Endoscope shape display control device, operation method of endoscope shape display control device, and computer readable medium

Abstract

The endoscope shape display control device of the present invention has at least one processor, which performs the following processing: obtaining information for imaging the shape of an insertion portion of an endoscope inserted into a subject, and when generating a shape display image showing the shape of the insertion portion based on the acquired information, in the shape display image, adding a pattern on the surface to display the insertion portion.

Description

Technical Field

[0001] The present invention relates to an endoscope shape display control device, an operation method of the endoscope shape display control device, and an operation program of the endoscope shape display control device. Background Art

[0002] An endoscope for observing the lower digestive tract such as the large intestine is known. Unlike the upper digestive tract such as the esophagus which extends relatively straight, the lower digestive tract is complicatedly curved. Therefore, the insertion portion of the endoscope inserted into the lower digestive tract in a subject such as a patient is also complicatedly curved. In order to grasp the shape of the insertion portion of the endoscope inserted into the subject, an endoscope shape detection device is known that detects the shape of the insertion portion of the endoscope in the subject (for example, refer to Japanese Patent Publication No. 2004-551).

[0003] The endoscope shape detection device described in Japanese Patent Application Laid-Open No. 2004-551 has the function of obtaining information for imaging the shape of an insertion portion in a subject by using magnetism, and imaging the shape of the insertion portion based on the obtained information. For example, in the insertion portion of an endoscope, a plurality of magnetic field generating elements are arranged at intervals. The endoscope shape detection device uses a magnetic field detection element arranged outside the subject to detect the magnetic field generated by each magnetic field generating element in the insertion portion. The intensity of the magnetic field of each magnetic field generating element detected shows the position of each part of the insertion portion relative to the magnetic field detection element outside the subject, so the endoscope shape detection device described in Japanese Patent Application Laid-Open No. 2004-551 uses the information for imaging the shape of the insertion portion as the information on the intensity of the magnetic field of each magnetic field generating element to generate an image representing the shape of the insertion portion. Then, the generated image is displayed on a display and presented to a user such as a surgeon (e.g., a doctor).

[0004] The order of imaging in the endoscope shape detection device of Japanese Patent Publication No. 2004-551 is, for example, performed as follows. First, the endoscope shape detection device of Japanese Patent Publication No. 2004-551 determines the positions of the various parts of the insertion portion based on the information for imaging the shape of the insertion portion (for example, the intensity information of the magnetic field), thereby generating a three-dimensional model of the insertion portion. Next, the three-dimensional model of the insertion portion is rendered to generate a two-dimensional image for display on a display. The two-dimensional image is an image of the shape of the insertion portion observed from one viewpoint of the three-dimensional model of the insertion portion that can be arbitrarily set, and is hereinafter referred to as a shape display image.

[0005] When the insertion portion of the endoscope is bent into a ring shape in the subject, different parts of the insertion portion intersect each other in the shape display image through the set viewpoint. Japanese Patent Publication No. 2004-551 records that in order to express the front and back of the intersecting parts, hatching processing or hidden surface processing is performed during the drawing process.

[0006] However, there is a problem that the insertion portion of the endoscope is sometimes displayed as a thin line in the shape display image depending on the display magnification of the shape display image. Therefore, even if the intersection is shaded or hidden, it is difficult for the user to instantly determine the front and back of the intersection. Summary of the invention

[0007] Technical issues to be solved by the invention

[0008] The technical purpose of the present invention is to provide an endoscope shape display control device, an operation method of the endoscope shape display control device, and an operation program of the endoscope shape display control device, which are capable of displaying a shape display image showing the shape of an insertion portion of an endoscope inserted into a subject, in which an overlapping condition of the insertion portion is difficult to visually identify.

[0009] Means for solving technical problems

[0010] An endoscope shape display control device involved in one embodiment of the present invention has at least one processor, and the processor performs the following processing: obtains information for imaging the shape of an insertion portion of an endoscope inserted into a subject, and when a shape display image showing the shape of the insertion portion is generated based on the acquired information, a pattern is added to the surface of the shape display image to display the insertion portion.

[0011] In the endoscope shape display control device of the above aspect, the pattern may be added to the entire region of the insertion portion displayed on the shape display image.

[0012] Furthermore, in the endoscope shape display control device of the above aspect, the pattern may be a color gradation whose color changes continuously or stepwise from one of the distal end side and the proximal end side of the insertion portion to the other. In this case, the color gradation may change from green to blue.

[0013] Furthermore, in the endoscope shape display control device of the above aspect, the pattern may be a stripe pattern.

[0014] Furthermore, in the endoscope shape display control device of the above aspect, the pattern may be a wireframe pattern.

[0015] Furthermore, in the endoscope shape display control device of the above aspect, the processor may perform a shadow process on the insertion portion in addition to the pattern.

[0016] Furthermore, in the endoscope shape display control device of the above aspect, information for imaging the shape of the insertion portion is information based on magnetic field measurement data obtained using a plurality of magnetic field generating elements or a plurality of magnetic field detecting elements provided in the insertion portion.

[0017] A method for operating an endoscope shape display control device according to one embodiment of the present invention comprises: an information acquisition step for acquiring information for imaging the shape of an insertion portion of an endoscope inserted into a subject; and an image generation step for generating a shape display image representing the shape of the insertion portion based on the acquired information, and in the shape display image, a pattern is added to the surface to display the insertion portion.

[0018] Regarding the operating procedure of the endoscope shape display control device involved in one embodiment of the present invention, it enables a computer to function as the following two parts: an information acquisition unit that acquires information for imaging the shape of an insertion portion of an endoscope inserted into a subject; and an image generation unit that generates a shape display image representing the shape of the insertion portion based on the acquired information, and in the shape display image, a pattern is added to the surface to display the insertion portion.

[0019] Effects of the Invention

[0020] According to the technology of the present invention, it is possible to provide an endoscope shape display control device, an operation method of the endoscope shape display control device, and an operation program of the endoscope shape display control device, which can display a shape display image that allows easy visual identification of the overlapping condition of the insertion portion in a shape display image that displays the shape of the insertion portion of an endoscope inserted into a subject. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is an explanatory diagram showing a state of endoscopic inspection using an endoscope system.

[0022] Figure 2 It is a schematic diagram showing the overall structure of an endoscope system.

[0023] Figure 3 This is a block diagram showing the electrical structure of an endoscope system.

[0024] Figure 4 This is an explanatory diagram showing a state in which a plurality of detection coils detect magnetic fields generated by a plurality of generation coils.

[0025] Figure 5 It is an explanatory diagram showing an example of magnetic field measurement data.

[0026] Figure 6It is an explanatory diagram for explaining the determination processing by the determination unit and the position detection processing by each detection coil of the position detection unit.

[0027] Figure 7 It is an explanatory diagram showing an example of the shape detection processing of the insertion portion.

[0028] Figure 8 This is a functional block diagram of the image generation unit.

[0029] Fig. 9 This is a flowchart for explaining the flow of a process of generating a shape display image by the display control unit.

[0030] Fig.10 It is an explanatory diagram showing an example of the 3D model generation process of the insertion portion.

[0031] Fig.11 This is a diagram showing an example of a color wheel.

[0032] Fig.12 This is a diagram showing an example of a shape display image.

[0033] Fig.13 This is a diagram showing an example of a shape display image.

[0034] Fig.14 This is a diagram showing an example of a shape display image.

[0035] Fig.15 This is a diagram showing an example of a shape display image.

[0036] Fig.16 This is a diagram showing an example of a shape display image. DETAILED DESCRIPTION

[0037] [Overall structure of the endoscope system]

[0038] Figure 1 Schematic diagram showing the overall structure of an endoscope system 9 including an endoscope shape display control device according to the present invention. Figure 1 As shown, the endoscope system 9 includes an endoscope 10, a light source device 11, a navigation device 12, a magnetic field generator 13, a processor device 14, and a display 15. The endoscope system 9 is used for in vivo endoscopic examination of a subject H such as a patient. The subject H is an example of a subject. The endoscope 10 is, for example, an endoscope inserted into a digestive tract such as a large intestine, and is a flexible soft endoscope. The endoscope 10 includes an insertion portion 17 inserted into the digestive tract, an operating portion 18 connected to the base end side of the insertion portion 17 and for the operating doctor to hold and perform various operations, and a universal cord 19 connected to the operating portion 18.

[0039] Endoscopic examination is performed, for example, with the examinee H lying on the top surface 16A of the bed 16. In the case of a large intestine examination, the operating doctor OP, who is a doctor, inserts the insertion portion 17 of the endoscope 10 from the anus into the lower digestive tract. The light source device 11 provides illumination light to the endoscope 10 for illuminating the large intestine as the observation site. The processor device 14 generates an observation image 41 by processing the image captured by the endoscope 10. The observation image 41 is displayed on the monitor 15. The operating doctor OP performs the endoscopic examination while confirming the observation image 41. The observation image 41 displayed on the monitor 15 is basically a dynamic image, but a still image can also be displayed as the observation image 41 as needed.

[0040] In addition, the endoscope system 9 has a navigation function for navigating manual operations such as the insertion operation of the endoscope 10 performed by the operating doctor OP. Here, navigation refers to assisting the operating doctor OP in the manual operation of the endoscope 10 by prompting the operating doctor OP with the insertion state including the position and shape of the insertion portion 17 of the endoscope 10 in the body of the subject H. The navigation function detects the insertion state of the insertion portion 17 using the magnetic field MF, and prompts the detected insertion state.

[0041] The navigation function is realized by the navigation device 12, the magnetic field generator 13, and the magnetic field measuring device in the endoscope 10 described later. The magnetic field generator 13 generates a magnetic field MF. The magnetic field generator 13 is installed on a stand, for example, and is arranged next to the bed 16 on which the subject H lies. In addition, the magnetic field generator 13 is arranged within the range where the generated magnetic field MF reaches the body of the subject H.

[0042] The magnetic field measuring device in the endoscope 10 detects the magnetic field MF generated by the magnetic field generator 13 and measures the intensity of the detected magnetic field MF. The navigation device 12 detects the insertion state of the insertion portion 17 by deriving the relative position of the magnetic field generator 13 and the insertion portion 17 based on the magnetic field measurement result of the magnetic field measuring device. The processor device 14 generates a shape display image 42 showing the insertion state detected by the navigation device 12.

[0043] The display 15 displays the observation image 41 and the shape display image 42. In addition, the display 15 that displays the observation image 41 and the shape display image 42 may be provided separately.

[0044] like Figure 2 As shown in FIG. 1 , the insertion portion 17 is a thin and long tubular portion, which is composed of a soft portion 21, a bending portion 22, and a front end portion 23 connected in sequence from the base end side to the front end side. The soft portion 21 is flexible. The bending portion 22 is a portion that can be bent by operating the operating portion 18. The front end portion 23 is provided with an imaging device 48 (see FIG. 4 ). Figure 3 ) etc. And, in Figure 2Although not shown in the figure, an illumination window 46 is provided on the front end surface of the front end portion 23 to illuminate the observation area (reference Figure 3 ); observation window 47, the incident illumination light is reflected by the subject light (reference Figure 3 ); a disposal tool outlet for protruding the disposal tool (not shown); and a cleaning nozzle for cleaning the observation window 47 by spraying gas and water thereon (not shown).

[0045] The insertion portion 17 is provided with a light guide 33, a signal cable 32, an operation wire (not shown), and a conduit (not shown) for inserting and penetrating a treatment instrument. The light guide 33 is extended from the universal cord 19 to guide the illumination light supplied from the light source device 11 to the illumination window 46 of the distal end portion 23. The signal cable 32 is used for communication of image signals from the imaging device 48 and control signals for controlling the imaging device 48, and is also used for supplying power to the imaging device 48. The signal cable 32 is also extended from the universal cord 19 and is provided to the distal end portion 23, similarly to the light guide 33.

[0046] The operation wire is a wire for operating the bending portion 22, and is disposed between the operation portion 18 and the bending portion 22. The pipeline for inserting and penetrating a treatment instrument is a pipeline for inserting and penetrating a treatment instrument (not shown) such as forceps, and is disposed from the operation portion 18 to the front end portion 23. In addition, a fluid hose for supplying air and water is provided in the insertion portion 17. The fluid hose supplies gas and water for cleaning the observation window 47 to the front end portion 23.

[0047] Furthermore, a plurality of detection coils 25 are provided at predetermined intervals from the soft portion 21 to the front end portion 23 in the insertion portion 17. Each detection coil 25 is equivalent to a magnetic field detection element that detects the magnetic field MF. Each detection coil 25 generates an induced electromotive force under the action of electromagnetic induction by being affected by the magnetic field MF generated by the magnetic field generator 13, and generates an induced current by the induced electromotive force. The value of the induced current generated by each detection coil 25 shows the strength of the magnetic field MF detected by each detection coil 25, which becomes a magnetic field measurement result. That is, the magnetic field measurement result refers to a value corresponding to the magnitude of the induced current that shows the strength of the magnetic field MF.

[0048] The operation section 18 is provided with various operation components operated by the surgeon. Specifically, the operation section 18 is provided with two types of bending operation knobs 27, an air and water supply button 28, and a suction button 29. The two types of bending operation knobs 27 are respectively connected to the operation wires and are used for the left and right bending operation and the up and down bending operation of the bending section 22. In addition, the operation section 18 is provided with a treatment instrument introduction port 31 as an entrance for inserting a treatment instrument into a conduit for penetration.

[0049] The universal cord 19 is a connection cord for connecting the endoscope 10 to the light source device 11. The universal cord 19 includes a signal cable 32, a light guide 33, and a fluid hose (not shown). In addition, a connector 34 connected to the light source device 11 is provided at the end of the universal cord 19.

[0050] By connecting the connector 34 to the light source device 11, the power, control signal, illumination light, gas, and water required for the operation of the endoscope 10 are supplied from the light source device 11 to the endoscope 10. Figure 2 ) The image signal of the observation part acquired and the magnetic field measurement result based on the detection signal of each detection coil 25 are sent from the endoscope 10 to the light source device 11.

[0051] The connector 34 and the light source device 11 are not connected by wired electrical connection using a metal signal line or the like, but are connected to each other by optical communication (e.g., contactless communication). The connector 34 transmits and receives control signals exchanged between the endoscope 10 and the light source device 11 and transmits image signals and magnetic field measurement results from the endoscope 10 to the light source device 11 by optical communication. The connector 34 is provided with a laser diode (hereinafter referred to as LD) 36 connected to the signal cable 32.

[0052] LD36 is used to send large-volume data, specifically, image signals and magnetic field measurement results, from the endoscope 10 to the light source device 11. LD36 sends the image signals and magnetic field measurement results, which are originally in the form of electrical signals, to a photodiode (PD) 37 provided in the light source device 11 in the form of optical signals.

[0053] Although not shown in the figure, an optical transceiver is provided in both the connector 34 and the light source device 11 separately from the LD 36 and the PD 37, and the optical transceiver converts the small-capacity control signal exchanged between the endoscope 10 and the light source device 11 into an optical signal for transmission and reception. In addition, the connector 34 is provided with a power receiving unit (not shown) that receives power from the power supply unit (not shown) of the light source device 11 through wireless power supply.

[0054] The light guide 33 in the connector 34 is inserted into the light source device 11. Furthermore, the fluid hose (not shown) in the connector 34 is connected to the air and water supply device (not shown) via the light source device 11. Thus, illumination light and gas and water are supplied to the endoscope 10 from the light source device 11 and the air and water supply device, respectively.

[0055] The light source device 11 supplies illumination light to the light guide 33 of the endoscope 10 via the connector 34, and supplies gas and water supplied from the gas and water supply device (not shown) to the fluid hose (not shown) of the endoscope 10. In addition, the light source device 11 receives the optical signal sent from the LD 36 using the PD 37, converts the received optical signal into the original image signal and magnetic field measurement result as an electrical signal, and outputs it to the navigation device 12.

[0056] The navigation device 12 outputs the image signal for generating the observation image 41 input from the light source device 11 to the processor device 14. In addition, the navigation device 12 controls the driving of the magnetic field generator 13 described later, detects the shape of the insertion portion 17 in the body of the subject H, and outputs the detection result to the processor device 14 as information for generating the shape display image 42.

[0057] As described above, the endoscope 10 in this example is of a single connector type having one connector 34 connected to the light source device 11. The endoscope 10 is communicably connected to the processor device 14 and the navigation device 12 via the light source device 11 to which the connector 34 is connected.

[0058] The magnetic field generator 13 has a plurality of generating coils 39 corresponding to a plurality of magnetic field generating elements. Each generating coil 39 includes, for example, an X-axis coil, a Y-axis coil, and a Z-axis coil that generate an alternating magnetic field (in other words, an alternating magnetic field) in directions corresponding to the XYZ coordinate axes of the orthogonal coordinate system XYZ by applying a driving current. Each generating coil 39 generates a magnetic field MF of the same frequency. Each generating coil 39 generates a magnetic field MF at different times from each other under the control of the navigation device 12, and the details will be described later.

[0059] <Endoscope>

[0060] Figure 3 is a block diagram showing the electrical structure of the endoscope system 9. Figure 3 As shown, the endoscope 10 has a light guide 33, an irradiation lens 45, an illumination window 46, an observation window 47, an imaging device 48, a magnetic field detection circuit 49, a general control circuit 50, a signal cable 32, an LD 36, a fluid hose and a cleaning nozzle not shown.

[0061] The light guide 33 is a large-diameter optical fiber or a bundled optical fiber. The incident end of the light guide 33 is embedded in the light source device 11 via the connector 34. The light guide 33 is inserted through the connector 34, the universal cord 19, and the operation portion 18, and the emission end protrudes toward the irradiation lens 45 provided in the front end portion 23 of the insertion portion 17. Thus, the illumination light supplied from the light source device 11 to the incident end of the light guide 33 is irradiated from the irradiation lens 45 to the observation area through the illumination window 46 on the front end surface of the front end portion 23. Then, the illumination light reflected at the observation area is incident on the imaging surface of the imaging device 48 through the observation window 47 provided on the front end surface of the front end portion 23 as the image light of the observation area.

[0062] In addition, one end side of the aforementioned fluid hose (not shown) is connected to the air and water supply device (not shown) through the connector 34 and the light source device 11, and the other end side of the fluid hose (not shown) is connected to the air and water supply nozzle (not shown) provided on the front end surface of the front end portion 23 through the insertion portion 17. Thus, the gas or water supplied from the air and water supply device (not shown) is sprayed from the air and water supply nozzle (not shown) toward the observation window 47, thereby cleaning the observation window 47.

[0063] The imaging device 48 has a focusing lens 52 and an imaging element 53. The focusing lens 52 focuses the image light of the observation part incident from the observation window 47, and images the focused image light of the observation part on the imaging surface of the imaging element 53. The imaging element 53 is a CMOS (complementary metal oxide semiconductor) type or a CCD (Charge Coupled Device) type imaging element. The imaging element 53 is, for example, a color imaging element in which any one of R (Red), G (Green), and B (Blue) microfilters is assigned to each pixel. The imaging element 53 photographs the observation part as the observation object. More specifically, the imaging element 53 photographs the image light of the observation part imaged on the imaging surface (i.e., converts it into an electrical signal), and outputs the image signal of the observation part to the overall control circuit 50.

[0064] In addition, the imaging element 53 is provided with an oscillator 53a that outputs a reference signal (e.g., a clock signal) such as a crystal oscillator, and the imaging element 53 outputs an image signal constituting a dynamic image based on the reference signal oscillated from the oscillator 53a. The interval of the reference signal determines the frame rate. The frame rate is, for example, 30fps (frames per second).

[0065] The magnetic field detection circuit 49 is electrically connected to each detection coil 25 in the insertion portion 17. The magnetic field detection circuit 49 outputs magnetic field measurement data 55 including each magnetic field measurement result of each detection coil 25 corresponding to the magnetic field MF generated by the generating coil 39 of the magnetic field generator 13 to the overall control circuit 50.

[0066] The overall control circuit 50 includes various computing circuits including a CPU (Central Processing Unit) and various memories, and overall controls the actions of various parts of the endoscope 10. The overall control circuit 50 performs the functions of the signal processing unit 57, the magnetic field measurement control unit 58, and the image signal output unit 59 by executing a control program stored in a memory not shown. The magnetic field detection circuit 49 and the magnetic field measurement control unit 58 are combined to form a magnetic field measurement unit. The magnetic field measurement unit measures multiple magnetic fields MF generated by each of the generating coils 39 corresponding to multiple magnetic field generating elements based on the detection signal output by the detection coil 25, and outputs the magnetic field measurement result of each magnetic field MF. The magnetic field measurement unit and the detection coil 25 are combined to form a magnetic field measurement device.

[0067] The signal processing unit 57 performs various signal processing on the image signals sequentially output from the imaging element 53. As the signal processing, for example, analog signal processing such as correlated double sampling processing and signal amplification processing, A / D (Analog / Digital) conversion processing for converting the analog signal into a digital signal after the analog signal processing, etc. The image signal after the signal processing is performed is called a frame image signal 61. The signal processing unit 57 outputs the frame image signal 61 to the image signal output unit 59 at a frame rate. The frame image signal 61 is used as dynamic image data of the observed part. In this way, a plurality of frame image signals 61 are obtained by performing dynamic image capture by the imaging element 53, and are image signals output at preset time intervals.

[0068] The magnetic field measurement control unit 58 acquires the magnetic field measurement data 55 including a plurality of magnetic field measurement results of each detection coil 25 via the magnetic field detection circuit 49 , and outputs the acquired magnetic field measurement data 55 to the image signal output unit 59 .

[0069] like Figure 4 As shown, the magnetic field measurement results of each detection coil 25 vary according to the distance and direction between each generating coil 39 and each detection coil 25 that generates the magnetic field MF, even if the strength of the magnetic field generated by each generating coil 39 is the same. Figure 4In the first generating coil 39 shown, as indicated by the solid line, the distance and orientation to the first to third detection coils 25 are different. Therefore, regarding the magnetic field MF generated by one first generating coil 39, each of the first to third detection coils 25 has a different magnetic field measurement result. The relationship between each of the second generating coil 39 and the third generating coil 39 and the first to third detection coils 25 is also the same.

[0070] Furthermore, conversely, even if the intensity of the magnetic field MF generated by each of the first to third generating coils 39 is the same, the magnetic field measurement results of one first detection coil 25 for each magnetic field MF of each generating coil 39 are different. Here, for example, consider a case where each of the first to third generating coils 39 is an X-axis coil, a Y-axis coil, and a Z-axis coil, respectively. In this case, based on the magnetic field measurement results of one first detection coil 25 for each magnetic field MF of each coil of the X-axis, Y-axis, and Z-axis, the three-dimensional coordinate position of the first detection coil 25 corresponding to the XYZ coordinate axis can be detected. The same is true for the second detection coil 25 and the third detection coil 25. As long as the three-dimensional coordinate positions of each detection coil 25 set at a predetermined interval in the insertion portion 17 can be detected, the shape of the insertion portion 17 can be detected.

[0071] In fact, according to the magnetic field measurement results, in addition to the three-dimensional coordinate position of each detection coil 25, the angle of each detection coil 25 can also be detected. The shape of the insertion portion 17 is detected based on the information of the three-dimensional coordinate position and the angle. In the following, in order to avoid complication, the angle is omitted and only the three-dimensional coordinate position is described.

[0072] Figure 5 1 is an explanatory diagram for explaining an example of magnetic field measurement data 55 acquired by the magnetic field measurement control unit 58. The magnetic field measurement control unit 58 acquires the magnetic field measurement data 55, which includes a plurality of magnetic field measurement results outputted from each of the plurality of detection coils 25, each of which detects each of the plurality of magnetic fields MF generated by the plurality of generation coils 39.

[0073] exist Figure 5In the data, (1) to (4) are data columns of the magnetic field measurement results of each of the multiple detection coils 25 regarding the magnetic field MF generated by each generating coil 39. For example, "D11" is the magnetic field measurement result obtained by detecting the magnetic field MF generated in the first generating coil 39 through the first detection coil 25. "D12" is the magnetic field measurement result obtained by detecting the magnetic field MF generated in the first generating coil 39 through the "second detection coil". Similarly, "D42" is the magnetic field measurement result obtained by detecting the magnetic field MF generated in the fourth generating coil 39 through the second detection coil 25. "D43" is the magnetic field measurement result obtained by detecting the magnetic field MF generated in the fourth generating coil 39 through the third detection coil 25.

[0074] The magnetic field measurement control unit 58 sequentially obtains the magnetic field measurement results of each detection coil 25 while synchronizing with the magnetic field generation timing of each generating coil 39 in the magnetic field generator 13. For example, the magnetic field measurement control unit 58 obtains the magnetic field measurement results of each detection coil 25 for each magnetic field MF of all generating coils 39 during one magnetic field measurement period specified by a synchronization signal described later. Thus, the magnetic field measurement control unit 58 obtains the magnetic field measurement data 55 including a plurality of magnetic field measurement results related to all combinations of each generating coil 39 and each detection coil 25 during one magnetic field measurement period.

[0075] For example, when 9 generating coils 39 are provided in the magnetic field generator 13 and 17 detecting coils 25 are provided in the insertion portion 17, 17 magnetic field measurement results are obtained for each generating coil 39. Therefore, the magnetic field measurement control unit 58 obtains a total of 9x17=153 magnetic field measurement data 55 including magnetic field measurement results during one magnetic field measurement. The magnetic field measurement data 55 including a plurality of magnetic field measurement results related to all of these combinations is referred to as full magnetic field measurement data. In this example, the magnetic field measurement data 55 includes full magnetic field measurement data unless otherwise specified.

[0076] like Figure 6 As shown, the image signal output unit 59 adds a frame start signal VD to each of the plurality of frame image signals 61 sequentially input from the signal processing unit 57, thereby outputting the frame image signals 61. Figure 6 In the figure, for ease of understanding, "frame 1", "frame 2", "frame 3", ... are frame numbers indicating the output order of the plurality of frame image signals 61. The frame start signal VD is, for example, a vertical synchronization signal.

[0077] Furthermore, the image signal output unit 59 adds the magnetic field measurement data 55 to the frame image signal 61, thereby outputting the frame image signal 61. That is, all the frame image signals 61 output by the image signal output unit 59 include the frame start signal VD and the magnetic field measurement data 55. Figure 6 As shown, the magnetic field measurement data 55 is added to the signal invalid area ND between each frame image signal 61 corresponding to the blanking period of the imaging element 53. The blanking period is, for example, the vertical blanking period. As described above, the frame start signal VD is also a signal included in the vertical blanking period of multiple frame image signals 61.

[0078] exist Figure 3 In the example, the image signal output unit 59 outputs the frame image signal 61 to the LD 36 described above via the signal cable 32. The LD 36 transmits the optical signal obtained by converting the frame image signal 61 into an optical signal to the PD 37 of the light source device 11.

[0079] In this way, the image signal output unit 59 outputs the acquired frame image signal 61 from the imaging element 53 to the outside of the endoscope 10 via the signal processing unit 57. In addition, by using the frame start signal VD included in the frame image signal 61 as a synchronization signal, the image signal output unit 59 functions as a synchronization signal generation unit.

[0080] <Light source device>

[0081] The light source device 11 includes an illumination light source 63, a PD 37, a light source control unit 64, a signal relay unit 62, and a communication interface 65. The illumination light source 63 is composed of a semiconductor light source such as an LD (Laser Diode) or a light emitting diode (Light Emitting Diode: LED), and is a white light source that emits white light with a wavelength from a red region to a blue region as illumination light. In addition, as the illumination light source 63, in addition to a white light source, a special light source that emits special light such as purple light and infrared light can also be used. The illumination light emitted from the illumination light source 63 is incident on the incident end of the aforementioned light guide 33.

[0082] The light source control unit 64 is configured to include various calculation circuits including a CPU and various memories, and controls the operation of various components of the light source device 11 such as the illumination light source 63 .

[0083] PD37 receives the optical signal sent from LD36. PD37 converts the frame image signal 61 received in the form of an optical signal into the original form of an electrical signal, and inputs the converted frame image signal 61 to the signal relay unit 62. The signal relay unit 62 is composed of, for example, an FPGA (Field Programmable Gate Array). FPGA is a processor whose circuit structure can be changed after manufacturing, and the circuit structure includes various operation circuits and various memory circuits.

[0084] <Navigation device>

[0085] The navigation device 12 includes an image signal acquisition unit 68, an insertion state detection unit 70, a magnetic field generation control unit 71, a display output unit 74, and an image generation unit 77. Each unit of the navigation device 12 is composed of various computing circuits (not shown) including one or more CPUs, and operates by executing a control program stored in a memory not shown.

[0086] The image signal acquisition section 68 acquires the frame image signal 61 from the signal relay section 62 via the communication interface 65. Then, the image signal acquisition section 68 outputs the acquired frame image signal 61 to the display output section 74.

[0087] Furthermore, the image signal acquisition unit 68 extracts the frame start signal VD and the magnetic field measurement data 55 included in the frame image signal 61, and outputs the extracted frame start signal VD and the magnetic field measurement data 55 to the insertion state detection unit 70. Furthermore, the image signal acquisition unit 68 extracts the frame start signal VD from the frame image signal 61, and outputs the extracted frame start signal VD to the magnetic field generation control unit 71.

[0088] The insertion state detector 70 detects the insertion state of the insertion portion 17 of the endoscope 10 inserted into the body of the subject H based on the frame start signal VD and the magnetic field measurement data 55 acquired from the image signal acquisition unit 68 . The insertion state detector 70 includes a position detector 72 and an insertion portion shape detector 73 .

[0089] The position detection unit 72 detects the position of each detection coil 25 based on the frame start signal VD and the magnetic field measurement data 55. The position detection unit 72 is provided with a determination unit 72A.

[0090] like Figure 6As shown, the determination unit 72A refers to the correspondence 75 to determine the multiple magnetic field measurement results included in the magnetic field measurement data 55. The correspondence 75 is information showing the storage order of the multiple magnetic field measurement results corresponding to the multiple combinations of the generating coils 39 and the detecting coils 25 included in the magnetic field measurement data 55. The determination unit 72A determines which combination of the generating coils 39 and the detecting coils 25 each magnetic field measurement result included in the magnetic field measurement data 55 corresponds to based on the correspondence 75.

[0091] Specifically, as described later, in the magnetic field measurement, the order in which the magnetic field MF is generated by each generating coil 39 and the order in which the magnetic field measurement results of each detecting coil 25 are acquired for the magnetic field MF of one generating coil 39 are determined based on the frame start signal VD. A plurality of magnetic field measurement results corresponding to the combination of each generating coil 39 and each detecting coil 25 are stored in the magnetic field measurement data 55 based on the generation order and the acquisition order. Therefore, the determination unit 72A can determine which combination (for example, "D11", "D12", "D13" ...) the plurality of magnetic field measurement results included in the magnetic field measurement data 55 correspond to by referring to the prescribed storage order correspondence relationship 75 based on the frame start signal VD.

[0092] The position detection unit 72 detects the position of each detection coil 25, specifically, the three-dimensional coordinate position, as coil position data based on the plurality of magnetic field measurement results determined by the determination unit 72A. The coil position data is a relative position not based on the magnetic field generator 13. Figure 6 In FIG. 1 , for example, P1 represents the three-dimensional coordinate position (here, x1, y1, z1) of the first detection coil 25. The same is true for P2, P3, P4, and so on.

[0093] exist Figure 3 In the embodiment, the position detection unit 72 outputs the coil position data 76 to the insertion portion shape detection unit 73. The insertion portion shape detection unit 73 detects the shape of the insertion portion 17 in the body of the subject H based on the coil position data 76 input from the position detection unit 72.

[0094] Figure 7 1 is an explanatory diagram for explaining an example of the shape detection process of the insertion portion 17 by the insertion portion shape detection unit 73. Figure 7 As shown, the insertion portion shape detection unit 73 performs interpolation processing of interpolating each position with a curve based on the position (here P1, P2, ...) of each detection coil 25 represented by the coil position data 76, derives the central axis C of the insertion portion 17, and generates the insertion portion shape data 78 representing the shape of the insertion portion 17. The interpolation processing of interpolating with a curve is, for example, Bezier curve interpolation. The insertion portion shape data 78 includes the front end position PT of the front end portion 23 of the insertion portion 17.

[0095] exist Figure 3 In the process, the insertion portion shape detection unit 73 outputs the insertion portion shape data 78 to the image generation unit 77. Every time the image signal acquisition unit 68 acquires a new frame image signal 61, the insertion state detection unit 70 repeatedly performs the discrimination processing by the discrimination unit 72A, the position detection processing of detecting the coil position data 76 of each detection coil 25, the shape detection processing of the insertion portion 17, and the output of the insertion portion shape data 78.

[0096] The image generation unit 77 generates the shape display image 42 based on the insertion portion shape data 78. Figure 8 As shown, a modeling unit 77A and a rendering unit 77B are provided in the image generating unit 77. The details will be described later. In the image generating unit 77, the modeling unit 77A generates a 3D (Dimension) model of the insertion unit 17 based on the insertion unit shape data 78, and the rendering unit 77B renders the 3D model of the insertion unit 17, thereby generating a 2D (Dimension) shape display image 42 representing the shape of the insertion unit 17. The image generating unit 77 outputs the data of the generated shape display image 42 to the processor device 14.

[0097] The image generating unit 77 updates the shape display image 42 every time new insertion portion shape data 78 is input. Then, every time the image generating unit 77 updates the shape display image 42, the image generating unit 77 outputs the data of the updated shape display image 42 to the processor device 14.

[0098] The navigation device 12 is an example of an endoscope shape display control device that performs display control related to the shape display image 42 involved in the technology of the present invention. As described above, the magnetic field measurement data 55 is data obtained by using multiple detection coils 25 as an example of multiple magnetic field detection elements provided in the insertion portion 17 of the endoscope 10 involved in the technology of the present invention. The insertion portion shape data 78 is information based on the magnetic field measurement data 55, and is an example of information involved in the technology of the present invention for imaging the shape of the insertion portion 17 of the endoscope 10 embedded in the subject H as an example of the subject. The image generation unit 77 generates the shape display image 42 that images the shape of the insertion portion 17 based on the insertion portion shape data 78. That is, the image generation unit 77 is an example of the image generation unit involved in the technology of the present invention, and is also an example of the information acquisition unit that acquires information for imaging the shape of the insertion portion.

[0099] The display output unit 74 outputs the frame image signal 61 previously input from the image signal acquisition unit 68 and the data of the shape display image 42 input from the image generation unit 77 to the processor device 14 via the communication interfaces 80A and 80B. At this time, the display output unit 74 establishes a correspondence relationship between the frame image signal 61 and the data of the shape display image 42 corresponding to the frame image signal 61 in time, and outputs them to the processor device 14.

[0100] <Processor Device>

[0101] The processor device 14 includes a display input unit 82 and a display control unit 83. The display input unit 82 sequentially outputs the frame image signal 61 and the data of the shape display image 42 sequentially input from the display output unit 74 via the communication interfaces 80A and 80B to the display control unit 83.

[0102] The display control unit 83 receives an input of the frame image signal 61 from the display input unit 82, and displays an observation image 41 (for example, a moving image) based on the frame image signal 61 on the display 15 (see Figure 1 and Figure 2 ). In addition, the display control unit 83 receives input of data of the shape display image 42 from the display input unit 82, and displays the shape display image 42 (for example, a dynamic image) on the display 15 (refer to Figure 1 and Figure 2 ).

[0103] [Flow of shape display image generation process]

[0104] Fig. 9 This is a flowchart for explaining the flow of the process of generating the shape display image 42 by the image generating unit 77 .

[0105] The image generation unit 77 acquires the insertion portion shape data (step S1 ). In the image generation unit 77 , the modeling unit 77A performs a modeling process for generating a 3D model of the insertion portion 17 based on the insertion portion shape data 78 (step S2 ).

[0106] like Fig.10 As shown, the modeling process generates a 3D model M having a cylindrical shape and a diameter corresponding to the display scale of the insertion portion 17 with the central axis C of the insertion portion 17 in the insertion portion shape data 78 as the central axis.

[0107] Next, the drawing unit 77B performs a light source position setting process, which sets the light source position when drawing the 3D model M of the insertion unit 17 (step S3). The light source position is set to a position where light is irradiated from above to the top surface 16A of the bed 16 in the virtual space for generating the 3D model M. Specifically, in the real space, when the magnetic field generator 13 and the bed 16 are set on the same floor surface, the horizontal direction of the magnetic field generator 13 is parallel to the top surface 16A of the bed 16. Therefore, in the virtual space, the surface parallel to the top surface 16A of the bed 16 is set as the XY plane, and the Z axis orthogonal to the XY plane is set. Then, in the virtual space, the light source position is set in such a way that light is irradiated from above the set Z axis toward below.

[0108] Next, the rendering unit 77B performs a camera position setting process for setting a camera position (also referred to as a viewpoint position) when rendering the 3D model M of the insertion unit 17 (step S4). The camera position is set to a position where the 3D model M of the insertion unit 17 is viewed from above the Z axis relative to the top surface 16A of the bed 16 in the virtual space, similarly to the light source position.

[0109] Next, the drawing unit 77B performs a texture setting process, which performs a surface finishing process of the 3D model M of the insertion unit 17 when drawing the 3D model M (step S5). In the texture setting process, a pattern as a texture content is added to the surface of the insertion unit 17. Here, the pattern refers to a display method other than a single solid color. The pattern in this example is a color gradation that continuously changes from green to blue from the front end side to the base end side of the insertion unit 17.

[0110] For the definition of color, use Fig.11 The hue circle of the Munsell color chart display system shown in FIG. 1 is used to illustrate the hue circle of the Munsell color chart display system. The hue circle indicates the classification of color tones. For example, the hue circle of the Munsell color chart is divided into 20 colors. Fig.11 In the diagram, the symbols refer to R (red), YR (yellow-red), Y (yellow), GY (yellow-green), G (green), BG (cyan-green), B (cyan), PB (purple-cyan), P (purple), and RP (purple-purple). Fig.11 The color wheel shown shows that each of the ten hues is further divided into two hues (for example, R is divided into 5R and 10R).

[0111] In the color wheel, green is centered on G (green) and is adjacent to GY (yellow-green) and BG (cyan). Fig.11 In the color wheel, colors from 5GY to 10BG belong to green. In the color wheel, blue includes B (cyan) as the center and BG (cyan-green) and PB (purple-cyan) adjacent to it on the left and right. Fig.11In the color wheel of , colors from 5BG to 10PB belong to blue. Thus, in the color wheel, green refers to the color tone with the G element added, and blue refers to the color tone with the B element added. The definition of other colors such as red and yellow is the same.

[0112] Finally, the rendering unit 77B adds a color gradation pattern to the surface of the 3D model M according to the set light source position and camera position. In addition, a shadow process is performed to add a shadow corresponding to the light source to the surface of the 3D model M to which the pattern is added. The rendering unit 77B performs the rendering process to generate a 2D shape display image 42 representing the shape of the insertion portion 17 (step S6).

[0113] Therefore, if Fig.12 As shown, a shape display image 42 is generated. The shape display image 42 is composed of an image representing the insertion portion 17 and an image serving as its background. In the following, for simplicity, the insertion portion 17 in the shape display image 42, or more accurately, the image of the insertion portion 17 in the shape display image 42, is referred to as the insertion portion, and in order to distinguish it from the actual insertion portion 17, it is marked with a symbol 17G and referred to as the insertion portion 17G. In the shape display image 42, on the surface of the insertion portion 17G, from the front end side to the base end side of the insertion portion 17G, a display method in which a color gradation continuously changes from green to blue is added is displayed.

[0114] The process of generating the shape display image 42 is repeated every time the insertion portion shape data 78 is updated.

[0115] [Effects]

[0116] In a colon examination, the path of the colon is very complicated, so the insertion portion 17 of the endoscope 10 may be bent into a loop in the body of the subject H. In this case, in the rendering process, different parts of the insertion portion 17G intersect with each other in the shape display image 42 according to the camera position set.

[0117] Furthermore, depending on the display magnification of the shape display image 42, the insertion portion 17G may be displayed as a thin line in the shape display image 42. Therefore, there is a problem that if the insertion portion 17G is displayed as a solid color (for example, black) as a whole, even if the insertion portion 17G is displayed as a thin line, the insertion portion 17G may be displayed as a thin line. Fig.12 The intersection portion 17GX shown is hatched or hidden, and it is difficult for the user to instantly determine the front and back of the intersection portion 17GX.

[0118] In contrast, in the endoscope system 9 of the present invention, as described above, a color gradation pattern is added to the insertion portion 17G in the shape display image 42, and the color gradation pattern changes from green to blue continuously from the front end side to the base end side of the insertion portion 17G. Thus, the color of the insertion portion 17G is different before and after the intersection 17GX, so that the front and back of the intersection 17GX can be easily determined. In this way, according to the technology of the present invention, the overlapping state of the insertion portion 17G can be easily visually recognized in the shape display image 42.

[0119] In this example, a gradation pattern is added to the entire region of the insertion portion 17G displayed in the shape display image 42. Therefore, no matter which part of the entire region of the displayed insertion portion 17G becomes the intersection portion 17GX, the front and rear of the intersection portion 17GX can be easily determined.

[0120] In addition, in this example, the color gradation pattern is added to the entire area of ​​the displayed insertion portion 17G, but it is not necessary to add the color gradation pattern to the entire area. When the intersection portion 17GX is almost not generated in the front end side and the base end side, the color gradation pattern may not be added to a part of the front end side and the base end side. For example, in the entire area of ​​the insertion portion 17G displayed in the shape display image 42, the area of ​​20% of the length from the front end and the area of ​​20% of the length from the base end can be set as a pattern area without adding the color gradation.

[0121] Furthermore, by setting the pattern added to the insertion portion 17G to a color gradation pattern in which the color changes continuously from the distal end side to the proximal end side of the insertion portion 17G, a more natural image can be formed compared to the case where the color changes stepwise.

[0122] Furthermore, by displaying the insertion portion 17G in a color gradation display method that continuously changes from green to blue, which is a combination of cool colors, it is expected that irritation to the eyes will be suppressed compared to a case where the insertion portion 17G is displayed in warm colors such as red, orange, and yellow.

[0123] [Modifications]

[0124] The above-described embodiment is an example and various modifications are possible as shown below.

[0125] In the above embodiment, as an example of color gradation, the color gradation from green to blue is used as an example for explanation, but the combination of the multiple colors that change can be a combination other than the colors in the above example. For example, it can be a color gradation from red to orange. In addition, the color of the color gradation can also be changed according to the user's setting.

[0126] In the above embodiment, in the shape display image 42 , a gradation pattern whose color changes continuously is described as an example of a pattern added to the surface of the insertion portion 17G, but the pattern may be other than gradation.

[0127] When the surface of the insertion portion 17G is displayed with a pattern, the front and rear of the intersection portion 17GX can be easily determined compared to the case where the surface of the insertion portion 17G is displayed in a single solid color.

[0128] For example, Fig.13 As shown, the color gradation pattern may not be a pattern in which the color changes continuously, but may be a pattern in which the color changes step by step.

[0129] exist Fig.13 In the shape display image 42A shown, a pattern of color gradation that changes stepwise with different colors from the front end side to the base end side is added to the surface of the insertion portion 17G. Even if the color does not change continuously, the color of the insertion portion 17G will be different before and after the intersection 17GX, so it is easy to judge before and after the intersection 17GX. Of course, the color gradation that changes continuously is a natural color change, so the visual effect is good, and thus it is preferred.

[0130] Furthermore, the pattern may be a pattern other than color gradation, or a pattern combining a plurality of colors. Here, the plurality of colors refers to a combination of colors that are different from each other in at least one of brightness, saturation, and hue, for example.

[0131] And, if Fig.14 As shown in the shape display image 42B, the pattern may be a vertical stripe pattern of multiple colors extending along the length direction of the insertion portion 17G. Even in this case, the vertical stripes cross each other before and after the intersection 17GX, so the front and back of the intersection 17GX can be easily determined.

[0132] And, if Fig.15 As shown in the shape display image 42C, the pattern may be a horizontal stripe pattern attached in a ring shape around the axis of the insertion portion 17G. Even in this case, the horizontal stripes cross each other before and after the intersection 17GX, so the front and back of the intersection 17GX can be easily determined.

[0133] Such vertical stripe patterns and horizontal stripe patterns may be composed of thin stripes, or may be composed of a plurality of stripes having a width and divided into different colors.

[0134] And, if Fig.16As shown in the shape display image 42D shown in the figure, it can be a wireframe pattern. In addition, the wireframe represents a three-dimensional object by connecting multiple points with three-dimensional coordinates according to a prescribed rule. The wireframe pattern is a display method in which the wireframe is displayed as a pattern on the surface of the insertion portion 17G. This pattern can obtain the same effect as the above example.

[0135] In the above-mentioned embodiment, the following situation is described: regarding the light source position and camera position during the rendering process, when the surface parallel to the top surface 16A of the bed 16 is set as the XY plane, the irradiation direction of the light and the viewpoint direction are set to a state from above the Z axis to below. However, the light source position and the camera position are not limited to the above, and can be set in any direction according to the user's command input. The viewpoint direction from above the Z axis of the bed 16 to below includes, for example, the following two directions. One direction is a viewpoint from directly above the bed 16, that is, observing the top surface 16A of the bed 16 relative to the normal direction of the XY plane. The other direction is a viewpoint from the tilt direction of the bed 16 to look down at the top surface 16A of the bed 16. In addition to these, it can also be a side viewpoint of the bed 16, that is, an observation viewpoint parallel to the XY plane. In addition, it is also possible to switch multiple viewpoints or set parallel viewpoints.

[0136] Furthermore, in the above-described embodiment, an example in which each generating coil 39 generates the magnetic field MF of the same frequency has been described. However, the frequencies of the magnetic field MF generated by each generating coil 39 may be different.

[0137] Furthermore, in the above-mentioned embodiments, an example is given in which a magnetic field measuring unit including a magnetic field measuring control unit 58 is configured in the endoscope 10, and a magnetic field generating control unit 71 is configured in the navigation device 12. However, conversely, the magnetic field generating control unit 71 may be configured in the endoscope 10, and the magnetic field measuring unit may be configured in the navigation device 12.

[0138] In the above-mentioned embodiment, for example, as a hardware structure of a processing unit (Processing Unit) that performs various processes such as the image generation unit 77 as an example of an information acquisition unit and an image generation unit, various processors (Processor) shown below can be used. The various processors include a common processor that executes software to perform the functions of various processing units, namely a CPU (Central Processing Unit), and also include a processor that can change the circuit structure after manufacturing, such as a FPGA (Field Programmable Gate Array), i.e., a programmable logic device (PLD), and / or a processor that has a circuit structure specially designed for performing specific processing, such as an ASIC (Application Specific Integrated Circuit), i.e., a dedicated circuit.

[0139] A processing unit may be composed of one of these various processors, or may be composed of a combination of two or more processors of the same type or different types (for example, a combination of multiple FPGAs and / or a combination of a CPU and an FPGA). In this way, various processing units are composed of one or more of the above-mentioned various processors as a hardware structure.

[0140] Furthermore, as the hardware configuration of these various processors, more specifically, a circuit (Circuitry) formed by combining circuit elements such as semiconductor elements can be used.

[0141] An endoscope display control device having an information acquisition unit and an image generation unit can be realized by a computer whose processor is composed of a CPU. The program for causing the CPU to function as the information acquisition unit and the image generation unit is an operation program of the endoscope display control device. The technology of the present invention relates to a computer-readable storage medium that non-temporarily stores the operation program in addition to the operation program of the endoscope display control device.

[0142] From the above description, the invention described in the following supplementary notes can be grasped.

[0143] "Supplementary Item 1"

[0144] An endoscope shape display control device, comprising:

[0145] an information acquisition processor that acquires information for imaging the shape of an insertion portion of an endoscope inserted into a subject; and

[0146] The image generation processor generates a shape display image indicating the shape of the insertion portion based on the acquired information, and displays the insertion portion by adding a pattern to the surface of the shape display image.

[0147] In this specification, "A and / or B" has the same meaning as "at least one of A and B". That is, "A and / or B" may mean only A, only B, or a combination of A and B. Furthermore, in this specification, the same idea as "A and / or B" applies to the case where three or more items are connected and expressed with "and / or".

[0148] The recorded contents and illustrated contents shown above are detailed descriptions of the parts involved in the technology of the present invention, which are only an example of the technology of the present invention. For example, the descriptions related to the above-mentioned structure, function, action and effect are descriptions related to an example of the structure, function, action and effect of the parts involved in the technology of the present invention. Therefore, without departing from the scope of the purpose of the technology of the present invention, it is of course possible to delete unnecessary parts of the recorded contents and illustrated contents shown above, or to add or replace new elements. In addition, in order to avoid complicated situations and to make it easy to understand the parts involved in the technology of the present invention, the descriptions related to the technical common sense that does not particularly need to be explained in terms of enabling the implementation of the technology of the present invention are omitted in the recorded contents and illustrated contents shown above.

[0149] The disclosure of Japanese patent application No. 2019-134865 filed on July 22, 2019 is incorporated herein by reference in its entirety. All documents, patent applications, and technical standards described in this specification are incorporated into this specification by reference to the same extent as if each document, patent application, and technical standard was specifically and individually described as being incorporated by reference.

Claims

1. An endoscope shape display control device, comprising at least one processor, The processor performs the following processing: acquiring information for imaging the shape of an insertion portion of an endoscope inserted into a subject, When a shape display image showing the shape of the insertion portion is generated based on the acquired information, a pattern is added to the surface of the shape display image to display the insertion portion. The pattern is a color gradation in which the color changes continuously or stepwise from one of the front end side and the base end side of the insertion portion to the other. The color gradation changes from green to blue.

2. The endoscope shape display control device according to claim 1, wherein: The pattern is added to the entire region of the insertion portion displayed on the shape display image.

3. The endoscope shape display control device according to claim 1 or 2, wherein: The pattern is a stripe pattern.

4. The endoscope shape display control device according to claim 1 or 2, wherein: The pattern is a wireframe pattern.

5. The endoscope shape display control device according to claim 1, wherein: The processor performs shading processing on the insertion portion in addition to the pattern.

6. The endoscope shape display control device according to claim 1, wherein: The information for imaging the shape of the insertion portion is information based on magnetic field measurement data obtained using a plurality of magnetic field generating elements or a plurality of magnetic field detecting elements provided in the insertion portion.

7. A method for operating an endoscope shape display control device, the method comprising: an information acquisition step of acquiring information for imaging the shape of an insertion portion of the endoscope inserted into the subject; and an image generating step of generating a shape display image showing the shape of the insertion portion based on the acquired information, and displaying the insertion portion by adding a pattern on the surface of the shape display image, The pattern is a color gradation in which the color changes continuously or stepwise from one of the front end side and the base end side of the insertion portion to the other. The color gradation changes from green to blue.

8. A computer-readable medium having recorded thereon an operating program of an endoscope shape display control device, the operating program causing a computer to function as the following two parts: an information acquisition unit that acquires information for imaging the shape of an insertion portion of an endoscope inserted into a subject; and an image generating unit that generates a shape display image showing the shape of the insertion unit based on the acquired information, and displays the insertion unit by adding a pattern to a surface of the shape display image, The pattern is a color gradation in which the color changes continuously or stepwise from one of the front end side and the base end side of the insertion portion to the other. The color gradation changes from green to blue.

Images