JP2009089910A - Photographing direction discriminating apparatus, photographing direction discriminating method, photographing direction discriminating program, and computer-readable recording medium on which photographing direction discriminating program is recorded - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a photographing direction discriminating apparatus, a photographing direction discriminating method, and a photographing direction discriminating program by which the photographing direction of an image by a capsule endoscope can easily be discriminated by sensing whether the advancing direction of the capsule endoscope and the photographing direction of the image are the same or not, and to provide a computer-readable recording medium on which the photographing direction discriminating program is recorded. <P>SOLUTION: This photographing direction discriminating apparatus 250 includes a movement vector calculating apparatus 223, and a photographing direction sensing apparatus 224. In this case, the movement vector calculating apparatus 223 is used for discriminating the photographing direction of the capsule endoscope 101 which photographs the inside of a living body, and calculates a movement vector of the image photographed by the capsule endoscope 101 which is received from the capsule endoscope 101 by time series. The photographing direction sensing apparatus 224 senses whether the advancing direction of the capsule endoscope 101 and the photographing direction of the image are the same or opposite from the movement vector being calculated by the movement vector calculating apparatus 223. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an image capturing direction discriminating apparatus, an image capturing direction discriminating method, an image capturing direction discriminating program, and a computer readable record recording an image capturing direction discriminating program suitable for acquiring and displaying an image of an imaging target inside a subject. It relates to the medium.

  In recent years, in the field of endoscopes, diagnostic devices using swallowable capsule endoscopes have been proposed and put into practical use. After being swallowed from the subject's mouth for observation (examination), the capsule endoscope moves inside the living body, for example, the inside of an organ such as the stomach and the small intestine according to its peristaltic movement, It has a function of capturing an in-vivo image as it moves. As such a capsule endoscope, there is Pilcam · SB (registered trademark) of Given Imaging Inc., Israel.

  The diagnostic device is composed of a capsule endoscope swallowed into a living body and an image processing device arranged outside the body.

  The capsule endoscope includes an imaging device such as a CCD / CMOS sensor, an illumination device such as an LED, a wireless transmission device, a transmission antenna, and a power supply device such as a battery that supplies power to each device. Imaging by the imaging device is performed at a speed of 2 frames / second or 15 frames / second, and the imaging device captures a moving image. Image data picked up by the image pickup device is modulated by the wireless transmission device, and transmitted from the transmission antenna to the outside of the body wirelessly. Imaging and wireless transmission are generally performed continuously for about 8 to 10 hours while the remaining battery capacity is present.

  FIG. 14 is an external view of a general capsule endoscope. The capsule endoscope 101 has a cylindrical shape at the center and a hemispherical shape at both ends, and has an elongated shape. FIG. 15 is a cross-sectional view (a-a ′ cross-section) of the cylindrical tip portion of FIG. 14. An imaging device 201 is disposed at the center of the cross section, and a plurality of illumination devices 202 are disposed around the imaging device 201. Since the imaging device 201 of the capsule endoscope 101 and the illuminating device 202 that irradiates light inside the living body are arranged as described above, it is possible to image the front or rear of the capsule endoscope 101 in the traveling direction. . Note that the capsule endoscope 101 can also image the traveling direction and the rear of the capsule endoscope 101 at the same time by arranging the imaging device 201 and the illumination device 202 at the other end in the long axis direction. is there.

  Outside the living body, although not shown, there is an image processing apparatus having a receiving antenna, a wireless receiving device, and a display device. In the image processing apparatus, the reception antenna receives a radio wave transmitted from the transmission antenna inside the capsule endoscope 101, demodulates the reception data in the wireless reception apparatus, and displays the demodulated image data on the display apparatus. Have.

  As a conventional apparatus for displaying a moving image picked up by a capsule endoscope, methods disclosed in Patent Documents 1 and 2 are known.

  Patent Document 1 discloses an apparatus for displaying a plurality of moving images in a living body, and discloses a method and system for effectively displaying an in-vivo image stream. More specifically, it is as follows. It is possible that one or several images are missing from the image stream. This may be due to the capsule not being actuated at a certain moment, for example due to the angle or movement of the capsule, or due to malfunction of the imager. In addition, malfunctions are caused, for example, by the recording device not being able to record images or by obscuring images being excluded during data selection and selection. Missing images can create gaps that cannot be backed up by recording for a certain amount of time, resulting in a consistent or inconsistent image stream. Therefore, Patent Document 1 preferably uses a capsule including two or more imaging devices, an imaging device inside the capsule creates an image stream, and an in vitro workstation receives an image from each imaging device as an image stream. These images are displayed. Each image stream displays images substantially simultaneously at a rate of one window for each image stream on a monitor that may include multiple image windows. Thereby, a system is disclosed in which image streams from different imagers can be observed substantially simultaneously.

  Patent Document 2 discloses an image display that makes it easy for a viewer to understand the moving direction of a moving image when the image captured and acquired in time series by an in-subject introducing device such as a capsule endoscope is displayed as a moving image. The device is provided. More specifically, it is as follows. In diagnosis on the display screen, a large number of images are handled, so that a large number of images are screened as time-sequential moving images. In this case, as a method of showing a moving image, it is possible to freely set a time-sequential forward direction and a time-sequential reverse direction by an operator operating a pointing device such as a scrolling wheel. Has been. Thereby, a moving image can be observed in the order from the oral cavity side to the anus side in the body cavity, and conversely, the moving image can be observed in such a manner that a part to be gazed again returns from the anal side to the oral cavity side. However, since the operator is operating with regard to the video screening, he can understand whether the video chronological screening direction is the forward direction or the backward direction, but only looking at the display screen It was inconvenient for the viewers to be unable to understand whether the direction of the movie being shown was forward or backward. Therefore, in Patent Document 2, the setting state related to the moving image display method is displayed on the display unit at the same time as the moving image, and the viewer can check the setting method by viewing the setting state of the screening method displayed simultaneously with the moving image. The state can be easily checked. For example, if the parameter is a parameter that defines the time-series presentation direction of the video, the viewer can easily check whether the video is moving forward or backward by looking at the setting state of the video direction. An in-subject introduction device that can be used is disclosed.

As described above, Patent Document 1 is a device that displays a plurality of moving images, and Patent Document 2 describes a setting state as to whether moving images are displayed in time-sequential order or in reverse. It is a device that displays on the display screen together with the image.
JP 2006-142017 (published June 8, 2006 (2006.6.8)) JP 2006-296882 (published on November 2, 2006 (2006.11.2))

  However, the conventional configuration has a problem that it is not possible to know which direction the capsule endoscope is facing when the capsule endoscope is operating in a digestive tract in a living body, for example, the intestine. This will be described below with reference to FIG.

  FIG. 16 is a diagram illustrating a relationship between the traveling direction of the capsule endoscope 101 and the imaging direction of the imaging device 201. 16A shows a state (state 301) in which the traveling direction of the capsule endoscope 101 is the same as the imaging direction of the imaging apparatus, and FIG. 16B shows the traveling direction and the imaging of the capsule endoscope 101. A state (state 302) in which the imaging direction of the apparatus is opposite is shown. In the state 301 and the state 302, one frame (still image) in the captured moving image has a mirror image relationship (a state in which the vertical and horizontal directions are symmetrical), and an object existing in the captured image, for example, a blood vessel, The positional relationship in the captured image such as a polyp or erosion changes.

  An image observer such as a doctor needs to see the image after recognizing whether or not the traveling direction of the capsule endoscope 101 is the same as the imaging direction of the image, which is a burden. In particular, when one frame in a moving image is taken out and observed as a still image, it is difficult to recognize whether the traveling direction of the capsule endoscope 101 is the same as the image capturing direction from a single still image. It has been difficult to determine the direction in which an image is captured by a capsule endoscope.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to detect whether the traveling direction of the capsule endoscope is the same as the imaging direction of the image, and the capsule endoscope An imaging direction discriminating apparatus, an imaging direction discriminating method, an imaging direction discriminating program, and a computer-readable recording medium on which an imaging direction discriminating program is recorded can be provided.

  An imaging direction determination apparatus according to the present invention is an imaging direction determination apparatus for determining an imaging direction of a capsule endoscope that images an inside of a living body, in order to solve the above-described problem, from the capsule endoscope. A motion vector calculation device for calculating a motion vector of an image captured by the capsule endoscope received in series, and a traveling direction of the capsule endoscope based on the motion vector calculated by the motion vector calculation device And an imaging direction detecting device that detects whether the imaging direction of the image is the same or opposite.

  According to the above configuration, the motion vector calculation device calculates the motion direction of the object in the captured image, and the imaging direction detection device has the same traveling direction of the capsule endoscope as the imaging direction of the imaging device, or the opposite Is detected. As described above, since the imaging direction discriminating device can detect whether the traveling direction of the capsule endoscope and the imaging direction of the image are the same or opposite, the image observer can use the capsule endoscope. The image capturing direction can be easily recognized.

  In the imaging direction discrimination device according to the present invention, it is preferable that the motion vector calculation device divides the received image into fixed blocks and calculates a motion vector for the block by a block matching method.

  According to the above configuration, the motion vector calculation device can calculate a motion vector for each block in the image.

  In the imaging direction discriminating device according to the present invention, the imaging direction detecting device is configured such that the number of motion vectors toward the image edge is based on the motion vector of each block in the image calculated by the motion vector calculation device. When the number of motion vectors toward the image center is greater than the number of motion vectors toward the image, it is detected that the traveling direction of the capsule endoscope and the image capturing direction are the same, and the number of motion vectors toward the image center is the motion vector toward the image edge. When the number is larger than the number, it is preferable to detect that the traveling direction of the capsule endoscope is opposite to the image capturing direction.

  According to the above configuration, by comparing the number of motion vectors toward the edge of the image and the number of motion vectors toward the image center, the imaging direction detection device can detect the traveling direction of the capsule endoscope and the imaging direction of the image. Can be detected correctly.

  In the imaging direction discriminating device according to the present invention, the number that the angle formed by the motion vector of each block in the image calculated by the motion vector calculation device and the position vector connecting the start point of the motion vector from the image center is an acute angle. When the number of obscure angles is larger than the number of obscure angles, it is detected that the traveling direction of the capsule endoscope and the imaging direction of the image are the same, and when the number of obtuse angles is greater than the number of acute angles, It is preferable to detect that the traveling direction of the endoscope is opposite to the image capturing direction.

  According to the above configuration, if the number of motion vectors whose angle with the position vector is an acute angle is greater than the number of motion vectors whose angle with the position vector is an obtuse angle, the objects in the captured image are generally image edges. It can be judged that it is heading. Conversely, if the number of motion vectors that form an obtuse angle with the position vector is greater than the number of motion vectors that form an acute angle with the position vector, the object in the captured image generally moves toward the center of the image. It can be judged. As described above, the moving direction of the object in the captured image can be determined from the angle formed by the motion vector and the position vector, and the relationship between the traveling direction of the capsule endoscope and the image capturing direction can be correctly detected. .

  In the imaging direction determination device according to the present invention, the cosine of the angle formed by the motion vector of each block in the image calculated by the motion vector calculation device and the position vector connecting the start point of the motion vector from the image center is calculated, If the sum of the cosines is positive, it is detected that the traveling direction of the capsule endoscope is the same as the imaging direction of the image, and if it is negative, the traveling direction of the capsule endoscope and the imaging direction of the image are It is preferable to detect the opposite.

  According to the above configuration, the imaging direction detection device can detect the relationship between the traveling direction of the capsule endoscope and the imaging direction of the image by evaluating the direction of the motion vector. In other words, by increasing the weighting of the motion vector facing the image center or the direction of the image edge, the imaging direction detection device can detect the relationship between the traveling direction of the capsule endoscope and the imaging direction of the image. it can.

  In the imaging direction discrimination device according to the present invention, the inner product of the motion vector of each block in the image calculated by the motion vector calculation device and the position vector connecting the start point of the motion vector from the image center is calculated, and the sum of the inner products is calculated. However, if it is positive, it is detected that the traveling direction of the capsule endoscope is the same as the image capturing direction, and if it is negative, the traveling direction of the capsule endoscope is opposite to the image capturing direction. It is preferable to detect.

  According to the above configuration, since the inner product of the motion vector and the position vector is the product of the magnitude of both vectors and the cosine of the angle formed by both vectors, the magnitude of both vectors is large, that is, located at the image end. By increasing the weighting of the direction of the motion vector being moved and the direction of the greatly moved motion vector, the relationship between the traveling direction of the capsule endoscope and the image capturing direction can be detected.

  In the imaging direction determination device according to the present invention, the capsule endoscope wirelessly transmits at least one imaging device that images the inside of the living body and image data representing an image captured by the imaging device to the imaging direction determination device. And a transmission device.

  According to the above configuration, since the capsule endoscope includes the imaging device and the wireless transmission device that performs processing for transmitting the image captured by the imaging device to the outside of the body, the imaging device The captured image can be transmitted from the wireless transmission device to the outside of the capsule endoscope. On the basis of the image, the imaging direction determination device determines the traveling direction of the capsule endoscope and the imaging direction of the image. Whether they are the same or opposite can be detected.

  In the imaging direction discriminating apparatus according to the present invention, it is preferable that in the capsule endoscope, the imaging apparatus sets the major axis direction of the capsule endoscope as the imaging direction.

  According to the above configuration, the relationship between the traveling direction of the capsule endoscope and the image capturing direction can be limited to whether both directions are the same or opposite.

  In the imaging direction discriminating device according to the present invention, it is preferable that the display device displays a detection result by the imaging direction detection device.

  According to the above configuration, the display device displays the detection result by the imaging direction determination device, so that the image observer has the same or opposite direction of the capsule endoscope and the imaging direction of the image. Can be easily recognized.

  In the imaging direction determination device according to the present invention, it is preferable that the display device further displays an image captured by the capsule endoscope.

  According to the above configuration, the image observer can confirm whether the traveling direction of the capsule endoscope is the same as the imaging direction of the image and can also observe the image. Thereby, the image observer can grasp | ascertain the positional relationship of the object in a captured image more correctly.

  In the imaging direction discriminating device according to the present invention, when the display device determines that the traveling direction of the capsule endoscope and the imaging direction are the same, the image captured by the capsule endoscope is displayed as it is, When it is determined that the traveling direction of the capsule endoscope and the imaging direction are opposite, it is preferable to display the image captured by the capsule endoscope by performing a mirror image process.

  According to the above-described configuration, when the traveling direction of the capsule endoscope is opposite to the image capturing direction, an image that is symmetric with respect to the X axis or the Y axis is displayed for each frame (still image) in the moving image. Since the generated mirror image processing is performed and displayed on the screen, the displayed image has the same vertical and horizontal positional relationship when the capsule endoscope traveling direction and the image capturing direction are the same. Become. In addition, when the capsule endoscope traveling direction and the image capturing direction are the same, they are displayed as they are, so the positional relationship of the object in the captured image is the same as the capsule endoscope traveling direction and the image capturing direction. Regardless, it will always be the same. In this way, the image observer can observe without worrying about the positional relationship of the displayed images.

  An imaging direction discriminating method according to the present invention is an imaging direction discriminating method for discriminating an imaging direction of a capsule endoscope that images a living body, the capsule being received in time series from the capsule endoscope The step of calculating the motion vector of the image captured by the endoscope and whether the traveling direction of the capsule endoscope and the image capturing direction are the same or opposite based on the calculated motion vector Detecting.

  According to the above configuration, the imaging direction determination method according to the present invention includes a step of calculating a motion vector of an image captured by a capsule endoscope, and the capsule endoscope based on the calculated motion vector. Detecting whether the traveling direction and the image capturing direction are the same or opposite, so that the capsule endoscope traveling direction and the image capturing direction are the same. , The opposite can be detected.

  An imaging direction discrimination program according to the present invention is an imaging direction discrimination program for discriminating an imaging direction of a capsule endoscope that images a living body, and is received by a computer in time series from the capsule endoscope. The procedure for calculating the motion vector of the image captured by the capsule endoscope and the traveling direction of the capsule endoscope and the imaging direction of the image are the same or opposite based on the calculated motion vector And a procedure for detecting whether or not.

  According to the above-described configuration, the imaging direction determination program according to the present invention calculates a motion vector of an image captured by a capsule endoscope and the capsule endoscope based on the calculated motion vector. A procedure for detecting whether the traveling direction and the image capturing direction are the same or opposite, and by executing these procedures, the traveling direction of the capsule endoscope and the image Whether the imaging direction is the same or opposite can be detected.

  The computer-readable recording medium on which the imaging direction determination program according to the present invention is recorded is a computer-readable recording medium on which an imaging direction determination program for determining the imaging direction of the capsule endoscope that images the inside of a living body is recorded. A computer calculates a motion vector of an image captured by the capsule endoscope received in time series from the capsule endoscope, and based on the calculated motion vector, An imaging direction discriminating program for executing a procedure for detecting whether the traveling direction of the endoscope and the imaging direction of the image are the same or opposite is recorded.

  According to the above configuration, the computer-readable recording medium recording the imaging direction determination program according to the present invention includes a procedure for calculating a motion vector of an image captured by a capsule endoscope, and the calculated motion vector. Based on the above, a procedure for detecting whether the traveling direction of the capsule endoscope and the imaging direction of the image are the same or opposite is recorded, and by executing the program, It is possible to detect whether the traveling direction of the capsule endoscope is the same as or opposite to the image capturing direction.

  The relationship between the capsule traveling direction and the imaging direction of the imaging device is automatically determined by the imaging direction determination device, the imaging direction determination method, the imaging direction determination program, and the computer-readable recording medium storing the imaging direction determination program according to the present invention. Can be determined. Thereby, an observer of a captured image such as a doctor can easily determine the imaging direction of the image by the capsule endoscope, and there is an effect that the accuracy of diagnosis is further increased.

(Embodiment 1)
The following describes the first embodiment with reference to FIGS.

  First, based on FIG. 1, the structure of the diagnostic apparatus 260A provided with the imaging direction discrimination apparatus 250 which concerns on this Embodiment is demonstrated.

  FIG. 1 is a block diagram of the diagnostic apparatus 260A. The diagnostic device 260A includes the capsule endoscope 101 and the image processing device 220.

  The capsule endoscope 101 is formed by an outer wall 203. The inside of the capsule endoscope 101 includes a lens 204, an imaging device 201, an illumination device 202, a wireless transmission device 205, a transmission antenna 207, a battery 206, and a power line 208.

  The lens 204 plays a role of collecting, on the surface of the imaging device 201, the light irradiated from the illumination device 202 and reflected by the organ in the living body. The imaging device 201 performs imaging of an organ in a living body, and a CCD or a CMOS sensor is used. The illumination device 202 irradiates light in the living body, and an LED is used.

  The wireless transmission device 205 is used for performing processing for transmitting image data captured by the imaging device 201 to the outside of the body. The transmission antenna 207 is used to transmit the image data processed by the wireless transmission device 205 to the outside of the capsule endoscope 101. The battery 206 supplies power to each device inside the capsule endoscope 101, and a small button battery such as a silver oxide battery is used. The power line 208 is used to supply power from the battery 206 to each device.

  The image processing apparatus 220 includes a reception antenna 221, a wireless reception apparatus 222, an imaging direction determination apparatus 250 configured by a motion vector calculation apparatus 223 and an imaging direction detection apparatus 224, and a display apparatus 225. . The reception antenna 221 is used for receiving radio waves transmitted by the transmission antenna 207 of the capsule endoscope 101. The wireless reception device 222 is used for performing a process of demodulating a signal received by the reception antenna 221. The motion vector calculation device 223 is used to calculate the amount of movement between frames of an object present in the image. The imaging direction detection device 224 detects whether the imaging direction and the movement direction of the capsule endoscope 101 are the same or opposite based on the motion vector calculated by the motion vector calculation device 223. Used. The display device 225 displays an image captured by the capsule endoscope 101 and information regarding the relationship between the imaging direction and the movement direction of the capsule endoscope 101 detected by the imaging direction detection device 224. As the display device 225, a CRT display, a liquid crystal display, a plasma display, an organic EL, or the like is used. The detailed configuration of the imaging direction detection device 224 will be described in detail later along with the operation thereof.

  In the above configuration, the operation of the diagnostic device 260A will be described as follows.

  First, with reference to FIG. 1, image data captured by the imaging device 201 is output from the output terminal 211 and input to the wireless transmission device 205 from the input terminal 212. The wireless transmission device 205 modulates transmission data (for example, FM modulation) into a format suitable for wireless transmission, and the modulated image data is sent from the output terminal 213 to the transmission antenna 207. Thereafter, the signal is transmitted from the transmission antenna 207 to the outside of the capsule endoscope 101 by radio.

  The image data transmitted from the transmission antenna 207 is received by the reception antenna 221 and input to the wireless reception device 222 from the input terminal 230. The wireless reception device 222 performs demodulation processing corresponding to the modulation processing performed by the wireless transmission device 205 on the input data. The demodulated received data, that is, the image captured by the image capturing apparatus 201 is input from the output terminal 231 to the display apparatus 225 through the image data input terminal 236 and to the motion vector calculation apparatus 223 through the input terminal 232. The motion vector calculation device 223 calculates a movement amount between frames of an object present in the image. The calculated motion vector is input to the input terminal 234 of the imaging direction detection device 224 through the output terminal 233. The imaging direction detection device 224 detects whether the imaging direction and the traveling direction of the capsule endoscope 101 are the same or opposite based on the motion vector. The detection result is output from the output terminal 235 and input to the display device 225 through the imaging direction data input terminal 237. The display device 225 includes an image input from the image data input terminal 236, that is, an image captured by the imaging device 201, and a relationship between the imaging direction and the traveling direction of the capsule endoscope 101 input from the imaging direction data input terminal 237. In addition, the data representing is displayed.

  Here, the operation of the motion vector calculation device 223 will be described with reference to FIG.

  A motion vector represents a position of a figure existing in a frame of a moving image and a change in the position of the figure in the same frame at a later time point. This will be described with reference to FIG. FIG. 2 is a diagram for explaining a motion vector.

The left side of FIG. 2 represents a frame when the imaging time t is t = t ₀ , and the right side of FIG. 2 represents the same frame at t = t ₀ + τ. Figure that existed in the imaging time t = _{t 0} of the coordinate in the frame _(x 0, _{y 0)} is assumed to move to the imaging time _t = t ₀ + τ coordinates in the frame _(x 1, _{y 1)} . At this time, the motion vector at the coordinates (x ₀ , y ₀ ) at t = t ₀ is (x ₁ −x ₀ , y ₁ −y ₀ ). In the specification of the present application, when a coordinate system of an image is considered, a coordinate system with two axes orthogonal to each other in the horizontal direction and the vertical direction with the image center as the origin is considered. The horizontal axis is referred to as the X axis, and the vertical axis is referred to as the Y axis.

  A block matching method is known as a method for calculating this motion vector. In the block matching method, a frame is divided into blocks of a certain size, for example, 4 × 4, 8 × 8, etc., and a motion vector is calculated for each block. With these methods, motion vectors are calculated for all blocks in the image, and the calculated motion vectors are input to the imaging direction detection device 224.

  Next, the operation of the imaging direction detection device 224 will be described with reference to FIGS.

  In the imaging direction detection device 224, based on the motion vector of the image calculated by the motion vector calculation device 223, the imaging direction and the traveling direction of the capsule endoscope 101 are the same (state 301) or opposite ( State 302) is detected.

  A change in captured image data in the state 301 will be described with reference to FIG. FIG. 3 is a diagram illustrating changes in the captured image in the state 301.

  Assume that an object 601 is present in front of the capsule endoscope 101. The imaging device 201 of the capsule endoscope 101 images the traveling direction, and the imaging range is a range indicated by 602. When the object 601 enters the imaging range 602, the object 601 is located near the center of the imaging range 602 (FIG. 3A). That is, the object 601 is shown near the center of the initial captured image. As time passes, the capsule endoscope 101 advances in the intestine (the left side in FIG. 3 is the direction of movement), and the object 601 and the capsule endoscope 101 approach each other (FIG. 3B). . As the object approaches, the object 601 approaches the boundary of the imaging range 602. That is, the object 601 moves to the end of the captured image as time passes (FIG. 3C).

  Next, a change in captured image data in the state 302 will be described with reference to FIG. FIG. 4 is a diagram illustrating changes in the captured image in the state 302.

  Assume that an object 601 is present behind the capsule endoscope 101. The imaging device 201 of the capsule endoscope 101 images in the direction opposite to the traveling direction, and the imaging range is a range indicated by 602. Since the object 601 is located near the capsule endoscope 101 when the object 601 enters the imaging range 602, the object 601 is located near the boundary of the imaging range 602 (FIG. 4A )). That is, the object 601 is reflected near the image end of the captured image. As time passes, the capsule endoscope 101 advances in the intestine, and the object 601 and the capsule endoscope 101 are separated from each other (FIG. 4B). The object 601 approaches the center of the imaging range 602 as the distance increases. That is, the object 601 moves toward the center of the captured image as time passes (FIG. 4C).

  As described above, in the case of the state 301, that is, when the imaging direction of the capsule endoscope 101 is the same as the traveling direction, the object in the captured image moves toward the image end as time passes. That is, the motion vector of the image faces the edge of the image. On the other hand, in the case of the state 302, that is, when the imaging direction of the capsule endoscope 101 is opposite to the traveling direction, the object in the captured image moves toward the center of the image with time. That is, the motion vector of the image is directed to the center of the image.

  Next, a method for determining the direction of the motion vector will be described with reference to FIGS.

  Consider a motion vector 802 corresponding to a block in the image, and a position vector 801 connecting the image center (coordinate system origin) and the start point of the motion vector 802. The direction of the vector can be determined based on whether the angle θ formed by these two vectors is an acute angle or an obtuse angle. FIG. 5 shows a case where the angle θ formed by the position vector 801 and the motion vector 802 is an acute angle. Considering a circle 803 centered at the origin of the coordinate system, if the angle θ formed by the two vectors is an acute angle, the motion vector 802 is directed from the inside to the outside of the circle 803, that is, the motion vector 802 is positioned at the image end. Indicates that you are facing. FIG. 6 shows a case where the angle θ formed by the vector is an obtuse angle. At this time, the motion vector 802 is directed from the outside to the inside of the circle 803, that is, the motion vector 802 is directed to the center of the image.

  Although there are a plurality of motion vectors 802 in one frame, the number of vectors in which the angle θ formed by the motion vector 802 and the position vector 801 corresponding to the motion vector 802 is an acute angle is greater than the number of obtuse angles. For example, it can be determined that the object in the image has moved to the edge of the image. In addition, if the number of vectors having an obtuse angle θ between the motion vector 802 and the position vector 801 corresponding to the motion vector 802 is greater than the number of acute vectors, the object in the image moves to the center of the image. Can be judged.

  Next, the configuration and operation of the imaging direction detection device 224 will be described with reference to FIG.

  The imaging direction detection device 224 includes a position vector generation circuit 1001, a vector inner product calculation circuit 1002, a sign determination circuit 1003, a Not gate 1005, counters 1004 and 1006, and a comparator 1007.

The output of the motion vector 802 output from the motion vector calculation device 223 is input to the input terminal 234. Hereinafter, the coordinates of the start point of the motion vector 802 are (x _S , y _S ), and the coordinates of the end point are (x _e , y _e ). The position vector generation circuit 1001 generates a position vector 801 corresponding to the input motion vector 802. That is, since the position vector 801 is a vector connecting the coordinate origin and the start point of the motion vector 802, the position vector generation circuit 1001 outputs a vector whose components are (x _S , y _S ).

  A vector dot product calculation circuit 1002 calculates a dot product of two input vectors. The sign determination circuit 1003 outputs an H level signal if the input value is positive, and outputs an L level signal if the input value is negative. The counters 1004 and 1006 count the number of input H level signals. The comparator 1007 outputs an H level signal if (+ input terminal value) ≧ (−input terminal value), and an L level signal if (−input terminal value)> (+ input terminal value). Output a signal. Note that each circuit in the imaging direction detection device 224 is reset when the motion vector 802 of the first block of a certain frame is input.

  Here, the inner product of the motion vector m and the position vector p is expressed by the following equation.

m · p = | m || p | cos θ (θ: angle formed by vector m and vector p)
Since | m | ≧ 0 and | p | ≧ 0, when the inner product is positive, cos θ is positive, that is, θ is an acute angle, and when the inner product is negative, cos θ is negative, that is, θ is an obtuse angle.

  When the sign determination circuit 1003 outputs an H level, the angle θ formed by the input motion vector 802 and the position vector 801 is an acute angle. When the sign determination circuit 1003 outputs an L level, the motion vector 802 and the position vector 801 Is an obtuse angle.

  The counter 1004 counts the number of times that the code determination circuit 1003 outputs an H level, that is, the number of motion vectors 802 having an acute angle θ between the motion vector 802 and the position vector 801. More specifically, the number of motion vectors 802 belonging to a certain frame and facing the image end is counted. The counter 1006 receives a signal that has passed through a Not gate 1005 as an output of the sign determination circuit 1003, and the number of motion vectors 802 in which an angle θ formed by a motion vector 802 and a position vector 801 belonging to a certain frame is an obtuse angle, That is, the number of motion vectors 802 facing the image center is counted. More specifically, the number of motion vectors 802 belonging to a certain frame and facing the center of the image is counted.

  The outputs of the counter 1004 and the counter 1006 are input to the comparator 1007. The number of motion vectors toward the center of the image is compared with the number of motion vectors toward the end of the image, and the result is output. That is, the comparator 1007 outputs a signal indicating whether the object in the captured image is directed toward the image center or the image end, and the imaging direction of the capsule endoscope 101 is the same as the traveling direction. A signal indicating whether the opposite is true is output. When the comparator 1007 outputs H level, the value of the counter 1004 is larger than the value of the counter 1006, and the number of motion vectors 802 facing the image edge is larger than the number of motion vectors 802 facing the image center. Is shown. When the comparator 1007 outputs L level, the value of the counter 1006 is larger than the value of the counter 1004, and the number of motion vectors 802 facing the image center is larger than the number of motion vectors 802 facing the image end. It is shown that.

  As described above, when the imaging direction detection device 224 outputs the H level, the imaging direction and the traveling direction of the capsule endoscope 101 are the same. When the imaging direction detection device 224 outputs L level, the imaging direction of the capsule endoscope 101 and the traveling direction are opposite. In this way, the imaging direction detection device 224 detects the relationship between the imaging direction of the capsule endoscope 101 and the traveling direction.

  Next, the operation of the display device 225 will be described with reference to FIG.

  A moving image captured by the imaging device 201 is input from the image data input terminal 236 of the display device 225, and data indicating whether the imaging direction and the traveling direction of the capsule endoscope 101 are the same is the imaging direction data input terminal. 237 is input. When the imaging direction detection device 224 outputs the H level, the imaging direction and the traveling direction are the same, and the display device 225 displays “image in front of the capsule” together with the moving image. When the imaging direction detection device 224 outputs L level, the imaging direction and the traveling direction are opposite, and therefore the display device 225 displays “image behind the capsule” together with the moving image. The image observer can recognize the imaging direction of the capsule endoscope 101 by these displays. In addition, you may display an imaging direction using figures, such as an arrow, instead of the above characters.

  In the above configuration, the effect of the diagnostic device 260A including the imaging direction determination device 250 according to the present embodiment will be described as follows.

  A motion vector 802 is calculated by the above method (block matching method) for each frame of a moving image captured by the imaging apparatus 201. The imaging direction detection device 224 compares the number of motion vectors facing the image edge with the number of motion vectors facing the image center. Thereby, it can be detected whether the imaging direction and the traveling direction of the capsule endoscope 101 are the same. Since the display device 225 displays the moving image together with the detection result of the imaging direction detection device 224, the image observer can recognize the imaging direction of the capsule endoscope 101.

  Note that the imaging direction detection device 224 detects the imaging direction of the capsule endoscope 101 by evaluating the number of motion vectors facing the image edge and the number of motion vectors facing the image center. By using a value different from the number of vectors 802, it is possible to detect the imaging direction. Hereinafter, other detection methods will be described.

  The closer the angle θ between the motion vector 802 and the position vector 801 is to 180 degrees, the closer the motion vector 802 is to the center of the image, and the closer to 0 degrees, the more the motion vector 802 is directed to the image end. In determining which direction the motion vector 802 in the image is facing generally, if the motion vector 802 facing the image center and the image end is heavily evaluated, the determination can be made with higher accuracy. Here, considering the cosine cos θ of the angle θ formed by the motion vector 802 and the position vector 801, the absolute value of cos θ decreases as θ approaches 90 degrees, and the absolute value increases as it approaches 0 degrees and 180 degrees. . Therefore, the cosine of the angle θ formed by the position vector 801 with respect to the motion vector 802 in the frame is obtained, and the sum thereof is evaluated, thereby giving a weight in the direction of the motion vector 802 facing the image center and the image end. And can be evaluated.

  As described above, FIG. 8 shows the configuration of the imaging direction detection device 224A that evaluates the motion vector 802 with weights. In addition, the same code | symbol is attached | subjected to the same component used in FIG. 7, and these detailed description is abbreviate | omitted.

  The imaging direction detection device 224A includes a position vector generation circuit 1001, a vector inner product calculation circuit 1002, vector magnitude calculation circuits 1101 and 1102, dividers 1103 and 1104, an adder 1105, a sign determination circuit 1106, It is constituted by.

Dividers 1103 and 1104 have two inputs and output (value of input 1) / (value of input 2). The adder 1105 outputs the sum of the input values. Vector magnitude calculation circuits 1101 and 1102 take a vector as an input and output the magnitude of the vector. If the input vector component is (x, y), “√ (x ² + y ² )” is output.

  The divider 1103 receives the output of the vector dot product calculation circuit 1002 and the output of the vector magnitude calculation circuit 1101, that is, the size of the position vector p, so that the divider 1103 outputs m · p / | p |. To do. Similarly, since the magnitude of the motion vector m is input from the vector magnitude calculation circuit 1102, the divider 1104 outputs a value of the following equation.

m · p / (| m || p |)
Since the inner product of the vectors is given by m · p = | m || p | cos θ, the divider 1104 outputs the cosine cos θ of the angle θ formed by the motion vector 802 and the position vector 801.

  The adder 1105 outputs the output of itself and the sum of the divider 1104, and outputs the sum of cosines of the angle θ formed by the motion vector 802 in the frame and the position vector 801 corresponding to the motion vector 802. . The output of the adder 1105 is input to the sign determination circuit 1106. If the sum of the cosines of the angle θ formed is positive, the sign determination circuit 1106 outputs an H level, and if it is negative, the sign determination circuit 1106 outputs an L level.

  As described above, the imaging direction detection device 224A weights the motion vector 802 that is more toward the image center / image end, and then the motion vector 802 in the frame is generally directed toward the image center or the image end. Can be evaluated.

  Furthermore, other evaluation methods for the imaging direction will be described.

  An object in the captured image may move due to the movement of the capsule endoscope 101. When the object moves due to shaking, the amount of movement of the object is small, and the magnitude of the motion vector 802 becomes small. Therefore, in order to eliminate the influence of such blurring, it is preferable to weight and evaluate the motion vector 802 having a larger movement amount. In addition, the object located at the center of the image exists far from the imaging device 201. An object existing near the imaging apparatus 201 can be imaged more accurately due to a relationship such as a focal length. Therefore, if the motion vector 802 related to the object located in the vicinity of the imaging device 201 is evaluated with a higher weight, it can be evaluated with better accuracy. Since an object existing in the vicinity of the imaging apparatus 201 is located at the end of the captured image, it is preferable to evaluate the motion vector 802 having a larger position vector 801 with a higher weight.

  FIG. 9 is a configuration diagram of the imaging direction detection device 224B that evaluates the motion vector 802 by weighting as described above. The imaging direction detection device 224B includes a position vector generation circuit 1001, a vector inner product calculation circuit 1002, an adder 1201, and a sign determination circuit 1202. The same components as those shown in FIGS. 7 and 8 are given the same reference numerals, and detailed descriptions thereof are omitted.

  The adder 1201 has the vector dot product operation circuit 1002 and its own output as inputs. Since m · p = | m || p | cos θ, evaluation is performed by weighting the angle θ formed by the motion vector 802 and the position vector 801 as in the case of the imaging direction detection device 224A. Further, evaluation is performed by adding the magnitudes (| m |, | p |) of the motion vector 802 and the position vector 801 to the weight.

In this manner, 224A or 224B can be used as an alternative to the imaging direction detection device 224.
(Embodiment 2)
FIG. 10 is a block diagram of a diagnostic apparatus 260B including the imaging direction determination apparatus 250 according to the present embodiment. The same reference numerals are given to the same components as those described in the first embodiment. Therefore, detailed description of these components is omitted.

  The diagnostic device 260B includes the capsule endoscope 101 and the image processing device 220A. The image processing apparatus 220A includes a reception antenna 221, a wireless reception apparatus 222, a motion vector calculation apparatus 223, and an imaging direction detection apparatus 224, an imaging direction determination apparatus 250, a display apparatus 225A, a mirror image processing apparatus 226, and the like. , MUX227.

  The display device 225A has an image data input terminal 236, and displays the image data input from this on the screen. The mirror image processing device 226 performs mirror image processing on the image input from the input terminal 243. Note that mirror image processing refers to processing for generating an image symmetric with respect to the X axis or the Y axis for each frame (still image) in a moving image.

  The MUX 227 has input terminals 239 and 240, a control terminal 241, and an output terminal 242. When the H level is input to the control terminal 241, the signal of the input terminal 239 is output from the output terminal 242. When the L level is input to the control terminal 241, the signal of the input 2 terminal 240 is output from the output terminal 242. The

  When the imaging direction detection device 224 outputs an H level, that is, when the traveling direction of the capsule endoscope 101 is the same as the imaging direction, the MUX 227 receives a signal input from the input 1 terminal 239, that is, the imaging device 201. Outputs the captured image. The display device 225A displays the image captured by the imaging device 201 as it is. On the other hand, when the imaging direction detection device 224 outputs the L level, that is, when the traveling direction of the capsule endoscope 101 is opposite to the imaging direction, the MUX 227 receives a signal input from the input 2 terminal 240, that is, imaging. An image obtained by performing mirror image processing on the image captured by the apparatus 201 is output. Accordingly, the display device 225A displays an image obtained by performing a mirror image process on the image captured by the imaging device 201.

When the imaging direction and the traveling direction of the capsule endoscope 101 are the same as the opposite direction, the captured image has a mirror image relationship. Therefore, if mirror image processing is performed when the traveling direction is opposite to the imaging direction, the vertical and horizontal positional relationships of the objects present in the image are the same as when the imaging is performed when the traveling direction and the imaging direction are the same. become. For this reason, the image observer can observe without being aware of the imaging direction of the capsule endoscope.
(Embodiment 3)
FIG. 11 is an external view of a capsule endoscope 101A according to the third embodiment.

  Unlike the capsule endoscope 101, the capsule endoscope 101A is equipped with two imaging devices 1502 and 1505, which are positioned in front of and behind the capsule endoscope 101A, respectively. Note that the imaging directions of the imaging devices 1502 and 1505 are opposite to each other.

  FIG. 12 is a block diagram of the capsule endoscope 101A, and FIG. 13 is a block diagram of the image processing device 220B according to the third embodiment.

  As shown in FIG. 12, the capsule endoscope 101A includes an outer wall 203, a first imaging device 1502, a lens 1501 corresponding to the imaging device 1502, an illumination device 1503, a second imaging device 1505, and imaging. A lens 1504 corresponding to the device 1505, an illumination device 1506, a buffer memory 1507, a wireless transmission device 205, a battery 206, a transmission antenna 207, and a power line 208 are configured. The imaging speeds of the imaging devices 1502 and 1505 are the same. The buffer memory 1507 is a memory for storing image data through the input terminal 1512. When outputting data through the output terminal 1513, the buffer memory 1507 has a FIFO configuration in which data is extracted in the input order. The other components have the same role as that described for the same components based on FIG. 1, and thus detailed description thereof is omitted.

  As illustrated in FIG. 13, the image processing device 220B includes a reception antenna 221, a wireless reception device 222, an imaging direction determination device 250 configured by a motion vector calculation device 223, and an imaging direction detection device 224, and a display device 225A. A mirror image processing device 226, a data distribution device 1601, a switch 1602, and an image composition device 1603.

  The data distribution device 1601 receives moving image data and has an input terminal 1610, an output 1 terminal 1611, and an output 2 terminal 1612. A frame of a moving image input from the input terminal 1610 is recognized, and the frame is alternately output to the output 1 terminal 1611 and the output 2 terminal 1612. That is, when certain frame data is output from the output 1 terminal 1611, the next frame data is output from the output 2 terminal 1612, and further next frame data is output from the output 1 terminal 1611.

  The switch 1602 includes an input 1 terminal 1613, an input 2 terminal 1614, an output 1 terminal 1615, an output 2 terminal 1616, and a control terminal 1617. When the H level is input to the control terminal 1617, the data of the input 1 terminal 1613 is output to the output 1 terminal 1615, and the data of the input 2 terminal 1614 is output to the output 2 terminal 1616. When the L level is input to the control terminal 1617, the data of the input 1 terminal 1613 is output to the output 2 terminal 1616 and the data of the input 2 terminal 1614 is output to the output 1 terminal 1615.

  The image composition device 1603 has an input 1 terminal 1618, an input 2 terminal 1619, and an output terminal 1620. A moving image is input from an input 1 terminal 1618 and an input 2 terminal 1619. The image composition device 1603 creates and outputs an image that displays two input images side by side.

  In addition, the same code | symbol is attached | subjected to the above-mentioned component, and detailed description thereof is omitted.

  As shown in FIG. 12, the imaging devices 1502 and 1505 of the capsule endoscope 101A each perform in-vivo imaging. The captured image is stored in the buffer memory 1507 through the output terminals 1510 and 1511. Since the imaging rates of the imaging devices 1502 and 1505 are the same, the frames of the imaging devices 1502 and 1505 are alternately input to the buffer memory 1507. The buffer memory 1507 outputs the input frames in order from the output terminal 1513. The moving image output at this time is a moving image in which frames captured by the imaging devices 1502 and 1505 are alternately combined. That is, the next frame of the nth frame of the imaging device 1502 is the nth frame of the imaging device 1505, and the next frame of the n + 1th frame of the imaging device 1502 is the n + 1th frame of the imaging device 1505. This is a moving image composed of This moving image is input to the wireless transmission device 205 through the input terminal 212, and transmitted wirelessly from the transmission antenna 207 to the outside of the capsule endoscope 101A.

  The image processing device 220B receives the radio wave transmitted from the capsule endoscope 101A by the receiving antenna 221. The received radio wave is input from the input terminal 230 to the wireless receiver 222 and demodulated. The demodulated signal is input from the input terminal 1610 to the data distribution device 1601. The input to the data distribution device 1601 is a moving image in which frames captured by the imaging devices 1502 and 1505 are alternately combined. The data distribution device 1601 recognizes the frame of the input moving image and outputs the frame alternately to the two output terminals. Therefore, a moving image captured by either the imaging device 1502 or 1505 is output from the output 1 terminal 1611, and a moving image captured by the other imaging device is output from the output 2 terminal 1612. That is, when the output 1 terminal 1611 outputs a moving image captured by the imaging device 1502, the output 2 terminal 1612 outputs a moving image captured by the imaging device 1505. Conversely, when the output 1 terminal 1611 outputs a moving image captured by the imaging device 1505, the output 2 terminal 1612 outputs a moving image captured by the imaging device 1502.

  Hereinafter, a case where a moving image captured by the imaging device 1502 is output from the output 1 terminal 1611 will be described.

  A moving image captured by the imaging device 1502 is input from an input 1 terminal 1613 of the switch 1602. A moving image captured by the imaging device 1505 is input from the input 2 terminal 1614 of the switch 1602 and simultaneously input to the input terminal 232 of the motion vector calculation device 223. The imaging direction detection device 224 detects whether the imaging direction of the imaging device 1505 is the same as or opposite to the traveling direction of the capsule endoscope 101A, and outputs the result from the output terminal 235. When the imaging direction of the imaging device 1505 is the same as the traveling direction of the capsule endoscope 101A, the output terminal 235 outputs an H level. When the imaging direction of the imaging device 1505 is opposite to the traveling direction of the capsule endoscope 101A, the output terminal 235 outputs L level.

  The output terminal 235 of the imaging direction detection device 224 is connected to the control terminal 1617 of the switch 1602. Therefore, when the output terminal 235 outputs H level, that is, when the imaging direction of the imaging device 1505 is the same as the traveling direction, the moving image captured by the imaging device 1502 is output to the output 1 terminal 1615 and output 2 A moving image captured by the imaging device 1505 is output to the terminal 1616. When the output terminal 235 outputs an L level, that is, when the imaging direction of the imaging device 1505 is opposite to the traveling direction, a moving image captured by the imaging device 1505 is output to the output 1 terminal 1615 and output 2 A moving image captured by the imaging device 1502 is output to the terminal 1616. That is, a moving image whose imaging direction is opposite to the traveling direction of the capsule endoscope 101A is output to the output 1 terminal 1615, and the imaging direction is the same as the traveling direction of the capsule endoscope 101A to the output 2 terminal 1616. A certain moving image is output.

  The output 1 terminal 1615 is connected to the input terminal 243 of the mirror image processing apparatus 226. Therefore, the mirror image processing device 226 receives a moving image obtained by imaging the direction opposite to the traveling direction of the capsule endoscope 101A.

  The output terminal 244 of the mirror image processing device 226 is connected to the input 1 terminal 1618 of the image composition device 1603, and the output 2 terminal 1616 of the switch 1602 is connected to the input 2 terminal 1619. Therefore, a moving image obtained by performing mirror image processing on a moving image obtained by capturing the direction opposite to the moving direction of the capsule endoscope 101A and a moving image obtained by capturing the moving direction of the capsule endoscope 101A are input.

  A moving image displaying these two videos is output from the image composition device 1603. That is, the display device 225A displays a moving image obtained by performing mirror image processing on a moving image obtained by capturing the direction opposite to the traveling direction of the capsule endoscope 101A and a moving image obtained by capturing the moving direction of the capsule endoscope 101A. .

  As described above, since a moving image obtained by imaging the direction opposite to the traveling direction of the capsule endoscope 101A is always displayed after being subjected to mirror image processing, the image observer can observe without being aware of the imaging direction of the capsule endoscope 101A.

  Note that in each part and each processing step of the imaging direction determination device of the above embodiment, a calculation unit such as a CPU executes a program stored in a storage unit such as a ROM (Read Only Memory) or a RAM, and an input such as a keyboard is performed. It can be realized by controlling a means, an output means such as a display, or a communication means such as an interface circuit. Therefore, various functions and various processes of the imaging direction determination apparatus of the present embodiment can be realized simply by a computer having these means reading the recording medium storing the program and executing the program. In addition, by recording the program on a removable recording medium, the various functions and various processes described above can be realized on an arbitrary computer.

  As this recording medium, a program medium such as a memory (not shown) such as a ROM may be used for processing by the microcomputer, or a program reader is provided as an external storage device (not shown). It may be a program medium that can be read by inserting a recording medium therein.

  In any case, the stored program is preferably configured to be accessed and executed by the microprocessor. Furthermore, it is preferable that the program is read out, and the read program is downloaded to a program storage area of the microcomputer and the program is executed. It is assumed that this download program is stored in advance in the main unit.

  The program medium is a recording medium configured to be separable from the main body, such as a tape system such as a magnetic tape or a cassette tape, a magnetic disk such as a flexible disk or a hard disk, or a disk such as a CD / MO / MD / DVD. Fixed disk, IC card (including memory card), etc., or semiconductor ROM such as mask ROM, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), flash ROM, etc. In particular, there are recording media that carry programs.

  In addition, if the system configuration is capable of connecting to a communication network including the Internet, the recording medium is preferably a recording medium that fluidly carries the program so as to download the program from the communication network.

  Further, when the program is downloaded from the communication network as described above, it is preferable that the download program is stored in the main device in advance or installed from another recording medium.

  The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention.

  The present invention relates to an image capturing direction discriminating apparatus, an image capturing direction discriminating method, an image capturing direction discriminating program, and a computer readable record recording an image capturing direction discriminating program suitable for acquiring and displaying an image of an imaging target inside a subject. It can be applied to media.

It is a block diagram of a diagnostic device provided with an imaging direction discriminating device concerning this embodiment. It is a figure explaining a motion vector. It is a figure explaining the change of the picked-up image in the state where the imaging direction and the traveling direction of the capsule endoscope are the same, (a) is a diagram showing a state where the object is located near the center of the imaging range, (B) is a figure which shows the state which an object and a capsule endoscope approach mutually, (c) is a figure which shows the state which an object moves to the edge part of a captured image. It is a figure explaining the change of the picked-up image in the state where the imaging direction of the capsule endoscope and the traveling direction are opposite, (a) is a diagram showing a state where the object is located near the boundary of the imaging range, (B) is a figure which shows the state which an object and a capsule endoscope leave | separate mutually, (c) is a figure which shows the state which an object moves toward the center of a captured image. It is a figure in case the angle | corner which a motion vector and a position vector make is an acute angle. It is a figure in case the angle which a motion vector and a position vector make is an obtuse angle. It is a block diagram of an imaging direction detection apparatus. It is another block diagram of an imaging direction detection apparatus. It is another block diagram of an imaging direction detection apparatus. It is a block diagram of the other diagnostic apparatus provided with the imaging direction discrimination | determination apparatus which concerns on this Embodiment. It is an external view of the capsule endoscope which concerns on this Embodiment. It is a block diagram of the capsule endoscope which concerns on this Embodiment. It is a block diagram of an image processing device provided with an imaging direction discriminating device concerning this embodiment. It is an external view of a general capsule endoscope. It is sectional drawing of a common capsule endoscope. It is the figure which showed the relationship between the advancing direction of a capsule endoscope, and the imaging direction of an imaging device, (a) is the state where the advancing direction of a capsule endoscope and the imaging direction of an imaging device are the same ( b) is a diagram showing a state in which the traveling direction of the capsule endoscope and the imaging direction of the imaging apparatus are opposite to each other.

Explanation of symbols

101, 101A Capsule endoscope 201, 1502, 1505 Imaging device 202, 1503, 1506 Illuminating device 203 Outer wall 204, 1501, 1504 Lens 205 Wireless transmission device 206 Battery 207 Transmitting antenna 208 Power line 211, 213, 231, 233, 235 242, 244, 1510, 1511, 1513, 1620 Output terminal 212, 230, 232, 234, 243, 1512, 1610 Input terminal 220, 220 A, 220 B Image processing device 221 Reception antenna 222 Wireless reception device 223 Motion vector calculation device 224 Imaging direction detection device 224A, 224B Imaging direction detection device 225, 225A Display device 226 Mirror image processing device 227 MUX
236 Image data input terminal 237 Imaging direction data input terminal 239, 1613, 1618 Input 1 terminal 240, 1614, 1619 Input 2 terminal 241, 1617 Control terminal 250 Imaging direction discrimination device 260A, 260B Diagnosis device 601 Object 602 Imaging range 801 Position vector 802 motion vector 803 circle 1001 position vector generation circuit 1002 vector dot product calculation circuit 1003, 1106, 1202 sign determination circuit 1004, 1006 counter 1005 Not gate 1007 comparator 1101, 1102 vector size calculation circuit 1103, 1104 divider 1105, 1201 Adder 1507 Buffer memory 1601 Data distribution device 1602 Switch 1603 Image composition device 1611, 1615 Output 1 terminal 1612, 16 16 output 2 terminals m motion vector p position vector t imaging time

Claims (14)

An imaging direction discriminating device for discriminating an imaging direction of a capsule endoscope that images a living body,
A motion vector calculation device for calculating a motion vector of an image captured by the capsule endoscope, received in time series from the capsule endoscope;
An imaging direction detection device that detects whether the traveling direction of the capsule endoscope and the imaging direction of the image are the same or opposite based on the motion vector calculated by the motion vector calculation device. An imaging direction discrimination device characterized by the above.   The imaging direction determination device according to claim 1, wherein the motion vector calculation device divides the received image into fixed blocks and calculates a motion vector for the block by a block matching method.   When the number of motion vectors toward the image edge is greater than the number of motion vectors toward the image center based on the motion vector of each block in the image calculated by the motion vector calculation device When the capsule endoscope detects that the traveling direction of the capsule endoscope is the same as the imaging direction of the image, and the number of motion vectors toward the image center is greater than the number of motion vectors toward the image edge, The imaging direction determination device according to claim 1, wherein the imaging direction determination device detects that the traveling direction of the endoscope is opposite to the imaging direction of the image.   In the imaging direction detection device, the angle formed by the motion vector of each block in the image calculated by the motion vector calculation device and the position vector connecting the start point of the motion vector from the image center is an acute angle and the number of obtuse angles is When the number of the capsule endoscope is larger than the number of the capsule endoscope, it is detected that the traveling direction of the capsule endoscope and the imaging direction of the image are the same, and when the number of obtuse angles is larger than the number of the acute angle, the capsule endoscope The imaging direction determination apparatus according to claim 1, wherein the imaging direction determination unit detects that the traveling direction of the image is opposite to the imaging direction of the image.   The imaging direction detection device calculates a cosine of an angle formed by a motion vector of each block in the image calculated by the motion vector calculation device and a position vector connecting the start point of the motion vector from the image center, and calculates a sum of cosines. However, if it is positive, it is detected that the traveling direction of the capsule endoscope is the same as the image capturing direction, and if it is negative, the traveling direction of the capsule endoscope is opposite to the image capturing direction. The imaging direction determination device according to claim 1, wherein the imaging direction determination device is detected.   The imaging direction detection device calculates an inner product of a motion vector of each block in the image calculated by the motion vector calculation device and a position vector connecting the start point of the motion vector from the image center, and the sum of the inner products is a positive value. If it is, it is detected that the traveling direction of the capsule endoscope is the same as the image capturing direction, and if it is negative, it is detected that the traveling direction of the capsule endoscope is opposite to the image capturing direction. The imaging direction discriminating device according to claim 1.   The capsule endoscope includes at least one imaging device that images the inside of a living body, and a wireless transmission device that transmits image data representing an image captured by the imaging device to the imaging direction determination device. The imaging direction discrimination device according to claim 1.   The imaging direction determination device according to claim 7, wherein the imaging device sets the major axis direction of the capsule endoscope as an imaging direction.   The imaging direction determination device according to claim 1, further comprising a display device that displays a detection result of the imaging direction detection device.   The imaging direction determination device according to claim 9, wherein the display device further displays an image captured by the capsule endoscope.   The display device displays the image captured by the capsule endoscope as it is when the imaging direction detection device determines that the traveling direction of the capsule endoscope and the imaging direction of the image are the same, The image captured by the capsule endoscope is displayed after being subjected to mirror image processing when it is determined that the traveling direction of the capsule endoscope and the image capturing direction are opposite to each other. Imaging direction discriminating apparatus. An imaging direction determination method for determining an imaging direction of a capsule endoscope that images a living body,
Calculating a motion vector of an image captured by the capsule endoscope, received in time series from the capsule endoscope;
A step of detecting whether the traveling direction of the capsule endoscope is the same as or opposite to the imaging direction of the image based on the calculated motion vector. Method. An imaging direction determination program for determining the imaging direction of a capsule endoscope that images a living body,
A procedure for calculating a motion vector of an image captured by the capsule endoscope, received in time series from the capsule endoscope, on a computer;
An imaging direction discriminating program for executing, based on the calculated motion vector, a procedure for detecting whether the traveling direction of the capsule endoscope is the same as or opposite to the imaging direction of the image. A computer-readable recording medium that records an imaging direction discrimination program for discriminating the imaging direction of a capsule endoscope that images a living body,
A procedure for calculating a motion vector of an image captured by the capsule endoscope, received in time series from the capsule endoscope, on a computer;
An imaging direction determination program for executing, based on the calculated motion vector, a procedure for detecting whether the traveling direction of the capsule endoscope and the imaging direction of the image are the same or opposite. A recorded computer-readable recording medium.

Images