Endoscope insertion shape observation apparatus having a controller to drive bending of insertion portion of endoscope
An endoscope insertion shape observation apparatus includes an endoscope, a magnetic field generation coil provided at an insertion portion of the endoscope and configured to generate a magnetic field, an antenna unit configured to receive a coil signal from the magnetic field generation coil, a bending portion configured to bend the insertion portion, a bending drive section configured to drive the bending portion to bend, an insertion shape processing circuit configured to generate an insertion shape of the endoscope inserted into a subject according to a signal received from the antenna unit, a touch panel configured to display a generation result of the insertion shape processing circuit and be able to perform touch operation, and a drive section control circuit configured to control a drive amount of the bending drive section based on the touch operation on a desired location of the insertion shape displayed on the touch panel.
1. An endoscope insertion shape observation apparatus comprising:
an endoscope including an insertion portion that defines a bending portion;
a magnetic field generation coil provided at the insertion portion of the endoscope and configured to generate a magnetic field;
an angle sensor configured to detect an angle of the insertion portion;
an antenna configured to receive a coil signal from the magnetic field generation coil;
a controller comprising:
an insertion shape processing circuit configured to generate insertion shape information of the endoscope inserted into a subject according to a signal received from the antenna; and
a touch panel control circuit configured to generate an insertion shape of the endoscope based on information on the angle of the insertion portion detected by the angle sensor and the insertion shape information generated by the insertion shape processing circuit;
a touch panel configured to display the insertion shape generated by the touch panel control circuit and be able to perform touch operation; and
the controller further comprising a drive section control circuit configured to control a bending amount of the bending portion based on the touch operation on a desired location of the insertion shape displayed on the touch panel.
2. The endoscope insertion shape observation apparatus according to claim 1 ,
wherein the insertion portion comprises a plurality of bending portions, and
the drive section control circuit, based on the touch operation on the touch panel, controls a bending amount of the plurality of bending portions.
3. The endoscope insertion shape observation apparatus according to claim 1 ,
wherein the drive section control circuit controls the bending amount of the bending portion of the insertion portion, when touch operation is applied to a marker provided in a bending direction display area that displays a bending direction of the bending portion, based on a detection result of the angle sensor.
4. The endoscope insertion shape observation apparatus according to claim 3 ,
wherein the bending direction display area is disposed in the bending portion of the insertion portion displayed on the touch panel, and
the drive section control circuit changes the bending amount of the bending portion by applying touch operation to the marker provided in the bending direction display area disposed in the bending portion of the insertion portion and moving the marker along the bending direction display area.
5. The endoscope insertion shape observation apparatus according to claim 1 , wherein the drive section control circuit controls, based on the touch operation, the bending amount of the insertion portion displayed on the touch panel.
6. An endoscope insertion shape observation apparatus comprising:
an endoscope configured to vary a rigidity of an insertion portion;
a magnetic field generation coil provided at the insertion portion of the endoscope and configured to generate a magnetic field;
an angle sensor configured to detect an angle of the insertion portion;
an antenna configured to receive a coil signal from the magnetic field generation coil;
a controller comprising:
an insertion shape processing circuit configured to generate insertion shape information of the endoscope inserted into a subject according to a signal received from the antenna; and
a touch panel control circuit configured to generate an insertion shape of the endoscope based on information on the angle of the insertion portion detected by the angle sensor and the insertion shape information generated by the insertion shape processing circuit; and
a touch panel configured to display the insertion shape generated by the touch panel control circuit and be able to perform touch operation;
the controller further comprising a drive section control circuit configured to control a rigidity varying amount of a rigidity varying area of the insertion portion based on the touch operation on a desired location of the insertion shape displayed on the touch panel.
7. The endoscope insertion shape observation apparatus according to claim 6 , wherein:
the drive section control circuit, based on the touch operation on the touch panel, controls a rigidity varying amount of a plurality of rigidity varying areas of the insertion portion.
8. The endoscope insertion shape observation apparatus according to claim 6 ,
wherein the drive section control circuit controls the rigidity varying amount of the rigidity varying area of the insertion portion when a touch operation is applied to a rigidity varying amount level display indicator on the touch panel.
9. The endoscope insertion shape observation apparatus according to claim 8 , wherein the rigidity varying amount level display indicator is displayed on the touch panel, and
the drive section control circuit changes the rigidity varying amount by applying a touch operation to the rigidity varying amount level display indicator disposed in the rigidity varying area of the insertion portion and moving the rigidity varying amount level display indicator in a predetermined direction.
10. The endoscope insertion shape observation apparatus according to claim 6 , wherein the drive section control circuit controls the rigidity varying amount based on the touch operation on the rigidity varying area of the insertion portion displayed on the touch panel.