WO2016207973A1 - Endoscope system, endoscope information processing device, and endoscope information processing method - Google Patents

Endoscope system, endoscope information processing device, and endoscope information processing method Download PDF

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Publication number
WO2016207973A1
WO2016207973A1 PCT/JP2015/068014 JP2015068014W WO2016207973A1 WO 2016207973 A1 WO2016207973 A1 WO 2016207973A1 JP 2015068014 W JP2015068014 W JP 2015068014W WO 2016207973 A1 WO2016207973 A1 WO 2016207973A1
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unit
information
guide information
endoscope
sensor
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PCT/JP2015/068014
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French (fr)
Japanese (ja)
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渡辺　伸之
良介 村田
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オリンパス株式会社
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Priority to PCT/JP2015/068014 priority Critical patent/WO2016207973A1/en
Publication of WO2016207973A1 publication Critical patent/WO2016207973A1/en

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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
    • 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
    • A61B1/04—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 combined with photographic or television appliances

Definitions

  • the present invention relates to an endoscope system, an endoscope information processing apparatus, and an endoscope information processing method.
  • Patent Document 1 There is known an endoscope system in which additional information is added to an image acquired by an endoscope and presented to a user (see, for example, Patent Documents 1 and 2).
  • the endoscope system described in Patent Document 1 includes a pressure-sensitive sensor at the distal end of an insertion portion of the endoscope, detects pressure acting by contact with the inner wall surface of the inspection target pipeline, and presents it to the user It is.
  • the endoscope system described in Patent Document 2 calculates a pressure for pushing a wall surface from a difference between a bending operation amount and an actual bending amount and presents it to the user.
  • the wall surface is an internal wall of an organ such as the intestinal wall. Will cause discomfort and pain to the patient.
  • the present invention has been made in view of the above-described circumstances, and is an endoscope system that can guide an operator to operate an insertion portion of an endoscope that does not cause discomfort to a patient.
  • An object is to provide an endoscope information processing apparatus and an endoscope information processing method.
  • One aspect of the present invention is an endoscope that includes an insertion portion that is inserted into a body, and a sensor that can detect one or more insertion-time acquisition information obtained when the insertion portion is inserted into a patient's body.
  • a storage unit for accumulating and storing a large number of past acquisition information obtained at the time of insertion into the patient's body, and a current acquired by the sensor when the insertion unit is inserted into the patient's body
  • the guide information generation unit generates guide information related to the next operation based on the insertion time acquisition information and the past insertion time acquisition information stored in the storage unit, and the guide information generation unit generates the guide information. It is an endoscope system provided with the guide information presentation part which presents the performed guide information with respect to an operator.
  • one or more insertion acquisition information is detected by the sensor, and the detected current acquisition information is a guide. It is sent to the information generator.
  • guide information generation unit guide information related to the next operation is generated based on the current insertion time acquisition information sent and the past insertion time acquisition information accumulated and stored in the storage unit, The generated guide information is presented to the operator by the guide information presentation unit.
  • the guide information generation unit is configured to generate the guide based on the state prediction model based on the past insertion time acquisition information accumulated and stored in the storage unit, and the current insertion time acquisition information. Information may be generated. By doing in this way, from the state prediction model based on the past insertion time acquisition information accumulated and stored in the storage unit, the state specified by the current insertion time acquisition information is close to any past state, It is possible to estimate what state is expected to be next, and then present the most recommended operation.
  • the pressure sensor which detects the pressure obtained by the said sensor contacting the body tissue of the said insertion part may be sufficient.
  • the pressure detected by the pressure sensor changes when the insertion part comes into contact with the body tissue as the insertion part is inserted into the body, so that the current state of the insertion part can be specified.
  • the state specified by the current information at the time of insertion is identified as the past, and the most recommended operation thereafter Can be estimated and presented.
  • photographs the inside of a body and acquires image information may be sufficient as the said sensor.
  • the guide information generation unit can generate guide information related to the next operation by comparing the image information acquired and accumulated in the past with the current image information.
  • the curve shape sensor which detects the curve state of the said insertion part may be sufficient as the said sensor.
  • the guide information generation unit can generate guide information related to the next operation by comparing the bending state of the insertion portion acquired and accumulated in the past with the bending state of the current insertion portion. it can.
  • the endoscope includes a bending portion that swings a distal end of the insertion portion in a direction intersecting a longitudinal axis, and an operation portion that performs bending operation on the bending portion, and the sensor includes:
  • a bending operation amount sensor for detecting a bending operation amount by the operation unit may be used.
  • the senor may be a rotation amount sensor that detects a rotation amount around the longitudinal axis of the insertion portion.
  • the insertion amount sensor which detects the insertion amount along the longitudinal axis of the said insertion part may be sufficient as the said sensor.
  • the guide information generation unit obtains the guide for the next operation by comparing the rotation amount and insertion amount of the insertion portion acquired and accumulated in the past with the rotation amount and insertion amount of the current insertion portion. Information can be generated.
  • the sensor may be a biological information sensor that detects biological information of a patient.
  • the present state of an insertion part can be specified with reference to the patient's living body information detected by the living body information sensor.
  • the next state of the insertion portion can be estimated by comparing biological information such as patient sweating, blood pressure, and heart rate with past biological information.
  • the guide information generation unit generates a recommended insertion direction that is an insertion direction of the insertion unit recommended as the next operation, and the guide information presentation unit generates the guide information generation unit.
  • the recommended insertion direction may be presented as an image, text, sound, or a combination thereof.
  • the recommended insertion direction recommended as the next operation is presented to the operator as an image, text, sound, or a combination thereof, and the operation by the operator is recommended in the direction recommended from past information. Can be guided.
  • the guide information generation unit generates a non-recommended insertion direction that is an insertion direction of the insertion unit that is not recommended as the next operation
  • the guide information presentation unit generates the guide information generation unit.
  • the guide information may be presented by preventing the operation of the endoscope in the non-recommended insertion direction. In this way, when the operator tries to insert the insertion portion in the non-recommended insertion direction, the operation of the endoscope in that direction is blocked, so that the operator can Recognize that the operation is not recommended, and do not continue operation in the same direction, but by selecting an operation in another direction, the operation by the operator is guided in the recommended direction from past information can do.
  • the guide information generation unit generates a non-recommended bending direction that is a bending direction of the bending unit that is not recommended as the next operation, and the guide information presentation unit generates the guide information generation unit.
  • the force required to operate the operation unit in the non-recommended bending direction may be increased. In this way, when the operator tries to insert the insertion part in the non-recommended insertion direction, the operator must operate the operation part in that direction with great force, and the operator can It is possible to recognize that the operation is not recommended, and by selecting the operation in the other direction without forcibly continuing the operation in the same direction, the operation by the operator is changed to the recommended direction from the past information. Can be guided.
  • the endoscope includes a fixing mechanism that fixes a shape of the insertion portion, and the guide information presenting portion is arranged in the non-recommended insertion direction generated by the guide information generation portion.
  • the shape of the insertion portion may be fixed by the fixing mechanism.
  • the guide information presentation unit includes an overtube that covers the insertion portion of the endoscope, and a friction adjustment unit that varies a friction between the overtube and the insertion portion.
  • the friction may be increased by the friction adjustment unit.
  • the friction adjustment portion increases the friction between the overtube and the insertion portion, so that the operator It can be recognized that the operation is not recommended from past information, and the operation by the operator is recommended from past information by selecting another operation without forcibly continuing the operation. Can be guided to.
  • an endoscope in another aspect of the present invention, includes an insertion portion that is inserted into a body, and a sensor that can detect one or more insertion-acquisition information obtained when the insertion portion is inserted into a patient's body.
  • a communication unit that acquires a large number of pieces of information acquired at the time of insertion that are accumulated and stored in the storage unit via a network, and the sensor that is used when the insertion unit is inserted into a patient's body.
  • a guide information generating unit that generates guide information related to a next operation based on the current insertion time acquisition information acquired by the communication unit and the past acquisition time acquisition information acquired by the communication unit; and the guide information It is an endoscope system provided with the guide information presentation part which presents the guide information produced
  • the guide information generation unit when the insertion portion of the endoscope is inserted into the patient's body, one or more current acquired information at the time of insertion is detected by the sensor. Also, a large number of past insertion-time acquisition information acquired and accumulated for one or more patients in the past is acquired from the storage unit via the network by the communication unit. The guide information generation unit generates guide information based on the current insertion time acquisition information and a large number of past insertion time acquisition information, and the generated guide information is presented to the operator by the guide information presentation unit.
  • a receiving unit that acquires, via a network, information obtained at the time of insertion of an insertion unit of an endoscope into the body of a current patient, and one or more patient's bodies
  • a storage unit for accumulating and storing a large number of the insertion-time acquisition information obtained at the time of past insertion, and the current acquisition-time acquisition information acquired by the reception unit and stored in the storage unit
  • the guide information generation unit that generates guide information related to the next operation of the endoscope based on the past acquired information at the time of insertion, and the guide information generated by the guide information generation unit via the network
  • An endoscope information processing apparatus including a transmission unit configured to transmit to an operator of the endoscope.
  • the information is stored in the storage unit.
  • a large number of insertion-time acquisition information obtained at the time of past insertion into the body of one or more patients is read from the storage unit, and based on the current insertion-time acquisition information and past insertion-time acquisition information, guide information is obtained.
  • Guide information is generated by the generation unit, and the generated guide information is transmitted to the operator of the endoscope by the transmission unit.
  • another aspect of the present invention accumulates and stores a large number of information obtained at the time of past insertion into the body of one or more patients, and stores the endoscope in the current patient's body. Based on the current insertion time acquisition information acquired when the insertion unit is inserted and the stored past insertion time acquisition information, guide information on the next operation is generated, and the generated guide information Is an endoscope information processing method.
  • FIG. 1 is an overall configuration diagram showing an endoscope system according to an embodiment of the present invention. It is a longitudinal cross-sectional view which shows an example of the rotation amount and insertion amount sensor with which the endoscope system of FIG. 1 is equipped. It is a figure which shows an example of the state prediction model constructed
  • an endoscope system 1 includes an endoscope 2 and a processor 3 that controls the endoscope 2 and processes information acquired by the endoscope 2.
  • An image / audio notification unit (guide information presentation unit) 4 for displaying a processing result by the processor 3 and a storage unit 5 are provided.
  • the endoscope 2 includes an insertion portion 6 that is inserted into the body of a patient, an overtube 7 that covers the insertion portion 6, and an angle operation portion (operation portion) that operates a bending portion 8 provided in the insertion portion 6. 9 and.
  • the insertion portion 6 is formed in a long shape, and includes a distal end portion and a bending portion 8 that swings the distal end portion.
  • the distal end portion includes an illumination unit 10 that emits illumination light from the distal end, and an imaging unit (imaging element, sensor) 11 that acquires an image inside the patient's body.
  • the insertion unit 6 includes an operation amount sensor (sensor) 12 that detects an operation amount of the angle operation unit 9 and a bending amount sensor (bending shape sensor, sensor) 13 that detects a bending amount of the bending unit 8. Yes.
  • the angle operation unit 9 includes two handles (not shown) so that the bending unit 8 can be swung in two directions orthogonal to each other.
  • the operation amount sensor 12 and the bending amount sensor 13 can detect the operation amount and the bending amount for each swinging direction of the two handles.
  • the overtube 7 supports the insertion portion 6 penetrated therein so as to be relatively movable in the longitudinal axis direction and the rotational direction around the longitudinal axis.
  • the overtube 7 moves in the longitudinal axis direction (insertion amount) and around the longitudinal axis.
  • a rotation amount / insertion amount sensor (rotation amount sensor, insertion amount sensor, sensor) 14 for detecting the rotation amount is provided.
  • the rotation amount / insertion amount sensor 14 includes a light emitting unit 15 that irradiates light toward the surface of the insertion unit 6 that is disposed on the overtube 7 and that is disposed radially inward. And a light receiving portion 16 that receives reflected light on the surface of the light insertion portion 6.
  • the amount of rotation and / or the amount of insertion can be detected by the fluctuation of the light received by the light receiving unit 16 when the surface of the insertion unit 6 moves in the insertion direction and / or the rotation direction.
  • Reference numeral 17 denotes a window member made of an optically transparent material.
  • the processor 3 extracts an illumination control unit 18 that controls the illumination unit 10, an image processing unit 19 that processes an image acquired by the imaging unit 11, and a feature amount in the image acquired by the image processing unit 19.
  • an arithmetic processing unit (guide information generating unit) 23 that generates guide information based on the information detected by 24 and the past information acquired by the information acquiring unit 22.
  • reference numeral 24 denotes a biological information sensor that is attached to a patient and acquires biological information such as sweating, blood pressure, heart rate and the like of the patient during the operation.
  • Reference numeral 25 denotes a pattern dictionary that stores patterns to be referred to in the feature amount extraction processing by the feature amount extraction unit 20.
  • the feature quantity extraction unit 20 includes a feature quantity calculation unit 26 that generates a feature from the acquired image, a pattern classification unit 27 that performs matching between the generated feature pattern and a pattern stored in the pattern dictionary, and 2 And a deformation amount calculation unit 28 showing the above-described frame deformation correspondence relationship.
  • the feature amount extraction unit 20 does not handle the image information as it is, but reduces the amount of data handled by converting the image information into a lower-dimensional feature amount.
  • Low-dimensional feature quantities include color distribution, brightness distribution, texture grain size distribution, and local pattern classification.
  • the pattern classification is a classification using a processing result representing the shape feature for the entire image. For example, a gradient histogram may be used as the shape feature amount.
  • the storage unit 5 information acquired by various sensors 11, 12, 13, 14, and 24 in a number of insertions performed using one or more endoscopes 2 for one or more patients in the past. Is stored as a learning database. Also in this learning database, the image information is not stored as it is, but is stored as a lower-dimensional feature amount in order to reduce the data amount.
  • the learning database includes the operation amount of the angle operation unit 9 detected by the operation amount sensor 12, the bending amount of the bending portion 8 detected by the bending amount sensor 13, and the rotation amount / insertion amount sensor 14.
  • a large amount of information (acquired information at the time of insertion) is accumulated based on at least one of the detected rotation amount and insertion amount of the insertion portion 6 and biological information detected by the biological information sensor 24.
  • the learning database stores data for generating event occurrence probabilities as shown in the following equation.
  • P i P (zi
  • P i represents the occurrence probability of event z i
  • t i represents time
  • b i represents a situation in which a state after ⁇ t seconds is selected, a
  • Each b i has k pieces of information. That is, a database of what state can be predicted based on the current state, the state before a predetermined time, and the next option.
  • patterns to be avoided such as extreme collisions with the intestinal wall, re-insertion, that is, reassembly (for example, in the axial shortening linearization method, fine insertion, rotation, Since there are many removals, it is estimated that an event such as that the assembly of the insertion operation has failed has occurred when repeated insertion and removal over a predetermined distance are frequent. Alternatively, the failure event may be specified manually.
  • a multivariate time series pattern (state prediction model) as shown in FIG. 3 is generated and stored in the learning database of the storage unit 5.
  • the patterns to be avoided are the operation c1 and the operation c2.
  • the occurrence probability of the state is estimated and the insertion pattern to be avoided is specified. That is, the state up to the time T is recorded, a pattern similar to the multivariate time series pattern A (T-nt, T- (n-1) t... Is supposed to do.
  • the subsequent operation B1 follows the operation patterns c1 and c2 to be avoided.
  • Guide information for guiding not to take B1 is generated.
  • the operation B2 is a normal operation pattern that does not reach the operation patterns c1 and c2 to be avoided.
  • an arrow or color emphasis displayed in the displayed image can be cited. Thereby, the operator can be guided to the next insertion direction. Further, as shown in FIG. 4B, guide information by characters may be displayed in the displayed image.
  • various past sensor information (including image information) accumulated and accumulated in the learning database of the storage unit 5 is newly acquired. Since the probability of occurrence of the state is estimated based on the similarity to various sensor information, and guide information to be guided to other insertion patterns is displayed before the insertion pattern to be avoided is performed, the burden on the patient is reduced. There is an advantage that you can. That is, unlike the conventional endoscope system that avoids further progression after the intestinal wall is pushed and the patient feels pain, the next recommended operation can be presented before the patient feels pain.
  • the guide information is displayed on the screen as an image or a character.
  • the guide information may be presented by voice.
  • you may detect the pressure obtained by the contact to the body tissue of the insertion part 6 using a pressure sensor (sensor) as information at the time of insertion.
  • an operation resistance control unit (guide information presentation unit) 29 that adjusts the operation resistance of the angle operation unit 9 is provided, and the operation resistance is based on the guide information generated by the arithmetic processing unit 23.
  • the guide information may be presented to the operator by adjusting.
  • the operation of the angle operation unit 9 in the direction of bending the bending part 8 to the right side is the operation in the other direction. What is necessary is just to adjust so that resistance may be increased so that it may become heavier. An operator who senses that the angle operation has become heavier will not forcefully continue the operation in the same direction, and as a result, guide the operation to an insertion pattern (recommended bending direction) other than the insertion pattern to be avoided. There is an advantage that can be.
  • the insertion unit 6 may be provided with a hardness adjustment unit (fixing mechanism) 30. Based on the guide information output from the arithmetic processing unit 23, the hardness adjusting unit 30 cures the insertion unit 6 to the shape at that time.
  • the operation resistance of the angle operation unit 9 does not change, when the angle operation unit 9 is operated in the direction of the insertion pattern to be avoided (unrecommended insertion direction), the insertion unit 6 is cured at that position.
  • the overtube 7 is provided with the friction adjustment unit 31, and the friction between the overtube 7 and the insertion unit 6 is increased or decreased based on the guide information output from the arithmetic processing unit 23. It may be.
  • the friction adjustment unit 31 is configured by a balloon 32 disposed between the overtube 7 and the insertion unit 6, and the balloon 32 is inflated, so that the overtube 7 and the insertion unit are expanded. It is only necessary to increase the friction between the two and reduce the friction by deflating the balloon 32.
  • the guide information is generated in the processor 3 connected to the endoscope 2, but instead of this, a server provided with a storage unit 5 as shown in FIG. Guide information may be generated on the 34th side. In this case, in place of the arithmetic processing unit 23, a signal processing unit 33 for transferring various acquired information may be provided.
  • the signal processing unit 33 collects the pattern classification information acquired from the image information and the insertion time acquisition information acquired from the various sensors 11, 12, 13, 14, and 24, and communicates the acquired insertion time acquisition information.
  • the unit (transmission unit) 35 transmits the inserted acquisition information transmitted to the network 21, and the communication unit (reception unit) 36 transmits to the server (endoscopic information processing apparatus) 34 via the network 21 at the time of insertion.
  • the acquisition information is received, and the received acquisition information is sent to the arithmetic processing unit 23.
  • the calculation processing unit 23 may generate guide information based on the past insertion time acquisition information read from the storage unit 5 and the current insertion time acquisition information sent.
  • the generated guide information may be sent again to the processor 3 through the network 21 and presented to the operator by the image / audio notification unit 4.
  • the present invention accumulates and stores a large number of pieces of information acquired at the time of past insertion into the body of one or more patients, and inserts the insertion unit 6 of the endoscope 2 into the body of the current patient. Based on the current acquisition information acquired at the time of insertion and the past acquired information acquired at the time of insertion, guide information on the next operation is generated, and the generated guide information is sent to the operator. It can also be conceptualized as an endoscope information processing method to be presented.

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Abstract

The purpose of present invention is to guide an operator operating an insertion unit (6) of an endoscope (2) without causing discomfort to a patient. This endoscope system (1) includes: an endoscope (2) which has the insertion unit (6) that is inserted inside the body, and sensors (11, 12, 13, 14, 24) that are capable of detecting one piece or more of information acquired at the time of insertion which are acquired when the insertion unit (6) is inserted inside the patient's body; a storage unit (5) which accumulates and stores multiple pieces of past information acquired at the time of insertion which have been acquired when the insertion unit (6) was inserted inside the body of one or more patients; a guide information generation unit (23) which generates guide information relating to a subsequent operation on the basis of current information acquired at the time of insertion that is acquired by the sensors (11, 12, 13, 14, 24) when the insertion unit (6) is inserted inside the patient's body and the past information acquired at the time of insertion that is stored in the storage unit (5); and a guide information presentation unit (4) which presents the guide information generated by the guide information generation unit (23) to the operator.

Description

内視鏡システム、内視鏡情報処理装置および内視鏡情報処理方法Endoscope system, endoscope information processing apparatus, and endoscope information processing method
　本発明は、内視鏡システム、内視鏡情報処理装置および内視鏡情報処理方法に関するものである。 The present invention relates to an endoscope system, an endoscope information processing apparatus, and an endoscope information processing method.
　内視鏡により取得した画像に付加的な情報を加えてユーザに提示する内視鏡システムが知られている（例えば、特許文献１，２参照。）。
　特許文献１に記載された内視鏡システムは、内視鏡の挿入部先端に感圧センサを備え、検査対象管路の内壁面との接触によって作用する圧力を感知し、ユーザに提示するものである。
　また、特許文献２に記載された内視鏡システムは、湾曲操作量と実際の湾曲量との差から壁面を押す圧力を算出してユーザに提示するものである。 There is known an endoscope system in which additional information is added to an image acquired by an endoscope and presented to a user (see, for example, Patent Documents 1 and 2).
The endoscope system described in Patent Document 1 includes a pressure-sensitive sensor at the distal end of an insertion portion of the endoscope, detects pressure acting by contact with the inner wall surface of the inspection target pipeline, and presents it to the user It is.
In addition, the endoscope system described in Patent Document 2 calculates a pressure for pushing a wall surface from a difference between a bending operation amount and an actual bending amount and presents it to the user.
特開平６－１５４１５３号公報JP-A-6-154153 特開２０１２－１１５５２１号公報JP 2012-115521 A
　特許文献１，２の内視鏡システムは、いずれも、壁面を押すことによって発生した圧力を感知あるいは算出してユーザに提示するものであるため、壁面が腸壁等の臓器内壁である場合には、患者に不快感や疼痛を与えることになる。 Since the endoscope systems of Patent Documents 1 and 2 both sense or calculate the pressure generated by pushing the wall surface and present it to the user, the wall surface is an internal wall of an organ such as the intestinal wall. Will cause discomfort and pain to the patient.
　本発明は、上述した事情に鑑みてなされたものであって、患者に不快感を与えない内視鏡の挿入部の操作を行うように操作者を誘導することができる内視鏡システム、内視鏡情報処理装置および内視鏡情報処理方法を提供することを目的としている。 The present invention has been made in view of the above-described circumstances, and is an endoscope system that can guide an operator to operate an insertion portion of an endoscope that does not cause discomfort to a patient. An object is to provide an endoscope information processing apparatus and an endoscope information processing method.
　本発明の一態様は、体内に挿入される挿入部と、該挿入部の患者の体内への挿入時に得られる１以上の挿入時取得情報を検出可能なセンサとを備える内視鏡と、１以上の患者の体内への挿入時に得られた過去の多数の前記挿入時取得情報を累積して記憶する記憶部と、前記挿入部を患者の体内に挿入する際に前記センサにより取得された現在の前記挿入時取得情報と、前記記憶部に記憶されている過去の前記挿入時取得情報とに基づいて、次の操作に関するガイド情報を生成するガイド情報生成部と、該ガイド情報生成部により生成されたガイド情報を操作者に対して提示するガイド情報提示部とを備える内視鏡システムである。 One aspect of the present invention is an endoscope that includes an insertion portion that is inserted into a body, and a sensor that can detect one or more insertion-time acquisition information obtained when the insertion portion is inserted into a patient's body. A storage unit for accumulating and storing a large number of past acquisition information obtained at the time of insertion into the patient's body, and a current acquired by the sensor when the insertion unit is inserted into the patient's body The guide information generation unit generates guide information related to the next operation based on the insertion time acquisition information and the past insertion time acquisition information stored in the storage unit, and the guide information generation unit generates the guide information. It is an endoscope system provided with the guide information presentation part which presents the performed guide information with respect to an operator.
　本態様によれば、内視鏡の挿入部を現在の患者の体内に挿入していくと、センサによって１以上の挿入時取得情報が検出され、検出された現在の挿入時取得情報は、ガイド情報生成部に送られる。ガイド情報生成部においては、送られてきた現在の挿入時取得情報と、記憶部に累積して記憶されている過去の挿入時取得情報とに基づいて、次の操作に関するガイド情報が生成され、生成されたガイド情報はガイド情報提示部により操作者に提示される。 According to this aspect, when the insertion portion of the endoscope is inserted into the current patient's body, one or more insertion acquisition information is detected by the sensor, and the detected current acquisition information is a guide. It is sent to the information generator. In the guide information generation unit, guide information related to the next operation is generated based on the current insertion time acquisition information sent and the past insertion time acquisition information accumulated and stored in the storage unit, The generated guide information is presented to the operator by the guide information presentation unit.
　累積して記憶されている過去の挿入時取得情報に基づけば、現在の挿入時取得情報により特定される状態が過去のどの状態に近いのかを特定でき、その後の最も推奨される操作を推定して提示することができる。これにより、患者に不快感を与える前に推奨情報を事前に提示することができる。 Based on the accumulated past acquisition information stored in memory, it is possible to identify the past state that is identified by the current insertion information, and to estimate the most recommended operation thereafter. Can be presented. Thereby, it is possible to present the recommended information in advance before giving the patient discomfort.
　上記態様においては、前記ガイド情報生成部が、前記記憶部に累積して記憶されている過去の前記挿入時取得情報に基づく状態予測モデルと、現在の前記挿入時取得情報とに基づいて前記ガイド情報を生成してもよい。
　このようにすることで、記憶部に累積して記憶されている過去の前記挿入時取得情報に基づく状態予測モデルから、現在の挿入時取得情報により特定される状態が過去のどの状態に近く、次にどのような状態になることが予測されるのかを推定することができ、その後の最も推奨される操作を提示することができる。 In the above aspect, the guide information generation unit is configured to generate the guide based on the state prediction model based on the past insertion time acquisition information accumulated and stored in the storage unit, and the current insertion time acquisition information. Information may be generated.
By doing in this way, from the state prediction model based on the past insertion time acquisition information accumulated and stored in the storage unit, the state specified by the current insertion time acquisition information is close to any past state, It is possible to estimate what state is expected to be next, and then present the most recommended operation.
　また、上記態様においては、前記センサが、前記挿入部の体内組織への接触により得られる圧力を検出する圧力センサであってもよい。
　このようにすることで、挿入部の体内への挿入に伴い、挿入部が体内組織に接触すると圧力センサによって検出される圧力が変化するので、現在の挿入部の状態を特定することができる。既に記録されている過去の挿入時取得情報における圧力値あるいは履歴に基づいて、現在の挿入時取得情報により特定される状態が過去のどの状態に近いのかを特定し、その後の最も推奨される操作を推定して提示することができる。 Moreover, in the said aspect, the pressure sensor which detects the pressure obtained by the said sensor contacting the body tissue of the said insertion part may be sufficient.
By doing in this way, the pressure detected by the pressure sensor changes when the insertion part comes into contact with the body tissue as the insertion part is inserted into the body, so that the current state of the insertion part can be specified. Based on the pressure value or history in the past information acquired at the time of past insertion that has already been recorded, the state specified by the current information at the time of insertion is identified as the past, and the most recommended operation thereafter Can be estimated and presented.
　特に、挿入部を挿入して体内組織、例えば、腸壁等が押されて大きな圧力が発生する場合には、患者に、疼痛を感じる等の負担がかかるので、現在の状態から次に大きな圧力が発生しないようにするための次の操作に関するガイド情報を生成することにより、患者にかかる負担を軽減することができる。 In particular, when a large pressure is generated by inserting an insertion part and a body tissue, such as an intestinal wall, is pressed, the patient is burdened with feeling pain. By generating guide information related to the next operation for preventing the occurrence of the problem, the burden on the patient can be reduced.
　また、上記態様においては、前記センサが、体内を撮影して画像情報を取得する撮像素子であってもよい。
　このようにすることで、体内の画像情報によれば、挿入部の先端の位置を特定できる。したがって、ガイド情報生成部が、過去に取得され、累積して記憶されている画像情報と、現在の画像情報との比較により、次の操作に関するガイド情報を生成することができる。 Moreover, in the said aspect, the image sensor which image | photographs the inside of a body and acquires image information may be sufficient as the said sensor.
By doing in this way, according to the image information in a body, the position of the front-end | tip of an insertion part can be pinpointed. Therefore, the guide information generation unit can generate guide information related to the next operation by comparing the image information acquired and accumulated in the past with the current image information.
　また、上記態様においては、前記センサが、前記挿入部の湾曲状態を検出する湾曲形状センサであってもよい。
　このようにすることで、挿入部の湾曲形状から体内のどの部位に挿入部の先端が到達しているのかを特定することができる。したがって、ガイド情報生成部は、過去に取得され、累積して記憶されている挿入部の湾曲状態と、現在の挿入部の湾曲状態との比較により、次の操作に関するガイド情報を生成することができる。 Moreover, in the said aspect, the curve shape sensor which detects the curve state of the said insertion part may be sufficient as the said sensor.
In this way, it is possible to specify which part of the body the distal end of the insertion part has reached from the curved shape of the insertion part. Therefore, the guide information generation unit can generate guide information related to the next operation by comparing the bending state of the insertion portion acquired and accumulated in the past with the bending state of the current insertion portion. it can.
　また、上記態様においては、前記内視鏡が、前記挿入部の先端を長手軸に交差する方向に揺動させる湾曲部と、該湾曲部を湾曲操作する操作部とを備え、前記センサが、前記操作部による湾曲操作量を検出する湾曲操作量センサであってもよい。
　このようにすることで、湾曲操作の履歴によって挿入開始から現在までの挿入部の動作を特定できる。ガイド情報生成部は、過去に取得され、累積して記憶されている挿入部の湾曲操作量と、現在の挿入部の湾曲操作量との比較により、次の操作に関するガイド情報を生成することができる。 In the above aspect, the endoscope includes a bending portion that swings a distal end of the insertion portion in a direction intersecting a longitudinal axis, and an operation portion that performs bending operation on the bending portion, and the sensor includes: A bending operation amount sensor for detecting a bending operation amount by the operation unit may be used.
By doing in this way, operation | movement of the insertion part from insertion start to the present can be pinpointed with the log | history of bending operation. The guide information generation unit may generate guide information relating to the next operation by comparing the bending operation amount of the insertion unit acquired and accumulated in the past with the bending operation amount of the current insertion unit. it can.
　また、上記態様においては、前記センサが、前記挿入部の長手軸回りの回転量を検出する回転量センサであってもよい。
　また、上記態様においては、前記センサが、前記挿入部の長手軸に沿う挿入量を検出する挿入量センサであってもよい。 In the above aspect, the sensor may be a rotation amount sensor that detects a rotation amount around the longitudinal axis of the insertion portion.
Moreover, in the said aspect, the insertion amount sensor which detects the insertion amount along the longitudinal axis of the said insertion part may be sufficient as the said sensor.
　このようにすることで、挿入部の長手軸回りの回転量や挿入量の履歴に基づいて、挿入部の現在の位置や挿入部の先端の方向を特定することができる。したがって、ガイド情報生成部は、過去に取得され、累積して記憶されている挿入部の回転量や挿入量と、現在の挿入部の回転量や挿入量との比較により、次の操作に関するガイド情報を生成することができる。 In this way, the current position of the insertion portion and the direction of the distal end of the insertion portion can be specified based on the rotation amount around the longitudinal axis of the insertion portion and the history of the insertion amount. Therefore, the guide information generation unit obtains the guide for the next operation by comparing the rotation amount and insertion amount of the insertion portion acquired and accumulated in the past with the rotation amount and insertion amount of the current insertion portion. Information can be generated.
　また、前記センサが、患者の生体情報を検出する生体情報センサであってもよい。
　このようにすることで、生体情報センサにより検出された患者の生体情報を参照して、挿入部の現在の状態を特定することができる。例えば、患者の発汗、血圧、心拍数等の生体情報を過去の生体情報と比較して、挿入部の次の状態を推定することができる。 The sensor may be a biological information sensor that detects biological information of a patient.
By doing in this way, the present state of an insertion part can be specified with reference to the patient's living body information detected by the living body information sensor. For example, the next state of the insertion portion can be estimated by comparing biological information such as patient sweating, blood pressure, and heart rate with past biological information.
　また、上記態様においては、前記ガイド情報生成部が、次の操作として推奨される前記挿入部の挿入方向である推奨挿入方向を生成し、前記ガイド情報提示部が、前記ガイド情報生成部により生成された推奨挿入方向を画像、文字、音声またはその組み合わせにより提示してもよい。
　このようにすることで、操作者に対し、次の操作として推奨される推奨挿入方向が画像、文字、音声またはその組み合わせにより提示され、操作者による操作を、過去の情報から推奨される方向に誘導することができる。 In the above aspect, the guide information generation unit generates a recommended insertion direction that is an insertion direction of the insertion unit recommended as the next operation, and the guide information presentation unit generates the guide information generation unit. The recommended insertion direction may be presented as an image, text, sound, or a combination thereof.
In this way, the recommended insertion direction recommended as the next operation is presented to the operator as an image, text, sound, or a combination thereof, and the operation by the operator is recommended in the direction recommended from past information. Can be guided.
　また、上記態様においては、前記ガイド情報生成部が、次の操作として推奨されない前記挿入部の挿入方向である非推奨挿入方向を生成し、前記ガイド情報提示部が、前記ガイド情報生成部により生成された非推奨挿入方向への前記内視鏡の動作を阻止することにより、ガイド情報を提示してもよい。
　このようにすることで、操作者が挿入部を非推奨挿入方向へ挿入しようとすると、その方向への内視鏡の動作が阻止されることにより、操作者はその操作が、過去の情報から推奨されない操作であることを認識でき、無理に同方向への操作を継続せず、他の方向への操作を選択することにより、操作者による操作を、過去の情報から推奨される方向に誘導することができる。 In the above aspect, the guide information generation unit generates a non-recommended insertion direction that is an insertion direction of the insertion unit that is not recommended as the next operation, and the guide information presentation unit generates the guide information generation unit. The guide information may be presented by preventing the operation of the endoscope in the non-recommended insertion direction.
In this way, when the operator tries to insert the insertion portion in the non-recommended insertion direction, the operation of the endoscope in that direction is blocked, so that the operator can Recognize that the operation is not recommended, and do not continue operation in the same direction, but by selecting an operation in another direction, the operation by the operator is guided in the recommended direction from past information can do.
　また、上記態様においては、前記ガイド情報生成部が、次の操作として推奨されない前記湾曲部の湾曲方向である非推奨湾曲方向を生成し、前記ガイド情報提示部が、前記ガイド情報生成部により生成された前記非推奨湾曲方向への前記操作部の操作に要する力を増大させてもよい。
　このようにすることで、操作者が挿入部を非推奨挿入方向へ挿入しようとすると、その方向への操作部を大きな力で操作しなければならず、操作者はその操作が、過去の情報から推奨されない操作であることを認識でき、無理に同方向への操作を継続せず、他の方向への操作を選択することにより、操作者による操作を、過去の情報から推奨される方向に誘導することができる。 In the above aspect, the guide information generation unit generates a non-recommended bending direction that is a bending direction of the bending unit that is not recommended as the next operation, and the guide information presentation unit generates the guide information generation unit. The force required to operate the operation unit in the non-recommended bending direction may be increased.
In this way, when the operator tries to insert the insertion part in the non-recommended insertion direction, the operator must operate the operation part in that direction with great force, and the operator can It is possible to recognize that the operation is not recommended, and by selecting the operation in the other direction without forcibly continuing the operation in the same direction, the operation by the operator is changed to the recommended direction from the past information. Can be guided.
　また、上記態様においては、前記内視鏡が、前記挿入部の形状を固定する固定機構を備え、前記ガイド情報提示部は、前記ガイド情報生成部により生成された非推奨挿入方向への前記内視鏡の動作がなされたときに、前記固定機構により前記挿入部の形状を固定してもよい。
　このようにすることで、操作者が挿入部を非推奨挿入方向へ挿入しようとすると、その挿入部の形状が固定機構により固定されるので、操作者はその操作が、過去の情報から推奨されない操作であることを認識でき、無理に同方向への操作を継続せず、他の方向への操作を選択することにより、操作者による操作を、過去の情報から推奨される方向に誘導することができる。 Further, in the above aspect, the endoscope includes a fixing mechanism that fixes a shape of the insertion portion, and the guide information presenting portion is arranged in the non-recommended insertion direction generated by the guide information generation portion. When the operation of the endoscope is performed, the shape of the insertion portion may be fixed by the fixing mechanism.
By doing so, when the operator tries to insert the insertion portion in the non-recommended insertion direction, the shape of the insertion portion is fixed by the fixing mechanism, so the operator is not recommended for the operation based on past information. Recognize that it is an operation, and do not continue operation in the same direction, but by selecting an operation in another direction, the operation by the operator is guided in the recommended direction from past information Can do.
　また、上記態様においては、前記内視鏡の前記挿入部を被覆するオーバーチューブと、該オーバーチューブと前記挿入部との間の摩擦を可変させる摩擦調節部とを備え、前記ガイド情報提示部は、前記ガイド情報生成部により生成された非推奨挿入方向への前記挿入部の挿入または回転操作がなされたときに、前記摩擦調節部により摩擦を増大させてもよい。 In the above aspect, the guide information presentation unit includes an overtube that covers the insertion portion of the endoscope, and a friction adjustment unit that varies a friction between the overtube and the insertion portion. When the insertion unit is inserted or rotated in the non-recommended insertion direction generated by the guide information generation unit, the friction may be increased by the friction adjustment unit.
　このようにすることで、操作者が挿入部を非推奨挿入方向へ挿入部を回転または挿入しようとすると、摩擦調節部によってオーバーチューブと挿入部との間の摩擦が増大するので、操作者はその操作が、過去の情報から推奨されない操作であることを認識でき、無理に同操作を継続せず、他の操作を選択することにより、操作者による操作を、過去の情報から推奨される方向に誘導することができる。 By doing so, when the operator tries to rotate or insert the insertion portion in the non-recommended insertion direction, the friction adjustment portion increases the friction between the overtube and the insertion portion, so that the operator It can be recognized that the operation is not recommended from past information, and the operation by the operator is recommended from past information by selecting another operation without forcibly continuing the operation. Can be guided to.
　また、本発明の他の態様は、体内に挿入される挿入部と、該挿入部の患者の体内への挿入時に得られる１以上の挿入時取得情報を検出可能なセンサとを備える内視鏡と、記憶部に累積して記憶されている過去に取得された多数の前記挿入時取得情報を、ネットワークを介して取得する通信部と、前記挿入部を患者の体内に挿入する際に前記センサにより取得された現在の前記挿入時取得情報と、前記通信部により取得された過去の前記挿入時取得情報とに基づいて、次の操作に関するガイド情報を生成するガイド情報生成部と、該ガイド情報生成部により生成されたガイド情報を操作者に対して提示するガイド情報提示部とを備える内視鏡システムである。 In another aspect of the present invention, an endoscope includes an insertion portion that is inserted into a body, and a sensor that can detect one or more insertion-acquisition information obtained when the insertion portion is inserted into a patient's body. A communication unit that acquires a large number of pieces of information acquired at the time of insertion that are accumulated and stored in the storage unit via a network, and the sensor that is used when the insertion unit is inserted into a patient's body. A guide information generating unit that generates guide information related to a next operation based on the current insertion time acquisition information acquired by the communication unit and the past acquisition time acquisition information acquired by the communication unit; and the guide information It is an endoscope system provided with the guide information presentation part which presents the guide information produced | generated by the production | generation part with respect to an operator.
　本態様によれば、内視鏡の挿入部を患者の体内に挿入すると、センサにより１以上の現在の挿入時取得情報が検出される。また、過去に１以上の患者に対して取得され累積して記憶されている多数の過去の挿入時取得情報が、通信部によりネットワークを介して記憶部から取得される。ガイド情報生成部により、現在の挿入時取得情報と過去の多数の挿入時取得情報とに基づいてガイド情報が生成され、生成されたガイド情報がガイド情報提示部により操作者に提示される。 According to this aspect, when the insertion portion of the endoscope is inserted into the patient's body, one or more current acquired information at the time of insertion is detected by the sensor. Also, a large number of past insertion-time acquisition information acquired and accumulated for one or more patients in the past is acquired from the storage unit via the network by the communication unit. The guide information generation unit generates guide information based on the current insertion time acquisition information and a large number of past insertion time acquisition information, and the generated guide information is presented to the operator by the guide information presentation unit.
　累積して記憶されている過去の挿入時取得情報に基づけば、現在の挿入時取得情報により特定される状態が過去のどの状態に近いのかを特定でき、その後の最も推奨される操作を推定して提示することができる。これにより、患者に不快感を与える前に推奨情報を事前に提示することができる。 Based on the accumulated past acquisition information stored in memory, it is possible to identify the past state that is identified by the current insertion information, and to estimate the most recommended operation thereafter. Can be presented. Thereby, it is possible to present the recommended information in advance before giving the patient discomfort.
　また、本発明の他の態様は、現在の患者の体内への内視鏡の挿入部の挿入時に取得された挿入時取得情報をネットワークを介して取得する受信部と、１以上の患者の体内への過去の挿入時に得られた多数の前記挿入時取得情報を累積して記憶する記憶部と、前記受信部により取得された現在の前記挿入時取得情報と、前記記憶部に記憶されている過去の前記挿入時取得情報とに基づいて、前記内視鏡の次の操作に関するガイド情報を生成するガイド情報生成部と、該ガイド情報生成部により生成された前記ガイド情報を、前記ネットワークを介して前記内視鏡の操作者に送信する送信部とを備える内視鏡情報処理装置である。 In another aspect of the present invention, there is provided a receiving unit that acquires, via a network, information obtained at the time of insertion of an insertion unit of an endoscope into the body of a current patient, and one or more patient's bodies A storage unit for accumulating and storing a large number of the insertion-time acquisition information obtained at the time of past insertion, and the current acquisition-time acquisition information acquired by the reception unit and stored in the storage unit The guide information generation unit that generates guide information related to the next operation of the endoscope based on the past acquired information at the time of insertion, and the guide information generated by the guide information generation unit via the network An endoscope information processing apparatus including a transmission unit configured to transmit to an operator of the endoscope.
　本態様によれば、現在の患者の体内への内視鏡の挿入部の挿入時に取得された挿入時取得情報が、ネットワークを介して受信部により受信されると、記憶部に記憶されている１以上の患者の体内への過去の挿入時に得られた多数の挿入時取得情報が記憶部から読み出され、これら現在の挿入時取得情報と過去の挿入時取得情報とに基づいて、ガイド情報生成部により、ガイド情報が生成され、生成されたガイド情報が送信部により内視鏡の操作者に送信される。 According to this aspect, when the insertion-time acquisition information acquired when the endoscope insertion unit is inserted into the body of the current patient is received by the reception unit via the network, the information is stored in the storage unit. A large number of insertion-time acquisition information obtained at the time of past insertion into the body of one or more patients is read from the storage unit, and based on the current insertion-time acquisition information and past insertion-time acquisition information, guide information is obtained. Guide information is generated by the generation unit, and the generated guide information is transmitted to the operator of the endoscope by the transmission unit.
　累積して記憶されている過去の挿入時取得情報に基づけば、現在の挿入時取得情報により特定される状態が過去のどの状態に近いのかを特定でき、その後の最も推奨される操作を推定することができる。生成されたガイド情報を操作者に提示することにより、患者に不快感を与える前に推奨される操作を行うことができる。 Based on the past acquired information at the time of insertion stored in memory, it is possible to specify which state in the past is close to the state specified by the acquired information at the time of insertion, and to estimate the most recommended operation thereafter. be able to. By presenting the generated guide information to the operator, it is possible to perform a recommended operation before giving discomfort to the patient.
　また、本発明の他の態様は、１以上の患者の体内への過去の挿入時に得られた多数の挿入時取得情報を累積して記憶しておき、現在の患者の体内に内視鏡の挿入部を挿入する際に取得された現在の前記挿入時取得情報と、記憶されている過去の前記挿入時取得情報とに基づいて、次の操作に関するガイド情報を生成し、生成されたガイド情報を操作者に対して提示する内視鏡情報処理方法である。 Further, another aspect of the present invention accumulates and stores a large number of information obtained at the time of past insertion into the body of one or more patients, and stores the endoscope in the current patient's body. Based on the current insertion time acquisition information acquired when the insertion unit is inserted and the stored past insertion time acquisition information, guide information on the next operation is generated, and the generated guide information Is an endoscope information processing method.
　本発明によれば、患者に不快感を与えない内視鏡の挿入部の操作を行うように操作者を誘導することができるという効果を奏する。 According to the present invention, there is an effect that it is possible to guide the operator to operate the insertion portion of the endoscope that does not cause discomfort to the patient.
本発明の一実施形態に係る内視鏡システムを示す全体構成図である。1 is an overall configuration diagram showing an endoscope system according to an embodiment of the present invention. 図１の内視鏡システムに備えられる回転量・挿入量センサの一例を示す縦断面図である。It is a longitudinal cross-sectional view which shows an example of the rotation amount and insertion amount sensor with which the endoscope system of FIG. 1 is equipped. 図１の内視鏡システムの記憶部に記憶された過去の挿入時取得情報から構築された状態予測モデルの一例を示す図である。It is a figure which shows an example of the state prediction model constructed | assembled from the past acquired information at the time of insertion memorize | stored in the memory | storage part of the endoscope system of FIG. 図１の内視鏡システムの画像・音声報知部により画像によって報知されるガイド情報の一例を示す図である。It is a figure which shows an example of the guide information alert | reported by the image by the image and audio | voice alerting | reporting part of the endoscope system of FIG. 図１の内視鏡システムの画像・音声報知部により文字によって報知されるガイド情報の一例を示す図である。It is a figure which shows an example of the guide information alert | reported by the character by the image and audio | voice alerting | reporting part of the endoscope system of FIG. 図１の内視鏡システムの第１の変形例を示す全体構成図である。It is a whole block diagram which shows the 1st modification of the endoscope system of FIG. 図１の内視鏡システムの第２の変形例を示す全体構成図である。It is a whole block diagram which shows the 2nd modification of the endoscope system of FIG. 図１の内視鏡システムの第３の変形例を示す全体構成図である。It is a whole block diagram which shows the 3rd modification of the endoscope system of FIG. 図７の内視鏡システムに備えられる摩擦調節部の一例を示す縦断面図である。It is a longitudinal cross-sectional view which shows an example of the friction adjustment part with which the endoscope system of FIG. 7 is equipped. 本発明の一実施形態に係る内視鏡情報処理装置を示す図である。It is a figure which shows the endoscope information processing apparatus which concerns on one Embodiment of this invention.
　本発明の一実施形態に係る内視鏡システム１について、図面を参照して以下に説明する。
　本実施形態に係る内視鏡システム１は、図１に示されるように、内視鏡２と、該内視鏡２を制御し、内視鏡２により取得された情報を処理するプロセッサ３と、プロセッサ３による処理結果を表示する画像・音声報知部（ガイド情報提示部）４と、記憶部５とを備えている。 An endoscope system 1 according to an embodiment of the present invention will be described below with reference to the drawings.
As shown in FIG. 1, an endoscope system 1 according to this embodiment includes an endoscope 2 and a processor 3 that controls the endoscope 2 and processes information acquired by the endoscope 2. , An image / audio notification unit (guide information presentation unit) 4 for displaying a processing result by the processor 3 and a storage unit 5 are provided.
　内視鏡２は、患者の体内に挿入される挿入部６と、該挿入部６を被覆するオーバーチューブ７と、挿入部６に備えられた湾曲部８を操作するアングル操作部（操作部）９とを備えている。
　挿入部６は長尺に形成され、その先端に先端部と、該先端部を揺動させる湾曲部８とを備えている。 The endoscope 2 includes an insertion portion 6 that is inserted into the body of a patient, an overtube 7 that covers the insertion portion 6, and an angle operation portion (operation portion) that operates a bending portion 8 provided in the insertion portion 6. 9 and.
The insertion portion 6 is formed in a long shape, and includes a distal end portion and a bending portion 8 that swings the distal end portion.
　先端部には、先端から照明光を射出させる照明部１０と、患者の体内の画像を取得する撮像部（撮像素子、センサ）１１とが備えられている。
　挿入部６には、アングル操作部９の操作量を検出する操作量センサ（センサ）１２と、湾曲部８の湾曲量を検出する湾曲量センサ（湾曲形状センサ、センサ）１３とが備えられている。アングル操作部９には図示しない２つのハンドルが備えられ、湾曲部８を相互に直交する２方向にそれぞれ揺動させることができるようになっている。操作量センサ１２および湾曲量センサ１３は、２つのハンドルによる揺動方向毎に操作量および湾曲量を検出することができるようになっている。 The distal end portion includes an illumination unit 10 that emits illumination light from the distal end, and an imaging unit (imaging element, sensor) 11 that acquires an image inside the patient's body.
The insertion unit 6 includes an operation amount sensor (sensor) 12 that detects an operation amount of the angle operation unit 9 and a bending amount sensor (bending shape sensor, sensor) 13 that detects a bending amount of the bending unit 8. Yes. The angle operation unit 9 includes two handles (not shown) so that the bending unit 8 can be swung in two directions orthogonal to each other. The operation amount sensor 12 and the bending amount sensor 13 can detect the operation amount and the bending amount for each swinging direction of the two handles.
　オーバーチューブ７は、内部に貫通させた挿入部６をその長手軸方向および長手軸回りの回転方向に相対移動可能に支持しており、長手軸方向の移動量（挿入量）および長手軸回りの回転量を検出する回転量・挿入量センサ（回転量センサ、挿入量センサ、センサ）１４を備えている。回転量・挿入量センサ１４は、図２に示されるように、オーバーチューブ７に配置され径方向内方に配置されている挿入部６の表面に向けて光を照射する発光部１５と、照射された光の挿入部６の表面における反射光を受光する受光部１６とを備えている。挿入方向およびまたは回転方向に挿入部６の表面が移動したときの受光部１６により受光される光の変動によって、回転量および／または挿入量を検出することができるようになっている。符号１７は、光学的に透明な材質からなる窓部材である。 The overtube 7 supports the insertion portion 6 penetrated therein so as to be relatively movable in the longitudinal axis direction and the rotational direction around the longitudinal axis. The overtube 7 moves in the longitudinal axis direction (insertion amount) and around the longitudinal axis. A rotation amount / insertion amount sensor (rotation amount sensor, insertion amount sensor, sensor) 14 for detecting the rotation amount is provided. As shown in FIG. 2, the rotation amount / insertion amount sensor 14 includes a light emitting unit 15 that irradiates light toward the surface of the insertion unit 6 that is disposed on the overtube 7 and that is disposed radially inward. And a light receiving portion 16 that receives reflected light on the surface of the light insertion portion 6. The amount of rotation and / or the amount of insertion can be detected by the fluctuation of the light received by the light receiving unit 16 when the surface of the insertion unit 6 moves in the insertion direction and / or the rotation direction. Reference numeral 17 denotes a window member made of an optically transparent material.
　プロセッサ３は、照明部１０を制御する照明制御部１８と、撮像部１１により取得された画像を処理する画像処理部１９と、該画像処理部１９により取得された画像内の特徴量を抽出する特徴量抽出部２０と、ネットワーク２１を介して記憶部５から過去の情報を取得する情報取得部２２と、特徴量抽出部２０により抽出された特徴量および各種センサ１１，１２，１３，１４，２４により検出された情報と、情報取得部２２により取得された過去の情報とに基づいてガイド情報を生成する演算処理部（ガイド情報生成部）２３とを備えている。 The processor 3 extracts an illumination control unit 18 that controls the illumination unit 10, an image processing unit 19 that processes an image acquired by the imaging unit 11, and a feature amount in the image acquired by the image processing unit 19. The feature amount extraction unit 20, the information acquisition unit 22 that acquires past information from the storage unit 5 via the network 21, the feature amount extracted by the feature amount extraction unit 20, and various sensors 11, 12, 13, 14, And an arithmetic processing unit (guide information generating unit) 23 that generates guide information based on the information detected by 24 and the past information acquired by the information acquiring unit 22.
　なお、図中、符号２４は患者に装着され、手術中の患者の発汗、血圧、心拍数等の生体情報を取得する生体情報センサである。
　また、符号２５は、特徴量抽出部２０による特徴量抽出処理において参照するパターンを記憶するパターン辞書である。 In the figure, reference numeral 24 denotes a biological information sensor that is attached to a patient and acquires biological information such as sweating, blood pressure, heart rate and the like of the patient during the operation.
Reference numeral 25 denotes a pattern dictionary that stores patterns to be referred to in the feature amount extraction processing by the feature amount extraction unit 20.
　特徴量抽出部２０は、取得された画像から特徴を生成する特徴量演算部２６と、生成された特徴のパターンとパターン辞書に記憶されているパターンとの照合を行うパターン分類部２７と、２以上のフレームの変形対応関係を示す変形量演算部２８とを備えている。
　特徴量抽出部２０は、画像情報をそのまま扱うのではなく、より低次元の特徴量に変換することによって扱うデータ量を低減するものである。 The feature quantity extraction unit 20 includes a feature quantity calculation unit 26 that generates a feature from the acquired image, a pattern classification unit 27 that performs matching between the generated feature pattern and a pattern stored in the pattern dictionary, and 2 And a deformation amount calculation unit 28 showing the above-described frame deformation correspondence relationship.
The feature amount extraction unit 20 does not handle the image information as it is, but reduces the amount of data handled by converting the image information into a lower-dimensional feature amount.
　低次元の特徴量としては、色の分布、明るさの分布、テクスチャの粒度分布、局所的なパターン分類等である。パターン分類は画像全体に対して形状の特徴を表す処理結果を用いた分類で、形状の特徴量としては、例えば、勾配のヒストグラム等を用いてもよい。 低 Low-dimensional feature quantities include color distribution, brightness distribution, texture grain size distribution, and local pattern classification. The pattern classification is a classification using a processing result representing the shape feature for the entire image. For example, a gradient histogram may be used as the shape feature amount.
　記憶部５には、過去に１以上の患者に対して、１以上の内視鏡２を用いて行われた多数の挿入術において各種センサ１１，１２，１３，１４，２４により取得された情報が学習データベースとして記憶されている。この学習データベースにおいても、データ量を少なくするために画像情報はそのままの形態ではなく、より低次元の特徴量として記憶されている。 In the storage unit 5, information acquired by various sensors 11, 12, 13, 14, and 24 in a number of insertions performed using one or more endoscopes 2 for one or more patients in the past. Is stored as a learning database. Also in this learning database, the image information is not stored as it is, but is stored as a lower-dimensional feature amount in order to reduce the data amount.
　本実施形態においては、学習データベースには、操作量センサ１２により検出されたアングル操作部９の操作量、湾曲量センサ１３により検出された湾曲部８の湾曲量、回転量・挿入量センサ１４により検出された挿入部６の回転量および挿入量、および生体情報センサ２４により検出された生体情報の少なくとも１つに基づいた情報（挿入時取得情報）が多数蓄積されている。 In the present embodiment, the learning database includes the operation amount of the angle operation unit 9 detected by the operation amount sensor 12, the bending amount of the bending portion 8 detected by the bending amount sensor 13, and the rotation amount / insertion amount sensor 14. A large amount of information (acquired information at the time of insertion) is accumulated based on at least one of the detected rotation amount and insertion amount of the insertion portion 6 and biological information detected by the biological information sensor 24.
　すなわち、学習データベースには、下式に示されるように、事象の生起確率を生成するためのデータが蓄積されている。
　Ｐｉ＝Ｐ（ｚｉ｜ａ（ｔｉ－Δｔ），ａ（ｔｉ），ｂｉ（ｔｉ＋Δｔ），Ｔ）
　ここで、Ｐｉは事象ｚｉの生起確率、ｔｉは時刻を表し、Δｔ秒前と現在の状態はａであって、ｂｉはΔｔ秒後の状態を選択した状況を表し、ａ，ｂｉはそれぞれｋ個の情報量を持っている。すなわち、現在と所定時間前の状態と次の選択肢によって、どのような状態が予測できるかをデータベース化している。 That is, the learning database stores data for generating event occurrence probabilities as shown in the following equation.
P i = P (zi | a (t i −Δt), a (t i ), b i (t i + Δt), T)
Here, P i represents the occurrence probability of event z i , t i represents time, a state before Δt seconds and the current state is a, b i represents a situation in which a state after Δt seconds is selected, a, Each b i has k pieces of information. That is, a database of what state can be predicted based on the current state, the state before a predetermined time, and the next option.
　学習データベースのデータ収集と学習課程においては、回避すべきパターン、例えば、腸壁への極度な衝突、挿入術のやり直し、すなわち、組立直し（例えば、軸短縮直線化法では、細かい挿入・回転・抜去が多いことから、所定距離以上の挿入・抜去の繰り返しが頻繁な時には、挿入術の組立が失敗していると判断する）などの事象が起きていることを推定する。あるいは、手入力作業で失敗の事象を明記してもよい。 In the data collection and learning process of the learning database, patterns to be avoided, such as extreme collisions with the intestinal wall, re-insertion, that is, reassembly (for example, in the axial shortening linearization method, fine insertion, rotation, Since there are many removals, it is estimated that an event such as that the assembly of the insertion operation has failed has occurred when repeated insertion and removal over a predetermined distance are frequent. Alternatively, the failure event may be specified manually.
　その結果、図３に示されるような多変量時系列パターン（状態予測モデル）が生成されて記憶部５の学習データベースに蓄積されている。
　図３に示す例では、回避すべきパターンは、操作ｃ１および操作ｃ２である。 As a result, a multivariate time series pattern (state prediction model) as shown in FIG. 3 is generated and stored in the learning database of the storage unit 5.
In the example shown in FIG. 3, the patterns to be avoided are the operation c1 and the operation c2.
　演算処理部２３においては、現在行っている内視鏡挿入術において各種センサ１１，１２，１３，１４，２４により取得された情報と、記憶部５の学習データベースから取得した分類パターンとの類似度によって、状態の生起確率を推定し、回避すべき挿入パターンを特定するようになっている。すなわち、時刻Ｔまでの状態を記録し、それまでの多変量時系列パターンＡ（Ｔ－ｎｔ，Ｔ－（ｎ－１）ｔ・・・Ｔ）と類似のパターンを検索し、その後の事象推定を行うようになっている。 In the arithmetic processing unit 23, the similarity between the information acquired by the various sensors 11, 12, 13, 14, and 24 and the classification pattern acquired from the learning database of the storage unit 5 in the endoscopic insertion currently being performed. Thus, the occurrence probability of the state is estimated and the insertion pattern to be avoided is specified. That is, the state up to the time T is recorded, a pattern similar to the multivariate time series pattern A (T-nt, T- (n-1) t... Is supposed to do.
　例えば、図３において、時刻Ｔにおける状態の多変量時系列パターンＡと類似するパターンが学習データベースにおいて検出されたときには、その後の操作Ｂ１はいずれも回避すべき操作パターンｃ１，ｃ２に続くため、操作Ｂ１を取らないように誘導するガイド情報が生成されるようになっている。図中、操作Ｂ２は、回避すべき操作パターンｃ１，ｃ２に至らない正常な操作パターンである。 For example, in FIG. 3, when a pattern similar to the multivariate time-series pattern A in the state at time T is detected in the learning database, the subsequent operation B1 follows the operation patterns c1 and c2 to be avoided. Guide information for guiding not to take B1 is generated. In the figure, the operation B2 is a normal operation pattern that does not reach the operation patterns c1 and c2 to be avoided.
　ガイド情報としては、図４Ａに示されるように、表示された画像中に表示される矢印や色強調を挙げることができる。これにより、操作者に次の挿入方向を案内することができる。
　また、図４Ｂに示されるように、表示された画像中に文字によるガイド情報を表示してもよい。 As the guide information, as shown in FIG. 4A, an arrow or color emphasis displayed in the displayed image can be cited. Thereby, the operator can be guided to the next insertion direction.
Further, as shown in FIG. 4B, guide information by characters may be displayed in the displayed image.
　このように構成された本実施形態に係る内視鏡システム１によれば、記憶部５の学習データベースに累積して蓄積された過去の各種センサ情報（画像情報を含む）と、新たに取得された各種センサ情報との類似度によって状態の生起確率を推定し、回避すべき挿入パターンが実施される前に、他の挿入パターンに誘導するガイド情報を表示するので、患者にかかる負担を軽減することができるという利点がある。
　すなわち、腸壁が押されて患者が疼痛を感じた後にそれ以上の進行を回避する従来の内視鏡システムとは異なり、患者が疼痛を感じる前に、次の推奨すべき操作を提示できる。 According to the endoscope system 1 according to the present embodiment configured as described above, various past sensor information (including image information) accumulated and accumulated in the learning database of the storage unit 5 is newly acquired. Since the probability of occurrence of the state is estimated based on the similarity to various sensor information, and guide information to be guided to other insertion patterns is displayed before the insertion pattern to be avoided is performed, the burden on the patient is reduced. There is an advantage that you can.
That is, unlike the conventional endoscope system that avoids further progression after the intestinal wall is pushed and the patient feels pain, the next recommended operation can be presented before the patient feels pain.
　なお、本実施形態においては、ガイド情報を画像あるいは文字によって画面に表示する場合を例示したが、これに代えて、音声によって提示することにしてもよい。
　また、本実施形態においては、挿入時取得情報として、圧力センサ（センサ）を用いて挿入部６の体内組織への接触により得られる圧力を検出してもよい。
　また、図５に示されるように、アングル操作部９の操作抵抗を調節する操作抵抗制御部（ガイド情報提示部）２９を備え、演算処理部２３によって生成されたガイド情報に基づいて、操作抵抗を調節することにより、ガイド情報を操作者に提示することにしてもよい。 In the present embodiment, the guide information is displayed on the screen as an image or a character. However, instead of this, the guide information may be presented by voice.
Moreover, in this embodiment, you may detect the pressure obtained by the contact to the body tissue of the insertion part 6 using a pressure sensor (sensor) as information at the time of insertion.
Further, as shown in FIG. 5, an operation resistance control unit (guide information presentation unit) 29 that adjusts the operation resistance of the angle operation unit 9 is provided, and the operation resistance is based on the guide information generated by the arithmetic processing unit 23. The guide information may be presented to the operator by adjusting.
　すなわち、湾曲部８を右側に湾曲させることが回避すべき挿入パターン（非推奨湾曲方向）である場合に、湾曲部８を右側に湾曲させる方向のアングル操作部９の操作が他の方向の操作よりも重くなるように抵抗を増大させるように調節すればよい。アングル操作が重くなったことを感知した操作者は、無理に同方向への操作を継続しないので、結果として、回避すべき挿入パターン以外の挿入パターン（推奨湾曲方向）への操作を誘導することができるという利点がある。 That is, when the bending pattern 8 is to be bent to the right side in an insertion pattern (unrecommended bending direction), the operation of the angle operation unit 9 in the direction of bending the bending part 8 to the right side is the operation in the other direction. What is necessary is just to adjust so that resistance may be increased so that it may become heavier. An operator who senses that the angle operation has become heavier will not forcefully continue the operation in the same direction, and as a result, guide the operation to an insertion pattern (recommended bending direction) other than the insertion pattern to be avoided. There is an advantage that can be.
　また、アングル操作部９の操作抵抗を調節することに代えて、図６に示されるように、挿入部６に硬度調節部（固定機構）３０を備えてもよい。硬度調節部３０は、演算処理部２３から出力されるガイド情報に基づいて、挿入部６をその時点の形状に硬化させるものである。アングル操作部９の操作抵抗は変化しないが、回避すべき挿入パターン（非推奨挿入方向）の方向へのアングル操作部９の操作が行われたときに、その位置で挿入部６を硬化させることにより、操作者が、回避すべき挿入パターン以外の挿入パターン（推奨挿入方向）となる操作を行うように誘導することができる。 Further, instead of adjusting the operation resistance of the angle operation unit 9, as shown in FIG. 6, the insertion unit 6 may be provided with a hardness adjustment unit (fixing mechanism) 30. Based on the guide information output from the arithmetic processing unit 23, the hardness adjusting unit 30 cures the insertion unit 6 to the shape at that time. Although the operation resistance of the angle operation unit 9 does not change, when the angle operation unit 9 is operated in the direction of the insertion pattern to be avoided (unrecommended insertion direction), the insertion unit 6 is cured at that position. Thus, it is possible to guide the operator to perform an operation with an insertion pattern (recommended insertion direction) other than the insertion pattern to be avoided.
　また、図７に示す例では、オーバーチューブ７に摩擦調節部３１を設け、演算処理部２３から出力されるガイド情報に基づいて、オーバーチューブ７と挿入部６との間の摩擦を増減させることにしてもよい。摩擦調節部３１は、例えば、図８に示されるように、オーバーチューブ７と挿入部６との間に配置されたバルーン３２により構成し、バルーン３２を膨張させることで、オーバーチューブ７と挿入部６との間の摩擦を増大させ、バルーン３２を収縮させることで摩擦を低減させることにすればよい。 In the example shown in FIG. 7, the overtube 7 is provided with the friction adjustment unit 31, and the friction between the overtube 7 and the insertion unit 6 is increased or decreased based on the guide information output from the arithmetic processing unit 23. It may be. For example, as shown in FIG. 8, the friction adjustment unit 31 is configured by a balloon 32 disposed between the overtube 7 and the insertion unit 6, and the balloon 32 is inflated, so that the overtube 7 and the insertion unit are expanded. It is only necessary to increase the friction between the two and reduce the friction by deflating the balloon 32.
　すなわち、上記と同様にして、回避すべき挿入パターンの方向への挿入部６の挿入あるいは回転が行われたときに、摩擦を増大させて、オーバーチューブ７に対して挿入部６が相対移動しないように固定することにより、操作者が、回避すべき挿入パターン（非推奨挿入方向）以外の挿入パターン（推奨挿入方向）となる操作を行うように誘導することができる。 That is, in the same manner as described above, when the insertion portion 6 is inserted or rotated in the direction of the insertion pattern to be avoided, friction is increased and the insertion portion 6 does not move relative to the overtube 7. By fixing in this manner, the operator can be guided to perform an operation with an insertion pattern (recommended insertion direction) other than the insertion pattern to be avoided (unrecommended insertion direction).
　また、本発明は、内視鏡２に接続されたプロセッサ３において、ガイド情報を生成することとしたが、これに代えて、図９に示されるように、記憶部５が備えられているサーバ３４側においてガイド情報を生成してもよい。この場合には、演算処理部２３に代えて、取得した各種情報を受け渡す信号処理部３３を設けることにすればよい。 In the present invention, the guide information is generated in the processor 3 connected to the endoscope 2, but instead of this, a server provided with a storage unit 5 as shown in FIG. Guide information may be generated on the 34th side. In this case, in place of the arithmetic processing unit 23, a signal processing unit 33 for transferring various acquired information may be provided.
　すなわち、信号処理部３３は、画像情報から取得されたパターン分類情報、各種センサ１１，１２，１３，１４，２４から取得された挿入時取得情報を収集し、収集された挿入時取得情報を通信部（送信部）３５に送る。通信部３５は、送られてきた挿入時取得情報をネットワーク２１に送信し、通信部（受信部）３６がネットワーク２１を介してサーバ（内視鏡情報処理装置）３４に送られてきた挿入時取得情報を受信して、受信された挿入時取得情報が演算処理部２３に送られる。そして、演算処理部２３において、記憶部５から読み出した過去の挿入時取得情報と送られてきた現在の挿入時取得情報とに基づいてガイド情報を生成すればよい。生成されたガイド情報は、再度、ネットワーク２１をプロセッサ３に送られ、画像・音声報知部４により操作者に提示されればよい。 That is, the signal processing unit 33 collects the pattern classification information acquired from the image information and the insertion time acquisition information acquired from the various sensors 11, 12, 13, 14, and 24, and communicates the acquired insertion time acquisition information. To the unit (transmission unit) 35. The communication unit 35 transmits the inserted acquisition information transmitted to the network 21, and the communication unit (reception unit) 36 transmits to the server (endoscopic information processing apparatus) 34 via the network 21 at the time of insertion. The acquisition information is received, and the received acquisition information is sent to the arithmetic processing unit 23. Then, the calculation processing unit 23 may generate guide information based on the past insertion time acquisition information read from the storage unit 5 and the current insertion time acquisition information sent. The generated guide information may be sent again to the processor 3 through the network 21 and presented to the operator by the image / audio notification unit 4.
　また、本発明は、１以上の患者の体内への過去の挿入時に得られた多数の挿入時取得情報を累積して記憶しておき、現在の患者の体内に内視鏡２の挿入部６を挿入する際に取得された現在の挿入時取得情報と、記憶されている過去の挿入時取得情報とに基づいて、次の操作に関するガイド情報を生成し、生成されたガイド情報を操作者に対して提示する内視鏡情報処理方法として概念することもできる。 In addition, the present invention accumulates and stores a large number of pieces of information acquired at the time of past insertion into the body of one or more patients, and inserts the insertion unit 6 of the endoscope 2 into the body of the current patient. Based on the current acquisition information acquired at the time of insertion and the past acquired information acquired at the time of insertion, guide information on the next operation is generated, and the generated guide information is sent to the operator. It can also be conceptualized as an endoscope information processing method to be presented.
　１　内視鏡システム
　２　内視鏡
　４　画像・音声報知部（ガイド情報提示部）
　５　記憶部
　６　挿入部
　７　オーバーチューブ
　８　湾曲部
　９　アングル操作部（操作部）
　１１　撮像部（撮像素子、センサ）
　１３　湾曲量センサ（湾曲形状センサ、センサ）
　１４　回転量・挿入量センサ（回転量センサ、挿入量センサ、センサ）
　２１　ネットワーク
　２３　演算処理部（ガイド情報生成部）
　２４　生体情報センサ（センサ）
　２９　操作抵抗制御部（ガイド情報提示部）
　３０　硬度調節部（固定機構）
　３１　摩擦調節部
　３４　サーバ（内視鏡情報処理装置）
　３５　通信部（送信部）
　３６　通信部（受信部）
  DESCRIPTION OF SYMBOLS 1 Endoscope system 2 Endoscope 4 Image | video audio | voice notification part (guide information presentation part)
5 Storage unit 6 Insertion unit 7 Overtube 8 Bending unit 9 Angle operation unit (operation unit)
11 Imaging unit (imaging device, sensor)
13 Bending amount sensor (bending shape sensor, sensor)
14 Rotation amount / insertion amount sensor (rotation amount sensor, insertion amount sensor, sensor)
21 network 23 arithmetic processing unit (guide information generation unit)
24 Biological information sensor (sensor)
29 Operation resistance control unit (guide information presentation unit)
30 Hardness adjuster (fixing mechanism)
31 Friction adjustment part 34 Server (Endoscope information processing device)
35 Communication unit (transmission unit)
36 Communication unit (receiving unit)

Claims (17)

  1. 　体内に挿入される挿入部と、該挿入部の患者の体内への挿入時に得られる１以上の挿入時取得情報を検出可能なセンサとを備える内視鏡と、
    　１以上の患者の体内への挿入時に得られた過去の多数の前記挿入時取得情報を累積して記憶する記憶部と、
    　前記挿入部を患者の体内に挿入する際に前記センサにより取得された現在の前記挿入時取得情報と、前記記憶部に記憶されている過去の前記挿入時取得情報とに基づいて、次の操作に関するガイド情報を生成するガイド情報生成部と、
    　該ガイド情報生成部により生成されたガイド情報を操作者に対して提示するガイド情報提示部とを備える内視鏡システム。     An endoscope provided with an insertion portion to be inserted into the body, and a sensor capable of detecting one or more insertion-time acquisition information obtained when the insertion portion is inserted into a patient's body;
    A storage unit for accumulating and storing a large number of past acquisition information obtained at the time of insertion into the body of one or more patients;
    Based on the current insertion-time acquisition information acquired by the sensor when the insertion unit is inserted into the patient's body, and the previous insertion-time acquisition information stored in the storage unit, the next operation A guide information generation unit for generating guide information regarding,
    An endoscope system comprising: a guide information presenting unit that presents guide information generated by the guide information generating unit to an operator.
  2. 　前記ガイド情報生成部が、前記記憶部に累積して記憶されている過去の前記挿入時取得情報に基づく状態予測モデルと、現在の前記挿入時取得情報とに基づいて前記ガイド情報を生成する請求項１に記載の内視鏡システム。 The said guide information generation part produces | generates the said guide information based on the state prediction model based on the said past acquisition time acquisition information accumulated and memorize | stored in the said memory | storage part, and the said said acquisition time acquisition information. The endoscope system according to Item 1.
  3. 　前記センサが、前記挿入部の体内組織への接触により得られる圧力を検出する圧力センサである請求項１または請求項２に記載の内視鏡システム。 The endoscope system according to claim 1 or 2, wherein the sensor is a pressure sensor that detects a pressure obtained by contact of the insertion portion with a body tissue.
  4. 　前記センサが、体内を撮影して画像情報を取得する撮像素子である請求項１または請求項２に記載の内視鏡システム。 The endoscope system according to claim 1 or 2, wherein the sensor is an image sensor that captures image information by photographing the inside of the body.
  5. 　前記センサが、前記挿入部の湾曲状態を検出する湾曲形状センサである請求項１または請求項２に記載の内視鏡システム。 The endoscope system according to claim 1 or 2, wherein the sensor is a curved shape sensor that detects a curved state of the insertion portion.
  6. 　前記内視鏡が、前記挿入部の先端を長手軸に交差する方向に揺動させる湾曲部と、該湾曲部を湾曲操作する操作部とを備え、
    　前記センサが、前記操作部による湾曲操作量を検出する湾曲操作量センサである請求項１または請求項２に記載の内視鏡システム。     The endoscope includes a bending portion that swings the distal end of the insertion portion in a direction intersecting the longitudinal axis, and an operation portion that performs a bending operation on the bending portion.
    The endoscope system according to claim 1, wherein the sensor is a bending operation amount sensor that detects a bending operation amount by the operation unit.
  7. 　前記センサが、前記挿入部の長手軸回りの回転量を検出する回転量センサである請求項１または請求項２に記載の内視鏡システム。 The endoscope system according to claim 1 or 2, wherein the sensor is a rotation amount sensor that detects a rotation amount around the longitudinal axis of the insertion portion.
  8. 　前記センサが、前記挿入部の長手軸に沿う挿入量を検出する挿入量センサである請求項１または請求項２に記載の内視鏡システム。 The endoscope system according to claim 1 or 2, wherein the sensor is an insertion amount sensor that detects an insertion amount along a longitudinal axis of the insertion portion.
  9. 　前記センサが、患者の生体情報を検出する生体情報センサである請求項１または請求項２に記載の内視鏡システム。 The endoscope system according to claim 1 or 2, wherein the sensor is a biological information sensor that detects biological information of a patient.
  10. 　前記ガイド情報生成部が、次の操作として推奨される前記挿入部の挿入方向である推奨挿入方向を生成し、
    　前記ガイド情報提示部が、前記ガイド情報生成部により生成された推奨挿入方向を画像、文字、音声またはその組み合わせにより提示する請求項１から請求項９のいずれかに記載の内視鏡システム。     The guide information generation unit generates a recommended insertion direction that is an insertion direction of the insertion unit recommended as a next operation,
    The endoscope system according to any one of claims 1 to 9, wherein the guide information presenting unit presents the recommended insertion direction generated by the guide information generating unit by an image, a character, a voice, or a combination thereof.
  11. 　前記ガイド情報生成部が、次の操作として推奨されない前記挿入部の挿入方向である非推奨挿入方向を生成し、
    　前記ガイド情報提示部が、前記ガイド情報生成部により生成された非推奨挿入方向への前記内視鏡の動作を阻止することにより、ガイド情報を提示する請求項１から請求項９のいずれかに記載の内視鏡システム。     The guide information generation unit generates a non-recommended insertion direction that is an insertion direction of the insertion unit that is not recommended as the next operation,
    The guide information presenting section presents guide information by blocking the operation of the endoscope in the non-recommended insertion direction generated by the guide information generating section. The endoscope system described.
  12. 　前記ガイド情報生成部が、次の操作として推奨されない前記湾曲部の湾曲方向である非推奨湾曲方向を生成し、
    　前記ガイド情報提示部が、前記ガイド情報生成部により生成された前記非推奨湾曲方向への前記操作部の操作に要する力を増大させる請求項６に記載の内視鏡システム。     The guide information generation unit generates a non-recommended bending direction that is a bending direction of the bending unit that is not recommended as a next operation,
    The endoscope system according to claim 6, wherein the guide information presentation unit increases a force required to operate the operation unit in the non-recommended bending direction generated by the guide information generation unit.
  13. 　前記内視鏡が、前記挿入部の形状を固定する固定機構を備え、
    　前記ガイド情報提示部は、前記ガイド情報生成部により生成された非推奨挿入方向への前記内視鏡の動作がなされたときに、前記固定機構により前記挿入部の形状を固定する請求項１１に記載の内視鏡システム。     The endoscope includes a fixing mechanism that fixes the shape of the insertion portion,
    The guide information presenting unit fixes the shape of the insertion unit by the fixing mechanism when the endoscope is operated in a non-recommended insertion direction generated by the guide information generation unit. The endoscope system described.
  14. 　前記内視鏡の前記挿入部を被覆するオーバーチューブと、該オーバーチューブと前記挿入部との間の摩擦を可変させる摩擦調節部とを備え、
    　前記ガイド情報提示部は、前記ガイド情報生成部により生成された非推奨挿入方向への前記挿入部の挿入または回転操作がなされたときに、前記摩擦調節部により摩擦を増大させる請求項１１に記載の内視鏡システム。     An overtube that covers the insertion portion of the endoscope; and a friction adjustment portion that varies a friction between the overtube and the insertion portion,
    The said guide information presentation part increases friction by the said friction adjustment part, when insertion or rotation operation of the said insertion part to the non-recommended insertion direction produced | generated by the said guide information production | generation part was made. Endoscope system.
  15. 　体内に挿入される挿入部と、該挿入部の患者の体内への挿入時に得られる１以上の挿入時取得情報を検出可能なセンサとを備える内視鏡と、
    　記憶部に累積して記憶されている過去に取得された多数の前記挿入時取得情報を、ネットワークを介して取得する通信部と、
    　前記挿入部を患者の体内に挿入する際に前記センサにより取得された現在の前記挿入時取得情報と、前記通信部により取得された過去の前記挿入時取得情報とに基づいて、次の操作に関するガイド情報を生成するガイド情報生成部と、
    　該ガイド情報生成部により生成されたガイド情報を操作者に対して提示するガイド情報提示部とを備える内視鏡システム。     An endoscope provided with an insertion portion to be inserted into the body, and a sensor capable of detecting one or more insertion-time acquisition information obtained when the insertion portion is inserted into a patient's body;
    A communication unit that acquires a large number of the acquisition information at the time of insertion acquired in the past that is accumulated and stored in the storage unit via a network;
    Based on the current insertion time acquisition information acquired by the sensor when the insertion unit is inserted into a patient's body, and the previous insertion time acquisition information acquired by the communication unit, A guide information generator for generating guide information;
    An endoscope system comprising: a guide information presenting unit that presents guide information generated by the guide information generating unit to an operator.
  16. 　現在の患者の体内への内視鏡の挿入部の挿入時に取得された挿入時取得情報をネットワークを介して取得する受信部と、
    　１以上の患者の体内への過去の挿入時に得られた多数の前記挿入時取得情報を累積して記憶する記憶部と、
    　前記受信部により取得された現在の前記挿入時取得情報と、前記記憶部に記憶されている過去の前記挿入時取得情報とに基づいて、前記内視鏡の次の操作に関するガイド情報を生成するガイド情報生成部と、
    　該ガイド情報生成部により生成された前記ガイド情報を、前記ネットワークを介して前記内視鏡の操作者に送信する送信部とを備える内視鏡情報処理装置。     A receiving unit that acquires via the network acquisition information acquired during insertion of the insertion unit of the endoscope into the body of the current patient;
    A storage unit for accumulating and storing a large number of information obtained at the time of insertion obtained at the time of past insertion into the body of one or more patients;
    Based on the current insertion time acquisition information acquired by the receiving unit and the past insertion time acquisition information stored in the storage unit, guide information on the next operation of the endoscope is generated. A guide information generation unit;
    An endoscope information processing apparatus comprising: a transmission unit that transmits the guide information generated by the guide information generation unit to an operator of the endoscope via the network.
  17. 　１以上の患者の体内への過去の挿入時に得られた多数の挿入時取得情報を累積して記憶しておき、
    　現在の患者の体内に内視鏡の挿入部を挿入する際に取得された現在の前記挿入時取得情報と、記憶されている過去の前記挿入時取得情報とに基づいて、次の操作に関するガイド情報を生成し、
    　生成されたガイド情報を操作者に対して提示する内視鏡情報処理方法。
          Accumulate and store a large number of information obtained at the time of insertion into the body of one or more patients in the past,
    A guide for the next operation based on the current acquired information at the time of insertion acquired when the insertion portion of the endoscope is inserted into the body of the current patient and the past acquired information at the time of insertion stored. Generate information,
    An endoscope information processing method for presenting generated guide information to an operator.
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