公开(公告)号：US20060173289A1

公开(公告)日：2006-08-03

申请号：US10544557

申请日：2003-08-22

申请人： Chieko Aizawa ,  Fumiyaki Onoda ,  Sumihiro Uchimura ,  Akira Taniguchi

发明人： Chieko Aizawa ,  Fumiyaki Onoda ,  Sumihiro Uchimura ,  Akira Taniguchi

IPC分类号： A61B5/05

CPC分类号： A61B5/06 ,  A61B5/064

摘要： Position detecting elements are disposed in an endoscope insertion portion at predetermined intervals. Even when the endoscope insertion portion is bent, position data representing the detected positions of the elements is used to infer or detect the shape of the insertion portion. A virtual element is disposed between adjoining elements so that a predetermined condition will be met. Position data of the virtual element is used together with the actually detected position data in order to interpolate data for the purpose of detecting the shape of the insertion portion. Consequently, as if a larger number of elements were disposed, the shape of the insertion portion can be detected highly precisely.

摘要翻译： 位置检测元件以预定间隔设置在内窥镜插入部中。 即使当内窥镜插入部分弯曲时，使用表示元件的检测位置的位置数据推断或检测插入部的形状。 虚拟元件设置在相邻元件之间，使得将满足预定条件。 虚拟元素的位置数据与实际检测到的位置数据一起使用，以便内插用于检测插入部分的形状的数据。 因此，如同设置更多的元件一样，能够高精度地检测插入部的形状。

公开(公告)号：US06773394B2

公开(公告)日：2004-08-10

申请号：US10199889

申请日：2002-07-17

申请人： Akira Taniguchi ,  Chieko Aizawa ,  Yasuhiro Yoshizawa ,  Fumiyuki Onoda ,  Seiki Toriyama ,  Takeshi Kawabata ,  Katsuyoshi Sasagawa ,  Sumihiro Uchimura ,  Masanao Hara ,  Kazutaka Tsuji ,  Takayasu Miyagi ,  Hiroki Moriyama ,  Hiroshi Ishii ,  Yoshinao Oaki ,  Tsugio Okazaki ,  Jun Hasegawa ,  Yasuo Hirata ,  Tetsuo Nonami

发明人： Akira Taniguchi ,  Chieko Aizawa ,  Yasuhiro Yoshizawa ,  Fumiyuki Onoda ,  Seiki Toriyama ,  Takeshi Kawabata ,  Katsuyoshi Sasagawa ,  Sumihiro Uchimura ,  Masanao Hara ,  Kazutaka Tsuji ,  Takayasu Miyagi ,  Hiroki Moriyama ,  Hiroshi Ishii ,  Yoshinao Oaki ,  Tsugio Okazaki ,  Jun Hasegawa ,  Yasuo Hirata ,  Tetsuo Nonami

IPC分类号： A61B100

CPC分类号： A61B1/31 ,  A61B1/005 ,  A61B1/05 ,  A61B5/06 ,  A61B5/064 ,  A61B5/7257 ,  A61B34/20 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/2051 ,  A61B2034/2072

摘要： An endoscope shape detection system has a CPU included in a control unit. The CPU performs frequency sampling of digital data to calculate coordinates indicating the spatial positions of source coils incorporated in an insertion unit of an endoscope received in a patient and of marker coils placed on a patient. An inserted state of the insertion unit of the endoscope is estimated based on the calculated coordinate data indicating the positions of the source coils. Display data based on the shape of the endoscope is produced from the calculated coordinate data indicating the positions of the source coils, and output to a video RAM. Display data of the marker coils is produced from the calculated coordinate data indicating the positions of the marker coils, and output to the video RAM. Consequently, the positions of the markers are depicted together with the shape of the endoscope. The positional relationship between the insertion unit of the endoscope and a patient's body can therefore be ascertained.

摘要翻译： 内窥镜形状检测系统具有包括在控制单元中的CPU。 CPU对数字数据进行频率采样，以计算表示收纳在患者的内窥镜的插入单元和放置在患者上的标记线圈的入射线圈的空间位置的坐标。 基于计算出的表示源极线圈的位置的坐标数据来估计内窥镜的插入单元的插入状态。 根据计算出的表示源极线圈的位置的坐标数据，生成基于内窥镜的形状的显示数据，并输出到视频RAM。 标记线圈的显示数据由计算出的表示标记线圈的位置的坐标数据产生，并输出到视频RAM。 因此，标记的位置与内窥镜的形状一起被描绘。 因此可以确定内窥镜的插入单元与患者身体之间的位置关系。

公开(公告)号：US06745065B2

公开(公告)日：2004-06-01

申请号：US10209199

申请日：2002-07-31

申请人： Hiroshi Niwa ,  Michio Sato ,  Akira Taniguchi ,  Fumiyuki Onoda ,  Sumihiro Uchimura ,  Chieko Aizawa

发明人： Hiroshi Niwa ,  Michio Sato ,  Akira Taniguchi ,  Fumiyuki Onoda ,  Sumihiro Uchimura ,  Chieko Aizawa

IPC分类号： A61B100

CPC分类号： A61B1/00147 ,  A61B1/00128 ,  A61B1/00137 ,  A61B1/018 ,  A61B5/06 ,  A61B5/064

摘要： An endoscope apparatus comprises an endoscope having a treatment tool passage channel in at least an insertion portion, an adaptor for endoscope forceps opening, which can be detachably attached to a treatment tool insertion opening which is at one end of the treatment tool passage channel, an insertion shape detection probe provided with a plurality of shape detection elements which are to be passed and arranged in the treatment tool passage channel via the adaptor for endoscope forceps opening, an insertion shape detection unit for detecting magnetic field emitted from the shape detection elements of the insertion shape detection probe, an insertion shape detection device which drives the insertion shape detection probe and outputs video signals for visualizing the insertion shape from the signals corresponding to the magnetic field detected by the insertion shape detection unit, and a display device for displaying the insertion shape of the insertion portion based on the video signals output from the insertion shape detection device.

摘要翻译： 一种内窥镜装置，其具有在至少插入部具有治疗工具通路通道的内窥镜，内窥镜钳子开口用适配器，其能够可拆卸地安装在处理工具通道的一端的治疗工具插入口， 插入形状检测用探针，其具有：多个形状检测元件，其经由用于内窥镜镊子开口的适配器通过并配置在所述治疗工具通路路径中;插入形状检测单元，其用于检测从所述形状检测元件发出的磁场; 插入形状检测用探针，插入形状检测装置，其驱动插入形状检测用探针，并从与由插入形状检测部检测出的磁场对应的信号输出用于可视化插入形状的视频信号;以及显示装置， 基于视频信号的插入部分的形状 ls从插入形状检测装置输出。

公开(公告)号：US07706859B2

公开(公告)日：2010-04-27

申请号：US10544557

申请日：2003-08-22

申请人： Chieko Aizawa ,  Fumiyuki Onoda ,  Sumihiro Uchimura ,  Akira Taniguchi

发明人： Chieko Aizawa ,  Fumiyuki Onoda ,  Sumihiro Uchimura ,  Akira Taniguchi

IPC分类号： A61B5/05

CPC分类号： A61B5/06 ,  A61B5/064

摘要： Position detecting elements are disposed in an endoscope insertion portion at predetermined intervals. Even when the endoscope insertion portion is bent, position data representing the detected positions of the elements is used to infer or detect the shape of the insertion portion. A virtual element is disposed between adjoining elements so that a predetermined condition will be met. Position data of the virtual element is used together with the actually detected position data in order to interpolate data for the purpose of detecting the shape of the insertion portion. Consequently, as if a larger number of elements were disposed, the shape of the insertion portion can be detected highly precisely.

摘要翻译： 位置检测元件以预定间隔设置在内窥镜插入部中。 即使当内窥镜插入部分弯曲时，使用表示元件的检测位置的位置数据推断或检测插入部的形状。 虚拟元件设置在相邻元件之间，使得将满足预定条件。 虚拟元素的位置数据与实际检测到的位置数据一起使用，以便内插用于检测插入部分的形状的数据。 因此，如同设置更多的元件一样，能够高精度地检测插入部的形状。

公开(公告)号：US07195587B2

公开(公告)日：2007-03-27

申请号：US10684544

申请日：2003-10-14

申请人： Akira Taniguchi ,  Sumihiro Uchimura ,  Yasuhiro Yoshizawa ,  Takeshi Kawabata ,  Masanao Hara ,  Kazutaka Tsuji ,  Chieko Aizawa

发明人： Akira Taniguchi ,  Sumihiro Uchimura ,  Yasuhiro Yoshizawa ,  Takeshi Kawabata ,  Masanao Hara ,  Kazutaka Tsuji ,  Chieko Aizawa

IPC分类号： A61B1/04

CPC分类号： A61B5/064 ,  A61B5/06 ,  A61B5/065

摘要： A shape of endoscope detecting apparatus in accordance with the present invention consists mainly of a shape detection unit, a marker, a location information of marker acquisition unit, and a display control unit. The shape detection unit detects the shape of a portion of an insertion unit of an endoscope inserted into a subject, and produces graphic data expressing the shape thereof. The marker is placed near a position on the subject at which the endoscope is inserted. The location information of marker acquisition unit acquires the location information of the marker. The display control unit graphically indicates on a display device the shape of the portion inserted into a body cavity, which is detected by the shape detection unit, using as a reference the location information of the marker acquired by the location information of marker acquisition unit.

摘要翻译： 根据本发明的内窥镜检测装置的形状主要包括形状检测单元，标记，标记获取单元的位置信息和显示控制单元。 形状检测单元检测插入到被检体内的内窥镜的插入单元的一部分的形状，并且生成表示其形状的图形数据。 将标记放置在被插入物体的位置附近。 标记获取单元的位置信息获取标记的位置信息。 显示控制单元以图形方式在显示装置上使用由形状检测单元检测的插入到体腔中的部分的形状，以标记获取单元的位置信息获取的标记的位置信息作为参考。

公开(公告)号：US06511417B1

公开(公告)日：2003-01-28

申请号：US09387859

申请日：1999-09-01

申请人： Akira Taniguchi ,  Chieko Aizawa ,  Yasuhiro Yoshizawa ,  Fumiyuki Onoda ,  Seiki Toriyama ,  Takeshi Kawabata ,  Katsuyoshi Sasagawa ,  Sumihiro Uchimura ,  Masanao Hara ,  Kazutaka Tsuji ,  Takayasu Miyagi ,  Hiroki Moriyama ,  Hiroshi Ishii ,  Yoshinao Oaki ,  Tsugio Okazaki ,  Jun Hasegawa ,  Yasuo Hirata ,  Tetsuo Nonami

发明人： Akira Taniguchi ,  Chieko Aizawa ,  Yasuhiro Yoshizawa ,  Fumiyuki Onoda ,  Seiki Toriyama ,  Takeshi Kawabata ,  Katsuyoshi Sasagawa ,  Sumihiro Uchimura ,  Masanao Hara ,  Kazutaka Tsuji ,  Takayasu Miyagi ,  Hiroki Moriyama ,  Hiroshi Ishii ,  Yoshinao Oaki ,  Tsugio Okazaki ,  Jun Hasegawa ,  Yasuo Hirata ,  Tetsuo Nonami

IPC分类号： A61B100

CPC分类号： A61B1/31 ,  A61B1/005 ,  A61B1/05 ,  A61B5/06 ,  A61B5/064 ,  A61B5/7257 ,  A61B34/20 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/2051 ,  A61B2034/2072

摘要： An endoscope shape detection system has a CPU included in a control unit. The CPU performs frequency sampling on digital data to calculate coordinates indicating the spatial positions of source coils incorporated in an insertion unit of an endoscope and of marker coils. An inserted state of the insertion unit of the endoscope is estimated based on the calculated coordinate data indicating the positions of the source coils. Display data based on which shape of the endoscope depicted is produced from the calculated coordinate data indicating the positions of the source coils, and output to a video RAM. Display data based on which marker coils are depicted is produced from the calculated coordinate data indicating the positions of the marker coils, and output to the video RAM. Consequently, the positions of the markers are depicted together with the shape of the endoscope. The positional relationship between the insertion unit of the endoscope and a patient's body can therefore be ascertained.

摘要翻译： 内窥镜形状检测系统具有包括在控制单元中的CPU。 CPU对数字数据执行频率采样，以计算指示结合在内窥镜的插入单元中的源极线圈和标记线圈的空间位置的坐标。 基于计算出的表示源极线圈的位置的坐标数据来估计内窥镜的插入单元的插入状态。 根据计算出的表示源极线圈的位置的坐标数据，生成所描绘的内窥镜的形状的显示数据，并输出到视频RAM。 根据计算出的表示标记线圈的位置的坐标数据产生基于标记线圈的显示数据，并输出到视频RAM。 因此，标记的位置与内窥镜的形状一起被描绘。 因此可以确定内窥镜的插入单元与患者身体之间的位置关系。

公开(公告)号：US06890294B2

公开(公告)日：2005-05-10

申请号：US10452085

申请日：2003-06-02

申请人： Hiroshi Niwa ,  Michio Sato ,  Akira Taniguchi ,  Fumiyuki Onoda ,  Sumihiro Uchimura ,  Chieko Aizawa

发明人： Hiroshi Niwa ,  Michio Sato ,  Akira Taniguchi ,  Fumiyuki Onoda ,  Sumihiro Uchimura ,  Chieko Aizawa

IPC分类号： A61B1/018 ,  A61B5/06 ,  A61B1/00

CPC分类号： A61B1/00147 ,  A61B1/00128 ,  A61B1/00137 ,  A61B1/018 ,  A61B5/06 ,  A61B5/064

摘要： An endoscope apparatus comprises an endoscope having a treatment tool passage channel in at least an insertion portion, an adaptor for endoscope forceps opening, which can be detachably attached to a treatment tool insertion opening which is at one end of the treatment tool passage channel, an insertion shape detection probe provided with a plurality of shape detection elements which are to be passed and arranged in the treatment tool passage channel via the adaptor for endoscope forceps opening, an insertion shape detection unit for detecting magnetic field emitted from the shape detection elements of the insertion shape detection probe, an insertion shape detection device which drives the insertion shape detection probe and outputs video signals for visualizing the insertion shape from the signals corresponding to the magnetic field detected by the insertion shape detection unit, and a display device for displaying the insertion shape of the insertion portion based on the video signals output from the insertion shape detection device.

摘要翻译： 一种内窥镜装置，其具有在至少插入部具有治疗工具通路通道的内窥镜，内窥镜钳子开口用适配器，其能够可拆卸地安装在处理工具通道的一端的治疗工具插入口， 插入形状检测用探针，其具有：多个形状检测元件，其经由用于内窥镜镊子开口的适配器通过并配置在所述治疗工具通路路径中;插入形状检测单元，其用于检测从所述形状检测元件发出的磁场; 插入形状检测用探针，插入形状检测装置，其驱动插入形状检测用探针，并从与由插入形状检测部检测出的磁场对应的信号输出用于可视化插入形状的视频信号;以及显示装置， 基于视频信号的插入部分的形状 ls从插入形状检测装置输出。

公开(公告)号：US06773393B1

公开(公告)日：2004-08-10

申请号：US09632255

申请日：2000-08-03

申请人： Akira Taniguchi ,  Sumihiro Uchimura ,  Yasuhiro Yoshizawa ,  Takeshi Kawabata ,  Masanao Hara ,  Kazutaka Tsuji ,  Chieko Aizawa

发明人： Akira Taniguchi ,  Sumihiro Uchimura ,  Yasuhiro Yoshizawa ,  Takeshi Kawabata ,  Masanao Hara ,  Kazutaka Tsuji ,  Chieko Aizawa

IPC分类号： A61B104

CPC分类号： A61B5/064 ,  A61B5/06 ,  A61B5/065

摘要： A shape-of-endoscope detecting apparatus generally includes a shape detection unit, a marker, a marker locator unit, and a display control unit. The shape detection unit detects the shape of a portion of an insertion unit of an endoscope inserted into a subject, and produces graphic data expressing the shape thereof. The marker is placed near a position on the subject at which the endoscope is inserted. The marker locator unit acquires the location information of the marker. The display control unit graphically indicates on a display device the shape of the portion inserted into a body cavity, which is detected by the shape detection unit, using as a reference point the location information of the marker acquired by the marker locator. A shape-of-endoscope detecting method generally includes the steps of placing a marker, locating the marker, detecting the shape of the position of an endoscope inserted into a subject, and controlling the display of the detected shape.

摘要翻译： 内窥镜检查装置通常包括形状检测单元，标记，标记定位单元和显示控制单元。 形状检测单元检测插入到被检体内的内窥镜的插入单元的一部分的形状，并且生成表示其形状的图形数据。 将标记放置在被插入物体的位置附近。 标记定位器单元获取标记的位置信息。 显示控制单元在显示装置上以使用由标记定位器获取的标记的位置信息作为基准点，在显示装置上显示插入到体腔中的部分的形状，其由形状检测单元检测。 内窥镜检查方法通常包括放置标记物，定位标记物，检测插入到被检体中的内窥镜的位置的形状，以及控制检测出的形状的显示的步骤。

公开(公告)号：US06432041B1

公开(公告)日：2002-08-13

申请号：US09392581

申请日：1999-09-09

申请人： Akira Taniguchi ,  Chieko Aizawa ,  Yasuhiro Yoshizawa ,  Fumiyuki Onoda ,  Seiki Toriyama ,  Takeshi Kawabata ,  Katsuyoshi Sasagawa ,  Sumihiro Uchimura ,  Masanao Hara ,  Kazutaka Tsuji ,  Takayasu Miyagi ,  Hiroki Moriyama ,  Hiroshi Ishii ,  Yoshinao Oaki ,  Tsugio Okazaki ,  Jun Hasegawa ,  Yasuo Hirata

发明人： Akira Taniguchi ,  Chieko Aizawa ,  Yasuhiro Yoshizawa ,  Fumiyuki Onoda ,  Seiki Toriyama ,  Takeshi Kawabata ,  Katsuyoshi Sasagawa ,  Sumihiro Uchimura ,  Masanao Hara ,  Kazutaka Tsuji ,  Takayasu Miyagi ,  Hiroki Moriyama ,  Hiroshi Ishii ,  Yoshinao Oaki ,  Tsugio Okazaki ,  Jun Hasegawa ,  Yasuo Hirata

IPC分类号： A61B100

CPC分类号： A61B1/00048 ,  A61B1/0005 ,  A61B1/00078 ,  A61B1/0055 ,  A61B5/06 ,  A61B5/064 ,  A61B34/20 ,  A61B90/361 ,  A61B90/50 ,  A61B2034/2051 ,  A61B2034/2072 ,  A61B2090/373 ,  A61B2090/3937 ,  A61B2090/3945

摘要： A source coil line-break/short-circuit detecting circuit and a probe connection detecting circuit are provided to the source coil driving circuit unit of an endoscope shape detecting apparatus. The source coil line-break/short-circuit detecting circuit detects line-breaks and short-circuits of the source coils. The probe connection detecting circuit detects whether a connection exists with a probe. A marker coil line-break/short-circuit detecting circuit detects line-breaks and short-circuits of the marker coils. A marker connection detecting circuit detects whether a connection exists with a marker. Accordingly, using the apparatus without being connected to a probe or markers can be avoided by detecting the connection of the probe and markers by the probe connection detecting circuit and marker connection detecting circuit, respectively, when the system is energized, thereby avoiding detecting noise and consequently displaying a random image on the monitor.

摘要翻译： 将源极线路断线/短路检测电路和探头连接检测电路设置在内窥镜形状检测装置的源极线圈驱动电路部。 源线圈断线/短路检测电路检测线圈断线和短路。 探头连接检测电路检测探头是否存在连接。 标记线圈断线/短路检测电路检测标记线圈的断线和短路。 标记连接检测电路检测是否存在与标记的连接。 因此，通过在系统通电时分别通过探针连接检测电路和标记连接检测电路检测探针和标记的连接，可以避免使用该装置而不连接到探针或标记，从而避免检测噪声和 从而在监视器上显示随机图像。

公开(公告)号：US06589163B2

公开(公告)日：2003-07-08

申请号：US10179327

申请日：2002-06-24

申请人： Chieko Aizawa ,  Akira Taniguchi ,  Jun Hasegawa ,  Katsuyoshi Sasagawa ,  Seiki Toriyama ,  Takayasu Miyagi ,  Tsugio Okazaki ,  Hiroki Moriyama ,  Yasuo Hirata ,  Hiroshi Ishii ,  Yoshinao Oaki

发明人： Chieko Aizawa ,  Akira Taniguchi ,  Jun Hasegawa ,  Katsuyoshi Sasagawa ,  Seiki Toriyama ,  Takayasu Miyagi ,  Tsugio Okazaki ,  Hiroki Moriyama ,  Yasuo Hirata ,  Hiroshi Ishii ,  Yoshinao Oaki

IPC分类号： A61B104

CPC分类号： A61B1/00048 ,  A61B1/0005 ,  A61B1/00078 ,  A61B1/0055 ,  A61B5/06 ,  A61B5/064 ,  A61B34/20 ,  A61B90/361 ,  A61B90/50 ,  A61B2034/2051 ,  A61B2034/2072 ,  A61B2090/373 ,  A61B2090/3937 ,  A61B2090/3945

摘要： An endoscope shape detecting system displays an endoscope image and an insertion form image simultaneously on a display means. A first memory stores an endoscope image and a second memory stores an insertion form image. A control device controls a switching action such that the insertion form image is output to the display means during a period wherein the output of the endoscope image to the display means is turned off and stored in the first memory means, and that the output of the insertion form image to the display means is turned off and stored in the second memory during the period wherein the output of the endoscope image to the display is turned on. In addition, a control device is provided that controls the storing action such that a first period for storing endoscope images in the first memory and a second period for storing output signals from a magnetic field detecting device in the second memory do not overlap.

摘要翻译： 内窥镜形状检测系统在显示装置上同时显示内窥镜图像和插入图像图像。 第一存储器存储内窥镜图像，第二存储器存储插入形式图像。 控制装置控制切换动作，使得在内窥镜图像到显示装置的输出被关闭并存储在第一存储装置中的时间段期间，将插入图像图像输出到显示装置，并且输出 在将显示器的内窥镜图像的输出打开的期间，将显示装置的插入图像关闭并存储在第二存储器中。 此外，提供控制装置，其控制存储动作，使得用于存储第一存储器中的内窥镜图像的第一周期和用于存储来自第二存储器中的磁场检测装置的输出信号的第二周期不重叠。