JPH08107875A - Endoscope shape detector - Google Patents

Abstract

PURPOSE: To facilitate the determination of the shape of an endoscope inserted into a specimen by arranging a detection image display means to display the shape of the endoscope simultaneously on two screens mutually from the direction of a view point. CONSTITUTION: A drive signal is supplied to source coils 16i of a probe 15 set in a channel 13 of an endoscope 6 to generate a magnetic field. A magnetic field detection signal detected with 3-axis sense coils 22a-c is amplified to be inputted into a detecting section. Then, the signal is inputted into a position detecting section to obtain positional information estimated for the source coils 16i. A shape image generating section generates an image for one direction of view point while generating an image from the direction of view point differing by 90 deg. from the above direction of the view point. As a result, two images are displayed simultaneously on a monitor 23 via a monitor signal generating section. This detector facilitates the understanding of the shape of an endoscope inserting part inserted into a specimen in a stereoscopic manner.

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 and displaying the shape of an endoscope using a magnetic field generating element and a magnetic field detecting element.

[0002]

2. Description of the Related Art In recent years, endoscopes have been widely used in medical fields and industrial fields. This endoscope, especially if it has a soft insertion part, can be inserted into a bent body cavity to diagnose an organ deep inside the body cavity without incision or to insert a treatment instrument into the channel as necessary. It is possible to carry out therapeutic treatment such as excision of polyps and the like.

In this case, some skill may be required to smoothly insert the insertion portion into the bent body cavity, for example, when examining the lower digestive tract from the anus side.

That is, when the insertion work is being performed, a work such as bending the bending portion provided in the insertion portion in accordance with the bending of the conduit is necessary for smooth insertion. For that purpose, the insertion portion is required. It is convenient to know where in the body cavity the position of the tip of the body is, and the current bending state of the insertion part.

Therefore, for example, Japanese Patent Laid-Open No. 3-295530
There is one disclosed in Japanese Patent Laid-Open Publication No. 2003-242242 in which the receiving antenna (coil) provided in the insertion portion is scanned with a transmitting antenna (antenna coil) provided outside the insertion portion to detect the insertion state of the insertion portion.

In this conventional example, it is possible to detect the shape of the endoscope, but in order to detect the position of one coil, the antenna coil is scanned and the voltage induced in the coil becomes maximum and minimum. Must be set to Therefore, even if the position of one coil is detected, it is necessary to scan the antenna coil over a wide range, and it takes time to detect the position. Since it is necessary to detect the positions of a plurality of coils to detect the shape, it takes a longer time to detect the shape.

US Pat. No. 4,176,662 discloses a method in which a burst wave is emitted from a transducer at the tip of an endoscope and detected by a plurality of surrounding antennas or transducers to plot the position of the tip on a CRT. Has been done. US Pat. No. 4,821,731 discloses a technique in which a quadrature coil outside the body is rotated to detect the tip position of the catheter from the output of a sensor provided on the catheter inside the body.

These two are for detecting the tip position,
It is not intended to detect the shape.

Further, in PCT application GB91 / 01431 publication, an XY is arranged around an object into which an endoscope is inserted.
There is disclosed a conventional example in which a large number of dipole antennas are arranged in a grid pattern in a direction and AC-driven, and the position of the endoscope is derived from a signal obtained by a coil built in the endoscope side.

In this conventional example, unless a large number of dipole antennas are arranged in a grid pattern in a range wider than the detection range, it is difficult to detect the endoscope shape with high accuracy, and a large space is required.

Further, in the conventional example disclosed in PCT application WO94 / 0438, the sense coils provided in the endoscope detect magnetic fields from a plurality of three-axis orthogonal source coils, and the detected endoscope shape is detected. It is displayed in gray.

[0012]

However, in the conventional example disclosed in the above-mentioned PCT application WO94 / 04438, even if the endoscope shape can be detected, the image displayed in gray on the display means is gray. It is possible to identify that the depth is three-dimensional from the key, but it is difficult to grasp the depth amount more accurately.

Further, since the reference position and the like are not displayed on the displayed endoscope-shaped image, it is difficult to grasp the shape of the endoscope inserted into the subject such as a patient including directionality. Met.

The present invention has been made in view of the above-mentioned problems, and an object thereof is to provide an endoscope shape detecting apparatus in which the shape of an endoscope inserted inside a subject such as a patient can be easily grasped. That is. Another object of the present invention is to provide an endoscope shape detecting device having a function that is convenient for the user.

[0015]

[Means and Actions for Solving Problems] In an endoscope shape detecting device for detecting and displaying an endoscope shape by using a magnetic field, endoscope shapes from different viewpoint directions are simultaneously displayed on two screens. By providing the detection image display means,
It is possible to easily understand the shape of the endoscope insertion portion inserted inside the subject stereoscopically by comparing both screens with different viewpoint directions.

Further, by providing the reference information display means for displaying the reference position and the like on the screen, it is easy to understand the displayed endoscope shape including the directivity by referring to the reference information. You can

[0017]

Embodiments of the present invention will be specifically described below with reference to the drawings. 1 to 13 relate to a first embodiment of the present invention, FIG. 1 shows a schematic configuration of an endoscope system having the first embodiment of the present invention, and FIG. 2 is an endoscope of the first embodiment. FIG. 3 is a block diagram showing the configuration of the shape detection device, FIG. 3 shows the overall configuration of the endoscope shape detection device, FIG. 4 shows the configuration of the triaxial sense coil and the probe, and FIG. 5 shows the source coil in the probe. FIG. 6 shows a state in which the position is detected using a plurality of sense coils, FIG. 6 is a sectional view showing the configuration of the marker probe, FIG. 7 is a flow chart showing the processing contents of the endoscope shape detecting apparatus, and FIG. FIG. 9 shows a flow of the scope model drawing processing for displaying the endoscope shape in the single mode and the single mode, and FIG. 9 shows a flow of the scope image drawing processing.
FIG. 10 shows a flow of the scope image depiction process in the n-prism model, FIG. 11 shows an endoscope-shaped output image displayed in the single screen mode on the monitor screen, and FIG. 12 shows the dual screen mode on the monitor screen. FIG. 13 shows a displayed endoscope-shaped output image, and FIG. 13 shows a world coordinate system fixed to a bed. As shown in FIG. 1, an endoscope system 1 is used with an endoscope apparatus 2 that performs an inspection and the like using an endoscope 6, and is used together with the endoscope apparatus 2 to insert an endoscope 7 inside an insertion portion 7 of the endoscope 6. By detecting each position, the shape of the insertion portion 7 is estimated from each detected position, and an endoscope for displaying an image of a modeled (endoscope) insertion portion shape corresponding to the estimated shape is displayed. It is composed of a mirror shape detecting device 3.

A patient 5 as a subject is placed on the bed 4 (for endoscopic examination), and the insertion portion 7 of the endoscope 6 is inserted into the body cavity of the patient 5. The endoscope 6 has an elongated and flexible insertion portion 7, a wide operation portion 8 formed at a rear end thereof, and a universal cable 9 extending from a side portion of the operation portion 8. , This universal cable 9
The connector 9A at the end of can be detachably connected to the video processor 11.

A light guide (not shown) is inserted through the insertion portion 7, and the light guide is further inserted through the universal cable 9 extending from the operation portion 8 to reach the terminal connector 9A. Illumination light is supplied to the end surface of the connector 9A from a lamp of a light source unit (not shown) built in the video processor 11, is transmitted by the light guide, and is emitted from the tip of the insertion unit 7 (illumination light emitting means). The illumination light transmitted from the front end surface attached to the illumination window is emitted forward.

A subject such as an inner wall or a diseased part in the body cavity illuminated by the illumination light emitted from the illumination window is detected by an objective lens (not shown) attached to an 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 focal plane.

A CCD drive signal output from a CCD drive circuit in a signal processing unit (not shown) built in the video processor 11 is applied to the CCD to read out an image signal photoelectrically converted (by the CCD). The signal is processed by the signal processing unit through the signal line inserted through the insertion unit 7 or the like, converted into a standard video signal, output to the color monitor 12, and imaged on the photoelectric conversion surface of the CCD by the objective lens. The endoscopic image is displayed in color.

The operation portion 8 is provided with a bending operation knob, and the bending portion formed near the distal end of the insertion portion 7 can be bent by bending the operation knob. The distal end side is curved so that it can be smoothly inserted into the body cavity passage along the bend.

A hollow channel 13 is formed in the insertion portion 7 of the endoscope 6.
By inserting a treatment tool such as forceps through the insertion opening 13a at the proximal end of 3, the distal end side of the treatment tool is projected from the channel outlet of the distal end surface of the insertion section 7 to perform biopsy or medical treatment on the affected area or the like. It can be performed.

A probe 15 for position and shape detection (of the insertion portion 7 inserted into the body cavity) is inserted into the channel 13, and the tip end side of the probe 15 is set at a predetermined position in the channel 13. can do.

As shown in FIG. 4, in the probe 15, a plurality of source coils 16a, 16b, ... (Represented by reference numeral 16i) as magnetic field generating elements for generating a magnetic field are insulative and flexible circles. In the tube 19 of the cross section, for example, at a constant distance d, the flexible support member 20 and the inner wall of the tube 19 are fixed with an insulating adhesive.

Each source coil 16i is composed of, for example, a solenoid-shaped coil in which a conductive wire wound around an insulating and hard cylindrical core 10 is wound.
The lead wire connected to one end of i is made common and is inserted through the support member 20, and the lead wire 17 at the other end is the tube 19
The inside is inserted to the hand side. Further, an insulating filling member is filled in the tube 19 so that the tube 19 is not crushed even when the tube 19 is bent. Further, even when the tube 19 is bent and deformed, the source coil 16i has a conductive wire wound around the hard core 10 and is fixed with an adhesive, so that the source coil 16i can be formed.
The shape of the tube itself is not deformed, and the function of generating a magnetic field is not changed even when the tube 19 is deformed.

The position of each source coil 16i is set to a known position in the insertion portion 7 of the endoscope 6, and the position of each source coil 16i is detected to detect the position of the insertion portion 7 of the endoscope 6. Discrete positions (more precisely each source coil 1
The position of 6i) can be detected.

By detecting these discrete positions, the positions between them can also be almost estimated. Therefore, by detecting the discrete positions, the outline of the insertion portion 7 of the endoscope 6 inserted into the body cavity can be obtained. It becomes possible to obtain the shape of.

The lead wire 17 connected to each source coil 16i is provided at the rear end of the probe 15 or the probe 1
5 is connected to a connector 18 provided at the rear end of the cable extending from the rear end of the cable 5, and the connector 18 is connected to the connector receiver of the (endoscope) shape detection device main body 21. Then, as will be described later, a drive signal is applied to each source coil 16i to generate a magnetic field used for position detection.

Further, as shown in FIG. 1, triaxial sense coils 22a, 22b, 2 serving as magnetic field detecting elements for detecting magnetic fields are provided at known positions of the bed 4, for example, at three corners.
2c (represented by 22j) is attached, and these triaxial sense coils 22j are connected to the shape detection device main body 21 via a cable 29 extending from the bed 4.

As shown in FIG. 4, the triaxial sense coil 22j is wound in three directions so that the respective coil surfaces are orthogonal to each other, and each coil is proportional to the strength of the magnetic field of the axial component orthogonal to the coil surface. Detected signal.

The shape detecting device main body 21 detects the position of each source coil 16i based on the output of the triaxial sense coil 22j to determine the shape of the insertion portion 7 of the endoscope 6 inserted into the patient 5. An estimated computer graphic image corresponding to the estimated shape is displayed on the monitor 23.

Since the endoscope shape detecting device 3 uses magnetism, if there is a metal that is not transparent to magnetism, it will be affected by iron loss and the like, and the source coil 16i for magnetic field generation and detection will be used. Influences mutual inductance between the three-axis sense coils 22j. In general, when the mutual inductance is expressed 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 4 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, wood, or non-magnetic material metal.

Since an AC magnetic field is actually used to detect the position of the source coil 16i, the source coil 16i may be formed of a material that does not magnetically affect the frequency of the drive signal. Therefore, the endoscopic examination bed 4 shown in FIG. 1 used together with the present endoscope shape detecting device 3 is made of a non-magnetic material that is magnetically transparent at least at the frequency of the magnetic field generated.

In the block diagram of the endoscope shape detecting device 3 of FIG. 2, the drive signal from the source coil drive unit 24 is supplied to the source coil 16i in the probe 15 set in the channel 13 of the endoscope 6. A magnetic field is generated around the source coil 16i to which this drive signal is applied.

The source coil driving section 24 amplifies the AC signal supplied from the oscillating section 25 (for magnetic field generation),
A drive signal for generating a required magnetic field is output. The AC signal of the oscillator 25 is sent as a reference signal to the (mutual inductance) detector 26 for detecting a minute magnetic field detected by the triaxial sense coil 22j provided in the bed 4.

The minute magnetic field detection signal detected by the triaxial sense coil 22j is amplified by the (sense coil) output amplifier 27 and then input to the detection unit 26. The detection unit 26 performs amplification and quadrature detection (coherent detection) with the reference signal as a reference, and obtains a signal related to the mutual inductance between the coils.

Since there are a plurality of source coils 16i, the distributor 28 serves as a switching means (source coil drive current) for switching to sequentially supply the drive signal to the lead wire connected to each source coil 16i. It exists between the portion 24 and the source coil 16i.

The signal obtained by the detection unit 26 is input to the (source coil) position detection unit (or position estimation unit) 31 which constitutes the shape calculation unit 30, and the input analog signal is converted into a digital signal. Then, the position detection calculation or the position estimation calculation is performed to obtain the estimated position information for each source coil 16i. This position information is used as the shape image generation unit 32.
The image of the endoscope 6 (the insertion part 7 of the endoscope 6) is estimated by performing a graphic process such as an interpolation process for interpolating between the obtained discrete position information, and the image corresponding to the estimated form is obtained. Is generated and sent to the monitor signal generator 33.

The monitor signal generator 33 generates a video signal of RGB or NTSC or PAL system or the like representing an image corresponding to the shape, outputs the video signal to the monitor 23, and inserts the endoscope 6 into the display surface of the monitor 23. The image corresponding to the shape of the copy is displayed.

The position detecting section 31 sends a switching signal to the distributor 28 after completing the calculation of one position detection and supplies a drive current to the next source coil 16i to calculate the position detection. (Before the calculation of each position detection is completed, a switching signal may be sent to the distributor 28 to sequentially store the signals detected by the sense coil 22j in the memory).

The system control unit 34 is composed of a CPU or the like, and controls the operations of the position detection unit 31, the shape image generation unit 32, and the monitor signal generation unit 33. An operation unit 35 is connected to the system control unit 34. As shown in FIG. 3, the operation unit 35 is composed of a keyboard 35a, a mouse 35b, and the like, and by operating these, an endoscope-shaped drawing model is selected, and the endoscope shape displayed on the monitor 23 is changed. It is also possible to give an instruction to display an image for the selected viewing direction.

In particular, in this embodiment, the operation unit 35 (more specifically, the keyboard 35a in FIG. 3) is operated by a specific key input, and the system control unit 34 inputs a two-screen display instruction signal, thereby The image generation unit 32 generates an image corresponding to one viewpoint direction, generates an image from a viewpoint direction different from this viewpoint direction by 90 °, and simultaneously displays two images on the monitor 23 via the monitor signal generation unit 33. To do.

That is, the shape image generation unit 32 has a function of the 2/1 shape image mode for generating two shape images from viewpoint directions orthogonal to each other and a shape image from one viewpoint direction, and gives an instruction ( 2 or 1 on the monitor 23 depending on the selection)
A shape image is generated, and the 2 or 1 shape image generated by the instruction is displayed on the monitor 23. The monitor 23 of FIG. 3 shows a state in which two shape images in the two-shape image mode are displayed.

In this embodiment, the detection image display means (shape image generating section 32, monitor signal generating section 33, and monitor) for simultaneously displaying the endoscope shapes on the two screens from the viewpoint directions different from each other by 90 ° in this way. 23)) is a major feature.

The shape calculation unit 30 shown by the dotted line in FIG. 2 includes software. Further, marker probes 36a and 36b (simply referred to as markers) as auxiliary means for displaying a reference position and the like on the display screen are provided to facilitate understanding of the endoscope-shaped display displayed on the monitor 23. It is configured to be connectable, and the reference position and the like arbitrarily set by the operator using the markers 36a and 36b are simultaneously displayed on the display screen of the monitor 23 together with the endoscope shape, so that the endoscope shape can be easily grasped. I am able to.

The markers 36a and 36b are connected to the current distributor 28 so that a drive signal is applied to the source coils in the markers 36a and 36b through the current distributor 28 as in the source coil 16i in the probe 15. ing. In the first embodiment, the markers 36a and 36b are used to facilitate understanding of the shape of the endoscope by displaying the reference position on the screen. In the second embodiment, the usage mode can be selected (described later).

For endoscopy, patient 5 is in bed 4
Since it is on the bed 4, the position of the endoscope 6 is always on the bed 4. That is, if the three-axis sense coil 22j serving as a sensor is provided at the four corners of the bed 4, the endoscope 6 (the source coil 16i therein) exists in the area surrounded by the sensor group. , The quadrant in which the source coil 16i exists is limited for each of the installed triaxial sense coils 22j.

When the outputs of one triaxial sense coil 22 when the source coil 16i is driven are Xi, Yi, and Zi, the triaxial sense coil 22 having the magnetic field strength associated with Xi ^ 2 + Yi ^ 2 + Zi ^ 2. The source coil 16i is present at the distance.

However, the uniaxial coil is generally expressed as a dipole, and its equal magnetic field surface becomes an ellipse instead of a sphere. Therefore, the position of the source coil 16i whose orientation is unknown cannot be identified only from the isomagnetic field surface Xi ^ 2 + Yi ^ 2 + Zi ^ 2 formed by one triaxial sense coil 22.

Therefore, Xj ^ 2 + measured for each of the three-axis sense coils 22j provided on the bed 4
Use the distance associated with Yj ^ 2 + Zj ^ 2. In this case, since the installation position of each triaxial sense coil 22j is known, it can be represented by, for example, one coordinate system fixed to the bed 4. In this case, the bed 4 is the reference plane for position detection and shape detection. Consider that the sense coil 22j detects the magnetic field strength in which the equal magnetic field surface generated by the source coil 16i is generally expressed as Xs ^ 2 + Ys ^ 2 + Zs ^ 2 and estimates the distance therebetween.

Then, assuming an equal magnetic field surface that includes the magnetic field strength from the magnetic field strength detected by the sense coil 22j, the sense coil 22j exists on the same magnetic field surface with respect to the center source coil 16i. Therefore, the maximum value and the minimum value of the distance from the center to the equal magnetic field surface are Rmaxj and Rminj, respectively, and the sense coil 22j and the source coil 16i are present at the distance between them.

That is, with reference to the sense coil 22j at a known position, the source coil 16i exists inside the maximum distance Rmaxj and outside the minimum distance Rminj as shown in FIG.

Xj, Yj, and Zj measured by the three-axis sense coils 22j and different for each three-axis sense coil 22j.
Since the source coil 16i exists in the overlap of the spherical shells represented by Rmaxj and Rminj corresponding to, the center of gravity of the region can be detected as the coil position. This will give us the position,
When the difference between Rmax and Rmin is large, an error may occur.

Therefore, the inclination in the previously obtained volume is obtained by utilizing the fact that the inclination of the source coil 16i is represented in the phase information included in Xj, Yj, and Zj. As a result, the previous position is corrected so that the position becomes more accurate. Further, since the mutual distance between the source coils 16i is known, it may be further corrected by this value.

An image 100 in which the shape of the insertion portion 7 of the endoscope 6 estimated by the plurality of position information thus detected is modeled as described later is displayed on the display surface of the monitor 23, for example, as shown in FIG. As shown in the graphics output area on the left. In the right area, the user inputs a key from the keyboard 35b or the like, and the viewpoint (distance between the position and the origin),
This is a user interface area for setting a rotation angle, an elevation angle formed by the viewpoint position and the Z axis, and the like.

FIG. 6 shows a specific example of the structure of the tube-shaped marker 36a. The marker body 41 is a grip cover 4
2, the source coil 43 is housed inside, and the periphery thereof is filled with an insulating resin 44. The source coil 43 is formed by winding a conductor wire 46 around a core member 45 made of a magnetic material, and the ends of the two wound conductor wires 46 are covered with a shield wire 47 covered with an insulating member 40. This shield wire 47 is further a silicon tube 48.
It is covered with. The rear end of this shield wire 47 reaches the connector 49a. The connector 49a is fixed to the connector receiving member.

Grip cover 42 and silicone tube 4
8 and the connecting portion between the silicon tube 48 and the connector receiver 49b are prevented from being broken by the break preventing member 50.

In FIG. 7, the magnetic field generated by the source coil 16i in the scope is detected by an external three-axis sense coil 22j, and the position of the source coil 16i is obtained from the relationship between the magnetic field strength and the distance between the two points to obtain a plurality of sources. The flow which displays the insertion part shape (it is also simply described as a scope shape) in the insertion state based on each position detection of the coil 16i on a monitor (it is also described as CRT) is shown. The overall structure of this flow can be roughly divided into the following four blocks B1 to B4 according to the processing contents.

B1: Initialization block In this block, the initialization work for all the functions of this program is completed. Specifically, when calculating the existing position of the source coil 16i from the setting of the initial parameters based on the method of outputting the scope shape on the CRT, and the phase information and the amplitude information obtained from the magnetic field strength detected by the hardware. Memory reading of basic data used for the above, initialization of various boards for controlling hardware, etc. are performed.

B2: Hardware Control Bucock In this system, the position coordinates of the source coil 16i arranged and fixed in the insertion portion 7 of the endoscope 6 are set to the source coil 16i.
Is calculated from the intensity of the magnetic field generated by, and the shape of the insertion portion 7 of the endoscope 6 in the inserted state is estimated based on this. This block is responsible for switching the drive of the source coil 16i to generate a magnetic field, detecting the generated magnetic field intensity by the sense coil 22j, converting the detected output into a form in which the source coil position coordinates can be calculated, and outputting the converted position. .

The drive switching of the source coil 16i is made so that the position of the source coil located in the endoscope 6 can be known, and the sense coil 22j for detecting the magnetic field strength of the source coil 16i is as shown in FIG. It is manufactured so that the planes of the respective coils are parallel to the three axes that are orthogonal to each other, and the magnetic field strength components in the directions of the three axes that are orthogonal to one sense coil 22j can be detected. The detected magnetic field strength data is separated and output into amplitude data and phase data required when calculating the source coil position.

B3: Source position calculation block Based on the amplitude data and the phase data obtained by the magnetic field detection in the preceding block, the position coordinate of the source coil 16i is utilized by utilizing the relationship between the magnetic field strength and the distance between the two points. Is responsible for calculating. First, the amplitude data and the phase data are corrected for the difference in the diameter of the sense coil 22j in the respective axial directions and the positional relationship between the source coil 16i and the sense coil 22j, and the sense coil 22j is corrected. Calculate the magnetic field strength considered to be detected at the installation position.

From the magnetic field strength thus calculated, the distance between the source coil 16i and the sense coil 22j is obtained.
However, since the attitude of the source coil 16i in the inserted state (direction of the solenoid coil) is unknown, the position of the source coil 16i can be limited to within a certain spherical shell. Therefore, three or more sense coils 22j are prepared, the overlap of the regions where the source coil 16i can exist is obtained, and the position of the center of gravity of the regions is output as the position coordinates of the source coil 16i.

B4: Image display block It is responsible for constructing a scope shape based on the data obtained as the source coil position coordinates and outputting the drawn image on the CRT. On the basis of data, one or more coordinates obtained as the source coil position coordinates are used to construct smooth continuous coordinates as a whole. Modeling processing is performed to make the scope shape look like this continuous coordinate (polygonal column, color gradation,
Saturation, utilization of brightness, hidden line processing, perspective, etc.).

Furthermore, the scope image model displayed on the CRT can be rotated and scaled in any direction,
It is also possible to display a body marker or the like, which allows the viewpoint position of the current display and the head direction of the patient to be seen at a glance. The viewpoint position at the end is automatically saved and becomes the next initial viewpoint position. There is also a hotkey that remembers the viewpoint direction that the operator thinks is easy to see (1st
This will be described later as a second modification of the embodiment). Next, more detailed contents of each block will be described.

B1: Initialization block In the first step S11, initialization of the graphic page (V
Initialize RAM). Also, when updating the scope image displayed on the CRT, if a new image is overwritten,
Gives the viewer the impression of a flickering image that is rewritten,
It disappears with a smooth image. Therefore, by constantly switching a plurality of graphic pages to display an image, smoothness like a moving image is realized. Also, the color and gradation to be used are set. The number of colors that can be used is limited by each hardware. Therefore, as shown in FIG. 11, if the number of colors assigned to the image 100 displayed by modeling the insertion portion 7 is increased and gradation display is performed, it is possible to display a stereoscopic image. In addition, in FIG.
The two circles indicate the markers indicating the reference position, and the square frame indicates the bed.

By performing gradation display in which the image is displayed brighter as it gets closer to the viewpoint and darker as it gets farther away, it becomes possible to express the image 100 in which the insertion section 7 is two-dimensionally displayed with a stereoscopic effect and depth. Of course, increasing or decreasing the number of gradations is arbitrary. Also, the colors adopted other than gradation are R,
It is made up of G and B configurations, and it is also possible to express subtle saturation and luminance.

In the next step S12, image parameters such as automatic reading of the initial viewpoint position are initialized. The way in which it looks easy to see the scope image depends largely on the operator's preference. If the initial viewpoint position is fixed, the operator has to purposely reset the viewpoint position where the scope image is easy to see, which reduces usability.

Therefore, by saving the desired viewpoint position in the form of a file (parameter file) and reading the file when the program is started, the scope image can be viewed from the viewpoint position that is easy for the operator to see immediately after the program starts. The means to do this are provided.

In this embodiment, as shown in FIG. 11, the output area of the scope image and the output area of the text screen are displayed separately. By dividing the scope image and the text screen, the degree of rotation and scaling of the scope image can be visually
I made it possible to confirm from both the numerical side. However, Fig. 12
In the two-screen display mode shown in, the scope images are displayed simultaneously on the left and right. In the next step S13, the principle source data storing the principle for deriving the source coil position is loaded. This data is reference data or reference information having the following relationship.

The measurement principle is that the output of the uniaxial source coil 16i is detected by the sense coil 22j manufactured in the three orthogonal axes, and the distance between the source coil 16i and the sense coil 22j is obtained from the magnetic field strength. In obtaining the distance between both coils, the maximum magnetic field strength output and the minimum magnetic field strength output due to the difference in the orientation (axial direction) of the source coil 16i are not directly solved from the superfunction indicating the magnetic field distribution created by the uniaxial source coil 16i. A new distance calculation method that uses the magnetic field strength output that becomes

That is, when the distance between the uniaxial source coil 16i and the triaxial sense coil 22j is set to various values, when the axial direction of the source coil 16i is changed at each distance value, the triaxial sense coil 22j is changed. The maximum magnetic field strength curve obtained by plotting and plotting the values of the maximum magnetic field strength value (maximum magnetic field strength value) and the minimum magnetic field strength value (minimum magnetic field strength value) detected at the position, respectively. The data of the minimum magnetic field strength curve is prepared as reference data for distance calculation.

By using this reference data, it becomes possible to calculate the distance of the uniaxial source coil 16i from the magnetic field strength detected by the triaxial sense coil 22j as follows.

When a certain magnetic field strength H is detected, the radius when the value H is the maximum magnetic field strength value, that is, the minimum radius r_min that minimizes the distance, and the value H when the maximum magnetic field strength value is The source coil 1 is only in the spherical shell sandwiched by the radius, that is, the maximum radius r_max that maximizes the distance.
It becomes possible to add a restriction that 6i cannot exist. By performing this limitation at the position of each sense coil 22j, the existence region of the source coil 16i can be limited as shown in FIG.

The data corresponding to the maximum magnetic field strength curve and the minimum magnetic field strength curve are stored in a data storage means such as a hard disk, and when the operation of displaying the endoscope shape is started, the position detecting section 31 may, if necessary. refer.

The actual measured values proportional to the magnetic field strength detected by the triaxial sense coil 22j are the signals 22X, 22Y and 22Z respectively detected by the three coils constituting the triaxial sense coil 22j. Squared value, 22X ・ 22X + 22Y ・ 22Y + 22Z ・
This is a value obtained by calculating the square root of 22Z, and an accurate measured value of the magnetic field strength can be obtained by calibrating the calculated value with a standard magnetic field measuring device (for example, a Gauss meter). The file (max_min data file) recording the data of the maximum magnetic field strength and the minimum magnetic field strength is loaded, and the correction data is also loaded from the correction data file to correct the diameter of the sense coil 22j, etc. The position can be detected.

After loading the above-mentioned data, the hardware is initialized in the next step S14. This step S
At 14, the setting contents of the distributor 28 of FIG. 2 are reset to the initial state. In addition, the setting contents of the A / D converter (not shown) constituting the shape calculating unit 30 are reset to a setting state corresponding to the usage environment (for example, the number of channels is set to the number of source coils and the number of markers to be used). In this way, the hardware is set to the usable state for shape calculation, and the next block B2 is operated.

B2: Hardware Control Block First, in step S21, a switching signal is applied to the distributor 28 to apply the switching signal to the source coil 16i, as described with reference to FIG.
Is selected and the source coil 16i is driven. The magnetic field generated in the source coil 16i is the sense coil 2
Detected at 2j.

Therefore, as shown in step S22, the detection signal detected by the sense coil 22j is passed through the phase sensitive detector (PSD) (not shown) which constitutes the detection unit 26, and A /
Sampling with the D converter. The sampled data is once written in the memory in the shape calculation unit 30. As shown in step S23, for example, the CPU configuring the shape calculation unit 30 determines whether or not the driving for all the source coils 16i is completed, and if not completed, drives the next source coil 16i. Control.

When all the source coils 16i are driven, amplitude data and phase data are calculated from the memory data (PSD data after passing through PSD) (PSD calculation in step S24 in FIG. 7, amplitude in step S25). See data, phase data). When a marker is used, the source coil 16 included in the probe 15 is different from each source coil included in the connected marker.
Similarly to i, the drive signal is applied to calculate the amplitude data and the phase data for the source coil of the marker.

From the amplitude data and the phase data, the processing of the next block B3 is started. First, the calculation of the magnetic field strength in step S31 is performed using the correction coefficient. Next, the maximum distance and the minimum distance (between the source coil 16i and the sense coil 22j) in step S32 of FIG. 7 are calculated using the maximum and minimum distance data.

This step S32 corresponds to the previous step S31.
Using the magnetic field strength obtained in step 1, processing is performed until the maximum distance and the minimum distance between the sense coil 22j and the source coil 16i are calculated.

The fact that there is a proportional relationship between the distance between two points and the magnetic field strength is a very generally known physical phenomenon. However, at one point in a certain space, the l-axis source coil 1
Since the magnetic field strength generated by 6i is generally expressed by a super function, even if the direction of the source coil 16i is known and the magnetic field strength is measured, it is not easy to calculate the direction and distance in which the source coil 16i exists.

Therefore, when a certain magnetic field strength can be detected,
Let R_max be the distance when it is assumed that the source coil 16i is oriented in the direction in which its output is strongest, and R_min be the distance when it is assumed that the source coil 16i is oriented in the direction in which its output is weakest. Distance R_true between source coil 16i and sense coil 22j
Can be limited within the range of R_min ≦ R_true ≦ R_max.

The means or method for calculating the distance adopted here is an extremely simple means or method which does not require the solution of a complicated super function, although the value of the distance R_true cannot be obtained with certainty. Upper 1-axis source coil 1
Even if the direction of 6i is unknown, the source coil 16i
It is a means or method with a wide range of application that can limit the range of existence.

Next, the source coil 16i in step S33.
Position coordinates are calculated. In this step S33, processing from the distance between the sense coil 22j and the source coil 16i to the calculation of the coordinates of the source coil 16i is performed. Source coil 16 when viewed from a certain sense coil 22j
The possible range of i is the R obtained in the previous step S32.
It is within a spherical shell surrounded by _max and R_min. In order to limit the range in which the source coil 16i can exist to a smaller space, the overlapping of the possible regions of the source coil 16i found from the plurality of sense coils 22j is used. Each sense coil 22
For j, the existing region of the source coil 16i obtained from the same source coil 16i always has a region where all of them overlap unless the position of the source coil 16i moves.

The boundaries of such regions are radii R_max and R_mi centered on the positions of the respective sense coils 22j.
It is the intersection of n balls. Since it is the intersection of the spheres,
If there are at least three sense coils 22j, the source coil 16i is R_max, R_ of each sense coil 22j.
Its existence can be limited to a minute region surrounded by eight intersections of a sphere having a radius of min.

Since this source coil position limiting method is a simple arithmetic calculation of calculating the intersection of three spheres,
It is an extremely excellent method that does not require the processing time and can limit the existence region of the source coil 16i to a very small region.

In this way, the position coordinates of each source coil 16i are calculated, and the source coil 1 in step S34 is calculated.
The position coordinate data of 6i is obtained. When a marker is used, position coordinates are similarly calculated for the source coil of the marker. The processing of the next block B4 is performed using these data.

B4: Image display block This block B4 is based on the position coordinate data of the source coil 16i.
Responsible for processing up to drawing on RT. Source coil 16
The position coordinate of i is the locus that the inserted scope has passed. Therefore, based on this, the scope shape in the inserted state is estimated. When the insertion shape of the scope can be estimated, the result is drawn on the CRT. At that time, because the 3D scope shape must be displayed on the 2D CRT screen,
It is necessary to devise so that the image can be expressed more three-dimensionally.

Further, if the scope image can be rotated in an arbitrary direction and it is possible to instantly determine from which direction the scope image is viewed, the usability is further improved. In view of this,
In this device 3, a display method is realized in which the functions are classified as follows and the features of each module are added together.

S41 Keyboard input processing S42 Scope model depiction (S43 reference plane display processing) (S44 marker display processing) Not all of these are necessary for depiction of the scope image, so functions can be selected as necessary. . In FIG. 7, only the keyboard input processing of S41 and the scope model depiction processing of S42 are shown. After the processing of block B4, the display screen video page setting processing of step S45 is performed, and V
The modeled image data is set in the RAM, and then the image data is output to the CRT and step S46.
The scope image display processing of is performed. Then, by the process of determining whether or not the program is ended (step S47), if the end is selected, the process is ended, otherwise, the process returns to the block B2, and the same operation is repeated. Therefore, the features of each module will be described below.

S41: Keyboard input process Here, when a key input corresponding to a given user command is made, it is up to changing setting parameters and the like in accordance with the contents.

The fact that an additional function, which is considered to be highly demanded by the user, is equipped determines the usability of the device. Further, function selection is a simple task, and it is necessary for the user to be able to operate it whenever he or she desires, and to promptly realize the content of the user's request.

In step S41, an input from the keyboard is acquired and a command corresponding to the key input is processed.

As the command corresponding to the key input,
Image image rotation around X, Y, and Z axes, image image enlargement / reduction, image image display from initial viewpoint position, image image display from user-registered viewpoint position, user registration of viewpoint position, image output Split screen, display comment input screen, change background color, marker display ON / OF
F, ON / OFF of numerical display of source coil coordinates, and program end.

Next, the description of the scope model description, which is a major feature of the first embodiment, will be described. Following the keyboard input processing of step S41, the scope model drawing of step S42 shown in FIG. 7 is performed.

In the process flow for describing the scope model, the scope shape can be displayed in the single screen mode as shown in FIG. 11 or in the dual screen mode shown in FIG. 12 according to the selection by the user. FIG. 8 shows a specific example of the processing flow for describing the scope model.

First, in step S51, a process of loading a parameter file required for drawing is performed, and X, Y, Z is read from a parameter file recording device such as a hard disk.
No. of rotation angle (pitch, head, bank) around the axis, viewpoint (viewpoint), project screen, marker mode. The data such as
Is temporarily written in the memory constituting the CPU so that the CPU can perform drawing processing by referring to them when necessary.

Next, in step S52, each variable is initialized. Set the variables used for drawing to the initial values by referring to the loaded data. Next, in step S53, f as the function key set for the key input of the inspection end
・ Whether 10 has been pressed (in FIG. 8, f ・ 10_key
ON? Is displayed), the process of displaying the scope image is terminated if the button is pressed, and if it is not pressed, it is determined whether the mode is the single screen mode (step S5).
4).

In this step S54, it is judged whether or not the one-screen mode is selected depending on whether or not the HELP key, which is a hot key set as the screen mode switching key, is pressed. When it is determined that the screen mode is selected, it is further determined whether or not the HELP key is pressed (indicated as HELP_key ON? In FIG. 8) (step S55), the switching to the two-screen mode is enabled. ing.

Specifically, for example, a 2-bit two-screen display flag is prepared, this flag is set to 0 in the initial setting, and 1 is added each time the HELP key is pressed. Then, the screen mode is determined by checking the value of this flag. If the flag value is 0, it is determined that the screen mode is 1 screen mode. If the flag value is 1, that is, the screen mode is 2 screen modes. Judge that it is in the mode.

Also, when it is determined in step S54 that the screen is in the two-screen mode, it is further determined whether or not the HELP key is pressed (step S56) so that the mode can be switched to the one-screen mode. ing. Step S5
When it is determined that the HELP key is pressed in step 5 (when the key input for switching to the dual-screen mode is made in the single-screen mode), after the dual-screen mode is turned on in the next step S57, Further, in step S58, the two-screen mode is initialized.

First, the setting of the graphic mode set in the one-screen display mode is canceled and the setting for the two-screen display mode is performed. Further, the display frame is set for the dual screen display mode, and the dual screen display flag is turned on.

In the next step S59, the head angle (Y
It is determined whether the rotation angle around the axis is greater than 0, and if not, the head angle is set to 0 (step S
60) and then proceeds to the processing for setting the left screen viewport in step S61. On the other hand, when it is determined that the angle is greater than 0, the process moves to the left screen viewport setting processing of the next step S61 at that head angle.

In order to display the vertical image endoscope shape (shape viewed from directly above) on the left display screen, a display area is set to the left from the center of the screen. Also, this set area is cleared. Further, in the case of displaying the inspection area display frame, the frame of the inspection area is drawn (in a modification described later, display or non-display of the inspection area display frame can be selected). After that, the scope image is drawn in step S62.

Here, it is responsible for creating a scope shape from the source coil position coordinates obtained from the magnetic field detection and displaying the image image three-dimensionally on the CRT. The obtained position coordinates of the source coil are scattered data of the number of source coils inserted in the scope. Therefore, the shape of the scope in the inserted state must be estimated based on these data. Further, the scope shape data thus obtained is output on the CRT as an image modeled as a three-dimensional shape. The basic processing contents of this modeled image drawing are shown in FIG.

S62_a: Calculated three-dimensional interpolation between source coils In the three-dimensional interpolation process between calculated source coils in step S62_a, the source coil position coordinates calculated based on the magnetic field strength detection are discrete. Even if only this calculated data is connected, the locus becomes angular and does not correspond to the scope shape whose position changes continuously. In order to create a smooth overall scope shape, three-dimensional interpolation is performed on the source coil position coordinate data.

S62_b: Construction of three-dimensional model Since the actual scope has a thickness, no matter how smooth data points are obtained, it is not realistic to connect them with straight lines having no thickness. It cannot be said that the scope is depicted. Therefore, in the process of constructing the three-dimensional model in step S62_b, the connection between the catch data is made into a cylinder or n.
This is done using a prism model, etc., so that the thickness can be displayed in correspondence with the actual scope shape.

S62_c: Affine transformation The scope shape is output as an image viewed from the designated viewpoint position. Therefore, in the affine transformation process of step S62_c, the scope shape model data obtained in the world coordinate system as the reference coordinate system for deriving the source coil position is transformed into the viewpoint coordinate system for screen display. The viewpoint position can be changed by the user. The changed contents are referred to here.

S62_d: 3D → 2D projection Although the scope shape is originally three-dimensional, it must be converted into two-dimensional in order to output the image on the CRT screen. Therefore, the projection conversion from the three-dimensional image to the two-dimensional image in step S62_d is performed. At this time, perspective may be used to emphasize perspective.

S62_e: Rendering The scope shape image obtained by the above processing is drawn on the CRT. In rendering, in the rendering process of step S62_e, n-sided side face process and hidden line process for expressing before and after the scope loop are performed. Gradation display by shading processing by perspective,
It is also possible to perform processing such as adjusting the brightness and saturation of the side surface of the scope model according to the curvature of the scope and the like to emphasize the space between the solids more.

It is not always necessary to carry out some of the items described above. Of course, if implemented, the image can be reproduced on the CRT including the effect of the improvement item. Further, it is not necessary to perform in the order shown in FIG. 9, and the same processing may be performed in a shorter time by changing the order according to the model displaying the insertion portion shape. .

Through these processes, the three-dimensional scope shape in the inserted state can be reproduced on the CRT only from the position coordinates of several source coils. In addition, in this embodiment, as the display of the scope, an n-gonal prism model and an n-gonal connection model can be selected as follows.

After the left screen scope image drawing process is performed in step S62, the right screen viewport setting is performed in step S63 of FIG. 8 and the right screen model drawing process is performed (step S64).

In the scope image drawing process for the right screen, drawing is performed at an angle obtained by adding 90 degrees to the head angle used for the drawing process for the left screen. Therefore, a process of modeling and drawing a scope shape from a viewpoint direction different from the viewpoint direction of the left screen by 90 degrees is performed. When the head angle is set to 0 in step S60 (the drawing when the left screen is viewed from directly above), the drawing of the right screen when viewed from the side is completed.

After that, the display screen video page is set using the image data subjected to the drawing processing (step S45), and then output to the CRT to display the scope image (step S46). In this case, the scope image is displayed in the two-screen mode, and the CRT is shown in FIG.
As described above, two scope shapes from orthogonal viewpoint directions are simultaneously displayed.

On the other hand, in the determination of step S55, H
If ELP_key is not pressed (in the 1-screen mode), the normal mode scope image drawing process in step S65, that is, the scope image drawing process in the 1-screen mode is performed. This process is similar to step S62 or step S64. After this processing, the display screen video page setting processing of step S45 is performed and then CR is performed.
The image data is output to T, and the image modeling the scope is displayed in the single screen mode as shown in FIG.

In the determination at step S56, H
If it is determined that the ELP_key is not turned on (in the case of the two-screen mode), the process proceeds to step S59. In addition, in the determination of step S56, HELP_k
When ey is turned on (when a command for switching the one-screen mode in the two-screen mode is input), the two-screen mode is turned off in step S66, and the normal scope image screen is set (step S67). rear,
In step S65, the scope shape is displayed in the single screen mode.

In the flow of FIG. 8, the scope shape is displayed on the CRT in the two-screen mode or the one-screen mode according to the key input selected by the user. In particular,
In the two-screen mode, since the scope shapes from mutually perpendicular viewpoint directions are displayed side by side at the same time as shown in FIG. 12, the depth amount in the image from one viewpoint direction is also accurately grasped from the image from the orthogonal viewpoint directions. be able to.

As described above, in the case of a two-screen display, an image whose viewpoint direction is vertical is normally displayed on the left side, and an image whose horizontal direction is horizontal is displayed on the right side. When the viewpoint direction or the like is changed, the image is from a different direction according to the change.

Next, a model for constructing a three-dimensional model for modeling the scope shape and displaying it three-dimensionally will be described. When the n-gon model is selected, for example, as shown in FIG. 11, the cross section of the insertion portion is modeled as a regular n-gon and displayed as an n-gonal column (n = 5 in FIG. 11). When the number of n is increased, it becomes almost a circle, and in that case, the shape of the insertion portion is displayed as a cylinder.

The flow of the specific processing contents of the display in this model is shown in FIG. In FIG. 10A, step S62
The process of interpolating _1 and constructing a three-dimensional model is as shown in FIG.
The process shown in (b) is performed.

Here, first, the three-dimensional B-spline interpolation of step S62_1 is performed. This interpolation is not a type of interpolation that always passes through the interpolation point, but creates a smooth curve while passing through the neighborhood of the interpolation point. It is easy to process. Of course, a natural spline, another interpolation method, or an approximation function may be used.

The B-spline, which is relatively easy to calculate,
It is excellent in that the processing speed is fast even if three-dimensional catching is performed. Next, as a three-dimensional model construction in step S62_12, n-prism model construction is performed.

Here, a three-dimensional scope image is constructed from the trapping data of the source coil position coordinates by an n-square prism model (hereinafter, also including a cylinder). Next, the affine transformation of step S62_13 of FIG.10 (b) is performed. This affine transformation is one of the methods used when performing coordinate transformation of a figure in computer graphics, and is generally performed when handling coordinate transformation. Simple linear coordinate transformations such as translation, rotation, enlargement, reduction, etc. are all included in the affine transformation. The rotation angle around the X axis is called the pitch angle, the rotation angle around the Y axis is called the head angle, and the rotation angle around the Z axis is called the bank angle.

In this processing, the scope model data represented by the world coordinate system fixed to the bed 4 (see FIG. 13) is converted into model data viewed from a certain viewpoint position. The viewpoint position can be set in any direction. Therefore, tracking in which direction the viewpoint position has moved and moving the model data so as to follow that direction requires extremely difficult processing. Therefore, it is assumed that the viewpoint is fixed, and the world coordinate system that should not move originally is rotated for convenience. This gives the same result as obtaining an image with the viewpoint moved. This method is an excellent means in that the time lag with respect to the movement of the viewpoint can be made extremely small because the viewpoint can be moved in any direction by conveniently rotating the world coordinate system.

Next, step S62_14 of FIG. 10B.
3D-2D projection (3D → 2D projection) is performed. This 3D that performs projection conversion from 3D image to 2D image
→ In the 2D projection process, the following projection method is performed, so that the display can be realized by perspective or the like according to the purpose.

A) In the case of adding perspective, the three-dimensional shape looks larger as it is closer to the viewpoint and smaller as it is further away. This can be realized by a process of converting three-dimensional model data into two-dimensional data.

In order to project the three-dimensional coordinates on the two-dimensional plane, the screen is virtually perpendicular to the viewpoint, and
It is arranged on the opposite side of the three-dimensional image (3D image obtained up to S62_13), and in such a state, the projection image of the object viewed from the viewpoint becomes larger than the projection image on the far side. It is projected and displayed in perspective. This method is excellent in that a three-dimensional depth can be easily added to a two-dimensional projection image and that the degree of emphasis can be easily changed. Of course,
You may display without attaching a perspective.

Next, the rendering process of step S62_15 is performed. In this embodiment, as shown in FIG. 10B, the paste model display PM and the wire frame model display WM can be selected.

For the display in these models, the world coordinate system fixed to the bed 4 shown in FIG. 13 is used, and another coordinate system may be adopted depending on the processing content.

For example, the source coil coordinates are in the world coordinate system, the source coil coordinates are rotated,
After obtaining the source coil coordinates (that is, the visual field coordinate system) viewed from the "viewpoint", data interpolation is performed on the discrete source coil coordinates to obtain the source coil coordinates viewed from the "viewpoint" after the data interpolation.

Next, in a three-dimensional model construction process, after a scope model is generated by a wire frame or the like, a three-dimensional to two-dimensional conversion (perspective projection conversion) process is performed to display the two-dimensional screen on the two-dimensional screen. Data, three-dimensional data is generated, and a pseudo three-dimensional image is rendered and displayed.

Next, the paste model display P of FIG.
M will be described. This model is called a paste model because each surface of the n-square prism is filled. CR scope image
N-sided side processing when drawing on T, and hidden line or hidden surface processing to express the front and back of the loop when the scope has a loop shape. When displaying with an n-square prism, it has n side surfaces. Of these, what is actually visible is only the side face on the side of the viewpoint, and therefore the process is performed so that only the side face on the side of the viewpoint is visible and the side or side that is not visible is hidden, that is, hidden lines or hidden lines. Perform surface treatment. In this case, it can be realized by sorting a parameter (which will be referred to as a z-buffer) indicating how close to the viewpoint position and overwriting from the side where the z-buffer is small (that is, far from the viewpoint).

Next, the processing of the wire frame model display WM will be described. The result is the same as when the part excluding the sides of the n-prism model is filled with the background color, but this can be selected and used in order to shorten the processing time for stretching (painting) the n-prism model. ing.

In this model, if the z buffers are written in ascending order, the wires behind the scope model will be visible. Therefore, a hidden line processed model can be constructed by appropriately performing hidden line processing to remove it or drawing a wire frame up to the (n / 2) th model data in descending order of z buffer.

Next, in FIG. 10A, step S62_2 for displaying the reference plane and step S62_3 for displaying the marker are performed. The processes of these steps S62_2 and S62_3 are additional processes. The process of displaying the reference plane plays an auxiliary role of making the three-dimensional display of the scope shape easy to visually understand by displaying the reference plane such as the bet plane.

If the image displayed on the CRT is only a scope-shaped image, the positional relationship between the image and internal organs is unknown. Then, when the viewpoint position is rotated, the information about which direction the scope shape is viewed from, the direction of the head direction, and the like are only numerical information of the angle displayed in text.
This is not suitable for sensory judgment. Therefore, an auxiliary means has been provided so that such a judgment can be performed sensuously.

Here, it is realized as shown in FIG. First, the affine transformation in step S62_21 is performed. In this process, the reference display symbol in the world coordinate system is converted into the viewpoint coordinate system. Next, step S62_22-3
D → -2D projection is performed. Conversion processing is performed to project the reference display symbol transferred to the viewpoint coordinate system in two dimensions so that it can be displayed on the CRT.

Next, in step S62_23, a symbol such as a bed to be the reference surface is displayed. Scope image 3
Display symbols that aid the three-dimensional picture. A concrete example of the symbol is, for example, a bed surface display, which will be touched below.

By doing so, the position of the reference surface, the distance of the scope shape from the reference surface, and the head direction of the patient can be visually judged, which is excellent in that it provides a judgment reference such as the position of the scope shape. ing. Next, for example, bed surface display will be described as a specific example of the reference display symbol.

A reference plane parallel to the XY plane of the world coordinate system and perpendicular to the Z axis is displayed. The Z coordinate is the bet surface (Z = 0)
However, any position may be used as long as it can be used as the reference. This plane does not move with the viewpoint coordinates. That is, when the viewpoint position rotates in the X-axis direction Y direction, the bet surface is displayed as a line. A marker may be attached to a pillow-like rectangle, right shoulder, left shoulder, or both directions so that the head direction can be seen. Since this is represented by a simple single plate, it is excellent in that it does not interfere with the scope image and the viewpoint rotation can be recognized. In addition to this, a reference marker display or a rectangular parallelepiped display in which a Z-direction frame is added to the bed display may be performed.

Next, the marker display processing of step S62_3 in FIG. 10A is performed.

In this marker display processing, a single source coil position is calculated and displayed separately from the source coil 16i inserted in the scope. A means for displaying one or more markers that can be moved separately from the source coil 16i in the scope is provided as means for confirming the position of the inserted position in the scope.

On the actual apparatus, the position calculating means is exactly the same as that used for the source coil 16i inserted in the scope, and the display means is also the same as before, and FIG.
As shown in (d), the process is affine transformation in step S62_31 → 3D in step S62_32 → 2D projection → marker display in step S62_33. Therefore,
Here, as a specific example of the marker shape output, display by an n-sided polygon (including a circle) will be described. If the marker is displayed in such a form, many colors cannot be used, and in the case of a device configuration in which the same color as the scope shape cannot be used, it is possible to distinguish even if it overlaps with the scope shape.

By changing the shape of this marker display according to the rotation of the viewpoint, it is possible to recognize from which direction the user is looking. Further, it may be associated such that it is always in front of the viewpoint. At this time, the viewpoint direction cannot be recognized from the marker, but it is excellent in that a marker of a constant size is always output.

This is similar to the case where the marker has a spherical shape. If the marker has a spherical shape, it is possible to display the direction and depth of the viewpoint by giving information such as gradation and saturation / luminance.

By moving the marker outside the body using such a means, it becomes possible to confirm the position of the scope shape in the inserted state in association with the marker, and the position of inserting the scope is compared with the actual position of the patient. It is possible to provide a means of assistance that is associated and known.

As described above, according to the first embodiment, the means for modeling the scope shape when viewed from viewpoints different from each other by 90 ° and displaying stereoscopically simultaneously on two screens is provided. Even if it is difficult for a person to accurately understand the depth shape in the scope-shaped image when viewed from one viewpoint direction, it is possible to visually grasp it accurately from the scope-shaped image from the orthogonal viewpoint directions (displayed at the same time). it can.

Therefore, for example, when an operation of introducing the distal end side of the insertion portion inserted into the patient into a target portion is being performed, the three-dimensional shape of the insertion portion can be accurately grasped, so It is possible to easily and smoothly perform the work or the operation of introducing it into the part to be operated, and it is possible to improve the operability for the endoscopic examination using the endoscope.

Further, since a display means such as a marker is also provided, it becomes easier to grasp the three-dimensional shape including the directivity of the scope shape from the display position of the marker on the scope shape image.

A function of turning on / off the display of the inspection range reference frame may be provided as in the first modification of the first embodiment. The configuration of the first modification is almost the same as that of the first embodiment, that is, in the configuration of FIG. 2 or 3, the system control unit 34 sets the inspection range reference frame according to an instruction (selection) from the operation unit 35. It is responsible for turning the display on or off. In particular, in the two-screen display, since information from two directions is displayed, it is clear from which direction the endoscope is drawn in the initial state.

Therefore, it is assumed that the display itself of the inspection range display frame which makes it easy to identify from which direction the user is looking is complicated. Therefore, the inspection range display frame can be set so as not to be displayed. The flow of this processing is shown in FIG.

The steps up to step S53 are the same as those in FIG.
If the end is not selected in step S53, the inspection range reference frame display flag is turned ON / O in step S71.
Judge FF. For this determination, the inspection range reference frame display is switched depending on whether or not, for example, the HOME_CLR key set as the hot key for switching the inspection range reference frame display is pressed.

When the HOME_CLR key is not pressed, the inspection range reference frame display flag is OFF,
Further, in the next step S72, it is determined whether or not the HOME_CLR key is pressed (abbreviated as HOME_CLR ON? In FIG. 14). The step S72 of this determination is to enable the flag to be switched from OFF to ON. If the flag is OFF in this determination, FIG.
Step S42 'similar to Step S42 shown in FIG. 8 (more accurately, this Step S42' is Step S42 in FIG. 8).
Scope model drawing processing is performed in steps S54 to S67 in the whole). In this case, the scope image is displayed as shown in FIG. 15A in the mode in which the inspection range reference frame is not displayed. FIG. 15A shows the case of the single screen mode.

When the inspection range reference frame display flag is turned on in the above step S71, H in step S73.
It is determined whether or not the OME_CLR key is pressed. If the HOME_CLR key is not pressed, in step S74, after the cube drawing process within the inspection range is performed,
The process of drawing the scope model in step S42 'is performed.
In this case, as shown in FIG. 15B, the scope image is displayed together with the cube serving as the inspection range reference frame. FIG. 15B also shows the case of the single screen mode.

HOME_CLR is determined in step S73.
If the key is pressed, the flag is set to OF in step S75.
It is set to F, and the scope model drawing process of step S42 'is performed.

Further, in step S72, HOME_CLR
Even if the key is pressed, the inspection range reference frame display flag is turned on in step S76, the cube drawing process within the inspection range is executed in step S74, and the scope model drawing process is executed in step S42 '.

According to the first modification of the first embodiment,
Depending on the user's selection, the inspection range reference frame can be displayed to display the scope shape, or the scope shape can be freely displayed without displaying the inspection range reference frame, and the user's selection range can be expanded. The usability for the user can be improved. Others have the same effects as the first embodiment.

Next, a second modification of the first embodiment will be described. This modified example has a function of storing the endoscope shape user setting view state and a function of setting to the user setting view state. Specifically, ON / OFF of the endoscope shape user setting view state memory is set. T as a hotkey to do
By inputting AB_key, the endoscope shape user setting view state is stored, and by inputting / _key as a hot key for converting the endoscope shape to the stored view state, the endoscope shape is converted to that view state. Perform processing to The hardware configuration of the second modification is similar to that of the first embodiment, and the processing contents are partially different.

FIG. 16 shows a flow of processing contents of the second modified example. The process up to step S53 is the same as in FIG. After step S53, it is determined in step S15 whether or not there is a further key input. That is, since keyboard input can be performed after step S53, it is determined whether or not there is key input.

If there is no key input, the process returns to the endoscope shape display routine in step S16, the scope model is displayed in the CRT by the scope model display process in step S17, and the process returns to step S53. The endoscopic shape display routine in step S16 and the scope model display process in step S17 are the same as those in steps S42 ', S45, and S46 in FIG.

On the other hand, if it is determined in step S15 that there is a key input, it is determined in steps S18a and S18b whether TAB_key or / _key, respectively.

TAB_k in steps S18a and S18b
If it is determined that it is not ey or / _key, the process proceeds to step S16.

If it is determined that the TAB_key is the current endoscope shape set by the user when the TAB_key is pressed by the process of storing the current user setting view in the next step S19a. The state of the displayed view parameter is written in a file or the like and stored (or recorded), and then the process of step S16 is performed.

On the other hand, if it is determined that it is / _key, then in the next step S19b, the view parameter setting of the viewpoint for displaying the endoscope shape stored by the operation of TAB_key is performed by the processing of the stored user setting view parameter set. Is read from a file or the like and set to each parameter at the time of displaying the endoscope shape, and then the process proceeds to the endoscope shape display routine of step S16. In this case, the endoscope shape is displayed by each parameter read from the file.

According to the second modification, when the user has a view state suitable for his / her preference when displaying the endoscope shape, TAB_key as a hot key for storing the view state. By pressing, the view parameter can be stored, and by pressing / _key as a hotkey for setting the view parameter when the display is desired, the view parameter can be set, and the subsequent endoscope shape display routine By the processing of, the shape of the endoscope can be displayed with the parameter.

Therefore, according to the second modification, the view suitable for the preference of the user who uses the view can be performed without performing the troublesome work of setting each parameter of the display each time the endoscope shape is displayed. The shape of the endoscope can be displayed with parameters, and an environment that is easy to use for displaying the shape of the endoscope can be provided.

Next, a third modification of the first embodiment will be described. In this modified example, the shape of the endoscope can be displayed by rotating ± 90 ° in the horizontal direction by inputting a hot key. Specifically, when the ROLLUP key is input, the endoscope is displayed. The shape is displayed rotated by + 90 ° in the horizontal direction, and when the ROLLDOWN key is input, the shape of the endoscope is displayed rotated by −90 ° in the horizontal direction.

The hardware configuration of the third modification is similar to that of the first embodiment, and the processing contents are partly different. FIG. 17 shows a flow of processing contents of the third modified example. Steps S15, S16 and S17 are the same as in FIG. If it is determined in step S15 that there is a key input, it is determined whether it is a ROLLUP key input or a ROLLDOWN key input. Set the head angle to + 90 ° (that is, set it to a value rotated 90 ° in the positive direction around the Y axis), and
In the case of key input of ALLDOWN, step S20b
And set the head angle to -90 ° (that is, 90 in the negative direction).
After being set to a value rotated by a degree), the routine proceeds to the endoscope shape display routine of step S16.

The other parameters for shape display are used as they are (without change). According to this third modification,
ROLLUP or ROLL even in single-screen mode
By performing the DOWN key input, it becomes possible to display the endoscope shape from a direction perpendicular to the viewpoint direction in the shape display before the key input, and there is an advantage that the shape can be grasped more easily.

That is, in the two-screen mode, the image from the set viewpoint direction and the image from the viewpoint direction orthogonal to the set viewpoint direction are displayed at the same time. It is possible to switch and display the image from the viewpoint direction orthogonal to the viewpoint direction. In the two-screen mode, the user interface area on the right side of the screen is normally used as a graphics output area, and two screens that are orthogonal to each other are displayed side by side. When the display is switched from the orthogonal viewpoint direction by the input operation of the hot key, the setting state is displayed numerically on the right side at all times, so that it is possible to grasp numerically. Also, when you take a picture or record it as a still image,
Since the information on the setting state can be recorded at the same time, it is convenient because it is possible to easily grasp the state of the recorded image.

In the third modification, an image in which the head angle is rotated by + 90 ° or −90 ° can be displayed by the hot key, but the pitch angle which is the rotation angle of the X axis or the Z axis can be displayed. Similarly, it is possible to display an image rotated by + 90 ° or −90 ° with respect to the bank angle which is the rotation angle. For example, if you can use the hotkey to change the pitch angle and display it,
Since it is possible to display an image from a viewpoint direction further orthogonal to the two orthogonal viewpoint directions displayed in the screen mode, it becomes easier to grasp the shape. The pitch angle may be changed and displayed for one or two images in the two-screen mode.

Next, a second embodiment of the present invention will be described. The second embodiment has a means or a function for making it possible to selectively set the usage pattern of the marker, and this means or function will be described below.

The structure of this embodiment is almost the same as that of the first embodiment. That is, the configuration is the same as that in FIG. 2 or FIG.
In this embodiment, the system control unit 34 further includes an operation unit 35.
(More specifically, the user selects and sets the usage pattern of the connected marker by an instruction (selection) from the keyboard 35a,
In addition, processing for displaying the marker on the monitor 23 is performed according to the selection. The content of the processing in this case is shown in the flow of FIG.

The process up to step S53 is the same as in FIG.
If the end is not selected in step S53, it is determined whether or not f.9_key as a function key corresponding to the key input of the preset screen capable of changing the marker mode in step S80 is pressed.

When this f-9_key is pressed,
The marker mode is set in step S81. On the preset screen, date, time and marker mode can be changed. Select the item to be changed with the arrow keys, set the cursor etc. to the marker mode change position, and press the return key to set the marker mode. To When the marker mode is set, the process proceeds to the marker mode determination (selection) process in step S82.

In this marker mode selection processing,
For example, the marker mode number is used to select the type and display form (base model) of the marker used for identification. For example, it is determined whether the marker mode number is 0 or not, and if it is 0, the marker is not displayed. If it is not 0, the display mode corresponding to the marker mode number is set in the display mode setting process of step S83. That is, step S8
If the marker mode number is 1 as shown in 3a, the single hand marker display mode is set, and the marker is displayed in a circular shape.

If the marker mode number is 2 as shown in step S83b, the single body marker display mode is set,
The marker is displayed in a square.

If the marker mode number is 3 as shown in step S83c, the two hand marker display mode is set,
The marker is displayed in square and circle.

If the marker mode number is 4, as shown in step S83d, one body marker + one hand marker 1
The individual display mode is set, the body marker is displayed in a square, and the hand marker is displayed in a circle.

Here, the body marker indicates that the marker is the reference position for drawing. For example, assuming that the marker coil is installed at the position of the anus, the endoscope shape inside the body is drawn from this position. In this case, an endoscopic shape having a Y-coordinate larger than the value of the Y-coordinate where the marker coil is installed is drawn (as shown in FIG. 13, the head side is set in the positive Y-coordinate direction). .

Alternatively, among the source coils on the probe side, the source coil located inside the detection area from the marker coil is
The position of the marker coil is set as the boundary position of the drawing range, and the marker coil is drawn together with the drawing. In this case, the source coil inside the probe, which is outside the detection area with respect to the marker coil, is not drawn.

When the detection area is set, when the marker coil is set outside the detection area,
Draw with only the source coil in the probe in the detection area. On the other hand, the hand marker mode is a drawing mode in which the detected position of the marker coil is simply displayed.

In the next step S84, it is determined whether or not the body marker display mode is set. If it is determined that the mode is not this mode, the hand marker display mode is set, and therefore the process of drawing the hand marker is performed in the next step S85. In this process, the following a to e are performed (indicated by a description that can be applied to the marker drawing process in step S90).

A. The detected marker data is converted according to the set viewpoint. b. In the case of the two-screen mode, a conversion process for further rotating 90 ° is added. c. The marker data in space is constructed from the detected marker data and the base model data. d. The marker data is converted into two-dimensional coordinates by perspective projection conversion. e. Based on the converted data, the marker data is converted into the display coordinates of the actual monitor and each marker data is displayed.

After the hand marker drawing process is performed in step S85, the scope model drawing process is performed in the next step S86 to display the position of the hand marker on the CRT and the scope modeled image.
When the marker mode number is 0 in the determination in step S82, the process proceeds to step S86 to display the scope as a modeled image without performing the marker drawing.

On the other hand, when it is determined in step S84 that the body marker display mode is selected, in the next step S87, the Y coordinate is compared, that is, the body marker coordinate value <scope coordinate value is compared. By this comparison, the source coil that satisfies the condition of being inside the detection area from the body marker is extracted.
Then, whether the number of scope data satisfying this condition is ≧ 3 (that is, whether the number of source coils satisfying this condition is ≧ 3)
Is determined in the next step S88.

If this determination is satisfied, the scope model is drawn in the next step S89, and the marker is drawn in the next step S90. This marker drawing process also performs the above a to e.

On the other hand, if the condition of the number of scope data ≧ 3 is not satisfied in the judgment of step S89, the scope model is not drawn and only the marker is drawn in step S90. If the number of scope data is small, accurate shape estimation cannot be performed. Therefore, the scope model is not drawn.

The scope model drawing processing in steps S86 and S89 is the same as the one in which the marker drawing processing is omitted in step S42 'in FIG. 14 (in the second embodiment, the marker drawing processing is different from the scope model drawing processing). (Because it has been described in 1.), perform the same processing.

In the first embodiment, as shown in FIG.
While one hand marker is displayed, the scope-shaped image 100 in the case where one of the body markers is set as the body marker and the body marker is displayed in a square according to the second embodiment is shown in FIG. 41, for example. Becomes larger than the Y coordinate position of the body marker m indicated by a square (see FIG. 4).
The upper part of 1) will be displayed. The display of the distal end of the scope in the image 100 will be described later.

According to the second embodiment, since the display means for displaying the marker in the desired marker mode is also provided, the stereoscopic shape including the directionality of the scope shape from the reference display position of the marker on the scope shape image. It is easier to understand the shape. Others have the same effects as the first embodiment.

Next, a modification of the second embodiment will be described. In this modification, in addition to the function of the second embodiment, a marker position storage mode for storing a reference marker position of the anus or the like is further provided. In the storage mode, the marker position at that time is input by a hot key input operation. The marker position is stored and displayed at the stored marker position (for example, with an easily identifiable mark unlike a hand marker) when the endoscope shape is displayed.

Specifically, when the marker mode numbers are 5 and 6, the function is added. Marker mode number is 5
Is selectable when one marker coil is connected, and the marker mode number 6 is selectable when two marker coils are used. The configuration of this modified example is the same as that of the second embodiment, and is configured to perform processing with additional functions. FIG. 19 shows a flow of processing contents in this modified example.

In the process shown in FIG. 19, the display mode setting process of step S83 in FIG. 18 is changed to the contents of step S83 'shown in FIG. 20, and the position is stored between steps S88 and S90 in FIG. Step S111 of the process of determining whether or not the mode, and step S112 of displaying an anal marker (used as a body marker-like reference marker) at the stored marker position performed when this determination result is ON. It is designed to perform the processing through.

That is, the steps up to step S82 are the same as those in FIG. 18, and if the marker mode number is other than 0 in the marker mode selection processing in this step S82, FIG.
The display mode setting process of step S83 'shown in 0 is performed. In this process, when the marker mode numbers are 1 to 4, the display modes of steps S83a to S83d are set as in FIG. Further, when the marker mode number is 5 or 6, the position storage mode has one or two markers, and the position storage mode (one marker) shown in step S83e or the position storage mode (two markers) shown in S83f, respectively. Display mode.

After the setting of the corresponding display mode by the marker mode numbers 1 to 6 is performed in this way, whether or not the INS_key as a hot key for turning on and updating the position storing mode shown in step S83g is turned on. A process for determining whether or not is performed.

When the marker mode number 5 or 6 is selected and INS_key is pressed,
As shown in step S83h, the current marker position storage processing is performed, and the marker coil position (coordinate value) when INS_key is pressed is stored in another area of the memory or the like. After that, as shown in step S83i, after the marker mode is set, the marker mode is set to the number 1 (in the case of two markers, the number is set to 3), and the marker can be used as a hand marker. , Go to next step S84.

That is, when the marker mode number 5 or 6 is selected, when the hot key for turning on the position storage mode is pressed, the marker position at that time is stored, and after this storage operation, 1 is stored. It can be used as one or two hand markers (when the marker mode number is 5 or 6, it can be used as a hand marker except when the hot key is pressed, that is, the hot key is used. It may be used as a hand marker before and after the button is pressed).

In step S84, it is determined whether or not the body marker display mode is selected. When the selected number is 1 to 4, the same as in FIG. 18, but when the number is 5 or 6, it is stored. The same processing as the body marker is performed on the marker position (the marker used for selecting the number 5 or 6 is processed as a hand marker as described in the marker mode set in step S83i described above). Be done).

That is, when the selected numbers are 1 and 3 (in this case, those used for selection of the numbers 5 and 6 and including hand markers in the marker mode set), the process proceeds to step S85. , The selected numbers are 2, 4,
In the case of 5 and 6, the process proceeds to step S87.

In step S87, when the numbers are 2 and 4, it is the same as that in FIG. 18, and when the numbers are 5 and 6, it is regarded as the body markers of the numbers 2 and 4 with respect to the stored marker positions. The Y-coordinate comparison process is performed in the same manner as the case. Then, in the next step S88, it is determined whether or not the number of scope data is 3 or more. If it is 3 or more, the scope drawing process is performed in step S89, and if it is less than 3, the scope drawing process is not performed. Then, the next step S1
Go to 11.

If it is determined that the position storage mode is in the position storage mode in step S111, the hot key input operation is performed to set the marker position stored (as the reference coordinate position) to the step S112. The anus marker as the reference marker shown in is displayed (when the number is 6, another
Markers are displayed at the three memorized marker positions (marks are easy to identify) that represent the reference coordinate position),
Then, the process proceeds to next step S90.

In the marker drawing process of step S90, the body marker is drawn. If the numbers 5 and 6 are selected, the process goes through and the process proceeds to the next step S45.

While the system is operating in the storage mode of numbers 5 and 6 after the system is started, it is possible to switch to another screen,
Even if the display returns to the main display again, the reference coordinate position stored by the hot key is retained. That is, the stored reference coordinate position is valid.

Then, when the hot key is pressed next time, the stored contents of the marker positions stored up to that point are updated, and new marker positions are stored. In other words, it does not change until it is reset again with the hot key.

According to this modification, if the position storage mode is selected and the hot key is pressed at a desired position as the reference position of the anus or the like, the reference position is stored and the marker can be constantly displayed at the reference position. After that, the marker used to set and store the reference position can be used as a hand marker for displaying other positions.

Therefore, one marker can be provided with a function as both a body marker function and a hand marker function, and can be effectively used for displaying the reference position and the like. Even if the marker is not fixed at the reference position as in the case of using it as a body marker, simply pressing the hot key with the marker set at the reference position can display it without moving the reference position. There are also merits.

A plurality of reference positions may be stored in one marker in the marker position storage mode. In this case, the number of reference positions to be stored may be selectively set. Further, the reference position stored and displayed may be optionally canceled. In this case, if a marker is set at the displayed reference position and the hot key is input, and the stored reference position and the new reference position are compared and it is determined that they match, the contents are erased. Then, it may not be displayed.

In the above description, the case where the number of markers is up to 2 has been described, but of course the number is not limited to this,
Even if the number of markers is three or more, the basic processing is the same, and the same processing can be performed only by increasing the number of almost similar processing. That is, the number of used markers can be set, and the breakdown (the number used as a hand marker, the number used as a body marker) can also be set.

The number of markers that can be set and used may be set irrespective of the number of marker coils that are actually connected, but the coils are sequentially scanned to apply a voltage, and a current actually flows. Depending on whether or not the connected marker coil is automatically detected, the marker modes that can be set accordingly can be limited.

Next, a third embodiment of the present invention will be described. This embodiment has a function of displaying a shape by freezing. Most of the time, patients are always moving subtly,
In this case, the detected endoscopic image also moves subtly, which may make it difficult to grasp the shape. Therefore, in this embodiment, the shape images continuously displayed are frozen so that the shape of the endoscope can be easily understood.

FIG. 21 shows the flow of processing for the operation of freezing and displaying the shape in this embodiment. Step S5
Up to 3 is the same as in FIG. If the f-10_key is not pressed, the freeze mode is turned on in the next step S91.
/ OFF is determined. In addition, step S71 of FIG.
Alternatively, the process of step S80 in FIG. 18 can be performed.

Whether the freeze mode is ON or OFF is determined by the freeze flag. If the freeze flag is OFF and, for example, vf-2_key, which is one of the function keys, is pressed, the freeze mode is turned ON.
And the freeze flag is turned on. Furthermore, vf
When 2_key is pressed, freeze mode is canceled,
The freeze flag is turned off.

Freezing mode OF is executed in step S91.
If it is determined to be F, that is, in the moving image mode, the source coil 12-point data attached to the scope is acquired in step S92. After processing the data acquisition for all source coils installed in the scope,
In the next step S93, it is determined whether or not vf-2_key has been pressed.

If this vf-2_key is not pressed, in the next step S94, CTRL + arrow key as an instruction key for rotating / zooming the scope image,
Alternatively, it is determined whether or not the CTRL ++ (or-) key is pressed. When any of these keys is pressed, the input parameter is changed (step S95) corresponding to the pressed key, and the input parameter is rotated or zoomed. Then, the processing moves to the scope model display processing in step S101, and CR
The scope shape is displayed at T. The processing of displaying the scope model simply represents, for example, the processing after step S42 'in FIG.

In step S93, vf · 2_
If the key is pressed, the freeze mode is set to ON (step S96). Turn on the freeze flag to enter freeze mode. When this freeze mode is set, 12 points of data are not newly acquired for the scope shape display, and the scope shape display is performed on the CRT using the shape display data acquired before the freeze. I do.

On the other hand, in step S91, freeze mode O
If it is determined to be N, v is further passed in step S97.
It is determined whether or not f-2_key is pressed. This v
If f · 2_key is not pressed, it is determined in the next step S98 whether CTRL + arrow key or CTRL + plus (or minus) key as an instruction key for rotating / zooming the scope image is pressed. .

When the key is pressed, the input parameter is changed corresponding to the pressed key (step S99),
It is rotated or zoomed. Then, the model of the scope is displayed on the CRT. If no key is pressed in step S98, C is not rotated or zoomed.
The scope model is displayed at RT.

In the determination of step S97, v
If f-2_key is pressed, the next step S1
Freeze mode OFF with 00, CRT with video mode
The scope model is displayed in.

According to the third embodiment, it is possible to freely select the display of the scope shape in the frozen mode and the display of the scope shape in the moving image mode. Therefore, if the display in the moving image mode is selected, the scope shape can be displayed in a state close to real time.

On the other hand, when the display in the freeze mode is selected, the scope shape can be displayed in the still image state.
For example, when the movement of the patient is annoying, such as when displaying the shape of a part near the heart, by selecting freeze mode, the scope shape can be displayed in the still image state. The shape of the scope can be easily grasped without being affected by. Also, in the freeze mode, the shape data immediately before is used when the freeze mode is selected, and it is not necessary to obtain shape data that changes momentarily after selection or to perform shape calculation processing. The scope shape can be displayed in a short time. Others have the same effects as those of the first modified example of the first embodiment and the second embodiment.

Even when the freeze mode is selected, the user may be allowed to set the time interval for updating the scope shape data when the scope shape is displayed in the freeze mode. In other words, when the freeze mode is set, the scope shape is displayed in a still image with new shape data at each set time in addition to the mode in which the scope shape is continuously displayed with one shape data until the freeze mode is released. The display may be continued one after another.

This third embodiment also has the functions of the flows shown in FIGS. 14 and 19, and the features and typical functions thereof, including those shown in the flow and those not shown, will be described below. First, it has the following features. (1) Insert a dedicated (source) probe 15 into the treatment instrument channel 13 of the endoscope 6 inserted into the patient's body, or use a dedicated endoscope (without using the probe 15 that can be installed in the channel 13). , The source coil is provided inside the insertion portion of the endoscope), the insertion shape of the endoscope can be detected three-dimensionally and displayed as continuous images.

(2) By attaching a dedicated marker (the marker shown in FIG. 6 or a marker having a structure different from that shown in FIG. 6) may be attached, the positional relationship with the shape of the endoscope can be known on the screen. . (3) The displayed shape image of the endoscope can be rotated and zoomed within the designated range.

(4) The shape image moved by rotation and zoom can be returned to the initial state. (5) It is possible to freeze continuously displayed shape images. (6) A comment can be overwritten on the displayed shape image. (7) The following items can be displayed on the screen.

-Date and time-Patient data (patient ID, name, sex, age and date of birth) -Comment (8) The following items can be input / changed on the screen.

Patient data (patient ID, name, sex, age and date of birth) Comments (9) Patient data can be entered in advance and the contents can be listed.

(10) Date / time can be set. (11) The mode in which the marker is used can be set. (12) Characters can be input and displayed on the entire screen. (13) All the characters displayed on the screen can be erased. (14) A stopwatch can be used on the screen.

(15) The following functions can be used in combination with the multi-video processor. -You can choose to show or hide the shape image of the endoscope on the color monitor. -The shape image displayed on the color monitor can be frozen. Next, examples of use of typical functions and specific display screens in that case are shown.

FIG. 22 shows a more specific display example of FIG. That is, FIG. 22 shows a normal display screen in which a shape image is displayed on the display surface of the color monitor 23, and the shape image is displayed in the graphics output area (also referred to as a scope image display frame) G. Date and time and patient data (patient ID, name, sex, age and date of birth) are displayed in the date and time & patient data output area D & P above G, and this graphics output area G
Main hot keys and corresponding set information and comments are displayed in a user interface area (also called a comment display frame) K on the right side of. Further, in FIG. 22, for example, two hand markers indicating the reference position are displayed.
In the drawings after FIG. 23, the output areas G, D & P and K are omitted for simplification.

In FIG. 22, for example, by selecting the date / time & patient data output area D & P data input by operating the mouse or keyboard, for example, the name of the patient data can be input as shown in FIG. Of course, other data can be input and data can be changed. Next, the function set by the function key will be described.

[F • 1] ... Stopwatch 1. Pressing the function key [f.1] once starts the stopwatch. At this time, the time is displayed above the comment display frame K on the right side of the screen. FIG. 24 shows the display screen when the stopwatch is starting.

2. Once again Function key [f
Pressing 1] will stop the stopwatch. FIG. 25 shows a display screen when the stopwatch is stopped. 3. When the function key [f.1] is pressed again, the stopwatch display is erased.

[F · 2] ... Erase all characters 1. Pressing the function key [f · 2] once erases all characters on the screen. FIG. 26 shows a display screen in a state where all the characters on the screen are erased. 2. If you press the function key [f ・ 2] again,
Return to the initial display. By the use of this function, the patient data, comments, etc. entered on the screen before using this function will be invalid and will not be displayed even if the initial display is restored.

[F • 3] ... Extended comment input 1. When the function key [f3] is pressed once, a comment can be input in the scope image display frame.

In this state, by pressing the [SHIFT] + arrow keys ([→], [←], [↑], [↓]), [→], [→] in the scope image display frame, respectively.
You can enter [←], [↑], [↓]. 2. If you press the function key [f3] again,
The entered characters are left and the normal display state is restored. FIG. 27 shows a display screen in which a tip comment and [→] are input to indicate the tip of the insertion portion.

When the arrow keys ([→], [←], [↑], [↓]) are pressed without pressing the [SHIFT] key, the cursor moves in the direction of the pressed key. . When a comment is input in the scope image display frame G using this function, “[SHIFT] + arrow keys ([→], [←], [↑], [↓], [+], [-])
You can't rotate / zoom the scope image ...
After setting in advance, the extended comment is input.

[F4] ... Title screen display 1. When the function key [f4] is pressed once, the screen switches to the input screen of the title screen and the text can be input. FIG. 28 shows this title screen screen. 2. If you press the function key [f4] again,
The title screen input screen disappears and the normal display state is restored. The text entered at this time is backed up, so the same text will be displayed the next time you call. The arrow keys ([→], [←], [↑],
[↓]) is used to move the cursor.

[F · 5] ... Pre-input of patient data 1. Press the function key [f · 5] once to switch to the patient data list screen. FIG. 29 shows this patient data list screen. 2. If you press the function key [f5] again,
The patient data list screen disappears and the normal display state is restored.

3. On the patient data list screen, click “Seq.N
Enter the number you want to register in "o." with a number from 1 to 20,
When the return key is pressed, a patient data pre-input screen for pre-inputting data for each patient is called, and data can be registered. FIG. 30 shows this patient data pre-input screen.

When waiting for the input of "Seq.No.",
By pressing the [HOMECLR] key as a key for deleting all data, all patient data 1 to 20 can be deleted. 4. On the data input screen for each patient, <Item><Format> Patient ID → Up to 15 alphanumeric characters Name → Up to 20 alphanumeric characters Gender → Up to 3 alphanumeric characters Age → Up to 3 alphanumeric characters Date of birth Day → DD / MM / YY (D: day, M: month, Y: year) can be entered. Items are selected by pressing the up and down arrow keys ([↑], [↓]) or the return key.

Left and right arrow keys ([→], [←])
Is used to move the cursor. 5. When the input is complete, press the function key [f6] to register in the patient data. Once registered, the screen will change to the next “Seq. No.” patient data input screen.
Function key [f.
6] repeatedly or press the function key [f
・ Press 9] to end the pre-input function. In addition,
The registered patient data will be backed up, so
The same patient data will be displayed the next time the list is displayed.

[F · 7] ... Selection of patient data 1. Press the function key [f · 7] once to switch to the patient data list screen. 2. If you press the function key [f ・ 7] again,
The patient data list screen disappears and the normal display state is restored.

3. Click “Seq.N” on the patient data list screen.
Enter the number you want to select in "o.", press the return key, and the data for each patient will be recalled at the top of the screen to display the patient data. 31 shows a patient data list screen displayed by selecting the patient data input on the patient data pre-input screen of FIG.
If you press the [HOME CLR] key when selecting "No.", 1 to 20
All patient data up to can be deleted.

[F · 8] ... Cursor display switching 1. When the function key [f8] is pressed once on the normal display screen or the comment expansion display screen, the cursor is displayed. The part where the cursor is blinking is the position where input is possible. FIG. 32 shows a display screen of this cursor. 2. If you press the function key [f8] again,
The cursor disappears.

[F.9] ... Change of initial setting 1. Press the function key [f9] once to switch to the preset screen for changing the initial settings.
On the preset screen, you can change the date and time, and the marker mode so that the location (country) used and summer time can be handled. As described with reference to FIGS. 19 and 20, as the marker mode, in addition to the mode in which no marker is used, one hand marker, one body marker, two hand markers, a hand marker + body marker, and a marker are further used. It is possible to select from a memory marker position (1 marker mode) for storing the position and a memory marker position (2 marker mode).

To select an item, use the up and down arrow keys ([↑],
Press [↓]) or the return key. FIG. 33 shows this preset screen. The left and right arrow keys ([→], [←]) are used to move the cursor. 2. If you press the function key [f9] again,
The preset screen disappears, the normal display state reappears, and the changed settings are made. Also, if you do not change any items,
Returns to the normal display state with the previous settings.

[CTRL] + [→] [CTRL] + [←] [CTRL] + [↑] [CTRL] + [↓] ... Rotation / zoom of scope image [CTRL] + [+] [CTRL] + [ -] [Vf-1] 1. [CTRL] + left and right arrow keys ([→], [←])
Press to rotate the scope image around the Y axis.
FIG. 34 shows a shape image when, for example, FIG. 31 is rotated by 50 ° around the Y axis. The amount of rotation is displayed in the comment frame.

2. Pressing [CTRL] + up / down arrow keys ([↑], [↓]) rotates the scope image around the X axis. FIG. 35 shows a shape image when FIG. 31 is rotated by −75 ° around the X axis, for example. The amount of rotation is displayed in the comment frame. 3. Pressing [CTRL] + [+] moves the scope image away, and pressing [CTRL] + [−] moves the scope image closer. Figure 36 shows [CTRL] +
FIG. 37 shows a shape image when [+] is pressed to zoom out (reduce), and FIG. 37 shows a shape image when [CTRL] + [−] is pressed to zoom in (enlarge).

In FIG. 36, the view point indicating the distance is shown.
t increases, and in FIG. 37, the view point decreases. 4. If you press the function key [vf ・ 1],
The viewpoint changed by the operations of to 3 is returned to the initial setting.

[Vf · 2] ... Scope image freeze 1. Pressing the function key [vf · 2] once freezes the scope image. 2. Pressing the function key [vf ・ 2] again releases the freeze.

[Vf · 3] ... Switching display of scope image 1. When the function key [vf · 3] is pressed once, the scope image displayed in wireframe is displayed in black. The shape images shown in FIG. 22 and subsequent figures (up to FIG. 37) are displayed in a wire frame (one example of the wire frame display is shown in a circle obtained by enlarging a part of FIG. 37) is [vf.3]. When is pressed, the scope image is filled in and displayed as shown in FIG. 2. If you press the function key [vf · 3] again, the filling will be canceled and it will be displayed in wireframe.

(5) Other functions-Video output operation on multi-video processor [vf-4] ... Freezing of video image-When the function key [vf-4] is pressed once, the scope displayed on the video monitor The image is frozen. Press it again to release the freeze. [Vf / 5]… Superimpose video image ・ Press the function key [vf / 5] once to superimpose the video image (endoscopic image) on the scope image displayed on the video monitor. . Press it again to cancel the superimpose. Note that these functions cannot be used unless the connection with the multi-video processor is capable of outputting a video signal.

In the case of endoscopic examination, the operator naturally observes the actual endoscopic screen and pays attention to the presence or absence of a lesion. Therefore, it is expected that the images displayed on multiple monitors will be observed, and the burden on the operator will be increased.To improve this, superimpose the image on the endoscopic image display screen. The scope shape can be displayed.

In this case, when the output of the endoscope shape detecting device is a signal different from a general video signal, the signal is converted into a normal video signal and output. A device called a scan converter is used for this conversion. The operation of the scan converter, which is a device different from the endoscope shape detection device, can also be performed from the personal computer in the shape detection device main body by RS-232
In some cases, the operation of the scan converter can be operated by controlling via C or the like.

By connecting the endoscope shape detecting device to the multi-video processor through the scan converter (and the endoscope shape) to display on the video monitor,
As described above, the freeze of the video image can be controlled.
You can also control the superimposition of video images. When the output of the endoscope shape detecting device is a signal of the same standard as a general video signal, the same function can be realized by connecting the endoscope shape detecting device to the multi video processor without passing through the scan converter.

Recently, there is also hardware (specifically, a device capable of high-speed A / D conversion) for fetching a normal video signal and displaying it on the screen of a personal computer or a workstation. Conversely, the endoscopic observation image may be displayed on the monitor of the shape detecting device.

[HELP] ... Scope image 2 screen display 1. When the [HELP] key is pressed once, the scope image is displayed simultaneously in both horizontal and vertical directions. FIG. 39 shows a screen of a two-screen scope image display. In the state where the viewpoint direction is not changed, the scope shape is normally in the vertical direction (from the Z-axis direction) on the left side, and horizontally on the right side (from the X-axis direction).
Display the scope shape of. In the scope image two-screen display mode, the functions [vf.1] to [vf.5] and the inspection ending function [f.10] function as in the normal single-screen display mode.

2. In addition, the rotation and zoom functions of the scope image work simultaneously on two screens. Note that comments entered on the screen before using this function will be invalidated and will not be displayed by using this function.

[HOME_CLR] ... Inspection range reference plane display ON / OFF 1. When the [HOME_CLR] key is pressed once, the cube showing the inspection range reference frame is not displayed. FIG. 40 shows the screen in a state where the inspection range reference frame is not displayed, that is, the inspection range reference frame is erased and the scope image is displayed. 2. When the HOME_CLR] key is pressed again, it is switched to a state in which the inspection range reference frame is displayed.

In the above description, in the two-screen mode, it has been explained that the scope shapes can be displayed from the directions in which the viewpoint directions are different from each other by 90 °, but the scope shapes from two directions in which the viewpoint directions are different from each other by 90 ° are displayed. Including what can be done. Further, in the two-screen mode, the date and time, patient data, etc. may be displayed at the same time, or the display / non-display of the data may be selected.

It is possible to change the viewpoint directions at the same time in the two-screen mode while the scope shape is displayed from the directions in which the viewpoint directions differ from each other by 90 °. It is also possible to change the viewpoint direction of only one of the scope-shaped images. In this case, the two images have a viewpoint direction of 90.
Different from °.

In the single-screen mode, the scope shape is date / time & patient data output area D & as shown in FIG.
Although it is displayed in the graphics output area G below P, the scope shape may be displayed in an area including the date / time & patient data output area D & P. These may be selected and displayed. The scope shape may be displayed in an area including the graphics output area G and the user interface area K, or the maximum display area (or maximum display screen size) including the three areas D & P, G, and K. The scope shape may be displayed with. As described above, since the third embodiment has various functions regarding the display method and the like, it is very easy to understand the shape of the patient's body from the displayed endoscope shape.

It should be noted that, in the above-described embodiments and the like, the direction of the scope shape is easily grasped by displaying the marker or the like, but the tip end side of the endoscope shape displayed as shown in FIG. Display method different from that of the other part (for example, only the leading edge is displayed in a different color from other portions, that is, the display color is changed. In addition, an arrow indicating the leading edge is displayed or the leading edge is displayed by blinking. Or when the other part is displayed in wireframe, change the drawing model such as displaying with a paste model that fills the tip part) and display the tip side from the displayed image. The scope shape may be easily grasped by easily grasping or discriminating.

If the number of triaxial sense coils 22j arranged is increased, the position of the source coil 16i can be detected more accurately, and the shape of the endoscope can be estimated more accurately. Note that different embodiments can be configured by partially combining the above-described embodiments and the like, and these also belong to the present invention.

The prior application by the present inventor (Japanese Patent Application No.
It is also possible to configure a different embodiment by combining it with the contents of the specification (No. 137468 specification) (for example, it is arranged at a known position around the subject such as the source coil 16i on the probe 15 side and the bed 4 arranged at the insertion portion). The 3-axis sense coil 22j may be replaced with that shown in FIG.
Instead of the triaxial sense coil 22j, a magnetoresistive element attached to three orthogonal surfaces may be used (see FIGS. 53 to 56 of the previous application), and the source coil 16i is wirelessly driven. Alternatively, the marker may be wirelessly driven (see FIGS. 75 to 78 of the previous application), or the source coils 16i may be simultaneously driven at different frequencies. However, the source coil 16i may be driven with a phase angle that reduces the influence of the transient response (see FIGS. 44 and 4 of the previous application).
5), a peripheral image such as a background image may be superimposed on the scope-shaped image (see FIGS. 73 and 74 of the previous application), or the scope-shaped image may be displayed in a wire frame or the like. Instead of displaying it as a computer graphic image, a corresponding texture image may be called and displayed from a memory in which a real image of the endoscope is stored (see FIGS. 69 and 70 of the previous application). Examples and the like may be used), which also belong to the present invention.

[Supplementary Note] (1) The endoscope shape detecting device according to claim 1, further comprising a shape detecting means. (2) The endoscope shape detection device according to appendix 1, wherein the shape detection means uses a bed as a reference surface for shape detection. (3) The endoscope shape detecting device according to claim 1, further comprising a display unit of a marker that associates a positional relationship with the endoscope on the screen. (4) It has initial state setting means for returning the shape image moved by rotation and zoom to the initial state. (5) The endoscope shape detection device according to appendix 3, further comprising a setting unit configured to use the marker. (6) The endoscope shape detecting device according to claim 1, further comprising an erasing means for erasing all the characters displayed on the screen.

[0274]

As described above, according to the present invention, in the endoscope shape detecting device for detecting the endoscope shape by using the magnetic field and displaying the detected endoscope shape, the endoscope shapes are detected from different viewpoint directions. Since the detection image display means for simultaneously displaying the endoscope shape on two screens is provided, the depth amount in the image from one viewpoint direction can be easily grasped from the image from the other viewpoint direction.

Further, by displaying the marker as the reference position on the image, it is possible to easily grasp the three-dimensional shape including the directionality of the scope on the image.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of an endoscope system having a first embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of an endoscope shape detecting device according to a first embodiment.

FIG. 3 is an overall configuration diagram of an endoscope shape detection device.

FIG. 4 is a configuration diagram of a triaxial sense coil and a probe.

FIG. 5 is an explanatory diagram showing how the position of the source coil in the probe is detected using a plurality of sense coils.

FIG. 6 is a cross-sectional view showing the configuration of a marker probe.

FIG. 7 is a flowchart showing the processing contents of the endoscope shape detection device.

FIG. 8 is a flowchart of a scope model drawing process for displaying an endoscope shape in the two-screen mode and the one-screen mode.

FIG. 9 is a flowchart of scope image depiction processing.

FIG. 10 is a flowchart of a scope image depiction process in an n-square prism model.

FIG. 11 is an explanatory diagram showing an endoscope-shaped output image displayed on the monitor screen in a single-screen mode.

FIG. 12 is an explanatory diagram showing an endoscope-shaped output image displayed in a two-screen mode on a monitor screen.

FIG. 13 is an explanatory diagram showing a coordinate system fixed to a bed.

FIG. 14 is a flowchart showing display / non-display of the display frame of the inspection range in the first modification of the first embodiment.

FIG. 15 is an explanatory diagram showing an output image in the shape of an endoscope with and without displaying the examination range.

FIG. 16 is a flowchart for storing and setting a view parameter of an endoscope shape display according to a second modification of the first embodiment.

FIG. 17 is a flowchart for displaying an endoscope shape by rotating the endoscope shape in the horizontal direction by 90 ° in the third modified example of the first embodiment.

FIG. 18 is a flowchart of a process of displaying a marker in the selected marker mode according to the second embodiment of the present invention.

FIG. 19 is a flowchart showing a marker display process having a position storage mode function in a modification of the second embodiment.

20 is a flowchart showing the contents of display mode setting processing in FIG.

FIG. 21 is a flow chart of processing of an operation of displaying a frozen shape according to the third embodiment of the present invention.

FIG. 22 is a diagram showing a specific example of a normal display screen.

FIG. 23 is a diagram showing a specific example of a data input state in the name field on the normal screen.

FIG. 24 is a diagram showing a specific example in which the stopwatch is operating.

FIG. 25 is a view showing a state in which the stopwatch is stopped in FIG. 24.

FIG. 26 is a diagram showing a specific example of a state in which all characters are erased.

FIG. 27 is a diagram showing a specific example of a state in which an extended comment has been input.

FIG. 28 is a diagram showing a specific example of a title screen display.

FIG. 29 is a diagram showing a specific example of a patient data list.

FIG. 30 is a diagram showing a specific example of a pre-input screen for patient data.

31 is a diagram showing a specific example of a display when the patient data of FIG. 30 is selected.

FIG. 32 is a diagram showing a specific example of a state in which a cursor is displayed in a comment frame.

FIG. 33 is a diagram showing a specific example of a preset screen for changing initial settings.

FIG. 34 is a diagram showing a specific example of display when the scope image is rotated around the Y axis.

FIG. 35 is a diagram showing a specific example of display when the scope image is rotated around the X axis.

FIG. 36 is a diagram showing a specific example of display when the scope image is zoomed out.

FIG. 37 is a diagram showing a specific example of display when a scope image is zoomed in.

FIG. 38 is a diagram showing a specific example of display switching when a filled scope image is displayed.

FIG. 39 is a diagram showing a specific example of display when a scope image is displayed on two screens.

FIG. 40 is a diagram showing a specific example of display when the display range frame is deleted.

FIG. 41 is a diagram showing a display example in which the frontmost portion is displayed in a display mode different from that of other model drawing.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Endoscope system 2 ... Endoscope device 3 ... Endoscope shape detection device 4 ... Bed 5 ... Patient 6 ... Endoscope 7 ... Insertion part 11 ... Video processor 12 ... Color monitor 13 ... Channel 15 ... Probe 16i Source coil 19 Tube 21 Shape detection device main body 22j Three-axis sense coil 23 Monitor 24 Source coil drive unit 26 Detection unit 30 Shape calculation unit 31 Position detection unit 32 Shape image generation unit 33 Monitor Signal generation unit 34 ... System control unit 35 ... Operation unit 35a ... Keyboard 36a, 36b ... Marker

─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] November 10, 1994

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0012

[Correction method] Change

[Correction content]

[0012]

However, in the conventional example disclosed in the above-mentioned PCT application WO94 / 04438, even if the endoscope shape can be detected, the image displayed in gray on the display means is gray. can identify that it is a three-dimensional from tone, it is difficult to grasp the amount of depth more accurately.

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0069

[Correction method] Change

[Correction content]

B1: Initialization block In the first step S11, initialization of the graphic page (V
Initialize RAM). Also, when updating the scope image displayed on the CRT, if a new image is overwritten,
Gives the viewer the impression of a flickering image that is rewritten,
It disappears with a smooth image. Therefore, by constantly switching a plurality of graphic pages to display an image, smoothness like a moving image is realized. Also, the color and gradation to be used are set. The number of colors that can be used is limited by each hardware. Therefore, by increasing the number of colors to be assigned to the image 100 of the insertion portion 7 model and view as shown in FIG. 11, also when to perform gradation display, image display can be of a three-dimensional appearance <br/> become. In addition, in FIG.
The two circles indicate the markers indicating the reference position, and the square frame indicates the bed.

[Procedure 3]

[Document name to be amended] Statement

[Correction target item name] 0075

[Correction method] Change

[Correction content]

That is, when the distance between the uniaxial source coil 16i and the triaxial sense coil 22j is set to various values, when the axial direction of the source coil 16i is changed at each distance value, the triaxial sense coil 22j is changed. The maximum magnetic field strength curve obtained by plotting and plotting the values of the maximum magnetic field strength value (maximum magnetic field strength value) detected at the position and the minimum magnetic field strength value (minimum magnetic field strength value), respectively. The data of the minimum magnetic field strength curve is prepared as reference data for distance calculation.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0077

[Correction method] Change

[Correction content]

When a certain magnetic field strength H is detected, the shortest distance r_min for obtaining the value H and the value H are obtained.
Between the spheres whose radius is the longest distance r_max
Source coil 16i only Murrell sphere shell it is possible to add a limitation and can not exist. By performing this limitation at the position of each sense coil 22j, the existence region of the source coil 16i can be limited as shown in FIG.

[Procedure Amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0089

[Correction method] Change

[Correction content]

Next, the source coil 16i in step S33.
Position coordinates are calculated. In this step S33, processing from the distance between the sense coil 22j and the source coil 16i to the calculation of the coordinates of the source coil 16i is performed. Source coil 16 when viewed from a certain sense coil 22j
exist may range i is the spherical shell surrounded by the previous step R_max obtained in flop S32 and R_min. In order to limit the range in which the source coil 16i can exist to a smaller space, the overlapping of the possible regions of the source coil 16i found from the plurality of sense coils 22j is used. Each sense coil 22
For j, the existing region of the source coil 16i obtained from the same source coil 16i always has a region where all of them overlap unless the position of the source coil 16i moves.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Sumihiro Uchimura 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd.

Claims (1)

[Claims] 1. An endoscope shape detecting device for detecting an endoscope shape by using a magnetic field and displaying the detected endoscope shape, wherein the endoscope shapes from different viewpoint directions are simultaneously displayed on two screens. An endoscope shape detecting device, characterized in that it is provided with a detection image display means.