Processor device and operation method of processor device

Abstract

To provide a processor device that can perform puncturing in consideration of a degree of difficulty, and to provide an operation method of the processor device.SOLUTION: A processor device 20 of a laparoscope system 10 includes a degree-of-difficulty calculation part 40. The degree-of-difficulty calculation part 40 acquires puncturing information on a puncturing candidate position CP and a puncturing destination TG, and calculates a degree of puncturing difficulty when inserting a puncturing needle 32 from the puncturing candidate position CP to the puncturing destination TG using the acquired puncturing information. The degree of puncturing difficulty is calculated using an angle formed by a puncturing direction and a gravity center direction, a size of the puncturing destination TG, and a distance from the puncturing candidate position CP to the puncturing destination TG.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a processor device and a method for operating the processor device.

Background Art

[0002] In the medical field, there are cases where a puncture is made from the surface of the puncture site to a target (puncture tip), and procedures such as injection of a chemical solution or collection of a specimen are performed. Techniques for guiding such a puncture are also known. For example, Patent Document 1 below describes a configuration for guiding a puncture in a system using an ultrasonic endoscope, and Patent Document 2 below describes a configuration for guiding a puncture in a system using a laparoscope.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, conventionally, there has been a problem that a puncture cannot be performed considering the difficulty level. That is, even if the puncture tip is the same, it is possible to perform a puncture from different puncture positions (positions where the needle is inserted), such as from the right side or from the left side, and the difficulty level of the puncture varies depending on the puncture position. However, conventionally, the difficulty level has not been considered. For this reason, there have been cases where, although a puncture with a lower difficulty level is possible, a puncture with a higher difficulty level is performed without noticing this.

[0005] The present invention has been made in view of the above background, and an object thereof is to provide a processor device and an operation method of the processor device that can perform puncture considering the difficulty level.

Means for Solving the Problems

[0006] In order to solve the above problems, the processor device of the present invention acquires puncture information regarding a puncture candidate position on the surface of a puncture target site and a puncture destination inside the puncture target site, and calculates the puncture difficulty from the puncture candidate position to the puncture destination using the puncture information.

[0007] The puncture difficulty may be notified.

[0008] The notification may be performed by displaying the puncture candidate position and the puncture difficulty overlaid on an optical image obtained by photographing the puncture target site.

[0009] The notification may be performed by displaying the puncture candidate position and the puncture difficulty overlaid on a three-dimensional image including the puncture target site.

[0010] The puncture difficulty may be calculated for a plurality of puncture candidate positions.

[0011] The puncture information may be acquired using an ultrasonic image obtained from a reflected wave of ultrasonic waves irradiated from the surface to the inside of the puncture target site.

[0012] The puncture difficulty may be calculated using an angle formed by the gravity direction in which gravity acts and the puncture direction from the puncture candidate position to the puncture destination.

[0013] The puncture difficulty may be calculated using at least one of the distance from the puncture candidate position to the puncture destination and the size of the puncture destination.

[0014] The puncture difficulty may be calculated using information on blood vessels existing in the puncture target site.

[0015] Also, in order to solve the above problems, the method of operating the processor device of the present invention includes a step of acquiring puncture information regarding a puncture candidate position on the surface of the puncture target site and a puncture tip inside the puncture target site, and a step of calculating the puncture difficulty from the puncture candidate position to the puncture tip using the puncture information.

Advantages of the Invention

[0016] According to the present invention, it is possible to perform a puncture taking into account the difficulty level.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

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Modes for Carrying Out the Invention

[0018] Hereinafter, the case where the present invention is applied to the processor device 20 of the laparoscope system 10 shown in FIG. 1 will be described. As shown in FIG. 1, the laparoscope system 10 includes a laparoscope (rigid endoscope) 12 and an ultrasonic endoscope 14, which are connected to the processor device 20.

[0019] The laparoscope 12 is provided with an illumination light irradiation window and a light receiving window at its tip, receives the reflected light of the illumination light irradiated from the illumination light irradiation window through the light receiving window, and acquires an optical image generated using the received reflected light. The acquisition of the optical image is repeatedly executed in a predetermined cycle.

[0020] The ultrasonic endoscope 14 is provided with an ultrasonic probe 14a at its tip, and acquires an ultrasonic image generated using the reflected wave of the ultrasonic wave generated from the ultrasonic probe 14a. The acquisition of the ultrasonic image is repeatedly executed in a predetermined cycle.

[0021] The optical image obtained by the laparoscope 12 and the ultrasonic image obtained by the ultrasonic endoscope 14 are input to the processor device 20 and displayed on the display 22. As described above, the acquisition of the optical image and the ultrasonic image is repeatedly executed, and new images are sequentially input to the processor device 20. Each time a new image is input, the processor device 20 updates the display on the display 22 by displaying the newly input image on the display 22.

[0022] In the laparoscope system 10, an optical image of the surface of the puncture site 30 is acquired by the laparoscope 12, and an ultrasonic image of the inside of the puncture site 30 is acquired by the ultrasonic endoscope 14. Then, procedures such as puncturing the puncture needle 32 into the puncture target TG inside the puncture site 30 are performed by an operator (doctor) using these optical image and ultrasonic image.

[0023] As shown in FIG. 2, the ultrasonic endoscope 14 is provided with a puncture guide 14b formed in a cylindrical shape, and by performing puncture according to the puncture guide 14b (performing puncture by inserting the puncture needle 32 into the puncture guide 14b), puncture can be performed along the center line CL of the puncture guide 14b. And by performing puncture along the center line CL of the puncture guide 14b, puncture can be performed within the imaging range of the ultrasonic image 35, that is, puncture can be performed while observing the puncture needle 32 shown in the ultrasonic image 35.

[0024] Also, as shown in FIG. 2, in the present embodiment, the ultrasonic image 35 is superimposed on the optical image 37 and displayed in the optical image 37 as if the inside of the puncture target site 30 were visible through. Specifically, the processor device 20 analyzes the optical image 37 and detects the imaging range (position, angle, size, etc.) of the ultrasonic image 35 from the position and orientation of the ultrasonic endoscope 14 (ultrasonic probe 14a) shown in the optical image 37. Then, the position, angle, and size of the ultrasonic image 35 are adjusted to match the detected imaging range and superimposed on the optical image 37 and displayed on the display 22. By doing so, the relationship (position and orientation) among the puncture target site 30, the ultrasonic endoscope 14 (ultrasonic probe 14a), and the puncture needle 32 can be intuitively grasped more easily, and more appropriate puncture becomes possible.

[0025] In order to detect the position and orientation of the ultrasonic endoscope 14 (ultrasonic probe 14a) more accurately, a marker such as an AR marker may be provided on the ultrasonic endoscope 14 (ultrasonic probe 14a), and the position and orientation of the ultrasonic endoscope 14 (ultrasonic probe 14a) may be detected using the marker shown in the optical image 37. Of course, a marker may be provided on the puncture needle 32 to more accurately detect the position and orientation of the puncture needle 32. Also, a camera may be provided in the abdominal cavity and / or within the abdominal cavity separately from the laparoscope 12, and the position and orientation of not only the ultrasonic endoscope 14 (ultrasonic probe 14a) and the puncture needle 32 but also the laparoscope 12 may be detected by this camera. Of course, such a camera may be provided and a marker may be provided on the laparoscope 12 to more accurately detect the position and orientation of the laparoscope 12.

[0026] As shown in FIG. 3, the processor device 20 is provided with a difficulty calculation unit 40 and a difficulty notification unit 42. The difficulty calculation unit 40 calculates the difficulty of puncture using the ultrasonic image obtained by the ultrasonic endoscope 14. In the present embodiment, at the position and orientation of the ultrasonic endoscope 14 (ultrasonic probe 14a) when the ultrasonic image used for calculating the difficulty is acquired, the difficulty when puncture is performed according to the puncture guide 14b is calculated.

[0027] In calculating the difficulty, the difficulty calculation unit 40 specifies the puncture position (puncture candidate position) that is the target of difficulty calculation. Specifically, from the position and orientation of the ultrasonic probe 14a in the ultrasonic image used for calculating the difficulty, the puncture position (the intersection of the center line CL of the puncture guide 14b and the surface of the punctured part 30) when puncture is performed according to the puncture guide 14b is specified as the puncture candidate position CP (see FIGS. 2 and 4 to 6). Then, the difficulty calculation unit 40 calculates the difficulty when the puncture needle 32 is punctured from the puncture candidate position CP to the puncture target TG. The puncture target TG is specified by the processor device 20 analyzing the ultrasonic image or by the operator marking on the ultrasonic image.

[0028] The calculation of the difficulty is performed using a predetermined calculation algorithm. In the present embodiment, the calculation algorithm is generated such that the closer the angle formed by the puncture direction (the direction from the puncture candidate position CP to the puncture target TG) and the gravity direction (the direction in which gravity acts) is to 90 degrees, the higher the calculated difficulty. Specifically, in the case of performing puncture in the manner shown in FIG. 4(A) and the case of performing puncture in the manner shown in FIG. 4(B), the latter has a calculation algorithm with a higher calculated difficulty. This is because the closer the angle formed by the puncture direction and the gravity direction is to 90 degrees, the greater the influence of gravity (such as deformation and displacement of the punctured part 30 and deformation of the puncture needle 32 due to the deformation and displacement of the punctured part 30), and the higher the difficulty of puncture.

[0029] In addition, in the present embodiment, a calculation algorithm is generated such that the smaller the size of the puncture target TG, the higher the calculated difficulty level. Specifically, in the case of performing puncture in the manner shown in FIG. 5(A) and in the case of performing puncture in the manner shown in FIG. 5(B), the latter has a calculation algorithm with a higher calculated difficulty level. This is because the smaller the size of the puncture target TG, the narrower the range of allowable deviation (deviation in puncture position and puncture angle) with respect to the ideal puncture mode (puncture position (candidate puncture position) and puncture tip), and the higher the difficulty level of puncture.

[0030] Furthermore, in the present embodiment, a calculation algorithm is generated such that the greater the distance from the candidate puncture position CP to the puncture target TG, the higher the calculated difficulty level. Specifically, in the case of performing puncture in the manner shown in FIG. 6(A) and in the case of performing puncture in the manner shown in FIG. 6(B), the latter has a calculation algorithm with a higher calculated difficulty level. This is because the greater the distance for performing puncture, not only does the range of allowable deviation with respect to the ideal puncture mode become narrower, but also the influence of gravity is more likely to be received, and the difficulty level of puncture becomes higher.

[0031] The difficulty level calculation unit 40 detects the angle formed between the puncture direction and the gravity direction, the size of the puncture target TG, and the distance from the candidate puncture position CP to the puncture target TG by analyzing the ultrasonic image, and calculates the difficulty level by substituting these values into the aforementioned calculation algorithm. In this way, the difficulty level calculation unit 40 executes a step of acquiring puncture information regarding the candidate puncture position CP and the puncture target TG, and a step of calculating the difficulty level of puncture using the puncture information.

[0032] As shown in FIG. 7, when an ultrasonic image is input from the ultrasonic endoscope 14, the difficulty calculation unit 40 calculates the above-described difficulty using the input ultrasonic image. As described above, the acquisition of the ultrasonic image is repeatedly executed in a predetermined cycle, and new ultrasonic images are sequentially input. The difficulty calculation unit 40 repeatedly executes the above-described difficulty calculation every time a new ultrasonic image is input. By doing so, the ultrasonic endoscope 14 (ultrasonic probe 14a) is scanned along the surface of the puncture target site 30, and the position and posture are changed, so that the difficulty of puncture at a plurality of puncture candidate positions CP is calculated.

[0033] Returning to FIG. 3, the difficulty notification unit 42 notifies the difficulty of puncture calculated by the difficulty calculation unit 40. As a notification method, it is conceivable to notify the difficulty by voice output from a speaker. Further, for example, as shown in FIG. 8, the difficulty may be displayed as character information. In FIG. 8, on the display screen 80 of the display 22, the difficulty (the difficulty of puncture when the puncture needle 32 is punctured according to the puncture guide 14b at the position and posture of the ultrasonic endoscope 14 (ultrasonic probe 14a) shown in the optical image 37) is displayed side by side with the optical image 37. Further, in FIG. 8, in addition to the difficulty of puncture, information (puncture angle (angle formed by the puncture direction and the gravity direction), puncture tip size (size of the puncture tip TG), puncture distance (distance from the puncture candidate position CP to the puncture tip TG)) on which the calculation of the puncture difficulty is based is also displayed.

[0034] As described above, by scanning the ultrasonic endoscope 14 (ultrasonic probe 14a) along the surface of the puncture target site 30 to change the position and orientation, the puncture difficulty at a plurality of puncture candidate positions is calculated. Therefore, as shown in FIG. 9, the puncture difficulty at each of the plurality of puncture candidate positions may be notified by superimposing and displaying it on the optical image 37. In FIG. 9, when the ultrasonic endoscope 14 (ultrasonic probe 14a) is scanned along the path indicated by the two-dot chain line, the puncture difficulty at each of the plurality of puncture candidate positions is calculated during this scanning process, and the optical image 37 is colored so that the point (puncture candidate position) with a higher puncture difficulty has a darker color, thereby notifying the puncture difficulty at each puncture candidate position.

[0035] Also, in the above-described embodiment, the configuration for calculating the puncture difficulty using the ultrasonic image obtained by the ultrasonic endoscope 14 has been described as an example, but the present invention is not limited to this. It is also possible to acquire three-dimensional images of the puncture target site 30 and the puncture tip TG by CT (Computed Tomography), MRI (Magnetic Resonance Imaging), etc. in advance (before a procedure such as surgery using the laparoscope system 10), and calculate the puncture difficulty using the three-dimensional images obtained in this way. In addition, when calculating the puncture difficulty using the three-dimensional image, it is possible to notify the puncture difficulty at each puncture candidate position by coloring the three-dimensional image so that the point (puncture candidate position) with a higher puncture difficulty has a darker color.

[0036] In the above-described embodiment, an example of calculating the puncture difficulty using three factors: the puncture angle (the angle formed by the puncture direction and the gravity direction), the puncture tip size (the size of the puncture tip TG), and the puncture distance (the distance from the puncture candidate position CP to the puncture tip TG) has been described, but the present invention is not limited to this. The puncture difficulty may be calculated using only one of the three, or a combination of two of them, without using all three. Further, in addition to these three elements, or instead of some or all of these three elements, elements other than these three elements may be used to calculate the puncture difficulty.

[0037] When calculating the difficulty level using elements other than the above three elements, for example, using information on puncture avoidance sites (sites that avoid puncturing blood vessels, etc.), the closer the puncture avoidance site is to the puncture path (the route connecting the puncture candidate position CP and the puncture target TG), and / or the larger the number of puncture avoidance sites within a predetermined distance from the puncture path, the higher the puncture difficulty level. Create a calculation algorithm. Specifically, as shown in the aspect of Fig. 10(A), when there is no puncture avoidance site near the puncture path, and as shown in the aspect of Fig. 10(B), when there is a puncture avoidance site (in this example, blood vessel 100) near the puncture path, create a calculation algorithm in which the latter is calculated to have a higher difficulty level. Then, the puncture difficulty level can be calculated using this calculation algorithm.

[0038] Also, when calculating the difficulty level using elements other than the above three elements, for example, it is conceivable to use the distance between the peritoneum 110 and the puncture candidate position CP. Specifically, as shown in the aspect of Fig. 11(A), when the distance between the peritoneum 110 and the puncture candidate position CP is relatively short, and as shown in the aspect of Fig. 11(B), when the distance between the peritoneum 110 and the puncture candidate position CP is relatively long, in the latter case, the puncture needle 32 is more likely to be affected by gravity (the puncture needle 32 is more likely to deform (bend)). Therefore, create a calculation algorithm in which the latter has a higher difficulty level. Then, the puncture difficulty level can be calculated using this calculation algorithm.

[0039] Incidentally, the distance between the peritoneum 110 and the puncture candidate position CP can be obtained, for example, by analyzing the optical image 37. It is also possible to calculate the distance by performing a pneumoperitoneum simulation using the position and orientation of the ultrasonic endoscope 14 (ultrasonic probe 14a) and the puncture needle 32 detected from the optical image 37 and the three-dimensional image obtained in advance. Furthermore, it is also possible to calculate the distance between the peritoneum 110 and the puncture candidate position CP by using a stereo matching technique with two images (parallax images) taken of a common object (the peritoneum 110 and the puncture candidate position CP) at different angles. In this case, the parallax images can be obtained not only by using a compound-eye laparoscope but also by taking multiple images with a monocular laparoscope while changing the position (angle).

[0040] In the above embodiment, an example in which the present invention is applied to the processor device 20 of the laparoscope system 10 has been described. However, the present invention may be applied to a processor device of a system other than the laparoscope system 10. Alternatively, for example, a processor device for image processing may be provided separately from the laparoscope system 10, and this processor device for image processing may be made to function as the processor device of the present invention. In this case, the optical image obtained by the laparoscope 12 and the ultrasonic image obtained by the ultrasonic endoscope 14 are input to the processor device for image processing, and the processor device for image processing is made to function as the difficulty calculation unit 40 and the difficulty notification unit 42 described above, and a configuration for calculating and notifying the difficulty may be adopted.

[0041] In the above-described embodiment, the hardware structure of the processing unit that executes various processes such as the difficulty calculation unit 40 and the difficulty notification unit 42 is various processors as described below. The various processors include a CPU (Central Processing Unit), which is a general-purpose processor that executes software (program) and functions as various processing units, and a programmable logic device (PLD) such as an FPGA (Field Programmable Gate Array), which is a processor whose circuit configuration can be changed after manufacturing, and an application-specific electric circuit, which is a processor having a circuit configuration specifically designed to execute various processes.

[0042] One processing unit may be composed of one of these various processors, or may be composed of a combination of two or more processors of the same type or different types (for example, a plurality of FPGAs, or a combination of a CPU and an FPGA). Also, a plurality of processing units may be composed of one processor. As an example of configuring a plurality of processing units with one processor, first, as represented by a computer such as a client or a server, one processor is configured by a combination of one or more CPUs and software, and this processor functions as a plurality of processing units. Second, as represented by a System On Chip (SoC), there is a form in which a processor that realizes the functions of the entire system including a plurality of processing units with one IC (Integrated Circuit) chip is used. Thus, the various processing units are configured using one or more of the above-described various processors as a hardware structure.

[0043] Furthermore, the hardware structure of these various processors is more specifically an electric circuit in a form that combines circuit elements such as semiconductor elements. Also, the hardware structure of the storage unit is a storage device such as an HDD (hard disc drive) or an SSD (solid state drive).

Explanation of Symbols

[0044] 10 Laparoscopic System 12 Laparoscope 14 Endoscopic Ultrasonograph 14a Ultrasonic Probe 14b Puncture Guide 20 Processor Device 22 Display 30 Puncture Site 32 Puncture Needle 35 Ultrasonic Image 37 Optical Image 40 Difficulty Calculation Unit 42 Difficulty Notification Unit 80 Display Screen 100 Blood Vessel 110 Peritoneum TG Puncture Target CL Center Line CP Puncture Candidate Position

Claims

1. Obtain puncture information regarding a puncture candidate position on the surface of the puncture site and a puncture target inside the puncture site, Calculate the puncture difficulty from the puncture candidate position to the puncture target using the puncture information, A processor device.

2. Notify the puncture difficulty, The processor device according to claim 1.

3. Perform the notification by displaying the puncture candidate position and the puncture difficulty superimposed on an optical image obtained by photographing the puncture site, The processor device according to claim 2.

4. Perform the notification by displaying the puncture candidate position and the puncture difficulty superimposed on a three-dimensional image including the puncture site, The processor device according to claim 2.

5. Calculate the puncture difficulty for a plurality of the puncture candidate positions, The processor device according to any one of claims 1 to 4.

6. Obtain the puncture information using an ultrasonic image obtained from a reflected wave of ultrasonic waves irradiated from the surface to the inside of the puncture site, The processor device according to any one of claims 1 to 4.

7. Calculate the puncture difficulty using the angle formed by the direction of gravity and the puncture direction from the puncture candidate position to the puncture target, The processor device according to any one of claims 1 to 4.

8. Calculate the puncture difficulty using at least one of the distance from the puncture candidate position to the puncture target and the size of the puncture target, The processor device according to claim 7.

9. Calculating the puncture difficulty using information on blood vessels present at the puncture site The processor device according to claim 8.

10. Obtaining puncture information regarding a puncture candidate position on the surface of the puncture site and a puncture target inside the puncture site Calculating the puncture difficulty from the puncture candidate position to the puncture target using the puncture information An operating method of a processor device.

Images