WO2015004960A1 - 内視鏡システム - Google Patents
内視鏡システム Download PDFInfo
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- WO2015004960A1 WO2015004960A1 PCT/JP2014/059452 JP2014059452W WO2015004960A1 WO 2015004960 A1 WO2015004960 A1 WO 2015004960A1 JP 2014059452 W JP2014059452 W JP 2014059452W WO 2015004960 A1 WO2015004960 A1 WO 2015004960A1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
- A61B1/000094—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope extracting biological structures
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00055—Operational features of endoscopes provided with output arrangements for alerting the user
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00154—Holding or positioning arrangements using guiding arrangements for insertion
Definitions
- the present invention relates to an endoscope system, and more particularly to an endoscope system provided with an insertion assisting tool.
- an insertion assisting tool for assisting insertion of an endoscope into a deep part of a body cavity, which is used in a state where the endoscope is inserted into a predetermined duct has been conventionally known. ing.
- US Application Publication No. 2011/0213300 includes a working channel (imaging device port and) for inserting an endoscope or the like, similar to the above-described insertion assisting tool.
- a movable catheter assembly configured to change the angle of the catheter tip in the vertical direction and the horizontal direction in accordance with an operation is disclosed.
- the present invention has been made in view of the above-described circumstances, and an endoscope system capable of improving the operability when changing the angle of an insertion assisting tool used in a state where the endoscope is inserted.
- the purpose is to provide.
- An endoscope system includes an insertion portion formed so as to have flexibility and an elongated shape, and an endoscope system configured to have a visual field in front of a distal end portion of the insertion portion.
- An insertion device configured to have an endoscope and a conduit through which the insertion portion can be inserted, and to change the angle of the distal end portion of the conduit according to the operation of the angle operation portion
- An auxiliary tool configured to generate and output an image according to the field of view of the endoscope, and the image when at least a part of the insertion unit is inserted through the duct
- a rotation angle calculation unit configured to calculate a rotation angle indicating how much the orientation of the image output from the generation unit is rotated with respect to a reference direction, and an image output from the image generation unit , Cancel the rotation angle and display it on the display screen of the display unit. Having an image rotation unit configured to perform image rotation processing for.
- the figure which shows the structure of the principal part of the endoscope system which concerns on a 1st Example The block diagram for demonstrating an example of a structure of the main body apparatus which concerns on a 1st Example.
- the figure which shows an example of the image displayed after the image rotation process which concerns on a 1st Example is performed.
- the figure which shows the structure of the principal part of the endoscope system which concerns on a 2nd Example The block diagram for demonstrating an example of a structure of the main body apparatus which concerns on a 2nd Example.
- the figure which shows an example of the image before performing the image rotation process which concerns on a 2nd Example The figure which shows an example of the image and character string which are displayed after the image rotation process which concerns on a 2nd Example is performed.
- the figure which shows the structure of the principal part of the endoscope system which concerns on a 3rd Example The block diagram for demonstrating an example of a structure of the main body apparatus which concerns on a 3rd Example.
- the block diagram for demonstrating an example of a structure of the main body apparatus which concerns on a 4th Example The figure which shows an example of a structure of the main body apparatus which concerns on a 4th Example.
- FIG. 1 is a diagram illustrating a configuration of a main part of an endoscope system according to the first embodiment.
- the endoscope system 101 includes a scanning endoscope 1, an insertion aid 2, a main body device 3, and a display device 4.
- the scanning endoscope 1 is formed of a member such as a resin having flexibility, and has an insertion portion 11 formed to have an elongated shape that can be inserted into a body cavity of a subject. It is configured.
- a connector (not shown) for detachably connecting the scanning endoscope 1 to the main unit 3 is provided at the proximal end portion of the insertion portion 11.
- the insertion unit 11 includes a light guide unit (not shown) configured to include an optical fiber for guiding illumination light supplied from the main body device 3 to the distal end unit 111, and is guided by the light guide unit.
- a condensing optical system (not shown) configured to collect the emitted illumination light and emit it to a subject in front of the distal end portion 111, and a main body device that receives return light from the subject at the distal end portion 111.
- a light receiving portion (not shown) configured to include a fiber bundle for guiding light to 3.
- the distal end portion 111 of the insertion portion 11 includes a plurality of piezoelectric elements that vibrate according to a drive signal supplied from the main body device 3, and the light emission side of the light guide portion is caused by the vibration of the plurality of piezoelectric elements.
- An actuator (not shown) configured to be able to oscillate the end of the actuator is provided.
- the scanning endoscope 1 has a field of view in front of the distal end portion 111 of the insertion portion 11 (an optical image can be obtained by scanning a subject existing in front of the distal end portion 111 of the insertion portion 11). It is configured.
- the insertion assisting tool 2 includes a flexible tube portion 21 and an angle operation portion 22.
- the flexible tube portion 21 is formed of a flexible resin or the like and is configured so that the insertion portion 11 can be inserted from the insertion port 211.
- the flexible tube portion 21 is formed as a conduit through which the insertion portion 11 can be inserted and the distal end portion 111 of the insertion portion 11 can be protruded from the distal end portion 212.
- the flexible tube portion 21 is provided with a bending piece, a wire, and the like for bending a bending portion (not shown) adjacent to the distal end portion 212.
- the angle operation unit 22 includes, for example, an operation tool such as a knob or a lever, and the angle of the distal end portion 212 is changed in the vertical direction and the horizontal direction by bending the bending portion of the flexible tube portion 21 in accordance with a user operation. It can be changed to.
- FIG. 2 is a block diagram for explaining an example of the configuration of the main unit according to the first embodiment.
- the main body device 3 includes a light source unit 31, a scanning drive unit 32, a light detection unit 33, an A / D conversion unit 34, an image generation unit 35, an image recognition unit 36, and a rotation.
- An angle calculation unit 37, an image rotation unit 38, and a display control unit 39 are included.
- the light source unit 31 includes, for example, a laser light source and supplies illumination light for illuminating the subject to the light guide unit of the scanning endoscope 1.
- the scanning drive unit 32 generates a drive signal for swinging the end portion on the light emitting side of the light guide unit of the scanning endoscope 1 with a predetermined scanning pattern (for example, a spiral shape) and generates the generated drive signal.
- a drive signal is supplied to the actuator of the scanning endoscope 1.
- the light detection unit 33 generates an electrical signal corresponding to the return light received by the light receiving unit of the scanning endoscope 1 and outputs the generated electrical signal to the A / D conversion unit 34.
- the A / D conversion unit 34 converts the electrical signal output from the light detection unit 33 into a digital signal and outputs the digital signal to the image generation unit 35.
- the image generation unit 35 generates an image corresponding to the field of view of the scanning endoscope 1 by performing processing such as two-dimensional mapping on the digital signal output in time series from the A / D conversion unit 34.
- the generated image is output to the image recognition unit 36 and the image rotation unit 38.
- the image recognition unit 36 is configured to be able to determine whether or not a predetermined mark is included in the image by performing an image recognition process on the image output from the image generation unit 35. Yes. Then, when the image recognition unit 36 obtains a determination result that the image output from the image generation unit 35 includes a predetermined mark, the image recognition unit 36 outputs the image to the rotation angle calculation unit 37.
- the rotation angle calculation unit 37 rotates the degree of the orientation of the image generated by the image generation unit 35 when at least a part of the insertion unit 11 is inserted through the flexible tube unit 21 with respect to the reference direction.
- the rotation angle indicating whether or not Specifically, the rotation angle calculation unit 37 is, for example, at a position where a predetermined mark included in an image output from the image generation unit 35 via the image recognition unit 36 is rotated with respect to a reference direction described later. A process for calculating the angle ⁇ 1 indicating this is performed. Further, the rotation angle calculation unit 37 outputs the calculation result of the angle ⁇ 1 obtained by the above processing to the image rotation unit 38.
- the image rotation unit 38 When the angle ⁇ 1 is output from the rotation angle calculation unit 37, the image rotation unit 38 outputs, from the image generation unit 35, an image rotation process for canceling the angle ⁇ 1 and displaying it on the display screen 4A of the display device 4. To the image to be printed. In other words, the image rotation unit 38 performs image rotation processing for rotating the image output from the image generation unit 35 by ⁇ 1 based on the angle ⁇ 1 output from the rotation angle calculation unit 37. Then, the image rotation unit 38 outputs the image subjected to the image rotation process as described above to the display control unit 39.
- the display control unit 39 performs processing for adapting the image output from the image rotation unit 38 to a predetermined display format and outputs the processed image to the display device 4.
- the display device 4 includes, for example, a monitor and is configured to display an image output from the main device 3 on the display screen 4A.
- the user inserts the insertion portion 11 into the flexible tube portion 21 from the insertion port 211 of the insertion assisting tool 2 in a state where scanning of the subject by the scanning endoscope 1 and generation of an image by the main body device 3 are started. Will be inserted.
- the angle of the tip portion 212 changes in a predetermined direction.
- a predetermined identifiable mark is drawn.
- the angle of the distal end portion 212 is increased.
- a green identification line that can be identified as changing upward is drawn.
- FIG. 3 is a diagram illustrating an example of an image before image rotation processing according to the first embodiment is performed.
- the image recognition unit 36 performs image recognition processing on the image output from the image generation unit 35 to determine whether or not the image includes a green identification line GL.
- the image recognition unit 36 obtains a determination result that the image output from the image generation unit 35 includes the green identification line GL, the image recognition unit 36 outputs the image to the rotation angle calculation unit 37.
- the rotation angle calculation unit 37 indicates an angle ⁇ 1 indicating how much the green identification line GL included in the image output from the image recognition unit 36 is rotated with respect to the upper direction (reference direction) of the display screen 4A. The process for calculating is performed (see FIG. 3). Further, the rotation angle calculation unit 37 outputs the calculation result of the angle ⁇ 1 obtained by the above processing to the image rotation unit 38.
- the image rotation unit 38 performs image rotation processing for rotating the image output from the image generation unit 35 by ⁇ 1 based on the angle ⁇ 1 output from the rotation angle calculation unit 37. Then, by performing such image rotation processing on the image shown in FIG. 3, the green identification line GL and the upward direction (reference direction) on the display screen 4A as shown in FIG. The matched image is displayed (on the display screen 4A).
- FIG. 4 is a diagram illustrating an example of an image after the image rotation processing according to the first embodiment is performed.
- the endoscope system 101 when the insertion portion 11 is inserted into the flexible tube portion 21 and used, according to the operation of the angle operation portion 22.
- the direction in which the angle of the distal end portion 212 changes can coincide with the direction in which the field of view of the scanning endoscope 1 moves according to the change in the angle of the distal end portion 212. That is, according to the present embodiment, it is possible to improve the operability when changing the angle of the insertion assisting tool used in a state where the endoscope is inserted.
- FIG. 5 is a diagram illustrating a configuration of a main part of the endoscope system according to the second embodiment.
- the endoscope system 102 includes a scanning endoscope 1, an insertion assisting tool 2, a main body device 3 ⁇ / b> A, a display device 4, and an input device 5. Yes.
- the input device 5 includes a user interface such as a button and / or a switch, and is configured to be able to give various instructions to the main body device 3A according to a user operation.
- a user interface such as a button and / or a switch
- FIG. 6 is a block diagram for explaining an example of the configuration of the main unit according to the second embodiment.
- the main unit 3A includes a light source unit 31, a scanning drive unit 32, a light detection unit 33, an A / D conversion unit 34, an image generation unit 35, a motion detection unit 36A, and a rotation.
- An angle calculation unit 37, an image rotation unit 38, and a display control unit 39 are included.
- the image generation unit 35 generates an image corresponding to the field of view of the scanning endoscope 1 by performing processing such as two-dimensional mapping on the digital signal output in time series from the A / D conversion unit 34.
- the generated image is output to the motion detection unit 36A and the image rotation unit 38.
- the motion detection unit 36 ⁇ / b> A uses images sequentially output from the image generation unit 35 during a predetermined period after detecting that a calibration switch (not shown) of the input device 5 has been pressed. For example, by performing processing such as pattern recognition or template matching, the motion vector of the subject included in the image is acquired. In addition, the motion detection unit 36 ⁇ / b> A outputs the motion vector obtained by the above-described processing to the rotation angle calculation unit 37.
- the rotation angle calculation unit 37 performs a process for calculating an angle ⁇ 2 indicating how much the motion vector output from the motion detection unit 36A is rotated with respect to a reference direction described later. Further, the rotation angle calculation unit 37 outputs the calculation result of the angle ⁇ 2 obtained by the above-described process to the image rotation unit 38.
- the image rotation unit 38 When the angle ⁇ 2 is output from the rotation angle calculation unit 37, the image rotation unit 38 outputs an image rotation process for canceling the angle ⁇ 2 and displaying the image ⁇ on the display screen 4A of the display device 4 from the image generation unit 35. To the image to be printed. In other words, the image rotation unit 38 performs image rotation processing for rotating the image output from the image generation unit 35 by ⁇ 2 based on the angle ⁇ 2 output from the rotation angle calculation unit 37.
- the display control unit 39 When the display control unit 39 detects that the calibration switch of the input device 5 has been pressed, the display control unit 39 generates a character string that prompts an operation for changing the angle of the distal end portion 212 in a predetermined direction, and displays the display device 4. Output to. In addition, the display control unit 39 outputs the image subjected to the image rotation processing described above from the image rotation unit 38 within a predetermined period after detecting that the calibration switch of the input device 5 is pressed. When this is detected, a character string indicating the completion of the calibration work started by pressing the calibration switch is generated and output to the display device 4.
- the user inserts the insertion portion 11 into the flexible tube portion 21 from the insertion port 211 of the insertion assisting tool 2 in a state where scanning of the subject by the scanning endoscope 1 and generation of an image by the main body device 3 are started. Will be inserted. Then, after the user confirms that an image obtained by scanning an arbitrary subject is displayed on the display device 4 by causing the tip portion 111 to protrude from the tip portion 212, the calibration of the input device 5 is performed. Press the switch.
- the display control unit 39 When the display control unit 39 detects that the calibration switch of the input device 5 has been pressed, the display control unit 39 generates a character string that prompts an operation for changing the angle of the distal end portion 212 in a predetermined direction, and displays the display device 4. Output to. With the operation of the display control unit 39, for example, as shown in FIG. 7, an image including the subject OBJ and a character string that prompts an operation for changing the angle of the tip 212 in a predetermined direction ( "Please perform UP angle operation") is also displayed on the display screen 4A.
- FIG. 7 is a diagram illustrating an example of an image and a character string displayed when the endoscope system according to the second embodiment is used.
- the user operates the angle operation unit 22 based on the character string displayed on the display screen 4A, thereby changing the angle of the distal end portion 212 in a predetermined direction.
- the angle operation unit 22 based on the character string displayed on the display screen 4A, thereby changing the angle of the distal end portion 212 in a predetermined direction.
- the motion detection unit 36A detects that the subject OBJ included in the images sequentially output from the image generation unit 35 until a predetermined period elapses after detecting that the calibration switch of the input device 5 is pressed.
- a motion vector of the subject OBJ is acquired by performing processing such as pattern recognition or template matching based on the change in position over time, and the acquired motion vector is output to the rotation angle calculation unit 37.
- FIG. 8 is a diagram illustrating an example of an image before image rotation processing according to the second embodiment is performed.
- the reference direction used for calculating the angle ⁇ 2 is a direction other than the downward direction on the display screen 4A as long as it is the reverse direction of the motion vector acquired by the motion detection unit 36A. It may be.
- the image rotation unit 38 performs an image rotation process for rotating the image output from the image generation unit 35 by ⁇ 2 based on the angle ⁇ 2 output from the rotation angle calculation unit 37.
- the display control unit 39 detects that the image subjected to the image rotation processing is output from the image rotation unit 38 within a predetermined period after detecting that the calibration switch of the input device 5 is pressed. When detected, a character string indicating the completion of the calibration work started by pressing the calibration switch is generated and output to the display device 4. With the operation of the display control unit 39, for example, as shown in FIG. 9, the image subjected to the image rotation processing by the image rotation unit 38 and the calibration work started by pressing the calibration switch are performed. A character string indicating completion (“completed”) is displayed together on the display screen 4A.
- FIG. 9 is a diagram illustrating an example of an image and a character string displayed after image rotation processing according to the second embodiment is performed.
- the endoscope system 102 when the insertion portion 11 is inserted into the flexible tube portion 21 and used, according to the operation of the angle operation portion 22.
- the direction in which the angle of the distal end portion 212 changes can coincide with the direction in which the field of view of the scanning endoscope 1 moves according to the change in the angle of the distal end portion 212. That is, according to the present embodiment, it is possible to improve the operability when changing the angle of the insertion assisting tool used in a state where the endoscope is inserted.
- FIG. 10 is a diagram illustrating a configuration of a main part of the endoscope system according to the third embodiment.
- FIG. 11 is a block diagram for explaining an example of the configuration of the main body apparatus according to the third embodiment.
- the endoscope system 103 includes a scanning endoscope 1, an insertion assisting tool 2 ⁇ / b> A, a main body device 3 ⁇ / b> A, and a display device 4.
- the insertion assisting tool 2A includes a flexible tube portion 21 and an angle operation portion 22A including an operation knob 221 and a sensor portion 222.
- the operation knob 221 includes, for example, a first knob (not shown) that can perform an operation for changing the angle of the tip end portion 212 in the vertical direction, and an operation for changing the angle of the tip end portion 212 in the left-right direction. And a second knob (not shown) capable of performing the above.
- the sensor unit 222 includes, for example, a rotary position sensor and the like, and is configured to be able to individually output voltages corresponding to the rotation angles of the first knob and the second knob of the operation knob 221.
- the motion detector 36A detects that the angle of the tip 212 has been changed in a predetermined direction based on the voltage output from the sensor 222, the same processing as that described in the second embodiment is performed. By performing (processing such as pattern recognition or template matching), the motion vector of the image output from the image generation unit 35 is acquired. In addition, the motion detection unit 36 ⁇ / b> A outputs the motion vector obtained by the above-described processing to the rotation angle calculation unit 37.
- the rotation angle calculation unit 37 performs processing similar to that described in the second embodiment, thereby determining how much the motion vector output from the motion detection unit 36A is rotated with respect to a reference direction described later. Processing for calculating the indicated angle ⁇ 3 is performed. Further, the rotation angle calculation unit 37 determines whether or not the angle ⁇ 3 obtained by the above process is larger than the threshold value ⁇ TH. When the rotation angle calculation unit 37 obtains a determination result that the angle ⁇ 3 is larger than the threshold ⁇ TH, the rotation angle calculation unit 37 outputs the angle ⁇ 3 to the image rotation unit 38.
- the rotation angle calculation unit 37 obtains a determination result that the angle ⁇ 3 is equal to or smaller than the threshold ⁇ TH, the rotation angle calculation unit 37 outputs the angle ⁇ 3 to the image rotation unit 38 and outputs it next from the image recognition unit 36.
- the motion vector angle ⁇ 3 is calculated.
- the image rotation unit 38 When the angle ⁇ 3 is output from the rotation angle calculation unit 37, the image rotation unit 38 outputs, from the image generation unit 35, an image rotation process for canceling the angle ⁇ 3 and displaying it on the display screen 4A of the display device 4. To the image to be printed. In other words, the image rotation unit 38 performs image rotation processing for rotating the image output from the image generation unit 35 by ⁇ 3 based on the angle ⁇ 3 output from the rotation angle calculation unit 37.
- the display control unit 39 performs processing for adapting the image output from the image rotation unit 38 to a predetermined display format and outputs the processed image to the display device 4.
- the user inserts the insertion portion 11 into the flexible tube portion 21 from the insertion port 211 of the insertion aid 2A in a state where scanning of the subject by the scanning endoscope 1 and generation of an image by the main body device 3A are started. Will be inserted.
- the user operates the first knob of the operation knob 221 with the tip 111 protruding from the tip 212, thereby changing the angle of the tip 212 upward.
- a voltage corresponding to the rotation angle of the first knob is output from the sensor unit 222.
- the motion detection unit 36 ⁇ / b> A detects that the angle of the tip 212 has changed upward based on the voltage output from the sensor 222, the motion detection unit 36 ⁇ / b> A performs processing similar to that described in the second embodiment ( By performing a process such as pattern recognition or template matching, the motion vector of the image output from the image generation unit 35 is acquired, and the acquired motion vector is output to the rotation angle calculation unit 37.
- the rotation angle calculation unit 37 performs the same processing as that described in the second embodiment, so that the motion vector output from the image recognition unit 36 can be detected with respect to the downward direction (reference direction) on the display screen 4A. An angle ⁇ 3 indicating whether the rotation is approximately is calculated. Further, the rotation angle calculation unit 37 determines whether or not the angle ⁇ 3 obtained by the above process is larger than the threshold value ⁇ TH. When the rotation angle calculation unit 37 obtains a determination result that the angle ⁇ 3 is larger than the threshold ⁇ TH, the rotation angle calculation unit 37 outputs the angle ⁇ 3 to the image rotation unit 38.
- the rotation angle calculation unit 37 obtains a determination result that the angle ⁇ 3 is equal to or smaller than the threshold ⁇ TH, the rotation angle calculation unit 37 outputs the angle ⁇ 3 to the image rotation unit 38 and outputs it next from the image recognition unit 36.
- the motion vector angle ⁇ 3 is calculated.
- the image rotation unit 38 performs an image rotation process for rotating the image output from the image generation unit 35 by ⁇ 3 based on the angle ⁇ 3 output from the rotation angle calculation unit 37.
- the image rotation unit 38 only when the angle ⁇ 3 calculated by the rotation angle calculation unit 37 is larger than the threshold ⁇ TH.
- the image rotation process is performed on the image output from the image generation unit 35. Further, according to the operations of the rotation angle calculation unit 37 and the image rotation unit 38 as described above, the direction in which the angle of the distal end portion 212 changes according to the operation of the operation knob 221, and the scanning endoscope 1. Output from the image generator 35 only when the deviation between the direction in which the field of view moves according to the change in the angle of the tip 212 and a predetermined deviation (indicated by the threshold value ⁇ TH, for example) is larger. An image rotation process is performed on the image to be processed.
- the endoscope system 103 uses the sensor unit 222 provided in the angle operation unit 22 as long as the angle of the distal end portion 212 can be changed in a predetermined direction. May be different from the configuration in which the output voltage is input to the motion detector 36A.
- the endoscope system 103 according to the present embodiment includes, for example, a pressure-sensitive conductive rubber, a capacitive pressure sensor, a piezoelectric sensor, or the like provided in the bending portion of the flexible tube portion 21.
- the output from the stress sensor may be configured to be input to the motion detector 36A.
- the endoscope system 103 according to the present embodiment has a configuration in which, for example, a detection result by a shape detection system for detecting the shape of the flexible tube portion 21 is input to the motion detection unit 36A. There may be.
- the endoscope system 103 when the insertion portion 11 is inserted into the flexible tube portion 21 and used, the distal end according to the operation of the operation knob 221 is used.
- the direction in which the angle of the portion 212 changes can coincide with the direction in which the field of view of the scanning endoscope 1 moves according to the change in the angle of the distal end portion 212. That is, according to the present embodiment, it is possible to improve the operability when changing the angle of the insertion assisting tool used in a state where the endoscope is inserted.
- FIG. 12 is a diagram illustrating a configuration of a main part of the endoscope system according to the fourth embodiment.
- the endoscope system 104 includes a scanning endoscope 1A, an insertion aid 2A, a main body device 3B, and a display device 4.
- the scanning endoscope 1 ⁇ / b> A includes an insertion portion 11 ⁇ / b> A that substantially corresponds to the insertion portion 11 of the scanning endoscope 1 with a sensor portion 112 added thereto.
- the sensor unit 112 is vertically and horizontally movable when the optical image obtained by scanning with the scanning endoscope 1A is displayed as an image on the display screen 4A based on the stretched state in the longitudinal direction at the distal end portion 111 (of the insertion portion 11). It comprises four stress sensors arranged so as to be detected in association with each direction. Specifically, the above-described stress sensor is configured by, for example, a pressure-sensitive conductive rubber or a capacitive stress sensor. In addition, the sensor unit 112 is configured to be able to output the detection result of the stretched state in the longitudinal direction at the distal end portion 111 to the main body device 3B as an electrical parameter such as a resistance value.
- FIG. 13 is a block diagram for explaining an example of the configuration of the main unit according to the fourth embodiment.
- the main unit 3B includes a light source unit 31, a scanning drive unit 32, a light detection unit 33, an A / D conversion unit 34, an image generation unit 35, a rotation angle calculation unit 37, An image rotation unit 38 and a display control unit 39 are included.
- the image generation unit 35 generates an image corresponding to the field of view of the scanning endoscope 1 by performing processing such as two-dimensional mapping on the digital signal output in time series from the A / D conversion unit 34.
- the generated image is output to the image rotation unit 38.
- the rotation angle calculation unit 37 detects the deformation state of the insertion portion 11A inserted into the flexible tube portion 21 when the angle of the distal end portion 212 changes in a predetermined direction according to the operation of the angle operation portion 22. Then, the orientation of the image output from the image generation unit 35 is estimated based on the detected deformation state, and an angle indicating how much the estimated orientation of the image is rotated with respect to the predetermined direction as a reference direction. calculate. Specifically, for example, the rotation angle calculation unit 37 detects that the angle of the distal end portion 212 has changed in a predetermined direction based on the voltage output from the sensor unit 222, and outputs the electric power output from the sensor unit 112.
- a longitudinal expansion / contraction state at the distal end portion 111 is detected based on the target parameter, the orientation of the image output from the image generation unit 35 is estimated based on the detected expansion / contraction state, and the estimated orientation of the image is the predetermined direction
- An angle ⁇ 4 indicating how much the image is rotated with respect to the reference direction is calculated, and the calculated angle ⁇ 4 is output to the image rotation unit 38.
- the image rotation unit 38 When the angle ⁇ 4 is output from the rotation angle calculation unit 37, the image rotation unit 38 outputs, from the image generation unit 35, an image rotation process for canceling the angle ⁇ 4 and displaying it on the display screen 4A of the display device 4. To the image to be printed. In other words, the image rotation unit 38 performs image rotation processing for rotating the image output from the image generation unit 35 by ⁇ 4 based on the angle ⁇ 4 output from the rotation angle calculation unit 37.
- the display control unit 39 performs processing for adapting the image output from the image rotation unit 38 to a predetermined display format and outputs the processed image to the display device 4.
- the user starts the scanning of the subject with the scanning endoscope 1A and the generation of the image with the main body device 3B, and then inserts the insertion portion 11A from the insertion port 211 of the insertion aid 2A into the flexible tube portion 21. Will be inserted.
- the user operates the first knob of the operation knob 221 with the tip 111 protruding from the tip 212, thereby changing the angle of the tip 212 upward.
- a voltage corresponding to the rotation angle of the first knob is output from the sensor unit 222.
- an electrical parameter corresponding to the stretched state in the longitudinal direction at the distal end portion 111 is output from the sensor unit 112.
- the rotation angle calculation unit 37 detects that the angle of the tip 212 has been changed in accordance with the operation of the operation knob 221 based on the voltage output from the sensor unit 222. Further, the rotation angle calculation unit 37 detects the longitudinal expansion / contraction state of the distal end portion 111 based on the electrical parameter output from the sensor unit 112, and further, based on the detected expansion / contraction state, the image generation unit 35 Estimate the orientation of the generated image. Then, the rotation angle calculation unit 37 indicates an angle indicating how much the orientation of the image estimated as described above is rotated with respect to the reference direction when the upward direction of the angle of the tip end portion 212 is set as the reference direction. ⁇ 4 is calculated, and the calculated angle ⁇ 4 is output to the image rotation unit 38.
- the image rotation unit 38 performs an image rotation process for rotating the image output from the image generation unit 35 by ⁇ 4 based on the angle ⁇ 4 output from the rotation angle calculation unit 37.
- the endoscope system 104 is provided with a sensor provided at the distal end portion 111 as long as the deformation state of the insertion portion 11A inserted into the flexible tube portion 21 can be detected. It may have another configuration different from the configuration in which the electrical parameters from the unit 112 are input to the rotation angle calculation unit 37.
- the endoscope system 104 according to the present embodiment for example, the light that leaks from the optical fiber of the light guide portion of the insertion portion 11A, the top, bottom, left, and right of an image obtained by scanning the scanning endoscope 1A.
- the output from the four photodetectors arranged so as to be detected in association with each other may be input to the rotation angle calculation unit 37.
- the endoscope system 104 according to the present embodiment has a configuration in which, for example, a detection result by a shape detection device for detecting the shape of the insertion unit 11A is input to the rotation angle calculation unit 37. May be.
- the endoscope system 104 when the insertion portion 11A is inserted into the flexible tube portion 21 and used, the distal end according to the operation of the operation knob 221 is used.
- the direction in which the angle of the portion 212 changes can coincide with the direction in which the field of view of the scanning endoscope 1A moves in accordance with the change in the angle of the distal end portion 212. That is, according to the present embodiment, it is possible to improve the operability when changing the angle of the insertion assisting tool used in a state where the endoscope is inserted.
- the present invention is not limited to the case including a scanning endoscope, and for example, each of the implementations even when including another endoscope such as a fiberscope. An example can be applied.
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Abstract
Description
図1から図4は、本発明の第1の実施例に係るものである。図1は、第1の実施例に係る内視鏡システムの要部の構成を示す図である。
図5から図9は、本発明の第2の実施例に係るものである。図5は、第2の実施例に係る内視鏡システムの要部の構成を示す図である。
図10及び図11は、本発明の第3の実施例に係るものである。図10は、第3の実施例に係る内視鏡システムの要部の構成を示す図である。図11は、第3の実施例に係る本体装置の構成の一例を説明するためのブロック図である。
図12及び図13は、本発明の第4の実施例に係るものである。図12は、第4の実施例に係る内視鏡システムの要部の構成を示す図である。
Claims (6)
- 可撓性及び細長形状を具備するように形成された挿入部を有し、前記挿入部の先端部の前方に視野を有するように構成された内視鏡と、
前記挿入部を内部に挿通することが可能な管路を有し、前記管路の先端部のアングルをアングル操作部の操作に応じて変化させることができるように構成された挿入補助具と、
前記内視鏡の視野に応じた画像を生成して出力するように構成された画像生成部と、
前記挿入部の少なくとも一部が前記管路に挿通されている際に前記画像生成部から出力される画像の向きが基準方向に対してどの程度回転しているかを示す回転角度を算出するように構成された回転角度算出部と、
前記画像生成部から出力される画像に対し、前記回転角度を相殺して表示部の表示画面に表示させるための画像回転処理を施すように構成された画像回転部と、
を有することを特徴とする内視鏡システム。 - 前記管路の内部には、前記管路の先端部のアングルが前記アングル操作部の操作に応じて所定の方向に変化することを識別可能な所定のマークが描かれており、
前記回転角度算出部は、前記画像生成部から出力される画像に含まれる前記所定のマークが、前記表示画面における前記所定の方向に一致する方向を基準方向としてどの程度回転した位置にあるかを示す角度を前記回転角度として算出する
ことを特徴とする請求項1に記載の内視鏡システム。 - 前記管路の先端部のアングルが前記アングル操作部の操作に応じて所定の方向に変化した際に、前記画像生成部から出力される画像に含まれる被写体の動きベクトルを取得するように構成された動き検出部をさらに有し、
前記回転角度算出部は、前記動き検出部により取得された動きベクトルが、前記表示画面における前記所定の方向の逆方向を基準方向としてどの程度回転しているかを示す角度を前記回転角度として算出する
ことを特徴とする請求項1に記載の内視鏡システム。 - 前記回転角度算出部により算出された前記角度が所定の閾値に比べて大きい場合に限り、前記画像回転部による前記画像回転処理が前記画像生成部から出力される画像に対して施される
ことを特徴とする請求項3に記載の内視鏡システム。 - 前記回転角度算出部は、前記管路の先端部のアングルが前記アングル操作部の操作に応じて所定の方向に変化した際に、前記管路の内部に挿通された前記挿入部の変形状態を検出し、当該検出した変形状態に基づいて前記画像生成部により生成された画像の向きを推定し、当該推定した画像の向きが前記所定の方向を基準方向としてどの程度回転しているかを示す角度を前記回転角度として算出する
ことを特徴とする請求項1に記載の内視鏡システム。 - 前記内視鏡は、前記先端部の前方に存在する被写体を走査して光学像を得ることができるように構成されている
ことを特徴とする請求項1に記載の内視鏡システム。
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CN201480023604.6A CN105142494B (zh) | 2013-07-12 | 2014-03-31 | 内窥镜系统 |
JP2015502006A JP5788623B2 (ja) | 2013-07-12 | 2014-03-31 | 内視鏡システム |
EP14823647.4A EP2992809A4 (en) | 2013-07-12 | 2014-03-31 | Endoscope system |
US14/959,007 US20160081530A1 (en) | 2013-07-12 | 2015-12-04 | Endoscope system |
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JP2013146852 | 2013-07-12 | ||
JP2013-146852 | 2013-07-12 |
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US14/959,007 Continuation US20160081530A1 (en) | 2013-07-12 | 2015-12-04 | Endoscope system |
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US (1) | US20160081530A1 (ja) |
EP (1) | EP2992809A4 (ja) |
JP (1) | JP5788623B2 (ja) |
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WO2017037782A1 (ja) * | 2015-08-28 | 2017-03-09 | オリンパス株式会社 | 走査型観察装置 |
WO2017047115A1 (ja) * | 2015-09-17 | 2017-03-23 | オリンパス株式会社 | 光走査型観察システム |
CN106999254A (zh) * | 2015-02-26 | 2017-08-01 | 奥林巴斯株式会社 | 机械手系统 |
WO2022259390A1 (ja) * | 2021-06-08 | 2022-12-15 | オリンパス株式会社 | 撮像ユニットおよび内視鏡 |
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CN106343942A (zh) * | 2016-10-17 | 2017-01-25 | 武汉大学中南医院 | 一种腹腔镜镜头偏转自动告警装置 |
WO2018180249A1 (ja) * | 2017-03-28 | 2018-10-04 | 富士フイルム株式会社 | 計測支援装置、内視鏡システム、及びプロセッサ |
US11501661B2 (en) * | 2018-03-29 | 2022-11-15 | Cae Healthcare Canada Inc. | Method and system for simulating an insertion of an elongated instrument into a subject |
WO2020014198A1 (en) * | 2018-07-10 | 2020-01-16 | Intuitive Surgical Operations, Inc. | Systems and methods for detecting an orientation of medical instruments |
EP3829413A4 (en) * | 2018-08-27 | 2022-05-18 | Meditrina, Inc. | ENDOSCOPE AND METHOD OF USE |
CN114040788A (zh) * | 2019-06-27 | 2022-02-11 | 波士顿科学医学有限公司 | 针对流体管理系统的内窥镜检测 |
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EP2992809A1 (en) | 2016-03-09 |
CN105142494A (zh) | 2015-12-09 |
CN105142494B (zh) | 2017-09-29 |
EP2992809A4 (en) | 2017-01-11 |
US20160081530A1 (en) | 2016-03-24 |
JP5788623B2 (ja) | 2015-10-07 |
JPWO2015004960A1 (ja) | 2017-03-02 |
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