Control device and control method

Abstract

A control device and a control method are provided. The control device (56) includes a processor (561) which is hardware-based and controls the operation of a laser source (521) to cause the laser source (521) to emit laser light, which then shines on the object (ST) through an optical fiber (51). The processor (561) calculates overlap information, which is information related to the overlap area within the irradiation area of ​​the laser irradiating the object (ST), and controls the output of the laser from the laser source (521) based on the overlap information.

Description

Technical Field

[0001] This invention relates to a control device and a control method. Background Technology

[0002] Previously, a technique was known in which a laser source pulsed laser light and the laser light was directed through an optical fiber to a stone that was to be crushed, thereby crushing the stone (for example, see Patent Document 1).

[0003] In the technology described in Patent Document 1, the distance to the stone is determined by utilizing the amount of light from the laser reflected back by the stone, and the conditions of the laser are determined based on that distance.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: U.S. Patent Application Publication No. 2017 / 0354464 Summary of the Invention

[0007] The problem the invention aims to solve

[0008] Furthermore, during the laser fragmentation of stones, a flashing phenomenon sometimes occurs where the stone illuminates. When this flashing occurs, overexposure occurs in the endoscopic image that the surgeon needs to verify, making it difficult for the surgeon to identify the stone. Especially when this flashing phenomenon occurs frequently, the surgeon may have to interrupt the procedure. As a result, the procedure time increases, and the surgeon's fatigue also increases.

[0009] Therefore, a technology that can suppress the occurrence of flashes is desired.

[0010] The present invention was made in view of the above-mentioned problems, and its object is to provide a control device and control method capable of suppressing the occurrence of flash phenomenon.

[0011] Solution for solving the problem

[0012] To address the aforementioned problems and achieve the objective, the control device of the present invention includes a processor, which is hardware-based. The processor controls the operation of a laser source to emit laser light, which then illuminates an object via an optical fiber. The processor calculates overlap information, which relates to the overlapping area within the irradiation region of the laser illuminating the object. Based on this overlap information, the processor controls the output of the laser light from the laser source.

[0013] The control device involved in this invention includes a processor, which is composed of hardware. It controls the operation of a laser source to cause the laser source to emit laser pulses, so that the laser shines on the object to be irradiated through an optical fiber. The processor calculates a scanning speed corresponding to the movement of the optical fiber relative to the object to be irradiated, and controls the output of the laser from the laser source based on the scanning speed.

[0014] The control method involved in this invention is a control method executed by the processor of a control device. In the control method, overlap information is calculated, which is information related to the overlap region within the irradiation area of ​​the laser irradiating the irradiated object. The output of the laser from the laser source is controlled based on the overlap information.

[0015] The effects of the invention

[0016] According to the control device and control method of the present invention, it is possible to suppress the flash phenomenon that occurs during the crushing of stones. Attached Figure Description

[0017] Figure 1 This is a block diagram illustrating the structure of the processing system according to Embodiment 1.

[0018] Figure 2 This is a flowchart illustrating the control method performed by the control device.

[0019] Figure 3 This is a diagram illustrating the control method.

[0020] Figure 4 This is a flowchart illustrating the control method involved in Embodiment 2.

[0021] Figure 5 This is a flowchart illustrating the control method involved in Embodiment 3.

[0022] Figure 6 This is a flowchart illustrating the control method involved in Embodiment 4.

[0023] Figure 7 This is a diagram illustrating pulse frequency changes.

[0024] Figure 8 This is a diagram illustrating a variation 4-1 of embodiment 4.

[0025] Figure 9 This is a diagram illustrating a variation 4-2 of embodiment 4.

[0026] Figure 10 This is a flowchart illustrating the control method involved in Embodiment 5. Detailed Implementation

[0027] Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described below. Furthermore, in the accompanying drawings, the same reference numerals are used to denote the same parts.

[0028] (Implementation Method 1)

[0029] [Structure of the disposal system]

[0030] Figure 1 This is a block diagram showing the structure of the processing system 1 according to Embodiment 1.

[0031] Treatment system 1 involves observing the organism while simultaneously using a laser to pulverize the irradiated object within it (in this embodiment 1, a urinary tract stone ST). Figure 1 The system of )). For example Figure 1 As shown, the treatment system 1 includes an endoscope 2, a display device 3, a foot switch 4, and a processing device 5.

[0032] A portion of endoscope 2 is inserted into the organism to take images of the organism and outputs the resulting image signal (hereinafter referred to as an endoscopic image). For example... Figure 1 As shown, the endoscope 2 has an insertion part 21 and a camera device 22.

[0033] At least a portion of the insertion part 21 is flexible, and the insertion part 21 is the part that is inserted into a living organism. A channel 211 is provided in the insertion part 21, extending along the long side of the insertion part 21.

[0034] The camera device 22 is installed in the front end portion of the insertion part 21. Moreover, the camera device 22 has an imaging element such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) that receives the image of the subject and converts it into an electrical signal, and outputs the endoscopic image generated by imaging the inside of the biological body to the processing device 5.

[0035] The display device 3 is an LCD (Liquid Crystal Display) or EL (Electroluminescence) display, etc., which displays endoscopic images under the control of the processing device 5.

[0036] Foot switch 4 receives the start operation to begin crushing urinary tract stones ST. Then, foot switch 4 outputs a signal corresponding to this start operation to the processing device 5.

[0037] Furthermore, the structure for accepting the start operation is not limited to a foot switch 4 operated by the surgeon's foot; in addition, a switch operated by hand may also be used.

[0038] like Figure 1 As shown, the processing device 5 includes an optical fiber 51, a light source device 52, a semi-transparent mirror 53, a dichroic mirror 54, a photodetector 55, and a control device 56.

[0039] Fiber 51 Figure 1 It is inserted into the channel 211 of the insertion part 21 as shown. Furthermore, in this embodiment 1, as... Figure 1 The number of optical fibers 51 is set to 1 as shown, but the number of optical fibers 51 is not limited to 1, and can also be 2 or more.

[0040] Under the control of the control device 56, the light source device 52 emits guiding light and a laser for treating ST calculi (urinary tract stones). Figure 1 As shown, the light source device 52 includes a processing laser light source 521 and a guiding light light source 522.

[0041] The laser source 521 for processing corresponds to the laser source involved in this invention and is used for pulsed emission of laser light for processing. Examples of this laser source 521 include semiconductor lasers that emit laser light in the mid-infrared wavelength range of about 2 μm for processing.

[0042] The guide light source 522 emits guide light. Examples of this guide light source 522 include LEDs (Light Emitting Diodes) for emitting guide light in the visible light wavelength range, LEDs for emitting guide light in the near-infrared wavelength range, or semiconductor lasers. For example, if the guide light source 522 is configured using a green LED for emitting guide light in the green wavelength range and a red LED for emitting guide light in the red wavelength range, the color of the guide light can be changed to green or red under the control of the control device 56.

[0043] Moreover, the guide light emitted from the guide light source 522 is like Figure 1 As indicated by the middle arrow, it travels in the same direction as the processing laser emitted from the processing laser source 521, parallel to the processing laser.

[0044] The semi-transparent mirror 53 reflects a portion of the guide light emitted from the guide light source 522 and directs it toward the dichroic mirror 54.

[0045] Dichroic mirror 54 reflects light within the wavelength range of the guiding light and allows light within the wavelength range of the treatment laser to pass through.

[0046] Here, the guide light emitted from the guide light source 522 and reflected by the dichroic mirror 54 after passing through the semi-transparent mirror 53 travels along the same optical axis as the treatment laser that has passed through the dichroic mirror 54 and is incident on the base end of the optical fiber 51. The guide light incident on the base end of the optical fiber 51 propagates through the optical fiber 51 and is irradiated onto the urinary tract stone ST from the tip of the optical fiber 51, forming a light spot at the irradiation location of the urinary tract stone. At this time, the surgeon can identify the light spot of the guide light based on the endoscopic image displayed on the display device 3. Furthermore, this light spot corresponds to the irradiation location where the treatment laser irradiates the urinary tract stone ST.

[0047] Additionally, a portion of the guiding light that is irradiated by and reflected by the urinary tract stone ST (hereinafter referred to as the return light) is incident on the front end of the optical fiber 51. The return light incident on the front end of the optical fiber 51 propagates through the optical fiber 51 and, after passing through the dichroic mirror 54 and the semi-transparent mirror 53 from the base end of the optical fiber 51, is incident on the photodetector 55.

[0048] On the other hand, the treatment laser emitted from the treatment laser source 521 and passing through the dichroic mirror 54, like the aforementioned guide light, is irradiated onto the urinary tract stone ST from the tip of the optical fiber 51 after passing through the optical fiber 51. Then, the urinary tract stone ST is pulverized by irradiating the treatment laser onto the urinary tract stone ST from the tip of the optical fiber 51.

[0049] The photodetector 55 detects the returned light and outputs a signal corresponding to the detection result to the control device 56.

[0050] Control device 56 provides unified control over the overall operation of the handling system 1. For example... Figure 1 As shown, the control device 56 includes a control unit 561, a storage unit 562, and an input unit 563.

[0051] The control unit 561 corresponds to the processor involved in this invention. This control unit 561 is configured to include a controller such as a CPU (Central Processing Unit) or MPU (Micro Processing Unit), or an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or FPGA (Field Programmable Gate Array), and is used to control the overall operation of the processing system 1. Furthermore, the function of the control unit 561 will be described in the "Control Method" section described later.

[0052] The storage unit 562 stores various programs executed by the control unit 561 (including the control program involved in this invention) and information required for processing by the control unit 561. Here, examples of information required for processing by the control unit 561 include the pulse frequency f of the pulsed emission of the treatment laser, the fiber diameter D of the optical fiber 51, the numerical aperture NA of the optical fiber 51, and the refractive index n (approximately 1.3) of the medium (physiological saline) through which the treatment laser passes. Furthermore, the pulse frequency f can be configured to be changeable to a value corresponding to the preferences of the surgical operator based on user operations performed on the input unit 563 by the surgical operator or the like.

[0053] The input unit 563 is configured using a keyboard, mouse, switch, touch panel, etc., and is used to accept user operations performed by surgical operators, etc. Furthermore, the input unit 563 outputs a scan signal corresponding to the user operation to the control unit 561.

[0054] [Control Methods]

[0055] Next, the control method executed by the control device 56 will be explained.

[0056] Figure 2 This is a flowchart illustrating the control method executed by the control device 56. Figure 3 This is a diagram illustrating the control method. Specifically, Figure 3 This illustrates the state of a treatment laser being irradiated onto the ST segment of a urinary tract stone via optical fiber 51. Furthermore, in Figure 3 The solid line shown represents the optical fiber 51 and the processing laser during pulse emission (hereinafter referred to as the first pulse emission) of the processing laser at a predetermined time. On the other hand, in Figure 3 The dotted line shown indicates the fiber 51 and the processing laser during the timing of the pulse emission of the processing laser (hereinafter referred to as the second pulse emission) immediately following the first pulse emission.

[0057] First, the control unit 561 constantly monitors whether there is a start operation performed by the surgical operator on the foot switch 4 (step S1A).

[0058] Furthermore, when it is determined that an operation has begun (step S1A: "Yes"), the control unit 561 controls the operation of the light source device 52, thereby starting the pulse emission of the processing laser from the processing laser light source 521 and the emission of the guide light from the guide light light source 522 (step S1B).

[0059] After step S1B, the control unit 561 calculates the distance d between the tip of the optical fiber 51 and the urinary tract stone ST. Figure 3 (Step S1C).

[0060] Specifically, as a method for calculating distance d, any one of the following calculation methods (1) to (3) can be used.

[0061] (1) Calculation method for distance d based on the brightness of the returned light

[0062] The control unit 561 calculates the distance d based on the brightness of the returned light detected by the photosensor 55. Specifically, there is a correlation between the distance d and the brightness of the returned light. For example, as the distance d decreases, the brightness of the returned light increases. Then, the control unit 561 calculates the distance d corresponding to the returned light detected by the photosensor 55, for example, by referring to data representing this correlation stored in the storage unit 562.

[0063] (2) Calculation method of distance d based on time of flight method.

[0064] The control unit 561 causes the guide light source 522 to emit pulsed guide light, and calculates the distance d based on the time from the pulse emission of the guide light until the return light is detected by the photodetector 55. That is, the control unit 561 calculates the distance d using the so-called time-of-flight method.

[0065] (3) Calculation method of distance d based on endoscopic images

[0066] The control unit 561 calculates the distance d based on the endoscopic image obtained by capturing the ST of the urinary tract stone.

[0067] Specifically, for example, a stereo camera is used to construct the imaging device 22. Then, the control unit 561 uses stereo measurement technology to calculate the distance d. This stereo measurement technology is a technique that uses the stereo camera to simultaneously capture images from different viewpoints, and calculates the three-dimensional position of the subject by using the relative offset of the same subject in the image and based on the principle of triangulation.

[0068] Alternatively, a camera device 22 may be constructed using a distance image sensor, such as a TOF (Time of Flight) sensor. Then, the control unit 561 calculates the distance d based on the endoscopic image captured by the distance image sensor.

[0069] After step S1C, the control unit 561 calculates the scanning speed V corresponding to the movement of the optical fiber 51 relative to the urinary tract stone ST when the insertion unit 21 is moved by the surgical operator. Figure 3 (Step S1D).

[0070] Specifically, as a method for calculating the scanning speed V, any one of the following calculation methods (4) to (6) can be used.

[0071] (4) Calculation method for scanning speed V based on endoscopic images

[0072] The control unit 561 calculates the scanning speed V based on the endoscopic image obtained by capturing the ST of the urinary tract stone.

[0073] Specifically, for example, a stereo camera is used to construct the imaging device 22. Here, the control unit 561 uses stereo measurement technology, which is a technique that uses the stereo camera to simultaneously capture images from different viewpoints, and calculates the three-dimensional position of the subject by using the relative offset of the same subject in the image and based on the principle of triangulation. Then, the control unit 561 calculates the scanning speed V by dividing the amount of movement between the three-dimensional positions of a specific location with high correlation between adjacent frames (endoscopic images) arranged in a time sequence by the time between the adjacent frames.

[0074] Additionally, for example, the control unit 561 calculates the scanning speed V by estimating the optical flow between adjacent frames arranged in a time sequence.

[0075] (5) Calculation method for scanning speed V based on pattern

[0076] In addition, when guiding light is shone onto the ST of a urinary tract stone, the scattered light on the surface of the ST interferes with each other, forming a random spot pattern known as a mottled pattern.

[0077] Then, the control unit 561 uses the pattern of the returned light detected by the photodetector 55 to calculate the amount of movement of the pattern that accompanies the movement of the optical fiber 51 relative to the urinary tract stone ST, thereby calculating the scanning speed V.

[0078] (6) Scanning speed obtained using the Doppler effect

[0079] The control unit 561 calculates the scanning speed V based on the change between the wavelength of the guide light emitted from the guide light source 522 and the wavelength of the return light detected by the photodetector 55. That is, the control unit 561 uses the so-called Doppler effect to calculate the scanning speed V.

[0080] After step S1D, the control unit 561 calculates the overlap index value I (step S1E), which represents the overlap region ArO ( ) within the irradiation area of ​​the treatment laser corresponding to the movement of the optical fiber 51 relative to the urinary tract stone ST when the insertion unit 21 is moved by the surgical operator. Figure 3 The overlap indication value I corresponds to the "overlap information as information related to the overlapping area" involved in this invention.

[0081] Here, as Figure 3As shown, the overlapping area ArO refers to an area where the irradiation area Ar1 and the irradiation area Ar2 overlap, wherein the irradiation area Ar1 is the irradiation area of the treatment laser irradiated onto the urinary calculus ST by the first pulse light emission of the treatment laser, and the irradiation area Ar2 is the irradiation area of the treatment laser irradiated onto the urinary calculus ST by the second pulse light emission.

[0082] In addition, as the main cause of the flashing phenomenon, the following main causes can be considered.

[0083] The treatment laser is irradiated onto the urinary calculus ST through the first pulse light emission, whereby the surface of the urinary calculus ST corresponding to the irradiation area Ar1 is crushed. At this time, as Figure 3 shown, an incompletely crushed portion ST1 that has not been crushed and is in a heated state sometimes remains in the irradiation area Ar1. Furthermore, when the incompletely crushed portion ST1 is reheated by irradiating the treatment laser onto the incompletely crushed portion ST1 through the second pulse light emission, the flashing phenomenon occurs due to blackbody radiation caused by heat accumulation in the incompletely crushed portion ST1.

[0084] Furthermore, in the invention of the present application, as a result of considering the above main causes, the overlapping area ArO is focused on in order to suppress the flashing phenomenon.

[0085] Specifically, in step S1E, the control unit 561 calculates W / L as the overlap index value I, where W / L is obtained by dividing the diameter W of the irradiation areas Ar1 and Ar2 ( Figure 3 ) by the moving distance L that the optical fiber 51 moves by an amount of one pulse of the treatment laser ( Figure 3 ).

[0086] Here, based on the distance d calculated in step S1C, and the optical fiber diameter D, numerical aperture NA, and refractive index n stored in the storage unit 562, the control unit 561 calculates (D+2d·tanθ) as the diameter W. In addition, θ can be derived from NA=n·sinθ.

[0087] In addition, the control unit 561 calculates V / f as the moving distance L, where V / f is obtained by dividing the scanning speed V calculated in step S1D by the pulse frequency f stored in the storage unit 562.

[0088] After step S1E, the control unit 561 determines whether the overlap index value I calculated in step S1E satisfies a specific condition (step S1F).

[0089] In the first embodiment, whether the specific condition is satisfied refers to whether the relationship I<N+1 is satisfied.

[0090] Here, N refers to the number of times the treatment laser pulses overlap with each irradiated area on the ST of the urinary tract stone during the pulsed emission of the treatment laser (hereinafter referred to as the overlap number). For example, when N is 0, the above condition is that there is no overlap at all; in other words, the overlap area ArO is 0. Furthermore, N can be a preset value or a value set based on user operations performed by the surgical operator or others on the input unit 563.

[0091] If the overlap index value I is determined to meet a specific condition (step S1F: "Yes"), the control unit 561 returns to step S1C. For example, if the overlap index value I is less than 1 when N is 0, the control unit 561 determines that there is no overlapping region ArO (step S1F: "Yes") and returns to step S1C to continue (allow) laser irradiation.

[0092] On the other hand, if it is determined that the overlap index value I does not meet the specific conditions (step S1F: "No"), the control unit 561 stops the operation of the treatment laser light source 521 (step S1G). Thus, the crushing of urinary tract stones ST is stopped.

[0093] According to the above-described Embodiment 1, the following effects are achieved.

[0094] The control unit 561, which constitutes the control device 56 according to Embodiment 1, calculates an overlap index value I, which represents the overlap region ArO within the irradiation area of ​​the treatment laser corresponding to the movement of the optical fiber 51 relative to the urinary tract stone ST. Then, the control unit 561 controls the output of the treatment laser from the treatment laser source 521 based on this overlap index value I. In other words, the control unit 561 considers the overlap region ArO, which is considered the main cause of the flash phenomenon, when controlling the output of the treatment laser from the treatment laser source 521.

[0095] Therefore, the control device 56 according to Embodiment 1 can suppress the occurrence of flashing phenomena. As a result, the number of times the surgeon interrupts the operation due to flashing phenomena is reduced. In addition, both the operation time can be shortened and the fatigue of the surgeon can be reduced.

[0096] In particular, the control unit 561 calculates the distance d and the scanning speed V respectively, and calculates the overlap index value I based on the distance d and the scanning speed V.

[0097] Therefore, the overlap index value I can be calculated with high precision, which can effectively suppress the occurrence of flash phenomenon.

[0098] (Implementation Method 2)

[0099] Next, implementation method 2 will be described.

[0100] In the following description, the same reference numerals are used to refer to the same structures as in Embodiment 1 described above, and detailed descriptions are omitted or simplified.

[0101] Figure 4 This is a flowchart illustrating the control method involved in Embodiment 2.

[0102] In this embodiment 2, as Figure 4 As shown, the control method executed by the control device 56 is different from the control method of Embodiment 1 described above.

[0103] Below, refer to Figure 4 This will explain the control method involved in Embodiment 2.

[0104] First, similar to step S1A described in Embodiment 1 above, the control unit 561 constantly monitors whether there is a start operation performed by the surgical operator on the foot switch 4 (step S2A).

[0105] Furthermore, when it is determined that an operation has started (step S2A: "Yes"), the control unit 561 controls the operation of the light source device 52 to start emitting guide light from the guide light source 522 (step S2B).

[0106] After step S2B, similar to step S1C described in Embodiment 1 above, the control unit 561 calculates the distance d (step S2C).

[0107] After step S2C, the control unit 561 determines whether the distance d calculated in step S2C is below the first threshold (step S2D).

[0108] Here, the first threshold may be a preset value, or it may be a value set based on user operations performed on the input unit 563 by the surgical operator or the like.

[0109] If it is determined that the distance d exceeds the first threshold (step S2D: "No"), the control unit 561 returns to step S2C.

[0110] If the distance d is determined to be below the first threshold (step S2D: "Yes"), the control unit 561 calculates the scanning speed V (step S2E), similar to step S1D described in Embodiment 1 above.

[0111] After step S2E, the control unit 561 determines whether the scan speed V calculated in step S2E exceeds the second threshold (step S2F).

[0112] Here, the second threshold can be a value calculated based on the number of overlaps N, the distance d calculated in step S2C, and the fiber diameter D, numerical aperture NA, refractive index n, and pulse frequency f stored in the storage unit 562, and obtained by using (D+2d·tanθ)·f / (N+1). Furthermore, θ can be derived from NA=n·sinθ.

[0113] If the scan speed V is determined to be below the second threshold (step S2F: "No"), the control unit 561 returns to step S2C.

[0114] If it is determined that the scanning speed V exceeds the second threshold (step S2F: "Yes"), the control unit 561 controls the operation of the light source device 52 and starts pulse emission of the processing laser from the processing laser light source 521 (step S2G).

[0115] After step S2G, similarly to step S2C, the control unit 561 calculates the distance d (step S2H), and then, similarly to step S2D, determines whether the distance d is below the first threshold (step S2I).

[0116] If it is determined that the distance d exceeds the first threshold (step S2I: "No"), the control unit 561 proceeds to step S2L.

[0117] On the other hand, if it is determined that the distance d is below the first threshold (step S2I: "Yes"), the control unit 561 calculates the scanning speed V (step S2J) in the same manner as in step S2E, and then determines whether the scanning speed V exceeds the second threshold in the same manner as in step S2F (step S2K).

[0118] If it is determined that the scanning speed V exceeds the second threshold (step S2K: "Yes"), the control unit 561 returns to step S2I.

[0119] On the other hand, if it is determined that the scanning speed V is below the second threshold (step S2K: "No") or if it is determined that the distance d exceeds the first threshold (step S2I: "No"), the control unit 561 stops the operation of the processing laser light source 521 in the same way as step S1G described in Embodiment 1 above (step S2L).

[0120] According to the above-described Embodiment 2, the following effects are achieved.

[0121] In this embodiment 2, the control unit 561 calculates the scanning speed V corresponding to the movement of the optical fiber 51 relative to the urinary tract stone ST. Then, the control unit 561 controls the output of the treatment laser from the treatment laser source 521 based on the scanning speed V. In other words, the control unit 561 controls the output of the treatment laser from the treatment laser source 521 considering the scanning speed V caused by the overlapping region ArO, which is considered to be the main cause of the flash phenomenon.

[0122] Therefore, the control device 56 according to Embodiment 2 can suppress the occurrence of flashing phenomena. As a result, the number of times the surgeon interrupts the operation due to flashing phenomena is reduced. In addition, both the operation time can be shortened and the fatigue of the surgeon can be reduced.

[0123] In addition, the control unit 561 in this embodiment 2 considers not only the scanning speed V, but also the distance d caused by the overlapping region ArO, and controls the output of the processing laser from the processing laser source 521.

[0124] Therefore, it can effectively suppress the occurrence of flash phenomenon.

[0125] In particular, the pulsed emission of the treatment laser is initiated only when the irradiation conditions for the treatment laser are met (step S2D: "Yes", step S2F: "Yes"), thus enabling the pulsed emission to begin at an appropriate timing. Therefore, the occurrence of flashes can be effectively suppressed, and urinary tract stones (ST) can be efficiently fragmented.

[0126] (Implementation Method 3)

[0127] Next, implementation method 3 will be described.

[0128] In the following description, the same reference numerals are used to refer to the same structures as in Embodiment 1 described above, and detailed descriptions are omitted or simplified.

[0129] Figure 5 This is a flowchart illustrating the control method involved in Embodiment 3.

[0130] In this embodiment 3, as Figure 5 As shown, the control method executed by the control device 56 is different from the control methods of embodiments 1 and 2 described above.

[0131] Below, refer to Figure 5 This will explain the control method involved in Embodiment 3.

[0132] like Figure 5As shown, the control method in this embodiment 3 differs from the control method described in embodiment 2 above in that step S3A is added. Therefore, only step S3A will be described below.

[0133] Step S3A is executed after step S2B.

[0134] Specifically, in step S3A, the control unit 561 controls the operation of the light source device 52, causing the processing laser light source 521 to emit a pulse of processing laser light with only one pulse. After that, the control unit 561 moves to step S2C.

[0135] Furthermore, in cases where the distance d is determined to exceed the first threshold (step S2D: "No") and the scanning speed V is determined to be below the second threshold (step S2F: "No"), the control unit 561 returns to step S3A.

[0136] According to the above-described Embodiment 3, in addition to the same effects as Embodiment 2 described above, the following effects are also achieved.

[0137] Before the irradiation conditions for the treatment laser are met (step S2D: "Yes", step S2F: "Yes"), the control unit 561 according to this embodiment 3 performs pulse emission of the treatment laser with only one pulse (step S3A).

[0138] Therefore, by irradiating the ST of the urinary tract stone with a single pulse of treatment laser, a portion of the surface of the ST is shattered, allowing the surgeon to clearly identify the timing for moving the insertion part 21 (optical fiber 51) based on the endoscopic image displayed on the display device 3. Furthermore, because a portion of the surface of the ST of the urinary tract stone is shattered, the tip of the optical fiber 51 will not snag on the surface of the ST when it is moved, making it easier for the surgeon to move the insertion part 21 (optical fiber 51).

[0139] (Implementation Method 4)

[0140] Next, implementation method 4 will be described.

[0141] In the following description, the same reference numerals are used to refer to the same structures as in Embodiment 1 described above, and detailed descriptions are omitted or simplified.

[0142] Figure 6 This is a flowchart illustrating the control method involved in Embodiment 4.

[0143] In this embodiment 4, as Figure 6 As shown, the control method executed by the control device 56 is different from the control methods of embodiments 1 to 3 described above.

[0144] Below, refer to Figure 6 This will explain the control method involved in Embodiment 4.

[0145] First, similar to step S1A described in Embodiment 1 above, the control unit 561 constantly monitors whether there is a start operation performed by the surgical operator on the foot switch 4 (step S4A).

[0146] Furthermore, when it is determined that an operation has started (step S4A: "Yes"), the control unit 561 controls the operation of the light source device 52 to start pulse emission of the processing laser from the processing laser light source 521 and emission of the guide light from the guide light light source 522 (step S4B).

[0147] After step S4B, similar to step S1C described in Embodiment 1 above, the control unit 561 calculates the distance d (step S4C). Then, similar to step S1D described in Embodiment 1 above, the control unit 561 calculates the scanning speed V (step S4D).

[0148] After step S4D, the control unit 561 controls the operation of the processing laser light source 521 based on the pulse frequency change information stored in the storage unit 562, the distance d calculated in step S4C, and the scanning speed V calculated in step S4D, thereby changing the pulse frequency f of the pulse emission of the processing laser (step S4E). Afterward, the control unit 561 returns to step S4C.

[0149] Figure 7 This is a diagram illustrating pulse frequency changes. Here, in Figure 7 In the diagram, the horizontal axis represents the distance d. The vertical axis represents the scan speed V. Furthermore, the percentage (%) indicates the changed pulse frequency f.

[0150] The pulse frequency change information is obtained by associating the distance d calculated in step S4C and the scanning speed V calculated in step S4D with the changed pulse frequency f.

[0151] In this embodiment 4, the pulse frequency change information is set to decrease the pulse frequency f as the scanning speed V decreases. Furthermore, the pulse frequency change information is set to decrease the pulse frequency f as the distance d increases.

[0152] exist Figure 7In the example, in the upper left region where the distance d is small and the scan speed V is high, the modified pulse frequency f is set to "100%". Furthermore, this "100%" means that the pulse frequency f (hereinafter referred to as the setting value f0) stored in the storage unit 562, for example, based on user operations performed by the surgical operator on the input unit 563, is used as the modified pulse frequency f. Then, as the distance d increases and the scan speed V decreases, in other words, as the distance increases... Figure 7 In the lower right corner, the changed pulse frequency f is successively changed to "75%", "50%", "25%", and "0%". Furthermore, "75%" means using 75% of the set value f0 as the pulse frequency f. And "50%" means using 50% of the set value f0 as the pulse frequency f. Additionally, "25%" means using 25% of the set value f0 as the pulse frequency f. And "0%" means stopping the operation of the processing laser source 521.

[0153] According to the above-described Embodiment 4, the following effects are achieved.

[0154] In this embodiment 4, the control unit 561 calculates the scanning speed V corresponding to the movement of the optical fiber 51 relative to the urinary tract stone ST. Then, the control unit 561 changes the pulse frequency f based on the scanning speed V. In other words, the control unit 561 adjusts the overlapping region ArO by considering the scanning speed V caused by the overlapping region ArO, which is considered to be the main cause of the flash phenomenon, and thereby adjusts the overlapping region ArO.

[0155] Therefore, the control device 56 according to Embodiment 4 can suppress the occurrence of flashing phenomena. As a result, the number of times the surgeon interrupts the operation due to flashing phenomena is reduced. In addition, both the operation time can be shortened and the fatigue of the surgeon can be reduced.

[0156] In addition, the control unit 561 in this embodiment 4 considers not only the scanning speed V, but also the distance d caused by the overlapping region ArO to change the pulse frequency f.

[0157] Therefore, it can effectively suppress the occurrence of flash phenomenon.

[0158] (Variation Example 4-1)

[0159] Figure 8 This is a diagram illustrating a variation 4-1 of embodiment 4. Specifically, Figure 8 This is a diagram illustrating the pulse frequency change information involved in this variation 4-1. Here, in Figure 8 In the diagram, the horizontal axis represents the scanning speed V. The vertical axis represents the pulse frequency f.

[0160] In step S4E of embodiment 4 described above, the control unit 561 changes the pulse frequency f based on the pulse frequency change information stored in the storage unit 562, the distance d calculated in step S4C, and the scanning speed V calculated in step S4D. However, the method for changing the pulse frequency f is not limited to this.

[0161] For example, the control unit 561 may skip step S4C and instead change the pulse frequency f in step S4E based on the pulse frequency change information stored in the storage unit 562 and the scan speed V calculated in step S4D.

[0162] The pulse frequency change information involved in this variation 4-1 is the information obtained by associating the scan speed V calculated in step S4D with the changed pulse frequency f, and is set to decrease the pulse frequency f as the scan speed V decreases.

[0163] Specifically, such as Figure 8 As shown, the pulse frequency change information is set so that the pulse frequency f is "0" within the range of scan speed V from 0 to scan speed V1. In other words, the processing laser source 521 is stopped within this range. Furthermore, the pulse frequency change information is set so that as the scan speed V increases from scan speed V1, the pulse frequency f increases from "0". Moreover, the pulse frequency change information is set so that when the scan speed V is greater than or equal to scan speed V2, the pulse frequency f is the set value f0.

[0164] (Variation Example 4-2)

[0165] Figure 9 This is a diagram illustrating variation 4-2 of embodiment 4. Specifically, Figure 9 This is a diagram illustrating the pulse frequency change information involved in this variation 4-2. Here, in Figure 9 In the diagram, the horizontal axis represents distance d. The vertical axis represents the pulse frequency f.

[0166] In step S4E of embodiment 4 described above, the control unit 561 changes the pulse frequency f based on the pulse frequency change information stored in the storage unit 562, the distance d calculated in step S4C, and the scanning speed V calculated in step S4D. However, the method for changing the pulse frequency f is not limited to this.

[0167] For example, the control unit 561 may skip step S4D and instead change the pulse frequency f in step S4E based on the pulse frequency change information stored in the storage unit 562 and the distance d calculated in step S4C.

[0168] The pulse frequency change information involved in this variation 4-2 is the information obtained by associating the distance d calculated in step S4C with the changed pulse frequency f, and is set to decrease the pulse frequency f as the distance d increases.

[0169] Specifically, pulse frequency change information such as Figure 9 As shown, the pulse frequency f is set to a set value f0 when the distance d is "0". Furthermore, the pulse frequency change information is set so that the pulse frequency f decreases from the set value f0 as the distance d increases from "0". Also, the pulse frequency change information is set so that the pulse frequency f is "0" when the distance d is greater than or equal to distance d1. In other words, when the distance d is greater than or equal to distance d1, the processing laser source 521 stops operating.

[0170] (Implementation Method 5)

[0171] Next, implementation method 5 will be described.

[0172] In the following description, the same reference numerals are used to refer to the same structures as in Embodiment 1 described above, and detailed descriptions are omitted or simplified.

[0173] Figure 10 This is a flowchart illustrating the control method involved in Embodiment 5.

[0174] In this embodiment 5, as Figure 10 As shown, the control method executed by the control device 56 is different from the control methods of embodiments 1 to 4 described above.

[0175] Below, refer to Figure 10 This will explain the control method involved in Embodiment 5.

[0176] like Figure 10 As shown, the control method in this embodiment 5 differs from the control method described in embodiment 2 above in that the execution timing of step S2A is different, and steps S5A and S5B are added. Therefore, only steps S5A, S5B, and S2A will be described below.

[0177] If it is determined that the scanning speed V exceeds the second threshold (step S2F: "Yes"), proceed to step S5A.

[0178] Specifically, in step S5A, the control unit 561 controls the operation of the guide light source 522 to set the color of the guide light emitted from the guide light source 522 to green. Thus, the surgical operator recognizes, based on the endoscopic image displayed on the display device 3, that the guide light is set to green and is in a state where it can emit a treatment laser.

[0179] Furthermore, in step S2B, the color of the guide light emitted from the guide light source 522 is a color other than green (including red).

[0180] Then, step S2A is performed after step S5A.

[0181] If the control unit 561 determines that an operation has started (step S2A: "Yes"), it proceeds to step S2G.

[0182] On the other hand, if the control unit 561 determines that there is no start operation (step S2A: "No"), it returns to step S2B.

[0183] If it is determined that the distance d exceeds the first threshold (step S2D: "No") or if it is determined that the scanning speed V is below the second threshold (step S2F: "No"), proceed to step S5B.

[0184] Specifically, in step S5B, the control unit 561 controls the operation of the guide light source 522 to set the color of the guide light emitted from the guide light source 522 to red. Thus, the surgical operator can identify, based on the endoscopic image displayed on the display device 3, that the guide light color is set to red and the procedure laser should not be emitted.

[0185] Then, after step S5B, the control unit 561 returns to step S2C.

[0186] According to the above-described Embodiment 5, in addition to the same effects as Embodiment 2 described above, the following effects are also achieved.

[0187] When the irradiation conditions of the treatment laser are met (step S2D: "Yes", step S2F: "Yes"), the control unit 561 according to this embodiment 5 sets the color of the guide light to green (step S5A).

[0188] Therefore, the surgeon can clearly identify the conditions for laser irradiation for treatment based on the endoscopic image displayed on the display device 3, and begin pulsed emission of the laser for treatment.

[0189] Furthermore, in the above embodiment 5, the surgeon is notified in step S5A that the irradiation conditions for the treatment laser have been met by setting the color of the guide light to green, but this is not the only limitation.

[0190] For example, in step S5A, the surgeon can also be notified that the conditions for laser irradiation for treatment have been met by flashing the guide light.

[0191] Alternatively, for example, in step S5A, the surgeon may be notified that the conditions for laser irradiation for treatment have been met by displaying a specific message on the display device 3.

[0192] Furthermore, for example, in step S5A, the surgeon can also be notified by outputting sound from a speaker that the conditions for laser irradiation for treatment have been met.

[0193] (Other implementation methods)

[0194] So far, the methods for implementing the present invention have been described, but the present invention is not limited to the above embodiments 1 to 5 and variations 4-1 and 4-2.

[0195] In the above embodiments 1 to 3 and 5, the following structure can also be adopted: after step S1G (step S2L), after a predetermined time has elapsed, return to step S1B (step S2G).

[0196] In the above embodiments 1 to 5 and variations 4-1 and 4-2, as a procedure for pulverizing urinary tract stones ST, when the surgeon places the tip of the optical fiber 51 against the urinary tract stone ST, the distance d is always 0, so step S1C (steps S2C, S2D, S2H, S2I, S4C) is not required.

[0197] Explanation of reference numerals in the attached figures

[0198] 1: Treatment system; 2: Endoscope; 3: Display device; 4: Foot switch; 5: Processing device; 21: Insertion section; 22: Camera device; 51: Fiber optic cable; 52: Light source device; 53: Semi-transparent mirror; 54: Dichroic mirror; 55: Photodetector; 56: Control device; 211: Channel; 521: Laser light source for treatment; 522: Light source for guiding light; 561: Control unit; 562: Storage unit; 563: Input unit; ArO: Overlapping area; Ar1, Ar2: Irradiation area; d, d1: Distance; D: Fiber optic cable diameter; f0: Set value; L: Travel distance; ST: Urinary tract stone; ST1: Poorly fragmented part; V, V1, V2: Scanning speed; W: Diameter.

Claims

1. A control device comprising a processor, the processor being hardware-based, for controlling the operation of a laser source to emit laser light, which then illuminates an object via an optical fiber. in, The processor calculates overlap information, which is information related to the overlapping area within the irradiation area of ​​the laser irradiating the irradiated object. The processor controls the output of the laser from the laser source based on the overlap information to suppress flashes caused by blackbody radiation due to thermal accumulation in the overlap region.

2. The control device according to claim 1, characterized in that, The processor calculates an overlap index value as the overlap information based on the diameter of the irradiated area and the distance the optical fiber moves.

3. The control device according to claim 2, characterized in that, The processor calculates the moving distance based on the scanning speed corresponding to the movement of the optical fiber and the pulse frequency of the pulse emission of the laser.

4. The control device according to claim 2, characterized in that, The processor calculates the diameter of the irradiated area based on the distance between the irradiated object and the optical fiber, the diameter of the optical fiber, the numerical aperture of the optical fiber, and the refractive index of the medium through which the laser passes.

5. The control device according to claim 2, characterized in that, The processor determines whether an overlapping region exists based on the overlap index value. In the absence of the overlapping region, the processor allows the laser to be irradiated.

6. The control device according to claim 3, characterized in that, The processor calculates the scanning speed based on the endoscopic images obtained by capturing the irradiated object.

7. The control device according to claim 3, characterized in that, The processor calculates the scanning speed based on the pattern of light formed by the light that is irradiated onto and scattered by the irradiated object.

8. The control device according to claim 3, characterized in that, The processor calculates the scanning speed based on the light that is irradiated onto the irradiated object and reflected back from it, by utilizing the Doppler effect.

9. The control device according to claim 4, characterized in that, The processor calculates the distance based on the brightness of the light that is irradiated onto the irradiated object and reflected by the irradiated object.

10. The control device according to claim 4, characterized in that, The processor calculates the distance based on the time from when the light is shone on the shone object until it is reflected back by the shone object.

11. The control device according to claim 4, characterized in that, The distance is calculated based on the endoscopic image obtained by photographing the object being irradiated.

12. The control device according to claim 3, characterized in that, The processor causes the pulse frequency to decrease as the scan speed decreases.

13. The control device according to claim 4, characterized in that, The processor causes the pulse frequency of the laser pulse emission to decrease as the distance increases.

14. The control device according to claim 1, characterized in that, The overlap information is associated with an overlap region, which is the area where the first irradiation region and the second irradiation region overlap. The first irradiation area is the irradiation area that appears when the laser is emitted with a first pulse to irradiate the irradiated object. The second irradiation area is the irradiation area that appears when the laser is emitted with a second pulse following the first pulse.

15. A control device comprising a processor, the processor being hardware-based, for controlling the operation of a laser source to cause the laser source to emit pulsed laser light, thereby directing the laser light through an optical fiber to an object to be irradiated. in, The processor calculates the scanning speed corresponding to the movement of the optical fiber relative to the object being irradiated. The processor controls the output of the laser from the laser source based on the scanning speed to suppress flashes caused by blackbody radiation due to thermal accumulation in overlapping areas within the irradiation region of the laser.

16. The control device according to claim 15, characterized in that, The processor causes the pulse frequency of the laser pulse emission to decrease as the scanning speed decreases.

17. The control device according to claim 15, characterized in that, The processor calculates the distance between the irradiated object and the optical fiber. The processor controls the output of the laser from the laser source based on the scanning speed and the distance.

18. The control device according to claim 17, characterized in that, The processor causes the pulse frequency of the laser pulse emission to decrease as the distance increases.

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