JP3850217B2 - Endoscope position detector for bronchi - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention smoothly guides an endoscope to a target site based on at least position information of the endoscope insertion portion.Endoscope position detector for bronchiAbout.
[0002]
[Prior art]
In recent years, endoscopes have been widely used in the medical field. Among these endoscopes, those with a soft insertion section can be used to diagnose organs deep in the body cavity without incising the body surface by inserting it into a bent duct in the body cavity. A therapeutic treatment can be performed in which a treatment tool is inserted into a channel of the endoscope to remove a polyp or the like. However, a certain level of skill is required to smoothly insert the insertion portion into the bent body cavity.
[0003]
That is, in order to smoothly insert the insertion portion, it is necessary to perform operations such as bending the bending portion provided in the insertion portion and twisting the gripping portion according to the bending state of the pipe line. At this time, it is convenient to know the position of the distal end position of the insertion portion in the body cavity, the bent shape of the insertion portion in the body cavity, and the like.
[0004]
For this reason, for example, Japanese Patent Laid-Open No. 8-0542 discloses an endoscope position detection device that can detect the three-dimensional position of an endoscope with high accuracy within a required detection range. This endoscope position detection apparatus detects the position of an endoscope using a magnetic field generation element and a magnetic field detection element.
[0005]
On the other hand, as a pipeline navigation method for easily arriving an endoscope to a site of interest, for example, Japanese Patent Laid-Open No. 2000-135215 discloses a tube that supports insertion of an endoscope into a body duct such as a bronchus. A route guidance method and apparatus, and a radiation tomography apparatus equipped with such a duct guide device are shown. In this pipe guiding method and apparatus, and a radiation tomography apparatus equipped with such a pipe guiding apparatus, a virtual processing is performed by a central processing unit based on a projection obtained by a helical scan of an X-ray irradiation / detection device. An endoscopic image and a guide image for biopsy of a region of interest were generated.
[0006]
[Problems to be solved by the invention]
However, for example, in the diagnosis of adenocarcinoma that frequently occurs in the peripheral lung field, the bronchial thickness is about 3 mm and the branching order is large in the seventh or eighth branch and reaches the alveoli in about the 15th to 18th branches. . Since the thickness of the fifteenth bronchus is about 2 mm, there is a case where an image up to the end bronchus cannot be contrasted with the performance of the current observation apparatus. That is, there is a problem that it is difficult to obtain a bronchial three-dimensional image up to the end.
[0007]
Further, there is a problem that the route to the region of interest is fragmented, that is, the position information of the endoscope tip is not always displayed in real time on the three-dimensional image of the bronchus, so that the path in the bronchus is difficult to understand.
[0008]
  The present invention has been made in view of the above circumstances, and when performing observation or treatment, the conduit and the insertion path are clarified, and the endoscope and the treatment instrument can be guided accurately and quickly.Endoscope position detector for bronchiThe purpose is to provide.
[0009]
[Means for Solving the Problems]
  Of the present inventionEndoscope position detector for bronchiUsing a magnetic field generating element and a magnetic field detecting elementFor bronchi inserted into the bronchiEnd position of endoscope insertion partInsertion portion tip position detection means for detecting, at least,Of the subject acquired in advanceIn the bronchiCreated from continuous slice tomograms,Criteria including uncontrast endStores bronchial 3D image dataReference bronchus 3D image data storage means and reference bronchus 3 for controlling to read out the reference bronchi 3D image data stored in the reference bronchi 3D image data storage means and display it on the display means as a reference bronchi 3D image An endoscopic image detected by the insertion portion tip position detecting means with respect to the reference bronchial 3D image displayed on the display means under the control of the 3D image display control means and the reference bronchial 3D image display control means Based on a predetermined sampling frequency, the tip position correcting means for correcting the position of the tip position of the mirror insertion section, and the trajectory information of the tip position of the endoscope insertion section after the tip position correction is performed by the tip position correction means. Based on the trajectory information of the distal end position of the endoscope insertion portion acquired by the distal end position trajectory information acquisition means and the distal end position trajectory information acquisition means. The non-contrast end image data generating means for generating image data relating to the non-contrast end portion in the reference bronchial three-dimensional image data, and the non-contrast end portion image data generating means generated by the non-contrast end portion image data generating means Is added to the reference bronchial three-dimensional image data to generate synthetic bronchial three-dimensional image data, and synthetic bronchial three-dimensional image data generated by the synthetic bronchial three-dimensional image data generating unit And a composite bronchial three-dimensional image data storage means for storing image data as new bronchial three-dimensional image data.
[0010]
According to this configuration, first, by inserting and removing the endoscope once, an image in which the trajectory image is synthesized with the bronchial three-dimensional image data acquired in advance is created. When the endoscope is inserted again, the endoscope can be smoothly guided to the site of interest by referring to the composite image created by the previous insertion / extraction.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
  Embodiments of the present invention will be described below with reference to the drawings.
  1 to 11 relate to an embodiment of the present invention, FIG. 1 is a diagram for explaining an endoscope system, FIG. 2 is a diagram for explaining an endoscope, and FIG. 3 is a diagram for explaining an endoscope and a video processor. FIG. 4 is a diagram for explaining the distal end portion of the probe inserted into the endoscope, FIG. 5 is a block diagram, FIG. 6 is a diagram showing an actual bronchus, and FIG. 7 is a three-dimensional bronchi obtained by CT scanning. FIG. 8 is a diagram illustrating a switch input position for correcting position information, and FIG. 9 is a three-dimensional image of a bronchus.Non-contrast end image obtained from trajectory informationFIG. 10 is a flowchart for explaining bronchial image creation processing, and FIG. 11 is a diagram for explaining a display example of additional data.
[0012]
  Note that FIG.Non-contrast end image obtained from trajectory informationFig. 9 (b) shows a composite 3D bronchial image withNon-contrast end image obtained from trajectory informationFIG. 11A is a diagram showing a composite three-dimensional bronchial image in which additional data is plotted and displayed, and FIG. 11B is a diagram showing a composite three-dimensional bronchial image in which additional data is displayed in dots. .
[0013]
As shown in FIG. 1, an endoscope system 1 according to the present embodiment is used together with an endoscope apparatus 2 that performs an examination using an endoscope 6 and the endoscope apparatus 2, and the endoscope 6 And an endoscope position detection device 3 that has a function of detecting at least the distal end position of the insertion portion 7 and that further estimates the three-dimensional position of the insertion portion 7 and displays the corresponding position of the distal end portion on the monitor 23. It is configured.
[0014]
For example, the insertion portion 7 of the endoscope 6 shown in FIG. 2 is inserted into the bronchus of the patient 5 lying on the bed 4. The endoscope 6 is elongated and includes the insertion portion 7, an operation portion 8 disposed at the rear end thereof, and a universal cable 9 extending from a side portion of the operation portion 8. A connector 9A is provided at the end of the universal cable 9, and a signal cable 9B extends from the side of the connector 9A. A signal connector 9C is provided at the end of the signal cable 9B.
[0015]
As shown in FIG. 3, the connector 9A is detachably connected to the light source section 36 in the video processor 11, and the signal connector 9C is detachably connected to the signal processing section 37. .
[0016]
A hollow channel 13 is formed in the insertion portion 7. A treatment tool such as forceps is inserted from the insertion port 13a which is the base end of the channel 13, and the treatment tool is treated with respect to the affected area by causing the distal end side of the treatment tool to protrude from the channel outlet of the distal end surface of the insertion section. Yes. Further, a probe 15 for position detection can be inserted into the channel 13, and the tip end side of the probe 15 can be installed at a predetermined position in the channel 13 (see FIG. 4 described later). Yes.
[0017]
A light guide 38 that transmits illumination light is inserted into the insertion portion 7. The light guide 38 passes through the insertion portion 7, the operation portion 8, and the universal cable 9 to reach the connector 9 </ b> A. The illumination light of the lamp 36A in the light source unit 36 is collected on the end surface of the connector 9A. As a result, the illumination light of the lamp 36A is collected on the end surface of the connector 9A, transmitted through the light guide 38, and forwardly from the illumination window forming the illumination light emitting means provided at the distal end of the insertion portion 7. It is emitted toward.
[0018]
A subject such as an inner wall of the bronchus or an affected part revealed by the illumination light emitted from the illumination window is brought to its focal position by an objective lens 39 attached to an observation window arranged adjacent to the illumination window. An image is formed on the imaging surface of the CCD 29 as a solid-state imaging device.
[0019]
The CCD 29 receives the CCD drive signal output from the CCD drive circuit 37 A in the signal processing unit 37, whereby the image signal photoelectrically converted by the CCD 29 is read, and the signal line passing through the insertion unit 7 is routed. Then, the signal processing circuit 37B converts it into a standard video signal and outputs it to the color monitor 12.
[0020]
On the other hand, the operation section 8 is provided with a bending operation knob 8A. The surgeon can turn the bending operation knob 8A to bend the bendable bending portion 7A formed near the distal end of the insertion portion 7. By providing this bending portion 7A, insertion can be performed while bending the distal end side along the bent intrabronchial path so as to follow the bent. An operation switch serving as a switch means capable of ON / OFF operation that outputs an instruction signal to the endoscope position detection device main body 21 via the endoscope device 2 and the signal connection cable 14 in the operation unit 8. 8B is provided.
[0021]
As shown in FIG. 4, the probe 15 has an insulating source coil 16 as a magnetic field generating element for generating a magnetic field, and has an insulating property on the inner wall of the distal end portion of the tube 19 having a flexible cross-sectional shape. It is fixed with an adhesive 20.
[0022]
The source coil 16 is composed of, for example, a solenoidal coil in which an insulating and hard cylindrical core 10 is wound with a conductive wire coated with an insulating film, and an insulating adhesive 20 is applied to the outer peripheral surface of the coil. Thus, the coil is fixed to the core 10 in an insulating coating and is also fixed to the inner wall of the tube 19.
[0023]
Since the conductive wire is wound around the hard core 10 and the source coil 16 is fixed by the adhesive 20, even if the tube 19 is bent and deformed, the source coil 16 itself has a structure that does not deform. Yes, the function of magnetic field generation is unchanged. Since the position of the source coil 16 is a known position of the endoscope 6, the position of the insertion portion 7 of the endoscope 6 is detected by detecting the position of the source coil 11.
[0024]
The lead wire 17 connected to the source coil 16 is connected to a connector 18 provided at the rear end of the probe 15 or provided at the rear end of the cable extending from the rear end of the probe 15. The connector 18 is connected to the connector receiver of the endoscope position detection device main body 21. For this reason, the magnetic field used for position detection is applied to the source coil 16 by applying a drive signal output from a source coil drive unit (see reference numeral 24 in FIG. 5), which will be described later, of the endoscope position detection device main body 21 to be described later. Will occur.
[0025]
As shown in FIG. 1, triaxial sense coils 22a, 22b, and 22c (hereinafter referred to as magnetic field detecting elements) that detect magnetic fields from the source coil 16 are provided at, for example, three corners that are predetermined positions of the bed 4. , Represented by 22j). These three-axis sense coils 22j are connected to the endoscope position detection device main body 21 via a cable extending from the bed 4.
[0026]
Although not shown, the triaxial sense coil 22j is wound in three directions so that the coil surfaces are orthogonal to each other, and each coil detects a signal proportional to the magnetic field strength of the axial component orthogonal to the coil surface. . The endoscope position detection device main body 21 detects the position of the source coil 16 based on the output of the three-axis sense coil 22j and determines the position of the insertion portion 7 of the endoscope 6 inserted into the patient 5. On the other hand, the estimated position is marked on the screen of the monitor 23 while being estimated.
[0027]
The endoscope position detection device 3 uses magnetism. Therefore, if there is a metal that is not transparent to magnetism, the mutual inductance between the source coil 16 for generating a magnetic field and the triaxial sense coil 22j for detection is affected by iron loss or the like.
[0028]
In general, when the mutual inductance is represented by R + jX, a metal that is not transparent to magnetism affects both R and X. In this case, the detection of a minute magnetic field changes the amplitude and phase of a signal measured by generally used orthogonal detection. Therefore, to detect signals with high accuracy, it is desirable to set up an environment where the generated magnetic field is not affected. To achieve this, the bed is made of a magnetically transparent material, that is, a material that does not affect the magnetic field. 4 should be made.
[0029]
The magnetically transparent material may be, for example, a resin such as Delrin, wood, or a metal to be magnetized. In practice, an AC magnetic field is used to detect the position of the source coil 16, and therefore the frequency of the drive signal The material may be made of a material that does not affect magnetically. Therefore, the bed 4 used together with the endoscope position detecting device 3 is made of a magnetically transparent material that is magnetically transparent at least at the frequency of the generated magnetic field.
[0030]
As shown in FIG. 5, a drive signal is sent from the source coil driving unit 24 of the endoscope position detecting device main body 21 to the source coil 16 arranged at a predetermined position of the probe 15 installed in the channel 13 of the endoscope 6. Is to be supplied. Then, by applying a drive signal to the source coil 16, a magnetic field is generated around the source coil 16.
[0031]
The source coil driver 24 amplifies the AC signal supplied from the magnetic field generating transmitter 25 and outputs a drive signal for generating a necessary magnetic field. The AC signal from the magnetic field generating transmitter 25 is sent as a reference signal to the mutual inductance detector 26 for detecting a minute magnetic field detected by the triaxial sense coil 22j provided on the bed 4.
[0032]
A minute magnetic field detection signal detected by the three-axis sense coil 22j is amplified by the sense coil output amplifier 27 and then input to the mutual inductance detector 26. The mutual inductance detection unit 26 performs amplification and quadrature detection (synchronous detection) on the basis of the reference signal, and acquires a signal related to the mutual inductance between the coils.
[0033]
The signal obtained by the mutual inductance detector 26 is input to the source coil position detector 31. The analog signal input at this time is converted into a digital signal to perform position detection calculation, position information estimated for the source coil 16 is obtained, and this position information is sent to the map image generation unit 32. The position information sent to the map image generation unit 32 is sent to the monitor signal generation unit 33 and the system control unit 34.
[0034]
The monitor signal generation unit 33 generates an RGB, NTSC, or PAL video signal capable of displaying an image on the screen of the monitor 23 and outputs it to the monitor 23. As a result, the distal end position of the endoscope 6 is displayed on a composite three-dimensional bronchial image, which will be described later, displayed on the screen of the monitor 23.
[0035]
The system control unit 34 includes a control unit 34a configured by a CPU, a map information synthesis circuit 34b as map information synthesis means, a position information storage unit 34c as position information storage means, and a position information correction means as position information correction means. A circuit 34d is provided to control operations of the source coil position detector 31, the map image generator 32, the monitor signal generator 33, and the like.
[0036]
An operation panel 35 having a keyboard, a switch, and the like is connected to the system control unit 34. By operating the keyboard or the like of the operation panel 35, for example, the bronchial three-dimensional image 41 of the patient 5 as shown in FIG. 7 stored in advance in the image data storage unit 37 via the control unit 34a is selectively selected. It is displayed on the screen of the monitor 23.
[0037]
Note that the data of the bronchial three-dimensional image 41 of the patient 5 is modeled on the basis of CT scan data of a recording apparatus connected to the endoscope system 1 via a LAN (not shown) or the like. This is registered in advance in the storage unit 37.
[0038]
The position information correction circuit 34d of the system control unit 34 receives the instruction signal output by operating the operation switch 8B of the endoscope 6 to the SW input unit 36 via the endoscope device 2 and the signal connection cable 14. When input, the three-dimensional image 41 of the bronchus and the endoscope tip coordinates at the time when the operation switch 8B is turned on are acquired from the source coil position detection unit 31 based on this signal, and a predetermined correction process is performed.
[0039]
The map information composition circuit 34b of the system control unit 34 constructs composite three-dimensional bronchial image data based on the bronchial three-dimensional image 41 and the coordinate position sampling value recorded in the position information storage unit 34c. The combined three-dimensional bronchial image data is sent to the map image generation unit 32. Then, the map image generation unit 32 finally combines the resultant images into the bronchial three-dimensional image 41.Non-contrast end image obtained from trajectory informationThe synthesized three-dimensional bronchial image data synthesized (see the broken line portion in FIG. 9B) is sent to the monitor signal generating unit 33. Then, the monitor signal generation unit 33 superimposes the image data indicating the current endoscope tip position by, for example, an X mark on the combined three-dimensional bronchial image data.
[0040]
As a result, a composite 3D bronchial image 43 is displayed on the screen of the monitor 23, and an X mark 43a indicating the current endoscope tip position is displayed on the composite 3D bronchial image 43 in real time. .
[0041]
Here, an image displayed on the monitor 23 will be described with reference to FIGS. The processing steps will be described in “Bronchial image creation processing” described later.
[0042]
FIG. 6 shows an actual bronchus of the patient 5, and the end of the bronchus has complicated pipe lines, and many branch lines have narrow pipe lines. However, as shown in FIG. 7, the bronchial three-dimensional image 41 modeled on the basis of CT scan data cannot display the end of the bronchus of the patient 5 and is cut in the middle of the duct. End up.
[0043]
FIG. 8 shows a position where the operation switch 8B is operated, and the operation panel 35 is operated during the path to the position of the tumor which is the target region of interest estimated to be the first, second, and third. The operation point is marked with a cursor key etc. near the branch point. The operation points are displayed as, for example, A, B, and C on the bronchial three-dimensional image 41.
[0044]
At this stage, the coordinate system of the bronchial three-dimensional image 41 displayed on this screen and the position of the mark 42 indicating the endoscope tip are not corrected. Therefore, the first branch point, the second branch point, the first mark, and the like that are marked in advance while checking the video displayed on the screen of the monitor 12 of the endoscope apparatus 2 that is an actual image captured by the endoscope 6. When the third branch point is reached, the operation switch 8B is operated. As a result, the coordinate positions of the three branch points are obtained, and correction processing is performed at this point, so that the current position of the endoscope tip is displayed as a predetermined mark such as an X mark.
[0045]
  Further, when the insertion unit 7 is inserted toward the distal end portion during endoscopic observation, the position information storage unit 34c sequentially records sampling values at predetermined time intervals. Then, based on this sampling value, the insertion locus of the endoscope tip is constructed as synthesized three-dimensional bronchial image data and shown in FIG. 9 (a).As shown, the uncontrast end image obtained from the trajectory information was added.A synthesized three-dimensional bronchial image 43 is displayed on the screen.
[0046]
For this reason, at the time of the second observation and treatment, the composite three-dimensional bronchial image 43 is displayed on the monitor 23 to confirm the X mark displayed on the synthetic three-dimensional bronchial image 43 so that the insertion unit 7 can be moved quickly. It becomes possible to insert it toward the region of interest.
[0047]
Here, the “bronchial image creation processing” until the composite 3D bronchial image that reaches the end affected part that cannot be contrasted with the bronchial 3D image 41 that is a 3D solid model based on CT scan data will be described.
[0048]
As shown in FIG. 10, first, in the initialization of step S <b> 1, the data stored in the position information storage unit 34 c is cleared, while the corresponding patient 5 is stored among the data stored in the image data storage unit 37. The bronchial three-dimensional image 41 is called up and displayed on the screen of the monitor 23.
[0049]
Then, the operation point A, the operation point B, and the operation point C are set on the bronchial three-dimensional image 41, and insertion of the endoscope 6 is started. At this time, when the video image displayed on the screen of the monitor 12 is confirmed, the tip of the endoscope 6 reaches the first branch point, the second branch point, and the third branch point which are marking points. The switch 8B is sequentially operated as shown in steps S4 and S6. If the switch 8B is not operated when the endoscope 6 is inserted, a switch-on standby state is entered in steps S2, S4, and S6.
[0050]
Then, by appropriately operating the switch 8B in each of step S2, step S4, and step S6, as shown in step S3, step S5, and step S7, acquisition of coordinates in the first branch in the path of the bronchial model, second Acquisition of coordinates in the branch and acquisition of coordinates in the third branch are performed.
[0051]
If the acquisition of the coordinates at the three branches is completed, the process proceeds to step S8. In step S8, a correction process is performed to match the current endoscope tip position with the coordinate system of the bronchial three-dimensional image 41 from the coordinates of the first, second, and third branch points. This correction processing method is obtained from the normal vectors obtained at points A, B, and C and the obtained coordinates of the first, second, and third branch points because the CT image is the same size as the actual image. In this method, the bronchus three-dimensional image 41 is coordinate-transformed so that the obtained normal vector matches. Here, the coordinates of the three points are acquired and the position information correction is performed, but the correction may be performed using three or more points.
[0052]
When the correction process of the position information shown in step S8 is completed, the process proceeds to step S9, and the coordinate value of the moving endoscope tip is sequentially sampled and recorded every 200 ms. At this time, the latest endoscope tip coordinates are displayed on the three-dimensional bronchial image 43 in real time with an X mark.
[0053]
In step S10, it is determined whether or not the sampled coordinate value is a coordinate value of a region outside the 3D solid model of the bronchial three-dimensional image 41. It is determined that the image data is newly added to the three-dimensional image 41, and the image data is added, while the image data is added and highlighted on the screen.
[0054]
Note that since the duct is narrow at the end of the bronchus, the locus of the plot coordinates may be simply displayed as a line drawing or may remain as a plot image without treating the image to be added as a 3D solid model. Absent.
[0055]
That is, when the coordinate values obtained by sampling every 200 ms in step S9 are simply plotted and displayed, a plurality of plots 45,..., 45 as additional data are displayed on the screen as shown in FIG. Is done. Therefore, the plot data that protrudes from the end of the pipeline shown by the solid line is treated as additional data.
[0056]
On the other hand, when the image is synthesized by overlay processing in step S10, dots 46 are displayed on the screen as shown in FIG. Here, the plot coordinates, which are additional data, are emphasized by, for example, red dots, which are dot drawing group images.
[0057]
In step S11, when the endoscope has reached the target bronchial end, which is a region of interest, an instruction to newly store data as data for constructing a final composite three-dimensional bronchial image 43 by a key input operation or the like on the operation panel 35 I do. This completes the storage of the composite 3D bronchial image data up to the region of interest, and when performing the observation and treatment from the second time, it becomes possible to display all necessary routes to the region of interest. Guidance can be performed quickly and accurately.
[0058]
Thus, by providing the system control unit having the position information correction circuit, the position information storage unit, and the map information synthesis circuit, it is obtained from the CT scan data stored in the image data storage unit when the endoscope is inserted. In addition to the bronchial three-dimensional image, the position information storage unit sequentially samples at predetermined time intervals, while the coordinate value of the endoscope tip position is the coordinate value of the region deviated from the 3D solid model of the bronchial three-dimensional image. When it is the coordinate value of the deviated region, it is added as new image data to the bronchial 3D image, and the end portion that could not be observed in the bronchial 3D image was added A minimum required synthetic 3D bronchial image can be obtained.
[0059]
In addition, by providing a map image generation unit and superimposing image data indicating the position of the endoscope tip on the combined three-dimensional bronchial image, the position of the endoscope tip is displayed on the combined three-dimensional bronchial image. It is possible to easily grasp the part and the current position.
[0060]
Further, when the tip position of the inserted portion once inserted is a coordinate value of an area outside the 3D solid model, it is displayed as additional data on the combined 3D bronchial image, while the combined 3D including this additional data is displayed. By re-storing the bronchial image, when the endoscope is inserted again, the latest synthesized 3D bronchial image is displayed and the endoscope is guided while confirming the necessary all-way muscle to the region of interest. Can do.
[0061]
It should be noted that the present invention is not limited to the embodiments described above, and various modifications can be made without departing from the spirit of the invention.
[0062]
【The invention's effect】
As described above, according to the present invention, when observation or treatment is performed, an endoscope position detection device that can accurately and quickly guide an endoscope and a treatment tool by clarifying a pipeline and an insertion path is provided. can do.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating an endoscope system
FIG. 2 is a diagram illustrating an endoscope
FIG. 3 is a diagram for explaining an endoscope and a video processor;
FIG. 4 is a diagram for explaining a distal end portion of a probe inserted through an endoscope
FIG. 5 is a block diagram for explaining an endoscope position detection apparatus main body and related parts thereof.
FIG. 6 shows an actual bronchus
FIG. 7 is a diagram illustrating a bronchial three-dimensional image obtained by a CT scan.
FIG. 8 is a diagram for explaining a switch input position for correcting position information;
FIG. 9 shows three-dimensional images of bronchiNon-contrast end image obtained from trajectory informationTo explain the combined 3D bronchial image
FIG. 10 is a flowchart for explaining bronchial image creation processing;
FIG. 11 is a diagram for explaining a display example of additional data.
[Explanation of symbols]
    3. Endoscope position detection device
    21 ... Endoscope position detection device main body
    32. Map image generation unit
    34 ... System control unit
    34b ... Map information synthesis circuit
    34c ... Position information storage unit
    34d: Position information correction circuit
    36 ... Switch input section
    37. Image data storage unit

Claims (5)

An insertion portion tip position detection means for detecting a tip position of an endoscope insertion portion for bronchi inserted into the bronchus using a magnetic field generating element and a magnetic field detection element ;
At least reference bronchial 3D image data storage means for storing reference bronchial 3D image data including a non-contrast-enhanced end portion , created from continuous slice tomograms in the bronchi of the subject acquired in advance ;
Reference bronchial 3D image display control means for controlling to read out the reference bronchial 3D image data stored in the reference bronchial 3D image data storage means and display it on the display means as a reference bronchial 3D image;
With respect to the reference bronchus 3D image displayed on the display unit under the control of the reference bronchial 3D image display control unit, the distal end position of the endoscope insertion unit detected by the insertion unit distal end position detection unit is detected. Tip position correcting means for performing position correction;
After the tip position is corrected by the tip position correcting means, tip position locus information acquiring means for acquiring locus information of the tip position of the endoscope insertion portion based on a predetermined sampling frequency;
An uncontrast-enhanced end image that generates image data related to the non-contrast end in the reference bronchus three-dimensional image data based on the trajectory information of the tip position of the endoscope insertion unit acquired by the tip position trajectory information acquisition means Data generation means;
Synthetic bronchial three-dimensional image data generating means for generating synthetic bronchial three-dimensional image data by adding the non-contrast-enhanced terminal image data generated by the non-contrast terminal image data generating unit to the reference bronchial three-dimensional image data When,
Synthetic bronchial three-dimensional image data storage means for storing the synthetic bronchial three-dimensional image data generated by the synthetic bronchial three-dimensional image data generating means as new bronchial three-dimensional image data;
An endoscopic position detecting device for bronchi, comprising: 2. The bronchial interior according to claim 1, further comprising an uncontrast-enhanced display highlighting control unit that controls to emphasize and display an image corresponding to the uncontrast-enhanced end image data on the display unit. Endoscope detection device. 3. The bronchial image data according to claim 1, wherein the non-contrast end image data is three-dimensional image data formed in a portion corresponding to the non-contrast end portion in the reference bronchus three-dimensional image data. Endoscope position detection device. 3. The bronchial interior according to claim 1 or 2, wherein the non-contrast end image data is plot image data formed in a portion corresponding to the non-contrast end in the reference bronchial three-dimensional image data. Endoscope detection device. The non-contrast end image data is plot image data showing a trajectory of a tip position of an endoscope insertion portion formed in a portion including the non-contrast end portion in the reference bronchial three-dimensional image data. The endoscope position detecting device for bronchi according to claim 1 or 2.

Images