JPH1176154A - Device for detecting inserted shape of endoscope - Google Patents

Abstract

PROBLEM TO BE SOLVED: To keep a coil provided inside a slender endoscope at a certain temperature. SOLUTION: A tube 15c separated into at least two spaces is formed inside the probe insertion part 15a of a probe 15, and a source coil part 14i is built into one of the spaces. The two spaces in the tube 15c are connected together at the side closer to the end of the probe insertion part 15a, to cause a fluid fed into the spaces to circulate to cool the space of the tube 15c enclosing the source coil part 14i. From a fluid feed/discharge device built into an endoscope shape detection device, the fluid cooling the space in the tube 15c is fed and discharged by connecting the first end of the tube 15c to the fluid feed/discharge device via a connector 15b.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope insertion shape detecting device, and more particularly to an endoscope insertion shape detecting device having a characteristic in a cooling portion of a magnetic field generating coil for generating a magnetic field.

[0002]

2. Description of the Related Art In recent years, endoscopes have been widely used in the medical and industrial fields. This endoscope, especially if the insertion part is flexible, can be inserted into a bent body cavity to diagnose organs deep inside the body cavity without making an incision, and if necessary, insert a treatment tool into the channel. Therapeutic treatment such as resection of polyps and the like.

[0003] In this case, for example, as in the case of examining the lower digestive tract from the anal side, some skill may be required to smoothly insert the insertion portion into a bent body cavity.

[0004] In other words, when the insertion operation is performed, it is necessary to perform an operation such as bending a bending portion provided in the insertion portion in accordance with the bending of the conduit to perform smooth insertion. It is convenient to be able to know the position of the distal end and the like in the body cavity, the current bending state of the insertion portion, and the like.

Therefore, various insertion shape detecting devices for detecting the insertion shape of the endoscope have been proposed. For example, a device for detecting the insertion shape between the coil provided on the endoscope side and the coil provided on the examination table side has been proposed. An insertion shape detecting device based on mutual inductance change has been devised.

In the case of such an apparatus, there is an apparatus which forms a gradient magnetic field in a region including a target living body from the outside.
Some use an alternating magnetic field.

As described above, in the insertion shape detecting device using an AC magnetic field, the apparent impedance changes while the magnetic field is actually generated because the core loss and the copper loss are affected by the configuration of the coil. The intensity of the generated magnetic field changes. Since the change in the magnetic field intensity greatly affects the detection accuracy of the coil position, it is necessary to keep the temperature of the coil constant.

Therefore, in a device that generates a stable magnetic field using a coil, cooling is generally performed by flowing water through the winding portion of the coil in order to eliminate the effects of core loss and copper loss.

[0009]

However, in the coil of the conventional endoscope insertion shape detecting device, the coil portion provided on the endoscope side cannot exceed the diameter of the endoscope at the maximum, so that it has an elongated structure. There is a problem that the temperature of the coil installed inside the endoscope, which is an object, cannot be kept constant.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to provide an endoscope insertion shape detecting device capable of maintaining a coil provided in an elongated endoscope at a constant temperature. I have.

[0011]

According to the present invention, there is provided an endoscope insertion shape detecting device which can be disposed in an insertion portion of an endoscope and has a tube partitioned into at least two spaces connected at ends. A magnetic field generating means provided in one space of the tube for generating a magnetic field by supplying a high-frequency signal; and a supply / discharge means for supplying a fluid to one space of the tube and discharging the fluid from the other space. And detecting means for detecting a signal induced by the magnetic field generating means, detecting magnetic field information and calculating a position of the magnetic field generating means to detect an insertion shape of the endoscope. You.

In the endoscope insertion shape detecting device according to the present invention, the supply / discharge means supplies a fluid to one space of the tube and discharges the fluid from the other space, so that the endoscope has an elongated shape. Can be maintained at a constant temperature.

[0013]

Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 to 18 relate to an embodiment of the present invention. FIG. 1 is a configuration diagram showing a configuration of an endoscope system provided with an endoscope device shape detecting device, and FIG. 2 is a probe of FIG. FIG. 3 is a diagram showing the arrangement of sense coils in the bed of FIG. 1, FIG. 4 is a diagram showing a first modification of the arrangement of the sense coils in FIG. 3, and FIG. 5 is a probe of FIG. FIG. 6 is a configuration diagram showing a configuration of a source coil portion arranged in the probe insertion portion of FIG. 5, FIG. 6 is a configuration diagram showing a configuration of an insulating member of FIG. 5, and FIG. 7 is a connection of a copper wire and a signal line in the source coil portion of FIG. FIG. 8 is a configuration diagram showing a configuration of a modification of the source coil unit of FIG. 5, FIG. 9 is a configuration diagram showing a configuration of the endoscope device shape detection device of FIG. 1, and FIG. 10 is a configuration diagram of FIG. FIG. 11 is a configuration diagram showing the configuration of a drive circuit. FIG. 11 shows a monitor coil which can be arranged in the drive circuit of FIG. Configuration diagram showing a configuration of a means for adjusting such that the output of the apparent constant, FIG. 12 is a flowchart for explaining the processing method of the data processing circuit of FIG. 9, FIG. 1
3 is a block diagram showing one configuration example of the detection circuit of FIG. 9, FIG. 14 is a flowchart for explaining a processing method of the data processing circuit when the detection circuit of FIG. 13 is provided, and FIG. 15 is each signal in the processing of FIG. FIG. 1 is a timing chart showing the timing of
6 is a diagram showing a second modification of the arrangement of the sense coils in FIG. 3; FIG. 17 is a flowchart for explaining a processing method of the data processing circuit in the arrangement of the sense coils in FIG. 16;
FIG. 8 is a view showing a state in which sense coils are arranged separately from the bed of FIG.

As shown in FIG. 1, an endoscope system 1 according to the present embodiment includes an endoscope apparatus 2 for performing an endoscope inspection and an endoscope apparatus shape detection used for assisting the endoscope inspection. The endoscope shape detecting device 3 is provided with an insertion assisting means for inserting the insertion portion 7 of the electronic endoscope 6 into the body cavity of the patient 5 lying on the bed 4 and performing an endoscopic examination. Used as

The electronic endoscope 6 has an operating section 8 provided with a bending operation knob at the rear end of an elongated insertion section 7 having flexibility, and a universal cord 9 extends from the operating section 8. It is connected to a video imaging system (or video processor) 10.

The electronic endoscope 6 transmits the illumination light from the light source section in the video processor 10 through which the light guide is inserted, and emits the transmitted illumination light from the illumination window provided at the tip of the insertion section 7. Illuminate the affected area. The illuminated subject such as a diseased part forms an image on an imaging device arranged at an image forming position by an objective lens attached to an observation window provided adjacent to the illumination window, and the imaging device performs photoelectric conversion.

The photoelectrically converted signal is supplied to a video processor 1
The video signal is processed by a video signal processing unit in 0 to generate a standard video signal, which is displayed on an image observation monitor 11 connected to a video processor 10.

The electronic endoscope 6 has a forceps channel 12
Is provided, and an insertion port 12a of the forceps channel 12 is provided.
A source coil that generates magnetism from the sensor and a monitor coil that monitors the magnetism generated by the source coil form a pair, for example, 1
By inserting a probe 15 having six sets of source coil sections 14a, 14b,..., 14p (hereinafter, represented by reference numeral 14i), the source coil section 14 is inserted into the insertion section 7.
i is set.

The source cable 16 extending from the rear end of the probe 15 has a connector at the rear end detachably connected to the apparatus main body 21 of the endoscope shape detecting apparatus 3. Then, by applying a high-frequency signal (drive signal) to the source coil unit 14i serving as a magnetic generation unit via the source cable 16 as a high-frequency signal transmission unit from the apparatus main body 21 side, the source coil unit 14i generates an electromagnetic wave with a magnetic field. Radiates to the surroundings.

Although not shown, a plurality of magnetic sensing elements (or sense coils) are installed on the bed 4 on which the patient 5 lies, which will be described later. Then, the sense coil 22j is connected to the device main body 21 via a sense cable 23 as a detection signal transmission means from the connector of the bed 4.
It is connected to the. The device main body 21 is provided with an operation panel 24 or a keyboard for a user to operate the device. Further, a monitor 25 is connected to the apparatus main body 21 as display means for displaying the detected endoscope shape.

As shown in FIG. 2, the probe 15 includes a soft and elongated probe insertion portion 15a inserted into the forceps channel 12 of the electronic endoscope 6, and an inner portion provided on the proximal end side of the probe insertion portion 15a. And a connector 15b connected to the endoscope device shape detection device.

As described above, the probe insertion section 15a of the probe 15 has 16 built-in source coil sections 14i including a source coil and a monitor coil, and these coils are driven to generate heat. This will cause its magnetic properties to change.

Therefore, as shown in the AA line section, the BB line section and the CC line section of the probe insertion portion 15a, the tube 15c divided into at least two spaces inside the probe insertion portion 15a. And the source coil portion 14i is built in one of the spaces. Then, the two spaces of the tube 15c are connected and connected on the side near the tip of the probe insertion portion 15a, and the fluid fed into this space is circulated so that the source coil portion 14 of the tube 15c is circulated.
Cool the space containing i.

Here, the fluid for cooling the space of the tube 15c connects the proximal end of the tube 15c via a connector 15b to a fluid supply / discharge device described later incorporated in the endoscope device shape detecting device 3. Thus, the fluid is supplied and discharged from the fluid supply and discharge device.

The fluid at this time may be air or water. Further, it is also possible to monitor whether the temperature of the fluid rises above a certain temperature with a temperature sensor, and operate the cooling fan to lower the temperature of the fluid when the temperature reaches a predetermined value or more. Good.

In this embodiment, as shown in FIG. 3, the arrangement of a plurality of sense coils 22j (j = 1 to n) arranged on the bed 4 is asymmetric in order to eliminate a region in which the position detection accuracy is reduced. And position. That is, in the figure, the center positions of all the sense coils 22j are α, β,
x, y determined by the arrangement of the sense coil group represented by γ, δ
The sense coil 22j is arranged so that it does not exist at a symmetrical position with a coordinate diameter using the axis as a reference axis.

Further, as shown in FIG. 4, all the sense coils 22j may be arranged not three-dimensionally but three-dimensionally. By arranging in this manner, it is possible to configure so that the signal from the sense coil 22j having a positional relationship in which the phase of the signal from the source coil 14i rapidly changes is not used for position estimation.

As shown in FIG. 5, the source coil section 14i
The copper wire 31 is wound around the core 32 to form a source coil and a monitor coil. Insulating members 33 are provided on both ends of the core 32. As shown in FIG. 6, a concave hole 34 provided on the bottom side of the insulating member 33 is fitted to the end of the insulating member 33 and bonded. On the opposite side of the hole portion 34, there is provided at least two conductive members 35 which are insulated from each other.

The conductive member 35 is molded separately from the insulating member 33, is fitted into a hole 34 provided in the insulating member 35, and is fixed by bonding. The copper wire 31 is electrically and soldered to the conductive member 35 by soldering. Secure mechanically.

Here, in the endoscope device shape detecting device 3, since the bending of the elongated probe insertion portion 15a is repeated during actual use, the compression due to the displacement of the structure inside the electronic endoscope 6 is performed. In order to prevent a direct force from being applied to the solder portion even when such a problem occurs, the soldered portion and the entire conductive member 35 may be fixed and reinforced by bonding.

The fixing of the conductive member 35 may be performed by bonding as described above. However, since it is a combination of very small members, there is a possibility that fixing is not sufficient only by bonding.
Therefore, in such a case, the conductive member 35 may be integrally molded so as to be embedded in the insulating member 33.

The conductive member 35 can be formed by punching a flat metal plate. The flat plate punched in this manner may be incorporated into a mold and molded by pouring a resin.
At this time, in order to prevent the member from falling off after molding, the conductive member 35 is provided with protrusions and bends, and the resin is poured around the part so as to wrap around this portion at the time of molding to prevent the member from falling off.

Here, when the case where the copper wire 31 wound around the core 32 is actually connected is considered, this flat copper wire 31 is connected.
It is desirable that the portions where the wraps are provided at positions rotated by about 90 degrees from each other. Thereby, the copper wire 31 forming the source coil and the copper wire 31 forming the monitor coil can be soldered and fixed to the conductive member 35 without interference, which is convenient.

FIG. 7A shows the source coil section 14.
i source coil copper wire and monitor coil copper wire 31
Are connected to different conductive members 35. By winding the monitor coil coaxially with the small source coil in this manner, the degree of magnetic coupling is high and the generated magnetic field can be reliably detected.

FIG. 7B shows a case where one of the copper wires 31 is used as a common signal line. In this case, one of the copper wires and one end of the signal line are commonly connected.

In order to fix and connect the plurality of source coil portions 14i at predetermined positions, a soft connecting member 37 is provided through the source coil portion 14i.

Signal line 3 from endoscope device shape detecting device 3
In connection 6, the signal wire 36 is soldered to the conductive member 35 and then wound around the conductive member 35 until a flexible copper wire portion not hardened by the solder is wound. By winding the flexible winding portion of the signal line 36 around the conductive member 35 in this way, even if a bending force is applied to the signal line 36 portion, there is no possibility of disconnection.

As shown in FIG. 8, the conductive member 35 on one side of the source coil portion 14i is
May be provided through the insulating member 33. In this case, since the opposing conductive member 35 is a member penetrating the insulating member 33, the signal wire 36 and the copper wire 31 are soldered to another portion. It is easy to attach and work.

As shown in FIG. 9, the endoscope device shape detecting device 3 drives the source coil 41i of the source coil unit 14i, inputs a monitor signal from the monitor coil 42i, and performs a process described below. A detection circuit 44 for detecting a signal from the sense coil 22j, a data processing circuit 45 for inputting the detection signal detected by the detection circuit 44 and drawing the endoscope shape on the monitor 25, and a probe via the connector 15b. And a fluid supply / discharge device 46 for connecting the base end of the 15 tubes 15c and supplying / discharging a fluid for cooling the space inside the tubes 15c.

In the driving circuit 43, as shown in FIG.
After the monitor signal from the monitor coil 42i is input to a differential amplifier circuit 51 for amplifying the monitor signal to a required level, the signal appropriately amplified by the differential amplifier circuit 51 is smoothed by an absolute value circuit 52, Comparison circuit 5 for comparing with a voltage to be represented
Enter 3

Then, the voltage is compared with the voltage representing the target magnetic field intensity by the comparison circuit 53, and the difference voltage is output. This output voltage is input to an amplification factor control terminal of an amplification circuit 55 whose amplification factor changes in comparison with the reference AC source 54 in response to this signal, and changes the magnetic field intensity generated by the source coil 41i.

By configuring the drive circuit 43 in this manner, the amplitude of the magnetic field generated by the source coil 41i is adjusted so that the magnetic field always has a target magnetic field intensity.

The target magnetic field strength may be configured such that the signal strength detected by the detection circuit is constant. In this case, the position can be detected by detecting the amplification factor.

If there is a variation in the characteristics of the coils, if the correction is not performed for each coil, the generated magnetic field will vary, resulting in a position detection error. Therefore, conventionally, there is a method of preparing a correction coefficient for each coil as data in the ROM. For example, this data is prepared for each endoscope or probe having a built-in coil, and each data is read into the control device. Therefore, it was necessary to prepare a means for reading the data, which caused the price to rise. In addition, it is conceivable that a user inputs data when attaching and using data to an endoscope or a probe, but there is a possibility that erroneous data is input.

Therefore, in the present embodiment, a variable resistor for adjustment is connected in series to the monitor coil 42i, and a means for adjusting the output to be constant by the function of the input impedance of the signal receiving circuit is used as a driving circuit. 43. By providing the variable resistor for adjustment inside the connector at the connection portion with the control device, the apparent characteristics of all endoscopes and probes can be made constant.

That is, assuming that the signal source voltage of the coil placed in a certain magnetic field strength is Vs, if the coil is ideal, the output impedance is 0, and the input impedance of the circuit for detecting the signal is infinite. If large
The signal detected by the coil can be captured without attenuation.

However, the actual coils and circuits are different from the ideal state, so that it is necessary to correct the values based on the respective impedances.

That is, as shown in FIG. 11A, if the actual output impedance of the monitor coil 42i is Zo and the input impedance of the circuit is Zi, the detection voltage obtained by the circuit for actually detecting the signal is Zo. Vd is as follows.

Vd = Vs Zi / (Zo + Zi) Using the signal voltage expressed as described above, the variation in the coil output is corrected. It is considered that the plurality of circuits that receive signals now have their input impedances adjusted and have no variation. Then, if the variation of the endoscope or the probe in which the coil exists is suppressed, the same signal can be always generated even if the endoscope or the probe is replaced.

Therefore, as shown in FIG. 11B, a signal obtained from the monitor coil 42i in which an adjustment resistor Rv is inserted in series with the output of the monitor coil 42i is expressed as follows.

Vd = Vs Zi / (Zo + Zi + Rv) Zo is considered to be a constant by adjusting the receiving circuit side. Therefore, Rv may be adjusted so that Zo + Rv becomes constant.

As described above, the variation of the monitor signal detected due to the variation of Zo can be adjusted by adjusting the adjusting resistor Rv. Therefore, the output from the monitoring winding can be adjusted with a constant current applied in advance. Are adjusted to be the same, the intensity of the magnetic field generated from all the coils can be made uniform.

By monitoring the output of this monitor signal and performing feedback control as described above, even if the characteristics of the coil itself change due to heat, and even if the endoscope and the probe are replaced, they are built in. Since the magnetic field generated from the coil can always be a constant value, it is possible to accurately estimate the coil position.

In the above description, the case where the coils incorporated in the endoscope and the probe are used as the source coil and the monitor coil is considered, but it is also possible to use the sense coil as the sense coil. In this case as well, the magnetic field detection characteristics may vary due to variations in the diameter of the coil during manufacture or variations in the impedance due to the variation in the diameter of the copper wire.

In order to suppress the variation in the detected signal, a resistor for adjusting the variation can be similarly inserted in series with each winding.

With this configuration, the signals of the coils detected are the same in a magnetic field of the same strength, so that the detection position accuracy is improved.

It is natural that these adjustments are performed on the sense coil or the source coil provided on the bed 4 side.

Considering the case where the magnetic field is detected by using the coil whose variation has been adjusted as described above, in order to correctly estimate the shape of the endoscope that is not stationary, the magnetic field generated by each coil must be determined. It is necessary to detect at the same time.

Therefore, in the present embodiment, all the driving coils are simultaneously driven at a plurality of frequencies, the obtained signals are A / D-converted, and a value for each frequency is extracted by FFT.

That is, in the endoscope device shape detecting device 3, as shown in FIG. 12, the data processing circuit 45 starts processing in step S1 and stores the initial data in a storage unit (not shown). A drawing reference position file is input, and a key operation process for a key input from the operation panel 24 is performed in step S2 in parallel with step S3.
Fetches the magnetic field intensity signal detected from the sense coil 22j from the detection circuit 44.

Then, in step S4, the voltage data is sent from the detection circuit 44 to the FFT processing unit (not shown).
FFT is performed based on the voltage data input in step S4 to obtain amplitude and phase data corresponding to the driving frequency. The coil position is estimated based on the amplitude and phase obtained in step S5, and step S6 is performed. The endoscope position data is created by interpolation between the coils based on the estimated coil position obtained in step (1), and the endoscope shape is drawn.

In this process, in steps S7 and S8, it is determined whether or not the apparatus has been stopped. If the apparatus has not been stopped, the process returns to steps S2 and S3 to repeat the processing. If the apparatus has been stopped, The process ends in step S9.

However, the distance and direction between the source coil section 14i and the sense coil 22j are various, and there are cases where the detected signal is large and small. There is also a shortage of So in such a case,
It is necessary to switch the gain appropriately so that an accurate magnetic field strength can always be obtained.

Therefore, as shown in FIG. 13, an input stage amplifier 61 for inputting and amplifying a signal from the sense coil 22j, and a measuring time shorter than a predetermined endoscope shape display switching time as shown in FIG. A / D conversion of data equal to or more than a predetermined number in the first cycle and data processing circuit 4
5, an A / D converter 63 for outputting to the CPU 62,
And a gain control circuit 64 for controlling the gain of the input stage amplifier 61 by a control signal from U62.

In this case, means for fixing the timing of display switching and measurement start to the data processing circuit 45 and for properly switching the gain of the input stage amplifier 61 within the time equal to or less than the difference between the display switching time and the measurement time. Means for sequentially switching the gain in accordance with the data sampled by the A / D converter 63 in the second cycle after the previous measurement, and means for inhibiting the gain switching during the period from the start of measurement to the end of measurement Is provided, data can be collected with a fixed gain during a data collection period of one cycle, and the gain of the analog circuit can be switched when the obtained data is not an appropriate value.

At this time, as shown in FIG. 14, steps S11 and S12 are added between the FFT processing in step S4 and the coil estimation processing in step S5 in the processing shown in FIG. Is done.

That is, as shown in FIG. 12, in the first cycle, at step S3, a predetermined number or more of data is measured in the A / D converter 63 in a measurement time shorter than the predetermined endoscope shape display switching time in the A / D converter 63. A / D conversion is performed, FFT is performed based on the voltage data in step S4, FFT is performed based on a predetermined number of voltage data measured in the first cycle, and amplitude and phase data corresponding to a predetermined driving frequency are obtained. can get.

Next, the amplitude data obtained in step S11 is compared with a predetermined value to determine whether the input stage amplifier 61 is saturated or the input stage amplifier 61 lacks gain.
If the gain switching is unnecessary, the process proceeds to step S5, and if necessary, the input stage amplifier 61 is switched in step S12.
And the process proceeds to step S5. Other processes are the same as those shown in FIG.

The portion for taking in the magnetic field strength is sequentially executed in parallel with the main processing, and is adjusted so as to obtain an appropriate gain by switching, so that the correct magnetic field strength is always ensured at an appropriate value. It becomes possible to collect at high speed.

In the normal A / D capture, position estimation and display, it is repeated to capture at the timing shown in FIG. 15 (a) and to estimate the position from data obtained by FFT analysis of the data. .

If the fetched data overflows or underflows, the data in FIG.
As shown in (b), the gain can be switched so that correct data can be taken in when the magnetic field data is taken. However, in this case, since the captured data does not represent the actual magnetic field strength, the coil position estimated based on this data includes an error.

In order to prevent an incorrect endoscope shape from being displayed due to this error, the software detects whether or not the data is appropriate. If not, the endoscope shape is displayed based on the position data estimated last time. can do.
However, this time, the position data that is not updated is displayed, so that it is impossible to follow the display when the endoscope is quickly operated.

Therefore, by performing the processing shown in FIG. 14, normally, a state in which data is collected at a fixed timing as shown in FIG. 15A and a state in which improper data is collected as shown in FIG. While the data is being collected, the gain can be switched so that data can be collected correctly, and the data can be updated at all times. Can collect data with an appropriate value.

Here, as shown in FIG. 16, the sense coils 22j arranged on the bed 4 are
The processing in the case of three sense coil groups 71 arranged in parallel will be described.

At this time, as shown in FIG. 17, steps S21 and S22 are added between the FFT processing in step S4 and the coil estimation processing in step S5 in the processing shown in FIG. Is done.

That is, in step S21, step S
The phase of each frequency of each sense coil group 71 obtained in 4 is checked. That is, the phase suddenly changes in a range where the absolute value of the phase is close to 0, and therefore ± 1.
Check if there is data within 0 degrees.

If the data exists, it is determined that the reliability of the data at that frequency is low, and the sense coil group 71 used in step S22 is switched (for example, the first sense coil group 71 is If it is determined, the data of the second sense coil group 71 is selected and used for position estimation), and the process returns to step S4 to estimate the position using the data of another sense coil group 71, within ± 10 degrees. If no data exists, the process proceeds to step S5. Other processes are the same as those shown in FIG.

By performing such processing, stable position estimation can be performed.

At this time, the position may be estimated by adding a condition that a coil is present on one coil surface of the first sense coil group 71 as a constraint condition of the position to be estimated.

By the way, the sensing coil 22 on the bed 4 side of the endoscope insertion shape detecting device 3 constructed in these modes is used.
Although j can be directly embedded in the bed 4, it is necessary to use the bed 4 in which the sense coil 22j is embedded for an inspection that does not require an endoscope insertion shape. Conversely, in an inspection using a part other than the bed 4, the insertion shape of the endoscope cannot be confirmed.

Therefore, as shown in FIG. 18, the bed 101 in which the sense coil 22j is not embedded can be formed separately from the coil device 102 having the sense coil 22j of the endoscope insertion shape detecting device. It is. In addition,
Although not shown in the figure, it is of course possible to adopt a configuration in which casters are attached to simplify the movement, and a fixture for fixing the portion containing the sense coil 22j to the bed 101 is provided. Alternatively, the coil device 102 containing the sense coil 22j may be fixed at the time of inspection. Further, in this case, the control device 103 of the endoscope insertion shape detecting device 3 may be built in the bed 101.

With this configuration, it is possible to detect the insertion shape of the endoscope in combination with all the beds.

However, in the case of the sense coil 22j built in the bed, which part of the bed 4 limited by the measured magnetic field strength can detect the endoscope shape depends on the sense coil 22j. Since the positional relationship of the bet 4 does not change, it can be easily displayed. However, by configuring the sense coil 22j separately from the bet, it is possible to determine which region is the position where the endoscope insertion shape can be detected. I can no longer do it.

In order to prevent this, it is only necessary to set the bet and the sense coil so that they always have the same positional relationship each time the inspection is performed. However, this is almost impossible when there are a plurality of types of bets.

Therefore, a warning device (not shown) is provided in the control device 103 shown in FIG. 18 so that it is possible to identify whether the insertion shape or the position of the source coil is within a range where the measurement can be reliably performed. It is possible.

In this case, since a problem generally occurs when the distance between the source coil and the sense coil is large, the strength of the detected magnetic field is reduced.

Therefore, when the magnetic field intensity measured by the sense coil is a value smaller than a preset value, the user can be notified of it by a warning sound, for example.

As a practical example, a generally known comparison circuit may be provided so as to determine whether or not a predetermined signal intensity cannot be obtained.

When the distance between the source coil and the sense coil is short, a change in the intensity of the generated magnetic field generally becomes a region called a near field, and cannot be expressed by a simple mathematical formula. For this reason, in general, it is impossible to perform coil position estimation that performs position estimation based on a far field in which the magnetic field strength can be easily expressed by an equation.

When the source coil and the sense coil are close to each other, that is, the magnetic field strength obtained by the receiving circuit,
That is, even when the voltage is large, it is possible to notify the surgeon with a warning sound.

In order to achieve both the near and far cases, a generally known window comparator can be used. It is possible to detect distant and nearby by expressing in this way, but this is one of the combinations of outputs selected when estimating the position with the outputs of a large number of prepared sense coils. It is also possible to limit the case where such a value makes up the majority, for example, when more than half becomes such a state.

This is to cope with the phenomenon that a magnetic field for a certain sense coil may be small even when the source coil to be detected is present due to the rotation of the source coil.

As described above, it is possible to provide a warning when the insertion shape and the coil position are not correctly estimated by the warning sound. It is impossible to confirm whether or not the coil on the inspection table side has been installed so that the position can be correctly estimated.

Therefore, as shown in FIG. 18, apart from the source coil for measuring the shape of the endoscope as a marker, a coil 111 capable of position estimation independently can be added and connected to the apparatus. It is possible.

The coil 111 added as this marker
Is moved in advance in the space on the bed 101 on which the patient's body rides, so that the position where the patient's body exists during the endoscopy is at a position where position estimation can be performed with sufficient accuracy. You can check.

That is, in a device for estimating the insertion shape of an endoscope using a source coil, a coil 111 which can operate independently is provided, and a magnetic field intensity obtained in relation to a change in the position of the coil 111 is set to a set value. When the distance is not within the range, the warning sound may be emitted.

It goes without saying that, instead of or at the same time as these warning sounds, the screen may be displayed or displayed at a display position indicating whether the position estimation has been properly performed.

As described above, in the present embodiment,
The inside of the probe insertion portion 15a is formed of a tube divided into at least two spaces, and one of the tubes has a source coil portion 14i built therein. Then, this space is connected and connected on the side near the tip of the probe insertion portion 15a, and the source coil portion 14i is cooled by cooling the source coil portion 14i so that the fluid sent into this space circulates. 14i can be kept at a constant temperature.

Conventionally, when an object such as a metal that affects the magnetic field exists around the source coil, the intensity of the generated magnetic field may differ from the value assumed when designing the device. This caused a decrease in position detection accuracy.However, a monitor coil fixed so that mutual inductance did not change was provided in the source coil that generates the magnetic field, and the detected signal was rectified, and the rectified voltage and Since the comparison is made with the comparison voltage indicating the set magnetic field strength, it is possible to control so that the signal from the monitor coil always becomes the set level.

Conventionally, when position estimation is performed using an endoscope or a probe, a large number of coils are simultaneously driven at a plurality of frequencies to obtain an overall shape, and signals from each coil are identified by FFT analysis. A method is conceivable. Whether all the signals detected at this time are properly detected can be determined only after the FFT analysis is performed. Further, even if all the analog signals are not saturated up to the A / D conversion portion, if the gain is changed during the A / D conversion, there is a problem that the detection voltage cannot be obtained correctly. On the other hand, in order to more accurately estimate the shape, it is necessary to collect data as fast as possible.
In the present embodiment, in the device for determining the position of the coil using the AC magnetic field in the endoscope insertion shape detection device, the detection range can be widened without lowering the response of the shape display.

Further, in the conventional coil arrangement, all coils are arranged symmetrically on a plane. For this reason, for example, when coils having three axes orthogonal to each other are used, the phase signal changes abruptly in the vicinity of the plane of the coil where the phase of the signal detected by each coil is inverted so that the phase is sufficiently stable. Position detection could not be performed. However, in the present embodiment, in the device in which the endoscope insertion shape detecting device obtains the position of the coil using the AC magnetic field, the position of the inspection table which prevents the position accuracy estimated by the position of the coil to be detected from being lowered is reduced. A coil arrangement method can be realized.

[Supplementary note] (Supplementary note 1) A tube which can be arranged in the insertion portion of the endoscope and is divided into at least two spaces connected at the ends, and is provided in one space of the tube. A magnetic field generating means for generating a magnetic field by supplying the high-frequency signal, a fluid supply and discharge means for supplying a fluid to one space of the tube and discharging the fluid from the other space, and a magnetic field generating means for inducing. Detecting means for detecting a signal, detecting magnetic field information and calculating a position of the magnetic field generating means, thereby detecting an insertion shape of the endoscope. .

(Additional Item 2) The endoscope insertion shape detecting device according to Additional Item 1, further comprising heat exchange means for keeping the fluid at a constant temperature.

(Appendix 3) Detecting the temperature of the fluid,
3. The endoscope insertion shape detecting device according to claim 2, further comprising a cooling unit that cools the fluid when the temperature is equal to or higher than the set temperature.

(Additional Item 4) The endoscope insertion shape detecting device according to additional items 1 to 3, wherein the fluid is a gas.

(Additional Item 5) The endoscope insertion shape detecting device according to additional items 1 to 3, wherein the fluid is a liquid.

(Additional Item 6) The endoscope insertion shape detecting device according to additional items 1 to 3, wherein the fluid is pure water.

[0109]

As described above, according to the endoscope insertion shape detecting device of the present invention, the supply / discharge means supplies the fluid to one space of the tube and discharges the fluid from the other space. There is an effect that the coil provided in the elongated endoscope can be kept at a constant temperature.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a configuration of an endoscope system including an endoscope device shape detection device according to an embodiment of the present invention;

FIG. 2 is a configuration diagram showing a configuration of a probe of FIG. 1;

FIG. 3 is a diagram showing an arrangement of sense coils in the bet of FIG. 1;

FIG. 4 is a diagram showing a first modification of the arrangement of the sense coils in FIG. 3;

FIG. 5 is a configuration diagram showing a configuration of a source coil unit arranged in a probe insertion unit of the probe of FIG. 2;

FIG. 6 is a configuration diagram showing the configuration of the insulating member of FIG. 5;

FIG. 7 is a diagram showing a connection state of a copper wire and a signal line in the source coil unit of FIG. 5;

8 is a configuration diagram showing a configuration of a modification of the source coil unit of FIG. 5;

FIG. 9 is a configuration diagram showing a configuration of the endoscope device shape detection device in FIG. 1;

FIG. 10 is a configuration diagram showing a configuration of a drive circuit in FIG. 9;

11 is a configuration diagram showing a configuration of a unit that can be arranged in the drive circuit of FIG. 9 and adjusts an apparent output of a monitor coil to be constant.

FIG. 12 is a flowchart illustrating a processing method of the data processing circuit in FIG. 9;

13 is a configuration diagram showing one configuration example of a detection circuit in FIG. 9;

FIG. 14 is a flowchart illustrating a processing method of a data processing circuit provided with the detection circuit of FIG. 13;

FIG. 15 is a timing chart showing the timing of each signal in the processing of FIG. 14;

FIG. 16 is a diagram showing a second modification of the arrangement of the sense coils in FIG. 3;

17 is a flowchart illustrating a processing method of a data processing circuit in the arrangement of the sense coils in FIG. 16;

FIG. 18 is a diagram showing a state where a sense coil is arranged separately from the bed of FIG. 1;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Endoscope system 2 ... Endoscope apparatus 3 ... Endoscope shape detection apparatus 4 ... Bed 6 ... Electronic endoscope 7 ... Insertion part 8 ... Operation part 9 ... Universal code 10 ... Video processor 11 ... Image observation Monitor 12 ... Forceps channel 12a ... Insertion port 14i ... Source coil part 15 ... Probe 15a ... Probe insertion part 15b ... Connector 15c ... Tube 16 ... Source cable 21 ... Device body 22k ... Single core coil 22j ... Sense coil 23 ... Sense cable 24 ... Operation panel 25 ... Monitor 43 ... Drive circuit 44 ... Detection circuit 45 ... Data processing circuit 46 ... Fluid supply / discharge device

[Procedure amendment]

[Submission date] December 18, 1997

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0014

[Correction method] Change

[Correction contents]

[0014] FIGS. 1 to 18 relates to an embodiment of the present invention, FIG. 1 is a configuration diagram showing a configuration of an endoscope system provided with an endoscope Kagamigata shape detecting apparatus, FIG. 2 in FIG. 1 probe FIG. 3 is a diagram showing the arrangement of sense coils in the bed of FIG. 1, FIG. 4 is a diagram showing a first modification of the arrangement of the sense coils in FIG. 3, and FIG. 5 is a probe of FIG. FIG. 6 is a configuration diagram showing a configuration of a source coil portion arranged in the probe insertion portion of FIG. 5, FIG. 6 is a configuration diagram showing a configuration of an insulating member of FIG. 5, and FIG. view showing a state, FIG. 8 is a configuration diagram showing a configuration of a variation of the source coil of FIG. 5, FIG. 9 is a configuration diagram showing a configuration of the endoscope Kagamigata shape detecting apparatus of FIG. 1, FIG. 10 of FIG. 9 FIG. 11 is a configuration diagram showing the configuration of the drive circuit. FIG. 11 shows a monitor coil that can be arranged in the drive circuit of FIG. FIG. 12 is a configuration diagram showing a configuration of means for adjusting the output to be constant, FIG. 12 is a flowchart illustrating a processing method of the data processing circuit in FIG. 9, and FIG. 13 is a configuration diagram showing one configuration example of the detection circuit in FIG. 14, FIG. 14 is a flowchart for explaining a processing method of the data processing circuit provided with the detection circuit of FIG. 13, FIG. 15 is a timing chart showing the timing of each signal in the processing of FIG. 14, and FIG. FIG. 17 is a flowchart illustrating a processing method of the data processing circuit in the arrangement of the sense coils in FIG. 16, and FIG. 18 is a diagram illustrating a sense coil arranged separately from the bet in FIG. It is a figure showing a state.

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0015

[Correction method] Change

[Correction contents]

[0015] As shown in FIG. 1, an endoscope system 1 of the present embodiment includes an endoscope apparatus 2 for performing endoscopy, endoscopic Kagamigata shape detection used to assist in endoscopy The endoscope shape detecting device 3 is provided with an insertion assisting means for inserting the insertion portion 7 of the electronic endoscope 6 into the body cavity of the patient 5 lying on the bed 4 and performing an endoscopic examination. Used as

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0022

[Correction method] Change

[Correction contents]

As shown in FIG. 2, the probe 15 includes a soft and elongated probe insertion portion 15a inserted into the forceps channel 12 of the electronic endoscope 6, and an inner portion provided on the proximal end side of the probe insertion portion 15a. constituted a connector 15b to be connected to the viewing Kagamigata shape detecting device.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0025

[Correction method] Change

[Correction contents]

[0025] Here, the fluid for cooling the space of the tube 15c via the connector 15b to the fluid supply discharge apparatus described later is built in the endoscope Kagamigata shape detection device 3 for connecting the proximal end of the tube 15c Thus, the fluid is supplied and discharged from the fluid supply and discharge device.

[Procedure amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0031

[Correction method] Change

[Correction contents]

[0031] Here, in the endoscopic Kagamigata shape detection device 3, the actual curved with respect to the elongated probe insertion portion 15a at the time of use is repeated, the compression due to positional displacement of the internal structure of the electronic endoscope 6 In order to prevent a direct force from being applied to the solder portion even when such a problem occurs, the soldered portion and the entire conductive member 35 may be fixed and reinforced by bonding.

[Procedure amendment 6]

[Document name to be amended] Statement

[Correction target item name] 0038

[Correction method] Change

[Correction contents]

The endoscopic Kagamigata shape detecting device connection of the signal line 36 from 3, after the signal line 36 and soldered to the conductive member 35, conductive until wound around a flexible copper uncured portions by soldering Wound around the sexual member 35. By winding the flexible winding portion of the signal line 36 around the conductive member 35 in this way, even if a bending force is applied to the signal line 36 portion, there is no possibility of disconnection.

[Procedure amendment 7]

[Document name to be amended] Statement

[Correction target item name] 0040

[Correction method] Change

[Correction contents]

The endoscopic Kagamigata shape detection device 3, as shown in FIG. 9, a driving circuit 43 for inputting later processing a monitor signal from the monitor coil 42i drives the source coils 41i in the source coil section 14i And sense coil 2
A detection circuit 44 for detecting a signal from 2j;
A data processing circuit 45 for inputting a detection signal detected by the controller 4 and drawing an endoscope shape on the monitor 25;
and a fluid supply / discharge device 46 for connecting and disconnecting the base end of the tube 15c of the probe 15 via the b and supplying and discharging a fluid for cooling the space inside the tube 15c.

[Procedure amendment 8]

[Document name to be amended] Statement

[Correction target item name] 0061

[Correction method] Change

[Correction contents]

[0061] That is, in the endoscope Kagamigata shape detection device 3, as shown in FIG. 12, the data processing circuit 45, from the storage unit the initial data starts the process in step S1 is stored (not shown) Enter the drawing reference position file,
In step S3, a magnetic field intensity signal detected from the sense coil 22j is fetched from the detection circuit 44 in step S3 in parallel with performing key operation processing for a key input from the operation panel 24.

[Procedure amendment 9]

[Document name to be amended] Statement

[Correction target item name] Fig. 1

[Correction method] Change

[Correction contents]

Diagram showing a configuration of an endoscope system provided with an endoscope Kagamigata shape detection device according to an embodiment of the invention; FIG

[Procedure amendment 10]

[Document name to be amended] Statement

[Correction target item name] Fig. 9

[Correction method] Change

[Correction contents]

Figure 9 is a configuration diagram showing a configuration of the endoscope Kagamigata shape detecting apparatus of FIG. 1

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ Identification symbol FI A61B 1/31 (72) Inventor Tsukasa Ishii 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Co., Ltd.

Claims (1)

[Claims] 1. A tube which can be arranged in an insertion portion of an endoscope and is divided into at least two spaces connected at an end portion, and a high-frequency signal provided in one space of the tube is supplied. Magnetic field generating means for generating a magnetic field, supplying and discharging means for supplying a fluid to one space of the tube and discharging the fluid from the other space, and detecting a signal induced by the magnetic field generating means, An endoscope insertion shape detection device, comprising: detection means for detecting information to calculate the position of the magnetic field generation means to detect the insertion shape of the endoscope.