WO2017010148A1 - Endoscopic system - Google Patents

Abstract

An endoscopic system (1) is provided with the following: an insertion unit (11) that can be inserted into a body; an image pickup unit (12) that is placed in the insertion unit (11); a light distribution unit (13) that is placed in the insertion unit (11), and that is capable of distributing laser light (L1) to a site subject to image pickup by the image pickup unit (12); an image recognition unit (45) for recognizing a prescribed characteristic point in an image that has been picked up by the image pickup unit (12); and a light distribution control unit (46) for controlling the light distribution unit (13) such that the laser light (L1) reaches a site that has a prescribed positional relationship with the prescribed characteristic point.

Description

Endoscope system

The present invention relates to an endoscope system.
This application claims priority on July 10, 2015 based on Japanese Patent Application No. 2015-138862 for which it applied to Japan, and uses the content here.

In an endoscopic laparoscopic joint operation using an endoscope (laparoscope) inserted into the abdominal cavity and an endoscope inserted into a lumen such as the digestive tract at the same time, Since there is a luminal tissue between the endoscope inside the lumen, it may be difficult to grasp the positional relationship between them.
Conventionally, in endoscopic laparoscopic joint surgery, the positional relationship between the endoscope inside the abdominal cavity and the endoscope inside the digestive tract is confirmed by slightly deforming the digestive tract with an endoscope or a treatment instrument. It has been known. In addition, the gastrointestinal tract is irradiated with laser light that passes through the gastrointestinal tract, and the endoscope inside the abdominal cavity and the endoscope inside the gastrointestinal tract image the light spots from the laser light, thereby confirming their positional relationship. It is known to do.

As an example of a technique for irradiating a region to be observed by an endoscope with laser light, techniques disclosed in Patent Documents 1 and 2, for example, are known.
Patent Document 1 discloses that a laser beam is irradiated on an observation target part in order to acquire information on the shape of the observation target part. Patent Document 2 discloses that an observation target site is irradiated with a laser beam for marker formation and a laser beam for treatment, respectively.
In the techniques disclosed in Patent Documents 1 and 2, an optical fiber that emits laser light from the tip is resonated by an actuator using a piezo element, so that the tip of the optical fiber is vibrated and laser light is irradiated to a desired position. can do.

JP 2009-240621 A JP 2011-045461 A

In the techniques disclosed in Patent Documents 1 and 2, when the observation target part moves with respect to the endoscope, or when the endoscope moves with respect to the observation target part, the laser beam of the observation target part The position of the light spot may be shifted. For this reason, in the techniques disclosed in Patent Documents 1 and 2, since the operator needs to appropriately perform an operation for correcting the shift of the position of the light spot, the operation burden is large.

The present invention has been made in view of the above-described circumstances, and an object of the present invention is to provide an endoscope system in which the position of the light spot is unlikely to occur.

One embodiment of the present invention includes an insertion unit that can be inserted into a body, an imaging unit that is disposed in the insertion unit, and a light distribution that is disposed in the insertion unit and that can distribute laser light to an imaging target site of the imaging unit. An image recognition unit that recognizes a predetermined feature point in an image captured by the imaging unit, calculates a movement amount of the feature point in a predetermined time, and has a predetermined positional relationship with the predetermined feature point An endoscope system comprising: a light distribution control unit that controls the light distribution unit so that the laser beam reaches a site.

The light distribution unit includes an emission unit from which the laser beam is emitted, a housing that houses the emission unit, and a drive unit that vibrates the emission unit two-dimensionally at a resonance frequency in the housing, A light distribution control unit configured to drive the drive unit so that the emission unit vibrates; and to start emitting the laser light when the emission unit reaches a predetermined position by the drive unit; A light emission control unit that stops emission of the laser light after the emission unit has passed through the predetermined position.

The endoscope system of the above aspect may further include a light distribution operation unit for operating the light distribution control unit.
The endoscope system according to the above aspect may further include distance measuring means for calculating a distance to the feature point.

According to the present invention, it is possible to provide an endoscope system in which the shift of the position of the light spot hardly occurs.

1 is an overall view of an endoscope system according to a first embodiment of the present invention. It is a typical sectional view of the endoscope apparatus in the endoscope system. It is a block diagram of the endoscope system. It is a flowchart for demonstrating the operation control by the control apparatus in the same endoscope system. It is a figure for demonstrating the effect | action of the same endoscope system. It is a figure for demonstrating the effect | action of the same endoscope system. It is a figure for demonstrating the effect | action of the same endoscope system. It is a whole figure of the endoscope system of a 2nd embodiment of the present invention. It is a block diagram of the endoscope system of a 3rd embodiment of the present invention. It is a schematic diagram which shows an example of the distance measurement by the ranging means in the same endoscope system. It is a figure for demonstrating the effect | action of the same endoscope system.

(First embodiment)
A first embodiment of the present invention will be described. FIG. 1 is an overall view of the endoscope system of the present embodiment. FIG. 2 is a schematic cross-sectional view of an endoscope apparatus in the endoscope system. FIG. 3 is a block diagram of the endoscope system.

As shown in FIGS. 1 to 3, the endoscope system 1 of the present embodiment includes an endoscope apparatus 10, a light source device 29, a light distribution operation unit 30, and a control device 40.

The endoscope apparatus 10 includes an insertion unit 11, an imaging unit 12, a light distribution unit 13, and an endoscope operation unit 25.

The insertion portion 11 is a flexible long member that can be inserted into the patient's body. The insertion portion 11 of the present embodiment can be inserted into a lumen such as a digestive tract. The insertion part 11 may have, for example, a treatment instrument channel, an air / water supply nozzle, and the like. Moreover, the insertion part 11 may have an active bending function for actively bending a part of the insertion part 11.

The imaging unit 12 is provided at the end (tip) of the insertion unit 11 in order to image a tissue (observation target site) to be observed using the endoscope apparatus 10 of the present embodiment as an imaging target site. It is arranged.
The imaging unit 12 includes an image sensor, an objective optical system, and the like. The specific configuration of the imaging unit 12 is not particularly limited. Further, the imaging unit 12 may include an illumination unit for irradiating illumination light to the imaging target part.

The light distribution unit 13 is disposed at the end (tip) of the insertion unit 11. The light distribution unit 13 includes an optical fiber 14, a housing 16, a drive unit 17, and a laser irradiation optical system 20.

The optical fiber 14 guides a laser beam L1 emitted from a light source device 29 described later to the light distribution unit 13. The distal end of the optical fiber 14 is disposed in the light distribution section 13, and the proximal end of the optical fiber 14 is disposed in a connector section of a universal cord 27 described later. The tip of the optical fiber 14 serves as an emission portion 15 that emits laser light L1 toward the laser irradiation optical system in the housing 16.

The housing 16 is disposed at the tip of the insertion portion 11. The housing 16 is formed in a cylindrical shape, for example. The housing 16 can accommodate the emitting portion 15 and the driving portion 17 at the tip of the optical fiber 14.

The drive unit 17 includes an oscillating body 18 and an actuator 19.

The rocking body 18 is a flexible cylindrical member that can be deformed inside the housing 16. An optical fiber 14 is inserted into the rocking body 18. An actuator 19 is attached to the outer surface of the rocking body 18. The base end of the rocking body 18 is fixed to the housing 16. The tip of the rocking body 18 is movable in the housing 16. The oscillating body 18 oscillates in accordance with the operation of the actuator 19 when the actuator 19 operates.

Actuator 19 has, for example, a magnet and an electromagnetic coil. The actuator 19 operates in accordance with the supply state of power to the electromagnetic coil. The electromagnetic coil of the actuator 19 is connected to the drive control unit 47 of the control device 40. The actuator 19 may have a piezoelectric element instead of having a magnet and an electromagnetic coil. By operating the actuator 19 according to the control by the control device 40, the drive unit 17 of the present embodiment causes the tip (the emitting unit 15) of the optical fiber 14 to vibrate at a resonance frequency in a predetermined two-dimensional direction within the housing 16. Can do.

The laser irradiation optical system 20 is arranged at the front end of the housing 16 so as to close the front end of the housing 16. The laser irradiation optical system 20 has a collimator lens 21 for converting the laser light L1 emitted from the tip of the optical fiber 14 into parallel light.

The collimator lens 21 is a lens having a shape that can make the laser light L1 emitted from an arbitrary position in the housing 16 parallel light corresponding to the position of the tip of the optical fiber 14 that vibrates in the housing 16. . The laser light L1 emitted from the collimator lens 21 is distributed to the imaging target portion of the imaging unit 12.

The endoscope operation unit 25 includes a gripping unit 26 that is held by an operator in order to move the insertion unit 11 of the endoscope apparatus 10 forward and backward, and rotate, and the endoscope apparatus 10 with a light source device 29 and a control device. 40 and a universal cord 27 for connecting to 40. Further, the endoscope operation unit 25 may have a switch, a lever, or the like for performing various operations corresponding to the configuration of the insertion unit 11.

The light source device 29 is a device that emits laser light L1 having a predetermined wavelength. The light source device 29 can be connected to the universal cord 27 of the endoscope device 10. The configuration of the light source device 29 is not particularly limited as long as the laser light L1 can be transmitted to the optical fiber 14 of the endoscope device 10. Further, the light source device 29 can control the on / off state of the laser light L <b> 1 or the presence / absence of transmission of the laser light L <b> 1 to the optical fiber 14 of the endoscope device 10 according to control by the control device 40.

The laser beam L1 emitted from the light source device 29 is emitted from the tip (emission unit 15) of the optical fiber 14 through the optical fiber 14 of the endoscope device 10, and is further converted into parallel light by the collimator lens 21 and imaged by the imaging unit 12. Irradiated toward the target site. Thereby, the endoscope apparatus 10 of this embodiment can irradiate the imaging target part of the imaging unit 12 with the laser light L1. The laser light L1 emitted from the light distribution unit 13 reaches the imaging target site, thereby generating a light spot P1 having a predetermined shape in the imaging target site. The light spot P <b> 1 generated in the imaging target part can be imaged by the imaging unit 12.

The light distribution operation unit 30 is an operation unit for the operator to operate the light distribution of the laser light L1 emitted from the light source device 29. The light distribution operation unit 30 has a plurality of switches for inputting to the control device 40. For example, the light distribution operation unit 30 includes a marking start / end switch 31, a mode selector switch 32, a point position adjustment switch 33, a point shape adjustment switch 34, and a point size adjustment switch 35.

The marking start / end switch 31 is a switch for switching the start or end of marking using the laser beam L1. For example, the marking start end switch 31 outputs a signal for switching on or off the irradiation of the laser light L <b> 1 by the light distribution unit 13 to the control device 40. The marking start / end switch 31 of the present embodiment is, for example, a push button switch.

The mode selector switch 32 is a switch for switching the irradiation mode (operation mode) of the laser beam L1 by the light distribution unit 13. Although details will be described later, the endoscope apparatus 10 of the present embodiment has a manual mode in which the operator can freely move the irradiation direction of the laser light L1, and a control apparatus 40 to be described later applies the irradiation direction of the laser light L1. The imaging target region can be irradiated with the laser light L1 in one of two modes, ie, an automatic tracking mode that automatically changes.

The point position adjustment switch 33 is a switch for an operator to perform an input for moving the position of the light spot P1 generated in the imaging target region by the laser light L1 emitted from the light distribution unit 13.
The point position adjustment switch 33 includes an up direction switch, a down direction switch, a left direction switch, and a right direction switch corresponding to up, down, left, and right in the imaging field of the imaging unit 12.

The point shape adjustment switch 34 is a switch for the operator to perform an input for adjusting the shape of the light spot P1 generated in the imaging target region by the laser light L1 emitted by the light distribution unit 13.
As an example, the point shape adjustment switch 34 can switch the shape of the light spot P1 step by step from the state where the light spot P1 is in the shape of a dot or a circle until the light spot P1 is annular. .

The point size adjustment switch 35 is a switch for an operator to perform an input for adjusting the outer diameter of the light spot P1 generated in the imaging target region by the laser light L1 emitted from the light distribution unit 13.
As an example, the point size adjustment switch 35 can switch the diameter of the light spot P1 having a dot shape, a circular shape, or an annular shape based on the input to the point shape adjustment switch 34 in a stepwise manner.

The operator can specify the direction, size, shape, and operation mode of the laser light L1 emitted from the light distribution unit 13 by using the light distribution operation unit 30.

As shown in FIG. 3, the control device 40 includes a connector 41 for connecting to the endoscope device 10 and the light source device 29, a video output terminal 42 that can be connected to a monitor, and an input from the endoscope operation unit 25. An operation input terminal 43 for receiving the light and a control unit 44 for controlling the operation of the light distribution unit 13.
The endoscope operation unit 25 can be connected to the connector 41 of the control device 40. By connecting the endoscope operation unit 25 to the connector 41 of the control device 40, the imaging unit 12 of the endoscope device 10 and the control unit 44 of the control device 40 are electrically connected. Further, by connecting a monitor to the video output terminal 42 of the control device 40, an image captured by the imaging unit 12 of the endoscope apparatus 10 can be displayed on the monitor.

As shown in FIGS. 2 and 3, the control unit 44 includes an image recognition unit 45 and a light distribution control unit 46.
The control unit 44 has two operation modes for operating the light distribution control unit 46. That is, the control unit 44 uses the manual mode for moving the position of the light spot P1 based on the input to the point position adjustment switch 33, and the part designated by the operator in the image captured by the imaging unit 12 as the feature point. An automatic tracking mode that automatically adjusts the irradiation direction of the laser beam L1 so as to recognize and track the feature points. Operation control and operation in each mode will be described later.

The image recognition unit 45 is a predetermined feature point included in a region including the light spot P1 by the laser light L1 (see FIG. 1) emitted from the light distribution unit 13 from the image captured by the imaging unit 12 of the endoscope apparatus 10. Recognize In the present embodiment, the image recognition unit 45 is configured such that the control unit 44 operates the light distribution control unit 46 in the automatic tracking mode based on an input to the mode selector switch 32 disposed in the light distribution operation unit 30. In this case, the above feature points are recognized.

The light distribution control unit 46 includes a drive control unit 47 and a light emission control unit 48. The light distribution control unit 46 starts to operate when marking using the laser light L1 is started by an input to the marking start / end switch 31 of the light distribution operation unit 30, and the laser light is input by an input to the marking start / end switch 31. The operation stops when the marking using L1 is completed.

The drive control unit 47 operates the actuator 19 of the drive unit 17 by outputting a predetermined drive signal to the drive unit 17. For example, the drive control unit 47 outputs a drive signal to the actuator 19 so that the tip of the optical fiber 14 of the endoscope apparatus 10 vibrates in a two-dimensional direction along a predetermined movement path. As an example, the drive control unit 47 drives the drive unit 17 so that the emission unit 15 at the tip of the optical fiber 14 vibrates in a spiral shape.

The light emission control unit 48 controls the light emission operation in the light source device 29. The light emission control unit 48 of the present embodiment controls whether or not the laser light L1 is transmitted to the optical fiber 14 of the endoscope apparatus 10 and its transmission timing. As an example, the light emission control unit 48 switches on / off the transmission of the laser light L1 at a timing linked to a drive signal output from the drive control unit 47 to the drive unit 17. That is, when the emission unit 15 reaches a predetermined position while the drive unit 17 vibrates the emission unit 15 according to the control by the drive control unit 47, the light emission control unit 48 starts emission of the laser beam, and the emission unit After 15 passes through the predetermined position, the light emission control unit 48 stops the emission of the laser light.

Since the laser light emitted from the emitting unit 15 is converted into parallel light by the collimator lens 21 and reaches the imaging target site, a light spot due to the laser light is generated in the imaging target site. The light emission control unit 48 generates a light spot having a dot shape, a circular shape, an annular shape, or the like at the imaging target site by defining the presence / absence of the laser light emission and the emission time while the emission unit 15 is vibrating. Can be made. Whether or not laser light is emitted and the emission time defined by the light emission control unit 48 can be changed based on an operation input to the light distribution operation unit 30.

The operation of the endoscope system 1 according to the present embodiment will be described focusing on the operation control and operation in the manual mode and the automatic tracking mode. FIG. 4 is a flowchart for explaining operation control by the control device in the endoscope system. 5 to 7 are diagrams for explaining the operation of the endoscope system of the present embodiment.

When the endoscope system 1 of the present embodiment is used, the distal end of the insertion unit 11 of the endoscope apparatus 10 is inserted into the body, and the imaging unit 12 is guided to the observation target site. The imaging unit 12 images a tissue or the like using the observation target part as the imaging target part, and outputs an image of the imaging target part to the control device 40.
The control device 40 outputs the image captured by the imaging unit 12 to the monitor. Thereby, the operator can grasp | ascertain the state of an imaging target site | part.

Subsequently, the operator operates the marking start / end switch 31 to start marking by irradiating the laser light L <b> 1 from the light distribution unit 13. Then, the control unit 44 first operates the light distribution control unit 46 in the manual mode (see step S1, FIG. 4). In the manual mode, the drive control unit 47 and the light emission control unit 48 of the light distribution control unit 46 irradiate the laser light L1 from the light distribution unit 13 toward one point on the imaging target region. As a specific example, the drive control unit 47 outputs a drive signal to vibrate the tip of the optical fiber 14 to the actuator 19 by operating the actuator 19 of the drive unit 17, and the light emission control unit 48 The laser light L1 is emitted at one point on the moving path at the tip of the optical fiber 14 by blinking the laser light L1 for each period of the drive signal output by the drive control unit 47.

In the manual mode, when the operator operates the point position adjustment switch 33, the point shape adjustment switch 34, and the point size adjustment switch 35, the operation of the light distribution unit 13 is controlled as designated by each switch.
That is, when the operator operates, for example, the point position adjustment switch 33 in the manual mode, the light emission control unit 48 moves the light spot P1 in the direction corresponding to the operation by the operator by changing the transmission timing of the laser light L1. .

Further, when the operator operates, for example, the point shape adjustment switch 34 in the manual mode, the light emission control unit 48 changes the transmission timing of the laser light L1 to change the light spot so as to have a shape corresponding to the operation by the operator. Deform P1.

Further, when the operator operates the point size adjustment switch 35 in the manual mode, for example, the light emission control unit 48 changes the transmission timing of the laser light L1 so that the light spot has a diameter corresponding to the operation by the operator. Deform P1.

In the manual mode, the operator places a light spot P1 having a desired shape and a desired size into a region of interest in the imaging target region (for example, a desired marking position X1, such as the treatment target region, see FIGS. 5, 6, and 7). Move. For example, the operator operates the light distribution operation unit 30 so that an annular light spot P1 surrounding the treatment target site is generated in the imaging target site. Further, in order to move the position of the light spot P1, the entire endoscope apparatus 10 may be moved or the insertion portion 11 may be rotated.

If the operator presses the marking start / end switch 31 while the light distribution control unit 46 is operating in the manual mode, the light distribution control unit 46 stops the laser light irradiation.

When the light distribution control unit 46 is operating in the manual mode, the operator can switch the operation mode of the light distribution control unit 46 from the manual mode to the automatic tracking mode by pressing the mode selector switch 32. For example, the operator selects a mode selector to operate the light distribution control unit 46 in the automatic tracking mode in a state where the light spot P1 is located at a desired marking position X1 in the imaging target region as shown in FIG. Press switch 32. The light distribution control unit 46 shifts from the manual mode to the automatic tracking mode when there is an input to the mode selector switch 32 while operating in the manual mode (Yes in step S2, see FIG. 4). The light distribution control unit 46 continues to operate in the manual mode if there is no input to the mode selector switch 32 when operating in the manual mode (No in step S2, see FIG. 4).

In the automatic tracking mode, the image recognition unit 45 acquires an image captured by the image capturing unit 12 from the image capturing unit 12 at the timing when the mode selector switch 32 is pressed, and the image recognition unit 45 further detects the light spot P1 in this image. The feature point of the area to be included is detected, and the position of the detected feature point is stored (step S3, see FIG. 4).
In step S3, for example, a feature point in a region such as a circle or rectangle having a predetermined size including the light spot P1 on the image is recognized, and the coordinates of the center of this region are stored as the position of the feature point.

After step S3, the image recognizing unit 45 captures the image captured by the image capturing unit 12 next to the image acquired in step S3 or the image capturing unit after a predetermined time has elapsed since the image captured in step S3. 12 is acquired, and the position of the feature point is stored in the same manner as in step S3 (see step S4, FIG. 4 and FIG. 6).
In other words, when the light distribution control unit 46 is operating in the automatic tracking mode, the image recognition unit 45 is characterized as described above with respect to all images captured by the imaging unit 12 or images extracted at predetermined intervals. The coordinates are stored as the position of the point. Through step S3 and step S4, the image recognition unit 45 stores the coordinates of feature points in the two most recent images including the latest image.

Subsequent to step S4, the image recognition unit 45 calculates the amount of movement of the feature points on the image based on the coordinates of the feature points in the last two images (see FIGS. 5 and 6), and the light emission control unit. 48 (step S5, see FIG. 4).

After step S5, the light emission control unit 48 generates a new light emission timing based on the movement amount output from the image recognition unit 45 (see step S6 and FIG. 4). When the light source device 29 is controlled at the new light emission timing in step S6, the laser light L1 emitted from the light distribution unit 13 is the feature point in the latest image acquired by the image recognition unit 45 in step S4. A light spot P1 is generated at a position corresponding to the coordinates (see FIG. 7).

After step S6, if there is an input to the mode selector switch 32 when operating in the automatic tracking mode (Yes in step S7, see FIG. 4), the light distribution control unit 46 Discards the acquired image and feature point position information and shifts from the automatic tracking mode to the manual mode. If the light distribution control unit 46 is operating in the automatic tracking mode and there is no input to the mode selector switch 32 (No in step S7, see FIG. 4), the image acquired in step S4 is the latest image. (Step S8, see FIG. 4), the process proceeds to step S4 again to store the position of the feature point based on the new image, and continues to operate in the automatic tracking mode.

The light emission timing by the light emission control unit 48 changes according to the control composed of the steps from Step S3 to Step S8, so that the light spot P1 moves following the movement of the feature point in the image captured by the image capturing unit 12. Looks like. As a result, an operator who operates the endoscope apparatus 10 or the like while looking at the image captured by the imaging unit 12 determines the position for marking with the light spot P1 on the imaging target region, and then switches to the automatic tracking mode. This eliminates the need to manually adjust the position of the light spot P1 so that the light spot P1 does not deviate from the desired marking position X1.

For example, when the endoscope apparatus 10 of the present embodiment is inserted into the intestinal tract and the intestinal tract wall is marked by the light spot P1, the intestinal tract is marked in the intestinal tract by peristaltic movement of the intestinal tract, treatment on the intestinal tract from the abdominal cavity, or the like. The region to be moved may move relative to the endoscope apparatus 10 in the intestinal tract. In this case, in the endoscope apparatus 10 of the present embodiment, the laser beam L1 is irradiated in the automatic tracking mode, so that the portion to be marked is always marked with the light spot P1. it can.
When the operator presses the marking start / end switch 31 while the steps from Step S3 to Step S8 are being performed, the light distribution control unit 46 discards the acquired image and feature point position information. At the same time, the laser beam irradiation is stopped.
In addition, when the operator operates the point position adjustment switch 33, the point shape adjustment switch 34, and the point size adjustment switch 35 in the automatic tracking mode of the present embodiment, it is automatically performed for the time input to the switch. The mode may be switched to the manual mode, the point position, the point shape, and the point size are adjusted, and the automatic tracking mode may be automatically restored when the input to the switch is completed. As a result, the marking position, shape, and size can be changed even during the automatic tracking mode.
Further, when it is difficult to detect feature points in the image recognition unit 45, narrowband light observation may be performed. By performing narrow-band light observation, a blood vessel pattern in a lumen such as the large intestine can be clearly recognized, so that the blood vessel pattern can be recognized by the image recognition unit 45 and used as a feature point. As a result, for example, an extraction method of recognizing a blood vessel pattern in a certain margin area outside the brownie area detected by narrow band light observation as a feature point becomes possible, and a more accurate feature point can be detected.

As described above, in the endoscope system 1 according to this embodiment, the image recognition unit 45 recognizes the movement of the feature point in the image captured by the imaging unit 12 and the movement of the feature point calculated by the image recognition unit 45. Since the light distribution control unit 46 moves the light spot P1 based on the amount, the light spot P1 moves so as to track the feature point based on the movement of the feature point. As a result, according to the endoscope system 1 of the present embodiment, the shift of the position of the light spot P1 from the desired marking position X1 hardly occurs.

Further, according to the endoscope system 1 of the present embodiment, the desired marking position X1 is also lasered even when the tissue in the body moves or the endoscope system 1 of the present embodiment moves relative to the tissue. Automatic marking can be continued by the light spot P1 of the light L1.

Moreover, in the endoscope system 1 of the present embodiment, the light spot P1 is generated by the laser light L1, and thus marking is performed using the endoscope system 1 of the present embodiment inserted into, for example, a lumen tissue. The light spot P1 can be easily observed using another endoscope outside the lumen tissue (for example, the laparoscope 100 shown in FIG. 1). In this case, since the endoscope system 1 of the present embodiment can continue to automatically mark the marking position X1 determined by imaging from inside the luminal tissue, the tissue in the luminal tissue from outside the luminal tissue. Even if the state is not visible, the marking position X1 can be easily grasped outside the luminal tissue by the laser light L1 that passes through the tissue.

Further, in the endoscope system 1 of the present embodiment, since the shape of the light spot P1 can be made to be a dot shape, a circular shape, or an annular shape, a desired shape from inside the lumen tissue to outside the lumen tissue can be obtained. The position can be indicated by a dotted light spot P1, or the desired range can be indicated by a circular or annular light spot P1. Further, in the endoscope system 1 of the present embodiment, for example, a separation line that considers a safety margin is marked using a light spot P1 for a portion to be excised that is visible only from the inside of a luminal tissue, thereby separating the part. The line can also be grasped from outside the luminal tissue.

(Second Embodiment)
A second embodiment of the present invention will be described. FIG. 8 is an overall view of the endoscope system of the present embodiment.
As shown in FIG. 8, the endoscope system 2 of the present embodiment is different from the first embodiment in that it is inserted into the abdominal cavity through a trocar disposed on the body wall.

The endoscope system 2 of the present embodiment includes a rigid endoscope device 50, the light source device 29 and the control device 40 disclosed in the first embodiment, and a light distribution operation arranged in the endoscope device 50. Part 30.
The endoscope apparatus 50 includes a rigid insertion portion 51 and a light distribution unit 13 and an endoscope operation unit 25 similar to those in the first embodiment.
The insertion part 51 is a rigid cylindrical member having an imaging part 12 similar to that in the first embodiment at the tip. Moreover, the insertion part 51 of this embodiment may also have a treatment instrument channel and an air / water supply nozzle as in the first embodiment. Moreover, the insertion part 51 may have an active bending function for actively bending a part of the insertion part 51 of the present embodiment.

The light distribution operation unit 30 is disposed at the proximal end of the insertion unit 51 of the endoscope apparatus 50. The light distribution operation unit 30 is disposed in the vicinity of the endoscope operation unit 25. Thereby, the operator who operates the endoscope apparatus 50 can operate the endoscope operation unit 25 and the light distribution operation unit 30.

The endoscope system 2 of this embodiment is used together with a known flexible endoscope 101 that can be inserted into the digestive tract, for example. As an example, the endoscope apparatus 50 of the present embodiment is introduced into the abdominal cavity through a trocar, and a known flexible endoscope 101 is introduced from the anus into the intestinal tract. The endoscope apparatus 50 of the present embodiment can irradiate the imaging target site with the laser beam L1 from the abdominal cavity to generate a light spot P1 on the tissue. The endoscope apparatus 50 of this embodiment generates a light spot P1 on the intestinal tract wall while imaging, for example, the intestinal tract from the abdominal cavity. Then, the light spot P1 can be observed by the flexible endoscope 101 that images the intestinal tract wall from the inside of the intestinal tract.

As a result, in this embodiment as well, as in the first embodiment, the marking position is set by the laser light L1 that passes through the tissue even if the state of the tissue outside the lumen tissue is not visible from inside the lumen tissue such as the intestinal tract. It can be easily grasped.

(Third embodiment)
A third embodiment of the present invention will be described. FIG. 9 is a block diagram of the endoscope system of the present embodiment. FIG. 10 is a schematic diagram showing an example of distance measurement by the distance measuring means in the endoscope system. FIG. 11 is a diagram for explaining the operation of the endoscope system.

As shown in FIG. 9, the endoscope system 3 of the present embodiment includes an endoscope apparatus 10, a light source device 29, a light distribution operation unit 30, and a control device 60. The configurations of the endoscope device 10, the light source device 29, and the light distribution operation unit 30 may be the same as those in the first embodiment (see FIGS. 1 and 2).
The control device 60 of the endoscope system 3 of the present embodiment includes the connector 41, the video output terminal 42, and the operation input terminal 43 disclosed in the first embodiment. Furthermore, the control unit 44 of the control device 60 of the endoscope system 3 of the present embodiment includes a distance measuring unit 61 for measuring the distance between the endoscope device 10 and its imaging target site.
As an example, the distance measuring unit 61 measures the distance to a predetermined part in the imaging field of view by the imaging unit 12, and changes the light emission timing of the laser light L1 in accordance with the measured distance. 46 is a program incorporated in the program.

A control operation by the light distribution control unit 46 of this embodiment will be described.
When the endoscope system 3 of this embodiment is used, the insertion portion 11 of the endoscope apparatus 10 is inserted into a digestive tract such as an intestinal tract, as in the first embodiment. The imaging unit 12 of the endoscope apparatus 10 images an imaging target region. Further, the light distribution unit 13 of the endoscope apparatus 10 irradiates the imaging target site with the laser light L1 to generate a light spot P1 on the imaging target site.
The light distribution control unit 46 measures the distance from the distal end of the insertion unit 11 to the center of the visual field at the imaging target site based on the following parameters (α, β, θ, g, d, a, b).
α: Angle ½ of the field angle of the imaging unit 12 based on the structure of the endoscope apparatus 10 β: Optical axis of the imaging unit 12 (a straight line BD parallel to the straight line AC (optical axis) in FIG. 10) and laser light Angle θ formed by L1 (straight line BE in FIG. 10): the light spot P1 (point E in FIG. 10) in the image captured by the imaging unit 12 and the tip of the insertion unit 11 on the optical axis of the imaging unit 12 (in FIG. 10) Angle g formed by a straight line (straight line AE) connecting point A) and the optical axis of the imaging unit 12 (straight line AC in FIG. 10): from the light distribution unit 13 (point B in FIG. 10) to the optical axis of the imaging unit 12 The distance to the tip of the insertion portion 11 at (the length of the line segment AB in FIG. 10)
d: Distance from the tip of the insertion unit 11 to a plane including the light spot P1 and perpendicular to the optical axis of the imaging unit 12 (the length of the line segment AC in FIG. 10)
a: Distance between the center of the field of view (point C in FIG. 10) and the light spot P1 (point E in FIG. 10) on the image captured by the imaging unit 12 (length of line segment CE in FIG. 10)
b: Distance between the outer periphery (point F in FIG. 10) of the image captured by the imaging unit 12 and the light spot P1 (point E in FIG. 10) (the length of the line segment EF in FIG. 10)

Each of the above parameters satisfies the relationship shown in the following equations 1 to 4.
tanθ = a / d (Formula 1)
tanβ = (ag) / d (Formula 2)
θ = α × a / (a + b) (Formula 3)
g / d = tanθ-tanβ (Formula 4)
In the light distribution control unit 46, the above α and g are known as information unique to the endoscope apparatus 10. In the light distribution control unit 46, β is known as information serving as a basis for controlling the light emission timing of the laser light L1. Further, the above θ, a, and b are calculated by the light distribution control unit 46 based on the image captured by the imaging unit 12.
For this reason, the distance d from the tip of the insertion unit 11 to the plane that includes the light spot P1 and is perpendicular to the optical axis of the imaging unit 12 can be calculated by the following Equation 5.
d = g / (tanθ-tanβ) (Formula 5)
Since a and b indicate distances in space, the image captured in a state including the aberration of the imaging system is not simply obtained by proportional multiplication, but the aberration is determined from the position in the captured image. It may be obtained by calculation using a table considering the above.

Further, the distance obtained by the distance measuring means 61 may be the distance AE from the tip A of the imaging unit 12 to the light spot P1 instead of d.

In the endoscope system 3 of the present embodiment, the light distribution control unit 46 repeatedly calculates the above distance d when operating in the automatic tracking mode, and as shown in FIG. 11, the latest distance d (d0 ) And the closest distance d (d1), the size of the light spot P1 is the same size on the image (the region of the tissue marked by the light spot P1 at the latest distance d0 and the closest distance d1). The size of the light spot P1 is automatically adjusted so that the light spot P1 is substantially equal to the tissue region to be marked.
For example, as shown in FIG. 11, when the latest distance d0 is shorter than the latest distance d1, the emission timing of the laser beam L1 is changed so as to increase the size of the light spot P1, thereby increasing the distance at the latest distance d1. The light distribution control unit 46 changes the light emission timing so that the size of the light spot P1 is equal to the size of the light spot P1 at the latest distance d0.
On the other hand, when the latest distance d0 is longer than the latest distance d1, the size of the light spot P1 at the nearest distance d1 is changed by changing the emission timing of the laser light L1 so as to reduce the size of the light spot P1. The light distribution control unit 46 changes the light emission timing so that the size of the light spot P1 at the latest distance d0 is equal.

As described above, according to the endoscope system 3 of the present embodiment, the size of the light spot P1 is changed in conjunction with the change in the distance to the imaging target region, so that it is constant regardless of the change in the distance. The light spot P1 having the size of can be generated at the marking position on the imaging target region.
As a result, for example, when performing treatment such as excision of a marked region from the inside of a lumen such as the large intestine using a treatment tool from the abdominal side, the marking region is always kept constant. Therefore, it is possible to cut out the optimum range by avoiding a case where a margin is not obtained or a part to be cut is not necessary because the part to be cut is too large.
In the present embodiment, the distance to the imaging target region is obtained by observing the position irradiated with the laser light, but the method for obtaining the distance is not limited to this. For example, distance measurement may be performed using a parallax between left and right images using a stereoscopic endoscope including an observation optical system capable of stereo stereoscopic viewing.

As mentioned above, although embodiment of this invention was explained in full detail with reference to drawings, the concrete structure is not restricted to this embodiment, The design change etc. of the range which does not deviate from the summary of this invention are included.
For example, the light distribution of the laser light emitted from the light distribution unit in each of the above embodiments reaches a part having a predetermined positional relationship with the feature point recognized by the image recognition unit with respect to the image captured by the imaging unit. It may be controlled by the light distribution control unit. For example, a plurality of point-like light spots that are separated so as to surround the feature points, two light spots that are separated so as to sandwich the feature points, and the like may be formed by the light distribution control unit. .
In addition, the constituent elements shown in the above-described embodiments can be combined as appropriate.

The present invention can be used for an endoscope system.

1, 2, 3 Endoscope system 10, 50 Endoscope device 11, 51 Insertion unit 12 Imaging unit 13 Light distribution unit 14 Optical fiber 15 Emission unit 16 Housing 17 Drive unit 18 Oscillator 19 Actuator 20 Laser irradiation optical system 21 Collimator lens 25 Endoscope operation unit 26 Grasping unit 27 Universal code 29 Light source device 30 Light distribution operation unit 31 Marking start end switch 32 Mode selector switch 33 Point position adjustment switch 34 Point shape adjustment switch 35 Point size adjustment switch 40, 60 Control Device 41 Connector 42 Video output terminal 43 Operation input terminal 44 Control unit 45 Image recognition unit 46 Light distribution control unit 47 Drive control unit 48 Light emission control unit 61 Distance measuring means

Claims (4)

An insertion section that can be inserted into the body,
An imaging unit disposed in the insertion unit;
A light distribution unit arranged in the insertion unit and capable of distributing laser light to an imaging target site of the imaging unit;
An image recognition unit for recognizing a predetermined feature point in the image captured by the imaging unit and calculating a movement amount of the feature point in a predetermined time;
A light distribution control unit that controls the light distribution unit so that the laser beam reaches a part having a predetermined positional relationship with respect to the predetermined feature point;
Endoscope system equipped with. The light distribution unit is
An emission part from which the laser beam is emitted;
A housing for accommodating the emitting portion;
A drive unit that vibrates the emission unit in a two-dimensional manner at a resonance frequency in the housing;
Have
The light distribution control unit
A drive control unit that drives the drive unit so that the emission unit vibrates;
A light emission control unit that starts emission of the laser light when the emission unit reaches a predetermined position by the driving unit, and stops emission of the laser light after the emission unit has passed the predetermined position;
The endoscope system according to claim 1. The endoscope system according to claim 2, further comprising a light distribution operation unit for operating the light distribution control unit. The endoscope system according to claim 3, further comprising distance measuring means for calculating a distance to the feature point.

Images