JP4142189B2 - Endoscope shape detection system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an endoscope shape detection system that inserts an insertion portion of an endoscope into an inspection object and measures and displays the shape of the insertion portion of the endoscope.
[0002]
[Prior art]
In recent years, endoscopes have been widely used in the medical field and the industrial field. This endoscope, especially with a soft insertion section, can be inserted into a bent body cavity to diagnose deep internal organs without incision, and if necessary, a treatment instrument can be inserted into the channel. Treatment such as excision of polyps and the like can be performed.
[0003]
In this case, for example, when the inside of the lower digestive tract is inspected from the anal side, a certain level of skill may be required to smoothly insert the insertion portion into the bent body cavity.
[0004]
In other words, when performing an insertion operation, it is necessary to perform a smooth insertion operation such as bending the bending portion provided in the insertion portion in accordance with the bending of the pipe line. It is convenient to be able to know the position in the body cavity, the current bending state of the insertion portion, and the like.
[0005]
For this reason, for example, Japanese Patent Application Laid-Open No. 8-542 discloses an endoscope shape detection system that detects and displays the shape of the insertion portion of the endoscope.
[0006]
[Problems to be solved by the invention]
In the conventional example, it was impossible to know how far the insertion portion had been inserted without looking at the monitor. That is, when looking at the patient side, for example, it has not been possible to know how far the tip of the insertion portion has been inserted.
[0007]
(Object of invention)
The present invention has been made in view of the above points, and provides an endoscope shape detection system capable of knowing how far a predetermined position such as the distal end of an insertion portion has been inserted even when viewed from the patient side. The purpose is to do.
[0008]
[Means for Solving the Problems]
In the endoscope shape detection system that inserts the insertion portion of the endoscope into the inspection object and measures the shape of the insertion portion of the endoscope,
Magnetic field generating means for generating a magnetic field disposed in the insertion portion;
A magnetic field detection unit comprising a plurality of magnetic field detection means for detecting a magnetic field generated by the magnetic field generation means;
Mounting means for attaching a plurality of magnetic field detection means constituting the magnetic field detection unit to the surface of the inspection object;
Display means for displaying the presence or absence of a predetermined position of the insertion portion on the magnetic field detection portion;
By providing this, the operator can know where the predetermined position such as the distal end of the insertion portion is located by the display means.
[0009]
In addition, in an endoscope shape detection system that inserts an insertion portion of an endoscope into an inspection object and measures the shape of the insertion portion of the endoscope,
Magnetic field detection means for detecting a magnetic field disposed in the insertion portion;
A magnetic field generating unit composed of a plurality of magnetic field generating means for generating a magnetic field to be detected by the magnetic field detecting means;
Mounting means for attaching a plurality of magnetic field generating means constituting the magnetic field generating part to the surface of the inspection object;
By providing display means for displaying the presence / absence of a predetermined position of the insertion portion in the magnetic field generating element portion, the operator can know where the predetermined position such as the distal end of the insertion portion is by the display means. .
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
(First embodiment)
1 to 4 relate to a first embodiment of the present invention, FIG. 1 shows a configuration of an endoscope shape detection system according to the first embodiment, and FIG. 2 shows a configuration of an endoscope shape detection unit. FIG. 3 and FIG. 4 show the configuration of the coil part that constitutes the magnetic field detection / generation coil part.
[0011]
As shown in FIG. 1, an endoscope shape detection system 1 is provided for an endoscope 2 that performs endoscopy, a light source device 3 that supplies illumination light to the endoscope 2, and an imaging means for the endoscope 2. A camera control unit (hereinafter abbreviated as CCU) 4 for performing signal processing, a color monitor 5 for displaying a video signal output from the CCU 4, a probe 6 installed in a channel of the endoscope 2, an endoscope Magnetic field detection / installation provided on the outer surface of the patient 8 placed on the spectroscopic bed 7 and capable of selectively using the functions of magnetic field detection and magnetic field generation and having a display element for displaying a predetermined position of the insertion portion 13 The cable 11 provided with the generating coil unit 9, the probe 6 and the cable 11 are connected, and each position of the magnetic field generating element in the probe 6 is detected by generating the magnetic field and detecting the magnetic field, and from each detected position Endoscope A shape detection device 14 that estimates the shape of the insertion portion 13 and generates a video signal corresponding to a modeled (endoscope) insertion portion shape image corresponding to the estimated shape and outputs the image signal to the CCU 4; The display screen of the monitor 5 can superimpose an endoscopic image corresponding to the video signal imaged by the imaging means and a shape image of the insertion shape.
[0012]
The light source device 3, the CCU 4, the monitor 5, and the shape detection device 14 are mounted on a movable cart 15.
The endoscope 2 includes an elongated and flexible insertion portion 13, a thick operation portion 16 formed at the rear end thereof, and a universal cable 17 extending from a side portion of the operation portion 16. The connector 18 at the end of the universal cable 17 is detachably connected to the light source device 3, and the connector 20 of the signal cable 19 extending from the connector 18 can be detachably connected to the CCU 4.
[0013]
A light guide (not shown) is inserted through the insertion portion 13, and this light guide is further inserted through the operation portion 16 and the universal cable 17 to reach the connector 18 at the end. Illumination light is supplied to the end surface of the connector 18 from a lamp (not shown) inside the light source device 3, transmitted by the light guide, and transmitted from the distal end surface fixed to the illumination window at the distal end portion of the insertion portion 13. Illumination light is emitted forward.
[0014]
A subject such as an inner wall in a body cavity or an affected part illuminated by illumination light emitted from the illumination window is placed on the focal plane by an objective lens (not shown) attached to an observation window formed adjacent to the illumination window at the distal end. An image is formed on a CCD as a solid-state imaging device.
[0015]
By applying a CCD drive signal output from a CCD drive circuit in a signal processing unit (not shown) built in the CCU 4 to this CCD, an image signal photoelectrically converted (by a CCD) is read out and inserted into the insertion unit 13. The signal processing unit passes through the signal line and the like, and the signal processing unit converts the signal into a standard video signal, which is output to the color monitor 5 and is imaged on the photoelectric conversion surface of the CCD by the objective lens. indicate.
[0016]
Further, the operation portion 16 is provided with a bending operation knob 21, and by bending the knob 21, the bendable bending portion formed near the distal end of the insertion portion 13 is bent so as to be bent. It can be smoothly inserted into the body cavity path by curving the distal end side along the bend.
[0017]
In addition, the endoscope 2 has a hollow channel 22 formed in the insertion portion 13, and a treatment tool such as forceps is inserted through the insertion port 23 at the base end of the channel 22, thereby allowing the distal end of the treatment tool to be inserted. The side can be protruded from the channel outlet of the distal end surface of the insertion portion 13 so that a biopsy or a treatment treatment can be performed on the affected area.
[0018]
Further, the probe 6 for detecting the position and shape (of the insertion portion 13 inserted into the body cavity) can be inserted into the channel 22, and the distal end side of the probe 6 can be set at a predetermined position in the channel 22. it can.
[0019]
FIG. 2 shows a schematic configuration of a shape detection unit including the shape detection device 14.
As shown in FIG. 2, the probe 6 is positioned in the channel 22 of the endoscope 2, and a plurality of source coils 26 a, 26 b, as magnetic field generating elements are installed in the flexible tube of the probe 6. ... are fixed at predetermined intervals. For example, the source coil 26 a is located at a predetermined position in the distal end portion of the insertion portion 13, and the source coil 26 b is disposed at a position spaced apart from the source coil 26 b in the longitudinal direction of the insertion portion 13. Therefore, by detecting each of these positions, each position on the rear side from the distal end portion of the insertion portion 13 can be determined.
[0020]
A signal line 27 connected to each source coil 26i (i = a, b,...) Is extended to the rear end side of the probe 6 and is connected to a source coil driving unit (simply simply via a multiplexer 28 in the shape detection device 14). A magnetic field is generated around the source coil 26i connected to the drive unit 29 and supplied with a drive signal from the drive unit 29.
[0021]
The drive unit 29 generates a drive signal for generating a necessary magnetic field, and a source is supplied via a contact j (j = a, b, c,...) Selected by a switching signal from the system control unit 30. Applied to the coil 26i.
[0022]
Further, the magnetic field detection / generation coil unit 9 includes, for example, six coil units 31a, 31b,..., 31f, and in the present embodiment, the first coil unit 31a and the second coil unit 31b are changeover switches 32a and 32b, respectively. By pressing the button, the multiplexer 28 and the amplifying unit 33 can be selected and connected.
[0023]
That is, the changeover switches 32a and 32b to which the first coil unit 31a and the second coil unit 31b are connected are connected to the contacts a and b via the system control unit 30 by the selection operation of the selection switches 35a and 35b of the operation unit 34. When the contact a is selected, a drive signal is applied as a source coil for generating a magnetic field. Conversely, when the contact b is selected, the magnetic field is detected together with the other four coil portions 31c, ..., 31f. The sense coil is used for detecting the position of each source coil.
[0024]
For example, as shown in FIG. 2, when the change-over switch 32a is set in a state in which the contact a is turned on by the selection switch 35a, the contact m of the multiplexer 28 is selected in the coil portion 31a similarly to the source coil 26i. A drive signal is applied at the timing. Further, when both the changeover switches 32a and 32b are set so that the contact point a is turned on, a drive signal is applied to the coil portions 31a and 31b at the timing when the contact points m and n of the multiplexer 28 are selected. .
[0025]
Further, as shown in FIG. 2, for example, when the changeover switch 32b is set to a state in which the contact b is turned on by the selection switch 35b, the coil portion 31b serves as a source coil, as well as the other coil portions 31c to 31f. Used as.
[0026]
The signal detected by the sense coil of the magnetic field detecting / generating coil unit 9 is amplified by the amplifying unit 33 and then input to the position detecting unit 36 to perform calculation processing for position detection of each source coil 26i. Data detected (position estimation) by the position detection unit 36 is input to the shape image generation unit 37, and an image in which the position data of the source coils 26i in the probe 6 are smoothly connected is created three-dimensionally. 13 insertion shape images are generated. The video signal of the inserted shape image is output to the color monitor 5 via the superimpose circuit in the CCU 4, and the inserted shape is displayed as a three-dimensional image together with the endoscope image.
[0027]
Further, when the coil part 31a or 31b in the magnetic field detection / generation coil part 9 is selected as the source coil, it is displayed on the insertion shape image of the color monitor 5 as a marker with the position of the source coil as the reference position.
[0028]
In the present embodiment, as described later, each coil portion 31k (k = a, b,..., F) of the magnetic field detection / generation coil portion 9 displays the presence / absence of a predetermined position of the insertion portion 13. For example, a light emitting diode (abbreviated as LED) 38 is provided as the display element. For example, as shown in FIG. 1, the insertion direction when the insertion portion 13 into which the probe 6 is inserted is inserted from the anus side of the patient 8 is When set, the LED 38 at the position where the Z coordinate value at the position of the tip of the probe 6 (that is, the tip of the insertion portion 13) has been reached is lit, and the operator is in which position of the patient 8 the tip of the insertion portion 13 is located. Is displayed in an easy-to-understand manner.
[0029]
For this reason, the output signal of the shape image generation unit 37 or the position detection unit 36 is applied to the LED 38 via the lighting / extinguishing circuit 39, and the lighting / extinguishing of the LED 38 is controlled. For simplification, FIG. 2 shows that the coil unit 31k is connected to the multiplexer 28 or the amplifying unit 33. However, the coil 46 (see FIGS. 3 and 4) inside is actually connected. The
[0030]
FIG. 3 shows the structure of, for example, the first coil portion 31a constituting the magnetic field detection / generation coil portion 9. The other coil parts 31b-31f are also the same structure.
The first coil portion 31a includes a fixing portion 42 provided with a suction cup 41 for fixing on the body surface of a patient 8 as an object to be examined, and a coil attached to the fixing portion 42 so that the height position can be adjusted. It consists of a body 43.
[0031]
The fixing portion 42 is provided with a cylindrical body at the upper portion of the suction cup 41, and ring-shaped projections 44 are provided at regular intervals on the inner peripheral surface of the cylindrical body, while the coil body 43 is cylindrical and has an outer peripheral surface on the side portion thereof. Is provided with a groove 45 that engages with the protrusion 44.
[0032]
As shown in FIG. 4, the coil body 43 covers a coil 46 wound around a magnetic material with a coil protection member 47 formed of resin in the same manner as the source coil 26 i, and the LED 38 has a light emitting portion in the vicinity of the coil 46. Is buried in the coil protection member 47 so as to be exposed.
[0033]
Further, the signal line 48 connected to both ends of the coil 46 and the signal line 49 connected to the LED 38 are extended from the coil protection member 47 in a state of being covered with the cable cover 50, and the connector on the hand side is shaped. The detection device 14 is detachably connected.
[0034]
In the present embodiment, the coil portions 31c to 31f can be easily fixed by, for example, pressing the patient 8 with the suction cup 41 at a position where the XZ coordinate of the patient 8 is known, and the coil portion 43 side is set so that the Y coordinate becomes a known value. By sliding, the height is adjusted as shown in FIG. 4 (A) or 4 (B).
The operation unit 34 is provided with a keyboard or the like for inputting three-dimensional position data of at least four coil units 31c to 31f set at known positions.
[0035]
Next, the operation of the present embodiment will be described below.
As shown in FIG. 1, the endoscope 2 is connected to the light source device 3 and the CCU 4, and the probe 6 is inserted into the channel 22 from the insertion port 23. For example, the distal end surface of the probe 6 is placed at the distal end position of the outlet of the channel 22. Set. With this setting, each position in the insertion portion 13 of the source coil 26i for generating a magnetic field in the probe 6 shown in FIG. 2 (for example, in the longitudinal direction from the distal end of the insertion portion 13) is determined. By detecting the position of each source coil 26i, each position of the insertion portion 13 can be detected.
[0036]
The connector on the proximal side of the probe 6 is connected to the shape detection device 14. Further, the coil portions 31a to 31f constituting the magnetic field detecting / generating coil portion 9 are fixed to the position on the body surface of the patient 8 by using the suction force by pressing each suction cup 41 as the attaching means.
[0037]
In this case, at least four coil portions 31c to 31f in the magnetic field detection / generation coil portion 9 are positioned and fixed so that the fixing positions are known, and the two coil portions 31a and 31b are either detected by the surgeon or detected by the operator. It is possible to select whether to use for generation (that is, display of the reference position).
[0038]
For example, as shown in FIG. 2, when only the coil part 31a is used for displaying the reference position, the coil part 31a is fixed to the reference position where the coil part 31a is to be displayed by the suction cup 41, and the coil part 31b used for magnetic field detection has four. It is set to a known position in the same manner as the two coil portions 31c to 31f. Or after setting to arbitrary positions, each of those positions may be measured with a ruler (scale) or the like so as to be a known value.
[0039]
In this case, when the set position is obtained, the position on the XZ plane shown in FIG. 1 can be obtained relatively easily, but the position in the height direction may have a large error. Alternatively, the height positions may be aligned or set to an easily obtainable height position.
[0040]
Further, in order to reflect the operator's selection in the setting state of the system 1, the selection switch 35 a is pushed and the coil portion 31 a is set for reference position detection via the system control unit 30. In this case, the selection switch 35b is not pushed, and is used for magnetic field detection like the other coil portions 31c to 31f.
[0041]
Further, the three-dimensional positions of the coil portions 31b to 31f used for magnetic field detection of the magnetic field detection / generation coil unit 9 are input from a keyboard or the like (not shown) of the operation unit 34. Based on these positions, the position of the source coil 26i in the probe 6 and the position of the coil 31a used as the marker coil can be detected.
[0042]
Thus, after setting to the state in which shape detection is possible, the insertion part 13 of the endoscope 2 is inserted into the patient 8 from the anus, for example. In the state where each power source of the system 1 is turned on, the illumination light of the light source device 3 is emitted from the distal end surface via the light guide of the endoscope 2 to illuminate the inside of the body cavity, and the state inside the illuminated body cavity is The image is displayed as an endoscopic image on the color monitor 5 imaged by the CCD and signal-processed by the CCU 4.
[0043]
Further, under the control of the system control unit 30 in the shape detection device 14, the drive signal generated by the drive unit 29 is sequentially applied to the source coil 26 i in the probe 6 through the contact j selected by the multiplexer 28. For example, when the contact a is selected by the multiplexer 28, a drive signal is applied to the source coil 26a, and a magnetic field is generated around it.
[0044]
A voltage proportional to the magnetic field strength at that position is induced in each coil 46 of the coil portions 31b to 31f functioning as a sense coil at a known position, and the magnetic field is amplified by the amplifying unit 33 and then the position detecting unit 36. And is subjected to quadrature detection or the like, and data for detecting the position of the source coil 26a is stored in its internal memory. At the timing when the storage of the position detection data is completed, the system control unit 30 switches the multiplexer 28 to the contact point b so that the same processing as in the case of the source coil 26a is performed on the source coil 26b.
[0045]
When the same processing is completed for the last source coil (denoted 26d) in the probe, the contact m of the multiplexer 28 is then selected, and the source coil 26i is also selected for the coil portion 31a (coil 46). The same processing as in the case is performed.
After this processing, the multiplexer 28 selects the first contact a, and the same processing is repeated.
[0046]
The position detection data stored in the memory of the position detection unit 36 has a process of detecting (estimating) the position of each source coil 26i from the position detection data with reference to the known positions of the coil units 31b to 31f. The calculated position data of each source coil 26 i is sent to the shape image generation unit 37.
[0047]
The position detection data for the coil unit 31a stored in the memory of the position detection unit 36 is also processed by detecting (estimating) the position with respect to each known position of the coil units 31b to 31f. The position data of the coil unit 31 a thus sent is also sent to the shape image generation unit 37.
[0048]
The shape image generation unit 37 generates a video signal of an image that three-dimensionally shows an insertion unit shape obtained by smoothly connecting the calculated position data of the source coils 26a, 26b, 26c,... 26d, and a superimpose circuit of the CCU 4 And a marker point indicating the position of the coil portion 31a is superimposed on the video signal.
[0049]
Therefore, the color monitor 5 displays an endoscopic image and an image of the insertion portion adjacent to the endoscopic image in a three-dimensional manner, and also displays the reference position where the coil portion 31a is installed with a marker. The
[0050]
Therefore, the operator can easily grasp the position in which the insertion portion 13 is inserted in the body cavity of the patient 8 by displaying the shape of the insertion portion and the marker indicating the reference position of the patient 8. The insertion procedure can be performed smoothly, and the pain during the insertion is relieved by the smooth insertion for the patient 8 as well.
[0051]
In the present embodiment, each coil unit 31k is provided with an LED 38. For example, the Z-coordinate value of the position data of the source coil 26a of the shape image generation unit 37 or the position detection unit 36, and the coil units 31a to 31f. The Z coordinate value of the position data is output to the lighting / extinguishing circuit 39. The lighting / extinguishing circuit 39 compares the Z coordinate value of the source coil 26a with the Z coordinate values of the coil portions 31a to 31f, thereby When the value of the Z coordinate of the coil 26a is larger than the value of the Z coordinate of the coil portions 31a to 31f, the LED 38 of the coil portion 31k is turned on.
[0052]
Therefore, when the surgeon looks at the patient 8 in which position the distal end of the insertion portion 13 is when the coil portion 31a to 31f installed on the body surface of the patient 8 is inserted into the body cavity by turning on the LED 38. Can also be confirmed.
[0053]
According to the present embodiment, in order to detect the position of the source coil 26i for detecting each position of the probe 6 (or the insertion portion 13) provided in the probe 6, it is usually known outside the patient 8. Since the sense coil installed at the position can be selected and used as the sense coil and the marker coil for detecting the reference position, the reference position can be displayed without newly providing a marker coil.
[0054]
Further, the LED 38 as the display means is provided on the coil portions 31a to 31f installed on the body surface of the patient 8, and the LED 38 that has reached the distal end position of the probe 6 or the insertion portion 13 is turned on. It is easy to grasp how far the tip of the portion 13 has been inserted.
[0055]
(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to FIGS. In the first embodiment, the two coil sections 31a and 31b in the magnetic field detection / generation coil section 9 can be used for both magnetic field detection and magnetic field generation. In the present embodiment, the magnetic field detection / generation coil is used. All the coil parts 31a-31f of the part 9 are set as the structure which can be used for both a magnetic field detection and a magnetic field generation.
[0056]
Therefore, instead of the two selection switches 35a and 35b on the operation panel 34 of the shape detection device 14 of FIG. 1, six selection switches 35a to 35f are formed as shown in FIG.
[0057]
The magnetic field detection / generation coil unit 9 of the present embodiment is different from the first embodiment in the height adjustment mechanism. As shown in FIG. 6, for example, a male screw 51 is provided on the outer peripheral surface of the side of the coil body 43 constituting the first coil portion 31 a, and the male screw 51 is screwed onto the inner peripheral surface of the fixing portion 42. A female screw 52 is provided.
[0058]
Other configurations are the same as those in FIG. Moreover, the other coil parts 31b-31f are also the same structure.
And the height position of the 1st coil part 31a can be variably set by adjusting the screwing amount of the external thread 51 and the internal thread 52. FIG.
[0059]
The configuration of the main part of the shape detection device 14 of the present embodiment is as shown in FIG.
That is, in FIG. 2, six changeover switches 32a to 32f are used instead of the two changeover switches 32a and 32b, and the contact point a in these changeover switches 32a to 32f is (the two contact points of the multiplexer 28 in FIG. 2). The contact point b is connected to the six contact points m to r, and the contact point b is connected to the input end of the amplifying unit 33.
[0060]
Other configurations are the same as those of the first embodiment.
In this embodiment, not only the two coil portions 31a and 31b of the magnetic field detection / generation coil portion 9 but also all the coil portions 31a to 31f can be selectively used for magnetic field detection or reference position display in the first embodiment. . The other operations and effects are almost the same as those of the first embodiment.
[0061]
In the present embodiment, all the coil units 31a to 31f of the magnetic field detection / generation unit 9 can be selected and used for magnetic field detection or reference position display. For example, at least about two or more must be set for magnetic field detection. . That is, if all are set as source coils for generating a magnetic field, there will be no detection of their positions. In principle, position detection with one sense coil is possible, but detection accuracy is increased. Therefore, it is better to use at least two or more for position detection.
[0062]
FIG. 8 shows a configuration of, for example, the first coil portion 31a of the first modification, and the height adjustment mechanism is different from that in FIG. As shown in FIG. 8 (A), the outer peripheral surface of the coil body 43 of the first coil portion 31a has a cylindrical shape, the inner peripheral surface of the fixed portion 42 is provided with a ring-shaped groove 53, and the O-ring 54 is It is inserted.
Then, the coil body 43 is slid relative to the fixing portion 42 so that it can be fixed to the moved position by the frictional force of the O-ring 54.
[0063]
In FIG. 8A, the groove 53 and the O-ring 54 are provided on the fixed portion 42 side. However, even if the groove 53 and the O-ring 54 are provided on the coil body 43 side as shown in FIG. Has action and effect.
[0064]
9 and 10 show the configuration of, for example, the first coil portion 31a of the second modification, and the height adjustment mechanism is different from that in FIG. As shown in FIG. 9, for example, the first coil portion 31 a is provided with a height adjusting mechanism by a rack and pinion 56, and the height of the coil body 43 with respect to the fixed portion 42 by rotating the knob 57. Can be variably set.
[0065]
In this case, the stator side of the rack and pinion 56 is provided on the fixed portion 42 side, and the fixed portion 42 side is provided with a rack 58 in the height direction on the outer peripheral surface thereof as shown in FIG. The pinion 59 attached to the shaft of the knob 57 is screwed.
The height position can be set almost similarly in the case of using these modified examples.
[0066]
(Third embodiment)
FIG. 11 shows an endoscope shape measuring system 61 according to the third embodiment of the present invention. In the present embodiment, for example, in the endoscope shape measurement system 1 of the first embodiment shown in FIG. 1, a position detection means for the magnetic field detection / generation coil unit 9 is further provided.
[0067]
That is, in the endoscope shape measurement system 1 of FIG. 1, a stand 62 is provided on the bed 7, and a television camera 64 is attached to an arm 63 of the stand 62. The magnetic field detection / generation coil 9 installed on the outer surface of the abdomen is imaged near the abdomen of the patient 8 from above.
[0068]
The image sensor inside the TV camera 64 is input to the shape detection device 14 via the cable 65, and a magnetic field detection / installation on the outer surface of the abdomen by a position detection circuit (not shown) provided inside the shape detection device 14. The two-dimensional coordinate position on the XZ plane of the generating coil 9 and the height position can be detected although the accuracy is slightly lowered. In order to set the height position more accurately, the height position may be set to a known value by a height adjustment mechanism provided in each coil portion 31k.
[0069]
According to the present embodiment, compared with the first embodiment, the work of inputting position data of at least four coil portions 31c to 31f used for magnetic field detection of the magnetic field detection / generation coil portion 9 can be reduced. There is an effect that can be made unnecessary. The other effects are the same as those of the first embodiment.
[0070]
In the present embodiment, the position data of at least four coil parts 31c to 31f (further selected, the coil parts 31a and 31b) used for the magnetic field detection of the magnetic field detection / generation coil part 9 are input as the output signal of the TV camera 64. However, it may be used together with the television camera 64 to improve the accuracy of position detection, or may be used for position detection and setting without using the television camera 64 as described below.
[0071]
FIG. 12 shows a position detection mechanism 71 in the first modification. Laser light emitting units 72a to 72d and 73a to 73d are provided around the bed 7 to emit line-shaped laser light in the X direction and the Z direction, and the mesh marker position (reference position) on the patient 8. ) Is set.
[0072]
By setting the mesh marker position in this way, for example, when the surgeon installs the coil unit 31k used for the magnetic field detection of the magnetic field detection / generation coil unit 9 on the body surface of the patient 8, the mesh marker position is set. If installed, the position on the XZ plane can be set with high accuracy.
Also, when detecting with the television camera 64, accurate position detection can be performed by inputting marker position information in advance.
[0073]
FIG. 13 shows a position detection mechanism 75 in the second modification. Markers 76a, 76b, 76c, and 76d are provided on the upper surface of the bed 7 at reference positions.
Moreover, you may make it stretch | tension the thread | yarn or the string 78 which attached the weight 77 to the edge part along the markers 76a and 76b. The effect in this case is almost the same as that of the first modification.
[0074]
FIG. 14 shows a position detection mechanism 81 of a third modification. The position detection mechanism 81 has holes 83 at predetermined positions, for example, in a lattice shape, on the plate 82, and by arranging the first to sixth coils of the magnetic field detection / generation coil unit 9 in any of these holes 83. , So that the position can be understood.
[0075]
In FIG. 14, a large number of holes 83 are provided in a lattice shape. For example, about six holes 83 that are the same as the number of coil portions of the magnetic field detection / generation coil portion 9 may be provided at predetermined positions.
[0076]
FIG. 15 shows a position detection mechanism 85 according to a fourth modification. This position detection mechanism 85 has a structure in which a plurality of arms 86 are rotatably connected by a rotation shaft 87 at a predetermined position and diamonds are connected diagonally, and a magnetic field detection / generation coil is provided at a predetermined position on the arm 86. The coil portions 31a to 31f constituting the frame 9 can be attached.
[0077]
Further, the arm 86 is provided with a stopper 88 to prevent the arm 86 from being deformed more than necessary. According to this modification, the positions when the coil portions 31a to 31f are attached can be determined without knowing the positions of all the coil portions 31a to 31f. Further, the mounting position can be changed by rotating the rotating shaft 87.
[0078]
FIG. 16 shows a position detection mechanism 91 according to a fifth modification. The position detection mechanism 91 is arranged so that a plurality of arms 92 intersect in parallel, and is rotatably connected at the intersecting positions, and can be deformed in a diagonal direction as shown in FIG.
[0079]
Then, a groove 93 is provided at a predetermined position so that the coils 31a, 31b, 31c and the like constituting the magnetic field detection / generation coil unit 9 can be attached. This modification has substantially the same function and effect as the fourth modification.
[0080]
(Fourth embodiment)
FIG. 17 shows a schematic configuration of an endoscope shape detection system 101 according to the fourth embodiment of the present invention. In the present embodiment, the endoscope 102 incorporating the probe 6 attached to the channel 22 of the endoscope 2 in FIG. 1 and the control device 103 in which the light source device 3, the CCU 4 and the shape detection device 14 in FIG. And a monitor 104 for displaying a video signal output from the control device 103 and a magnetic field detection coil unit (not shown). The control device 103 is provided with a recording device 105.
[0081]
The endoscope 102 includes a flexible insertion portion 106, an operation portion 107, and a universal cable 108. A connector 109 at the end of the universal cable 108 is detachably connected to the control device 103.
[0082]
The insertion portion 106 includes a distal end portion 111, a bending portion 112, and a flexible portion 113, and the bending portion 112 can be bent by operating a bending operation knob 114 provided on the operation portion 107.
[0083]
The probe 6 built in the insertion unit 106 is connected to a shape detection device (not shown) inside the control device 103, and a magnetic field detection coil unit is also connected to the shape detection device, so that shape detection can be performed. Thus, the shape-detected image data can be recorded in the recording device 105.
[0084]
Further, a hardness varying means (flexibility varying means) 115 is provided in the insertion portion 106. The hardness varying means 115 is composed of, for example, a coil and a wire inserted into the coil, and the tip of these is fixed to the tip of the flexible portion 113, for example, and the coil is fixed near the front end of the operation portion 107. The wire extending from the coil is connected to the hardness adjustment knob 116 via a wire pulling mechanism.
[0085]
Then, by rotating the hardness adjusting knob 116, a compression force is applied to the coil via the wire pulling mechanism, and the insertion portion 106 of the portion through which the hardness varying means 115 is inserted (which is acceptable in this embodiment). The flexibility (hardness) of the bending portion 113) can be variably adjusted.
The knob operation amount by the hardness adjustment knob 116 is detected by a knob operation amount detection means (or hardness detection means) 117.
[0086]
For example, as shown in FIG. 18, the knob operation amount detection means 117 has a configuration in which a gear 118 that is screwed into a screw hole provided on the inner peripheral surface of the hardness adjustment knob 116 is attached to the rotary shaft of the potentiometer 119. The resistance value of the potentiometer 119 changes according to the amount of turning operation of the knob 116. This resistance value is input to the control device 103.
[0087]
When a recording button (not shown) is operated to start the recording operation of the recording device 105, the control device 103 synchronizes with the insertion shape data by the probe 6 and outputs the knob operation amount data by the knob operation amount detection means 117. Record.
[0088]
It is also possible to reproduce these data recorded in the recording device. Thus, according to the present embodiment, for example, when an operator who can perform an extremely smooth insertion procedure by referring to the insertion shape and adjusting the hardness accordingly, inserts the insertion portion 106. If the data is recorded in the recording device 105, even if an operator who does not have sufficient insertion procedure by referring to the recorded data performs the insertion, the operation similar to the recorded data is performed in a short time. It is possible to acquire a smooth insertion procedure.
[0089]
(Fifth embodiment)
FIG. 19 shows a schematic configuration of an endoscope shape detection system 121 according to the fifth embodiment of the present invention.
In this system 121, the operation on the endoscope apparatus unit 122 side and the operation on the shape detection apparatus unit 123 side are controlled by the controller 124.
[0090]
The endoscope apparatus unit 122 includes a CCD 125 provided in the endoscope, a CCU 126 that generates a video signal corresponding to an endoscopic image by performing signal processing on an imaging signal captured by the CCD 125, and a digital video in the CCU 126. The CCU 126 has a memory 127 for temporarily storing signals, and alternately outputs a video signal subjected to real-time processing and a video signal temporarily stored in the memory 127 to the monitor 128.
[0091]
In addition, the shape detection device unit 123 includes a probe 6 and a magnetic field detection coil unit (not shown) connected to the shape detection device 131, and the shape detection device 131 applies a drive signal to the source coil for generating a magnetic field in the probe 6. By detecting the magnetic field generated around the source coil to which the drive signal is applied by the sense coil of the magnetic field detection coil unit, the position of the source coil is detected, and the endoscope insertion unit through which the probe is inserted is detected. An insertion shape image is generated, and a digital video signal of the insertion shape image can be temporarily stored in the memory 132 and also output to the monitor 128.
The real-time video signal from the shape detection device and the video signal output from the memory 132 are alternately output to the monitor 128.
[0092]
In the present embodiment, memories 127 and 132 are provided on the endoscope apparatus section 122 side and the shape detection apparatus section 123 side, respectively, and real-time and 1 images captured by the CCD 125 on the monitor 128 under the control of the controller 124. The endoscope image before the field / frame and the inserted shape image of the real time and one field / frame before by the shape detection device 131 can be displayed simultaneously with the timing flexibility, and the endoscope device section 122. And the shape detection device unit 123 can be displayed at the same time so as not to adversely affect the operation of each device.
[0093]
In this case, when there is no memory in each of the two device units as in the conventional example, the operation timing of each device is greatly restricted. In other words, it is difficult to shift the timing on the device unit side that does not have a memory (for example, if the driving operation timing is shifted, the display timing must also be shifted in synchronization therewith), but in this embodiment, each timing is different. Since the memory is provided in the device portion, it can be easily performed by shifting the drive operation timing.
[0094]
In other words, it is not necessary to synchronize the display timing with the driving operation timing by temporarily storing the data or image data obtained even when the driving operation timing is shifted, in the memory, so that the flexible processing timing can be changed. It can be performed.
In addition, the display interval (cycle) that can occur when there is no memory is too large, and the motion can be reproduced smoothly without the display image becoming awkward in the case of a moving object. For example, it can be converted into a standard video signal and displayed on a normal monitor.
[0095]
For example, as shown in FIGS. 20A and 20B, it is possible to control the controller 124 to display an endoscopic image and a shape image.
In FIG. 20A, the period during which the endoscopic image is directly output from the CCU 126 to the monitor 128 is indicated by ON, and the endoscopic image before one frame period (or one field period) temporarily stored in the memory 127 is displayed on the monitor 128. The period for output and display is indicated by OFF.
[0096]
In FIG. 20B, the period in which the shape image is directly output from the shape detection device 131 to the monitor 128 is indicated by ON, and the shape image before one frame period (or one field period) temporarily stored in the memory 132 is displayed on the monitor 128. The period for output and display is indicated by OFF.
[0097]
In the operation example of FIG. 20, in the period (Ta, Tb, Tc, Td, etc.) in which a real-time endoscopic image from the CCU 126 is output to the monitor 128, the shape image temporarily stored in the memory 132 on the shape detection device unit 123 side. Is output to the monitor 128, and control is performed so that the endoscopic image and the shape image before one frame / field period are simultaneously displayed.
[0098]
Further, during the period (Ta ′, Tb ′, Tc ′, etc.) in which the endoscopic image stored in the memory 127 is output to the monitor 128, the shape detection device 131 receives the shape image from the shape detection device 131 on the monitor 128. Control is performed to output and display the shape image and the endoscope image before one frame / field period at the same time.
By performing such image display, the display interval is not too long, and the endoscopic image and the shape image can be displayed smoothly even when there is movement, or the mutual influence can be reduced. There is.
[0099]
Further, the present invention is not limited to such timing control, and the imaging operation and the shape detection operation may be performed at a timing at which mutual interference is reduced.
FIG. 21 shows an example of the operation by the timing control. In this case, in FIG. 19, the memory 127 photoelectrically converts and accumulates the light receiving unit (photosensitive unit) of the CCD 125, and outputs the imaging signal (imaging the subject) output through the transfer unit by applying the driving signal. A / D converted and temporarily stored. In addition, the memory 132 temporarily stores the output signal of the sense coil when the source coil that generates a magnetic field is driven for shape detection by A / D conversion.
[0100]
In this case, the controller 124 performs control so that the period in which the imaging signal is output and the period in which the output signal of the sense coil when the source coil is driven do not overlap. In other words, CCD drive and coil drive (magnetic field generation / detection) periods are alternately performed so as not to overlap each other, and will be described with reference to FIG.
[0101]
In FIG. 21A, a transfer signal is applied to the CCD 125 at the end of each frame period (from the CCD driver in the CCU 126), and the signal charge for one frame accumulated in the light receiving part (or photosensitive part) of the CCD 125. Is transferred to the transfer unit, and the signal charge transferred to the transfer unit is applied to the CCU 126 from the transfer unit of the CCD 125 by applying vertical and horizontal transfer signals (here, CCD drive signals) shown in FIG. An imaging signal is output and temporarily stored in the memory 127. That is, memory storage is performed as shown in FIG. The light receiving unit starts a new imaging (accumulation of signal charge) by the transfer by the transfer signal.
[0102]
The output period of the CCD drive signal is a period shorter than at least one frame period, for example, slightly shorter than one field period (T1 in the figure), and after this output period T1, an image captured by the light receiving unit of the CCD 125 for one frame period. The signal is stored in the memory 127.
[0103]
The image pickup signal stored in the memory 127 is read out for one frame by, for example, the period of one frame of the normal video signal in the next frame period by the processing of the video signal generation in the CCU 126, and is standard with the synchronization signal. It is output to the monitor 128 as a video signal. This is shown as a video signal in FIG. 21D (shown as a video signal for field-interlaced display).
[0104]
Further, the shape detection device unit 123 side applies a drive signal to a source coil that drives a probe (internal source coil) during a period in which the transfer signal and the CCD drive signal are not output. In a period T2 abbreviated as coil driving shown in FIG. 21E, a magnetic field generated around the source coil is detected by the sense coil, and the detection signal is A / D converted through the shape detection device 131. Temporarily stored in the memory 132. Control is performed by the controller 124 so that this operation is performed for all source coils over a period T2.
[0105]
That is, in the period T2, the magnetic field generated in the source coil to which the drive signal is applied is detected by the magnetic field detection coil, and the position detection data is stored in the memory 132. Then, a process of storing magnetic field detection data for position detection for all source coils that require position detection in the memory 132 is performed.
[0106]
Then, the memory storage illustrated in FIG. 21F ends within the period T2. After this is finished, the next transfer signal is applied to the CCD 125, and the above-described operation is repeated.
[0107]
For the magnetic field detection data stored in the memory 132, position data is generated by a position detection unit in the shape detection device 131, and a shape image is generated by the shape image generation unit in the next one frame period. This is simply shown as signal processing in FIG. Then, for example, as shown in FIG. 21H, the video signal of the shape image generated in the next frame period is output to the monitor 128.
[0108]
When such an operation is performed, the source coil drive signal having a large amplitude is not applied to the source coil in order to output a signal picked up by the CCD 125 to the CCU 126 side, so that a weak CCD output signal is generated. It is possible to prevent the source coil drive signal from being mixed as noise.
[0109]
In addition, during the period T2 in which the source coil drive signal is applied to the source coil and the magnetic field generated around the source coil is detected by the sense coil, the CCD drive signal is not output to the CCD 125. Even when a magnetic field is generated around the wire, the magnetic field generated in the source coil can be detected with high accuracy without being affected by the magnetic field.
[0110]
That is, in this case, the respective functions can be sufficiently exhibited without adversely affecting the imaging function and the shape detection function of the endoscope such as reducing the S / N as noise.
[0111]
In each of the above-described embodiments, a source coil to which a signal for generating a magnetic field is applied on the probe 6 side or the like to be detected, and the source coil is provided at a known position outside the endoscope. Although an explanation has been given in which an element that functions as a sense coil for detecting the generated magnetic field is arranged, the present invention is not limited to this, and the both may be interchanged.
[0112]
For example, when applied to the first embodiment, the source coil 26 i in the probe 6 in FIG. 2 becomes the sense coil 26 i, and each sense coil 26 i is connected to the amplification unit 33. Although the coil portions 31a and 31b are not changed, the coils 46 of the other coil portions 31c to 31f serve as source coils and are connected to, for example, the contacts a, b, c, and d of the multiplexer 28, respectively.
[0113]
Then, for example, a drive signal is applied from the drive unit 29 to the coil unit 31c at a known position to generate a magnetic field around it, the magnetic field is detected by the sense coil 26i in the probe 6, and each detection output is amplified. Then, the data is sent to the position detection unit 36 via 33.
[0114]
Next, the contact of the multiplexer 28 is switched, a drive signal is applied to the coil portion 31d at a known position from the drive portion 29 to generate a magnetic field around it, and the magnetic field is detected by the sense coil 26i in the probe 6, respectively. Each detection output is sent to the position detection unit 36 through the amplification unit 33 to obtain position detection data when all the coil units 31c to 31f are driven.
[0115]
The coil portions 31a and 31b are operated according to the selection. The position of the sense coil 26i and the like in the probe 6 can also be detected from the position detection data obtained in this way.
[0116]
[Appendix]
1. In the endoscope shape detection system that inserts the insertion portion of the endoscope into the inspection object and measures the shape of the insertion portion of the endoscope,
Magnetic field generating means for generating a magnetic field disposed in the insertion portion;
A magnetic field detection unit comprising a plurality of magnetic field detection means for detecting a magnetic field generated by the magnetic field generation means;
Mounting means for attaching a plurality of magnetic field detection means constituting the magnetic field detection unit to the surface of the inspection object;
Display means for displaying the presence or absence of a predetermined position of the insertion portion on the magnetic field detection portion;
An endoscope shape detection system characterized by comprising:
[0117]
2. In the endoscope shape detection system that inserts the insertion portion of the endoscope into the inspection object and measures the shape of the insertion portion of the endoscope,
Magnetic field detection means for detecting a magnetic field disposed in the insertion portion;
A magnetic field generating unit composed of a plurality of magnetic field generating means for generating a magnetic field to be detected by the magnetic field detecting means;
Mounting means for attaching a plurality of magnetic field generating means constituting the magnetic field generating part to the surface of the inspection object;
Display means for displaying the presence or absence of a predetermined position of the insertion portion on the magnetic field generating element portion;
An endoscope shape detection system characterized by comprising:
[0118]
3. In the endoscope shape detection system that inserts the insertion portion of the endoscope into the inspection object and measures the shape of the insertion portion of the endoscope,
Placed in the insertion section Ru Magnetic field generation carp that generates a magnetic field And ,
Magnetic field detection composed of a plurality of coils for detecting the magnetic field generated by the magnetic field generating coil. Outing When,
Magnetic field detection Outing Mounting means for attaching a plurality of coils constituting the surface of the inspection object;
Magnetic field detection Outing Selection means for enabling at least one of the plurality of coils constituting the magnetic field generation and magnetic field detection to be selected and set;
An endoscope shape detection system characterized by comprising:
[0119]
4). In the endoscope shape detection system that inserts the insertion portion of the endoscope into the inspection object and measures the shape of the insertion portion of the endoscope,
A magnetic field detection coil for detecting a magnetic field arranged in the insertion portion;
A magnetic field generator composed of a plurality of coils for generating a magnetic field to be detected by the magnetic field detection coil;
Mounting means for attaching a plurality of coils constituting the magnetic field generating unit to the surface of the inspection object;
Selection means for enabling at least one of the plurality of coils constituting the magnetic field generation unit to be selectively set for both magnetic field generation and magnetic field detection;
An endoscope shape detection system characterized by comprising:
[0120]
(Background of appendix 3 and 4)
In the conventional endoscope shape detection system, it is difficult to know how far the endoscope is inserted in the body cavity only by displaying the insertion shape of the endoscope, so a new reference position is displayed to display the reference position. It was necessary to provide a dedicated source coil used for display.
[0121]
That is, in the conventional example, when a probe having a built-in source coil for generating a magnetic field is provided in the endoscope, a sense coil for detecting the magnetic field generated by the source coil is arranged at a known position outside the patient. Further, in order to display the reference position, a dedicated source coil that is newly used for displaying the reference position is required.
[0122]
(Purpose of Supplementary Notes 3 and 4) This is made in view of the above points, and can display the reference position without requiring a dedicated source coil or the like newly used for displaying the reference position. An object is to provide an endoscope shape detection system.
[0123]
5. In an endoscope shape detection system for simultaneously displaying an endoscope image and an insertion shape image on a display means,
First memory means for storing an endoscopic image;
Second memory means for storing an insert shape image;
First image switching means for switching the output to the endoscope image display means and the first memory means;
A second image switching means for switching the output to the display means and the second memory means of the inserted shape image;
Switching control means for controlling the switching operation between the first image switching means and the second image switching means;
In synchronism with the switching operation by the switching control means, the output to the display means of the endoscopic image is turned OFF and the insertion shape image is output to the display means during the period to be stored in the first memory means,
During the period when the output of the endoscopic image to the display means is turned ON, the insertion shape image is stored in the second memory means with the output to the display means turned OFF, and the insertion stored in the second memory means An endoscope shape detection system comprising: control means for performing control to output a shape image to the display means.
[0124]
6). An endoscope image generated based on an imaging signal imaged by the imaging means, and an insertion shape generated based on a magnetic field generating means and a magnetic field detecting means arranged at known positions inside and outside the endoscope insertion portion In an endoscope shape detection system that simultaneously displays an image on a display means,
First memory means for storing an imaging signal;
Second memory means for storing an output signal of the magnetic field detection means;
Control for controlling the storage operation so that the first period for storing the imaging signal in the first memory means and the second period for storing the output signal of the magnetic field detecting means in the second memory means do not overlap. Means,
An endoscope shape detection system characterized by comprising:
[0125]
(Background of Appendix 5 and 6)
In the conventional example, the endoscope image generation device side for obtaining the endoscope image and the shape detection device side for displaying the shape image do not have memories, respectively, so that the endoscope image and the shape image can be simultaneously monitored. There is a possibility that there is a restriction such as difficulty in displaying a moving image in a faithful (smooth) manner or timing when displaying the image, and there is a possibility of having an influence of noise on each other. For this reason, by adopting the configuration as described in Supplementary Notes 5 and 6, it is possible to display an image that is moving faithfully (smoothly) or an image that is not affected by noise or the like.
[0126]
【The invention's effect】
As described above, according to the present invention, in the endoscope shape detection system for inserting the insertion portion of the endoscope into the inspection object and measuring the shape of the insertion portion of the endoscope,
Magnetic field generating means for generating a magnetic field disposed in the insertion portion;
A magnetic field detection unit comprising a plurality of magnetic field detection means for detecting a magnetic field generated by the magnetic field generation means;
Mounting means for attaching a plurality of magnetic field detection means constituting the magnetic field detection unit to the surface of the inspection object;
Display means for displaying the presence or absence of a predetermined position of the insertion portion on the magnetic field detection portion;
By providing this, the operator can know where the predetermined position such as the distal end of the insertion portion is located by the display means.
[0127]
In addition, in an endoscope shape detection system that inserts an insertion portion of an endoscope into an inspection object and measures the shape of the insertion portion of the endoscope,
Magnetic field detection means for detecting a magnetic field disposed in the insertion portion;
A magnetic field generating unit composed of a plurality of magnetic field generating means for generating a magnetic field to be detected by the magnetic field detecting means;
Mounting means for attaching a plurality of magnetic field generating means constituting the magnetic field generating part to the surface of the inspection object;
Display means for displaying the presence or absence of a predetermined position of the insertion portion on the magnetic field generating element portion;
By providing this, the operator can know where the predetermined position such as the distal end of the insertion portion is located by the display means.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a configuration of an endoscope shape detection system according to a first embodiment of the present invention.
FIG. 2 is a block diagram showing a configuration of an endoscope shape detection unit.
FIG. 3 is a perspective view showing a coil part constituting a magnetic field detection / generation coil part.
FIG. 4 is a cross-sectional view showing a coil part constituting a magnetic field detection / generation coil part.
FIG. 5 is a perspective view showing a shape detection apparatus according to a second embodiment of the present invention.
FIG. 6 is a perspective view showing a coil part constituting a magnetic field detection / generation coil part.
FIG. 7 is a block diagram showing a configuration of a main part of the endoscope shape detection device.
FIG. 8 is a cross-sectional view showing a coil portion of a first modification that constitutes a magnetic field detection / generation coil portion.
FIG. 9 is a perspective view showing a coil portion of a second modification that constitutes the magnetic field detection / generation coil portion.
10 is a perspective view showing a configuration of a coil body in FIG. 9. FIG.
FIG. 11 is a perspective view showing a configuration of an endoscope shape detection system according to a third embodiment of the present invention.
FIG. 12 is a diagram showing a position detection mechanism in a first modification.
FIG. 13 is a diagram showing a position detection mechanism in a second modified example.
FIG. 14 is a diagram showing a position detection mechanism in a third modification.
FIG. 15 is a diagram showing a position detection mechanism in a fourth modified example.
FIG. 16 is a diagram showing a position detection mechanism in a fifth modification.
FIG. 17 is a diagram showing a configuration of an endoscope shape detection system according to a fourth embodiment of the present invention.
FIG. 18 is a diagram illustrating a configuration of a knob operation amount detection unit.
FIG. 19 is a diagram showing a configuration of an endoscope shape detection system according to a fifth embodiment of the present invention.
FIG. 20 is an explanatory diagram of image display operation.
FIG. 21 is an operation explanatory diagram.
[Explanation of symbols]
1. Endoscope shape detection system
2. Endoscope
3. Light source device
4 ... CCU
5. Color monitor
6 ... Probe
7 ... Bed
8 ... Patient
9 ... Magnetic field detection / generation coil section
11 ... Cable
13 ... Insertion section
14 ... Shape detection device
16 ... operation part
17 ... Universal cable
22 ... Channel
23 ... Insertion slot
26a, 26b ... Source coil
28 ... Multiplexer
29 ... Drive unit
30 ... System control unit
31a, 31b, ..., 31f ... coil portion
32a, 32b ... changeover switch
33 ... Amplifier
34. Operation unit
35a, 35b ... selection switch
36: Position detection unit
37 ... Shape image generation unit
38 ... LED
39 ... lighting / extinguishing circuit
41 ... sucker
42. Fixing part
43 ... Coil body
44 ... Protrusions
45 ... groove

Claims (2)

In the endoscope shape detection system that inserts the insertion portion of the endoscope into the inspection object and measures the shape of the insertion portion of the endoscope,
Magnetic field generating means for generating a magnetic field disposed in the insertion portion;
A magnetic field detection unit comprising a plurality of magnetic field detection means for detecting a magnetic field generated by the magnetic field generation means;
Mounting means for attaching a plurality of magnetic field detection means constituting the magnetic field detection unit to the surface of the inspection object;
Display means for displaying the presence or absence of a predetermined position of the insertion portion on the magnetic field detection portion;
An endoscope shape detection system characterized by comprising: In the endoscope shape detection system that inserts the insertion portion of the endoscope into the inspection object and measures the shape of the insertion portion of the endoscope,
Magnetic field detection means for detecting a magnetic field disposed in the insertion portion;
A magnetic field generating unit composed of a plurality of magnetic field generating means for generating a magnetic field to be detected by the magnetic field detecting means;
Mounting means for attaching a plurality of magnetic field generating means constituting the magnetic field generating part to the surface of the inspection object;
An endoscope shape detection system comprising: display means for displaying the presence or absence of a predetermined position of the insertion portion on the magnetic field generating element portion.

Images