Endoscope shape detecting apparatus wherein form detecting processing is controlled according to connection state of magnetic field generating means

• US 6,432,041 B1
• Filed: 09/09/1999
• Issued: 08/13/2002
• Est. Priority Date: 09/09/1998
• Status: Expired due to Term

• Current Assignee: Olympus Optical Corporation Limited (Olympus Corporation)
• Original Assignee: Olympus Optical Corporation Limited (Olympus Corporation)
• Inventors: Ishii, Hiroshi, Hasegawa, Jun, Onoda, Fumiyuki, Moriyama, Hiroki, Uchimura, Sumihiro, Taniguchi, Akira, Hirata, Yasuo, Kawabata, Takeshi, Tsuji, Kazutaka, Hara, Masanao, Miyagi, Takayasu, Toriyama, Seiki, Sasagawa, Katsuyoshi, Aizawa, Chieko, Yoshizawa, Yasuhiro, Oaki, Yoshinao, Okazaki, Tsugio
• Primary Examiner(s): Leubecker, John P.
• Application Number:
  US09/392,581
• Time in Patent Office: 1,069 Days
• Field of Search: 600/117, 600/118, 600/160, 600/132, 600/109, 600/407, 600/424
• US Class Current: 600/118
• CPC Class Codes: A61B 1/00048 Constructional features of the display
• CPC Class Codes: A61B 1/0005 combining images e.g. side-by-side, superimposed or tiled
• CPC Class Codes: A61B 1/00078 with stiffening means
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/373 using light, e.g. by using optical scanners
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms

Abstract

A source coil line-break/short-circuit detecting circuit and a probe connection detecting circuit are provided to the source coil driving circuit unit of an endoscope shape detecting apparatus. The source coil line-break/short-circuit detecting circuit detects line-breaks and short-circuits of the source coils. The probe connection detecting circuit detects whether a connection exists with a probe. A marker coil line-break/short-circuit detecting circuit detects line-breaks and short-circuits of the marker coils. A marker connection detecting circuit detects whether a connection exists with a marker. Accordingly, using the apparatus without being connected to a probe or markers can be avoided by detecting the connection of the probe and markers by the probe connection detecting circuit and marker connection detecting circuit, respectively, when the system is energized, thereby avoiding detecting noise and consequently displaying a random image on the monitor.

Claims

1. An endoscope shape detecting apparatus, comprising:

an endoscope for observing a subject image by inserting an insertion portion into the body of a subject, such as a body cavity;

a magnetic field generating means for generating a magnetic field by supplying driving signals;

a magnetic field detecting means for detecting the magnetic field generated by said magnetic field generating means; and

a control means comprising;

a driving means for generating said driving signals;

a computing means for computing a shape of the inserted portion of said endoscope, from relative positional information between said magnetic field generating means and said magnetic field detecting means, based on detection signals detected by said magnetic field detecting means with one or the other of said magnetic field generating means and said magnetic field detecting means

a display control means for displaying the endoscope shape obtained from computation results from said computing means on a display means; and

a connection state detecting means for detecting a connection state of said magnetic field generating means;

wherein said control means controls at least one of said driving means, said computing means, and said display control means, based on said connection state.

2. An endoscope shape detecting apparatus according to claim 1, wherein said connection state detecting means detects the connection state of said magnetic field generating means while said magnetic field generating means is being driven.

3. An endoscope shape detecting apparatus according to claim 1, further comprising:

a dedicated introduction channel for introducing an endoscope insertion shape detecting probe, having one or the other of said magnetic field generating means and said magnetic field detecting means, into the insertion portion of said endoscope; and

a detaching and mounting mechanism for detaching and mounting said endoscope insertion shape detecting probe, said mechanism being provided in said introduction channel and having a cross-sectional shape which is similar to the cross-sectional shape of said endoscope insertion shape detecting probe but with a greater cross-sectional area, and being formed of a tube which elastically returns to said cross-sectional shape.

4. An endoscope shape detecting apparatus according to claim 3, wherein said endoscope insertion shape detecting probe has a relay connector and is dividable before and behind said relay connector.

5. An endoscope shape detecting apparatus according to claim 4, wherein said relay connector is detachable from outside of said endoscope.

6. An endoscope shape detecting apparatus according to claim 4, wherein said relay connector has a waterproof cover.

7. An endoscope shape detecting apparatus according to claim 1, further comprising:

an endoscope insertion shape detecting probe having one or the other of said magnetic field generating means and said magnetic field detecting means; and

an introduction channel for introducing said endoscope insertion shape detecting probe into said endoscope;

wherein said introduction channel has a cross-section of a size and shape which allows said endoscope insertion shape detecting probe to be detachable.

8. An endoscope shape detecting apparatus according to claim 7, wherein said introduction channel for introducing said endoscope insertion shape detecting probe into said endoscope is formed of a hollow tube.

9. An endoscope shape detecting apparatus according to claim 1, comprising an endoscope insertion shape detecting probe having one or the other of said magnetic field generating means and said magnetic field detecting means;

wherein said endoscope insertion shape detecting probe has a relay connector which is detachable from outside of the operating unit of said endoscope.

10. An endoscope shape detecting apparatus according to claim 9, wherein said relay connector has a waterproof cover.

11. An endoscope shape detecting apparatus according to claim 1, comprising an endoscope insertion shape detecting probe having one or the other of said magnetic field generating means and said magnetic field detecting means;

wherein said endoscope and said endoscope insertion shape detecting probe are provided with identifying means relying on sight or touch;

and wherein said identifying means has a certain uniformity with said endoscope and said endoscope insertion shape detecting probe.

12. An endoscope shape detecting apparatus according to claim 1, comprising:

an endoscope insertion shape detecting probe having one or the other of said magnetic field generating means and said magnetic field detecting means;

endoscope identifying means for identifying a type of endoscope; and

endoscope insertion shape detecting probe identifying means for identifying a type of endoscope insertion shape detecting probe.

13. An endoscope shape detecting apparatus according to claim 12, comprising notifying means for collating identification results of said endoscope identifying means and identification results of said probe identifying means, and making notification of the collation results.

14. An endoscope shape detecting apparatus according to claim 1, comprising:

an endoscope insertion shape detecting probe having one or the other of said magnetic field generating means and said magnetic field detecting means; and

a holding member for integrally connecting said endoscope insertion shape detecting probe and said endoscope.

15. An endoscope shape detecting apparatus according to claim 1, said magnetic field generating means or said magnetic field detecting means to be inserted in the body of said subject comprising:

a first coil group wherein a plurality of coils are arrayed at a certain first interval within a flexible tube portion of said endoscope; and

a second coil group wherein a plurality of coils are arrayed at a certain second interval which is narrower than said first interval, within a curving portion of said endoscope.

16. An endoscope shape detecting apparatus according to claim 1, one or the other of said magnetic field generating means and said magnetic field detecting means to be inserted in the body of said subject comprising:

a first coil group wherein a plurality of coils are arrayed at a certain first interval, within a curving portion of said endoscope, based on a maximum curvature of said curving portion; and

a second coil group wherein a plurality of coils are arrayed at a certain second interval, which is wider than said first interval, within a flexible tube portion of said endoscope.

17. An endoscope shape detecting apparatus according to claim 1, comprising a plurality of endoscope insertion shape detecting probes, having one or the other of said magnetic field generating means and said magnetic field detecting means, each with at least one of the flexibility and resilience of the portion inserted in the channel of said endoscope differing with respect to the remainder of said plurality and endoscope insertion shape detecting probes.

18. An endoscope shape detecting apparatus according to claim 17, wherein at least one of said flexibility and said resilience differs between a rear end side and a tip side of said plurality of endoscope insertion shape detecting probes in the longitudinal direction.

19. An endoscope shape detecting apparatus according to claim 17, wherein at least one of said flexibility and said resilience of said plurality of endoscope insertion shape detecting probes is variable at a rear end side and a tip side, by changing an insertion diameter in the longitudinal direction.

20. An endoscope shape detecting apparatus according to claim 17, wherein said plurality of endoscope insertion shape detecting probes have a display unit for identifying the degree of at least one of said flexibility and said resilience.

21. An endoscope shape detecting apparatus according to claim 17, further comprising stiffness changing means for changing the stiffness of the insertion portion.

22. An endoscope shape detecting apparatus according to claim 1, comprising:

an endoscope insertion shape detecting probe having one or the other of said magnetic field generating means and said magnetic field detecting means; and

a buckling prevention member formed of an elastic member, detachable from a forceps opening of said endoscope at a connector toward the handling side of said endoscope insertion shape detecting probe.

23. An endoscope shape detecting apparatus according to claim 1, comprising a position fixing means for positioning and fixing the one of said magnetic field generating means or said magnetic field detecting means not inserted into the body of said subject, against the surface of the body of said subject.

24. An endoscope shape detecting apparatus according to claim 1, comprising:

an attaching means for attaching the one of said magnetic field generating means or said magnetic field detecting means not inserted into the body of said subject, onto the surface of the body of said subject; and

a display means provided to said magnetic field detecting unit for displaying whether there is a certain position for said insertion portion.

25. An endoscope shape detecting apparatus according to claim 1, comprising:

an attaching means for attaching the one of said magnetic field generating means or said magnetic field detecting means not inserted into the body of said subject, onto the surface of the body of said subject; and

a selecting means for enabling at least one of a plurality of coils making up said magnetic field generating means or said magnetic field detecting means attached onto the surface of the body of said subject with said attaching means to be selectively set to either of magnetic field generating or magnetic field detecting.

26. An endoscope shape detecting apparatus according to claim 1, comprising:

an endoscope device for outputting an endoscope image within the body of said subject from said endoscope; and

an image synthesizing means for synthesizing said endoscope image from said endoscope device with an endoscope shape image from said display control means, for display on a single display means.

27. An endoscope shape detecting apparatus according to claim 1, comprising:

an endoscope device for outputting an endoscope image within the body of said subject from said endoscope; and

an image switching means for switching between said endoscope image from said endoscope device and an endoscope shape image from said display control means, for display on a single display means.

28. An endoscope shape detecting apparatus according to claim 1, wherein said display control means generates said shape image such that parts of said insertion portion with differing bending properties can be identified.

29. An endoscope shape detecting apparatus according to claim 1, wherein said magnetic field generating means or said magnetic field detecting means not inserted into the body of said subject is movable in relation to said display means.

30. An endoscope shape detecting apparatus according to claim 1, wherein said magnetic field generating means or said magnetic field detecting means to be inserted into the body of said subject further comprises stiffness changing means for changing the stiffness at the insertion portion.

31. An endoscope shape detecting apparatus according to claim 1, wherein said magnetic field generating means or said magnetic field detecting means to be inserted into the body of said subject is layered and positioned within exterior material of the insertion portion of said endoscope.

32. An endoscope shape detecting apparatus according to claim 1, comprising:

an image-taking means for obtaining images of the object observed with said endoscope, said image-taking means being constructed either within said endoscope or constructed separately from said endoscope;

a means for obtaining a first image signal from image signals obtained by said image-taking means;

a stiffness adjusting means for adjusting the stiffness of said insertion portion;

a means for obtaining a second image signal by forming an image of information such as numerical values indicating the stiffness set at said stiffness adjusting means;

a synthesizing means for inputting said first image signal, said second image signal, and an endoscope shape image from said display control means, as a third image signal, and synthesizing at least two types of image signals from the group comprised of said first image signal, said second-image signal, and said third image signal; and

a display means for displaying the image signals synthesized by said synthesizing means.

33. An endoscope shape detecting apparatus according to claim 32, wherein said stiffness adjusting means comprises:

a knob for setting stiffness; and

a detecting means for detecting the position of said knob;

said detecting means comprising;

a light reflecting means provided to said knob; and

a light detecting means for detecting reflected light from said light reflecting means.

34. An endoscope shape detecting apparatus according to claim 1, comprising:

a means for obtaining shape information representing said insertion shape; and

a means for obtaining image signals for overlapping and displaying said shape information over a graphic image of said insertion shape.

35. An endoscope shape detecting apparatus according to claim 34, wherein said shape information includes graphic marks displayed over said graphic image of said insertion shape.

36. An endoscope shape detecting apparatus according to claim 34, wherein said shape information includes numerical information, displayed near a position on said graphic image of said insertion shape corresponding with certain distance interval positions of said endoscope insertion portion, and representing the distance from a certain position of said endoscope insertion portion.

37. An endoscope shape detecting apparatus according to claim 34, wherein said shape information includes numerical information or character information indicating the curvature radius of said endoscope insertion portion at said certain position, displayed near the position on said graphic image of said insertion shape corresponding with the certain position of said endoscope insertion portion.

38. An endoscope shape detecting apparatus according to claim 37, wherein said certain position is where the curvature radius of said endoscope insertion portion is smaller than a certain value.

39. An endoscope shape detecting apparatus according to claim 1, wherein the insertion portion of said endoscope has at least a soft tube portion and a curvable curving portion extending from the tip side of said tube portion;

wherein said endoscope comprises at least curve operating means for operating said curving portion; and

wherein said magnetic field generating means or said magnetic field detecting means to be inserted into the body of said subject is positioned in said tube portion;

said endoscope shape detecting apparatus further comprising;

a curving operation position detecting means for detecting an operating position of said curve operating means;

a curving portion shape detecting means for detecting a shape of said curving portion from information of the operating position of said curve operating means obtained by said curving operation position detecting means; and

a means for obtaining image signals for synthesizing the shape of said tube portion obtained by said computing means and the shape of said curving portion obtained by said curving shape detecting means, and displaying the graphic image of said insertion shape.

40. An endoscope shape detecting apparatus, comprising:

an endoscope for observing a subject image by inserting an insertion portion into the body of a subject, such as a body cavity;

a magnetic field generating means for generating a magnetic field by supplying driving signals;

a magnetic field detecting means for detecting the magnetic field generated by said magnetic field generating means;

a driving means for generating said driving signals;

a computing means for computing a shape of the inserted portion of said endoscope, from relative positional information between said magnetic field generating means and said magnetic field detecting means, based on detection signals detected by said magnetic field detecting means with one or the other of said magnetic field generating means and said magnetic field detecting means;

a display control means for displaying the endoscope shape obtained from computation results from said computing means on a display means;

a connection state detecting means for detecting connection state of said magnetic field generating means; and

a control means for controlling said display control means, based on said connection state.

41. An endoscope shape detecting apparatus, comprising:

an endoscope for observing a subject image by inserting an insertion portion into the body of a subject, such as a body cavity;

a magnetic field generating means for generating a magnetic field by supplying driving signals;

a magnetic field detecting means for detecting the magnetic field generated by said magnetic field generating means;

a driving means for generating said driving signals;

a computing means for computing a shape of the inserted portion of said endoscope, from relative positional information between said magnetic field generating means and said magnetic field detecting means, based on detection signals detected by said magnetic field detecting means with one or the other of said magnetic field generating means and said magnetic field detecting means;

a display control means for displaying the endoscope shape obtained from computation results from said computing means on a display means;

a connection state detecting means for detecting a connection state of said magnetic field generating means; and

a control means for controlling said computing means, based on said connection state.

42. An endoscope shape detecting apparatus, comprising:

an endoscope for observing a subject image by inserting an insertion portion into the body of a subject, such as a body cavity;

a magnetic field generating means for generating a magnetic field by supplying driving signals;

a magnetic field detecting means for detecting the magnetic field generated by said magnetic field generating means;

a driving means for generating said driving signals;

a computing means for computing a shape of the inserted portion of said endoscope, from relative positional information between said magnetic field generating means and said magnetic field detecting means, based on detection signals detected by said magnetic field detecting means with one or the other of said magnetic field generating means and said magnetic field detecting means;

a display control means for displaying the endoscope shape obtained from computation results from said computing means on a display means;

a connection state detecting means for detecting a connection state of said magnetic field generating means; and

a control means for controlling said driving means, based on said connection state.