Diagnostic endoscopic imaging support apparatus and method, and non-transitory computer readable medium on which is recorded diagnostic endoscopic imaging support program
First Claim
1. A diagnostic endoscopic imaging support apparatus, comprising:
- a processor configured to execute a process, the process comprising;
obtaining three-dimensional image data of a subject;
extracting and obtaining tubular tissue shape data representing a shape of a tubular tissue in the subject from the three-dimensional image data;
obtaining endoscope route data representing a set of positions along a route of an endoscope inserted into the subject and including a position of a tip of the endoscope,wherein the position of the tip the endoscope corresponds to a front-most position along said series of positions;
extracting, from the tubular tissue shape data and the endoscope route data, target points at which curvature of the shape of the tubular tissue indicated by the tubular tissue shape data and curvature of the route of the endoscope indicated by the endoscope route data commonly exceed a predetermined threshold;
using the extracted target points, performing matching between the shape of the tubular tissue represented by the tubular tissue shape data and the series of positions along the route of the endoscope including the position of the tip of the endoscope represented by the endoscope route data,wherein, when the route of the endoscope in the subject is changed, a detection of a variation in the route of the endoscope is made and the matching is performed in real-time for the part of the route of the endoscope for which the variation has been detected, and reuses the result of previous matching for the remaining part of the route without performing the matching anew; and
transforming the series of positions along the route of the endoscope based on a result of the matching; and
a display configured to display the transformed series of positions along the route of the endoscope in the subject in an image obtained from the three-dimensional image data.
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Abstract
A diagnostic endoscopic imaging support apparatus includes a three-dimensional image data obtaining section that obtains three-dimensional image data of a subject, a tubular tissue shape data obtaining section that extracts and obtains tubular tissue shape data representing a shape of a tubular tissue in the subject from the three-dimensional image data obtained by the three-dimensional image data obtaining section, an endoscope route data obtaining section that obtains endoscope route data representing a route of an endoscope inserted into the subject, and a matching section that performs matching between the tubular tissue shape data and the endoscope route data.
12 Citations
19 Claims
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1. A diagnostic endoscopic imaging support apparatus, comprising:
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a processor configured to execute a process, the process comprising; obtaining three-dimensional image data of a subject; extracting and obtaining tubular tissue shape data representing a shape of a tubular tissue in the subject from the three-dimensional image data; obtaining endoscope route data representing a set of positions along a route of an endoscope inserted into the subject and including a position of a tip of the endoscope, wherein the position of the tip the endoscope corresponds to a front-most position along said series of positions; extracting, from the tubular tissue shape data and the endoscope route data, target points at which curvature of the shape of the tubular tissue indicated by the tubular tissue shape data and curvature of the route of the endoscope indicated by the endoscope route data commonly exceed a predetermined threshold; using the extracted target points, performing matching between the shape of the tubular tissue represented by the tubular tissue shape data and the series of positions along the route of the endoscope including the position of the tip of the endoscope represented by the endoscope route data, wherein, when the route of the endoscope in the subject is changed, a detection of a variation in the route of the endoscope is made and the matching is performed in real-time for the part of the route of the endoscope for which the variation has been detected, and reuses the result of previous matching for the remaining part of the route without performing the matching anew; and transforming the series of positions along the route of the endoscope based on a result of the matching; and a display configured to display the transformed series of positions along the route of the endoscope in the subject in an image obtained from the three-dimensional image data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A diagnostic endoscopic imaging support method, comprising:
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by a processor, obtaining three-dimensional image data of a subject; extracting and obtaining tubular tissue shape data representing a shape of a tubular tissue in the subject from the three-dimensional image data; obtaining endoscope route data representing a series of positions along a route of an endoscope inserted into the subject and including a position of a tip of the endoscope, wherein the position of the tip of the endoscope corresponds to a front-most position along said series of positions; extracting, from the tubular tissue shape data and the endoscope route data, target points at which curvature of the shape of the tubular tissue indicated by the tubular tissue shape data and curvature of the route of the endoscope indicated by the endoscope route data commonly exceed a predetermined threshold; using the extracted target points, performing matching between the shape of the tubular tissue represented by the tubular tissue shape data and the series of positions along the route of the endoscope including the position of the tip of the endoscope represented by the endoscope route data, wherein, when the route of the endoscope in the subject is changed, a detection of a variation in the route of the endoscope is made and the matching is performed in real-time for the part of the route of the endoscope for which the variation has been detected, and reuses the result of previous matching for the remaining part of the route without performing the matching anew; and transforming the series of positions along the route of the endoscopic based on a result of the matching; and displaying the transformed series of positions along the route of the endoscope in the subject in an image obtained from the three-dimensional image data.
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19. A non-transitory computer readable medium on which is recorded a diagnostic endoscopic imaging support program for causing a computer to execute a process, the process comprising:
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obtaining three-dimensional image data of a subject; extracting and obtaining tubular tissue shape data representing a shape of a tubular tissue in the subject from the three-dimensional image data; obtaining endoscope route data representing a set of positions alone a route of an endoscope inserted into the subject and including a position of a tip of the endoscope, wherein the position of the tip of the endoscope corresponds to a front-most position along said series of positions; extracting, from the tubular tissue shape data and the endoscope route data, target points at which curvature of the shape of the tubular tissue indicated by the tubular tissue shape data and curvature of the route of the endoscope indicated by the endoscope route data commonly exceed a predetermined threshold; using the extracted target points, performing matching between the shape of the tubular tissue represented by the tubular tissue shape data and the series of positions along the route of the endoscope including the position of the tip of the endoscope represented by the endoscope route data, wherein, when the route of the endoscope in the subject is changed, a detection of a variation in the route of the endoscope is made and the matching is performed in real-time for the part of the route of the endoscope for which the variation has been detected, and reuses the result of previous matching for the remaining part of the route without performing the matching anew; and transforming the series of positions along the route of the endoscope based on a result of the matching; and controlling a display to display the transformed series of positions along the route of the endoscope in the subject in an image obtained from the three-dimensional image data.
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Specification