JPH04215737A - Endoscope position detecting device - Google Patents

Abstract

PURPOSE:To obtain an endoscope position detecting device which is safe with no fear of radioactive ray exposure, can confirm the position of an endoscope in an organism, improves the efficiency of the endoscope inspection, and is inexpensive. CONSTITUTION:A light generating means 2 generates the illumination light, the illumination light generated by the light generating means 2 is radiated to a specimen 4 in which an endoscope 5 is inserted and permeates it, then a light detecting means 3 detects the permeation light to detect the position of the endoscope 5 inserted into the specimen 4.

Description

[Detailed description of the invention]

0001

[Field of Industrial Application] The present invention relates to an endoscope position detection device for detecting the position and shape of an inserted endoscope in a living body.

0002

[Prior Art] In recent years, a long and narrow insertion section has been inserted into a body cavity.
Endoscopes that can observe and treat affected areas are widely used.

For example, when performing an endoscopic examination of the lower gastrointestinal tract such as the large intestine, it is difficult to insert the endoscope insertion section straight into the target observation site without damaging the living body. In order to quickly reach the tip of the endoscope and perform observation, it is necessary to confirm the position of the endoscope within the living body. As a means for detecting the position of such an endoscope inserted into a living body, a method of transparentizing the inside of the living body using X-rays is well known.

0004

[Problems to be Solved by the Invention] However, although the use of X-rays has the advantage of non-invasive and non-contact position detection, there is a problem of radiation exposure, and regulations are not in place in terms of safety management. The drawback is that special facilities such as an X-ray management room are required to receive the treatment, and it cannot be used in regular medical facilities. Furthermore, even if the amount of exposure to X-rays is below the standard value, it cannot be applied to pregnant women and the range of use is limited.

[0005] Fluoroscopy using ultrasonic waves also has the drawback of poor spatial resolution. Alternatively, nuclear magnetic resonance (NMR)
) The so-called NMR-CT method using the method has the disadvantage that the apparatus is large-scale and expensive.

The present invention has been made in view of the above circumstances, and it is safe without fear of radiation exposure, allows the position of the endoscope in the living body to be confirmed, improves the efficiency of endoscopy, and is inexpensive. The purpose of this invention is to provide an endoscope position detection device.

[0007]

[Means for Solving the Problems] In order to achieve the above-mentioned object, an endoscope position detection device according to the present invention includes at least one light source that emits light to irradiate a test subject into which an endoscope is inserted. The apparatus includes a generating means and at least one light detecting means disposed opposite to the light generating means to detect light transmitted through the subject out of the light irradiated onto the subject.

[0008]

[Operation] With this configuration, the light generation means emits irradiation light, and after the irradiation light emitted by the light generation means is irradiated and transmitted to the subject into which the endoscope is inserted, the light detection means detects the transmitted light. The position of the endoscope inserted into the subject is detected by detecting light.

[0009]

Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1 to 7 relate to a first embodiment of the present invention, FIG. 1 is a schematic diagram showing the principle of an endoscope position detection device, and FIG. 2 is a diagram showing the operation of the device shown in FIG. 3 is a schematic configuration diagram showing the arrangement of the light generating means and light detecting means, FIG. 4 is a perspective view of the light generating means and light detecting means of FIG. 3, and FIG. 5 is an internal view shown in FIG. 3. A schematic configuration diagram of a mirror position detection device, FIG. 6 is an explanatory diagram showing the state of an endoscope inserted into a living body,
FIG. 7 is an explanatory diagram showing a display example of the endoscope position detection device.

FIG. 1 shows the basic configuration of an endoscope position detection device. This endoscope position detection device 1 is composed of one light generating means 2 and a plurality of light detecting means 3. Reference numeral 4 is a subject, and reference numeral 5 is an endoscope inserted into the subject 4. Generally, living tissues are exposed to near-infrared light (6
50 nm to 1200 nm), while the endoscope 5 absorbs near-infrared light well. Therefore, the endoscope position detection device 1 uses an infrared light source that emits near-infrared light as a light generating means. Further, as shown in FIG. 2, in the infrared endoscope position detection device 1, the intensity of the light detected by the light detection means 3 located at a position facing the endoscope 5 is weak, and the light passes only through the subject 4. The light detection means 3 that detects the light shows a strong light intensity. In this way, by processing the output signal detected by the light detection means 3, the position and shape of the endoscope 5 inserted into the subject 4 can be detected.

FIGS. 3 to 5 show specific examples of the configuration of the endoscope position detection device. This endoscope position detection device 6 is
As shown in FIG. 3, the light source section 7 and the detection section 8 are arranged facing each other. As shown in FIG. 4, the light source section 7 has a plurality of infrared light sources 7a, 7a... as light generating means, while the detecting section 8 has a plurality of infrared light detectors 8 as light detecting means.
a, 8a... The infrared light sources 7a, 7a... and the infrared light detectors 8a, 8a... are in one-to-one correspondence, and the subject 4 placed on the bed 9 and into which the endoscope 5 is inserted is interposed. The position of the endoscope 5 is detected. As the infrared light source 7a, for example, a xenon light source, a halogen light source, or a laser light source having spectral characteristics in the infrared region is used. In addition, the infrared photodetector 8a may include a semiconductor light receiving element such as a silicon photodiode, or
A photomultiplier tube is used. Furthermore, infrared light sources 7a, 7a...
, and the external light detectors 8a, 8a, . . . each use a diaphragm and a lens (not shown) to make the light into a narrow beam, giving it directivity and increasing detection sensitivity.

FIG. 5 shows an example of the overall configuration of the endoscope position detection device 6. As shown in FIG. The infrared light sources 7a, 7a, . . . are each connected to a power supply section 11 via a power supply connection switching section 10. In addition, the infrared photodetectors 8a, 8a, . . . are connected to an amplifier 13, an A/D
A (analog/digital) converter 14 and a memory section 15 are connected.

The switching and timing of the power supply connection switching section 10, detector output switching section 12, and memory section 15 are controlled by a switching control section 16. The amplifier switch 13 amplifies the detection signal of the infrared light detector 8 via the detector output switching section 12,
The A/D converter 14 converts the amplified detection signal into an A/D converter.
It is converted into detected data. In addition, memory section 1
5 stores the detection data corresponding to the infrared light detector 8 in the memory at the address selected by the switching control section 16. The image processing section 16 includes a memory section 15
The detected data is processed and converted into a standard video signal 2,
The monitor 17 is configured to display the position and shape of the endoscope 5.

The operation of the endoscope position detector 6 will be explained. With the subject 4 placed on the bed 9, the insertion portion 5a of the endoscope 5 is inserted into the subject 4, as shown in FIG.

The switching control section 16 switches the power supply connection switching section 10 so that power is supplied from the power supply section 11 to one infrared light source 7a shown in FIG. 4 (for example, on the left side in the figure). At the same time, the switching control section 16 switches the detector output switching section 12 to select the selected infrared light source 7a.
The selected infrared photodetector 8a outputs a detection signal to the amplifier 13. In response to the detection signal from the amplifier 13, the A/D converter 14 outputs the detection data from the memory section 15, and the memory section 15 stores the data at the address specified by the switching control section 16.
Store detection data.

Next, the switching control section 16 switches the power supply connection switching section 10 to select the first selected infrared light source 7.
Power is supplied from the power supply unit 11 to one infrared light source 7a next to a (in the X direction in the figure). Then, the switching control section 1
6 switches the addresses of the detector output switching unit 12 and the memory unit 15, respectively, as described above. The memory section 15 stores the detected data in the memory at the next address. In this way, the switching control section 16 electrically scans the irradiation light from the infrared light sources 7a, and when all the infrared light sources 7a are scanned and all detected data is stored in the memory section 15, , the image processing section 16 converts all detected data into standard video signals. The monitor 17 then displays the position and shape of the endoscope, as shown in FIG. Note that the X-axis and Y-axis shown in FIG.
..., indicates the coordinates corresponding to the infrared photodetectors 8a, 8a...,
The Z axis indicates the intensity of light detected by the infrared light detectors 8a, 8a, . . . , and the portions where the light is blocked by the endoscope 5 are displayed in a protruding state.

In this embodiment, since the scanning of the infrared light sources 7a, 7a, . . . and the infrared light detectors 8a, 8a, . Mirror position detection can also be quickly obtained.

FIG. 8 is a schematic configuration diagram of an endoscope position detecting device according to a second embodiment of this embodiment. This endoscope position detecting device 21 has light generating means and light detecting means, respectively, in place of the light source section 7 and the detecting section 8 having a plurality of light generating means and light detecting means in the first embodiment. It is provided with only one light source section XY stage 22 and a detection section XY stage 23. The infrared light source 7a, which is a light generation means, and the infrared light detector 8a, which is a light detection means, are two-dimensionally scanned while facing each other so that their optical axes coincide with each other. There is. Furthermore, in this example,
In place of the switching control section 16, an XY controller 24 is provided. The other configurations and operations are the same as those in the first embodiment, so the same reference numerals are given and explanations are omitted.

The XY controller 24 controls the light source section XY stage 22 and the detection section XY stage 23.
It drives and controls the memory section 13 and switches the address of the memory section 13. In addition, the light source section X-Y stage 2
2 is equipped with the infrared light source 7a which is pivotally attached to a shaft 25 movable in the Y direction so as to be movable in the X direction. Similarly,
The detection section XY stage 23 is equipped with the infrared light detector 8a which is pivotally attached to a shaft 26 movable in the Y direction so as to be movable in the X direction.

With this configuration, the XY controller 24 is
The light source section XY stage 22 is driven, and the infrared light source 7a mounted on the shaft 25 is scanned. At the same time, the X-Y control
The laser 24 scans the infrared light detector 8a, which is mounted on the shaft 26 of the detection section XY stage 23, to an opposing position. Then, the infrared light detector 8a outputs the detection signal to the memory section 15 via the A/D converter field 14 as detection data. The memory section 15 stores detection data input one after another by scanning in accordance with instructions from the XY controller 24. The monitor 17 receives the output signal from the image processing section 16 and displays the position and shape of the endoscope 5.

9 and 10 relate to a third embodiment of the present invention, in which FIG. 9 is a schematic overall configuration diagram of an endoscope position detector, and FIG. 10 is a specific diagram of the scanning section in the apparatus shown in FIG. FIG.

This embodiment differs from the first embodiment in that it includes one light generating means and a plurality of light detecting means. The infrared light source 7a as one light generating means emits irradiation light to one of the plurality of photodetectors 8a, 8a... as light detecting means while being rotated around one point and sequentially scanned. It looks like this. Further, in this embodiment, a scan control section 31 is provided in place of the switching control section 16. The other configurations and operations are the same as those in the first embodiment, so the same reference numerals are given and explanations are omitted.

As shown in FIG. 9, the endoscope position detection device 3
0 is a motor rotated and controlled by the scan control section 31.
32. The infrared light source 7a, which rotates about one point, is arranged facing a plurality of infrared light detectors 8a. The scan control section 31 includes a detector switching section 12
and address switching of the memory section 15.

FIG. 10 shows a specific example of the configuration of the means for controlling the irradiation light in the endoscope position detection device 30.

As shown in FIG. 10, the scanning light source section 33 is
A laser light source 34 as a light generating means that emits near-infrared laser light, and a first laser light source that reflects the laser light from the laser light source 34.
a rotating polygon mirror 35; a first motor 36 that rotates the first rotating polygon mirror 35; and a laser beam from the laser light source 34 reflected by the first rotating polygon mirror 35. Second to do
A rotating polygon mirror 37 and a second motor 38 for rotating the second rotating polygon mirror 37 are provided. The scanning control section 31 drives and controls the rotation of the first and second motors 35 and 38.

With this configuration, the laser light source 34 emits a laser beam, and the first and second motors 35 and 38, which are controlled by the scanning control section 31, Rotating polygon mirror 3
6 and 38 are rotated to irradiate one photodetector 8a with laser light. By controlling the rotation angles of the first and second rotating polygon mirrors 36 and 38, the laser beams are scanned one after another.
The memory section 15 stores detection data corresponding to all the infrared photodetectors 8a. The other configurations and effects are the same as those in the first embodiment, and their explanations will be omitted.

In this embodiment, scanning is performed from the rotation angle 2 of the rotating polygon mirrors 36 and 38, so that scanning can be performed with high resolution and accuracy. Therefore, even when trying to obtain high detection accuracy by increasing the number of infrared light detectors 8a, it can be effectively used.

For scanning with the laser light source 34, a known ultrasonic deflector may be used in addition to the rotating polygon mirror.

11 to 18 relate to a device for detecting the position of an endoscope by magnetic means, FIG. 11 is a schematic overall configuration diagram of the endoscope and the endoscope position detection device, and FIG. 12 is a diagram. Circuit diagram of the oscillation circuit in the device No. 11, FIGS. 13 and 1
4 is a waveform diagram for explaining the operation of the oscillation circuit in FIG. 12;
FIG. 15 is an explanatory diagram showing the operating principle of the endoscope position detection device,
FIG. 16 is an explanatory diagram showing a plurality of examples of detection coils, FIG. 17 is a waveform diagram showing resonance characteristics of an oscillation circuit, and FIG. 18 is an explanatory diagram showing a display example of an endoscope position detection device.

[0031] The endoscope position detection device of the present invention is as follows: Example 1
Unlike the third embodiment, the position of the endoscope is detected by detecting changes in the magnetic field generated by the magnetic field generating means.

The endoscope position detection device 40 shown in FIG.
A detection coil 41 as a magnetic field generating means that is located inside the bed 40a and movable in the X direction and Y direction in the figure, a scan control section 42 for moving and scanning the detection coil 41, and the detection An oscillation circuit 43 that also serves as an oscillation means for the coil 41 to generate an alternating magnetic field and a magnetic field change detection means for detecting changes in the alternating current magnetic field generated by the detection coil 41; an amplifier 44 that amplifies magnetic field changes; a computer section 45 that analyzes and processes signals output from the amplifier 44 and controls scanning of the detection coil 41 via a scan control section 42; The monitor 46 displays the position and shape of the endoscope 55 using standard video signals output by the endoscope 55. The insertion section 48a of the endoscope 48 is inserted into the subject 47 placed on the bed 40a, and the endoscope position detection device 40 displays the position and shape of the insertion section 48a. .

The detection coil 41 may be arranged above the subject 47 on the bed 40a for scanning, as shown in FIG. The dotted line in FIG. 11 indicates the connection between the detection coil 41 and the oscillation circuit 43 at that time.

FIG. 12 shows a specific circuit configuration of the oscillation circuit 43. The oscillation circuit 43 is a resonant high-frequency oscillation circuit, and includes a self-excited LC oscillation circuit that oscillates in combination with the detection coil 41 to generate an AC signal;
A smoothing circuit smoothes a signal that changes due to the resonance characteristics of the capacitor of this LC oscillation circuit and the detection coil 41, and a differential amplifier circuit that outputs a signal when the signal smoothed by the smoothing circuit is equal to or higher than a reference signal. It is equipped with The LC oscillation circuit includes a transistor Q1, a resistor R1 to a resistor R5.
, variable resistors VR1, VR2, resonance capacitor C
0 and capacitors C1 and C2, and is configured in combination with the detection coil 41. In addition, the smoothing circuit includes a diode D1 and a capacitor C3.
, and a resistor R6. Furthermore, the differential amplifier circuit divides the power supply +VCC to generate a reference voltage E0.
Resistors R7, R8, and resistor R9 to generate
~R13, and a differential amplifier IC1 connected to the power supply +VCC and the power supply -VDD. Note that the reference voltage E0 at the contact point of resistors R7 and R8
is set equal to the voltage at the contact point (point A in the figure) between the capacitor C2 and the diode D1 when there is no object to be detected such as the endoscope insertion portion 48. Also,
The detection coil 41 has a first coil L on top of the core material.
1 and the second coil L2, and the first coil L1
The turns ratio between L2 and second coil L2 is, for example, 3:1.
The ratio is . And the second coil L2 is
For the collector output of transistor Q1, this second
The coils L2 are wound so that their outputs are in the same phase. Therefore, positive feedback is applied to transistor Q1. Then, the oscillation frequency f0 of the oscillation circuit 43
is, f0 = 1/2π(L1 ・C0) 1/2
...Determined by (1).

Using FIG. 15, the endoscope position detection device 40
The detection principle will be explained below. When the endoscope insertion part 48a, which is the object to be detected and is made of metal, is brought close to the detection coil 41, the detection coil 41 receives the magnetic field lines, and the inside of the endoscope insertion part 48a is Eddy currents are generated due to electromagnetic induction. At this time, the endoscope insertion portion 48a (inside the metal body) can be equivalently represented by self-inductance Ln and resistance Rn, as shown in FIG. Here, the self-inductance of the detection coil 41 is Lk
Assuming that the internal resistance value is Rk, and the mutual inductance between the detection coil 41 and the endoscope entrance 48a is M, the impedance Z seen from the detection coil 41 side is:
Z=[Rn {ωM/(Rn +ωLn)}2 +j
ωLk + {ωM/(Rn +ωLn )}2 ], and the resistance of the detection coil 41 is {ωM/(Rn +ω
Ln )2 }3, and the Q (quality factor) of the circuit decreases. Further, as the endoscope device entrance portion 48a moves away, Q becomes higher. In this way, the oscillation circuit 43 can detect the presence (far or near) of the endoscope device entrance 48a by detecting the change in high frequency current or voltage accompanying the change in Q of the resonant LC oscillation circuit. As shown in FIG. 11, by scanning the detection coil 41 in the X and Y directions, the endoscope position detection device 40 obtains a detection output corresponding to each coordinate (x, y). If the value of the detection output is plotted on the Z axis, the position and shape of the endoscope insertion portion 48a can be obtained three-dimensionally.

The position detection operation of the oscillation circuit 43 shown in FIG. 12 will be explained. This circuit is self-excited, so the power supply is 0N.
A high-frequency alternating current flows through the detection coil 41, and the detection coil 41 generates an alternating magnetic field around it. In this state, if the endoscope insertion part 48a is not nearby, the Q of the circuit does not change, and as shown in FIG. 17, the maximum output is can get. Then, the feedback voltage E at point A in FIG. 12 becomes the maximum voltage value E1, as shown in FIG. As shown in FIG. 17, the Q of the circuit has the relationship Q=fao/B, where fa1 and fa2 are the frequencies at which the voltage (or current) value decreases by -3 dB from the voltage (or current) value at the resonance frequency fao. Here, B is the half-width, and is determined by B=fa2-fa1. Also,
FIG. 17 shows that when the frequency of the circuit is fbo, the Q of the circuit is
This shows an example of a state in which the characteristics are poor, the rise is slow around the resonance frequency, and the sensitivity of position detection is therefore poor.

On the other hand, the endoscope insertion section 48 is connected to the detection coil 41.
When a approaches, the magnetic field of the detection coil 41 is disturbed and the Q of the circuit is lowered by the change in impedance as described above. That is, the feedback current flowing through the second coil L2 decreases, and the feedback voltage E at point A in FIG. 12 decreases to a voltage value E2, as shown in FIG.

Therefore, when the endoscope insertion section 48a is not present near the detection coil 41, the smoothed feedback voltage E1 and the reference voltage E0 are equal, so the output of the differential amplifier IC1 is zero. becomes. In addition, the detection coil 4
1, the difference between the smoothed feedback voltage E2 and the reference voltage E0 is output to the amplifier 44. The computer section 45 is
Differential signal of voltage output from amplifier 44 (E1 - E2)
is used as a detection signal, analysis and image processing are performed, and the monitor 46
displays the position and shape of the endoscope insertion section 48a, as shown in FIG. 18, for example.

The structure of the detection coil 41 is shown in FIG.
As shown in (a), (b), and (c), a solenoid coil with an air core, a solenoid coil with a core material,
A basic example would be a coil formed on a substrate, but
Since the shape and material can be changed as appropriate, it is not limited to the illustrated example. .

FIG. 19 shows an oscillation and detection circuit having a configuration different from that of the oscillation circuit 43.

This oscillation and detection circuit 50 differs from the self-excited oscillation circuit 43 in that it has an external oscillator 51 and detects the position of the endoscope through series resonance. The oscillation and detection circuit 50 includes an oscillator 51 whose oscillation frequency is varied by a variable resistor VR3, an amplification circuit that amplifies the output of the oscillator 51, and an AC signal amplified by the amplification circuit to insert the endoscope. It is composed of a detection circuit that detects the presence of the section 48a as a change in voltage, a smoothing circuit that smoothes the detection signal output from the detection circuit, and a differential amplifier that outputs the smoothed detection signal as a differential signal. ing.

The amplifier circuit includes a coupling capacitor C4, a variable resistor VR4, and a resistor R15 to a resistor R.
It consists of 18. Further, the detection circuit includes a resonance capacitor C5 and a coil L3 of the detection coil 52.
It is composed of a series resonant circuit consisting of a resistor R19, and a resistor R19. Furthermore, the differential amplifier circuit includes resistors R21 and R for dividing the power supply +VCC to generate the reference voltage E02.
22, resistors R23 to R24, and a differential amplifier IC2 connected to the power supply +VCC and the power supply -VDD. The reference voltage E02 at the contact point of the resistors R22 and R23 is the reference voltage E02 at the contact point between the coil L3 and the diode D2 (point B in the figure) when there is no detected part such as the endoscope insertion part 48. ) is set equal to the voltage at Furthermore, the resonant frequency f02 of the detection circuit is f02=1/2
π(L3·C5)1/2...determined by (2). When the circuit is operated at this resonant frequency f02,
Series resonance occurs and current IR flows through resistor R19.
is maximum when the endoscope insertion portion 48a, which is the object to be detected, is not close to each other. When the endoscope insertion section 48a, which is the object to be detected, is nearby, the current IR2 decreases. This change results in a change in the voltage generated across the resistor R19, which is detected as the output of the differential amplifier IC2.

In this circuit 50, unlike the simple oscillation circuit of the oscillation circuit 43, a highly accurate oscillator 51 can be connected, so that the oscillation frequency can be stabilized. Other effects are similar to the oscillation circuit 43 in FIG. 12,
The explanation will be omitted.

Furthermore, the oscillation and detection circuit 53 shown in FIG.
differs from the series resonant circuit of the oscillation and detection circuit 50 in FIG. 19 to include a parallel resonant circuit as a detection circuit. The detection circuit of this oscillation and detection circuit 53 is a capacitor C6.
and the coil L3 of the detection coil 52 are connected in parallel, and a change in the current IR generated by parallel resonance is used as a change in the voltage of the resistor R19, and the endoscope insertion portion 48
This is to detect the position of point a. Other configurations and effects are similar to the oscillation and detection circuit 50 of FIG. 19,
The explanation will be omitted.

FIG. 21 shows the endoscope position detection device 4 of FIG.
0 shows a device with a different configuration. This endoscope position detection device 55 includes a plurality of detection coils 41 as magnetic field generation means and position detection means movable in the X direction in the figure.
It is equipped with 41... Others, endoscope position detection device 40
Components and functions similar to those shown in FIG.

As shown in FIG. 21, a plurality of detection coils 4
1, 41, . . . are respectively connected to an oscillation circuit 56 having the oscillation circuits 43, 43, . The input selector 57 whose switching is controlled by the computer section 45 outputs a detection signal corresponding to one switched detection coil 41 to the computer section 45 via the amplifier 44. . The input selector 57 includes, for example, a plurality of multiplexers (not shown) that switch and output the output of the oscillation circuit 56, and a logic circuit (not shown) that selects a multiplexer based on a switching control signal from the computer section 45. It is configured. Moreover, an analog switch may be used instead of a multiplexer. Further, an amplifier 44, an input selector 57
The interface between the scan control section 58 and the computer section 45 is provided through an A/D converter, a D/A converter, a general-purpose parallel interface GP-IB, etc. Now you can make it work.

The plurality of detection coils 41, 41... are shown in FIG.
They are arranged in the Y-axis direction position row shown in FIG. 21, and are fixed on a belt 57 arranged in the X-axis direction shown in FIG. The scanning control section 58 controls the movement of the detection coils 41, 41, . . . in the X-axis direction in FIG. 21 via a motor 59 for driving the belt 57.

With this configuration, the coordinate points in the X-axis direction in FIG.
The operation of the apparatus will be explained by assuming that the coordinate points of 1... are y1, y2,...y6.

At the first scanning position x1, the input selector 57 selects the coordinate points y1, y
The detection coils 41, 41, . . . located at 2, . The computer section 45 converts the detection signal from the amplifier 45 into an A/D converter.
The data is converted and sequentially stored in a predetermined memory while specifying the address. Next, the computer unit 45 gives an instruction to the scan control unit 58 to move the scan position to the coordinate point x2, and
2, repeat the same operation. Based on all the detected signals obtained, the computer section 45 analyzes and processes them, and sends them to the monitor 4.
6 displays the position and shape of the endoscope insertion section 48a.

In this endoscope position detection device 55, as shown in FIG.
Whereas the device 40 described above scans by moving one detection coil 41, the scanning time is shorter, so the detection speed of position detection can be increased. The other configurations and effects are the same as those of the endoscope position detection device 40 of FIG. 11, and the description thereof will be omitted.

FIG. 22 shows the endoscope position detection device 5 of FIG.
5 shows a device with a different configuration from that shown in FIG. This endoscope position detection device 60 has a plurality of detection coils 41, 41... arranged so as to cover the entire surface of the bed 40a. In addition, the endoscope position detection devices 40 and 55 in FIGS. 20 and 21
Components and functions similar to those shown in FIG.

[0052] The plurality of detection coils 41, 41...
L11, L12, L13,...Ln according to the X, Y coordinates
Attach the sign m. The input selector 60
The oscillation circuit 43 transmits a detection signal corresponding to the switched one detection coil Lnm in response to a switching signal from the sensor section 46.
It is designed to output to.

With this configuration, the computer section 46 connects the oscillation circuit 43 and the detection coil L11 via the input selector 60.
The oscillation circuit 43 transmits the detection signal to the amplifier 44.
The data is output to the computer section 45 via. Similarly, the detection coils L12, L13, .

In this endoscope position detection device 60, FIG.
Since the scanning time is even shorter than that of the device 55, the detection speed of position detection can be increased. Note that the input selector and the oscillation circuit may be interchanged and configured as in the device shown in FIG. 21. The other configurations and effects are the same as those of the endoscope position detection devices 40 and 60 shown in FIGS. 11 and 21, and their explanation will be omitted.

FIG. 23 shows the endoscope position detection device 6 of FIG.
0 shows a device with a different configuration. This endoscope position detection device 70 includes a plurality of detection coils L11, L12,
In place of L13,...Lnm, a subject bed 70 is provided in which grid lines x1, x2,...xn and grid lines y1, y2,...yn are arranged on a grid in the X-axis and Y-axis directions, respectively. There is. This endoscope position detection device 70 has grid lines x1, x2,...xn
, and the magnetic field around the grid lines y1, y2, . The measurement principle is basically the same as the device 40 of FIG.

As shown in FIG. 23, the X-direction detection section 72X of the endoscope position detection device 60 includes an oscillation circuit 73 that oscillates a high-frequency AC signal, and grid lines x1, x2, . . .
an input selector 71 that switches xn and applies an oscillation signal from the oscillation circuit 73; a signal detection section 74 that detects a change in the current or voltage of the oscillation circuit 73; and an amplifier 75 that amplifies the output signal of the signal detection section 74. It is equipped with Also,
The Y direction detection section 72Y has the same configuration as the X direction detection section 72X.

The computer section 76 detects the Y direction detection section 72.
The monitor 77 stores, analyzes and processes the detection signals of the Y and X direction detectors 72
The position and shape of a are displayed.

With this configuration, the computer section 76 switches the input selector 71 via a control line (not shown), and the input selector 71 selects the grid line x1. A magnetic field is generated around the grid line x1. At this time, when the endoscope insertion section 48a is nearby, the computer section 76 stores a detection signal with a smaller value than when the endoscope insertion section 48 is not present. One after another, grid lines x2,...xn, and then grid lines y1, y2
,...yn, the computer section 76 stores each detection signal.

For example, when the grid line x2 and the grid line y1 each have a detection signal of a small value, the computer section 76 determines that the endoscope insertion section 48a exists on the intersection point. Detect that. and,
The computer section 76 stores the detection signal in an internal memory, analyzes and processes it, and the monitor 77 displays the position and shape of the endoscope insertion section.

This endoscope position detecting device 70 does not have a mechanical scanning part, and the same structures and functions as those for increasing the detection speed 55 are given the same reference numerals and the explanation thereof will be omitted.

[0061] In addition, in the illustrated example,
Although the grid lines are arranged in the Y direction, they may be arranged in the X-Z direction or the Y-Z direction.

The present invention can detect not only the endoscope but also the position of a tubular insertion device such as a catheter, as long as the material absorbs or reflects the light output from the light generating means. - Not limited to scope.

[0063]

Effects of the Invention As described above, according to the present invention, the light generating means emits irradiation light, and after the irradiation light emitted by the light generating means is irradiated and transmitted to the subject into which the endoscope is inserted. The light detection means detects this transmitted light and detects the position of the endoscope inserted into the subject, making the endoscopy more efficient and reducing radiation exposure since it uses light. This has the effect that the endoscope position can be detected safely and hygienically without any worries.

[Brief explanation of the drawing]

FIG. 1 is a schematic configuration diagram showing the principle of an endoscope position detection device.

FIG. 2 is an explanatory diagram showing the operation of the apparatus shown in FIG. 1.

FIG. 3 is a schematic configuration diagram showing the arrangement of light generating means and light detecting means.

FIG. 4 is a perspective view of the light generating means and light detecting means of FIG. 3;

FIG. 5 is a schematic configuration diagram of the endoscope position detection device shown in FIG. 3;

FIG. 6 is an explanatory diagram showing the state of an endoscope inserted into a living body.

FIG. 7 is an explanatory diagram showing a display example of the endoscope position detection device.

FIG. 8 is a schematic configuration diagram of an endoscopic quality detector according to a second embodiment of the present embodiment.

FIG. 9 is a schematic overall configuration diagram of an endoscope position detector according to a third embodiment of the present invention.

FIG. 10 is a specific configuration diagram of a scanning section in the apparatus shown in FIG. 9;

FIG. 11 is a schematic overall configuration diagram of an endoscope and an endoscope position detection device.

FIG. 12 is a circuit diagram of an oscillation circuit in the device of FIG. 11;

FIG. 13 is a waveform diagram for explaining the operation of the oscillation circuit in FIG. 12;

FIG. 14 is a waveform diagram for explaining the operation of the oscillation circuit in FIG. 12;

FIG. 15 is an explanatory diagram showing the operating principle of the endoscope position detection device.

FIG. 16 is an explanatory diagram showing a plurality of examples of detection coils.

FIG. 17 is a waveform diagram showing resonance characteristics of an oscillation circuit.

FIG. 18 is an explanatory diagram showing a display example of the endoscope position detection device.

FIG. 19 is an oscillation and detection circuit diagram of a configuration different from that of the oscillation circuit 43.

FIG. 20 is a diagram of an oscillation and detection circuit using parallel resonance, which is different from the circuit of FIG. 19;

FIG. 21 is a configuration diagram of an endoscope position detection device having a configuration different from that of the device in FIG. 11;

FIG. 22 is a configuration diagram of an endoscope position detection device having a different configuration from the device in FIG. 21;

FIG. 23 is a configuration diagram of an endoscope position detection device having a different configuration from the device in FIG. 22;

[Explanation of symbols]

1...Endoscope position detection device 2...Light generation means 3...Light detection means 4...Subject 5...Endoscope

Claims (1)

[Claims] 1. At least one light generating means for emitting light to irradiate a subject into which an endoscope is inserted, and a light generating means disposed opposite to the light generating means, the light generating means directing the subject to the subject. An endoscope position comprising: at least one light detection means for detecting light that has been irradiated and transmitted through the subject; and detects the position of an endoscope inserted into the subject. Inside the detection device.