WO2017170777A1 - Système endoscopique de détermination de forme - Google Patents

Système endoscopique de détermination de forme Download PDF

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Publication number
WO2017170777A1
WO2017170777A1 PCT/JP2017/013082 JP2017013082W WO2017170777A1 WO 2017170777 A1 WO2017170777 A1 WO 2017170777A1 JP 2017013082 W JP2017013082 W JP 2017013082W WO 2017170777 A1 WO2017170777 A1 WO 2017170777A1
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WO
WIPO (PCT)
Prior art keywords
coil
patient
magnetic field
marker
coils
Prior art date
Application number
PCT/JP2017/013082
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English (en)
Japanese (ja)
Inventor
克哉 丹内
暁元 片山
Original Assignee
Hoya株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hoya株式会社 filed Critical Hoya株式会社
Priority to CN201780000925.8A priority Critical patent/CN107438389B/zh
Priority to JP2017544050A priority patent/JP6400221B2/ja
Publication of WO2017170777A1 publication Critical patent/WO2017170777A1/fr

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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
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes

Definitions

  • This disclosure relates to an apparatus that detects the position of an insertion portion and displays the shape in order to grasp the shape of the endoscope insertion portion.
  • a system that knows the position and shape of an insertion part inserted into the body during a procedure using an endoscope is known.
  • a plurality of source coils are arranged along the longitudinal direction of the endoscope insertion portion, and the magnetic field generated by the source coil is detected by the sense coil to detect the three-dimensional position of the source coil.
  • An endoscope shape detection apparatus that acquires information and generates three-dimensional graphics of an endoscope insertion unit is known (see Patent Document 1).
  • source coils are attached as markers to the vicinity of the patient's anus and the left and right flank, respectively, and the insertion portion is actually inserted into the body from the detected position of the anus. Only the portion is displayed graphically, the orientation of the patient's body is specified from the positions of the three markers, and the graphics display is converted into an image so that the shape of the endoscope insertion portion can be grasped from a viewpoint that is always easy to see.
  • at least three markers (sensors) are required to specify the position of the anus, which is the insertion position of the endoscope, and the orientation of the body.
  • the attachment of the sensor near the anus is not always stable. There is also a risk that it will come off during the procedure.
  • An object of the present disclosure is to make it possible to easily specify a position of an anus and a body direction of a patient in an endoscope shape grasping system.
  • An endoscope shape grasping system includes a plurality of first coils arranged along a longitudinal direction of an insertion portion of an endoscope scope, an external device including a second coil, and a first coil or a second coil.
  • a magnetic field generated by one coil is detected by the other coil, and a three-dimensional image indicating the shape of the insertion portion is generated based on the position information detecting means for detecting the three-dimensional position information of the one coil.
  • Three-dimensional image generation and display means for displaying and displaying, two marker coils capable of detecting a three-dimensional position relative to an external device by a magnetic field, marker mounting means for mounting a marker coil on a patient, and positions of the marker coils And an anus position specifying means for specifying the position of the patient's anus.
  • the three-dimensional image generation / display means displays only the three-dimensional image of the portion inserted into the patient's body based on the position of the anus.
  • the endoscope shape grasping system further includes three-dimensional image correction means for detecting a change in the posture of the patient from the position information of the marker coil and correcting the direction of the three-dimensional image.
  • the marker coil is attached to, for example, a belt member.
  • An endoscope apparatus according to the present disclosure is characterized in that the above-described endoscope shape grasping system is mounted.
  • the position of the patient's anus and the direction of the body can be easily specified.
  • FIG. 10 is a diagram for explaining an example of a process for correcting the orientation of a three-dimensional image of an insertion unit.
  • FIG. 1 is a block diagram illustrating a configuration of an endoscope shape grasping system that is an embodiment of the present disclosure.
  • the endoscope shape grasping system 10 includes an electronic endoscope device 11 and a three-dimensional position measuring device 12 connected to the electronic endoscope device 11.
  • the electronic endoscope device 11 is, for example, a lower digestive organ endoscope, and displays an electronic scope main body 13, a processor device 14 that processes an image signal from the electronic scope main body 13, and an image processed by the processor device 14.
  • the processor device 14 of the present embodiment also includes a light source (not shown) used for illumination for endoscopic observation.
  • the electronic scope body 13 includes an insertion portion 16 to be inserted into the body, an operation portion 17 to which the proximal end side of the insertion portion 16 is connected, and the operation portion 17 to the processor device 14 electrically and optically via a universal cord.
  • the connector part 18 connected with is provided.
  • the insertion portion 16 is made of a flexible tube, and an image sensor 19 is disposed at the tip thereof. Light from the light source of the processor device 14 is transmitted from the distal end of the insertion portion 16 through a light guide (not shown), and is irradiated as illumination light. An image photographed by the image sensor 19 is subjected to predetermined signal processing by the processor device 14 and then output to the monitor device 15 to be displayed as an endoscopic image.
  • a bending portion that can be bent by an operation of an operation lever or an operation knob (not shown) provided in the operation portion 17 is provided in the vicinity of the distal end portion of the insertion portion 16 over a predetermined length. The practitioner can operate the operation lever of the operation unit 17 while viewing the endoscopic image of the monitor device 15 to point the distal end of the insertion unit 16 in various directions.
  • the three-dimensional position measuring device 12 of the present embodiment is a magnetic field type position measuring device, and a plurality of first coils 20 constituting a part of the three-dimensional position measuring device 12 are arranged in the insertion portion 16 along the longitudinal direction thereof. Is done.
  • the three-dimensional position measurement apparatus 12 of the present embodiment includes two marker coils 26A and 26B that are attached to predetermined locations of the patient (described later).
  • the three-dimensional position measuring device 12 is connected to the signal processing unit 22 that receives signals from the coils 20, 26A, and 26B in addition to the coils 20, 26A, and 26B, and the signal processing unit 22, and is controlled by the same device.
  • a magnetic field generator (external device) 23 that generates a magnetic field (for example, a magnetic field specific to a position) by a second coil (not shown) based on the signal, and the three-dimensional of the insertion unit 16 based on the signal of the first coil 20.
  • a monitor 24 that graphically displays a typical shape.
  • the coils 20, 26A, 26B are, for example, coils wound around an iron core, and the three-dimensional positions of the coils 20, 26A, 26B with respect to the magnetic field generator 23 are the magnetic fields generated by the magnetic field generator 23. Is calculated in the signal processing unit 22 on the basis of the distortion of the coil and the signals of the coils 20, 26A and 26B arranged in the same magnetic field. As an example, the signal processing unit 22 receives the position information (current value) of the coil 20, the coil 26A, and the coil 26B with respect to the magnetic field generator 23, the spatial position coordinates of each coil with respect to the magnetic field generator 23, and the magnetic field generation. The Euler angle indicating the inclination with respect to the device 23 is calculated.
  • the signal processing unit 22 generates a three-dimensional image of the insertion unit 16 viewed from a predetermined viewpoint based on the calculation result, and outputs the three-dimensional image to the monitor 24.
  • the signal from the first coil 20 is sent to the signal processing unit 22 through a signal line that is detachably connected to a relay circuit 25 provided in the connector unit 18, for example.
  • the marker coils 26A and 26B are detachably connected to the signal processing unit 22 via signal lines.
  • FIG. 2 is a schematic diagram showing the positional relationship between the patient P and the magnetic field generator 23 when a procedure is performed using the three-dimensional position measuring device 12.
  • FIG. 2A is a view seen from the top of the patient P
  • FIG. 2B is a view seen from the right side of FIG.
  • the patient P lies sideways on the medical bed 27, and the magnetic field generator 23 is held by the gantry 28 so as to face the abdomen of the patient P.
  • FIG. 3 is a diagram illustrating a state in which the marker coils 26A and 26B of the present embodiment are attached to the patient P.
  • the marker coils 26A and 26B of the present embodiment are attached to the belt 30, for example.
  • the belt 30 is attached, for example, around the lower buttocks of the patient P so that each of the marker coils 26 ⁇ / b> A and 26 ⁇ / b> B is located on both sides of the patient P.
  • the signal processing unit 22 specifies, for example, an intermediate position between the coordinates of the marker coils 26A and 26B, or a position shifted from the predetermined position in a predetermined direction as an anus (drawing reference position) A of the patient P. In creating the three-dimensional image, only the portion of the insertion portion 16 located on the distal side of the anus A, that is, the insertion portion 16 in the body of the patient P is displayed on the monitor 24 (see FIG. 4).
  • the belt 30 is preferably made of a nonmagnetic material. Thus, since the belt 30 is not affected by the magnetic field, it is possible to prevent noise from being mixed into the signal from the marker coil. Furthermore, a slip prevention process may be applied to the surface (inner surface) on the side where the belt 30 is mounted. Thereby, it can prevent that the position which mounted
  • the belt 30 can be made of a stretchable material. For example, it can be composed of rubber or the like. As a result, it can be easily attached to or removed from the patient.
  • the inclination of the body of the patient P is detected from the positions of the marker coils 26A and 26B, and the drawing direction of the three-dimensional image of the insertion unit 16 displayed on the monitor 24 in accordance with the detected inclination.
  • the three-dimensional image of the insertion unit 16 is arranged so that it is easy for the practitioner to see when the magnetic field generator 23 faces the abdomen of the patient P as shown in FIG.
  • the posture of the patient P is tilted left and right from the state 2 (a)
  • the three-dimensional image of the insertion section 16 drawn on the monitor 24 is tilted, and it is difficult to grasp the shape.
  • the inclination of the body of the patient P is calculated from the positions of the marker coils 26A and 26B, and based on this, the direction of the three-dimensional image of the insertion unit 16 is corrected, and the state shown in FIG. Match.
  • FIG. 6 is a diagram for explaining an example of the correction process of the orientation of the three-dimensional image of the insertion unit 16.
  • the magnetic field generator 23 is installed horizontally with respect to the bed 27.
  • the position information (spatial coordinate value) of each coil is calculated based on the magnetic field generator 23.
  • a line segment connecting the positions detected by the coil 26A and the coil 26B with a straight line is the inclination of the patient P.
  • the waist position (the line segment connecting the coil 26A and the coil 26B) is perpendicular to the bed 27.
  • the line segment connecting the coil 26A and the coil 26B with a straight line is displayed on the monitor 24, it is always displayed at a fixed position as shown in FIG.
  • the line segment connecting the coil 26A and the coil 26B at the waist is horizontal to the bed 27 as shown in FIG.
  • the line segment connecting the coil 26A and the coil 26B is a line segment as shown in FIG. Even if this is displayed on the monitor 24 as it is, it is difficult to grasp the shape of the insertion portion 16.
  • FIG. 6D is corrected as shown in FIG. 6E and displayed on the monitor 24 so that the shape of the insertion portion 16 can be accurately grasped.
  • the signal processing unit 22 for example, a line segment connecting them from the spatial coordinate values (position information) of the coil 26A and the coil 26B in the posture of the patient P shown in FIG. It is calculated how much it is inclined from a reference position (for example, the posture position shown in FIG. 6A). For example, if the Euler angle at the reference position is (0, 0, 0) as the spatial rotation angle, the Euler angles ( ⁇ , ⁇ , ⁇ ) of the patient P rotated from the reference position are obtained.
  • the signal processing part 22 is the shape (for example, shape shown by FIG.6 (d)) of the insertion part 16 represented by the coordinate of each coil 20, coil 26A, and coil 26B acquired with the attitude
  • the shape of the insertion portion 16 displayed on the monitor 24 even if the patient P rotates and assumes a posture different from the reference position, the patient P is always viewed from a certain direction.
  • the shape of the insertion portion 16 can be displayed on the monitor, and the practitioner can easily grasp the shape and insertion state of the insertion portion 16.
  • the mounting tool for fixing the marker coils 26A and 26B to the body of the patient P is not limited to the belt 30.
  • a stretchable abdomen or buttocks corset type mounting tool. 32 may be used, and at this time, the marker coils 26 ⁇ / b> A and 26 ⁇ / b> B are disposed in the vicinity of the lower side of the wearing tool 32.
  • the calculation for correcting the shape of the insertion portion 16 can be simplified, and the number of marker coils can be physically reduced. The cost merit by doing can be acquired.
  • the attachment positions of the marker coils 26A and 26B to the patient P are not limited to the above, and can be attached to positions other than the anus.
  • the position other than the anus indicates a position other than the vicinity of the anus.
  • the position other than the anus indicates a position away from the anus by a predetermined distance or more and is a position where the marker coil is stably attached during the procedure.
  • the number of marker coils is not necessarily two, and may be three or more.
  • the position of the anus and the body orientation of the patient can be easily specified by attaching the two coils to a predetermined position of the patient's body.
  • an electronic endoscope has been described as an example, but the present disclosure can also be applied to an endoscope using an image guide fiber or the like.
  • a plurality of first coils are arranged along the insertion portion of the electronic scope.
  • a plurality of first coils may be provided in a probe-like instrument, and the instrument may be mounted from the forceps opening.
  • the 1st coil provided in an insertion part can be directly connected to a signal processing part without going through a connector part, and can make a 3D position measuring device independent of an endoscope.
  • the magnetic field is generated by the second coil of the external device arranged outside the patient's body, and the same magnetic field is detected by the first coil arranged inside the patient's body. It is good also as a structure which generate
  • the endoscopic image and the three-dimensional image of the insertion unit are displayed on separate monitors.
  • the endoscopic image and the three-dimensional image of the insertion unit may be displayed simultaneously on one monitor.
  • the signal processing unit 22 and the processor device 14 are connected, and the image signal of the three-dimensional image of the insertion unit generated by the signal processing unit 22 is transmitted to the processor device 14 and monitored based on the signal processing in the processor device 14.
  • the device 15 may display the endoscopic image and the three-dimensional image of the insertion unit in parallel.

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  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Optics & Photonics (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Biophysics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Pathology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Endoscopes (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)

Abstract

La présente invention permet d'identifier facilement la position de l'anus et l'orientation du corps d'un patient dans un système endoscopique de détermination de forme. Dans le système endoscopique de détermination de forme selon l'invention, une pluralité de premières bobines 20 conçues pour détecter des positions tridimensionnelles par rapport à un générateur de champ magnétique 23 à partir du champ magnétique généré par ledit générateur de champ magnétique 23 est agencée dans le sens de la longueur d'une section insertion 16 d'un corps d'endoscope électronique. Une image tridimensionnelle indiquant l'état de la section insertion 16 à partir des positions de la pluralité de premières bobines est générée dans une unité de traitement de signal 22. Deux bobines de marquage 26A, 26B qui permettent de détecter des positions tridimensionnelles par rapport au générateur de champ magnétique 23 à partir du champ magnétique généré par ledit générateur de champ magnétique 23 sont fixées de part et d'autre des fesses du patient. La position de l'anus du patient est identifiée à partir des positions des bobines de marquage 26A, 26B et seule une image tridimensionnelle de la section insertion 16 insérée dans le corps s'affiche sur un moniteur 24 (voir fig. 1).
PCT/JP2017/013082 2016-03-31 2017-03-29 Système endoscopique de détermination de forme WO2017170777A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201780000925.8A CN107438389B (zh) 2016-03-31 2017-03-29 内窥镜形状把握系统
JP2017544050A JP6400221B2 (ja) 2016-03-31 2017-03-29 内視鏡形状把握システム

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Application Number Priority Date Filing Date Title
JP2016-070536 2016-03-31
JP2016070536 2016-03-31

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2020039773A1 (ja) * 2018-08-24 2021-06-03 富士フイルム株式会社 検出装置、内視鏡システム、検出方法、及び検出プログラム

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000079129A (ja) * 1998-09-03 2000-03-21 Olympus Optical Co Ltd 内視鏡形状検出装置用体外マーカ固定装置
JP2000081302A (ja) * 1998-09-04 2000-03-21 Olympus Optical Co Ltd 位置検出装置
JP2001046318A (ja) * 1999-08-05 2001-02-20 Olympus Optical Co Ltd 内視鏡形状検出装置
JP2003275164A (ja) * 1994-04-21 2003-09-30 Olympus Optical Co Ltd 挿入部位置検出装置

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040176683A1 (en) * 2003-03-07 2004-09-09 Katherine Whitin Method and apparatus for tracking insertion depth
CN102939040B (zh) * 2010-06-09 2015-02-25 奥林巴斯医疗株式会社 探针形状检测装置和探针形状检测方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003275164A (ja) * 1994-04-21 2003-09-30 Olympus Optical Co Ltd 挿入部位置検出装置
JP2000079129A (ja) * 1998-09-03 2000-03-21 Olympus Optical Co Ltd 内視鏡形状検出装置用体外マーカ固定装置
JP2000081302A (ja) * 1998-09-04 2000-03-21 Olympus Optical Co Ltd 位置検出装置
JP2001046318A (ja) * 1999-08-05 2001-02-20 Olympus Optical Co Ltd 内視鏡形状検出装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2020039773A1 (ja) * 2018-08-24 2021-06-03 富士フイルム株式会社 検出装置、内視鏡システム、検出方法、及び検出プログラム

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CN107438389B (zh) 2019-07-19
JP6400221B2 (ja) 2018-10-03
JPWO2017170777A1 (ja) 2018-04-05
CN107438389A (zh) 2017-12-05

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