JP2006187386A5

JP2006187386A5 -

Info

Publication number: JP2006187386A5
Application number: JP2005000186A
Authority: JP
Filing date: 2005-01-04
Publication date: 2008-02-21
Anticipated expiration: 2025-01-04

Claims

An imaging means for acquiring a captured image ;
Bending control means for bending the endoscope insertion portion ;
A bending position acquisition means for acquiring a bending position of the endoscope insertion portion ;
And a panoramic image generation means for generating a panoramic image by bonding a plurality of the captured image acquired by the imaging means,
Based on said curved position obtaining unit has been said curved position obtained by the reference image extracting means for extracting a reference image from the panoramic image created by the panoramic image forming means,
The reference image extracted by the reference image extracting unit, a moving object detection means for detecting a moving object based on the captured image acquired by the imaging means at a curved position when the reference image is extracted
An endoscope apparatus comprising:

2. The panoramic image creation unit creates the panoramic image by pasting together a plurality of the captured images acquired by the imaging unit in all the curved ranges of the endoscope insertion unit. The endoscope apparatus described.

The moving object detection means includes
Conversion means for planar projective transformation of the reference image so that the reference image extracted by the reference image extraction means becomes an image observed with the curved position when the reference image is extracted as a viewpoint;
The reference image that has been plane-projected and converted so that the reference image that has been plane-projected by the converting unit and the captured image that has been acquired by the imaging unit at the curved position when the reference image is extracted match. Correction means for correcting;
Have
The difference between the reference image corrected by the correcting unit and the captured image acquired by the imaging unit at a curved position when the reference image is extracted is detected as a moving object. The endoscope apparatus described.

The moving object detection means includes
This captured image is such that the captured image acquired by the imaging unit at the curved position when the reference image is extracted by the reference image extracting unit is an image observed from the same viewpoint as the viewpoint of the reference image. Conversion means for plane projective transformation,
Correction means for correcting the captured image that has undergone planar projection conversion so that the reference image and the captured image that has undergone planar projection conversion by the converting means match;
Have
The endoscope apparatus according to claim 1, wherein a difference between the reference image and the captured image corrected by the correction unit is detected as a moving object.

Moving object position calculating means for calculating the position of the moving object detected by the moving object detecting means in the panoramic image;
A curved position calculating means for calculating a corresponding curved position of the tip according to the position calculated by the moving body position calculating means;
Further comprising
The bending control unit causes the moving body to track the tip by bending the tip to the bending position calculated by the bending position calculation unit.
The endoscope apparatus according to any one of claims 1 to 4, wherein the endoscope apparatus is characterized in that:

An image acquisition function for acquiring a captured image obtained by the imaging means;
A bending control function for bending the endoscope insertion portion;
A bending position acquisition function for acquiring a bending position of the endoscope insertion portion;
A panoramic image creation function for creating a panoramic image by pasting together a plurality of the captured images acquired by the image acquisition function;
A reference image extraction function for extracting a reference image from the panoramic image created by the panoramic image creation function based on the curved position obtained by the curved position obtaining function;
A moving object detection function for detecting a moving object based on the reference image extracted by the reference image extraction function and the captured image captured at the curved position when the reference image is extracted;
A program to realize

An imaging means for acquiring a captured image;
Bending control means for bending the endoscope insertion portion;
Reference image extraction means for extracting the captured image acquired by the imaging means as a reference image;
A moving object detecting unit for detecting a moving object based on the reference image and a captured image acquired by the imaging unit;
Have
The endoscope apparatus characterized in that the bending control means acquires the position of the moving object detected by the moving object detection means, and bends the endoscope insertion portion based on the position.