1. A medical apparatus comprising:
an endoscopic insertion portion provided with an image pickup unit and a channel which passes through an inner part;
a treatment unit provided with a sensor and a bending portion and passed through the channel, with a distal end portion of the treatment unit being allowed to protrude from an insertion-portion distal end portion of the endoscopic insertion portion, where the sensor is disposed in the distal end portion and configured to detect a position, a direction, and a roll angle and the bending portion is adapted to bend the distal end portion;
a storage unit adapted to store three-dimensional image data of the lumen of a subject acquired in advance;
a target position setting unit adapted to set the target position based on the three-dimensional image data;
a virtual endoscopic image generating unit adapted to generate a virtual endoscopic image using a line-of-sight parameter which includes the position, the direction, and the roll angle of the distal end portion detected by the sensor, based on the three-dimensional image data; and
an image processing unit adapted to perform a superimposition process and thereby display operation information used to insert the distal end portion to the target position in superimposition on the virtual endoscopic image.
2. The medical apparatus according to claim 1, wherein:
the bending portion is bendable in an updown direction or a leftright direction; and
the operation information processed by the image processing unit is information about a bending angle of the bending portion and a roll angle of the distal end portion.
3. The medical apparatus according to claim 1, wherein the lumen has a plurality of bifurcations.
4. The medical apparatus according to claim 1, wherein the image processing unit further performs a superimposition process of an insertion route used to insert the distal end portion to the predetermined position.
5. The medical apparatus according to claim 4, wherein when there are a plurality of the insertion routes, the image processing unit performs a superimposition process and thereby displays all of the plurality of insertion routes or a selected one of the insertion routes.
6. The medical apparatus according to claim 4, wherein:
the target position setting unit is able to set a target site having a predetermined volume as the target position;
the image processing unit performs a superimposition process and thereby displays the predetermined volume of the target site, a length of the insertion route from the distal end portion to the target site, and a number of bifurcations on the insertion route from the distal end portion to the target site in superimposition with one another.
7. The medical apparatus according to claim 1, further comprising a correction unit adapted to correct a position, a direction, and a roll angle detected by the sensor based on an endoscopic image picked up by the image pickup unit and a second virtual endoscopic image having a line-of-sight parameter which includes a position, a direction, and a roll angle of the image pickup unit and calculate a coordinate transformation formula used to transform coordinates of the position detected by the sensor into a coordinate system of the three-dimensional image data.
8. The medical apparatus according to claim 7, wherein the endoscopic image is an image with the distal end portion protruding from the insertion-portion distal end portion picked up.
9. The medical apparatus according to claim 7, wherein a position of the distal end portion of the treatment unit protruding from the insertion-portion distal end portion is located in a place into which the insertion-portion distal end portion is not insertable.
10. The medical apparatus according to claim 1, wherein the lumen is a bronchus.
11. The medical apparatus according to claim 1, wherein the image processing unit performs a superimposition process and thereby displays the operation information when at least one of a bending operation of the bending portion and a rotating operation of the distal end portion is necessary.
12. The medical apparatus according to claim 11, wherein the image processing unit determines whether or not the bending operation or the rotating operation is necessary by comparing the bending angle and the roll angle which provide the operation information with respective predetermined thresholds.
13. The medical apparatus according to claim 1, wherein the operation information processed by the image processing unit is displayed graphically.
14. (canceled)
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A desludging system for electrolytic cells for metal production in the hydrometallurgical industry, which operates without having to stop current supply of cells thereby stopping cathode production, comprising in said system a collector formed by a continuous belt device with a feed roller activated by a driving system and a free roller joint by a pair of parallel rails which join the axles in each roller, whereon a continuous belt is placed and the sludge from the electrowinning process is deposited thereon; at the ends of the continuous belt device and adjacent to the narrow ends of the electrowinning cell, one or more removal trays have been installed which receive the sludge accumulated on the collector continuous belt and such feed is produced by activating the driving system on the feed roller and consequently the free roller.
2. A desludging system according to claim 1, wherein such continuous belt device also comprises a framework formed by lateral bars which support such parallel rails which support both the driving roller and free roller forming a firm structure where the collector continuous belt moves.
3. A desludging system according to claim 2, wherein the framework has a rectangular shape and comprises the complete area where oxides separate within the cell, leaving a space at the ends in order to install removal trays for desludging.
4. A desludging system according to claim 3, wherein the framework is fitted onto parallel bars through dovetails which enable such framework to keep its position within the system.
5. A desludging system according to claim 1, wherein said removal trays have a rectangular shape with a width slightly narrower than the width of the cell, and a height such that the height enables the incorporation of a multiple section labyrinth type cap which helps to encapsulate the sludge transferred through the continuous belt.
6. A desludging system according to claim 5, wherein the base of the tray has a rubber border throughout the rectangular perimeter which is in contact with the cup in order to seal the tray before it is taken from the cell with the sludge therein.
7. A desludging system according to claim 1, wherein a high relief border is incorporated at lateral ends of the continuous belt to prevent sludge from moving sideward, thereby spreading the sludge towards the bottom of the cell.
8. A desludging system according to claim 1, wherein the system further comprises at a driving roller zone a sludge scraper to clean any remaining sludge on the continuous belt.
9. A desludging system according to claim 1, wherein the system is manufactured with materials which are acid resistant materials and which do not conduct electricity.
10. A desludging system according to claim 9, wherein said materials are synthetic rubber, polyethylene plastics, polypropylene or the like.
11. A desludging system according to claim 1, wherein a cell may include as many systems as possible depending on its size in order to include the complete area where the material to be desludged may fall.