JP2018130433A - Endoscope system, endoscope, and insertion assisting implement - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an endoscope system or the like capable of simplifying image rotation when the inside of an analyte is observed.SOLUTION: The endoscope system comprises: an insertion part having a slender shape which can be inserted into the inside of a subject; an imaging part provided at the distal end of the insertion part to image an object to be imaged existing inside the subject; a grip part gripped when the insertion part is inserted into the inside of the subject; a rotation operation part which is provided at the distal end of the grip part and can perform an operation for rotating the insertion part in a right and left direction with respect to the grip part with the longitudinal direction of the insertion part as a rotation axis; a rotational displacement detection part which generates and outputs a rotational displacement parameter corresponding to a relative rotation angle corresponding to the rotation state of the rotation operation part with respect to the grip part; and an image rotation part which rotates an image obtained by imaging the subject by the imaging part, in a direction opposite to the rotation direction of the rotation operation part, in accordance with the rotation displacement parameter output from the rotation displacement detection part.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an endoscope system, an endoscope, and an insertion aid.

  Endoscopic observation in the medical field was obtained by imaging a subject existing in the subject according to the situation when the endoscope was inserted into the subject and observed. A technique for rotating and displaying an image is conventionally known.

  Specifically, for example, in Patent Document 1, in an endoscope system including an electronic scope, the posture of the gripping part detected by an acceleration sensor and a distance measuring sensor provided in the gripping part of the electronic scope is described. Accordingly, a configuration is disclosed in which an image obtained by imaging with a CCD provided in the electronic scope is rotated and displayed on a monitor.

  However, according to the configuration disclosed in Patent Document 1, there is a problem that it is necessary to perform complicated processing according to the detection results of the acceleration sensor and the distance measuring sensor as processing for rotating the image. .

  The present invention has been made in view of the above-described circumstances, and provides an endoscope system, an endoscope, and an insertion aid that can easily rotate an image when observing the inside of a subject. The purpose is to do.

  An endoscope system according to an aspect of the present invention includes an insertion portion configured to have an elongated shape that can be inserted into a subject, and a distal end portion of the insertion portion that is provided in the subject. An imaging unit configured to image a subject to be imaged, a gripping unit gripped when the insertion unit is inserted into the subject, and a tip of the gripping unit, A rotation operation unit configured to perform an operation for rotating the insertion unit in the left-right direction with respect to the gripping unit with a longitudinal direction as a rotation axis, and a rotation state of the rotation operation unit with respect to the gripping unit And a rotational displacement detector configured to generate and output a rotational displacement parameter corresponding to the detected rotational angle, and output from the rotational displacement detector The rotational displacement parameter In response, the imaging unit has a an image rotation unit configured to rotate in the opposite direction the image obtained by imaging the subject with respect to the rotational direction of the rotary operation unit.

  An endoscope according to an aspect of the present invention is provided in an insertion portion configured to have an elongated shape that can be inserted into a subject, and a distal end portion of the insertion portion, and is present in the subject. An imaging unit configured to image a subject, a gripping unit that is gripped when the insertion unit is inserted into the subject, and a length of the insertion unit provided at a distal end of the gripping unit A rotation operation unit configured to perform an operation for rotating the insertion unit in the left-right direction with respect to the gripping unit with a direction as a rotation axis; and a rotation state of the rotation operation unit with respect to the gripping unit. In response to the detected relative rotation angle, the imaging unit rotates an image obtained by imaging the subject in a direction opposite to the rotation direction of the rotation operation unit according to the detected rotation angle. The rotational displacement parameters used in To having a rotation displacement detector configured to output.

  An insertion assisting tool according to one aspect of the present invention is provided at a gripping portion that is gripped when an elongated insertion portion provided in an endoscope is inserted into a subject, and a distal end portion of the gripping portion. A rotation operation unit configured to perform an operation for rotating the insertion unit in the left-right direction with respect to the gripping unit with the longitudinal direction of the insertion unit as a rotation axis; and the rotation with respect to the gripping unit The relative rotation angle according to the rotation state of the operation unit is detected, and the imaging unit provided at the distal end of the insertion unit images a subject existing inside the subject according to the detected rotation angle. A rotational displacement detection unit configured to generate and output a rotational displacement parameter used when the image obtained in this manner is rotated in a direction opposite to the rotational direction of the rotational operation unit.

  According to the endoscope system, the endoscope, and the insertion aid of the present invention, it is possible to easily rotate an image when observing the inside of the subject.

The figure which shows the structure of the principal part of the endoscope system which concerns on embodiment. FIG. 3 is a diagram for explaining an example of a configuration of an image processing unit according to the embodiment. The figure which shows an example of the usage condition of the endoscope and insertion assistance tool which concern on embodiment. The figure for demonstrating an example of the rotational displacement parameter produced | generated in the rotational displacement detection part which concerns on embodiment. The figure for demonstrating an example of the rotational displacement parameter produced | generated in the rotational displacement detection part which concerns on embodiment. FIG. 4 is a diagram illustrating an example of a basic image generated in the image processing unit according to the embodiment. The figure which shows an example of the rotation image produced | generated by rotating the basic image of FIG.

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

  1 to 7 relate to an embodiment of the present invention.

  As shown in FIG. 1, the endoscope system 1 includes an endoscope 2, an insertion assisting tool 3, a main body device 4, and a display device 5. Drawing 1 is a figure showing the composition of the important section of the endoscope system concerning an embodiment.

  The endoscope 2 includes an insertion portion 21 configured to have an elongated shape that can be inserted into a subject.

  The insertion portion 21 is formed of a flexible member such as a resin. Moreover, the insertion part 21 comprises the outer diameter which can be inserted in a subject's nasal cavity, for example. In addition, a plug (not shown) for detachably connecting the endoscope 2 to a receptacle (not shown) of the main body device 4 is provided at the proximal end portion of the insertion portion 21, for example. In addition, an optical fiber 22 a for transmitting illumination light supplied from the light source unit 41 of the main body device 4 is provided in a portion from the proximal end portion to the distal end portion inside the insertion portion 21. In addition, the distal end portion of the insertion portion 21 is irradiated with an emission end portion including the light emission surface of the optical fiber 22a and illumination light emitted through the light emission surface to a subject outside the endoscope 2. The formed illumination lens 22b, the objective lens 22c formed to image the return light from the subject illuminated by the illumination light, and the return light imaged by the objective lens 22c are imaged. And an image pickup device 22d configured as described above.

  The image pickup element 22d is configured to include an image sensor such as a color CCD or a color CMOS. The imaging element 22d is configured to generate an imaging signal by imaging the return light imaged by the objective lens 22c and output the generated imaging signal to the main body device 4. That is, the imaging element 22d has a function as an imaging unit, and is configured to capture an image of a subject existing inside the subject into which the insertion unit 21 is inserted and output an imaging signal.

  The insertion assisting tool 3 is gripped by a user, a rotation operation unit 32 provided at the distal end of the gripping unit 31, and provided at the distal end of the rotation operation unit 32 and can be inserted into the subject. And an insertion pipe 33 configured to have an elongated shape.

  The grip portion 31 is formed in a cylindrical shape having a size that can be gripped by a user with one hand, for example. In addition, the grip portion 31 is provided with an insertion hole having an inner diameter through which the insertion portion 21 can be inserted with the center axis CA (see FIG. 1) in the longitudinal direction of the insertion assisting tool 3 as the center. In addition, a rotation displacement detector 31 a is provided inside the gripper 31.

  The rotational displacement detector 31a includes, for example, a rotary encoder. The rotational displacement detector 31a detects a relative rotational angle corresponding to the rotational state of the rotational operation unit 32 with respect to the gripper 31, and sets a rotational displacement parameter corresponding to the detected rotational angle for each predetermined unit angle. Are generated and output. In addition, the rotational displacement parameter detected by the rotational displacement detector 31a is output to the main body device 4 via a signal line SL (see FIG. 1) extending from the proximal end portion of the grip portion 31.

  The rotation operation part 32 is formed in a cylindrical shape having an insertion hole having an inner diameter through which the insertion part 21 can be inserted at the center. Further, the rotation operation unit 32 is configured to be able to rotate one rotation (360 degrees) in both the left and right directions with respect to the gripping unit 31 with the central axis CA as a rotation axis in accordance with a user operation.

  The insertion pipe 33 is formed of a non-flexible member such as metal or plastic. The insertion pipe 33 has an inner diameter that allows the insertion portion 21 to be inserted therethrough. The insertion pipe 33 is configured to have an outer diameter that can be inserted into the nasal cavity of the subject, for example. Further, the insertion pipe 33 is configured to be able to rotate by one rotation (360 degrees) in both the left and right directions with respect to the gripping unit 31 with the central axis CA as a rotation axis as the rotation operation unit 32 rotates. Yes. The distal end portion of the insertion pipe 33 is bent in a predetermined direction that forms an obtuse angle with respect to the central axis CA.

  That is, according to the configuration of the insertion assisting tool 3 as described above, the insertion portion is configured with the longitudinal direction of the insertion portion 21 inserted into the grip portion 31, the rotation operation portion 32, and the insertion pipe 33 as the rotation axis. An operation for rotating 21 in the left-right direction with respect to the grip portion 31 can be performed in the rotation operation portion 32.

  The main unit 4 includes a light source unit 41, an image processing unit 42, and a control unit 43.

  The light source unit 41 includes, for example, an LED or a lamp. Further, the light source unit 41 is configured to generate white light with a light amount according to the control of the control unit 43 and to supply the white light to the endoscope 2 as illumination light.

  The image processing unit 42 includes, for example, one or more image processing circuits or one or more processors. The image processing unit 42 includes, for example, an image generation unit 42a and an image rotation unit 42b as shown in FIG. FIG. 2 is a diagram for explaining an example of the configuration of the image processing unit according to the embodiment.

  The image generation unit 42a is configured to generate a basic image that is an image corresponding to the imaging signal output from the imaging element 22d, and to output the generated basic image to the image rotation unit 42b.

  When the image rotation unit 42b detects that the basic image output from the image generation unit 42a needs to be rotated based on the rotation displacement parameter output from the rotation displacement detection unit 31a, the image rotation unit 42b corresponds to the rotation parameter. A rotation image obtained by rotating the basic image in a direction opposite to the rotation direction of the rotation operation unit 32 is generated, and the generated rotation image is output to the display device 5 as an observation image. Further, when the image rotation unit 42b detects that the basic image output from the image generation unit 42a does not need to be rotated based on the rotation displacement parameter output from the rotation displacement detection unit 31a, the image rotation unit 42b The image is output to the display device 5 as an observation image (without rotating). A specific example of the operation of the image rotation unit 42b will be described later.

  The control unit 43 includes a control circuit such as a CPU, for example. Further, the control unit 43 can perform various controls related to the operation of the main body device 4 such as control for adjusting the amount of illumination light supplied from the light source unit 41 to the endoscope 2. It is configured to be able to.

  The display device 5 includes, for example, an LCD (liquid crystal display) or the like, and is configured to display an observation image or the like output from the main body device 4.

  Next, operation | movement of the endoscope system 1 of this embodiment is demonstrated.

  A user such as an operator performs an operation for projecting the distal end portion of the insertion portion 21 from the distal end portion of the insertion pipe 33 after connecting each portion of the endoscope system 1 and turning on the power. Further, for example, the user grips the grip portion 31 with one hand, directs the bending direction of the distal end portion of the insertion pipe 33 in the horizontal direction (direction perpendicular to the gravity direction), and the vertical direction of the user's body. An insertion operation for inserting the insertion portion 21 and the insertion pipe 33 into the nasal cavity of the subject placed on the examination table is started in a state where the vertical direction of the imaging element 22d is matched. According to such an insertion operation by the user, for example, the insertion part 21 and the insertion pipe 33 are inserted into the nasal cavity of the subject in a state as shown in FIG. In FIG. 3, it is assumed that the arrow AR1 indicates the vertical direction of the body (not shown) of the user holding the grip portion 31, and the arrow AR2 indicates the vertical direction of the image sensor 22d. In addition, the vertical direction of the image sensor 22d is assumed to coincide with the vertical direction of the observation image displayed on the display device 5.

  For example, the user performs an operation for rotating the rotation operation unit 32 in either the left or right direction while maintaining the gripping state of the gripping unit 31 in a place where it is difficult to insert the insertion pipe 33 into the deep part of the nasal cavity. By performing, the insertion operation for inserting the insertion portion 21 and the insertion pipe 33 is continued. FIG. 3 is a diagram illustrating an example of a usage mode of the endoscope and the insertion assisting tool according to the embodiment.

  In the following, a case where the rotation operation unit 32 is not rotated with respect to the gripping unit 31 when the insertion of the insertion unit 21 and the insertion pipe 33 into the nostril of the subject is started will be described as an example. I will explain.

  The rotational displacement detection unit 31 a detects a relative rotation angle θr according to the rotation state of the rotation operation unit 32 with respect to the grip unit 31.

  Specifically, the rotational displacement detection unit 31a detects the rotation angle θr as 0 degrees when the rotation operation unit 32 is not rotating with respect to the grip unit 31, for example. The rotational displacement detector 31a detects a positive rotation angle θr when the rotation direction of the rotation operation unit 32 viewed from the proximal end side to the distal end side of the grip portion 31 is the right direction, for example. For example, when the rotation direction of the rotation operation unit 32 viewed from the proximal end side to the distal end side of the grip portion 31 is the left direction, the rotational displacement detection unit 31a detects a negative rotation angle θr.

  The rotational displacement detector 31a generates a rotational displacement parameter corresponding to the rotational angle θr for each predetermined unit angle and outputs the rotational displacement parameter to the main body device 4.

  Specifically, for example, the rotational displacement detector 31a determines that the rotational angle θr is 0 degrees when the rotational angle θr is greater than 315 degrees and less than 360 degrees when the rotational angle θr is greater than 0 degrees and smaller than 45 degrees. The rotation displacement parameter θo is generated and output to the main body device 4 when the rotation angle θr is smaller than −315 degrees and larger than −360 degrees when the rotation angle θr is smaller than −45 degrees and greater than −45 degrees (FIG. 4). And FIG. 5). Further, for example, when the rotation angle θr is 45 degrees or more and 135 degrees or less, the rotational displacement detection unit 31a generates a rotational displacement parameter θna and outputs the rotational displacement parameter θna to the main body device 4 (see FIG. 4). Further, for example, when the rotation angle θr is larger than 135 degrees and smaller than 225 degrees, the rotational displacement detection unit 31a generates a rotational displacement parameter θnb and outputs it to the main body device 4 (see FIG. 4). In addition, for example, when the rotation angle θr is not less than 225 degrees and not more than 315 degrees, the rotation displacement detection unit 31a generates the rotation displacement parameter θnc and outputs it to the main body device 4 (see FIG. 4). In addition, for example, when the rotation angle θr is −45 degrees or less and −135 degrees or more, the rotational displacement detection unit 31a generates the rotational displacement parameter θpa and outputs it to the main body device 4 (see FIG. 5). Further, for example, when the rotation angle θr is smaller than −135 degrees and larger than −225 degrees, the rotational displacement detection unit 31a generates a rotational displacement parameter θpb and outputs the rotational displacement parameter θpb to the main body device 4 (see FIG. 5). In addition, for example, when the rotation angle θr is −225 degrees or less and −315 degrees or more, the rotational displacement detection unit 31a generates a rotational displacement parameter θpc and outputs it to the main body device 4 (see FIG. 5). 4 and 5 are diagrams for explaining an example of a rotational displacement parameter generated in the rotational displacement detection unit according to the embodiment.

  According to the operation described in the above specific example, the rotational displacement detector 31a generates a rotational displacement parameter corresponding to the rotational angle θr every 90 degrees that is a predetermined unit angle, and outputs it to the main body device 4. To do. Further, each rotational displacement parameter described in the above specific example is a parameter obtained by discretizing the rotation angle θr for each predetermined unit angle, and the basic image output from the image generation unit 42a is rotated by the rotation operation unit 32. It is generated as a parameter used when rotating in the opposite direction to the direction.

  The image generation unit 42a generates a basic image corresponding to the imaging signal output from the imaging element 22d, and outputs the generated basic image to the image rotation unit 42b.

  When the image rotation unit 42b detects that the basic image output from the image generation unit 42a needs to be rotated based on the rotation displacement parameter output from the rotation displacement detection unit 31a, the image rotation unit 42b corresponds to the rotation parameter. A rotation image obtained by rotating the basic image in a direction opposite to the rotation direction of the rotation operation unit 32 is generated, and the generated rotation image is output to the display device 5 as an observation image. Further, when the image rotation unit 42b detects that the basic image output from the image generation unit 42a does not need to be rotated based on the rotation displacement parameter output from the rotation displacement detection unit 31a, the image rotation unit 42b It outputs to the display apparatus 5 as an observation image (without rotating).

  Specifically, for example, when the rotational displacement parameter output from the rotational displacement detection unit 31a is θo, the image rotation unit 42b displays the basic image output from the image generation unit 42a (without rotating). Output to the display device 5. For example, when the rotational displacement parameter output from the rotational displacement detection unit 31a is θna, the image rotation unit 42b rotates the basic image output from the image generation unit 42a by 90 degrees leftward. Is output to the display device 5. For example, when the rotational displacement parameter output from the rotational displacement detection unit 31a is θnb, the image rotation unit 42b rotates the basic image output from the image generation unit 42a 180 degrees to the left. Is output to the display device 5. For example, when the rotational displacement parameter output from the rotational displacement detection unit 31a is θnc, the image rotation unit 42b rotates the basic image output from the image generation unit 42a 270 degrees to the left. Is output to the display device 5. For example, when the rotational displacement parameter output from the rotational displacement detection unit 31a is θpa, the image rotation unit 42b rotates the basic image output from the image generation unit 42a by 90 degrees rightward. Is output to the display device 5. For example, when the rotational displacement parameter output from the rotational displacement detection unit 31a is θpb, the image rotation unit 42b rotates the basic image output from the image generation unit 42a 180 degrees clockwise. Is output to the display device 5. For example, when the rotational displacement parameter output from the rotational displacement detection unit 31a is θpc, the image rotation unit 42b rotates the basic image output from the image generation unit 42a to the right by 270 degrees. Is output to the display device 5.

  As described above, according to the present embodiment, the process according to the rotation parameter output from the rotation displacement detection unit 31a in accordance with the operation of the rotation operation unit 32 is performed, so that the image is output from the image generation unit 42a. The basic image can be rotated. Therefore, according to the present embodiment, for example, the image can be easily rotated when observing the inside of the subject as compared with the case where processing using a plurality of parameters detected by one or more sensors is performed. Can do.

  Further, according to the present embodiment, the endoscope 2 and the insertion assisting tool 3 confirm the observation image displayed on the display device 5 with respect to the vertical direction of the subject included in the basic image output from the image generation unit 42a. A rotated image rotated so as to match the vertical direction of the user who performs the above operation can be displayed on the display device 5 as an observation image. Specifically, according to the present embodiment, for example, by rotating the basic image IB as shown in FIG. 6 according to the rotation parameter output from the rotational displacement detector 31a, the rotation as shown in FIG. The image IR can be displayed on the display device 5 (as an observation image). Therefore, according to the present embodiment, it is possible to cause the display device 5 to display an observation image that can be easily recognized intuitively by a user who performs endoscopic observation, and as a result, the visual discomfort given to the user is given. It can be reduced as much as possible. FIG. 6 is a diagram illustrating an example of a basic image generated in the image processing unit according to the embodiment. FIG. 7 is a diagram illustrating an example of a rotated image generated by rotating the basic image of FIG.

  According to the present embodiment, for example, the rotational displacement detection unit 31a is not limited to generating and outputting a rotational displacement parameter corresponding to the rotational angle θr for each predetermined unit angle, and rotates the rotational angle θr as it is. You may make it output as a displacement parameter. In such a case, the image rotation unit 42b may rotate the basic image output from the image generation unit 42a in the opposite direction by the same angle as the rotation angle θr. Furthermore, according to the present embodiment, for example, the rotation angle θr output from the rotational displacement detection unit 31a may be used for processing other than the processing related to generation of the rotated image in the image rotating unit 42b. Good.

  Further, according to the present embodiment, for example, the image rotation unit 42b is not limited to the one that rotates the basic image output from the image generation unit 42a at the timing when the rotation displacement parameter output from the rotation displacement detection unit 31a is acquired. Instead, the basic image may be rotated after a predetermined time has elapsed from the timing.

  Further, according to the present embodiment, for example, when the rotation angle θr is output from the rotation displacement detection unit 31a as a rotation displacement parameter, the image rotation unit 42b performs a determination process based on the acquisition history of the rotation angle θr. Whether or not the basic image needs to be rotated may be determined. Specifically, for example, the image rotation unit 42b has all 10 rotation angles continuously acquired immediately before the timing at which the rotation angle θr output from the rotation displacement detection unit 31a is 45 degrees or more. When it is detected that it belongs to an angle range of 0 degree or more and less than 45 degree and that all three rotation angles acquired immediately after the timing belong to an angle range of 45 degree or more and 135 degree or less In addition, the basic image output from the image generation unit 42a may be rotated 90 degrees to the left. In addition, for example, the image rotation unit 42b has 45 degrees among the ten consecutive rotation angles acquired immediately before the timing at which the rotation angle θr output from the rotation displacement detection unit 31a becomes 45 degrees or more. The basic image output from the image generation unit 42a may not be rotated when one or more rotation angles belonging to the angle range of 135 degrees or less are included. In addition, for example, the image rotation unit 42b determines that the rotation angle θr output from the rotation displacement detection unit 31a is 0 degrees among the three consecutive rotation angles acquired immediately after the timing when the rotation angle θr becomes 45 degrees or more. The basic image output from the image generation unit 42a may not be rotated when one or more rotation angles belonging to the angle range of less than 45 degrees are included. According to such an operation of the image rotation unit 42b, for example, it is possible to prevent the observation image displayed on the display device 5 from being frequently rotated due to the minute rotation of the rotation operation unit 32.

  Further, according to the present embodiment, for example, when the rotation angle θr is output from the rotational displacement detection unit 31a, the image rotation unit 42b performs the determination process based on the number of frames of the basic image output from the image generation unit 42a. It may be determined whether or not it is necessary to rotate the basic image. Specifically, for example, the image rotation unit 42b, when the rotation angle θr output from the rotation displacement detection unit 31a continues to belong to an angle range of 45 degrees or more and 135 degrees or less continues for a predetermined number of frames, The basic image output from the image generation unit 42a may be rotated 90 degrees to the left. Further, for example, the image rotation unit 42b displays the image when the rotation angle θr output from the rotation displacement detection unit 31a does not continue for a predetermined number of frames or more in the angle range of 45 degrees or more and 135 degrees or less. The basic image output from the generation unit 42a may not be rotated.

  According to the present embodiment, for example, the rotational displacement detector 31a generates and outputs a rotational displacement parameter corresponding to the rotational angle θr for each unit angle φa, and the image rotating unit 42b responds to the rotational displacement parameter. Thus, the basic image may be rotated every unit angle φb larger than the unit angle φa. Specifically, for example, the rotational displacement detector 31a generates and outputs a rotational displacement parameter corresponding to the rotational angle θr every 1 degree, and the image rotating unit 42b responds every 90 degrees according to the rotational displacement parameter. The basic image may be rotated.

  Further, according to the present embodiment, for example, the rotational displacement detection unit 31a may generate and output a plurality of rotational displacement parameters by dividing the rotational angle θr. Specifically, for example, the rotational displacement detector 31a divides the rotational displacement parameter θg according to the value of the quotient when the rotational angle θr is divided by the unit angle φc and the rotational angle θr by the unit angle φc. The rotational displacement parameter θh corresponding to the remainder value may be generated and output.

  Further, according to the present embodiment, for example, when the image sensor 22d is configured using a CMOS image sensor, the image sensor 22d has the same functions as the functions of the image generation unit 42a and the image rotation unit 42b. May be. In such a case, for example, the endoscope 2 and the insertion assisting tool 3 are deformed so that the rotational displacement parameter of the rotational displacement detector 31a is output to the image sensor 22d, and the observation image on the display device 5 is displayed. The image processing unit 42 may be modified so that the processing necessary for displaying the image is performed on the image output from the image sensor 22d.

  In addition, according to the present embodiment, for example, when an operation unit including a scope switch for performing a desired instruction to the main body device 4 is provided at the proximal end portion of the insertion unit 21, the operation is performed. The arithmetic processing circuit provided inside the unit may have the same function as the functions of the image generation unit 42a and the image rotation unit 42b. In such a case, for example, the endoscope 2 and the insertion assisting tool 3 are deformed so that the rotational displacement parameter of the rotational displacement detector 31a is output to the arithmetic processing circuit, and the observation image on the display device 5 is displayed. The image processing unit 42 may be modified so that the processing necessary for displaying the image is performed on the image output from the arithmetic processing circuit.

  Further, according to the present embodiment, for example, the auxiliary processing device connected between the main body device 4 and the display device 5 may have the same function as the function of the image rotation unit 42b. In such a case, for example, the insertion assisting tool 3 is deformed so that the signal line SL extending from the proximal end portion of the grasping portion 31 is connected to the auxiliary processing device, and is generated by the image generating portion 42a. The main device 4 may be modified so that the basic image thus output is output to the auxiliary processing device.

  Further, according to the present embodiment, for example, a computer connected to the main device 4 via a network may have the same function as the function of the image rotation unit 42b. In such a case, for example, the insertion assisting tool 3 may be deformed so that the signal line SL extending from the proximal end portion of the grip portion 31 is connected to the computer. In the above-described case, for example, the main body apparatus is configured such that the basic image generated by the image generation unit 42 a is output to the computer and the image processed by the computer is output to the display device 5. 4 may be modified.

  Further, according to the present embodiment, for example, the display device 5 may have the same function as the function of the image rotation unit 42b. Further, in such a case, for example, the insertion assisting tool 3 is deformed so that the signal line SL extending from the proximal end portion of the grip portion 31 is connected to the display device 5, and is generated by the image generation unit 42a. The main body device 4 may be modified so that the basic image thus output is output to the display device 5.

  Further, according to the present embodiment, the endoscope 2 and the insertion assisting tool 3 are not limited to being separate, and for example, a part or all of the insertion assisting tool 3 is provided integrally with the endoscope 2. It may be. Specifically, according to the present embodiment, for example, the endoscope 2 may be configured to include the grip portion 31, the rotational displacement detection portion 31a, and the rotation operation portion 32.

  The present invention is not limited to the above-described embodiment, and various modifications and applications are naturally possible without departing from the spirit of the invention.

DESCRIPTION OF SYMBOLS 1 Endoscope system 2 Endoscope 3 Insertion auxiliary tool 4 Main body apparatus 5 Display apparatus 21 Insertion part 22d Image pick-up element 31 Holding part 31a Rotation displacement detection part 32 Rotation operation part 33 Insertion pipe 42 Image processing part 42a Image generation part 42b Image Rotating part

Japanese Unexamined Patent Publication No. 2015-188504

Claims (7)

An insertion portion configured to have an elongated shape that can be inserted into the subject; and
An imaging unit provided at the distal end of the insertion unit and configured to image a subject existing inside the subject;
A gripping part gripped when the insertion part is inserted into the subject; and
Rotation operation provided at the distal end portion of the gripping portion and configured to perform an operation for rotating the insertion portion with respect to the gripping portion in the left-right direction with the longitudinal direction of the insertion portion as a rotation axis. And
A rotational displacement detection unit configured to detect a relative rotational angle corresponding to the rotational state of the rotational operation unit with respect to the gripping unit, and to generate and output a rotational displacement parameter corresponding to the detected rotational angle. When,
In accordance with the rotational displacement parameter output from the rotational displacement detection unit, the imaging unit is configured to rotate an image obtained by imaging the subject in a direction opposite to the rotational direction of the rotation operation unit. Image rotation unit,
An endoscope system comprising: The endoscope system according to claim 1, wherein the rotational displacement detection unit generates and outputs the rotational displacement parameter for each predetermined unit angle. The endoscope system according to claim 2, wherein the predetermined unit angle is 90 degrees. The rotational displacement detector outputs the rotational angle as the rotational displacement parameter,
The endoscope system according to claim 1, wherein the image rotation unit rotates the image in the opposite direction by the same angle as the rotation angle. The rotational displacement detection unit generates and outputs the rotational displacement parameter for each first unit angle,
The endoscope system according to claim 1, wherein the image rotation unit rotates the image for each second unit angle larger than the first unit angle. An insertion portion configured to have an elongated shape that can be inserted into the subject; and
An imaging unit provided at the distal end of the insertion unit and configured to image a subject existing inside the subject;
A gripping part gripped when the insertion part is inserted into the subject; and
Rotation operation provided at the distal end portion of the gripping portion and configured to perform an operation for rotating the insertion portion with respect to the gripping portion in the left-right direction with the longitudinal direction of the insertion portion as a rotation axis. And
A relative rotation angle corresponding to a rotation state of the rotation operation unit with respect to the grip unit is detected, and an image obtained by the imaging unit imaging the subject is rotated according to the detected rotation angle. A rotational displacement detector configured to generate and output a rotational displacement parameter used when rotating in a direction opposite to the rotational direction of the unit;
The endoscope characterized by having. A gripping part gripped when an elongated insertion part provided in the endoscope is inserted into the subject; and
Rotation operation provided at the distal end portion of the gripping portion and configured to perform an operation for rotating the insertion portion with respect to the gripping portion in the left-right direction with the longitudinal direction of the insertion portion as a rotation axis. And
The relative rotation angle according to the rotation state of the rotation operation unit with respect to the gripping unit is detected, and the imaging unit provided at the distal end of the insertion unit is arranged inside the subject according to the detected rotation angle. A rotational displacement detector configured to generate and output a rotational displacement parameter used when rotating an image obtained by imaging a subject existing in a direction opposite to the rotational direction of the rotational operation unit When,
An insertion aid characterized by comprising:

Images