JPH0422325A - Endoscope device - Google Patents

Abstract

PURPOSE:To make leading of the insert part of an endoscope automatically by sensing the inserting direction for the insert part, and controlling an external magnetic force generating means so that the insert part is led to this inserting direction. CONSTITUTION:A magnetic force generating device 50 has two magnetic force generating parts 50a, 50b facing each other with a human body 53 interposed, and via an arm 52a is coupled to a driver device 51, which moves the arm 52a and magnetic force generating parts 50a, 50b onto the cylindrical coordinates freely as desired. This driver device 51 moves the magnetic force generating parts 50a, 50b of the magnetic force generating device 50 to the specified position, and the insert part 2 of an endoscope is led under guidance of the magnetic force generated in the space to a magnetic substance 30 at the tip of the insert part 2. The X-Y coordinates of a dark place 20 sensed by a computer 9 are converted into the cylindrical coordinates of the driver device 1 by a coordinates converting part 26 given in the X-Y coordinates to a motor 11, and the insert part 2 is directed toward the direction of dark place observation S.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an endoscope device that magnetically guides an insertion section.

[Prior Art] In recent years, endoscopes have become widely used in the medical and industrial fields.

In order to perform inspection or diagnosis using the endoscope, it is necessary to insert the insertion section into a body cavity or the like. In this case, since the insertion path is often curved, insertion may take time unless the operator is skilled in the insertion work.

To deal with this, as shown in Japanese Patent Application Laid-open No. 133237 and West German Patent Application No. 1262276, a ferromagnetic material or a magnet is provided in the insertion section of the endoscope, and this insertion section is connected to the outside of the body. It has been proposed to magnetically guide the body to the target site using a magnetic force generator.

[Problems to be Solved by the Invention] However, it is troublesome to operate the magnetic force generator outside the body while viewing endoscopic images, and it is also difficult to operate the magnetic force generator to move the distal end of the insertion section in the desired insertion direction. A great deal of skill is required to direct it.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an endoscope device that can automatically magnetically guide an insertion section.

[Means for Solving the Problems] In the pAM device of the present invention, at least a part of the insertion section inserted into the subject is provided with a magnetically guided guided section, and outside the subject, A magnetic force generating means for generating a magnetic force acting on the guided part in order to magnetically guide the insertion part is provided, the insertion direction detection means for detecting the insertion direction of the insertion part, and the insertion direction and control means for controlling the magnetic force generation means so that the insertion portion is guided in the insertion direction detected by the detection means.

[Operation] In the present invention, the insertion direction of the insertion portion is detected by the insertion direction detection means, and the magnetic force generation means is controlled by the control means so that the insertion portion is guided in the insertion direction.

[Example] Hereinafter, the present invention will be described in detail with reference to the drawings.

FIGS. 1 to 8 relate to the first embodiment of the present invention.
The figure is an explanatory diagram showing the configuration of the endoscope device, Fig. 2 is a sectional view of the distal end side of the insertion section, and Fig. 3 is an explanatory diagram showing the magnetic force generating device.
Fig. 4 is an explanatory diagram showing the display screen of the monitor, Fig. 5 is a flowchart showing step 1 in the method for detecting the insertion direction, Fig. 6 is a flowchart showing step 2 in the method for detecting the insertion direction, and Fig. 7 is the flowchart showing step 2 in the method for detecting the insertion direction. A flowchart showing step 3 in the direction detection method, and FIG. 8 is a block diagram of the curvature direction correction device.

As shown in FIG. 1, the endoscope apparatus includes a videoscope 1 as an endoscope. This video scope is
It includes an elongated and visible insertion section 2 and an operation section 3 connected to the rear end of the insertion section 2. From the operation section 3,
A visible universal cord 4 is extended to the side, and a connector 5 is attached to the tip of the universal cord 4.
is provided. The connector 5 is connected to a control device 45 that includes a light source device 6, a video signal processing circuit 7, a motor control circuit 8, and a bending direction correction device 21.

Further, a magnetic body 30 as a guided portion is provided at the distal end of the insertion portion 2. Further, outside the body, a magnetic force generating device 50 as a magnetic force generating means and a drive device 51 consisting of a motor etc. connected to the magnetic force generating device 50 via a movable connecting means 52 are installed (suspended).

As shown in FIG. 2, the insertion section 2 of the videoscope 1
has a hard tip 31 on the tip side, and this tip 31
A very flexible portion 32 and a flexible portion 33 are successively provided behind the holder. The tip 31 has a cylindrical tip body 34, and the tip body is provided with an observation window and an illumination window. An objective lens system 35 is provided inside the observation window, and a solid-state image sensor,
For example, a CCD 36 is provided. This CCD 36 is connected to the insertion section 2. It is connected to the video signal processing circuit 7 in the control device 45 via a signal line 37 inserted through the operation section 3 and the universal cord 4. Further, a tip end surface of a light guide 38 is arranged inside the illumination window.

This light guide 38 is connected to the insertion portion 2. It is inserted into the operation part 3 and the universal cord 4, and the input end is connected to the connector 5.
It is connected to the. Illumination light emitted from the light source device 6 in the control device 45 is made to enter the entrance end of the light guide 38 .

Further, the magnetic body 3 is provided on the outer circumference of the tip body 34.
Tools 1 to 30a consisting of 0 are attached. Further, a balloon 39 is attached to the outer peripheral portion of the extremely flexible portion 32.

The CCD 15 is driven by the video signal processing circuit 7, and the output signal of the CCD 15 is processed by the video signal processing circuit 7. The video signal output from this video signal processing circuit 7 is
monitor]-1, is converted into a digital quantity by the A/D converter 10, is input to the electronic computer 9, and is taken into a memory (not shown) in the electronic meter 9. ing. The endoscope image is displayed on the monitor 11, and the direction of insertion of the endoscope is detected by the computer 9. Information on the insertion direction is input to the motor control circuit 8 via the bending direction correction device 21, and the motor control means 8 controls the drive device 51 to move the magnetic force generator 50, thereby magnetically moving the insertion section 2. It is now possible to invite people to

The magnetic force generating device 50, as shown in FIG.
Two magnetic force generating portions 50a, 5 which face each other vertically with 3 in between.
0b, and this magnetic force generating portion 50a.

50b is connected to the drive device 51 via an arm 52a as a movable connection means 52. The magnetic force generating section 5
0a and 50b generate a magnetic field so that a magnetic force is generated between them and the magnetic body 30 provided at the distal end of the insertion section 2. The drive device 51 includes the arm 52a and the magnetic force generating section 5.
0a and 50b can be freely moved in r, h, and θ directions on cylindrical coordinates. With such a configuration, the magnetic force generating parts 50a and 50b can be placed at any position relative to the human body 53, and can be moved in any direction and any distance.

Next, a method for detecting the insertion direction of the endoscope used in this embodiment will be explained.

In the case of an endoscope, since the illumination optical system and the observation optical system are close to each other and face substantially the same direction, it can be said that the endoscope image is located far away. Therefore, as shown in FIG. 1, when inserting the insertion section of the endoscope into a lumen-like object such as the large intestine 12, the darkest part of the endoscopic image 18 obtained as shown in FIG. (hereinafter referred to as a dark place) 20, the insertion section 2 of the endoscope may be inserted.

The method of detecting the insertion direction of the endoscope in this embodiment is based on this idea, and from the original image imported into the computer 9,
In step 1 of forming a plurality of images depending on the number of pixels, and the plurality of images formed in step 1,
A step 2 of inspecting the brightness of each pixel in the image in order from the image with the smallest number of pixels and extracting a dark area in the image with a predetermined number of pixels, and an area in the vicinity of the area obtained in step 2, and step 3 of merging the area within the desired brightness range with the area obtained in step 2.

The step 1 will be explained with reference to FIG.

As shown in FIG. 5, when all pixels of the original image are composed of nXn, the step Sll calculates the average brightness (hereinafter referred to as gray level) of a 2×2 pixel area.
/ 2 X n / 2 pixel image 3 is obtained.

Next, in step S12, it is determined whether or not the number of pixels in the image obtained in step Sll is 1. If the number of pixels is not 1, the obtained image is further processed in step S12.
If the number of pixels is 1, step 1 is ended and step 2 is proceeded to.

In this way, in step 1, until the number of pixels becomes 1,
An image with a gradually decreasing number of pixels is formed to create a quad tree.

Next, step 2 will be explained with reference to FIG.

As shown in FIG. 6, first, at step S21,
A node (no d t2, node) with a value closest to the desired gray level is extracted from a 2-pixel image (layer). Next, in step S22, it is determined whether the floor on which step S21 was performed is the floor JE7 on which the inspection can be completed. If there is a hierarchy that can be terminated - ζ, it is determined in step 323 whether the gray level of the mate extracted in step S21 is within the desired gray level range. If yes, step S
24, it is determined whether the difference between the gray level of the node extracted in step S21 and the gray level of the four child notes of that node is within a certain value. If it is, the node is registered as a dark area, step 2 is ended, and the process proceeds to step 3. On the other hand, if it is determined in step S22 that the hierarchy is not one that can be terminated, and if it is determined in step 323 that it is not within the desired gray level range, the next tree level (Tree Level) is determined. That is, steps S21 and subsequent steps are executed for the image with the next largest number of pixels (the lower layer in the rectangle tree). In this case, in step S21, step S2
Among the four child nodes corresponding to the node extracted in step 1, a node with a value close to the desired gray level is extracted. Further, if it is determined in the navigation step S24 that the value is not within a certain value, it is determined in step S26 whether or not the bottom of the hierarchy for which the inspection can be completed is determined in step S26. If it is determined in step S26 that the bottom of the hierarchy is not the one that can be terminated, steps S21 and subsequent steps are executed at the next tree level, as described above. In addition, if it is determined in step S26 that the bottom of the hierarchy is the one that can be terminated, in step 27, the process returns to the upper level (backtracking (BACK TR)).
ACK). ), for example, the step S21 has already been performed.
Among the remaining three child nodes belonging to the same parent node as the node for which step S21 was performed, steps S21 and subsequent steps are performed in order from the node with the value closest to the desired gray level.

Next, step 3 will be explained with reference to FIG.

First, in step S31, the gray level of the area near the area obtained in step 2 is checked. next,
In step S32, it is determined whether there is a region within the desired gray level range. If so, in step 833, the region is merged with the region already obtained in step 2, and the step is repeated. Return to S31. The above steps 831 to 333 are continued until there are no more gray levels within the desired gray level range. On the other hand, the step S
If it is determined in step S32 that there is no area within the desired gray level range, it is determined in step S34 whether or not higher precision inspection is necessary; , end step 3. On the other hand, if it is determined in step S34 that a higher precision test is required, the process advances to the next tree level, that is, the lower hierarchy, and performs the neighborhood tests in steps 831 to S33.

In this way, the insertion direction of the endoscope can be easily determined by setting the dark region extracted in steps 1 and 2, and further merged in step 3 as the case may be, as the insertion direction of the endoscope. can be detected.

The method for detecting the insertion direction of the endoscope described above is described in detail in Japanese Patent Application No. 1-23450 previously filed by the present applicant.

FIG. 4 shows the display screen 17 of the monitor 1-1.

In the display screen 17, an endoscopic image 18 is displayed, and other information such as ID, NO (identification number), and NAME (name) are displayed.

Furthermore, in this embodiment, the display screen 17 displays markers 19 corresponding to the up, down, left, and right directions and the X-Y axes.

In this way, in this embodiment, the output signal of the CCD 36 is transmitted to the video signal processing circuit 7. Processed by the A/D converter 10 and the electronic computer 9, the dark direction is detected. This dark direction information is converted into absolute coordinates in the magnetic force generator 50 by the curvature correction device 21, and is input to the motor control circuit 8 as the guiding direction of the endoscope by the motor control υ1 path 8. The drive device 51 is controlled, and the magnetic force generating parts 50a and 50b of the magnetic force generating device 50 are moved to predetermined positions. Then, due to the magnetic force generated between the magnetic force generating section 50a50[) and the magnetic body 30 provided at the distal end of the videoscope insertion section 2, the navigation insertion section 2,
It is guided to the target position in the detected insertion direction.

Here, the refinement of the curvature correction device 21 will be explained using FIG.

The curvature direction correction device 21 includes an operation switch 23, an X-Y axis generating means 24 that generates the X-Y axis displayed on the display screen 17 of the monitor 1 by operation of the operation switch 23, and In response to the operation of the switch 23, a direction shift detection section 25 detects a shift in the bending direction, and in accordance with shift information from the direction shift detection section 25, an electronic meter jI
A coordinate conversion unit 26 is provided for converting the coordinates of the insertion direction of the endoscope inputted from &M9. The output of the X-Y axis generating means 24 is sent to the mixer 47 in the video signal processing port 1M87.
, the XY axes are mixed into the video signal and displayed on the monitor 11. Further, information on the insertion direction whose coordinates have been converted by the coordinate conversion section 26 is input to the motor control circuit 8.

Next, with reference to FIG. 4, the operation and function of the bending direction correction device 21 will be explained.

When the operation switch . Here, when the operation switch 23 is operated, the XY axes rotate around the origin ○.

The dark place 20 detected by the computer 9 is given as X-Y coordinates on the display screen 17 of the monitor 11. and,
The drive bag 251 is controlled so that the dark place 20 is located at the center ○ of the display screen 17, but at this time, the coordinates of the display screen 17 and the coordinates of the drive device 5 do not match. Therefore, the coordinate deviation is corrected as follows. That is, first, the drive device 51 is driven appropriately, and the direction B of movement of the dark place 20 at that time is detected. This direction B is
By rotating the X-Y axes using the operation switch 23 so that the X-axis or the Y-axis becomes parallel to the direction B, the direction deviation detection unit 25 can detect the deviation. Also, dark place 2
Similarly, the ideal movement direction A of 0 is detected by the direction deviation detection unit 2.
5 to detect.

Then, the directional deviation detection section 25 determines the directional deviation in the direction A and the direction B, and based on this directional deviation, the coordinate conversion section 26 corrects the coordinate deviation. The coordinate conversion section 26 converts the target coordinates (X, Y), which is the dark direction, sent from the computer 9 into the cylindrical coordinates (r) of the drive device 510.
, h, θ). In addition, at this time, the above-mentioned coordinate deviation is also corrected. In this way, the distal end of the insertion section 2 can be directed toward a dark place.

In addition to the function of determining the bending direction of the insertion section 2 in this way, the coordinate conversion section 26 also has a function of determining the direction of movement of the insertion section 2. That is, assuming a Z coordinate axis orthogonal to the X-Y coordinate system to which the target coordinates are given, that is, a coordinate axis in the traveling direction, the traveling direction is determined by the Z coordinates of these two coordinate axes and the target coordinates (XY). , converts it into a cylindrical seat source (r-, h-, θ゛) of the drive device 51.

Note that the two coordinates are input by the operator according to the advancing speed of the insertion section 2 and the like.

In this way, the insertion section 2 always has a dark place where the endoscopic image 1
It will proceed in the detected insertion direction while being controlled in posture (curving control) so as to be located at the center of 8 degrees.

As described above, according to this embodiment, the insertion direction of the insertion section 2 of the videoscope 1 is detected, the insertion section 2 is curved so that the distal end of the insertion section 2 faces in this insertion direction, and the insertion section 2 in the insertion direction, the insertion portion 2 can be inserted while being magnetically guided almost completely automatically.

In addition, the insertion section 2 of the videoscope 1 has a structure in which only the magnetic body 30 is attached, and a device for guiding the insertion section 2 is provided externally, so that the insertion section 2 can be prevented from increasing in diameter and becoming complicated. Prevented.

9 to 13 relate to a second embodiment of the present invention, FIG. 9 is an explanatory diagram showing a state in which the insertion section is inserted into the lumen, and FIG. 10 is an endoscope in the state shown in FIG. 9. FIG. 11 is an explanatory diagram showing another state in which the insertion section is inserted into the lumen. FIG. 12 is an explanatory diagram showing an endoscopic image in the state of FIG. 11. FIG. 2 is a block diagram showing the configuration of main parts of this embodiment.

As shown in FIG. 9, when the curved portion 58 of the lumen 57 is far from the distal end of the insertion section 2 of the videoscope 1 inserted into the lumen 57, as shown in FIG. In contrast, as shown in FIG. 11, the darkness level of the dark area 20 in the endoscopic tooth 1
When the curved portion 58 of the lumen 57 is close to the distal end of the endoscope, the darkness level of the dark area 20 in the endoscopic image 18 is low (bright), as shown in FIG. In this example,
By utilizing such properties, the dark area 2 in the endoscopic image 18 is
The darkness of 0 is numerically evaluated, and the drive device 51 is controlled so that the higher the darkness level of the dark place 20 is, the faster the insertion speed of the insertion section 2 is, and the lower the darkness level is, the slower the insertion is. It is something.

As shown in FIG. 13, the configuration of this embodiment is such that a clearness level conversion section 59 is provided between the electronic computer 9 and the motor control circuit 8, and is different from other horizontal or first embodiments. The same is true. The darkness level conversion section 59 calculates the darkness level of the dark place from the output signal level of the CCD 36 corresponding to the dark place sent from the computer 9. Then, the darkness level conversion unit 5 sends a control signal for the rotation of the motor according to the darkness level to the drive device 51. That is, the darkness level conversion unit 5 controls the drive device 51 so that the rotation speed of the motor is high when the darkness level is high, and the rotation speed of the motor is low when the darkness level is low.

In this way, according to this embodiment, the curved portion 58 of the lumen 57
Since the insertion speed of the insertion section 2 is slowed down as the position approaches , there is no risk of injury to the living body, such as perforation, and it is safe.

Other functions and effects are similar to those of the first embodiment.

FIG. 14 is an explanatory diagram showing a capsule endoscope and its control device in a third embodiment of the present invention.

The capsule endoscope 150 has a cylindrical capsule body 151 with a spherical front end and a spherical rear end. An observation window is provided at the center of the end surface of the capsule body 151, and an objective lens 152 is provided inside the observation window. A CCD 153 is provided at the imaging position of the objective lens 152. Further, a plurality of lighting windows are provided around the observation window, and an LED 154 is provided inside each lighting window. Further, on the rear end side of the capsule body 151, there is a drive circuit 156 for driving the CCD 53 and the LED 54, and a control device 160 disposed outside the subject.
, 53 and various command signals, and a power supply section 158 having a battery that supplies power to each component of the capsule endoscope 150. A permanent magnet (or ferromagnetic material) 159 is provided on the outer peripheral side of the capsule body 151.

The control device 160 described in +iir includes a transmitting/receiving section 1 ( ) 1 that transmits and receives data wirelessly or wired to the capsule endoscope I50 described in 67r (eE section 157), Operation means 1 for sending various command signals to the capsule endoscope 150 via the receiving parts 161 and 157
()2 and C input via the transmitter/receiver 161
a video signal processing circuit 7 for processing the output signal of the CU') 153 and converting it into a video signal, and the video No. 13 from the video processing circuit 7) processing circuit 'I@7 is
As in the eleventh embodiment, the signal is input to the monitor 11 and the A'D converter 10.

Although not shown in the drawings, a magnetic force generating device 50 similar to that of the first embodiment is also provided. Drive device 51. Movable coupling means 52 motor control circuit 8. Electronic computer 9 and curved direction compensation part ii! 821 is also provided.

In this embodiment, as in the eleventh embodiment, the CCD 153
The dark place, that is, the insertion direction is detected from the endoscopic image taken by the magnetic force generating device 50, and a magnetic field is generated.
This magnetic force generating device M 50 and the capsule type endoscope button 1 etc. (generate magnetic force between the permanent magnet 159 of 2 and move the magnetic force generating device 50 to create a capsule type endoscope), 50 is inserted by m+ mark. Create direction.

Note that the objective tongs 1 to 2 are provided inside the capsule body 151.
ccI) 153. In place of the elements necessary for the observation of [LED]]54, a sensor such as a ρF1 sensor or a temperature sensor is provided to detect the intragastric ρ1(, intestine[)H, temperature, etc. Inside the capsule body 151, a means for collecting intestinal fluid or the like or a means for administering medicine may be provided.

Other functions and effects of the configuration 1 are the same as those of the first embodiment.

Note that the present invention is not limited to the above-mentioned embodiments, and for example, the direction of the cavity may be detected using ultrasonic waves or the like as the insertion direction detection means.

In addition, the endoscope is not limited to a videoscope having a solid-state image sensor at the tip, but may also be an optical endoscope that transmits an image to the eyepiece using an image guide. By connecting an external TV camera to the
The insertion direction can be changed in the same manner as in the embodiment.

[Effects of the Invention] As explained above, according to the present invention, the insertion direction of the insertion section of the endoscope is detected, and the external magnetic force generating means is controlled so that the insertion section is guided in the insertion direction. So,
This has the advantage that the insertion section can be automatically guided magnetically.

[Brief explanation of drawings]

FIGS. 1 to 8 relate to the first embodiment of the present invention.
The figure is an explanatory diagram showing the configuration of the endoscope device, Fig. 2 is a sectional view of the distal end side of the insertion section, and Fig. 3 is an explanatory diagram showing the magnetic force generating device.
Fig. 4 is an explanatory diagram showing the display screen of the monitor, Fig. 5 is a flowchart showing step 1 in the method for detecting the insertion direction, Fig. 6 is a flowchart showing step 2 in the method for detecting the insertion direction, and Fig. 7 is the flowchart showing step 2 in the method for detecting the insertion direction. A flowchart showing step 3 in the direction detection method, FIG. 8 is a block diagram of the curvature direction correction device, FIGS. 9 to 13 are based on the second embodiment of the present invention, and FIG. 9 shows the insertion section. An explanatory diagram showing a state in which the insertion section is inserted into a lumen, FIG. 10 is an explanatory diagram showing an endoscopic image in the state shown in FIG. 9, and FIG. 11 is an explanatory diagram showing another state in which the insertion part is inserted into a lumen. Figure 12 is the 11th
An explanatory diagram showing an endoscopic image in the state shown in the figure, FIG. 13 is a block diagram showing the configuration of the main part of this embodiment, and FIG. 14 is a capsule endoscope and its control in a third embodiment of the present invention. It is an explanatory view showing a device. 1... Video scope 2... Insertion section 8... Motor control circuit 9... Electronic computer 50... Magnetic force generator 51
・Drive device 1st! 1st! 2nd! ! I Figure 3 Figure 4 Figure 8 Figure 5 Figure 6 Figure 7 Figure 9 Figure 13 Figure 10 Figure 14

Claims (1)

[Scope of Claims] At least a part of the insertion section inserted into the subject is provided with a guided section that is magnetically guided, and the insertion section is provided with a guided section for magnetically guiding the insertion section outside the subject. In an endoscope apparatus provided with a magnetic force generating means for generating a magnetic force acting on a guided portion, an insertion direction detection means for detecting an insertion direction of the insertion portion;
An endoscope apparatus comprising: a control means for controlling the magnetic force generation means so that the insertion section is guided in the insertion direction detected by the insertion direction detection means.