Patent Publication Number: US-2009234223-A1

Title: Surgery Assisting Apparatus and Treatment Assisting Apparatus

Description:
TECHNICAL FIELD 
     The present invention relates to a surgery assisting apparatus and a treatment assisting apparatus which assist a surgery using a magnetic-field generating element and a magnetic-field detecting element. 
     BACKGROUND ART 
     In recent years, there has been used an endoscope shape detecting apparatus which detects a shape and the like of an endoscope inserted, for example, into a body cavity using a magnetic-field generating element and a magnetic-field detecting element, and displays the detected shape by display means. 
     For example, Japanese Unexamined Patent Application Publications No. 2003-245243 and No. 2003-290129 disclose an apparatus which detects the shape of an endoscope using magnetic fields, and displays the detected shape of the endoscope. In these conventional examples, a plurality of magnetic-field generating elements disposed at a predetermined interval in an insertion portion of the endoscope which is inserted in a body are driven to generate magnetic fields therearound, and three-dimensional positions of the respective magnetic-field generating elements are detected by magnetic-field detecting elements disposed outside the body. Then, a curve continuously linking the respective magnetic-field generating elements is generated, and a three-dimensional image representing a model of the insertion portion is displayed by the display means. 
     An operator and the like can have a grasp of the position of a distal end portion of the insertion portion inserted in a body, insertion shape, and the like by observing the image. This helps the operator smoothly perform the work of inserting the insertion portion into a target region, for example. 
     Meanwhile, in a surgical operation, a high-frequency cauterizing apparatus, ultrasonic treatment apparatus, and the like are used when performing treatment on a diseased organ. 
     However, in the vicinity of the region to be treated of the diseased organ, luminal organs which are irrelevant of the diseased organ, such as blood vessels, urinary tract, and the like, are spread. In a surgical operation, it is necessary to perform treatment avoiding the luminal organs when treating the diseased organ with a high-frequency cauterizing apparatus. However, the luminal organs are often hidden by the diseased organ, so that there are problems that visual confirm of the luminal organs is difficult and procedures can not be smoothly performed. 
     In addition, in an inspection using an endoscope, treatment instruments such as a biopsy forceps and clip are used by insertion into a forceps channel in order to biopsy tissues or to perform various treatments such as arrest of hemorrhage on the tissues. However, treatment has been conventionally performed while merely observing an endoscope image on the monitor and the like, so that there has been a problem that the region of the treated tissue can be confirmed only by an observation image. 
     Therefore, it is difficult to objectively judge whether or not the treatment has been appropriately performed after the inspection unless the observation image at the time of the treatment is frozen to be recorded, so that it is necessary to manually record the images before and after the treatment. As a result, inspection has been troublesome. 
     Furthermore, the treatment instrument such as a clip is sometimes detained in a body after the inspection or treatment. However, the detained state of the clip conventionally could be confirmed only by an X-ray transmission image or an endoscope observation image. 
     The present invention is achieved in view of above circumstances, and an object of the present invention is to provide a surgery assisting apparatus capable of easily and surely detecting luminal organs irrelevant of treatment and assisting smooth execution of procedures. 
     Furthermore, another object of the present invention is to provide a treatment assisting apparatus capable of easily and surely confirming information on treatment performed by treatment instruments. 
     DISCLOSURE OF INVENTION 
     Means for Solving the Problem 
     A surgery assisting apparatus of the present invention comprises a probe including one of either a magnetic-field generating element or a magnetic-field detecting element disposed in plural numbers inside an insertion portion to be inserted into a body of a subject; a treatment instrument including the one of the either elements disposed by one or in plural numbers near a treatment portion for performing treatment on a target region of the subject; and detecting means for detecting respective positions of the one of the either elements disposed in the probe and the one of the either elements disposed in the treatment instrument using a position of the other of the either elements as a benchmark, by disposing the other of the either magnetic-field generating element or the magnetic-field detecting element outside the subject. 
     A treatment assisting apparatus of the present invention comprises a treatment instrument including one of either a magnetic-field generating element or a magnetic-field detecting element near a treatment portion for performing treatment on a target portion of a subject; and detecting means for detecting a position of the one of the either elements disposed in the treatment instrument using a position of the other of the either elements as a benchmark, by disposing the other of the either the magnetic-field generating element or the magnetic-field detecting element outside the subject. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a configurational view showing a configuration of a surgery system according to a first embodiment of the present invention. 
         FIG. 2  is a view showing a configuration of a probe of  FIG. 1 . 
         FIG. 3  is a view showing a configuration of a surgical tool of  FIG. 1 . 
         FIG. 4  is a view showing a disposition example of coils incorporated in a coil unit of  FIG. 1 . 
         FIG. 5  is a configurational view showing a configuration of a luminal organ shape detecting apparatus of  FIG. 1 . 
         FIG. 6  is a view showing configurations of a reception block and a control block of  FIG. 5 . 
         FIG. 7  is a view showing a detailed configuration of the reception block of  FIG. 5 . 
         FIG. 8  is a timing view showing a working of a two-port memory and the like of  FIG. 6 . 
         FIG. 9  is a flowchart describing an action of the luminal organ shape detecting apparatus of  FIG. 1 . 
         FIG. 10  is an explanatory view describing processings of  FIG. 9 . 
         FIG. 11  is a view showing a configuration of a first modification example of a probe of  FIG. 1 . 
         FIG. 12  is a view showing a configuration of a second modification example of the probe of  FIG. 1 . 
         FIG. 13  is a view showing a configuration of a surgical tool according to a second embodiment of the present invention. 
         FIG. 14  is a flowchart describing an action of the luminal organ shape detecting apparatus when using the surgical tool of  FIG. 13 . 
         FIG. 15  is a first explanatory view describing processings of  FIG. 14 . 
         FIG. 16  is a second explanatory view describing the processings of  FIG. 14 . 
         FIG. 17  is a third explanatory view describing the processings of  FIG. 14 . 
         FIG. 18  is a configurational view showing a configuration of a surgery system according to a third embodiment of the present invention. 
         FIG. 19  is a flowchart describing an action of a luminal organ shape detecting apparatus of  FIG. 18 . 
         FIG. 20  is a configurational view showing a configuration of a surgery system according to a fourth embodiment of the present invention. 
         FIG. 21  is a flowchart describing an action of a luminal organ shape detecting apparatus of  FIG. 20 . 
         FIG. 22  is an explanatory view describing processings of  FIG. 21 . 
         FIG. 23  is a configurational view showing a configuration of a surgery system according to a fifth embodiment of the present invention. 
         FIG. 24  is an explanatory view describing an action of a luminal organ shape detecting apparatus of  FIG. 23 . 
         FIG. 25  is a configurational view showing a configuration of a surgery system according to a sixth embodiment of the present invention. 
         FIG. 26  is an explanatory view describing an action of a luminal organ shape detecting apparatus of  FIG. 25 . 
         FIG. 27  is a view showing a configuration of a surgical tool according to a seventh embodiment of the present invention. 
         FIG. 28  is a cross-sectional view showing a cross section cut along A-A line of  FIG. 27 . 
         FIG. 29  is a configurational view showing a configuration of an endoscope system according to an eighth embodiment of the present invention. 
         FIG. 30  is a view showing a disposition example of coils incorporated in a coil unit of  FIG. 29 . 
         FIG. 31  is a configurational view showing a configuration of an endoscope shape detecting apparatus of  FIG. 29 . 
         FIG. 32  is a view showing configurations of a reception block and a control block of  FIG. 31 . 
         FIG. 33  is a view showing a detailed configuration of the reception block of  FIG. 31 . 
         FIG. 34  is a timing view showing a working of a two-port memory and the like of  FIG. 32 . 
         FIG. 35  is a view showing a configuration of an electronic endoscope of  FIG. 29 . 
         FIG. 36  is a first view showing a configuration of a biopsy forceps as a treatment instrument of  FIG. 29 . 
         FIG. 37  is a second view showing a configuration of the biopsy forceps of  FIG. 29 . 
         FIG. 38  is a view showing a configuration of a first modification example of the biopsy forceps of  FIG. 37 . 
         FIG. 39  is a flowchart describing an action of the endoscope shape detecting apparatus of  FIG. 29 . 
         FIG. 40  is a first view describing processings of  FIG. 39 . 
         FIG. 41  is a second view describing the processings of  FIG. 39 . 
         FIG. 42  is a third view describing the processings of  FIG. 39 . 
         FIG. 43  is a fourth view describing the processings of  FIG. 39 . 
         FIG. 44  is a flowchart describing a modification example of an action of the endoscope shape detecting apparatus of  FIG. 29 . 
         FIG. 45  is a first view describing processings of  FIG. 44 . 
         FIG. 46  is a second view describing the processings of  FIG. 44 . 
         FIG. 47  is a third view describing the processings of  FIG. 44 . 
         FIG. 48  is a fourth view showing the processings of  FIG. 44 . 
         FIG. 49  is a view showing a configuration of a second modification example of the biopsy forceps of  FIG. 37 . 
         FIG. 50  is a view showing a configuration of a source coil portion of  FIG. 49 . 
         FIG. 51  is a first view showing a first modification example of a treatment instrument of  FIG. 29 . 
         FIG. 52  is a second view showing the first modification example of the treatment instrument of  FIG. 29 . 
         FIG. 53  is a view describing an action of the treatment instrument of  FIG. 51 . 
         FIG. 54  is a first view showing a second modification example of the treatment instrument of  FIG. 29 . 
         FIG. 55  is a second view showing the second modification example of the treatment instrument of  FIG. 29 . 
         FIG. 56  is a view showing a third modification example of the treatment instrument of  FIG. 29 . 
         FIG. 57  is a view showing a configuration of a third modification example of the biopsy forceps of  FIG. 37 . 
         FIG. 58  is a view showing a configuration of a fourth modification example of the biopsy forceps of  FIG. 37 . 
     
    
    
     BEST MODE FOR CARRYING OUT THE INVENTION 
     Hereinafter, embodiments of the present invention will be described with reference to the drawings. 
     First Embodiment 
       FIGS. 1 to 12  relate to the first embodiment of the present invention, in which:  FIG. 1  is a configurational view showing a configuration of a surgery system;  FIG. 2  is a view showing a configuration of a probe of  FIG. 1 ;  FIG. 3  is a view showing a configuration of a surgical tool of  FIG. 1 ;  FIG. 4  is a view showing a disposition example of coils incorporated in a coil unit of  FIG. 1 ;  FIG. 5  is a configurational view showing a configuration of a luminal organ shape detecting apparatus of  FIG. 1 ;  FIG. 6  is a view showing configurations of a reception block and a control block of  FIG. 5 ;  FIG. 7  is a view showing a detailed configuration of the reception block of  FIG. 5 ;  FIG. 8  is a timing view showing a working of a two-port memory and the like of  FIG. 6 ;  FIG. 9  is a flowchart describing an action of the luminal organ shape detecting apparatus of  FIG. 1 ;  FIG. 10  is an explanatory view describing processings of  FIG. 9 ;  FIG. 1I  is a view showing a configuration of a first modification example of a probe of  FIG. 1 ; and  FIG. 12  is a view showing a configuration of a second modification example of the probe of  FIG. 1 . 
     As shown in  FIG. 1 , a surgery system  1  as a surgery assisting apparatus according to the present embodiment includes a surgery apparatus  2  for performing treatment on a region to be treated in a body of a patient  5  by abdominal operation procedures, and a luminal organ shape detecting apparatus  3  used for assisting (supporting) the abdominal operation procedures. The luminal organ shape detecting apparatus  3  is used as blood vessel position notifying means when performing the abdominal operation procedures by inserting a probe  15  as a luminal organ insertion probe in a blood vessel, for example, of a patient  5  lying on a bed  4 . 
     The surgery apparatus  2  includes, for example, a high-frequency cauterizing apparatus  103  for supplying high-frequency current, and a surgical tool  100  as a treatment instrument for cauterizing a region to be treated in a body of the patient  5  with high-frequency current supplied from the high-frequency cauterizing apparatus  103 . The high-frequency cauterizing apparatus  103  and the surgical tool  100  are connected by a cable  102 . 
     As shown in  FIG. 2 , the probe  15  is configured of an elongated flexible guide wire  15   a , and includes inside the guide wire  15   a  along from a distal end to a proximal end, for example, sixteen magnetic-field generating elements (or source coils)  14   a ,  14   b , . . . ,  14   p  (hereinafter generically shown by the reference symbol  14   i : note that the number of source coils is not limited to sixteen). Furthermore, as shown in  FIG. 3 , the surgical tool  100  includes a magnetic-field generating element (or a source coil)  140  in the vicinity of a distal end thereof to which an electrode  110  as a treatment portion is provided. 
     Returning to  FIG. 1 , a source cable  16  extended from a rear end of the probe  15  has at a rear end thereof a connector  16   a  detachably connected to a detecting apparatus (also referred to as an apparatus main body)  21  as detecting means which is an apparatus main body of the luminal organ shape detecting apparatus  3 . Similarly, a source cable  101  extended from a rear end of the surgical tool  100  has a rear-end connector  101   a  detachably connected to the detecting apparatus  21  of the luminal organ shape detecting apparatus  3 . 
     Then, a driving signal is applied to the source coils  14   i  and  140  serving as magnetic-field generating means via the source cables  16  and  101  as driving signal transmission means from the detecting apparatus  21  side, and thereby the source coils  14   i  and  140  generate magnetic fields. 
     In addition, the detecting apparatus  21  disposed near the bed  4  on which the patient  5  is lying has a (sense) coil unit  23  provided movably (ascendably and descendably) in up and down direction and a plurality of magnetic-field detecting elements (sense coils) in the coil unit  23 . 
     More particularly, as shown in  FIG. 4 , twelve sense coils are arranged in such a manner that: sense coils  22   a - 1 ,  22   a - 2 ,  22   a - 3 , and  22   a - 4  are oriented in the direction of, for example, an X axis and the Z coordinates of the centers of the coils are located on, for example, a first Z coordinate; sense coils  22   b - 1 ,  22   b - 2 ,  22   b - 3 , and  22   b - 4  are oriented in the direction of a Y axis and the Z coordinates of the centers of the coils are located on a second Z coordinate different from the first Z coordinate; and sense coils  22   c - 1 ,  22   c - 2 ,  22   c - 3 , and  22   c - 4  are oriented in the direction of a Z axis and the Z coordinates of the centers of the coils are located on a third Z coordinate different from the first and the second Z coordinates (hereinafter, the twelve sense coils are generically shown by the reference symbol  22   j ). 
     The sense coils  22   j  are connected to the detecting apparatus  21  via a cable  23   a  extended from the coil unit  23 . The detecting apparatus  21  includes an operation panel  24  for a user to operate the apparatus. In addition, the detecting apparatus  21  has a liquid crystal monitor  25  provided at an upper part thereof as display means for displaying a detected luminal organ shape (hereinafter, referred to as a probe image) and a distal end position of the surgical tool  100  (hereinafter referred to as a tool distal end image). 
     As shown in  FIG. 5 , the luminal organ shape detecting apparatus  3  includes a transmission block  26  for driving the source coils  14   i  and  140 , a reception block  27  for receiving signals received by the sense coils  22   j  in the coil unit  23 , and a control block  28  for processing signals detected in the reception block  27 . 
     As shown in  FIG. 6 , the probe  15  includes sixteen source coils  14   i  for generating magnetic fields arranged at a predetermined interval, as described above, and these source coils  14   i  and the source coil  140  are connected to a source coil driving circuit  31  for generating driving signals of seventeen different frequencies which configures the transmission block  26 . 
     The source coil driving circuit section  31  drives each of the source coils  14   i  in the probe  15  and the source coil  140  in the surgical tool  100  by sine-wave driving signals of different frequencies and the respective driving frequencies are set based on driving frequency setting data (also referred to as driving frequency data) stored in driving frequency setting data storing means or driving frequency setting data memorizing means, not shown, in the source coil driving circuit section  31 . The driving frequency data is stored in the driving frequency data storing means (not shown) in the source coil driving circuit section  31  by a CPU (central processing unit)  32  serving as shape estimating means for performing calculation processing of the probe shape in the control block  28 , via a PIO (parallel input-output circuit)  33 . 
     On the other hand, the twelve sense coils  22   j  in the coil unit  23  are connected to a sense coil signal amplifying circuit section  34  configuring the reception block  27 . 
     In the sense coil signal amplifying circuit section  34 , as shown in  FIG. 7 , twelve single-core coils  22   k  configuring the sense coils  22   j  are respectively connected to amplifying circuits  35   k , thereby providing a processing system with twelve systems. Minute signals detected by the respective single-core coils  22   k  are amplified by the amplifying circuits  35   k . Filter circuits  36   k  have bands through which a plurality of frequencies generated by source coil groups pass and remove unnecessary components. Then, outputs of the filter circuits  36   k  are provided to output buffers  37   k  to be converted into digital signals readable by the control block  28  by ADCs (analog-digital converters). 
     Note that, the reception block  27  includes the sense coil signal amplifying circuit section  34  and the ADCs  38   k  and the sense coil signal amplifying circuit section  34  includes the amplifying circuits  35   k , the filter circuits  36   k , and the output buffers  37   k.    
     Returning to  FIG. 6 , outputs of the twelve systems in the sense coil signal amplifying circuit section  34  are transmitted to the twelve ADCs  38   k , to be converted into digital data sampled at a predetermined sampling cycle based on a clock supplied from the control signal generating circuit section  40  as numerical value data writing means in the control block  28 . The digital data is written into a two-port memory  42  as data outputting means via a local data bus  41  in response to a control signal from the control signal generating circuit section  40 . 
     Note that, as shown in  FIG. 7 , the two-port memory  42  is functionally composed of a local controller  42   a , a first RAM  42   b , a second RAM  42   c , and a bus switch  42   d , and at a timing shown in  FIG. 8 , the ADCs  38   k  start A/D conversion in response to an A/D conversion start signal from the local controller  42   a . Then, in response to switching signals from the local controller  42   a , the bus switch  42   d  switches between the RAM  42   b  and  42   c  such that the first RAM  42   b  and  42   c  are alternately used as a read memory and write memory, and in response to read signal, the two-port memory  42  constantly takes data in after the power is applied. 
     Again, returning to  FIG. 6 , the CPU  32  reads out the digital data written into the two-port memory  42  in response to the control signal from the control signal generating circuit section  40  via an internal bus  46  composed of a local data bus  43 , a PCI controller  44 , and a PCI bus  45  (See  FIG. 7 ). Then the CPU  32 , by using a main memory  47 , performs a frequency extraction processing (fast Fourier transform: FFT) on the digital data to separate and extract the data into magnetic field detection information of frequency components corresponding to driving frequencies of the respective source coils  14   i  and the source coil  140 . Then, the CPU  32  calculates spatial position coordinates of the respective source coils  14   i  provided in the probe  15  and the source coil  140  in the surgical tool  100  from the respective digital data of the separated magnetic field detection information. 
     Furthermore, the CPU  32  estimates an insertion state of the probe  15  and a position of the distal end of the surgical tool  100  from the calculated position coordinate data, and generates display data forming the probe image and tool distal end image to output the data to a video RAM  48 . A video signal generating circuit  49  reads out the data written into the video RAM  48  and converts into an analog video signal to output to the liquid crystal monitor  25 . When the analog video signal is inputted, the liquid crystal monitor  25  displays the probe image and the tool distal end image on a display screen. 
     The CPU  32  calculates the magnetic field detection information corresponding to the respective source coils  14   i  and the source coil  140 , that is, electromotive force (amplitude values of sine-wave signals) generated in the single-core coils  22   k  configuring the respective sense coils  22   j  and phase information thereof. Note that the phase information shows positive and negative polarities of the electromotive force. 
     Description will be made on an action of the present embodiment configured as such. 
     When abdominal operation procedure for treating a region to be treated in a body of the patient  5  is started by inserting the probe  15  in a blood vessel of the patient  5  and using the surgical tool  100  (See  FIG. 1 ), as shown in  FIG. 9 , the detecting apparatus  21  of the luminal organ shape detecting apparatus  3  detects the positions of the respective source coils  14   i  in the probe  15  in step S 1 . Subsequently, in step S 2 , the detecting apparatus  21  detects the position of the source coil  140  of the surgical tool  100 . 
     Next, in step S 3 , the detecting apparatus  21  generates the probe image and the tool distal end image based on the detected position information, and in step S 4 , as shown in  FIG. 10 , displays the probe image  150  and the tool distal end image  151  on the monitor  25 . 
     The processings are repeated until termination of the procedure is detected in step S 5 . 
     Thus, in the present embodiment, the positional relation between the blood vessel into which the probe  15  is inserted and the distal end of the surgical tool  100  can be clearly displayed by the probe image  150  and the tool distal end image  151  on the monitor  25 . Accordingly, even if an operator cannot easily see the blood vessel to which attention should be paid when treating the region to be treated, the operator can easily recognize the blood vessel by visually checking the positional relation between the probe image  150  and the tool distal end image  151 , thereby appropriately assisting the procedure. 
     Note that, in the present embodiment, a shape of a blood vessel is detected by disposing the plurality of source coils  14   i  in the probe  15  which is inserted into a blood vessel and the like. However, the present invention is not limited to the same, and as shown in  FIG. 1 , the plurality of source coils  14   i  may be disposed in a side wall of a hollow catheter  160  to detect the shape of the blood vessel. In addition, as shown in  FIG. 12 , the plurality of source coils  14   i  may be disposed on outer circumference of the catheter  160  not in the side wall of the hollow catheter  160 . That is, the luminal organ insertion probe may be the catheter  160  shown in  FIG. 11  or  FIG. 12 . 
     Furthermore, though description was made taking the blood vessel as an example of the luminal organ in the present embodiment, it is needless to say that the luminal organ whose shape is detected may be a urinary tract, a bile duct, an intestinal tract, or the like, depending on a kind of procedure. 
     In a case where the luminal organ is a bile duct, intestinal tract, or the like, the endoscope, of which shape is detectable, disclosed in Japanese Unexamined Patent Application Publication No. 2003-290129 may be the luminal organ insertion probe instead of the probe  15 . 
     Second Embodiment 
       FIGS. 13 to 17  relate to the second embodiment of the present invention, in which:  FIG. 13  is a view showing a configuration of a surgical tool;  FIG. 14  is a flowchart describing an action of the luminal organ shape detecting apparatus when using the surgical tool of  FIG. 13 ;  FIG. 15  is a first explanatory view describing processings of  FIG. 14 ;  FIG. 16  is a second explanatory view describing the processings of  FIG. 14 ; and  FIG. 17  is a third explanatory view describing the processings of  FIG. 14 . 
     The second embodiment is almost the same as the first embodiment, so that only the different points will be described. The same components are attached with the same reference symbols, and the descriptions thereof will be omitted. 
     As shown in  FIG. 13 , the surgical tool  100  of the present embodiment has, in the vicinity of the distal end thereof at which the electrode  110  is provided, a plurality of, or at least two source coils  140 ,  141  disposed along a longitudinal axis. By detecting the positions of the two source coils  140 ,  141 , the position of the distal end of the surgical tool  100  and the orientation of the surgical tool  100  are detected. Other configurations are the same as those in the first embodiment. 
     Description will be made on an action of the present embodiment thus configured. 
     When abdominal operation procedure for treating a region to be treated in a body of the patient  5  is started by inserting the probe  15  in a blood vessel of the patient  5  and using the surgical tool  100  (See  FIG. 1 ), as shown in  FIG. 14 , the detecting apparatus  21  of the luminal organ shape detecting apparatus  3  detects the positions of the respective source coils  14   i  in the probe  15  in step S 11 . Subsequently, in step S 12 , the detecting apparatus  21  detects the positions of the source coils  140 ,  141  in the surgical tool  100 . 
     Next, in step S 13 , the detecting apparatus  21  generates the probe image and the tool distal end image based on the detected position information, to display the probe image  150  and the tool distal end image  151   a  on the monitor  25  in step S 14 , as shown in  FIG. 15 . 
     Note that, the orientation of the surgical tool  100  is calculated using the source coils  140 ,  141  in the present embodiment. Accordingly, the position and the orientation of the surgical tool  100  can be known from the tool distal end image  151   a , as shown in  FIG. 15 . 
     Then, in step S 15 , the detecting apparatus  21  calculates the shortest distance L between the probe image and the tool distal end, to display distance information  201  indicating the distance L on the monitor  25  in step S 16 , as shown in  FIG. 16 . 
     Next, in step S 17 , the detecting apparatus  21  judges whether or not the distance L is less than a predetermined distance L 0 . When the distance L is less than the predetermined distance L 0 , the detecting apparatus  21  executes warning display processing for displaying on the monitor  25  warning information  202  notifying that the blood vessel and the surgical tool  100  are in proximity to each other, in step S 18 , as shown in  FIG. 17 . 
     The above processings are repeated until termination of the procedure is detected in step S 19 . 
     Thus, in the present embodiment, in addition to the effects of the first embodiment, the orientation of the surgical tool  100  can be visually checked on the tool distal end image  151   a , so that the operator can recognize the proximity state between the blood vessel and the surgical tool  100 . 
     In addition, the distance information  201  and the warning information  202  are displayed on the monitor  25 , so that the operator can more surely recognize the proximity state. 
     Note that, the warning information  202  is displayed on the monitor  25 , when the distance L is less than the predetermined distance L 0 . However, warning may be issued by a sound signal from a speaker and the like, not shown, or by emitting light from light-emitting means not shown (for example, a lamp or an LED provided to the detecting apparatus  21 ). 
     Third Embodiment 
       FIGS. 18 and 19  relate to the third embodiment of the present invention, in which  FIG. 18  is a configurational view showing a configuration of a surgery system and  FIG. 19  is a flowchart describing an action of a luminal organ shape detecting apparatus of  FIG. 18 . 
     The third embodiment is almost the same as the second embodiment, so that only the different points will be described. The same components are attached with the same reference symbols, and the descriptions thereof will be omitted. 
     In the present embodiment, as shown in  FIG. 18 , the detecting apparatus  21  of the luminal organ shape detecting apparatus  3  controls the output of the high-frequency cauterizing apparatus  103  via a control cable  300 , depending on the proximity state between the blood vessel and the surgical tool  100 . Other configurations are the same as those in the second embodiment. 
     Description will be made on an action of the present embodiment thus configured. 
     As shown in  FIG. 19 , step S 1  to step S 18  are the same as those in the second embodiment. In the present embodiment, after the warning display processing in step S 18 , the detecting apparatus  21  judges in step S 21  whether or not the distance L between the probe image and the tool distal end has become less than the limit minimum distance Lmin which is shorter than the predetermined distance L 0 . When judging the distance L is less than the limit minimum distance Lmin, the detecting apparatus  21  controls to stop the output of the high-frequency cauterizing apparatus  103  via the control cable  300  in step S 22 . 
     Other processings are the same as those in the second embodiment, and the processings are repeated until the termination of procedure is detected in step S 19 . 
     Thus, in the present embodiment, in addition to the effects of the second embodiment, when the distance between the blood vessel and the distal end of the surgical tool  100  becomes less than the limit minimum distance Lmin which is shorter than the predetermined distance L 0 , the output of the high-frequency cauterizing apparatus  103  can be stopped. 
     Fourth Embodiment 
       FIGS. 20 to 22  relate to the fourth embodiment of the present invention, in which:  FIG. 20  is a configurational view showing a configuration of a surgery system;  FIG. 21  is a flowchart describing an action of a luminal organ shape detecting apparatus of  FIG. 20 ; and  FIG. 22  is an explanatory view describing processings of  FIG. 21 . 
     The fourth embodiment is almost the same as the third embodiment, so that only the different points will be described. The same components are attached with the same reference symbols, and the descriptions thereof will be omitted. 
     In the above first to third embodiments, description was made taking the abdominal operation as examples. However, in the present embodiment, an embodiment applied to a low invasive laparoscopic procedure will be described. 
     As shown in  FIG. 20 , in the present embodiment, there is provided a laparoscope  400  to be inserted in an abdominal cavity via a trocar not shown. Note that also the surgical tool  100  is inserted into an abdominal cavity via a trocar not shown. 
     The laparoscope  400  has a light guide (not shown) inserted therein, and the light guide transmits illumination light from a light source portion in a video processor  401  and emits the transmitted illumination light from an illumination window provided at the distal end of the insertion portion to illuminate a target region and the like of the patient  5 . An image of an illuminated subject such as the target region is formed by an eyepiece portion via an objective lens, a relay lens, and the like, mounted to an observation window provided adjacent to the illumination window. At the image-forming position, a camera head  402  is detachably provided, and the image is formed on the image pickup device (CCD) which performs photoelectrical conversion. 
     The photoelectrically converted signal is signal-processed by a video signal processing section in the video processor  401 , thereby a standard video signal being generated and displayed on a monitor  403  for image observation connected to the video processor  401 . In addition, from the video processor  401 , an endoscope image data of the subject such as the target region is outputted to the detecting apparatus  21  of the luminal organ shape detecting apparatus  3 . Other configurations are the same as those in the third embodiment. 
     Description will be made on an action of the present embodiment thus configured. 
     When treatment by the laparoscopic procedure is started by inserting the probe  15  into the blood vessel of the patient  5  and guiding the laparoscope  400  and the surgical tool  100  via the trocar into a region to be treated in the body of the patient  5 , as shown in  FIG. 21 , in step S 31 , the detecting apparatus  21  of the luminal organ shape detecting apparatus  3  detects the positions of the respective source coils  14   i  in the probe  15 . Subsequently, in step S 32 , the detecting apparatus  21  detects the positions of the source coils  140 ,  141  in the surgical tool  100 . 
     Next, in step S 33 , the detecting apparatus  21  generates the probe image and the tool distal end image based on the detected position information. 
     Subsequently, the detecting apparatus  21  takes in the endoscope image data of the subject such as the target region picked up by the camera head  402  in step S 34 , and image-processes the taken-in endoscope image data to extract an image part of the surgical tool  100 , for example, in step S 35 . 
     Then, in step S 36 , the detecting apparatus  21  corrects the orientations of the probe image and the tool distal end image such that the tool distal end image coincides with the image position of the extracted image part of the surgical tool  100 . 
     Then, in step S 37 , the detecting apparatus  21  displays the taken-in endoscope image data in a live image display area  410  on the monitor  25 , and also displays the probe image  150  and the tool distal end image  151   a  in a shape display area  411  on the monitor  25 , as shown in  FIG. 22 . At this time, due to the correction in step S 36 , the tool distal end image  151   a  displayed in the shape display area  411  and the surgical tool  100  displayed in the live image display area  410  are images located at relatively the same position and oriented in relatively the same direction in each area, and the dispositions of the probe image  150  and the tool distal end image  151   a  which are displayed in the shape display area  411  coincide with the endoscope image data displayed in the live image display area  410 . 
     The subsequent processings after step S 15  are the same as those in the third embodiment. 
     Thus, in the present embodiment, similar effects as those in the third embodiment can be obtained also in the laparoscopic procedure. 
     Note that the present embodiment may be applied not only to the laparoscope but also to an electronic endoscope including a flexible insertion portion, for example. In this case, the surgical tool is one inserted into a treatment instrument channel of the electronic endoscope, and it is needless to say that the same action and effects as those in the present embodiment can be obtained by providing a source coil to a distal end of this tool. 
     Fifth Embodiment 
       FIGS. 23 and 24  relate to the fifth embodiment of the present invention, in which  FIG. 23  is a configurational view showing a configuration of a surgery system and  FIG. 24  is an explanatory view describing an action of a luminal organ shape detecting apparatus of  FIG. 23 . 
     The fifth embodiment is almost the same as the fourth embodiment, so that only the different points will be described. The same components are attached with the same reference symbols, and the descriptions thereof will be omitted. 
     As shown in  FIG. 23 , the present embodiment shows an example in which, in addition to the surgical tool  100 , a second surgical tool  500  is inserted into an abdominal cavity, via a trocar, not shown. 
     The second surgical tool  500  is a grasping forceps and the like, for example, and is provided with the source coils  140 ,  141  in the vicinity of the distal end grasping portion similarly as the surgical tool  100 , though not shown. The source coils  140 ,  141  are detachably connected to the detecting apparatus  21  of the luminal organ shape detecting apparatus  3  with a connector  501   a  of the source cable  501  extended from a rear end of the surgical tool  500 , to be driven similarly as the source coils  140 ,  141  in the surgical tool  100 . 
     Other configurations are the same as those in the fourth embodiment. 
     In the present embodiment, the same processings (see  FIG. 21 ) as those in the fourth embodiment are performed. However, as shown in  FIG. 24 , in the shape display area  411  on the monitor  25 , in addition to the probe image  150  and the tool distal end image  151   a  of the surgical tool  100 , the tool distal end image  510  of the surgical tool  500  is displayed. At this time, display shapes are generated for each tool so as to distinguish between the tool distal end image  151   a  and the tool distal end image  510 . 
     In addition, in order to more clearly distinguish between the tool distal end image  151   a  and the tool distal end image  510 , the images may be displayed in different colors, and the like. In this case, the distance information  201  is displayed matching with the color of the tool distal end image. Note that, in a case of also displaying the warning information  202  (see  FIG. 17 ), the information is displayed matching with the color of the tool distal end image as a warning object. 
     Thus, in the present embodiment, in addition to the effects in the fourth embodiment, it is possible to appropriately assist the procedures also when a plurality of surgical tools are employed. 
     Sixth Embodiment 
       FIGS. 25 and 26  relate to the sixth embodiment of the present invention, in which  FIG. 25  is a configurational view showing a configuration of a surgery system and  FIG. 26  is an explanatory view describing an action of a luminal organ shape detecting apparatus of  FIG. 25 . 
     The sixth embodiment is almost the same as the fourth embodiment, so that only the different points will be described. The same components are attached with the same reference symbols, and, the descriptions thereof will be omitted. 
     As shown in  FIG. 25 , the present embodiment is an example in which, in addition to the probe  15 , used is a second probe  600  for detecting a shape of a blood vessel to which attention should be paid other than the blood vessel whose shape is detected by the probe  15 . 
     The second probe  600  is configured similarly as the probe  15 , and source coils  14   i  in the second probe  600  are detachably connected to the detecting apparatus  21  of the luminal organ shape detecting apparatus  3  by a connector  601   a  of a source cable  601  extended from a rear end of the probe  600 , to be driven similarly as the source coils  14   i  of the probe  15 . 
     Other configurations are the same as those in the fourth embodiment. 
     In the present embodiment, the same processings (see  FIG. 21 ) as those in the fourth embodiment are performed. As shown in  FIG. 26 , on the shape display area  411  on the monitor  25 , a probe image  610  of the second probe  600  is displayed, in addition to the probe image  150  of the probe  15  and the tool distal end image  151   a  of the surgical tool  100 . At this time, the probe image  150   a  and the probe image  610  are distinguishably displayed in different colors. In addition, in this case, the distance information  201  is displayed matching the color of the tool distal end image. Note that, also in a case of displaying the warning information  202  (see  FIG. 17 ), the warning information  202  is displayed matching the color of the tool distal end image. 
     Thus, in the present embodiment, in addition to the effects of the fourth embodiment, even in a case where there are a plurality of luminal organs such as blood vessel to which attention should be paid, it is possible to appropriately assist the procedures by disposing probes provided with the source coils  14   i  in a plurality of luminal organs and detecting the shapes thereof. 
     Seventh Embodiment 
       FIGS. 27 and 28  relate to the seventh embodiment of the present invention, in which  FIG. 27  is a view showing a configuration of a surgical tool, and  FIG. 28  is a cross-sectional view showing a cross section cut along A-A line of  FIG. 27 . 
     The seventh embodiment is almost the same as the first embodiment, so that only the different points will be described. The same components are attached with the same reference symbols, and the descriptions thereof will be omitted. 
     In the present embodiment, as shown in  FIGS. 27 and 28 , at the distal end portion of the surgical tool  100 , there is attachably provided a magnetic coil unit  700  having a source coil  140  incorporated in a mounting portion which takes advantage of a spring characteristic of material, for example. 
     Other configurations are the same as those in the first embodiment, so that the present embodiment can obtain the same action and effects of those in the first embodiment. 
     Note that the way of mounting the magnetic coil unit  700  to the surgical tool  100  is not limited to the above, and other fixing means may be employed. Furthermore, the source coil  140  may be detachable from the magnetic coil unit  700 . 
     In addition, a plurality of magnetic coil units  700  may be set in the surgical tool  100 . 
     Eighth Embodiment 
       FIGS. 29 to 58  relate to the eighth embodiment of the present invention, in which:  FIG. 29  is a configurational view showing a configuration of an endoscope system;  FIG. 30  is a view showing a disposition example of coils incorporated in a coil unit of  FIG. 29 ;  FIG. 31  is a configurational view showing a configuration of an endoscope shape detecting apparatus of  FIG. 29 ;  FIG. 32  is a view showing configurations of a reception block and a control block of  FIG. 31 ;  FIG. 33  is a view showing a detailed configuration of the reception block of  FIG. 31 ;  FIG. 34  is a timing view showing a working of a two-port memory and the like of  FIG. 32 ;  FIG. 35  is a view showing a configuration of an electronic endoscope of  FIG. 29 ;  FIG. 36  is a first view showing a configuration of a biopsy forceps as a treatment instrument of  FIG. 29 ;  FIG. 37  is a second view showing a configuration of the biopsy forceps of  FIG. 29 ;  FIG. 38  is a view showing a configuration of a first modification example of the biopsy forceps of  FIG. 37 ;  FIG. 39  is a flowchart describing an action of the endoscope shape detecting apparatus of  FIG. 29 ;  FIG. 40  is a first view describing processings of  FIG. 39 ;  FIG. 41  is a second view describing the processings of  FIG. 39 ;  FIG. 42  is a third view describing the processings of  FIG. 39 ;  FIG. 43  is a fourth view describing the processings of  FIG. 39 ;  FIG. 44  is a flowchart describing a modification example of an action of the endoscope shape detecting apparatus of  FIG. 29 ;  FIG. 45  is a first view describing processings of  FIG. 44 ;  FIG. 46  is a second view describing the processings of  FIG. 44 ;  FIG. 47  is a third view describing the processings of  FIG. 44 ;  FIG. 48  is a fourth view showing the processings of  FIG. 44 ;  FIG. 49  is a view showing a configuration of a second modification example of the biopsy forceps of  FIG. 37 ;  FIG. 50  is a view showing a configuration of a source coil portion of  FIG. 49 ;  FIG. 51  is a first view showing a first modification example of a treatment instrument of  FIG. 29 ;  FIG. 52  is a second view showing the first modification example of the treatment instrument of  FIG. 29 ;  FIG. 53  is a view describing an action of the treatment instrument of  FIG. 51 ;  FIG. 54  is a first view showing a second modification example of the treatment instrument of  FIG. 29 ;  FIG. 55  is a second view showing the second modification example of the treatment instrument of  FIG. 29 ;  FIG. 56  is a view showing a third modification example of the treatment instrument of  FIG. 29 ;  FIG. 57  is a view showing a configuration of a third modification example of the biopsy forceps of  FIG. 37 ; and  FIG. 58  is a view showing a configuration of a fourth modification example of the biopsy forceps of  FIG. 37 . 
     As shown in  FIG. 29 , the endoscope system  1001  of the present embodiment includes an endoscope apparatus  1002  for performing endoscopy, and an endoscope shape detecting apparatus  1003  used for assisting the endoscopy. The endoscope shape detecting apparatus  1003  is used as inspection assisting means when performing the endoscopy by inserting an insertion portion  1007  of an electronic endoscope  1006  into a body cavity of a patient  1005  lying on a bed  1004 . 
     The electronic endoscope  1006  has, at a rear end of the flexible elongated insertion portion  1007 , an operation portion  1008  provided with a bending operation knob, and a universal cord  1009  is extended from the operation portion  8  to be connected to a video imaging system (or video processor)  1010 . 
     The electronic endoscope  1006  has a light guide inserted thereto, which transmits illumination light from a light source portion in the video processor  1010  and emits the transmitted illumination light from an illumination window provided at a distal end of the insertion portion  1007  to illuminate a diseased part and the like. The illuminated subject such as the diseased part and the like is image-formed by an objective lens mounted to the observation window provided adjacent to the illumination window on an image pickup device (CCD) disposed at the image-forming position which performs photoelectrical conversion. 
     The photoelectrically converted signal is signal-processed by a video signal processing section in the video processor  1010 , thereby a standard video signal being generated and displayed on a monitor for image observation  1011  connected to the video processor  1010 . 
     The electronic endoscope  1006  is provided with two forceps channels  1012 ,  1122  (not shown: see  FIG. 35 ). By inserting the probe  1015  including, for example, sixteen magnetic-field generating elements (or source coils)  1014   a ,  1014   b , . . . ,  1014   p  (hereinafter, generically shown by the reference symbol  1014   i ) from an insertion port  1012   a  of the forceps channel  1012 , the source coils  1014   i  are disposed in the insertion portion  1007 . 
     A source cable  1016  extended from a rear end of the probe  1015  has at the rear end thereof a connector  1016   a  detachably connected to a detecting apparatus  1021  (also referred to as apparatus main body), which is detecting means, as an apparatus main body of the endoscope shape detecting apparatus  1003 . Then, high-frequency signals (driving signals) are applied to the source coils  1014   i  serving as magnetic-field generating means via the source cable  1016  as high-frequency signal transmitting means from a side of the detecting apparatus  1021 , and thereby the source coils  1014   i  radiate electromagnetic waves having electromagnetic fields therearound. 
     In addition, to the forceps channel  1122  (not shown: see  FIG. 35 ) of the electronic endoscope  1006 , a biopsy forceps  1120 , which is a treatment instrument having a source coil  1140  (not shown: see  FIG. 36 ) at a distal end thereof, is insertable. A source cable  1121  extended from a rear end of the biopsy forceps  1120  has at a rear end thereof a connector  1121   a  detachably connected to the detecting apparatus  1021  as the apparatus main body of the endoscope shape detecting apparatus  1003 . Then, a high-frequency signal (driving signal) is applied to the source coil  1140  serving as magnetic-field generating means via the source cable  1121  as high-frequency signal transmitting means from the side of the detecting apparatus  1021 , and thereby the source coil  1140  radiates electromagnetic wave having an electromagnetic field therearound. Note that a detailed configuration of the biopsy forceps  1120  will be described later. 
     In addition, the detecting apparatus  1021  disposed near the bed  1004  on which the patient  1005  lies down has a (sense) coil unit  1023  provided movably (ascendably and descendably) in up and down direction and a plurality of magnetic-field detecting elements (sense coils) in the coil unit  1023 . 
     More particularly, as shown in  FIG. 30 , twelve sense coils are arranged in such a manner that: sense coils  1022   a - 1 ,  1022   a - 2 ,  1022   a - 3 , and  1022   a - 4  are oriented in the direction of, for example, an X axis and the Z coordinates of the centers of the coils are located on, for example, a first Z coordinate; sense coils  1022   b - 1 ,  1022   b - 2 ,  1022   b - 3 , and  1022   b - 4  are oriented in the direction of a Y axis and the Z coordinates of the centers of the coils are located on a second Z coordinate different from the first Z coordinate; and sense coils  1022   c - 1 ,  1022   c - 2 ,  1022   c - 3 , and  1022   c - 4  are oriented in the direction of a Z axis and the Z coordinates of the centers of the coils are located on a third Z coordinate different from the first and the second Z coordinates (hereinafter, the twelve sense coils are generically shown by the reference symbol  1022   j ). 
     The sense coils  1022   j  is connected to the detecting apparatus  1021  via a cable not shown extended from the coil unit  1023 . The detecting apparatus  1021  has an operation panel  1024  for a user to operate the apparatus. Furthermore, the detecting apparatus  1021  has a liquid crystal monitor  1025  provided at an upper part thereof as display means for displaying a detected shape of the endoscope insertion portion (hereinafter referred to as a scope model). 
     As shown in  FIG. 31 , the endoscope shape detecting apparatus  1003 , includes a transmission block  1026  for driving source coils  1014   i ,  1140 , a reception block  1027  for receiving the signals received by the sense coils  1022   j  in the coil unit  1023 , and a control block  1028  for signal processing the signal detected in the reception block  1027 . 
     As shown in  FIG. 32 , the probe  1015  disposed in the insertion portion  1007  of the electronic endoscope  1006  includes sixteen source coils  1014   i  for generating magnetic fields provided at a predetermined interval, as described above, and these source coils  1014   i  are connected to a source coil driving circuit  1031 , which configures the transmission block  1026  and generates driving signals of sixteen frequencies different from each other. 
     The source coil  1140  of the biopsy forceps  1120  is similarly connected to the source coil driving circuit  1031  to be driven by a driving signal of a frequency different from the frequencies of the driving signals for driving the source coils  1014   i.    
     The source coil driving circuit  1031  drives each of the source coils  1014   i  and  1140  by sine-wave driving signals of different frequencies, respectively, the respective driving frequencies are set based on driving frequency setting data (also referred to as driving frequency data) stored in driving frequency setting data storing means or driving frequency setting data memorizing means, not shown, in the source coil driving circuit section  1031 . The driving frequency data is stored in the driving frequency data storing means (not shown) in the source coil driving circuit section  1031  by a CPU (central processing unit)  1032  serving as shape estimating means for performing calculation processing of the endoscope shape and the like in the control block  1028 , via a PIO (parallel input-output circuit)  1033 . 
     On the other hand, the twelve sense coils  1022   j  in the coil unit  1023  are connected to a sense coil signal amplifying circuit section  1034  configuring the reception block  1027 . 
     In the sense coil signal amplifying circuit section  1034 , as shown in  FIG. 33 , twelve single-core coils  1022   k  configuring the sense coils  1022   j  are respectively connected to amplifying circuits  1035   k , thereby providing a processing system with twelve systems. Minute signals detected by the respective single-core coils  1022   k  are amplified by the amplifying circuits  1035   k . Filter circuits  1036   k  have bands through which a plurality of frequencies generated by source coil groups pass and remove unnecessary components. Then, outputs of the filter circuits  1036   k  are provided to output buffers  1037   k  to be converted by ADCs (analog-digital converters)  1038   k  into digital signals readable by the control block  1028 . 
     Note that, the reception block  1027  includes the sense coil signal amplifying circuit section  1034  and the ADCs  1038   k  and the sense coil signal amplifying circuit  1034  includes the amplifying circuits  1035   k , the filter circuits  1036   k , and the output buffers  1037   k.    
     Returning to  FIG. 32 , outputs of the twelve systems in the sense coil signal amplifying circuit section  1034  are transmitted to the twelve ADCs  1038   k , to be converted into a digital data sampled at a predetermined sampling cycle based on a clock supplied from the control signal generating circuit section  1040  as numerical value data writing means in the control block  1028 . The digital data is written into a two-port memory  1042  serving as data outputting means via a local data bus  1041  in response to a control signal from the control signal generating circuit section  1040 . 
     Note that, as shown in  FIG. 33 , the two-port memory  1042  is functionally composed of a local controller  1042   a , a first RAM  1042   b , a second RAM  1042   c , and a bus switch  1042   d , and at a timing shown in  FIG. 34 , the ADCs  1038   k  start A/D conversion in response to an A/D conversion start signal from the local controller  1042   a . Then, in response to a switching signal from the local controller  1042   a , the bus switch  1042   d  switches between the RAM  1042   b  and  1042   c  such that the RAMS  1042   b  and  1042   c  are alternately used as a read memory and write memory, and in response to read signal, the two-port memory  1042  constantly takes data in after the power is applied. 
     Returning to  FIG. 32  again, the CPU  1032  reads out the digital data written into the two-port memory  1042  in response to the control signal from the control signal generating circuit section  1040  via an internal bus  1046  composed of a local data bus  1043 , a PCI controller  1044 , and a PCI bus  1045  (See  FIG. 33 ). Then the CPU  1032  performs a frequency extraction processing (fast Fourier transform: FFT) on the digital data by using a main memory  1047  to separate and extract the data into magnetic field detection information of frequency components corresponding to driving frequencies of the respective source coils  1014   i  and the source coil  1140 . Furthermore, the CPU  1032  calculates spatial position coordinates of the respective source coils  1014   i  provided in the insertion portion  7  of the electronic endoscope  1006  and the source coil  1140  of the biopsy forceps  1120  based on the respective digital data of the separated magnetic field detection information. 
     Also, the CPU  1032  estimates an insertion state of the insertion portion  1007  of the electronic endoscope  1006  from the calculated position coordinates data, and generates display data forming a scope model to output the display data to a video RAM  1048 . A video signal generating circuit  1049  reads out the data written in the video RAM  1048  to convert into an analog video signal and outputs the video signal on the liquid crystal monitor  1025 . When the analog video signal is inputted, the liquid crystal monitor  1025  displays the scope model of the insertion portion  1007  of the electronic endoscope  1006  on a display screen. 
     In addition, at the time of biopsy, the CPU  1032  estimates a biopsy position from the position coordinates data of the source coil  1140  in the biopsy forceps  1120  based on a biopsy operation signal, to display the biopsy position image on the scope model in a superimposed manner. 
     The CPU  1032  calculates magnetic field detection information corresponding to the respective source coils  1014   i ,  1140 , that is, electromotive force (amplitude values of sine-wave signals) generated in the single-core coils  1022   k  configuring the respective sense coils  1022   j  and phase information thereof. Note that the phase information shows positive and negative polarities of the electromotive force. 
     When detecting an on-state (to be described later in detail) of the biopsy operation signal from the biopsy forceps  1120  via the control signal generating circuit section  1040 , the CPU  1032  captures an endoscope image at that time from the video processor  1010  by a capture circuit  1050 , triggered by the on-state of the biopsy operation signal, and records the captured endoscope image (still image) in the two-port memory  1042  together with the position coordinates data of the source coils  1014   i  and  1140 . 
     As shown in  FIG. 35 , the electronic endoscope  1006  has in the insertion portion  1007  a light guide  1100  for transmitting illumination light and the probe  1015  having a plurality of source coils  1014   i , and includes in the distal end portion of the insertion portion  1007  a CCD  1101  for picking up an image of a subject. Then, the CCD  1101  is driven in response to a driving signal from the video processor  1010 , and the image pickup signal captured by the CCD  1101  is transmitted to the video processor  1010  via a buffer circuit  1102 . The driving signal and the image pickup signal are transmitted and received between the video processor  1010  and the CCD  1101  via a signal cable  1099  inserted in the insertion portion  7 . 
     On the other hand, the electronic endoscope  1006  has, in an operation portion  1102  on a proximal end side thereof, a nonvolatile memory  1103  in which scope ID data and the like for identifying the electronic endoscope  1006  are stored. The nonvolatile memory  1103  is configured of the flash memory (registered trademark) and the like which are electrically rewritable. In addition, the electronic endoscope  1006  is provided with the forceps channel  1012  in which the probe  1015  is disposed, and the forceps channel  1122  in which the biopsy forceps  1120  is insertable. 
     As shown in  FIG. 36 , the biopsy forceps  1120  includes biopsy cups  1152  at a distal end of an elongated flexible coil shaft  1151 . The biopsy cups  1152  are configured to be openable/closable with a hinge portion  1156  as a center by operating an operation portion  1157  (see  FIG. 35 ) provided at a proximal end of the biopsy forceps  1120 . In the vicinity of the open/close center of the hinge portion  1156 , an open/close sensor  1153  is provided, and the open/close sensor  1153  allows an open/close state of the biopsy cups  1152  to be detected. Also, the source coil  1140  is provided at a proximal end of the biopsy cups  1152 . A detection signal from the open/close sensor  1153  and a driving signal of the source coil  1140  are transmitted to the endoscope shape detecting apparatus  1003  by a signal line  1155  and a signal line  1154 , respectively, via the source cable  1121 . 
     As shown in  FIG. 37 , when the biopsy cups  1152  are closed and the detection signal from the open/close sensor  1153  becomes on-state (where, for example, the biopsy cups has changed from the close state to the open state), the endoscope shape detecting apparatus  1003  detects the detection signal as the biopsy operation signal. When detecting the on-state of the biopsy operation signal, the endoscope shape detecting apparatus  1003  drives the source coil  1140  to estimate the biopsy position from the position coordinates data of the source coil  1140 . 
     Note that, as shown in  FIG. 38 , a hinge coil  1156   a  of the hinge portion  1156  can be used as the source coil  1140 . 
     An action of the present embodiment thus configured will be described. 
     When an inspection by the electronic endoscope  1006  is started, as shown in  FIG. 39 , the endoscope shape detecting apparatus  1003  drives the source coils  14   i  in the probe  15  disposed in the electronic endoscope  6  to detect positions of the source coils  1014   i  (insertion shape information) by the sense coils  1022   j  in step S 101 , and estimates the insertion state of the insertion portion  1007  of the electronic endoscope  1006  to display a scope model on the liquid crystal monitor  1025  in step S 102 . 
     As a result, as shown in  FIG. 40 , an endoscope image  1201  picked up by the electronic endoscope  1006  is displayed on the monitor for image observation  1011 , and a scope model  1202  showing the insertion state of the insertion portion  1007  of the electronic endoscope  1006  is displayed on the liquid crystal monitor  1025 . 
     Then, the endoscope shape detecting apparatus  1003  judges whether or not the biopsy operation signal from the open/close sensor  1153  of the biopsy forceps  1120  is in the on-state in step S 103 . When the biopsy operation signal is in the on-state, processing proceeds to step S 104 . 
     When the biopsy operation signal is in the off-state, processing proceeds to step S 108 , and the processings from step S 101  to S 108  are repeated until the inspection is terminated in step S 108 . 
     Here, description will be made taking as an example a case where the electronic endoscope  1006  is continuously inserted in the body cavity and the display state changes from the display state of  FIG. 40  to that of  FIG. 41 , and a living tissue  1203  of the endoscope image  1201  displayed on the monitor for image observation  1011  is biopsied. 
     As shown on the monitor for image observation  1011  in  FIG. 41 , when an operator biopsies the living tissue  1203  with the biopsy forceps  1120  while observing the monitor for image observation  1011 , the biopsy operation signal becomes on-state in step S 103 . Then, in step S 104 , the endoscope shape detecting apparatus  1003  drives the source coil  1140  disposed at the distal end of the biopsy forceps  11120 , and detects a position of the source coil  1140  (biopsy position information) by the sense coils  1022   j.    
     Then, in step S 105 , as shown in  FIG. 42 , the endoscope shape detecting apparatus  1003  displays a biopsy position marker indicating the position of the source coil  1140  in a superimposed manner on the scope model  1202 , as shown on the liquid crystal monitor  1025 . Furthermore, in step S 106 , the endoscope shape detecting apparatus  1003  captures the endoscope image at this time by the capture circuit  1050 . 
     Then, in step S 107 , the endoscope shape detecting apparatus  1003  records the captured endoscope image (still image) in the two-port memory  1042  together with the position of the source coil  1140  (biopsy position information) and the positions of the source coils  1014   i  (insertion shape information), and proceeds to step S 108 . 
     The processings described above are performed over a desired inspection area in the body cavity as shown in  FIG. 43 , and continued until the inspection is terminated in step S 108 . 
     Note that, as shown in  FIG. 43 , once a biopsy has been performed, the biopsy position marker  1210  is continued to be superimposed on the liquid crystal monitor  1025 . 
     Thus, with the present embodiment, the source coil  1140  is provided to the biopsy forceps  1120  as a treatment instrument, and the biopsy position is recorded triggered by the on-state of the biopsy operation signal, so that the position where a biopsy has been performed in the desired inspection area in the body cavity can be automatically recorded. In addition, the endoscope image at the time of the biopsy is captured to be recorded, therefore, the implementation state of the biopsy can be easily confirmed after the treatment. 
     Note that, though it was described that the captured endoscope image (still image) is recorded in the two-port memory  1042  together with the position of the source coil  1140  (biopsy position information) and the positions of the source coils  1014   i  (insertion shape information) in step S 107 , the present invention is not limited to the same. At least only the position of the source coil  1140  (biopsy position information) and the positions of the source coils  1014   i  (insertion shape information) may be recorded. 
     In addition, in the present embodiment, the source coil  1140  is driven, triggered by the on-state of the biopsy operation signal. However, the present invention is not limited to the same. The source coil  1140  may be constantly driven in conjunction with the respective source coils  1014   i  of the probe  1015  to detect the position of the source coil  1140 , and the biopsy position marker  1210  may be displayed in a superimposed manner on the liquid crystal monitor  1025 . In this case, the processings in the endoscope shape detecting apparatus  1003  are as shown in  FIG. 44 , and the on-state of the biopsy operation signal, that is, a display form of the biopsy position marker at operation  1210   a  when the biopsy has been performed, and a display form of the biopsy position marker at a normal time  1210   b  when the operation is not performed can be changed as shown in  FIGS. 45 to 48 . This allows the position where the biopsy has been performed to be visually recognized easily. The biopsy position marker at operation  1210   a  is continuously displayed in a superimposed manner. 
       FIGS. 45 to 48  show an example in which the biopsy position marker at operation  1210   a  and the biopsy position marker at a normal time  1210   b  can be visually recognized by the display forms of ♦ and □, respectively. However, the display form may be changed by colors of the markers instead of the shapes of the markers, such that the biopsy position marker at operation  1210   a  is shown in red and the biopsy position marker at a normal time  1210   b  is shown in green. Or, the biopsy position marker at operation  1210   a  may be displayed in a constantly-lighted manner and the biopsy position marker at a normal time  1210   b  may be displayed in a blinking manner. Furthermore, the biopsy position marker at operation  1210   a  may be displayed such that the open/close state of the forceps cups  1152  is displayed in animation. 
     In addition, in a case where the source coil  1140  is constantly driven in conjunction with the respective source coils  1014   i  of the probe  1015 , as shown in  FIG. 49 , a source coil portion  1160  which does not need a driving signal from outside may be provided instead of the source coil  1140 . The source coil portion  1160  may include, as shown in  FIG. 50 , the source coil  1140 , an oscillating circuit  1161  for driving the source coil, and a small-sized battery  1162 . 
     The source coil portion  1160  can be applied not only to the above-described biopsy forceps  1120  but also to a detainment snare treatment instrument  1120 A as shown in  FIG. 51 , for example. That is, in the detainment snare treatment instrument  1120 A including a detainment snare portion  1171  connected to a distal end of a coil sheath  1151  via a connection member  1172 , the source coil portion  1160  is disposed in the connection member  1172 . 
     Then, as shown in  FIG. 52 , the connection member  1172  is detached from the coil sheath  1151  and the detainment snare portion  1171  is detained in a living tissue, not shown. 
     The position of the source coil portion  1160  is detected by the endoscope shape detecting apparatus  1003  in this state, thereby allowing the scope model  1202  and a detainment position image  1250  to be displayed on the liquid crystal monitor  1025 , as shown in  FIG. 53 . 
     Similarly, the source coil portion  1160  can be applied also to a clip treatment instrument  1120 B as shown in  FIG. 54 . That is, in a detainment snare treatment instrument  1120 B including a clip portion  1181  connected to the distal end of a coil sheath  1151  via a connection member  1182 , the source coil portion  1160  is disposed in the connection member  1182 . 
     Then, as shown in  FIG. 55 , the connection member  1182  is separated from the coil sheath  1151  to clip a living tissue not shown with the clip portion  1181 . 
     The position of the source coil portion  1160  is detected by the endoscope shape detecting apparatus  1003  in this state, thereby allowing the scope model  1202  and a clip position image to be displayed on the liquid crystal monitor  1025 . 
     The detainment snare treatment instrument  1120 A or the clip treatment instrument  1120 B is a treatment instrument to be detained in a living body for a short term for arrest of hemorrhage and the like, so that, by providing a source coil portion  1160 , a position of the treated region and an endoscope image can be recorded simultaneously with the inspection and treatment with the electronic endoscope  1006 . As a result, the inspection can be effectively performed. Furthermore, at the time of re-inspection, or later, a presence or absence (excreted or remaining) of the clip or the snare can be confirmed without the X-ray fluoroscopy. 
     In addition, as shown in  FIG. 56 , the source coil portion  1160  can be applied to a drainage tube  1300  which is a treatment instrument to be detained for a long term. 
     Also, an RFID tag may be provided in the vicinity of the source coil portion  1160  of the treatment instrument for detainment, and in this case, information on what kind of treatment instrument is used and when it is used is recorded in this RFID tag. Accordingly, the information recorded in the RFID tag can be read out by finding out the position of the treatment instrument in the body cavity with the source coil portion  1160 . 
     In addition, by forming the source coil  1140  at a part of the coil sheath  1151 , as shown in  FIG. 57 , treatment position by the treatment instrument can be detected without increasing the number of components. Moreover, though the insertion shape is estimated by disposing the probe  1015  in the electronic endoscope  1006  in the present embodiment, the insertion shape of the electronic endoscope  1006  may be detected by disposing in the forceps channel  1122  the coil sheath  1151  at a part of which a plurality of source coils  1014   i  are formed, as shown in  FIG. 58 . 
     The present invention is not limited to the above described embodiments, and various changes and modifications can be made without departing from the spirit and scope of the present invention.