JP4245880B2 - Endoscope device - Google Patents

Endoscope device Download PDF

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Publication number
JP4245880B2
JP4245880B2 JP2002255698A JP2002255698A JP4245880B2 JP 4245880 B2 JP4245880 B2 JP 4245880B2 JP 2002255698 A JP2002255698 A JP 2002255698A JP 2002255698 A JP2002255698 A JP 2002255698A JP 4245880 B2 JP4245880 B2 JP 4245880B2
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Prior art keywords
route
image
unit
bronchoscope
insertion
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JP2002255698A
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JP2004089483A (en
JP2004089483A5 (en
Inventor
順一 大西
英一 小林
泰治 峯
明人 斉藤
隆男 柴崎
国英 梶
俊也 秋本
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オリンパス株式会社
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Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an endoscope apparatus, and more particularly to an endoscope apparatus that supports insertion of an endoscope into a body duct such as a bronchi.
[0002]
[Prior art]
In recent years, diagnosis based on images has been widely performed. For example, by taking a tomographic image of a subject with an X-ray CT (Computed Tomography) apparatus or the like, three-dimensional image data is obtained in the subject, and the 3D image data is obtained. Diagnosis of an affected area has been performed using dimensional image data.
[0003]
In the CT apparatus, by continuously feeding the subject in the body axis direction while continuously rotating the X-ray irradiation / detection, a helical continuous scan (helical scan) is performed on the three-dimensional region of the subject. A three-dimensional image is created from tomographic images of successive slices of a three-dimensional region.
[0004]
One such 3D image is a 3D image of the lung bronchi. The three-dimensional image of the bronchus is used to three-dimensionally grasp the position of an abnormal part suspected of lung cancer, for example. In order to confirm the abnormal portion by biopsy, a bronchoscope is inserted and a biopsy needle, biopsy forceps, or the like is taken out from the distal end portion and a tissue sample is taken.
[0005]
As in the bronchi, in the ducts in the body with multi-stage branches, when the location of the abnormal part is close to the periphery of the branch, it is difficult to reach the target site correctly in a short time, For example, in Japanese Patent Laid-Open No. 2000-135215, etc., a three-dimensional image of a pipeline in the subject is created based on image data of a three-dimensional region of the subject, and along the pipeline on the three-dimensional image. By obtaining a route to a destination point, creating a virtual endoscopic image of the duct along the route based on the image data, and displaying the virtual endoscopic image, a bronchoscope A device for navigating to a target site has been proposed.
[0006]
[Problems to be solved by the invention]
However, as described above, the bronchi have multi-stage branches, and the diameter of the bronchial canal route from the proximal end to the distal end becomes smaller each time the branch passes, so that the endoscope can be inserted depending on the position of the affected part. However, there is a problem that it is difficult to select an optimal endoscope because the diameter of the bronchial route leading to the affected area is not known in advance.
[0007]
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an endoscope apparatus that can easily and appropriately search for an endoscope according to the diameter of a body cavity route to an affected area. Yes.
[0008]
[Means for Solving the Problems]
An endoscope apparatus according to the present invention includes a three-dimensional image generation unit that generates a three-dimensional image of a body cavity in the subject based on image data of a three-dimensional region of the subject, and images the body cavity in the subject Scope information storage means for storing scope information including outer diameter data of the endoscope, route setting means for setting an insertion route of the endoscope into the body cavity path in the subject, and the route setting means Conduit information calculating means for calculating conduit information including inner diameter data of a body cavity in the subject at a predetermined position on the set insertion route based on the three-dimensional image generated by the three-dimensional image generating means; Pipe line information storage means for storing the pipe line information calculated by the pipe line information calculation means, the pipe line information stored in the pipe line information storage means, and the scope information stored in the scope information storage means Based on the above It said on incoming route configured with an insertion limit position calculating means for calculating an insertion limit position of the endoscope in the body cavity passage in the subject.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
[0010]
(First embodiment)
FIGS. 1 to 19 relate to the first embodiment of the present invention, FIG. 1 is a block diagram showing the configuration of the endoscope apparatus, and FIG. 2 is an insertion monitoring route setting process by the bronchoscope insertion monitoring apparatus of FIG. FIG. 3 is a first diagram showing a route setting screen developed by the processing of FIG. 2, FIG. 4 is a second diagram showing a route setting screen developed by the processing of FIG. 2, and FIG. 3 shows a route setting screen developed by the process of FIG. 2, FIG. 6 schematically shows the route set by the process of FIG. 2, and FIG. 7 shows other items searched by the process of FIG. FIG. 8 is a first diagram illustrating the operation of the intrabronchial diameter calculating unit in FIG. 1, and FIG. 9 is a first diagram illustrating the operation of the intrabronchial diameter calculating unit in FIG. FIG. 2 is a diagram showing a bronchial information table stored in the route information storage unit of FIG. 1, and FIG. 11 is a diagram of FIG. FIG. 12 is a diagram showing a scope information table stored in the corp information storage unit 17, FIG. 12 is a flowchart showing a flow of first route image generation processing of the route image generation unit of FIG. 1, and FIG. 13 is generated by the processing of FIG. FIG. 14 is a flowchart showing a flow of second route image generation processing of the route image generation unit of FIG. 1, and FIG. 15 is a route image generated by the processing of FIG. FIG. 16 is a flowchart showing a flow of insertion monitoring processing by the route monitoring unit in FIG. 1, and FIG. 17 is a diagram showing a distal end position of the insertion unit of the bronchoscope in the processing shown in FIG. FIG. 18 is a first diagram showing an endoscope screen displayed by the process of FIG. 16, and FIG. 19 is a second diagram showing an endoscope screen displayed by the process of FIG. Figure of A.
[0011]
As shown in FIG. 1, an endoscope apparatus 1 according to the present embodiment includes a bronchoscope 2 that is inserted into a bronchus in a patient, images the inside of the bronchus, and biopsies a diseased tissue at the end of the bronchi, and insertion of the bronchoscope 2 An endoscope image (hereinafter referred to as a live image) obtained by a tip position detection device 3 configured to detect the tip position of the head, for example, constituted by a known magnetic sensor and the bronchoscope 2, and CT image data And a bronchoscope insertion monitoring device 6 for monitoring the insertion state of the bronchoscope 2 based on the above.
[0012]
The bronchoscope insertion monitoring device 6 uses, for example, an MO (Magneto-Optical disk) device or a DVD (Digital Versatile Disc) device to generate three-dimensional image data generated by a known CT device (not shown) that captures an X-ray tomographic image of a patient. A CT image data capturing unit 11 that is captured via a portable storage medium, a CT image data storage unit 12 that stores three-dimensional image data captured by the CT image data capturing unit 11, and a CT image data storage unit 12 The MPR image generation unit 13 that generates an MPR (MultiPlanar Reconstruction) image based on the three-dimensional image data stored in the image data, and a route setting screen that includes the MPR image generated by the MPR image generation unit 13 to generate a bronchoscope 2 During insertion into the bronchus A route setting unit 14 for setting a route (hereinafter simply referred to as a route), and a route set by the route setting unit 14 based on the three-dimensional image data stored in the CT image data storage unit 12 at each branch stage. Intra-route bronchial diameter calculation unit 15 that calculates route information including bronchial information such as the diameter of the bronchial duct, a route information storage unit 16 that stores route information calculated by the intra-route bronchus diameter calculation unit 15, and a plurality of types A scope information storage unit 17 storing scope information such as the outer diameter and channel diameter of the bronchoscope 2 and a bronchial image displaying the route set by the route setting unit 14 are generated and stored in the route information storage unit 16. The bronchoscope name that can be inserted at each stage of the route based on the scope information stored in the route information and scope information storage unit 17 is the bronchoscope. The insertion state of the bronchoscope 2 based on the route image generation unit 18 to be superimposed on the image, the route information stored in the route information storage unit 16 and the tip position information of the insertion part of the bronchoscope 2 detected by the tip position detection device 3 A route monitoring unit 19 that monitors the image, an image processing unit 20 that generates an endoscopic image in which the image signal from the bronchoscope 2 is processed and the monitoring information of the route monitoring unit 19 is superimposed, and a route setting unit 14 generates The route setting screen, the bronchial image generated by the route image generation unit 18 and the endoscopic image generated by the image processing unit 20 are displayed on the monitor 5 and setting information is sent to the route setting unit 14. The setting information input unit 22 includes an input keyboard and a pointing device.
[0013]
The CT image data storage unit 12, the route information storage unit 16, and the scope information storage unit 17 may be configured by one hard disk, and the MPR image generation unit 13, the route setting unit 14, and the intrabronchial diameter calculation. The unit 15, the route image generation unit 18 and the image processing unit 20 can be configured by one arithmetic processing circuit. The CT image data capturing unit 11 captures CT image data via a portable storage medium such as an MO or a DVD. However, a CT apparatus or a hospital server storing the CT image data is connected to the hospital LAN. In such a case, the CT image data capturing unit 11 may be configured by an interface circuit that can be connected to the in-hospital LAN, and CT image data may be captured through the in-hospital LAN.
[0014]
The operation of the present embodiment configured as described above will be described. First, a route for monitoring the insertion of the bronchoscope 2 in the bronchus is set. Note that the insertion monitoring route is set using a route setting screen having MPR images including three different cross-sectional images, for example, axial, coronal, and sagittal, which are displayed on the monitor 5.
[0015]
As shown in FIG. 2, by operating the setting information input unit 22, a start point input instruction window 31 for prompting the input of the start point of the route as shown in FIG. 3 is displayed on the route setting screen 27 in step S11. A start point is set on one of the MPR images 28 while referring to the three tomographic images of the MPR image 28 using the cursor 30 on the setting screen 27. When the start point is set, the start point is set at a corresponding position on the two tomographic images of the other MPR images 28, and an end point input instruction window 32 for prompting the input of the affected part position as the end point of the route as shown in FIG. Is displayed on the route setting screen 27.
[0016]
Therefore, in the same manner as the setting of the start point in step S12, the end point is set on one tomographic image of the MPR image 28 while referring to the three tomographic images of the MPR image 28 using the cursor 30 on the route setting screen 27. Set. When the end point is set, the end point is set at a position corresponding to the two tomographic images of the other MPR images 28.
[0017]
When the start point and end point are set, the route setting unit 14 searches for a route in the bronchus from the start point to the end point in step S13. Since the bronchus has a complicated route, the route in the bronchus from the start point to the end point is not always uniquely determined depending on the affected part position as the end point. The first candidate of the route in the bronchus from the end point to the end point is searched.
[0018]
Then, on the route setting screen 27, the route setting unit 14 superimposes and displays the route searched in step S14 on the MPR image 28 as shown in FIG. A window 33 is displayed.
[0019]
The route confirmation window 33 includes a route confirmation button 41 for instructing the confirmation of the searched route, a next candidate search button 42 for instructing a search for the next candidate route, and a route reset button 43 for resetting the start point and the end point. And a cancel button 44 for canceling the route search process.
[0020]
In step S15, it is determined whether or not the next candidate search button 42 has been clicked. If clicked, the next candidate route is automatically searched in step S16 and the process proceeds to step S17. If not clicked, the process proceeds to step S18. In step S17, it is determined whether or not the next candidate exists as a result of searching for the next candidate. If there is no next candidate, a warning that the next candidate route does not exist is displayed but not shown, and the process returns to step S13. Return to step S14.
[0021]
In step S18, it is determined whether or not the route reset button 43 has been clicked. If clicked, the process returns to step S11, and if not clicked, the process proceeds to step S19.
[0022]
In step S19, it is determined whether or not the route confirmation button 41 has been clicked. If not clicked, the process returns to step S15. If clicked, the process proceeds to step S20. In step S20, the bronchial image as shown in FIG. The route is determined and the process is terminated.
[0023]
Depending on the position of the affected area, the route is not uniquely determined as described above. For example, in addition to the first route 51 shown in FIG. 6, there is a different second route 52 as shown in FIG. Depending on the location, there may be more than two routes). In this embodiment, one of the routes is selected in step S15, but information on all routes that can approach the affected area is held in the route setting unit 14.
[0024]
When the route is set in this manner, the bronchial duct diameter at each branch stage of the route based on the three-dimensional image data stored in the CT image data storage unit 12 by the intrabronchial diameter calculation unit 15 next. Route information consisting of bronchial information such as
[0025]
Specifically, as shown in FIG. 8, at branch points Bi-1, Bi, Bi + 1,
(1) The coordinates of the middle point Mi-1 of the branch points Bi-1, Bi are obtained from the three-dimensional coordinates of the branch points Bi-1, Bi.
(2) Obtain the cross-sectional area of the bronchial canal including the midpoint Mi-1.
(3) Find the plane with the smallest cross-sectional area at the midpoint Mi-1.
(4) The minor axis of the ellipse at the minimum cross-sectional area (a in FIG. 9) is obtained, and the length is branched to NO. The diameter of the bronchial tube at i-1 is φi-1.
(5) Increment i and repeat the above (1) to (4).
[0026]
By performing the processes (1) to (5) described above, the diameter φ of the bronchial duct at each branch stage of the set route is calculated. The diameter φ of the bronchial canal is calculated for all the retained routes, and the calculated diameter φ of the bronchial canal is calculated for each route, as shown in FIG. 10, branch number, calculated point coordinates (X, Y, Z). And a bronchial information table 61 having a diameter φ and a diameter φ are created and stored in the route information storage unit 16.
[0027]
On the other hand, as shown in FIG. 11, a scope information table 62 including a scope name, an outer diameter φ1, and a channel diameter is stored in the scope information storage unit 17 in advance as information about all bronchoscopes 2 owned by the user. Yes.
[0028]
When the bronchial information table 61 is stored in the route information storage unit 16 by the intrabronchial diameter calculation unit 15, a bronchial image in which a bronchoscope name that can be inserted into each branch stage of the route by the route image generation unit 18 is superimposed next is obtained. Generated.
[0029]
That is, as shown in FIG. 12, the route image generation unit 18 sets i = 1 in step S31, loads the scope information of the bronchoscope having the narrowest outer diameter φ1 from the scope information table 62 in step S32, and in step S33. From the bronchial information table 61, branch NO. Load i bronchial information.
[0030]
In step S34, the bronchial diameter φ is compared with the outer diameter φ1 of the bronchoscope. If φ> φ1, the process proceeds to step S36. If φ> φ is not satisfied, i is incremented in step S35 and the process returns to step S33.
[0031]
In step S36, the scope name is displayed at the position where the bronchial diameter φ is given on the bronchial image. In step S37, it is determined whether the bronchoscope currently compared is the thickest outer diameter bronchoscope, and the thickest outer diameter bronchoscope. If it is a mirror, the process ends. If it is not the thickest outer diameter bronchoscope, i is incremented in step S38, and in step S39, the scope information of the next thickest outer diameter bronchoscope is compared with the bronchoscope currently compared. Load from the scope information table 62 and return to step S33.
[0032]
By performing the processing of steps S31 to S39 described above, the route image generation unit 18 pastes the name (scope name) of the bronchoscope that can be inserted at each branch stage, as shown in FIG. A bronchial image is generated and displayed on the monitor 5 to enable the operator (user) to select an optimal bronchoscope.
[0033]
Next, generation of a bronchial image by the route image generation unit 18 when a bronchoscope used by an operator (user) is designated in advance will be described.
[0034]
As shown in FIG. 14, i = 1 is set in step S41, the bronchoscope to be used is set in step S42, the scope information of the bronchoscope set from the scope information table 62 is loaded in step S43, and the bronchial information is set in step S44. From table 61, branch NO. Load i bronchial information.
[0035]
In step S45, the bronchus diameter φ is compared with the outer diameter φ1 of the bronchoscope. If φ> φ1, the scope name is displayed at the position where the bronchial diameter φ is given on the bronchial image in step S47, and the process is terminated. If φ> φ is not satisfied, i is incremented in step S46, and the process returns to step S44.
[0036]
By performing the above steps S41 to S47, the route image generation unit 18 determines to which branch point of the route the bronchoscope used on the bronchial image can be inserted as shown in FIG. It is possible to determine whether the bronchoscope to be used is optimal.
[0037]
Next, after the bronchoscope 2 is selected using the bronchial image generated by the route image generation unit 18, the insertion monitoring process by the route monitoring unit 19 when the operator actually inserts the bronchoscope 2 into the bronchus will be described. To do.
[0038]
Note that the number of routes that can be approached to the affected area is not limited to one, but a case where there are two routes that can be approached to the affected area will be described below in order to simplify the description. It goes without saying that processing with a similar algorithm is possible with three or more.
[0039]
When the insertion of the bronchoscope 2 into the bronchus is started, as shown in FIG. 16, the route monitoring unit 19 determines whether or not the route monitoring is ended in step S51, and if the user presses a monitoring end button (not shown). If the process is terminated and the route monitoring is continued, the process proceeds to step S52.
[0040]
In step S52, the tip position information of the insertion part of the bronchoscope 2 is read from the tip position detection device 3, and in step S53, it is determined whether the tip position of the insertion part of the bronchoscope 2 is within the allowable range of the first route. To do.
[0041]
The determination in step S53 is performed as follows. That is, bronchus volume data of each route extracted on the volume coordinate system as shown in FIG. 17 from the three-dimensional image data stored in the CT image data storage unit 12 is created. Then, the position of the distal end of the insertion part of the bronchoscope 2 is converted into a volume coordinate system, and the value of the volume data at that position is detected. Judged to be within range.
[0042]
If it is determined that the distal end position of the insertion part of the bronchoscope 2 is within the allowable range of the first route, the warning status flag is turned off (= 0) in step S54 and the process returns to step S51 to return the distal end of the insertion part of the bronchoscope 2 If it is determined that the position is not within the allowable range of the first route, it is determined in step S55 whether the distal end position of the insertion portion of the bronchoscope 2 is within the allowable range of the second route.
[0043]
If it is determined that the distal end position of the insertion part of the bronchoscope 2 is within the allowable range of the second route, the warning status flag is turned off (= 0) in step S54 and the process returns to step S51. If it is determined that the tip position is not within the allowable range of the second route, the warning status flag is turned on (= 1) in step S56, and the process returns to step S51.
[0044]
When a control signal based on the state of the warning status flag set in this way is output from the route monitoring unit 19 to the image processing unit 20, the image processing unit 20 is in an off (= 0) state of the warning status flag. As shown in FIG. 18, the frame 102 of the endoscope screen 101 is displayed with a blue frame, for example. When the warning status flag is on, the frame 102 of the endoscope screen 101 is displayed with a red frame, for example, as shown in FIG. Generate the displayed screen.
[0045]
By displaying the endoscope screen 101 having such a frame 102 on the monitor 5, when the operator inserts the bronchoscope 2 into the bronchus, the bronchoscope 2 is inserted into a route where the affected area can be approached. Monitoring is performed, and the operator can determine whether or not the bronchoscope 2 has been inserted into a route that allows easy approach to the affected area by looking at the color of the frame 102 of the endoscope screen 101.
[0046]
(Second Embodiment)
20 to 23 relate to the second embodiment of the present invention, FIG. 20 is a flowchart showing the flow of insertion monitoring processing by the route monitoring unit, and FIG. 21 is an endoscope screen displayed by the processing of FIG. FIG. 22 is a second diagram showing an endoscope screen displayed by the process of FIG. 20, and FIG. 23 is a third diagram showing an endoscope screen displayed by the process of FIG. It is.
[0047]
In the second embodiment, the insertion monitoring process by the route monitoring unit 19 when the bronchoscope 2 is inserted into the bronchus is only different from the first embodiment. The same reference numerals are given to the components and the description will be omitted.
[0048]
When insertion of the bronchoscope 2 into the bronchus is started, as shown in FIG. 20, the route monitoring unit 19 determines whether or not the route monitoring is ended in step S61, and if the user presses a monitoring end button (not shown). If the process is terminated and the route monitoring is continued, the process proceeds to step S62.
[0049]
In step S62, the tip position information of the insertion part of the bronchoscope 2 is read from the tip position detection device 3, and in step S63, it is determined whether or not the tip position of the insertion part of the bronchoscope 2 is within the allowable range of the first route. To do.
[0050]
If it is determined that the distal end position of the insertion part of the bronchoscope 2 is within the allowable range of the first route, the distal end position of the insertion part of the bronchoscope 2 exists on the first route and outside the second route in step S64. A route display control signal for displaying the effect is output to the image processing unit 20 and the process returns to step S61. If it is determined that the distal end position of the insertion portion of the bronchoscope 2 is not within the allowable range of the first route, the process proceeds to step S65. A route display control signal for displaying that the distal end position of the insertion part of the bronchoscope 2 exists outside one route is output to the image processing unit 20, and the distal end position of the insertion part of the bronchoscope 2 is set to the second position in step S66. Determine if the route is within tolerance.
[0051]
If it is determined that the distal end position of the insertion portion of the bronchoscope 2 is within the allowable range of the second route, a display indicating that the distal end position of the insertion portion of the bronchoscope 2 exists on the first route in step S67. The route display control signal is output to the image processing unit 20 and the process returns to step S61. If it is determined that the distal end position of the insertion portion of the bronchoscope 2 is not within the allowable range of the second route, the bronchi is placed outside the second route in step S68. A route display control signal for displaying that the tip position of the insertion portion of the mirror 2 is present is output to the image processing unit 20, and the process returns to step S61.
[0052]
As shown in FIG. 21, the image processing unit 20 according to the present embodiment has an endoscope screen in which a plurality of route display areas 202 displaying a route name capable of approaching the affected area are superimposed in the vicinity of the endoscope image 201. Is generated. In FIG. 21, for simplification of explanation, two routes that can be approached to the affected area are assumed, and a “first route” display unit 203 and a “second route” display unit 204 are displayed in the route display area 202. An example is shown. Here, the “first route” is a route selected by the surgeon in the route setting.
[0053]
When the above-described route display control signal is output from the route monitoring unit 19 to the image processing unit 20, the image processing unit 20 determines that when the distal end position of the insertion unit of the bronchoscope 2 is in the first route, As shown in FIG. 21, the “first route” display unit 203 is displayed in blue, for example, and the “second route” display unit 204 is displayed in red, for example. Similarly, when the distal end position of the insertion part of the bronchoscope 2 is in the second route, as shown in FIG. 22, the “first route” display unit 203 is displayed in red, for example, and the “second route” display unit 204 is displayed in, for example, Display in blue. Further, when the distal end position of the insertion part of the bronchoscope 2 does not exist in the first route and the second route, the “first route” display unit 203 and the “second route” display unit 204 are displayed as shown in FIG. Display in red. When the distal end of the insertion part of the bronchoscope 2 is located on the same path portion common to the first route and the second route, the display is as shown in FIG.
[0054]
Thus, also in the present embodiment, the insertion monitoring of the bronchoscope 2 to the route that can approach the affected area is performed, and it is determined whether the bronchoscope 2 is easily inserted to the route that can approach the affected area. In addition, since it is possible to know which route of the approachable route has been reached, the relative position between the distal end of the bronchoscope 2 and the affected portion at the end of the bronchus can be easily grasped, and a biopsy or the like is easily performed. It becomes possible.
[0055]
(Third embodiment)
FIGS. 24 to 28 relate to the third embodiment of the present invention, FIG. 24 is a block diagram showing the configuration of the endoscope apparatus, and FIG. 25 explains data stored in the optical characteristic storage unit of FIG. 26 is a second diagram for explaining data stored in the optical characteristic storage unit of FIG. 24. FIG. 27 is a block diagram showing the configuration of the route monitoring unit of FIG. 24. FIG. 28 is a block diagram of FIG. It is a flowchart which shows the flow of a process of a route monitoring part.
[0056]
Since the third embodiment is almost the same as the first embodiment, only different points will be described, and the same components are denoted by the same reference numerals and description thereof will be omitted.
[0057]
As shown in FIG. 24, the endoscope apparatus 1a of the present embodiment includes a bronchoscope 2, a bronchoscope insertion monitoring apparatus 6a, and a monitor 5. The bronchoscope insertion monitoring apparatus 6a of the present embodiment includes A VBS that generates a virtual endoscopic image (hereinafter referred to as a VBS image) inside the bronchus of a continuous route set by the route setting unit 14 based on the three-dimensional image data stored in the CT image data storage unit 12. An image generation unit 301, a VBS image storage unit 302 that stores the VBS image generated by the VBS image generation unit 15, and an optical characteristic storage unit 303 for reflecting the optical characteristics of the bronchoscope 2 to the VBS image generation unit 15. And are provided.
[0058]
Here, for example, as shown in FIG. 25, the optical characteristic storage unit 303 does not have optical distortion in the VBS image generated by the VBS image generation unit 301, whereas the image signal captured by the bronchoscope 2 is shown in FIG. The VBS image generation unit 301 corrects and generates the VBS image by applying the optical distortion to the VBS image based on the data stored in the optical characteristic storage unit 303. It has become. Optical characteristics such as optical distortion of the bronchoscope 2 can be obtained by a camera calibration method in which various methods are proposed in the fields of photo measurement and robot vision.
[0059]
As shown in FIG. 27, the route monitoring unit 19 of the bronchoscope insertion monitoring apparatus 6a of the present embodiment inputs a live image input unit 401 that inputs an endoscopic image (hereinafter also referred to as a live image) from the image processing unit 20. A VBS image input unit 402 for inputting the VBS image stored in the VBS image storage unit 302, and a first feature for extracting the feature amount of the endoscopic image input by the live image input unit 401 by known image processing. A quantity extraction unit 403, a second feature quantity extraction unit 404 that extracts the feature quantity of the VBS image input by the VBS image input unit 402 by known image processing, and an endoscope extracted by the first feature quantity extraction unit 403. A feature amount comparison unit 405 that compares the feature amount of the mirror image and the feature amount of the VBS image extracted by the second feature amount extraction unit 404 is configured to output the comparison result to the image processing unit 20. .
Other configurations are the same as those of the first embodiment.
[0060]
The operation of the present embodiment configured as described above will be described. The present embodiment is different from the first embodiment only in the insertion monitoring process by the route monitoring unit 19 when the bronchoscope 2 is inserted into the bronchus. In this embodiment, the operator confirms the route by pressing a freeze switch (not shown) for each branch point of the bronchus when the bronchus is inserted. At that time, each time the freeze switch is pressed, the route monitoring unit 19 updates the branch point position information.
[0061]
For example, when the surgeon depresses a freeze switch (not shown) at a branch point for route confirmation, the route monitoring unit 19 according to the present embodiment uses the live image input unit 401 to perform the branch point in step S71 as shown in FIG. In step S72, the VBS image input unit 401 inputs the VBS image at the branch point.
[0062]
In step S73, the feature amount of the live image is extracted by the first feature amount extraction unit 403, and the feature amount of the VBS image is extracted by the second feature amount extraction unit 404 in step S74.
[0063]
In step S75, the feature amount comparison unit 405 calculates the similarity between the images based on the feature amount of the live image and the feature amount of the VBS image, and determines whether the calculated similarity exceeds a predetermined first set value. If it is determined that the similarity exceeds a predetermined first set value (similar at a predetermined level or more), the caution status counter is reset in step S76 and the warning status flag is set to 0 to perform the processing. finish.
[0064]
If it is determined that the similarity is equal to or lower than a predetermined first set value, it is determined in step S77 whether the similarity is less than a predetermined second set value, and the similarity is less than a predetermined second set value (less than a predetermined level). If not, the attention status counter is reset in step S78, and the warning status flag is set to 1 and the process is terminated.
[0065]
If it is determined that the similarity is equal to or greater than the predetermined second setting, the caution status counter is incremented by 1 in step S79 and the warning status flag is set to 0. In step S80, it is determined whether the value of the caution status counter has become 2, If the counter value is 2, the process proceeds to step S78. If the caution status counter value is not 2, the process is terminated.
[0066]
As in the first embodiment, a control signal based on the state of the warning status flag set in this way is output from the route monitoring unit 19 to the image processing unit 20, and the image processing unit 20 The endoscope screen 101 (see FIGS. 18 and 19) as described in the embodiment is generated.
[0067]
Note that the VBS image to be compared with the live image is the target branch point VBS image in all the routes that can be approached, and the route having the branch point VBS image having the highest similarity compared immediately before is inserted. Recognize as root.
[0068]
Other operations are the same as those in the first embodiment.
[0069]
As described above, in this embodiment as well, as in the first embodiment, whether or not the bronchoscope 2 is inserted into the approachable route is determined based on the similarity to the VBS image. When the person inserts the bronchoscope 2 into the bronchus, the insertion monitoring of the bronchoscope 2 to the route where the affected area can be approached is performed, and the operator sees the color of the frame 102 of the endoscope screen 101. It is possible to easily determine whether or not the bronchoscope 2 is inserted in a route that can approach the affected area.
[0070]
The present invention is not limited to the above-described embodiment, and various changes and modifications can be made without departing from the scope of the present invention.
[0071]
【The invention's effect】
As described above, according to the present invention, there is an effect that it is possible to easily and appropriately search for an endoscope corresponding to the diameter of the body cavity route to the affected part.
[Brief description of the drawings]
FIG. 1 is a configuration diagram showing a configuration of an endoscope apparatus according to a first embodiment of the present invention.
FIG. 2 is a flowchart showing a flow of insertion monitoring route setting processing by the bronchoscope insertion monitoring apparatus of FIG.
FIG. 3 is a first diagram showing a route setting screen developed in the process of FIG. 2;
4 is a second diagram showing a route setting screen developed by the processing of FIG. 2;
FIG. 5 is a third diagram showing a route setting screen developed in the process of FIG. 2;
6 is a diagram schematically showing a route set in the process of FIG.
7 is a diagram schematically showing another route searched by the process of FIG. 2;
FIG. 8 is a first diagram for explaining the operation of the intrabronchial diameter calculating unit in FIG. 1;
FIG. 9 is a second diagram for explaining the operation of the intrabronchial diameter calculating unit in FIG. 1;
10 shows a bronchial information table stored in the route information storage unit of FIG.
11 is a diagram showing a scope information table stored in the scope information storage unit 17 of FIG.
12 is a flowchart showing a flow of first route image generation processing of the route image generation unit in FIG. 1;
13 is a view showing a bronchial image that is a route image generated by the processing of FIG. 12;
14 is a flowchart showing a flow of second route image generation processing of the route image generation unit in FIG. 1;
FIG. 15 is a diagram showing a bronchial image that is a route image generated by the processing of FIG. 14;
16 is a flowchart showing the flow of insertion monitoring processing by the route monitoring unit in FIG. 1;
FIG. 17 is a diagram for explaining determination of whether or not the distal end position of the bronchoscope insertion portion is within the allowable range of the route in the process of FIG. 16;
18 is a first view showing an endoscope screen displayed by the processing of FIG. 16;
FIG. 19 is a second diagram showing an endoscope screen displayed by the process of FIG. 16;
FIG. 20 is a flowchart showing the flow of insertion monitoring processing by the route monitoring unit according to the second embodiment of the present invention;
21 is a first diagram showing an endoscope screen displayed by the process of FIG. 20;
FIG. 22 is a second diagram showing an endoscope screen displayed by the processing of FIG.
FIG. 23 is a third view showing the endoscope screen displayed by the process of FIG. 20;
FIG. 24 is a configuration diagram showing a configuration of an endoscope apparatus according to a third embodiment of the present invention.
FIG. 25 is a first diagram illustrating data stored in the optical characteristic storage unit of FIG. 24;
FIG. 26 is a second diagram illustrating data stored in the optical characteristic storage unit of FIG. 24;
27 is a block diagram showing the configuration of the route monitoring unit in FIG. 24. FIG.
FIG. 28 is a flowchart showing the flow of processing of the route monitoring unit in FIG.
[Explanation of symbols]
1. Endoscope device
2 ... Bronchoscope
3. Tip position detection device
5 ... Monitor
6 ... Bronchoscope insertion monitoring device
11 ... CT image data capturing unit
12 ... CT image data storage unit
13 ... MPR image generator
14 ... Route setting section
15: Intra-root bronchial diameter calculator
16: Route information storage unit
17 ... Scope information storage unit
18 ... Route image generator
19. Route monitoring unit
20: Image processing unit
21 ... Image display control unit
22 ... Setting information input section

Claims (2)

  1. Three-dimensional image generation means for generating a three-dimensional image of a body cavity in the subject based on image data of a three-dimensional region of the subject;
    Scope information storage means for storing scope information including outer diameter data of an endoscope that images the body cavity in the subject;
    Route setting means for setting an insertion route to a body cavity in the subject of the endoscope;
    A conduit for calculating conduit information including inner diameter data of a body cavity in the subject at a predetermined position on the insertion route set by the route setting unit based on the three-dimensional image generated by the three-dimensional image generation unit Information calculating means;
    Pipeline information storage means for storing the pipeline information calculated by the pipeline information calculation means;
    The insertion of the endoscope in the body cavity in the subject on the insertion route based on the pipeline information stored in the pipeline information storage means and the scope information stored in the scope information storage means An endoscope apparatus comprising: an insertion limit position calculating means for calculating a limit position.
  2. The endoscope apparatus according to claim 1, further comprising a body cavity path image unit that generates an image of a body cavity path in the subject indicating the insertion limit position calculated by the insertion limit position calculation unit.
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JP3847744B2 (en) * 2003-11-04 2006-11-22 オリンパス株式会社 Insertion support system
JP2006218129A (en) * 2005-02-10 2006-08-24 Olympus Corp Surgery supporting system
JP2006230906A (en) * 2005-02-28 2006-09-07 Toshiba Corp Medical diagnostic system and apparatus, and endoscope
US8696547B2 (en) * 2009-09-17 2014-04-15 Broncus Medical, Inc. System and method for determining airway diameter using endoscope
EP2377457B1 (en) 2010-02-22 2016-07-27 Olympus Corporation Medical apparatus
EP2581029B1 (en) * 2011-01-24 2014-12-31 Olympus Medical Systems Corp. Medical device
WO2013011733A1 (en) * 2011-07-15 2013-01-24 株式会社 日立メディコ Endoscope guidance system and endoscope guidance method
WO2014038322A1 (en) 2012-09-07 2014-03-13 オリンパスメディカルシステムズ株式会社 Medical apparatus
JP5718537B2 (en) 2013-03-12 2015-05-13 オリンパスメディカルシステムズ株式会社 Endoscope system
CN104883950B (en) * 2013-03-27 2016-12-28 奥林巴斯株式会社 Endoscopic system
CN106659365B (en) * 2014-07-15 2019-09-06 奥林巴斯株式会社 Navigation system, the working method of navigation system
JP6594133B2 (en) * 2015-09-16 2019-10-23 富士フイルム株式会社 Endoscope position specifying device, operation method of endoscope position specifying device, and endoscope position specifying program

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