Intrabody cavity observation system, medical instrument, control device, information acquisition method and program

Abstract

To reduce a risk of erroneous contact between treatment equipment and a body tissue.SOLUTION: An intracavity observation system 1 includes a trocar 10 as medical equipment and a control device 30. The trocar 10 includes a long-sized insertion part 11 inserted into the intracavity, in which treatment equipment 3 can move forward and backward in a longitudinal direction of the insertion part 11 from the tip part 11a, a camera part 17 provided in the insertion part 11 capable of imaging the treatment equipment 3 protruding from the tip part 11a, and a sensor 17 provided in the vicinity of the camera part 17 for acquiring first information on a distance to a measurement object 2 existing in the longitudinal direction. The control device 30 includes a control part 33. The control part 33 acquires an image captured by the camera part 13 and the first information, and acquires second information on a distance from the tip part 11a to the tip of the treatment equipment 3 on the basis of the captured image. The control part 33 acquires third information on a distance from the tip of the treatment equipment 3 to the measurement object 2 on the basis of the first information and the second information.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to a body cavity observation system, a medical instrument, a control device, an information acquisition method, and a program. [Background technology]

[0002] In the medical field, laparoscopic surgery, thoracoscopic surgery, and other types of minimally invasive surgical procedures that do not require abdominal incision are known. In laparoscopic surgery, an endoscope, for example, is used to obtain a visual field inside a body cavity such as the abdominal cavity or thoracic cavity. Furthermore, in laparoscopic surgery, treatment tools such as forceps, an electric scalpel, and a stapler, as well as trocars, which are insertion aids for inserting treatment tools into the body cavity, are used.

[0003] In laparoscopic surgery, the field of view of the treatment target area is provided by, for example, an image captured by an endoscope (see, for example, Patent Document 1). Therefore, in laparoscopic surgery, the field of view is significantly limited compared to open surgery, which allows for observation of the treatment target area with the naked eye. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6043016 Summary of the Invention [Problem to be solved by the invention]

[0005] In the above-mentioned laparoscopic surgery, it is desirable to reduce the risk of accidental contact between a treatment tool and tissue inside the body.

[0006] An object of the present disclosure is to provide an intracavity observation system, a medical instrument, a control device, an information acquisition method, and a program that can reduce the risk of accidental contact between a treatment tool and tissue inside the body. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems, a body cavity observation system according to a first aspect is a body cavity observation system comprising a medical instrument and a control device that acquires information from the medical instrument, wherein the medical instrument is a long insertion section that is inserted into a body cavity, and a treatment instrument can be moved back and forth in the longitudinal direction of the insertion section from its tip, a camera section that is attached to the insertion section and is capable of capturing images of the treatment instrument protruding from the tip, and a sensor that is attached near the camera section and acquires first information regarding the distance to a measurement object existing in the longitudinal direction, and the control device comprises a control unit that acquires an image captured by the camera unit and the first information, acquires second information regarding the distance from the tip to the tip of the treatment instrument based on the captured image, and acquires third information regarding the distance from the tip of the treatment instrument to the measurement object based on the first information and the second information.

[0008] Furthermore, a medical instrument according to a second aspect includes an elongated insertion section to be inserted into a body cavity, the insertion section having a tip from which a treatment tool can be moved back and forth in the longitudinal direction of the insertion section, a camera section provided in the insertion section and capable of capturing an image of the treatment tool protruding from the tip, and a sensor provided near the camera section and acquiring first information regarding the distance to a measurement object existing in the longitudinal direction.

[0009] Furthermore, a control device according to a third aspect is a control device that acquires information from a medical instrument having a long insertion section that is inserted into a body cavity, the insertion section having a tip from which a treatment tool can be moved back and forth in the longitudinal direction of the insertion section, and includes a control unit that acquires an image of the treatment tool protruding from the tip from a camera unit provided in the insertion section, acquires first information regarding the distance to a measurement object existing in the longitudinal direction from a sensor provided near the camera unit, acquires second information regarding the distance from the tip to the tip of the treatment tool based on the image, and acquires third information regarding the distance from the tip of the treatment tool to the measurement object based on the first information and the second information.

[0010] Furthermore, an information acquisition method according to a fourth aspect is an information acquisition method for acquiring information from a medical instrument having a long insertion portion that is inserted into a body cavity, the insertion portion having a tip portion from which a treatment tool can be moved forward and backward in the longitudinal direction of the insertion portion, and includes the steps of: a step in which a camera portion provided in the insertion portion images the treatment tool protruding from the tip portion; a step in which a sensor provided near the camera portion acquires first information regarding the distance to a measurement object existing in the longitudinal direction; a step in which, based on the image captured by the camera portion, second information regarding the distance from the tip portion to the tip of the treatment tool; and a step in which, based on the first information and the second information, acquires third information regarding the distance from the tip of the treatment tool to the measurement object.

[0011] Furthermore, a program according to a fifth aspect causes a computer of a control device that acquires information from a medical instrument having a long insertion portion that is inserted into a body cavity, the insertion portion having a tip portion from which a treatment tool can be moved back and forth in the longitudinal direction of the insertion portion, to execute the following processes: acquiring an image of the treatment tool protruding from the tip portion from a camera portion provided in the insertion portion; acquiring first information regarding the distance to a measurement object existing in the longitudinal direction from a sensor provided near the camera portion; acquiring second information regarding the distance from the tip portion to the tip of the treatment tool based on the acquired image; and acquiring third information regarding the distance from the tip of the treatment tool to the measurement object based on the first information and the second information.

[0012] Furthermore, a body cavity observation system according to a sixth aspect is a body cavity observation system comprising a medical instrument and a control device that acquires information from the medical instrument, wherein the medical instrument is a long insertion section that is inserted into a body cavity, the insertion section having a tip from which a treatment instrument can be moved back and forth in the longitudinal direction of the insertion section, a sensor that is provided in the insertion section and acquires first information regarding the distance to a measurement object existing in the longitudinal direction, and an information acquisition unit that acquires second information regarding the distance from the tip of the insertion section to the tip of the treatment instrument, and the control device comprises a control unit that acquires the first information and the second information, and acquires third information regarding the distance from the tip of the treatment instrument to the measurement object based on the first information and the second information. [Effects of the Invention]

[0013] The intracavity observation system, medical instrument, control device, information acquisition method, and program according to the present disclosure can reduce the risk of accidental contact between a treatment tool and tissue inside the body. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a diagram illustrating a configuration example of an intra-body cavity observation system according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a diagram showing an example of the configuration of the trocar shown in FIG. 1, showing a state in which the camera unit is in a retracted position. [Figure 3] 3 is a diagram showing a state in which a trocar shaft is attached to the trocar shown in FIG. 2.

[0023] FIG. [Figure 4] 3 is a diagram showing a state in which the camera unit shown in FIG. 2 is in the deployed position. [Figure 5] FIG. 4 is a diagram showing a state in which the camera unit shown in FIG. 3 is in the deployed position. [Figure 6] FIG. 3 is an enlarged view of the tip of the trocar shown in FIG. 2. [Figure 7] FIG. 2 is a diagram illustrating an example of the configuration of a control device illustrated in FIG. [Figure 8] 8 is a diagram for explaining measurement of the distance from the tip of the treatment tool to the measurement object by the control unit shown in FIG. 7. FIG. [Figure 9] FIG. 2 is a diagram schematically illustrating an image captured by a camera unit. [Figure 10A] 8 is a diagram for explaining an example of measurement of the distance from the tip of the insertion portion to the tip of the treatment tool by the control unit shown in FIG. 7. FIG. [Figure 10B] 8 is a diagram for explaining another example of measurement of the distance from the tip of the insertion portion to the tip of the treatment tool by the control unit shown in FIG. 7. FIG. [Figure 11] FIG. 10 is a diagram illustrating another configuration example of the body cavity observation system according to an embodiment of the present disclosure. [Figure 12] 2 is a flowchart showing an example of the operation of the body cavity observation system shown in FIG. [Figure 13] FIG. 10 is a diagram illustrating yet another configuration example of the body cavity observation system according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the drawings, the same reference numerals indicate the same or equivalent components.

[0016] FIG. 1 is a diagram illustrating an example configuration of an intracavity observation system 1 according to an embodiment of the present disclosure. In endoscopic surgery, it is preferable to minimize blind spots in the field of view. Furthermore, the surgeon may become immersed in the surgical field and lose consideration of blind spots. Therefore, there is a need for technology that reduces the risk of accidental contact between the tip of a treatment tool and internal tissue during operations using a treatment tool in endoscopic surgery, such as inserting and removing forceps, which is an operation frequently performed in a blind spot. The intracavity observation system 1 according to this embodiment aims to reduce the risk of accidental contact between a treatment tool and internal tissue by measuring the distance between the tip of the treatment tool and the measurement target.

[0017] As shown in FIG. 1, the body cavity observation system 1 according to this embodiment includes a trocar 10 as a medical instrument, a warning device 20, and a control device 30.

[0018] The trocar 10 is a medical instrument used as an insertion port for inserting treatment instruments such as forceps, an electric scalpel, and a stapler into a patient's body cavity during laparoscopic surgery, thoracoscopic surgery, and other endoscopic procedures. In endoscopic surgery, for example, an incision is made in the patient's abdomen, and the trocar 10 is inserted into the incision and fixed in place. As will be described later, the trocar 10 has an insertion passage through which treatment instruments can be inserted, and the treatment instruments are inserted into the patient's body cavity through the insertion passage of the trocar 10.

[0019] FIG. 2 is a diagram showing an example of the configuration of the trocar 10. As shown in FIG.

[0020] As shown in FIG. 2, the trocar 10 includes an insertion section 11, a head section 12, and a camera section 13.

[0021] The insertion section 11 is a long cylindrical member. The insertion section 11 is inserted into the patient's body through an incision made by cutting open the patient's abdomen or the like. The insertion section 11 has an insertion passage 14 extending in the longitudinal direction (axial direction) of the insertion section 11, through which a treatment tool or the like can be inserted. A head section 12 is provided on the base end side of the insertion section 11. A camera section 13 is provided on the tip side of the insertion section 11.

[0022] The head portion 12 is a cylindrical member having a larger diameter than the insertion portion 11. For example, in laparoscopic surgery, a pneumoperitoneum procedure is performed in which carbon dioxide gas is injected into the abdominal cavity through the trocar 10 to expand the abdominal cavity. The head portion 12 houses, for example, an airtight structure unit that prevents gas leakage from the abdominal cavity to the outside of the body. The head portion 12 also houses, for example, a connector for connecting a communication cable (not shown) for electrical connection with the control device 30. Images captured by the camera unit 13 (described later) and the like are transmitted to the control device 30 via the connector. An insertion passage 14 passes through the head portion 12. Therefore, a treatment tool and the like can be inserted into the insertion passage 14 from the base end side of the head portion 12.

[0023] When the insertion section 11 is inserted into a patient's body cavity, a trocar shaft 15 is attached to the trocar 10 as shown in FIG. 3. The trocar shaft 15 is inserted into the trocar 10 from the proximal end of the insertion passage 14 and attached. When the trocar shaft 15 is attached to the trocar 10, a puncture section 15a provided at the distal end of the trocar shaft 15 protrudes from the distal end 11a of the insertion section 11. As shown in FIG. 3, the puncture section 15a has a tapered shape in which the outer diameter around the axis of the insertion section 11 is smallest at the distal end and gradually increases toward the proximal end. In the example shown in FIG. 3, the shape of the puncture section 15a is a bullet shape, in which the outline of the outer periphery is curved in a cross section cut along the axial direction of the insertion section 11. The shape of the puncture section 15a may be, for example, a cone shape, in which the outline of the outer periphery is straight in a cross section cut along the axial direction of the insertion section 11. When inserting the trocar 10 into a body cavity, the trocar 10 is inserted into the patient's incision from the puncturing portion 15a. The incision is widened by the puncturing portion 15a, and the insertion portion 11 behind the puncturing portion 15a is inserted into the widened incision.

[0024] After the insertion section 11 is inserted into the patient's body cavity and the trocar 10 is fixed, the trocar shaft 15 is removed from the trocar 10. After the trocar shaft 15 is removed from the trocar 10, a treatment tool is inserted into the insertion passage 14. The treatment tool inserted into the insertion passage 14 protrudes from the tip end 11a of the insertion section 11 and is inserted into the body cavity. The treatment tool inserted into the insertion passage 14 can be moved forward and backward in the longitudinal direction of the insertion section 11 from the tip end 11a of the insertion section 11 by operation by the surgeon, etc.

[0025] The camera unit 13 is disposed in the insertion section 11 so as to be able to capture images of a treatment tool protruding from the distal end 11a of the insertion section 11. For example, as shown in FIG. 2, the camera unit 13 is provided near the distal end 11a of the insertion section 11. The camera unit 13 is displaceable between a stored position where it is stored inside the cylindrical insertion section 11 as shown in FIG. 2 and a deployed position where it is deployed in a direction protruding from the outer circumferential surface of the cylindrical insertion section 11 as shown in FIGS. 4 and 5. In the deployed position, the camera unit 13 is disposed so that the photographing lens faces the distal end of the insertion section 11 so as to be able to capture images of a treatment tool protruding from the distal end 11a of the insertion section 11. Note that FIG. 4 illustrates a trocar 10 without a trocar shaft 15 attached, with the camera unit 13 in the deployed position. Also, FIG. 5 illustrates a trocar 10 with a trocar shaft 15 attached, with the camera unit 13 in the deployed position.

[0026] The camera unit 13 is held in the stored position until the insertion of the insertion unit 11 into the body cavity is completed, and is deployed to the deployed position once the insertion of the insertion unit 11 into the body cavity is completed. Therefore, the camera unit 13 does not interfere with the insertion of the insertion unit 11 into the body cavity, and after the insertion of the insertion unit 11 into the body cavity, the camera unit 13 can capture an image of the treatment tool protruding from the tip end 11a of the insertion unit 11.

[0027] FIG. 6 is an enlarged view of the tip of the insertion section 11. As shown in FIG.

[0028] As described above, the camera unit 13 is displaceable between a storage position (FIGS. 2 and 3) and a deployed position (FIGS. 4 and 5). For example, as shown in FIG. 6, the camera unit 13 is provided so as to be rotatable between the storage position and the deployed position, with the base end side as a fulcrum. Such a configuration can be realized, for example, by configuring the insertion section 11 with an inner tube and an outer tube provided outside the inner tube and slidable in the axial direction relative to the inner tube. Specifically, the camera unit 13 is attached to the inner tube of the insertion section 11 by a pivot pin so as to be rotatable between the storage position and the deployed position. As shown in FIG. 6, a spring 16 is attached to the camera unit 13 from the base end side. The camera unit 13 is biased to the deployed position by the spring 16. A recess is provided in the inner tube of the insertion section 11 to accommodate the spring 16. Therefore, the spring 16 can be attached to the camera unit 13 without protruding from the outer diameter of the inner tube of the insertion section 11. The outer tube of the insertion section 11 presses the camera section 13 in the radial direction while the inner tube is inserted, and holds the camera section 13 in the storage position.

[0029] When inserting insertion section 11 into a body cavity, the outer tube of insertion section 11 is fixed to the inner tube so as to hold camera section 13 in the stored position, and when insertion of insertion section 11 into the body cavity is completed, sliding the outer tube releases pressure on camera section 13. When the pressure from the outer tube of insertion section 11 is released, camera section 13 can be deployed to the deployed position by the biasing force of spring 16.

[0030] As shown in Fig. 6, the trocar 10 according to this embodiment further includes a sensor 17. The sensor 17 is provided near the camera unit 13. The sensor 17 detects a distance D to a measurement target (for example, tissue inside the body) in the longitudinal direction of the insertion portion 11. T The sensor 17 is, for example, an optical distance sensor. In this case, the sensor 17 determines the distance D to the measurement object based on the time it takes from irradiating light onto the measurement object to receiving the light reflected from the measurement object. T The TOF (Time of Flight) method measures the distance D T The first information about the distance D TThe method for measuring is not limited to the above-mentioned method, and any method can be used.

[0031] 1, the warning device 20, under the control of the control device 30, issues a predetermined warning to, for example, a surgeon performing a procedure using the trocar 10. The warning device 20 issues the warning by, for example, emitting a warning sound, vibrating a device carried by the surgeon, or displaying a warning screen on a display device. The warning device 20 itself may be the display device.

[0032] The control device 30 performs a predetermined process according to the distance from the tip of the treatment tool protruding from the distal end 11a of the insertion section 11 to the measurement target. The control device 30 may be a dedicated computer used in the body cavity observation system 1, or may be a general-purpose computer. If the control device 30 is a general-purpose computer, it may be, for example, a tablet terminal, a smartphone, a notebook PC (Personal Computer), or a desktop PC.

[0033] FIG. 7 is a diagram illustrating an example of the configuration of the control device 30. As shown in FIG.

[0034] As shown in FIG. 7, the control device 30 includes a communication unit 31, a storage unit 32, and a control unit 33.

[0035] The communication unit 31 includes at least one communication interface. The communication interface is, for example, a LAN (Local Area Network) interface or a Bluetooth (registered trademark) interface. The communication unit 31 can communicate with the trocar 10 and the warning device 20 via a network or directly. The communication unit 31 acquires images captured by the camera unit 13. The communication unit 31 also acquires first information from the sensor 17.

[0036] The storage unit 32 may be, for example, a semiconductor memory, a magnetic memory, or an optical memory, but is not limited to these. The storage unit 32 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 32 stores any information used in the operation of the control device 30. For example, the storage unit 32 may store system programs, application programs, and various information received by the communication unit 31. The information stored in the storage unit 32 may be updateable, for example, using information received via the communication unit 31. A portion of the storage unit 32 may be installed external to the control device 30. In this case, the externally installed portion of the storage unit 32 may be connected to the control device 30 via any interface.

[0037] The control unit 33 includes at least one processor, at least one dedicated circuit, or a combination of these. The processor is a general-purpose processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), or a dedicated processor specialized for a specific process. The dedicated circuit is, for example, an FPGA (Field-Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit). The control unit 33 controls each part of the control device 30 and executes processes related to the operation of the control device 30.

[0038] The control unit 33 acquires a captured image from the camera unit 13 of the trocar 10 via the communication unit 31. The control unit 33 also acquires first information from the sensor 17 of the trocar 10 via the communication unit 31. Based on the acquired captured image, the control unit 33 calculates a distance D from the tip 11a of the insertion unit 11 to the tip of the treatment tool protruding from the tip 11a. F The control unit 33 obtains second information about the distance D from the tip of the treatment tool to the measurement object based on the first information and the second information. N Obtain third information about.

[0039] Distance D by the control unit 33 NMeasurement of the above will be described with reference to Figs. 8 and 9. Fig. 8 is a diagram showing a state in which the treatment tool 3 protrudes from the tip 11a of the insertion section 11 toward the measurement target 2 (for example, tissue inside the body) present in the longitudinal direction of the insertion section 11. Fig. 9 is a diagram schematically showing an image captured by the camera section 13 in the state shown in Fig. 8. For convenience of explanation, Fig. 8 exaggerates the size, thickness, etc. of the camera section 13 and the sensor 17 relative to the insertion section 11.

[0040] As described above, the sensor 17 is positioned at a distance D T The sensor 17 acquires the first information by, for example, a TOF method.

[0041] The camera unit 13 can capture an image of the treatment tool 3 protruding from the tip 11a of the insertion unit 11 in the longitudinal direction of the insertion unit 11. Therefore, the image captured by the camera unit 13 includes the treatment tool 3 extending toward the measurement target 2, as shown in FIG. 9. The control unit 33 analyzes the image captured by the camera unit 13 to determine the distance D from the tip 11a of the insertion unit 11 to the tip of the treatment tool protruding from the tip 11a. F The positional relationship between the camera unit 13 attached to the trocar 10 and the treatment tool 3 protruding from the distal end 11a is fixed. Based on this positional relationship, the control unit 33 analyzes the image captured by the camera unit 13 and calculates the distance D F Calculate the distance D F Obtain second information about.

[0042] The control unit 33 calculates the distance D from the tip of the treatment tool 3 to the measurement object 2 based on the first information and the second information. N As described above, the sensor 17 is provided in the vicinity of the camera unit 13. In this case, the control unit 33 obtains the third information regarding the distance D T Distance D from T By pulling the N Calculate the distance D N Third information regarding the

[0043] By providing a camera unit 13 on the trocar 10, it is possible to constantly observe the tip of the treatment tool 3 inserted into the body cavity. However, it is difficult to visually grasp the distance between the tip of the treatment tool 3 and the tissue nearby, and it is difficult to prevent the treatment tool 3 from accidentally coming into contact with the tissue inside the body. According to the present disclosure, a sensor 17 provided near the camera unit 13 detects the distance D to the measurement target 2 (for example, tissue inside the body) present in the longitudinal direction of the insertion part 11. T Furthermore, the control unit 33 acquires, from the captured image of the camera unit 13, the distance D from the distal end portion 11a of the insertion unit 11 to the distal end of the treatment tool 3 protruding from the distal end portion 11a. F Then, the control unit 33 obtains the second information about the distance D from the tip of the treatment tool 3 to the measurement object 2 based on the first information and the second information. N Obtain third information about.

[0044] Thus, the distance D T First information about distance D F Based on the second information regarding the distance D from the tip of the treatment tool 3 to the measurement object 2, N By calculating the distance D N Therefore, according to the present disclosure, it is possible to reduce the risk of accidental contact between the treatment tool 3 and tissue inside the body.

[0045] Distance D F The calculation method of distance D is not limited to the above-described method based on the positional relationship between the camera unit 13 and the treatment tool 3 protruding from the distal end 11a. For example, if a periodic structure 3a (FIG. 10A) such as a scale or a periodic pattern 3b (FIG. 10B) consisting of multiple colors is provided from the distal end of the treatment tool 3 toward the proximal end, the control unit 33 calculates the distance D using the periodic structure 3a or the pattern 3b. N 10B, different colors are indicated by hatching. In this case, the control unit 33 calculates the distance D based on the images captured continuously by the camera unit 13 when the treatment tool 3 moves. FFor example, the control unit 33 may obtain second information regarding the distance D based on the number of times that changes in pixel information based on the periodic structure 3a or the periodic pattern 3b occur in a specific region of the image captured by the camera unit 13 (for example, a region near the tip 11a of the insertion unit 11). F Second information regarding the

[0046] 1 again, the control unit 33 performs processing according to the acquired third information. Specifically, the control unit 33 issues a warning to the surgeon or the like by the warning device 20 according to the acquired third information. For example, the control unit 33 may N If the value is equal to or less than a predetermined threshold, a warning device 20 is used to warn the operator or the like.

[0047] 11, the body cavity observation system 1 according to the present disclosure may further include an endoscope 40 as a second medical instrument. The endoscope 40 is inserted into a body cavity using the trocar 10 according to the present disclosure or a general trocar without a camera unit 13, and captures images of the inside of the body cavity. The endoscope 40 is particularly positioned to capture images of the area to be treated by laparoscopic surgery and its surroundings.

[0048] The control unit 33 may control a predetermined process (a warning to the operator, etc.) by the warning device 20 depending on whether or not at least one of the insertion unit 11 and the treatment tool 3 is included in the captured image of the endoscope 40. For example, when at least one of the insertion unit 11 and the treatment tool 3 is included in the captured image of the endoscope 40, the control unit 33 may determine the distance D from the tip of the treatment tool 3 to the measurement object 2. N Even if the value is equal to or less than the predetermined threshold, the warning device 20 does not issue a warning.

[0049] As described above, the endoscope 40 is positioned so as to capture an image of the site to be treated and its surroundings in laparoscopic surgery. When at least one of the insertion section 11 and the treatment tool 3 is included in the captured image of the endoscope 40, it is considered that the insertion section 11 or the treatment tool 3 is approaching the vicinity of the site to be treated, that is, the insertion section 11 or the treatment tool 3 is approaching the tissue of the living body due to a valid operation. In such a case, since a warning is not necessary, the control section 33 determines that the distance D N is equal to or less than a predetermined threshold, no warning is issued. In this way, unnecessary warnings can be prevented. In addition, in this case, the measurement object 2 is the part to be treated. Therefore, the distance D N can be obtained as the distance between the measurement object 2, which is the part to be treated, and the treatment tool 3. Therefore, the distance D N By utilizing this, the treatment tool 3 can be brought closer to the measurement object 2 more safely than before.

[0050] Next, the operation of the body cavity observation system 1 according to this embodiment will be described.

[0051] FIG. 12 is a flowchart showing an example of the operation of the body cavity observation system 1 according to this embodiment, and is a diagram for explaining the information acquisition method by the body cavity observation system 1.

[0052] As described above, when the insertion section 11 is inserted into a body cavity, the camera section 13 is deployed from the holding position to the deployed position. Upon deployment to the deployed position or in response to a predetermined operation, the camera section 13 starts capturing images. When the treatment tool 3 protrudes from the distal end 11a of the insertion section 11, an image of the treatment tool 3 is captured by the camera section 13 (step S11).

[0053] When the insertion section 11 is inserted into the body cavity, the sensor 17 detects the distance D to the measurement object 2 in the longitudinal direction of the insertion section 11. T (Step S12) As described above, the sensor 17 acquires the first information by, for example, the TOF method.

[0054] The control unit 33 acquires the captured image from the camera unit 13 and acquires the first information from the sensor 17 via the communication unit 31. Based on the acquired captured image, the control unit 33 calculates the distance D from the distal end 11a of the insertion unit 11 to the distal end of the treatment tool 3. F As described above, the control unit 33 acquires the second information based on the positional relationship between the camera unit 13 and the treatment tool 3, for example (step S13).

[0055] The control unit 33 calculates the distance D from the tip of the treatment tool 3 to the measurement object 2 based on the first information and the second information. N As described with reference to FIG. 8, the control unit 33 acquires the third information regarding the distance D T Distance D shown in the second information F By subtracting the distance D N Third information regarding the

[0056] As described above, the body cavity observation system 1 according to this embodiment includes a trocar 10 as a medical instrument and a control device 30. The trocar 10 includes a long insertion section 11 to be inserted into a body cavity, a camera section 13, and a sensor 17. The insertion section 11 allows the treatment tool 3 to move back and forth from the tip section 11a in the longitudinal direction of the insertion section 11. The camera section 13 is provided in the insertion section 11 and is capable of capturing an image of the treatment tool 3 protruding from the tip section 11a. The sensor 17 is provided near the camera section 13 and is configured to capture an image of the treatment tool 3 protruding from the tip section 11a. The sensor 17 is configured to capture an image of the distance D to the measurement target 2 located in the longitudinal direction of the insertion section 11. T The control device 30 includes a control unit 33. The control unit 33 acquires the captured image of the camera unit 13 and the first information. The control unit 33 determines the distance D from the distal end 11a of the insertion unit 11 to the distal end of the treatment tool 3 based on the captured image. F The control unit 33 acquires second information regarding the distance D from the tip of the treatment tool 3 to the measurement object 2 based on the first information and the second information. N Obtain third information about.

[0057] Thus, the distance DT First information about distance D F Based on the second information regarding the distance D from the tip of the treatment tool 3 to the measurement object 2, N By calculating the distance D N Therefore, according to the present disclosure, it is possible to reduce the risk of accidental contact between the treatment tool and tissue inside the body.

[0058] In the above-described embodiment, the treatment tool 3 is inserted into the body through the insertion passage 14 of the trocar 10, but the present disclosure is not limited to this. For example, the treatment tool 3 may be attached to the distal end 11a of the insertion section 11 and be extendable and contractible in the longitudinal direction of the insertion section 11.

[0059] In addition, in the above-described embodiment, the trocar 10 has been used as an example of the medical instrument, but the present disclosure is not limited to this. For example, the medical instrument may have a configuration that allows at least a portion of the medical instrument to be inserted into a body cavity, and the portion inserted into the body cavity may include a camera unit, a sensor, and a treatment tool that can extend and retract in the direction of the sensor's measurement target.

[0060] In the above-described embodiment, the distance D from the distal end 11a of the insertion section 11 to the distal end of the treatment tool 3 is calculated based on the captured image of the camera section 13. F In the above description, the second information is acquired from the trocar 10. However, the present disclosure is not limited to this example. Instead of or in addition to the camera unit 13, the trocar 10 may further include an information acquisition unit 18 as shown in FIG.

[0061] The information acquisition unit 18 acquires the distance D from the distal end 11a of the insertion unit 11 to the distal end of the treatment tool 3. F For example, if the trocar 10 is provided with a roller that rotates in accordance with the advancement and retreat of the treatment tool 3, the information acquisition unit 18 counts the number of rotations of the roller to obtain the second information about the distance D FFurthermore, for example, if the trocar is provided with an optical sensor that detects reflected light of light irradiated onto the treatment tool 3, the information acquiring unit 18 detects the forward and backward movement of the treatment tool 3 from the detection result of the optical sensor, thereby acquiring second information regarding the distance D F Obtain second information about.

[0062] When the trocar 10 includes the information acquisition unit 18, the control unit 33 of the control device 30 calculates the distance D from the tip of the treatment tool 3 to the measurement target 2 based on the first information acquired by the sensor 17 and the second information acquired by the information acquisition unit 18. N Obtain third information about.

[0063] Although the embodiments of the present disclosure have been described based on the drawings and examples, it should be noted that those skilled in the art could make various modifications or alterations based on the present disclosure. Therefore, it should be noted that these modifications or alterations are included in the scope of the present disclosure. For example, the functions included in each component can be rearranged so as not to be logically inconsistent, and multiple components can be combined or divided into one.

[0064] As described above, the control device 30 can also be realized by a computer and a program. The program may be recorded on a computer-readable medium. The computer-readable medium can be used to install the program on a computer. The computer-readable medium on which the program is recorded may be a non-transitory recording medium. The non-transitory recording medium is not particularly limited, and may be, for example, a CD-ROM or a DVD-ROM. The program can also be provided via a network. [Explanation of symbols]

[0065] 1. Intracoelom observation system 2. Measurement Object 3 Treatment tools 10 Trocar (medical instrument) 11 Insertion section 11a Tip 12 Head 13 Camera Department 14 Passage 15 Trocar shaft 15a Puncture site 16 springs 17 Sensors 18 Information acquisition department 20 Warning section 30 Control device 31 Communications Department 32 Storage section 33 Control Unit 40 Endoscope (second medical device)

Claims

1. An intracoelom observation system comprising a trocar and a control device that acquires information from the trocar, The trocar includes: an elongated insertion section to be inserted into a body cavity, the insertion section having a distal end portion from which a treatment tool can be moved forward and backward in a longitudinal direction of the insertion section; a camera unit provided in the insertion portion that can capture an image of the treatment tool protruding from the distal end portion; a sensor provided in the insertion section near the camera unit, the sensor acquiring first information indicating a distance to a measurement object present in the longitudinal direction; The control device a control unit that acquires an image captured by the camera unit and the first information, acquires second information indicating a distance from the tip portion to the tip of the treatment tool based on a partial image of the treatment tool included in the captured image, and acquires third information indicating a distance from the tip of the treatment tool to the measurement object based on the first information and the second information.

2. The body cavity observation system according to claim 1, The control unit performs processing according to the acquired third information.

3. The body cavity observation system according to claim 2, further comprising an endoscope for imaging the inside of the body cavity; The control unit controls the processing depending on whether or not at least one of the insertion unit and the treatment tool is included in the captured image of the endoscope.

4. The body cavity observation system according to any one of claims 1 to 3, The insertion section has an insertion passage through which the treatment tool can be inserted, and the treatment tool is caused to protrude from the distal end section through the insertion passage.

5. A control device that acquires information from a trocar, the control device comprising: an elongated insertion section that is inserted into a body cavity, wherein a treatment tool can be moved forward and backward from a distal end of the insertion section in a longitudinal direction of the insertion section; a camera section that is provided in the insertion section and that can capture an image of the treatment tool protruding from the distal end; and a sensor that is provided in the insertion section near the camera section and that acquires first information indicating a distance to a measurement object that exists in the longitudinal direction, a control device comprising: a control unit that acquires an image captured by the camera unit, acquires the first information from the sensor, acquires second information indicating a distance from the tip portion to the tip of the treatment tool based on a partial image of the treatment tool included in the captured image, and acquires third information indicating a distance from the tip of the treatment tool to the measurement object based on the first information and the second information.

6. An information acquisition method for acquiring information from a trocar, the method comprising: an elongated insertion section to be inserted into a body cavity, wherein a treatment tool can be moved forward and backward from a distal end of the insertion section in a longitudinal direction of the insertion section; a camera section provided in the insertion section and capable of capturing an image of the treatment tool protruding from the distal end; and a sensor provided in the insertion section near the camera section, the sensor acquiring first information indicating a distance to a measurement object present in the longitudinal direction, a step of capturing an image by the camera unit; The sensor acquires the first information; acquiring second information indicating a distance from the distal end portion to the distal end of the treatment tool based on a partial image of the treatment tool included in the captured image of the camera unit; and acquiring third information indicating a distance from the tip of the treatment tool to the measurement object based on the first information and the second information.

7. a computer of a control device that acquires information from a trocar, the trocar comprising: a long insertion section that is inserted into a body cavity, the insertion section having a distal end from which a treatment tool can be moved forward and backward in a longitudinal direction of the insertion section; a camera section that is provided in the insertion section and that can capture an image of the treatment tool protruding from the distal end; and a sensor that is provided in the insertion section near the camera section and that acquires first information that indicates a distance to a measurement object that exists in the longitudinal direction. A process of acquiring an image captured by the camera unit; acquiring the first information from the sensor; A process of acquiring second information indicating a distance from the distal end portion to the distal end of the treatment tool based on a partial image of the treatment tool included in the captured image; and acquiring third information indicating a distance from the tip of the treatment tool to the measurement object based on the first information and the second information.

8. A body cavity observation system comprising a trocar and a control device that acquires information from the trocar, The trocar includes: an elongated insertion section to be inserted into a body cavity, the insertion section having a distal end portion from which a treatment tool can be moved forward and backward in a longitudinal direction of the insertion section; a sensor provided in the insertion portion that acquires first information indicating a distance to a measurement object present in the longitudinal direction; an information acquisition unit that acquires second information indicating a distance from the distal end of the insertion unit to the distal end of the treatment tool, the control device includes a control unit that acquires the first information and the second information, and acquires third information indicating a distance from the tip of the treatment tool to the measurement target based on the first information and the second information.

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