Navigation device, navigation method, and endoscope system

1. A navigation device used for an endoscope having an insertion part to be inserted into a subject, an imaging element provided on a distal end side of the insertion part, and a plurality of magnetic field detection coils that are provided within the insertion part and detect magnetic fields, the navigation device comprising:

a processor configured at least to:

control the magnetic fields to be generated at different timings from a plurality of magnetic field generation coils that generate the magnetic fields at mutually different positions;

acquire, from the endoscope, an added image signal obtained by adding specification information for specifying the magnetic field generation coils generating the magnetic fields and magnetic field detection results of the respective magnetic field detection coils to an image signal output from the imaging element as the added image signal comprises a plurality of frame signals and magnetic field detection results; and

detect positions of the respective magnetic field detection coils on the basis of the specification information and the magnetic field detection results that are added to the added image signal acquired by the processor,

wherein the image signal is a plurality of frame image signals that constitute a dynamic image, and the added image signal is added frame image signals obtained by adding the specification information and the magnetic field detection results to the frame image signals,

wherein the specification information includes frame start signals showing start of the added frame image signals,

wherein the processor is configured to perform switching of the magnetic field generation coils generating the magnetic fields on the basis of the frame start signals added to the added frame image signals acquired by the processor, and

wherein the processor is further configured to perform determination processing of determining a correspondence relationship between the magnetic field detection results added to the added frame image signals and the magnetic field generation coils, on the basis of the frame start signals added to the added frame image signals, and

position detection processing of detecting the positions of the respective magnetic field detection coils from the magnetic field detection results, on the basis of the correspondence relationship determined by the determination processing.

2. The navigation device according to claim 1 ,

wherein the image signal is the plurality of frame image signals that constitute the dynamic image, and the added image signal is added frame image signals obtained by adding the specification information and the magnetic field detection results to the frame image signals, and

wherein the magnetic field detection results are added to a signal invalid region between the added frame image signals corresponding to a blank time of the imaging element.

3. The navigation device according to claim 1 ,

wherein the processor is configured to acquire the added image signal from the endoscope by performing noncontact communication with the endoscope.

4. The navigation device according to claim 1 , wherein the processor is further configured to:

detect a shape of the insertion part within the subject on the basis of a position detection result obtained by the processor.

5. The navigation device of claim 1 , wherein each of the plurality of frame signals is followed by one of the magnetic field detection results located within a blank time located after each frame signal.

6. A navigation device used for an endoscope having an insertion part to be inserted into a subject, an imaging element provided on a distal end side of the insertion part, and a plurality of magnetic field detection coils that are provided within the insertion part and detect magnetic fields, the navigation device comprising:

a processor configured at least to:

control the magnetic fields to be generated at different timings from a plurality of magnetic field generation coils that generate the magnetic fields at mutually different positions;

acquire, from the endoscope, an added image signal obtained by adding specification information for specifying the magnetic field generation coils generating the magnetic fields and magnetic field detection results of the respective magnetic field detection coils to an image signal output from the imaging element as the added image signal comprises a plurality of frame signals and magnetic field detection results; and

detect positions of the respective magnetic field detection coils on the basis of the specification information and the magnetic field detection results that are added to the added image signal acquired by the processor,

wherein the image signal is a plurality of frame image signals that constitute a dynamic image, and the added image signal is added frame image signals obtained by adding the specification information and the magnetic field detection results to the frame image signals,

wherein the processor is configured to control the magnetic fields to be generated in different generation patterns for the respective magnetic field generation coils,

wherein the specification information determines a structure of the generation patterns in the magnetic field detection results, and

wherein the processor is configured to perform

determination processing of determining the magnetic field generation coils corresponding to the magnetic field detection results on the basis of the generation patterns detected from the magnetic field detection results added to the added image signal, and

position detection processing of detecting the positions of the respective magnetic field detection coils from the magnetic field detection results, on the basis of the determination results of the determination processing.

7. The navigation device according to claim 6 ,

wherein the image signal is the plurality of frame image signals that constitute the dynamic image, and the added image signal is added frame image signals obtained by adding the specification information and the magnetic field detection results to the frame image signals, and

wherein the magnetic field detection results are added to a signal invalid region between the added frame image signals corresponding to a blank time of the imaging element.

8. The navigation device according to claim 6 ,

wherein the processor is configured to acquire the added image signal from the endoscope by performing noncontact communication with the endoscope.

9. The navigation device according to claim 6 , further configured to:

detect a shape of the insertion part within the subject on the basis of a position detection result obtained by the processor.

10. An endoscope system comprising:

an endoscope having an insertion part to be inserted into a subject, an imaging element provided on a distal end side of the insertion part, and a plurality of magnetic field detection coils that are provided within the insertion part and detect magnetic fields;

a plurality of magnetic field generation coils that generate the magnetic fields; and

the navigation device according to claim 1 .

11. The endoscope system according to claim 10 ,

wherein a processor of the endoscope is further configured to add the specification information for specifying the magnetic field generation coils generating the magnetic fields and the magnetic field detection results for the respective magnetic field detection coils, to the image signal output from the imaging element, and outputs the added image signal, to which the specification information and the magnetic field detection results are added, to the navigation device.

12. The endoscope system according to claim 10 ,

wherein the magnetic field generation coils are provided at positions different from the endoscope.

13. An endoscope system comprising:

an endoscope having an insertion part to be inserted into a subject, an imaging element provided on a distal end side of the insertion part, and a plurality of magnetic field detection coils that are provided within the insertion part and detect magnetic fields;

a plurality of magnetic field generation coils that generate the magnetic fields; and

the navigation device according to claim 6 .

14. The endoscope system according to claim 13 ,

wherein a processor of the endoscope is further configured to add the specification information for specifying the magnetic field generation coils generating the magnetic fields and the magnetic field detection results for the respective magnetic field detection coils, to the image signal output from the imaging element, and outputs the added image signal, to which the specification information and the magnetic field detection results are added, to the navigation device.

15. The endoscope system according to claim 13 ,

wherein the magnetic field generation coils are provided at positions different from the endoscope.

16. A navigation method used for an endoscope having an insertion part to be inserted into a subject, an imaging element provided on a distal end side of the insertion part, and a plurality of magnetic field detection coils that arc provided within the insertion part and detect magnetic fields, the navigation method comprising:

a magnetic field generation control step of causing the magnetic fields to be generated at different timings from a plurality of magnetic field generation coils that generate the magnetic fields at mutually different positions;

an image signal acquisition step of acquiring, from the endoscope, an added image signal obtained by adding specification information for specifying the magnetic field generation coils generating the magnetic fields and magnetic field detection results of the respective magnetic field detection coils to an image signal output from the imaging element as the added image signal comprises a plurality of frame signals and magnetic field detection results; and

a position detection step of detecting positions of the respective magnetic field detection coils on the basis of the specification information and the magnetic field detection results that are added to the added image signal acquired in the image signal acquisition step,

wherein the image signal is a plurality of frame image signals that constitute a dynamic image, and the added image signal is added frame image signals obtained by adding the specification information and the magnetic field detection results to the frame image signals,

wherein the specification information includes frame start signals showing start of the added frame image signals,

wherein the magnetic field generation control step includes switching of the magnetic field generation coils generating the magnetic fields on the basis of the frame start signals added to the added frame image signals acquired by the image signal acquisition step, and

wherein the position detection step includes

determination processing of determining a correspondence relationship between the magnetic field detection results added to the added frame image signals and the magnetic field generation coils, on the basis of the frame start signals added to the added frame image signals, and

position detection processing of detecting the positions of the respective magnetic field detection coils from the magnetic field detection results, on the basis of the correspondence relationship determined by the determination processing.

17. The navigation method according to claim 16 ,

wherein the image signal is the plurality of frame image signals that constitute the dynamic image, and the added image signal is added frame image signals obtained by adding the specification information and the magnetic field detection results to the frame image signals, and

wherein the magnetic field detection results are added to a signal invalid region between the added frame image signals corresponding to a blank time of the imaging element.

18. The navigation method according to claim 16 ,

wherein the image signal acquisition step includes acquiring the added image signal from the endoscope by performing noncontact communication with the endoscope.

19. The navigation method according to claim 16 , further comprising

an insertion part shape detection step of detecting a shape of the insertion part within the subject on the basis of a position detection result obtained by the position detection step.

20. A navigation method used for an endoscope having an insertion part to be inserted into a subject, an imaging element provided on a distal end side of the insertion part, and a plurality of magnetic field detection coils that are provided within the insertion part and detect magnetic fields, the navigation method comprising:

a magnetic field generation control step of causing the magnetic fields to be generated at different timings from a plurality of magnetic field generation coils that generate the magnetic fields at mutually different positions;

an image signal acquisition step of acquiring, from the endoscope, an added image signal obtained by adding specification information for specifying the magnetic field generation coils generating the magnetic fields and magnetic field detection results of the respective magnetic field detection units to an image signal output from the imaging element as the added image signal comprises a plurality of frame signals and magnetic field detection results; and

a position detection step of detecting positions of the respective magnetic field detection coils on the basis of the specification information and the magnetic field detection results that are added to the added image signal acquired in the image signal acquisition step,

wherein the magnetic field generation control step causes the magnetic fields to be generated in different generation patterns for the respective magnetic field generation units,

wherein the specification information determines a structure of the generation patterns in the magnetic field detection results, and

wherein the position detection step includes

determination processing of determining the magnetic field generation coils corresponding to the magnetic field detection results on the basis of the generation patterns detected from the magnetic field detection results added to the added image signal, and

position detection processing of detecting the positions of the respective magnetic field detection coils from the magnetic field detection results, on the basis of the determination results of the determination processing.

21. The navigation method according to claim 20 ,

wherein the image signal is the plurality of frame image signals that constitute the dynamic image, and the added image signal is added frame image signals obtained by adding the specification information and the magnetic field detection results to the frame image signals, and

wherein the magnetic field detection results are added to a signal invalid region between the added frame image signals corresponding to a blank time of the imaging element.

22. The navigation method according to claim 20 ,

wherein the image signal acquisition step includes acquiring the added image signal from the endoscope by performing noncontact communication with the endoscope.

23. The navigation method according to claim 13 , further comprising an insertion part shape detection step of detecting a shape of the insertion part within the subject on the basis of a position detection result obtained by the position detection step.