetic field generator 13. (Mx arrow direction in FIG. 11) is arranged in parallel. Further, the magnetic field generator 13 and the sleeper 16 have a center position Bc in the longitudinal direction (By arrow direction in FIG. 11) of the top surface 16A of the sleeper 16 and a lateral direction (Mx in FIG. 11) of the housing 5 of the magnetic field generator 13. The center position Mc in the direction of the arrow) coincides with the right side surface 16B of the bed 16 and the front surface 5A of the housing 5 of the magnetic field generator 13 is in contact with each other. In this way, the relative positional relationship between the magnetic field generator 13 and the sleeper 16 is predetermined.

As shown in FIG. 13, the modeling unit 77A first derives the position of the magnetic field generator 13 in the 3D model by using the magnetic field generator information 82A. In this example, the origin of the 3D model is the center position of the XY plane of the housing 5. The X-axis coordinates of the midpoint of the lateral length Mx of the housing 5 correspond to the X-axis coordinates of the origin, and the Y-axis coordinates of the midpoint of the vertical length My1 of the housing 5 and the Y-axis coordinates of the origin. Corresponds. Therefore, the modeling unit 77A can determine the positions of the four corners of the housing 5 in the 3D model based on the lengths Mx and My1 included in the magnetic field generator information 82A. The position determined in this way is derived as the housing position. Specifically, the positions of the four corners of the housing 5 are the first corner (upper left), the second corner (upper right), the third corner (lower left), and the fourth corner (lower right), and G1 From G4 are the three-dimensional coordinates (x1, y1, z1) of each position.

The modeling unit 77A derives the housing position of the magnetic field generator 13 in the 3D model, and then derives the position of the bed 16 in the 3D model based on the bed information 82B. As described above, the sleeper information 82B includes the lateral length Bx of the top surface 16A of the sleeper 16, the longitudinal length By of the top surface 16, and the height Bz of the top surface 16 from the floor surface. ing. Further, the magnetic field generator information 82A includes the height My2 of the housing 5 from the floor surface. As described above, the position and orientation in which the magnetic field generator 13 is installed are predetermined, and the information on the installation position is included in the sleeper information 82B. The modeling unit 77A derives the sleeper position in the 3D model based on this information.

The sleeper positions are the positions of the four corners of the top surface 16A of the sleeper 16. As shown in FIG. 13, for example, B1 indicates the upper left three-dimensional coordinate position (x21, y21, z21) of the top surface 16A. Further, B2 indicates the three-dimensional coordinate position (x22, y22, z22) on the upper right of the top surface 16A. Further, B3 indicates a three-dimensional coordinate position (x23, y23, z23) at the lower left of the top surface 16A. Further, B4 indicates a three-dimensional coordinate position (x24, y24, z24) at the lower right of the top surface 16A. Here, for convenience, in the longitudinal direction of the top surface 16A, the side that is the head side of the subject H is the upper side, and the side that is the foot side of the subject H is the lower side.

Such magnetic field generator information 82A and sleeper information 82B are set, for example, at the time of initial installation and maintenance. The setting is performed, for example, through the instruction input unit 80.

The navigation device 12 is an example of an endoscope shape display control device that controls the display of the shape display image 42 according to the technique of the present disclosure. As described above, the magnetic field measurement data 55 was obtained by using a plurality of detection coils 25 which are an example of a plurality of magnetic field detection elements provided in the insertion portion 17 of the endoscope 10 according to the technique of the present disclosure. It is data. The insertion portion shape data 78 is information based on the magnetic field measurement data 55, and is the shape of the insertion portion 17 of the endoscope 10 inserted in the subject H, which is an example of the subject, according to the technique of the present disclosure. This is an example of information for imaging. The image generation unit 77 generates a shape display image 42 that images the shape of the insertion unit 17 based on the insertion unit shape data 78. That is, the image generation unit 77 is an example of an image generation unit according to the technique of the present disclosure, and is also an example of an information acquisition unit that acquires information for detecting the shape of the insertion unit.

The display output unit 74 connects the frame image signal 61 previously input from the image signal acquisition unit 68 and the data of the shape display image 42 input from the image generation unit 77 via the communication interfaces 90A and 90B. Output to the processor device 14. At this time, the display output unit 74 associates the frame image signal 61 with the data of the shape display image 42 that corresponds in time with the frame image signal 61, and outputs the data to the processor device 14.

<Processor device>
The processor device 14 has a display input unit 92 and a display control unit 93. The display input unit 92 sequentially outputs the data of the frame image signal 61 and the shape display image 42 sequentially input from the display output unit 74 via the communication interfaces 90A and 90B to the display control unit 93.

The display control unit 93 receives the input of the frame image signal 61 from the display input unit 92, and displays the observation image 41 (moving image) based on the frame image signal 61 on the monitor 15 (see FIGS. 1 and 2). Further, the display control unit 93 receives the data of the shape display image 42 from the display input unit 92 and displays the shape display image 42 (moving image) on the monitor 15 (see FIGS. 1 and 2).

[Flow of shape display image generation process]
FIG. 14 is a flowchart for explaining the flow of the generation process of the shape display image 42 by the image generation unit 77.

The image generation unit 77 acquires the insertion unit shape data 78 from the insertion state detection unit 70 (step S1). Further, in step S1, the image generation unit 77 acquires the peripheral device information 82 from the information storage unit 81. In the image generation unit 77, the modeling unit 77A performs a modeling process to generate a 3D model of the insertion unit 17 based on the insertion unit shape data 78 (step S2).

As shown in FIG. 15, the modeling process generates a cylindrical 3D model MS having a diameter corresponding to the display scale of the insertion portion 17, with the central axis C of the insertion portion 17 in the insertion portion shape data 78 as the central axis. ..

Further, the modeling unit 77A derives the housing position of the magnetic field generator 13 and the bed position of the bed 16 in the 3D model based on the peripheral device information 82. Specifically, a 3D model MB of the top surface 16A is generated based on the bed positions (three-dimensional coordinate positions B1 to B4) at the four corners of the top surface 16A of the sleeper 16. Further, the housing positions (three-dimensional coordinate positions G1 to G4) at the four corners of the housing 5 are set in the 3D model MB.

Next, the rendering unit 77B executes a light source position setting process for setting the light source position when rendering the 3D model MS of the insertion unit 17 and the 3D model MB of the top surface 16A (step S3). The light source position is set to a position where light is emitted from above with respect to the top surface 16A of the sleeper 16 in the virtual space for generating each 3D model. Specifically, in the virtual space, a plane parallel to the top surface 16A of the sleeper 16 is set as an XY plane, and a Z axis orthogonal to the XY plane is set. Then, in the virtual space, the light source position is set so that the light is emitted from the upper side to the lower side of the set Z axis.

Next, the rendering unit 77B executes a camera position setting process for setting a camera position (also referred to as a viewpoint position) when rendering the 3D model MS of the insertion unit 17 and the 3D model MB of the top surface 16A (step S4). .. The camera position is set to a position in the virtual space where the 3D model MS of the insertion portion 17 is observed from above the Z axis with respect to the 3D model MB of the top surface 16A of the bed 16 as in the light source position.

Next, the rendering unit 77B executes a texture setting process for finishing the surfaces of the 3D model MS and the 3D model MB when rendering the 3D model MS of the insertion unit 17 and the 3D model MB of the top surface 16A (step). S5). In the texture setting process, the surface of the insertion portion 17 is processed to be, for example, a texture of a single color plain pattern. Further, the surface of the top surface 16A is processed so that a chevron-shaped figure whose tip is directed toward the head side of the subject H in the longitudinal direction of the top surface 16A is made into a texture of a pattern continuous in the longitudinal direction of the top surface 16A. Be told.

Next, the rendering unit 77B adds two housing range display lines indicating the positions of both ends of the housing 5 of the magnetic field generator 13 based on the housing position set in the 3D model. The line addition process is executed (step S6). In the housing range display line addition process, when each of the two housing range display lines orthogonal to the horizontal direction of the housing 5 is viewed from above the Z axis, the housing 5 of the magnetic field generator 13 It is added at the position where it touches both ends in the horizontal direction. The heights of the two housing range display lines are set at the upper end positions of the housing 5 in the Z-axis direction.

Finally, the rendering unit 77B patterns the surfaces of the 3D model MS and the 3D model MB based on the set light source position, camera, and texture. In addition, the surfaces of the 3D model MS and the 3D model MB with the pattern are subjected to a shading process for shading corresponding to the light source. In this way, the rendering unit 77B performs a rendering process for generating a 2D shape display image 42 showing the shape of the insertion unit 17 (step S7).

As a result, as shown in FIG. 16, the shape display image 42 is generated. The shape display image 42 includes an image showing the insertion portion 17, an image showing the top surface 16A, and two housing range display lines L. The housing range display line L is a sign indicating the relative position of the magnetic field generator 13 with respect to the insertion portion 17, and is an example of the first position sign according to the technique of the present disclosure.

In the following, the image of the insertion portion 17 in the shape display image 42, or more accurately, the insertion portion 17 in the shape display image 42, is simply referred to as an insertion portion for the sake of simplicity, and is to be distinguished from the actual insertion portion 17. , Reference numeral 17G is attached and is referred to as an insertion portion 17G. Further, the image of the top surface 16A in the shape display image 42, or more accurately, the image of the top surface 16A in the shape display image 42 is simply called a top surface for simplification, and in order to distinguish it from the actual top surface 16A. It is referred to as a top surface 16AG with a reference numeral 16AG.

The process of generating the shape display image 42 is repeated every time the insertion portion shape data 78 is updated.

[Action effect]
In the endoscope system 9 of the first embodiment of the present disclosure, as described above, the shape of the insertion portion 17G of the endoscope 10 is displayed in the shape display image 42. In addition, in the shape display image 42, as a first position indicator indicating the relative position of the magnetic field generator 13 with respect to the insertion portion 17G, two housings indicating the positions of both ends of the housing 5 of the magnetic field generator 13 in the lateral direction. The body range display line L is displayed. As a result, it is possible for the user to grasp the shape of the insertion portion 17G of the endoscope 10 and the relative position of the magnetic field generator 13 with respect to the insertion portion 17G.

Further, by displaying two housing range display lines L, which are examples of figures indicating the range in which the housing 5 of the magnetic field generator 13 exists, as the first position indicator, the endoscope can be displayed simply. It is possible for the user to grasp the relative position of the magnetic field generator 13 with respect to the insertion portion 17G of the 10.

Further, in addition to the shape of the insertion portion 17G of the endoscope 10, the top surface 16AG of the bed 16 is displayed in the shape display image 42 so that the user can grasp the relative position of the top surface 16AG with respect to the insertion portion 17G. It is possible to make it.

"Second embodiment"
[Overall configuration of the endoscope system]
FIG. 17 is a schematic view showing the overall configuration of the endoscope system 9A including the endoscope shape display control device according to the second embodiment of the present disclosure. As shown in FIG. 17, the endoscope system 9 includes an endoscope 10, a light source device 11, a navigation device 12A, a magnetic field generator 13, a processor device 14, a monitor 15, an extracorporeal marker 100, and the like. To be equipped. The extracorporeal marker 100 is for displaying the installation position of the extracorporeal marker 100 together with the insertion portion 17 of the endoscope 10 in the shape display image.

The assistant AS of the operator OP stands on the opposite side of the sleeper 16 from the operator OP, grasps the extracorporeal marker 100, and is at an arbitrary position near the body surface of the subject H at the tip 101A of the extracorporeal marker 100. Point to. In FIG. 17, for convenience, only the tip of the arm of the assistant AS is shown.

The endoscope system 9A according to the second embodiment is obtained by adding an extracorporeal marker 100 to the endoscope system 9 according to the first embodiment. In the following, the differences from the first embodiment will be mainly described, and the description of the contents overlapping with the first embodiment will be omitted.

<External marker>
As shown in FIG. 18, the extracorporeal marker 100 has a housing 101 provided with an identification color display unit 102. The identification color display unit 102 has LEDs (Light Emitting Diodes) of the three primary colors of R (Red), G (Green), and B (Blue), and adjusts the brightness of each of the LEDs of R, G, and B. Allows you to display any color. The display color of the identification color display unit 102 is set based on the user's instruction input.

FIG. 19 is a block diagram showing an electrical configuration of the endoscope system 9. As shown in FIG. 19, the extracorporeal marker 100 has one detection coil 103 and a magnetic field measuring unit 104. The detection coil 103 is arranged at the tip portion 101A in the housing 101.

The magnetic field measuring unit 104 is electrically connected to the detection coil 103. The magnetic field measurement unit 104 outputs magnetic field measurement data 105 including the magnetic field measurement result of the detection coil 103 according to the magnetic field MF generated from the generation coil 39 of the magnetic field generator 13 to the navigation device 12A.

As shown in FIG. 20, the magnetic field measurement data 105 includes magnetic field measurement results in which the magnetic fields generated from each generation coil 39 of the magnetic field generator 13 are sequentially measured by the detection coil 103. In FIG. 20, D101 shows the magnetic field measurement result obtained by measuring the magnetic field generated from the first generation coil 39 with the detection coil 103. The same applies to D102, D103, D104 and the like. For example, when nine generating coils 39 are provided in the magnetic field generator 13, the magnetic field measurement data 105 including the nine magnetic field measurement results is acquired. Further, in the magnetic field measurement data 105, the display color of the identification color display unit 102 at the time of magnetic field measurement is recorded together with the magnetic field measurement result.

<Navigation device>
The navigation device 12A includes an image signal acquisition unit 68, an insertion state detection unit 70, a magnetic field generation control unit 71, a display output unit 74, an image generation unit 77, an instruction input unit 80, and a sleeper information storage unit 81. Have. The navigation device 12A according to the second embodiment differs from the first embodiment only in the insertion state detection unit 70 and the image generation unit 77. In the following, the differences from the first embodiment will be mainly described, and the description of the contents overlapping with the first embodiment will be omitted.

The insertion state detection unit 70 determines the insertion state of the insertion unit 17 of the endoscope 10 inserted into the body of the subject H based on the frame start signal VD and the magnetic field measurement data 55 acquired from the image signal acquisition unit 68. To detect. The insertion state detection unit 70 has a position detection unit 72 and an insertion unit shape detection unit 73.

The position detection unit 72 detects the position of each detection coil 25 in the endoscope 10, specifically, the three-dimensional coordinate position as the coil position data 76A in the endoscope 10 based on the magnetic field measurement data 55.

Further, the position detection unit 72 detects the position of the detection coil 103 in the extracorporeal marker 100, specifically, the three-dimensional coordinate position as the coil position data 76B in the extracorporeal marker 100 based on the magnetic field measurement data 105.

In the coil position data 76B shown in FIG. 21, M1 indicates the three-dimensional coordinate position (x31, y31, z31) of the tip of the extracorporeal marker 100. Further, the coil position data 76B includes information on the display color of the identification color display unit 102 at the time of magnetic field measurement.

In FIG. 19, the position detection unit 72 outputs the coil position data 76 including the coil position data 76A and the coil position data 76B to the insertion unit shape detection unit 73.

The insertion portion shape detection unit 73 detects the shape of the insertion portion 17 in the body of the subject H based on the coil position data 76 input from the position detection unit 72.

The insertion unit shape detection unit 73 performs interpolation processing for interpolating each position with a curve based on the positions (P1, P2, ...) Of each detection coil 25 indicated by the coil position data 76, and the central axis of the insertion unit 17. C is derived to generate insertion portion shape data 78 indicating the shape of the insertion portion 17. The insertion portion shape data 78 includes information on the tip position PT of the tip portion 23 of the insertion portion 17, the three-dimensional coordinate position M1 of the detection coil 103 in the extracorporeal marker 100, and the display color of the identification color display unit 102.

In FIG. 19, the insertion portion shape detection unit 73 outputs the insertion portion shape data 78 to the image generation unit 77.

The insertion state detection unit 70 detects the coil position data 76A of each detection coil 25 in the endoscope 10 by the discrimination process by the discrimination unit 72A each time the image signal acquisition unit 68 acquires a new frame image signal 61. The position detection process, the shape detection process of the insertion portion 17, the position detection process for detecting the coil position data 76B of the detection coil 103 in the extracorporeal marker 100, and the output of the insertion portion shape data 78 are repeatedly performed.

The image generation unit 77 generates the shape display image 42A based on the insertion portion shape data 78.

[Flow of shape display image generation process]
The flowchart for explaining the flow of the generation process of the shape display image 42A by the image generation unit 77 is the same as FIG. 14 shown in the first embodiment.

The image generation unit 77 acquires the insertion unit shape data 78 from the insertion state detection unit 70 (step S1). Further, in step S1, the image generation unit 77 acquires the peripheral device information 82 from the information storage unit 81. In the image generation unit 77, the modeling unit 77A performs a modeling process to generate a 3D model of the insertion unit 17 based on the insertion unit shape data 78 (step S2).

As shown in FIG. 22, the modeling process generates a cylindrical 3D model MS having a diameter corresponding to the display scale of the insertion portion 17, with the central axis C of the insertion portion 17 in the insertion portion shape data 78 as the central axis. .. Further, a 3D model MB of the top surface 16A is generated based on the three-dimensional coordinate positions B1 to B4 of the four corners of the top surface 16A of the bed 16 in the insertion portion shape data 78. Further, a 3D model MM of a marker indicating the position of the extracorporeal marker 100 is generated based on the three-dimensional coordinate position M1 of the detection coil 103 in the extracorporeal marker 100. The 3D model MM is a spherical model centered on the three-dimensional coordinate position M1.

Further, the modeling unit 77A derives the housing position of the magnetic field generator 13 and the bed position of the bed 16 in the 3D model based on the peripheral device information 82. Specifically, a 3D model MB of the top surface 16A is generated based on the bed positions (three-dimensional coordinate positions B1 to B4) at the four corners of the top surface 16A of the sleeper 16. Further, the housing positions (three-dimensional coordinate positions G1 to G4) at the four corners of the housing 5 are set in the 3D model MB.

Next, the rendering unit 77B executes a light source position setting process for setting the light source position when rendering the 3D model MS of the insertion unit 17, the 3D model MB of the top surface 16A, and the 3D model MM of the extracorporeal marker 100 (). Step S3). The light source position is set to a position where light is emitted from above with respect to the top surface 16A of the sleeper 16 in the virtual space for generating each 3D model. Specifically, in the virtual space, a plane parallel to the top surface 16A of the sleeper 16 is set as an XY plane, and a Z axis orthogonal to the XY plane is set. Then, in the virtual space, the light source position is set so that the light is emitted from the upper side to the lower side of the set Z axis.

Next, the rendering unit 77B sets a camera position (also referred to as a viewpoint position) when rendering the 3D model MS of the insertion unit 17, the 3D model MB of the top surface 16A, and the 3D model MM of the extracorporeal marker 100. The setting process is executed (step S4). The camera position is set to a position in the virtual space where the 3D model MS of the insertion portion 17 is observed from above the Z axis with respect to the 3D model MB of the top surface 16A of the bed 16 as in the light source position.

Next, the rendering unit 77B renders the 3D model MS of the insertion unit 17, the 3D model MB of the top surface 16A, and the 3D model MM of the extracorporeal marker 100, and the 3D model MS, the 3D model MB, and the 3D model MM. The texture setting process for finishing the surface of the above is executed (step S5). In the texture setting process, the surface of the insertion portion 17 is processed to be a texture of a single color plain pattern. Further, the surface of the top surface 16A is processed so that a chevron-shaped figure whose tip is directed toward the head side of the subject H in the longitudinal direction of the top surface 16A is made into a texture of a pattern continuous in the longitudinal direction of the top surface 16A. Be told. Further, the surface of the extracorporeal marker 100 is processed to be a texture of a plain blue pattern based on the information of the display color of the identification color display unit 102 included in the insertion portion shape data 78.

Next, the rendering unit 77B adds two housing range display lines indicating the positions of both ends of the housing 5 of the magnetic field generator 13 based on the housing position set in the 3D model. The line addition process is executed (step S6). In the housing range display line addition process, when each of the two housing range display lines orthogonal to the horizontal direction of the housing 5 is viewed from above the Z axis, the housing 5 of the magnetic field generator 13 It is added at the position where it touches both ends in the horizontal direction. The heights of the two housing range display lines are set at the upper end positions of the housing 5 in the Z-axis direction.

Finally, the rendering unit 77B adds a pattern to the surfaces of the 3D model MS, the 3D model MB, and the 3D model MM based on the set light source position, camera, and texture. In addition, the surfaces of the patterned 3D model MS, 3D model MB, and 3D model MM are subjected to shading processing to add shading corresponding to the light source. In this way, the rendering unit 77B performs a rendering process for generating a 2D shape display image 42A showing the shape of the insertion unit 17 (step S7).

As a result, as shown in FIG. 23, the shape display image 42A is generated. The shape display image 42A includes an image showing the insertion portion 17, an image showing the top surface 16A, an image showing a sign indicating the position of the extracorporeal marker 100, and two housing range display lines L. To.

In the following, the image of the insertion portion 17 in the shape display image 42A, or more accurately, the image of the insertion portion 17 in the shape display image 42A, is simply referred to as an insertion portion for simplification, and is to be distinguished from the actual insertion portion 17. , Reference numeral 17G is attached and is referred to as an insertion portion 17G. Further, the image of the top surface 16A in the shape display image 42A, or more accurately, the image of the top surface 16A in the shape display image 42A is simply called the top surface for simplification, and in order to distinguish it from the actual top surface 16A. It is referred to as a top surface 16AG with a reference numeral 16AG. Further, an image of a sign indicating the position of the extracorporeal marker 100 in the shape display image 42A, or more accurately, an image of a sign indicating the position of the extracorporeal marker 100 in the shape display image 42A is simply called a sign for simplification, and is actually called a sign. In order to distinguish it from the extracorporeal marker 100, it is referred to as a label 100G with a reference numeral 100G.

The housing range display line L is a sign indicating the relative position of the magnetic field generator 13 with respect to the insertion portion 17, and is an example of the first position sign according to the technique of the present disclosure. Further, the label 100G is a label indicating the relative position of the extracorporeal marker 100 with respect to the insertion portion 17, and is an example of a second position label according to the technique of the present disclosure.

The process of generating the shape display image 42 is repeated every time the insertion portion shape data 78 is updated.

[Action effect]
Also in the endoscope system 9A of the second embodiment of the present disclosure, the shape of the insertion portion 17G of the endoscope 10 is displayed in the shape display image 42A as in the case of the endoscope system 9 of the first embodiment. In addition, in the shape display image 42A, as a first position indicator indicating the relative position of the magnetic field generator 13 with respect to the insertion portion 17G, two housings indicating the positions of both ends of the housing 5 of the magnetic field generator 13 in the lateral direction. The body range display line L is displayed. As a result, it is possible for the user to grasp the shape of the insertion portion 17G of the endoscope 10 and the relative position of the magnetic field generator 13 with respect to the insertion portion 17G.

Further, in the shape display image 42A, by displaying the sign 100G indicating the position of the extracorporeal marker 100 as the second position marker, the relative position of the marker 100G (external marker 100) with respect to the insertion portion 17G of the endoscope 10 can be displayed. It is possible to let the user understand.

Further, by displaying the sign 100G in the same color as the color displayed on the identification color display unit 102, it is possible for the user to intuitively grasp the position of the extracorporeal marker 100. In particular, when a plurality of extracorporeal markers 100 are connected to the navigation device 12A, the user can easily identify each extracorporeal marker 100 by making the display color of the sign 100G of each extracorporeal marker 100 different. Is possible.

The identification color display unit 102 has LEDs of three primary colors of R, G, and B, and is limited to a mode in which any color can be displayed by adjusting the brightness of each of the LEDs of R, G, and B. Instead, the region of the identification color display unit 102 may be colored with an arbitrary color. With such an aspect, it is possible to reduce the cost of the extracorporeal marker 100. Further, it is not necessary to provide the identification color display unit 102.

[Modification example]
The above embodiment is an example, and various modifications are possible as shown below.

In the above embodiment, as an example of the first position indicator, in the shape display image 42A, there is an example in which two housing range display lines L indicating the positions of both ends of the housing 5 of the magnetic field generator 13 in the lateral direction are displayed. As described above, the first position marker may have an embodiment other than the above example.

For example, as shown in the shape display image 42B shown in FIG. 24, the external view 5G of the housing 5 of the magnetic field generator 13 may be displayed as the first position indicator. The external view 5G is displayed as a rectangle by simplifying the shape of the housing 5. Even in such an embodiment, it is possible for the user to grasp the shape of the insertion portion 17G of the endoscope 10 and the relative position of the magnetic field generator 13 with respect to the insertion portion 17G. The external view 5G of the housing 5 is not limited to a simple rectangular display, and may be CG (Computer Graphics) that reproduces the appearance of the housing 5.

Further, as in the shape display image 42C shown in FIG. 25, the indicator I indicating the posture state of the subject H may be displayed based on the user's instruction input. The indicator I has an indicator I1 indicating the top surface 16A of the sleeper 16, an indicator I2 indicating the housing 5 of the magnetic field generator 13, and an indicator I3 indicating the posture state of the subject H. The indicator I2 indicating the housing 5 can be displayed by selecting whether the housing 5 is on the right side or the left side of the top surface 16A. The indicator I3 indicating the posture state of the subject H selects whether the subject H is sleeping on the top surface 16A in a lying state, in a right sideways state, or in a left sideways state. Can be displayed.

In the above embodiment, the relative position of the magnetic field generator 13 with respect to the insertion portion 17 and the relative position of the top surface 16A with respect to the insertion portion 17 can be detected, but up to the posture state of the subject H with respect to the top surface 16A. Cannot be detected. Therefore, by displaying the indicator I as described above, the shape of the insertion portion 17G of the endoscope 10, the relative position of the magnetic field generator 13 with respect to the insertion portion 17G, and the subject H with respect to the top surface 16AG It is possible to let the user grasp the posture state.

Further, in the above embodiment, regarding the light source position and the camera position when performing the rendering process, when the plane parallel to the top surface 16A of the bed 16 is an XY plane, the light irradiation direction and the viewpoint direction are the Z axis. The case where the state is set from the upper side to the lower side has been described. However, the light source position and the camera position are not limited to the above, and may be set in any direction based on the user's instruction input.

There are, for example, the following two directions in which the viewpoint direction is from the upper side of the Z-axis to the lower side of the sleeper 16. One is a viewpoint of observing the top surface 16A of the sleeper 16 from directly above the sleeper 16, that is, from the direction normal to the XY plane. The other is a bird's-eye view of the top surface 16A of the sleeper 16 from an oblique direction of the sleeper 16.

Therefore, as in the shape display image 42D shown in FIG. 26, the shape display image 42D may be generated from a bird's-eye view of the top surface 16A of the sleeper 16 from an oblique direction of the sleeper 16. Since such a mode enables a more three-dimensional display, the user can grasp the shape of the insertion portion 17G of the endoscope 10 and the relative position of the magnetic field generator 13 with respect to the insertion portion 17G. It is possible to make it easier to do.

In addition to these, there may be an observation viewpoint on the side of the sleeper 16, that is, parallel to the XY plane. Further, it may be possible to switch a plurality of viewpoints or set parallel viewpoints.

Further, in the above embodiment, regarding the texture of the surface of the top surface 16A of the sleeper 16, a chevron-shaped figure having the tip facing the head side of the subject H in the longitudinal direction of the top surface 16A is formed in the longitudinal direction of the top surface 16A. Although the texture has a continuous pattern, the texture is not limited to the above, and various changes can be made. For example, as in the shape display image 42E shown in FIG. 27, the texture may be a grid pattern.

Further, in the above embodiment, the example in which each generating coil 39 generates the magnetic field MF having the same frequency has been described, but the frequency of the magnetic field MF generated by each generating coil 39 may be different.

Further, in each of the above embodiments, an example in which the magnetic field measurement unit including the magnetic field measurement control unit 58 is arranged in the endoscope 10 and the magnetic field generation control unit 71 is arranged in the navigation device 12 has been described. The magnetic field generation control unit 71 may be arranged on the endoscope 10, and the magnetic field measurement unit may be arranged on the navigation device 12.

Further, in the above embodiment, the hardware structure of the processing unit (Processing Unit) that executes various processes such as the information acquisition unit and the image generation unit 77, which is an example of the image generation unit, is shown below. Various processors can be used. For various processors, in addition to the CPU (Central Processing Unit), which is a general-purpose processor that executes software and functions as various processing units, the circuit configuration can be changed after the manufacture of FPGA (Field Programmable Gate Array), etc. Programmable Logic Device (PLD), which is a processor, and / or a dedicated electric circuit, which is a processor having a circuit configuration specially designed to execute a specific process such as ASIC (Application Specific Integrated Circuit). Etc. are included.

One processor may be composed of one of these various processors, or may be a combination of two or more processors of the same type or different types (for example, a combination of a plurality of FPGAs and / or a CPU and a CPU). It may be configured in combination with FPGA). As described above, the various processing units are configured by using one or more of the various processors as a hardware structure.

Further, as the 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.

An endoscope display control device having an information acquisition unit and an image generation unit may be realized by a computer whose processor is a CPU. A program for causing the CPU to function as an information acquisition unit and an image generation unit is an operation program of the endoscope display control device. The technique of the present disclosure extends to a computer-readable storage medium that stores the operation program non-temporarily, in addition to the operation program of the endoscopic display control device.

From the above description, the invention described in the following supplementary items can be grasped.

"Appendix 1"
An endoscope in which one of a magnetic field generating element and a magnetic field detecting element is arranged in an insertion portion inserted into the subject, and a magnetic field device having the other of the magnetic field generating element and the magnetic field detecting element and arranged outside the subject. It is used in an endoscope shape detection device that detects the shape of the insertion part of the endoscope inserted in the subject, and images the shape of the insertion part inserted in the subject. It is an endoscope shape display control device.
An information acquisition processor that acquires magnetic field measurement data indicating the strength of the magnetic field detected by the magnetic field detection element as information for detecting the shape of the insertion portion.

An image generator that generates a shape display image that displays the shape of the insertion part based on the acquired magnetic field measurement data, and indicates the relative position of the magnetic field device with respect to the insertion part in addition to the shape of the insertion part. An endoscope shape display control device including an image generation processor that displays one position indicator on a shape display image.

As used herein, "A and / or B" is synonymous with "at least one of A and B." That is, "A and / or B" means that it may be A alone, B alone, or a combination of A and B. Further, in the present specification, when three or more matters are connected and expressed by "and / or", the same idea as "A and / or B" is applied.

The contents described and illustrated above are detailed explanations of the parts related to the technique of the present disclosure, and are merely examples of the technique of the present disclosure. For example, the above description of the configuration, function, action, and effect is an example of the configuration, function, action, and effect of the parts of the present disclosure. Therefore, unnecessary parts may be deleted, new elements may be added, or replacements may be made to the described contents and illustrated contents shown above within a range not deviating from the gist of the technique of the present disclosure. Needless to say. In addition, in order to avoid complications and facilitate understanding of the parts relating to the technology of the present disclosure, the above-mentioned description and illustrations require special explanation in order to enable the implementation of the technology of the present disclosure. The explanation about common technical knowledge is omitted.

5 Housing 5A Front 5G External view 6 Stands 9, 9A Endoscope system 11 Light source device 12, 12A Navigation device 13 Magnetic field generator 14 Processor device 15 Monitor 16 Sleeper 16A Top surface 16AG Top surface 16B Right side surface 17 Insertion part 17G Insertion Part 18 Operation part 19 Universal cord 21 Flexible part 22 Curved part 23 Tip part 25 Detection coil 27 Curved operation knob 28 Air supply / water supply button 29 Suction button 31 Treatment tool introduction port 32 Signal cable 33 Light guide 34 Connector 39 Generation coil 41 Observation image 42, 42A, 42B, 42C, 42D, 42E Shape display image 45 Irradiation lens 46 Illumination window 47 Observation window 48 Imaging device 49 Magnetic field detection circuit 50 General control circuit 52 Condensing lens 53 Imaging element 53a Oscillating unit 55 Magnetic field measurement data 57 Signal Processing unit 58 Magnetic field measurement control unit 59 Image signal output unit 61 Frame image signal 62 Signal relay unit 63 Illumination light source 64 Light source control unit 65 Communication interface 68 Image signal acquisition unit 70 Insertion state detection unit 71 Magnetic field generation control unit 72 Position detection unit 72A Discrimination unit 72B Magnetic generator information data 73 Insertion unit shape detection unit 74 Display output unit 75 Correspondence relationship 76 Coil position data 77 Image generation unit 77A Modeling unit 77B Rendering unit 78 Insertion unit shape data 80 Instruction input unit 81 Information storage unit 82 Periphery Equipment information 82A Magnetic field generator information 82B Sleeper information 90A, 90B Communication interface 92 Display input unit 93 Display control unit 100 Extracorporeal marker 100G Marker 101 Housing 101A Tip 102 Identification color display unit 103 Detection coil 104 Magnetic field measurement unit 105 Magnetic field measurement data AS Assistant Bc Longitudinal center position of the top surface Bx Lateral length of the top surface By Longitudinal length of the top surface Bz Height of the top surface from the floor surface C Central axis H Subject I, I1, I2, I3 Indicator L Housing range display line MB, MM, MS 3D model MF Light source Mc Horizontal center position of housing Mx Horizontal length of housing My1 Vertical length of housing My2 From floor Height to the upper surface of the housing ND Signal invalid area OP Operator PT Tip position VD Frame start signal

Claims (9)

It has an endoscope in which one of a magnetic field generating element and a magnetic field detecting element is arranged in an insertion portion inserted into the subject, and the other of the magnetic field generating element and the magnetic field detecting element, and is arranged outside the subject. A magnetic field device, which is used in an endoscope shape detecting device for detecting the shape of an insertion portion of an endoscope inserted in the subject, and is inserted in the subject. An endoscope shape display control device that visualizes the shape.
An information acquisition unit that acquires magnetic field measurement data indicating the strength of the magnetic field detected by the magnetic field detection element as information for detecting the shape of the insertion unit.
An image generation unit that generates a shape display image that displays the shape of the insertion portion based on the acquired magnetic field measurement data. In addition to the shape of the insertion portion, the relative of the magnetic field device to the insertion portion. An endoscope shape display control device including an image generation unit that displays a first position indicator indicating a different position on the shape display image. The endoscope shape display control device according to claim 1, wherein the image generation unit displays a figure indicating a range in which the housing of the magnetic field device exists as the first position indicator. The endoscope shape display control device according to claim 2, wherein the figure includes at least two lines indicating the positions of both ends of the housing. The endoscope shape display control device according to claim 2 or 3, wherein the image generation unit displays an external view of the housing as the first position indicator. The endoscopy according to any one of claims 1 to 4, wherein the image generation unit displays, in addition to the shape of the insertion portion, an examination table on which the subject is placed in the shape display image. Mirror shape display control device. In the case where the extracorporeal marker placed outside the subject and the position is detected by using the magnetic field device is used.
The information acquisition unit acquires the magnetic field measurement data for detecting the position of the extracorporeal marker in addition to the magnetic field measurement data for detecting the shape of the insertion portion.
The image generation unit is any one of claims 1 to 5 that displays, in addition to the shape of the insertion portion, a second position marker indicating the relative position of the extracorporeal marker with respect to the insertion portion on the shape display image. The endoscope shape display control device according to item 1. When the housing of the extracorporeal marker is provided with an identification color display unit in which an identification color is displayed,
The endoscope shape display control device according to claim 6, wherein the image generation unit has the same color as the color displayed by the identification color display unit and displays the second position sign on the shape display image. It has an endoscope in which one of a magnetic field generating element and a magnetic field detecting element is arranged in an insertion portion inserted into the subject, and the other of the magnetic field generating element and the magnetic field detecting element, and is arranged outside the subject. A magnetic field device, which is used in an endoscope shape detecting device for detecting the shape of an insertion portion of an endoscope inserted in the subject, and is inserted in the subject. It is a method of operating the endoscope shape display control device that images the shape.
An information acquisition step of acquiring magnetic field measurement data indicating the strength of the magnetic field detected by the magnetic field detection element as information for detecting the shape of the insertion portion, and
This is an image generation step of generating a shape display image displaying the shape of the insertion portion based on the acquired magnetic field measurement data. In addition to the shape of the insertion portion, the relative of the magnetic field device to the insertion portion. A method of operating an endoscope shape display control device including an image generation step of displaying a first position indicator indicating a position on the shape display image. It has an endoscope in which one of a magnetic field generating element and a magnetic field detecting element is arranged in an insertion portion inserted into the subject, and the other of the magnetic field generating element and the magnetic field detecting element, and is arranged outside the subject. A magnetic field device, which is used in an endoscope shape detecting device for detecting the shape of an insertion portion of an endoscope inserted in the subject, and is inserted in the subject. It is an operation program of the endoscope shape display control device that visualizes the shape.
An information acquisition unit that acquires magnetic field measurement data indicating the strength of the magnetic field detected by the magnetic field detection element as information for detecting the shape of the insertion unit.
An image generation unit that generates a shape display image that displays the shape of the insertion portion based on the acquired magnetic field measurement data. In addition to the shape of the insertion portion, the relative of the magnetic field device to the insertion portion. As an image generation unit that displays a first position marker indicating a different position on the shape display image,
An operation program for the endoscope shape display control device that makes the computer function.