CN104321007B - Medical treatment device - Google Patents

Abstract

Medical treatment device possesses: storage part, the three-dimensional image information in the subject that its storage gets in advance；Image pickup part, in its shooting subject；Tube chamber internal organs extraction unit, it extracts the image information of the 3D shape specifying tube chamber internal organs in subject from three-dimensional image information；Characteristic information acquisition unit, it is according to the positional information of the image pickup part being inserted in regulation tube chamber internal organs, the characteristic information in the image information of the 3D shape obtaining the regulation tube chamber internal organs extracted；Associated images generating unit, the image that the image information of its 3D shape generating regulation tube chamber internal organs is associated with characteristic information；And display part, the characteristic information of the regulation tube chamber internal organs near its display image pickup part positional information in regulation tube chamber internal organs.

Description

Medical treatment device

Technical field

The present invention relates to a kind of medical treatment device shot in subject.

Background technology

Endoscope is provided with the medical treatment device of image unit as in being inserted into subject and leading section, is widely used in doctor Treatment field and other field.

It addition, also proposed the medical treatment device that a kind of and CT device etc. information is combined, endoscope to be inserted into Carry out in the tube chamber internal organs of subject checking or successfully can carrying out utilizing treatment apparatus to carry out according to inspection result Disposal etc..

Such as possess as the operation auxiliary device disclosed in the Japanese Unexamined Patent Publication 2007-7041 publication of the first past case: Three-dimensional position detection device, it detects the position of endoscope successively；Image making unit, it makes the image being superimposed on endoscope Operation assistant images；And coordinate integral unit, its coordinate that three-dimensional position detects device and image making unit are had Some image coordinate are integrated.

The three-dimensional volumetric images data of the subject that the use of image making unit is photographed by MRI etc. make in being superimposed on The operation assistant images of the image of sight glass.Due to coordinate integral unit, even if the position of endoscope, towards changing, also can Enough when keeping position corresponding thereto in real time Overlapping display and endoscope towards consistent operation assistant images.

Assist it addition, disclose a kind of insertion in as the Japanese Unexamined Patent Publication 2005-131042 publication of the second past case Device, this insertion auxiliary device generates the virtual endoscopic images at bronchial multiple branch points, and auxiliary is inserted into bronchus Interior endoscope.

But, above-mentioned first past case does not consider the three-dimensional position detection dress in the position detecting endoscope successively The coordinate of the coordinate of the coordinate put and operation assistant images creates reply means during (position skew etc.) skew in integrating Or countermeasure.When two coordinates produce position skew, the image of endoscope and auxiliary surgical supplementary information is caused to offset by partially Shifting amount, auxiliary of performing the operation smoothly therefore cannot be carried out before producing skew.

It addition, in the second past case and undisclosed following structure: make to be inserted in the bronchus as tube chamber internal organs The positional information of image unit that carried of forward end section of endoscope and the bronchial three-dimensional position letter that obtained by CT device Breath coupling (matching).

Therefore, in order to be more effectively carried out inserting auxiliary and expecting following structure: at forward end section of endoscope or take the photograph Create between the positional information of the tube chamber internal organs inserted as positional information and the image unit of unit and be allowed to more than degree Skew in the case of, it is possible to the persons of being operated etc. are prone to reply and eliminate the presenting of information offseting this situation.

The present invention completes in view of above-mentioned point, it is therefore intended that provides one to present and is prone to peep in being equipped on Create what the situation of skew carried out tackling between the information of the tube chamber internal organs that the image unit of mirror etc. and image unit are inserted The medical treatment device of information.

Summary of the invention

The medical treatment device of one mode of the present invention possesses: storage part, consists of the subject that storage gets in advance Interior three-dimensional image information；Image pickup part, consists of in the above-mentioned subject of shooting；Tube chamber internal organs extraction unit, consists of from upper State the image information of the 3D shape of the regulation tube chamber internal organs extracted in three-dimensional image information in above-mentioned subject；Characteristic information obtains Take portion, consist of according to the positional information of above-mentioned image unit being inserted in above-mentioned regulation tube chamber internal organs, obtain by Characteristic information in the image information of the 3D shape of the above-mentioned regulation tube chamber internal organs that above-mentioned tube chamber internal organs extraction unit extracts；Close Connection image production part, consists of and generates the image of features described above information association to the 3D shape of above-mentioned regulation tube chamber internal organs The image of information；And display part, the positional information consisting of the above-mentioned image pickup part shown in above-mentioned regulation tube chamber internal organs is attached The characteristic information of near above-mentioned regulation tube chamber internal organs.

Accompanying drawing explanation

Fig. 1 is the integrally-built figure of the medical treatment device of the first embodiment representing the present invention.

Fig. 2 A is the block diagram of the structure representing characteristic information acquisition unit.

Fig. 2 B is the figure representing the bronchus virtual image etc. showing bronchial 3D shape.

Fig. 3 is the figure representing the details around a branch in Fig. 2.

Fig. 4 is to represent the place inserting auxiliary carried out by medical treatment device time in the insertion section insertion bronchus of endoscope The flow chart of reason content.

Fig. 5 is explanatory diagram when being associated of the same position in two coordinate systems.

Fig. 6 is the shooting dress judging to have carried out position measurement when bronchus has been inserted into the insertion section of endoscope and obtaining The most whether the position put is in the explanatory diagram of intraluminal situation.

Fig. 7 is for new settings reference position in restarting picture the explanatory diagram of correction position related information.

Fig. 8 is the flow chart representing the process determining reference position correction position related information.

Fig. 9 is the situation representing line position association of going forward side by side at intrabronchial assigned position setting forward end section of endoscope Explanatory diagram.

Figure 10 is the integrally-built figure of the medical treatment device representing second embodiment of the present invention.

Figure 11 is to represent the medical treatment device institute when insertion section of endoscope being inserted in bronchus in the second embodiment The flow chart of the process content inserting auxiliary carried out.

Figure 12 is the explanatory diagram for the situation being set in bronchial each regioselectivity ground setting measurement information.

Figure 13 is the explanatory diagram of the current location etc. of the camera head in the 7th variation representing the second embodiment.

Figure 14 is everybody of the camera head during action representing and proceeding acquisition metrical information from the state of Figure 13 The figure put etc..

Figure 15 is to show camera head on CT layer image image in the 9th variation representing the second embodiment The figure of the display example of associated images during position.

Figure 16 is to represent when position at camera head is present on sectility face in fig .15 and be not present on sectility face Time carry out the figure of the display example of situation that shows in different shapes.

Figure 17 is to show camera head on CT layer image image in the 9th variation representing the second embodiment The figure of the display example of the associated images of position and also display virtual endoscopic images.

Detailed description of the invention

Hereinafter, with reference to the accompanying drawings of embodiments of the present invention.

(the first embodiment)

As it is shown in figure 1, the medical treatment device 1 of first embodiment of the present invention is mainly by endoscope apparatus 4 and insertion auxiliary Device 5 is constituted, and this endoscope apparatus 4 possesses endoscope 3, this endoscope 3 be inserted into become check object as subject Patient the bronchus 2 as regulation tube chamber internal organs (with reference to Fig. 2, Fig. 7, one part is represented by dashed line in fig. 2) in, should Insert auxiliary device 5 to be used together with this endoscope apparatus 4, for carrying out the insertion auxiliary of endoscope.

Endoscope apparatus 4 has: endoscope 3；Light supply apparatus 6, it provides illumination light to this endoscope 3；At signal The photographing unit of reason device controls parts (referred to as CCU) 8, its imaging apparatus 7 to constituting the image unit being equipped on endoscope 3 Signal carry out signal processing；And monitor 9, it shows the endoscopic images generated by CCU8.

Endoscope 3 has: elongated insertion section 11, it has flexibility；And operating portion 12, it is located at this insertion section 11 Rear end, be provided with illuminating window and observation window in the leading section 13 of insertion section 11.For propagate the light guide therefor 14 of illumination light through In insertion section 11, operating portion 12, the incidence end of this light guide therefor 14 is connected with light supply apparatus, not shown by light supply apparatus 6 Illuminator or LED produce illumination light incide incidence end.The illumination light propagated by this light guide therefor 14 is from being installed in photograph The exit end (front end face) of bright window forwards penetrates.

It addition, be provided with object lens 15 in observation window, it is configured with the imaging apparatuss such as CCD 7 at its image space, uses object lens 15 form the camera head 16 as image unit with imaging apparatus 7, the conduct that insertion section 11 is inserted by this camera head 16 Shoot in the bronchus 2 of regulation tube chamber internal organs.

Imaging apparatus 7 is connected with CCU 8 via the holding wire run through in insertion section 11, operating portion 12.CCU 8 uses it Internal not shown image signal generating circuit generates corresponding with the optical image of imaging in the imaging surface of imaging apparatus 7 The picture signal of photographed images, exports monitor 9 by this picture signal.Monitor 9 is by the image (motion diagram of picture signal Picture) show as endoscopic images (also known as photographed images).

It addition, in leading section 13, near imaging apparatus 7, position is provided with position sensor 17.It addition, becoming Measurement processing device or measurement processing portion 18, this measured place it is provided with at the assigned position of the outside of endoscope 3 and subject The three-dimensional position (being also referred to as position) that reason device or measurement processing portion 18 are carried out this position sensor 17 measures (inspection Survey) process.

The position of position sensor 17 is measured by measurement processing portion 18, but this position can with leading section 13 or The position approximation of camera head 16 (imaging apparatus 7).

This measurement processing portion 18 has the position using position sensor 17 to generate camera head 16 location information The function of information generation unit 18b, this camera head 16 composition is inserted into the shooting in the bronchus 2 as regulation tube chamber internal organs Unit.

As method for detecting position, it is possible to utilize the method employing magnetic.Such as, by the position sensing using coil to constitute Device 17 detects the AC magnetic field sent from the antenna 18a being connected with measurement processing portion 18, by (possessing amplitude detecting circuit and phase Position testing circuit) amplitude of the measurement processing portion 18 signal to being detected by position sensor 17 and phase place detect, by This measures from antenna 18a distance to position sensor 17.Measurement processing portion 18 is by multiple skies of more than three Line 18a is arranged at different known location, thereby determines that the three-dimensional position of position sensor 17.

In addition it is also possible to be set to following structure: the coil constituting position sensor 17 is applied AC signal so that it is around Produce AC magnetic field, detect AC magnetic field in antenna 18a side thus detect the position of position sensor 17.Illustrate as an example Employ the magnetic position detection apparatus of coil, but the structure in position sensor 17 and measurement processing portion 18 is not limited to The situation of described above.For example, it is also possible to the length direction along insertion section 11 is configured to carry out position inspection at predetermined intervals The multiple coils surveyed, estimate the shape of insertion section 11 according to the position of multiple coils such that it is able to detection leading section 13 grade Position.

Additionally, in the insertion section 11 of endoscope 3, be provided with in the rear end of leading section 13 and bend bending section 19 freely, hands Art operator carries out making to be arranged at the operation that the bending operation knob 25c of operating portion 12 carries out rotating, and thus enables that bending section 19 vertically and horizontally any direction be curved.

Above-mentioned insertion auxiliary device 5 has: CT view data take-in portion 21, it is for the patient checked by endoscope 3, warp The conduct three of the patient generated by known CT device it is taken into by portable storage mediums such as DVD, Blu-ray disc, flash memories The CT view data of dimension image information；And CT image data storing section 22, its storage is taken by this CT view data take-in portion 21 The CT view data entered.

Additionally, what CT image data storing section 22 can also be generated by CT device via the storage such as communication line, the Internet (as the patient of subject) CT view data.This CT image data storing section 22 is by hard disk unit, flash memory, DVD Deng composition.

It addition, CT image data storing section 22 has related information storage part 22a, this related information storage part 22a is by CT View data and the three-dimensional location data that employ first coordinate system corresponding with this CT view data are stored as both associations Related information.

It addition, insert auxiliary device 5 there is the bronchus extracting circuit as tube chamber internal organs extraction unit or tube chamber internal organs Extraction unit 23, this bronchus extraction unit 23 is extracted as regulation tube chamber dirty from the CT view data of CT image data storing section 22 The 3 d image data of the bronchus 2 of device.

This bronchus extraction unit 23 is according to 3 d image data (the more specifically three-D volumes of the bronchus 2 extracted Data) generate the image information (view data) of 3D shape of the hollow shape representing bronchus 2.It is to say, bronchus Extraction unit 23 has bronchus virtual image generating unit 23a, and this bronchus virtual image generating unit 23a possesses bronchus virtual graph As generative circuit, this bronchus virtual image generative circuit generates work according to the 3 d image data of the bronchus 2 extracted The bronchus shape virtual image of virtual image of bronchus shape for the 3D shape of hollow.

It addition, this bronchus extraction unit 23 is when extracting the view data of 3D shape of bronchus 2, and corresponding to three-dimensional Three-dimensional location data in first coordinate system of view data is extracted explicitly.And, this bronchus extraction unit 23 have by The related information storage part 23b that memorizer etc. are constituted, this related information storage part 23b storage makes the 3D shape of bronchus 2 The related information that view data (i.e. bronchus shape virtual image data) is associated with three-dimensional location data.

It addition, insert auxiliary device 5 have VBS image processing part 24, this VBS image processing part 24 is according to camera head 16 Location information is carried out for generating virtual endoscopic images (title when be have taken in bronchus 2 by camera head 16 For VBS image) image procossing.

This VBS image processing part 24 possesses: VBS image production part 24a, and it generates VBS image；And the storage of VBS image Portion 24b, it stores the VBS image generated.In addition it is also possible to VBS image storage part 24b is arranged at VBS image processing part The outside of 24.

It addition, insert auxiliary device 5 there is the image processing part 25 being made up of image processing circuit, this image processing part 25 Possessing: characteristic information acquisition unit 25a, it carries out the image procossing for obtaining characteristic information, to obtain by bronchus extraction unit Characteristic information in the image information of the 3D shape of 23 bronchus 2 as regulation tube chamber internal organs extracted；And association Image production part 25b, its generation is as the spy of the image of the image information of the 3D shape that characteristic information is associated with bronchus 2 Reference breath associated images.

As shown in Figure 2 A, characteristic information acquisition unit 25a has: two-dimensional image information acquisition unit 33a, and it obtains and bronchus The two-dimensional image information that branch in 2 is relevant；And metrical information acquisition unit 33b, it mainly obtains and the branch in bronchus 2 Relevant metrical information.

Two-dimensional image information acquisition unit 33a obtains the two-dimensional image information relevant with the branch in bronchus 2, thus at root According to the information got using generate the component that branches out in bronchus 2 as the VBS image of virtual endoscopic images time Use.Additionally, VBS image production part 24 generates the VBS image of the part comprising component and non-branch.Accordingly it is also possible to Two-dimensional image information acquisition unit 33a is arranged in VBS image processing part 24.

It addition, in FIG, use different parts to represent image processing part 25 and VBS image processing part 24, but, example As the VBS image production part 24a that image processing part 25 comprises in VBS image processing part 24 can also be configured to.

Metrical information acquisition unit 33b has position/bronchial diameter/distance measurement information acquisition unit, this position/bronchus Diameter/distance measurement information acquisition unit more specifically, obtain (position of the camera head 16 in the second coordinate system and with this position Put in the first coordinate system of correspondence) position, bronchial diameter, the measurement letter of distance to the assigned position of bronchus 2 Breath, is used as the metrical information relevant with the branch in bronchus 2.

Additionally, be not limited to metrical information acquisition unit 33b to obtain position, bronchial diameter, distance these three measurement letter The situation of breath, it is also possible to be set to obtain two of which or the structure of at least one.It addition, be not limited to characteristic information Acquisition unit 25a has two-dimensional image information acquisition unit 33a and the situation of metrical information acquisition unit 33b, it is also possible to be only set to There is the structure of one of them.It addition, be not limited to metrical information acquisition unit 33b is arranged at the spy in image processing part 25 Levy the situation in information acquiring section 25a, it is also possible to be arranged in the outside of image processing part 25, such as measurement processing portion 18, or Person is set to the parts different from image processing part 25 and measurement processing portion 18.

About features described above information, it is utilized as the information inserting auxiliary, and is formed for ease of reply on rule Situation that location estimation under fixed condition is failed and the information that presents.

It addition, this image processing part 25 has image synthesis process portion 25c, this image synthesis process portion 25c carries out propping up Virtual endoscopic images (VBS image) within trachea shape virtual image, bronchus 2 and in being obtained by imaging apparatus 7 Sight glass image (photographed images) etc. carries out the image procossing synthesized.The composograph that synthesis is obtained by image synthesis process portion 25c (picture signal) output, to the monitor 26 as display unit, shows composograph in monitor 26.

Fig. 2 B illustrates the bronchus shape virtual image 2a generated by bronchus virtual image generating unit 23a.Additionally, should The view data of bronchus shape virtual image 2a stores related information explicitly with the most corresponding three dimensional local information Storage part 23b.

In fig. 1 it is illustrated that characteristic information acquisition unit 25a is located at the situation in image processing part 25, but can also be by spy Levy information acquiring section 25a and be arranged at VBS image processing part 24 inside outside image processing part 25 or bronchus extraction unit 23 Internal, other position.In this case, characteristic information acquisition unit 25a the characteristic information got is imported into image procossing The image production part 25b in portion 25.

The picture signal of the situation comprising the composograph generated by this image processing part 25 is output to show as image Show the monitor 26 of unit, monitor 26 shows the image of this picture signal.

Have it addition, insert auxiliary device 5: control portion 27, its image procossing etc. being carried out image processing part 25 enters Row controls, and is made up of CPU etc.；And storage part 28, its storage position related information etc., this position related information is by display The seat in the image of monitor 26, the generation of CT view data, also used in the generation of bronchus shape virtual image 2a The position of mark system (the first coordinate system) and the measurement to the position of camera head 16 at position sensor 17 and measurement processing portion 18 The position of the coordinate system (the second coordinate system) of middle use is associated and obtains.

Control portion 27 has the image display control unit 27a's of the display control carrying out the image of display in monitor 26 Function.

It addition, this control portion 27 has (near positional information) characteristic information display control unit 27b, (positional information is attached for this Closely) characteristic information display control unit 27b is controlled, using by the camera head 16 in the bronchus 2 as regulation tube chamber internal organs Positional information near the characteristic information of above-mentioned bronchus 2 show as in the monitor 26 of display unit.And, monitor Device 26 shows the characteristic information of the above-mentioned bronchus 2 near this positional information.

It addition, in the present embodiment, in order to auxiliary (operator) successfully carries out being inserted into bronchus 2 The insertion operation of endoscope 3, and in the first coordinate system that the view data of the 3D shape being used for bronchus 2 is managed The camera head 16 of position (positional information) and the leading section 13 of the insertion section 11 of the endoscope 3 being inserted in bronchus 2 The second coordinate system in position (positional information) carry out position association or position alignment (Registration).

Control portion 27 has the merit that the position in two coordinate systems associates the position association control portion 27c being controlled Energy.

This position related information having carried out position association and having obtained such as is stored in the position association letter of storage part 28 Breath storage part 28a.

It addition, control portion 27 has the function of judging part 27d, after having carried out position association, this judging part 27d judges Whether the positional information in two coordinate systems is successfully made location estimation within rated condition.

Having it addition, insert auxiliary device 5: MPR image production part 29, it is according to depositing in CT image data storing section 22 The CT view data of storage generates multi-section reconstruct image (referred to as MPR image)；And route configuration part 30, its generate have by MPR image production part 29 generate MPR image as supplementary route (referred to as route) or the road of the setting screen in path Line setting screen (or path setting picture), sets endoscope 3 and enters the route of bronchus 2.

It addition, medical treatment device 1 has input equipment 31, this input equipment 31 is inputted set information by route configuration part 30 Keyboard and instruction equipment etc. constitute.It addition, image processing part 25 can be inputted by operator from this input equipment 31 Parameter when carrying out image procossing, data, or select for control portion 27, indicate control action.

It addition, in the case of operator sets route, route configuration part 30 is by set route (path) Information be sent to VBS image processing part 24, MPR image production part 29, control portion 27.VBS image processing part 24 and MPR image Generating unit 29 generates the VBS image along route, MPR image respectively, and the action in each portion is controlled by control portion 27 along route System.

Features described above information acquiring section 25a, according to the positional information of the camera head 16 being inserted in bronchus 2, obtains The branch with bronchus 2 in the view data of the 3D shape of the bronchus 2 extracted by bronchus extraction unit 23 is relevant Two-dimensional image information or the position corresponding with the camera head 16 position in bronchus 2, bronchial diameter, to bronchus 2 Assigned position till the metrical information such as distance, be used as the characteristic information relevant with above-mentioned bronchus 2.

Such as, as shown in Figure 2 B the bronchus shape that (shows the shape of bronchus 2 virtually according to CT view data) The hollow tube chamber existence of the 3D shape in virtual image 2a is branched off into multiple branches.Illustrate in fig. 2b and along by road The branch B1-B5 that the route that line configuration part 30 the sets situation from the insertion section 11 of front insertion endoscope 3 is corresponding.This Outward, show branch B1-B5 in fig. 2b, but be not limited to the situation of branch B1-B5, it is possible to be applied to B1-Bn (n is the natural number of more than 2).

In the present embodiment, in order to successfully carry out inserting auxiliary, characteristic information acquisition unit 25a utilizes bronchus 2 The view data of 3D shape, each branch Bi (i=1,2 ..., n) near position, with virtual configuration endoscope 3 Camera head 16 and the two-dimentional VBS image that shoots the situation of branch Bi corresponding be two-dimensional image information, from (at VBS image Reason portion 24) VBS image storage part 24b obtains VBS image.

And, associated images generating unit 25b generates associated images J, and this associated images J is will to obtain as by characteristic information The two-dimensional image information that portion 25a gets, the shooting VBS image Ii that obtains of branch be associated with the three-dimensional as bronchus 2 The image of the bronchus shape virtual image 2a of the image information of shape.And, show as shown in monitor 26 such as Fig. 2 B This associated images J.

State after each branch Bi is associated with the VBS image Ii that shooting branch Bi obtains is shown in fig. 2b.This Outward, the centrage of the tube chamber of bronchus 2 (bronchus shape virtual image 2a) is represented in fig. 2b by reference number C.

Fig. 3 illustrates in greater detail a branch Bi vicinity and is associated with the VBS image Ii that shooting this branch Bi obtains After content.

Fig. 3 illustrates the branch Bi periphery forming branch Bi, and this branch Bi is (in bronchus 2) tube chamber Shape branches into two lumen shape from branch boundaries position PBi and obtains.

It addition, Fig. 3 is shown on (bronchus 2 or) bronchus shape virtual image 2a configuration shooting dress at the Pi of position Put 16 state of (or leading section 13 or position sensor 17), this position Pi and the branch boundaries position as assigned position PBi predetermined distance ai only apart, and on the centrage C of tube chamber.Additionally, about determining only at a distance of predetermined distance ai and at pipe The explanation of the position Pi on the centrage C on chamber road, describes the most in the figure 7.

And, associated images generating unit 25b is to have the situation by shooting branch Bi side with this camera head 16 of use The mode of associated images Ji that corresponding VBS image Ii is associated with the branch Bi of this bronchus 2 generates associated images J.

It addition, in the present embodiment, characteristic information acquisition unit 25a is from the image information of the 3D shape of bronchus 2 Bronchial diameter Di of the internal diameter as bronchus 2 of each position Pi in acquisition Fig. 3 etc., is used as metrical information.And, Display control unit 27a is controlled showing bronchial diameter Di in monitor 26.It addition, such as storage part 28 storage gas The metrical information of pipe diameter Di.Additionally, be not limited to from the image information of the 3D shape of bronchus 2 obtain bronchial diameter The situation of Di, it is also possible to utilize measurement in space described later to obtain the metrical information of bronchial diameter Di.

The judging part 27d in control portion 27 uses the positional information of the 3D shape of bronchus 2 and deposits in storage part 28 The metrical information such as bronchial diameter Di of storage, it is judged that carried out position measurement by measurement processing portion 18 and obtain be inserted into a gas The regulation whether positional information of the camera head 16 in pipe 2 can be allowed when being actually inserted in bronchus 2 Estimate within condition.

Control portion 27 is controlled action so that can continue in the case of estimating within rated condition being judged as Carry out inserting the action of auxiliary, be judged as within rated condition producing the feelings of position skew (in other words location estimation failure) The information of the branch of bronchus 2 near failed position is calculated under condition.

It addition, control portion 27 controls the bronchus shape comprising branch that image processing part 25 makes to calculate Virtual image 2a synthesizes with the VBS image assisted for carrying out insertion, and is controlled such that in monitor 26 display As when restarting display picture restart picture.

When restarting, position (that is, shooting dress during location estimation failure of the camera head 16 that control portion 27 will restart Put the position of 16) display is on bronchus shape virtual image 2a, and show the VBS image near this position, present and be prone to The image that the position related information of storage in storage part 28 is corrected.

Additionally, shown VBS image be meet at least one condition in following condition of employing conditional point Branch.

(I) calculate bronchial diameter according to endoscopic images, this bronchial diameter with calculate from CT image in advance Branch location at the VBS image of the branch that difference is below threshold value of bronchial diameter.

(II) for being in and the VBS image of location estimation finally successful position branch in fixed range.

(III) for the VBS image being in the position failed with location estimation branch in fixed range.

(IV) position of record in inherent storage part 28 of fixing period is lighted over for the time failed from location estimation The VBS image of neighbouring branch.

(V) branch on route.

And, it is also possible to calculate from endoscope distal end distance to branch according to endoscopic images, on meeting The branch stating condition generates the VBS image at a distance of same distance.

Distance under the conditions of these may refer to the air line distance between 2, it is also possible to refers on the centrage of tube chamber Distance.

The medical treatment device 1 of this structure is characterised by possessing: CT image data storing section 22, and it constitutes memory element, Three-dimensional image information in the subject that storage gets in advance；Camera head 16, it constitutes image unit, shoots above-mentioned tested Internal；Bronchus extraction unit 23, it constitutes tube chamber internal organs extraction unit, extracts as above-mentioned quilt from above-mentioned three-dimensional image information The image information of the 3D shape of the bronchus 2 of the regulation tube chamber internal organs in a corpse or other object for laboratory examination and chemical testing；Characteristic information acquisition unit 25a, it constitutes spy Levy information acquisition unit, according to the positional information of the above-mentioned image unit being inserted in above-mentioned regulation tube chamber internal organs obtain by Characteristic information in the image information of the 3D shape of the above-mentioned regulation tube chamber internal organs that above-mentioned tube chamber internal organs extraction unit extracts； Associated images generating unit 25b, it constitutes associated images signal generating unit, generates features described above information association to above-mentioned regulation tube chamber The image of the image information of the 3D shape of internal organs；And monitor 26, it constitutes display unit, shows that above-mentioned regulation tube chamber is dirty The characteristic information of the above-mentioned regulation tube chamber internal organs near the positional information of the above-mentioned image unit in device.

Then, the action of present embodiment is described with reference to Fig. 4.Fig. 4 illustrates and the insertion section 11 of endoscope 3 is inserted bronchus The main process in each portion of medical treatment device 1 time in 2.

In the case of the insertion section 11 being inserted into endoscope 3 to bronchus 2, as shown in step S1, the control of medical treatment device 1 Portion 27 processed carries out following process: the position carrying out in two coordinate systems associates (position alignment).

Control portion 27 (position association control portion 27d) carry out in the first coordinate system and the second coordinate system three with On multiple positions be associated position association (position alignment) process, wherein, this first coordinate system extract CT image Data and use when the view data of the 3D shape of this CT image data extraction bronchus 2, this second coordinate system is being measured Use when the position sensor 17 of leading section 13 is measured by process portion 18.

Fig. 5 illustrates the explanatory diagram of the action that position associates.Operator such as bronchus 2 entrance such as Set the leading section 13 (or position sensor 17) of endoscope 3 at four some Q0-Q3 successively, carry out the from input equipment 31 One coordinate system O-XYZ and the second coordinate system o-xyz carry out instruction or the instruction input of position association respectively.Therefore, input Device 31 forms instruction input unit or the instruction input block of the instruction carrying out position association.

Such as, initial point O's leading section 13 (or position sensor 17) being set in the first coordinate system O-XYZ successively Position Q3 on position Q1 (1,0,0) in position Q0 (0,0,0), X-coordinate, the position Q2 (0,1,0) on Y coordinate, Z coordinate (0,0,1), operator carries out the instruction of position association.In this instruction, when will be by measurement processing portion 18 in position When the position measured successively is set to (x0, y0, z0), (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), control portion 27 is entered Row controls, to carry out position association and position related information is stored storage part 28.

Storage part 28 store position related information in the case of this (specifically, Q0 in the first coordinate system O-XYZ (0, 0,0), Q1 (1,0,0), Q2 (0,1,0), Q3 (0,0,1) be (x0, y0, z0) in the second coordinate system o-xyz, (x1, y1, z1), The information that (x2, y2, z2), (x3, y3, z3) are the most corresponding).

It addition, control portion 27 uses the position related information of storage in storage part 28 to determine for by two coordinate systems The information converting that is associated of optional position.This information converting is stored storage part 28 by control portion 27.

In Figure 5, by coordinate position Q0 (0,0,0), Q1 (1,0,0), Q2 (0,1,0), Q3 (0,0,1) and each self-corresponding Coordinate position (x0, y0, z0), (x1, y1, z1), (x2, y2, z2), (x3, y3, z3) simplify, thus use Represent.In addition it is also possible to be not at four shown in Fig. 5 point, but carry out at three points eliminating one of them point (decision) position associates.

After the process of the association of position like this terminates, the insertion section 11 of endoscope 2 is inserted into and props up by operator In trachea 2, proceed by splanchnoscopy.

Operator in order to make monitor 26 show bronchus 2 3D shape bronchus shape virtual image 2a and From input equipment 31 input instruction, make monitor 26 show the bronchus virtual image of 3D shape of bronchus 2, also carry out by The setting etc. of the route (path) in bronchus 2 is inserted in the insertion section 11 of endoscope 3.

When the insertion section 11 of endoscope 3 is inserted in bronchus 2 by operator from its side, leading section 13, such as Fig. 4 Shown in step S2, the camera head 16 of leading section 13 shoots in bronchus 2, photographed images is shown at monitor 9, and at prison Visual organ 26 displays that photographed images.

It addition, as shown in step S3, measurement processing portion 18 carries out position sensor 17 or leading section 13 (or shooting dress Put 16) position measurement, the position data obtained after position measurement is exported control portion 27.

As shown in step s 4, control portion 27 judges that the position data of the second coordinate system from measurement processing portion 18 input is relative The location estimation whether success of rated condition of position data in the first coordinate system of the 3D shape representing bronchus 2.

As a determining method of the location estimation of rated condition, use following methods: such as shown in Fig. 6, by measured place The gas whether the measurement position Pmi in the second coordinate system that reason portion 18 such as ith measurement goes out is present in the first coordinate system The inner side of the lumen shape of pipe 2.

It is calculated as in the first coordinate system in (i-1) as shown in Figure 6 individual measurement position Pm (i-1) measured It is present in becoming inside tube chamber in (as the virtual image of 3D shape of bronchus 2) bronchus shape virtual image 2a Region in the case of, it is judged that portion 27d be judged as rated condition location estimation success.Additionally, in figure 6, oblique line table is used Show the outside of lumen shape.

In the case of judging part 27d like this is judged as that the location estimation of rated condition is successfully, in next step S5, Control portion 27 is controlled, with by measurement position Pm (i-1) under successful for the location estimation of rated condition state, filled by shooting Temporal information when putting the information of the posture of 16 photographed images obtained, leading section 13, measurement stores storage part 28.

So, storage part 28 has position and image storage part 28b, this position and image storage part 28b in temporal sequence Storage be inserted in bronchus 2 the positional information of camera head 16, the photographed images photographed by camera head 16 and The information of the posture of leading section 13.Additionally, be not limited to the successful situation of location estimation, unsuccessful and failed in location estimation In the case of, storage part 28 can also store above-mentioned information in temporal sequence.

After the process of step S5, return to the process of step S2, the process of step S2-S5 is repeated.

On the other hand, the measurement position Pmi that ith measurement goes out as shown in Figure 6 is calculated in the first coordinate system For becoming in the case of in the region represented with oblique line outside tube chamber, it is judged that portion 27d is judged as the location estimation of rated condition The most failed.

In this case, transferring to the process of step S6 of Fig. 4, in this step S6, control portion 27 is controlled such that Measurement processing portion 18 measures.Then, in the step s 7, measurement processing portion 18 is in advance according to the three-dimensional of bronchus extraction unit 23 The view data of shape obtains the branch around above-mentioned measurement position Pmi, obtains bronchus from characteristic information acquisition unit 25a straight Footpath.Further, the bronchus using the endoscopic images measuring position Pmi and Pmi-1 to be obtained at branch by measurement in space is straight Footpath Ri, calculate the difference with the bronchial diameter got from characteristic information acquisition unit 25a in branch around be threshold value with Under branch.

Additionally, as it has been described above, be not limited to the situation of a branch Bi, control portion 27 can also calculate multiple branch Portion is to expand the option for operator.

It addition, in step s 8, control portion 27 generates the virtual endoscopic images near above-mentioned branch Bi, i.e. VBS figure Picture.Then, in next step S9, control portion 27 is controlled, so that associated images generating unit 25b of image processing part 25 is raw Become associated images and be shown as restarting picture in monitor 26.Restart the image in picture as this, such as, show Fig. 3 institute Show such associated images Ji.

Owing to operator being presented associated images Ji by the display of monitor 26, therefore as shown in step S10 that Sample uses associated images Ji, carries out the correspondence of the failed situation of location estimation, the correction process of such as position association.In step The process of step S2 is returned to after the process of S10.In addition it is also possible to show multiple branch and VBS as shown in Figure 2 B Image.Alternatively, it is also possible to the quantity of branch, VBS when making operator can optionally be set for display scheme The quantity of picture.

Then, the process action being corrected associated images Ji or the position related information of restarting in picture is described.

In the case of measurement position Pmi is outside tube chamber in figure 6, control portion 27 is controlled calculating this measurement position Put the branch Bi near Pmi, and be controlled in monitor 26, show associated images Ji as shown in Figure 3.

Operator is according to the display of associated images Ji, as follows to the position related information set under original state It is corrected, it is possible to successfully proceed the insertion operation of endoscope 3.

The action that the position related information that error that position is associated by the image according to Fig. 3 is big is corrected is described.

Fig. 7 illustrates in the bronchus 2 corresponding with the state of Fig. 3 and be inserted into the endoscope 3 in this bronchus 2 Front state under determine the position Pi as reference position the explanatory diagram of correction position related information.It addition, Fig. 8 shows Go out the operation of correction position related information, process.

As shown in step S11 of Fig. 8, operator carries out the operation (operation) for determining reference position.For school The position related information just set under original state, carries out the operation of new settings reference position.In the first coordinate system, branch The three-dimensional position of boundary position PBi becomes summit prominent inside tube chamber in the view data of the 3D shape of bronchus 2 Position, therefore becomes and is prone to determine that location is put really.

It addition, in order to by the centrage C with this branch boundaries position PBi predetermined distance ai, bronchus 2 tube chamber apart On position Pi be defined as reference position, as shown in step S12, the camera head 16 of endoscope 3 is set as by operator Branch boundaries position PBi as assigned position is carried out the state of measurement in space.

In the case of endoscope 3 only has a camera head 16, as it is shown in fig. 7, operator is in bronchus 2 The bending section 19 of tube chamber Nei Shi endoscope 3 bends, and is set as two states St1, the St2 abutted with lumen wall successively.

Then, as shown in step S13, use camera head 16 to shoot branch boundaries position under each state St1, St2 PBi, such as stores storage part 28 respectively by photographed images.

As shown in step S14, in two photographed images, operator specifies as same regulation from input equipment 31 The branch boundaries position PBi of position.

As shown in step S15, control portion 27, according to this appointment, uses the focal length of object lens 15 of endoscope 3, imaging apparatus 7 The size of imaging surface, the information such as pixel count, computed range ai, and calculate the position as reference position in the first coordinate system Put the three-dimensional position of Pi.

In next step S16, leading section 13 is set in position Pi by operator, carries out position from input equipment 31 The instruction of association.

After receiving this instruction, in step S17, control portion 27 is being carried out first as at the position Pi of reference position The process that coordinate system associates with new position in the second coordinate system.

That is, control portion 27 carries out the position Pi of the first coordinate system and with the second coordinate system, this position Pi has been carried out position The process that position Pri during measurement is associated.

Further, in step S18, the position related information of original state is entered by the information that control portion 27 associates according to position Row correction.

Such as, control portion 27 is according to the related information of the position of Fig. 7 and the position association letter that sets in an initial condition Three position related informations in breath generate the position related information after correction.It addition, also correct for (renewal) by the first coordinate Position in system carries out the transform converting or associating with the position in the second coordinate system.

The position related information got at the position Pi shown in Fig. 7 is worked as and the entrance setting in bronchus 2 When the position related information of original state compares, it is the position related information of the side, deep of the pipeline along bronchus 2, because of This in the case of being actually inserted into the insertion section 11 of endoscope 3 it is considered to be the higher positional information of reliability.And, utilize The position related information set in an initial condition is corrected by this position related information, it is possible to utilizing along a gas The error of the correction that the position related information of the side, deep of the pipeline of pipe 2 is carried out is corrected.

And, so, the position related information after operator uses correction proceeds update.Such as, hands Art operator carries out starting again at the instruction of position measurement from input equipment 31 during restarting picture, thus uses the position after correction Put related information and start again at the process that step S2 of Fig. 4 is later.

So, by utilizing the information inserting auxiliary in medical treatment device 1, it is possible to assisted surgery operator carries out peeping interior Mirror 3 is smoothly inserted into the operation of the side, deep of bronchus 2.

Additionally, in the above description, the position utilizing measurement in space to carry out two coordinate systems at reference position is illustrated Put the example of association, but it is also possible to as it is shown in figure 9, be connected to branch boundaries position PBi's at the front end face making leading section 13 Under state, at the PBi of this branch boundaries position, carry out the position association of two coordinate systems.

In this case, the front end face of leading section 13 is set as and the branch boundaries as assigned position by operator The state that position PBi abuts, as long as control portion 27 carries out the instruction input of position association from input equipment 31, inserts auxiliary dress Put the process of the 5 position associations that just can carry out Fig. 8.Alternatively, it is also possible to use Japanese Unexamined Patent Publication 2009-279251 publication to be remembered The method that carries, i.e. by finding the VBS image similar with endoscopic images to obtain the method for posture of endoscope distal end, Correction position related information.Or, it is also possible to the position of the endoscope distal end calculated according to said method and initial Four points using when calculating of position related information in select three points, carry out correction position association letter by preceding method Breath.

Alternatively, it is also possible to configure multiple position sensor 17 being located at leading section 13 as shown in Figure 9.Multiple in configuration In the case of position sensor 17, configure along axial (length direction) of insertion section 11 except arranging as shown in Figure 9 Beyond sensor (17a, 17b), it is additionally arranged on direction the most orthogonal to the axial direction the sensor (17c) of configuration, it is possible to Camera head 16 in detection leading section 13 carries out the direction (orientation) shot.Also the camera head 16 in the case of this is clapped The direction taken the photograph is referred to as direction of visual lines.Furthermore, it is also possible in the case of the position of camera head 16 is stored storage part 28, also Store the information of this direction of visual lines.

Additionally, in the judgement of the location estimation of the rated condition of step S4 in the diagram, will obtained after position measurement Whether the position of two coordinate systems is that the inside of the bronchial diameter of the first coordinate system is set to Rule of judgment, but can also by with enter Go and be set to Rule of judgment within the distance that is apart previously set of position of position association and be combined.

In this case, it is also possible in the case of the position at a distance of the position association carried out in the past is beyond fixed range R, Step S4 in the diagram is judged as not meeting the Rule of judgment of the location estimation carrying out rated condition, transfers to step S6 Process.

Furthermore it is also possible to use other Rule of judgment as the Rule of judgment of step S4.

Can also except for carry out endoscope 3 leading section 13 position measurement position sensor 17 in addition to, Such as position sensor (external marker) Xiang Weishe that the movement of the internal organs caused by the breathing of patient is corrected When the direction thought is moved, or when marker detects fixing above amount of movement in vitro, the judging part 27d in control portion 27 exists Step S4 is set to the Rule of judgment of the location estimation of condition against regulation and transfers to the process of step S6.

Alternatively, it is also possible to combine two from above-mentioned determining method, i.e. bronchial diameter, distance, fixing above amount of movement Above condition.

According to above-mentioned first embodiment, the insertion section 11 of endoscope 3 is being inserted into propping up as regulation tube chamber internal organs In the case of in trachea 2, the position of the camera head 16 of the medical treatment device 1 leading section 13 to being arranged at insertion section 11 is surveyed Amount, by the virtual endoscopic images in the bronchus 2 near this position, bronchial diameter, to the assigned position of bronchus 2 The display such as distance at monitor 26, therefore, it is possible in the case of the location estimation failure of camera head 16, to operation technique Person presents and is prone to tackle the failed information of location estimation.

Such as, when location estimation failure be shown in monitor 26 restart in picture, utilize be illustrated in Figure 8 vertical Position related information in two coordinate systems is corrected by bulk measurement, it is possible to carry out assisting to restart picture according to this Face again proceeds with the operation of the side, deep that the insertion section 11 of endoscope 3 is inserted into bronchus 2.As simpler side Method, additionally it is possible to make the front end face of leading section 13 of endoscope 3 abut with the branch boundaries position becoming assigned position of bronchus 2 Carry out correction position related information.

Additionally, combine multiple condition in above-mentioned steps S4, thus play following effect.Specifically, " will run out of and prop up Trachea ", " within some distance away with the position that the position carried out in the past associates ", in " fixing above amount of movement " two In the case of above condition is combined by the relation of " or (or) " and is set to judgement formula, though based on position related information Little also being able to of error of correction is detected, it is possible to carry out the position display of high-precision endoscope distal end.It addition, by two In the case of above condition is combined with the relation of " with (and) ", it is judged that reliability improve, even if therefore due to noise Deng and the deterioration in accuracy of position sensor, it is also possible to preventing from restarting number of times increases.

It addition, use " bronchial diameter ", " distance to branch " this metrical information to lock in step s 9 It is scheduled on and restarts the VBS image of display in picture, thus make operator that the selection of VBS image is become easy.

Additionally, in the above-described embodiment, it is also possible in the case of location estimation not failure, image processing part 25 generates Characteristic information is associated with the image of the image information of the 3D shape of bronchus 2 as regulation tube chamber internal organs, control portion 27 It is controlled (being obtained of the bronchus 2 near the positional information to show camera head 16 in monitor 26 by characteristic information Portion 25a gets) characteristic information.In this case, the VBS image of the such as branch near display camera head 16 is made When being characterized information, operator can be confirmed whether at branch to be inserted into leading section 13 some pipeline side While inserting, it is thus susceptible to carry out inserting operation.

It addition, about as the metrical information in the case of above-mentioned, the distance to assigned position is measured and The metrical information obtained, is carried out with the example of the distance to the assigned position of branch Bi from the position of camera head 16 Illustrate, but can also as in the following embodiments explanation as, by from the position of camera head 16 to the pipe of bronchus 2 Distance till the centrage C on road carries out the branch point of branch in branch Bj is set as metrical information.

(the second embodiment)

Then, second embodiment of the present invention is described.The medical treatment device 1B of the present embodiment shown in Figure 10 is configured to It is provided with selection unit in the structure of the medical treatment device 1 shown in Fig. 1, this selection unit setting regions in bronchus 2, go forward side by side Row is by the selection of each region handover measurement information.In the case of not using this selection unit, become and the first embodiment phase With structurally and functionally.

Such as input equipment 31 have setting and select instruction unit 31a and control portion 27 possess setting and metrical information select Selecting portion 27e, be used as above-mentioned selection unit, wherein, this setting and selection instruction unit 31a are carried out for setting regions and by respectively The setting of regional choice metrical information and selection instruction, this setting and metrical information selection portion 27e refer to for this setting and selection Show, carry out the setting in region and by the control of each regional choice metrical information.Other structure is identical with the first embodiment.

Figure 11 illustrates the process content of present embodiment.Additionally, step S31-S33 in Figure 11, S35-37 become and the The process that the situation of one embodiment is roughly the same.

As shown in figure 11, in initial step S31, control portion 27 carries out two coordinates in the same manner as step S1 of Fig. 4 The process of the position association in system.

In next step S32, camera head 16 shoots, and in step S33, before measurement processing portion 18 is carried out The position measurement of end 13 (or camera head 16).

In next step S34, setting and the metrical information selection portion 27e in control portion 27 obtain according to by position measurement The region residing for leading section 13 (or camera head 16) select measuring method.

Figure 12 illustrates and is set to according to during regional choice measuring method residing for leading section 13 (or camera head 16) Set example.

As shown in figure 12, along the centrage C of the tube chamber of bronchus 2, such as, set and the branch in branch Bj, Bj+1 Region Aj, Aj+1 within some Bpj, Bpj+1 fixed distance and region Aj, j+1 between them ....Additionally, branch Point Bpj or Bpj+1 is defined as a centrage C and goes out a plurality of centrages such as two at branch Bj or Bj+1 branch around Point.

And, the feelings of the intraluminal such as region Aj of bronchus 2 it are positioned in leading section 13 (or camera head 16) Under condition, metrical information is set as position, is positioned at region Aj in leading section 13 (or camera head 16), in the case of j+1 is interior, Metrical information is set as distance, in the case of leading section 13 (or camera head 16) is positioned at region Aj+1, will measure Information setting is bronchial diameter.Additionally, in the case of metrical information is position or distance, by institute of measurement processing portion 18 The position measurement carried out measures.

On the other hand, in the case of metrical information is bronchial diameter, by the measurement in space that is illustrated in Figure 7 to Tracheal diameter measures.

It addition, the illustrated example of Figure 12 represents that sets an example, operator can be from the setting of input equipment 31 and choosing Select instruction unit 31a and carry out the setting different from the illustrated example of Figure 12.I.e. it is capable of by the desired survey of operator Metering method obtains or shows metrical information.

Additionally, figure 12 illustrates a setting example in the region of handover measurement information, but can also include Figure 12's Set example to be set as follows interior.

(A) from branch point to the position of this branch point fixed distance on centerline and in addition (illustrated example of Figure 12)

(B) region that comprises in the ball of the radii fixus centered by branch point and region in addition

(C) with defined location (projection represented with K the most in fig. 2b) distance

(D) bronchial number of times or the number of branch's number that counts successively from bronchial entrance side

(E) bronchial diameter calculated according to CT layer image image

(F) the position distance of (or beginning) is restarted with the last time

Here, the distance described in A, C, F can be the air line distance between 2, it is also possible to be on the centrage of tube chamber Distance.

It addition, about these conditions, it is also possible to combination two or more.

In the next step S35 of step S34, measurement processing portion 18 grade is according to leading section 13 (or camera head 16) institute The region at place measures.

In next step S36, the judging part 27d in control portion 27 judges the position carried out in step s 35 when measuring Estimate the most successful.

As explanation in the first embodiment, use at least one condition in following condition: (a) sits second Within whether the position measured in mark system is present in bronchial diameter；Whether b position that () measures in the second coordinate system Within at some distance away with the position that the position carried out in the past associates；C () uses the sensor beyond position sensor 17 Within obtaining the position measured in the second coordinate system amount of movement in patients for fixed amount.

In the case of location estimation is successful under conditions of (a), (b), (c) in step S36, transfer to step S37 Process.On the other hand, in the case of location estimation is unsuccessful, after the process carrying out step S38-S41, return to step The process of rapid S32.

In the case of location estimation is unsuccessful, at calculating, the VBS image of step S39 of the branch carrying out step S38 Calculating, step S40 the position related information restarting the display of picture, step S41 correction process after, return to step The process of rapid S32.Additionally, processing of step S38-S41 is the process identical with step S7-S10 of Fig. 4.

On the other hand, in step S36, in the case of under conditions of (a), (b), (c), location estimation is successful, transfer to The process of step S37.

In this step S37, control portion 27 be controlled leading section will measure in the second coordinate system 13 (or Camera head 16) position, the photographed images photographed by camera head 16, posture (leading section 13 axial of leading section 13 Or shooting direction) information store storage part 28 together with temporal information after, return to the process of step S32.Additionally, Storage part 38 can also store the metrical information got.

According to carrying out the present embodiment of this action, there is the effect identical with the first embodiment, and there is energy Enough select the effect that measuring method measures.Hereinafter, the variation of the second embodiment is described successively.

(the first variation)

The display restarting picture for above-mentioned steps S40 in the second embodiment processes, and this variation carries out as follows Process.

Bronchial diameter is calculated according to endoscopic images.

The bronchial diameter of this bronchial diameter with the bifurcation calculated from CT image in advance is compared, uses The VBS image of the branch with (substantially) identical diameter generates restarts picture.

Alternatively, it is also possible to be not for all branches to carry out the comparison of diameter, and for carrying out the comparison of diameter with inferior division:

The d branch near position that () location estimation is failed

Branch near (e) location estimation finally successful position

Branch on (f) path

Plural combination in (g) above-mentioned condition.

(the second variation)

In this variation, calculate the distance to branch according to endoscopic images, generate apart for whole branches The VBS image of same distance, thus generate and restart picture.

Alternatively, it is also possible to not all branch, but with inferior division:

The d branch near position that () location estimation is failed

Branch near (e) location estimation finally successful position

Branch on (f) path

Plural combination in (g) above-mentioned condition.

(the 3rd variation)

In this variation, as the second embodiment, set to be compared the dividing in the first variation by each region The condition propped up.

(the 4th variation)

In this variation, as the second embodiment, set to be generated the dividing in the second variation by each region The condition propped up.

It addition, in first variation and the second variation of above-mentioned second embodiment, display meets the whole of condition Branch, but as following 5th variation to the 8th variation, position letter to be shown can also be limited according to condition Breath.

(the 5th variation)

In first variation to the 4th variation of the second embodiment, only show from the moment that location estimation is failed The position in the past within the set time.

(the 6th variation)

In first variation to the 4th variation of the second embodiment, only show from the position that location estimation is failed The position in the past within fixed range.

(the 7th variation)

In first variation to the 4th variation of the second embodiment, only show metrical information and the value as benchmark Compare the position having changed more than threshold value.

In this case, what the value as benchmark referred to be judged as in the metrical information of position to be shown is closest The value of the metrical information of the position of current location.

Such as, the situation of distance metrical information being set to branch point is described.In fig. 13, near branch Bj Position P0, P1, P2 be in the successful position of past location estimation.It addition, the position P0 represented with bullet represents measurement letter Breath has changed the position of more than threshold value, and P1, the P2 represented with white circle represents metrical information position within threshold value.And, The position P0 that display bullet represents in restarting picture.

It addition, when representing current location with P3 in fig. 13, the metrical information at the P3 of current location becomes from present bit Put P3 distance P3Bpj+1 to the branch point Bpj+1 being positioned at bronchial tip side.Metrical information as benchmark is Close to the metrical information of the position P1 of current location P3, therefore this metrical information becomes distance P1Bpj+1.

And, if the difference of distance P3Bpj+1 and distance P2Bpj+1 is more than threshold value, then show in restarting picture Position P3.When similarly proceeding to process, become Figure 14 such.Represent (except in fig. 13 with white circle in fig. 14 Beyond the position P1 illustrated) position P4, P5, P6, P8 represent that (wherein, metrical information is threshold value to the successful position of location estimation Within the metrical information of variable quantity), position P3, P7, the P9 represented with bullet is location estimation success and metrical information becomes The position of more than threshold value, the i.e. position of display in restarting picture are changed.

(the 8th variation)

About the first variation to the 7th variation, it is also possible at least two variation is combined.

(the 9th variation)

It addition, in the above-described embodiment, it is illustrated as follows: associated images generating unit 25b generates will prop up The associated images that the bronchus shape image of the 3D shape of trachea 2 combines with VBS image, monitor 26 shows associated diagram Picture.

On the other hand, it is also possible to associated images generating unit 25b generates the position of camera head 16 as this variation Confidence breath and the layer image image (MPR image) comprising bronchus 2 carry out the associated images being synthesized into, and at monitor This associated images is shown on 26.

Figure 15 illustrates the associated images shown by monitor 26 in this variation.The upper left side of Figure 15 illustrates and comprises patient Bronchus at the CT layer image of interior cross section, the upper right side of Figure 15 illustrates that the CT of the longitudinal section parallel with the front of patient breaks Layer picture, the lower left of Figure 15 illustrates the CT layer image of the longitudinal section of the front vertical with patient, and the lower right of Figure 15 is to operation behaviour Author illustrates menu screen when setting coordinate.

As shown in figure 15, in this variation, such as with circle, other shape of same color on layer image image The position (point) that display has carried out the position measurement of camera head 16 and obtained.In fig .15 with the display face with layer image image The different color of color (such as blue) shows four positions.

It addition, in fig .15, carried out position measurement and the position that obtains in situation about being on sectility face and except this Represent with same color, shape in the case of in addition, but it is also possible to as shown in figure 16, be set to carry out position measurement and The position obtained situation about being on sectility face and in the case of being not on sectility face in different shapes (such as the former The latter's quadrangle with circle) carry out showing (can also be set to change color).Alternatively, it is also possible to be set to only to show to be in and cut Situation on section.

(the tenth variation)

In the 9th variation, illustrate to generate the position display that will carry out the position measurement of camera head 16 and obtain The situation of the associated images obtained in layer image image, but can also be using layer image image and as virtual endoscopic images VBS image be combined to show.

In fig. 17, in the case of the 9th variation shown in Figure 15, layer image image shows and is imaged The position measurement of device 16 and the position that obtains, and show the VBS image of position.

It addition, in fig. 17, in order to know on layer image image and the VBS image of the position corresponding to camera head 16 Between correspondence, such as use character information represent.In fig. 17, the position of camera head 16 is set to four points, therefore Four characters are used to represent.

In addition it is also possible to the position of camera head 16 and the association of corresponding VBS image to use Fig. 2 B as shown in Line etc. the mode such as link and show.

It addition, in the example of Figure 17, it is shown that for the feelings of VBS image corresponding to whole position display of camera head 16 Condition, but the position display VBS image that can also select on layer image image only for operator.

Alternatively, it is also possible to for VBS image corresponding to whole position display of camera head 16, only will with by operation technique Position display corresponding to VBS image that person selects is on layer image image.

It addition, by the feelings constituting different embodiments such as partially combined for above-mentioned (comprising variation) embodiment Condition falls within the present invention.

The application is requirement JIUYUE in 2012 priority in the Patent 2012-197405 of Japanese publication on the 7th, and with this Based on file an application, above disclosure is referred to the description of the present application, claims, accompanying drawing.

Claims (11)

1. a medical treatment device, it is characterised in that possess:

Storage part, consists of the three-dimensional image information in the subject that storage gets in advance；

Camera head, it possesses the leading section being provided with object lens, obtains the optical imagery in above-mentioned subject；

Tube chamber internal organs extraction unit, consists of the regulation tube chamber internal organs extracted from above-mentioned three-dimensional image information in above-mentioned subject The image information of 3D shape；

Association control portion, position, it is by generating the position of the assigned position in the above-mentioned regulation tube chamber internal organs in the first coordinate system Confidence breath is associated with the positional information of the above-mentioned leading section being set in above-mentioned assigned position in the second coordinate system and obtains Position related information, by the positional information of the image information of the 3D shape of the above-mentioned regulation tube chamber internal organs in the first coordinate system It is associated with the positional information of the above-mentioned camera head in the second coordinate system；

Characteristic information acquisition unit, consists of according to by above-mentioned based in above-mentioned second coordinate system of association control portion, above-mentioned position The positional information of camera head is associated and obtains, is inserted into above-mentioned regulation tube chamber internal organs in above-mentioned first coordinate system The positional information of interior above-mentioned camera head, obtains the above-mentioned regulation tube chamber internal organs extracted by above-mentioned tube chamber internal organs extraction unit In the region inserting above-mentioned camera head 3D shape image information in characteristic information；

Associated images generating unit, consists of and generates the 3D shape of features described above information association to above-mentioned regulation tube chamber internal organs The image of image information；

Judging part, it judges to be associated position based on the above-mentioned camera head in above-mentioned second coordinate system, control portion by above-mentioned position Whether the positional information of the above-mentioned camera head in above-mentioned first coordinate system that information is associated and obtains is sat above-mentioned first The image information of the above-mentioned 3D shape in mark system is positioned at the inner side of above-mentioned regulation tube chamber internal organs, or judges above-mentioned subject Predetermined portion change in location in above-mentioned second coordinate system whether be more than ormal weight；And

Control portion, consists of the inner side being judged as not being positioned at above-mentioned regulation tube chamber internal organs at above-mentioned judging part, or is judged as In the case of the predetermined portion of above-mentioned subject change in location in above-mentioned second coordinate system is more than ormal weight, control display Portion shows the characteristic information near the position of the above-mentioned camera head in above-mentioned regulation tube chamber internal organs.

Medical treatment device the most according to claim 1, it is characterised in that

Features described above information acquiring section obtains the two-dimensional image information relevant with the branch in above-mentioned regulation tube chamber internal organs, or obtains Take the above-mentioned regulation tube chamber near the position of above-mentioned camera head position in above-mentioned regulation tube chamber internal organs, above-mentioned camera head The internal diameter of internal organs and from the position of above-mentioned camera head distance to the assigned position of above-mentioned regulation tube chamber internal organs Any one metrical information.

Medical treatment device the most according to claim 1, it is characterised in that

Above-mentioned associated images generating unit generates the above-mentioned rule near the position of the above-mentioned camera head in above-mentioned regulation tube chamber internal organs The branching diagram picture of fixed tube chamber internal organs, is used as being associated with the image of features described above information.

Medical treatment device the most according to claim 1, it is characterised in that

Being also equipped with positional information generating unit, this positional information generating unit is configured to generation and is inserted in above-mentioned regulation tube chamber internal organs Above-mentioned camera head location information.

Medical treatment device the most according to claim 1, it is characterised in that

Above-mentioned display part shows the positional information of the above-mentioned camera head being judged as in above-mentioned first coordinate system by above-mentioned judging part The image information of the above-mentioned 3D shape in above-mentioned first coordinate system is positioned at above-mentioned regulation tube chamber internal organs inner side, upper State the characteristic information near the position of above-mentioned camera head in regulation tube chamber internal organs.

Medical treatment device the most according to claim 1, it is characterised in that

Being also equipped with related information storage part, this related information storage part is configured to store above-mentioned position related information.

Medical treatment device the most according to claim 4, it is characterised in that

The use of above-mentioned positional information generating unit is arranged at the position sensor near above-mentioned camera head and constitutes.

Medical treatment device the most according to claim 1, it is characterised in that

Above-mentioned control portion carries out following control: the above-mentioned camera head in above-mentioned judging part is judged as above-mentioned first coordinate system In the case of positional information is not positioned at the inner side of above-mentioned regulation tube chamber internal organs, above-mentioned display part also with meet the upper of this judgement The position stating camera head comprises positional information and the above-mentioned shooting dress easily making above-mentioned tube chamber internal organs within predetermined distance The mode of the position that the positional information put is associated shows the fisrt feature information as features described above information.

Medical treatment device the most according to claim 1, it is characterised in that

Being also equipped with information storage part, this information storage part is configured to store in temporal sequence and is inserted into above-mentioned regulation tube chamber internal organs In the positional information of above-mentioned camera head and the photographed images that photographed by this camera head.

Medical treatment device the most according to claim 8, it is characterised in that

Being also equipped with indicating input unit, this instruction input unit is configured to easily make the positional information of above-mentioned tube chamber internal organs and above-mentioned taking the photograph The position being associated as the positional information of device carry out the positional information of the above-mentioned tube chamber internal organs in above-mentioned first coordinate system with The association instruction of the positional information of the above-mentioned camera head in above-mentioned second coordinate system,

Indicate according to above-mentioned association, be controlled generating above-mentioned position related information.

11. medical treatment devices according to claim 1, it is characterised in that

Above-mentioned control portion will be judged as not being positioned at above-mentioned first coordinate of the inner side of above-mentioned regulation tube chamber internal organs by above-mentioned judging part The positional information of the branch of the above-mentioned regulation tube chamber internal organs near the position of the above-mentioned camera head in system is sat with above-mentioned second The positional information of the above-mentioned leading section being set in above-mentioned branch in mark system is associated, and carries out above-mentioned position related information Correction.