JP2631968B2 - Measuring device and measuring method using endoscope - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for measuring the size and position of an object such as a tumor observed by an endoscope using an endoscope used for medical treatment or the like.

[0002]

2. Description of the Related Art Conventionally, various endoscopes have been used for observing a space in a body, that is, an inner surface of a hollow organ, an inside of a thoracic cavity, an abdominal cavity, and the like. This endoscope plays an important role in diagnostics because it allows the inside of the body to be visually observed from outside the body. However, although an endoscope has the advantage of being able to directly confirm the presence or absence and shape of an observation object (target object) such as a tumor in the body with the eyes, the size and position of the observation object are numerically determined. There was an inconvenience that could not be measured. That is, for example, the size of a tumor captured by an endoscope changes greatly depending on the distance between the tumor and the distal end of the endoscope, so that specific and objective data cannot be obtained.

[0003]

SUMMARY OF THE INVENTION The present invention provides an apparatus for observing an object to be observed with an endoscope and numerically measuring the size and position of an object to be observed, such as a tumor, using the endoscope. The purpose is to provide.

[0004]

That is, the present invention provides a plurality of arms sequentially connected to a fixed arm so that the distal end can move three-dimensionally, and an angle sensor installed at each arm connection portion. , The direct endoscope attached to the distal end of the connecting arm, the three-dimensional coordinate value of the distal end of the direct endoscope based on the length of each arm, the length of the direct endoscope, and the angle of each arm connecting portion. And a computer having means for calculating the size of the measurement object or the distance from a specific position from three-dimensional coordinate values before and after movement of the endoscope of the direct endoscope. This is a measuring device using a direct endoscope. Further, the present invention provides a method for controlling the length of each of a plurality of arms sequentially connected to a fixed arm such that the distal end thereof is movable three-dimensionally and the length of the direct endoscope attached to the distal end. And measure the angle of each arm connection with the angle sensor installed at each arm connection,
A measurement method comprising inputting these lengths and angles to a computer, wherein the tip of a direct endoscope is aligned with one end of a measurement target, and three-dimensional coordinate values at that time are set to the lengths of the respective arms and The length of the direct endoscope and the angle of each arm connection are detected by inputting them to a computer, and then the tip of the direct endoscope is moved to the other end of the measurement object, and the three-dimensional coordinate values at that time Is detected by inputting the length of each arm and the length of the direct endoscope and the angle of each arm connection part to a computer, and the three-dimensional coordinate value and the movement of the tip of the direct endoscope before the movement are detected. This is a measurement method using a direct endoscope, wherein a size of a measurement object or a distance from a specific position is calculated from a three-dimensional coordinate value later.

[0005] In the present invention, in order to make the tip of the arm after connecting the arm three-dimensionally movable, a plurality of arms are turned around the fixed arm in a direction transverse to the longitudinal axis of the arm. Preferably, at least one movable connection part and at least one connection part rotatable in the longitudinal axis direction of the arm are formed and connected sequentially.

The present invention will be described in detail with reference to FIG. In FIG. 1, 1 is a fixture, and 2 is a fixed arm. 3, 4, 5, 6, and 7 are arms. Reference numerals 8, 9, 10, 11 and 12 denote angle sensors provided at connection portions of the respective arms. 13 is a direct endoscope, 1
3a is an eyepiece and 13b is a tip. Fixture 1
Is fixed to the fixing arm 2. One end of the arm 3 is connected to the fixed arm 2 so as to be rotatable in the lateral direction with respect to the longitudinal axis of the fixed arm 2. One end of the arm 4 is connected to the other end of the arm 3 so as to be rotatable in the longitudinal axis direction of the arm 3. One end of an arm 5 is connected to the other end of the arm 4 so as to be rotatable in the longitudinal axis direction of the arm 4. One end of the arm 6 is connected to the other end of the arm 5 so as to be rotatable in the longitudinal axis direction of the arm 5. Further, one end of the arm 7 is connected to the other end of the arm 6 so as to be rotatable in the lateral direction with respect to the longitudinal axis of the arm 6. Various means known per se are employed as the rotatable connection. Then, the direct endoscope 13 is attached to the multiple ends of the arm 7 at an angle at which the object can be easily viewed, for example, vertically. Each of the connections is provided with a known angle sensor 8, 9, 10, 11 and 12
Attach.

The connecting portions of the fixed arm 2 and the arm 3 and the connecting portions of the arm 6 and the arm 7 are connecting portions rotatable in the lateral direction with respect to the longitudinal axis of the arm.
Since the connecting portions of the arm 4 and the arm 5 and the connecting portions of the arm 5 and the arm 6 are rotatable in the longitudinal direction of the arm, the direct endoscope 13 attached to the tip of the arm 7 can be vertically, horizontally, and vertically.
It is freely movable back and forth, ie three-dimensionally. Then, the movement, that is, the change in the angle between the arms is captured and recorded by each angle sensor provided in each connection portion. This record is entered into a computer. As the angle sensor (angle measuring device), various types such as a potentiometer and a rotary encoder can be used.

In this example, five arms are used, and five connecting portions and five angle sensors are provided. However, in order for the direct endoscope 13 to be able to freely move up and down, left and right, and back and forth, the arm is used. It is preferable to use five or more, and to provide five or more connection parts and angle sensors. In addition, the positional relationship between the connecting portion rotatable in the lateral direction with respect to the longitudinal axis of the arm and the connecting portion rotatable in the longitudinal direction of the arm is not particularly limited. The present invention
By combining the direct endoscope, the arm, and the angle sensor, it is possible to detect the three-dimensional coordinate value of the distal end of the endoscope in the body, and thus, before and after movement of the distal end of the direct endoscope. By detecting three-dimensional coordinate values, it is possible to numerically measure the size of the observation object or the distance of the observation object from a specific portion from each of the three-dimensional coordinate values before and after the movement. Things. At this time, the endoscope has an important function of guiding its tip to an observation object. By using an endoscope, in the body that cannot be seen from the outside,
The end of the endoscope can be guided to an observation object, and thereby the size and position of a tumor or the like in the body can be measured.

Next, a description will be given of a method of measuring using the above-mentioned measuring device. The length of each arm and the length of the direct endoscope are measured in advance and input to the computer. First, by looking through the eyepiece 13a of the direct endoscope 13, the position of the distal end 13b of the direct endoscope is adjusted to one end of an object to be measured, for example, a tumor. At this time, the fixed arm 2 and the arm 3, the arm 3 and the arm 4, the arm 4 and the arm 5,
The angle sensor captures each angle between the arm 5 and the arm 6 and between the arm 6 and the arm 7 and inputs the angle to the computer, and calculates the tip 13b of the direct endoscope from the value, the length of each arm and the length of the direct endoscope. The three-dimensional position (three-dimensional coordinate value) is detected and recorded. If a projection is attached to the tip of the direct endoscope and the projection comes into contact with the object to be measured, the measurement can be performed simply and accurately.

Next, the distal end 13b of the direct endoscope is moved to be aligned with the other end of the tumor. As the tip 13b moves, each arm moves, and the angle between each arm changes. The angle after the change is captured by the angle sensor and input to the computer, and the three-dimensional position (the tertiary position) after the movement of the distal end 13b of the direct endoscope is calculated based on the value, the length of each arm and the length of the direct endoscope. (Original coordinate values) are recorded. Then, from the two three-dimensional positions (three-dimensional coordinate values) before and after the movement of the distal end 13b of the direct endoscope, the actual length from the end of the tumor to the end is calculated by a known calculation method. By this method, it is possible to measure not only the size of the tumor, but also the area, as well as the distance from a specific site. The endoscope used in the present invention is a direct endoscope for observing an observation object outside the body using a lens, and a fiberscope used for observing a digestive tract or the like is not suitable.

[0011]

According to the measuring apparatus using the endoscope of the present invention, for example, the shape and the like of a tumor inside the body can be observed by the endoscope, and its size, position, area, etc. can be easily determined. It is very useful because it can be measured and expressed as a numerical value.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of an endoscope position measuring device according to the present invention.

[Explanation of symbols]

1 Fixture, 2 Fixing Arm, 3, 4, 5, 6, 7
Arm, 8, 9, 10, 11, 12 Angle sensor, 13 Direct endoscope, 13a Direct endoscope eyepiece,
13b Tip of direct endoscope

Claims (2)

(57) [Claims] 1. The fixed arm has a three-dimensional tip.
Multiple arms connected in sequence so that
Angle sensor installed in the system connection part and the connection arm
The direct endoscope attached to the tip of the
Direct from the length of the direct endoscope and the angle of each arm connection
Means for detecting the three-dimensional coordinate value of the tip of the endoscope;
From the three-dimensional coordinate values before and after the tip of the endoscope
A means for calculating the size of an elephant or the distance from a specific position
Directly characterized by comprising a computer equipped with
A measuring device using an endoscope. 2. The fixed arm has a three-dimensional tip.
Each arm of multiple arms connected sequentially so that they move
And the length of the direct endoscope attached to the tip
Measure and use the angle sensor installed at each arm connection
Measure the angle of each arm connection and determine their length and angle.
This is a measurement method consisting of inputting data to a computer.
The end of the direct endoscope to one end of the object to be measured.
The three-dimensional coordinate values at the time of
Compute the length of the endoscope and the angle of each arm connection
Detection by input to the monitor, then direct endoscope
Is moved to the other end of the measurement object, and the tertiary
The original coordinate values are used to determine the length of each arm and the length of the direct endoscope.
And input the angle of each arm connection to the computer.
By detecting and moving the tip of the direct endoscope
Measured from the previous three-dimensional coordinate value and the three-dimensional coordinate value after movement
Calculate the size of the fixed object or the distance from the specific position
And a measuring method using a direct endoscope.