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WO2018097060A1 - Dispositif d'endoscope, et procédé de commande de celui-ci - Google Patents

Dispositif d'endoscope, et procédé de commande de celui-ci Download PDF

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Publication number
WO2018097060A1
WO2018097060A1 PCT/JP2017/041489 JP2017041489W WO2018097060A1 WO 2018097060 A1 WO2018097060 A1 WO 2018097060A1 JP 2017041489 W JP2017041489 W JP 2017041489W WO 2018097060 A1 WO2018097060 A1 WO 2018097060A1
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WIPO (PCT)
Prior art keywords
unit
rotation
control unit
blade
predetermined threshold
Prior art date
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Ceased
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PCT/JP2017/041489
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English (en)
Japanese (ja)
Inventor
正充 小笠原
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Olympus Corp
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Olympus Corp
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Application filed by Olympus Corp filed Critical Olympus Corp
Priority to JP2018552545A priority Critical patent/JP6640378B2/ja
Publication of WO2018097060A1 publication Critical patent/WO2018097060A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes

Definitions

  • the present invention relates to an endoscope apparatus and an endoscope apparatus control method, and more particularly, to an endoscope apparatus and an endoscope apparatus control method for controlling a rotation auxiliary tool that rotates a rotating body.
  • endoscope apparatuses capable of observing organs in a body cavity by inserting an elongated insertion portion into a body cavity or performing various therapeutic treatments using a treatment instrument inserted into a treatment instrument channel as necessary have been widely used. It's being used. Also in the industrial field, industrial endoscope apparatuses are widely used for observing and inspecting internal scratches and corrosion of boilers, turbines, engines, chemical plants, and the like.
  • a steam turbine or the like is used in a power plant, and an industrial endoscope apparatus is used for inspecting wear or damage of a turbine blade (hereinafter simply referred to as a blade) of a steam turbine. Is used.
  • an endoscope insertion portion (hereinafter simply referred to as an insertion portion) is inserted from an access point (access port) provided in the steam turbine in order to inspect all blades. .
  • an access point access port
  • a rotation auxiliary tool that automatically rotates a blade is used to improve inspection efficiency (for example, Japanese Patent Application Laid-Open No. 2007-113212).
  • the distal end portion of the insertion portion may be caught in the blade. If the distal end portion of the insertion portion is caught in the blade, the distal end portion of the insertion portion may be damaged or the blade may be damaged.
  • an object of the present invention is to provide an endoscope apparatus and a control method for the endoscope apparatus that can ensure safety without the distal end portion of the insertion section being caught in a rotating body.
  • An endoscope apparatus includes an insertion unit, a state detection unit that detects a state of the insertion unit, and a rotation that rotates a rotating body that is a subject based on a detection result of the state detection unit. And a control unit for controlling movement of the auxiliary tool.
  • An endoscope apparatus control method includes a state detection step for detecting a state of an insertion portion, and a rotation assist tool that rotates a rotating body that is a subject based on a detection result of the state detection step. Control steps for controlling the movement of
  • FIG. 1 is a diagram illustrating an overall configuration of an endoscope apparatus according to a first embodiment. It is a figure which shows an example of the screen of the warning display displayed on LCD. It is a flowchart which shows an example of control of the rotation assistance tool by the endoscope apparatus of 1st Embodiment. It is a figure which shows the whole structure of the endoscope apparatus which concerns on 2nd Embodiment. It is a figure for demonstrating an example of the image obtained from CCD. It is a flowchart which shows an example of control of the rotation assistance tool by the endoscope apparatus of 2nd Embodiment. It is a figure which shows the whole structure of the endoscope apparatus which concerns on 3rd Embodiment.
  • FIG. 1 is a diagram illustrating an overall configuration of an endoscope apparatus according to the first embodiment.
  • an endoscope apparatus 1 has an elongated and flexible insertion section 2 and the insertion section 2 is detachably connected, and is output from an image sensor mounted on the insertion section 2.
  • a main body 3 that performs signal processing on an image pickup signal, and an LCD 4 as a display section that displays an image picked up by an image pickup device as an endoscopic image when an image signal output from the main body 3 is input. And is configured.
  • a recording medium 5 can be attached to the main body 3, and still images and moving images can be recorded on the recording medium 5.
  • detachable connectors 6a and 6b for electrical connection and bending wire connection mechanisms 7a and 7b for connecting a bending wire are arranged at the detachable portion between the insertion portion 2 and the main body portion 3, respectively.
  • a rotation assist tool 14 that assists in automatically rotating a blade of a steam turbine, for example, is connected to the main body 3.
  • the rotation assist tool 14 rotates a rotating body that is a subject such as a blade under the control of a rotation assist tool control unit 36 described later.
  • An objective lens 8 is attached to the distal end portion of the insertion portion 2, and a charge coupled device (hereinafter abbreviated as CCD) 9 is disposed as an imaging device at the image forming position.
  • CCD charge coupled device
  • positioned in the image formation position of the objective lens 8 is not limited to CCD9, For example, CMOS may be sufficient.
  • an illumination LED 10 that illuminates the subject
  • a wire fixing portion 11 that fixes a bending wire
  • a thermistor 12 that measures the temperature of the distal end portion, acceleration of the distal end portion, That is, an acceleration sensor 13 for detecting the movement of the tip is arranged.
  • the main body 3 includes a preamplifier 20, an analog front end (hereinafter abbreviated as AFE) 21, an image processing unit 22, a timing generator 23, a CCD drive circuit 24, an LED drive circuit 25, and a bending control unit. 26, a UD bending motor 27, an RL bending motor 28, a user interface 29, a system control unit 30, a parameter storage unit 31, a power button 32, and a voltage conversion unit 33.
  • the system control unit 30 includes an image recording unit 34, an LCD controller 35, and a rotation assist tool control unit 36. Further, a battery 37 is detachably attached to the main body 3. The voltage from the battery 37 is converted from, for example, 12 V to 3.3 V by the voltage conversion unit 33 and then supplied to each circuit including the system control unit 30.
  • the illumination LED 10 disposed at the distal end portion of the insertion portion 2 is connected to the LED drive circuit 25 via a cable inserted into the insertion portion 2.
  • the LED drive circuit 25 is connected to the system control unit 30.
  • the LED drive circuit 25 controls the lighting / extinguishing of the LED 10 according to the LED lighting signal of the system control unit 30.
  • the system control unit 30 receives an input (ON / OFF signal of the LED 10) from the user interface 29 and controls the LED drive circuit 25.
  • a wire fixing portion 11 is disposed at the distal end portion of the insertion portion 2, and four wires are connected to the wire fixing portion 11. These four wires curve the tip in the vertical and horizontal directions, the two wires that control the vertical direction are connected to the UD bending motor 27, and the two wires that control the horizontal direction are RL.
  • the bending motor 28 is connected. In FIG. 1, only one wire connected to each of the UD bending motor 27 and the RL bending motor 28 is shown.
  • the UD bending motor 27 and the RL bending motor 28 are connected to the bending control unit 26, respectively.
  • the bending control unit 26 is connected to the system control unit 30.
  • the user interface 29 is equipped with a bending joystick that bends the distal end portion of the insertion unit 2.
  • the system control unit 30 causes the bending control unit 26 to bend up and down.
  • An instruction signal is transmitted.
  • the bending control unit 26 drives and controls the UD bending motor 27 based on the received vertical bending instruction signal, and pulls the wire connected to the UD bending motor 27.
  • tip part of the insertion part 2 can be curved to an up-down direction.
  • the system control unit 30 transmits a left-right bending instruction signal to the bending control unit 26.
  • the bending control unit 26 drives and controls the RL bending motor 28 based on the received left and right direction bending instruction signal, and pulls the wire connected to the RL bending motor 28.
  • tip part of the insertion part 2 can be curved in the left-right direction.
  • the subject illuminated by the LED 10 is imaged and photoelectrically converted on a CCD 9 as an imaging unit disposed at the imaging position of the objective lens 8 disposed at the distal end of the insertion unit 2.
  • the composite coaxial cable connected to the CCD 9 is connected to the CCD drive circuit 24 and the preamplifier 20.
  • the CCD drive circuit 24 receives a timing signal for driving the CCD 9 from the timing generator 23. Then, the CCD drive circuit 24 performs drive processing corresponding to the transmission path length to the CCD 9 (the length of the composite coaxial cable) on the received timing signal and transmits it to the CCD 9 as a CCD drive signal.
  • the CCD 9 performs photoelectric conversion based on the timing of the CCD drive signal from the CCD drive circuit 24 and outputs a CCD output signal (imaging signal).
  • This CCD output signal is input to the preamplifier 20 via a composite coaxial cable.
  • the preamplifier 20 amplifies the CCD output signal to compensate for the signal level attenuated by transmission through the composite coaxial cable.
  • the CCD output signal amplified by the preamplifier 20 is input to the AFE 21.
  • the AFE 21 performs a CDS process (correlated double sampling process), an AGC process (auto gain control process), and an AD conversion process on the CCD output signal amplified by the preamplifier 20 and outputs the result to the image processing unit 22.
  • CDS process correlated double sampling process
  • AGC process auto gain control process
  • AD conversion process on the CCD output signal amplified by the preamplifier 20 and outputs the result to the image processing unit 22.
  • the image processing unit 22 performs various camera signal processing such as white balance, electronic ZOOM, color correction, contrast correction, AE control, and freeze on the signal obtained by the CCD 9.
  • the image processing unit 22 communicates with the system control unit 30, and the system control unit 30 receives an input (ZOOM signal, Brightness signal, etc.) from the user interface 29, and sends an instruction corresponding to each to the image processing unit 22.
  • the image processing unit 22 performs each process according to the instruction.
  • the image processing unit 22 outputs the image signal subjected to each of these processes to the image recording unit 34 and the LCD controller 35.
  • the image recording unit 34 controls still image recording and moving image recording.
  • An image signal input to the image recording unit 34 via the image processing unit 22 is compressed by an encoder (not shown) in the image recording unit 34 and recorded on the recording medium 5 as a still image or a moving image.
  • This image recording operation is performed when the system control unit 30 transmits a recording signal based on an input from the user interface 29 and the image recording unit 34 receives it.
  • the image recording unit 34 performs still image shooting (still image recording) when recording is performed after the screen has been frozen once, and moving image shooting (still image recording when recording is performed without being frozen). Video recording).
  • the still image or moving image recorded on the recording medium 5 is expanded by a decoder (not shown) in the image recording unit 34, output to the LCD controller 35, and output to the LCD 4.
  • This image reproduction operation is performed when the system control unit 30 transmits a reproduction signal based on an input from the user interface 29 and the image recording unit 34 receives it.
  • the image signal output from the image processing unit 22 or the image signal output from the image recording unit 34 is input to the LCD controller 35.
  • the LCD controller 35 performs image processing (gamma correction, contour correction, scaling, RGB conversion, etc.) optimal for the connected LCD 4 on the image signal, and outputs an image to the LCD 4.
  • the LCD 4 displays the image signal as a display image based on the input image signal.
  • the thermistor 12 disposed at the distal end of the insertion unit 2 is connected to the system control unit 30 via a cable. Based on the information from the thermistor 12, the system control unit 30 displays temperature information at the tip of the insertion unit 2 on the LCD 4. In addition, when the temperature of the distal end portion of the insertion unit 2 becomes equal to or higher than a predetermined temperature, the system control unit 30 displays a temperature increase warning on the LCD 4.
  • the parameter storage unit 31 is connected to the system control unit 30 and stores various parameters that are changed by a user operation, such as an input state from the user interface 29, an image processing parameter of the image processing unit 22, and a bending control parameter related to bending control. Can be remembered.
  • the parameter storage unit 31 stores a predetermined threshold used for controlling the rotation assisting tool 14.
  • the predetermined threshold value stored in the parameter storage unit 31 is input to the rotation assist tool control unit 36 of the system control unit 30.
  • the predetermined threshold can be changed to an arbitrary value by the user using the user interface 29.
  • the acceleration sensor 13 detects the acceleration at the distal end portion of the insertion portion 2. As described above, the acceleration sensor 13 constitutes a state detection unit that detects the movement of the distal end portion of the insertion portion 2, that is, the state of the distal end portion of the insertion portion 2. The detection result detected by the acceleration sensor 13 is input to the rotation assist tool controller 36.
  • the rotation assisting tool control unit 36 as a control unit controls the rotation assisting tool 14 based on the detection result of the acceleration sensor 13. Further, the rotation assist tool control unit 36 controls the screen display of the LCD 4 based on the detection result of the acceleration sensor 13.
  • the rotation assistance tool control unit 36 determines whether the movement amount of the distal end portion of the insertion unit 2 detected by the acceleration sensor 13 is equal to or greater than a predetermined value. Control the display. When the blade is not rotated by the rotation assisting tool 14 (for example, before the inspection), the rotation assisting tool control unit 36 warns the screen of the LCD 4 when the amount of movement of the distal end of the insertion part 2 is a predetermined value or more. Display.
  • FIG. 2 is a diagram showing an example of a warning display screen displayed on the LCD.
  • the LCD 4 displays a warning message “There is a possibility that the tip may be caught in the blade.
  • the rotation assisting control unit 36 When the amount of movement of the distal end portion of the insertion portion 2 is equal to or greater than a predetermined value, the rotation assisting control unit 36 generates a warning display shown in FIG. 2 and displays the warning display on the LCD 4 via the LCD controller 35.
  • the rotation assisting tool control unit 36 selects the rotating body when the amount of movement of the distal end of the insertion part 2 is smaller than a predetermined value.
  • the rotation auxiliary tool 14 is controlled to rotate.
  • the rotation assisting tool control unit 36 rotates the rotating body by the rotation assisting tool 14 (for example, during inspection), when the amount of movement of the distal end portion of the insertion unit 2 becomes a predetermined value or more, The rotation assisting tool 14 is controlled so as to stop the rotation of the blade.
  • the rotation assist tool control section 36 determines that the blade of the insertion section 2 is less than a predetermined value when the amount of movement is smaller than a predetermined value.
  • the rotation auxiliary tool 14 is controlled so as to continue the rotation.
  • FIG. 3 is a flowchart illustrating an example of the control of the rotation assist tool by the endoscope apparatus according to the first embodiment.
  • the power supply of the endoscope apparatus 1 is turned on (S1), and the rotation assisting tool 14 is connected to the main body 3 (S2). Note that the order of S1 and S2 is reversed, that is, the power of the endoscope apparatus 1 may be turned on after the rotation assisting tool 14 is connected to the main body 3.
  • the rotation assistance tool control unit 36 determines whether or not the start button has been pressed (S3).
  • the start button is provided on the main body 3, for example, and an operation instruction for the start button is input to the rotation assisting tool control unit 36 via the user interface 29. If it is determined that the start button has not been pressed (S3: NO), the rotation assist tool control unit 36 returns to S3 and repeats the same processing. On the other hand, when it is determined that the start button is pressed (S3: YES), the rotation assisting tool control unit 36 determines whether or not the detection result of the acceleration sensor 13 is equal to or greater than a predetermined threshold (S4).
  • the rotation assist tool control unit 36 displays a warning on the screen of the LCD 4 (S5). That is, when the rotation assisting tool control unit 36 detects that the distal end portion of the insertion portion 2 has a predetermined value or more based on the detection result of the acceleration sensor 13, the distal end portion can be caught in a rotating body such as a blade.
  • the warning display is displayed on the LCD 4.
  • the rotation assisting tool control unit 36 displays a warning on the screen of the LCD 4 for a predetermined time, and then deletes the warning display from the screen of the LCD 4 (S6). Then, it returns to S4 and repeats the same process.
  • the rotation assist tool control unit 36 controls the rotation assist tool 14 to rotate the blade (S7). That is, when the rotation assisting tool control unit 36 determines that the distal end portion of the insertion portion 2 does not move beyond a predetermined value based on the detection result of the acceleration sensor 13, the distal end portion can be caught in a rotating body such as a blade. Rotate the blade so that the test can be started.
  • the rotation assistance tool control unit 36 determines whether or not the detection result of the acceleration sensor 13 is equal to or greater than a predetermined threshold (S8). When it is determined that the detection result of the acceleration sensor 13 is not equal to or greater than the predetermined threshold value (S8: NO), the rotation assist tool control unit 36 returns to S8 and repeats the same processing. That is, when the rotation assisting tool control unit 36 determines that the distal end portion of the insertion portion 2 does not move beyond a predetermined value based on the detection result of the acceleration sensor 13, the distal end portion can be caught in a rotating body such as a blade. Continue to rotate the blade so that the inspection can continue.
  • a predetermined threshold S8
  • the rotation assist tool control unit 36 controls the rotation assist tool 14 to stop the rotation of the blade (S9).
  • the process ends. That is, when the rotation assisting tool control unit 36 detects that the distal end portion of the insertion portion 2 has a predetermined value or more based on the detection result of the acceleration sensor 13, the distal end portion can be caught in a rotating body such as a blade. The blade rotation is stopped.
  • the rotation assisting tool 14 is controlled so as to stop the rotation of the blade.
  • a rotating body such as a blade
  • shearing is performed.
  • the blade may be controlled to rotate at a low speed with such an amount of force that does not occur.
  • the processing content of S9 is “control the rotation assisting tool 14 so as to slow down the rotation of the blade”.
  • the rotation assisting tool control unit 36 of the endoscope apparatus 1 determines the movement of the distal end portion based on the acceleration of the distal end portion of the insertion portion 2 detected by the acceleration sensor 13 and displays a warning on the LCD 4.
  • the rotation assisting tool 14 is controlled.
  • the rotation assist tool control unit 36 displays a warning on the LCD 4 before the inspection, and controls the rotation assist tool 14 to stop the rotation of the blade during the inspection.
  • the endoscope apparatus 1 can prevent the distal end portion of the insertion portion 2 from being caught in a rotating body such as a blade.
  • FIG. 4 is a diagram showing an overall configuration of the endoscope apparatus according to the second embodiment.
  • the same components as those in FIG. 1 are denoted by the same reference numerals and description thereof is omitted.
  • the acceleration sensor 13 is deleted from the endoscope apparatus 1 of FIG. 1, and a motion amount detection unit 40 is added to the image processing unit 22. Has been configured.
  • the motion amount detection unit 40 compares a signal (image) obtained and input by the CCD 9 with a signal (image) one frame before and detects a motion amount (motion vector). As described above, the motion amount detection unit 40 detects the motion amount between the input image and the image input one frame before, so that the motion of the distal end portion of the insertion unit 2, that is, the insertion unit 2.
  • the state detection part which detects the state of a front-end
  • the rotation assist tool control unit 36 detects the movement of the distal end portion of the insertion unit 2 by comparing the motion amount input from the motion amount detection unit 40 with a predetermined threshold value, and controls the rotation assist tool control unit 36.
  • control of the rotation assistance tool 14 by the rotation assistance tool control part 36 is the same as that of 1st Embodiment mentioned above.
  • FIG. 5 is a diagram for explaining an example of an image obtained from the CCD.
  • the image 44 obtained from the CCD 9 includes a region 42 through which the blade 41 passes and a region 43 through which the blade 41 does not pass when the blade 41 is rotated by the rotation assisting tool 14. To do.
  • the movement amount detection unit 40 detects the movement amount of the region 42 through which the blade 41 passes, even if the distal end portion of the insertion portion 2 is not moving, the distal end portion of the insertion portion 2 is moved by the rotation assisting tool control unit 36. May be determined. Therefore, the movement amount detection unit 40 detects the movement amount of the region 43 where the blade 41 does not pass and outputs the movement amount to the rotation assisting tool control unit 36. Thereby, the rotation assistance tool control part 36 can determine correctly the motion of the front-end
  • FIG. 6 is a flowchart illustrating an example of the control of the rotation assist tool by the endoscope apparatus according to the second embodiment.
  • the same processes as those in FIG. 3 are denoted by the same reference numerals and description thereof is omitted.
  • the rotation assisting tool control unit 36 determines whether or not the detection result of the motion amount detection unit 40 is equal to or greater than a predetermined threshold (S11). When it is determined that the detection result of the motion amount detection unit 40 is equal to or greater than the predetermined threshold value (S11: YES), the rotation assist tool control unit 36 proceeds to S5 and displays a warning on the screen of the LCD 4. That is, when the detection result of the movement amount detection unit 40 is equal to or greater than a predetermined threshold, the rotation assist tool control unit 36 determines that the tip portion may be caught in the blade, and performs a warning display illustrated in FIG. .
  • the rotation assist tool control unit 36 proceeds to S7 and controls the rotation assist tool 14 to rotate the blade. To do. That is, when the detection result of the movement amount detection unit 40 is not equal to or greater than a predetermined threshold, the rotation assist tool control unit 36 determines that the tip portion is not likely to be caught in the blade, controls the rotation assist tool 14, and Rotate.
  • the rotation assisting tool control unit 36 determines whether or not the detection result of the motion amount detection unit 40 is equal to or greater than a predetermined threshold (S12). When it is determined that the detection result of the motion amount detection unit 40 is not equal to or greater than the predetermined threshold (S12: NO), the rotation assist tool control unit 36 returns to S12 and repeats the same processing. That is, the rotation assisting tool control unit 36 determines that there is no possibility of the tip portion being caught in the blade when the blade does not detect movement at the tip portion of the insertion portion 2, and continues to rotate the blade. The rotation assist tool 14 is controlled.
  • the rotation assist tool control unit 36 proceeds to S9 and stops the rotation of the blade. 14 is controlled. That is, when the rotation assisting tool control unit 36 detects movement at the distal end portion of the insertion portion 2 while rotating the blade, it determines that the distal end portion may be caught in the blade, and stops the rotation of the blade. The rotation assisting tool 14 is controlled.
  • the rotation assisting tool control unit 36 of the endoscope apparatus 1a determines the movement of the distal end portion of the insertion unit 2 based on the motion amount (motion vector) of the image detected by the motion amount detection unit 40.
  • the warning display on the LCD 4 or the rotation assisting tool 14 is controlled.
  • the rotation assist tool control unit 36 displays a warning on the LCD 4 before the inspection, and controls the rotation assist tool 14 to stop the rotation of the blade during the inspection.
  • the endoscope apparatus 1a can prevent the distal end portion of the insertion portion 2 from being caught in a rotating body such as a blade.
  • the endoscope apparatus 1a of the present embodiment similarly to the endoscope apparatus 1 of the first embodiment, the distal end portion of the insertion portion 2 is not caught in the rotating body, and safety is ensured. be able to. Moreover, since the endoscope apparatus 1a of this embodiment does not need to provide the acceleration sensor 13 shown in FIG. 1 in the front-end
  • the main body unit 3 is provided with the motion amount detection unit 40 that detects the motion amount between the input image and the image input one frame before.
  • the main body 3 may be provided outside (for example, a cloud).
  • the endoscope apparatus 1a transmits an image captured by the CCD 9 to the outside, and detects the amount of movement outside. And endoscope apparatus 1a may receive the amount of movement transmitted from the outside, and may make it control rotation auxiliary tool 14 based on the received amount of movement.
  • FIG. 7 is a diagram illustrating an overall configuration of an endoscope apparatus according to the third embodiment.
  • the same components as those in FIG. 1 are denoted by the same reference numerals and description thereof is omitted.
  • the acceleration sensor 13 is deleted from the endoscope apparatus 1 of FIG. 1, and a measurement unit 50 is added to the system control unit 30. It is configured.
  • the image signal that has been subjected to predetermined processing by the image processing unit 22 is input to the measurement unit 50.
  • the measurement unit 50 measures the distance from the distal end of the insertion unit 2 to the blade that is the subject using the input image signal, and outputs the measurement result to the rotation assisting tool control unit 36.
  • the measurement of the distance from the tip of the insertion section 2 to the blade by the measurement section 50 is performed using a known technique.
  • the distal end portion of the insertion unit 2 includes two observation optical systems having parallax on the left and right sides, and the measurement unit 50 is inserted on the principle of triangulation using observation images having parallax from the two left and right observation optical systems.
  • the distance from the tip of the part 2 to the blade is measured (stereo measurement).
  • blade is not limited to a stereo measurement.
  • the TOF (Time of Flight) method which measures the phase difference between the laser light irradiated on the subject and the reflected light, or the subject is irradiated with laser light and the movement of the reflected light is the principle of triangulation
  • the distance to the blade may be measured using a triangulation method or the like that is measured in step (b).
  • the measurement unit 50 constitutes a state detection unit that detects the state of the distal end portion of the insertion portion 2 by measuring the distance from the distal end of the insertion portion 2 to the blade.
  • the measurement result measured by the measurement unit 50 is input to the rotation assist tool control unit 36.
  • the rotation assisting tool control unit 36 determines whether the distal end portion of the insertion unit 2 is too close to the blade by comparing the measurement result input from the measuring unit 50 with a predetermined threshold, and the rotation assisting tool control unit 36 is controlled.
  • the rotation assisting tool control unit 36 determines that the distal end portion of the insertion unit 2 is too close to the blade (the distal end portion may be caught in the blade).
  • the rotation assisting tool 14 is controlled to display a warning on the screen of the LCD 4 or to stop the rotation of the blade.
  • the rotation assisting tool control unit 36 determines that the distal end portion of the insertion portion 2 is not too close to the blade (the possibility that the distal end portion is caught in the blade).
  • the rotation assisting tool 14 is controlled so as to rotate the blade or continue to rotate the blade.
  • FIG. 8 is a flowchart illustrating an example of the control of the rotation assist tool by the endoscope apparatus according to the third embodiment. In FIG. 8, the same processes as those in FIG.
  • the rotation assisting tool control unit 36 determines whether the measurement result of the measurement unit 50 is equal to or less than a predetermined threshold (S21). When it is determined that the measurement result of the measurement unit 50 is equal to or less than the predetermined threshold (S21: YES), the rotation assisting tool control unit 36 proceeds to S5 and displays a warning on the screen of the LCD 4. That is, when the measurement result of the measurement unit 50 is equal to or less than the predetermined threshold, the rotation assisting tool control unit 36 has the distal end portion of the insertion unit 2 too close to the blade (the distal end portion may be caught in the blade). ) And display the warning shown in FIG.
  • the rotation assist tool control unit 36 proceeds to S7 and controls the rotation assist tool 14 to rotate the blade. That is, when the measurement result of the measuring unit 50 is not equal to or less than the predetermined threshold, the rotation assisting tool control unit 36 does not approach the blade too much (there is no possibility of the tip being caught by the blade). And the rotation assisting tool 14 is controlled to rotate the blade.
  • the rotation assisting tool control unit 36 determines whether or not the measurement result of the measurement unit 50 is equal to or less than a predetermined threshold (S22). When it is determined that the measurement result of the measurement unit 50 is not equal to or less than the predetermined threshold value (S22: NO), the rotation assist tool control unit 36 returns to S22 and repeats the same processing. That is, when the rotation assisting tool control unit 36 detects that the tip is not approaching the blade while rotating the blade, it determines that the tip is not likely to be caught in the blade, and continues to rotate the blade. The rotation assisting tool 14 is controlled.
  • the rotation assisting tool control unit 36 determines that the measurement result of the measuring unit 50 is equal to or less than the predetermined threshold (S22: YES)
  • the rotation assisting tool control unit 36 proceeds to S9 and sets the rotation assisting tool 14 to stop the rotation of the blade. Control. That is, when the rotation assisting tool control unit 36 detects that the tip is too close to the blade while rotating the blade, it determines that the tip may be caught in the blade and stops the rotation of the blade. The rotation assisting tool 14 is controlled to do so.
  • the rotation assist tool control unit 36 of the endoscope apparatus 1b determines the distance between the tip of the insertion unit 2 and the blade based on the measurement result measured by the measurement unit 50, and displays a warning on the LCD 4 Alternatively, the rotation assisting tool 14 is controlled. When it is determined that the tip is too close to the blade, the rotation assist tool control unit 36 displays a warning on the LCD 4 before the inspection, and controls the rotation assist tool 14 to stop the rotation of the blade during the inspection. . As a result, the endoscope apparatus 1b can prevent the distal end portion of the insertion portion 2 from being caught in a rotating body such as a blade.
  • the endoscope apparatus 1b of the present embodiment similarly to the endoscope apparatus 1 of the first embodiment, the distal end portion of the insertion portion 2 is not caught in the rotating body, and safety is ensured. be able to. Moreover, since the endoscope apparatus 1b of this embodiment does not need to provide the acceleration sensor 13 shown in FIG. 1 in the front-end
  • the measurement unit 50 that measures the distance from the distal end of the insertion unit 2 to the blade that is the subject is provided in the main body unit 3, but the measurement unit 50 is provided outside the main body unit 3 (for example, , Cloud).
  • the endoscope apparatus 1b transmits an observation image having parallax from the left and right observation optical systems to the outside, and measures the distance from the distal end of the insertion portion 2 to the blade using the observation image having parallax on the outside. To do.
  • endoscope apparatus 1b may control rotation auxiliary tool 14 based on the measurement result transmitted from the outside.
  • FIG. 9 is a diagram showing an overall configuration of an endoscope apparatus according to the fourth embodiment.
  • the same components as those in FIGS. 1, 4, and 7 are denoted by the same reference numerals and description thereof is omitted.
  • an endoscope apparatus 1 c according to the fourth embodiment includes an acceleration sensor 13 in FIG. 1 at the distal end of the insertion unit 2, a motion amount detection unit 40 in FIG. 4 in the image processing unit 22, and system control.
  • the unit 30 is configured to have the measurement unit 50 of FIG.
  • the endoscope apparatus 1c according to the fourth embodiment is configured by combining the endoscope apparatuses 1, 1a, and 1b according to the first, second, and third embodiments.
  • the rotation assist tool control unit 36 receives the detection result of the acceleration sensor 13, the detection result of the motion amount detection unit 40, and the measurement result of the measurement unit 50.
  • the rotation assist control unit 36 determines whether the detection result of the acceleration sensor 13 is equal to or greater than a first predetermined threshold, whether the detection result of the motion amount detection unit 40 is equal to or greater than a second predetermined threshold, or a measurement unit
  • the rotation assisting tool 14 is controlled according to whether the 50 measurement results are equal to or less than a third predetermined threshold value.
  • the rotation assist tool control unit 36 displays a warning on the screen of the LCD 4 when any one of the detection result of the acceleration sensor 13, the detection result of the motion amount detection unit 40, and the measurement result of the measurement unit 50 is abnormal.
  • the rotation auxiliary tool 14 is controlled so as to stop the rotation of the blade. More specifically, the rotation assisting tool control unit 36 determines that the detection result of the acceleration sensor 13 is equal to or greater than a first predetermined threshold, the detection result of the motion amount detection unit 40 is equal to or greater than a second predetermined threshold, or a measurement unit.
  • a warning is displayed on the screen of the LCD 4 or the rotation assisting tool 14 is controlled so as to stop the rotation of the blade.
  • the rotation assisting tool control unit 36 rotates the blade when the detection result of the acceleration sensor 13, the detection result of the movement amount detection unit 40, and the measurement result of the measurement unit 50 are all abnormal.
  • the rotation auxiliary tool 14 is controlled so as to continue to rotate. More specifically, the rotation assist tool control unit 36 has a detection result of the acceleration sensor 13 that is not equal to or greater than a first predetermined threshold value, and a detection result of the motion amount detection unit 40 is not equal to or greater than a second predetermined threshold value. And when the measurement result of the measurement part 50 is not below a 3rd predetermined threshold value, the rotation assistance tool 14 is controlled so that a blade may be rotated or it may continue rotating.
  • FIG. 10 is a flowchart illustrating an example of the control of the rotation assist tool by the endoscope apparatus according to the fourth embodiment.
  • FIG. 10 the same processing as in FIG. 10.
  • the rotation assisting tool control unit 36 determines that the detection result of the acceleration sensor 13 is equal to or greater than the first predetermined threshold, and the detection result of the motion amount detection unit 40 is the second predetermined threshold. Whether or not the measurement result of the measurement unit 50 is equal to or smaller than a third predetermined threshold value is determined (S31).
  • the rotation assisting tool control unit 36 has a detection result of the acceleration sensor 13 that is equal to or greater than a first predetermined threshold, a detection result of the motion amount detection unit 40 that is equal to or greater than a second predetermined threshold, or a measurement result of the measurement unit 50 that is the first.
  • the process proceeds to S5, and a warning is displayed on the screen of the LCD 4. That is, the rotation assisting tool control unit 36 determines that the tip of the insertion unit 2 is abnormal when any one of the detection result of the acceleration sensor 13, the detection result of the motion amount detection unit 40, and the measurement result of the measurement unit 50 is abnormal. 2 is determined to possibly be caught in the blade, and a warning display shown in FIG. 2 is performed.
  • the rotation assisting tool control unit 36 determines that the detection result of the acceleration sensor 13 is equal to or greater than the first predetermined threshold, the detection result of the motion amount detection unit 40 is equal to or greater than the second predetermined threshold, or the measurement result of the measurement unit 50. Is determined not to be equal to or less than the third predetermined threshold (S31: NO), the process proceeds to S7, and the rotation assisting tool 14 is controlled to rotate the blade. That is, when there is no abnormality in all of the detection result of the acceleration sensor 13, the detection result of the movement amount detection unit 40, and the measurement result of the measurement unit 50, the rotation assist tool control unit 36 determines that the distal end portion of the insertion unit 2 is a blade. The rotation assisting tool 14 is controlled to rotate the blade.
  • the rotation assisting tool control unit 36 causes the detection result of the acceleration sensor 13 to be greater than or equal to the first predetermined threshold, and the detection result of the motion amount detection unit 40 is greater than or equal to the second predetermined threshold, or Then, it is determined whether or not the measurement result of the measurement unit 50 is equal to or smaller than a third predetermined threshold (S32).
  • the rotation assisting tool control unit 36 has a detection result of the acceleration sensor 13 that is equal to or greater than a first predetermined threshold, a detection result of the motion amount detection unit 40 that is equal to or greater than a second predetermined threshold, or a measurement result of the measurement unit 50 that is the first.
  • the process returns to S32 and the same process is repeated. That is, when there is no abnormality in all of the detection result of the acceleration sensor 13, the detection result of the movement amount detection unit 40, and the measurement result of the measurement unit 50, the rotation assist tool control unit 36 determines that the distal end portion of the insertion unit 2 is a blade. The rotation assisting tool 14 is controlled so that the blade continues to rotate.
  • the rotation assisting tool control unit 36 determines that the detection result of the acceleration sensor 13 is equal to or greater than the first predetermined threshold, the detection result of the motion amount detection unit 40 is equal to or greater than the second predetermined threshold, or the measurement result of the measurement unit 50. Is determined to be equal to or smaller than the third predetermined threshold (S32: YES), the process proceeds to S9, and the rotation assisting tool 14 is controlled so as to stop the rotation of the blade. That is, the rotation assisting tool control unit 36 determines that the tip of the insertion unit 2 is abnormal when any one of the detection result of the acceleration sensor 13, the detection result of the motion amount detection unit 40, and the measurement result of the measurement unit 50 is abnormal. The rotation assisting tool 14 is controlled so as to stop the rotation of the blade.
  • the rotation assisting tool control unit 36 of the endoscope apparatus 1 c is based on the detection result of the acceleration sensor 13, the detection result of the motion amount detection unit 40, and the measurement result of the measurement unit 50.
  • the movement of the distal end portion and the distance between the distal end portion of the insertion portion 2 and the blade are determined, and a warning display on the LCD 4 or the rotation assisting tool 14 is controlled.
  • the rotation assisting tool control unit 36 displays a warning on the LCD 4 before the inspection, and stops the rotation of the blade during the inspection.
  • the rotation assisting tool 14 is controlled.
  • the endoscope apparatus 1c can prevent the distal end portion of the insertion portion 2 from being caught in a rotating body such as a blade.
  • the endoscope apparatus 1c of this embodiment similarly to the endoscope apparatus 1 of the first embodiment, the distal end portion of the insertion portion 2 is not caught in the rotating body, and safety is ensured. be able to.
  • the endoscope apparatus 1c according to the present embodiment determines the state of the insertion unit 2 based on the detection result of the acceleration sensor 13, the detection result of the motion amount detection unit 40, and the measurement result of the measurement unit 50. Compared with the endoscope apparatuses 1, 1a, and 1b of the first, second, and third embodiments, the state of the insertion portion 2 can be detected with higher accuracy, and the safety can be improved.
  • the rotation assisting tool control unit 36 controls the rotation assisting tool 14 using the detection result of the acceleration sensor 13, the detection result of the motion amount detection unit 40, and the measurement result of the measurement unit 50.
  • the rotation assist tool control unit 36 uses any two results among the detection result of the acceleration sensor 13, the detection result of the motion amount detection unit 40, and the measurement result of the measurement unit 50, and uses the rotation assist tool 14. May be controlled.
  • each step in the flowcharts in this specification may be executed in a different order for each execution by changing the execution order and executing a plurality of steps at the same time, as long as it does not violate its nature.

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  • Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Endoscopes (AREA)

Abstract

Le dispositif d'endoscope (1) de l'invention possède : une partie insertion (2) ; une partie détection d'état détectant l'état dans lequel se trouve la partie insertion (2) ; et une partie commande (36) d'accessoire auxiliaire rotatif qui commande le mouvement d'un accessoire auxiliaire rotatif (14) mettant en rotation un élément rotatif, objet de cet accessoire, sur la base des résultats de détection de la partie détection d'état.
PCT/JP2017/041489 2016-11-24 2017-11-17 Dispositif d'endoscope, et procédé de commande de celui-ci Ceased WO2018097060A1 (fr)

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JP2016227645 2016-11-24

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Cited By (1)

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WO2020195042A1 (fr) * 2019-03-25 2020-10-01 ソニー・オリンパスメディカルソリューションズ株式会社 Système d'observation médicale

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JP2005055756A (ja) * 2003-08-06 2005-03-03 Olympus Corp 内視鏡装置
JP2014032363A (ja) * 2012-08-06 2014-02-20 Olympus Corp 内視鏡装置
JP2014528794A (ja) * 2011-09-30 2014-10-30 ルフトハンザ・テッヒニク・アクチェンゲゼルシャフトＬｕｆｔｈａｎｓａ Ｔｅｃｈｎｉｋ Ａｇ ガスタービンを検査するための内視鏡検査システムおよび対応する方法

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Publication number Priority date Publication date Assignee Title
JP2005055756A (ja) * 2003-08-06 2005-03-03 Olympus Corp 内視鏡装置
JP2014528794A (ja) * 2011-09-30 2014-10-30 ルフトハンザ・テッヒニク・アクチェンゲゼルシャフトＬｕｆｔｈａｎｓａ Ｔｅｃｈｎｉｋ Ａｇ ガスタービンを検査するための内視鏡検査システムおよび対応する方法
JP2014032363A (ja) * 2012-08-06 2014-02-20 Olympus Corp 内視鏡装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020195042A1 (fr) * 2019-03-25 2020-10-01 ソニー・オリンパスメディカルソリューションズ株式会社 Système d'observation médicale
JPWO2020195042A1 (fr) * 2019-03-25 2020-10-01
CN113574437A (zh) * 2019-03-25 2021-10-29 索尼奥林巴斯医疗解决方案公司 医学观察系统

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