WO2020026494A1 - Dispositif de traitement, système d'endoscope, méthode d'entraînement, et programme - Google Patents

Dispositif de traitement, système d'endoscope, méthode d'entraînement, et programme Download PDF

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Publication number
WO2020026494A1
WO2020026494A1 PCT/JP2019/008244 JP2019008244W WO2020026494A1 WO 2020026494 A1 WO2020026494 A1 WO 2020026494A1 JP 2019008244 W JP2019008244 W JP 2019008244W WO 2020026494 A1 WO2020026494 A1 WO 2020026494A1
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WO
WIPO (PCT)
Prior art keywords
endoscope
processing device
optical system
drive circuit
terminal
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Application number
PCT/JP2019/008244
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English (en)
Japanese (ja)
Inventor
健悟 榎本
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オリンパス株式会社
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Filing date
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Publication of WO2020026494A1 publication Critical patent/WO2020026494A1/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
    • 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
    • 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

Definitions

  • the present disclosure relates to a processing device, an endoscope system, a driving method, and a program to which any one of a plurality of endoscopes of different types inserted into a subject is detachably mounted.
  • the present invention has been made in view of the above, and has as its object to provide a processing device, an endoscope system, a driving method, and a program capable of driving a plurality of actuators of different types for each endoscope.
  • the first optical system is moved to one of a base position and a distal position on the first optical axis to perform position adjustment, and the second endoscope is attached to the processing apparatus.
  • the second optical system is controlled on the second optical axis by controlling the second drive signal output by the second drive circuit based on the detection result detected by the position detection sensor.
  • a controller that adjusts the position by moving to a predetermined position between the base position and the distal position.
  • the processing device in the above disclosure, further includes a third switch provided between the controller and the fourth terminal, the third switch connecting the fourth terminal and the controller.
  • the controller switches an on / off state of the third switch based on the identification information.
  • the endoscope system includes a first endoscope having a first actuator that adjusts a position of a first optical system movable along a first optical axis, and a second endoscope that has a second actuator.
  • a second actuator for adjusting the position of a second optical system movable along the optical axis of the second optical system, a position detection sensor for detecting the position of the second optical system on the second optical axis,
  • a second endoscope having: and a processing device to which one of the first endoscope and the second endoscope is removably mounted, wherein the processing device comprises: A first drive circuit that outputs a first drive signal to one actuator, a second drive circuit that outputs a second drive signal to the second actuator, and the first endoscope for the processing device.
  • the first drive signal output by the first drive circuit is output.
  • the first optical system is moved to one of a base position and a front position on the first optical axis to perform position adjustment, and the processing apparatus is provided with the second
  • the second optical system is controlled by controlling the second drive signal output by the second drive circuit based on the detection result detected by the position detection sensor.
  • a controller for adjusting the position by moving to a predetermined position between the base end position and the front end position on the second optical axis.
  • the driving method provides a first endoscope having a first actuator that adjusts a position of a first optical system movable along a first optical axis, and a second light.
  • a second actuator that adjusts the position of a second optical system movable along an axis; and a position detection sensor that detects a position of the second optical system on the second optical axis.
  • a driving circuit that outputs a second driving signal to the second actuator, wherein the first driving is performed when the first endoscope is mounted on the processing device. Controlling the first drive signal output by the circuit.
  • the first optical system is moved to one of a base position and a distal position on the first optical axis to perform position adjustment, and the processing apparatus is provided with the second endoscope.
  • the second optical system is controlled by controlling the second drive signal output by the second drive circuit based on the detection result detected by the position detection sensor.
  • the position is adjusted by moving to a predetermined position between the base position and the tip position above.
  • a program includes a first endoscope having a first actuator for adjusting a position of a first optical system movable along a first optical axis, and a second optical axis.
  • a second actuator that adjusts the position of a second optical system that can move upward, and a position detection sensor that detects a position of the second optical system on the second optical axis.
  • a second drive circuit that outputs a second drive signal to the second actuator.
  • the first optical system is moved to one of a base position and a distal position on the first optical axis to adjust the position, and the second endoscope is mounted on the processing apparatus.
  • the second optical system is controlled on the second optical axis by controlling the second drive signal output by the second drive circuit based on the detection result detected by the position detection sensor.
  • the position is adjusted by moving to a predetermined position between the base position and the distal position in.
  • FIG. 1 is a block diagram illustrating a functional configuration of an endoscope system according to an embodiment of the present disclosure.
  • the endoscope system 1 shown in FIG. 1 includes a first endoscope 2, a second endoscope 3, a processing device 4, and a display device 5.
  • a first endoscope 2 and a second endoscope 3 having different types of actuators is detachably mounted on the processing device 4.
  • the first endoscope 2 inserts an insertion portion including a plurality of cables and light guides into a body cavity of the subject, and outputs an image signal generated by imaging the inside of the subject to the processing device 4.
  • the first endoscope 2 is detachable from the processing device 4.
  • the first endoscope 2 includes at least a first optical system 21, a first imaging element 22, a first actuator 23, an identification memory 24, an operation SW 25, a first terminal T21, It includes a second terminal T22, a third terminal T23, and a fourth terminal T24.
  • the first optical system 21 forms the first optical image on the light receiving surface of the first image sensor 22.
  • the first optical system 21 is configured using a plurality of lenses.
  • the first optical system 21 is provided movably along the first optical axis L1.
  • the position of the first optical system 21 is adjusted. That is, the first actuator 23 can adjust the position of the subject to be focused by adjusting the position of the first optical system 21, or can switch the focus to change the focal length of the optical system. Becomes The optical element whose position is changed by adjusting the position of the first optical system 21 may be all the optical elements constituting the first optical system 21 or may be some optical elements.
  • the identification memory 24 records first identification information for identifying the first endoscope 2.
  • the first identification information includes at least the date of manufacture of the first endoscope 2, information for identifying the first endoscope 2, and type information of the first endoscope 2.
  • the focal length information of the first optical system 21 the image sensor information including the type, resolution, and drive information of the first image sensor 22, and the actuator including the type, drive method, and drive voltage of the first actuator 23 Information.
  • the identification memory 24 is configured using a Flash memory or the like.
  • the first terminal T21 has a convex shape (pin shape) and is electrically connected to a signal line connected to the first image sensor 22.
  • the first terminal T21 is electrically connected by fitting with a first terminal T41 of the processing device 4 described later.
  • the second terminal T22 has a convex shape (pin shape) and is electrically connected to a signal line connected to the identification memory 24.
  • the second terminal T22 is electrically connected by fitting with a second terminal T42 of the processing device 4 described later.
  • the third terminal T23 has a convex shape (pin shape) and is electrically connected to a signal line connected to the first actuator 23.
  • the third terminal T23 is electrically connected by fitting with a third terminal T43 of the processing device 4 described later.
  • the fourth terminal T24 has a convex shape (pin shape) and is electrically connected to a signal line connected to the operation switch 25.
  • the fourth terminal T24 is electrically connected by fitting with a fifth terminal T45 of the processing device 4 described later.
  • the second endoscope 3 inserts an insertion section including a plurality of cables and light guides into the body cavity of the subject, and outputs an image signal generated by imaging the inside of the subject to the processing device 4.
  • the second endoscope 3 is detachable from the processing device 4.
  • the second endoscope 3 includes at least a second optical system 31, a second imaging element 32, a second actuator 33, an identification memory 34, an operation SW 35, a position detection sensor 36,
  • the first terminal T31, the second terminal T32, the third terminal T33, the fourth terminal T34, and the fifth terminal T35 are provided.
  • the second image sensor 32 receives the second optical image formed by the second optical system 31 and generates an image signal by performing photoelectric conversion.
  • the second image sensor 32 outputs an image signal to the processing device 4 via a first terminal T31 described later.
  • the second imaging element 32 is configured using a CMOS, a CCD, or the like.
  • the second actuator 33 moves the second optical system 31 along the second optical axis L2 based on a control signal input from the processing device 4 via a third terminal T33 described later. Thus, the position of the second optical system 31 is adjusted.
  • the second actuator 33 is configured using a voice coil motor having a yoke provided with magnets on an outer peripheral surface of a cylindrical moving frame on which the magnets are mounted with the second optical system 31, and a coil. .
  • the second actuator 33 generates a magnetic force when a control signal input from the processing device 4 flows through the coil via the third terminal T33, and the moving frame is moved in the direction of the second optical axis L2 by the magnetic force.
  • the position of the second optical system 31 is adjusted by moving the second optical system 31 to the wide side or the tele side.
  • the second actuator 33 can adjust the position of the focused object by adjusting the position of the second optical system 31, or can switch the focus to change the focal length of the optical system.
  • the optical element whose position is changed by adjusting the position of the second optical system 31 may be all the optical elements constituting the first optical system 21 or a part of the optical elements.
  • the identification memory 34 records second identification information for identifying the second endoscope 3.
  • the second identification information includes at least the date of manufacture of the second endoscope 3, information for identifying the second endoscope 3, and type information of the second endoscope 3.
  • the focal length information of the second optical system 31 the image sensor information including the type, resolution, and drive information of the second image sensor 32, and the actuator including the type, drive method, and drive voltage of the second actuator 33 Information.
  • the identification memory 34 is configured using a Flash memory or the like.
  • the operation SW 35 receives input of operation signals of various operations related to the second endoscope 3 and outputs the operation signals to the processing device 4 via the fifth terminal T35.
  • the operation SW 35 is configured using a switch, a toggle switch, a touch panel, a button, and the like.
  • the position detection sensor 36 detects the position of the second optical system 31 on the second optical axis L2, and outputs the detection result to the processing device 4 via the fourth terminal T34.
  • the position detection sensor 36 is configured using, for example, a Hall element or an encoder.
  • the second terminal T32 has a convex shape (pin shape) and is electrically connected to a signal line connected to the identification memory 34.
  • the second terminal T32 is electrically connected by fitting with a second terminal T42 of the processing device 4 described later.
  • the third terminal T33 has a convex shape (pin shape), and is electrically connected to a signal line connected to the second actuator 33.
  • the third terminal T33 is electrically connected by fitting with a third terminal T43 of the processing device 4 described later.
  • the fourth terminal T34 has a convex shape (pin shape), and is electrically connected to a signal line connected to the position detection sensor 36.
  • the fourth terminal T34 is electrically connected by fitting with a fourth terminal T44 of the processing device 4 described later.
  • the fifth terminal T35 has a convex shape (pin shape) and is electrically connected to a signal line connected to the operation SW 35.
  • the fifth terminal T35 is electrically connected by fitting with a fifth terminal T45 of the processing device 4 described later.
  • the processing device 4 has a plurality of endoscopes of different types including the first endoscope 2 and the second endoscope 3, which are detachably mounted, and which performs image processing on an image signal generated by each endoscope. It performs processing and outputs it to the display device 5, and controls each unit constituting the endoscope system 1, for example, an actuator included in each endoscope.
  • the processing device 4 includes at least a power supply 41, an image processing unit 42, a memory 43, a first drive circuit 44, a second drive circuit 45, a controller 46, SW1, SW2, SW3, It has a first terminal T41, a second terminal T42, a third terminal T43, a fourth terminal T44, and a fifth terminal T45.
  • the image processing unit 42 performs predetermined image processing on an image signal input via the first terminal T41, and outputs the image signal to the display device 5.
  • the predetermined image processing includes, for example, white balance adjustment processing and demozaking processing.
  • the image processing unit 42 is configured using a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), or the like.
  • the memory 43 includes a hard disk drive (HDD), a solid state drive (SSD), a read only memory (ROM), a random access memory (RAM), and various programs executed by the endoscope system 1. Record the data being processed.
  • the memory 43 has a program memory 431 for recording a program executed by the endoscope system 1.
  • the second drive circuit 45 outputs a second drive signal to the second actuator 33 of the second endoscope 3 attached to the processing device 4 under the control of the controller 46, thereby outputting the second drive signal. Is driven. Specifically, the second drive circuit 45 outputs a second drive signal to the second actuator 33 via the switch SW2 and the third terminal T43.
  • the second drive circuit 45 is configured using a voltage setting circuit, a regulator, a driver circuit, and the like.
  • the controller 46 controls each unit of the endoscope system 1.
  • the controller 46 obtains the first identification information from the identification memory 24 of the first endoscope 2 attached to the processing device 4 via the second terminal T42, or acquires the first identification information attached to the processing device 4
  • the second identification information is obtained from the identification memory 34 of the second endoscope 3, and based on the obtained result, the ON / OFF state of SW 1, SW 2 and SW 3 is switched, and the first drive circuit 44 and the second drive The circuit 45 is controlled. Specifically, when the first endoscope 2 is mounted on the processing device 4, the controller 46 turns on SW1 and turns off SW2 and SW3, and receives an input via the fifth terminal T45.
  • the first driving circuit 44 outputs the first driving signal based on the operation signal.
  • the controller 46 turns off the switch SW1, turns on the switches SW2 and SW3, and sets the operation signal input via the fifth terminal T45.
  • the feedback control of the second actuator 33 is performed by causing the second drive circuit 45 to output the second drive signal based on and the position signal input via the fourth terminal T44.
  • the controller 46 causes the second drive circuit 45 to output a second drive signal based on the position signals sequentially input via the fourth terminal T44, thereby providing the second optical signal. Feedback control for gradually moving the system 31 to a predetermined position is performed.
  • the controller 46 is configured using a CPU (Central Processing Unit) or the like.
  • SW1 electrically connects the first drive circuit 44 and the third terminal T43 under the control of the controller 46.
  • the SW1 is configured using, for example, a physical switch or a semiconductor switch.
  • SW2 electrically connects the second drive circuit 45 and the third terminal T43 under the control of the controller 46.
  • the SW2 is configured using, for example, a physical switch or a semiconductor switch.
  • SW3 electrically connects the controller 46 and the fourth terminal T44 under the control of the controller 46.
  • the SW3 is configured using, for example, a physical switch or a semiconductor switch.
  • the first terminal T41 has a concave shape (socket shape) and is electrically connected to a signal line connected to the image processing unit 42.
  • the first terminal T41 is electrically connected by fitting with the first terminal T21 or the first terminal T31.
  • the second terminal T42 has a concave shape (socket shape) and is electrically connected to a signal line connected to the controller 46.
  • the second terminal T42 is electrically connected by fitting with the second terminal T22 or the second terminal T32.
  • the third terminal T43 has a concave shape (socket shape) and has a signal line connected to the first drive circuit 44 via SW1 and a signal line connected to the second drive circuit 45 via SW2. Is electrically connected to The third terminal T43 is electrically connected by fitting with the third terminal T23 or the third terminal T33.
  • the fourth terminal T44 has a concave shape (socket shape) and is electrically connected to a signal line connected to the controller 46 via SW3.
  • the fourth terminal T44 is electrically connected by fitting with the fourth terminal T34 of the second endoscope 3.
  • the fifth terminal T45 has a concave shape (socket shape) and is electrically connected to a signal line connected to the controller 46.
  • the fifth terminal T45 is electrically connected by fitting with the fourth terminal T24 of the first endoscope 2 or the fifth terminal T35 of the second endoscope 3.
  • the display device 5 displays an image corresponding to the image signal input from the processing device 4 and various information related to the endoscope system 1.
  • the display device 5 is configured using an organic EL (Electro Luminescence), a liquid crystal panel, or the like.
  • FIG. 2 is a flowchart illustrating an outline of a process executed by the processing device 4.
  • any one of the first endoscope 2 and the second endoscope 3 will be simply referred to as an endoscope.
  • step S101: Yes when the endoscope is attached to the processing device 4 (step S101: Yes), the processing device 4 proceeds to step S102 described below. On the other hand, when the endoscope is not mounted on the processing device 4 (step S101: No), the processing device 4 continues this determination.
  • step S102 the controller 46 acquires identification information from the endoscope attached to the processing device 4 via the second terminal T42.
  • the controller 46 determines whether or not the endoscope attached to the processing device 4 is under open control based on the identification information obtained from the endoscope via the second terminal T42 (Ste S103). Specifically, as shown in FIG. 3 or FIG. 4, the controller 46 controls the endoscope attached to the processing device 4 based on the identification information acquired from the endoscope via the second terminal T42. Is the first endoscope 2 that performs the open control, or the second endoscope 3 that performs the feedback control.
  • the processing device 4 proceeds to step S104 described later.
  • the processing device 4 proceeds to a step described later. Move to S110.
  • step S104 the controller 46 selects the first drive circuit 44 by turning on SW1.
  • Step S105: Yes when an operation signal for position adjustment is input from the first endoscope 2 via the fifth terminal T45 (Step S105: Yes), the controller 46 drives the first actuator 23. Is set in the first drive circuit 44 (step S106), and the application direction of the drive voltage is set in the first drive circuit 44 (step S107). After step S107, the processing device 4 proceeds to step S108 described later. On the other hand, when an operation signal for position adjustment has not been input from the first endoscope 2 via the fifth terminal T45 (Step S105: No), the processing device 4 proceeds to Step S109 described below. Transition.
  • step S108 the controller 46 causes the first drive circuit 44 to output the first drive signal to the third terminal T43 for a predetermined time. Accordingly, the first actuator 23 is driven in accordance with the first drive signal input from the first drive circuit 44 via the third terminal T43, so that the focus of the first optical system 21 is adjusted. Adjust the position.
  • Step S109: Yes the processing device 4 ends this processing.
  • Step S109: No the processing device 4 returns to Step S105 described above.
  • step S110 the controller 46 selects the second drive circuit 45 by turning on SW2 and SW3.
  • step S111: Yes when an operation signal for position adjustment is input from the second endoscope 3 via the fifth terminal T45 (step S111: Yes), the controller 46 drives the second actuator 33. Is set in the second drive circuit 45 (step S112), and the application direction of the drive voltage is set in the second drive circuit 45 (step S113). After step S113, the processing device 4 proceeds to step S114 described below. On the other hand, when an operation signal for position adjustment has not been input from the second endoscope 3 via the fifth terminal T45 (step S111: No), the processing device 4 proceeds to step S115 described later. Transition.
  • step S114 the controller 46 acquires a position signal of the second optical system 31 on the second optical axis L2 from the position detection sensor 36 via the fourth terminal T44.
  • the controller 46 obtains a position signal of the second optical system 31 on the second optical axis L2 from the position detection sensor 36 via the fourth terminal T44 (Step S116), and obtains the second optical signal. It is determined whether the position of the system 31 has reached a predetermined position (step S117). When the controller 46 determines that the position of the second optical system 31 has reached the predetermined position (step S117: Yes), the processing device 4 proceeds to step S118 described below. On the other hand, when the controller 46 determines that the position of the second optical system 31 has not reached the predetermined position (step S117: No), the processing device 4 returns to step S115. In this case, the controller 46 performs feedback control to output a second drive signal to the second drive circuit 45 until the position of the second optical system 31 on the second optical axis L2 reaches a predetermined position.
  • step S118 when the observation of the subject is ended (step S118: Yes), the processing device 4 ends this processing. On the other hand, when the observation of the subject is not ended (Step S118: No), the processing device 4 returns to Step S110 described above.
  • the controller 46 controls the first drive signal output by the first drive circuit 44. Is performed to move the first optical system 21 to one of the base end position and the front end position on the first optical axis L1 to adjust the position. Is mounted, the controller 46 controls the second drive signal output from the second drive circuit 45 on the basis of the detection result detected by the position detection sensor 36, thereby controlling the second optical system 31. Since the position is adjusted by moving to a predetermined position between the base position and the distal position on the second optical axis L2, a plurality of actuators of different types can be driven for each endoscope.
  • various embodiments can be formed by appropriately combining a plurality of components disclosed in the endoscope system according to an embodiment of the present disclosure. For example, some components may be deleted from all the components described in the endoscope system according to the embodiment of the present disclosure described above. Furthermore, the components described in the endoscope system according to an embodiment of the present disclosure described above may be appropriately combined.
  • the “unit” described above can be read as “means”, “circuit”, or the like.
  • the control unit can be read as a control unit or a control circuit.
  • the program to be executed by the endoscope system is a file data in an installable format or an executable format in a CD-ROM, a flexible disk (FD), a CD-R, a DVD ( It is provided by being recorded on a computer-readable recording medium such as a Digital Versatile Disk, a USB medium, and a flash memory.
  • the program to be executed by the endoscope system may be stored on a computer connected to a network such as the Internet, and provided by being downloaded via the network. Good.

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

Abstract

L'invention concerne un dispositif de traitement, un système d'endoscope, une méthode d'entraînement et un programme qui peuvent entraîner une pluralité d'actionneurs de type différent pour chaque endoscope. Un dispositif de traitement (4) est pourvu d'un contrôleur (46) qui, lorsqu'un premier endoscope (2) a été monté sur le dispositif de traitement (4), contrôle un premier signal d'entraînement émis par un premier circuit d'entraînement (44), pour effectuer un ajustement d'emplacement amenant un premier système optique (21) à se déplacer vers un emplacement d'extrémité proximale ou un emplacement d'extrémité distale sur un premier axe optique (L1), et lorsqu'un second endoscope (3) a été monté sur le dispositif de traitement (4), sur la base de résultats de détection détectés par un capteur de détection d'emplacement, contrôle un second signal d'entraînement émis par un second circuit d'entraînement (45), pour effectuer un ajustement d'emplacement amenant un second système optique (31) à se déplacer vers un emplacement prescrit entre un emplacement d'extrémité proximale et un emplacement d'extrémité distale sur un second axe optique (L2).
PCT/JP2019/008244 2018-07-30 2019-03-01 Dispositif de traitement, système d'endoscope, méthode d'entraînement, et programme WO2020026494A1 (fr)

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JP2018142420 2018-07-30

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001174714A (ja) * 1999-12-15 2001-06-29 Olympus Optical Co Ltd 内視鏡装置
WO2015015877A1 (fr) * 2013-07-29 2015-02-05 オリンパスメディカルシステムズ株式会社 Dispositif de capture d'image
WO2018011857A1 (fr) * 2016-07-11 2018-01-18 オリンパス株式会社 Dispositif d'endoscope

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001174714A (ja) * 1999-12-15 2001-06-29 Olympus Optical Co Ltd 内視鏡装置
WO2015015877A1 (fr) * 2013-07-29 2015-02-05 オリンパスメディカルシステムズ株式会社 Dispositif de capture d'image
WO2018011857A1 (fr) * 2016-07-11 2018-01-18 オリンパス株式会社 Dispositif d'endoscope

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