Endoscope system
First Claim
1. An endoscope system comprising:
- an endoscope including an image sensor configured to pick up an image of a lumen organ of a subject;
a first memory configured to record three-dimensional image information of a lumen organ of the subject acquired from a medical diagnosis apparatus different from the endoscope; and
a processor comprising hardware, wherein the processor is configured to;
estimate a position of a distal end of the endoscope;
acquire, on the basis of the three-dimensional image information recorded by the first memory, a lumen diameter of the lumen organ of the subject at the position of the distal end of the endoscope estimated;
determine, on the basis of the lumen diameter acquired and a reference lumen diameter set in advance, whether the lumen diameter acquired is smaller than the reference lumen diameter;
detect, when the processor determines that the lumen diameter acquired is smaller than the reference lumen diameter, a change amount of a predetermined parameter concerning an endoscopic image picked up by the image sensor involved in an inserting action of the endoscope, from the endoscope image; and
generate, on the basis of the three-dimensional image information recorded by the first memory, a virtual endoscopic image endoscopically rendered from any visual point position,wherein the endoscope system further comprises;
a second memory configured to record, when the change amount of the predetermined parameter concerning the endoscopic image detected is larger than a reference set value set in advance, the position of the distal end of the endoscope and the virtual endoscopic image corresponding to the position of the distal end of the endoscope.
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Accused Products
Abstract
An endoscope system includes an endoscope including an image pickup section that picks up an image of a subject lumen organ, a recording section that records three-dimensional image information of a lumen organ acquired from a medical diagnosis apparatus, a position estimating section that estimates a distal end position of the endoscope, a lumen-diameter acquiring section that acquires a lumen diameter of the organ in the estimated position of the distal end, a condition determining section that determines whether the acquired lumen diameter is smaller than the reference lumen diameter, an image-change-amount detecting section that detects a change amount of a predetermined parameter in an endoscopic image picked up by the image pickup section, a virtual-endoscopic-image generating section that generates a virtual endoscopic image from any visual point position, and an information recording section that records a position of a distal end of an insertion section and the virtual endoscopic image.
12 Citations
13 Claims
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1. An endoscope system comprising:
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an endoscope including an image sensor configured to pick up an image of a lumen organ of a subject; a first memory configured to record three-dimensional image information of a lumen organ of the subject acquired from a medical diagnosis apparatus different from the endoscope; and a processor comprising hardware, wherein the processor is configured to; estimate a position of a distal end of the endoscope; acquire, on the basis of the three-dimensional image information recorded by the first memory, a lumen diameter of the lumen organ of the subject at the position of the distal end of the endoscope estimated; determine, on the basis of the lumen diameter acquired and a reference lumen diameter set in advance, whether the lumen diameter acquired is smaller than the reference lumen diameter; detect, when the processor determines that the lumen diameter acquired is smaller than the reference lumen diameter, a change amount of a predetermined parameter concerning an endoscopic image picked up by the image sensor involved in an inserting action of the endoscope, from the endoscope image; and generate, on the basis of the three-dimensional image information recorded by the first memory, a virtual endoscopic image endoscopically rendered from any visual point position, wherein the endoscope system further comprises; a second memory configured to record, when the change amount of the predetermined parameter concerning the endoscopic image detected is larger than a reference set value set in advance, the position of the distal end of the endoscope and the virtual endoscopic image corresponding to the position of the distal end of the endoscope. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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Specification