Medical instrument having a display unit that displays a shape of an insertion body inserted into an interior of an object to be examined
A medical instrument including a distortion detection probe disposed in an insertion portion to be inserted into the interior of an examinee provided with a plurality of FBG sensor sections that detect distortion of the insertion portion, a coordinate calculation section that calculates first three-dimensional coordinates of the respective FBG sensor sections according to a first three-dimensional coordinate system whose origin is a predetermined position based on the detection results of the FBG sensor sections, a coordinate system setting section that sets a second three-dimensional coordinate system based on the first three-dimensional coordinates of the respective FBG sensor sections, a coordinate transformation section that transforms the first three-dimensional coordinates of the respective FBG sensor sections into second three-dimensional coordinates according to the second three-dimensional coordinate system set by the coordinate system setting section and a shape display section that displays the shape of the insertion portion based on the second three-dimensional coordinates transformed by the coordinate transformation section.
1. A medical instrument comprising:
an operation portion provided with a movement sensor and a switch;
an insertion body to be inserted into an interior of an object to be examined, the insertion body being connected to the operation portion;
a distortion detection unit disposed in the insertion body in which a plurality of distortion detection sections for detecting distortion of the insertion body are formed;
a coordinate calculation unit that calculates first coordinates of the respective distortion detection sections using any one of the plurality of distortion detection sections as a reference point in a first coordinate system defined by a correlation between the reference point and the distortion detection sections;
a reference coordinate system setting unit that sets a second coordinate system having a reference point and axial direction based on a position and an orientation of the movement sensor when the switch is pressed;
a coordinate transformation unit that transforms the first three-dimensional coordinates of the respective distortion detection sections to second three-dimensional coordinates in the second coordinate system set by the coordinate system setting unit based on a relative positional relationship between the reference point set by the reference coordinate system setting unit and the reference point set by the first coordinate system; and
a display unit that displays a shape of the insertion body based on the second coordinates transformed by the coordinate transformation unit.
2. The medical instrument according to claim 1 , wherein the insertion body is an insertion portion of an endoscope.
3. The medical instrument according to claim 1 , wherein the distortion detection unit is a probe in which three or more of the distortion detection sections are formed at a predetermined interval and a center point of the three or more of the distortion detection sections is assumed as a position of the distortion detection sections.
4. The medical instrument according to claim 1 , wherein the distortion detecting unit is a probe having three or more optical fiber sensors in which fiber Bragg grating sensor sections which are the distortion detection sections are formed at the same positions in an axial direction and the medical instrument further comprises:
a light inputting section provided in the insertion body that inputs light to the optical fiber sensor;
a detector that detects reflected light from the fiber Bragg grating sensor section formed in the optical fiber of the light inputted to the optical fiber sensor from the light inputting section; and
an amount of distortion measuring section that measures distortion of the fiber Bragg grating sensor section based on the amount of wavelength shift of the reflected light from the optical fiber sensor detected by the detector.
5. The medical instrument according to claim 4 , further comprising an incidence prevention unit that prevents the light impinged from the light inputting section, having passed through the fiber Bragg grating sensor section and emitted from the distal end of the optical fiber sensor from impinging on the distal end of the optical fiber sensor.
6. The medical instrument according to claim 4 , further comprising:
a heat generating member provided in the insertion body; and
a reducing member provided in the insertion body that reduces an amount of distortion generated in the fiber Bragg grating sensor section due to heat dissipated from the heat generating member and transmitted to the optical fiber sensor.
7. The medical instrument according to claim 4 , further comprising:
a determining section that determines whether or not the amount of distortion of the fiber Bragg grating sensor measured by the amount of distortion measuring section exceeds a first amount of distortion;
a count section that counts, when the amount of distortion of the fiber Bragg grating sensor exceeds the first amount of distortion, the number of times of excess; and
a warning section that issues a warning when the number of times of excess reaches or exceeds a set count.
8. The medical instrument according to claim 1 , wherein the movement sensor comprises a gyroscope and an acceleration sensor.
9. The medical instrument according to claim 1 , wherein the reference coordinate system setting unit resets the second coordinate system each time the switch is pressed.
10. The medical instrument according to claim 9 , wherein the reference point of the second coordinate system is one point a first time the switch is pressed and is a second point the second time the switch is pressed.