WO2022107492A1 - プロセッサ装置、プロセッサ装置の作動方法、プロセッサ装置用プログラム、及び内視鏡システム - Google Patents
プロセッサ装置、プロセッサ装置の作動方法、プロセッサ装置用プログラム、及び内視鏡システム Download PDFInfo
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- WO2022107492A1 WO2022107492A1 PCT/JP2021/037522 JP2021037522W WO2022107492A1 WO 2022107492 A1 WO2022107492 A1 WO 2022107492A1 JP 2021037522 W JP2021037522 W JP 2021037522W WO 2022107492 A1 WO2022107492 A1 WO 2022107492A1
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- movement
- endoscope
- movement locus
- route
- display
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Images
Classifications
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Definitions
- the present invention relates to a processor device, a method of operating the processor device, a program for the processor device, and an endoscope system when the tip of the endoscope moves inside the body.
- an endoscope system equipped with a light source device, an endoscope, and a processor device is widespread.
- the state inside the body can be grasped by displaying the endoscope image obtained by the endoscope on the display. Further, as shown in Patent Document 1, when the image of the current position is displayed on the display, the portion corresponding to the current position is also displayed by the progress bar indicating the insertion length. As a result, it is possible to grasp which position in the body the image displayed on the display is.
- the tip of the endoscope when observing the digestive tract in the body such as the stomach and large intestine, the tip of the endoscope is reciprocated at the folded position.
- the endoscope when observing the large intestine, the endoscope is inserted into the large intestine while straightening or convolving, and the large intestine is moved to the folded position.
- the operation of removing the endoscope is performed. Therefore, the insertion length of the endoscope and the shape of the large intestine differ between when the endoscope is inserted and when it is removed.
- the progress bar of Patent Document 1 does not consider the deformation of the large intestine at the time of insertion and removal, it is difficult to accurately display the current position.
- the present invention relates to a processor device that can accurately display information about the current position when the tip of the endoscope reciprocates at a folded position in the body, a method of operating the processor device, a program for the processor device, and the inside.
- the purpose is to provide a spectroscopic system.
- the processor acquires the movement status of the endoscope moving in the body, and uses the movement status of the endoscope to obtain a movement trajectory indicating the trajectory of the movement of the endoscope.
- the tip of the endoscope reciprocates at the folded position in the body, it is recognized from the endoscope image obtained by the endoscope that the tip has reached the folded position, and the movement trajectory. Recognizes whether the is corresponding to the outward route or the return route, and displays a movement trajectory display screen showing the movement trajectory separately for the outward route or the return route on the display.
- the movement locus display screen displays a straight line for displaying the outward route indicating the movement locus of the outward route and a straight line for displaying the return route indicating the movement locus of the return route. It is preferable that the straight line for displaying the outward route and the straight line for displaying the return route are connected by a folded display mark indicating the folded position. It is preferable that the movement locus display screen displays a scale for displaying the insertion length indicating the insertion length of the endoscope with respect to the straight line for displaying the outward route or the straight line for displaying the return route. It is preferable that the movement locus display screen displays an outbound route display curve showing the outbound movement locus and a inbound route display curve showing the inbound movement locus.
- the processor recognizes a plurality of parts including at least the first part and the second part between the insertion port of the endoscope and the folding position, and the movement locus is determined from the plurality of parts on the movement locus display screen. It is preferable to classify and display a plurality of sections. On the movement locus display screen, it is preferable to display the section where the tip is currently located by a message.
- the processor recognizes the region of interest from the endoscopic image and displays the position of the region of interest on the movement locus on the movement locus display screen. It is preferable that the processor classifies the categories of the attention area and displays the position of the attention area on the movement locus in a display mode different depending on the classification result of the category on the movement locus display screen. On the movement locus display screen, it is preferable to display category information including the category of the region of interest for the movement locus.
- the processor recognizes a plurality of parts including at least the first part and the second part between the insertion port of the endoscope and the folding position, and a plurality of sections are determined from the plurality of parts, and the movement locus is a section.
- the movement locus display screen is composed of a plurality of separately provided movement loci for each section, and displays the movement locus display screen for each section, which displays the movement locus for each section.
- the movement state is the amount of movement of the tip of the endoscope, and the amount of movement of the tip is preferably calculated based on at least the insertion length of the endoscope.
- the processor acquires the movement status of the moving endoscope in the body, and uses the movement status of the endoscope to track the movement of the endoscope.
- the endoscopic image obtained by the endoscope recognizes that the tip has reached the folded position.
- it recognizes whether the movement locus corresponds to the outward route or the inbound route, and displays a movement locus display screen showing the movement locus separately for the outward route or the inbound route on the display.
- the processor acquires the movement state of the moving endoscope in the body, and shows the trajectory of the movement of the endoscope by using the movement state of the endoscope.
- the endoscopic image obtained by the endoscope recognizes that the tip has reached the folded position, and , Recognizes whether the movement locus corresponds to the outward route or the inbound route, and displays a movement locus display screen showing the movement locus separately for the outward route or the inbound route on the display.
- the program for a processor device of the present invention has a function of acquiring the movement status of an endoscope moving in the body and a function of calculating a movement locus indicating a locus of movement of the endoscope by using the movement status of the endoscope. And, when the tip of the endoscope reciprocates at the folded position in the body, the recognition that the tip has reached the folded position from the endoscope image obtained by the endoscope, and the movement trajectory are The computer is made to execute a function of recognizing whether it corresponds to the outward route or the return route and a function of displaying a movement trajectory display screen showing the movement trajectory separately for the outward route or the return route on the display.
- the tip of the endoscope reciprocates at a folded position in the body, information on the current position can be accurately displayed.
- the endoscope system 10 includes an endoscope 12, a light source device 13, a processor device 14, a display 15, and a user interface 16.
- the endoscope 12 is optically connected to the light source device 13 and electrically connected to the processor device 14.
- the endoscope 12 has an insertion portion 12a to be inserted into the body to be observed, an operation portion 12b provided at the base end portion of the insertion portion 12a, and a curved portion 12c and a tip provided on the tip end side of the insertion portion 12a. It has a portion 12d.
- the curved portion 12c bends by operating the operating portion 12b.
- the tip portion 12d is directed in a desired direction by the bending motion of the bending portion 12c.
- the operation unit 12b is provided with operation switches 18a and b used for various operations by the user. Operation commands for executing various operations via the user interface 16 are assigned to the operation switches 18a and b. Further, the operation unit 12b is provided with a zoom operation unit 19 used for enlarging or reducing the observation target.
- the light source device 13 generates illumination light for illuminating the observation target, and supplies the generated illumination light to the endoscope 12.
- the endoscope 12 irradiates the observation target with the illumination light from the light source device 13, and images the observation target illuminated by the illumination light.
- the endoscope 12 transmits the endoscope image obtained by imaging the observation target to the processor device 14.
- the processor device 14 is electrically connected to the display 15 and the user interface 16.
- the processor device 14 performs various image processing such as color tone adjustment processing or structure enhancement processing on the image from the endoscope 12.
- the image subjected to various image processing is transmitted to the display 15.
- the display 15 outputs and displays an image to be observed, information incidental to the image to be observed, and the like.
- the user interface 16 has a keyboard, a mouse, a touch pad, a microphone, and the like, and has a function of accepting input operations such as function settings.
- An extended processor device for executing AI processing or the like for detecting a lesion portion by AI (Artificial Intelligence) may be connected to the processor device 14.
- an extended display (not shown) separate from the display 15 may be connected to the extended processor device in order to display an image or the like processed by the extended processor device. Therefore, the "processor device” of the present invention corresponds to the extended processor device as well as the processor device 14. Similarly, the "display” of the present invention corresponds to an extended display as well as a display 15.
- the processor device 14 includes a movement status acquisition unit 30, a movement locus calculation unit 31, a first recognition processing unit 32, a display control unit 33, and a second recognition processing unit 34. It is provided with a unit 35.
- a program for the processor device for executing various processes is incorporated in a program memory (not shown).
- the processor device 14 is provided with a central control unit (not shown) composed of a processor. When the central control unit executes the processor device program in the program memory, the above-mentioned movement status acquisition unit 30, movement locus calculation unit 31, first recognition processing unit 32, display control unit 33, and second recognition processing unit are executed.
- the functions of 34 and the category classification unit 35 are realized.
- the movement status acquisition unit 30 acquires the movement status of the endoscope that moves in the body. Specifically, it is preferable that the movement status acquisition unit 30 acquires the movement status based on the movement amount of the tip portion 12d of the endoscope. As shown in FIG. 3, the movement amount of the tip portion 12d includes the movement amount of the tip portion 12d in the vertical and horizontal directions (X-axis direction or Y-axis direction) with respect to the movement direction (Z-axis direction) of the tip portion 12d. It is preferably expressed by the amount of rotation of the tip portion 12d ( ⁇ (when the Z axis is the center of rotation)) (parameters of X, Y, Z, and ⁇ ).
- the movement status acquisition unit 30 has an endoscope image of at least two frames (the endoscope of the Nth frame) having different acquisition timings with the endoscope. It is preferable to calculate the image P (N) and the endoscopic image P (N + 1) at the N + 1th frame from comparison. Comparing the endoscopic images P (N) and P (N + 1), the region X has moved by a specific distance. In order to calculate the amount of movement of the tip portion 12d using the endoscopic image, it is preferable to use the alignment process of the endoscopic image P (N) and the endoscopic image P (N + 1).
- the alignment process includes a parallel movement process for moving the endoscope image P (N) or the endoscope image P (N + 1) in parallel, and an endoscope image P (N) or an endoscope image P (N + 1). It includes an enlargement / reduction process for enlarging or reducing.
- the translation process the amount of movement of the tip portion 12d in the X-axis direction or the Y-axis direction and the amount of rotation ⁇ of the tip portion 12d about the Z-axis as the rotation center can be calculated. Further, by the enlargement / reduction process, the amount of movement of the tip portion 12d with respect to the movement direction Z at the time of insertion or removal can be calculated.
- the movement status acquisition unit 30 may acquire the movement amount of the tip portion 12d based on the insertion length of the insertion portion 12a inserted into the body.
- the insertion portion 12a provided with markers 40 such as magnets at regular intervals and the insertion port of the endoscope 12 (anus 44 (see FIG. 6 when the body is the large intestine). )
- the marker detection sensor 41 that detects the marker, and based on the result that the marker detection sensor 41 detects the marker 40 by the movement of the insertion portion 12a (movement in the Z-axis direction)
- the insertion portion 12a Calculate the insertion length.
- the amount of movement of the tip portion 12d in the X-axis direction or the Y-axis direction is preferably calculated using the movement amount measurement sensor 42 provided in the operation unit 12b.
- the movement amount measuring sensor 42 calculates the movement amount of the tip portion 12d in the X-axis direction or the Y-axis direction from the operation amount with respect to the curved portion 12c.
- the amount of movement of the tip portion 12d of the endoscope may be measured by a magnetic sensor such as a coronavi.
- the movement locus calculation unit 31 calculates a movement locus indicating the locus of movement of the endoscope 12 by using the movement status of the endoscope 12. Specifically, the movement locus can be calculated by accumulating the movement status of the endoscope 12.
- the movement state of the endoscope 12 is represented by the movement amount (X, Y, Z, ⁇ ) of the tip portion 12d
- the movement trajectory is obtained by using all four parameters (X, Y, Z, ⁇ ).
- the movement locus can be represented by a straight line (see FIG. 7).
- the tip portion 12d of the endoscope when the tip portion 12d of the endoscope reciprocates at the folded position in the body, the tip portion 12d reaches the folded position from the endoscope image obtained by the endoscope 12. It recognizes that the movement trajectory corresponds to the outward route or the return route. Specifically, as shown in FIG. 6, when the body is the large intestine, the folded position corresponds to the ileocecal portion 43.
- the first recognition processing unit 32 performs a process of recognizing the ileocecal portion 43 from the endoscopic image. Therefore, until the first recognition processing unit 32 recognizes the ileocecal portion 43 (the ileocecal portion 43 is not recognized), the first recognition processing unit 32 recognizes that the movement locus corresponds to the outward path.
- the first recognition processing unit 32 recognizes that the movement route corresponds to the return route.
- the first recognition processing unit 32 is preferably a trained model that has been machine-learned using an endoscopic image as an input image and a correct answer (site, position, etc.).
- the first recognition processing unit 32 recognizes a plurality of parts including at least the first part or the second part between the insertion port of the endoscope 12 and the folded position.
- the insertion port of the endoscope 12 corresponds to the anus 44
- the folded position corresponds to the ileocecal portion 43.
- the first site on the anal side corresponds to the curved splenic portion 45
- the second site on the ileocecal side corresponds to the curved liver portion 46.
- the display control unit 33 displays on the display 15 a movement locus display screen that divides the movement locus into an outward route or a return route.
- a movement locus display screen that divides the movement locus into an outward route or a return route.
- the trajectory of the tip portion 12d is visualized by separating the insertion (outward route) or the removal (return route) of the endoscope 12, so that the influence of the shape change in the body can be reduced.
- the movement locus is represented by a straight line in the display control unit 33, as shown in FIG. 7, the movement locus display screen 50 has an outbound route display straight line 51 representing the outbound movement locus and a return route.
- a straight line 52 for displaying the return route which represents the movement locus of the above, is displayed.
- outbound route display straight line 51 and the inbound route display straight line 52 are connected by a fold-back display mark 53 indicating the fold-back position.
- the wrapping display mark is a semicircle, but may have other shapes (for example, a straight line (see FIG. 9A)).
- the solid line portion LX represents the place where the tip portion 12d is currently located, and the dotted line portion LY has the tip portion 12d. Represents a part that has been moved or is scheduled to be moved.
- the movement locus display screen 50 may display an insertion length display scale 54 indicating the insertion length of the endoscope 12 with respect to the outward route display straight line 51 or the return route display straight line 52.
- the insertion length display scale 54 is arranged on the side of the outward route display straight line 51 or the return route display straight line 52 so as to be a scale corresponding to the actual insertion length according to the movement of the tip portion 12d of the endoscope.
- the display of the insertion length display scale 54 is switched (scrolled display). For example, in the case of FIG. 7, since the tip portion 12d is near the folded position, the insertion length display scale 54 represents the insertion length (100 cm to 120 cm) near the folded position.
- the insertion length display scale 54 indicates the insertion length (about 0 to 30 cm).
- the movement locus display screen 50 has an outbound route display curve 56 indicating the outbound movement locus and a return route representing the inbound movement locus.
- the display curve 57 is displayed.
- the solid line portion LM represents the location where the tip portion 12d is currently located
- the dotted line portion LN is the portion where the tip portion 12d has been moved or is moved from the tip portion 12d. Represents the part to be planned.
- the movement locus may be classified into a plurality of sections defined from a plurality of parts and displayed.
- the body is a large intestine, it is preferable to classify and display the three sections of the descending colon, the transverse colon, and the ascending colon, which are defined from the curved part of the spleen (first part) and the curved part of the liver (second part).
- the movement locus is represented by the outward route display straight line 51 or the return route display straight line 52, as shown in FIG.
- the first site display marker 58a representing the splenic curved portion 45
- the second site display markers 59a and b representing the b and the hepatic curve 46
- the descending colon section 47a the transverse colon section 48a, the ascending colon section 49a, and the descending colon section 47b on the inbound route
- It represents the section 48b of the transverse colon and the section 49b of the ascending colon.
- the sections 47a and b of the descending colon, the sections 48a and b of the transverse colon, and the sections 49a and b of the ascending colon are displayed in different colors.
- the marker 58a for displaying the first site and the marker 59a for displaying the second site on the outward route, and the marker 58b for displaying the first site and the marker 58b for displaying the second site on the return route are used. It is displayed with a slight deviation from the marker 59b on a straight line.
- the section 47a of the descending colon on the outward route without using the markers 58a and b for displaying the first site and the markers 59a and b for displaying the second site representing the liver curvature portion 46
- the breaks 60a, b, c, d between each section can be seen as the section 48a of the transverse colon, the section 49a of the ascending colon, and the section 47b of the descending colon, the section 48b of the transverse colon, and the section 49b of the ascending colon on the return route. It is preferable to provide.
- both the markers 58a and b for displaying the first part and the markers 59a and b for displaying the second part and the cuts 60a, b, c and d are used in the outward route.
- the section 47a of the descending colon, the section 48a of the transverse colon, the section 49a of the ascending colon, and the section 47b of the descending colon, the section 48b of the transverse colon, and the section 49b of the ascending colon on the return route may be clearly displayed.
- the place where the tip portion 12d of the endoscope is currently located is represented by the solid line portions LX and LM, and the portion where the tip portion 12d has been moved or is scheduled to be moved is represented by the dotted line portion LY.
- LN it may be represented by other methods.
- FIGS. 10A and 10B on the movement locus display screen 50, only the current position of the tip portion 12d and the moved portion are represented by a solid line LP, and the portion scheduled to be moved is not displayed. ..
- the markers 58a and b for displaying the first part in order to display in which section the tip portion 12d is currently located, the markers 58a and b for displaying the first part, the markers 59a and b for displaying the second part, and the cuts 60a and b. , C, d so that each section 47a, b, 48a, b, 49a, b can be identified, and the section where the tip portion 12d is currently located is displayed by messages M1 and M2. May be good.
- FIG. 10A shows the movement locus at time t, and the display of the message M1 indicates that the current position is in the “transverse colon”.
- FIG. 10B shows a movement locus at time t + ⁇ after time t, and the display of the message M2 indicates that the current position is in the “ascending colon”.
- the current position of the tip portion 12d of the endoscope is displayed at the tip portion position 61, which is the tip of the movement locus.
- the tip position 61 is displayed with a part cut off when the tip portion 12d is located in the middle of each section, and is not cut out when the tip portion 12d is located at the boundary of each section. Is displayed.
- the second recognition processing unit 34 recognizes the region of interest from the endoscopic image.
- the areas of interest are, for example, lesions typified by cancer, traces of treatment, scars of surgery, bleeding sites, benign tumors, and inflamed areas (in addition to so-called inflammation, areas with changes such as bleeding or atrophy. Included), markings marked by ablation marks or coloring agents by heating, coloring with fluorescent agents, etc., or areas including biopsy-performing parts that have undergone biopsy (so-called biopsy). That is, because of the area containing the lesion, the area where there is a possibility of lesion, the area where some treatment such as biopsy was performed, the treatment tool such as a clip or kettle, or the dark area (behind the folds, the back of the lumen).
- the second recognition processing unit 34 uses a region including at least one of a lesion portion, a treatment trace, a surgical trace, a bleeding site, a benign tumor portion, an inflamed portion, a marking portion, and a biopsy performing portion as a region of interest. To detect.
- the second recognition processing unit 34 like the first recognition processing unit 32, is a trained model that has been machine-learned using an endoscopic image as an input image and a correct answer (presence or absence of a lesion, etc.). Is preferable.
- the category classification unit 35 classifies the categories of the region of interest recognized by the second recognition processing unit 34.
- the categories to be classified are any or a combination of the imaging site, the presence / absence and type of a lesion which is one of the areas of interest, the state of use of the treatment tool, the state of spraying the pigment agent, and the like.
- the category of the region of interest includes "Hyper Plastic (hyperplasia)” or "Neo Plastic (tumor)".
- the second recognition processing unit 34 recognizes the area of interest, it is preferable to display the position of the area of interest on the movement locus on the movement locus display screen 50.
- the movement locus is represented by both a straight line and a curved line
- attention is paid to the outward route display straight line 51, the return route display straight line 52, or the folded display mark 53, as shown in FIG.
- the area of interest detection point BP is displayed at the position where the area is recognized.
- the attention area detection point BP is displayed at the position where the attention area is recognized with respect to the outbound route display curve 56 or the return route display curve 57.
- the position of the attention area may be displayed on the movement trajectory in a different display mode depending on the classification result of the category on the movement locus display screen 50.
- the attention area of category A is recognized for the outward route display straight line 51 and the return route display straight line 52.
- the attention area detection point BPA of category A is displayed at the position, and the attention area detection point BPB of category B is displayed at the position where the attention area of category B (different from category A) is recognized.
- the color of the region of interest detection point BPA is yellow and the color of the region of interest detection point BPB is green.
- category A is, for example, “Neo Plastic”
- category B is, for example, “Hyper Plastic”. It should be noted that the movement locus of the curve is also displayed for the curve using the attention area detection points BPA and BPB having different display modes when the categories are different.
- the movement locus display screen 50 may display the category information including the category of the attention area with respect to the movement locus. Specifically, on the outbound route display straight line 51 and the return route display straight line 52, the attention area detection point BPA of category A is displayed at the position where the attention area of category A is recognized, and the attention area detection point BPA of the category A is displayed. On the side, category information CA including the area of interest is category A and the size of the area of interest is displayed. Further, the attention area detection point BPB of the category B is displayed at the position where the attention area of the category B is recognized, and the attention area is the category B and the attention area is on the side of the attention area detection point BPB. Category information CB including size is displayed. The category information CA and CB may include the images GA and GB of the region of interest, respectively.
- the movement locus display screen 50 displays all sections defined by a plurality of parts (for example, if the body is a large intestine, all sections of the descending colon, the transverse colon, and the ascending colon).
- the movement locus is composed of a plurality of movement trajectories provided for each section, and the movement locus is displayed.
- a section-specific movement locus display screen for displaying each section-specific movement locus may be displayed.
- the movement trajectory of the section of the descending colon is classified by section.
- the movement locus display screen 70 is displayed, the movement locus of the section of the transverse colon is displayed on the section-specific movement locus display screen 71, and the movement locus of the ascending colon section is displayed on the section-specific movement locus display screen 72.
- the section-specific movement locus display screen 70 includes a straight line region portion 70a that represents the movement locus with a straight line, and a curved region portion 70b that represents the movement locus with a curve.
- the linear region portion 70a it is preferable to display only the portion of the movement locus that recognizes the region of interest.
- the section of the descending colon is represented by the solid line portion LS, and the other sections are represented by the dotted line portion LT.
- the method of displaying the region of interest is the same as in the above case (see FIGS. 11 and 12).
- the section-specific movement locus display screen 71 and the section-specific movement locus display screen 72 also have linear region portions 71a and 72a and curved section region portions 71b and 72b, respectively, as in the section-specific movement locus display screen 70.
- the movement locus or the area of interest is displayed in the same manner as the section-specific movement locus display screen 70.
- the movement status acquisition unit 30 provided in the processor device 14 acquires the movement status of the endoscope moving in the body.
- the movement locus calculation unit 31 calculates a movement locus indicating the locus of movement of the endoscope by using the movement status of the endoscope.
- the first recognition processing unit 32 recognizes whether or not the tip portion 12d has reached the folded position from the endoscope image obtained by the endoscope 12.
- the first recognition processing unit 32 recognizes that the movement locus corresponds to the outward route.
- the first recognition processing unit 32 recognizes that the movement locus corresponds to the return path.
- the display control unit 33 displays on the display 15 a movement locus display screen 50 that divides the movement locus into an outward route or a return route.
- a processing unit that executes various processes such as a movement status acquisition unit 30, a movement locus calculation unit 31, a first recognition processing unit 32, a display control unit 33, a second recognition processing unit 34, and a category classification unit 35
- the hardware structure of the processing unit is various processors as shown below.
- Various processors include CPU (Central Processing Unit), GPU (Graphical Processing Unit), FPGA (Field Programmable Gate Array), which are general-purpose processors that execute software (programs) and function as various processing units.
- PLD Programmable Logic Device
- a processing unit may be composed of one of these various processors, or a combination of two or more processors of the same type or different types (for example, a plurality of FPGAs, a combination of a CPU and an FPGA, or a CPU and a combination of two or more processors. It may be composed of a combination of GPUs, etc.). Further, a plurality of processing units may be configured by one processor. As an example of configuring a plurality of processing units with one processor, first, as represented by a computer such as a client or a server, one processor is configured by a combination of one or more CPUs and software. There is a form in which this processor functions as a plurality of processing units.
- SoC System On Chip
- the various processing units are configured by using one or more of the above-mentioned various processors as a hardware-like structure.
- the hardware-like structure of these various processors is, more specifically, an electric circuit (circuitry) in which circuit elements such as semiconductor elements are combined.
- the hardware structure of the storage unit is a storage device such as an HDD (hard disk drive) or SSD (solid state drive).
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Abstract
Description
12 内視鏡
12a 挿入部
12b 操作部
12c 湾曲部
12d 先端部
13 光源装置
14 プロセッサ装置
15 ディスプレイ
16 ユーザインターフェース
18a、b 操作スイッチ
19 ズーム操作部
30 移動状況取得部
31 移動軌跡算出部
32 第1認識処理部
33 表示制御部
34 第2認識処理部
35 カテゴリ分類部
40 マーカ
41 マーカ検出センサ
42 移動量計測センサ
43 回盲部
44 肛門
45 脾湾曲部
46 肝湾曲部
47 下行結腸
47a 往路における下行結腸の区間
47b 復路における下行結腸の区間
48 横行結腸
48a 往路における横行結腸の区間
48b 復路における横行結腸の区間
49 上行結腸
49a 往路における上行結腸の区間
49b 復路における上行結腸の区間
50 移動軌跡表示画面
51 往路表示用直線
52 復路表示用曲線
53 折り返し表示用マーク
54 挿入長表示用目盛り
56 往路表示用曲線
57 復路表示用曲線
58a、58b 第1部位表示用マーカ
59a、59b 第2部位表示用マーカ
60a、b、c、d 切れ目
61 先端部位置
70、71、72 区間別移動軌跡表示画面
70a、71a、72a 直線領域部
70b、71b、72b 曲線領域部
LX、LM、LS、LP 実線部分
LY、LN、LT 点線部分
M1、M2 メッセージ
BPA、BPB 注目領域検出ポイント
CA、CB カテゴリ情報
P(N)、P(N+1) 内視鏡画像
GA、GB 注目領域の画像
Claims (15)
- プロセッサを有するプロセッサ装置において、
前記プロセッサは、
体内において移動する内視鏡の移動状況を取得し、
前記内視鏡の移動状況を用いて、前記内視鏡が移動した軌跡を示す移動軌跡を算出し、
前記内視鏡の先端部が前記体内の折り返し位置で往復移動する場合において、前記内視鏡によって得られた内視鏡画像から、前記先端部が前記折り返し位置に到達したことの認識、及び、前記移動軌跡が往路又は復路のいずれに該当するかの認識を行い、
前記移動軌跡を前記往路又は前記復路に分けて表す移動軌跡表示画面をディスプレイに表示するプロセッサ装置。 - 前記移動軌跡表示画面には、前記往路の移動軌跡を表す往路表示用直線、及び、前記復路の移動軌跡を表す復路表示用直線が表示される請求項1記載のプロセッサ装置。
- 前記往路表示用直線と前記復路表示用直線とは、前記折り返し位置を表す折り返し表示用マークで連結されている請求項2記載のプロセッサ装置。
- 前記移動軌跡表示画面には、前記往路表示用直線又は前記復路表示用直線に対して、前記内視鏡の挿入長を表す挿入長表示用目盛りが表示される請求項2または3記載のプロセッサ装置。
- 前記移動軌跡表示画面には、前記往路の移動軌跡を表す往路表示用曲線、及び、前記復路の移動軌跡を表す復路表示用曲線が表示される請求項1記載のプロセッサ装置。
- 前記プロセッサは、前記内視鏡の挿入口と前記折り返し位置との間で、第1部位及び第2部位を少なくとも含む複数の部位を認識し、
前記移動軌跡表示画面では、前記移動軌跡を、前記複数の部位から定められる複数の区間に分類して表示する請求項1ないし5いずれか1項記載のプロセッサ装置。 - 前記移動軌跡表示画面では、前記先端部の現在位置する区間をメッセージで表示する請求項6記載のプロセッサ装置。
- 前記プロセッサは、前記内視鏡画像から注目領域を認識し、
前記移動軌跡表示画面では、前記移動軌跡上に前記注目領域の位置を表示する請求項1ないし7いずれか1項記載のプロセッサ装置。 - 前記プロセッサは、前記注目領域のカテゴリを分類し、
前記移動軌跡表示画面では、前記注目領域の位置を、前記カテゴリの分類結果によって異なる表示態様で前記移動軌跡上に表示する請求項8記載のプロセッサ装置。 - 前記移動軌跡表示画面では、前記移動軌跡に対して、前記注目領域のカテゴリを含むカテゴリ情報を表示する請求項9記載のプロセッサ装置。
- 前記プロセッサは、前記内視鏡の挿入口と前記折り返し位置との間で、第1部位及び第2部位を少なくとも含む複数の部位を認識し、
前記複数の部位から複数の区間が定められ、
前記移動軌跡は、前記区間別に設けられた複数の区間別移動軌跡から構成され、
前記移動軌跡表示画面は、各区間別移動軌跡を表示する区間別移動軌跡表示画面をそれぞれ表示する請求項1ないし5いずれか1項記載のプロセッサ装置。 - 前記移動状況は、前記内視鏡の先端部の移動量であり、
前記先端部の移動量は、少なくとも前記内視鏡の挿入長に基づいて、算出する請求項1ないし11いずれか1項記載のプロセッサ装置。 - プロセッサ及びディスプレイを備える内視鏡システムにおいて、
前記プロセッサは、
体内において移動する内視鏡の移動状況を取得し、
前記内視鏡の移動状況を用いて、前記内視鏡が移動した軌跡を示す移動軌跡を算出し、 前記内視鏡の先端部が前記体内の折り返し位置で往復移動する場合において、前記内視鏡によって得られた内視鏡画像から、前記先端部が前記折り返し位置に到達したことの認識、及び、前記移動軌跡が往路又は復路のいずれに該当するかの認識を行い、
前記移動軌跡を前記往路又は前記復路に分けて表す移動軌跡表示画面を前記ディスプレイに表示する内視鏡システム。 - プロセッサを有するプロセッサ装置の作動方法において、
プロセッサが、
体内において移動する内視鏡の移動状況を取得し、
前記内視鏡の移動状況を用いて、前記内視鏡が移動した軌跡を示す移動軌跡を算出し、 前記内視鏡の先端部が前記体内の折り返し位置で往復移動する場合において、前記内視鏡によって得られた内視鏡画像から、前記先端部が前記折り返し位置に到達したことの認識、及び、前記移動軌跡が往路又は復路のいずれに該当するかの認識を行い、
前記移動軌跡を前記往路又は前記復路に分けて表す移動軌跡表示画面をディスプレイに表示するプロセッサ装置の作動方法。 - 体内において移動する内視鏡の移動状況を取得する機能と、
前記内視鏡の移動状況を用いて、前記内視鏡が移動した軌跡を示す移動軌跡を算出する機能と、
前記内視鏡の先端部が前記体内の折り返し位置で往復移動する場合において、前記内視鏡によって得られた内視鏡画像から、前記先端部が前記折り返し位置に到達したことの認識、及び、前記移動軌跡が往路又は復路のいずれに該当するかの認識を行う機能と、
前記移動軌跡を前記往路又は前記復路に分けて表す移動軌跡表示画面をディスプレイに表示する機能とをコンピュータに実行させるプロセッサ装置用プログラム。
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