Endoscope control device, endoscope system, and endoscope control method

Abstract

This endoscope control device includes at least one processor having hardware. The processor acquires, at a plurality of timings, endoscope information items when the endoscope is located in an observation target region, and the processor generates comparison information related to the observation target region.

Description

Endoscope control device, endoscope system, and endoscope control method

[0001] The present invention relates to an endoscope control device, an endoscope system, and an endoscope control method that are used, for example, during colonoscopy.

[0002] Conventionally, endoscopes have been widely used in fields such as medicine and industry. Medical endoscopes used in the medical field have a function of inserting an insertion section equipped with an imaging unit into a body cavity of a subject, such as a living organism, to acquire images of an object to be observed, such as a lesion inside an organ. The images acquired in this manner are used for image diagnosis, etc., to observe or examine the lesion. Conventional medical endoscopes, for example, include colonoscopes that are suitable for colonoscopy, which mainly observe, examine, and treat the inside of the lumen of the large intestine, and are widely used.

[0003] In general, in a colonoscopy, the insertion portion of an endoscope is inserted from the anus through the rectum and colon to the vicinity of the cecum, and then endoscopic images are acquired while the insertion portion is being removed to screen for lesions, etc. If a lesion, etc. is confirmed, the lesion, etc. is then examined in detail using the endoscopic images.

[0004] Here, for example, various information (particularly, position information, status information, etc.) related to the confirmed lesion is recorded. Also, depending on the status of the confirmed lesion, various treatments may be performed on the lesion. For example, a treatment such as collecting biological tissue near the confirmed lesion for pathological diagnosis may be performed.

[0005] In conventional colonoscopy, various means for recording various information relating to lesions and the like have been proposed, for example, in Japanese Patent Publication No. 6749473.

[0006] The endoscopic system disclosed in Japanese Patent No. 6749473 and the like uses an acquired endoscopic image to detect an area (observation target area) in a lumen where a lesion or the like exists, and acquires position information of the target area. At the same time, shape information of the insertion part of the endoscope inserted into the lumen is acquired, and an endoscope insertion shape image is acquired using the insertion part shape information. Then, a marking image is generated on the endoscope insertion shape image by applying markings to locations corresponding to the position information of the target area, and the marking image is displayed on a display device.

[0007] The various information recorded at this time regarding the lesion, etc., as well as the insertion part shape information and marking images, etc., will be used as information to identify the lesion, etc., during a re-examination or treatment performed at a later date.

[0008] Here, re-examination includes, for example, when no treatment or the like is performed on the lesion or the like confirmed this time, a re-examination or the like for follow-up observation to observe any changes in the condition of the confirmed lesion or the like. Also, for example, when treatment is performed on the lesion or the like confirmed this time, a re-examination or the like for follow-up observation to observe any changes in the condition, such as traces after the treatment.

[0009] In general, the human large intestine is approximately 1 to 1.5 meters long. It is known that the internal layout of the large intestine varies from person to person. Furthermore, because the internal layout of the large intestine is easily deformed, even in the same person, the internal layout of the large intestine may change over time. Furthermore, differences in how the endoscope is handled during an examination can significantly change the insertion length from the anus to the lesion or the location of the lesion within the patient's body.

[0010] For these reasons, when a re-examination using a colonoscopy is performed, even if various information about a lesion, etc. that was confirmed and recorded in a previous similar examination is used, it may not always be possible to reliably identify the location of the confirmed lesion, etc. This means that, for example, even when the same doctor, etc., uses the same endoscope or other equipment at the same facility (hospital or testing institution), etc. to perform a re-examination on the same patient, etc., it has been difficult to always reliably identify the confirmed lesion, etc.

[0011] The endoscope system disclosed in the above-mentioned Japanese Patent No. 6749473 records examination information for one subject only, which poses a problem that, for example, in follow-up observations in which the same subject is examined multiple times, the reproducibility of the location of a lesion or the like becomes unclear.

[0012] Generally, re-examinations for follow-up observations in colonoscopy and the like are not only performed by the same doctor or the like at the same facility or the like using the same equipment or the like, but also, for example, re-examinations of the same subject may be performed by a different doctor or the like or at a different facility or the like. Furthermore, treatments or the like performed at a later date may also be performed by a doctor or the like different from the doctor or the like who performed the examination, or at a different facility or the like.

[0013] For this reason, various information regarding lesions and the like recorded in medical examinations such as colonoscopy has traditionally been exchanged or shared between examiners or facilities performing reexaminations. However, in consideration of reproducibility, such information is currently treated as merely a reference and is not given much importance.

[0014] Therefore, in order to perform more effective medical procedures, there is a constant demand for more accurate information acquisition and for devising more effective ways to utilize the acquired information, for example, regarding various types of information regarding lesions and the like that is acquired and recorded through colonoscopy and the like.

[0015] On the other hand, when a colonoscopy is performed, for example, multiple lesions are often found in the same subject, and in such cases, some of the multiple lesions may be located very close to each other.

[0016] In view of these points, when multiple colonoscopy examinations are performed on the same subject, it is desirable to be able to reliably determine whether a lesion, etc. identified in the current examination and a lesion, etc. (including post-treatment traces, etc.) identified in a previous examination are the same lesion, etc.

[0017] The present invention aims to provide an endoscope control device, an endoscope system, and an endoscope control method that can generate and display comparison information based on multiple pieces of examination information obtained, for example, when multiple colonoscopy examinations are performed on the same subject, and that can contribute to assisting in identifying and judging lesions.

[0018] In order to achieve the above object, an endoscope control device of one aspect of the present invention has one or more processors with hardware, and the processors acquire endoscopic information when the endoscope is positioned in the observation area at multiple times, and generate comparison information regarding the observation area.

[0019] An endoscopic system according to one aspect of the present invention comprises an endoscope and a control device having one or more processors with hardware, the processor acquiring endoscopic information when the endoscope is positioned in an observation area at multiple times and generating comparison information regarding the observation area.

[0020] A method for controlling an endoscope according to one aspect of the present invention acquires endoscope information when the endoscope is positioned in an observation area at multiple times, and generates comparison information related to the observation area.

[0021] According to the present invention, for example, when multiple colonoscopy examinations are performed on the same subject, comparison information can be generated and displayed based on the multiple pieces of examination information obtained, thereby providing an endoscope control device, an endoscope system, and an endoscope control method that can help identify and determine the lesion.

[0022] FIG. 1 is a schematic block diagram showing the overall configuration of an endoscope system including an endoscope control device according to one embodiment of the present invention; FIG. 2 is a block diagram showing the overall configuration of an endoscope system including an endoscope control device according to one embodiment of the present invention, and also showing an outline of the internal configuration of the endoscope control device; FIG. 3 is a conceptual diagram showing the configuration of a part (endoscope insertion section) of an endoscope device included in the endoscope system of FIG. 1; FIG. 4 is a schematic block diagram showing the internal configuration of an endoscope control device according to one embodiment of the present invention; FIG. 5 is a schematic block diagram showing the internal configuration of an endoscope control device according to one embodiment of the present invention; FIG. 6 is a schematic block diagram showing the internal configuration of an endoscope control device according to one embodiment of the present invention; 11th display example of lesion etc. position comparison information; 12th display example of lesion etc. position comparison information; 13th display example of lesion etc. position comparison information; 14th display example of lesion etc. position comparison information; 15th display example of lesion etc. position comparison information; 16th display example of lesion etc. position comparison information; 17th display example of lesion etc. position comparison information; 18th display example of lesion etc. position comparison information; 19th display example of lesion etc. position comparison information; 20th display example of lesion etc. position comparison information; 21st display example of lesion etc. position comparison information; 22nd display example of lesion etc. position comparison information; 23rd display example of lesion etc. position comparison information;

[0023] The present invention will be described below with reference to the illustrated embodiments. The drawings used in the following description are schematic, and the dimensional relationships and scales of the components may be different for each component in order to show each component at a size that allows it to be recognized on the drawing. Therefore, the present invention is not limited to the illustrated embodiments in terms of the number of components shown in the drawings, the shapes of the components, the size ratios of the components, the relative positional relationships of the components, and so on.

[0024] First, the schematic configuration of an entire endoscope system including an endoscope control device according to one embodiment of the present invention will be described below with reference to Figures 1 to 3. Figure 1 is a schematic configuration diagram showing the entire endoscope system including an endoscope control device according to one embodiment of the present invention. Figure 2 is a block configuration diagram showing the schematic overall configuration of the endoscope system of Figure 1 and also showing the schematic internal configuration of the endoscope control device. Figure 3 is a conceptual diagram showing the configuration of a part of an endoscope device (endoscope insertion portion) included in the endoscope system of Figures 1 and 2.

[0025] As shown in Figures 1 and 2, an endoscopic system 50 including an endoscope control device 20 of one embodiment of the present invention is composed of an endoscopic device 1, an endoscope insertion shape observation device (Endoscope Position Detecting Unit; hereinafter abbreviated as UPD) 10, the endoscope control device 20, a display device 29, a database device 30, etc.

[0026] The basic configurations of the endoscope device 1, the UPD 10, the display device 29, and the database device 30 are the same as those of conventionally known devices of the same type, and therefore, the configurations of these devices will be described only briefly and will not be described in detail.

[0027] 1, an endoscope device 1 is composed of an endoscope 2, a video processor 3, an endoscope monitor device 4, etc. The endoscope device 1 illustrated in this embodiment is assumed to be a colonoscope device for performing a colonoscopy to observe the inside of the colon of a subject (patient).

[0028] The endoscope 2 is configured to include an insertion section 5, an operation section 6, a universal cord 7, and the like.

[0029] The insertion section 5 is a component that is inserted into a body cavity of a subject such as a living organism. The insertion section 5 is formed by connecting, in order from the distal end, a distal end forming section 5a, a bending section 5b, and a flexible tubular section 5c. The insertion section 5 is formed in a generally elongated tubular shape as a whole. The operation section 6 is connected to the proximal end of the insertion section 5.

[0030] Although details are omitted, the endoscope 2 is formed so that an endoscopic treatment tool (not shown) can be inserted therethrough. Specifically, the insertion section 5 is provided with a treatment tool insertion channel, which is a conduit for inserting a treatment tool (not shown), extending from the distal end to the proximal end.

[0031] The tip component 5a is provided with various components (not shown), such as an imaging unit and an illumination unit. The imaging unit is an electronic device unit including a photoelectric conversion element and an optical lens, which acquires image information (still images and moving images) of an object to be observed inside the subject (for example, the inner wall of a body cavity of an organ such as the large intestine). The illumination unit is a component unit including an optical element that emits a light beam guided from a light source device (not shown), which will be described later, forward from the tip surface of the tip component 5a to illuminate an observation area, including a lesion, inside the subject.

[0032] The operation section 6 is connected to the proximal end of the insertion section 5. The operation section 6 includes an operation section main body 6a, a bending operation knob 6b, a plurality of operation members 6c, a treatment tool insertion port 6d, and the like.

[0033] The operation portion main body 6a has a generally box-like shape as a whole and constitutes a grip portion that is held by an operator or the like who is the user of the endoscope 2. As described above, the insertion portion 5 extends from the operation portion main body 6a.

[0034] The bending operation knob 6b and the multiple operation members 6c are operation members for performing various operations of the endoscope 2. In particular, the bending operation knob 6b is used to operate the bending state and bending direction of the bending section 5b, or to fix / release the bending state. The bending operation knob 6b and the multiple operation members 6c are each provided at a predetermined position on the outer surface of the operation unit main body 6a.

[0035] The treatment tool insertion port 6d is provided at a predetermined position near the distal end of the operation unit main body 6a. The treatment tool insertion port 6d is a proximal opening of a treatment tool insertion channel (not shown) of the insertion section 5. This treatment tool insertion channel is connected to a distal opening (not shown) of the distal end configuration section 5a on the distal end side. With this configuration, the distal end of a treatment tool (not shown) inserted through the treatment tool insertion port 6d can protrude outward from the distal opening of the distal end configuration section 5a.

[0036] The endoscope 2 of the endoscope device 1 included in the endoscope system 50 of this embodiment has a configuration compatible with the UPD 10. Specifically, for example, the endoscope 2 has a plurality of magnetic coils 5d inside the insertion section 5 (not shown in FIG. 1; see FIG. 3).

[0037] 3, the multiple magnetic coils 5d are arranged at predetermined intervals (for example, intervals of about 10 cm (centimeters)) along the insertion axis direction (longitudinal direction) of the insertion section 5. Each of these magnetic coils 5d is configured to generate a magnetic field when a current is supplied thereto.

[0038] 3, reference symbol C4 indicates a magnetic coil corresponding to the most distal position of the flexible tube section 5c (near the joint with the bending section 5b), and reference symbol C5 indicates a magnetic coil C5 that is one coil closer to the base end than the magnetic coil C4.

[0039] Here, the UPD 10 detects the positions of the multiple magnetic coils 5d arranged in the insertion section 5. Then, based on the position information of the multiple magnetic coils 5d detected, the UPD 10 acquires information about the three-dimensional shape of the insertion section 5. In this case, the multiple magnetic coils 5d function as position sensors for detecting the three-dimensional shape of the insertion section 5.

[0040] 1, the universal cord 7 is a tubular member extending from the side of the operation unit main body 6a of the operation unit 6. A scope connector 7a is provided at the tip of the universal cord 7. This scope connector 7a is connected to the front panel of the video processor 3. Various signal transmission cables, optical fiber cables, etc. are inserted into the universal cord 7, as will be described later.

[0041] The video processor 3 is a control device and signal processing device that includes a control circuit and a signal processing circuit that control the entire endoscope device 1. The control circuit in the video processor 3 receives, for example, an operation instruction signal from the operation member 6c of the operation section 6 of the endoscope 2, and outputs various control signals for driving and controlling, for example, an imaging unit, a light source device, or an illumination unit. In addition, the signal processing circuit receives, for example, an imaging signal from an imaging unit (not shown) provided inside the tip configuration section 5a of the insertion section 5 of the endoscope 2, and performs predetermined image signal processing, etc.

[0042] For this purpose, the video processor 3 and the imaging unit are electrically connected by a signal transmission cable (not shown). The signal transmission cable is inserted and arranged from the scope connector 7a through the universal cord 7, the operation section 6, and the insertion section 5 to the imaging unit of the tip configuration section 5a. With this configuration, control signals output from the video processor 3 and imaging signals output from the imaging unit are transmitted between the imaging unit and the video processor 3 through the signal transmission cable. Note that one form of the signal transmission cable is, for example, a composite cable in which a plurality of cables are bundled and covered with an outer sheath, an outer sheath tube, or the like.

[0043] A light source device (not shown) is also provided inside the video processor 3. The light source device supplies illumination light to an illumination unit provided inside the tip configuration unit 5a of the insertion section 5 of the endoscope 2. The illumination light emitted from the light source device is transmitted to the illumination unit of the tip configuration unit 5a through an optical fiber cable (not shown) or the like that is inserted from the scope connector 7a through the universal cord 7, the operation unit 6, and the insertion section 5. The illumination light then passes through an illumination lens or the like included in the illumination unit of the tip configuration unit 5a and is irradiated toward the observation target area in front of the tip configuration unit 5a.

[0044] Note that the illumination unit is not limited to the above-described configuration example (a form in which illumination light from a light source device is transmitted to the tip component 5a via an optical fiber cable or the like). For example, an LED (Light Emitting Diode) or the like may be provided as an illumination light source inside the tip component 5a, and the light emission of the illumination light source (LED) may be controlled by a control circuit in the video processor 3.

[0045] The video processor 3 is electrically connected to the endoscope control device 20 of this embodiment via a connection cable 16. With this configuration, the video processor 3 outputs endoscopic examination information (sometimes simply referred to as endoscope information) including endoscopic images and various information related to lesions and the like to the endoscope control device 20 via the connection cable 16.

[0046] The endoscope monitor device 4 is a display device that receives image signals and the like output from the video processor 3 and displays endoscopic images and various types of information in a predetermined format. To this end, the endoscope monitor device 4 and the video processor 3 are electrically connected using a video cable (not shown). The endoscope monitor device 4 may be configured as a display device using, for example, a general liquid crystal panel.

[0047] The UPD 10 is a device for observing the three-dimensional shape of the insertion section 5 of the endoscope 2 inserted into a body cavity of a subject (specifically, into a lumen such as the large intestine). The UPD 10 is composed of a main body control processor 11, a receiving antenna 12, a reference plate 13, etc.

[0048] The receiving antenna 12 is an antenna device that detects magnetic fields generated from a plurality of magnetic coils 5d (see FIG. 3) provided inside the insertion section 5 of the endoscope 2 and outputs the magnetic fields as predetermined detection signals to the main body control processor 11. For this purpose, the receiving antenna 12 is electrically connected to the main body control processor 11 via a connection cable 14.

[0049] The main body control processor 11 is a device including a signal processing circuit and the like that performs predetermined signal processing upon receiving magnetic field detection signals from the multiple magnetic coils 5d output from the receiving antenna 12. This main body control processor 11 is electrically connected to the endoscope control device 20 via a connection cable 15.

[0050] For example, the main body control processor 11 estimates the three-dimensional position of each of the plurality of magnetic coils 5d by applying a predetermined position detection algorithm to the magnetic field strength of each of the plurality of magnetic coils 5d received by the receiving antenna 12. Furthermore, the main body control processor 11 generates three-dimensional shape information of the insertion section 5 of the endoscope 2, for example, by performing curve interpolation based on the estimated three-dimensional position information of the plurality of magnetic coils 5d.

[0051] The reference plate 13 is a device including a body position sensor for detecting the body position of the subject, etc. Here, the body position sensor may be, for example, a three-axis acceleration sensor or a gyro sensor.

[0052] When an endoscopic examination is performed, the reference plate 13 is attached to, for example, the abdomen of the subject. The reference plate 13 is also connected to the main body control processor 11 via a cable. With this configuration, the reference plate 13 acquires detection signals related to the posture of the subject during the examination. The detection signals acquired by the reference plate 13 are output to the main body control processor 11, where predetermined signal processing is performed to generate three-dimensional posture information related to the posture of the subject.

[0053] Note that magnetic coils substantially similar to the multiple magnetic coils 5d applied to the insertion section 5 of the endoscope 2 can also be applied as the position sensor applied to the reference plate 13. In such a configuration, the receiving antenna 12 detects the magnetic fields emitted from the multiple magnetic coils arranged on the reference plate 13 and outputs them as magnetic field detection signals to the main body control processor 11. In response to this, the main body control processor 11 applies the magnetic field strengths of the multiple magnetic coils of the reference plate 13 to a predetermined posture detection algorithm to generate three-dimensional posture information and the like relating to the posture of the subject.

[0054] As described above, the main body control processor 11 is connected to the receiving antenna 12 and the reference plate 13. The main body control processor 11 generates three-dimensional shape information and the like of the insertion section 5 based on three-dimensional position information of the multiple magnetic coils 5d input from the receiving antenna 12. The main body control processor 11 also generates three-dimensional posture information and the like relating to the posture of the subject based on detection signals relating to the posture of the subject input from the reference plate 13.

[0055] Then, the main body control processor 11 performs signal processing to change the generated three-dimensional shape information, etc. in accordance with changes in the three-dimensional posture information, etc. Specifically, the main body control processor 11 performs processing to change the three-dimensional endoscope shape in a direction that cancels out changes in the three-dimensional posture information, for example.

[0056] This makes it possible to obtain endoscope shape information that can always visualize the endoscope shape from a specific viewpoint (e.g., a viewpoint when looking directly at the abdomen of the subject), even if the subject's position is changed during the endoscopic examination.

[0057] In addition, the UPD 10 acquires an insertion length indicating the length dimension of the insertion portion when the insertion portion 5 of the endoscope 2 is inserted into the large intestine, and an insertion time indicating the elapsed time since the endoscope 2 was inserted into the large intestine.

[0058] The UPD 10 measures the insertion length (from the anus) starting from the position of the tip component 5a of the insertion section 5 at the start timing of an endoscopic examination (e.g., the insertion timing of the insertion section 5 of the endoscope 2 into the anus) when the endoscope user (hereinafter referred to as the surgeon) starts the endoscopic examination using the endoscopic device 1. At the same time, it measures the elapsed time starting from the same timing. The measured time thus obtained is the insertion time.

[0059] Alternatively, an in-body / out-of-body determination may be performed on the endoscopic image, and the position of the tip of the insertion portion according to the three-dimensional shape information generated by the UPD 10 at the timing of transition from outside the body to inside the body may be estimated as the position of the anus. Furthermore, the anus position may be estimated by the operator pressing a button on the operation member 6c or stepping on a foot switch at the timing of anal insertion. The estimated anus position may be used as the base point for the insertion length and as the starting point for measuring the insertion time.

[0060] In order to measure the insertion length with high accuracy, it is also possible to install a sensor such as an encoder near the subject's anus. The UPD 10 detects the position of the anus based on an output signal from the encoder, and then detects the insertion length using the anus position as a base point.

[0061] Then, the UPD 10 outputs information such as three-dimensional shape information after position correction based on the three-dimensional posture information, etc., and information such as insertion length and insertion time to the endoscope control device 20 via the connection cable 15.

[0062] In the UPD 10, the endoscope insertion shape is detected using a plurality of magnetic coils incorporated in the insertion portion 5, etc., but other configurations or different methods may also be used.

[0063] The endoscope control device 20 is a control device that includes an information processing circuit that acquires various information input from the outside and performs predetermined information processing, and a control processing circuit that performs various controls such as storage, display, and communication of the various information generated by the information processing circuit.

[0064] As shown in FIG. 2, the endoscope control device 20 is configured to include an examination information acquisition unit 21, an insertion portion shape arrangement information acquisition unit 22, a lesion etc. position related information detection unit 23, a lesion etc. position comparison information detection unit 24, a display control unit 25, a storage control unit 26, a memory 27, a communication control unit 28, etc.

[0065] The examination information acquisition unit 21 is a component circuit or component to which endoscopic examination information, etc. acquired mainly by the endoscopic device 1 is input. The endoscopic examination information, etc. input to the examination information acquisition unit 21 is information acquired by the endoscopic device 1 during the performance of an endoscopic examination. Specifically, the endoscopic examination information, etc. includes, for example, endoscopic image information, various information obtained by processing the endoscopic image, endoscopic image acquisition timing information, etc., as well as endoscope operation information, voice information of the surgeon during the examination, or video information including voice, etc. The endoscopic examination information, etc. acquired by the examination information acquisition unit 21 is output to the lesion etc. position-related information detection unit 23.

[0066] The endoscopic image acquisition timing information is information relating to the timing at which the endoscopic image was acquired. Specifically, the endoscopic image acquisition timing is, for example, time information at the time of image acquisition, or the elapsed time from the start of the examination to the time of image acquisition, etc. This endoscopic image acquisition timing information is further output from the examination information acquisition unit 21 to the insertion portion shape and arrangement information acquisition unit 22.

[0067] The insertion portion shape and arrangement information acquisition unit 22 is a component circuit or component to which various pieces of insertion portion shape and arrangement information, etc. acquired mainly by the UPD 10 are input. The insertion portion shape and arrangement information, etc. input to the insertion portion shape and arrangement information acquisition unit 22 include three-dimensional shape information of the insertion portion 5 inserted into the body cavity of the subject during endoscopic examination, spatial arrangement information of the insertion portion within the body cavity, etc.

[0068] The insertion portion shape and arrangement information includes, for example, insertion length information of the insertion portion 5 at a predetermined timing, three-dimensional position information (xyz coordinates) and orientation information (vector information) of the tip component 5a at a predetermined timing, etc.

[0069] Here, the specified timing includes, for example, the timing when the tip component 5a starts to be inserted into the anus (examination start timing), the timing when the tip component 5a reaches the vicinity of the cecum (cecum arrival timing), the timing when an endoscopic image is acquired, etc.

[0070] As described above, the endoscopic image acquisition timing information is information input from the examination information acquisition unit 21 to the insertion portion shape arrangement information acquisition unit 22. The insertion portion shape arrangement information acquisition unit 22 performs processing to associate the endoscopic image acquisition timing information with the insertion portion shape arrangement information, etc. This allows the insertion portion shape arrangement information acquisition unit 22 to generate the insertion portion shape arrangement information, etc. for each endoscopic image acquisition timing.

[0071] The insertion portion shape and arrangement information and the like acquired by the insertion portion shape and arrangement information acquisition unit 22 in this manner is output to the lesion etc. position related information detection unit 23 .

[0072] The lesion etc. position-related information detection unit 23 is a component circuit or component that performs predetermined information processing based on the endoscopic examination information etc. input from the examination information acquisition unit 21 and the insertion unit shape and arrangement information etc. input from the insertion unit shape and arrangement information acquisition unit 22, to detect and generate information regarding the positions of each of a plurality of lesions etc. (hereinafter referred to as lesion etc. position-related information). The lesion etc. position-related information detected and generated by the lesion etc. position-related information detection unit 23 is output to the lesion etc. position comparison information detection unit 24, the display control unit 25, and the memory control unit 26 as needed.

[0073] The lesion position-related information is information that indicates the correspondence between the positions of multiple lesions or the like in a body cavity and the insertion shape and arrangement of the insertion section 5. The lesion position-related information is displayed using the display device 29 or the like in a predetermined form, for example, qualitatively (graphical display, etc.) or quantitatively (numerical display), or in a combination of both.

[0074] 4 to 7 show first to fourth display examples of the qualitative display format of the lesion position-related information. The qualitative display format of the lesion position-related information may be, for example, a format in which a graphic display showing the shape and arrangement of the insertion portion 5 inside the subject and a dot display (shown by a circle in the figures) showing the position of an observation region including multiple lesions, etc. (hereinafter abbreviated as the target position) are combined and superimposed on a graph 100 of a predetermined format.

[0075] First, examples of displaying a graphic showing the shape and arrangement of the insertion portion 5 include the following. For example, reference numeral 101 in Figures 4 to 7 is an example of a graphic showing the shape and arrangement of the insertion portion 5 at the time (timing) when the tip forming portion 5a reaches the vicinity of the cecum (hereinafter referred to as the first insertion shape). One piece of graphic data for this first insertion shape exists for each endoscopic examination.

[0076] Normally, when reaching the cecum, the patient is often in a supine position with the abdomen facing the ceiling, and the shape of the insertion portion 5 in this supine position is shown in Figures 4 to 7. In Figures 4 to 7, the left-right direction of the patient is the x-direction, the direction of the head and feet is the y-direction, and the position of the anus is the origin (0, 0).

[0077] 4 and 7, reference numeral 102 denotes an example of a graphic representation of the position of the tip configuration section 5a and the shape and arrangement of the insertion section 5 (hereinafter referred to as the second insertion shape) corresponding to at least one of the multiple endoscopic image acquisition timings. This display data exists for each image acquisition timing. Therefore, if multiple images are acquired during one examination, graphic data for multiple second insertion shapes is included.

[0078] When detecting the multiple second insertion shapes, the subject (patient) is not necessarily in a supine position, but may be in a lateral position facing to the side. In such cases, the subject is aligned to a supine position or a predetermined orientation by correction based on 3D posture information related to the subject's posture generated by the reference plate 13 attached to the subject's abdomen. Note that the alignment may also be based on the position and posture of the scope.

[0079] However, if the graphic data of all the second insertion shapes were displayed simultaneously on the display screen, the screen display would become cluttered. Therefore, for example, the first display example in Fig. 4 shows an example in which one second insertion shape corresponding to one of the multiple lesions is displayed. Specifically, the example in Fig. 4 shows an example of the display of the second insertion shape corresponding to the fourth image acquisition timing.

[0080] Reference numeral 103 in Figures 4 to 7 denotes a display example showing the positions of multiple lesions, etc., corresponding to multiple endoscopic image acquisition timings. In the illustrated example, the positions of the lesions, etc. are estimated and displayed, but for simplicity, the position of the tip of the insertion section 5 may be substituted. One piece of this display data exists for each image acquisition timing. Therefore, one examination contains multiple pieces of data.

[0081] 4 shows a first display example in which points are displayed corresponding to multiple lesions obtained in a single examination. In this case, the numbers (1 to 13) attached to each point represent unique numbers assigned to each of the multiple lesions.

[0082] Note that for each of the multiple endoscopic examinations, the number of image acquisition timings, the number of confirmed lesions, etc. may increase or decrease depending on the progression of the disease. Therefore, the unique numbers assigned to the multiple lesions may not necessarily be the same for each of the multiple endoscopic examinations.

[0083] In addition to the point display 103, reference numeral 104 in FIGS. 5 and 6 denotes an arrow display indicating the observation direction corresponding to the position of each lesion or the like.

[0084] Reference numeral 105 in the second display example of FIG. 5 is an example in which the position of each lesion or the like is displayed at a corresponding position on the first insertion shape of the insertion portion 5 based on the insertion length information.

[0085] Reference numeral 106 (indicated by a square mark) in FIG. 5 is an example in which a specific position on the insertion section 5 (for example, the position of a specific magnetic coil C4) is displayed on the dot display 103 of each target position.

[0086] Reference numeral 107 (indicated by a triangle mark) in FIG. 5 is an example in which a specific position on the insertion section 5 (for example, the position of a specific magnetic coil C5) is displayed on the dot display 103 of each target position.

[0087] The displays of the reference numerals 103 to 107 are not necessarily limited to a form in which all of them are displayed, but a form in which each display is appropriately combined and displayed may be selected.

[0088] 6 is an example of a graphic showing the movement trajectory of the tip configuring portion 5a when the insertion portion 5 is removed. One piece of this display data exists for each endoscopic examination.

[0089] Reference numeral 109 in the fourth display example of Fig. 7 is an example of a dot display representing the position of a specific point (e.g., a point corresponding to a specific magnetic coil) on the insertion section 5. At least one piece of this display data is sufficient. Note that the fourth display example of Fig. 7 shows an example of displaying two dots corresponding to magnetic coils C4 and C5 (see Fig. 3). Furthermore, the notation (C4, C5) added within the dot display is an example of a symbol specifying the coil number.

[0090] Here, the reason for using specific points on the insertion section 5, such as the magnetic coils C4 and C5, will be explained. Because the bending section 5b is deformed by the surgeon, differences in the approach method are likely to occur for lesions in unfixed luminal parts of the large intestine, such as the sigmoid colon and transverse colon, making it difficult to achieve position reproducibility. In addition, the positions of points on the insertion section 5 in unfixed luminal parts of the large intestine, such as the sigmoid colon and transverse colon, tend to vary greatly, so selecting specific points on the insertion section 5 that are not in such parts can improve position reproducibility.

[0091] 8 shows an example of a quantitative display format for lesion position-related information. The quantitative display format for lesion position-related information is, for example, a numeric table format in which numerical values ​​are arranged for each predetermined item so that they can be compared for multiple examinations. The predetermined items in this case include, for example, the case number (reference numeral 111), the insertion length from the anus (reference numeral 112), the trajectory length from the cecum (reference numeral 113), the position coordinates (x, y, z) of the lesion (reference numeral 114), and a vector (x, y, z) indicating the observation direction (reference numeral 115).

[0092] The observation direction of the lesion or the like coincides with the direction of the tip of the insertion section 5, and therefore may be described as the direction of the tip of the insertion section.

[0093] Furthermore, when displaying multiple items (three or more) related to lesions, as shown in FIG. 8, additional displays such as the maximum value (reference number 116), minimum value (reference number 117), average value (reference number 118), median value (reference number 119), and standard deviation (reference number 120) may be added.

[0094] When displaying multiple (two) items related to lesions side by side, differences may be added (display format to be described later; see FIG. 13).

[0095] Furthermore, in addition to the above-mentioned information related to the position of a lesion, etc., it is also possible to display information that correlates with endoscopic examination information, etc., and position information of the corresponding lesion, etc. For example, in addition to the qualitative or quantitative display described above, an endoscopic image corresponding to the position information of the lesion, etc. may be simultaneously displayed on the display screen.

[0096] Next, the lesion etc. position comparison information detection unit 24 in Figure 2 performs predetermined information processing based on the lesion etc. position related information input from the lesion etc. position related information detection unit 23 or a predetermined plurality of lesion etc. position related information read from the memory 27 via the memory control unit 26, and detects and generates comparison information (hereinafter referred to as lesion etc. position comparison information) of the positions within the body cavity of a predetermined lesion etc. among a plurality of lesions etc. in a plurality of endoscopic examinations.

[0097] The lesion position comparison information is generated by comparing multiple pieces of lesion position-related information obtained through multiple endoscopic examinations on the same subject. Here, the multiple pieces of lesion position-related information to be compared include, for example, the lesion position-related information obtained during the current endoscopic examination (information output from the lesion position-related information detection unit 23) and one or more pieces of lesion position-related information obtained during previous endoscopic examinations on the same subject and stored in memory 27.

[0098] Therefore, for example, the output information from the lesion etc. position-related information detection unit 23 may be compared with previously stored information, or multiple pieces of lesion etc. position-related information for the same subject that are stored in memory 27 may be compared with each other.

[0099] The lesion position comparison information, like the lesion position related information described above, is displayed using a display device 29 or the like in a predetermined format, for example, qualitatively (graphical display, etc.) or quantitatively (numerical display), or a combination of both.

[0100] In addition, the lesion etc. position comparison information detection unit 24 has the function of assisting in identifying and determining whether the lesion confirmed in the current endoscopic examination is the same as the lesion confirmed in a previous endoscopic examination, based on the generated lesion etc. position comparison information.

[0101] For this purpose, the lesion etc. position comparison information detector 24 outputs necessary data from the lesion etc. position comparison information to be used for the identification determination process to the display controller 25. The results of the identification determination process are included in the lesion etc. position comparison information and converted into a file, which is then output to the memory 27 via the storage controller 26 and stored therein.

[0102] 9 to 14 show first to sixth display examples of lesion position comparison information. First, the first display example in Fig. 9 displays lesion position comparison information using the qualitative display of lesion position-related information shown in Fig. 4.

[0103] In the first display example of Figure 9, the position-related information of lesions, etc. obtained in the current (latest) examination and the position-related information of lesions, etc. obtained in the previous (past) examination of the same subject are displayed side by side for comparison.

[0104] 9, on the display screen of the display device 29, an area designated by reference numeral 201 displays a qualitative display of position-related information of lesions, etc. acquired in the current (latest) examination. On the other hand, an area designated by reference numeral 202 displays a qualitative display of position-related information of lesions, etc. acquired in the previous (past) examination of the same subject.

[0105] In the first display example of Fig. 9, the latest information and past information from multiple endoscopic examinations performed on the same subject are displayed in the same display format, and both are displayed side by side on the same display screen. A numbered dot (reference numeral 103) indicates the target position. Furthermore, each of the regions 201 and 202 displays, for example, examination date information 203. This display format allows for easy comparison of the latest and past information.

[0106] The second display example of Fig. 10 displays lesion or other position comparison information using the qualitative display of the lesion or other position-related information shown in Fig. 4. The second display example of Fig. 10 is a display example in which the lesion or other position-related information obtained in the current (latest) examination and the lesion or other position-related information obtained in the previous (past) examination of the same subject are displayed superimposed on the same graph.

[0107] As shown in FIG. 10 , on the display screen of the display device 29, in the area indicated by the reference numeral 204, a qualitative display (solid line display) of the position-related information of lesions, etc. obtained in the current (latest) examination and a qualitative display (dashed line display) of the position-related information of lesions, etc. obtained in the previous (past) examination of the same subject are superimposed and displayed.

[0108] In this case, the qualitative display of the lesion position-related information obtained in the current (latest) examination is displayed using solid lines. The qualitative display of the lesion position-related information obtained in the previous (past) examination of the same subject is displayed using dashed lines. Of these, reference numeral 101 indicates a figure of the first insertion shape. Reference numeral 102 indicates a figure of the second insertion shape. The rest is the same as in Figures 4 and 9 described above. This display format also makes it easy to compare the latest and past information.

[0109] The third display example in Fig. 11 displays lesion or other position comparison information using the qualitative display of the lesion or other position-related information shown in Fig. 7. The third display example in Fig. 11 is a display example in which lesion or other position-related information obtained in multiple (three in the example) examinations of the same subject is displayed side by side for comparison.

[0110] 11 , on the display screen of the display device 29, an area designated by reference numeral 205 displays a qualitative display of position-related information of lesions, etc. acquired in the current (latest) examination. An area designated by reference numeral 206 displays a qualitative display of position-related information of lesions, etc. acquired in the previous (past) examination of the same subject. An area designated by reference numeral 207 displays a qualitative display of position-related information of lesions, etc. acquired in the examination before last (even further back) on the same subject.

[0111] In the third display example of Fig. 11, of multiple endoscopic examinations performed on the same subject, the latest information and information from the two previous examinations are displayed in the same display format, and all three are displayed side by side on the same display screen. Other aspects are similar to those of Figs. 7 and 9 described above. This display format also makes it easy to compare information from the three examinations: the latest and the two previous.

[0112] 11 illustrates an example in which lesion position-related information acquired through multiple (three) examinations is displayed side by side on the same screen, but other display formats are also possible. For example, two sets of information (e.g., areas 205 and 206) may be displayed side by side on one screen, and by performing a predetermined display switching operation, the display may be instantly switched to display another two sets of information (e.g., areas 206 and 207) side by side. Alternatively, one set of information may be displayed on one screen, and desired information may be displayed by performing an arbitrary display switching operation.

[0113] The fourth display example in Fig. 12 displays lesion or other position comparison information using the qualitative display of the lesion or other position-related information shown in Fig. 6. The fourth display example in Fig. 12 is a display example that compares and displays the lesion or other position-related information obtained in the current (latest) examination with the lesion or other position-related information obtained in the previous (past) examination on the same subject.

[0114] 12, on the display screen of the display device 29, an area designated by reference numeral 209 displays a qualitative display of position-related information of lesions, etc. acquired in the current (latest) examination. On the other hand, an area designated by reference numeral 210 displays a qualitative display of position-related information of lesions, etc. acquired in the previous (past) examination of the same subject.

[0115] In the fourth display example of Fig. 12, the latest information and past information from multiple endoscopic examinations performed on the same subject are displayed in the same display format, and both are displayed side by side on the same display screen. Other aspects are similar to those of Figs. 6 and 9 described above. This display format also makes it easy to compare the latest and past information.

[0116] 12 shows a graphic representation of the movement trajectory of the tip configuring portion 5a when the insertion portion 5 is removed, but the present invention is not limited to this. For example, the graphic representation may be created by focusing on the trajectory of a specific point on the insertion portion 5 (e.g., a point corresponding to a specific magnetic coil) when the insertion portion 5 is removed. In this case, the graphic representation may be substantially the same as that shown in FIG.

[0117] The fifth display example in Fig. 13 displays lesion position comparison information using a quantitative display of lesion position-related information. The fifth display example in Fig. 13 is a display format in the form of a numerical table similar to that in Fig. 8. In this case, the predetermined items are, for example, a case ID (reference number 121), a frame number (reference number 122), a body position angle (reference number 123), an insertion length from the anus (reference number 124), a trajectory length from the cecum (reference number 125), a tip coordinate (reference number 126), a tip vector (reference number 127), etc.

[0118] In Fig. 13, items related to two lesions are displayed side by side, and therefore, items such as the difference (reference numeral 128), the distance between two coordinate points (reference numeral 129), and the angle between two vectors (reference numeral 130) are also displayed.

[0119] In the first to fourth display examples of the lesion position comparison information shown in Figures 9 to 12, the position information of each lesion is displayed using only x- and y-coordinates in the graph 100. However, the position information of each lesion includes three-dimensional position information (x-, y-, and z-coordinates). Therefore, a display format that uses three-dimensional position information (x-, y-, and z-coordinates) as the position information of each lesion is also conceivable. Furthermore, a display format that also displays quantitative information related to the position of lesions is also conceivable.

[0120] The sixth display example in Fig. 14 is an example of displaying lesion position comparison information by combining qualitative and quantitative displays of lesion position-related information. As shown in Fig. 14, an area designated by reference numeral 211 on the display screen of the display device 29 displays an xy coordinate graph showing the position of each lesion. This xy coordinate graph display is similar to the graph 100 in the display format shown in the second display example in Fig. 10 (an example of a superimposed display of the previous examination results and the current examination results).

[0121] The area designated by reference numeral 212 displays a graph of xz coordinates indicating the position of each lesion, etc. The area designated by reference numeral 213 displays a graph of yz coordinates indicating the position of each lesion, etc. Note that in Fig. 14, the specific displays of the areas designated by reference numerals 212 and 213 are simplified to avoid cluttering the drawing, but in reality, displays based on the data are used.

[0122] The area indicated by reference numeral 214 in Fig. 14 displays a comparative quantitative display of lesion position-related information for the lesion indicated by the numbered dot 4. The area indicated by reference numeral 215 displays the results of identification judgment for a specific lesion. Here, as shown in Fig. 14, the display of the identification judgment results includes, for example, an item display such as "Possibility of being the same lesion" and a symbol indicating the identification result in a graded scale, such as "High."

[0123] The criteria for evaluation are a comprehensive evaluation of comparison items such as the difference in coordinates of the lesion, the difference in insertion length, and the angle (angle difference) of the direction of the tip of the insertion section 5, which are each compared with a predetermined value. For example, the angle of the tip of the insertion section 5 may be within 20° and the difference in the position of the lesion may be 40 mm or less. By providing multiple values ​​for each predetermined value to be compared, it becomes easier to indicate the degree of agreement of the comparison results in multiple stages.

[0124] The seventh display example of Fig. 16 is an example of displaying lesion or other position comparison information in a graph format based on the qualitative display of the two pieces of lesion or other position-related information shown in Fig. 15. In more detail, the graph of the seventh display example of Fig. 16 is a graph created based on the matching of coordinate systems of spatially arranged graphs at multiple times.

[0125] To generate the graph display in Fig. 16, first, the two qualitative graphs of the lesion position-related information in Fig. 15 are obtained. The graph indicated by reference character (A) in Fig. 15 displays the shape of the insertion section when the lesion is confirmed in approximately the same form as Fig. 14. The graph indicated by reference character (B) in Fig. 15 displays the shape of the insertion section when the arrangement of the measurement system is changed in approximately the same form as Fig. 14.

[0126] 15 and 16 are substantially the same as those in FIG. 14. That is, in FIGS. 15 and 16, reference numeral 29 indicates the display screen of the display device 29. In the figures, the area indicated by reference numeral 211 displays the shape of the inserted portion in the xy coordinate graph. The area indicated by reference numeral 212 displays the shape of the inserted portion in the xz coordinate graph. The area indicated by reference numeral 213 displays the shape of the inserted portion in the yz coordinate graph.

[0127] To generate the display of Fig. 16, a graph represented by the two pieces of acquired data shown in Fig. 15 is used. Here, the data at multiple timings to which the coordinate system of the graph is adjusted to generate the display of Fig. 16 are, for example, two pieces of data, namely, the data acquired at the timing indicated by reference character (A) in Fig. 15 and the data acquired at the timing indicated by reference character (B) in Fig. 15.

[0128] The coordinate system of the graph is adjusted based on at least the shape of the insertion portion of the endoscope. That is, the display shown in Fig. 16 is adjusted based on the coordinate system of the display data for the insertion portion shapes shown in (A) and (B) of Fig. 15. In this case, for example, translation and rotation (affine transformation) are performed on a plurality of points (e.g., 10 points) spaced at predetermined intervals in the axial direction on the insertion portion to minimize the error (the sum of the squares of the distances between the points) (see (C) in Fig. 16).

[0129] The seventh display example in Figure 16 is an example of a graph created based on the fitting of the graph coordinate system, but it is also possible to generate, as comparison information, a comparison table of numerical data showing the spatial arrangement of the endoscope at multiple times based on the fitting of the numerical data of the spatial arrangement.

[0130] Furthermore, the lesion identification determination as to whether the lesion is the same may be performed based on images acquired at multiple times, for example.

[0131] For example, Fig. 17 is a diagram conceptually illustrating the concept of image-based lesion identification determination. As shown in Fig. 17 and as described above, lesion identification determination 250 basically involves determining the identity of a lesion (252) based on endoscope information 251 (lesion position, observation direction, insertion length, position and orientation of a predetermined point on the insertion portion, insertion trajectory, etc.). In addition, as shown in Fig. 17, lesion identity determination (254) may be performed by comparing lesion images 253 that have been subjected to predetermined image processing.

[0132] Then, by taking into consideration both the results of the lesion identity determination based on the endoscopic information (252) and the lesion identity determination based on the lesion image (254), a lesion identity determination 255 is performed. In this way, a more accurate identity determination can be performed. Note that the lesion identification determination result in this case can also be included in the comparison information.

[0133] 2, the display control unit 25 is a component circuit or component that controls the display of the display device 29. For example, the display control unit 25 receives various data output from the lesion etc. position comparison information detection unit 24, the memory control unit 26, etc., performs signal processing to generate a predetermined display signal, and outputs the generated display signal to the display device 29. The display device 29 receives this display signal and displays a corresponding format.

[0134] The memory control unit 26 is a component circuit or component that receives the lesion or other position related information detected and generated by the lesion or other position related information detection unit 23 and the lesion or other position comparison information detected and generated by the lesion or other position comparison information detection unit 24, performs a predetermined file processing, and outputs the information to the memory 27. The memory 27 is a storage medium for storing various types of information, and has a memory area of ​​a predetermined format.

[0135] The information (lesion or other position-related information and lesion or other position comparison information) stored in the memory 27 via the storage control unit 26 is output as needed to the lesion or other position comparison information detection unit 24. In addition, the information (lesion or other position-related information and lesion or other position comparison information) stored in the storage control unit 26 is output as needed to the database device 30 via the communication control unit 28.

[0136] Furthermore, the information stored in the memory control unit 26 (lesion position-related information and lesion position comparison information) is output to the display device 29 via the display control unit 25 as needed. With this configuration, the display device 29 can receive information output from the display control unit 25 and display various types of information in a predetermined format.

[0137] 2, the memory 27 is configured inside the endoscope control device 20, but the present invention is not limited to this. For example, the memory 27 may be configured as an independent, separate storage device outside the endoscope control device 20. In this case, the external storage device may be connected to the storage control unit 26 via, for example, a connection cable or wireless communication. Furthermore, the storage control unit 26 and the memory 27 may be configured as external storage devices. In this case, the external storage device may be connected to the endoscope control device 20 via a connection cable or the like, thereby enabling bidirectional data transmission and reception.

[0138] The communication control unit 28 is a component circuit or component part including a control unit for communicating in a predetermined communication format between the endoscope control device 20 and an external device (such as the database device 30) and exchanging information.

[0139] The database device 30 is an external device or an external storage device provided on the cloud. The database device 30 can exchange information with the endoscope control device 20 of this embodiment using communication in a predetermined communication format. The database device 30 may also be configured to include an external display unit 31 as necessary.

[0140] 1 and 2, the display device 29 is a display device that is configured separately from the housing of the endoscope control device 20. Here, the display device 29 may be configured using, for example, a general liquid crystal panel.

[0141] The display device 29 is electrically connected to the endoscope control device 20 via a connection cable or the like. The display device 29 is controlled by the display control unit 25, which will be described later. This allows the display device 29 to perform various displays in response to display signals output from the display control unit 25. For example, the display device 29 can read and display multiple pieces of lesion position-related information and lesion position comparison information from past endoscopic examinations stored in the memory control unit 26. The display device 29 may also display endoscopic examination information (e.g., endoscopic images) acquired by the endoscope device 1 during the endoscopic examination.

[0142] The configuration of the display device 29 is not limited to the configuration shown in Figures 1 and 2. As another configuration example, for example, the display device 29 may be configured integrally with the housing of the endoscope control device 20.

[0143] Furthermore, the display device 29 does not necessarily have to be included in the endoscope control device 20. For example, a display signal output from the display control unit 25 of the endoscope control device 20 may be transmitted to the endoscope device 1 via the connection cable 16, thereby allowing the endoscope monitor device 4 included in the endoscope device 1 to be used as a display device.

[0144] Furthermore, for example, a display signal output from the display control unit 25 of the endoscope control device 20 can be transmitted to the database device 30 via the communication control unit 28. In this case, the database device 30 that receives the display signal can perform a predetermined display using the attached external display unit 31.

[0145] In addition, all or part of the components of the endoscope control device 20, such as the examination information acquisition unit 21, the insertion portion shape arrangement information acquisition unit 22, the lesion etc. position related information detection unit 23, the lesion etc. position comparison information detection unit 24, the display control unit 25, the memory control unit 26, the memory 27, and the communication control unit 28, are configured by a processor including hardware.

[0146] Here, the processor is composed of a well-known configuration including, for example, a central processing unit (CPU), a random access memory (RAM), a read only memory (ROM), a non-volatile memory, a non-volatile storage, a non-transitory computer readable medium, and peripheral devices thereof.

[0147] Software programs to be executed by the CPU and fixed data such as data tables are stored in advance in ROM, nonvolatile memory, nonvolatile storage devices, etc. The CPU reads out the software programs stored in ROM, etc., expands them into RAM, and executes them. The software programs also refer to various data, etc. as appropriate, thereby realizing the functions of the above-mentioned components and units (21, 22, 23, 24, 25, 26, 27, 28).

[0148] The processor may be configured by a semiconductor chip such as an FPGA (Field Programmable Gate Array), etc. The above-mentioned components and units (12, 20b, 21d, 22, 23, 24, 25) may be configured by electronic circuits.

[0149] Furthermore, the software program may be in a form in which it is recorded in whole or in part as a computer program product on a portable disk medium such as a flexible disk, CD-ROM, or DVD-ROM, or on a non-transitory computer readable medium such as a card-type memory, HDD (Hard Disk Drive) device, or SSD (Solid State Drive) device.

[0150] The endoscopic system 50 of the above-described embodiment has a basic configuration consisting of an endoscopic device 1, a UPD 10, an endoscopic control device 20, a display device 29, and a database device 30, as shown in the configuration example in Figures 1 and 2, but is not necessarily limited to this configuration example.

[0151] For example, in the above-described embodiment, the endoscope control device 20 is configured as a dedicated device, but it can also be configured in various forms as shown below.

[0152] The configuration of a first modified example of the above embodiment is shown in Fig. 22. As shown in Fig. 22, an endoscope control device 20A in an endoscope system 50A is configured by a small general-purpose computer 40 that has installed therein information acquisition software 20a and comparison information detection software 20b.

[0153] Here, the information acquisition software 20a is software that realizes the functions of the examination information acquisition unit 21, the insertion part shape and arrangement information acquisition unit 22, and the lesion etc. position related information detection unit 23 in the endoscope control device 20 of the above-mentioned embodiment.

[0154] The comparison information detection software 20b is software that realizes the function of the lesion position comparison information detection unit 24 in the endoscope control device 20 of the above-described embodiment.

[0155] In this configuration, the storage device consisting of the storage control unit 26 and the memory 27 may be either built into the small general-purpose computer 40 (as shown in the example), or may be a separate storage device independent of the small general-purpose computer 40 (not shown).

[0156] Furthermore, the display device 29 may be a general display device (as shown in the example) in an independent, separate form connected to a small general-purpose computer 40, or may be a form (not shown) in which the endoscope monitor device 4 (see Figure 1) provided in the endoscope device 1 is used as a display device.

[0157] A second variant is a possible use case in which the same type of endoscopic examination is performed on the same subject (patient) at multiple facilities at different times, and the examination result information obtained at each facility is shared and compared.

[0158] In this case, for example, as shown in the second modified example in Fig. 23, an endoscope control device 20B of an endoscope system 50B in the first facility uses a small general-purpose computer 40 equipped with at least information acquisition software 20a. The configuration of the endoscope system in the first facility is not limited to this configuration, and may be the configuration of the above-mentioned embodiment or the configuration of the above-mentioned first modified example.

[0159] At the first facility, the result information of each endoscopic examination is stored in a storage device (not shown). This storage device is a portable recording medium. Alternatively, the endoscope control device 20B can transfer data to the endoscope system 50A installed at the second facility using data communication. In this case, data transfer may be performed via a database device 30, for example.

[0160] On the other hand, the endoscope control device 20 in the second facility has the same configuration as that shown in the above-described modified example 1. The configuration of the endoscope system in the second facility is not limited to this configuration, and may have the configuration of the above-described embodiment.

[0161] At the second facility, the result information of each endoscopic examination is stored in a storage device (not shown). At the same time, information from the first facility can be obtained via a storage medium or data communication. This allows the endoscope system 50 at the second facility to compare the examination result information data sent from the first facility with the endoscopic examination results performed and obtained at the second facility.

[0162] Although not shown in the drawings, a third modification is a case in which endoscopic examinations of the same subject are performed at multiple facilities (e.g., facilities dedicated to examinations, etc.), and multiple pieces of test result information data acquired at these multiple facilities dedicated to examinations are transferred to another facility (e.g., a research facility, etc.) for comparison.

[0163] In this case, for example, in a plurality of dedicated examination facilities, examinations are performed using an endoscope system 50B, each of which includes the endoscope control device 20B of the configuration shown in the second modified example. Here, the equipment used for the examination may be the endoscope system 50A, which includes the endoscope control device 20A.

[0164] Meanwhile, at one research facility, data comparison is performed using the endoscope control device 20 of the configuration shown in the first and second modified examples. The comparison information thus acquired is shared among multiple dedicated testing facilities. In this manner, comparison of multiple endoscopic examination results acquired at each dedicated testing facility can be performed at one research facility. At the same time, the acquired comparison information can be shared among the endoscope systems of all facilities.

[0165] In the second and third variant examples, examples of usage patterns in which data is shared between endoscopic systems 50A and 50B installed in two or more facilities are shown, but the present invention is not limited to these examples.

[0166] For example, a large hospital may have multiple examination systems of the same type. In such a case, a configuration may be considered in which one facility is equipped with one endoscope system 50A and multiple endoscope systems 50B.

[0167] In this configuration, the information data acquired by each of the multiple endoscope systems 50B is shared with the endoscope system 50A via an in-hospital server, etc. Therefore, even in this type of usage, the results of endoscopic examinations can be compared in the same way.

[0168] The operation of the endoscope system of this embodiment configured as described above will be briefly described below. Figures 24 to 26 are flowcharts showing the operation of the endoscope system of one embodiment of the present invention. First, Figure 24 is a flowchart showing the operation when acquiring examination information, insertion portion shape and arrangement information, etc., in a colonoscopy performed using the endoscope system of one embodiment of the present invention. The flowchart in Figure 24 also shows the operation of the information acquisition software 20a.

[0169] The endoscope system 50 of this embodiment is used when a colonoscopy is performed on a predetermined subject in a predetermined facility (such as a hospital). In this case, first, the operation of performing a colonoscopy and acquiring examination information, insertion portion shape and arrangement information, etc. will be described below with reference to FIG.

[0170] First, the components of the endoscope system 50, i.e., the endoscope device 1, the UPD 10, the endoscope control device 20, the display device 29, etc., are set to a usable state. The settings made here include, for example, inputting individual information about the subject who is the subject of the colonoscopy examination to be performed (information that can identify the subject, such as the patient number and medical record information).

[0171] At this time, the subject (patient) is placed in a lateral position on an examination table (not shown). Note that the subject may change his / her position from the lateral position to the supine position during the examination.

[0172] Once the required preparations for the examination have been completed in this manner, the surgeon begins a normal colonoscopy according to the normal procedure (START in FIG. 24).

[0173] Here, the surgeon inserts the insertion section 5 of the endoscope 2 from the anus of the subject into the inside of the large intestine. At this time, the surgeon performs an insertion operation including predetermined operations such as twisting the insertion section 5 while actively bending the bending portion 5b of the insertion section 5 by performing a predetermined bending operation.

[0174] During the insertion operation of the insertion portion 5, an endoscopic image is displayed on the endoscope monitor device 4. At the same time, a display based on the insertion shape and position information of the insertion portion 5 acquired by the UPD 10 is displayed on the display device 29.

[0175] In this case, the surgeon can observe the inside of the large intestine using an endoscopic image while performing the insertion operation of the insertion section 5. Therefore, at this time (when performing the insertion operation), the surgeon may occasionally be able to confirm a lesion or the like.

[0176] However, in general, observation and examination of the inside of the intestinal tract during colonoscopy is performed by reaching the tip of the insertion section 5 to a predetermined location inside the large intestine (usually near the cecum, which is the deepest part of the large intestine), and then removing it.

[0177] Therefore, first, while performing the insertion operation of the insertion portion 5, the surgeon checks whether the tip component 5a of the insertion portion 5 has reached the vicinity of the cecum, which is the deepest part of the subject's large intestine (step S1 in FIG. 24).

[0178] This confirmation is made by the surgeon or the like based on, for example, an endoscopic image or a display of the insertion shape. That is, in step S1, the control circuit (video processor 3 or the like) in the endoscope device 1 confirms that the tip component 5a of the insertion portion 5 has reached a predetermined position (near the cecum) by detecting the issuance of a signal to stop the insertion operation or an instruction signal to end the insertion operation, or the like. Note that the confirmation that the tip component 5a of the insertion portion 5 has reached the predetermined position (near the cecum) may be automatically detected using a predetermined sensor or the like.

[0179] If it is confirmed that the tip component 5a of the insertion section 5 has reached the deepest part of the subject's large intestine, near the cecum, the process proceeds to the next step S2. Note that this confirmation process is repeated until it is confirmed that the tip component 5a of the insertion section 5 has reached the cecum.

[0180] Next, in step S2, the UPD 10 outputs first insertion shape information, which is then received by the insertion section shape and arrangement information acquisition unit 22 of the endoscope control device 20.

[0181] The first insertion shape information thus acquired by the insertion portion shape and arrangement information acquisition unit 22 is output to the display control unit 25 and the storage control unit 26 via the lesion etc. position related information detection unit 23 .

[0182] Subsequently, in step S3, the storage control unit 26 in the endoscope control device 20 performs predetermined signal processing on the input first insertion shape information, and then outputs the information to the memory 27. In this manner, the first insertion shape information is stored in the memory 27.

[0183] At the same time, the display control unit 25 in the endoscope control device 20 generates display image data of a predetermined form based on the input first insertion shape information, and then outputs the data to the display device 29. In this way, the first insertion shape information is displayed on the display device 29 in a visible state.

[0184] Next, in step S4, the control circuit (video processor 3, etc.) in the endoscope device 1 checks whether an endoscopic image acquisition instruction signal has been issued among the operation instruction signals from the operation member 6c of the operation unit 6 of the endoscope 2. If it is confirmed that an endoscopic image acquisition instruction signal has been issued, the process proceeds to step S5. If an endoscopic image acquisition instruction signal has not been issued, the process proceeds to step S7.

[0185] In step S5, the control circuit (video processor 3, etc.) in the endoscope device 1 performs predetermined control in response to the endoscopic image acquisition instruction signal to acquire examination information such as an endoscopic image. The control for acquiring examination information performed here is similar to the control performed by a conventional endoscope device of a general type.

[0186] The examination information including the endoscopic image and the like thus acquired by the endoscope device 1 is output from the endoscope device 1 to the examination information acquisition unit 21 of the endoscope control device 20. As a result, the examination information acquisition unit 21 acquires the examination information.

[0187] Furthermore, at this time, part of the examination information (e.g., endoscopic image acquisition timing information, etc.) is output from the examination information acquisition unit 21 to the insertion portion shape and arrangement information acquisition unit 22. In response to this, the insertion portion shape and arrangement information acquisition unit 22 acquires various types of information corresponding to the endoscopic image acquisition timing information from the insertion shape information input from the UPD 10. Here, the various types of information acquired include, for example, position coordinates of the lesion, observation direction information of the tip configuration unit 5a, the second insertion shape, the insertion length from the anus, the trajectory length from the cecum, etc.

[0188] The various pieces of information thus obtained are output to the display control unit 25 and the storage control unit 26 via the lesion etc. position related information detection unit 23 .

[0189] Then, in step S6, the storage control unit 26 in the endoscope control device 20 performs predetermined signal processing on the various pieces of input information, and then outputs the processed information to the memory 27. In this way, the various pieces of information are stored in the memory 27.

[0190] At the same time, the display control unit 25 in the endoscope control device 20 performs predetermined signal processing based on the various input information to generate image data for display, and then outputs the image data to the display device 29. In this way, of the various information, for example, the second insertion shape information and information indicating the position of the lesion are displayed in a visible state on the display device 29. Then, the process proceeds to step S7.

[0191] In step S7, the control circuit (video processor 3, etc.) in the endoscope device 1 checks whether an examination end instruction signal has been issued among the operation instruction signals from the operation member 6c of the operation unit 6 of the endoscope 2. If the examination end instruction signal has not been issued, the process returns to the processing of step S4 described above, and the subsequent processing is repeated. On the other hand, if the issuance of the examination end instruction signal has been confirmed, the series of processing steps is terminated (END).

[0192] Next, the operation of generating comparison information based on various information (examination information, insertion portion shape and arrangement information, etc.) acquired for each colonoscopy examination performed multiple times will be described below with reference to Figure 25.

[0193] 25 is a flowchart showing the operation of generating comparison information based on a plurality of pieces of examination information and insertion portion shape and arrangement information acquired for each of a plurality of colonoscopy examinations performed using the endoscope system of one embodiment of the present invention. The flowchart of FIG. 25 also shows the operation of the comparison information detection software 20b.

[0194] The comparative information processing of various information obtained by multiple colonoscopy examinations can be performed, for example, in the following ways: (1) generating comparative information based on various information (real-time information) being obtained by a colonoscopy examination currently being performed and various information obtained by colonoscopy examinations previously performed on the same subject (real-time processing); (2) generating comparative information based on multiple various information obtained by multiple colonoscopy examinations previously performed on the same subject (post-processing); etc.

[0195] The flowchart in Fig. 25 shows the operation when the above (1) is assumed. Note that, in the flowchart in Fig. 25, the sequence related to the information acquisition process is substantially the same as the flowchart in Fig. 24. Therefore, in Fig. 25, the same processing sequence as in Fig. 24 is assigned the same step number, and detailed description thereof will be omitted.

[0196] After completing various settings for each device of the endoscope system 50 and completing preparations for the examination, the operator starts a normal colonoscopy examination according to the normal procedure (START in FIG. 25).

[0197] Each process in steps S1 to S3 in FIG. 25 is related to obtaining examination information, and is the same as the corresponding steps in FIG. 24 with the same reference numerals.

[0198] Next, in step S11, the lesion etc. position-related information detection unit 23 in the endoscope control device 20 controls the memory control unit 26 to check whether previous examination information and insertion tube shape and position information (hereinafter abbreviated as previous examination information, etc.) for the same subject is present in the memory 27. If it is confirmed that previous examination information, etc. is present, the process proceeds to the next step S12. If previous examination information, etc. is not present, for example, a flag is set to indicate that no previous examination information, etc. is present in the memory 27, and then the process proceeds to step S4. In this way, if previous examination information, etc. is not present in the memory 27 and the process proceeds to step S4, the same process as the process sequence in Figure 24 described above is performed.

[0199] In step S12, the lesion etc. position-related information detection unit 23 controls the storage control unit 26 to read previous examination information etc. of the same subject from the memory 27 and send it to the display control unit 25. In response to this, the display control unit 25 performs predetermined signal processing based on the input information to generate image data for display, and then outputs it to the display device 29. As a result, the display device 29 displays necessary information from the previous examination information etc. in a visible state.

[0200] Here, there may be cases where previous examination information etc. for the same subject is stored multiple times in the memory 27. Therefore, when the previous examination information etc. is read into the memory 27 in the process of step S12, the examination information etc. for the examination date closest to the current examination date is automatically selected and read.

[0201] Alternatively, the process may further include the following processing: First, if it is confirmed in the processing of step S12 that multiple pieces of previous examination information, etc. for the same subject exist in the memory 27, a list of the previous examination information, etc. is displayed on the display device 29. The operator selects and instructs the examination information, etc. that he or she wishes to use this time from the list using a predetermined input device. Then, based on this selection instruction signal, the corresponding examination information, etc. is read from the memory 27.

[0202] As described above, the previous examination information and the like thus read from the memory 27 are displayed in a state in which necessary information can be visually confirmed. Here, the displayed information includes, for example, the first insertion shape information and dot displays representing multiple target positions from the previous examination information and the like that have been read.

[0203] Thereafter, the processes in steps S4 to S6 are processes related to obtaining examination information, and are the same as the corresponding steps with the same reference numerals in FIG.

[0204] Next, in step S13, the lesion position-related information detection unit 23 in the endoscope control device 20 controls the display control unit 25 to display information corresponding to the currently acquired information among the previously read examination information, etc., on the display device 29. Then, the process proceeds to step S7. The subsequent processing sequence is the same as that shown in FIG. 24.

[0205] If it is confirmed in the processing of step S4 that no previous examination information exists (if a flag indicating this is set), the processing of step S13 is skipped and the processing proceeds to step S7.

[0206] In addition, when performing real-time processing, position-related information corresponding to the real-time information obtained in the currently being performed examination is obtained from previous examination information read from memory 27, and comparison information is generated and displayed.

[0207] In this case, the endoscopic image acquired during the current examination does not necessarily need to show the lesion, etc. In other words, it is sufficient to compare the positional relationship between the positional information of the real-time image being acquired during the current examination and the positional information of the lesion, etc. in the previous examination information, etc., and display the comparison result.

[0208] The contents of the lesion position-related information and the lesion position comparison information generated in real-time processing are generally the same. In real-time processing, endoscopic operation information acquired based on the comparison information can also be added and presented. Examples of the operation information that can be added here include the following:

[0209] For example, there is information on the insertion / removal direction (when far away), bending operation information (when close), approach method to the lesion etc. (to view the lesion etc. from the front, or to observe the lesion etc. behind the fold), etc. It is not necessary to provide all of the endoscope operation information, and it is sufficient to add necessary information or information that enables guidance depending on the situation.

[0210] 18 to 21 show examples of display of position comparison information of lesions, etc. during real-time processing. Note that the reference numerals shown in Figs. 18 to 21 are substantially the same as those in Figs. 4, 9, etc.

[0211] Fig. 18 is an eighth display example of lesion or other position comparison information. The example shown in Fig. 18 illustrates a case where there is a large difference in data between a qualitative display 201 of lesion or other position-related information for the current examination and a qualitative display 202 of lesion or other position-related information for the previous examination on the same subject. Fig. 18 illustrates a case where there is a large difference between a first insertion shape 101 and a second insertion shape 102.

[0212] In this case, the surgeon can move the tip of the insertion section closer to the desired lesion, etc. by operating the endoscope insertion section while viewing the difference in data on the display screen 29. Therefore, in such a case, if information on the insertion / removal direction of the insertion section is presented, it is possible to provide guidance on the operating direction of the insertion section.

[0213] Fig. 19 is a ninth display example of lesion or other position comparison information. The example shown in Fig. 19 illustrates a case where there is a small difference in data between a qualitative display 201 of lesion or other position-related information for the current examination and a qualitative display 202 of lesion or other position-related information for the previous examination on the same subject. Fig. 19 illustrates a case where there is a small difference between a first insertion shape 101 and a second insertion shape 102.

[0214] In this case, the surgeon can see that the desired lesion or the like is located near the distal end of the insertion portion by looking at the difference in data on the display screen 29. Therefore, in such a case, the surgeon can easily locate the lesion or the like by slightly moving the orientation or position of the distal end of the insertion portion. Therefore, by presenting bending operation information at this time, the surgeon can provide guidance on the operating direction of the insertion portion.

[0215] Fig. 20 is a tenth display example of lesion or other position comparison information. The example shown in Fig. 20 illustrates a case where, while observing a lesion or other position, qualitative display 201 of lesion or other position-related information for the current examination and qualitative display 202 of lesion or other position-related information for the previous examination on the same subject substantially match. Fig. 20 illustrates a case where first insertion shape 101 and second insertion shape 102 substantially match.

[0216] In this case, the surgeon can determine that the lesion, etc. in the displayed endoscopic image is the desired lesion, etc. In this case, to further increase the accuracy, identity determination may be performed based on image recognition, for example. This allows for reliable identity determination of the lesion, etc.

[0217] Fig. 21 is an eleventh display example of lesion or other position comparison information. The example shown in Fig. 21 illustrates a case where, while observing a lesion or other position, there is a difference in data between a qualitative display 201 of lesion or other position-related information for the current examination and a qualitative display 202 of lesion or other position-related information for the previous examination on the same subject. Fig. 21 illustrates a case where there is a difference between a first insertion shape 101 and a second insertion shape 102.

[0218] In this case, the surgeon cannot immediately determine whether the lesion in the displayed endoscopic image is the desired lesion. In this case, different approaches to the lesion are presented. As different approaches to the lesion, for example, a front view of the lesion or an approach for observing the lesion behind the fold is presented. In addition, to further increase accuracy, identity determination may be performed based on, for example, image recognition. This allows for reliable identity determination of the lesion.

[0219] Next, the operation of the comparison information generation process when the above (2) is assumed will be described below with reference to the flowchart of FIG.

[0220] In this case, the endoscope control device of the endoscope system only needs to have the functions of the lesion etc. position comparison information detection unit 24 (functions of the comparison information detection software 20b), and does not need the functions of the examination information acquisition unit 21, the insertion portion shape arrangement information acquisition unit 22, and the lesion etc. position related information detection unit 23 (functions of the information acquisition software 20a).

[0221] First, in step S21, the lesion position-related information detection unit 23 in the endoscope control device controls the storage control unit 26 to check whether or not information on multiple examinations of the same subject is stored in the memory 27. If it is determined that information on multiple examinations exists, the process proceeds to the next step S22. If information on multiple examinations does not exist, the process ends (END).

[0222] Next, in step S22, the lesion position-related information detection unit 23 controls the memory control unit 26 to read multiple pieces of examination information (at least two pieces of examination information) from the memory 27 out of the multiple examination information, etc., for the same subject, and send them to the display control unit 25.

[0223] In the next step S23, the display control unit 25 performs predetermined signal processing based on the input multiple pieces of examination information to generate image data for display, and then outputs the image data to the display device 29. As a result, the display device 29 displays necessary information from the examination information, etc. in a visible state.

[0224] The displayed display is a display in a form that allows a user to compare information corresponding to a specific lesion that the user desires to compare, for example, from among the examination information, etc. Specifically, the display is in the form of the lesion position comparison information display examples shown in the above-mentioned Figures 9 to 13, etc.

[0225] As described above, according to the embodiment, when a colonoscopy is performed, examination information and the like are acquired and stored for each examination. If multiple colonoscopy examinations are performed on the same subject, the multiple pieces of examination information and the like acquired from the multiple examinations can be used to provide various pieces of information related to multiple lesions as comparison information displayed in a predetermined display format.

[0226] In this case, the predetermined display form is, for example, a form in which the images are displayed side by side simultaneously on the same screen, a form in which the images are displayed superimposed on the same screen at the same scale, or a form in which the images are displayed on the same screen by switching between displays of the same scale.

[0227] By displaying such comparison information, this embodiment allows for a comparison of information related to multiple lesions obtained by colonoscopy of the same subject, thereby assisting in more accurate and easier identification and determination of whether multiple lesions are the same.

[0228] Therefore, when the same type of examination (colonoscopy) is performed again on the same subject, it is possible to easily approach lesions, etc. that have been identified in a previous examination. This allows for easy and rapid follow-up of identified specific lesions, etc. Furthermore, if treatment was not performed in a previous examination, the target lesion, etc. can be easily identified, allowing for rapid treatment.

[0229] The criteria for determining whether a lesion is identified use predetermined values ​​based on the distribution of clinical data, the detection accuracy of the detection system, etc. Quantitative information items may be selected or combined using an optimization method, AI, etc., and a determination formula and coefficients may be obtained using these.

[0230] In addition, the judgment result may be displayed as a digital binary choice, such as whether the position of a specified lesion or the like is the same or different, or may be displayed in a form that indicates the reliability of the judgment using a graded numerical value.

[0231] As an example of the display of the determination results, classification items such as "lesions are in the same position" or "lesions are in different positions" may be used. Furthermore, sub-classifications such as "nearby" or "distant" may be added to these classification items.

[0232] Another example of the display of the determination result may be items such as "difficult to determine" or "impossible to determine." In this case, further subcategories such as "nearby, but unable to determine whether they are in the same position" or "difficult to determine because the approach of the insertion part is different" may be added.

[0233] The endoscope device 1 of this embodiment has one or more processors with hardware, and the processors acquire endoscopic information when the endoscope is positioned in the observation area at multiple times and generate comparison information regarding the observation area. With this configuration, when multiple colonoscopy examinations are performed on the same subject, the endoscope device 1 of this embodiment can more reliably identify and determine whether a lesion or the like identified in a current examination is the same as a lesion or the like (including post-treatment traces, etc.) identified in a previous examination.

[0234] However, when a single colonoscopy is performed on the same subject, a lesion or the like that was previously identified may be re-observed. For example, a lesion or the like that was previously identified during the examination may be lost during the examination. Furthermore, for example, a lesion or the like that was discovered during the insertion operation of the endoscope insertion portion toward the cecum may be re-observed during the removal operation or during the examination.

[0235] Furthermore, imaging operations may be performed multiple times during detailed examination, differentiation, etc. of lesions, etc., or imaging operations may be performed before and after a predetermined treatment. In such cases, the imaging operation method (observation angle, etc.) may change, or treatment may be performed, making it impossible to immediately determine whether the lesion, etc. is the same just by looking at the imaging results (images).

[0236] Therefore, according to the endoscopic device 1 of this embodiment, endoscopic information is acquired at multiple times during the same examination, so that it is possible to more reliably identify and determine whether lesions, etc. that are confirmed at multiple times during a single examination are the same lesion, etc.

[0237] In terms of software, it is sufficient to be able to compare endoscopic information obtained at multiple times from the same examination, and the function of identifying and determining lesions, etc. can be realized even in a configuration that is essentially unchanged.

[0238] The comparison information includes information on the location of a lesion within the subject and information on the observation direction (i.e., the approach direction of the endoscope insertion portion). By including multiple pieces of information as comparison information, it is possible to confirm that, even if there is a difference in the location information of a lesion or the like as a result of the comparison, the lesion or the like may be the same if the observation direction information matches. Furthermore, even if the location information of a lesion or the like generally matches, if the observation direction differs significantly, it is possible that the lesion or the like may be a different lesion or the like.

[0239] In this way, by comparing the position information of the lesion etc. and the information of the observation direction in combination, it is possible to more reliably determine whether the lesion etc. is the same or not.

[0240] The comparative information is displayed in the form of a graph showing the spatial arrangement of the endoscope at multiple timings. In this way, by displaying information relating to the position of a lesion or the like on the intestinal tract obtained at two timings as a graph, it is possible to quickly and reliably determine at a glance whether the lesion or the like is the same.

[0241] The information displayed in the graph includes information about the shape of the endoscope's insertion portion inside the subject. By displaying the shape of the endoscope's insertion portion in this way, it is possible to roughly confirm the shape of the endoscope's insertion portion, such as the location where the tip of the endoscope's insertion portion is located, the insertion shape of the insertion portion, and the observation direction of the lesion, etc. By displaying this information in a form that allows visual confirmation on the graph, it is possible to quickly and reliably identify and determine whether the lesion, etc. is the same.

[0242] The graph display is created based on the matching of the coordinate systems of the spatially arranged graphs at multiple times. In this way, by displaying the position information on the intestinal tract related to lesions, etc. on a single graph, it is possible to clearly check the degree of agreement and differences in the position information at multiple times. This allows for quicker and more reliable identification of whether the lesions, etc. are the same.

[0243] The coordinate system of the graph is adjusted based on at least the shape of the endoscope's insertion part. For example, the position and shape information of the endoscope's insertion part at multiple times may be misaligned due to differences in the position of the subject (patient) on the examination table or the settings of the measurement system.

[0244] Therefore, by matching each measurement data under different conditions, such as differences in cases, measurement system settings, and measurement systems, based on the insertion position and shape of the endoscope insertion part, comparisons can be made with greater accuracy.

[0245] Here, the matching method involves, for example, comparing the shapes of the endoscope insertion section when it is positioned in the cecum or the deepest part of the insertion section for different cases of the same subject. Then, the method for matching the coordinate systems can be determined by translating and rotating the coordinate systems so as to minimize the sum of errors. It is also possible to compare shapes at multiple times from two cases.

[0246] The comparison information may be configured to include a comparison table of numerical data. The above-mentioned graphical display is convenient for doctors, surgeons, etc. to quickly determine whether or not the lesions are the same. However, the graphical display is not suitable for making strict comparisons.

[0247] Therefore, when a strict comparison is performed, for example, a comparison using numerical data is performed. This makes it possible to check items with high and low degrees of match, the level of match, etc. In other words, by displaying the results using numerical data, it is possible to make a more accurate identification determination as to whether or not the lesions are the same, etc., and this can serve as a clear basis for the identification determination.

[0248] The endoscopic information includes at least one of the insertion length, insertion trajectory, lesion position coordinates, insertion section tip position coordinates, and lesion observation direction. Each of these pieces of information is useful for identifying the position of a lesion or the like on the intestinal tract. Which information is highly reproducible and useful for identifying whether the lesion or the like is the same varies depending on the insertion state of the endoscope insertion section at the time of confirming the lesion or the like.

[0249] Of these, the position coordinates and the observation direction are likely to match when similar operations of the endoscope insertion portion are performed at different times.

[0250] Furthermore, when the path of the insertion portion is prone to instability in the sigmoid colon or transverse colon, the insertion length tends to match when observing the same lesion or the like even if the tip position changes.

[0251] The insertion trajectory can provide information indicating the tendency of the movement near the tip of the insertion portion in the sigmoid colon or transverse colon to deviate from the shape of the insertion portion when it reaches the cecum.

[0252] In this way, by using any of the insertion length, insertion trajectory, lesion position coordinates, insertion tip position coordinates, and lesion observation direction as endoscopic information depending on the situation, it is possible to further improve the accuracy in identifying and determining whether or not the lesion is the same.

[0253] Furthermore, the endoscope information is a combination of at least two of the insertion length, insertion trajectory, lesion position coordinates, insertion portion tip position coordinates, and lesion observation direction.

[0254] By simultaneously using multiple (two or more) items of this information as endoscopic information for identifying the location of a lesion or the like on the intestinal tract, the accuracy of identifying whether or not the lesion or the like is the same can be increased, or the items can complement each other.

[0255] For example, when the degree of match between multiple items of information is high, identification can be performed with higher accuracy. Also, when one piece of information does not function effectively, other pieces of information may function as identification information. An example of such a case is a combination of information such as lesion position coordinates, lesion observation direction, and insertion length.

[0256] The comparison information includes the result of lesion location identification. For example, if identification criteria for the same lesion can be statistically obtained, the criteria can be used to make the determination. Obtaining such a determination result reduces the time and effort required for the surgeon to make a determination based on vague criteria such as experience and intuition, and also reduces the possibility of an erroneous determination.

[0257] The comparison information further includes a lesion identification determination result based on images taken at multiple times to determine whether the lesions are the same. Generally, it is difficult to always achieve 100% accuracy in the results of an identification determination for the same lesion, etc. obtained using endoscopic information based on the position and shape of the endoscope insertion portion. Therefore, if it is possible to determine identity by directly comparing images of the lesion, etc. taken at different times, the accuracy of the determination can be further increased.

[0258] The system is designed to display information about the positional relationship between the area currently being observed and the observation area, including previously confirmed lesions, etc. By displaying the relationship between the position of the observation area of ​​the target lesion, etc., and the position of the area currently being observed in real time during a colonoscopy, the following becomes possible. That is, if the positional relationship between the area currently being observed and the observation area, including previously confirmed lesions, etc., is: 1) If they are far apart, the difference in position allows you to approach the lesion, etc. In this case, the operation to approach is mainly either insertion or removal.

[0259] 2) If it is close, you can find out that it is close and carefully search the area around the part currently being observed. In this case, you can simply perform bending operations or slight insertion and removal operations.

[0260] Operation information is generated from the area currently being observed and previously confirmed observation areas. In addition to the relationship between the position of the observation area, such as the target lesion, and the position of the area currently being observed, the following operations for bringing the tip of the insertion part to the position of the same lesion, etc. can be displayed in real time during a colonoscopy examination: 1) When the area is far away, operations to move closer, mainly insertion and removal operations, etc. 2) When the area is close, operations such as bending and twisting to align the direction, and insertion and removal operations to slightly adjust the insertion direction position, etc.

[0261] The present invention is not limited to the above-described embodiments, and various modifications and applications can be made without departing from the spirit and scope of the invention. Furthermore, the above-described embodiments include inventions at various stages, and various inventions can be extracted by appropriately combining the disclosed multiple constituent elements. For example, if the problem to be solved by the invention can be solved and the effects of the invention can be obtained even if some constituent elements are deleted from all the constituent elements shown in one embodiment, the configuration from which these constituent elements are deleted can be extracted as the invention. Furthermore, constituent elements from different embodiments may be appropriately combined. The present invention is not limited by specific embodiments other than as limited by the appended claims.

Claims

1. An endoscope control device, one or more processors having hardware; the processor acquires endoscopic information when the endoscope is positioned in the observation area at each of a plurality of timings and image information of the observation area, and generates comparison information regarding the observation area; the comparison information includes a lesion identification determination result as to whether the lesion is the same at the multiple timings, The processor: A first lesion identification determination is performed based on the endoscopic information to determine whether the lesions are the same; A second lesion identification determination is performed based on the image information to determine whether the lesions are the same. A determination is made as to whether the lesions are the same based on the result of the first lesion identification determination and the result of the second lesion identification determination. An endoscope control device characterized by:

2. The endoscope control device according to claim 1 , wherein the plurality of timings are timings for acquiring the endoscope information during the same examination.

3. 2. The endoscope control device according to claim 1, wherein the comparison information includes information relating to a lesion position and an observation direction within the subject.

4. The endoscope control device according to claim 1 , wherein the processor outputs a signal displaying a graph showing a spatial arrangement of the endoscope at the plurality of timings as the comparison information.

5. 5. The endoscope control device according to claim 4, wherein the information displayed in the graph includes information relating to a lesion position and an observation direction within the subject.

6. 5. The endoscope control device according to claim 4, wherein the information displayed in the graph includes information about the shape of the insertion portion of the endoscope inside the subject.

7. 5. The endoscope control device according to claim 4, wherein the graph is created based on fitting a coordinate system of the spatial arrangement graph at the plurality of times.

8. 8. The endoscope control device according to claim 7, wherein the coordinate system of the graph is fitted based on at least the shape of the insertion portion of the endoscope.

9. The endoscope control device according to claim 1 , wherein the processor outputs a signal displaying a comparison table of numerical data indicating the spatial arrangement of the endoscope at the plurality of timings as the comparison information.

10. 10. The endoscope control device according to claim 9, wherein the comparison table of the numerical data is created based on a combination of the numerical data of the spatial arrangement at the plurality of timings.

11. 11. The endoscope control device according to claim 10, wherein the numerical data is adjusted based on at least a distance between two predetermined points on the insertion section of the endoscope.

12. 2. The endoscope control device according to claim 1, wherein the endoscope information is at least one of an insertion length, an insertion trajectory, a lesion position coordinate, an insertion portion tip position coordinate, and a lesion observation direction.

13. 13. The endoscope control device according to claim 12, wherein the endoscope information is a combination of at least two of an insertion length, an insertion trajectory, a lesion position coordinate, an insertion portion tip position coordinate, and a lesion observation direction.

14. An endoscope control device as described in Claim 1, characterized in that the first lesion identification judgment based on the endoscopic information is made based on the insertion length of the insertion portion of the endoscope, the direction of the tip of the insertion portion of the endoscope, and the coordinates of the lesion.

15. The endoscope control device according to claim 1 , wherein the processor indicates positional relationship information between a site currently being observed and an observation target region including previously confirmed lesions or the like.

16. The endoscope control device according to claim 15, wherein the processor generates operation information from a region currently being observed and a previously confirmed observation target region.

17. 1. An endoscopy system, comprising: an endoscope; and a control device having one or more processors with hardware; the processor acquires endoscopic information when the endoscope is positioned in the observation area at each of a plurality of timings and image information of the observation area, and generates comparison information regarding the observation area; the comparison information includes a lesion identification determination result as to whether the lesion is the same at the multiple timings, The processor: A first lesion identification determination is performed based on the endoscopic information to determine whether the lesions are the same; A second lesion identification determination is performed based on the image information to determine whether the lesions are the same. A determination is made as to whether the lesions are the same based on the result of the first lesion identification determination and the result of the second lesion identification determination. An endoscope system characterized by:

18. acquiring endoscope information and image information of the observation target area when the endoscope is positioned in the observation target area at each of a plurality of timings; Generate comparison information about the observed region The processing is performed by one or more processors having hardware; the comparison information includes a lesion identification determination result as to whether the lesion is the same at the multiple timings, The process of generating the comparison information includes: a process of performing a first lesion identification determination as to whether the lesions are the same based on the endoscopic information; A process of performing a second lesion identification determination based on the image information as to whether the lesions are the same; a process of determining whether the lesions are the same based on the result of the first lesion identification determination and the result of the second lesion identification determination; Contains 10. An endoscope control method comprising:

19. An endoscope control method as described in Claim 18, characterized in that the multiple timings are timings at which the endoscopic information is obtained during the same examination.

Images