JP4022068B2 - Endoscope system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present inventionEndoscope system including an endoscope for obtaining an optical image of a subject in a body cavityAbout.
[0002]
[Prior art]
In recent years, with the development and popularization of microsurgery, which is the operation of minute affected areas, microsurgery performed under a surgical microscope in various fields as well as ophthalmology, neurosurgery, otolaryngology, etc. has become popular. . Accompanying this, as a matter of course, various demands and improvements have been made on surgical microscopes according to the surgeon's surgical technique and the like.
[0003]
Furthermore, recent surgery has been changed to a less invasive surgery in consideration of the early rehabilitation of patients after surgery, and observation of the surgical site in the pore is desired. Furthermore, in the observation of the deep part in the body cavity, it is desired to make it possible to observe even a part that cannot be observed in the shadow by microscopic observation in order to further improve the accuracy in the operation.
[0004]
As means for improving such problems, tomographic image data obtained by image diagnosis such as X-ray CT (Computer Tomography), MRI (Magnetic Resonance Tomography) in advance is displayed on a monitor, and the image is displayed. Based on this, there was a method of proceeding the operation by displaying where the target treatment site and surgical instrument are located and how they moved.
[0005]
Furthermore, in recent years, a method of performing an operation using an endoscope with respect to the inside of the pore has been taken, and the position of the endoscope and the treatment instrument is preoperatively as disclosed in JP-A-5-305073. There was a method of projecting surgery on a diagnostic image.
[0006]
Further, when using an endoscope, Japanese Patent Laid-Open No. 61-244323, Japanese Patent Publication No. 7-62737, Japanese Patent Publication No. 8-22272, Japanese Patent Publication No. 8-238216, and Japanese Patent Publication No. 2543855. As disclosed, there has been a method in which an endoscope has information unique to the endoscope, corrects the image of the endoscope based on the information, and provides an appropriate endoscopic image.
[0007]
[Problems to be solved by the invention]
In the conventional technique described above, using an auxiliary optical system for observation in the pores, the operator can observe a portion that cannot be observed by a microscopic observation, such as the back side of an aneurysm, a nerve or surrounding tissue after tumor detachment, etc. When performing an operation, the image captured by an auxiliary optical system such as an endoscope is displayed in the field of view, but in that case, it is necessary to grasp which part the image captured by the endoscope corresponds to. .
[0008]
For this purpose, preoperative diagnostic images such as MRI and X-ray CT may be displayed on the endoscope image. However, the actual observation tissue and preoperative diagnostic image may be displayed due to image distortion caused by the endoscope optical system. There was a possibility that the correspondence of the position with. As a result, the position of the target tumor or blood vessel cannot be accurately grasped, and the treatment may be difficult. Although there is an endoscopic image correcting means mentioned in the prior art for this problem, when positioning with a planar image such as X-ray CT, the endoscopic image is compared with the planar image such as X-ray CT. It is an image obtained by imaging a three-dimensional surface, and it is not easy to remove the distortion and lacks accuracy.
[0009]
  The present invention has been made in view of the above circumstances,EndoscopeEndoscope that can accurately align the observation image obtained by the optical system and the tomographic image signal corresponding to this observation imagesystemThe purpose is to provide.
[0010]
[Means for Solving the Problems]
  To achieve the purposeAn endoscope system according to the present invention includes an optical system that obtains an optical image of a subject in a body cavity, and a memory in which field curvature information corresponding to a focal plane is stored as field curvature information. An imaging unit that captures the optical image obtained by the optical system, and a position detection unit that detects the position of the tip of the endoscope and the position of the subject existing in the optical axis direction of the optical system And based on the detection result of the position detection unit, based on the tomographic image acquisition unit that acquires a tomographic image of the subject at the position of the subject as a tomographic image signal, and the curvature of field information stored in the memory, The tomographic image acquired by the tomographic image acquisition unit is subjected to distortion processing for giving a bending state equivalent to the bending state of the optical image, the optical image, and the distortion processing are performed. An image to be synthesized and output Characterized by comprising a generating unit, a.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(First embodiment)
1 and 2 relate to a first embodiment of the present invention, FIG. 1 is an explanatory view showing the overall configuration of the endoscope apparatus, and FIG. 2 is a sectional view showing a connecting portion between the endoscope and the camera head. is there.
[0012]
(Constitution)
First, the overall configuration of the endoscope apparatus will be described with reference to FIG.
As shown in FIG. 1, the endoscope apparatus 1 is applied to an endoscope television observation apparatus.
[0013]
The endoscope apparatus 1 includes an endoscope 11, a television camera head 12, a camera control unit 14, a navigation device 17, a tomographic image signal input means 18, a marker 19a, a digitizer 19b, and a mixer 21. , And a monitor 23.
[0014]
The endoscope 11 includes an elongated insertion portion 31 and an eyepiece portion 32 that is connected to the rear end of the insertion portion 31.
[0015]
An optical image of the subject is formed on a relay optical system (not shown) of the endoscope 11 by an objective lens (not shown) provided at the distal end portion of the insertion portion 31, and the formed image is an eyepiece by the relay optical system. Is transmitted to the unit 32 side. The eyepiece 32 can be observed with the naked eye through an eyepiece lens (not shown).
[0016]
The television camera head 12 is detachably attached to the eyepiece 32. The television camera head 12 has a built-in CCD 39 shown in FIG. The television camera head 12 converts an endoscopic image into an electric signal by photoelectric conversion by the CCD 39. The converted electric signal is transmitted to the camera control unit 14 by the cable 13 extended from the television camera head 12. The camera control unit 14 converts the electrical signal transmitted from the cable 13 into a video signal and outputs it to the video cable 15.
[0017]
The camera control unit 14 is connected to the mixer 21 by a video cable 15.
[0018]
The television camera head 12 is connected to the navigation device 17 by a cable 16.
[0019]
A marker 19 a is attached to the television camera head 12. The digitizer 19b detects the position of the marker 19a and supplies a data signal of the detection result to the navigation device 17. The navigation apparatus 17 is supplied with a tomographic image signal input means 18 as a preoperative diagnostic image a1 which is a tomographic image signal obtained by MRI or CT. The output side of the navigation device 17 is connected to the mixer 21 via a cable 20.
[0020]
The output side of the mixer 21 is connected to a monitor 23 via a video cable 22.
[0021]
Here, the tomographic image signal input means 18 includes an interface electrically connected to the MRI or CT, a recording medium reading means for reading the recording medium on which the preoperative diagnosis image a1 obtained by the MRI or CT is recorded, and the like. Used.
[0022]
Next, the connecting portion between the endoscope 11 and the television camera head 12 will be described in detail with reference to FIG.
[0023]
As shown in FIG. 2, a memory chip 34 is disposed inside the eyepiece 33 of the eyepiece 32 of the endoscope 11. Control lines and data lines of the memory chip 34 are connected to the outside of the eyepiece 33 by terminals 35.
[0024]
On the other hand, the connection portion 36 of the television camera head 12 is provided with a terminal 37 that can be attached to and detached from the terminal 35. The terminal 37 is connected to the data line 38. The data line 38 is led out of the television camera head 12 as the cable 16 shown in FIG. In addition, a CCD 39 for photoelectrically converting an optical image is disposed at the connection portion 36 of the television camera head 12. The output of the CCD 39 is supplied to the camera control unit 14 by the cable 13 shown in FIG.
[0025]
With such a configuration, the endoscope apparatus 1 is configured such that the insertion portion 31 of the endoscope 11 is inserted into the body cavity and the inside of the body cavity is imaged via a predetermined optical system of the insertion portion 31. Yes.
[0026]
The memory chip 34, the terminals 35 and 37, and the data line 38 serve as an optical information input unit that inputs optical information related to the optical system of the endoscope 11 of the endoscope apparatus 1.
[0027]
The tomographic image signal input means 18 inputs a tomographic image signal (preoperative diagnosis image a1) obtained by a predetermined medical observation apparatus capable of displaying the tomographic image in the body cavity.
[0028]
The navigation device 17 processes the tomographic image signal from the tomographic image signal input unit 18 based on the optical information from the optical information input unit, and obtains an observation image obtained by the optical system of the endoscope device 1. Tomographic image signal processing means for obtaining a tomographic image signal corresponding to the above.
[0029]
(Function)
Next, the operation of the present embodiment configured as described above will be described.
In FIG. 1, an optical image (not shown) captured by the endoscope 11 is photoelectrically converted by the CCD 39 in FIG. 2, converted into a video signal by the camera control unit 14 via the cable 13, and supplied to the mixer 21 by the video cable 15. Entered.
[0030]
Next, in FIG. 2, the memory chip 32 includes a focal plane (not shown) and field curvature information due to at least two optical aberrations far from the focal plane of the endoscope 11 or another type of endoscope (not shown). Is remembered. The field curvature information has different values depending on the type of endoscope. The field curvature information of the memory chip 32 is output to the terminal 35 and sent to the navigation device 17 through the terminal 37, the data line 38, and the cable 16 of FIG.
[0031]
In the navigation device 17, the marker 19a and the digitizer 19b detect the distal end of the endoscope 11 and the position relative to the surgical site at a certain distance from the distal end in the optical axis direction.
[0032]
Next, in the navigation device 17, based on the position detection result, the preoperative diagnosis image a <b> 1 obtained by MRI or CT is matched with the endoscopic image obtained by the camera control unit 14. Enlarge or reduce and rotate.
[0033]
Further, the navigation device 17 performs a deformation process by map conversion on the preoperative diagnosis image a <b> 1 based on the field curvature information from the memory chip 32, and inputs it to the mixer 21 through the cable 20.
[0034]
In the mixer 21, the video from the cable 20 and the video from the cable 15 are combined and output to the monitor 23.
[0035]
3 and 4 are explanatory diagrams showing the processing inside the navigation device 17. FIG. 3 shows a case where the endoscope A as the first type is used as the endoscope 11, and FIG. The case of the endoscope B which is the second type as the endoscope 11 is shown.
[0036]
In FIG. 3, an endoscope A image 41 shows the curvature of field of the endoscope A as the first type.
[0037]
The navigation a image 42 supplied as the preoperative diagnosis image a1 is an image without distortion. The image deforming means 43 in the navigation device 17 uses the scope A pattern 42 based on the scope curve pattern data b1 that is the field curvature information stored in the memory chip 34 of the endoscope A with respect to the navigation a image 42. An image deformation having the same pattern as that of the image 41 is added and output as a navigation a ′ image 45.
[0038]
On the other hand, in FIG. 4, an endoscope B image 46 different from the endoscope A image 41 shows the curvature of field of the endoscope B as the second type.
[0039]
An endoscope B image 46 different from the endoscope A image 41 shows a curvature of field of the endoscope B (not shown). The navigation b image 47 showing the position and shape of the tumor supplied as the preoperative diagnostic image a1 is an image without distortion. For the navigation b image 47, the image deformation means 43 uses the endoscope curve image 46 and the endoscope B image 46 based on the endoscope curve pattern data b2 which is the field curvature information stored in the memory chip 34 of the endoscope B. A navigation b ′ image 49 is output after image deformation having an equivalent pattern.
[0040]
(effect)
According to the first embodiment, a tomographic image perpendicular to the optical axis direction, which is a preoperative diagnostic image, is projected onto an endoscopic image that is an observation image obtained by the optical system of the endoscope apparatus 1. In this case, since the same image deformation as the endoscopic image is applied to the tomographic image, the observation image obtained by the optical system of the endoscope apparatus and the tomographic image corresponding to the observation image are accurately aligned. Therefore, even if the endoscope is replaced, a preoperative diagnosis image corrected according to the type of endoscope is superimposed. Thereby, when performing an operation using an endoscope, preoperative diagnosis information necessary for an operator can be accurately provided, and the operation efficiency of the operation can be improved.
[0041]
(Second Embodiment)
5 and 6 relate to the second embodiment of the present invention, FIG. 5 is an explanatory view showing the overall configuration of the endoscope apparatus, and FIG. 6 is a cross-sectional view showing the endoscope and the camera head connecting portion. . In the description of FIGS. 5 and 6, the same components as those of the embodiment shown in FIGS. 1 and 2 are denoted by the same reference numerals, and the description thereof is omitted.
[0042]
(Constitution)
As shown in FIG. 5, the optical image obtained by the endoscope 11 of the endoscope apparatus 2 is photoelectrically converted by the zoom television camera head 50 and converted into an electric signal. The television camera head 50 is provided with a zoom ring 51.
[0043]
The signal converted by the TV camera head 50 is converted into a video signal by the camera control unit 14 via the cable 13 and supplied to the mixer 21 via the video cable 15.
[0044]
On the other hand, the television camera head 50 is connected to the navigation device 57 by a cable 56. The navigation device 57 is connected to the mixer 21 via the cable 20. The output of the mixer 21 is supplied to the monitor 23.
[0045]
Next, the connection part of the television camera head 50 will be described in detail with reference to FIG.
As shown in FIG. 6, the endoscope 11 connected to the television camera head 50 has the same structure as that of the first embodiment. On the other hand, the camera head connection portion 66 has a scope connection terminal 67. The scope connection terminal 67 is connected to the data line 68. The data line 68 is drawn outside the camera head 50.
[0046]
The camera head connection unit 66 is provided with a CCD 69 that photoelectrically converts an optical image. The output terminal of the CCD 69 is connected to the camera control unit 14 shown in FIG. In front of the CCD 69, a zoom optical system 70 is provided for changing the magnification of the optical image of the endoscope 11. The zoom optical system 70 performs zooming of the optical image by moving the position of each lens back and forth by the rotation of the zoom ring 51.
[0047]
A rotation angle detector 72 that detects the rotation angle of the zoom ring 51 is disposed in the vicinity of the internal structure 71 of the zoom ring 51. The output of the rotation angle detector 72 is output to the navigation device 57 through the cable 56 of FIG. 5 as a zoom magnification signal c1.
[0048]
(Function)
Next, the operation of the second embodiment configured as described above will be described.
In FIG. 5, an optical image (not shown) captured by the endoscope 11 is photoelectrically converted by the CCD 69 via the zoom optical system 70 of FIG. The signal photoelectrically converted by the CCD 69 is converted into a video signal by the camera control unit 14 and input to the mixer 21.
[0049]
On the other hand, as shown in FIG. 6, the curvature of field information from the memory chip 32 is sent to the navigation device 57 as an endoscopic curvature curve pattern data signal b1 via the terminal 67 and the data line 68 of FIG.
[0050]
In the navigation device 57, the preoperative diagnosis image a1 obtained by MRI or CT is used to convert the tip of the endoscope 11 by the marker 19a and the digitizer 19b, position information at a certain distance from the tip, the field curvature information and the zoom magnification. Deformation processing is performed based on the signal c1, and the signal is input to the mixer 21 through the cable 20. The mixer 21 synthesizes two images and outputs them to the monitor 23.
[0051]
7 and 8 are explanatory views showing the processing inside the navigation device 57. FIG. 7 shows the case where the zoom ring 51 is set on the high magnification side, and FIG. 4 shows the case where the zoom ring 51 is set on the low magnification side. Shows the case.
[0052]
As shown in FIG. 7, when the zoom ring 51 is set on the high magnification side, an endoscopic image (high magnification) 81 is captured on the CCD 69.
[0053]
An endoscopic image (high magnification) 81 indicates the curvature of field of the optical image of the endoscope 11 when the television camera head 50 images at a high magnification.
[0054]
The navigation image T82, which is the preoperative diagnostic image, is an image without distortion, but the image deformation means 83 inside the navigation device 57 has a field curvature stored in the memory chip 34 with respect to the navigation image T82. Based on the endoscope bending pattern data b1 and the zoom magnification signal c1, which are information, an image deformation having a pattern equivalent to that of the endoscope image (high magnification) 81 is added and output as a navigation image T′85.
[0055]
On the other hand, when the zoom ring 51 is set on the low magnification side, an endoscopic image (low magnification) 86 is picked up on the CCD 69 as shown in FIG.
[0056]
The endoscopic image (low magnification) 86 indicates the curvature of field of the optical image of the endoscope 11 when the television camera head 50 captures images at a low magnification.
[0057]
The navigation image W87, which is the preoperative diagnostic image, is an image without distortion. However, the image deforming means 83 inside the navigation device performs the endoscope curve pattern data b1 and the zoom magnification signal c1 on the navigation image W87. Thus, an image deformation having the same pattern as that of the endoscopic image (low magnification) 86 is added and output as a navigation image W′89.
[0058]
(effect)
According to the second embodiment, when a tomographic image perpendicular to the depth direction, which is a preoperative diagnostic image, is projected onto an endoscopic image as in the first embodiment, the endoscopic image In addition to being able to be superimposed with high accuracy, the corrected tomographic image can be superimposed with high accuracy even if the zoom magnification is changed.
[0059]
(Third embodiment)
By the way, when performing treatment with an endoscope, it is determined how far the displayed diagnostic image is from the tip of the endoscope or how deep the image is from the tissue surface. I have to go forward. Conventionally, since the preoperative diagnostic image is displayed with respect to the coordinates of the skull, it has been difficult to grasp the positional relationship of the diagnostic image with respect to the endoscopic image.
[0060]
The third embodiment is made in view of such circumstances, and aims to provide an endoscope apparatus capable of displaying a target preoperative diagnostic image by a simple operation during the operation. ing.
[0061]
9 to 11 relate to a third embodiment of the present invention, FIG. 9 is an explanatory view showing the overall configuration of the endoscope apparatus, FIG. 10 is a sectional view showing the distal end portion of the endoscope, and FIG. It is a top view which shows the image displayed on a monitor.
[0062]
(Constitution)
As shown in FIG. 9, the endoscope apparatus 3 includes an endoscope 91, a television camera head 92, a camera control unit 94, a navigation device 97, a tomographic image signal input means 98, a marker 99a, and a digitizer. 99b, mixer 101, monitor 103, and distance setting means 104.
[0063]
The camera control unit 94, the tomographic image signal input means 98, the marker 99a, the digitizer 99b, the mixer 101, and the monitor 103 have the same configuration as that of the first embodiment in FIG.
[0064]
The endoscope 91 is connected to the television camera head 92 and photoelectrically converts an optical image. The television camera head 92 is connected to the camera control unit 94. The output of the camera control unit 94 is connected to the mixer 101. A marker 99 a is attached to the television camera head 92.
[0065]
On the other hand, as shown in FIG. 10, the distal end portion 121 of the endoscope 91 has an observation optical system 122 and an illumination optical system 123. In addition, an ultrasonic transducer 124 and an ultrasonic receiver 125 are disposed at both ends of the tip 121.
[0066]
The output of the ultrasonic receiver 125 is connected to the ultrasonic distance measuring means 105 via the television camera head 92 shown in FIG.
[0067]
As shown in FIG. 9, the ultrasonic distance measuring means 105 creates distance data based on the output of the ultrasonic receiver 125 and inputs it to the navigation device 97.
[0068]
The navigation device 97 is connected to the mixer 101, the digitizer 99 b and the distance setting means 104. The output side of the mixer 101 is connected to the monitor 103. A monitor screen 141 shown in FIG. 11 is displayed on the monitor 103.
[0069]
As shown in FIG. 11, the monitor screen 141 includes an endoscope image 142 and its image center 143, a tomographic image 144, a distance 145 from the endoscope tip, and a distance 146 from the endoscope tip to the tomographic image. Composed.
[0070]
The tomographic image 144 may be superimposed on the endoscopic image 142.
[0071]
(Function)
Next, the operation of the third embodiment will be described.
[0072]
As shown in FIG. 10, the endoscope 91 illuminates the tissue 129 by transmitting illumination light from a light source device (not shown) through the illumination optical system 123 of the distal end portion 121. The image of the tissue 129 is transmitted by the observation optical system 122 and converted into a video signal by the CCD in the television camera head 92 and the camera control unit 94.
[0073]
An endoscopic image captured by the endoscope 91 and the television camera head 92 and a tomographic image based on the preoperative diagnosis image a <b> 1 from the navigation device 97 are combined by the mixer 101 and displayed on the monitor 103.
[0074]
Note that the endoscopic image 142 shown in FIG. 11 is displayed at the position of the image center 143 in the image center 128 shown in FIG.
[0075]
On the other hand, as shown in FIG. 10, the output wave 126 of the ultrasonic signal from the ultrasonic transducer 124 is reflected by the tissue 129, and the reflected wave 127 of this reflected signal is converted into an electric signal by the ultrasonic receiver 125. The ultrasonic distance measuring means 105 shown in FIG. 9 calculates the distance 130 from the tip 121 to the tissue 129 from the reflected waveform. The distance information by the ultrasonic distance measuring means 105 is input to the navigation device 97 and displayed on the monitor screen 141 as a distance display 145 from the tip together with the tomographic image 144 by the preoperative diagnostic image a1 from the tomographic image input means 98. .
[0076]
On the other hand, the distance 131 from the front-end | tip part 121 shown in FIG. 10 is set by the distance setting means 104 shown in FIG. The navigation device 97 sets a tomographic plane 132 in the tissue 129 at a distance 131 from the distal end 121 and perpendicular to the depth direction of the distance 131, and a tomographic image on the tomographic plane 132 is sent from the tomographic image input means 98. It selects from the preoperative diagnostic image a1, and displays it as the tomographic image 144 on the monitor screen 141 shown in FIG. The distance 131 set by the distance setting means 104 is displayed on the monitor screen 141 as distance information (display of distance 146 from the tomographic image). The tomographic image 144 is updated while maintaining the distance 131 set in accordance with the movement of the endoscope 11 even when the endoscope 11 is moved.
[0077]
(effect)
According to the third embodiment, when the tomographic image 144 perpendicular to the tissue depth direction, which is a preoperative diagnostic image, is displayed together with the endoscopic image 142 on the monitor screen 141, the display distance is set to an arbitrary depth. The tomographic image 144 having a depth desired to be viewed can be selected with respect to the endoscopic image 142, and the distance from the tip 121 to the tissue 129 is displayed in real time to display the tissue of the tomographic image 144. It is possible to know the depth from the surface, and to easily determine the distance from the endoscope that sets the tomographic image.
[0078]
The same effect can be obtained when the tomographic image 144 is projected on the endoscope image 142.
[0079]
(Fourth embodiment)
12 and 13 relate to a fourth embodiment of the present invention, FIG. 12 is a cross-sectional view showing a distal end portion of an endoscope, and FIG. 13 is a plan view showing an image displayed on a monitor. The overall configuration of the fourth embodiment will be described with reference to FIG.
[0080]
(Constitution)
In the fourth embodiment, the depth from the tissue 129 shown in FIG. 12 is set by the distance setting means 104 shown in FIG. 9, and the tomographic image at this depth is sent from the tomographic image input means 98 shown in FIG. It selects from the preoperative diagnostic image a1, and displays it on the monitor screen 161 shown in FIG.
[0081]
The monitor screen 161 displays an endoscopic image 162, a tomographic image 163, a distance 165 from the tip, and a depth 166 from the surface.
[0082]
(Function)
First, the operator sets the depth from the tissue 129 shown in FIG. 12 (numerical value of the depth 166 shown in FIG. 13) by the distance setting means 104 shown in FIG. As a result, the navigation device 97 calculates the distance 131 from the distal end portion 121 of the endoscope 91 that displays the tomographic image as the sum of the distance 130 from the distal end portion 121 and the depth from the surface of the tissue 129. A tomographic image at a distance is selected from the preoperative diagnosis image a1 from the tomographic image input means 98 and displayed as a tomographic image 163 on the monitor screen 161 shown in FIG. Thus, even if the distance 130 from the distal end of the endoscope changes, the tomographic image (1) 151, the tomographic image (2) 152, the tomographic image (3) 153, and the tomographic image (4) always have a constant depth. 154 is obtained.
[0083]
(effect)
According to the fourth embodiment, when displaying a tomographic image perpendicular to the tissue depth direction, which is a preoperative diagnosis image, together with the endoscopic image 162 on the monitor screen 161, the endoscope 91 Even when the tip 121 changes, a tomographic image having an arbitrary depth from the surface of the tissue 129 can always be displayed.
[0084]
The same effect can be obtained when the tomographic image 164 is projected on the endoscopic image 162 in an overlapping manner.
[0085]
[Appendix]
According to the above-described embodiment of the present invention described in detail above, the following configuration can be obtained.
[0086]
(Additional Item 1) In an endoscope apparatus that is inserted into a body cavity and images the inside of the body cavity through a predetermined optical system,
Optical information input means for inputting optical information related to the optical system of the endoscope apparatus;
A tomographic image signal input means for inputting a tomographic image signal obtained by a predetermined medical observation apparatus capable of displaying a tomographic image in the body cavity;
Based on the optical information from the optical information input means, the tomographic image signal from the tomographic image signal input means is processed, and a tomographic image signal corresponding to an observation image obtained by the optical system of the endoscope apparatus is obtained. Obtaining tomographic image signal processing means;
An endoscope apparatus characterized by comprising:
[0087]
(Additional Item 2) In an endoscope having a means for holding information unique to the inside thereof,
The unique information is curvature of field information of the optical system of the endoscope,
A preoperative diagnostic image display device that performs processing according to the unique information;
Means for displaying a preoperative diagnostic image in an image of the endoscope;
An endoscope apparatus comprising:
[0088]
(Additional Item 3) Means for changing the magnification of the optical system;
Means for outputting magnification change information;
The endoscope apparatus according to claim 2, wherein the preoperative diagnostic image display apparatus performs processing based on the magnification change information and the unique information.
[0089]
(Additional Item 4) Distance setting means for designating a distance from the distal end of the endoscope;
Means for measuring the distance from the tissue of the endoscope;
A preoperative diagnostic image display device for displaying a preoperative diagnostic image at a specified distance by the distance setting means;
The endoscope apparatus according to Additional Item 3, further comprising:
[0090]
(Additional Item 5) The endoscope apparatus according to Additional Item 4, wherein the distance measuring means is an ultrasonic transducer and a receiver.
[0091]
(Additional Item 6) The endoscope apparatus according to Additional Item 4, wherein the distance measuring unit uses coherent light.
[0092]
(Additional Item 7) The endoscope apparatus according to Additional Item 3, wherein the preoperative diagnostic image display device performs a process of returning a curved image to a plane based on the curvature of field information.
[0093]
(Additional Item 8) The endoscope apparatus according to Additional Item 3, wherein the curvature-of-field information is a focal position and information before and after the focal position.
[0094]
(Additional Item 9) The preoperative diagnostic image display device displays the preoperative diagnostic image by means of designating a tissue depth, and the sum of the tissue depth and the result of the distance measuring unit. The endoscope apparatus according to appendix 4, wherein:
[0095]
(Additional Item 10) The endoscope apparatus according to Additional Item 4, further comprising display means for displaying distance information by the distance means.
[0096]
【The invention's effect】
  As mentioned aboveThe endoscope system of the present inventionAccording toEndoscopeBecause it is possible to accurately align the observation image obtained with this optical system and the tomographic image signal corresponding to this observation image,EndoscopeIn the case of performing an operation using the preoperative diagnostic information necessary for the surgeon can be accurately provided, and the operation efficiency of the operation can be improved.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram showing an overall configuration of an endoscope apparatus according to a first embodiment of the present invention.
FIG. 2 is a cross-sectional view showing a connecting portion between the endoscope and the camera head according to the first embodiment of the present invention.
FIG. 3 is a first explanatory diagram showing processing inside the navigation device according to the first embodiment of the present invention.
FIG. 4 is a second explanatory diagram showing processing inside the navigation device according to the first embodiment of the present invention.
FIG. 5 is an explanatory diagram showing an overall configuration of an endoscope apparatus according to a second embodiment of the present invention.
FIG. 6 is a cross-sectional view showing a connection portion between an endoscope and a camera head according to a second embodiment of the present invention.
FIG. 7 is a first explanatory diagram showing processing inside the navigation device according to the second embodiment of the present invention.
FIG. 8 is a second explanatory diagram showing processing inside the navigation device according to the second embodiment of the present invention.
FIG. 9 is an explanatory diagram showing an overall configuration of an endoscope apparatus according to a third embodiment of the present invention.
FIG. 10 is a cross-sectional view showing a distal end portion of an endoscope according to a third embodiment of the present invention.
FIG. 11 is a plan view showing an image displayed on a monitor according to a third embodiment of the present invention.
FIG. 12 is a cross-sectional view showing a distal end portion of an endoscope according to a fourth embodiment of the present invention.
FIG. 13 is a plan view showing an image displayed on a monitor according to a fourth embodiment of the invention.
[Explanation of symbols]
1 ... Endoscopic device
11: Endoscope
12 ... TV camera head
14 ... Camera control unit
17 Navigation device
18: Tomographic image signal input means
19a: Marker
19b ... Digitizer
21 ... Mixer
23 ... Monitor
34 ... Memory chip
38 ... Data line
39 ... CCD

Claims (2)

An endoscope comprising: an optical system that obtains an optical image of a subject in a body cavity; and a memory that stores field curvature information according to a focal plane;
An imaging unit that captures the optical image obtained by the optical system;
A position detection unit for detecting the position of the distal end of the endoscope and the position of the subject existing in the optical axis direction of the optical system;
A tomographic image acquisition unit that acquires a tomographic image of the subject at the position of the subject as a tomographic image signal based on a detection result of the position detection unit;
An image deforming unit that performs distortion processing for giving a curved state equivalent to the curved state of the optical image to the tomographic image acquired by the tomographic image acquiring unit based on the curvature of field information stored in the memory When,
An image synthesis unit that synthesizes and outputs the optical image and the tomographic image subjected to the distortion processing;
An endoscope system comprising: The imaging unit can capture an optical image of the subject while changing a zoom magnification, and outputs the zoom magnification as a zoom magnification signal.
The image deforming unit performs the zoom operation on the tomographic image acquired by the tomographic image acquisition unit based on the field curvature information stored in the memory and the zoom magnification information output from the imaging unit. The endoscope system according to claim 1, wherein distortion processing is performed to give a bending state equivalent to the bending state of the optical image according to magnification.

Images