WO2014156218A1 - 内視鏡システムおよび内視鏡システムの作動方法 - Google Patents
内視鏡システムおよび内視鏡システムの作動方法 Download PDFInfo
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- WO2014156218A1 WO2014156218A1 PCT/JP2014/050315 JP2014050315W WO2014156218A1 WO 2014156218 A1 WO2014156218 A1 WO 2014156218A1 JP 2014050315 W JP2014050315 W JP 2014050315W WO 2014156218 A1 WO2014156218 A1 WO 2014156218A1
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- endoscope
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- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/0002—Operational features of endoscopes provided with data storages
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00055—Operational features of endoscopes provided with output arrangements for alerting the user
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00059—Operational features of endoscopes provided with identification means for the endoscope
-
- 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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00066—Proximal part of endoscope body, e.g. handles
-
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
-
- 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
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0052—Constructional details of control elements, e.g. handles
-
- 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
- A61B1/05—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 the image sensor, e.g. camera, being in the distal end portion
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/32—Surgical robots operating autonomously
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2059—Mechanical position encoders
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
- A61B2090/3612—Image-producing devices, e.g. surgical cameras with images taken automatically
Definitions
- the present invention relates to an endoscope system and an operation method of the endoscope system.
- an endoscope system is known that is used in laparoscopic surgery and the like, and an operator performs treatment while observing a treatment state of an affected area with a treatment tool inserted into a body cavity of a patient with an endoscope.
- the endoscope system described in Patent Document 1 allows a surgeon to observe externally by imaging a part or all of an observation image of an endoscope inserted into a body cavity with a CCD (Charge Coupled Device). .
- CCD Charge Coupled Device
- the present invention has been made in view of the above-described circumstances, and when the reciprocating movement of the endoscope is repeated, the troublesome operation by the operator can be reduced and the endoscope can be arranged with high reproducibility. It is an object of the present invention to provide an endoscope system and an operation method of the endoscope system.
- an elongated insertion portion that is inserted into a body cavity, a main body operation portion that is provided on the proximal end side of the insertion portion and that can be grasped by an operator, and a visual field at the distal end of the insertion portion are imaged.
- An endoscope body including an imaging unit, and a plurality of holder joint portions that support the endoscope body and can change a rotation angle around each predetermined rotation axis, and the rotation angles of these holder joint portions
- a holder capable of changing the posture and position of the endoscope body by changing the position, a holder angle recording unit for recording holder angle information regarding the rotation angle for each holder joint, and a rotation angle for each holder joint.
- a control unit that controls the change, a manual mode in which an operator grasps the main body operation unit and changes the posture and position of the endoscope main body, and the posture and position of the endoscope main body are changed by the control unit.
- Switch between automatic return mode A switching unit, and when the switching unit switches from the manual mode to the automatic return mode, the control unit is based on the holder angle information recorded in the holder angle recording unit during the manual mode.
- the change in the rotation angle for each holder joint is reversely reproduced in time series, and the posture and position of the endoscope main body are returned to the initial state of the manual mode.
- the endoscope body is supported by the holder, and when the operator grips the body operation unit and manually operates the endoscope body, the rotation angle of the plurality of holder joint portions of the holder changes, thereby causing the endoscope.
- the posture and position of the mirror body are changed. Therefore, the operator inserts the insertion portion of the endoscope main body into the patient's body cavity by manual operation, and images the front of the field of view of the insertion portion by the imaging unit, thereby acquiring an image at a desired position in the body cavity. be able to.
- the holder angle recording unit records the holder angle information related to the time-series change of the rotation angle for each holder joint.
- the control unit changes the rotation angle for each holder joint portion in a time series based on the holder angle information recorded in the holder angle recording unit during the manual mode. Is played back in reverse. As a result, the endoscope main body moves in the reverse direction along the same trajectory as that when manually operated by the operator in the manual mode, and the posture and position of the endoscope main body are returned to the initial state of the manual mode. It is.
- the endoscope body can be easily returned to the original posture and position regardless of the skill level of the operator.
- a stable field of view can be obtained with good reproducibility. Therefore, when the reciprocating movement of the endoscope main body is repeated such as moving back and forth between the proximity position with respect to the affected part and the overhead view position, the troublesome operation by the operator is reduced and the endoscope main body is arranged with high reproducibility. Can do.
- the plurality of holder joint portions are rotatable about the rotation axis that intersects the longitudinal direction of the holder, and around the rotation axis that extends along the longitudinal direction of the holder. It is good also as including the holder rotation joint part which can rotate, and the endoscope rotation joint part which rotates the said insertion part around the said rotating shaft extended along the optical axis of the said imaging part.
- the endoscope body can be swung in the direction intersecting the optical axis, moved forward and backward in the optical axis direction, or It can be translated in a direction parallel to the optical axis.
- the visual field of an insertion part can be moved to the direction orthogonal to an optical axis by changing the rotation angle of a holder rotation joint part.
- the rotation angle of the endoscope rotary joint portion the field of view of the insertion portion can be rotated around the optical axis. Therefore, the insertion part of the endoscope body can be freely operated in the body cavity.
- the endoscope main body is provided at a distal end portion of the insertion portion, and a plurality of distal joint portions that can change a rotation angle around each predetermined rotation axis that intersects the longitudinal direction, and the operator
- a distal end operation unit that changes the rotation angle of each distal joint by the operation of the distal end, and records the distal angle information regarding the time-series change of the rotation angle of each distal joint changed by the distal operation unit
- An angle recording unit and when the switching unit switches from the manual mode to the automatic return mode, the control unit is based on the tip angle information recorded in the tip angle recording unit during the manual mode.
- the rotation angle change for each tip joint portion is reversely reproduced in time series in synchronization with the reverse reproduction of the rotation angle change for each holder joint portion, and the angle of the insertion portion is set to the initial state of the manual mode.
- Succoth In It may be used as Succoth.
- the tip of the insertion portion is bent in a direction intersecting the optical axis by a plurality of tip joint portions, so that the entire side of the insertion portion does not need to be moved to expand the field of view. And a narrow field of view can be easily secured.
- the holder joint portion includes a rotation drive unit that rotates around the rotation axis, and an information output unit that outputs the holder angle information of the rotation drive unit, and the control unit includes the manual operation unit. Control of the rotation unit by the drive unit may be stopped during the mode, and output of the holder angle information from the information output unit may be stopped during the automatic return mode.
- the operator can easily manually rotate the rotating unit around the rotation axis without being affected by the driving unit during the manual mode. Further, during the automatic return mode, the power consumption can be reduced by the amount of stopping the output of the holder angle information from the information output unit.
- the switching unit stops the control of each of the holder joints by the control unit and stops the recording of the holder angle information by the holder angle recording unit, and the operator holds the main body operation unit.
- the non-recording mode for changing the posture and position of the endoscope main body may be switched between the manual mode and the automatic return mode.
- the endoscope is manually operated without being affected by the control unit while suppressing the power to change the rotation angle of the holder joint portion and the memory capacity of the holder angle recording unit.
- the main body can be operated.
- the image recording unit that records the image of the visual field of the tip imaged by the imaging unit, the image recorded by the image recording unit during the manual mode, and the automatic return mode by the imaging unit
- An image comparison unit that compares the image of the visual field of the tip acquired in the image comparison unit, and the image comparison unit causes the image of the image of the visual field of the tip to be acquired during the automatic return mode to be the image recording unit.
- the controller may stop reverse reproduction of the change in the rotation angle of the holder joint when it is determined that the difference between the image features recorded during the manual mode is more than a predetermined threshold. .
- the plurality of endoscope main bodies having different types, numbers and / or positions of the holder joint portions have individual information corresponding to the types, numbers and / or positions of the joint portions
- the holder Comprises an identification unit for identifying individual information of the supported endoscopic device, and the control unit controls a change in rotation angle for each holder joint unit based on the individual information identified by the identification unit. It is good to do.
- the individual information for each endoscope main body is identified by the identification unit, and the rotation angle of each holder joint is determined by the control unit based on the individual information. Change is controlled. Therefore, in the automatic return mode, an operation corresponding to the type, number and / or position of the holder joint can be performed for each endoscope body.
- the endoscope main body is supported by a holder having a plurality of holder joint portions that can change the rotation angle around each predetermined rotation axis, and the rotation angle of the holder joint portion is changed to change the rotation angle.
- An operation method of an endoscope system in which the posture and position of an endoscope main body can be changed, when the endoscope main body is gripped by an operator and the posture and position of the endoscope main body are changed Recording step for recording holder angle information related to time series change of rotation angle for each holder joint part, and time series change of rotation angle for each holder joint part based on the holder angle information recorded by the recording step And an automatic return step of returning the posture and position of the endoscope main body to the initial state of the recording step.
- the holder joint is set with the posture and position of the endoscope main body in the initial state as the origin. Holder angle information related to the time-series change of the rotation angle for each part is recorded.
- the change of the rotation angle for each holder joint is reversely reproduced in time series based on the holder angle information recorded in the recording step, and the operator grips and operates manually.
- the endoscope main body moves in the opposite direction along the movement trajectory, and the posture and position of the endoscope main body are returned to the initial state of the recording step.
- the endoscope body can be easily returned to the original posture and position regardless of the skill level of the operator.
- a stable field of view can be obtained with good reproducibility. Therefore, when repeating the reciprocating movement of the endoscope main body such as moving between the proximity position and the overhead view position with respect to the affected part, it is possible to reduce the troublesome operation by the operator and arrange the endoscope with high reproducibility. it can.
- the present invention when the reciprocating movement of the endoscope is repeated, it is possible to reduce the inconvenience of the operation by the operator and to arrange the endoscope with high reproducibility.
- FIG. 1 is an overall configuration diagram showing an endoscope system according to a first embodiment of the present invention. It is the figure which expanded the endoscope system of FIG. It is a figure which shows a mode that the endoscope main body of FIG. 2 is operated in a body cavity. It is the figure which expanded the operation part of the endoscope main body of FIG. It is a figure which shows the state which extended the shaft of the endoscope main body of FIG. 2 linearly. It is a figure which shows the state which curved the front-end
- FIG. 5C It is a figure showing the state where a finger was released from the mode change switch of the endoscope main part of Drawing 5C. It is a longitudinal cross-sectional view of the holding part and support part of an arm. It is a figure explaining the structure which positions and fixes a shaft by the holding
- FIG. 1 It is a flowchart explaining the operating method of the endoscope system of FIG. It is a figure which shows a mode that the shaft was inserted in the body cavity by normal operation mode. It is a figure which shows a mode that the shaft is operated within the body cavity by the recording operation mode. It is a figure which shows a mode that the attitude
- FIG. 15A It is a figure which shows the relationship between the motor driver in the manual operation mode which the endoscope system which concerns on the modification of 1st Embodiment of this invention and 2nd Embodiment has, and a motor and an encoder.
- FIG. 15A It is a block diagram which shows the endoscope system of 3rd Embodiment of this invention. It is a block diagram explaining the structure of the imaging device of FIG. 15A. It is a block diagram explaining the structure of the video display apparatus of FIG. 15A. It is a flowchart explaining the operating method of the endoscope system of FIG. 15A.
- an endoscope system 100 holds an endoscope main body 1 that acquires an image in a body cavity of a patient P, an endoscope main body 1, and is operated by an operator D.
- An endoscope holding device 3 for assisting the operation of the endoscope main body 1 and a video display device 7 having a monitor 5 for displaying an image acquired by the endoscope main body 1 are provided.
- the endoscope main body 1 is provided with an elongated cylindrical shaft (insertion portion) 10 to be inserted into a body cavity of a patient P, and is gripped by an operator D provided on the proximal end side of the shaft 10. And an imaging device (not shown) having an imaging unit 15 that images the field of view of the tip of the shaft 10.
- the shaft 10 can be inserted into the body through a trocar 9 punctured on a body wall W such as the abdominal wall of the patient P. Further, the shaft 10 is supported at a midway position in the longitudinal direction by the trocar 9 so that the tip portion can be moved with the trocar 9 as a fulcrum.
- the shaft 10 has a bending portion 11 having a top structure, for example, which can be bent in a direction intersecting with the longitudinal direction at a tip portion thereof.
- the bending portion 11 is composed of a plurality of tip joint portions 13 (four in this embodiment) that can change the rotation angle around each predetermined rotation axis orthogonal to the longitudinal direction.
- tip joints 13 can change the rotation angle around each rotation axis by rotational driving by a motor (not shown). Thereby, the front-end
- the imaging unit 15 of the imaging device is built in the tip of the shaft 10.
- the imaging unit 15 has a field of view directed forward of the front end surface of the shaft 10, and the direction of the field of view changes according to the direction of the front end surface of the shaft 10 due to the bending of the bending unit 11. .
- the operation unit 20 is formed in a substantially cylindrical shape that is thicker than the shaft 10 so that the operator D can operate it by holding it with one hand with the shaft 10 side facing forward.
- the operation unit 20 includes a joystick (tip operation unit) 21 that changes the rotation angle of each distal joint portion 13 of the shaft 10, a mode changeover switch (switching unit) 23 that switches the operation mode of the endoscope body 1, and A state display indicator 25 for displaying the setting state of the operation mode is provided.
- the joystick 21 is disposed on the shaft 10 side of the operation unit 20 so that the operator D can operate with the thumb while holding the operation unit 20.
- the joystick 21 can change the rotation angle of each distal joint portion 13 by an angle corresponding to the tilt angle.
- the joystick 21 can bend the bending portion 11 of the shaft 10 in the direction tilted by the operator D.
- the tip portion can be bent upward.
- the joystick 21 is tilted toward the distal end side of the operation unit 20
- the distal end portion of the shaft 10 is bent downward
- the joystick 21 is tilted in the width direction (left and right) of the operation unit 20, the distal end portion of the shaft 10 is moved left and right. It can be bent.
- the mode changeover switch 23 is disposed on the surface of the operation unit 20 opposite to the joystick 21, and the operator D can press the index finger while holding the operation unit 20. It can be done.
- the mode changeover switch 23 can be switched to, for example, three stages of a normal operation mode, a recording operation mode (manual mode), and an automatic operation mode (automatic return mode).
- the operation mode is switched to the recording operation mode as long as the operator D is pressed, and to the automatic operation mode when the operator D releases the finger.
- the mode switch 23 switches to the normal operation mode when the automatic operation mode is completed.
- 6A shows a state in which the operator D continues to press the mode switch 23 to switch to the recording operation mode
- FIG. 6B illustrates a state in which the operator D releases the finger from the mode switch 23 to switch to the automatic operation mode. ing.
- the state display indicator 25 is disposed on the same surface as the joystick 21 at the tip of the operation unit 20.
- the status display indicator 25 is lit in a different manner for each of the normal operation mode, the recording operation mode, and the automatic operation mode. For example, both the left and right lights in the normal operation mode, the left side lights toward the shaft 10 and disappears on the right side in the recording operation mode, and the right side lights on the shaft 10 and the left side disappears in the automatic operation mode. It has become.
- the endoscope holding device 3 includes an arm (holder) 30 that supports the endoscope body 1 and a control device 50 that controls the arm 30.
- the arm 30 includes a holding portion 31 that holds the endoscope main body 1 and a support portion 41 that supports the holding portion 31 and can be bent in a direction perpendicular to the longitudinal direction.
- the holding portion 31 and the support portion 41 are provided with a plurality of arm joint portions (holder joint portions) 35, 45A, 45B, 45C and the like that can change the rotation angle around each predetermined rotation axis.
- the posture and position of the endoscope main body 1 can be changed by changing the rotation angle of the arm joint portions 35, 45A, 45B, 45C, and the like.
- the holding part 31 can hold
- the holding portion 31 has a through hole 31 a into which the shaft 10 of the endoscope body 1 can be fitted, and the shaft 10 fitted into the through hole 31 a is longitudinally connected with a screw 33. In addition, it can be positioned and fixed in the circumferential direction.
- the holding portion 31 has an endoscope rotary joint portion (holder joint portion) 35 that rotates the shaft 10 fitted in the through hole 31 a around the rotation axis in the optical axis direction of the imaging portion 15. Is provided.
- the support portion 41 changes the rotation angle around the rotation axis perpendicular to the longitudinal direction of the arms 30 and the plurality of (three in this embodiment) frames 43A, 43B, and 43C in order from the proximal end side to the distal end side.
- a plurality of (three in the present embodiment) possible bending joint portions (holder joint portions) 45A, 45B, and 45C are alternately connected.
- the holding portion 31 is connected to the bending joint portion 45 ⁇ / b> C arranged at the forefront, and the frame 43 ⁇ / b> A arranged at the rearmost end is attached to the control device 50.
- one end of the support portion 41 is connected to the endoscope rotary joint portion 35 of the holding portion 31, and the other end is connected to the pulley 51 accommodated in the control device 50 via the curved joint portions 45 ⁇ / b> A, 45 ⁇ / b> B, 45 ⁇ / b> C.
- a plurality of wires 47 are provided. When the tension of the wire 47 is changed by the rotation of the pulley 51, the rotation angle of the bending joint portions 45A, 45B, and 45C is changed so that the support portion 41 is bent in the direction intersecting the longitudinal direction, or the endoscope rotation joint portion. 35 allows the shaft 10 to be rotated around the rotation axis.
- the support portion 41 includes an arm rotation joint portion (holder rotation joint portion) 49 that can rotate around a rotation axis extending along the longitudinal direction of the arm 30, and the frame 43 disposed at the rearmost end rotates the arm. It is fixed to the control device 50 via the joint portion 49.
- the support portion 41 is configured to be able to rotate the arm 30 in the circumferential direction around the rotation axis by the arm rotation joint portion 49.
- the endoscope rotary joint portion 35, the curved joint portions 45A, 45B, and 45C and the arm rotary joint portion 49 are collectively referred to as an arm joint portion.
- a drive unit 53 and an encoder (information output unit) 55 that converts the rotation angle of each motor 55 into an electrical signal and outputs it as arm angle information (holder angle information) are accommodated in the arm drive device 52.
- motors 53A, 53B, and 53C and encoders 55A, 55B, and 55C (all for bending drive) of the bending joint portions 45A, 45B, and 45C arranged on the arm 30 are illustrated.
- the control device 50 includes a motor driver 61 that drives each motor 53 and each encoder 55, a VCC supply unit 63 that outputs VCC (power supply voltage) supplied from the motor driver 61 to the motor 53 and encoder 55, and an output from the encoder 55.
- AD converter 65 that outputs the converted arm angle information from an analog signal to a digital signal, and a memory that records arm angle information (encoder data) for each of the arm joint portions 35, 45A, 45B, 45C, 49 (holder angle) Recording section) 67, and a CPU (Central Processing Unit, control section) 69 for controlling the change of the rotation angle for each of the arm joint sections 35, 45A, 45B, 45C, 49 via the motor driver 61 and the memory 67, etc. ing.
- CPU Central Processing Unit, control section
- the CPU 69 stops the supply of VCC sent from the motor driver 61 to the motor 53, while supplying VCC from the motor driver 61 to the encoder 55. Input of information is stopped (Input / Output is open). Further, in the recording operation mode, the CPU 69 stops the supply of VCC from the motor driver 61 to the motor 53, while supplying VCC from the motor driver 61 to the encoder 55, and inputs arm angle information from the encoder 55 to store the memory. 67 to send.
- the CPU 69 is configured to supply VCC from the motor driver 61 to the motor 53 and the encoder 55 in the automatic operation mode.
- the CPU 69 reads the arm angle information recorded in the memory 67 during the recording operation mode in time series and sends it from the motor driver 61 to the motor 53 and inputs the arm angle information from the encoder 55. Are sent to the memory 67.
- the CPU 69 when the CPU 69 is switched from the recording operation mode to the automatic operation mode by the mode switch 23, the rotation angle of each of the arm joint portions 35, 45A, 45B, 45C, 49 recorded in the memory 67 during the recording operation mode is determined. The change is reversely reproduced in time series by the motor driver 61 and the motor 53. Thereby, the CPU 69 returns the posture and position of the endoscope body 1 to the initial state of the recording operation mode.
- the endoscope body 1 is held by the operator D and the posture and position of the endoscope body 1 are changed as shown in the flowchart of FIG.
- Recording step SA3 for recording the arm angle information regarding the rotation angle for each of the arm joint portions 35, 45A, 45B, 45C, 49 when changed, and the arm joint portion 35 based on the arm angle information recorded in the recording step SA3.
- 45A, 45B, 45C, 49, and an automatic return step SA8 that reversely reproduces the change of the rotation angle in time series and returns the posture and position of the endoscope body 1 to the initial state of the recording step SA3.
- the operator D holds and operates the endoscope main body 1 supported by the arm 30.
- the rotation angles of the endoscope rotary joint portion 35 of the holding portion 31 the curved joint portions 45 ⁇ / b> A, 45 ⁇ / b> B, 45 ⁇ / b> C of the support portion 41, and the arm rotary joint portion 49 are respectively rotated.
- the posture and position of the endoscope body 1 can be changed with the assistance of the arm 30.
- Step SA1 As shown in FIG. 12A, the shaft 10 is inserted into the body through the trocar 9 punctured on the body wall W such as the abdominal wall of the patient P. Then, the field of view ahead of the tip of the shaft 10 is imaged by the imaging unit 15.
- the operator D presses the mode switch 23 to switch to the recording operation mode (step SA2 “YES”), and operates the endoscope body 1 while continuing to press the mode switch 23.
- the operator D inserts the shaft 10 of the endoscope body 1 to a deeper position in the body cavity, or crosses the tip of the shaft 10 in the longitudinal direction with the trocar 9 as a fulcrum.
- the endoscope main body 1 is operated so that an image with a desired visual field can be obtained.
- VCC is supplied from the motor driver 61 to the encoder 55 by the CPU 69 by switching to the recording operation mode, and the arm joint portions 35, 45 ⁇ / b> A, 45 ⁇ / b> B, 45 ⁇ / b> C, output from the encoder 55.
- 49 arm angle information is recorded in the memory 67 (step SA3, recording step).
- the arm angle information of each arm joint portion 35, 45A, 45B, 45C, 49 at the start of the recording operation mode is used as the origin to change the rotation angle of each arm joint portion 35, 45A, 45B, 45C, 49.
- the accompanying arm angle information is recorded in the memory 67 at regular time intervals.
- step SA4 when imaging of a desired observation position in the body cavity is completed, the operator D releases the finger from the mode changeover switch 23 to switch to the automatic operation mode (step SA4), and releases the hand from the operation unit 20.
- VCC is supplied from the motor driver 61 to the motor 53 and the encoder 55 by the CPU 69 (step SA5).
- the CPU 69 reads out the arm angle information recorded in the memory 67 during the recording operation mode in time series (step SA6). Then, the read arm angle information is sent from the motor driver 61 to the motor 53 in time series (step SA7), and each motor 53 is driven based on the arm angle information (step SA8, automatic return step).
- the rotation angles of the arm joint portions 35, 45A, 45B, 45C, and 49 in the recording operation mode are reversely reproduced in time series and are manually operated by the operator D.
- the endoscope main body 1 moves in the reverse direction along the same locus as the movement locus.
- the posture and position of the endoscope main body 1 are returned to the initial state at the start of the recording operation mode by the arm 30 in a state where the operator D releases the hand from the operation unit 20.
- step SA10 When all the arm angle information recorded in the memory 67 during the recording operation mode is sent from the motor driver 61 to the motor 53 (“YES” in step SA9), the operation mode is switched to the normal operation mode (step SA10).
- step SA11 the supply of VCC from the motor driver 61 to the motor 53 is stopped by the CPU 69 (step SA11). Thereby, the observation of the desired position in the body cavity by the endoscope system 100 and its operating method is completed.
- the endoscope body 1 can be returned to the original posture and position with the same movement trajectory as the going regardless of the proficiency level of the operator D, and a stable visual field can be obtained with good reproducibility. Therefore, when the reciprocating movement of the endoscope main body 1 is repeated, such as going back and forth between the proximity position and the overhead view position with respect to the affected part, or going back and forth between the side position and the front position for obtaining the side view of the affected part. In addition, it is possible to reduce the troublesome operation by the operator D and arrange the endoscope body 1 with high reproducibility.
- the endoscope system 100 according to the present embodiment is provided with a control device 150 that automatically returns a change in the shape of the bending portion 11 of the shaft 10 by reverse regeneration instead of the control device 50.
- a control device 150 that automatically returns a change in the shape of the bending portion 11 of the shaft 10 by reverse regeneration instead of the control device 50.
- parts that are common to the configuration of the endoscope system 100 according to the first embodiment and its operation method are denoted by the same reference numerals and description thereof is omitted.
- Motors 153A, 153B, 153C that change the rotation angle around each rotation axis for each tip joint portion 13 of the shaft 10, and encoders that convert the rotation angles of the motors 153A, 153B, 153C into electrical signals and output them as arm angle information 155A, 155B, and 155C are accommodated in the arm driving device 152.
- the control device 150 outputs a motor driver 161 for driving the motors 153A, 153B, 153C and the encoders 155A, 155B, 155C, and VCC (power supply voltage) supplied to the motors 153A, 153B, 153C and the encoders 155A, 155B, 155C.
- the VCC supply unit 163, the AD converter 165 that converts the tip angle information output from the encoders 155A, 155B, and 155C from an analog signal to a digital signal and sends the signal to the CPU 69, and the tip for each tip joint portion 13 sent from the CPU 69
- a memory (tip angle recording unit) 167 for recording angle information (encoder data) is further provided.
- the CPU 69 further stops the supply of VCC sent from the motor driver 161 to the motors 153A, 153B, and 153C, and supplies VCC to the encoders 155A, 155B, and 155C, but from the encoders 155A, 155B, and 155C.
- the input of the tip angle information is stopped.
- the CPU 69 also stops the supply of VCC from the motor driver 161 to the motors 153A, 153B, and 153C, while supplying the VCC also from the motor driver 161 to the encoders 155A, 155B, and 155C.
- the tip angle information from 155B and 155C is input and sent to the memory 167.
- the CPU 69 supplies VCC to the motor 153 and the encoders 155A, 155B, and 155C from the motor driver 161. Further, in the automatic operation mode, the CPU 69 reads out the tip angle information recorded in the memory 167 during the recording operation mode in a time series and sends it from the motor driver 161 to the motors 153A, 153B, 153C, and the encoders 155A, 155B, 155C. The tip angle information from is also input and sent to the memory 167.
- the CPU 69 when the CPU 69 is switched from the recording operation mode to the automatic operation mode by the mode switching switch 23, the change in the rotation angle for each distal joint portion 13 recorded in the memory 167 during the recording operation mode is also changed by the motor driver 161 and the motor 153A. , 153B, and 153C, reverse reproduction is performed in time series. As a result, the CPU 69 returns the posture and position of the endoscope body 1 to the initial state of the recording operation mode, including the shape change of the bending portion 11 of the shaft 10.
- the distal end of the shaft 10 is bent in a direction intersecting the optical axis by the plurality of distal end joint portions 13, and the back side of the tissue or the narrow space
- the endoscope body 1 can be easily returned to the original posture and position regardless of the proficiency level of the operator D, including the bending operation of the shaft 10, and a stable visual field can be reproduced. It can be obtained with good quality. Accordingly, when the reciprocating movement of the endoscope main body 1 is repeated, it is possible to further reduce the inconvenience of the operation by the operator D and arrange the endoscope main body 1 with higher reproducibility.
- the operation mode is switched to the three steps of the normal operation mode, the recording operation mode, and the automatic operation mode.
- the CPU 69 may have a manual operation mode (non-recording mode) in which the supply of VCC from the motor driver 61 (161) to the motor 53 (153) and the encoder 55 (155) is stopped.
- the non-recording mode, the normal operation mode, the recording operation mode, and the automatic operation mode may be switched by the mode switch 23.
- the power for changing the rotation angles of the arm joint portions 35, 45A, 45B, 45C, 49 and the distal joint portion 13 is suppressed and the memory capacity of the memories 67, 167 is suppressed by the manual operation mode. be able to. Further, the operator D can grip the operation unit 20 and manually operate the endoscope main body 1 without being affected by the CPU 69.
- the endoscope system 200 replaces the control device 150 with images taken by the imaging unit 15 and the arm joint portions 35, 45 ⁇ / b> A, 45 ⁇ / b> B, 45 ⁇ / b> C, 49.
- Endoscope body 1 by reversely reproducing changes in the rotation angles of the arm joint portions 35, 45A, 45B, 45C, 49 and the tip joint portion 13 based on the arm angle information and the tip angle information of the tip joint portion 13.
- the second embodiment is different from the second embodiment in that it includes a control device 250 that automatically returns the posture and position.
- a control device 250 that automatically returns the posture and position.
- the endoscope system 200 includes an imaging device 210 having the imaging unit 15 and a video display device 7 that processes an image captured by the imaging device 210 and displays the image on the monitor 5.
- the imaging apparatus 210 includes an imaging unit 15, an imaging control unit 211 that controls the imaging unit 15, a signal processing unit 213 that converts an image captured by the imaging unit 15 into a video signal, and an image processing unit 215 that processes the image. And a video signal output unit 217 that sends the video signal obtained by the signal processing unit 213 to the video display device 7.
- the image signal obtained by the image processing unit 213 is sent to the CPU 69.
- the video display device 7 includes a monitor 5, a video signal input unit 221 that inputs a video signal transmitted from the imaging device 210, a signal processing unit 223 that processes a video signal input to the video signal input unit 221, And a monitor control unit 225 for controlling the monitor 5.
- the control device 250 records an image memory (image recording unit) 251 that records an image of the field of view of the tip of the shaft 10 captured by the imaging unit 15, an image recorded by the image memory 251 during the recording operation mode, and the imaging unit 15.
- image determination unit image comparison unit
- the image determination unit 253 compares the image of the visual field at the tip of the shaft 10 acquired during the automatic operation mode. For example, the image determination unit 253 compares features such as the luminance distribution of both images.
- the CPU 69 sends the image signal sent from the image processing unit 213 to the image memory 251 via the image determination unit 253.
- the CPU 69 determines that the feature of the image of the visual field at the tip of the shaft 10 acquired during the automatic operation mode is a predetermined threshold or more than the feature of the image recorded by the image memory 251 during the manual operation mode.
- the reverse reproduction of the rotational drive of the arm joint portions 35, 45A, 45B, 45C, 49 and the tip joint portion 13 is stopped.
- Step SA1 The shaft 10 is inserted into the body cavity to switch to the recording operation mode (Step SA2 “YES”).
- the arm angle information of the sections 35, 45A, 45B, 45C, and 49 is recorded in the memory 67, and the tip angle information of each tip joint portion 13 output from the encoder 155 according to the change in the rotation angle of the tip joint portion 13 is stored in the memory 167. (Step SA3, recording step).
- the arm angle information is stored in the memory 67 for a certain period of time using the arm angle information of each arm joint portion 35, 45A, 45B, 45C, 49 and the tip angle information of each tip joint portion 13 at the start of the recording operation mode as the origin. While being recorded at intervals, the tip angle information is recorded in the memory 167 at regular time intervals.
- Step SB3 an image signal acquired by the imaging unit 15 and sent from the image processing unit 213 is transmitted by the CPU 69 to the image memory 251.
- step SA4 when imaging of a desired observation position in the body cavity is completed and the operator D releases the finger from the mode changeover switch 23 to switch to the automatic operation mode (step SA4), the CPU 69 causes the motors 53 and 161 to drive the motor 53. , 153 and encoders 55, 155 are supplied with VCC (step SA5). Then, the CPU 69 reads out the image signal recorded during the manual operation mode from the image memory 251 in time series (step SB6).
- the CPU 69 reads out the arm angle information and the tip angle information recorded in the memory 67 and the memory 167 during the recording operation mode, respectively, in time series (step SA6). Then, the image determination unit 253 compares the image signal acquired during the automatic operation mode with the image signal recorded in the memory during the recording operation mode, and determines whether the characteristics of these image signals match. (Step SB7).
- the CPU 69 sends the read arm angle information from the motor drivers 61 and 161 to the arm joint portions 35, 45 A, 45 B, 45 C, 49 and the distal joint portion 13.
- Each motor 53 is driven based on the arm angle information, and each motor 153 is driven based on the tip angle information (step SA8, automatic return step).
- step SA9 When all of the arm angle information and the tip angle information recorded in the memory 67 and the memory 67 during the recording operation mode are sent from the motor drivers 61 and 161 to the motors 53 and 153 (step SA9 “YES”), the mode changeover switch 23 Is switched to the normal operation mode (step SA10). On the other hand, if all the arm angle information has not been sent from the motor drivers 61 and 161 to the motors 53 and 153, the process returns to step SB6.
- step SA11 When switching to the normal operation mode, the supply of VCC from the motor drivers 61 and 161 to the motors 53 and 153 is stopped by the CPU 69 (step SA11). Thereby, the observation of the desired position in the body cavity by the endoscope system 200 and its operating method is completed.
- step SA10 the CPU 69 switches the operation mode to the normal operation mode (step SA10), and the motor drivers 61 and 161 are selected. Supply of VCC to the motors 53 and 153 is stopped. Thereby, the reverse reproduction of the rotational drive of the arm joint portions 35, 45A, 45B, 45C, 49 and the tip joint portion 13 is stopped.
- a recording unit 219 may be included.
- the arm 30 may include an ID reading unit (identification unit) 239 for identifying individual information of the supported endoscope body 1.
- the CPU 69 controls the change of the rotation angle for each of the arm joint portions 35, 45A, 45B, 45C, 49 and the tip joint portion 13 based on the individual information of the ID recording portion 219 identified by the ID reading portion 239. It is good.
- the ID recording unit 219 may be disposed at a position held by the holding unit 31 on the outer peripheral surface of the shaft 10.
- the ID reading unit 239 adopts, for example, non-contact RFID (Radio Frequency IDentification), and is assumed to be arranged at a position where the ID recording unit 219 of the shaft 10 held in the through hole 31a of the holding unit 31 faces. That's fine.
- the individual information for each endoscope main body 1 is obtained from the ID recording portion 219 by the ID reading portion 239.
- the CPU 69 controls the change of the rotation angle for each of the arm joint portions 35, 45A, 45B, 45C, 49 and the tip joint portion 13 based on the individual information. Therefore, the CPU 69 can perform operations corresponding to the types, number, and positions of the arm joint portions 35, 45 A, 45 B, 45 C, 49 and the distal joint portion 13 for each endoscope body 1.
- the individual information corresponding to the type, number, and position of the arm joint portions 35, 45A, 45B, 45C, 49 and the tip joint portion 13 has been described as an example, but the individual information is limited to this. It is not a thing.
- the arm 30 is illustrated as an example of the holder.
- the holder supports the endoscope body 1 and has a plurality of holder joint portions that can change the rotation angle around each predetermined rotation axis. And what is necessary is just to change the attitude
- the arm joint portions 35, 45A, 45B, 45C, and 49 have been described as examples of the holder joint portion, the type and number of the holder joint portions are not limited to this.
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Abstract
Description
本発明の第1態様は、体腔内に挿入される細長い挿入部と、該挿入部の基端側に設けられ操作者が把持可能な本体操作部と、前記挿入部の先端の視野を撮像する撮像部とを備える内視鏡本体と、該内視鏡本体を支持し、所定の各回転軸回りに回転角度を変更可能な複数のホルダ関節部を有し、これらのホルダ関節部の回転角度を変えることにより前記内視鏡本体の姿勢および位置を変更可能なホルダと、前記ホルダ関節部ごとの回転角度に関するホルダ角度情報を記録するホルダ角度記録部と、前記ホルダ関節部ごとに回転角度の変更を制御する制御部と、操作者が前記本体操作部を把持して前記内視鏡本体の姿勢および位置を変更する手動モードと前記制御部により前記内視鏡本体の姿勢および位置を変更する自動復帰モードとを切り替える切替部とを備え、該切替部により前記手動モードから前記自動復帰モードに切り替えた場合に、前記制御部が、前記手動モード中に前記ホルダ角度記録部に記録された前記ホルダ角度情報に基づいて前記ホルダ関節部ごとの回転角度の変化を時系列的に逆再生し、前記内視鏡本体の姿勢および位置を前記手動モードの初期状態に戻す内視鏡システムである。
本発明の第1実施形態に係る内視鏡システムおよび内視鏡システムの作動方法について図面を参照して以下に説明する。
本実施形態に係る内視鏡システム100は、図1に示されるように、患者Pの体腔内の画像を取得する内視鏡本体1と、内視鏡本体1を保持し、操作者Dによる内視鏡本体1の操作を補助する内視鏡保持装置3と、内視鏡本体1により取得された画像を表示するモニタ5を有する映像表示装置7とを備えている。
アーム30は、内視鏡本体1を保持する保持部31と、保持部31を支持し長手方向に直交する方向に湾曲可能な支持部41とを備えている。
本実施形態に係る内視鏡システム100は、アーム30により支持された内視鏡本体1を操作者Dが把持して操作する。操作者Dが内視鏡本体1を動かすと、保持部31の内視鏡回転関節部35、支持部41の湾曲関節部45A,45B,45Cおよびアーム回転関節部49の回転角度が各回転軸回りに変化することにより、アーム30により補助されて内視鏡本体1の姿勢および位置を変更することができる。
次に、本発明の第2実施形態に係る内視鏡システムおよび内視鏡システムの作動方法について説明する。
本実施形態に係る内視鏡システム100は、図13に示すように、制御装置50に代えて、シャフト10の湾曲部11の形状変化も逆再生により自動復帰させる制御装置150を備える点で第1実施形態と異なる。
以下、第1実施形態に係る内視鏡システム100およびその作動方法と構成を共通する箇所には、同一符号を付して説明を省略する。
上記各実施形態においては、操作モードを通常操作モード、記録操作モード、自動操作モードの3段階に切り替えることとしたが、これに代えて、第1変形例としては、図14に示すように、CPU69が、モータドライバ61(161)からモータ53(153)およびエンコーダ55(155)へのVCCの供給を停止する手動操作モード(非記録モード)を有することとしてもよい。この場合、モード切替スイッチ23により、この非記録モード、通常操作モード、記録操作モードおよび自動操作モードを切り替えることができるようにすればよい。
次に、本発明の第3実施形態に係る内視鏡システムおよび内視鏡システムの作動方法について説明する。
本実施形態に係る内視鏡システム200は、図15A~図15Cに示すように、制御装置150に代えて、撮像部15により撮像された画像とアーム関節部35,45A,45B,45C,49のアーム角度情報および先端関節部13の先端角度情報とに基づいてアーム関節部35,45A,45B,45C,49および先端関節部13の回転角度の変化を逆再生することにより内視鏡本体1の姿勢および位置を自動復帰させる制御装置250を備える点で第2実施形態と異なる。
以下、第2実施形態に係る内視鏡システム100と構成を共通する箇所には、同一符号を付して説明を省略する。
本実施形態に係る内視鏡システム200により体腔内の所望の位置を観察するには、まず、アーム30により支持された内視鏡本体1を操作者Dが把持して通常操作モードで操作し(ステップSA1)、体腔内にシャフト10を挿入して記録操作モードに切り替える(ステップSA2「YES」)。
例えば、図17に示すように、複数の内視鏡本体1が、アーム関節部35,45A,45B,45C,49および先端関節部13の種類、数および位置に応じた個体情報を記録するID記録部219を有することとしてもよい。
また、ID読み取り部239は、例えば、非接触RFID(Radio Frequency IDentification)を採用し、保持部31の貫通孔31aにおける保持したシャフト10のID記録部219が対面する位置に配置するIこととすればよい。
10 シャフト(挿入部)
13 先端関節部
15 撮像部
20 操作部(本体操作部)
21 ジョイスティック(先端操作部)
23 モード切替スイッチ(切替部)
35 内視鏡回転関節部(ホルダ関節部)
41 アーム(ホルダ)
45A,45B,45C 湾曲関節部(ホルダ関節部)
49 アーム回転関節部(ホルダ回転関節部)
53,153 モータ(回転駆動部)
57,157 エンコーダ(情報出力部)
67 メモリ(ホルダ角度情報)
69 CPU(制御部)
100,200 内視鏡システム
167 メモリ(先端角度記録部)
251 画像メモリ(画像記録部)
253 画像判断部(画像比較部)
239 ID読み取り部(識別部)
SA3 記録ステップ
SA8 自動復帰ステップ
Claims (8)
- 体腔内に挿入される細長い挿入部と、該挿入部の基端側に設けられ操作者が把持可能な本体操作部と、前記挿入部の先端の視野を撮像する撮像部とを備える内視鏡本体と、
該内視鏡本体を支持し、所定の各回転軸回りに回転角度を変更可能な複数のホルダ関節部を有し、これらのホルダ関節部の回転角度を変えることにより前記内視鏡本体の姿勢および位置を変更可能なホルダと、
前記ホルダ関節部ごとの回転角度に関するホルダ角度情報を記録するホルダ角度記録部と、
前記ホルダ関節部ごとに回転角度の変更を制御する制御部と、
操作者が前記本体操作部を把持して前記内視鏡本体の姿勢および位置を変更する手動モードと前記制御部により前記内視鏡本体の姿勢および位置を変更する自動復帰モードとを切り替える切替部とを備え、
該切替部により前記手動モードから前記自動復帰モードに切り替えた場合に、前記制御部が、前記手動モード中に前記ホルダ角度記録部に記録された前記ホルダ角度情報に基づいて前記ホルダ関節部ごとの回転角度の変化を時系列的に逆再生し、前記内視鏡本体の姿勢および位置を前記手動モードの初期状態に戻す内視鏡システム。 - 前記複数のホルダ関節部が、前記ホルダの長手方向に交差する前記回転軸回りに回転可能な複数の湾曲関節部と、前記ホルダの長手方向に沿って延びる前記回転軸回りに回転可能なホルダ回転関節部と、前記挿入部を前記撮像部の光軸に沿って延びる前記回転軸回りに回転させる内視鏡回転関節部とを含む請求項1に記載の内視鏡システム。
- 前記内視鏡本体が、前記挿入部の先端部に設けられ、長手方向に交差する所定の各回転軸回りに回転角度を変更可能な複数の先端関節部と、前記操作者の操作により前記先端関節部ごとの回転角度を変更する先端操作部とを有し、
該先端操作部により変更される前記先端関節部ごとの回転角度の時系列変化に関する先端角度情報を記録する先端角度記録部とを備え、
前記切替部により前記手動モードから前記自動復帰モードに切り替えた場合に、前記制御部が、前記手動モード中に前記先端角度記録部に記録された前記先端角度情報に基づいて、前記ホルダ関節部ごとの回転角度の変化の逆再生に同期して前記先端関節部ごとの回転角度の変化を時系列的に逆再生し、前記挿入部の角度を前記手動モードの初期状態に戻す請求項1または請求項2に記載の内視鏡システム。 - 前記ホルダ関節部が、前記回転軸回りに回転駆動する回転駆動部と、該回転駆動部の前記ホルダ角度情報を出力する情報出力部とを備え、
前記制御部が、前記手動モード中は前記駆動部による前記回転部の制御を停止し、前記自動復帰モード中は前記情報出力部からの前記ホルダ角度情報の出力を停止する請求項1から請求項3のいずれかに記載の内視鏡システム。 - 前記切替部が、前記制御部による各前記ホルダ関節部の制御を停止するとともに前記ホルダ角度記録部による前記ホルダ角度情報の記録を停止し、操作者が前記本体操作部を把持して前記内視鏡本体の姿勢および位置を変更する非記録モードを前記手動モードおよび前記自動復帰モードと切り替える請求項1から請求項4のいずれかに記載の内視鏡システム。
- 前記撮像部により撮像された前記先端の視野の画像を記録する画像記録部と、
該画像記録部により前記手動モード中に記録された前記画像と前記撮像部により前記自動復帰モード中に取得される前記先端の視野の画像とを比較する画像比較部とを備え、
該画像比較部により、前記自動復帰モード中に取得される前記先端の視野の画像の特徴が前記画像記録部によって前記手動モード中に記録された前記画像の特徴よりも所定の閾値以上異なると判断された場合に、前記制御部が前記ホルダ関節部の回転角度の変化の逆再生を停止する請求項1から請求項5のいずれかに記載の内視鏡システム。 - 前記ホルダ関節部の種類、数および/または位置が異なる複数の前記内視鏡本体が、前記関節部の種類、数および/または位置に応じた個体情報を有し、
前記ホルダが、支持した前記内視鏡装置の個体情報を識別する識別部を備え、
前記制御部が、前記識別部により識別された前記個体情報に基づいて前記ホルダ関節部ごとの回転角度の変更を制御する請求項1から請求項6のいずれかに記載の内視鏡システム。 - 所定の各回転軸回りに回転角度を変更可能な複数のホルダ関節部を有するホルダにより内視鏡本体を支持し、前記ホルダ関節部の回転角度を変えることにより前記内視鏡本体の姿勢および位置を変更可能な内視鏡システムの作動方法であって、
操作者により前記内視鏡本体が把持されて前記内視鏡本体の姿勢および位置が変更されたときの前記ホルダ関節部ごとの回転角度の時系列変化に関するホルダ角度情報を記録する記録ステップと、
該記録ステップにより記録された前記ホルダ角度情報に基づいて前記ホルダ関節部ごとの回転角度の変化を時系列的に逆再生し、前記内視鏡本体の姿勢および位置を前記記録ステップの初期状態に戻す自動復帰ステップとを含む内視鏡システムの作動方法。
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CN201480018033.7A CN105072972B (zh) | 2013-03-28 | 2014-01-10 | 内窥镜***和内窥镜***的工作方法 |
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CN105072972A (zh) | 2015-11-18 |
US20160007836A1 (en) | 2016-01-14 |
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JP6161687B2 (ja) | 2017-07-12 |
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