Source: https://patents.google.com/patent/JP5030639B2/en
Timestamp: 2019-11-15 08:53:04
Document Index: 288644207

Matched Legal Cases: ['art 12', 'art 21', 'art 12', 'art 21', 'art 21', 'art) 21', 'art 21', 'art 21', 'art 12', 'art 21', 'art 7', 'art 12', 'art 12', 'art 12', 'art, 3', 'art, 3', 'art, 3', 'art, 3', 'art, 21', 'art, 21', 'art, 22']

JP5030639B2 - Endoscope device treatment instrument position control device - Google Patents
Endoscope device treatment instrument position control device Download PDF
JP5030639B2
JP5030639B2 JP2007089715A JP2007089715A JP5030639B2 JP 5030639 B2 JP5030639 B2 JP 5030639B2 JP 2007089715 A JP2007089715 A JP 2007089715A JP 2007089715 A JP2007089715 A JP 2007089715A JP 5030639 B2 JP5030639 B2 JP 5030639B2
JP2007089715A
JP2008245839A (en
2007-03-29 Priority to JP2007089715A priority Critical patent/JP5030639B2/en
2008-10-16 Publication of JP2008245839A publication Critical patent/JP2008245839A/en
2012-09-19 Publication of JP5030639B2 publication Critical patent/JP5030639B2/en
The present invention relates to a treatment instrument position control device that performs position control of a treatment instrument inserted into a forceps channel of an endoscope apparatus.
In general, an endoscope apparatus is known as an apparatus for observing a lesion in a body cavity. In this endoscope apparatus, an imaging part is provided in a distal end portion of an insertion portion of an endoscope that is inserted into a body cavity or in the apparatus main body, and a desired observation target is displayed as an image on a monitor. This insertion part has flexibility and is provided with a channel (forceps channel) penetrating from the proximal end side to the distal end part. If necessary, a treatment tool such as a forceps or an electric knife is inserted through the insertion opening of the forceps channel, and various treatments can be performed on a lesion or the like while observing an endoscopic image.
Conventionally, the operation unit is manually operated with one hand, the bending portion of the insertion unit is appropriately bent to observe a lesion or the like, and the treatment tool is operated with the other hand. In recent years, in order to reduce the burden of the endoscope operation on the surgeon, for example, a motorized endoscope apparatus as disclosed in Patent Document 1 has been proposed. Also, in the treatment tool, in addition to reducing the burden on the operator, in order to reduce the burden on the patient due to the shortening of the operation time, for example, the motorization and robotization disclosed in Patent Document 2 were performed. Treatment tools have been proposed.
Patent No. 3007715 JP 2003-127076 A Japanese Patent No. 3347385 Japanese Patent Laid-Open No. 9-026547 Japanese Patent No. 3571675
As described above, the treatment instrument is normally inserted from the insertion port of the forceps channel to the forceps port at the tip, and forceps and an electric knife are projected from the tip. The treatment tool can advance and retreat in the forceps channel, but moves integrally with the distal end portion of the endoscope. That is, when the distal end portion of the endoscope moves, the treatment instrument moves equally.
Therefore, as shown in FIG. 8A, the endoscope 92 is moved as shown in FIG. When the observation visual field by 93 is changed, the treatment tool 91 is also moved together with the movement of the endoscope tip. When the treatment is continuously performed, as shown in FIG. 8C, a moving operation for returning the distal end of the treatment tool 91 to the place where the treatment was performed before moving is necessary. As a result, the operator has increased the trouble of operating the bending portion 91a of the treatment tool 91, which may be a cause of prolonging the operation time.
Even if the endoscope tip does not move for the convenience of the surgeon, the endoscope moves due to the movement of the living body (peristalsis, breathing, heart, etc.) in the patient's body cavity, and the tip of the treatment tool also moves accordingly. You may get away from where you are being treated. Even in such a case, it is necessary for the surgeon to perform a moving operation to return the distal end of the treatment tool to the place where it has been treated.
Therefore, the present invention provides a treatment tool position control for an endoscope apparatus that allows a treatment operation to be continued without leaving the treatment site even if the endoscope tip moves during treatment with the treatment tool. An object is to provide an apparatus.
In order to achieve the above object, the present invention is an apparatus for controlling the position of a treatment tool mounted on an endoscope apparatus for observing a desired target site in a body cavity, and advances and retreats in the insertion portion of the endoscope. A treatment instrument having a movable part that is provided so as to be able to pass through, and is provided with a treatment part for performing a treatment on the target site at a distal end part thereof and capable of moving the position of the treatment part, and the movable part of the treatment part A driving mechanism that moves the position of the treatment portion by bending and advancing and retreating, an estimation portion that estimates the movement direction and amount of movement of the treatment portion following the movement of the distal end of the insertion portion, and the movement direction of the treatment portion And a control unit that drives and controls the drive mechanism so as to return the treatment unit to the vicinity of the position before the endoscope moves based on the amount of movement, and a treatment instrument position control device for an endoscopic device .
Further, the present invention is an apparatus for controlling the position of a treatment tool mounted on an endoscope apparatus for observing a desired target site in a body cavity, and is inserted through the insertion portion of the endoscope so as to be able to advance and retract. A treatment tool provided with a treatment part provided at the distal end for performing treatment on the target site and capable of moving the position of the treatment part; and bending and advancing and retreating the movable part of the treatment part And detecting a magnetic field generated by the drive mechanism for moving the position of the treatment unit, a magnetic field generator provided on the distal end side in the insertion portion of the endoscope, and the magnetic field generated by the magnetic field generator. An estimator that identifies the position of the treatment unit from the position of the magnetic field generation unit based on the position and estimates the movement direction and amount of movement of the treatment unit following the movement of the endoscope; and the movement direction and movement of the treatment unit Based on the amount, the treatment section is returned to the vicinity of the position before the endoscope moves. Providing surgical instrument position control apparatus of an endoscope apparatus and a control unit for driving and controlling the drive mechanism.
According to the present invention, even when the endoscope tip moves during the treatment by the treatment tool, the treatment tool position of the endoscope apparatus that allows the treatment work to be continued without leaving the treatment site. A control device can be provided.
This treatment tool position control device estimates the movement of the distal end of the insertion portion of the endoscope with respect to the target part from the captured image when the endoscope is moved by the operation of the operator or the movement of the living body in the body cavity of the patient, The movement of the treatment tool is estimated from the movement. Furthermore, the amount of movement of each joint of the distal end of the treatment instrument for moving from the position after the endoscope movement to the treatment position is calculated, such as bending, rotation, and advance / retreat, and each joint is operated to restore the distal end of the treatment instrument. The position of the treatment tool can be held each time the endoscope is moved so that the operation position and the fatigue are reduced.
In addition, the treatment instrument position control device is provided with a magnetic field generating coil at the endoscope tip, estimates the position and movement of the endoscope tip from the generated magnetic field, and estimates the movement of the treatment tool from the movement. The amount of motion up to the original treatment position is calculated, the treatment tool is returned to the treatment position, and the position of the treatment tool can be held each time the endoscope moves. Furthermore, by providing a threshold when detecting the movement of the endoscope, vibration due to unnecessary position holding operation of the treatment instrument due to noise, calculation error, or the like is prevented, thereby preventing the treatment from becoming difficult.
FIG. 1 is a diagram showing an overall configuration of an endoscope apparatus system equipped with a treatment instrument position control apparatus according to a first embodiment of the present invention.
This endoscope apparatus system is roughly divided into an endoscope apparatus 1 and a treatment instrument position control apparatus 2. The present invention can be applied to an electronic endoscope provided with an image sensor at the distal end of the insertion portion and an endoscope that captures an optical image guided by a fiberscope. In the embodiment described below, an electronic endoscope is used. Will be described as an example.
The endoscope apparatus 1 includes an endoscope main body 3 and an apparatus main body 4. The endoscope main body 3 includes an insertion portion 3a that is inserted into a body cavity, and an operation portion 3c that bends the bending portion 3b provided on the distal end side of the insertion portion 3a. In the insertion portion 3a, a hole that penetrates from the insertion port 3d opened to the proximal end side to the distal end portion 3e, a so-called forceps port 5 of a forceps channel, and a light guide fiber that propagates illumination light for illuminating the observation field of view 6 etc. are provided. Further, an image pickup unit 7 including an image pickup device such as a CCD and an optical system is provided at the distal end portion 3e. Image data such as a lesion imaged by the imaging unit 7 is transmitted to an image processing unit 8 (to be described later) of the apparatus main body 4 connected by a cable (light guide fiber, image signal line, control signal line, etc.) 3g through the operation unit 3c. Sent out. The operation unit 3c is provided with an operation dial 3f that is operated by an operator or an operator to bend the bending portion 3b to place a desired observation object (lesioned portion) 12 in an observation field (or imaging field). Is provided.
The apparatus body 4 generates an image processing unit 8 that performs various image processing and data processing on the image data captured by the imaging unit 7, and generates illumination light that irradiates the observation field from the illumination light window 6 through the light guide fiber. A light source unit 9 that performs control of the entire endoscope apparatus system, arithmetic processing, and the like, and a monitor 11 that displays a captured image, data related to the image, apparatus state, operation instructions, and the like. The
The treatment tool position control device 2 performs treatment on the lesioned part 12, for example, a treatment tool 21 to which a high frequency electric knife or the like is attached, a treatment tool control unit 22 that controls the treatment tool 21, and a treatment tool control unit 22. The motor unit 23 drives the treatment instrument 21 based on the control signal, and the power supply device 24 supplies high-frequency power to the high-frequency electric knife that is the treatment instrument 21. Further, the treatment instrument position control device 2 is connected to the treatment instrument control unit 22 and is connected to a joystick 25 serving as an input device for instructing the position and posture of the treatment instrument 21 by an operator's manual operation, and a power supply device 24 to be operated. A foot switch 26 that gives an instruction to supply high-frequency power to the high-frequency electric knife by a person's foot operation, and a counter electrode plate 27 that is connected to the power supply device 24 and is affixed to the body surface of the patient 13 to be treated.
The treatment instrument position control device 2 is a master-slave type electric treatment instrument that can move the treatment portion to a desired position (location) in accordance with the operation of the joystick 25. Note that, when the joystick 25 is operated by an operator or the like when the position of the treatment instrument 21 in this embodiment is set to be controlled, the operation instruction of the joystick 25 is given priority.
The treatment tool 21 is inserted into the forceps channel and has a soft characteristic that can advance and retreat, a treatment tool insertion part 21a that treats the lesioned part 12, for example, a treatment part 21b such as a high-frequency electric knife, a treatment tool insertion part 21a, It is comprised with the movable part (treatment arm part) 21c which is connected to the treatment part 21b and can move the treatment part 21b three-dimensionally. The treatment arm portion 21c has a structure for moving the treatment portion 21b three-dimensionally. In the present embodiment, the treatment arm portion 21c employs, for example, a multi-joint structure (bending, axial rotation, etc.) in which a plurality of joints and short rods are combined. In addition to this multi-joint, various constituent parts such as a piezoelectric element formed in a cylindrical shape can be used as the movable part.
The proximal end side of the treatment instrument insertion portion 21 a is connected to the motor unit 23 by the connection portion 28. The motor unit 23 includes a wire 29 having one end connected to each joint of the treatment arm portion 21c through the treatment instrument insertion portion 21a, a pulley 30 connected to the other end of the wire 29, and the pulley 30 fitted on the rotation shaft. The motor 31 is configured. These motors 31 are individually driven and controlled by the treatment instrument control unit 22. In this configuration, the motor 31 is rotated by drive control of the treatment instrument control unit 22, and the joints of the treatment arm unit 21 c are bent by the traction force of the wire 29 wound around the pulley 30. In addition, the treatment portion 21b is rotated and advanced by moving the treatment instrument insertion portion 21 forward and backward by an actuator including a motor (not shown) provided in the motor unit 23.
The treatment instrument control unit 22 includes a function control input unit 41 that inputs instructions from the joystick 25, function control conditions and parameters, and a central processing unit (CPU) that performs various arithmetic processes and instructions to each component. 42, a memory 43 that stores images and communication data, a motor driver 44 that controls driving of each motor 31 in the motor unit 23, and a motor unit communication unit 46 that is connected to the motor unit 23 via a cable 45 and performs communication. , Composed of.
The CPU 42 has a first estimation unit 42a that performs arithmetic processing for estimating the motion (motion vector) of the endoscope and the amount of motion from the image data captured by the imaging unit 7 of the endoscope by a method described later. A second estimating unit 42b for calculating a moving direction and a moving amount given to the treatment arm unit 21c so that the treatment unit 21b returns to the treatment position in the endoscope before movement based on the movement and the movement amount; It is roughly divided into a control unit 42c that controls each component of the device 2. The memory 43 stores an image receiving unit for receiving an image photographed by the imaging unit 7 at the distal end of the endoscope from the endoscope body 3 and the received image, a calculation result of the CPU 42, communication data, and the like. Furthermore, the function control input unit 41 includes a switch 47 for turning on / off a function for fixing the distal end of the treatment unit 21b to a specific position (location) with respect to the observation target, and a display 48 for displaying the function status. Prepare.
The treatment instrument control unit 22 transmits a control signal for driving each motor 31 to the motor driver 44 in accordance with the operation amount of the joystick 25 by the operator, and rotates each motor 31. Each motor 31 is provided with an encoder (not shown) for measuring the number of rotations. The encoder generates a signal corresponding to the rotation speed, sends it to the treatment instrument control unit 22, and performs feedback control on the motor 31.
The power supply device 24 is provided with a display 51 for displaying a power supply state, an output wattage input panel 52, an output mode selection panel 53, and a power output terminal 54. The power output terminal 54 supplies high-frequency power output from a power supply unit (not shown) provided therein to the high-frequency electric knife as the treatment portion 21b through the cable 55. The cable 55 is inserted into the treatment instrument insertion portion 21a together with the wire 29 described above, and is connected to a high frequency electric knife.
As will be described later, the endoscope apparatus system equipped with the treatment instrument position control device configured as described above is configured so that the bending portion 3b of the endoscope with respect to the lesioned portion 12 to be observed from the adjacent images in time series. The movement is estimated, and the movement of the treatment portion 21b at the distal end of the treatment instrument is obtained from the estimated movement. From the movement of the treatment portion 21b, the amount of movement such as bending, rotation, and advance / retreat of each joint for moving the treatment portion 21b to return to the position of the treatment portion 21b is calculated, and the treatment portion 21b is returned to the position before the movement. Move to. Whenever there is a move, the move process is repeated.
This movement process will be described in detail with reference to the flowchart shown in FIG.
First, the treatment instrument control unit 22 estimates the movement of the endoscope with respect to the target site from time-series adjacent image data imaged by the imaging unit 7 (step S1). Specifically, a shift map between the respective images is created from the image data continuously input in time series input from the endoscope apparatus. For example, a motion vector (translation vector h and rotation) between one image in a shift map between one image with respect to a target region (for example, a lesioned part 12) arbitrarily defined in each captured screen. Matrix R: translation vector is assumed to be a unit vector). The motion vector, that is, the motion of the endoscope tip is estimated from the shift map corresponding to each image. The translation vector and the rotation matrix are disclosed in detail in Patent Document 3, and the size of the translation vector (H = kh) is disclosed in detail in Patent Document 4, and detailed description thereof is omitted here. .
Next, the movement of the treatment section 21b is estimated from the movement of the endoscope tip (translation vector H, rotation R) by the second estimation section in the CPU 42 (step S2). This movement will be described with reference to FIGS. As for the coordinates expressed below, the origin (0, 0, 0) is the X-axis, Y-axis, Z-axis centered on the position of the viewpoint set by the imaging unit 7 and the optical system provided at the distal end of the endoscope. It defines the axis.
As shown in FIG. 3A, for example, before the endoscope moves, it is assumed that the treatment portion 21b is at the position (x, y, z) of the lesioned portion 12, and the endoscope moves for some reason. After that, the position (x ′, y ′, z ′) of the treatment part 21b before moving is
It becomes. Here, H: translation of the endoscope, R: rotation of the endoscope. On the other hand, the position (x ″, y ″, z ″) of the treatment portion 21b after the movement is
It becomes. At this time, since the positional relationship between the distal end of the endoscope and the treatment arm portion 21c (the portion extending from the forceps opening 5 of the forceps channel) does not change, the treatment portion 21b substantially has the position (x ′, y ′, z ′) has moved to the position (x ″, y ″, z ″).
The position (x, y, z) of the treatment portion 21b is determined by the angle of the joint determined from the rotation amount of the motor 31 that moves the joint of the treatment arm portion 21c (for example, calculated from the value of the encoder connected to each motor 31). It is determined by the length and connection state of each joint. However, it is necessary to initialize so that the movement of the treatment portion 21b matches the coordinate system based on the distal end of the endoscope (for example, the UP / DOWN direction of the bending of the endoscope and the UP / DOWN direction of the treatment tool 21b). Initialize the system to match the DOWN direction). Further, the position (x ′, y ′, z ′) of the treatment portion 21b after the endoscope movement is calculated from the expressions (1) and (2), and the obtained positions (x ′, y ′, z ′) are calculated. ), The angle of each joint is obtained by inverse kinematics from the joint length and the connection state of each joint.
Inverse kinematics is a method for estimating a specific value of a joint (joint angle, etc.) from the position and posture information of a manipulator (treatment tool) in a work space. The joint parameter Φ of the joints 1, 2,.
And the position and posture of the manipulator
Then, the relationship is expressed by the following formula.
Here, the manipulator position and posture target P
When the put and, the manipulator to the state of the P P
It is necessary to find Φ that satisfies However, since these relational expressions are non-linear, in order to obtain Φ, a Jacobian matrix J (Φ) obtained by partial differentiation of Ep with respect to elements of Φ
Generally, Φ satisfying the above is obtained by convergence calculation. Based on the calculated motion amount, each joint of the treatment arm portion 21c is bent, and the treatment portion 21c is moved to the position of the lesioned portion 12 (step S4).
The position of the treatment portion 21c by the bending, rotation, and forward / backward movement of the treatment arm portion 21c is repeatedly performed until the treatment of the lesioned portion 12 by the treatment portion 21c is completed (step S5).
That is, the movement is performed by obtaining the bending, rotation, and forward / backward movement of each joint by the inverse problem.
As described above, according to the present embodiment, the observation visual field is moved for the convenience of the operator during the treatment with the treatment tool, or the endoscope is moved by the movement of the living body in the body cavity of the patient. Even if it is a case, the treatment part of the treatment tool does not leave the target site being treated, and the position is maintained. Therefore, there is no movement operation for returning the treatment section to the original position by the operator, the operator can concentrate on the treatment, and the operation burden and fatigue are reduced.
FIG. 4 is a diagram illustrating an overall configuration of an endoscope apparatus system in which the treatment instrument position control apparatus according to the second embodiment is mounted.
In this endoscope apparatus system, a magnetic field generating coil is further provided on the distal end side of the endoscope body 3 in the configuration of the endoscope apparatus system in the first embodiment shown in FIG. It is detected by an endoscope shape observation device, and the position of the endoscope tip is estimated. In the present embodiment, components other than the magnetic field generating coil and the endoscope shape observation apparatus are the same as those in the endoscope apparatus system shown in FIG.
As shown in FIG. 4, the endoscope main body 3 is provided with at least one magnetic field generating coil 61 at the distal end of the bending portion 3b of the insertion portion 3a. In addition, an endoscope shape observation device 62 is disposed in the vicinity of the patient. The endoscope shape observation device 62 includes a magnetic field detection unit 63, a position estimation unit 65, and a monitor 66.
The magnetic field detection unit 63 includes a plurality of magnetic field detection coils 64 (64a, 64b,... 64n) for detecting the magnetic field generated by the magnetic field generation coil 61 inside the housing. The position estimation unit 65 receives the magnetic field data detected by the magnetic field detection coil 64, and
The position of the magnetic field generating coil 61 is estimated. However, the estimated position of the magnetic field generating coil 61 is a coordinate system value based on the magnetic field detection unit 63. Details are disclosed in Patent Document 5. The estimated position information of the magnetic field generating coil 61 is sent to the treatment instrument control unit 22 through the signal line 67, and the CPU 42 of the treatment instrument control unit 22 takes an image with the imaging unit 7 from the positional relationship (design value) with the magnetic field generation coil 61. When this is done, the tip position of the insertion section 3a (the viewpoint position set from the imaging device such as a CCD and the optical system) is calculated. The amount of movement between images (the size of the translation vector) is calculated from the calculated tip position of the insertion unit 3a, and the CPU 42 uses the calculated amount of movement (the size of the translation vector) to insert the endoscope. The moving direction and amount of movement 3a are estimated by the first estimating unit 42a. In this configuration example, the magnetic field detection coil 64 is an example provided inside the housing of the magnetic field detection unit 63, but may be disposed near the periphery so as to surround the patient.
According to the endoscope apparatus system equipped with the treatment instrument position control device of the second embodiment described above, the amount of movement of the endoscope (the magnitude of the translation vector) can be accurately calculated. It can move accurately.
In the third embodiment, the movement of the endoscope tip is estimated by matching between images, the position of the treatment tool is obtained, and the original position is moved in parallel with the imaging surface of the imaging device. The configuration of this embodiment is the same as that of the first embodiment shown in FIG. 1 described above, and reference is made to FIG. 1 for the configuration.
As shown in FIG. 5, the position p (xp, yp, f) of the distal end (the treatment portion 21 b or the lesioned portion 12) of the treatment instrument 21 within the observation field of view of the endoscope performing treatment on the screen before movement. [F: focal length of the optical system of the imaging unit 7], and the position of the treatment after the endoscope movement (the position where the tip of the treatment instrument 21 before the endoscope movement exists) P ′ (xp ′, yp ′, zp ′). In the image after the endoscope movement, the position p where the tip of the treatment unit 21 before the movement exists can be obtained by matching between the images. This matching is a process in which, for example, a partial image near the tip of the treatment section 21 in the image before the endoscope movement is used as a template, the image after the endoscope movement is searched, and its position is specified. It is. When the treatment unit 21 exists in the template, the region of the treatment unit 21 is detected, and the region is not subjected to processing for calculating the degree of matching between images. On the screen from the position q ′ (xq ′, yq ′, f) of the distal end of the treatment section 21 after moving the endoscope to the position p ′ (xp ′, yp ′, f) of the treatment after moving the endoscope The movement of is as shown in the following equation.
However, f: It is set as the focal distance of the imaging part 7 incorporated in the endoscope front-end | tip.
The three-dimensional position Q ′ (XQ ′, YQ ′, ZQ ′) of the distal end of the treatment unit 21 is obtained from the value of an encoder connected to the motor, with respect to the bending, rotation, and advancement / retraction of each joint of the treatment unit 21. . Using the Z component value ZQ ′ of the distal end of the treatment section 21 after the endoscope movement, the distal end of the treatment section 21 is placed at the treatment position (position of the lesioned part 12: internal) in parallel with the imaging surface of the image sensor of the imaging section 7. When moved to the vicinity of the position where the distal end of the treatment section 21 exists before the movement of the endoscope, the direction and magnitude of the movement are as follows.
As described above, according to the endoscope apparatus system equipped with the treatment instrument position control device of the present embodiment, when the endoscope has moved in parallel with the imaging surface of the image sensor, the above-described case is described. Compared with the first and second embodiments, the movement of the endoscope can be estimated at a higher speed, and the treatment section can be moved at a speed close to real time.
The endoscope apparatus of the present embodiment shown in FIG. 6 is configured such that the bending portion of the endoscope main body is electrically bent. This embodiment has a configuration in which the endoscope main body is motorized, and the other components are the same members as those in the first embodiment shown in FIG. The detailed explanation is omitted.
The electric bending operation unit 71 in the endoscope body 3 includes a plurality of wires 72 whose one ends are connected to the bending portion 3b, a plurality of pulleys 73 connected to the other end of each wire 72, and the pulleys 73 as rotation axes. The motors 74 that are fitted, the drivers 75 that individually drive the motors 74, the encoders 76 that are provided in the motors, and the bending control unit 77 that controls the motor driver 75 based on the values detected by the encoders 76. And. Further, the bending control unit 77 is connected to a bending joystick 78 for instructing a bending operation.
The electric bending operation unit 71 is connected to the apparatus main body 4 with a cable 79. The cable 79 includes a light guide fiber that transmits illumination light, and a signal line including an image signal line and a control signal line. Further, in the present embodiment, the configuration example in which the joystick is provided in each of the endoscope and the treatment instrument is shown, but these operation functions may be integrated into one joystick. Furthermore, the magnetic field generating coil and the endoscope shape observation device in the endoscope apparatus system of the second embodiment described above can be mounted on the present embodiment.
The bending amounts of the endoscope main body and the treatment tool are respectively determined from the rotation amount (encoder output value) of the motor pulled by the wire. Accordingly, the movement of the endoscope tip is estimated from the amount of rotation of the endoscope motor, and the tip of the treatment instrument is moved according to the estimated value.
According to the endoscope apparatus system equipped with the treatment instrument position control device of the present embodiment described above, in addition to the effects of the first and third embodiments described above, the endoscope and the treatment instrument are removed from a joystick or the like. Since the bending operation of the treatment instrument and the endoscope is instructed by the operation switch that can be easily operated, the burden on the operator can be reduced. In addition, in the present embodiment, since the position is not detected by image processing, it is possible to easily estimate the movement of the distal end of the endoscope without requiring high-level calculation by the CPU, and at a speed close to real time. It becomes possible to move the tip (treatment part) of the. Furthermore, if the magnetic field generating coil and the endoscope shape observation device in the endoscope apparatus system of the second embodiment are installed in this embodiment, the amount of movement of the endoscope (the magnitude of the translation vector) is accurately calculated. Therefore, the treatment section 2c can be moved accurately.
In addition, although this embodiment was a structural example using the endoscope main body electrically driven, even if it is a normal endoscope main body which is not electrically motorized, the insertion port 3d of a forceps channel or forceps A sensor for detecting the pulling amount of the wire is provided in the mouth 5, and the rotation amount of each operation dial 3 f provided in the operation unit is detected, and a mechanism for obtaining the pulling amount of the wire is incorporated, thereby obtaining the same effect. It can also be obtained.
An endoscope apparatus system equipped with the treatment instrument position control device of the present embodiment is configured to maintain the position of the treatment instrument as it is when the movement amount of the endoscope is smaller than a predetermined threshold. This means that when the distal end of the treatment instrument is always moved in accordance with the movement of the endoscope, the distal end of the treatment instrument always vibrates due to noise, calculation error, etc. This is to prevent it. Providing a threshold value for the amount of movement of the endoscope in the present embodiment can be constructed by software (program), and can be applied to the configurations of the first to fourth embodiments described above.
This movement process will be described in detail with reference to the flowchart shown in FIG. Here, the example applied to the endoscope apparatus system of 1st Embodiment shown in FIG. 1 is demonstrated.
First, the motion vector of the endoscope body 3 with respect to the target part is estimated from the captured images that are adjacent in time series (step S11). Specifically, a shift map between the images is created from the image data continuously input in time series captured by the imaging unit 7. A motion vector (translation vector h and rotation matrix R: translation vector is a unit) in a shift map between one image with respect to a target part (for example, a lesioned part 12) arbitrarily defined in the screen. Vector). The motion vector, that is, the motion of the endoscope tip (relative motion) is estimated from the shift map corresponding to each image, and the absolute motion V of the endoscope tip is calculated by obtaining the magnitude of the translation vector. .
The calculated absolute value | V | of the movement of the distal end of the endoscope is compared with a threshold value Vthr obtained empirically or experimentally (step S12). In this comparison, if the movement | V | of the endoscope tip is smaller than the threshold value Vthr (YES), it is determined that the moving process of the treatment tool is not performed with this degree of movement of the endoscope, and the process returns to step S11. Continue to estimate the movement of the endoscope tip. On the other hand, if the motion vector | V | is larger than the threshold value Vthr (NO), it is determined that the treatment tool moving process is to be performed, and the process proceeds to the next step S13. This step S13 corresponds to step S2 of FIG. 2 described in the first embodiment. The movement of the treatment portion 21b is estimated from the movement of the endoscope tip (translation vector H, rotation R: see FIG. 3) (step S13). As shown in FIG. 3, for example, the position (x, y, z) of the treatment unit 21b to which the endoscope moves and the position (x, y, z) of the treatment unit 21b before the position correction after the endoscope is moved. ', Y', z '). On the other hand, the position (x ″, y ″, z ″) of the treatment portion 21b after the movement is obtained.Next, the coordinate system after the endoscope movement is based on the calculated positions of the treatment portion 21b. The position (x ′, y ′, z ′) from the position (x ″, y ″, z ″) at the position (x ′, y ′, z ′) of the treatment section 21, that is, at each joint of the treatment arm section 21 c for moving to the position of the original lesion section 12. The amount of movement such as bending, rotation and advance / retreat is calculated (step S14).
Next, based on the calculated movement amount, each joint of the treatment arm 21c is bent, and the treatment unit 21c is moved to the position of the lesioned part 12 (step S15). The position holding of the treatment portion 21c by the bending, rotation and advance / retreat operation of the treatment arm portion 21c is repeated until the treatment of the lesioned portion 12 by the treatment portion 21c is completed (step S16).
As described above, according to the present embodiment, by providing a certain threshold for the movement of the endoscope, a state as if the distal end of the treatment instrument is constantly vibrating due to noise, calculation error, or the like. To prevent the treatment from becoming difficult. Therefore, unnecessary vibration is prevented when performing a procedure by the surgeon, the surgeon can concentrate on the procedure, and the operation burden and fatigue are reduced.
Even if the observation field of view is moved for the convenience of the surgeon during treatment with the treatment tool or the endoscope is moved due to the movement of the living body in the body cavity of the patient, the treatment portion of the treatment tool is treated. The position is maintained without leaving the target region inside.
1 is a diagram illustrating an overall configuration of an endoscope apparatus system that includes a treatment instrument position control device according to a first embodiment of the present invention. It is a flowchart for demonstrating the movement process by 1st Embodiment. It is a figure for demonstrating the estimation of the motion in an endoscope front-end | tip. It is a figure which shows the whole structure of the endoscope apparatus system which mounts the treatment tool position control apparatus which concerns on the 2nd Embodiment of this invention. It is a figure for demonstrating estimating the movement of a treatment tool from the motion of the estimated endoscope front-end | tip in the endoscope apparatus system which concerns on the 3rd Embodiment of this invention. It is a figure which shows the whole structure of the endoscope apparatus system which mounts the treatment tool position control apparatus which concerns on the 4th Embodiment of this invention. It is a flowchart for demonstrating the endoscope apparatus system movement process which concerns on the 5th Embodiment of this invention. It is a figure for demonstrating the movement of the front-end | tip part of a conventional endoscope, and a treatment tool.
DESCRIPTION OF SYMBOLS 1 ... Endoscope apparatus, 2 ... Treatment tool system, 3 ... Endoscope main body, 3a ... Insertion part, 3b ... Bending part, 3c ... Operation part, 3d ... Insertion port, 3e ... Tip part, 3f ... Operation dial, 3 ... Cable, 4 ... Device body, 5 ... Forceps port, 6 ... Illumination light window (light guide fiber), 7 ... Imaging unit, 8 ... Image processing unit, 9 ... Light source unit, 10 ... Control unit, 11 ... Monitor, DESCRIPTION OF SYMBOLS 12 ... Observation object (lesion part), 13 ... Patient, 21 ... Treatment tool, 21a ... Treatment tool insertion part, 21b ... Treatment part, 21c ... Treatment arm part, 22 ... Treatment tool control apparatus, 23 ... Motor unit, 24 ... Power supply device, 25 ... Joystick, 26 ... Foot switch, 27 ... Counter electrode, 28 ... Connector, 29 ... Wire, 30 ... Pulley, 31 ... Motor.
An apparatus for controlling the position of a treatment tool mounted on an endoscope apparatus for observing a desired target site in a body cavity,
A treatment having a movable portion that is provided so as to be able to advance and retreat through the insertion portion of the endoscope, a treatment portion for performing treatment on the target site at the distal end portion, and the position of the treatment portion can be moved Ingredients,
A drive mechanism for moving the position of the treatment portion by bending and moving the movable portion of the treatment portion; and
An estimation unit that estimates a movement direction and a movement amount of the treatment unit following the movement of the distal end of the insertion unit;
A control unit that drives and controls the drive mechanism to return the treatment unit to a position near the position before the endoscope moves based on the moving direction and the movement amount of the treatment unit;
A treatment instrument position control device for an endoscope apparatus, comprising:
The treatment tool position control device for an endoscope apparatus according to claim 1, wherein the movable portion of the treatment portion is configured in a multi-joint structure by a plurality of joints and a rod connecting the joints.
A first estimation unit for estimating the movement of the endoscope;
A second estimation unit that estimates a movement direction and a movement amount of the treatment unit of the treatment tool from a predetermined positional relationship between the endoscope and the treatment tool with respect to the movement of the endoscope;
Movement of the treatment section on the image captured by the imaging section provided at the distal end of the insertion section of the endoscope, and angle information of the joint included in the movable section of the treatment instrument captured by the control section, estimation The treatment tool position control device for an endoscope apparatus according to claim 2, wherein the position of the treatment portion is estimated from the state of the treatment tool based on the translated movement information and the rotation information.
The drive unit of the treatment instrument position control device is
A plurality of wires each connecting one end to each joint of the movable part;
An electric drive mechanism controlled by the control unit, connected to the other ends of the wires, and advancing and retracting any of the wires to bend the movable unit in a desired direction;
The control unit drives the electric drive mechanism based on the movement direction and movement amount of the treatment unit obtained from the position estimated by the estimation unit, and moves the treatment tool near the position before the endoscope moves. The treatment instrument position control device for an endoscope apparatus according to claim 3, wherein the treatment tool position control device is returned.
A magnetic field generator provided on the distal end side in the insertion portion of the endoscope;
Detecting the magnetic field generated by the magnetic field generation unit, identifying the position of the treatment unit from the position of the magnetic field generation unit based on the detected magnetic field, and the movement direction of the treatment unit following the movement of the endoscope; An estimation unit for estimating a movement amount;
In the treatment instrument position control device,
When the estimation unit estimates that the movement of the endoscope has moved in parallel with the imaging surface of the imaging unit provided on the distal end side of the insertion unit of the endoscope, the depth direction orthogonal to the imaging surface The treatment tool position control device for an endoscope apparatus according to claim 1, wherein the distance is fixed to the focal length of the optical system of the imaging unit, and the movement direction and the movement amount of the treatment unit are estimated.
The treatment instrument is inserted in the insertion portion of the endoscope apparatus having an electric drive mechanism for bending a bending portion provided at a distal end of the insertion portion of the endoscope apparatus in a desired direction so as to be able to advance and retract. The treatment instrument position control apparatus for an endoscope apparatus according to claim 1.
The endoscope apparatus according to claim 1, wherein the estimation unit holds a position of the treatment instrument when a movement amount of the endoscope in the insertion unit is smaller than a predetermined threshold value. Treatment tool position control device.
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CN 200880005122 CN101610712B (en) 2007-03-29 2008-02-22 Device for controlling position of treatment instrument for endoscope
EP08711855.0A EP2130479B1 (en) 2007-03-29 2008-02-22 Device for controlling position of treatment instrument for endoscope
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