Endoscopic observation supporting system, method, device and program
First Claim
1. An endoscopic observation support system comprising:
- a 3D medical image forming unit configured to form a 3D medical image representing an interior of a body cavity of a subject;
a position of interest identifying unit configured to identify a position of a structure of interest in the body cavity in the 3D medical image, the structure of interest being a site of surgical interest or an anatomical structure that requires attention during endoscopic surgery;
a position detecting unit configured to detect a real-time position of at least one of an endoscope and a surgical tool inserted in the body cavity;
a virtual endoscopic image generating unit configured to generate, from the 3D medical image inputted thereto, a virtual endoscopic image representing the interior of the body cavity viewed from a view point, based on the identified position of the structure of interest and the detected position of at least one of the endoscope and the surgical tool in the 3D medical image, wherein the view point is the position of the structure of interest, the position of at least one of the endoscope and the surgical tool is contained in a field of view of the virtual endoscopic image, and the position of at least one of the endoscope and the surgical tool is shown in an identifiable manner in the virtual endoscopic image; and
a display control unit configured to cause a display unit to display the virtual endoscopic image.
1 Assignment
0 Petitions
Accused Products
Abstract
A virtual endoscopic image generating unit for generating, from a 3D medical image representing an interior of a body cavity of a subject formed by a 3D medical image forming unit and inputted thereto, a virtual endoscopic image, in which a position of a structure of interest identified by a position of interest identifying unit is a view point of the virtual endoscopic image, a real-time position of at least one of an endoscope and a surgical tool detected by an endoscope position detecting unit or a surgical tool position detecting unit is contained in a field of view of the virtual endoscopic image, and the position of at least one of the endoscope and the surgical tool is shown in an identifiable manner in the virtual endoscopic image, is provided. A display control unit causes a WS display to display the generated virtual endoscopic image.
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Citations
14 Claims
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1. An endoscopic observation support system comprising:
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a 3D medical image forming unit configured to form a 3D medical image representing an interior of a body cavity of a subject; a position of interest identifying unit configured to identify a position of a structure of interest in the body cavity in the 3D medical image, the structure of interest being a site of surgical interest or an anatomical structure that requires attention during endoscopic surgery; a position detecting unit configured to detect a real-time position of at least one of an endoscope and a surgical tool inserted in the body cavity; a virtual endoscopic image generating unit configured to generate, from the 3D medical image inputted thereto, a virtual endoscopic image representing the interior of the body cavity viewed from a view point, based on the identified position of the structure of interest and the detected position of at least one of the endoscope and the surgical tool in the 3D medical image, wherein the view point is the position of the structure of interest, the position of at least one of the endoscope and the surgical tool is contained in a field of view of the virtual endoscopic image, and the position of at least one of the endoscope and the surgical tool is shown in an identifiable manner in the virtual endoscopic image; and a display control unit configured to cause a display unit to display the virtual endoscopic image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An endoscopic observation support method comprising the steps of:
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forming a 3D medical image representing an interior of a body cavity of a subject before or during observation of the interior of the body cavity with an endoscope inserted in the body cavity; identifying a position of a structure of interest in the body cavity in the 3D medical image, the structure of interest being a site of surgical interest or an anatomical structure that requires attention during endoscopic surgery; detecting a real-time position of at least one of the endoscope and a surgical tool inserted in the body cavity; generating, from the 3D medical image inputted, a virtual endoscopic image representing the interior of the body cavity viewed from a view point, based on the identified position of the structure of interest and the detected position of at least one of the endoscope and the surgical tool in the 3D medical image, wherein the view point is the position of the structure of interest, the position of at least one of the endoscope and the surgical tool is contained in a field of view of the virtual endoscopic image, and the position of at least one of the endoscope and the surgical tool is shown in an identifiable manner in the virtual endoscopic image; and displaying the virtual endoscopic image. - View Dependent Claims (10)
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11. An endoscopic observation support device comprising:
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a 3D medical image obtaining unit configured to obtain a 3D medical image representing an interior of a body cavity of a subject; a position of interest identifying unit configured to identify a position of a structure of interest in the body cavity in the 3D medical image, the structure of interest being a site of surgical interest or an anatomical structure that requires attention during endoscopic surgery; a position obtaining unit configured to obtain a real-time position of at least one of an endoscope and a surgical tool inserted in the body cavity detected by a position detecting unit; a virtual endoscopic image generating unit configured to generate, from the 3D medical image inputted thereto, a virtual endoscopic image representing the interior of the body cavity viewed from a view point, based on the identified position of the structure of interest and the detected position of at least one of the endoscope and the surgical tool in the 3D medical image, wherein the view point is the position of the structure of interest, the position of at least one of the endoscope and the surgical tool is contained in a field of view of the virtual endoscopic image, and the position of at least one of the endoscope and the surgical tool is shown in an identifiable manner in the virtual endoscopic image; and a display control unit configured to cause a display unit to display the virtual endoscopic image. - View Dependent Claims (12)
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13. A non-transitory computer readable medium containing an endoscopic observation support program for causing a computer to carry out the steps of:
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obtaining a 3D medical image representing an interior of a body cavity of a subject; identifying a position of a structure of interest in the body cavity in the 3D medical image, the structure of interest being a site of surgical interest or an anatomical structure that requires attention during endoscopic surgery; obtaining a real-time position of at least one of an endoscope and a surgical tool inserted in the body cavity detected by a position detecting unit; generating, from the 3D medical image inputted, a virtual endoscopic image representing the interior of the body cavity viewed from a view point, based on the identified position of the structure of interest and the detected position of at least one of the endoscope and the surgical tool in the 3D medical image, wherein the view point is the position of the structure of interest, the position of at least one of the endoscope and the surgical tool is contained in a field of view of the virtual endoscopic image, and the position of at least one of the endoscope and the surgical tool is shown in an identifiable manner in the virtual endoscopic image; and causing a display unit to display the virtual endoscopic image. - View Dependent Claims (14)
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Specification