JP5826727B2 - Medical system - Google Patents

Description

  The present invention relates to a medical system, and more particularly to a medical system that displays an index related to an endoscopic technique or the like superimposed on a captured image.

  In recent years, a trocar that guides an endoscope for observation into a body cavity and a trocar that guides a treatment tool such as forceps to a treatment site is punctured in the patient's abdomen without opening the abdomen to reduce invasion to the patient, As a surgical operation for performing a therapeutic treatment while observing a treatment tool and a treatment site in the endoscope, for example, a laparoscopic surgical operation using a technique as disclosed in Patent Document 1 is performed.

  On the other hand, an endoscope provided with a forceps channel is disclosed in, for example, Patent Document 2.

  In Patent Document 2, the priority of the region direction in which the treatment tool appears is determined according to the position of the treatment tool mouth provided in the endoscope, and information such as the patient name is displayed based on this priority. Is disclosed.

  Further, in the endoscopic technique or endoscopic operation including the laparoscopic surgery as described above, the state of the endoscope viewing angle, rotation angle, insertion shape, etc. is displayed on the endoscopic image of the display monitor. There is known a technique for displaying a displayed index in a superimposed manner.

JP 2009-125392 A JP 2004-033461 A

  However, when a predetermined index related to an endoscopic technique or the like is displayed superimposed on a captured image in an endoscopic procedure or endoscopic surgery, the endoscopic image itself is displayed when the index is always superimposed on the same position. Visibility may be impaired and treatment with a treatment tool such as forceps may be hindered.

  In order to avoid an index that is always superimposed on the same position, it is necessary to move the endoscope image by moving the endoscope. However, if the endoscope has no degree of freedom in the body cavity, The movement of the mirror image itself is difficult, and in this case, the treatment is further hindered.

  On the other hand, if the appearance position of the treatment tool such as forceps can be grasped in advance on the endoscopic image, it is possible to remove the appearance position and display the index, but the treatment tool such as forceps is curved. When a degree of freedom is high on an endoscopic image by providing a mechanism or the like, or in the case of a technique for inserting a plurality of forceps or the like into a body cavity, the treatment tool appears at any position in the endoscopic image. It is difficult to know in advance.

  Since the technique shown in Patent Document 2 is an endoscope including a forceps channel as described above, the position of the protrusion of a treatment tool such as a forceps with respect to the imaging element at the tip of the endoscope is structured. In other words, it is easy to grasp in advance the appearance position of the treatment tool such as forceps on the endoscopic image. However, the technique disclosed in Patent Document 2 takes into consideration the technical field with a high degree of freedom on the endoscopic image of the treatment tool and the technical field related to a technique for inserting a plurality of treatment tools into a body cavity. Naturally, it is not possible to deal with a technique related to the above technical field in which the appearance position of the treatment tool is not determined on the endoscopic image.

  The present invention has been made in view of such circumstances, and can accurately display an index related to an endoscopic technique or the like without sacrificing the visibility of an endoscopic image, thereby enabling intuitive operation. An object of the present invention is to provide a medical system.

In order to achieve the above object, a medical system of one embodiment of the present invention includes an insertion unit that is inserted into a subject and has an imaging unit that images the inside of the subject, and a treatment that performs a predetermined treatment in the subject. Means, an image display control means for displaying an observation image picked up by the image pick-up means on a display means, and an observation range picked up by the image pick-up means is divided into a plurality of areas, and a predetermined one of the divided areas A time ratio measuring means for measuring a time ratio at which the treatment means is displayed in the area, and an index indicating the state of the insertion means is superimposed on a predetermined position in the observation range according to the measurement result of the measuring means. Image generating means for generating the notification image.

  The present invention can provide a medical system that can accurately display an index related to an endoscopic technique and the like and can perform an intuitive operation without sacrificing the visibility of an endoscopic image.

FIG. 1 is a diagram showing an overall configuration of an endoscope system according to a first embodiment of the present invention. FIG. 2 is a block diagram illustrating an electrical configuration of the endoscope system according to the first embodiment. FIG. 3 is a flowchart showing an index generation process in the endoscope system according to the first embodiment. FIG. 4 is a flowchart illustrating a process of calculating the superimposed position of the index in the endoscope system according to the first embodiment. FIG. 5 is a diagram illustrating an example of a monitor screen showing the superimposed position of the index in the endoscope system according to the first embodiment. FIG. 6 is a diagram showing another example of the monitor screen showing the superimposed position of the index in the endoscope system of the first embodiment. FIG. 7 is a flowchart showing a calculation process of the index superposition position in the endoscope system according to the second embodiment of the present invention. FIG. 8 is a flowchart showing a process of calculating the index superposition position in the endoscope system according to the third embodiment of the present invention. FIG. 9 is a flowchart showing a calculation process of the superimposed position of the index in the endoscope system according to the fourth embodiment of the present invention. FIG. 10 is a diagram showing an example of a monitor screen showing the superimposed position of the index in the endoscope system according to the seventh embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
FIG. 1 is a diagram illustrating an overall configuration of an endoscope system according to a first embodiment of the present invention, and FIG. 2 illustrates an electrical configuration of the endoscope system according to the first embodiment. It is a block diagram. Here, an endoscopic operation for extracting a living body part of the digestive organ 41 of the patient 40 will be described as an example.

  In FIG. 1, an endoscope system 1 is inserted into a patient's 40 abdominal cavity via a trocar and includes a scope 10 having an imaging means for imaging the inside of a subject, and the scope 10 is connected. A processor 30 that performs predetermined image processing on the observation image captured by the above, a plurality of forceps 20A and 20B that are treatment instruments inserted into the abdominal cavity of the patient 40 via other trocars, A monitor 50 that is connected to the processor 30 and displays an observation image that has been subjected to image processing, and a magnetic field that is tip position / direction detection means for detecting the tip positions of the forceps 20A and 20B and the tip position of the scope 10. The generator 60 and the main part are comprised.

  The scope 10 is configured by a so-called laparoscope that is inserted into the abdominal cavity of a patient 40 as a subject via a trocar. In addition, a CCD 11 as an imaging unit is disposed at the distal end portion, and a scope sensor 12 for detecting the distal end position and direction of the scope 10 is disposed.

  The forceps 20A and 20B are treatment tools that are inserted into the abdominal cavity of the patient 40 as a subject via a trocar, and when the distal treatment portions 21A and 21B are formed at the distal ends, respectively. In addition, forceps sensors 22A and 22B for detecting the tip positions and directions of the forceps 20A and 20B are provided.

  In this embodiment, the sensor is disposed at the tip of the scope and forceps, but the sensor is disposed at the scope or the gripping portion of the forceps, and the tip position is determined based on the position / direction of the gripping portion and the shape of the scope or forceps. -The direction may be estimated. At this time, the shape of the scope or forceps may be calculated from a design value or detected in real time.

  In addition, although the example which employ | adopts two forceps 20A and 20B as forceps was shown as an endoscopic operation using the endoscope system shown in FIG. 1, it is not restricted to this, One forceps or 3 The present invention can be applied even to a configuration example employing the above forceps. For example, FIG. 2 showing an example of the first embodiment also shows an example in which five forceps 20A to 20D are employed as forceps.

  A monitor screen 50a is disposed on the monitor 50, and an endoscopic image 51, which is an observation image in the subject that has been subjected to image processing in the processor 30 described in detail later, is displayed. In addition, under the control of the control unit 31 in the processor 30, an index 52 indicating the amount of rotation of the captured image of the imaging means (CCD 11) is placed at a predetermined position on the observation image (endoscopic image 51). Is superimposed on the screen and displayed.

  The relationship between the endoscopic image 51 and the index 52 on the monitor 50 will be described in detail later. In FIG. 1, the index 52 is arranged in the lower right part of the endoscopic image 51, and the internal In the upper left part of the endoscopic image 51, the distal treatment sections 21A and 21B of the forceps 20A and 20B are displayed.

  Next, the configuration of the processor 30 will be described with reference to FIG.

  As described above, the endoscope system according to the first embodiment includes a plurality of forceps, and FIG. 1 illustrates an example including two forceps 20A and 20B. However, the present invention is not limited to this. As shown in FIG. 2, four forceps 20A to 20D may be employed.

  As shown in FIG. 2, the processor 30 inputs a control unit 31 that controls each unit and an imaging signal from the scope 10 to generate a predetermined endoscopic image (observation image) and perform predetermined image processing. An endoscopic image generation unit 32 to perform, a display image signal generation unit 33 that generates an image signal for displaying the endoscopic image generated in the endoscopic image generation unit 32 on the monitor 50, and the magnetic field generation Position signals from the scope sensor 12 disposed in the scope 10 and the forceps sensors 22A to 22D disposed in the forceps 20A to 20D, which are displaced by the influence of the magnetic field generated from the instrument 60, are input. A position / direction calculator 34 that calculates an observation range in the real space from the tip position / direction of the scope 10 and calculates the tip position / direction of the forceps 20A to 20D in the real space; The endoscope image rotation amount calculation unit 35 that calculates the rotation amount of the endoscope image based on the calculation result in the direction calculation unit 34, and the calculation result in the endoscope image rotation amount calculation unit 35, An index generation unit 36 for generating the index 52 to be displayed on the monitor 50, an observation range in the real space of the scope 10 detected by the position / direction calculation unit 34, and a distal end position of the forceps 20A to 20D in the real space Based on the direction, an index display position calculation unit 37 that calculates a superimposed display position of the index 52 on the endoscopic image 51 displayed on the monitor screen 50a, and a position calculated by the index display position calculation unit 37 The index superimposing unit 38 that superimposes the index 52 generated in the index generating unit 36 based on the information at a predetermined position on the endoscopic image 51 is a main part. To have.

  Here, the position / direction calculating unit 34 calculates the position / direction of the forceps 20A to 20D, in particular, the position / direction of the distal treatment units 21A to 21D in real space.

  Next, the operation of the endoscope system according to the first embodiment will be described.

  First, the generation process of the index 52 will be described with reference to FIGS.

  FIG. 3 is a flowchart illustrating an index generation process in the endoscope system according to the first embodiment.

  Under the control of the control unit 31, the position / direction calculation unit 34 outputs a position signal from the scope sensor 12 disposed in the scope 10 that is displaced by the influence of the magnetic field generated from the magnetic field generator 60. Then, the observation range in the real space of the scope 10 is calculated (step S1). Further, the position / direction calculation unit 34 receives position signals from the forceps sensors 22A to 22D disposed on the forceps 20A to 20D, and calculates the tip positions and directions of the forceps 20A to 20D in real space. (Step S2).

  Next, the position / direction calculating unit 34 detects a predetermined reference direction (the gravity direction in the first embodiment) (step S3), and the observation range in the real space of the scope 10 calculated in step S1. The gravity direction projected on the endoscope image 51 is calculated from the gravity direction and the gravity direction (step S4).

  Then, under the control of the control unit 31, the endoscope image rotation amount calculation unit 35 determines the angle difference between the lower direction of the endoscope image 51 and the projected gravity direction as “the endoscope image relative to the reference direction. "Rotation amount" is calculated (step S5).

  Thereafter, under the control of the control unit 31, the index generation unit 36 generates a semi-circular and semi-transparent index (the index 52) for the “rotation amount of the endoscope image with respect to the reference direction”. (Step S6) Further, the index superimposing unit 38 superimposes the image on the endoscopic image 51, and displays it on the monitor 50 by the display image signal generating unit 33 in FIG. 4, for example (Step S7).

  In the present embodiment, the index 52 is arranged at the lower right portion of the endoscopic image 51 at the initial position.

  Next, a process for calculating a position where the index 52 is superimposed on the endoscopic image 51 will be described with reference to FIGS. 4, 5, and 6.

  FIG. 4 is a flowchart illustrating a process for calculating the index superimposition position in the endoscope system according to the first embodiment, and FIG. 5 illustrates the index superimposition position in the endoscope system according to the first embodiment. FIG. 6 is a diagram showing another example of the monitor screen showing the superimposed position of the index in the endoscope system of the first embodiment. 5 and 6 show a case where, among the forceps 20A to 20D, the distal treatment portion 21A of the forceps 20A exists in the observation range.

  As shown in FIG. 4, under the control of the control unit 31, the index display position calculation unit 37 displays the index 52 of the “rotation amount of the endoscope image with respect to the reference direction” as a predetermined position of the endoscope image 51. For example, as shown in FIG. 5, the index superimposing unit 38 is controlled to display at the lower right position (step S101).

  Further, the index display position calculation unit 37 divides the endoscope image 51 into five areas, that is, four corner areas (upper left area 101, upper right area 102, lower left area 103, lower right area 104) and a center as shown in FIG. An area divided into five areas, the area 105, is set (step S102), and the areas of the four corner areas (upper left area 101, upper right area 102, lower left area 103, lower right area 104) are set to initial values. (Step S103).

  Here, the four corner areas (upper left area 101, upper right area 102, lower left area 103, lower right area 104) are areas used for determining the presence ratio of the distal treatment sections 21A to 21D of the forceps 20A to 20D. , It serves as an area where the index 52 is superimposed and displayed.

  In FIGS. 5 and 6, broken lines are attached to portions defining the four corner areas (upper left area 101, upper right area 102, lower left area 103, lower right area 104). 51 does not display this broken line. That is, these broken lines are virtual lines.

  Next, the position / direction calculator 34 calculates in which area in the endoscopic image 51 the distal treatment sections 21A to 21D of the forceps 20A to 20D are present (step S104).

  Subsequently, the index display position calculation unit 37, based on the calculation result of the position / direction calculation unit 34, out of the five areas, the four corner areas (upper left area 101, upper right area 102, lower left area 103, right The time ratio at which any of the distal treatment sections 21A to 21D exists in the lower area 104) is calculated (step S105). For example, it calculates how many seconds existed in the last 30 seconds.

  Then, the index display position calculation unit 37 determines that the time ratio in which any of the distal treatment sections 21A to 21D exists in the area where the index 52 is currently displayed (in this case, the lower right area 104) is a predetermined threshold value. It is determined whether or not this is the case (step S106).

  In step S106, if the time ratio is not equal to or greater than a predetermined threshold value, the process returns to step S104. On the other hand, as shown in FIG. 6, the time ratio at which any one of the distal treatment sections 21A to 21D (for example, the distal treatment section 21A) is present in the lower right area 104 where the current index 52 is displayed is predetermined. When the threshold value is greater than or equal to the threshold value, the index display position calculation unit 37 determines the four corner areas (upper left area 101, upper right area 102, lower left area 103, lower right area) based on the calculation result of the position / direction calculation unit 34. In the area 104), it is determined whether or not there is an area in which any one of the distal treatment sections 21A to 21D is present below a predetermined threshold (step S107).

  When there is an area where the time ratio is equal to or smaller than the predetermined threshold value in step S107, the index display position calculation unit 37 is an area equal to or smaller than the predetermined threshold value and includes the four corners. The index superimposing unit 38 is controlled so as to move the index 52 to an area having the lowest time ratio in which the distal treatment portion exists (for example, the upper left area 101 in the example shown in FIG. 6). In the example shown in FIG. 6, the display image signal generation unit 33 is controlled so as to be displayed superimposed on the upper left area 101 of the endoscopic image 51 (step S108), and the process returns to step S104.

  On the other hand, if there is no area where the time ratio is equal to or smaller than the predetermined threshold value in step S107, the index display position calculation unit 37 determines that the four corner areas (upper left area 101, upper right area 102, lower left area 103, The lower right area 104) is set to be narrowed (step S109), and the process returns to step S104.

  As described above, in the endoscope system of the present embodiment, an index indicating “the amount of rotation of the endoscope image with respect to the reference direction” is superimposed on the endoscope image and displayed on the endoscope image. Since the index is displayed at an appropriate position according to the position of a treatment tool such as a forceps, the endoscope with respect to the reference direction without sacrificing the visibility of the endoscopic image in endoscopic surgery It is possible to provide an endoscope system that accurately displays image rotation amount information and enables intuitive operation.

  In the endoscope system of the present embodiment, the scope 10 and the forceps 20A to 20D are inserted from different trocars with respect to the patient 40 of the subject, and the forceps 20A to 20D are completely different from the scope 10. Even in this case, the endoscope system of the present embodiment can accurately determine the positions of the distal treatment sections 21A to 21D on the endoscopic image 51. .

(Second Embodiment)
Next, a second embodiment of the present invention will be described.

  The configuration of the endoscope system of the second embodiment is the same as that of the first embodiment, and includes a step of changing the size of the index 52 when moving the overlapping position of the index 52. The other features are the same as those of the first embodiment, and only the differences will be described here, and the description of the same parts as in the first embodiment will be omitted.

  FIG. 7 is a flowchart showing a calculation process of the index superposition position in the endoscope system according to the second embodiment of the present invention.

  Under the control unit 31 in the second embodiment, the position / direction calculation unit 34 and the index display position calculation unit 37 are the same as those in the first embodiment (see FIG. 4) from step S101 to step S109 shown in FIG. ), But the steps after step S108 are different.

  As shown in FIG. 7, when there is an area where the time ratio is equal to or smaller than a predetermined threshold value in step S107, the index display position calculation unit 37 performs the predetermined threshold as in the first embodiment. The index 52 is moved to an area that is equal to or smaller than the value and has the lowest time ratio in which the distal treatment portion exists among the four corner areas (for example, the upper left area 101 in the example shown in FIG. 6). The display image signal generation unit 33 is controlled so as to be superimposed and displayed on the upper left area 101 of the endoscopic image 51 by controlling the index superimposing unit 38 (step S108). The size of the index 52 is changed according to the area (step S110), and the process returns to step S103.

  That is, if there is no area where the time ratio is equal to or less than the predetermined threshold value in step S107, the same process as in the first embodiment is performed in the second embodiment. That is, in the next step S109, the index display position calculation unit 37 sets to reduce the areas of the four corner areas (upper left area 101, upper right area 102, lower left area 103, lower right area 104). In step S109, the four corner areas (upper left area 101, upper right area) are continued until it is determined in step S107 that there is an area where the time ratio is equal to or less than a predetermined threshold value. The area 102, the lower left area 103, and the lower right area 104) are set to be narrowed.

  Then, the index 52 is changed to an appropriate size according to the area of the narrowed destination area (step S110), the process returns to step S103, and the areas of the four corner areas are returned to the initial values again.

  As described above, in the endoscope system according to the second embodiment, as in the first embodiment, an index indicating “the amount of rotation of the endoscope image with respect to the reference direction” is superimposed on the endoscope image. The indicator is displayed at an appropriate position according to the position of the treatment tool such as forceps on the endoscope image, and the indicator is displayed according to the proportion of the treatment tool existing on the endoscope image. Since the size can be changed to an appropriate state, the visibility of the endoscopic image is sacrificed in endoscopic surgery even when the proportion of the treatment tool existing on the endoscopic image becomes relatively large. Therefore, it is possible to accurately display the rotation amount information of the endoscope image with respect to the reference direction, thereby enabling an intuitive operation.

(Third embodiment)
Next, a third embodiment of the present invention will be described.

  The configuration of the endoscope system of the third embodiment is the same as that of the first embodiment, and the calculation method for determining in which area the distal treatment portion of the forceps exists is different. In other respects, the configuration is the same as that of the first embodiment, and only the difference is described here, and the description of the same portion as that of the first embodiment is omitted.

  FIG. 8 is a flowchart showing a process of calculating the index superposition position in the endoscope system according to the third embodiment of the present invention.

  As shown in FIG. 8, under the control of the control unit 31, the index display position calculation unit 37, like the first embodiment, the index 52 of the “rotation amount of the endoscope image with respect to the reference direction”. Is displayed at a predetermined position of the endoscopic image 51 (step S101), and the four corner areas (upper left area 101, upper right area 102, lower left area 103, lower right area 104) are controlled. ) And the central area 105 are set (step S102), and the areas of the four corner areas (upper left area 101, upper right area 102, lower left area 103, lower right area 104) are set as initial values. (Step S103).

  Next, the index display position calculation unit 37 analyzes the endoscopic image 51 for a fixed time from the present to the past (step S120). In the present embodiment, for example, a similarity analysis method is adopted as this analysis method.

  Based on the analysis result in step S120, the index display position calculation unit 37 moves the index 52 to an area of the four corner areas where the image change is equal to or less than a threshold value and the image change is the smallest. The index superimposing unit 38 is controlled (step S121).

  As described above, also in the endoscope system according to the third embodiment, as in the first embodiment, an index indicating “the amount of rotation of the endoscope image with respect to the reference direction” on the endoscope image. Since the index is displayed at an appropriate position according to the position of a treatment tool such as forceps on the endoscopic image, the endoscopic image is visually recognized in endoscopic surgery. Without sacrificing performance, it is possible to provide an endoscope system that accurately displays rotation amount information of an endoscope image with respect to a reference direction and enables intuitive operation.

  In addition, by displaying the index in a place where there is little change in the image, even if the forceps are present, the position of the forceps that hardly moves (in other words, the forceps that are not operated) is visible even if the index is superimposed. There is little damage. Therefore, even when forceps are present in any of the four corner areas, it is possible to appropriately place the index.

  Furthermore, by displaying the index at a place where there is little change in the image, it is difficult to superimpose the index at a position where the movement of the target such as an organ other than the forceps is large. This makes it possible to indicate parts that should be particularly careful, such as parts that are moving due to heartbeat or breathing, parts that are moved by grasping a part of an organ with forceps, or parts that are bleeding. Can be prevented and visibility can be prevented from being impaired.

  On the other hand, when the scope is moved largely, the visibility of any corner area of the endoscopic image is important regardless of the presence or absence of forceps, but in this embodiment, the corner area is Since the change becomes large, the index is not displayed, and the visibility of the endoscopic image can be ensured.

(Fourth embodiment)
Next, a fourth embodiment of the present invention will be described.

  The configuration of the endoscope system of the fourth embodiment is the same as that of the first embodiment, but the importance of the forceps is set in advance for each of the plurality of forceps 20A to 20D, and the priority is set in advance. It is characterized by being decided. Other configurations and operations are the same as those of the first embodiment, and only the differences will be described here, and descriptions of the same parts as those of the first embodiment will be omitted.

  FIG. 9 is a flowchart showing a part of the calculation process of the superimposed position of the index in the endoscope system according to the fourth embodiment of the present invention.

  In the fourth embodiment, the importance of the plurality of forceps is set to, for example, operator right hand forceps> operator left hand forceps> first assistant right hand forceps> first assistant left hand forceps.

As shown in FIG. 9, under the control of the control unit 31, the index display position calculation unit 37 performs the index 52 of the “rotation amount of the endoscope image with respect to the reference direction”, as in the first embodiment. Is displayed at a predetermined position of the endoscopic image 51 (step S201), and the four corner areas (upper left area 101, upper right area 102, lower left area 103, lower right area 104) are controlled. ) And the central area 105 are divided into five areas (step S202), and the areas of the four corner areas (upper left area 101, upper right area 102, lower left area 103, lower right area 104) are set as initial values. (Step S203)
Next, the index display position calculation unit 37 calculates for each of the forceps the tip treatment units 21A to 21D of the forceps 20A to 20D in each of the four corners (step S204). The time ratio at which the distal treatment sections 21A to 21D exist in the four corner areas is calculated for each area (step S205).

  Thereafter, the index display position calculation unit 37 determines whether or not the time ratio in which any one of the forceps 20A to 20D is present in the area where the index is displayed is equal to or greater than a predetermined threshold value. In step S206, if it is equal to or greater than a predetermined threshold value, it is determined whether or not there is an area in which the time ratio at which the distal treatment portion exists is equal to or smaller than the predetermined threshold value among the four corner areas (step S207). ). When the time ratio is equal to or greater than a predetermined threshold, the other forceps (in this case, the operator's right hand forceps, surgery) except the forceps having the lowest importance (in this case, the first assistant left hand forceps) are used. The time ratio at which the distal treatment portion of the left hand forceps and the first assistant right hand forceps is present is calculated (step S209).

  Note that the area movement or the like of the index 52 (step S208) when there is an area whose time ratio is equal to or smaller than the predetermined threshold in step S207 is the same as that in the first embodiment, so the description here is as follows. Omitted.

  As described above, in the endoscope system according to the fourth embodiment, as in the first embodiment, an index indicating “the amount of rotation of the endoscope image with respect to the reference direction” on the endoscope image. Since the index is displayed at an appropriate position according to the position of a treatment tool such as forceps on the endoscopic image, the endoscopic image is visually recognized in endoscopic surgery. Without sacrificing performance, it is possible to provide an endoscope system that accurately displays rotation amount information of an endoscope image with respect to a reference direction and enables intuitive operation.

  Further, the following effects are conceivable as effects of the present embodiment.

  There may be many forceps depending on the operation, and it is conceivable that forceps are present in any corner of the endoscopic image. In such a case, the following situation can be considered if the overlapping position of the index is determined only by the amount of time at which the tip of the forceps exists for each of the four corner areas.

  That is, the less important forceps tip that the assistant uses to push up the disturbing organ is always present in the corner area, and the more important forceps that the surgeon is working best are working in the other corner. Occasionally existing in the area, the index may be superimposed on the area where the forceps having high importance exist.

  In this embodiment, even in such a situation, the rotation amount information of the endoscope image with respect to the reference direction can be accurately displayed without sacrificing the visibility of the endoscope image.

(Fifth embodiment)
Next, a fifth embodiment of the present invention will be described.

  The configuration of the endoscope system of the fifth embodiment is the same as that of the first embodiment, and displays the index 52 on the endoscopic image 51 only when a predetermined condition is satisfied. It is characterized by that. Other configurations are the same as those of the first embodiment, and only the differences will be described here, and the description of the same parts as those of the first embodiment will be omitted.

  In the endoscope systems of the first to fourth embodiments, the index 52 is always superimposed and displayed on any region on the endoscopic image 51 on the monitor screen 50a. However, the endoscope system according to the fifth embodiment is configured to switch display / non-display of the index 52 according to a predetermined condition.

  Specifically, under the control of the control unit 31, the index display position calculation unit 37 changes the index 52 to the endoscopic image 51 when a predetermined change occurs in the display information of the endoscopic image 51. Superimposed display. On the other hand, when the display information of the endoscope image 51 remains unchanged for a certain period, the displayed index 52 is controlled to be hidden.

  The display / non-display of the indicator 52 may be controlled under the following conditions.

  For example, a reference range (for example, a range of ± 20 degrees) of the rotation amount of the endoscope image with respect to the reference direction is set, and the index 52 is switched to the non-display state when the endoscope image is within the reference range for a certain period of time. On the other hand, when the state is outside the reference range for a certain time, the index 52 may be controlled to be switched from the non-display state to the display state.

  Alternatively, the moving amount of the distal end position of the scope 10 may be calculated by the position / direction calculating unit 34, and the index 52 may be displayed only when the moving amount is not more than a predetermined threshold value.

  As described above, in the endoscope system of the fifth embodiment, only when a predetermined condition is satisfied, an index indicating “the amount of rotation of the endoscope image with respect to the reference direction” is superimposed on the endoscope image. Therefore, without sacrificing the visibility of the endoscopic image in endoscopic surgery, it accurately displays the amount of rotation of the endoscopic image relative to the reference direction, enabling intuitive operation. An endoscopic system that enables this can be provided.

(Sixth embodiment)
Next, a sixth embodiment of the present invention will be described.

  The endoscope system according to the first embodiment detects the positions and directions of the distal treatment sections 21A to 21D by the forceps sensors 22A to 22D disposed at the distal ends of the forceps 20A to 20D. In the endoscopic image 51, the area where the forceps tip portion is present is calculated. However, the endoscope system according to the sixth embodiment uses the tip for determining the presence of the forceps tip portion. The presence of the forceps is determined by calculating in which area the forceps tip portion is present as a “predetermined range” instead of one point.

  Other configurations are the same as those of the first embodiment, and only the differences will be described here, and the description of the same parts as those of the first embodiment will be omitted.

  Specifically, in the sixth embodiment, this “predetermined range” is a range of a sphere having a predetermined radius centered on the positions 22A to 22D of the forceps sensor in real space. Alternatively, on the endoscopic image 51, a range of a circle with a predetermined radius (number of pixels) centering on the positions 22A to 22D of the forceps sensor may be used.

  As described above, in the endoscope system according to the sixth embodiment, since the range of the forceps part used for the presence determination of the forceps is set larger, the interference with the index 52 is less likely to occur. Provided is an endoscope system capable of displaying intuitively the amount of rotation information of an endoscopic image with respect to a reference direction and enabling intuitive operation without sacrificing the visibility of the endoscopic image in mirror surgery. Can do.

(Seventh embodiment)
Next, a seventh embodiment of the present invention will be described.

  The configuration of the endoscope system of the seventh embodiment is the same as that of the first embodiment, and on the endoscope image 51, an area and an index used for determination of the presence ratio of forceps are superimposed and displayed. It is characterized by the size of the area being different. Other configurations are the same as those of the first embodiment, and only the differences will be described here, and the description of the same parts as those of the first embodiment will be omitted.

  FIG. 10 is a diagram showing an example of a monitor screen showing the superimposed position of the index in the endoscope system according to the seventh embodiment of the present invention.

  In the endoscope system of the first embodiment, the index display position calculation unit 37 includes four corner areas (upper left area 101, upper right area 102, lower left area) in the endoscope image 51 as shown in FIG. 103, the lower right area 104) is set (see FIG. 4, step S102), and the four corner areas are areas used for determining the presence ratio of the distal treatment portions 21A to 21D of the forceps 20A to 20D and an index. 52 serves as an area to be superimposed and displayed.

  On the other hand, in the endoscope system according to the seventh embodiment, as shown in FIG. 10, the presence of the distal treatment portions 21A to 21D of the forceps 20A to 20D as the four corner areas in the endoscope image 51. While defining the existence ratio determination areas (201, 202, 203, 204) used for the ratio determination, the index 52 is superimposed and displayed inside these existence ratio determination areas (201, 202, 203, 204). The index superimposition display areas (201a, 202a, 203a, 204a) are defined.

  In other words, in the seventh embodiment, the presence ratio of the forceps is determined in a region wider than the area where the indicator 52 is actually superimposed and displayed.

  In FIG. 10 as well, broken lines and solid lines are attached to the portions that define the existence ratio determination areas (201, 202, 203, 204) and the index superimposed display areas (201a, 202a, 203a, 204a), respectively. In the actual endoscopic image 51, these lines are not displayed.

  Other configurations, operations, and effects are the same as those in the first embodiment, and a description thereof is omitted here.

  As described above, in the endoscope system according to the seventh embodiment as well, as in the first embodiment, an index indicating “the amount of rotation of the endoscope image with respect to the reference direction” on the endoscope image. Since the index is displayed at an appropriate position according to the position of a treatment tool such as forceps on the endoscopic image, the endoscopic image is visually recognized in endoscopic surgery. Without sacrificing performance, it is possible to provide an endoscope system that accurately displays rotation amount information of an endoscope image with respect to a reference direction and enables intuitive operation. In addition, in the seventh embodiment, since the presence ratio of the forceps is determined in an area wider than the area where the index 52 is actually superimposed and displayed, the visibility of the endoscopic image is more effectively sacrificed. Accordingly, it is possible to accurately display the rotation amount information of the endoscope image with respect to the reference direction and perform an intuitive operation.

  In the above-described embodiment, the scope 10 is a rigid laparoscope. However, the scope 10 is not limited to this, and a flexible endoscope having a bending mechanism at the distal end of the insertion portion is used as a constituent element for a medical system. The present invention is applicable. In addition, the scope 10 is not limited to a so-called direct-view type rigid endoscope, but may be a perspective or side-view type endoscope.

  Furthermore, in the above-described embodiment, the position and direction of the scope or forceps are calculated based on information from a position detection unit configured by a magnetic field generator and a sensor disposed on each forceps and scope. However, the present invention is not limited to this.

  That is, it is only necessary to be able to determine the position and direction of these forceps or scope in real space. For example, an optical type, a robot arm type, an optical fiber type, a geomagnetic sensor, an acceleration sensor, or a motion sensor method combining a gyroscope, etc. are used. Technical means may be employed.

  Further, instead of performing position detection, for example, a configuration in which the forceps tip position on the endoscopic image is detected by performing image analysis of the endoscopic image may be employed.

  Furthermore, in the above-described embodiment, the direction serving as the reference for the rotation amount of the endoscopic image is the gravity direction. However, the direction is not limited to this, and the body axis direction of the subject may be the reference direction.

  Further, in the above-described embodiment, the index that is translucently superimposed on the endoscopic image is set as the rotation amount of the endoscopic image. However, the present invention is not limited to this, and the inner scope disclosed in Japanese Patent Laid-Open No. 2006-288752 can be used. It may be used as an index indicating the insertion shape or bending shape of the endoscope, the bending direction or amount of bending of the endoscope, and the endoscope viewing direction or ultrasonic wave as disclosed in JP-A-2009-153863. It is good also as a parameter | index which shows the position or direction of an endoscopic image.

  The present invention is not limited to the above-described embodiments, and various changes and modifications can be made without departing from the scope of the present invention.

1 ... Endoscopy system 10 ... Scope 11 ... CCD
DESCRIPTION OF SYMBOLS 12 ... Scope sensor 20A-20D ... Forceps 21A-21D ... Tip treatment part 22A-22D ... Forceps sensor 30 ... Processor 31 ... Control part 32 ... Endoscope image generation part 33 ... Display image signal generation part 34 ... Position * Direction calculation unit 35 ... endoscope image rotation amount calculation unit 36 ... index generation unit 37 ... index display position calculation unit 38 ... index superposition unit 50 ... monitor 51 ... endoscope image 52 ... index 101, 102, 103, 104 ... 4 corner areas

Claims (5)

An insertion means inserted into the subject and having an imaging means for imaging the inside of the subject;
Treatment means for performing a predetermined treatment in the subject;
Image display control means for displaying an observation image captured by the imaging means on a display means;
A time ratio measuring means for dividing the observation range imaged by the imaging means into a plurality of areas and measuring a time ratio at which the treatment means is displayed in a predetermined area among the divided areas ;
In accordance with the measurement result of the measurement unit, an image generation unit that generates a notification image in which an index indicating the state of the insertion unit is superimposed on a predetermined position in the observation range;
A medical system comprising: An observation range calculation means for calculating an observation range of the imaging means, a position detection means for detecting a tip position in the treatment means,
Further comprising
The medical system according to claim 1, wherein the measuring unit measures the time ratio based on a calculation result of the observation range calculation unit and a detection result of the position detection unit. The image generation means includes a notification image that superimposes the indicator on an area having a relatively small time ratio among the areas in which the time ratio at which the treatment means exists is measured by the time ratio measuring means. The medical system according to claim 1, wherein the medical system is generated. Based on a predetermined reference direction and the observation range, further comprising a reference direction calculation means for calculating a reference direction on the observation image,
The image generation unit generates the notification image based on the calculation result of the reference direction calculation unit, using the rotation amount of the observation image captured by the imaging unit with respect to the reference direction as an index indicating the state of the insertion unit. The medical system according to claim 1.   5. The medical system according to claim 4, wherein the image generation unit superimposes the index when the observation image is rotated beyond a predetermined range set with respect to the rotation amount of the observation image. .

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