Endoscope insertion controlling apparatus

• US 5,018,509 A
• Filed: 12/21/1989
• Issued: 05/28/1991
• Est. Priority Date: 02/21/1989
• Status: Expired due to Term

• Current Assignee: Olympus Optical Company Ltd. (Olympus Corporation)
• Original Assignee: Olympus Optical Company Ltd. (Olympus Corporation)
• Inventors: Takahashi, Yutaka, Hibino, Hiroki, Suzuki, Akira, Fukuda, Hiroyuki, Ishikawa, Akibumi
• Primary Examiner(s): Grieb, William H.
• Application Number:
  US07/454,620
• Time in Patent Office: 523 Days
• Field of Search: 128/6, 358/98
• US Class Current: 600/115
• CPC Class Codes: A61B 1/0005 combining images e.g. side-by-side, superimposed or tiled
• CPC Class Codes: A61B 1/00089 Hoods
• CPC Class Codes: A61B 1/00094 Suction openings
• CPC Class Codes: A61B 1/00148 using anchoring means
• CPC Class Codes: A61B 1/00156 using self propulsion
• CPC Class Codes: A61B 1/0052 Constructional details of control elements, e.g. handles
• CPC Class Codes: A61B 1/042 characterised by a proximal camera, e.g. a CCD camera
• CPC Class Codes: G01S 3/7864 T.V. type tracking systems
• CPC Class Codes: G06T 2207/30021 Catheter; Guide wire
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes

Abstract

An endoscope insertion controlling apparatus includes a region extracting apparatus for extracting a plurality of regions corresponding to brightness from an endoscope image, for example, by setting a plurality of threshold levels of brightness and a judging apparatus for determining endoscope inserting conditions such as an inserting direction and progress speed based on an arrangement of the respective regions extracted by the region extracting apparatus. An endoscope inserting direction detecting apparatus includes a light receiving apparatus for receiving light from a visual field narrower than an ordinary observing field of the endoscope, a scanning apparatus for scanning the visual field of the light receiving apparatus and a judging apparatus for determining an endoscope inserting direction based on the received light amount by the light receiving apparatus in the respective visual field directions obtained by scanning the visual field of the light receiving apparatus by the scanning apparatus.

Claims

1. An endoscope insertion controlling apparatus comprising:

a region extracting means for extracting a plurality of regions corresponding to brightness from an endoscope image by a plurality of brightness threshold levels; and

a determining means for determining endoscope inserting conditions based on an arrangement of respective regions extracted by said region extracting means.

2. An endoscope insertion controlling apparatus according to claim 1 wherein said determining means includes an operating means for determining center positions of the respective regions extracted by said region extracting means and determines the endoscope inserting conditions based on the arrangement of said center positions of said respective regions determined by said operating means.

3. An endoscope insertion controlling apparatus to claim 2 wherein said determining means considers according at least one of said center positions of said respective regions determined by said operating means as an endoscope inserting direction as of said inserting conditions.

4. An endoscope insertion controlling apparatus according to claim 2 wherein determining means determines an endoscope progress speed of said inserting conditions based on the arrangement of said center positions of said respective regions determined by said operating means.

5. An endoscope insertion controlling apparatus according to claim 2 wherein said determining means includes a displacement means for determining relative displacement of the center positions of said respective regions determined by said operating means and determines an endoscope progress speed of said inserting conditions in response to a magnitude of said displacement.

6. An endoscope insertion controlling apparatus according to claim 1 wherein said region extracting means includes a divaluing means for divaluing said endoscope image with said threshold levels of brightness in order to extract said plurality of regions corresponding to the brightness.

7. An endoscope insertion controlling apparatus according to claim 6 wherein said region extracting means further includes a threshold level setting means for setting said threshold levels based on a histogram of the brightness of said endoscope image.

8. An endoscope insertion controlling apparatus according to claim 7 wherein said threshold level setting means set said threshold levels based on a brightness level of a first peak as seen from a darker side in said histogram of the brightness of said endoscope image.

9. An endoscope insertion controlling apparatus according to claim 1 wherein said determining means includes an operating means for correlation between a shape of the region extracted by said region extracting means and a predetermined shape and determines an endoscope to be retreated when a correlative value determined by said operating means is above a set value.

10. An endoscope insertion controlling apparatus according to claim 1 further comprising a driving means for directing a tip part of an insertable part of an endoscope in a direction determined based on said endoscope inserting conditions determined by said determining means.

11. An endoscope insertion controlling apparatus according to claim 1 further comprising a driving means for advancing or retreating an insertable part of an endoscope based on the endoscope insertable part of an endoscope based on the endoscope inserting conditions determined by said determining means.

12. An endoscope inserting condition determining method comprising the respective steps of:

extracting a plurality of regions corresponding to brightness from an endoscope image by a plurality of brightness threshold levels; and

determining endoscope inserting conditions based on an arrangement of the respective regions extracted by said extracting step.

13. An endoscope inserting condition determining method according to claim 12 wherein said determining step is to determine said endoscope inserting conditions based on an arrangement of center positions of the respective regions extracted by said extracting step.

14. An endoscope inserting condition determining method according to claim 13 wherein said determining step is to consider at least one of said center positions of said respective regions as an endoscope inserting direction of said inserting conditions.

15. An endoscope inserting condition determining method according to claim 13 wherein said determining step is to determine an endoscope progress speed of said inserting conditions based on the arrangement of said center positions of said respective regions.

16. An endoscope inserting condition determining method according to claim 13 wherein said determining step is to determine an endoscope progress speed of said inserting conditions in response to a magnitude of a relative displacement of said center positions of said respective regions.

17. An endoscope inserting condition determining method according to claim 12 wherein said extracting step includes divaluing said endoscope image with said threshold levels of brightness in order to extract a plurality of regions corresponding to brightness.

18. An endoscope inserting condition determining method according to claim 17 wherein said extracting step includes setting said threshold levels based on a histogram of the brightness of said endoscope image.

19. An endoscope inserting condition determining method according to claim 18 wherein said extracting step includes setting said threshold levels based on a first peak brightness level as seen from a darker side in said histogram of the brightness of said endoscope image.

20. An endoscope inserting condition determining method according to claim 12 wherein said determining step is to correlate between a shape of the region extracted by said extracting step and a predetermined shape and to determine an endoscope to be retreated when a determined correlative value is above a set value.

21. An endoscope inserting condition determining method according to claim 12 wherein said endoscope image is obtained by an imaging means provided in an endoscope.

22. An endoscope inserting condition determining method according to claim 12 wherein said endoscope image is obtained by a television camera fitted to the eyepiece part of an endoscope with which a naked eye observation is possible.

23. An endoscope apparatus comprising:

an endoscope body having an elongate insertable part including an observing window at a tip and an image forming optical system forming an endoscope image by receiving light incident through said observing window from an object to be imaged;

an imaging means for imaging said endoscope image formed by said image forming optical system;

a region extracting means for extracting a plurality of regions corresponding to brightness from said endoscope image imaged by said imaging means;

a determining means for determining endoscope inserting conditions based on an arrangement of respective regions extracted by said region extracting means;

a first driving means for directing said tip of said insertable part of said endoscope body in a direction determined based on said endoscope inserting conditions determined by said determining means; and

a second driving means for advancing or retreating said insertable part of said endoscope based on said endoscope inserting conditions determined by said determining means.

24. An endoscope inserting direction detecting apparatus comprising:

a light receiving means for receiving light from a visual field which is narrower than an ordinary observing visual field of an endoscope;

a scanning means for scanning said visual field of said light receiving means; and

a determining means for determining an endoscope inserting direction based on the received light amount by said light receiving means in the respective visual field directions obtained by scanning said visual field of said light receiving means by said scanning means.