JPH0928662A - Endscope shape sensing system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately sense the position and shape of an endoscope insert irrespective of the material of the insert or its shape as inserted. SOLUTION: An endoscope shape sensor unit 1 has a plurality of examination coils 3 arranged in lines in a probe 2 and a plurality of interference coils 5 arranged in a matrix inside a bed 4 for a patient. An examination coil 3 has a magnetic field generating coil and a magnetic field receiving coil, both mounted on a single core. The magnetic field generation coils of the examination coil 3 and the interference coils 5 are sequentially and alternately energized for the production of constant magnetic fields and interference magnetic fields. The magnetic field receiving coils of the examination coil 3 receive the generated magnetic fields, and a magnetic field sensor circuit 8 extracts magnetic field data composed of specific frequency components. In an image processing circuit 11, the positions of the examination coils 3 are determined on the basis of the magnetic field data, and an image relative to the shape of the endoscope as inserted is exhibited on a display 12.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope shape detecting device for detecting the shape of an endoscope inserted in a subject in an endoscope examination and displaying it on an observation monitor or the like.

[0002]

2. Description of the Related Art Generally, an endoscope having a slender and flexible insertion portion is provided by inserting the insertion portion into a lumen in a body cavity.
It is possible to diagnose a deep organ in a body cavity without making an incision, or to perform a medical treatment such as cutting a polyp or the like by inserting a treatment tool into a channel of an insertion portion as necessary.

The lumen of the body cavity is meandering as seen in the large intestine or small intestine, and to what position the insertion portion of the inserted endoscope is inserted or what shape it is. It is difficult for the surgeon to grasp.

For example, as in the case of examining the inside of the lower gastrointestinal tract from the anus side, some skill may be required to smoothly insert the insertion portion into a bent body cavity.
In other words, when performing the insertion work, it is necessary to perform work such as bending the bending portion provided in the insertion portion according to the bending of the duct,
For that purpose, it is convenient to be able to know the current position of the tip of the insertion portion or the like in the body cavity, the bending state of the insertion portion, and the like.

For this reason, conventionally, an apparatus for irradiating an object to which an insertion portion of an endoscope has been inserted with X-rays to see through the insertion state of the insertion portion, or an electromagnetic wave or an ultrasonic wave near the tip of the endoscope. There have been proposed some devices in which an oscillating element for oscillating a sound wave or the like is provided, and an oscillating signal from the endoscope is received by a detecting means provided outside to detect the insertion state of the endoscope.

In Japanese Patent Laid-Open No. 4-259438, a magnetic field (AC magnetic field) is applied from the outside of the subject so that the magnetic field intersects with the metal part of the endoscope insertion part inserted into the body cavity. There is disclosed a device for detecting the insertion state of the insertion portion by detecting the change in the magnetic field due to the iron loss (eddy current loss, hysteresis loss) that occurs in the.

As an example of a device for detecting the insertion state of the insertion portion by using the change of the magnetic field, a state in which a receiving coil is provided in the insertion portion of the endoscope and the insertion portion is arranged in a member provided with a transmission coil To drive the oscillator coil to generate a magnetic field,
In some cases, the signal detected by the receiving coil by this magnetic field is processed by the signal processing means and converted into an image signal, so that the insertion shape of the insertion portion inserted inside the subject can be detected and displayed on a monitor or the like. Proposed.

According to the detecting means using such a change in the magnetic field, the insertion position and the insertion shape of the endoscope insertion portion can be detected with little influence on the human body.

[0009]

However, in the above-mentioned conventional apparatus, the amount of loss of metal to the magnetic flux generated by the magnetic field generating coil is detected, and it is composed of a metal member different from other portions. If there is a portion where the loss amount of magnetic flux is different, such as a portion where the endoscope distal end portion is overlapped or a portion where metal members are overlapped in a state where the endoscope insertion portion is looped, a detection failure may occur. That is, the amount of loss given to the magnetic flux of the magnetic field generating coil varies depending on the material structure and insertion shape of the endoscope insertion portion, so that the insertion shape may not be accurately detected.

The present invention has been made in view of these circumstances, and can accurately detect the insertion position and the insertion shape of the insertion portion without being affected by the material structure and insertion shape of the endoscope insertion portion. It is an object of the present invention to provide an endoscope shape detecting device capable of performing the above.

[0011]

In the endoscope shape detecting apparatus according to the present invention, a magnetic field generating coil for generating a constant magnetic field and a magnetic field receiving coil for receiving a magnetic field are provided inside the insertion portion of the endoscope. An inspection coil disposed on the core, an inspection coil drive means for supplying a high frequency signal to the magnetic field generation coil, and a magnetic field detection means for converting a predetermined frequency component of a reception signal received by the magnetic field reception coil into a DC signal. An interference coil that generates an interference magnetic field that interferes with a constant magnetic field generated by the magnetic field generating coil to increase or decrease the constant magnetic field; an interference coil driving unit that supplies a high-frequency signal to the interference coil; and the magnetic field detection unit outputs Signal processing means for processing magnetic field data to obtain position information of the inspection coil and generating an image signal relating to the insertion shape of the endoscope. Without being influenced by the material structure and the insertion shape of the insertion portion, the position and insertion shape of the insertion portion of the endoscope can be detected.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 4 relate to a first embodiment of the present invention, FIG. 1 is a configuration explanatory view showing an overall configuration of an endoscope shape detecting device, and FIG. 2 is a block diagram showing a configuration around an inspection coil and an interference coil. 3 is a characteristic diagram showing a relationship between magnetic field data in each coil and an inspection space, and FIG. 4 is a characteristic diagram showing an example of magnetic field data detected by each coil.

The endoscope shape detecting device 1 has a plurality of inspection coils 3 linearly arranged inside the probe 2 in order to detect the generation of a magnetic field and the change due to the interference of the generated magnetic field.
And a plurality of interference coils 5 arranged in a matrix inside the bed 4 on which the patient lies. The probe 2 is arranged in the insertion part of the endoscope or inserted into a channel provided in the insertion part.

Each of the inspection coils 3 detects a predetermined frequency component from the signal received by the inspection coil driving circuit 7 which supplies a high frequency signal to the inspection coil 3 via the inspection coil switching circuit 6 and the signal received by the inspection coil 3. It is connected to the magnetic field detection circuit 8 for converting into a DC signal. The output terminal of the magnetic field detection circuit 8 receives an image processing circuit 11 for processing the magnetic field data output by the magnetic field detection circuit 8 to generate an image signal related to the insertion shape of the endoscope, and an image signal output by the image processing circuit 11. Display devices 12 for displaying images are sequentially connected. The inspection coil switching circuit 6 relays the inspection coils 3 to the inspection coil driving circuit 7 and the magnetic field detection circuit 8, and inspects the inspection coil 3 and the inspection coil 3 designated by the inspection coil switching signal from the image processing circuit 11. The coil drive circuit 7 and the magnetic field detection circuit 8 are switched and connected.

Each of the interference coils 5 is connected to an interference coil drive circuit 10 for supplying a high frequency signal to the interference coil 5 via an interference coil switching circuit 9. The interference coil switching circuit 9 relays between the plurality of interference coils 5 and the interference coil driving circuit 10. The interference coil switching circuit 9 and the interference coil driving circuit 10 are designated by the interference coil switching signal from the image processing circuit 11. Are switched and connected.

Further, as shown in FIG. 2, the inspection coil 3
Is a magnetic field generating coil 3a, a magnetic field receiving coil 3b, a core 3
The magnetic field generating coil 3a is connected to the inspection coil drive circuit 7, and the magnetic field receiving coil 3b is connected to the magnetic field detection circuit 8 via an inspection coil switching circuit 6 (not shown).

The inspection coil drive circuit 7 includes an oscillator circuit 13 that oscillates a sine wave voltage at a predetermined drive frequency, and an oscillator circuit 1.
3 and a constant current circuit 14 for converting the sine wave voltage signal from 3 into a current and driving the magnetic field generating coil 3a with a constant current. The magnetic field detection circuit 8 includes a differential amplification circuit 15 that amplifies the reception signal from the magnetic field reception coil 3b to a predetermined level,
A bandpass filter (BPF) 1 for passing the drive frequency component of the magnetic field generating coil 3a from the amplified received signal.
6, a peak detection circuit 17 that detects the peak value of the sine wave signal output of the BPF 16, and an analog-digital converter (ADC) 18 that converts the detected peak value signal into digital data.

The interference coil drive circuit 10 has a predetermined drive frequency, and is equal to the oscillation circuit 13 of the inspection coil drive circuit 7.
Oscillation circuit 19 that oscillates sinusoidal voltage having different phases by 80 °
And a constant current circuit 20 for converting the sine wave voltage signal from the oscillation circuit 19 into a current and driving the interference coil 5 with a constant current.

Next, the operation of the endoscope shape detecting apparatus according to the first embodiment will be described.

The image processing circuit 11 first sends an inspection coil switching signal to the inspection coil switching circuit 6 in order to drive the inspection coil 3 arranged at the tip of the probe 2. Upon receiving this signal, the inspection coil switching circuit 6 connects the inspection coil drive circuit 7 and the magnetic field detection circuit 8 to the inspection coil 3 arranged at the tip of the probe 2.

In this state, the constant current circuit 14 of the inspection coil drive circuit 7 performs drive control so that a constant current flows through the magnetic field generating coil 3a of the inspection coil 3 at the drive frequency from the oscillation circuit 13, and the inspection coil 3 Emit a more constant magnetic field. At this time, the magnetic field receiving coil 3b is replaced by the magnetic field generating coil 3b.
An electric current is generated by receiving a magnetic field from a. The received signal of the magnetic field receiving coil 3b is input to the magnetic field detection circuit 8, amplified by the differential amplification circuit 15, and filtered by the BPF 16 to remove excess signal components other than the drive frequency.
7 is input. Then, in the peak detection circuit 17, it becomes a DC signal representing the peak value of the received signal, and the ADC
It is converted to digital magnetic field data at 18 and output to the image processing circuit 11.

In the next step, the image processing circuit 11 sends an interference coil switching signal to the interference coil switching circuit 9 to switch the interference coils 5 arranged on the bed 4 in a preset order. Then, the interference coil drive circuit 10 drives the interference coils 5 that are sequentially connected. At this time, the magnetic field data obtained when each interference coil 5 is driven is recorded in association with the order of the inspection coils 3.

Further, the image processing device 11 includes the probe 2
The above-described operation is repeated while sequentially switching to the last inspection coil 3 of, and a series of magnetic field data for all the inspection coils 3 arranged in the probe 2 is collected.

The processing of the collected magnetic field data will be described here. As shown in FIG. 3, spatial coordinates (x5, y1
, Z), when the inspection coil 3 existing in each of them is driven, the respective spatial coordinates (x1, y1, 0), (x2,
y1, 0), (x3, y1, 0), (x4, y1,
0), (x5, y1, 0), (x6, y1, 0), (x
When the eight interference coils 5 arranged at (7, y1, 0) and (x8, y1, 0) are sequentially driven, each magnetic field data is detected by the magnetic field detection circuit 8 as shown in FIG.

The peak appearing in the curve of the magnetic field data of FIG. 4 is the magnetic field data when the interference coil 5 of (x5, y1, 0) is driven, and the distance between the interference coil 5 and the inspection coil 3 is Since the length is the shortest among the eight interference coils 5, it indicates that the degree of interference is the highest. That is, when one inspection coil 3 is being driven, the xy coordinates of the coil in which the interference magnetic field is detected most strongly among all the interference coils 5 are the xy coordinates of the inspection coil 3.
Coordinates.

Further, the image processing circuit 11 distributes the magnetic field data with respect to the distance between the interference coil 5 and the inspection coil 3 as well as the magnetic field data before the probe 2 is arranged in the endoscope and the probe 2 to the endoscope. The ratio with the magnetic field data after the setting is stored in advance. The distance when the data for this distance matches the maximum value of the magnetic field data detected previously multiplied by this ratio becomes the z coordinate of the inspection coil 3.

Therefore, as described above, the position of the inspection coil 3 on the bed plane is obtained by detecting the peak value of the magnetic field data obtained by driving the plurality of interference coils 5, and the peak of this magnetic field data is obtained. The distance from the bed to the inspection coil 3 can be obtained by comparing the value with the previously stored data relating to the distance of the magnetic field data.

By performing the above processing for each inspection coil 3, the spatial coordinates of all the inspection coils 3 are detected from the collected magnetic field data.

The image processing device 11 generates an image signal representing the insertion shape of the endoscope based on the data of the spatial coordinates of the inspection coil 3 and outputs it to the display device 12. In response to this, the display device 12 displays a two-dimensional or (pseudo) three-dimensional image showing the insertion shape of the endoscope on the screen.

As described above, in the present embodiment, the inspection coil in which the magnetic field generating coil for generating the constant magnetic field and the magnetic field receiving coil for detecting the magnetic field are provided on the same core is arranged in the probe. The combined value of the constant magnetic field generated by the magnetic field generating coil and the magnetic field generated by the magnetic field generated by the interference coil in the bed is received by the magnetic field receiving coil. At this time, even when the magnetic field is not generated by the interference coil, the magnetic field from the magnetic field generation coil is already received under the influence of the metal part of the endoscope, so that the interference of the magnetic field from the external interference coil. When the magnetic field is received, the magnetic field fluctuates by that amount and is received by the magnetic field receiving coil. The shape of the insertion portion of the endoscope can be obtained by processing the magnetic field data signal representing this variation.

Therefore, according to the present embodiment, the influence of the metallic portion of the endoscope on the magnetic field can be known in advance by the inspection coil, so that the influence can be eliminated from the detected magnetic field data, and It becomes possible to detect an accurate insertion shape.

In the following embodiments, the structure different from that using the above-described inspection coil and interference coil,
Some configuration examples of the means for detecting the insertion shape of the endoscope from the change of the magnetic field will be shown.

5 to 10 relate to a second embodiment of the present invention, FIG. 5 is a perspective view showing a hall element provided on a bed surface, and FIG. 6 is an explanatory view showing an enlarged hall element. 7
8 is a perspective view showing a permanent magnet provided inside the scope, FIG.
Is a perspective view showing the arrangement structure of the permanent magnets, and FIGS. 9 and 10 are explanatory views showing the positional relationship between the permanent magnets and the bed surface when the scope is inclined.

In the second embodiment, as shown in FIG.
A plurality of Hall elements 21 are arranged on the bed surface 22 in a matrix. As shown in FIG. 6, each Hall element 21 is provided with a current terminal 23 and a voltage terminal 24 which are orthogonal to each other. These current terminal 23 and voltage terminal 24 are
It is connected to a shape detection device and a display device (not shown).

On the other hand, as shown in FIG. 7, inside the endoscope insertion portion (hereinafter referred to as a scope) 25, the permanent magnet 2 is provided.
6 are provided. As shown in FIG. 8, a non-magnetic connector 27 and a non-magnetic support shaft 28 are connected to both ends of the permanent magnet 26, and the end of the support shaft 28 has a rotation groove 29.
It is attached rotatably with respect to. Permanent magnet 26
Can be rotated around a support shaft 28 by a connector 27, and the support shaft 28 can be rotated along a rotation groove 29.

Therefore, as shown in FIGS. 9 and 10, the support shaft 28 is always horizontal with respect to the bed surface 22 regardless of the orientation of the scope 25 such that the scope 25 is tilted. One surface of the magnet 26 is positioned parallel to the bed surface 22, and the magnetic field of the permanent magnet 26 is
It is configured to face the direction perpendicular to 2. In the illustrated example, the N pole of the permanent magnet 26 is always opposed to the bed surface 22 in parallel.

Next, the operation of the endoscope shape detecting apparatus according to the second embodiment will be described.

When the scope 25 is inserted into or removed from the body cavity of the patient lying on the bed surface 22, a magnetic field perpendicular to the bed surface 22 generated by the permanent magnet 26 provided in the scope 25 is applied to the bed surface 22. It traverses over the Hall element 21 that is placed. Here, when a current I is made to flow to the current terminal 23 of the Hall element 21 by a shape detection device (not shown), when the magnetic field of the permanent magnet 26 crosses over the Hall element 21, the direction of the magnetic field applied to the Hall element 21 and the direction of the current flow. Hall voltage is generated in a direction orthogonal to both. This Hall voltage becomes the voltage V across the voltage terminal 24 as shown in FIG. 6, and is measured through the voltage terminal 24.

The shape detecting device has the measured Hall element 2
From the voltage change of 1, the strength of the magnetic field applied to the Hall element 21 is calculated. Since the strength of the magnetic field generated by the permanent magnet 26 is constant, the Hall element 21 is calculated from the calculated strength of the magnetic field.
And the permanent magnet 26 can be obtained. By tracking the position of the permanent magnet 26 thus obtained, the overall shape of the scope 25 is estimated, and an image showing the insertion shape is displayed on the display device.

As described above, according to this embodiment, it is possible to detect the accurate insertion shape of the endoscope by detecting the change in the magnetic field generated by the permanent magnet. In the configuration of the present embodiment, what is provided on the scope side is a permanent magnet, so that a drive system or the like is not required and the configuration can be simplified.

Next, a third embodiment will be described with reference to FIGS.
This will be described with reference to FIG.

In the third embodiment, as shown in FIG. 11, a plurality of Hall elements 21 are arranged in a matrix on the bed surface 22 and connected to a shape detection device and a display device (not shown). A permanent magnet 30 is arranged below the bed surface 22.

Further, as shown in FIG.
A flat magnetic body 31 is provided inside the. Similar to the permanent magnet of the second embodiment, this magnetic body 31 has the disposition structure shown in FIGS. 8 to 10, and the magnetic body 31 has a structure similar to that of the permanent magnet 31 regardless of the orientation of the scope 25. The plane is configured to be parallel to the bed surface 22.

Next, the operation of the endoscope shape detecting apparatus according to the third embodiment will be described.

When the scope 25 is inserted into or removed from the body cavity of the patient lying on the bed surface 22, the magnetic body 31 is magnetized by the magnetic field generated by the permanent magnet 30. Then Fig. 13
As shown in, when the magnetized magnetic body 31 crosses over the Hall element 21 arranged on the bed surface 22, the magnetic field of the permanent magnet 30 fluctuates. The Hall voltage generated in the Hall element 21 also changes according to the change in the magnetic field.

From the measured voltage change of the Hall element 21, the strength of the magnetic field applied to the Hall element 21 can be calculated by the shape detecting device. Since the strength of the magnetic field generated by the permanent magnet 30 is constant, the distance between the Hall element 21 and the magnetic body 31 can be obtained from the calculated strength of the magnetic field. By tracking the position of the magnetic body 31 thus obtained, the overall shape of the scope 25 is estimated, and an image showing the insertion shape is displayed on the display device.

As described above, according to this embodiment, as in the second embodiment, it is possible to detect the accurate insertion shape of the endoscope by detecting the change in the magnetic field generated by the permanent magnet. Becomes In the configuration of the present embodiment, what is provided on the scope side is a simple magnetic body, so a drive system or the like is not required, and the configuration can be simplified and made inexpensive. Further, since the permanent magnet that is the magnetic field generation source is located outside, it is possible to easily change the magnetic field strength.

A plurality of magnetic materials may be provided on the scope. At this time, as shown in FIG. 14, it is possible to estimate which magnetic body is magnetized from the insertion amount until the magnetic field variation occurs by providing the magnetic bodies 31a to 31d with different intervals. By using this configuration, the insertion state of the scope 25 can be estimated in more detail in the embodiments so far. Further, as shown in FIG. 15, the positions where the magnetic bodies 31e to 31g are provided may be shifted. By doing so, it is possible to estimate which magnetic body is magnetized from the difference in the way the magnetic field fluctuates, and to estimate the insertion state of the scope 25 in more detail. A magnetoresistive element may be used instead of the Hall element.

Next, a fourth embodiment will be described with reference to FIGS.
2 will be described.

In the fourth embodiment, as shown in FIG. 16, a U-shaped magnetic body 32 is movably arranged on the bed surface 22. As shown in FIG. 17, the magnetic body 32 is provided with coils 32a and 32b at both ends thereof, and an exciting circuit 33 for exciting the magnetic body 32 and an excited magnetic body 32 are provided.
Is connected to the inductance detection circuit 34 which detects the change in the inductance.

As shown in FIG. 16, the central portion of the U-shaped magnetic body 32 is held by a shaft 35,
The shaft 35 is connected to a movable shaft 36 that is parallel to the bed surface 22 and has a variable length. The movable shaft 36 is connected to a support shaft 38 perpendicular to the bed surface 22, and the support shaft 38 is held by a fixing member 37 arranged on the bed side surface. These members 35 to 38 correspond to the drive circuit 3
9 and is displaceable by drive control of the drive circuit 39.

That is, as shown in FIG. 18, the U-shaped magnetic body 32 is rotatable about a shaft 35, and a movable shaft 36 is provided.
Has a variable length and is rotatable about the support shaft 38. Further, as shown in FIG. 19, the fixing member 37 and the support shaft 38 can be smoothly moved along the side surface of the bed.

Further, as in the third embodiment shown in FIG. 12, a flat plate magnetic body 31 is provided inside the scope 25 so that the magnetic body 31 can be placed in any orientation of the scope 25. The one plane is configured to be parallel to the bed surface 22.

Further, the inductance detection circuit 34
Are connected to the drive circuit 39. The drive circuit 39 has a magnetic body position detection function.

Next, the operation of the endoscope shape detecting apparatus according to the fourth embodiment will be described.

In the initial state before the insertion of the scope 25, the U-shaped magnetic body 32 is arranged immediately above the insertion start point. When the magnetic body 31 in the scope 25 is located directly below the U-shaped magnetic body 32 after the insertion is started, the induced voltage changes in the U-shaped magnetic body 32 excited by the excitation circuit 33. . This voltage change is detected as a change in inductance by the inductance detection circuit 34 provided in the U-shaped magnetic body 32. From this variation of the detected inductance, a minute variation of the magnetic body 31 can be calculated, and the moving position of the magnetic body 31 can be estimated.

The data of the estimated position of the magnetic body 31 thus estimated is fed back to the drive circuit 39. The drive circuit 39 estimates the forward / backward direction of the magnetic body 31 based on the fed back estimated position data, adjusts the movable shaft 36 and the fixed member 37, and moves the U-shaped magnetic body 32. Then, at the position after the movement, the U-shaped magnetic body 32 is slightly rotated around the shaft 35, and the actual traveling direction of the magnetic body 31 is estimated again from the detected inductance variation.
By tracing the traveling direction of the magnetic body 31 in this manner, the insertion shape of the scope 25 is estimated.

As described above, according to this embodiment, it is possible to accurately estimate the insertion state of the endoscope by tracking the position of the magnetic body provided in the scope by the movable U-shaped magnetic body.

When moving the U-shaped magnetic body 32, as shown in FIG. 20, the magnetic body 31 provided in the scope is traced while rotating with one end as a fulcrum and moving in the manner of a compass. May be. With this method, even if the scope insertion work is not proceeding smoothly, it is possible to track the magnetic substance in the scope without losing sight.

As shown in FIG. 21, a plurality of U-shaped magnetic bodies 32a, 32b, and 32c are provided, and the estimated region of the magnetic body in the scope is limited to share each U-shaped magnetic body. You may make it track. In this method, since the moving range of each U-shaped magnetic body is reduced, the drive circuit for the U-shaped magnetic body can be simplified.

Also, as shown in FIG. 22, one U
The entire area on the bed surface 22 may be scanned by the character-shaped magnetic body 32. With this method, the position of the magnetic substance in the scope can be reliably searched.

Next, the fifth embodiment will be described with reference to FIGS.
This will be described with reference to FIG.

In the fifth embodiment, as shown in FIG. 23, a set of three coils 40 is provided so as to wrap around the bed surface 22. The three sets of coils 40 are
As shown in FIG. 24, the center is composed of a primary coil 40a and both sides are composed of secondary coils 40b. The winding directions of the coils are opposite to each other, and each coil is a drive excitation circuit 41. It is connected to the. Drive excitation circuit 4
1 excites the primary coil 40a, and detects the voltage and phase induced in the secondary coil 40b at this time.

Further, as shown in FIG. 25, the three sets of coils 40 are held and fixed by the fixing member 42, and the fixing member 42 is connected to the movable member 43, and the three sets of coils 40 are connected. Are connected to the drive excitation circuit 41 via the fixed member 42 and the movable member 43. With this movable member 43, based on the drive control of the drive excitation circuit 41,
The coil 40 and the fixing member 42 in a set of three make fine rotations in the horizontal direction and the vertical direction, and can scan the entire bed surface 22.

On the other hand, inside the scope 25, as shown in FIG. 26, a cylindrical magnetic core 44 is arranged.

Next, the operation of the endoscope shape detecting apparatus according to the fifth embodiment will be described.

When the magnetic cores 44 contained in the scope 25 are present in the three sets of coils 40 in the state where the primary coil 40a is excited by the drive excitation circuit 41, the induction induced by the secondary coil 40b occurs. Power and phase change. Here, since the polarities of the primary coil 40a and the secondary coil 40b are opposite, the electromotive force induced in the secondary coil 40b depends on the displacement from the center position of the primary coil 40a of the magnetic core 44. It becomes big. In addition, the secondary coil 4
The sign of the phase of the output voltage of 0b is inverted depending on which side of the primary coil 40a the magnetic core 44 is located.

The electromotive force and the phase thus generated in the secondary coil 40b are detected by the drive excitation circuit 41, and the drive excitation circuit 41 estimates the existing position of the magnetic core 44 from the detection result. Further, the drive exciting circuit 41 makes a minute rotation of the fixed member 42 through the movable member 43, thereby minutely rotating the three sets of coils 40. Then, the changes in the electromotive force and the phase in the secondary coil 40b at this time are fed back to the estimated position calculation means of the magnetic core 44 to estimate the direction of the magnetic core 44. While repeating such processing, the fixing member 42 is scanned in parallel with the bed surface 22, the position and direction of the magnetic core 44 are traced, and the insertion shape of the scope 25 is estimated.

As described above, according to the present embodiment, the induced electromotive force is detected by the three sets of coils, so that the insertion shape can be accurately estimated without being affected by the ambient noise and the like.

The magnetic core 44 has the structure shown in FIG. 14 or FIG. 15 of the third embodiment and has a scope 25.
You may provide a plurality inside. By doing so, it is possible to omit a drive circuit for minutely rotating the coils of three sets. Further, a plurality of three-set coils may be provided.
By doing so, it is possible to omit the drive circuit for scanning the three sets of coils along the bed surface 22.

Next, a sixth embodiment will be described with reference to FIGS.
This will be described with reference to 0.

In the sixth embodiment, as shown in FIG. 27, an electromagnet 46 is provided, and an AC excitation circuit 47 for exciting with an AC current is connected to the electromagnet 46. Although not shown here, the electromagnet 46 is held on the bed surface 22 by the same structure as the magnetic body holding and driving means as shown in FIG. 16 of the fourth embodiment.

On the other hand, as shown in FIG. 28, a spherical space 48 is provided inside the scope 25, and a spherical magnetic body 49 is housed inside this space 48. Around the space 48, as shown in FIG.
Are arranged. Signal line 51 from each contact sensor 50
Is extended and connected to an external contact detection circuit (not shown). The contact detection circuit is configured to identify which contact sensor 50 is in contact with the magnetic body 49 and to detect the position of the magnetic body 49 on the wall surface of the space 48.

Next, the operation of the endoscope shape detecting apparatus according to the sixth embodiment will be described.

As the scope 25 is inserted into and removed from the body cavity, the electromagnet 46 is AC-excited by the AC excitation circuit 47. Here, under the electromagnet 46 excited by the alternating current, the scope 25
When the magnetic body 49 inside passes, the magnetic body 49 is attracted by the magnetic force of the electromagnet 46.

In the case of the AC electromagnet, as shown in FIG. 30, there is an equilibrium point between the force F attracted by the magnetic force and the gravity mg applied to the magnetic body 49. At this equilibrium point, the magnetic body 49 does not come into contact with any of the contact sensors 50, and no contact is detected by the contact sensor 50. Therefore,
This equilibrium point is found by adjusting the exciting current of the AC exciting circuit 47. When the equilibrium point is found, the value of the attractive force at this time is fed back to the relationship between the previously measured attractive force and the gravity applied to the magnetic body, and the distance from the electromagnet 46 to the magnetic body 49 is calculated from the distance from the previous equilibrium point. Estimate Z.

In addition to sequentially tracking the position of such an equilibrium point, information on the tilt of the scope 25 is obtained from the position information indicating which contact sensor 50 the magnetic body 49 is in contact with when the electromagnet 46 is not excited. Got scope 25
The insertion shape of is detected.

As described above, according to this embodiment, the position of the magnetic body provided in the scope can be tracked by the movable electromagnet and the shape can be estimated by adding the tilt information of the scope. It becomes possible to more accurately estimate the insertion shape.

Next, the seventh embodiment will be described with reference to FIGS. 31 and 32.
This will be described with reference to FIG.

In the seventh embodiment, as shown in FIG. 31, a storage member 53 for storing a magnetometer 52 utilizing superconductivity is provided on the bed surface 22. The storage member 53 is held by a holding member 54.

As shown in FIG. 32, the magnetometer 52 includes a pickup coil 55 for detecting the gradient of the magnetic flux, a transfer coil 56 for transmitting the magnetic flux detected by the pickup coil 55, and a superconducting device for quantizing the detected magnetic field. Ring 5
7, a receiving circuit 58 for receiving the quantized magnetic field, and an output detecting circuit 59 for detecting the output of the received magnetic field.

In FIG. 32, the block surrounded by the broken line needs to be cooled to a temperature at which superconductivity occurs. Therefore, the storage member 53 that stores the magnetometer 52 is made of a material that can withstand such a low temperature, and has a structure that can separate the low temperature portion and the normal temperature portion.

Although not shown, in the scope 25,
Similar to the above embodiment, a magnetic field generation source such as a coil or a permanent magnet is provided.

Next, the operation of the endoscope shape detecting apparatus according to the sixth embodiment will be described.

When the magnetic field generated by the magnetic field generator provided in the scope 25 penetrates the pickup coil 55 of the magnetometer 52, a current corresponding to the difference in the penetrated magnetic flux is generated. This current causes the transfer coil 56 to generate a magnetic field. The magnetic field generated by the transfer coil 56 is quantized by the superconducting ring 57, and the quantized magnetic flux is transmitted to the receiving circuit 58 and received. The magnetic flux received by the receiving circuit 58 is output as a voltage fluctuation with a certain minimum unit as a cycle.
Is detected by

Since the amplitude of the voltage fluctuation and the manner of the periodic fluctuation thus obtained uniquely correspond to the gradient of the magnetic flux, they are formed at the position where the pickup coil 55 exists based on the value detected by the output detection circuit 59. The strength of the magnetic field and its gradient can be obtained. Then, the distance from the pickup coil 55 to the magnetic field generation source and its direction are estimated from the obtained magnetic field strength and its gradient.

As described above, according to the present embodiment, since the gradient of the magnetic flux can be quantized and detected, highly sensitive magnetic field measurement can be performed without attenuation depending on the distance to the magnetic field generation source, and accurate measurement is possible. The insertion state of the endoscope can be estimated.

By the way, in the conventional endoscope shape detecting apparatus, the detected endoscope shape is superimposed on the reference marker position provided outside the body, the transmission image taken by X-rays, etc. The approximate position of the endoscope inside can be estimated. However, in this case, only the position of the endoscope is known, and it is not possible to accurately know what the organ in which the endoscope is inserted is.

Therefore, in addition to detecting the endoscope insertion shape in the body cavity, an example of the configuration of an apparatus capable of accurately knowing the organ into which the endoscope is inserted is shown below.

33 to 36 show a first structural example of a device capable of detecting an organ into which an endoscope is inserted.

As shown in FIG. 33, the endoscope system 10
Reference numeral 1 denotes an endoscope apparatus 1 for performing an inspection or the like using the endoscope 106.
02 and the endoscope device 102, and by detecting each position in the insertion portion 107 of the endoscope 106, the shape of the insertion portion 107 is estimated from each detected position, and further estimated. By the endoscope shape detection device 103 that displays an image of the modeled insertion portion shape of the endoscope corresponding to the shape, and the biometric information obtained from the endoscope distal end portion,
An insertion organ determination device 140 that determines the organ into which the distal end of the endoscope is inserted.

A patient 105 as a subject is placed on the bed 104 for endoscopy, and the insertion portion 107 of the endoscope 106 is inserted into the body cavity of the patient 105.

The endoscope 106 includes an elongated and flexible insertion portion 107, a wide operation portion 108 formed at the rear end thereof, and a universal cable extended from the side portion of the operation portion 108. 109, and the connector 109A at the end of the universal cable 109 can be detachably connected to the video processor 111.

A not-shown light guide is inserted into the insertion portion 107, and this light guide is further inserted into the universal cable 109 extended from the operation portion 108 to reach the terminal connector 109A. Then, the illumination light is supplied to the end face of the connector 109A from a lamp of a light source unit (not shown) built in the video processor 111, the illumination light is transmitted by the light guide, and the (illumination light of the distal end portion of the insertion unit 107 is The illumination light transmitted from the illumination lens 137 attached to the illumination window (which forms the emission means) is emitted forward.

The subject illuminated by the illumination light emitted from the illumination window, such as the inner wall of the body cavity or the affected area, is focused by the objective lens 138 attached to the observation window formed adjacent to the illumination window at the tip. An image is formed on a CCD as a solid-state image sensor arranged on the surface.

The CCD drive signal output from the CCD drive circuit in the signal processing unit (not shown) built in the video processor 111 is applied to the CCD, and the image signal photoelectrically converted (by the CCD) is read out. . The image signal is processed by the signal processing unit through the signal line inserted through the insertion unit 107 or the like, converted into a standard video signal, and output to the color monitor 112.
The color monitor 112 displays in color the endoscopic image formed on the photoelectric conversion surface of the CCD by the objective lens.

A bending operation knob is provided on the operation portion 108, and the bending portion formed near the distal end of the insertion portion 107 can be bent by rotating the knob. . As a result, the distal end side of the insertion portion 107 can be curved so that it can be smoothly inserted into a curved body cavity path along the bending.

On the side surface of the tip of the insertion portion 107, there is provided a biometric information sensor unit 139 which is constructed by integrating sensors for detecting biometric information. As an integrated sensor provided in the biological information sensor unit 139, a pressure sensor composed of a semiconductor strain gauge, a pH sensor composed of a glass electrode or an ISFET, and an ion sensor having a specific ion permeable film attached on a sensitive electrode of the pH sensor , Has a temperature sensor including a thermistor and a thermocouple.

The detection signal of the biological information sensor unit 139 is input to the inserted organ determination device 140 via the sensor signal line 141 which is inserted through the insertion portion 107 or the like and branched from the universal cable 109.

FIG. 34 shows a functional block diagram of the inserted organ discriminating apparatus 140. The inserted organ determination device 140 has a pressure sensor signal processing unit 142, a pH sensor signal processing unit 143, an ion sensor signal processing unit 144, and a temperature sensor signal processing unit 145 at the input unit. These signal processing units 14
Signals detected by the respective sensors in the biological information sensor unit 139 are input to 2 to 145, and the detection values thereof are obtained. The respective detection values thus obtained are compared and determined by the comparison / determination unit 14
7 is compared with the data from the organ biometric data storage unit 146 in which the organ biometric data measured in advance for each organ is stored to determine which organ the detected value belongs to. .

Since the organ biometric data is different for each organ, the organ can be identified by the detection value obtained by each sensor. The determined organ name is the monitor signal generation unit 148.
Is converted into an image signal by the endoscope shape detection device 103
Is displayed on the monitor 123 and the name of the organ in which the endoscope is inserted is displayed on the monitor 123.

Further, the insertion portion 107 is attached to the endoscope 106.
A hollow channel 113 is formed inside, and a treatment tool such as forceps is inserted through the insertion opening 113a at the base end of the channel 113, so that the distal end side of the treatment tool is inserted into the insertion portion 1.
It is possible to perform a biopsy, a medical treatment or the like on the affected part by projecting it from the channel outlet 113b on the distal end surface of 07.

A probe 115 for position and shape detection (of the insertion portion 107 inserted into the body cavity) is inserted into the channel 113, and the tip side of the probe 115 is set at a predetermined position in the channel 113. can do.

As shown in FIG. 35, this probe 115
, A plurality of source coils 116 a, 116 b ... (Represented by reference numeral 116 i) as magnetic field generating elements for generating a magnetic field are tubes having an insulating and flexible circular cross section.
The flexible support member 120 and the inner wall of the tube 119 are fixed to the inner wall of the tube 119 with an insulating adhesive at a constant distance d, for example.

Each source coil 116i is constituted by, for example, a solenoid coil in which a conductive wire wound around an insulating and hard cylindrical core 110 is wound, and a lead wire connected to one end of each source coil 116i. Are made common and are inserted through the inside of the support member 120, and the lead wire 117 at the other end is inserted through the inside of the tube 119 to the proximal side. Also,
An insulating filling member is filled in the tube 119 to prevent the tube 119 from being crushed even when the tube 119 is bent. Further, even if the tube 119 is bent and deformed, the source coil 116i itself has a conductive wire wound around the hard core 110 and is fixed with an adhesive, so that the source coil 116i itself does not change its shape. The function of generating the magnetic field is kept unchanged even when the tube 119 is deformed.

The position of each source coil 116i is set to a known position in the insertion portion 107 of the endoscope 106, and the insertion portion 107 of the endoscope 106 is detected by detecting the position of each source coil 116i. Discrete positions (more strictly, the positions of the source coils 116i) can be detected.

By detecting these dispersive positions, the position between them can also be roughly estimated, and therefore, by detecting the dispersive positions, the insertion portion 107 of the endoscope 106 inserted into the body cavity is detected. It is possible to obtain the approximate shape of.

The lead wire 117 connected to each source coil 116i is connected to a connector 118 provided at the rear end of the probe 115 or at the rear end of a cable extending from the rear end of the probe 115, The connector 118 is connected to the connector receiver of the endoscope shape detecting device main body 121. Then, as will be described later, each source coil 116i
Is applied with a drive signal to generate a magnetic field used for position detection.

Further, as shown in FIG. 33, the bed 104
Of the triaxial sense coil 122a as a magnetic field detecting element for detecting the magnetic field at three known positions, for example, three corners,
122b and 122c (represented by reference numeral 122j) are attached, and these triaxial sense coils 122j are connected to the shape detection apparatus main body 121 via a cable 129 extending from the bed 104.

As shown in FIG. 35, in the triaxial sense coil 122j, coils 122X, 122Y and 122Z are wound in three directions so that the respective coil surfaces are orthogonal to each other, and each coil is orthogonal to the coil surface. A signal proportional to the strength of the magnetic field of the axial component is detected.

The main body 121 of the shape detecting device is based on the output of the triaxial sense coil 122j.
The position of 6i is detected, the shape of the insertion portion 107 of the endoscope 106 inserted in the patient 105 is estimated, and a computer graphic image corresponding to the estimated shape is displayed on the monitor 12
3 is displayed.

Since the endoscope shape detecting device 103 uses magnetism, the presence of a metal that is not transparent to magnetism is affected by iron loss or the like, and the source coil 116i for magnetic field generation and the detector coil 116i for detection are used. 3-axis sense coil 122
Affects mutual inductance between j. In general,
When the mutual inductance is represented by R + jX, both R and X are affected (metals that are not transparent to magnetism).

In this case, the amplitude and the phase of the signal measured by the quadrature detection which is generally used for detecting the minute magnetic field are changed. Therefore, in order to detect a signal with high accuracy, it is desirable to set an environment that does not affect the generated magnetic field.

In order to realize this, the bed 104 may be made of a magnetically transparent material (in other words, a material that does not affect the magnetic field). The magnetically transparent material may be, for example, resin such as Delrin, FRP, wood, or a non-magnetic material metal.

Since an AC magnetic field is actually used to detect the position of the source coil 116i, the source coil 116i may be formed of a material that does not magnetically affect the frequency of the drive signal.

Therefore, the endoscope shape detecting device 1 of the present configuration example.
The endoscopic bed 104 used together with 03 is made of a non-magnetic material that is magnetically transparent at least at the frequency of the generated magnetic field.

FIG. 36 shows a schematic configuration of the endoscope shape detecting device 103. A driving signal from the source coil driving unit 124 is supplied to the source coil 116i in the probe 115 set in the channel 113 of the endoscope 106, and a magnetic field is generated around the source coil 116i to which the driving signal is applied.

The source coil driving section 124 amplifies the AC signal supplied from the magnetic field generating oscillating section 125,
A drive signal for generating a required magnetic field is output. The AC signal of the magnetic field generating oscillator 125 is sent as a reference signal to the mutual inductance detector 126 for detecting the minute magnetic field detected by the triaxial sense coil 122j provided in the bed 104.

The minute magnetic field detection signal detected by the triaxial sense coil 122j is amplified by the sense coil output amplifier 127 and then input to the mutual inductance detection unit 126. The mutual inductance detection unit 126 performs amplification and quadrature detection (synchronous detection) with the reference signal as a reference,
Obtain a signal related to the mutual inductance between the coils.

In this structure, a plurality of source coils 116i are used.
Is present, a source coil drive current distributor 128 serving as a switching means for switching to sequentially supply a drive signal to the lead wire connected to each source coil 116i is provided between the source coil drive section 124 and the source coil 116i. To be

The signal obtained by the mutual inductance detection unit 126 is input to the source coil position detection unit (or position estimation unit) 131 which constitutes the shape calculation unit 130.
The source coil position detector 131 converts the input analog signal into a digital signal to perform position detection calculation or position estimation calculation, and obtains the estimated position information for each source coil 116i.

This position information is sent to the shape image generation unit 132, and the shape image generation unit 132 performs graphic processing such as interpolation processing for interpolating between the obtained discrete position information and the endoscope 106. The shape of the insertion part 107 of
An image corresponding to the estimated shape is generated and sent to the monitor signal generation unit 133.

The monitor signal generator 133 generates a video signal of RGB or NTSC or PAL system or the like representing an image corresponding to the shape, and outputs it to the monitor 123.
An image corresponding to the shape of the insertion portion of the endoscope 106 is displayed on the display surface of.

The source coil position detector 31 is set to 1
After the calculation of one position detection is completed, a switching signal is sent to the source coil drive current distributor 128 to supply a drive current to the next source coil 116i to perform the position detection calculation. Or before finishing the calculation of each position detection,
A switching signal may be sent to the source coil drive current distributor 128 so that the signals detected by the triaxial sense coil 122j are sequentially stored in the memory.

Further, a system control unit 134 is provided,
The system control unit 134 includes a CPU and the like, and includes a source coil position detection unit 131, a shape image generation unit 132,
The operation of the monitor signal generation unit 133 is controlled. An operation unit 135 is connected to the system control unit 134. The operation unit 35 is composed of a keyboard, a mouse, and the like (not shown), and by operating these, a selection of an endoscopic drawing model or a viewing direction in which the endoscopic shape displayed on the monitor 123 is selected It is also possible to give an instruction to display as an image.

A plurality of biological information sensor units 139 arranged on the side surface of the distal end of the insertion portion 107 of the endoscope 106 may be provided on different side surfaces in order to improve the accuracy of measurement.

The sensors constituting the biological information sensor unit 139 are not limited to those mentioned in the above configuration example, and the amount of biological information having different values for each organ, for example, tissue spectral characteristics and oxygen partial pressure. You may use the sensor which detects etc.

According to the present example, in the endoscope shape detecting device for detecting and displaying the insertion shape of the endoscope in the body cavity, based on the biological information detected by the biological information sensor unit provided at the tip of the endoscope. By incorporating an insertion organ determination device that determines the insertion organ of the endoscope, the operator can know the shape of the endoscope in the body cavity and the exact organ inserted. Therefore, it is possible to more accurately identify the observation site that was conventionally estimated.

Next, FIG. 37 shows a second structural example of a device capable of detecting an organ into which an endoscope is inserted.

In this example, the biological information sensor unit 1 is attached to the tip of the probe 115 which is inserted into the hollow channel 113 provided in the insertion portion 107 of the endoscope 106.
39 is provided. Biological information sensor unit 139
The detection signal of is inserted through the probe 115 and further passes through the sensor signal line 141 branched from the probe 115 on the near side of the channel insertion port 113a, and then the inserted organ determination device 14 is detected.
0 is input.

The configuration and operation of the other parts are the same as those of the first configuration example described above.

According to this example, the probe for detecting the shape of the endoscope incorporates the sensor unit for detecting biological information, so that a dedicated endoscope provided with a sensor is not used. It becomes possible to detect the shape of the endoscope and identify the inserted organ using a general endoscope.

By the way, as the endoscope shape detecting device,
To detect the position by receiving electromagnetic waves from the outside in the endoscope insertion part, or to detect the insertion state of the insertion part by scanning the transmission antenna provided outside with respect to the reception antenna provided in the insertion part. On the contrary, there is a device which, on the contrary, detects the insertion state of the insertion part by providing a transmission means inside the insertion part of the endoscope and receiving the electromagnetic wave or the magnetic field transmitted from the insertion part outside the body.

The receiving element or the transmitting element provided in the endoscope insertion portion is electrically connected to the insertion state detecting device by a lead wire extending over the entire length of the endoscope. Conventionally, the connection between the element and the lead wire is usually made by soldering the copper wire extending from the element and the lead wire to each other.

However, when the endoscope is inserted into the body cavity of a patient or the like, the insertion portion is bent or twisted, so that the receiving portion, the transmitting portion, the lead wire and the connecting portion thereof are connected. In addition, the force of pushing and pulling may be applied, the built-in optical fiber or forceps channel may move to cause interference, or vibration may be applied.
When the lead wire is connected to the position detecting receiver or transmitter by soldering the copper wires to each other, the copper wire may be broken in the vicinity of the soldered portion.

Further, the work of soldering when the receiving portion or the transmitting portion is provided in the endoscope insertion portion involves connecting thin copper wires to each other, so that the workability is extremely poor and the work is difficult. There was a problem.

Therefore, the mechanical strength of the connecting portion between the receiving portion or the transmitting portion and the lead wire provided in the endoscope insertion portion is improved, the breakage of the signal line is prevented, and the workability at the time of wiring is improved. A possible configuration example is shown below.

FIGS. 38 and 39 show a first structural example relating to the position detecting receiver or transmitter provided in the endoscope insertion portion.

Inside the endoscope insertion portion 201, a coil 202 is provided as a receiving portion for detecting a magnetic field for detecting the shape of the endoscope or a transmitting portion for generating a magnetic field. The coil 202 has a cylindrical single-core solenoid shape. The coil 202 is inserted and retained in a coil tube 203 provided in the endoscope insertion portion 201, and a lead wire 204 extending from the coil 202 is inserted to the proximal side of the endoscope insertion portion, and is illustrated. Not electrically connected to the endoscope shape detection device.

The connection state of the coil 202 and the lead wire 204 is shown in FIG. The coil 202 is formed by winding a desired number of turns of a copper wire 206 around a core material 205, and a film substrate 208 on which a wiring pattern 207 is printed is connected to the core material 205. The wiring pattern 207 on the film substrate 208 and the copper wire 206 wound around the core material 205 are electrically connected,
A soldering margin 209 is provided at an end of the wiring pattern 207. Then, the lead wire 204 is soldered at the soldering margin 209, and the copper wire 206 and the lead wire 204 are electrically connected.

As described above, in this configuration example, the copper wire 206 and the lead wire 204 are connected by soldering on the film substrate having a certain strength.
The strength of the connection is higher than when soldering copper wires together. Further, when the coil 202 is assembled into the endoscope insertion portion, the copper wire 206 of the coil is connected to the lead wire 204 by soldering on the film substrate 208.
Since the soldering iron can be used, the movable range of the soldering iron is wide and the workability is very good as compared with the soldering of copper wires.

For comparison, FIG. 40 shows a wiring example in which conventional copper wires are connected to each other. As in this conventional example, the coil 2
In the case of connecting the thin copper wires 211 and the lead wires 212 of 10 by soldering, the external force due to pushing and pulling or the like is concentrated before and after the connecting portion 213 by soldering. Further, it is possible that the connecting portion 213 moves up and down under its own weight due to the vibration, and these stresses cause the connecting portion 2 to move.
There was a problem that the copper wire 211 and the lead wire 212 near 13 were easily broken due to metal fatigue.

According to this example, the flexible film substrate having the wiring pattern is extended from the receiving portion for detecting the magnetic field for detecting the shape of the endoscope or the transmitting portion for generating the magnetic field. By configuring the connection with the lead wire for signal transmission to the on this film substrate,
The mechanical strength of the connecting portion between the receiving portion or the transmitting portion and the lead wire can be improved, the risk of breakage of the lead wire can be prevented, and the workability during wiring can be improved.

Next, FIG. 41 shows a second structural example relating to the position detecting receiver or transmitter provided in the endoscope insertion portion.
And shown in FIG.

In the second example of the structure, the position detecting receiver or transmitter is formed by providing a Hall element on a film substrate on which a lead pattern is printed instead of a coil. FIG. 41 shows a state in which the film substrate is expanded, and FIG.
41 shows the state where the film substrate of FIG. 41 is formed into a cube. A magnetoresistive element may be used instead of the Hall element.

The film substrate 220 has a shape in which six faces of a cube are developed, and the hall elements 221 are provided on the three adjacent faces of the positions corresponding to the faces. Although not shown, the Hall element 22 is provided on the film substrate 220.
1 is formed by printing a lead pattern that is electrically connected to the lead pattern 1. Like the first configuration example, the lead pattern of the film substrate 220 is connected to the lead wire by soldering. ing.

This film substrate 220 is bent and the structure shown in FIG.
By assembling into a cubic shape as shown in 2,
A receiver or transmitter capable of axial magnetic detection is formed.

Even in the receiving portion or the transmitting portion constituted by the Hall element instead of the coil as in this example, the mechanical strength of the connecting portion with the lead wire can be improved as in the first configuration example. At the same time, workability at the time of wiring can be improved. It should be noted that since a plurality of Hall elements are provided, the number of locations where lead wires are soldered increases, but workability is good and assembly and manufacturing are easy.

Further, as a third configuration example, by changing what constitutes the receiving section or the transmitting section with one film substrate as in the second configuration example, as shown in FIGS. 43 and 44, A plurality (here, two) of film substrates 225a, 2
It is also possible to configure a receiving unit or a transmitting unit with 25b.

Hall elements 221 are provided on the film substrates 225a and 225b, respectively, and by combining these film substrates as shown in FIG. 44 to form a cube, magnetic detection in three axial directions can be performed. A receiver or transmitter that can be configured.

With such a structure, the same operation and effect as those of the second structure example can be obtained.

According to the configuration example of the position detecting receiving section or the transmitting section provided in the endoscope inserting section described above, in the endoscope inserting shape detecting apparatus, the position detecting receiving section or the transmitting section and the lead are provided. It is possible to provide a structure in which the connection portion with the wire has high mechanical strength and is easy to manufacture.

Next, in the device for detecting the insertion shape of the endoscope, an example of the structure using a means for measuring the temperature of body tissue as another means not depending on the detection of the magnetic field is shown below.

FIG. 45 shows a first configuration example of an endoscope shape detecting apparatus using a body tissue temperature measuring means.

A temperature sensor 251 is provided on the side surface of the scope 250. From this temperature sensor 251, 2
The lead wire 252 of the book is extended and inserted to the base end portion of the scope 250. Then, through this lead wire 252,
Electromotive force measurement circuit 2 with temperature sensor 251 provided outside
53.

When the scope 250 is inserted into or removed from the body cavity, its surface comes into contact with body tissue. At this time, the scope 250
The temperature sensor 251 provided on the surface of the body also contacts the body tissue. Then, the temperature of the temperature sensor 251 changes according to the temperature of the body tissue, and the resistance value of the temperature sensor 251 changes with the change of the temperature. The change in the resistance value of the temperature sensor 251 changes the electromotive force generated between the lead wires 252 connected to the temperature sensor 251. By measuring this change in electromotive force with the electromotive force measuring circuit 253, the temperature of the body tissue in contact with the temperature sensor 251 can be measured. The temperature sensor may be covered with a material having high thermal conductivity.

The temperature of the body tissue thus obtained is compared with the temperature distribution data for each body tissue measured in advance by an external endoscope shape detecting device (not shown). As a result of the comparison, the type of body tissue around the temperature sensor 251 in the inserted state can be recognized, and information on how far the scope 250 is inserted can be obtained. further,
The shape of the entire scope 250 in the inserted state is estimated from the detected actual insertion amount of the scope.

According to the present example, the shape of the scope in the inserted state can be estimated only by making a work of providing the temperature sensor on the scope. Although only one temperature sensor is shown in FIG. 45, a more accurate insertion state of the scope can be estimated by providing a plurality of temperature sensors.

Further, as shown in FIG. 46, if the temperature sensor 255 is configured to be able to protrude from the surface of the scope 250, the temperature sensor 255 is intentionally brought into contact with the body tissue 256 to measure the temperature more accurately. Will be possible.

47 to 49 show a second configuration example of the endoscope shape detecting apparatus using the body tissue temperature measuring means.

In this example, a pyroelectric effect type optical sensor 261 is provided on the side surface of the scope 260. From the optical sensor 261, two conducting wires 262 are extended and inserted to the base end of the scope 260. The optical sensor 261 is connected to the galvanic circuit 263 provided outside through the lead wire 262.

The optical sensor 261 is, as shown in FIG.
Electrodes 265a, 2 are provided on both sides of the dielectric 264 accompanied by spontaneous polarization.
65b, and the outside of the electrode 265a, which is in contact with the surface side of the scope 260, is located outside the infrared thermal energy absorber 26.
The structure is covered with 6. And two electrodes 265
a and 265b, lead wire 262 is extended,
3 is electrically connected.

All things radiate infrared rays corresponding to the temperature. That is, the scope 26 that is inserted into and removed from the body cavity
At 0, infrared rays corresponding to the temperature of the body tissue are radiated from the body tissue around the scope 260.

Optical sensor 26 provided in scope 260
The infrared thermal energy absorber 266 in 1 absorbs the infrared thermal energy emitted from the body tissue as described above. The thermal energy absorbed by the thermal energy absorber 266 changes the temperature of the dielectric 264 by an amount corresponding to the energy. Due to this temperature change, the dielectric 2
The spontaneous polarization distribution of 64 changes.

As shown in FIG. 49, changes in the spontaneous polarization distribution in the dielectric 264 are caused by the electrodes 265a and 265b.
Appears as a difference in the amount of electric charge on the surface of. Electrode 265a,
The change in the surface charge amount of 265b is measured by the galvanic circuit 263 via the lead wire 262. By measuring the change in the surface charge amount of this electrode, the temperature of the body tissue that emits infrared rays from around the optical sensor 261 can be detected.

The temperature of the body tissue thus obtained is compared with the temperature distribution data for each body tissue measured in advance by an external endoscope shape detecting device (not shown). As a result of the comparison, the type of body tissue around the optical sensor 261 in the inserted state can be recognized, and information on how far the scope 260 is inserted can be obtained. Further, the shape of the entire scope 260 in the inserted state is estimated from the detected actual insertion amount of the scope.

According to this example, as compared with the first configuration example shown in FIG. 45, the temperature can be measured without the surface of the scope directly contacting the body tissue, so that the movement of the scope can be sequentially tracked. it can. The insertion position obtained from the scope body information may be displayed as the organization name on the monitor screen. Although only one optical sensor is shown in FIG. 47, a more accurate insertion state of the scope can be estimated by providing a plurality of optical sensors.

[Supplementary Notes] (1) An inspection coil provided inside the insertion portion of the endoscope, in which a magnetic field generating coil for generating a constant magnetic field and a magnetic field receiving coil for receiving the magnetic field are arranged on the same core; Inspection coil driving means for supplying a high frequency signal to the magnetic field generating coil, an interference coil for generating an interference magnetic field that interferes with a constant magnetic field generated by the magnetic field generating coil to increase or decrease the constant magnetic field, and a high frequency signal for the interference coil. An interference coil driving means for supplying a magnetic field, a magnetic field detecting means for converting a predetermined frequency component of a reception signal received by the magnetic field receiving coil into a direct current signal, and magnetic field data output by the magnetic field detecting means,
An endoscope shape detecting device, comprising: signal processing means for obtaining position information of the inspection coil and generating an image signal relating to an insertion shape of the endoscope.

(2) The inspection coils are arranged in a line in the insertion portion of the endoscope, and the interference coils are arranged in a matrix on the bed on which the subject is placed. Endoscope shape detector.

(3) The signal processing means determines the position of the inspection coil on the surface where the interference coil is arranged and the distance between the inspection coil and the interference coil based on the magnetic field data output by the magnetic field detection means. The endoscope shape detection device according to appendix 1, wherein the position information of the inspection coil is obtained.

(4) The permanent magnet provided inside the insertion portion of the endoscope, the Hall element provided substantially perpendicular to the magnetic field of the permanent magnet, and the permanent magnet based on the output voltage of the Hall element. And an insertion position detecting means for detecting the position of the insertion part of the endoscope in which the endoscope shape detecting device is provided.

(5) A flat plate magnetic body provided inside the insertion portion of the endoscope, a Hall element provided substantially parallel to the magnetic body, and a permanent body provided substantially parallel to the Hall element. Endoscope shape detection, comprising: a magnet; and insertion position detection means for detecting the position of the insertion portion of the endoscope in which the permanent magnet is arranged, based on the output voltage of the Hall element. apparatus.

(6) A flat plate magnetic body provided inside the insertion portion of the endoscope and a movable body provided in the inspection area of the endoscope, and an exciting coil and a detecting coil provided at both ends. A U-shaped magnetic body, an exciting means for supplying a drive signal to the exciting coil, an inductance detecting means for detecting a change in the inductance of the detecting coil, and the flat plate based on the detected change in the inductance. The position estimation means for estimating the position of the magnetic body, and the magnetic body drive means for moving the U-shaped magnetic body to trace the position of the magnetic body of the flat plate. Mirror shape detector.

(7) It is provided so as to surround a cylindrical magnetic body provided inside the insertion portion of the endoscope and a moving region of the cylindrical magnetic body, and is wound in opposite directions at both ends and the center. A set of three coils, an exciting means for exciting either one of both ends or the center of the set of coils, and an electromotive force induced in the other of the set of coils. And an induced electromotive force detecting means for detecting the phase, a position estimating means for estimating the position of the cylindrical magnetic body based on the detected electromotive force and the phase, and a minute rotation of the set of three coils. And a coil driving unit that moves in the longitudinal direction to trace the position of the cylindrical magnetic body, and an endoscope shape detecting apparatus.

(8) A spherical magnetic body movably provided in the spherical space inside the insertion portion of the endoscope, and an electromagnet movably provided in the examination region of the endoscope to generate a magnetic field. An exciting means for exciting the electromagnet with an alternating current, a contact detecting means for detecting contact between the spherical magnetic body and the spherical space wall surface, and an output of the exciting means is adjusted based on a detection result of the contact detecting means. Then, the position estimating means for estimating the position of the spherical magnetic body by obtaining the equilibrium point between the tensile force due to the magnetic field of the electromagnet and the gravity of the spherical magnetic body, and the spherical magnet by moving the electromagnet. An endoscope shape detecting device, comprising: an electromagnet driving means for tracking the position of the body.

(9) Magnetic field generating means provided inside the insertion portion of the endoscope, magnetic flux measuring means for detecting the gradient of the magnetic flux from the magnetic field generating means by utilizing superconductivity, and the magnetic field of the detected magnetic field. An endoscope shape detection device comprising: a position estimation unit that estimates the position of the magnetic field generation unit based on the intensity and the gradient thereof.

(10) Endoscope shape detection in which either the magnetic field generating means or the magnetic field detecting means is provided in the insertion portion of the endoscope and the insertion shape of the endoscope insertion portion is detected by detecting the magnetic field. In the device, based on the detected biometric information, and biometric information detection means for detecting at least one biometric information in the vicinity of the tip of the endoscope insertion portion,
An endoscope shape detecting device comprising: an organ determining unit that determines an organ into which an endoscope is inserted.

(11) The endoscope shape detecting device according to appendix 10, wherein the biological information detecting means is arranged at a tip of the endoscope inserting portion.

(12) The endoscope shape detecting device according to attachment 10, wherein the biological information detecting means is provided at a tip of the endoscope shape detecting probe inserted through the endoscope insertion portion.

(13) The biological information detecting means is a combination of a pressure detecting means, a pH detecting means, an ion detecting means, a temperature detecting means, a tissue spectroscopic detecting means, and an oxygen partial pressure detecting means, which are integrated arbitrarily. The endoscope shape detection device according to appendix 10.

(14) Based on the magnetic field generating means for receiving a high frequency signal and emitting an electromagnetic wave, the magnetic field detecting means for receiving the electromagnetic wave and detecting the magnetic field information of the received electromagnetic wave, and the detection signal detected by the magnetic field detecting means. The insertion state detecting means for determining the position of the endoscope and detecting the insertion state of the insertion portion, and transmitting the detection signal detected by the magnetic field detecting means to the insertion state detecting means, or generating the magnetic field. And a transmission means for transmitting either one of the high-frequency signals supplied to the means, wherein either the magnetic field detection means or the magnetic field generation means and the transmission means are inserted into the endoscope. And a film substrate having a wiring pattern electrically conducted from the magnetic field detection means or the magnetic field generation means provided in the insertion portion of the endoscope is extended. An endoscope shape detecting device, wherein the magnetic field detecting means or the magnetic field generating means and the transmitting means are electrically connected on the film substrate by soldering.

(15) The endoscope shape detecting device according to attachment 14, wherein a wiring pattern having a soldering allowance is printed on the film substrate.

(16) The endoscope shape detecting device described in appendix 14, wherein the magnetic field detecting means or the magnetic field generating means is constituted by a Hall element provided on the film substrate.

(17) The endoscope shape detecting device described in appendix 14, wherein the magnetic field detecting means or the magnetic field generating means is composed of a magnetoresistive element provided on the film substrate.

(18) The magnetic field detecting means or the magnetic field generating means is composed of one film substrate.
The endoscope shape detection device according to 6 or 17.

(19) The endoscope shape detecting device according to attachment 18, wherein the film substrate has a shape in which a cube is developed.

(20) The magnetic field detecting means or the magnetic field generating means is composed of a plurality of film substrates.
The endoscope shape detection device according to 6 or 17.

(21) The endoscope shape detecting device according to attachment 20, wherein the plurality of film substrates are formed into a cubic shape by combining them.

(22) A plurality of Hall elements are provided, and the Hall elements are arranged so that the magnetic field detection direction or the magnetic field generation direction of each element is different.
6. The endoscope shape detection device according to item 6.

(23) The number of Hall elements is 1 to 3.
17. The endoscope shape detecting device according to appendix 16, wherein the endoscope shape detecting device is individual.

(24) A plurality of the magnetoresistive elements are provided, and the magnetic field detecting directions or the magnetic field generating directions of the elements are arranged so as to be different from each other.
7. The endoscope shape detection device according to 7.

(25) The number of the magnetoresistive elements is 1 to
18. The endoscope shape detection device according to attachment 17, wherein the number is three.

[0193]

As described above, according to the present invention, the insertion position and the insertion shape of the insertion portion can be accurately detected without being affected by the material structure and the insertion shape of the endoscope insertion portion. There is an effect.

[Brief description of drawings]

FIG. 1 is a configuration explanatory view showing an overall configuration of an endoscope shape detection device according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration around an inspection coil and an interference coil.

FIG. 3 is a characteristic diagram showing a relationship between magnetic field data and inspection space in each coil.

FIG. 4 is a characteristic diagram showing an example of magnetic field data detected by each coil.

FIG. 5 is a perspective view showing a hall element provided on a bed surface according to a second embodiment of the present invention.

FIG. 6 is an explanatory view showing an enlarged Hall element.

FIG. 7 is a perspective view showing a permanent magnet provided inside the scope.

FIG. 8 is a perspective view showing an arrangement structure of permanent magnets.

FIG. 9 is an explanatory diagram showing a positional relationship between a permanent magnet and a bed surface when the scope is tilted.

FIG. 10 is an explanatory diagram showing the positional relationship between the permanent magnet and the bed surface when the scope is tilted.

FIG. 11 is a perspective view showing a hall element and a permanent magnet provided on a bed surface according to a third embodiment of the present invention.

FIG. 12 is a perspective view showing a magnetic body provided inside the scope.

FIG. 13 is an explanatory diagram showing a variation of a magnetic field by a permanent magnet when a magnetic body in the scope crosses a Hall element arranged on a bed surface.

FIG. 14 is a perspective view showing a first arrangement example when a plurality of magnetic bodies are provided in the scope.

FIG. 15 is a perspective view showing a second arrangement example when a plurality of magnetic bodies are provided in the scope.

FIG. 16 is a perspective view showing a U-shaped magnetic body movably arranged on a bed surface according to a fourth embodiment of the present invention.

FIG. 17 is an explanatory diagram showing a configuration of an exciting unit and an inductance detecting unit provided on a U-shaped magnetic body.

FIG. 18 is an explanatory diagram showing movement of a U-shaped magnetic body on the bed surface.

FIG. 19 is an explanatory view showing the movement of the U-shaped magnetic body along the side surface of the bed.

FIG. 20 is an explanatory view showing a modified example when rotating a U-shaped magnetic body.

FIG. 21 is an explanatory diagram showing a configuration example in which a plurality of U-shaped magnetic bodies are provided.

FIG. 22 is an explanatory view showing a modified example when moving a U-shaped magnetic body on the bed surface.

FIG. 23 is a perspective view showing a set of three coils arranged around the bed surface according to the fifth embodiment of the present invention.

FIG. 24 is an explanatory diagram showing a configuration of a set of three coils.

FIG. 25 is an explanatory diagram showing a schematic configuration of drive means for holding and driving a set of three coils.

FIG. 26 is a perspective view showing a magnetic body provided inside the scope.

FIG. 27 is a structural explanatory view showing an electromagnet and an AC excitation circuit according to a sixth embodiment of the present invention.

FIG. 28 is a perspective view showing a spherical space and a magnetic body provided inside the scope.

FIG. 29 is an explanatory diagram showing a configuration of contact detection means for detecting contact between a magnetic body in a scope and a spherical space.

FIG. 30 is an explanatory diagram showing the equilibrium relationship between the tensile force due to the magnetic force of the electromagnet and the gravity of the magnetic body.

FIG. 31 is a perspective view showing a magnetometer arranged on a bed surface according to a seventh embodiment of the present invention.

FIG. 32 is an explanatory diagram showing the configuration of a magnetometer.

FIG. 33 is a structural explanatory view showing a first structural example of a device capable of detecting an organ into which an endoscope is inserted.

FIG. 34 is a block diagram showing a functional configuration of an inserted organ determination device.

FIG. 35 is an explanatory diagram showing a configuration of a magnetic field generation element provided in the probe and a magnetic field detection element provided on the bed surface.

FIG. 36 is a block diagram showing a schematic configuration of an endoscope shape detection device.

FIG. 37 is a structural explanatory view showing a second structural example of a device capable of detecting an organ into which an endoscope is inserted.

FIG. 38 is a cross-sectional view showing a first configuration example relating to a position detecting receiver or transmitter provided in the endoscope insertion portion.

FIG. 39 is a structural explanatory view showing a connection structure between a coil and a lead wire.

FIG. 40 is an explanatory diagram showing a conventional connection structure between a coil and a lead wire.

FIG. 41 is a plan view showing a film substrate in a second configuration example relating to a position detecting receiver or transmitter provided in an endoscope insertion portion.

42 is a perspective view showing a state in which the film substrate of FIG. 41 is assembled into a cube to form a position detecting receiver or transmitter.

FIG. 43 is a plan view showing a film substrate in a third configuration example relating to a position detecting receiver or transmitter provided in the endoscope insertion portion.

44 is a perspective view showing a state in which the film substrate of FIG. 43 is assembled into a cube to form a position detecting receiver or transmitter.

FIG. 45 is an explanatory diagram showing a first configuration example of an endoscope shape detecting device using a body tissue temperature measuring means.

FIG. 46 is an explanatory view showing a modified example of the arrangement of temperature sensors provided on the outer surface of the scope.

FIG. 47 is an explanatory view showing a second configuration example of the endoscope shape detecting apparatus using the body tissue temperature measuring means.

FIG. 48 is an explanatory diagram showing a configuration of an optical sensor.

FIG. 49 is an operation explanatory view showing a change in the amount of charges in the electrodes of the photosensor, which is generated by absorption of thermal energy of body tissues.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Endoscope shape detection device 2 ... Probe 3 ... Inspection coil 3a ... Magnetic field generation coil 3b ... Magnetic field reception coil 4 ... Bed 5 ... Interference coil 6 ... Inspection coil switching circuit 7 ... Inspection coil drive circuit 8 ... Magnetic field detection circuit 9 Interference coil switching circuit 10 Interference coil drive circuit 11 Image processing circuit 12 Display device 16 Bandpass filter (BPF) 17 Peak detection circuit 18 Analog-digital converter (ADC)

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Masahiro Kudo 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Yoshihiro Okada 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Yasuo Miyano 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Koji Fujio 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Tsukasa Ishii 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Toshiaki Noguchi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Nobuyuki Michiguchi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Industry Co., Ltd. (72) Inventor Kazuhiro Gono 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Industry Co., Ltd. (72) Akira Taniguchi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Ori Inside Npus Optical Industry Co., Ltd.

Claims (1)

[Claims] 1. An inspection coil provided inside an insertion portion of an endoscope, wherein a magnetic field generating coil for generating a constant magnetic field and a magnetic field receiving coil for receiving a magnetic field are arranged on the same core, and the magnetic field generating coil. An inspection coil driving means for supplying a high frequency signal to the magnetic field detecting means, a magnetic field detecting means for converting a predetermined frequency component of the reception signal received by the magnetic field receiving coil into a direct current signal, and a constant magnetic field generated by the magnetic field generating coil for interfering with the constant magnetic field. An interference coil that generates an interference magnetic field that increases or decreases a constant magnetic field, an interference coil driving unit that supplies a high-frequency signal to the interference coil, and magnetic field data output by the magnetic field detection unit are processed to obtain position information of the inspection coil. And a signal processing unit that generates an image signal related to the insertion shape of the endoscope, and an endoscope shape detection apparatus.