JP3458060B2 - Endoscope shape detection device and endoscope shape display control method - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope shape detecting device for detecting and displaying the shape of an insertion portion of an endoscope using a magnetic field.
And an endoscope shape display control method .

[0002]

2. Description of the Related Art In recent years, endoscopes have been widely used in medical fields and industrial fields. This endoscope, especially if it has a soft insertion part, can be inserted into a bent body cavity to diagnose an organ deep inside the body cavity without incision or to insert a treatment instrument into the channel as necessary. It is possible to carry out therapeutic treatment such as excision of polyps and the like.

In this case, some skill may be required to smoothly insert the insertion portion into the bent body cavity, for example, when examining the lower digestive tract from the anus side.

That is, when the insertion work is being performed, a work such as bending the bending portion provided in the insertion portion in accordance with the bending of the conduit is necessary for smooth insertion. For that purpose, the insertion portion is required. It is convenient to know where in the body cavity the position of the tip of the body is, and the current bending state of the insertion part.

Therefore, the applicant of the present invention, for example, Japanese Unexamined Patent Publication No.
In the endoscope shape detection device disclosed in Japanese Patent Application Laid-Open No. 107875, the endoscope detection shapes from different viewpoints are simultaneously displayed on two screens. In this device, the endoscope insertion shape is displayed from an arbitrary viewpoint by a user operation. Further, the viewpoint position desired by the user is held, and the display from that viewpoint position is displayed immediately after the apparatus is activated.

[0006]

Prior to the use of such an endoscope shape detecting device using a magnetic field, an endoscopic examination was performed under fluoroscopy. X in conventional devices
X-ray has no relation to the endoscopic X-ray image display under fluoroscopy.
It was an endoscopic shape display that was difficult for a user who performed an endoscopic examination under fluoroscopy.

More specifically, when the insertion shape is displayed, the height direction of the patient is set in the vertical direction of the monitor screen, whereas the display of an endoscopic X-ray image by fluoroscopy is performed. Then, the display is performed with the patient's height direction being horizontal.

The present invention has been made in view of the above points, and the shape of the insertion portion of the endoscope can be more easily understood by switching to the display corresponding to the X-ray image display. An object of the present invention is to provide a device and an endoscope shape display control method .

[0009]

In order to solve this problem, the first endoscope shape detecting apparatus of the present invention has a plurality of coils arranged along the insertion axis of the endoscope insertion portion. The first coil means, the second coil means having a plurality of coils arranged at a predetermined position, and the magnetic field generated by one of the first coil means and the second coil means The calculation means for calculating the positional information of each of the plurality of coils in the first coil means by detecting by the other coil means, and the insertion shape of the endoscope insertion part based on the calculation result of the calculation means. Image generation means for generating an insertion shape image to be pseudo-displayed on the display means;
The display changing means for changing and displaying the visual field direction of the insertion shape displayed on the display means, and the upper and lower display directions of the insertion shape image generated by the image generating means,
The first screen mode in which the height direction or the longitudinal direction of the diagnostic bed is displayed as the vertical direction and the image generation means for generating the insertion shape image based on the magnetic field are different from each other in the endoscope insertion section. For devices that acquire and display the insertion shape
In addition, the diagnostic bed is inserted with the short side direction as the vertical direction.
Acquire an image and generate an insertion shape image based on the magnetic field.
Insertion type of the endoscope insertion part generated by the image generating means
The Jo, the insertion shape when viewed from a second viewing direction
Display control means for controlling said display change means so as to display selectively performed and displayed in the second screen mode for displaying the lateral direction of the diagnostic bed as a vertical direction Te, that was provided Characterize. Further, in order to achieve the above object, a second endoscope shape detecting device of the present invention is a first coil means having a plurality of coils arranged along an insertion axis of an endoscope insertion portion, The second coil means having a plurality of coils arranged at a predetermined position and the magnetic field generated by one of the first coil means and the second coil means are detected by the other coil means. Thereby, the calculation means for calculating the position information of each of the plurality of coils in the first coil means, and the insertion shape of the endoscope insertion part is pseudo-displayed on the display means based on the calculation result of the calculation means. Image generation means for generating an insertion shape image, display changing means for changing and displaying the visual field direction of the insertion shape displayed on the display means, and upper and lower sides of the insertion shape image generated by the image generation means. How to display A patient
The height direction of the person or the longitudinal direction of the diagnostic bed is defined as the vertical direction.
A device for acquiring and displaying the insertion shape of the endoscope insertion part by means different from the first screen mode for displaying the insertion shape and the image generation means for generating the insertion shape image based on the magnetic field.
In the case of insertion, the short side of the diagnostic bed is inserted vertically.
Obtain a shape image and generate an insertion shape image based on the magnetic field.
Insertion of the endoscope insertion part generated by the image generation means
Inserted shape when the inserted shape is observed from the second viewpoint direction
As a single-screen display mode for displaying one of the short sides of the diagnostic bed as the vertical direction, and the upper and lower sides of the diagnostic bed
Insertion shape when observed from the side and observation from the short side direction
The insertion shape and the
Two-screen table that displays two longitudinal directions of the head
Display control means for controlling said display change means to display the display in the second screen mode in either display mode for displaying the insertion shape image selectively to go, that was provided Characterize. Moreover, in order to achieve the said objective, the 3rd endoscope shape detection apparatus of this invention is an endoscope shape detection apparatus of Claim 1 or Claim 2, Comprising: The said 2nd viewpoint direction is said. It is characterized in that it is different by 90 degrees with respect to the first viewpoint direction. Further, in order to achieve the above object, a fourth endoscope shape detecting device of the present invention comprises:
The endoscope shape detection device according to claim 1, wherein the display control means further observes from the second viewpoint direction when displaying the insertion shape image observed from the second viewpoint direction. It is characterized in that it is controlled so as to display, together with the insertion shape image, a marker indicating that the display is a display when observed from the second viewpoint direction. In order to achieve the above-mentioned object, the first endoscope shape display control method of the present invention comprises: a first coil means having a plurality of coils arranged along an insertion axis of an endoscope insertion section; , A second coil means having a plurality of coils arranged at a predetermined position, and the magnetic field generated in one of the first and second coil means is Detection hand to detect with coil means
A calculating step of calculating position information of each of the plurality of coils in said first coil means obtained by the step,
An image generation step of generating an insertion shape image for displaying the insertion shape of the endoscope insertion portion on the display means in a pseudo manner based on the calculation result of the calculation step; and the insertion shape displayed on the display means. A display changing step of changing and displaying the visual field direction, and a first step of displaying the insertion shape image when observed from a first viewpoint direction in a display direction above and below the insertion shape image generated in the image generating step. Of the insertion mode of the endoscope insertion part from a second viewpoint direction different from the first viewpoint direction by a method different from the screen mode and the method of generating the insertion shape image based on the magnetic field. Displaying the insert shape image when observed from the second viewpoint direction in correspondence with the display directions of the insert shape image on the display screen of the device that acquires and displays the image. Display a display control step for controlling to display performed selectively in the two screen modes, characterized in that a city. In order to achieve the above-mentioned object, the second endoscope shape display control method of the present invention includes: a first coil means having a plurality of coils arranged along an insertion axis of an endoscope insertion portion; A second coil means having a plurality of coils arranged at a predetermined position.
And calculating the position information of each of the plurality of coils in the first coil means obtained by the detection means for detecting the magnetic field generated by one of the first and second coil means by the other coil means. A calculation step, an image generation step of generating an insertion shape image for displaying the insertion shape of the endoscope insertion portion on the display means in a pseudo manner based on the calculation result of the calculation step, and the image generation step is displayed. A display changing step of changing and displaying the visual field direction of the insertion shape; and the insertion shape image when observed from a first viewpoint direction in the display directions above and below the insertion shape image generated in the image generating step. The first screen mode to display,
An insertion shape image of the endoscope insertion portion is acquired from a second viewpoint direction different from the first viewpoint direction by a method different from the method of the image generation step of generating an insertion shape image based on the magnetic field. According to the upper and lower display directions of the insertion shape image on the display screen of the device to be displayed, the second
Of the single-screen display mode for displaying one of the insertion shape images when viewed from the viewpoint direction and the upper and lower display directions corresponding to the second viewpoint direction are common and the viewing directions are different from each other. A display control step of controlling to selectively perform the display in the second screen mode for displaying the insertion shape image in any of the two screen display modes for displaying the two insertion shape images. Is provided.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. (First Embodiment) FIGS. 1 to 9 relate to a first embodiment of the present invention, and FIG. 1 shows an entire configuration of an endoscope system including the first embodiment of the present invention. 2, FIG. 2 shows a schematic functional configuration of the control unit, FIG. 3 shows a flow chart of the operation of the endoscope shape detection device of FIG. 1, and FIG.
4 shows the contents of the endoscopic shape drawing process in the flow of FIG. 5, FIG. 5 shows the contents of the one-screen mode process of FIG. 4, and FIG.
7 shows the contents of the two-screen mode process, FIG. 7 shows the endoscope insertion shape in the one-screen mode displayed on the shape display monitor, and FIG. 8 shows the two-screen mode displayed on the shape display monitor. 9 shows the endoscope insertion shape, and FIG. 9 shows the endoscope insertion shape in the normal display mode and the X-ray image corresponding mode in the two-screen mode displayed on the shape display monitor.

As shown in FIG. 1, an endoscope system 1 includes an endoscope apparatus 2 for performing an endoscopic examination, and the present invention for detecting and displaying an endoscope insertion shape during the endoscopic examination. And the endoscope shape detecting device 3 according to the first embodiment.

The endoscope device 2 is an endoscope (abbreviated as scope) which is inserted into the body of a patient 5 who rests on the examination bed 4.
6, a light source unit (not shown) that supplies illumination light to the scope 6, and a video processor 7 that includes a video signal processing unit that performs signal processing for an image pickup device built in the scope 6, and an image in the video processor 7. It is composed of an image observation monitor 8 on which an endoscopic image is displayed by inputting a standard video signal generated by the signal processing unit, and an operator displays the image on the image observation monitor 8. An endoscopic examination can be performed by observing an endoscopic image.

The scope 6 has an elongated and flexible insertion portion 11 and an operation portion 12 provided at the rear end of the insertion portion 11.
And a universal cable 13 extended from the operation unit 12, and the connector at the end of the universal cable 13 is connected to the video processor 7. Further, a bending knob 14 is provided on the operation unit 12, and the bending knob 14
By operating, the bending portion 16 provided adjacent to the distal end portion of the insertion portion 11 can be bent.

Further, in the present embodiment, the insertion shape detecting probe 17 is inserted through the treatment instrument channel provided along the axis of the insertion portion 11, and this insertion shape detecting probe (hereinafter, simply referred to as probe). Twelve source coils 18-1 to 18-12 are attached to the (abbreviated) 17 along the probe axis at predetermined intervals, for example.

Therefore, by inserting the probe 17 into the treatment instrument channel and positioning and fixing the front end or the rear end side thereof, 12 source coils 18-1 are arranged at predetermined intervals in the axial direction of the insertion portion 11. ~ 18-12 are arranged.

The endoscope shape detecting device 3 has the probe 17
And a coil unit 20 arranged at a known position outside the body of the patient 5 and having, for example, 12 sense coils 19-1 to 19-12, a cable 21 of the probe 17 and a cable 22 extended from the coil unit 20. Is connected to the control unit 23 for performing processing such as control and position estimation of the device 3, and a video signal output from the output end of the control unit 23 is input to display the endoscope insertion shape. The control unit 23 is connected to an input unit 25 for inputting an instruction or selection of a screen display mode.

In this embodiment, the source coils 18-1 to 18-12 are provided in the treatment instrument channel of the scope 6.
By inserting and fixing the probe 17 attached with,
The source coil 18-1 is provided in (the insertion portion 11 of) the scope 6.
18-12 are incorporated, the source coils 18-1 to 18-12 may be incorporated directly into (the insertion portion 11 of) the scope 6 without the probe 17.

As shown in FIG. 2, the control unit 23 includes a system processor 31 for performing arithmetic processing such as control of the apparatus 3 and position estimation, and a source coil arranged inside the scope 6 by a control signal from the system processor 31. A drive circuit 32 for supplying a drive current for generating an AC magnetic field to 18-1 to 18-12, and a coil unit 20.
A detection circuit 33 that amplifies the magnetic field detection current input from the sense coils 19-1 to 19-12 in the inside, and then performs analog-digital conversion and outputs to the system processor 31;
An image generation circuit 34 that converts digital data of the shape of the insertion portion 11 of the scope 6 generated by the system processor 31 into an analog video signal and outputs the analog video signal. For example, a keyboard or an operation panel provided on a front panel or the like for inputting, and an input unit 25 including a mouse (or another pointing device such as a trackball) are connected.

In the present embodiment, according to an instruction from the input unit 25, one insertion shape when the insertion shape (endoscope) displayed on the shape display monitor 24 is observed from the designated viewpoint direction is displayed. Display in single-screen mode and insert shape from viewpoint direction different from the viewpoint direction by 90 ° are also displayed. 2
Display in screen mode can be performed. In addition to the normal display mode in which the insertion shape is displayed as described above, in the present embodiment, the insertion shape that is closely related to the case of displaying an endoscope X-ray image by X-ray fluoroscopy is displayed. It is equipped with a line image compatible display mode.

In the normal display mode, the vertical direction when the insertion shape is displayed on the insertion shape display monitor 24 is set and displayed in the height direction of the patient 5. That is, in FIG. 1, the longitudinal direction (horizontal direction) of the inspection bed 4, that is, the −Y direction in the orthogonal coordinate system (X, Y, Z) fixed to the inspection bed 4 is the vertical direction of the insertion shape display monitor 24. Is set to. More specifically, the vicinity of the anus of the patient 5 into which the tip of the scope 6 in the longitudinal direction of the bed 4 is inserted is set to the lower side in the vertical direction (of the insertion shape display monitor 24), and the abdominal side of the patient 5 is set to the (insertion shape). Display monitor 2
It will be set and displayed on the upper side in the vertical direction (of FIG. 4).

On the other hand, in the X-ray image correspondence display mode, the vertical direction when displaying the insertion shape on the insertion shape display monitor 24 is set with reference to the height direction of the operator (user), and accordingly, the operation is performed. The height direction and the like of the patient 5 lying on the bed 4 with respect to the person is horizontally displayed on the insertion shape display monitor 24.

That is, in the X-ray image correspondence display mode, in FIG. 1, the lateral direction of the examination bed 4 (coordinate system (X,
In Y, Z), the X direction) is set in the vertical direction of the insertion shape display monitor 24, and the insertion shape is displayed on the insertion shape display monitor 24.

For example, in FIG. 1, by irradiating X-rays from above the paper surface toward the bottom of the paper surface with an X-ray device (not shown), an endoscopic X-ray image by X-ray fluoroscopy is obtained. The direction is shown as an X-ray image corresponding display direction D1 in FIG.

Further, even in the X-ray image corresponding display mode, one inserted shape is displayed when the inserted shape displayed on the shape display monitor 24 is observed in the X-ray image corresponding display direction D1 in FIG. Display in screen mode and the directions D1 and 90
It is possible to perform the display in the two-screen mode in which the insertion shape when observed in different X-ray image corresponding display directions D2 is also displayed.

In the two-screen mode, the normal mode and X
Even in the line image correspondence display mode, the two insertion shapes displayed on the shape display monitor 24 have the same vertical direction, and the observation directions are different by 90 °.

For example, when the X-ray image correspondence display instruction is given in the two-screen mode, the direction D1 and the direction D1
Without changing the vertical direction around (that is, in the horizontal plane) 90
The endoscope insertion shape when rotated from each other and viewed from the direction D2 is displayed, that is, in the two-screen mode, the directions D1 and D are displayed.
Two endoscope insertion shapes when viewed from two directions can be displayed. Then, an instruction for switching between the normal mode and the X-ray image correspondence display mode is input to the input unit 2.
It is possible to start from 5.

In other words, in the present embodiment, the insertion shape is displayed in the normal display mode in which the insertion shape is displayed with the direction corresponding to the first visual field direction in the case of observing the normal insertion shape as the vertical direction of the display. A field of view for displaying and for displaying the inserted shape in the X-ray image corresponding display mode with the direction corresponding to the second visual field direction in the case of endoscopic X-ray image observation as the vertical direction of the display The endoscope shape is provided in a state in which the direction changing means is provided, and the direction changing means is provided with an instruction means for instructing to switch the display mode, so that a user who is accustomed to the endoscopic X-ray image display can easily grasp the endoscope shape. The display can be done.

The visual field direction changing means is composed of the system processor 31 and the image generating circuit 34 shown in FIG. 2. For example, the display of the insertion shape is switched from the display of the insertion shape in the normal display mode to the X-ray image corresponding display mode. When instructed, the insertion shape in the normal mode in the single screen mode is converted into the insertion shape from the reference viewpoint direction with the −Z axis direction in FIG. 1 as the viewpoint direction, and further around the Z axis in FIG. 1. A process of rotating 90 ° in the counterclockwise direction is performed to convert the visual field direction to be displayed as the insertion shape in the X-ray image corresponding display mode (in the single screen mode). As will be described later, the display in the two-screen mode is generated by rotating the inserted shape by 90 ° based on one insertion shape in the two-screen mode (this is the same as one insertion shape in the one-screen mode). .

Next, the operation of the first embodiment will be described with reference to FIG.
Will be described with reference to. The system processor 31 in the control unit 23 first acquires the setting state of the screen configuration of the user in step S1. That is, the setting information of the screen configuration of whether the endoscope insertion shape is displayed on one screen or the endoscope insertion shape is displayed on two screens is obtained. Next, 12 source coils 18-1 to 18-12 are simultaneously or sequentially applied with an alternating current signal to generate a magnetic field around the source coil, and the 12 magnetic fields are arranged at known positions. The positions of the 12 source coils 18-1 to 18-12 incorporated in the scope 6 are calculated by using the digital values of the detected magnetic field detection currents detected by 19-1 to 19-12 (step S2). ).

Next, it is determined whether or not there is a screen mode change request in step S3, and if there is no screen mode change request, the process proceeds to step S4. If there is a screen mode change request, branch A
To determine the current screen mode (step S1
1) If the current screen mode is the 1-screen mode, the screen mode is changed to the 2-screen mode (step S12), and the process proceeds to step S4. On the contrary, if the current screen mode is the two-screen mode, it is changed to the one-screen mode (step S13), and the process proceeds to step S4.

In step S4, it is determined whether or not there is an X-ray compatible display mode change request in the dual screen mode. If there is an X-ray compatible display mode change request, the process proceeds to branch C to determine the current display mode (step S21). ), If the current display mode is the normal display mode, the display mode is changed to the X-ray image compatible display mode (step S22), and the process proceeds to step S5. vice versa,
If the current display mode is the X-ray image compatible display mode, it is changed to the normal display mode (step S23), and step S5.
Move on to.

Next, the contents of the endoscope shape drawing process in step S5 of FIG. 3 will be described with reference to FIG. As shown in FIG. 4, first, the endoscope shape model drawing mode in step S31 is determined, and if the drawing mode is the one-screen mode, the one-screen mode process (step S32) is performed, and if the two-screen mode is the two-screen mode process. (Step S33) is performed and the process ends.

In this case, the drawing process of the endoscope shape in the one-screen mode corresponds to the case of viewing from the viewpoint direction input or selected by the user through the input unit 25 or the like. In the two-screen mode, the viewpoint direction in the one-screen mode and the vertical direction of the display at that time are maintained.
This corresponds to the direction perpendicular to the viewpoint direction rotated by 0 ° (described later in FIG. 6).

FIG. 5 shows a detailed flow of the one-screen mode processing in step S32 of FIG. First, the position coordinates of the source coil in step S41 are acquired and converted into visual field coordinates,
Next, endoscope shape model data is created (step S4).
2). Then, the endoscope shape model data is transferred to the VR (not shown) in the image generation circuit 34 in the control unit 23.
It is expanded to AM (step S43).

As a result, the endoscope shape model data expanded in the VRAM is output to the shape display monitor 24, and the shape display monitor 24 displays the endoscope shape model 41a as shown in FIG. (Step S44).

The endoscope shape model 41a displayed on the shape display monitor 24 is actually displayed in, for example, a gray scale, and is displayed in a stereoscopic state. For example, in the case of the shape shown in FIG. 7, the front end is displayed bright on the front side, and the portion overlapping the front end is displayed darkly, and is displayed stereoscopically so that the bent state can be seen. 8 and the like other than FIG. 7 are actually displayed so as to give a stereoscopic effect. It should be noted that, instead of the gray scale, hatching may be used to perform display with a stereoscopic effect. Here, step S4
The procedure for creating the endoscope shape model data of No. 2 is the same as that of Japanese Patent Application No. 10-69075 previously filed.

FIG. 6 shows the flow of the two-screen mode process in step S33 of FIG. 4, first setting the display area for two screens in step S51, and then setting the viewpoint (step S52). Next, the position coordinates of the source coil are converted into visual field coordinates (step S53), and the left endoscope shape model data of the two screens is created (step S54).

Then, the endoscope shape model data is expanded in a VRAM (not shown) in the image generation circuit 34 in the control unit 23 (step S55). Next, of the two screens, the left endoscope shape model is rotated 90 ° to create the right endoscope shape model (step S56). The model data on the right side is expanded in the VRAM (step S57). As a result, the endoscope shape models 41a and 41b as shown in FIG. 8 are displayed on the shape display monitor 24 in the two-screen mode (step S58).

In the X-ray image corresponding display mode, the viewpoint is set in the X-ray image corresponding display direction D1 (-Z direction) as shown in FIG. 1 in step S52, and the vertical direction (X Direction) is the visual field direction, that is, the shape display monitor 24
In step S54, the endoscope shape model is created by setting the insertion shape in the vertical direction when displaying the insertion shape.

In the endoscope shape model created in step S56, the model on the left side is rotated 90 ° in the horizontal plane direction to create a model in which the viewpoint is set in the display direction D2 corresponding to the X-ray image in FIG. It

Here, the procedure for creating the endoscopic shape model data in step S54 is the same as the previously filed Japanese Patent Application No. 10-6907.
Same as No. 5. The normal display mode and the X-ray image corresponding display mode are switched according to the flow of FIG. 3. For example, when the normal display mode and the X-ray image corresponding display mode are switched in the two-screen mode, as shown in FIG. The endoscope shape models 41c and 41d in the two normal display modes and the endoscope shape models 41e and 41f in the X-ray image corresponding display mode are displayed according to the switching instruction. Although not shown, also in the single-screen mode, the endoscope shape model in the normal display mode and the endoscope shape model in the X-ray image corresponding display mode are similarly displayed according to the switching instruction.

Therefore, according to the present embodiment, it is possible to display the insertion shape in a display form in which the operator can easily confirm the insertion state. For example, in the case of an operator who is familiar with X-ray fluoroscopy, if an instruction input of an X-ray image corresponding display mode is input from the input unit 25, the viewpoint direction corresponding to the state normally observed by X-ray fluoroscopy and the display in that case. Since the insertion shape can be displayed in the display direction of the means, it is easy to grasp the insertion state.

In the case of an operator who does not often use X-ray fluoroscopy, if the display is instructed or selected in the normal display mode, a normal insertion shape in which the insertion direction is the vertical direction of the display means is displayed. Since it is displayed, it is easy to grasp the insertion state.

[0044]

Second Embodiment Next, a second embodiment of the present invention will be described with reference to FIGS. 10 and 11
10 relates to the second embodiment, FIG. 10 shows a flow of processing in the two-screen mode, and FIG. 11 shows an endoscope insertion shape and the like displayed on the shape display monitor.

In the present embodiment, in FIG. 1, when an instruction to display the endoscope insertion shape in the X-ray image corresponding mode is instructed, the marker graphic is displayed. Other configurations Is the same as in the first embodiment.

Next, the operation of the second embodiment will be described with reference to FIG. In FIG. 10, the flow from step S51 to step S57 is the same as that of FIG. 6 in the first embodiment.

After step S57, the current display mode is determined in step S61. If it is the normal display mode, the endoscope shape is displayed as it is (step S5).
8). On the other hand, if the display mode is compatible with the X-ray image, the marker graphic is expanded in the VRAM (step S62). Then, the marker figure is displayed together with the endoscope shape (step S5).
8).

As a result, the shape display monitor 24 is shown in FIG.
Endoscope insertion shape models 41e and 41f are displayed with a marker figure 51 as shown in FIG. Note that, although FIG. 11 shows the case of the two-screen mode, even in the one-screen mode, in the X-ray image corresponding display mode, the endoscope insertion shape model with the marker graphic 51 is displayed. Other configurations and operations are similar to those of the first embodiment.

According to the present embodiment, the marker figure 5 indicating that the X-ray image display during the display corresponding to the X-ray image display is present.
Since 1 is displayed, the user can easily recognize that the display corresponding to the endoscopic X-ray image display is being performed. Others have the same effects as those of the first embodiment. It should be noted that characters or symbols may be used instead of figures.

In the first embodiment, the scope 6
Although the plurality of source coils 18-1 to 18-12 are arranged on the side and the plurality of sense coils 19-1 to 19-12 are arranged at known positions outside the scope 6, the plurality of sense coils 19-1 are arranged inside the scope 6. The source coils 18-1 to 18-12 may be disposed at known positions outside the scope 6 by arranging -1 to 19-12 at predetermined intervals.

The vertical direction of the display surface when displaying the inserted shape in the X-ray image compatible mode has been described as the X direction in FIG. 1, but in the present invention, when the inserted shape is displayed on the shape display monitor 24. The visual field direction can be freely changed, and for example, even when the patient 5 leans from the Y-axis direction in FIG. 1 and lies down, the insertion shape can be displayed in the normal mode and the X-ray image corresponding mode corresponding thereto.

That is, in this case, the insertion direction is a direction (in the XY plane) inclined from the horizontal direction (-Y axis direction) in FIG. 1, and accordingly, the display in the case of displaying the insertion shape in the normal mode is performed. The vertical direction of the screen (vertical direction) is set to the insertion direction inclined from the horizontal direction. Further, when the insertion shape is displayed in the X-ray image corresponding mode, this insertion direction is set and displayed in the horizontal direction of the display screen.

[Additional Notes] (1) The first coil means having a plurality of coils arranged along the insertion axis of the endoscope insertion portion and the plurality of coils arranged at a predetermined position. The second coil means, the transmitting / receiving means for transmitting / receiving a magnetic signal between the first coil means and the second coil means, and the second coil means based on a detection signal obtained by transmitting / receiving the magnetic signal. Of the coil means and the calculating means for calculating the position information of each of the plurality of coils in the first coil means, and based on the calculation result of the calculating means, the insertion shape of the endoscope insertion part is pseudo-displayed on the display means. An endoscopic shape detection device having display control means for displaying, comprising: a visual field direction conversion means capable of instructing to change the visual field direction of the insertion shape displayed on the display means. Mirror shape Detection device.

(2) A first coil means having a plurality of coils arranged along the insertion axis of the endoscope insertion portion, and a second coil means having a plurality of coils arranged at a predetermined position. Calculating means for calculating the position information of each of the plurality of coils in the second coil means and the first coil means based on the detection signal obtained by transmitting and receiving the magnetic signal. In the endoscope shape detecting device, which includes display control means for displaying the insertion shape of the endoscope insertion portion on the display means in a pseudo manner based on the calculation result of the above, the vertical direction of the display screen of the display means is A first display that matches the insertion direction of the endoscope insertion portion
And a second display mode in which the horizontal display mode and the second display mode in which the horizontal direction of the display screen matches the insertion direction of the endoscope insertion section are displayed. Endoscope shape detector.

(3) A plurality of magnetic field generating means and a magnetic field detecting means for detecting the magnetic field generated by the magnetic field generating means are provided, and the position of each magnetic field generating means is calculated from the magnetic field detection result to obtain an endoscope. In the endoscopic shape detecting device for displaying the shape of FIG. 1 on the endoscopic shape display means, the endoscopic shape display means simultaneously displays a plurality of endoscopic shapes from different viewpoint directions, and An endoscopic shape detecting device comprising means for switching to a display corresponding to an endoscopic image. (4) The endoscopic shape detecting device according to appendix 3, wherein a figure or a character indicating the state is displayed while the display corresponding to the endoscopic image seen through X-ray is displayed.

[0056]

As described above , the endoscope according to the present invention
According to the mirror shape display device and method, even an operator who is accustomed to fluoroscopy can display the endoscope shape in a state that is easy to grasp.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an endoscope system including a first embodiment of the present invention.

FIG. 2 is a block diagram showing a schematic functional configuration of a control unit.

FIG. 3 is a flowchart showing the operation of the endoscope shape detection device in FIG.

FIG. 4 is a flowchart showing the contents of the endoscopic shape drawing process in FIG.

5 is a flowchart showing the contents of the single screen mode process of FIG.

6 is a flowchart showing the details of the dual-screen mode process of FIG.

FIG. 7 is a diagram showing an endoscope insertion shape in a single-screen mode displayed on a shape display monitor.

FIG. 8 is a diagram showing an endoscope insertion shape in a two-screen mode displayed on a shape display monitor.

FIG. 9 is a diagram showing the endoscope insertion shape in the normal display mode and the X-ray image compatible mode in the two-screen mode displayed on the shape display monitor.

FIG. 10 is a flowchart showing the details of a dual screen mode process according to the second embodiment of the present invention.

FIG. 11 is a diagram showing a state in which the endoscope insertion shape in the X-ray image corresponding mode in the two-screen mode displayed on the shape display monitor is displayed together with the marker figure.

[Explanation of symbols]

1 ... Endoscope system 2 ... Endoscopic device 3 ... Endoscope shape detection device 4 ... Exam bed 5 ... Patient 6 ... Endoscope (scope) 7 ... Video processor 8 ... Monitor for image observation 11 ... insertion part 12 ... Operation part 13 ... Universal cable 16 ... Curved part 17 ... Insertion shape detection probe 18-1 to 18-12 ... Source coil 19-1 to 19-12 ... Sense coil 20 ... Coil unit 23 ... Control unit 24 ... Shape display monitor 25 ... Input section 31 ... System processor 32 ... Drive circuit 33 ... Detection circuit 34 ... Image generation circuit 41a-41f ... Endoscope insertion shape model

Front page continued (72) Inventor Yasuhiro Yoshizawa 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Akira Taniguchi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Kogyo Co., Ltd. (72) Fumiyuki Onoda 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Chieko Aizawa 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optics Industrial Co., Ltd. (72) Inventor Masanao Hara 1-34-14 Hatsudai, Shibuya-ku, Tokyo Hatsudai TN Building Olympus Systems Stock Company In-house (72) Kazutaka Tsuji 1-34-14 Hatsudai, Shibuya-ku, Tokyo TN Bill Olympus Systems Co., Ltd. In-house (56) Reference JP-A-9-28659 (JP, A) JP-A-8-107875 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) A61B 1/00-1/32

Claims (6)

(57) [Claims] 1. A first coil means having a plurality of coils arranged along an insertion axis of an endoscope insertion part, and a second coil means having a plurality of coils arranged at a predetermined position. Position information of each of the plurality of coils in the first coil means is calculated by detecting the magnetic field generated by one of the coil means and the first coil means and the second coil means by the other coil means. And an image generation unit that generates an insertion shape image that pseudo-displays the insertion shape of the endoscope insertion portion on the display unit based on the calculation result of the calculation unit, and is displayed on the display unit. Display changing means for changing and displaying the visual field direction of the insertion shape, and the upper and lower display directions of the insertion shape image generated by the image generating means are the height direction of the patient or the longitudinal direction of the diagnostic bed.
The insertion shape of the endoscope insertion portion is acquired by means different from the first screen mode in which the direction is displayed vertically and the image generation means for generating the insertion shape image based on the magnetic field.
For the equipment to be displayed as
Acquire the insert shape image as the downward direction, and based on the magnetic field
Generated by the image generating means for generating an insertion shape image
The insertion shape of the endoscope insertion part is the insertion shape when observed from the second viewpoint direction, and the insertion direction of the diagnosis bed is set in the lateral direction.
The endoscope shape detecting apparatus characterized by comprising display control means for controlling said display change means to display by performing a display in the second screen mode for displaying a downward selectively, the . 2. A first coil means having a plurality of coils arranged along an insertion axis of an endoscope insertion portion, and a second coil having a plurality of coils arranged at a predetermined position. The position information of each of the plurality of coils in the first coil means is calculated by detecting the magnetic field generated by one of the coil means and the first coil means and the second coil means by the other coil means. And an image generation unit that generates an insertion shape image that pseudo-displays the insertion shape of the endoscope insertion portion on the display unit based on the calculation result of the calculation unit, and is displayed on the display unit. Display changing means for changing and displaying the visual field direction of the insertion shape, and the upper and lower display directions of the insertion shape image generated by the image generating means are the height direction of the patient or the longitudinal direction of the diagnostic bed.
The insertion shape of the endoscope insertion portion is acquired by means different from the first screen mode in which the direction is displayed vertically and the image generation means for generating the insertion shape image based on the magnetic field.
For the equipment to be displayed as
Acquire the insert shape image as the downward direction, and based on the magnetic field
Generated by the image generating means for generating an insertion shape image
Observe the insertion shape of the endoscope insertion part from the second viewpoint direction.
When inserting the diagnostic bed in the short side direction,
A one-screen display mode in which one display as the downward direction, the diagnosis
Insertion shape when observed from the top and bottom of the bed
The insertion shape when observed from the lateral direction and the height of the patient
Direction or the longitudinal direction of the diagnostic bed is up and down
Display control means for controlling said display change means so as to display selectively performed a display in the second screen mode for displaying the insertion shape image in one of two-screen display mode for displaying, the An endoscope shape detection device characterized by being provided. 3. The endoscope shape detecting apparatus according to claim 1, wherein the second viewpoint direction is different from the first viewpoint direction by 90 degrees. 4. The display control means further displays the insertion shape image observed from the second viewpoint direction,
The display is controlled so as to be displayed together with the insertion shape image observed from the second viewpoint direction, in addition to the insertion shape image observed from the second viewpoint direction. The endoscopic shape detection device described. 5. A first coil means having a plurality of coils arranged along an insertion axis of an endoscope insertion portion, and a second coil means having a plurality of coils arranged at a predetermined position.
And a coil means, said first detection for detecting the magnetic field generated <br/> at one of the second coil means in the other coil means
Calculating step for calculating the position information of each of the plurality of coils in the first coil means obtained by means, and the insertion shape of the endoscope insertion part is simulated on the display means based on the calculation result in the calculating step. Image generation step of generating an insertion shape image to be displayed, a display changing step of changing and displaying the visual field direction of the insertion shape displayed on the display means, and the insertion shape generated in the image generation step. The first screen mode in which the insertion shape image is displayed when observed from the first viewpoint direction in the upper and lower display directions of the image and the method by the image generation step of generating the insertion shape image based on the magnetic field are different. On the display screen of the device for acquiring and displaying the insertion shape image of the endoscope insertion portion from the second viewpoint direction different from the first viewpoint direction by the method. The insertion shape image is controlled to be selectively displayed in the second screen mode in which the insertion shape image is displayed when observed from the second viewpoint direction in correspondence with the upper and lower display directions of the insertion shape image. A display control method for an endoscope shape detection device, comprising: a display control step. 6. A first coil means having a plurality of coils arranged along an insertion axis of an endoscope insertion portion, and a second coil means having a plurality of coils arranged at a predetermined position.
And a coil means, said first detection for detecting the magnetic field generated <br/> at one of the second coil means in the other coil means
Calculating step for calculating the position information of each of the plurality of coils in the first coil means obtained by means, and the insertion shape of the endoscope insertion part is simulated on the display means based on the calculation result in the calculating step. Image generation step of generating an insertion shape image to be displayed, a display changing step of changing and displaying the visual field direction of the insertion shape displayed on the display means, and the insertion shape generated in the image generation step. The first screen mode in which the insertion shape image is displayed when observed from the first viewpoint direction in the upper and lower display directions of the image and the method by the image generation step of generating the insertion shape image based on the magnetic field are different. On the display screen of the device for acquiring and displaying the insertion shape image of the endoscope insertion portion from the second viewpoint direction different from the first viewpoint direction by the method. One-screen display mode for displaying one of the insertion shape images when observed from the second viewpoint direction in correspondence with the upper and lower display directions of the insertion shape image, and the upper and lower display corresponding to the second viewpoint direction. The two insertion shape images are displayed when the observation directions are common and the observation directions are different from each other. 2
A display control step of controlling to selectively perform the display in the second screen mode in which the insertion shape image is displayed in any one of the screen display modes; Display control method for endoscope shape detection apparatus.