Processing device, endoscope device, processing method, and processing program

Abstract

To provide a processing device, an endoscope device, a processing method, and a processing program.SOLUTION: An extension device 8 includes a processor 8P that acquires first medical image data IM1 and second medical image data IM2 including a specific region within a subject as the medical image data acquired by an endoscope 1, first information (insertion length X11) regarding the imaging position of the first medical image data IM1 and second information (insertion length X12) regarding the imaging position of the second medical image data IM2, and derives the actual size of the specific region on the basis of the first medical image data IM1, the second medical image data IM2, the insertion length X11, and the insertion length X12.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a processing device, an endoscope device, a processing method, and a processing program. [Background technology]

[0002] Patent document 1 describes an endoscope system having a measurement mode that irradiates measurement assist light to form a spot on a subject, and generates and displays a marker for measuring the size of the subject based on an image of the subject on which the spot is formed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2018 / 180250 Summary of the Invention [Problem to be solved by the invention]

[0004] The present disclosure provides a technique that makes it possible to derive the size of a specific region within a subject while preventing an increase in cost. [Means for solving the problem]

[0005] A processing device of one embodiment of the present disclosure includes a processor, which acquires first medical image data and second medical image data including a specific region within a subject as medical image data acquired by a medical image acquisition device, acquires first information regarding an imaging position of the first medical image data and second information regarding an imaging position of the second medical image data, and derives an actual size of the specific region based on the first medical image data, the second medical image data, the first information, and the second information.

[0006] An endoscope apparatus according to one aspect of the present disclosure includes the above-described processing apparatus and the above-described endoscope.

[0007] A processing method of one embodiment of the present disclosure includes acquiring first medical image data and second medical image data including a specific region within a subject as medical image data acquired by a medical image acquisition device, acquiring first information regarding an imaging position of the first medical image data and second information regarding an imaging position of the second medical image data, and deriving an actual size of the specific region based on the first medical image data, the second medical image data, the first information, and the second information.

[0008] A processing program of one embodiment of the present disclosure causes a processor to execute steps of acquiring first medical image data and second medical image data including a specific region within a subject as medical image data acquired by a medical image acquisition device, acquiring first information regarding an imaging position of the first medical image data and second information regarding an imaging position of the second medical image data, and deriving an actual size of the specific region based on the first medical image data, the second medical image data, the first information, and the second information. Effect of the Invention

[0009] According to the present disclosure, it is possible to provide a technique that is capable of deriving the size of a specific region within a subject while preventing an increase in cost. [Brief description of the drawings]

[0010] [Figure 1] 1 is a diagram showing a schematic configuration of an endoscope system 200. FIG. [Diagram 2] 2 is a partial cross-sectional view showing a detailed configuration of a flexible section 10A of the endoscope 1. FIG. [Diagram 3] 2 is a schematic diagram showing details of a magnetic pattern formed on a tubular member 17. FIG. [Figure 4] 4 is a schematic cross-sectional view taken along the lines AA and BB in FIG. 3. [Diagram 5] 2 is an exploded perspective view showing a configuration example of a detection unit 40. FIG. [Figure 6] 6 is a schematic diagram of a main body 42A of the detection unit 40 shown in FIG. 5 as viewed in a direction x. [Figure 7]13 is a diagram showing an example of a position that the insertion portion 10 can take within a through-hole 41. FIG. [Figure 8] 4 is a schematic diagram showing an example of magnetic flux density detected by the magnetic detection unit 43. FIG. [Figure 9] FIG. 9 is a schematic diagram showing an example of the results of classifying the magnetic flux density shown in FIG. 8 according to its magnitude. [Figure 10] FIG. 9 is a schematic diagram showing another example of the results of classifying the magnetic flux density shown in FIG. 8 according to its magnitude. [Figure 11] 2 is a schematic diagram for explaining the movement path of an insertion portion 10 during an examination performed using an endoscope 1. FIG. [Figure 12] 5A to 5C are diagrams showing examples of transition of screens displayed on the display device 7. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] 1 is a diagram showing a schematic configuration of an endoscope system 200. The endoscope system 200 includes an endoscope device 100 having an endoscope 1 which is an example of a medical image acquisition device that is inserted into a body for examination, surgery, or the like, and a detection unit 40.

[0012] The endoscope 1 comprises an insertion section 10 which is a long instrument extending in one direction and which is inserted into the body, an operation section 11 provided at the base end of the insertion section 10 and which has operation members for performing observation mode switching operation, image recording operation, forceps operation, air / water supply operation, suction operation, electric scalpel operation, etc., an angle knob 12 provided adjacent to the operation section 11, and a universal cord 13 including connector sections 13A, 13B which detachably connect the endoscope 1 to the light source device 5 and the processor device 4, respectively.

[0013] The operation unit 11 is provided with a forceps port for inserting a biopsy forceps, which is a treatment tool for collecting biological tissue such as cells or polyps. Although omitted in Fig. 1, various channels are provided inside the operation unit 11 and the insertion unit 10, such as a forceps channel through which the biopsy forceps inserted from the forceps port is inserted, a channel for supplying air and water, a channel for suction, etc.

[0014] The insertion section 10 is composed of a flexible soft section 10A, a bending section 10B provided at the tip of the flexible section 10A, and a tip section 10C that is harder than the flexible section 10A and provided at the tip of the bending section 10B. An imaging element and an imaging optical system are built in the tip section 10C.

[0015] The bending portion 10B is configured to be freely bendable by rotating the angle knob 12. This bending portion 10B can be bent in any direction and at any angle depending on the part of the subject on which the endoscope 1 is used, and the tip portion 10C can be directed in a desired direction.

[0016] Hereinafter, the direction in which the insertion portion 10 extends is referred to as the longitudinal direction X. One of the radial directions of the insertion portion 10 is referred to as the radial direction Y. One of the circumferential directions of the insertion portion 10 (one of the tangential directions of the outer circumferential edge of the insertion portion 10) is referred to as the circumferential direction Z. Of the longitudinal directions X, the direction from the base end (the operation unit 11 side) of the endoscope 1 to the tip is referred to as the longitudinal direction X1, and the direction from the tip of the endoscope 1 to the base end is referred to as the longitudinal direction X2. Of the radial directions Y, one is referred to as the radial direction Y1, and the other is referred to as the radial direction Y2. The longitudinal direction X is one of the directions different from the radial direction Y and the circumferential direction Z. The radial direction Y is one of the directions different from the longitudinal direction X and the circumferential direction Z. In this specification, the longitudinal direction X constitutes a first direction. The radial direction Y constitutes a second direction intersecting the first direction. Moreover, the circumferential direction Z constitutes a third direction different from the first direction and the second direction.

[0017] In the example of FIG. 1, the endoscope 1 has an insertion section 10 that is inserted into the body of the subject 50 through the anus 50A of the subject 50. The detection unit 40 is, for example, configured in a rectangular plate shape, and has a through hole 41 through which the insertion section 10 can be inserted. The detection unit 40 is disposed between the buttocks of the subject 50 and the insertion section 10 (i.e., the movement path of the insertion section 10). The insertion section 10 passes through the through hole 41 of the detection unit 40 to reach the anus 50A, and is inserted from there into the body of the subject 50. In this specification, the insertion section 10 constitutes a long instrument that is used by being moved relative to the detection unit 40.

[0018] The endoscopic device 100 comprises an endoscope 1, a main body section 2 consisting of a processor device 4 and a light source device 5 to which the endoscope 1 is connected, a display device 7 for displaying captured images, etc., an input section 6 which is an interface for inputting various information to the processor device 4, and an expansion device 8 for expanding various functions.

[0019] The processor device 4 has various processors 4P that control the endoscope 1, the light source device 5, and the display device 7. The extension device 8 has a processor 8P that performs various processes. The processor 4P and the processor 8P are respectively a CPU (Central Processing Unit) that is a general-purpose processor that executes software (programs including processing programs) and performs various functions, a programmable logic device (PLD) that is a processor whose circuit configuration can be changed after manufacture such as an FPGA (Field Programmable Gate Array), or a dedicated electric circuit that is a processor having a circuit configuration designed exclusively to execute specific processes such as an ASIC (Application Specific Integrated Circuit). The processor 4P and the processor 8P may each be composed of one processor, 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 or a combination of a CPU and an FPGA). More specifically, the hardware structure of each of the processor 4P and the processor 8P is an electric circuit (circuitry) that combines circuit elements such as semiconductor elements.

[0020] The expansion device 8 comprises a processor 8P, a communication interface (not shown) (an interface for communicating with the processor device 4 and the detection unit 40 described below), and a memory consisting of a recording medium such as a RAM (Random Access Memory), a ROM (Read Only Memory), an SSD (Solid State Drive), or an HDD (hard disk drive), and constitutes a processing device.

[0021] The processor 8P may acquire image data captured by the endoscope 1 from the processor device 4, and perform lesion recognition processing to recognize lesion areas in the captured image data, and treatment tool recognition processing to recognize whether or not the captured image data includes treatment tools such as forceps or needles.

[0022] Lesion recognition processing refers to processing for detecting a lesion area from captured image data and identifying the detected lesion area. Among the lesion recognition processing, processing for detecting a lesion area is called detection processing, and processing for identifying a lesion area is called identification processing. The lesion recognition processing may be processing that includes at least detection processing. Detection of a lesion area refers to finding a lesion area (lesion candidate area) suspected to be a lesion such as a malignant tumor or a benign tumor from a captured image. Identification of a lesion area refers to distinguishing the type or nature of the detected lesion area, such as whether the lesion area detected by the detection processing is malignant or benign, what kind of disease it is if malignant, and how advanced the disease is. For example, both the lesion recognition processing and the treatment tool recognition processing can be executed by a recognition model (e.g., a neural network or a support vector machine) generated by machine learning, or by image analysis of the captured image data. The lesion candidate area constitutes a specific area.

[0023] The various processes performed by the processor 8P, which will be described later, may be performed by the processor 8P alone, or may be shared between the processor 8P and another processor. The other processor is, for example, a processor of a server in an inspection system in which the inspection data generated by the endoscope system 200 is recorded, or the processor 4P. Alternatively, the various processes performed by the processor 8P may be performed by the processor 4P.

[0024] 2 is a partial cross-sectional view showing a detailed configuration of the flexible section 10A of the endoscope 1. The flexible section 10A, which accounts for most of the length of the insertion section 10, is flexible over almost its entire length, and the portion that is inserted into the body cavity or the like has a particularly flexible structure.

[0025] The flexible section 10A includes an outer skin layer 18 that constitutes an insulating cylindrical member, and a tubular member 17 provided within the outer skin layer 18. The outer skin layer 18 is coated with a coating layer 19.

[0026] The tubular member 17 includes a cylindrical first member 14 that contains a metal and is covered with an outer skin layer 18, and a cylindrical second member 15 that contains a metal and is inserted into the first member 14. In the example of FIG. 2, the second member 15 is a helical tube formed by winding a metal strip 15a in a helical shape. The first member 14 is a cylindrical mesh body formed by braiding metal wires. The first member 14 and the second member 15 that extend continuously in the longitudinal direction X and have a thin structure are formed by plastic processing, and the metal that constitutes them includes austenitic stainless steel. Austenitic stainless steel cannot be magnetized when not plastically processed, but can be magnetized by plastic processing. In this way, the first member 14 and the second member 15 each constitute a member that contains a metal that extends in the longitudinal direction X.

[0027] The outer skin layer 18 is made of a resin such as an elastomer, and has a multi-layer structure of an inner resin layer 18A and an outer resin layer 18B. The outer skin layer 18 may have a single-layer structure. In the first member 14 and the second member 15, a ferrule 16A is fitted to the end on the tip portion 10C side, and a ferrule 16B is fitted to the end on the operating portion 11 side. These ferrules 16A and 16B are covered with the outer skin layer 18. The flexible portion 10A is connected to the curved portion 10B at the ferrule 16A, and is connected to the operating portion 11 at the ferrule 16B.

[0028] In the flexible portion 10A, the tubular member 17 has a magnetic pattern formed along the longitudinal direction X. The magnetic pattern along the longitudinal direction X refers to two types of magnetic pole regions, negative pole (S pole) and positive pole (N pole), arranged in a predetermined arrangement pattern in the longitudinal direction X. As shown in FIG. 2, each of the first member 14 and the second member 15 has a plurality of magnetic pole portions MA including magnetic pole regions. At least one of the two types of magnetic pole regions, negative pole (S pole) and positive pole (N pole), is formed in the magnetic pole portion MA. In this way, the first member 14 and the second member 15 each constitute a member extending in the longitudinal direction X and having a magnetic pattern formed along the longitudinal direction X.

[0029] Fig. 3 is a schematic diagram showing details of the magnetic pattern formed on the tubular member 17. Fig. 4 is a schematic cross-sectional view taken along the arrows AA and BB in Fig. 3. As shown in Figs. 3 and 4, the tubular member 17 is provided with magnetic pole portions MA1 including negative pole regions 17S formed in an annular shape along the circumferential direction of the tubular member 17, and magnetic pole portions MA2 including positive pole regions 17N formed in an annular shape along the circumferential direction of the tubular member 17, which are alternately arranged in the longitudinal direction X. The total number of the magnetic pole portions MA1 and the total number of the magnetic pole portions MA2 are the same.

[0030] Here, an example of a manufacturing method of an endoscope 1 including a tubular member 17 having a magnetic pattern shown in FIG. 3 will be described. First, an endoscope 1 having a configuration shown in FIG. 1 is manufactured by a known method. Next, a magnetic field generator 300 having a cylindrical coil and capable of generating a magnetic field in the cylindrical coil by passing a current through the cylindrical coil is prepared. Next, as shown in FIG. 3, the insertion section 10 of the endoscope 1 is inserted from the tip side into the cylindrical coil of the magnetic field generator 300, and the coil is relatively moved to the boundary between the operation section 11 and the flexible section 10A. In this state, an alternating current is passed through the cylindrical coil of the magnetic field generator 300 to form a magnetic field, and a process is performed in which the insertion section 10 is pulled out from the cylindrical coil of the magnetic field generator 300 in the longitudinal direction X2 at a constant speed. Through this process, the magnetic force of the tubular member 17 generated by the plastic processing is removed, and the tubular member 17 is demagnetized. In this step, it is preferable to demagnetize the entire insertion portion 10 by pulling out the insertion portion 10 until the bending portion 10B and the tip portion 10C pass through the cylindrical coil. That is, it is preferable that the bending portion 10B and the tip portion 10C are demagnetized in the insertion portion 10 of the endoscope 1. When a certain area is demagnetized, it means that the magnetic flux density detected from that area is equal to or lower than the earth's magnetic field.

[0031] After demagnetizing at least the tubular member 17 (flexible portion 10A), a cylindrical coil of the magnetic field generator 300 is arranged on the outer periphery of the flexible portion 10A at a predetermined position in the longitudinal direction X, and an alternating current is passed through the cylindrical coil in this state to form a magnetic field. This operation forms negative pole regions 17S and positive pole regions 17N over the entire circumferential direction of the tubular member 17 at positions near both ends of the cylindrical coil of the magnetic field generator 300. Thereafter, by repeating this operation while shifting the position of the flexible portion 10A in the longitudinal direction X relative to the cylindrical coil, the magnetic pattern shown in FIG. 3 can be formed on the tubular member 17.

[0032] By adopting such a manufacturing method, any magnetic pattern can be easily formed on the tubular member 17 of the flexible section 10A even in the case of an endoscope 1 having an existing configuration or an endoscope 1 that has already been sold. In addition, by demagnetizing the tubular member 17 of the flexible section 10A and then forming a magnetic pattern on the tubular member 17, a magnetic pattern having a desired magnetic force can be formed with high accuracy. In addition, by forming a magnetic pole region using a cylindrical coil, a magnetic pole region having a uniform magnetic force (magnetic flux density) can be formed over the entire outer circumference of the tubular member 17 in the magnetic pole part MA. Note that in FIG. 3, the boundary lines between the negative pole region 17S and the positive pole region 17N in the tubular member 17 and other regions are illustrated, but these boundary lines are shown for convenience and are not visible. Note that it is preferable that information on the magnetic pattern formed on the tubular member 17 is recorded in a memory accessible by the processor 8P (for example, a memory provided in the extension device 8). The information on the magnetic pattern includes information indicating the positions of the two types of magnetic pole regions in the tubular member 17, information indicating the arrangement pitch of the two types of magnetic pole regions in the tubular member 17, information indicating the range in which the magnetic pole regions are formed in the insertion section 10, or information indicating the positions of the demagnetized regions in the insertion section 10. The demagnetized regions in the insertion section 10 constitute adjacent regions adjacent to the region in the insertion section 10 in which the magnetic pattern is formed. Note that the curved section 10B and the tip section 10C are demagnetized regions in the insertion section 10, but they need only be configured to be distinguishable from the region in which the magnetic pattern is formed, and it is not essential that they are demagnetized. For example, they may be magnetized with a pattern or magnetic force that is clearly different from the magnetic pattern.

[0033] 5 is an exploded perspective view showing a configuration example of the detection unit 40. The detection unit 40 includes a housing 42 having a through hole 41, and a magnetic detection unit 43, a magnetic detection unit 44, a communication chip 45, a storage battery 46, and a power receiving coil 47 housed in the housing 42.

[0034] The housing 42 includes a main body 42A having a rectangular flat plate portion 42a having a through hole 41A penetrating in the thickness direction, a rectangular frame-shaped side wall portion 42b rising from the outer peripheral edge of the flat plate portion 42a in the thickness direction of the flat plate portion 42a, and a cylindrical inner wall portion 42c rising from the peripheral edge of the through hole 41A in the flat plate portion 42a in the thickness direction of the flat plate portion 42a, and a rectangular flat plate-shaped lid portion 42B for closing the storage space surrounded by the flat plate portion 42a, the side wall portion 42b, and the inner wall portion 42c. The magnetic detection portion 43, the magnetic detection portion 44, the communication chip 45, the storage battery 46, and the power receiving coil 47 are stored in this storage space.

[0035] A through hole 41B is formed in the cover 42B penetrating in the thickness direction, and when the cover 42B closes the storage space, the through hole 41A and the through hole 41B communicate with each other via the inner periphery of the inner wall 42c to form a through hole 41 through which the endoscope 1 can be inserted. The through hole 41 is preferably a perfect circle when viewed from the axial direction of the inner wall 42c (the direction in which the endoscope 1 is inserted). The housing 42 is preferably made of resin or the like to reduce weight and cost, and is preferably structured to prevent moisture from entering the storage space.

[0036] The magnetic detection unit 43 and the magnetic detection unit 44 are each arranged close to the inner wall portion 42c, and are three-axis magnetic sensors capable of detecting the magnetic flux density in a direction x along the axis of the inner wall portion 42c (a direction along the axis of the through hole 41), the magnetic flux density in a radial direction y of the through hole 41, and the magnetic flux density in a direction z perpendicular to the direction x and the radial direction y.

[0037] In a state where the insertion portion 10 of the endoscope 1 is inserted into the through hole 41, the longitudinal direction X of the insertion portion 10 coincides with the direction x, the radial direction Y of the insertion portion 10 coincides with the radial direction y, and the circumferential direction Z of the insertion portion 10 coincides with the direction z. Therefore, the magnetic detection unit 43 and the magnetic detection unit 44 are configured to be able to detect the magnetic flux density BX in the longitudinal direction X of the insertion portion 10, the magnetic flux density BY in the radial direction Y of the insertion portion 10, and the magnetic flux density BZ in the circumferential direction Z of the insertion portion 10. Note that the magnetic detection unit 43 and the magnetic detection unit 44 may each be configured with three magnetic sensors, namely, a one-axis magnetic sensor capable of detecting the magnetic flux density BX, a one-axis magnetic sensor capable of detecting the magnetic flux density BY, and a one-axis magnetic sensor capable of detecting the magnetic flux density BZ. In this specification, the magnetic flux density BX constitutes the first magnetic flux density, the magnetic flux density BY constitutes the second magnetic flux density, and the magnetic flux density BZ constitutes the third magnetic flux density.

[0038] The magnetic detection units 43 and 44 only need to be able to detect a magnetic flux density including a component in the longitudinal direction X, a magnetic flux density including a component in the radial direction Y, and a magnetic flux density including a component in the circumferential direction Z, respectively, and the three detection axis directions do not need to completely coincide with the longitudinal direction X, the radial direction Y, and the circumferential direction Z, respectively. In the magnetic sensor, if the first detection axis direction is different from the radial direction Y and the circumferential direction Z, the second detection axis direction is different from the longitudinal direction X and the circumferential direction Z, and the third detection axis direction is different from the radial direction Y and the longitudinal direction X, then the magnetic sensor can detect a magnetic flux density including a component in the longitudinal direction X, a magnetic flux density including a component in the radial direction Y, and a magnetic flux density including a component in the circumferential direction Z.

[0039] Fig. 6 is a schematic diagram of the main body 42A of the detection unit 40 shown in Fig. 5 as viewed from the direction x. As shown in Fig. 6, the magnetic detection units 43 and 44 are disposed at positions facing each other across the center CP of the through hole 41 as viewed from the direction x. That is, as viewed from the direction x, the midpoint of the line segment LL connecting the magnetic detection units 43 and 44 and the center CP of the through hole 41 approximately coincide with each other. In other words, the distance from the magnetic detection unit 43 to the center CP of the through hole 41 approximately coincides with the distance from the magnetic detection unit 44 to the center CP of the through hole 41.

[0040] 7 is a diagram showing an example of a position that the insertion portion 10 can take in the through hole 41. State ST1 in FIG. 7 shows a state in which the insertion portion 10 is farthest from the magnetic detection portion 43 in the radial direction Y in the through hole 41. State ST2 in FIG. 7 shows a state in which the insertion portion 10 is farthest from the magnetic detection portion 44 in the radial direction Y in the through hole 41. The detection ranges and installation positions of the magnetic detection portions 43 and 44 are determined so that the magnetic flux density can be detected with high accuracy from the magnetic pattern formed in the tubular member 17 in both states ST1 and ST2 in FIG. 7.

[0041] In this embodiment, as shown in FIG. 6, the thickness of the part of the inner wall portion 42c where the center CP is located in the same position in the direction z is the thickness r1. The thickness r1 is, for example, 0.5 mm. If the magnetic force of the magnetic pole region formed in the tubular member 17 is defined as the magnetic flux density detected at a position 0.5 mm away from the outer surface of the insertion portion 10 in the radial direction of the insertion portion 10, this magnetic force is preferably a value sufficiently larger than the earth's magnetism and a value suitable for the performance of a general magnetic sensor (specifically, 500 microtesla) or more. In addition, for example, in the state ST1 or state ST2 of FIG. 7, it is more preferable that the magnetic force of the magnetic pole region formed in the tubular member 17 is in the range of 1000 microtesla to 1500 microtesla so that the magnetic detection unit 43 and the magnetic detection unit 44 can detect the magnetic flux density with high accuracy. However, it is preferable that the upper limit value of the magnetic force of the magnetic pole region formed in the tubular member 17 is 20 millitesla or less so that the insertion portion 10 does not stick to other metals. Considering the maximum sensitivity of a typical magnetic sensor, it is more preferable that the upper limit of the magnetic force of the magnetic pole region formed in the tubular member 17 be 2 mT or less.

[0042] As shown in FIG. 7, the position of the insertion portion 10 may vary within the through hole 41. However, by calculating the arithmetic mean of the magnetic flux density BX detected by the magnetic detection unit 43 from the tubular member 17 and the magnetic flux density BX detected by the magnetic detection unit 44 from the tubular member 17, it is possible to detect the magnetic flux density BX corresponding to the magnetic pattern regardless of the position of the insertion portion 10 within the through hole 41. Similarly, by calculating the arithmetic mean of the magnetic flux density BY detected by the magnetic detection unit 43 from the tubular member 17 and the magnetic flux density BY detected by the magnetic detection unit 44 from the tubular member 17, it is possible to detect the magnetic flux density BY corresponding to the magnetic pattern regardless of the position of the insertion portion 10 within the through hole 41. Similarly, by calculating the arithmetic mean of the magnetic flux density BZ detected by the magnetic detection unit 43 from the tubular member 17 and the magnetic flux density BZ detected by the magnetic detection unit 44 from the tubular member 17, it is possible to detect the magnetic flux density BZ corresponding to the magnetic pattern regardless of the position of the insertion portion 10 within the through hole 41.

[0043] 5 transmits information on the magnetic flux density detected by each of the magnetic detection units 43 and 44 to the extension device 8 by wireless communication. In this specification, the communication chip 45 constitutes an output unit that outputs the information detected by the magnetic detection units 43 and 44 to the outside. This magnetic flux density information may be transmitted to the processor device 4, and in this case, the processor 4P transfers the information to the processor 8P of the extension device 8.

[0044] The storage battery 46 is charged by the power received by the power receiving coil 47 through non-contact power supply. The magnetic detection unit 43, the magnetic detection unit 44, and the communication chip 45 are operated by the power supplied from the storage battery 46. The detection unit 40 has a start-up switch (not shown). When the start-up switch is turned on, the supply of power from the storage battery 46 to the magnetic detection unit 43, the magnetic detection unit 44, and the communication chip 45 is started. The detection unit 40 may be configured not to have a start-up switch, but to receive wireless power from an external source and start the supply of power to the magnetic detection unit 43, the magnetic detection unit 44, and the communication chip 45. When the start-up switch is not provided, a structure in which the storage space of the housing 42 is completely sealed can be easily realized.

[0045] Fig. 8 is a schematic diagram showing an example of the magnetic flux density detected by the magnetic detection unit 43. The magnetic flux density detected by the magnetic detection unit 44 is the same as that in Fig. 8, and is therefore not shown. The two graphs shown in Fig. 8 show the magnetic flux density BX and the magnetic flux density BY detected by the magnetic detection unit 43 when the flexible portion 10A moves in the longitudinal direction X1 through the through hole 41. In Fig. 8, the magnetic flux lines extending from the positive pole region 17N toward the adjacent negative pole region 17S in the longitudinal direction X are indicated by dashed arrows.

[0046] When the flexible portion 10A (tubular member 17) moves toward the through-hole 41 of the detection unit 40 shown in the upper left of Fig. 8, the magnetic flux density BX detected by the magnetic detection unit 43 is a positive value between each positive electrode region 17N and the adjacent negative electrode region 17S in the longitudinal direction X1, and is a negative value between each positive electrode region 17N and the adjacent negative electrode region 17S in the longitudinal direction X2, as shown in the graph of Fig. 8. The magnetic flux density BY detected by the magnetic detection unit 43 is a negative value with a large absolute value near the negative electrode region 17S, a positive value with a large absolute value near the positive electrode region 17N, and a value close to zero near the intermediate position between the negative electrode region 17S and the positive electrode region 17N.

[0047] In this way, the magnetic flux density detected at a plurality of positions in the longitudinal direction X of the tubular member 17 from the magnetic pattern formed on the tubular member 17 is such that the magnetic flux density BX and the magnetic flux density BY change periodically with positive and negative values, and the phases of the magnetic flux density BX and the magnetic flux density BY are shifted in the longitudinal direction X. Of the negative pole region 17S, the end in the longitudinal direction X where the absolute value of the magnetic flux density BY is maximum (position P1 in FIG. 8) is hereinafter referred to as the negative pole end, and of the positive pole region 17N, the end in the longitudinal direction X where the absolute value of the magnetic flux density BY is maximum (position P2 in FIG. 8) is hereinafter referred to as the positive pole end.

[0048] As an example, by setting the axial length of the cylindrical coil of the magnetic field generating device 300 to 60 mm, the inner diameter of the cylindrical coil of the magnetic field generating device 300 to 18 mm, and the moving pitch of the cylindrical coil in the longitudinal direction X to 144 mm, and magnetizing the tubular member 17 by the above-mentioned method, a magnetic pattern can be formed in which the distance between the negative pole end and the positive pole end is 72 mm. In the example of FIG. 8, for example, by disposing a cylindrical coil between the negative pole area 17S at the left end and the positive pole area 17N adjacent to it on the right side to form a magnetic field, these two magnetic pole areas can be formed. Then, from that state, the cylindrical coil is moved relatively 144 mm in the longitudinal direction X2, and a magnetic field is formed in that state, so that the positive pole area 17N at the right end and the negative pole area 17S adjacent to it on the left can be formed. In this way, a magnetic pattern can be formed in which the distance between the positive pole ends and the negative pole ends alternately formed in the longitudinal direction X (the distance between the positions P1 and P2) is 72 mm.

[0049] In the endoscope system 200, the processor 8P of the extension device 8 acquires information on the magnetic flux density detected by the magnetic detection unit 43 and the magnetic detection unit 44 from the detection unit 40, and determines the movement state of the insertion unit 10 in the longitudinal direction X based on the acquired magnetic flux density BX and magnetic flux density BY. The movement state of the insertion unit 10 determined here includes a movement direction indicating in which direction in the longitudinal direction X the insertion unit 10 is moving relative to the detection unit 40, and a movement amount (movement distance) indicating how far the insertion unit 10 inserted into the through hole 41 of the detection unit 40 has moved in the longitudinal direction X relative to the detection unit 40. The processor 8P arithmetically averages the magnetic flux densities BX detected at the same timing by each of the magnetic detection units 43 and 44, and arithmetically averages the magnetic flux densities BY detected at the same timing by each of the magnetic detection units 43 and 44, and determines the movement state of the insertion unit 10 based on the magnetic flux densities BX and BY obtained by arithmetically averaging them.

[0050] The processor 8P classifies the magnetic flux density BX into a plurality of pieces of information according to its magnitude, classifies the magnetic flux density BY into a plurality of pieces of information according to its magnitude, and determines the movement state of the insertion portion 10 in the longitudinal direction X based on a combination of any one of the plurality of pieces of information obtained by classifying the magnetic flux density BX and any one of the plurality of pieces of information obtained by classifying the magnetic flux density BY.

[0051] Specifically, the processor 8P sets a first threshold th (for example, "0") as a threshold for classifying the magnetic flux density BX into two levels, and sets a second threshold th1 (a positive value greater than 0) and a second threshold th2 (a negative value less than 0) as thresholds for classifying the magnetic flux density BY into three levels. Then, the processor 8P classifies, in the magnetic flux density BX, values ​​greater than the first threshold th as a high level H, and values ​​less than the first threshold th as a low level L. In addition, the processor 8P classifies, in the magnetic flux density BY, values ​​greater than the second threshold th1 as a high level H, values ​​between the second threshold th1 and the second threshold th2 as a middle level M, and values ​​less than the second threshold th2 as a low level L. The result of classifying the magnetic flux density BX in this way is also referred to as the classification level of the magnetic flux density BX, and the result of classifying the magnetic flux density BY in this way is also referred to as the classification level of the magnetic flux density BY.

[0052] In Fig. 9, the classification results (classification levels) of the magnetic flux density BX and the magnetic flux density BY in the graph shown in Fig. 8 are shown by thick solid lines. As shown in Fig. 9, in the tubular member 17, the range between two adjacent positions P1 (between the negative pole ends) is divided into a region R1 where the magnetic flux density BX is at a high level and the magnetic flux density BY is at a low level, a region R2 where the magnetic flux density BX is at a high level and the magnetic flux density BY is at a middle level, a region R3 where the magnetic flux density BX is at a high level and the magnetic flux density BY is at a high level, a region R4 where the magnetic flux density BX is at a low level and the magnetic flux density BY is at a high level, a region R5 where the magnetic flux density BX is at a low level and the magnetic flux density BY is at a middle level, and a region R6 where the magnetic flux density BX is at a low level and the magnetic flux density BY is at a low level. In this way, the range between the negative pole ends adjacent to each other in the longitudinal direction X can be divided into six regions R1 to R6 according to the combination of the classification levels of the magnetic flux density BX and the magnetic flux density BY.

[0053] The processor 8P monitors the thick solid lines (classification levels of magnetic flux densities BX, BY) shown in Figure 9 to determine the movement direction of the insertion portion 10 relative to the detection unit 40 and the movement amount (movement distance) of the insertion portion 10 in the longitudinal direction X from the position of the detection unit 40.

[0054] For example, when the negative electrode region 17S provided at the most distal end of the tubular member 17 passes through the through hole 41, the processor 8P detects that the most distal region R1 of the tubular member 17 is located within the through hole 41 from a combination of the classification level of the magnetic flux density BX and the classification level of the magnetic flux density BY, and detects this position as a reference position. The distance in the longitudinal direction X from the negative electrode region 17S provided at the most distal end of the tubular member 17 to the tip of the tip portion 10C (referred to as distance L1) is known. Therefore, when the processor 8P detects this reference position, it determines that the movement distance of the insertion portion 10 relative to the detection unit 40 is "0", and further determines that the insertion length of the insertion portion 10 into the body of the subject 50 (the distance from the reference position (through hole 41) to the tip of the insertion portion 10) is distance L1.

[0055] After detecting the reference position, when the processor 8P determines that the region of the tubular member 17 passing through the through hole 41 is changing in the direction from region R1 toward region R6 based on the classification levels of the magnetic flux densities BX and BY, the processor 8P determines that the insertion portion 10 is moving in the longitudinal direction X1. When the processor 8P determines that the insertion portion 10 is moving in the longitudinal direction X1, the processor 8P increases the moving distance of the insertion portion 10 in the longitudinal direction X1 by a unit distance ΔL each time the region of the tubular member 17 passing through the through hole 41 changes by one (for example, from region R1 to region R2, from region R2 to region R3, etc.), and increases the insertion length of the insertion portion 10 into the body of the subject 50 by a unit distance ΔL. This unit distance ΔL can be a value obtained by dividing the interval between adjacent negative electrode regions 17S by 6.

[0056] On the other hand, when the processor 8P determines that the region of the tubular member 17 passing through the through hole 41 is changing in the direction from region R6 to region R1 based on the classification levels of the magnetic flux densities BX and BY, it determines that the insertion portion 10 is moving in the longitudinal direction X2. When the processor 8P determines that the insertion portion 10 is moving in the longitudinal direction X2, it reduces the movement distance of the insertion portion 10 in the longitudinal direction X1 by unit distance ΔL each time the region of the tubular member 17 passing through the through hole 41 changes by one, and reduces the insertion length of the insertion portion 10 into the body of the subject 50 by unit distance ΔL.

[0057] Depending on the moving speed of the insertion portion 10, it may be determined that the region of the tubular member 17 passing through the through hole 41 has changed from region R1 to region R3, or from region R3 to region R1. In this way, when it is determined that the region of the tubular member 17 passing through the through hole 41 has changed by two, the processor 8P may increase or decrease the insertion length of the insertion portion 10 by twice the unit distance ΔL.

[0058] The processor 8P displays the information on the insertion length thus determined on the display device 7, outputs it as sound from a speaker (not shown), or transmits it to the operator of the endoscope 1 by vibration of a transducer provided in the operation unit 11. This makes it possible to accurately record the imaging position by the endoscope 1, and to guide and evaluate the operation of the endoscope 1.

[0059] As described above, by demagnetizing the distal end portion 10C and the bending portion 10B in the insertion portion 10, the processor 8P can easily detect the reference position. Specifically, when the insertion portion 10 is inserted from the distal end side into the through hole 41 and moves in the longitudinal direction X1, the magnetic flux density BX and the magnetic flux density BY are both close to "0" while the distal end portion 10C and the bending portion 10B pass through the through hole 41. Then, when the distal end negative electrode region 17S of the tubular member 17 reaches the through hole 41, the magnetic flux density BX and the magnetic flux density BY are a combination of high and low levels as shown in FIG. 9, so that the reference position can be easily detected by the fluctuation of the magnetic flux density.

[0060] As described above, the processor 8P classifies the magnetic flux density BX into two levels, high level and low level, and classifies the magnetic flux density BY into three levels, high level, middle level, and low level, and determines the movement state of the insertion portion 10 in the longitudinal direction X based on the combination of these levels. In this way, by monitoring the change in the combination of the classification level of the magnetic flux density BX and the classification level of the magnetic flux density BY, the movement direction, movement distance, and insertion length of the insertion portion 10 can be determined. According to the endoscope system 200, such an effect can be achieved by simply magnetizing the endoscope 1 having a general-purpose configuration and adding the detection unit 40, so that the construction cost of the system can be reduced. In addition, since the movement direction, movement distance, and insertion length of the insertion portion 10 are determined based on the information on the magnetic flux density that can be obtained non-optically, the determination accuracy does not decrease even if the insertion portion 10 is dirty, and it is practical.

[0061] Furthermore, by using a combination of the classification level of the magnetic flux density BX and the classification level of the magnetic flux density BY, it is possible to determine the moving distance of the insertion portion 10 with a resolution finer than the interval between two adjacent magnetic pole regions (negative pole region 17S and positive pole region 17N) (for example, in units of 1 / 3 of this interval). In this way, being able to precisely determine the moving distance can be useful for accurately recording the imaging position of the endoscope 1, guiding and evaluating the operation of the endoscope 1, etc.

[0062] Moreover, the processor 8P calculates the arithmetic mean of the magnetic flux density detected by the magnetic detection unit 43 and the magnetic flux density detected by the magnetic detection unit 44, and determines the moving direction, moving distance, and insertion length of the insertion unit 10 based on the magnetic flux density of the arithmetic mean. Therefore, it is possible to obtain a change in magnetic flux density according to the magnetic pattern, regardless of the position of the insertion unit 10 in the through hole 41. Furthermore, the magnetic flux density detected by the magnetic detection unit 43 and the magnetic detection unit 44 may contain disturbance components due to geomagnetism, a magnetic field generated by the steel frame of the building, a magnetic field generated by steel furniture, and the like, in addition to those generated by magnetization. However, as described above, by taking the arithmetic mean of the magnetic flux densities detected by the two magnetic detection units, the influence of the disturbance components can be reduced.

[0063] In addition, if the difference between the inner diameter of the through hole 41 and the outer diameter of the insertion portion 10 is kept as small as possible, either the magnetic detection portion 43 or the magnetic detection portion 44 provided in the detection unit 40 is not essential and can be omitted. In this case, the processor 8P may determine the movement direction, movement distance, and insertion length of the insertion portion 10 based on the magnetic flux densities BX and BY detected by the magnetic detection portion 43 or the magnetic detection portion 44.

[0064] In this embodiment, the negative electrode region 17S and the positive electrode region 17N formed in the tubular member 17 are each formed in annular shapes along the outer periphery of the tubular member 17. Therefore, even if the insertion portion 10 rotates in its circumferential direction within the through hole 41, it is possible to almost completely eliminate changes in the magnetic flux density detected by the magnetic detection units 43 and 44. Therefore, regardless of the posture of the insertion portion 10, it is possible to determine the movement direction, movement distance, and insertion length of the insertion portion 10.

[0065] The magnetic flux densities detected by the magnetic detection units 43 and 44 may include disturbance components. The direction of the disturbance components also changes depending on the posture of the detection unit 40. Therefore, rather than determining the movement state of the insertion portion 10 in the longitudinal direction X by directly using the raw data of the magnetic flux density BX and the magnetic flux density BY, as described above, the magnetic flux density BX is classified into two levels, a high level and a low level, and the magnetic flux density BY is classified into three levels, a high level, a middle level, and a low level, and the movement state of the insertion portion 10 in the longitudinal direction X is determined based on a combination of these classification levels, thereby eliminating the influence of the disturbance components.

[0066] In the above description, the processor 8P classifies the magnetic flux density BX into two categories, a high level and a low level, and classifies the magnetic flux density BY into three categories, a high level, a middle level, and a low level, and determines the movement state of the insertion portion 10 in the longitudinal direction X based on a combination of these classification levels. As a variation of this, the processor 8P may classify the magnetic flux density BX into two categories, a high level and a low level, and classify the magnetic flux density BY into two categories, a high level and a low level, and determine the movement state of the insertion portion 10 in the longitudinal direction X based on a combination of these classification levels.

[0067] Specifically, the processor 8P sets a "first threshold th (e.g., 0)" as a threshold for classifying the magnetic flux density BX into two levels, and sets a "second threshold th3 (e.g., 0)" as a threshold for classifying the magnetic flux density BY into two levels. The processor 8P then classifies, in the magnetic flux density BX, values ​​greater than the first threshold th as high level, and values ​​less than the first threshold th as low level. The processor 8P also classifies, in the magnetic flux density BY, values ​​greater than the second threshold th3 as high level, and values ​​less than the second threshold th3 as low level.

[0068] In Fig. 10, the classification results (classification levels) of the magnetic flux density BX and the magnetic flux density BY in the graph shown in Fig. 8 are shown by thick solid lines. As shown in Fig. 10, in the tubular member 17, the range between two positions P1 is divided into a region R1 where the magnetic flux density BX is at a high level and the magnetic flux density BY is at a low level, a region R2 where the magnetic flux density BX is at a high level and the magnetic flux density BY is at a high level, a region R3 where the magnetic flux density BX is at a low level and the magnetic flux density BY is at a high level, and a region R4 where the magnetic flux density BX is at a low level and the magnetic flux density BY is at a low level. In this way, the range between the negative pole ends adjacent to each other in the longitudinal direction X can be divided into four regions R1 to R4 by the combination of the classification levels of the magnetic flux density BX and the magnetic flux density BY. The processor 8P can determine the movement direction of the insertion portion 10 and the movement amount (movement distance) of the insertion portion 10 in the longitudinal direction X by monitoring the thick solid lines (classification levels of magnetic flux densities BX and BY) shown in FIG.

[0069] In the above description, the processor 8P classifies the magnetic flux density into a plurality of pieces of information according to its magnitude, but the classification may be performed by a processor provided in the communication chip of the detection unit 40. That is, the detection unit 40 may transmit classification level information indicated by the thick solid lines in FIG. 9 and FIG. 10 to the processor 8P. The processor 8P is described as determining the moving state of the insertion portion 10, but the processor provided in the communication chip of the detection unit 40 may perform this determination and transmit the determination result to the processor 8P. A processor such as a personal computer connected to the extension device 8 via a network may obtain magnetic flux density information from the detection unit 40, perform the above determination, and transmit the determination result to the processor 8P. A processor separate from the processor 8P may determine the moving state of the insertion portion 10. A processor provided outside the endoscope device 100 may determine the moving state of the insertion portion 10 and transmit the determination result to the processor 8P.

[0070] The threshold value used to classify the magnetic flux density BX and the magnetic flux density BY according to their magnitude may be a predetermined fixed value, but it is preferable that the threshold value be a variable value determined based on the magnetic flux densities detected by the magnetic detection units 43 and 44 after the insertion of the insertion portion 10 into the through hole 41 has begun.

[0071] For example, when the start switch of the detection unit 40 is turned on, the insertion portion 10 is inserted into the through hole 41, and the third magnetic pole region from the most distal end side of the tubular member 17 passes through the through hole 41, the processor 8P can obtain the maximum and minimum values ​​of the magnetic flux density BX detected by the magnetic detection portion 43 and the maximum and minimum values ​​of the magnetic flux density BY detected by the magnetic detection portion 43. When the processor 8P obtains the maximum and minimum values ​​of the magnetic flux density BX, it calculates the average value of the maximum and minimum values ​​and sets the average value as the first threshold value th. When the processor 8P obtains the maximum and minimum values ​​of the magnetic flux density BY, it calculates the average value of the maximum and minimum values ​​and sets the average value by adding a preset value to the average value as the second threshold value th1, and sets the average value by subtracting the preset value from the average value as the second threshold value th2. This preset value is a value that is greater than a value assumed as a disturbance component and smaller than the absolute values ​​of the maximum and minimum values ​​of the magnetic flux density BY. The first three magnetic pole regions from the most distal end of the tubular member 17 constitute the base end portion on the demagnetized region (adjacent region) side of the region where the magnetic pattern is formed.

[0072] Thereafter, the processor 8P may classify the magnetic flux density BX and the magnetic flux density BY using the threshold value thus set. In this manner, by setting the threshold value based on the magnetic flux densities detected by the magnetic detection units 43 and 44, the moving state of the insertion unit 10 can be determined with higher accuracy.

[0073] In this manner, when setting the thresholds based on the magnetic flux density detected by the magnetic detection units 43 and 44, the processor 8P sets the first threshold th, the second threshold th1, and the second threshold th2 to predetermined values, respectively, during the period until the third magnetic pole region from the most distal end of the tubular member 17 passes through the through hole 41, and detects the reference position and determines the movement state of the insertion portion 10, and thereafter preferably updates the first threshold th, the second threshold th1, and the second threshold th2 in the manner described above to determine the movement state of the insertion portion 10.

[0074] In this way, in the endoscope system 200, when the insertion portion 10 passes through the through-hole 41, the magnetic patterns are formed on the tubular member 17 so that the magnetic flux densities BX and BY detected by the magnetic detection units 43 and 44, respectively, change periodically between positive and negative and are out of phase with each other, thereby making it possible to determine the moving state of the insertion portion 10. Such magnetic patterns are not limited to the configurations of the magnetic pole portions MA1 and MA2 shown in Figs. 3 and 4, but can be modified in various ways.

[0075] <Processor 8P processing> Next, various processes executed by the processor 8P will be described in detail. In explaining the various processes, the movement path of the insertion section 10 of the endoscope 1 will be explained. Fig. 11 is a schematic diagram for explaining the movement path of the insertion section 10 in an examination performed using the endoscope 1 (hereinafter, referred to as an endoscopic examination).

[0076] Endoscopic examinations include endoscopic examinations for examining upper digestive organs such as the large intestine, and endoscopic examinations for examining lower digestive organs such as the stomach, etc. Endoscopic examinations also include a first examination in which the insertion portion 10 is inserted into the subject to check whether or not a lesion area exists in the subject, and a second examination in which the insertion portion 10 is inserted into the subject to remove an already known lesion area.

[0077] (Path of endoscope movement) 11 shows a large intestine 51 of a subject (subject 50). In an endoscopic examination of the large intestine, the insertion section 10 is moved along a moving path 10X shown by a dashed line in the figure. The moving path 10X is a tubular path that runs from a through hole 41 of a detection unit 40 disposed near an anus 50A outside the subject, through the anus 50A to a rectum 53, and further from the rectum 53, through a sigmoid colon 54, a descending colon 55, a transverse colon 56, and an ascending colon 57 to an ileocecal portion 58.

[0078] (Processing during endoscopic examination) In the following, the operator of the endoscope 1 will be simply referred to as the operator. Fig. 12 is a diagram showing an example of transition of a screen 70 displayed on the display device 7 during an endoscopic examination. When an endoscopic examination is started, the power supply of the detection unit 40 is turned on. As described above, the processor 8P derives a first distance (hereinafter, referred to as the insertion length) from a reference position (position of the through-hole 41) on the movement path 10X to the tip of the insertion section 10 based on the magnetic flux densities BX and BY detected by the detection unit 40. While checking the captured image data 71 of the endoscope 1 on the display device 7, the operator moves the endoscope 1 along the movement path 10X to search for a lesion candidate region.

[0079] When lesion candidate region 72 is imaged with the tip of endoscope 1 at position PO2 shown in FIG. 11, for example, the operator operates a switch or the like included in operation unit 11 to instruct recognition of the lesion candidate region. Receiving this instruction, processor 8P acquires captured image data 71 captured by endoscope 1 from processor device 4, and performs lesion recognition processing on the captured image data 71. Processor 8P also causes display device 7 to display guide frame 73 for guiding the position of lesion candidate region (state ST1 in FIG. 12). The operator moves endoscope 1 so that lesion candidate region 72 is located inside guide frame 73. It is preferable that guide frame 73 is set in a range with little distortion in the captured image data (imaging range in which the amount of distortion is equal to or less than a threshold).

[0080] When processor 8P recognizes that captured image data 71 includes lesion candidate region 72 as a result of the lesion recognition process and determines that lesion candidate region 72 is located inside guide frame 73, processor 8P acquires insertion length X11 at the time when captured image data 71 being displayed was captured and records insertion length X11 in memory in association with captured image data 71. Processor 8P also causes display device 7 to display frame 72a showing the outline of lesion candidate region 72 (for example, a rectangular frame containing lesion candidate region 72) (state ST2 in FIG. 12). Insertion length X11 constitutes information regarding the imaging position of captured image data 71 in state ST2.

[0081] Next, the operator moves the endoscope 1 in the longitudinal direction X2. At this time, the operator moves the endoscope 1 so that the state in which the lesion candidate region 72 is located inside the frame 72a is maintained. This movement causes the screen 70 to change to state ST3. Even during this movement of the endoscope 1, the processor 8P acquires the insertion length, and when the difference between the insertion length X11 recorded in the memory and the newly acquired insertion length X12 is equal to or greater than the threshold value and the lesion candidate region 72 is located within the frame 72a, the processor 8P associates the insertion length X12 with the captured image data 71 acquired in that state and records it in the memory. The insertion length X12 constitutes information on the imaging position of the captured image data 71 in state ST3. In the example of FIG. 11, in a state in which the tip of the endoscope 1 is at position PO1 (corresponding to state ST3 in FIG. 12), the difference between the insertion length X12 and the insertion length X11 is equal to or greater than the threshold value.

[0082] The captured image data 71 in state ST2 (captured image data obtained at position PO2) and the captured image data 71 in state ST3 (captured image data obtained at position PO1) are obtained by capturing images at different times, although they include the same lesion candidate region 72. Here, in order to distinguish between the two, the captured image data 71 in state ST2 is also referred to as first medical image data IM1, and the captured image data 71 in state ST3 is also referred to as second medical image data IM2.

[0083] Next, the processor 8P derives the actual size of the lesion candidate region 72 based on the first medical image data IM1, the insertion length X11 which is information on the imaging position of the first medical image data IM1, the second medical image data IM2, and the insertion length X12 which is information on the imaging position of the second medical image data IM2. The size of the lesion candidate region refers to the maximum length in the direction perpendicular to the optical axis of the endoscope 1, or the planar area when viewed in the direction perpendicular to the optical axis.

[0084] For example, the processor 8P acquires an image size Y11 of the lesion candidate region 72 in the first medical image data IM1 based on the first medical image data IM1 and records it in memory. The processor 8P also acquires an image size Y12 of the lesion candidate region 72 in the second medical image data IM2 based on the second medical image data IM2 and records it in memory. The image size of the lesion candidate region in the captured image data is specifically indicated by the number of pixels, and refers to the larger of the number of pixels in the horizontal direction and the number of pixels in the vertical direction. The image size of the lesion candidate region in the captured image data may be acquired as an area value obtained by multiplying the total number of pixels constituting the lesion candidate region by a predetermined area per pixel.

[0085] Distance X from the tip of endoscope 1 to the lesion candidate area n The actual size S of the lesion candidate region and the image size Y of the lesion candidate region in the captured image data are expressed as n The relationship is distance X n The larger the image size Y n Since Y is inversely proportional to α, n =α×S / X n Therefore, the actual size S is the distance X n and image size Y n It can be derived using the two above equations with different

[0086] For example, distance X n and image size Y n Let the two equations with different values ​​be (A) and (B) below. Y1 = α × S / X1 (A) Y2 = α × S / X2 (B)

[0087] Equation (A) can be transformed into the following equation (C), and equation (B) can be transformed into the following equation (D). X1 = α × S / Y1 (C) X2 = α × S / Y2 (D)

[0088] If |X1-X2|=Δx, the following equation (E) can be obtained from equations (C) and (D). Δx=(α×S×|Y2-Y1|) / (Y1×Y2)···(E)

[0089] From equation (E), the actual size S can be derived using the following equation (F). S=(Y1×Y2×Δx) / (α×|Y2-Y1|)···(F)

[0090] In formula (F), Δx corresponds to the difference between the insertion length X11 and the insertion length X12, Y1 corresponds to the image size Y11, and Y2 corresponds to the image size Y12. Therefore, processor 8P can derive actual size S of lesion candidate region 72 by substituting Δx calculated from insertion length X11 and insertion length X12, and image size Y11 and image size Y12 into formula (F).

[0091] Note that the constant α in formula (F) may vary for each type (model) of endoscope 1. For this reason, it is preferable to record the constant α for each type of endoscope 1, and for the processor 8P to recognize the type of endoscope 1 connected, select and use the constant α according to the recognized type, and derive the actual size S by calculating formula (F). In this way, the actual size S can be derived with high accuracy. The constant α may also vary for each individual endoscope 1. For this reason, it is preferable to actually measure and record the constant α for each individual endoscope 1, even for endoscopes 1 of the same type.

[0092] Furthermore, the constant α may vary depending on the position of the lesion candidate region 72 in the captured image data. For example, the constant α may vary between when the lesion candidate region 72 is located near the outer periphery of the guide frame 73 and when the lesion candidate region 72 is located near the center of the guide frame 73. Therefore, it is preferable that the constant α is recorded with a plurality of values ​​for each position (distance from the center of the captured image data) of the lesion candidate region 72 in the captured image data, and the processor 8P selects the constant α according to the position of the lesion candidate region 72 to derive the actual size S of the lesion candidate region 72. In this way, the actual size S can be derived with high accuracy. As described above, the guide frame 73 is set in an area with less distortion in the captured image data, thereby improving the accuracy of deriving the actual size S.

[0093] In this embodiment, when the first medical image data IM1 is acquired, a frame 72a showing the outline of the lesion candidate region 72 is displayed on the display device 7, and the captured image data 71 acquired while the lesion candidate region 72 exists within this frame 72a is set as the second medical image data IM2. In this manner, the distance (distance on the image) between the position of the lesion candidate region in the first medical image data IM1 and the position of the lesion candidate region in the second medical image data IM2 can be set to a threshold value or less. Since the positions of the lesion candidate regions 72 in the two captured image data are close to each other, the value of α in formulas (A) and (B) can be treated as being the same, and the actual size S can be derived with high accuracy.

[0094] The processor 8P derives the actual size S by calculation using formula (F), but is not limited to this. For example, a data table that associates the combinations of the above-mentioned insertion length X11, insertion length X12, image size Y11, and image size Y12 with the actual size S, which is numerical data, is created and recorded in the memory of the processor 8P. Then, when the processor 8P obtains the insertion length X11, insertion length X12, image size Y11, and image size Y12, it may read and derive the actual size S corresponding to these combinations from the data table. This data table may be generated by actual measurement by capturing an image of an object whose size is known using the endoscope 1.

[0095] In this way, by using the data table, the actual size S can be derived at a higher speed. Furthermore, since no calculation is required, the circuit of the processor 8P can be simplified, leading to a reduction in manufacturing costs. It is preferable that this data table is also recorded for each type of endoscope 1, and the actual size S is derived by selecting a data table corresponding to the type of endoscope 1. It is also preferable that a data table is recorded for each position of the lesion candidate region, and the actual size S is derived by selecting a data table corresponding to the position of the lesion candidate region.

[0096] As described above, according to the endoscope system 200, the actual size of the lesion candidate region can be derived without using auxiliary measurement light or the like, and an increase in manufacturing costs can be prevented. The processor 8P acquires two pieces of captured image data (first medical image data IM1 and second medical image data IM2 in which the distance between the two imaging positions is equal to or greater than a threshold) in which the difference between the insertion length X11 and the insertion length X12 is equal to or greater than a threshold, and derives the actual size S based on these. Therefore, the effects of the detection resolution and detection errors of the insertion length can be eliminated, and the actual size S can be derived with high accuracy.

[0097] When the first medical image data IM1 and the second medical image data IM2 each contain multiple lesion candidate regions 72, the processor 8P preferably selects, as the target for deriving the actual size, the lesion candidate region 72 having a relatively large image size (preferably the largest) among the multiple lesion candidate regions 72. For example, if the actual size of the lesion candidate region 72 having the largest image size is known, the operator can also estimate the approximate actual size of lesion candidate regions 72 having smaller actual sizes.

[0098] The detection unit 40 described above can also be configured integrally with an insertion assisting member of the endoscope 1. For example, the detection unit 40 may be formed integrally with an insertion assisting member that is inserted into the anus, or may be formed integrally with a mouthpiece-type insertion assisting member that is held in the mouth. The detection unit 40 may also be formed integrally with pants for endoscopic examination, or may be configured to be detachable from pants for endoscopic examination.

[0099] The technology of the present disclosure is not limited to the above, and can be modified as appropriate as described below.

[0100] For example, the endoscope 1 may be inserted into the body through the mouth or nose of the subject 50. In this case, the detection unit 40 may have a shape that allows it to be attached to the mouth or nose of the subject 50.

[0101] The tubular member 17 has a first member 14 and a second member 15, each of which is configured to include magnetizable austenitic stainless steel, but one of them may be configured of a non-magnetizable material. In other words, one of them may not have a magnetic pattern formed thereon. Even in this case, the magnetic flux densities BX, BY, and BZ described above can be detected from the tubular member 17, so the moving state of the insertion section 10 can be determined.

[0102] In the above description, a magnetic pattern is formed on the tubular member 17 in which two types of magnetic pole regions are alternately arranged in the longitudinal direction, and the longitudinal movement state of the insertion section 10 is determined based on the combination of classification levels of magnetic information in two directions detected from the magnetic pattern. However, the two types of magnetic pole regions formed on the tubular member 17 do not have to be alternately arranged in the longitudinal direction. Even in this case, it is possible to determine the longitudinal movement state of the insertion section 10 based on the combination of classification levels of magnetic information in two directions detected from the magnetic pattern.

[0103] As a modified example, a more complicated pattern than the magnetic pattern may be formed on the tubular member 17, and the magnetic detection units 43 and 44 may detect the pattern to determine the longitudinal movement state of the insertion unit 10. Specifically, a table in which each position in the longitudinal direction of the tubular member 17 corresponds to the magnetic flux density BX or magnetic flux density BY (classification level) detected at each position may be recorded in memory, and the processor 8P may classify the magnetic flux density BX or magnetic flux density BY detected by the magnetic detection unit 43 to obtain the classification level, and obtain information on the position corresponding to this classification level from the table to determine the insertion length of the insertion unit 10. In this way, the insertion length of the insertion unit 10 can be determined more precisely. Also, the magnetic detection units 43 and 44 may be configured to detect magnetic flux density in one direction, thereby reducing costs.

[0104] Instead of providing the magnetic pattern described above, the endoscope 1 may be equipped with a motion sensor such as an acceleration sensor at its tip. In this case, the above-mentioned Δx can be derived based on the output information of the acceleration sensor when the first medical image data IM1 is acquired and the output information of the acceleration sensor when the second medical image data IM2 is acquired.

[0105] In the above description, an endoscope has been exemplified as a medical image acquisition device, but the technology disclosed herein can be applied to any device capable of acquiring medical image data including a lesion candidate region at different positions. For example, the technology disclosed herein can be applied to an ultrasound diagnostic device capable of acquiring ultrasound image data as medical image data.

[0106] As described above, this specification describes at least the following items. In the following, components corresponding to the above-described embodiment are shown in parentheses, but the present invention is not limited to these.

[0107] (1) Equipped with a processor (processor 8P), The processor is As medical image data acquired by a medical image acquisition device (endoscope 1), first medical image data (captured image data 71 in state ST2) and second medical image data (captured image data 71 in state ST3) including a specific region (lesion candidate region 72) in the subject are acquired, Acquire first information (insertion length X11) regarding the imaging position of the first medical image data and second information (insertion length X12) regarding the imaging position of the second medical image data; a processing device (extension device 8) that derives an actual size of the specific region based on the first medical image data, the second medical image data, the first information, and the second information.

[0108] (2) The processing device according to (1), The processor is Derive a first size (image size Y11) of the specific region in the first medical image data; Derive a second size (image size Y12) of the specific region in the second medical image data; a processing device that derives the actual size based on the first size, the second size, the first information, and the second information.

[0109] (3) The processing device according to (2), The medical image acquisition device is an endoscope.

[0110] (4) The processing device according to (3), The processor further comprises a processing device for deriving the actual size based on a position of the specific region in the first medical image data and the second medical image data.

[0111] (5) The processing device according to (4), The processor performs a calculation using the first size, the second size, the first information, the second information, and a predetermined constant (constant α) to derive the actual size.

[0112] (6) The processing device according to (5), The processor varies the constant based on the position of the particular region.

[0113] (7) The processing device according to any one of (3) to (6), The processor is a processing device that acquires the first medical image data and the second medical image data, such that the distance between the position of the specific area in the first medical image data and the position of the specific area in the second medical image data is less than or equal to a threshold value.

[0114] (8) A processing device according to any one of (3) to (7), The processor further derives the actual size based on a type of the endoscope.

[0115] (9) The processing device according to (3), The processor obtains numerical data corresponding to a combination of the first size, the second size, the first information, and the second information from a predetermined data table, and derives the numerical data as the actual size.

[0116] (10) The processing device according to (9), The processor changes the data table based on the type of the endoscope.

[0117] (11) The processing device according to (9) or (10), The processor is a processing device that changes the data table based on the position of the specific region in the first medical image data and the second medical image data.

[0118] (12) A processing device according to any one of (3) to (11), A magnetic pattern is formed on the insertion portion of the endoscope, The processor is a processing device that acquires the first information and the second information from the magnetic pattern based on a magnetic field detected by a detection unit (magnetic detection unit 43 and magnetic detection unit 44) arranged outside the body of the subject into which the endoscope is inserted.

[0119] (13) The processing device according to (12), The processor acquires the first medical image data and the second medical image data, such that a distance between an imaging position of the first medical image data and an imaging position of the second medical image data is equal to or greater than a threshold value.

[0120] (14) A processing device according to any one of (3) to (13), The processor is a processing device that, when the first medical image data and the second medical image data contain multiple specific regions, derives the sizes of the relatively larger ones as the first size and the second size.

[0121] (15) An endoscope apparatus (endoscope apparatus 100) comprising the processing device according to any one of (3) to (13) and the endoscope.

[0122] (16) The endoscope apparatus according to (15), A detection unit (magnetic detection unit 43 and magnetic detection unit 44) is provided on a moving path of the endoscope, The insertion section of the endoscope has a member (tubular member 17) including a metal with a magnetic pattern integrally formed thereon, The detection unit detects a magnetic field from the member, The processor acquires the first information and the second information based on the magnetic field detected by the detection unit.

[0123] (17) The endoscope apparatus according to (16), The insertion section of the endoscope device includes a flexible section of the endoscope.

[0124] (18) The endoscope apparatus according to (17), The soft portion includes an insulating tubular member (skin layer 18), a tubular first member (first member 14) containing a metal and coated on the tubular member, and a tubular second member (second member 15) containing a metal and inserted into the first member, The member of the endoscope device includes at least one of the first member and the second member.

[0125] (19) The endoscope apparatus according to (18), An endoscope device, wherein at least one of the first member and the second member is made of magnetizable austenitic stainless steel.

[0126] (20) Acquire first medical image data and second medical image data including a specific region in a subject as medical image data acquired by a medical image acquisition device; Obtaining first information on an imaging position of the first medical image data and second information on an imaging position of the second medical image data; A processing method for deriving an actual size of the specific region based on the first medical image data, the second medical image data, the first information, and the second information.

[0127] (twenty one) Acquire first medical image data and second medical image data including a specific region in a subject as medical image data acquired by a medical image acquisition device; Obtaining first information on an imaging position of the first medical image data and second information on an imaging position of the second medical image data; A processing program that causes a processor to execute a step of deriving an actual size of the specific region based on the first medical image data, the second medical image data, the first information, and the second information. [Explanation of symbols]

[0128] 1 Endoscope MA,MA1,MA2 Magnetic pole part 4P processor 4 Processor Unit 5 Light source device 6 Input section 7 Display device 8 Expansion Unit 8P processor 10A Soft part 10B Curved section 10C Tip 10 Insertion section 11 Control section 12 Angle knob 13A, 13B Connector part 13 Universal Code 14 First member 15a metal strip 15 Second member 16A, 16B Base 17N positive electrode area 17S negative electrode area 17 Tubular members 18A Inner resin layer 18B Outer resin layer 18 Integumentary layer 19 Coating layer 40 Detection Unit 42 Case 42A Main unit 42B Lid 42a Flat plate part 42b Side wall part 42c inner wall 41A,41B,41 Through hole 43,44 Magnetic detection unit 45 Communication chips 46 Storage battery 47 Receiving coil 50A anus 53 Rectum 54 Sigmoid colon 55 Descending colon 56 Transverse colon 57 Ascending colon 58 Ileocecal region 50 subjects 100 Endoscopic device 200 Endoscope System 300 Magnetic Field Generator PO1, PO2 position

Claims

1. A processor is provided. The processor, Acquire first medical image data and second medical image data including a specific region in a subject as medical image data acquired by a medical image acquisition device; Obtaining first information on an imaging position of the first medical image data and second information on an imaging position of the second medical image data; A processing device that derives an actual size of the specific region based on the first medical image data, the second medical image data, the first information, and the second information.

2. 2. The processing device according to claim 1, The processor, Deriving a first size of the specific region in the first medical image data; Deriving a second size of the specific region in the second medical image data; A processing device that derives the actual size based on the first size, the second size, the first information, and the second information.

3. 3. The processing device according to claim 2, The medical image acquisition device is an endoscope.

4. 4. The processing device according to claim 3, The processor further derives the actual size based on positions of the specific region in the first medical image data and the second medical image data.

5. 5. The processing device according to claim 4, The processing device wherein the processor performs a calculation using the first size, the second size, the first information, the second information, and a predetermined constant to derive the actual size.

6. 6. The processing device according to claim 5, The processor varies the constant based on the position of the particular region.

7. 7. The processing device according to claim 3, further comprising: The processor acquires the first medical image data and the second medical image data such that the distance between the position of the specific area in the first medical image data and the position of the specific area in the second medical image data is less than or equal to a threshold value.

8. 7. The processing device according to claim 3, further comprising: The processor further derives the actual size based on a type of the endoscope.

9. 4. The processing device according to claim 3, The processor obtains numerical data corresponding to a combination of the first size, the second size, the first information, and the second information from a predetermined data table, and derives the numerical data as the actual size.

10. 10. The processing device according to claim 9, The processor changes the data table based on the type of the endoscope.

11. 11. The processing device according to claim 9 or 10, The processor is a processing device that changes the data table based on the position of the specific region in the first medical image data and the second medical image data.

12. 7. The processing device according to claim 3, further comprising: A magnetic pattern is formed on the insertion section of the endoscope, The processor acquires the first information and the second information from the magnetic pattern based on a magnetic field detected by a detection unit arranged outside the body of a subject into which the endoscope is inserted.

13. 13. The processing device of claim 12, The processor acquires the first medical image data and the second medical image data such that a distance between an imaging position of the first medical image data and an imaging position of the second medical image data is equal to or greater than a threshold value.

14. 7. The processing device according to claim 3, further comprising: A processing device in which, when the first medical image data and the second medical image data contain multiple specific regions, the processor derives the sizes of the relatively larger of the specific regions as the first size and the second size.

15. An endoscope apparatus comprising: the processing device according to claim 3 ; and the endoscope.

16. The endoscope apparatus according to claim 15, A detection unit is provided in a moving path of the endoscope, the insertion section of the endoscope has a member including a metal on which a magnetic pattern is integrally formed, The detection unit detects a magnetic field from the member, An endoscope apparatus in which the processor acquires the first information and the second information based on a magnetic field detected by the detection unit.

17. The endoscope apparatus according to claim 16, The insertion section of the endoscope device includes a flexible section of the endoscope.

18. The endoscope apparatus according to claim 17, the soft section includes an insulating tubular member, a tubular first member containing a metal and coated on the tubular member, and a tubular second member containing a metal and inserted into the first member; The member includes at least one of the first member and the second member.

19. 20. The endoscope apparatus according to claim 18, At least one of the first member and the second member is made of magnetizable austenitic stainless steel.

20. Acquire first medical image data and second medical image data including a specific region in a subject as medical image data acquired by a medical image acquisition device; Obtaining first information on an imaging position of the first medical image data and second information on an imaging position of the second medical image data; A processing method for deriving an actual size of the specific region based on the first medical image data, the second medical image data, the first information, and the second information.

21. Acquire first medical image data and second medical image data including a specific region in a subject as medical image data acquired by a medical image acquisition device; Obtaining first information on an imaging position of the first medical image data and second information on an imaging position of the second medical image data; A processing program that causes a processor to execute a step of deriving an actual size of the specific region based on the first medical image data, the second medical image data, the first information, and the second information.

Images