JP4625964B2 - 3D image detector - Google Patents

3D image detector Download PDF

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JP4625964B2
JP4625964B2 JP2007500389A JP2007500389A JP4625964B2 JP 4625964 B2 JP4625964 B2 JP 4625964B2 JP 2007500389 A JP2007500389 A JP 2007500389A JP 2007500389 A JP2007500389 A JP 2007500389A JP 4625964 B2 JP4625964 B2 JP 4625964B2
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康平 新井
淳二 皆良田
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NATIONAL UNIVERSITY CORPORATION SAGA UNIVERSITY
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A—HUMAN NECESSITIES
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B1/00165—Optical arrangements with light-conductive means, e.g. fibre optics
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/042—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by a proximal camera, e.g. a CCD camera

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Description

本発明は、遮蔽又は隔離領域に存在する被対象物の三次元画像を検出する三次元画像検出装置に関する。   The present invention relates to a three-dimensional image detection device that detects a three-dimensional image of an object existing in a shielding or isolation region.

従来、この種の画像検出装置として腹腔カテーテル、ファイバー、スコープ、ファイバー付きリトラクタ等があり、腹腔鏡手術に主に用いられる。この腹腔鏡手術とは、患者の腹部に５ー１０ｍｍの孔を複数個空け、内視鏡の一種でレンズが先端に取付けられた腹腔鏡と、細長い器具であるカテーテルを挿入し、腹腔内に二酸化炭素を注入して腹腔内を拡開し、この拡開した腹腔内をモニターで目視しながら行う手術である。このように腹腔鏡手術は、開腹手術に比べ傷が小さいことから、術後の痛みが少なく、術後回復が早いという特徴と、術後の傷が目立たないので美容的に優れているという特徴がある。   Conventionally, there are abdominal catheters, fibers, scopes, retractors with fibers, and the like as this type of image detection apparatus, which are mainly used for laparoscopic surgery. In this laparoscopic surgery, a plurality of holes of 5 to 10 mm are formed in the abdomen of the patient, a laparoscope with a lens attached to the tip as a kind of endoscope, and a catheter which is an elongated instrument is inserted into the abdominal cavity. This operation is performed by injecting carbon dioxide to expand the abdominal cavity and visually observing the expanded abdominal cavity with a monitor. In this way, laparoscopic surgery has smaller wounds than open surgery, so it has less postoperative pain and quick postoperative recovery, and it is cosmetically superior because postoperative wounds are not noticeable. There is.

前記従来のファイバー付きリトラクタは、図７に示すように、先端をループ状に形成したループワイヤ２００と、基端側から光を入射して先端側から光を照射する光ファイバ２０１と、このループワイヤ２００を内部に挿通状態で収納すると共に、先端に光ファイバ２０１の端部を配設されこの光ファイバ２０１の内部に挿通状体で収納される支持杆２０３とを備える構成である。このファイバー付きリトラクタの使用に際しては、医師が支持杆２０３の基部２０３ａを握って固定し、光ファイバ２０１の先端側から患部に光を照射してこの光ファイバ２０１を介して患部を医師が目視しつつこの支持杆２０３に挿通されたループワイヤ２００を利用することにより、牽引鉗子又は把持鉗子として用いることができる。   As shown in FIG. 7, the conventional retractor with a fiber includes a loop wire 200 having a distal end formed in a loop shape, an optical fiber 201 that receives light from the proximal end side and irradiates light from the distal end side, and the loop. The wire 200 is housed in an inserted state inside, and an end portion of the optical fiber 201 is disposed at the tip, and a support rod 203 is housed in the optical fiber 201 in an inserted shape. When using this retractor with a fiber, a doctor grasps and fixes the base 203 a of the support rod 203, irradiates the affected area with light from the distal end side of the optical fiber 201, and the doctor visually observes the affected area through the optical fiber 201. However, by using the loop wire 200 inserted through the support rod 203, it can be used as a pulling forceps or a grasping forceps.

従来の画像検出手段は以上のように構成されていることから、離隔位置にあり、又は遮蔽された領域に位置する被対象物の一部について光ファイバ２０１を介して画像を検出できるのみで、前記被対象物の表面を三次元的に検出できないといういう課題を有していた。
特に、前記腹腔鏡手術において用いられるファイバー付きリトラクタは、患者の傷を極めて小さくするために形成された５ー１０ｍｍの孔を介して手術を行うことから腹腔内を光ファイバ２０１により検出される極めて狭い部分の画像で手術をしなければならず、手術に十分な熟練が必要となるという課題を有していた。また、熟練した経験を有していたとしても、手術条件が制限されることとなり、執刀医による医療ミスを引き起こす原因となるという課題を有していた。Since the conventional image detection means is configured as described above, it is only possible to detect an image via the optical fiber 201 for a part of the object located at a remote position or in a shielded area. There has been a problem that the surface of the object cannot be detected three-dimensionally.
In particular, the retractor with a fiber used in the laparoscopic surgery is detected by the optical fiber 201 in the abdominal cavity because the surgery is performed through a 5-10 mm hole formed to extremely reduce the wound of the patient. Surgery had to be performed with a narrow image, and there was a problem that sufficient skill was required for the surgery. Moreover, even if it has the experienced experience, the operation condition will be restricted, and it has a problem of causing a medical error by the surgeon.

本発明は、前記課題を解消するためになされたもので、離隔され又は遮蔽された位置に有る被対象物の表面又は内部を三次元的に検出することができ、また被対象物全体を三次元的に再構成することができる三次元画像検出装置を提供することを目的とする。   The present invention has been made to solve the above-described problems, and can detect the surface or the inside of an object at a separated or shielded position in a three-dimensional manner, and the entire object can be tertiary. An object of the present invention is to provide a three-dimensional image detection apparatus that can be reconstructed originally.

本発明に係る三次元画像検出装置は、先端側から光を被対象物に照射する照射する照射用光ファイバ及び当該被対象物からの反射光を先端側で受光して受光された反射光を伝送する撮像用光ファイバからなる画像検出手段と、前記画像検出手段の先端側を移動自在にガイドして支持するガイド手段と、筒状杆体からなり、当該筒状杆体の一端側で前記ガイド手段を支持すると共に、当該筒状杆体の内部に画像検出手段の基端側を挿通して支持する支持手段とを備えるものである。   The three-dimensional image detection apparatus according to the present invention includes an irradiating optical fiber for irradiating an object with light from the tip side, and reflected light received by receiving the reflected light from the object at the tip side. An image detection means comprising an imaging optical fiber for transmission, a guide means for guiding and supporting the distal end side of the image detection means movably, and a cylindrical housing, and the guide means on one end side of the cylindrical housing And supporting means for inserting and supporting the base end side of the image detecting means inside the cylindrical casing.

このように本発明においては、照射用及び撮像用の各光ファイバからなる画像検出手段の先端側をガイド手段に移動自在に支持し、このガイド手段を一端側に支持手段が支持し、この支持手段の筒状杆体の内部に前記画像検出手段の基端側を挿通して支持するようにしているので、離隔又は遮蔽された位置にある被対象物に対して支持手段を延出させて画像検出手段の照射光ファイバ及び撮像光ファイバの各先端側を接近させ、所定距離に接近させた状態でガイド手段を介して画像検出手段を移動させることにより順次被対象物の表面を撮像し、当該撮像されたデータを再構成できることとなり、被対象物の表面を三次元的検出し、また対象物を三次元的に構成できる。   As described above, in the present invention, the distal end side of the image detecting means composed of the optical fibers for irradiation and imaging is movably supported by the guide means, and the support means is supported by the support means at one end side. Since the base end side of the image detecting means is inserted and supported inside the cylindrical casing of the means, the supporting means is extended with respect to the object at a separated or shielded position. The front end of each of the irradiation optical fiber and the imaging optical fiber of the detection means is approached, and the surface of the object is sequentially imaged by moving the image detection means through the guide means in a state of approaching a predetermined distance. The imaged data can be reconstructed, the surface of the object can be detected three-dimensionally, and the object can be configured three-dimensionally.

また、本発明に係る三次元画像検出装置は必要に応じて、画像検出手段が、撮像用光ファイバが受光する相隣る各撮像領域を略６０％重複させる位置に前記ガイド手段により間歇的に移動するものである。
このように本発明においては、画像検出手段のガイド手段による移動を撮像用光ファイバの撮像領域が略６０％重複させて間歇的に実行するようにしているので、間歇前後の各画像から被対象物における立体画像の復元を正確且つ容易に構成できる。Further, in the three-dimensional image detection apparatus according to the present invention, if necessary, the image detection means is intermittently provided by the guide means at a position where the adjacent imaging regions received by the imaging optical fibers are overlapped by approximately 60%. It is something that moves.
As described above, in the present invention, the movement of the image detection means by the guide means is performed intermittently with the imaging regions of the imaging optical fibers overlapping approximately 60%. The reconstruction of a stereoscopic image in an object can be configured accurately and easily.

また、本発明に係る三次元画像検出装置は必要に応じて、ガイド手段が略円弧状に湾曲する可撓性の二つの長尺部材を対向配設し、当該二つの長尺部材の各先端を連結し、基端を前記支持手段に支持するものである。
このように本発明においては、前記ガイド手段が略円弧状に湾曲する可撓性の二つの長尺部材を対向配設し、当該二つの長尺部材の各先端を連結し、基端を前記支持手段に支持するようにしているので、遮蔽された状態にある被対象物、例えば腹腔内鏡手術における内蔵部分を撮像する際に、腹腔を拡開した状態で内蔵等の被対象物表面を全周囲に亘って走査できることとなり、全立体角４πから被対象物の撮像が可能となり被対象物の立体三次元画像を正確に復元構成できる。Further, in the three-dimensional image detection apparatus according to the present invention, if necessary, two flexible long members whose guide means bend in a substantially arc shape are arranged to face each other, and each tip of the two long members is arranged. And the base end is supported by the support means.
As described above, in the present invention, the guide means is provided with two flexible long members that are curved in a substantially arc shape, the distal ends of the two long members are connected, and the base end is Since it is supported by the support means, when imaging a subject in a shielded state, for example, a built-in part in laparoscopic surgery, the surface of the subject such as a built-in subject is opened with the abdominal cavity opened. Since scanning can be performed over the entire circumference, the object can be imaged from all solid angles 4π, and a three-dimensional three-dimensional image of the object can be accurately restored and configured.

また、本発明に係る三次元画像検出装置は必要に応じて、画像検出手段に併設して配設され、先端側から超音波を被対象物に投射する投射用発信手段及び当該被対象物からの反射エコーを先端側から検出して検出された超音波を伝送する検出用受信手段とからなる内部構造検出手段を備えるものである。
このように本発明においては、前記画像検出手段に併設して配設され、先端側から超音波を被対象物に投射する投射用発信手段及び当該被対象物からの反射エコーを先端側から検出して検出された超音波を伝送する検出用受信手段とからなる内部構造検出手段を備えることから、超音波が被対象物の内部からの反射波として検出できることなり、被対象物の内部構造及び断層像が構成できる。Further, the three-dimensional image detection apparatus according to the present invention is provided along with the image detection unit as necessary, and includes a projection transmission unit that projects ultrasonic waves from the front end side onto the target object, and the target object. And an internal structure detecting means comprising a detecting receiving means for transmitting ultrasonic waves detected by detecting the reflected echo from the front end side.
As described above, in the present invention, the transmitting means for projecting the ultrasonic wave from the front end side to the target object and the reflection echo from the target object are detected from the front end side. Since the internal structure detecting means comprising the detecting receiving means for transmitting the detected ultrasonic wave is provided, the ultrasonic wave can be detected as a reflected wave from the inside of the object, and the internal structure of the object and A tomographic image can be constructed.

（本発明の第１の実施形態）
以下、本発明の第１の実施形態に係る三次元画像検出装置を図１ないし図５に基づいて説明する。この図１は本実施形態に係る三次元画像検出装置の使用状態構成図、図２は図１記載の三次元画像検出装置の収納状態構成図、図３は図１記載の三次元画像検出装置による縦方向スキャニングの撮像態様図、図４は図１記載の三次元画像検出装置による横方向スキャニングの撮像態様図、図５は図１に記載の三次元画像検出装置による立体三次元画像の復元構成フローチャートを示す。(First embodiment of the present invention)
Hereinafter, a three-dimensional image detection apparatus according to a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a configuration diagram of a use state of a 3D image detection apparatus according to the present embodiment, FIG. 2 is a configuration diagram of a storage state of the 3D image detection apparatus shown in FIG. 1, and FIG. 3 is a 3D image detection apparatus shown in FIG. Fig. 4 is a diagram showing an aspect of the vertical scanning by Fig. 4, Fig. 4 is a diagram showing an aspect of the horizontal scanning by the three-dimensional image detecting device shown in Fig. 1, and Fig. 5 is a reconstruction of a stereoscopic three-dimensional image by the three-dimensional image detecting device shown in Fig. A configuration flowchart is shown.

前記各図において本実施形態に係る三次元画像検出装置は、先端側の照射端１１ａから光を被対象物１００に照射する照射用光ファイバ１１及びこの被対象物１００からの反射光を先端側の受光端１２ａで受光して受光された反射光を伝送する撮像用光ファイバ１２からなる画像検出部１と、この画像検出部１の先端側を移動自在にガイドして支持するガイド部２と、筒状杆体３１からなり、この筒状杆体３１の一端側３２で前記ガイド部２を支持すると共に、この筒状杆体３１の内部に画像検出部１の基端側を挿通して支持する支持部３とを備える構成である。
前記画像検出部１は、撮像用光ファイバ１２が受光する相隣る各撮像領域Ｓ0・Ｓ1，Ｓ1・Ｓ2，・・・を略６０％重複させる位置に前記ガイド部２により間歇的に移動する構成である。In each of the drawings, the three-dimensional image detection apparatus according to the present embodiment includes an irradiation optical fiber 11 that irradiates light on the object 100 from the irradiation end 11a on the distal end side, and reflected light from the object 100 on the distal end side. An image detecting unit 1 comprising an imaging optical fiber 12 that receives the reflected light received and received by the light receiving end 12a, and a guide unit 2 that guides and supports the distal end side of the image detecting unit 1 movably. The cylindrical housing 31 supports the guide portion 2 at one end side 32 of the cylindrical housing 31, and supports the base end side of the image detection unit 1 inserted into the cylindrical housing 31 for support. It is a structure provided with the part 3. FIG.
The image detecting unit 1 is intermittently moved by the guide unit 2 to a position where the adjacent imaging regions S0, S1, S1, S2,... Received by the imaging optical fiber 12 overlap each other by approximately 60%. It is a configuration.

この画像検出部１は、照射用光ファイバ１１における基端部の入射端１１ｂに光源部１３が接続され、この基端部から光源部１３からの光を照射端１１ａから被対象物１００へ照射すると共に、撮像用光ファイバ１２の基端部に撮像部１４が接続され、受光端１２ａから被対象物１００の反射光を射出端１２ｂ撮像部１４へ伝送し、この撮像部１４の二次元ＣＣＤアレイ等で被対象物１００の画像を検出する。
前記ガイド部２は、略円弧状に湾曲する可撓性の二つの長尺部材からなる移動ガイド体２１及び拡開ガイド体２２を対向配設し、この移動ガイド体２１及び拡開ガイド体２２の各先端を固定部２３で連結し、基端部２４を前記支持部の筒状杆体３１に支持されると共に、この基端部２４に固着され前記支持部３の筒状杆体３１内に操作棒２５が挿通される構成である。前記移動ガイド体２１及び拡開ガイド体２２は、収納時においては図２に示すように筒状杆体３１内に収納状態にあり、この収納状態で腹腔内に押込まれ、この挿入後に操作棒２５を筒状杆体３１内に押込んで先端に固着される移動ガイド体２１及び拡開ガイド体２２を筒状杆体３１からスライド移動させて押出して略円弧状に拡開状態となる構成である。In the image detection unit 1, a light source unit 13 is connected to an incident end 11b of a base end portion of the irradiation optical fiber 11, and light from the light source unit 13 is irradiated from the base end portion to the object 100 from the irradiation end 11a. At the same time, the imaging unit 14 is connected to the base end of the imaging optical fiber 12, and the reflected light of the object 100 is transmitted from the light receiving end 12 a to the emission end 12 b imaging unit 14. An image of the object 100 is detected by an array or the like.
The guide portion 2 is provided with a moving guide body 21 and an expanding guide body 22 made of two flexible long members that are curved in a substantially arcuate shape, and the moving guide body 21 and the expanding guide body 22 are opposed to each other. The base ends 24 are supported by the cylindrical housing 31 of the support portion, and are fixed to the base end portion 24 and operated in the cylindrical housing 31 of the support portion 3. In this configuration, the rod 25 is inserted. As shown in FIG. 2, the moving guide body 21 and the expansion guide body 22 are stored in a cylindrical housing 31 as shown in FIG. 2, and are pushed into the abdominal cavity in this stored state. The movement guide body 21 and the expansion guide body 22 which are pushed into the cylindrical casing 31 and fixed to the tip are slid from the cylindrical casing 31 and pushed out to be expanded in a substantially arc shape.

次に、前記構成に基づく本実施形態に係る三次元画像検出装置を腹腔鏡手術の前段において画像検出及び再構成する動作について説明する。
まず、ガイド部２を支持部３の中に収納した状態（図２を参照）で患者の腹腔内に支持部３を挿入し、この腹腔内で操作棒２５を筒状杆体３１内に押込んで筒状杆体３１内から移動ガイド体２１及び拡開ガイド体２２をスライド移動させて押出して移動ガイド体２１及び拡開ガイド体２２を腹腔内で拡開状態にする（図１参照）。
この拡開した移動ガイド体２１及び拡開ガイド体２２の略円弧内に被対象物１００の内臓患部を位置させ、画像検出部１の照射端１１ａ及び受光端１２ａをガイド部２により間歇的に移動させつつ順次内臓患部の表面を撮像する。Next, an operation for detecting and reconstructing the image of the three-dimensional image detection apparatus according to the present embodiment based on the above configuration in the previous stage of laparoscopic surgery will be described.
First, the support part 3 is inserted into the abdominal cavity of the patient with the guide part 2 housed in the support part 3 (see FIG. 2), and the operation rod 25 is pushed into the cylindrical housing 31 within the abdominal cavity. The movement guide body 21 and the expansion guide body 22 are slid from the cylindrical housing 31 and pushed out to make the movement guide body 21 and the expansion guide body 22 expanded in the abdominal cavity (see FIG. 1).
The visceral affected part of the object 100 is positioned within the substantially arc of the expanded moving guide body 21 and the expanded guide body 22, and the irradiation end 11 a and the light receiving end 12 a of the image detection unit 1 are intermittently provided by the guide unit 2. The surface of the affected internal organs is sequentially imaged while moving.

この撮像は、撮像用光ファイバ１２が受光できる撮像領域Ｓ0，Ｓ1，・・・の各々相隣る各撮像領域Ｓ0・Ｓ1，Ｓ1・Ｓ2，Ｓ2・Ｓ3，・・・が各々略６０％程度重複させた状態で画像データを検出して撮像部１４に入力され、この撮像部１４が各画像データに基づいて立体画像を復元構成する。
この立体画像の復元構成は、受光端１２ａの焦点距離ｆと間歇移動距離Ｄとに対する被対象物基準面からの高さｈと視差ｄとの比率を内部構造検出部４が演算して、前記相隣る各撮像領域Ｓ0・Ｓ1，Ｓ1・Ｓ2，Ｓ2・Ｓ3，・・・毎に順次実行する。In this imaging, the imaging areas S0, S1, S1, S2, S2, S3,... Adjacent to each of the imaging areas S0, S1,. The image data is detected and input to the imaging unit 14 in the overlapped state, and the imaging unit 14 reconstructs a stereoscopic image based on each image data.
In this three-dimensional image restoration configuration, the internal structure detection unit 4 calculates the ratio of the height h and the parallax d from the object reference plane to the focal distance f and the intermittent movement distance D of the light receiving end 12a, This is sequentially executed for each adjacent imaging region S0 / S1, S1 / S2, S2 / S3,.

このガイド部２の移動ガイド体２１に沿ってガイド溝部２１ａ内を全長に亘って画像検出部１の照射端１１ａ及び受光端１２ａが収納された端末ケース１５をの間歇的に移動させ、この移動による被対象物１００の縦方向Ａのスキャニング動作が終了すると、ガイド部２を直交する方向Ｂへ横方向のスキャニング動作を実行する。この横方向へのスキャニング動作によりガイド部２が移動した後、前記縦方向Ａのスキャニング動作が実行されてガイド部２の移動ガイド体２１に沿って画像検出部１の照射端１１ａ及び受光端１２ａを間歇移動させることにより前記動作と同様に撮像データが得られる。   The terminal case 15 in which the irradiation end 11a and the light receiving end 12a of the image detection unit 1 are accommodated is moved intermittently along the movement guide body 21 of the guide portion 2 over the entire length in the guide groove portion 21a. When the scanning operation in the vertical direction A of the object 100 is completed, the horizontal scanning operation is performed in the direction B orthogonal to the guide unit 2. After the guide unit 2 is moved by the scanning operation in the horizontal direction, the scanning operation in the vertical direction A is executed, and the irradiation end 11a and the light receiving end 12a of the image detection unit 1 are moved along the moving guide body 21 of the guide unit 2. By intermittently moving the image data, imaging data can be obtained in the same manner as the above operation.

さらに、前記被対象物１００の撮像データに基づいて立体三次元画像を復元構成する動作を図５に基づいて説明する。
まず、被対象物１００を各画像間が６０％重複するように撮像して複数撮像データを検出する（ステップ１）。
この各撮像データに対して特徴点を作成する前処理を行った後に、この前処理を行った撮像データと元の撮像データとの差分画像から画像中の端点、交点、折曲点等の特徴を抽出する（ステップ２）。
前記特徴が抽出された撮像データに対して３次元座標の抽出により視差データを演算する（ステップ３）。この視差データから各撮像データ毎の３次元形状の構成を検出する（ステップ４）。Further, an operation for restoring and constructing a stereoscopic three-dimensional image based on the imaging data of the object 100 will be described with reference to FIG.
First, the object 100 is imaged so that the images overlap each other by 60%, and a plurality of image data is detected (step 1).
After performing pre-processing for creating feature points for each image data, features such as end points, intersections, bending points, etc. in the image from the difference image between the pre-processed image data and the original image data Is extracted (step 2).
Parallax data is calculated by extracting three-dimensional coordinates for the image data from which the features have been extracted (step 3). A configuration of a three-dimensional shape for each imaging data is detected from the parallax data (step 4).

この３次元形状を構成された各撮像データを正射影幾何変換を行うことによりマッピング用画像を作成する（ステップ５）。このマッピング用画像の合成を行う前に、画像の傾きを統一するために、撮影方向（照射端１１ａの傾き角度）に基づいて画像の２次元剛体変換を求めて画像を順次つなぎ合わせることによりマッピング用画像が得られることとなる（ステップ６）。
さらにこのマッピング画像（ワイヤーフレーム形状画像）を、撮像画像によりレタリングを行う（ステップ７）。このレタリング画像により３次元物体再構成を行う（ステップ８）。A mapping image is created by performing orthographic geometric transformation on each imaging data having the three-dimensional shape (step 5). Before synthesizing the mapping image, in order to unify the inclination of the image, mapping is performed by obtaining a two-dimensional rigid transformation of the image based on the photographing direction (inclination angle of the irradiation end 11a) and sequentially joining the images. A working image is obtained (step 6).
Further, the mapping image (wire frame shape image) is lettered by the captured image (step 7). Three-dimensional object reconstruction is performed based on this lettering image (step 8).

このように、縦方向Ａのスキャニング動作を順次横方向Ｂへ移動して実行されると、患者の内蔵である被対象物１００の表面を全周囲に亘って走査できることとなり、全立体角４πからの各撮像による複数の撮像データで、且つこの複数の撮像データ相互が６０％重複して撮像されていることから、被対象物１００の患者の内蔵を立体三次元画像として正確に復元構成できることとなる。   As described above, when the scanning operation in the vertical direction A is sequentially performed in the horizontal direction B, the surface of the object 100 that is built in the patient can be scanned over the entire circumference, and from the total solid angle 4π. Since the plurality of pieces of image data obtained by each of the above images and the plurality of pieces of image data are overlapped by 60%, the built-in patient of the object 100 can be accurately restored as a three-dimensional three-dimensional image. Become.

（本発明の他の実施形態）
本発明の他の実施形態に係る三次元画像検出装置を図６に基づいて説明する。図６は他の実施形態に係る三次元画像検出装置の要部拡大図を示す。
本実施形態に係る三次元画像検出装置は、前記第１の実施形態と同様に画像検出部１ガイド部２、支持部３を共通して備え、この構成に加え、前記画像検出部１に併設して配設され、先端側から超音波を被対象物１００に投射する投射用光ファイバ４１及びこの被対象物１００からの反射光を先端側から検出して検出された超音波を伝送する検出用光ファイバ４２とからなる内部構造検出部４を備える構成である。(Other embodiments of the present invention)
A three-dimensional image detection apparatus according to another embodiment of the present invention will be described with reference to FIG. FIG. 6 is an enlarged view of a main part of a 3D image detection apparatus according to another embodiment.
The three-dimensional image detection apparatus according to the present embodiment includes an image detection unit 1 guide unit 2 and a support unit 3 in common as in the first embodiment, and in addition to this configuration, the image detection unit 1 is also provided. And an optical fiber for projection 41 that projects ultrasonic waves onto the object 100 from the front end side, and detection that transmits reflected ultrasonic waves by detecting reflected light from the object 100 from the front end side. In this configuration, the internal structure detection unit 4 including the optical fiber 42 is provided.

この内部構造検出部４は、投射用光ファイバ４１における基端部の入射端４１ｂに超音波発信器４３が接続され、この入射端４１ｂを介して超音波発信器４３から入射される超音波を照射端４１ａから被対象物１００へ照射すると共に、この被対象物１００からの反射エコーを検出信号として検出用光ファイバ４２の受光端４２ｂ入射し、この入射した反射エコーを検出用光ファイバ４２を介して射出端４２ｂに接続される超音波受信器４４へ出力され、この超音波受信子器４４で被対象物１００の画像を検出する。
このように被対象物１００に対して、超音波を照射することにより、被対象物１００の三次元表面形状と共に、被対象物１００の内部構造及び断層像を検出できることとなる。The internal structure detection unit 4 includes an ultrasonic transmitter 43 connected to an incident end 41b of a base end portion of the projection optical fiber 41, and transmits an ultrasonic wave incident from the ultrasonic transmitter 43 via the incident end 41b. While irradiating the object 100 from the irradiation end 41a, the light receiving end 42b of the detection optical fiber 42 is incident on the reflected echo from the object 100 as a detection signal, and the incident reflection echo is passed through the detection optical fiber 42. To the ultrasonic receiver 44 connected to the emission end 42b, and the ultrasonic receiver unit 44 detects an image of the object 100.
In this way, by irradiating the object 100 with ultrasonic waves, the internal structure and tomographic image of the object 100 can be detected along with the three-dimensional surface shape of the object 100.

本発明の第１の実施形態に係る三次元画像検出装置の使用状態構成図である。It is a use condition block diagram of the three-dimensional image detection apparatus which concerns on the 1st Embodiment of this invention. 図１記載の三次元画像検出装置の収納状態構成図である。FIG. 2 is a storage state configuration diagram of the three-dimensional image detection apparatus illustrated in FIG. 1. 図１記載の三次元画像検出装置による縦方向スキャニングの撮像態様図である。It is an imaging mode figure of the vertical direction scanning by the three-dimensional image detection device of Drawing 1. 図１記載の三次元画像検出装置による横方向スキャニングの撮像態様図である。It is an imaging mode figure of the horizontal direction scanning by the three-dimensional image detection device of Drawing 1. 図１に記載の三次元画像検出装置による立体三次元画像の復元構成フローチャートである。It is a restoration | reconstruction structure flowchart of the three-dimensional three-dimensional image by the three-dimensional image detection apparatus of FIG. 本発明の第２の実施形態に係る三次元画像検出装置の要部拡大図である。It is a principal part enlarged view of the three-dimensional image detection apparatus which concerns on the 2nd Embodiment of this invention. 従来のファイバー付きリトラクタの構成断面図である。It is a structure sectional view of the conventional retractor with a fiber.

符号の説明Explanation of symbols

１ 画像検出部
２ ガイド部
３ 支持部
４ 内部構造検出部
１１ 照射用光ファイバ
１１ａ、４１ａ 照射端
１１ｂ、４１ｂ 入射端
１２ 撮像用光ファイバ
１２ａ、４２ａ 受光端
１２ｂ、４２ｂ 射出端
１３ 光源部
１４ 撮像部
１５ 端末ケース
２１ 移動ガイド体
２１ａ ガイド溝部
２２ 拡開ガイド体
２３ 固定部
２４ 基端部
３１ 筒状杆体
３２ 一端側
４１ 投射用光ファイバ
４２ 検出用光ファイバ
４３ 超音波発信器
４４ 超音波受信器
１００ 被対象物
２００ ループワイヤ
２０１ 光ファイバ
２０３ 支持杆
２０３ａ 基部
DESCRIPTION OF SYMBOLS 1 Image detection part 2 Guide part 3 Support part 4 Internal structure detection part 11 Irradiation optical fiber 11a, 41a Irradiation end 11b, 41b Incident end 12 Imaging optical fiber 12a, 42a Light reception end 12b, 42b Emission end
DESCRIPTION OF SYMBOLS 13 Light source part 14 Imaging part 15 Terminal case 21 Movement guide body 21a Guide groove part 22 Expansion guide body 23 Fixed part 24 Base end part 31 Cylindrical housing 32 One end side 41 Optical fiber for projection 42 Optical fiber for detection 43 Ultrasonic transmitter 43 44 Ultrasonic receiver 100 Object 200 Loop wire 201 Optical fiber 203 Support rod 203a Base

Claims (4)

先端側から光を被対象物に照射する照射する照射用光ファイバ及び当該被対象物からの反射光を先端側で受光して受光された反射光を伝送する撮像用光ファイバからなる画像検出手段と、
前記画像検出手段の先端側を移動自在にガイドして支持するガイド手段と、
筒状杆体からなり、当該筒状杆体の一端側で前記ガイド手段を支持すると共に、当該筒状杆体の内部に画像検出手段の基端側を挿通して支持する支持手段とを備えることを
特徴とする三次元画像検出装置。Image detecting means comprising an irradiation optical fiber for irradiating the object with light from the front end side and an imaging optical fiber for receiving the reflected light from the object at the front end side and transmitting the received reflected light When,
Guide means for guiding and supporting the distal end side of the image detection means movably,
It comprises a cylindrical housing, and includes support means for supporting the guide means on one end side of the cylindrical housing and inserting and supporting the proximal end side of the image detection means inside the cylindrical housing. A three-dimensional image detection apparatus. 前記請求項１に記載の三次元画像検出装置において、
前記画像検出手段が、撮像用光ファイバが受光する相隣る各撮像領域を略６０％重複させる位置に前記ガイド手段により間歇的に移動することを
特徴とする三次元画像検出装置。The three-dimensional image detection apparatus according to claim 1,
The three-dimensional image detection apparatus, wherein the image detection means is intermittently moved by the guide means to a position where the adjacent imaging regions received by the imaging optical fiber overlap each other by approximately 60%. 前記請求項１又は２に記載の三次元画像検出装置において、
前記ガイド手段が略円弧状に湾曲する可撓性の二つの長尺部材を対向配設し、当該二つの長尺部材の各先端を連結し、基端を前記支持手段に支持することを
特徴とする三次元画像検出装置。In the three-dimensional image detection apparatus according to claim 1 or 2,
The guide means includes two flexible long members that are curved in a substantially arc shape, are connected to each other, the distal ends of the two long members are connected, and the base end is supported by the support means. A three-dimensional image detection apparatus. 前記請求項１ないし３のいずれかに記載の三次元画像検出装置において、
前記画像検出手段に併設して配設され、先端側から超音波を被対象物に投射する投射用発信手段及び当該被対象物からの反射エコーを先端側から検出して検出された超音波を伝送する検出用受信手段とからなる内部構造検出手段を備えることを
特徴とする三次元画像検出装置。The three-dimensional image detection apparatus according to any one of claims 1 to 3,
Projecting transmitting means for projecting ultrasonic waves onto the object from the front end side, and ultrasonic waves detected by detecting reflected echoes from the object from the front end side, which are arranged alongside the image detecting means. A three-dimensional image detection apparatus comprising: internal structure detection means including transmission detection reception means.
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