JP2011200283A - Controller, endoscope system, program, and control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a controller for improving detection precision of an affected part, and to provide an endoscope system, a program, a control method, and the like.SOLUTION: The controller 18 includes a first in vivo data acquisition part 185, a second in vivo data acquisition part 186, and an output control unit 181. A special optical image is acquired by a first endoscope apparatus 10, an image including a region of interest is detected from the inside of the special optical image, and a position of interest information showing the position of the first endoscope apparatus 10 when the image including the region of interest is picked up. In such a case, the first in vivo data acquisition part 185 acquires the first in vivo data including position of interest information. The second in vivo data acquisition part 186 acquires second in vivo data including second positional information showing the position of a second endoscope apparatus 15. The output control unit 181 outputs guide information for guiding the second endoscope apparatus 15 on the basis of the first in vivo data and the second in vivo data.

Description

  The present invention relates to a control device, an endoscope system, a program, a control method, and the like.

  In recent years, capsule endoscopes that are swallowed and used by patients in body cavity examinations have become widespread. This capsule endoscope sequentially captures the inside of a body cavity when passing through each organ, and a doctor checks the image after completion of imaging to detect or diagnose a lesion.

JP 2009-22446 A

  However, the capsule endoscope detects a lesion, and a scope endoscope is generally used to treat the detected lesion. Therefore, when a doctor treats, there is a problem that it is necessary to operate the scope endoscope to the position of the lesion detected by the capsule endoscope.

  For example, Patent Literature 1 discloses a technique for receiving data acquired by in-vivo detection processing such as processing for acquiring an in-vivo image, and analyzing and displaying the received data in an integrated manner. In this technique, for example, information about a specific medical condition of a patient is acquired by first performing processing with a capsule endoscope, and the acquired information is used for processing with a double balloon capsule endoscope.

  However, this method has a problem that it is difficult to accurately detect a wide variety of lesions. For example, when an image is acquired using only white light in a capsule endoscope, there is a lesion that is difficult to detect by image processing or visual inspection by a doctor.

  According to some aspects of the present invention, it is possible to provide a control device, an endoscope system, a program, a control method, and the like that improve the detection accuracy of a lesion.

  In one embodiment of the present invention, a special light image including information of a specific wavelength band is acquired by the first endoscope device, and an image including a region of interest that is a region of interest is detected from the special light image The first in-vivo data including the attention position information is acquired when attention position information indicating the position of the first endoscope apparatus when the image including the attention area is captured is acquired. The first in-vivo data acquisition unit, and the normal image acquired by the second endoscope device when the normal light image including the information of the wavelength band of white light is acquired by the second endoscope device. A second in-vivo data acquisition unit that acquires the second in-vivo data including an optical image and second position information indicating the position of the second endoscope device; the first in-vivo data; Based on the in-vivo data of 2, the second endoscope apparatus is guided An output control unit for performing control to output the guidance information of, relating to a control device including a.

  According to one aspect of the present invention, when the second endoscope apparatus is used, it is possible to output guidance information based on the first in-vivo data and the second in-vivo data. In addition, an image including a region of interest can be detected from the special light image.

  According to another aspect of the present invention, a first endoscope device that acquires a special light image including information of a specific wavelength band, and the special light image acquired by the first endoscope device are provided. Attention position information indicating the position of the first endoscope apparatus when an image including the attention area is picked up, and an attention area detection section that detects an image including the attention area that is an attention area A first position information acquisition unit that acquires information, a second endoscope device that acquires a normal light image including information on the wavelength band of white light, and information including the attention position information is acquired as first in-vivo data Information including a first in-vivo data acquisition unit, the normal light image acquired by the second endoscopic device, and second position information indicating the position of the second endoscopic device. A second in-vivo data acquisition unit for acquiring in-vivo data, and the first in-vivo data Based on the second body data and relates to an endoscope system including and an output control unit for performing control to output the guidance information for guiding the second endoscope device.

  According to another aspect of the present invention, a first endoscope apparatus that acquires a special light image including information on a specific wavelength band and a first normal light image including information on a wavelength band of white light; A second endoscope device that acquires a second normal light image including information on a wavelength band of white light, and an image including a region of interest that is a region of interest from the special light image is detected. A region of interest detection unit, a first in-vivo data acquisition unit that acquires first in-vivo data including the first normal light image, and a second that acquires second in-vivo data including the second normal light image Correspondence by the in-vivo data acquisition unit, the first normal light image of the first in-vivo data, the second normal light image of the second in-vivo data, and the image association unit Guide information for guiding the second endoscopic device based on the attached result An output control unit that performs output control, wherein the first endoscopic device detects the image including the region of interest from the special light image by the region of interest detection unit. The first normal light image at a position where an image including a region of interest is captured is acquired, and the image association unit includes the first normal light image at a position where an image including the region of interest is captured; The present invention relates to an endoscope system that associates the second normal light image.

  According to another aspect of the present invention, a first endoscope device that acquires a first special light image including information on a specific wavelength band, and a second special light image including information on a specific wavelength band are provided. A second endoscopic device that acquires a target area, a target area detection unit that detects a special light image including a target area that is a target area from the first special light image, and the target area detection unit A first in-vivo data acquiring unit that acquires first in-vivo data including the special light image detected by the second in-vivo data, and a second in-vivo including the second special light image acquired by the second endoscope device A second in-vivo data acquisition unit for acquiring data, a special light image of the first in-vivo data, an image association unit for associating the second special light image of the second in-vivo data, and the image association unit The second endoscope apparatus is guided based on the result of the association by An output control unit for performing control to output the guidance information for, related to the endoscope system including the.

  In another aspect of the present invention, a first endoscope device that acquires a first normal light image including information on the wavelength band of white light, and a second normal that includes information on the wavelength band of white light. A second endoscope device that acquires a light image; a region of interest detection unit that detects a normal light image including a region of interest that is a region of interest from the first normal light image; and the region of interest A first in-vivo data acquisition unit that acquires first in-vivo data including a normal light image detected by the detection unit; and a second that includes the second normal light image acquired by the second endoscope device. A second in-vivo data acquisition unit for acquiring the in-vivo data, an ordinary light image of the first in-vivo data, an image association unit for associating the second ordinary light image of the second in-vivo data, and the image correspondence Based on the result of the correspondence by the attaching unit, the second endoscope apparatus is invited. An output control unit for controlling outputting the guidance information to be related to an endoscope system including a.

  According to another aspect of the present invention, a special light image including information on a specific wavelength band is acquired by the first endoscope device, and an image including a region of interest that is a region of interest is the special light image. The first body including the attention position information when attention position information indicating the position of the first endoscope apparatus when the image including the attention area is captured is acquired from the inside. A first in-vivo data acquisition unit for acquiring data and a normal light image including information on the wavelength band of white light are acquired by the second endoscope device, and are acquired by the second endoscope device. A second in-vivo data acquisition unit that acquires the second in-vivo data including the normal light image and second position information indicating the position of the second endoscope device; and the first in-vivo data. And inviting the second endoscopic device based on the second in-vivo data. An output control unit for performing control for outputting the guidance information to be a program causing a computer to function.

  According to another aspect of the present invention, a special light image including information on a specific wavelength band is acquired by the first endoscope device, and an image including a region of interest that is a region of interest is the special light image. The first body including the attention position information when attention position information indicating the position of the first endoscope apparatus when the image including the attention area is captured is acquired from the inside. The normal light image obtained by the second endoscopic device when data is obtained and a normal light image including information on the wavelength band of white light is obtained by the second endoscopic device; The second in-vivo data including second position information indicating the position of the second endoscopic device is acquired, and the second in-vivo data is obtained based on the first in-vivo data and the second in-vivo data. Related to a control method for outputting the guidance information for guiding an endoscope apparatus That.

  In another aspect of the present invention, a special light image including information of a specific wavelength band is acquired by the first endoscope device, and the special light image acquired by the first endoscope device is acquired. An image including a region of interest, which is a region of interest, is detected, and attention position information indicating the position of the first endoscope device when the image including the region of interest is captured is acquired. A normal light image including information on the wavelength band of light is acquired by the second endoscope device, information including the attention position information is acquired as first in-vivo data, and acquired by the second endoscope device Information including the normal light image and the second position information indicating the position of the second endoscope device is acquired as second in-vivo data, and the first in-vivo data and the second in-vivo data are acquired. Based on the data, guidance information for guiding the second endoscope apparatus is output. Relating to the control method performs control to.

  In another aspect of the present invention, a special light image including information of a specific wavelength band is acquired by the first endoscope device, and the special light image acquired by the first endoscope device is acquired. When an image including a region of interest, which is a region of interest, is detected, and an image including the region of interest is detected, the wavelength band of white light at the position where the image including the region of interest is captured is detected. A first normal light image including information is acquired, first in-vivo data including the first normal light image at a position where the image including the region of interest is captured, and information on the wavelength band of white light Is acquired by a second endoscope device, second in-vivo data including the second normal light image is acquired, and the first normal light of the first in-vivo data is acquired. Associating the image with the second normal light image of the second in-vivo data , The image based on the result of with response by associating unit, related to the control method for performing control to output the guidance information for guiding the second endoscope device.

The 1st system configuration example of this embodiment. Explanatory drawing about mounting | wearing of a receiver and a receiver. Explanatory drawing of position information and detection information. The 1st detailed structural example of an output control part. A display example of navigation information. The 2nd detailed structural example of an output control part. A display example of navigation information. The 3rd detailed structural example of an output control part. Explanatory drawing of a body map. Display example of in-vivo map. The 2nd system configuration example of this embodiment. The 3rd system configuration example of this embodiment. Operation | movement explanatory drawing of the 3rd system configuration example. 1 is a first detailed configuration example of a capsule endoscope. An example of special light emitted by a special light source. FIG. 16A is an example of white light emitted from a white light source, and FIG. 16B is an example of a filter that transmits special light. The 2nd detailed structural example of a capsule type | mold endoscope. The structural example of the computer used by software processing. The structural example of the computer used by software processing. The flowchart for demonstrating the process of this embodiment. The flowchart for demonstrating the process of this embodiment. The flowchart for demonstrating the process of this embodiment. The flowchart for demonstrating the process of this embodiment.

  Hereinafter, this embodiment will be described. In addition, this embodiment demonstrated below does not unduly limit the content of this invention described in the claim. In addition, all the configurations described in the present embodiment are not necessarily essential configuration requirements of the present invention.

1. System configuration example As described above, when a lesion is detected using a capsule endoscope and the treatment of the lesion is performed using a scope endoscope, a doctor needs to find the location of the detected lesion There are challenges. There is also a problem of improving the certainty of lesion detection. In this embodiment, the detection of a lesion using a special light image improves the certainty of lesion detection, and provides navigation information for guiding to the location of the detected lesion to a doctor. FIG. 1 shows an example of the system configuration of this embodiment.

  In the following, a case where the first endoscope device is a capsule endoscope and the second endoscope device is a scope endoscope will be described as an example. Other endoscope apparatuses may be used. For example, the first endoscope apparatus may be a scope type endoscope.

  This system configuration example includes a first endoscope system 100 and a second endoscope system 200. The first endoscope system 100 includes a capsule endoscope 10 (first endoscope device in a broad sense), a first receiver 11, a first receiving device 12, and an image processing device 13 ( For example, a computer) and a storage device 14. The second endoscope system 200 includes a scope endoscope 15 (second endoscope device in a broad sense), a second receiver 16, a second receiver 17, and a control device 18 (endoscope). A control device (for example, a processor) and an output device 19.

  The capsule endoscope 10 is swallowed by a patient and used to photograph the mucous membrane of the digestive tract. The capsule endoscope 10 includes an imaging unit 101, a first image acquisition unit 102, a transmitter 103, and a control unit 104. The imaging unit 101 includes, for example, a lens system (not shown), an imaging element, and an A / D conversion circuit. The first image acquisition unit 102 includes an image processing unit (not shown) that performs gradation conversion, interpolation processing, and the like, and generates a normal light image (white light image) and a special light image based on the image from the imaging unit 101. To do. The transmitter 103 has a sound wave transmission unit or a radio wave transmission unit (not shown), and transmits a sound wave or a radio wave. The imaging unit 101 is connected to the first image acquisition unit 102, and the first image acquisition unit 102 is connected to the transmitter 103. The control unit 104 is connected to the imaging unit 101, the first image acquisition unit 102, and the transmitter 103.

  The receiver 11 includes a plurality of receivers having a sound wave receiving unit or a radio wave receiving unit (not shown), and receives sound waves or radio waves from the transmitter 103. The receiver 11 is connected to the storage unit 121 of the receiving device 12.

  The receiving device 12 receives a captured image or the like from the capsule endoscope 10. The receiving device 12 includes a storage unit 121, a control unit 122, and an I / F unit 123. The storage unit 121 is connected to the acquisition unit 135 of the image processing apparatus 13, and the control unit 122 is connected to the storage unit 121. The I / F unit 123 is bidirectionally connected to the control unit 122. The receiving device 12 can be attached to and detached from the image processing device 13 using a USB cable or the like, and can read data stored in the storage unit 121 from the image processing device 13.

  The image processing device 13 acquires attention position information indicating the position of the capsule endoscope 10 when the lesion is imaged. The image processing device 13 includes an attention area detection unit 131, a first position information acquisition unit 132, a control unit 133, an I / F unit 134, and an acquisition unit 135. The acquisition unit 135 reads storage data such as an image from the storage unit 121. The attention area detection unit 131 detects the attention area from the image. The first position information acquisition unit 132 acquires position information of each captured image and attention position information. The acquisition unit 135 is connected to the attention area detection unit 131 and the first position information acquisition unit 132, and the first position information acquisition unit 132 is connected to the storage device 14. However, the storage device 14 can be attached to and detached from an interface (not shown) of the image processing device 13. The control unit 133 is connected to the attention area detection unit 131, the first position information acquisition unit 132, and the acquisition unit 135. The I / F unit 134 is bi-directionally connected to the control unit 133.

  The storage device 14 stores the image and position information from the image processing device 13, and is realized by a storage such as a flash memory, a magnetic disk, or a network disk. The storage device 14 is connected to the first in-vivo data acquisition unit 185 of the control device 18. However, the storage device 14 can be attached to and detached from an interface (not shown) of the control device 18.

  The scope-type endoscope 15 (scope section in a narrow sense) is, for example, a lower endoscope (large intestine endoscope), and is inserted into a body cavity to perform imaging and treatment. The scope endoscope 15 includes an imaging unit 151, a second image acquisition unit 152, a transmitter 153, a control unit 154, and an I / F unit 155. The imaging unit 151 includes, for example, a lens system (not shown), an imaging element, and an A / D conversion circuit. The second image acquisition unit 152 includes an image processing unit (not shown) that performs gradation conversion, interpolation processing, and the like, and generates a normal light image and a special light image based on the image from the imaging unit 151. The transmitter 153 is provided, for example, at the distal end of the scope of the scope endoscope 15. The imaging unit 151 is connected to the second image acquisition unit 152, and the second image acquisition unit 152 is connected to the second in-vivo data acquisition unit 186 of the control device 18. The control unit 154 is connected to the imaging unit 151, the second image acquisition unit 152, and the transmitter 153. The I / F unit 155 is bidirectionally connected to the control unit 154.

  The receiver 16 includes a sound wave receiving unit or a radio wave receiving unit (not shown), and receives a sound wave or a radio wave from the transmitter 153. The receiver 16 is connected to the second position information acquisition unit 171 of the receiving device 17.

  The receiving device 17 acquires the in-vivo position of the scope endoscope 15 by receiving sound waves or radio waves. The receiving device 17 includes a second position information acquisition unit 171, a control unit 172, and an I / F unit 173. The second position information acquisition unit 171 is connected to the second in-vivo data acquisition unit 186 of the control device 18, the control unit 172 is connected to the second position information acquisition unit 171, and the I / F unit 173 is controlled. It connects to the unit 172 in both directions.

  The control device 18 generates navigation information, controls the second endoscope system 200, and controls output of images and sounds. The control device 18 includes an output control unit 181 (presentation unit), a control unit 182, an I / F unit 183, a first in-vivo data acquisition unit 185, and a second in-vivo data acquisition unit 186. The first in-vivo data acquisition unit 185 acquires first in-vivo data acquired by the first endoscope system 100. The second in-vivo data acquisition unit 186 acquires the second in-vivo data acquired by the second endoscope system 200. The output control unit 181 performs output control of navigation information using the first in-vivo data and the second in-vivo data. The first in-vivo data acquisition unit 185 and the second in-vivo data acquisition unit 186 are connected to the output control unit 181, and the output control unit 181 is connected to the output device 19. The control unit 182 is connected to the first in-vivo data acquisition unit 185, the second in-vivo data acquisition unit 186, and the output control unit 181. The I / F unit 183 is connected to the control unit 182 in both directions.

  The output device 19 performs display of captured images of the capsule endoscope 10 and the scope endoscope 15, display of navigation information, and audio output of navigation information. For example, the output device 19 outputs an in-vivo map, a target position, a direction, and a distance as navigation information. The output device 19 includes a display device such as a liquid crystal display device and a sound output device such as a speaker.

  The above-described control units 104, 122, 133, 154, 172, and 182 are constituted by, for example, a microcomputer or a CPU. The I / F units 123, 134, 155, 173, and 183 include a power switch and an interface for performing variable setting.

2. Processing Example of First Endoscope System Next, processing of the present embodiment will be described. In the present embodiment, first, a doctor performs an examination / diagnosis using a capsule endoscope, and an affected area is treated using a scope endoscope (lower endoscope) based on the examination / diagnosis result.

  First, the processing of this embodiment at the time of examination / diagnosis using a capsule endoscope will be described. The first endoscope system 100 acquires the first in-vivo data and outputs the acquired first in-vivo data to the second endoscope system 200. The first in-vivo data is data including various information in the body cavity, for example, data including position information of an image and an endoscope and position information of a region of interest (lesion).

  Specifically, as shown in FIG. 2, the patient wears a plurality of receivers 11 around the abdomen and carries or wears the receiving device 12. The patient swallows the capsule endoscope 10 after the receiver 11 is attached. The capsule endoscope 10 captures an in-vivo image with the imaging unit 101, and the first image acquisition unit 102 acquires image data (moving image data) of the captured image.

  Specifically, the capsule endoscope 10 captures a normal light image and a special light image as in-vivo images. Here, the normal light image is acquired by illuminating illumination in the wavelength band of white light, and the wavelength band of white light is, for example, 380 nm to 650 nm. The special light image is obtained by irradiating a specific wavelength band. Alternatively, it can be obtained by processing reflected light obtained by irradiating white light with a filter that transmits a specific wavelength band. This specific wavelength band is, for example, two bands of 390 to 445 nm and 530 to 550 nm and one band of 490 to 625 nm. The special light image is excellent in the performance of detecting a specific lesion according to the wavelength band. In the present embodiment, both the normal light image and the special light image may be taken, or only the special light image may be taken.

  The captured image is transmitted on radio waves by the transmitter 103 of the capsule endoscope 10. The transmitter 103 transmits a short-term pulsed sound wave for detecting the position of the capsule endoscope 10 simultaneously with the transmission of the radio wave. The radio waves and sound waves from the transmitter 103 are received by the receiver 11, and the receiver 11 measures the time when the pulse sound wave arrives at each receiver. Then, the receiving device 12 stores the captured image from the capsule endoscope device 10 and the sound wave arrival time from the transmitter 11 in the storage unit 121.

  After the capsule endoscope 10 finishes passing through the body, the storage unit 121 storing the information is connected to the image processing apparatus 13. The acquisition unit 135 of the image processing apparatus 13 reads out the captured image and the sound wave arrival time from the storage unit 121 and outputs them to the attention area detection unit 131 and the first position information acquisition unit 132.

  The attention area detector 131 detects the attention area from the read captured image. Specifically, the attention area detection unit 131 detects a lesion such as squamous cell carcinoma based on the fact that the hue of the special light image is within a predetermined range, or the hue of the normal light image is within the predetermined range. A bleeding site is detected based on the existence of a criterion. For example, the attention area detection unit 131 counts the number of pixels that fall within a predetermined hue range, and detects the attention area based on a determination criterion that the number of pixels is equal to or greater than a predetermined ratio of the total number of pixels. Alternatively, the attention area detection unit 131 integrates pixels that fall within a predetermined hue range, and sets the integrated area as the attention candidate area. Then, the area or the like of the attention candidate region may be calculated as the reliability, and the attention region may be detected using the determination criterion that the reliability is equal to or greater than a predetermined threshold.

  Further, the attention area detection unit 131 may detect the attention area by a known image recognition method. For example, as a known image recognition method, a region of interest may be detected based on a determination criterion that a pixel value change amount between a pixel of interest and its surrounding pixels is equal to or greater than a predetermined threshold (Japanese Patent Laid-Open No. 2008-93172). Alternatively, the attention area detection unit 131 may detect the attention area by using pattern matching as a criterion for matching with a shape such as a polyp.

Note that the attention area detection unit 131 can also detect the attention area by converting the color space of the special light image or the normal light image. Specifically, as shown in the following formula (1), the attention area detection unit 131 converts the RGB color space into the T _i ⁰ , T _i ¹ , and T _i ² color spaces. For example, the attention area detection unit 131 performs pseudo color conversion for emphasizing a specific color by conversion of the following expression (1).

  The first position information acquisition unit 132 acquires attention position information indicating the shooting position of the image in which the attention region is detected based on the detection information from the attention region detection unit 131 and the sound wave arrival time from the reception device 12. Specifically, the first position information acquisition unit 132 calculates the distance between the transmitter 103 and each receiver from the sound wave arrival time. Then, the first position information acquisition unit 132 obtains a photographing position (coordinates) using trigonometry or the like from the calculated distance between the transmitter 103 and each receiver and the positional relationship between each receiver that is known in advance. .

  In addition, the first position information acquisition unit 132 acquires position information indicating not only an image including a region of interest but also a position where another image is captured. This position information is acquired using the sound wave arrival time as described above. And the 1st position information acquisition part 132 outputs the 1st position information containing both attention position information and other position information. In the present embodiment, the first position information acquisition unit 132 may acquire both attention position information and other position information, or may acquire only attention position information.

  The image processing device 13 stores the image acquired by the above processing, the first position information, and the attention position information in the storage device 14 as first in-vivo data. FIG. 3 shows an example of first in-vivo data stored in the storage device 14. As shown in FIG. 3, the normal light image and the special light image captured by the capsule endoscope 10 are stored, and the two-dimensional coordinates (x, y) of the capsule endoscope 10 corresponding to the image and the attention are stored. A region flag is stored. An image is indexed, and coordinates and flags are associated with the image index. This image index is, for example, a number indicating an in-vivo image (frame) in an in-vivo image captured as a moving image, or a number (file name) indicating an in-vivo image file captured as a still image. ). The attention area flag is, for example, “1” when the image includes the attention area, and “0” when the image does not include the attention area.

  The doctor browses the stored information on a PC or the like, diagnoses an image including a lesion, and determines whether treatment is necessary. When treatment is necessary, treatment by a scope type endoscope system described later is performed.

  Note that the image processing device 13 may perform a summary process of the captured image of the capsule endoscope 10. That is, when the capsule endoscope 10 is stopped in the body, a large number of images in which the same range is captured are acquired, and therefore processing for reducing the number of captured images by omitting images captured in the same range is performed. May be.

  In the above description, the position information is acquired using sound waves. However, in the present embodiment, the position information may be acquired using radio waves.

3. Processing Example of Second Endoscope System Next, processing of this embodiment at the time of treatment with a scope endoscope will be described. First, the storage device 14 is connected to the control device 18 of the second endoscope system 200. Then, the first in-vivo data acquisition unit 185 of the control device 18 reads the first in-vivo data from the storage device 14.

  The patient wears the receiver 16 and the receiver 17 around the abdomen. For example, it is mounted in the same manner as the receiver 11 and the receiving device 12 described above with reference to FIG. After wearing, the doctor inserts the scope endoscope 15 into the body cavity of the patient, the imaging unit 151 of the scope endoscope 15 captures an image inside the body, and the second image acquisition unit 152 captures the image (image data). ) To get. For example, the second image acquisition unit 152 acquires a normal light image and a special light image. The second image acquisition unit 152 outputs the acquired image to the second in-vivo data acquisition unit 186 of the control device 18. In the present embodiment, the second image acquisition unit 152 may acquire only the normal light image.

  A transmitter 153 disposed at the distal end of the scope endoscope 15 transmits pulsed sound waves at a predetermined interval. The receiver 16 receives the transmitted sound wave and measures the time until the sound wave is received by each receiver. Then, the second position information acquisition unit 171 of the receiving device 17 calculates the in-vivo position (second position information) of the scope endoscope 15 from the time until the sound wave reception measured by the receiver 16. The calculation of the in-vivo position is performed using trigonometry or the like as in the case of the capsule endoscope 10 described above. The second position information acquisition unit 171 outputs the obtained in-vivo position information of the scope endoscope 15 to the second in-vivo data acquisition unit 186 of the control device 18.

  The second in-vivo data acquisition unit 186 acquires the captured image from the second image acquisition unit 152 and the second position information from the second position information acquisition unit 132 as second in-vivo data. For example, the second position information that is the current position of the scope endoscope 15 is represented by two-dimensional coordinates (x ′, y ′).

  Based on the first in-vivo data from the first in-vivo data acquisition unit 185 and the second in-vivo data from the second in-vivo data acquisition unit 186, the output control unit 181 Control is performed to output navigation information representing the positional relationship with the position of the mirror 15. As will be described later, the output control unit 181 outputs, for example, an image or warning sound indicating that the target position is approaching, or displays the target position and the endoscope position on an in-vivo map representing the arrangement of the digestive tract. Or Further, the output control unit 181 performs control to display the captured image of the scope endoscope 15 on the output device 19.

  As described above, by presenting the navigation information to the doctor, it is possible to support the operation of the second endoscope apparatus and contribute to reducing the burden on the diagnosis and treatment by the doctor and the burden on the patient. Moreover, the accuracy of lesion detection can be improved by capturing a special light image with the capsule endoscope 10 and detecting the lesion from the special light image.

4). Detailed Configuration Example of Output Control Unit, Example of Navigation Information Detailed configuration example of the output control unit that outputs navigation information based on the first in-vivo data and the second in-vivo data with reference to FIGS. explain. FIG. 4 shows a first detailed configuration example for outputting navigation information when the target position approaches. The output control unit 181 includes a determination unit 401.

  The determination unit 401 determines that the scope endoscope 15 has approached (approached or reached) the target position based on the first in-vivo data and the second in-vivo data. Specifically, the determination unit 401 calculates a distance (distance information in a broad sense) from the current position of the scope endoscope 15 to each target position, and approaches when the target position is within a predetermined distance. judge. For example, the determination unit 401 calculates a linear distance to each target position based on the second position information and the target position information. Or the determination part 401 calculates the distance to each attention position along the locus | trajectory of the capsule endoscope 10 based on 1st position information, 2nd position information, and attention position information.

  The output control unit 181 performs a control to output navigation information when the determination unit 401 determines that the scope endoscope 15 has approached the target position. For example, as shown in D1 of FIG. 5, the output control unit 181 displays the captured image of the scope-type endoscope 15 on the output device 19, and, as shown in D2, flashes a warning display toward the direction of the attention area. Or blink. Alternatively, the output control unit 181 displays a direction image such as an arrow indicating the direction of the position of the attention area. Alternatively, the output control unit 181 outputs a warning sound such as a beep sound and a sound to the output device 19 when the scope endoscope 15 approaches the target position.

  FIG. 6 shows a second detailed configuration example for outputting navigation information related to the attention position at the shortest distance. The output control unit 181 includes a position selection unit 501 and a distance calculation unit 502.

  The distance calculation unit 502 calculates the distance between the scope endoscope 15 and each target position (distance information in a broad sense) based on the first in-vivo data and the second in-vivo data. For example, the distance calculation unit 502 calculates a linear distance to each target position based on the second position information and the target position information. Alternatively, the distance calculation unit 502 calculates the distance to each target position along the trajectory of the capsule endoscope 10 based on the first position information, the second position information, and the target position information.

  The position selection unit 501 selects a target position that is closest to the scope endoscope 15 based on the distance calculated by the distance calculation unit 502.

  The output control unit 181 performs control to output information on the direction and distance to the target position selected by the position selection unit 501. For example, a direction image such as an arrow indicating the direction of the closest attention position is displayed as indicated by E1 in FIG. 7, and a distance to the attention position is indicated as indicated by E2.

  FIG. 8 shows a third detailed configuration example for displaying the current position of the scope endoscope 15 on the in-vivo map. The output control unit 181 includes a map generation unit 601 and an association unit 602.

  The map generation unit 601 generates an in-vivo map based on the first in-vivo data. FIG. 9 shows an example of the in-vivo map. This in-vivo map is a map representing the trajectory of the capsule endoscope 10 moving in the body cavity. For example, the position (x, y) of the capsule endoscope 10 described above in FIG. Are plotted sequentially. The map generation unit 601 maps the position indicated by the position-of-interest information on the in-vivo map. That is, the position where the image including the lesioned part is taken is mapped on the in-vivo map.

  The association unit 602 associates the position of the scope endoscope 15 on the in-vivo map generated by the map generation unit 601. For example, the current position of the scope-type endoscope 15 is represented by two-dimensional coordinates (x ′, y ′), and coordinates (x ′, y ′) are mapped onto the two-dimensional coordinates of the in-vivo map.

  The output control unit 181 outputs an in-vivo map in which the position of the scope endoscope 15 and the position of the region of interest are mapped to the output device 19. For example, as shown in A1 of FIG. 10, the captured image of the scope endoscope 15 is displayed in the image display area, and the in-vivo map is displayed in the map display area as shown in A2. Then, as shown at A3, a mark indicating the position of the scope endoscope 15 is displayed on the in-vivo map. Also, as shown at A4, a mark indicating the position of the region of interest such as a lesion is displayed on the in-vivo map, and a guide display for guiding the scope endoscope 15 to the region of interest is used.

5. Second System Configuration Example In the above embodiment, the case where the position information of the scope endoscope 15 is acquired by sound waves has been described. However, in the present embodiment, the position information is acquired from the insertion length of the scope endoscope 15. May be. FIG. 11 shows a second system configuration example.

  The system configuration example shown in FIG. 11 includes a first endoscope system 100 and a second endoscope system 200. The first endoscope system 100 includes a capsule endoscope 20, a receiver 21, a receiving device 22, an image processing device 23, and a storage device 24. The second endoscope system 200 includes a scope endoscope 25, a control device 26, and an output device 27. Note that the first endoscope system 100 has the same configuration and operation as the first system configuration example described above, and thus the description thereof is omitted.

  The scope endoscope 25 includes an imaging unit 251, a second image acquisition unit 252, a control unit 253, an I / F unit 254, and an insertion length information acquisition unit 255. The imaging unit 251 is connected to the second image acquisition unit 252, and the second image acquisition unit 252 is connected to the second in-vivo data acquisition unit 266 of the control device 26. The insertion length information acquisition unit 255 is connected to the second position information acquisition unit 261 of the control device 26. The control unit 253 is connected to the imaging unit 251, the second image acquisition unit 252, and the insertion length information acquisition unit 255. The I / F unit 254 is bidirectionally connected to the control unit 253.

  The control device 26 includes a second position information acquisition unit 261, an output control unit 262, a control unit 263, an I / F unit 264, a first in-vivo data acquisition unit 265, and a second in-vivo data acquisition unit 266. Then, the first in-vivo data acquisition unit 265 is connected to the second position information acquisition unit 261 and the output control unit 262. The second position information acquisition unit 261 is connected to the second in-vivo data acquisition unit 266, and the second in-vivo data acquisition unit 266 is connected to the output control unit 262. The output control unit 262 is connected to the output device 27. The control unit 263 is connected to the first in-vivo data acquisition unit 265, the second in-vivo data acquisition unit 266, the second position information acquisition unit 261, and the output control unit 262. The I / F unit 264 is connected to the control unit 263 in both directions.

  Next, a processing example of the second system configuration example will be described. First, the doctor inserts the scope endoscope 25 into the body cavity of the patient, and the second image acquisition unit 252 acquires the normal light image and the special light image. At this time, the insertion length information acquisition unit 255 acquires insertion length information (length information, distance information) of the scope endoscope 25 inserted into the body. For example, the insertion length information is obtained by attaching a scanner near the anus of the patient and reading the scale on the insertion portion of the scope endoscope 25 by the scanner.

  The second position information acquisition unit 261 associates the insertion length information with the target position information. Specifically, the second position information acquisition unit 261 calculates the distance from the anus (reference position in a broad sense) to each position based on the position information of the capsule endoscope 20. For example, as described above with reference to FIG. 3, using the coordinates (x, y) of the capsule endoscope 20, the distance along the locus from the anal coordinates to each coordinate is calculated. Then, the second position information acquisition unit 261 determines the current position of the scope endoscope 25 from the distance to each coordinate and the insertion long distance.

  Then, the second in-vivo data acquisition unit 266 acquires the position information of the scope endoscope 25 and the captured image as second in-vivo data. The output control unit 262 outputs navigation information to the output device 27 based on the first in-vivo data and the second in-vivo data. As described above with reference to FIGS. 4 to 10, the navigation information includes an image indicating the direction of the target position, a distance to the target position, an in-vivo map, a warning sound, and the like.

6). Third System Configuration Example In the above embodiment, the case where the position information is acquired from the sound wave or the insertion length has been described. However, in the present embodiment, the position information may be acquired by image matching. FIG. 12 shows a third system configuration example.

  The third system configuration example shown in FIG. 12 includes a first endoscope system 100 and a second endoscope system 200. The first endoscope system 100 includes a capsule endoscope 30, a receiver 31, and a receiving device 32. The second endoscope system 200 includes a scope endoscope 33, a control device 34, and an output device 35. The scope endoscope 33 has the same configuration and operation as those of the first system configuration example, and therefore the description thereof is omitted.

  The capsule endoscope 30 captures a special light image, and captures a normal light image when a region of interest is detected from the special light image. The capsule endoscope 30 includes an imaging unit 301, a first image acquisition unit 302, a region of interest detection unit 303, a transmitter 304, and a control unit 305. The imaging unit 301 is connected to the first image acquisition unit 302, and the first image acquisition unit 302 is connected to the attention area detection unit 303 and the transmitter 304. The attention area detection unit 303 is connected to the imaging unit 301 and the transmitter 304. The control unit 305 is connected to the imaging unit 301, the first image acquisition unit 302, the attention area detection unit 303, and the transmitter 304.

  The receiving device 32 includes a storage unit 321, a control unit 322, and an I / F unit 323. The storage unit 321 is connected to the first in-vivo data acquisition unit 345 of the control device 34, the control unit 322 is connected to the storage unit 321, and the I / F unit 323 is bidirectionally connected to the control unit 322. . The storage unit 321 can be attached to and detached from the control device 345 with a USB cable or the like. The storage unit 321 can be detached from the receiving device 32, and is configured by a storage such as a flash memory, a magnetic disk, or a network disk.

  The control device 34 displays navigation information by matching the image of the region of interest acquired by the capsule endoscope 30 with the captured image of the scope endoscope 33. The control device 34 includes an image association unit 341, an output control unit 342, a control unit 343, an I / F unit 344, a first in-vivo data acquisition unit 345, and a second in-vivo data acquisition unit 346. The first in-vivo data acquisition unit 345 and the second in-vivo data acquisition unit 346 are connected to the image association unit 341 and the output control unit 342. The image association unit 341 is connected to the output control unit 342. The control unit 343 connects to the image association unit 341, the output control unit 342, the first in-vivo data acquisition unit 345, and the second in-vivo data acquisition unit 346. The I / F unit 344 is connected to the control unit 343 in both directions.

  Next, a processing example of the third system configuration example will be described. First, a processing example of the first endoscope system 100 will be described.

  First, the patient wears the receiver 31 and the receiving device 32 in the same manner as the receiver 11 and the receiving device 22 described above with reference to FIG. At this time, since position information is not acquired in this embodiment, it is not necessary to make the receiver 31 adhere to the body surface.

  Next, as shown in C1 of FIG. 13, when the patient swallows the capsule endoscope 30, the imaging unit 301 captures the inside of the digestive tract, and as shown in C2, the first image acquisition unit 302 displays the special light image. To get. The attention area detection unit 303 detects an attention area such as a lesion from the special light image in real time.

  As shown in C3, when the attention area detection unit 303 detects the attention areas TR1 and TR2, as shown in C4, the imaging unit 301 images the inside of the digestive tract, and the first image acquisition unit 302 acquires the normal light image. To do. This normal light image is taken at the same time (including substantially simultaneously) with the detection of the attention areas TR1 and TR2.

  The captured special light image and normal light image are transmitted from the transmitter 304 to the receiver 31. The special light image and the normal light image received by the receiver are stored in the storage unit 321 of the receiving device 32.

  Next, a processing example of the second endoscope system 200 will be described. After the diagnosis by the capsule endoscope 30 is completed, the storage unit 321 is connected to the control device 34. The first in-vivo data acquisition unit 345 of the control device 34 acquires the special light image and the normal light image obtained by capturing the attention areas TR1 and TR2 from the storage unit 321 as first in-vivo data.

  As shown at C5 in FIG. 13, the doctor inserts the scope endoscope 33 into the patient's digestive tract. The imaging unit 331 images the inside of the digestive tract, and the second image acquisition unit 332 acquires a normal light image. And the 2nd in-vivo data acquisition part 346 of the control apparatus 34 acquires a normal light image as 2nd in-vivo data.

  The image association unit 341 performs a matching process between the normal light image including the attention areas TR1 and TR2 captured by the capsule endoscope 30 and the normal light image captured by the scope endoscope 33. For example, a known image recognition technique (for example, Viola-Jones) is used as the matching process.

  As shown in C6 of FIG. 13, for example, when the attention area TR1 is included in the image and matching with the attention area TR1 of the image of the capsule endoscope 30 is made, the output control unit 342 has approached the attention area. Is output to the output device 35. For example, attention information such as a beep sound or an exclamation mark display is output as navigation information.

  In the above description, the case of performing the matching process between the normal light image and the normal light image has been described as an example. However, in the present embodiment, the matching process may be performed in other combinations. For example, a special light image may be acquired by the scope endoscope 33, and the special light image and the special light image acquired by the capsule endoscope 30 may be matched.

7). Matching Process As described above, the image association unit 341 performs a matching process between the image of the region of interest captured by the capsule endoscope 30 and the image captured by the scope endoscope 33. Below, the detailed example of the matching process which this image matching part 341 performs is demonstrated.

  The image association unit 341 acquires a template image from the image of the capsule endoscope 30. This template image is an image obtained by trimming a region including a region of interest. For example, the attention area detection unit 303 of the capsule endoscope 30 acquires the coordinates of the attention area in the captured image, and the first in-vivo data acquisition unit 345 of the control device 34 uses the coordinates as the first in-vivo data. Get as. Then, the image association unit 341 acquires a template image by trimming based on the coordinates of the attention area.

Then, the image association unit 341 performs template matching processing between the acquired template image and the captured image of the scope endoscope 33. Specifically, the image association unit 341 moves the template image in the raster scan order with respect to the captured image of the scope endoscope 33, and calculates the similarity at each position. For example, the image association unit 341 calculates the similarity R _SSD (k, l) at each coordinate (k, l) by SSD (Sum of Squared Difference) represented by the following equation (2). Alternatively, the similarity R _SAD (k, l) is calculated by SAD (Sum of Absolute Difference) shown in the following expression (3). Here, C (i + k, j + l) in the following expressions (2) and (3) is a pixel value of the captured image of the scope endoscope 33, and B (i, j) is a pixel value of the template image. is there. N and M are the numbers of pixels in the horizontal and vertical directions of the template image, and i and j are the coordinates of the pixels of the template image.

8). Detailed Configuration Example of Capsule Endoscope FIGS. 14 and 17 show a detailed configuration example of a capsule endoscope that acquires a special light image. FIG. 14 shows a first detailed configuration example of the capsule endoscope. The capsule endoscope 300 includes a light source 310, a condenser lens 320, an illumination lens 330 (illumination optical system), an image sensor 340, an imaging lens 350, and an integrated circuit device 390.

  The light source 310 emits special light or white light. The special light is generated, for example, by transmitting white light through a filter that transmits a specific wavelength band. The condensing lens 320 condenses the irradiation light from the light source 310 on the illumination optical system 330. The illumination optical system 330 distributes illumination light to the imaging region. The imaging lens 350 forms an image of the reflected light from the imaging region on the image sensor 340. The image sensor 340 is configured by an image sensor such as a CMOS sensor or a CCD, for example, and captures a subject image. The integrated circuit device 390 is realized by an ASIC or the like, and includes an A / D conversion unit, an image processing unit, a first detection unit, a sound wave transmission unit, a radio wave transmission unit, a control unit, and the like.

  FIG. 15 to FIG. 16B show examples of wavelength bands of light emitted from the light source 310. As shown in FIG. 15, the light source 310 emits special light in a band of 390 nm to 445 nm (B2) and a band of 530 nm to 550 nm (G2). Then, the image sensor 340 receives the reflected light of the special light to capture a special light image in the band.

  Alternatively, as illustrated in FIG. 16A, the light source 310 may emit white light in a band of 380 nm to 650 nm. In this case, a special light image is captured by providing a filter between the image sensor 340 and the imaging lens 350. Specifically, as illustrated in FIG. 16B, a filter having a band of 390 nm to 445 nm (B2) and a transmission band of 530 nm to 550 nm (G2) is provided. And the reflected light of white light is permeate | transmitted with a filter, and the special light image of the said band is imaged.

  FIG. 17 shows a second detailed configuration example having an image sensor that captures a normal light image and an image sensor that captures a special light image. The capsule endoscope 300 includes a light source 310 (white light source), a condensing lens 320, an illumination optical system 330, a first image sensor 340, an imaging lens 350, a second image sensor 360, and a special light filter 370. , Half mirror 380, and integrated circuit device 390.

  The light source 310 emits white light. The half mirror 380 distributes the light from the imaging lens 350 to the first image sensor 340 and the second image sensor 360. The special light filter 370 transmits light in a specific wavelength band in the white reflected light. For example, the special optical filter 370 is configured by a filter having the above-described transmission band in FIG. The first imaging element 340 forms an image of the special light that has passed through the special light filter 370 and images a special light image. The second image sensor 360 forms a subject image of white light that does not pass through the filter, and captures a normal light image.

9. Overview of the present embodiment The overall configuration of the endoscope system has been described above, but the control device of the second endoscope system can perform the processing alone. Below, the outline | summary of a control apparatus is demonstrated among this embodiment demonstrated concretely above. In the following description, in principle, the description will be made using the reference numerals attached to the system configuration example shown in FIG. 1. The same applies to the second and third system configuration examples shown in FIGS.

  As described above, when a lesion is detected using a capsule endoscope, and the treatment of the lesion is performed using a scope endoscope, a problem is that a doctor needs to find the location of the detected lesion. There is. There is also a problem of improving the certainty of lesion detection.

  In this regard, according to the present embodiment, the control device 18 includes the first in-vivo data acquisition unit 185, the second in-vivo data acquisition unit 186, and the output control unit 181 as described above with reference to FIG. And the special light image containing the information of a specific wavelength band is acquired by the 1st endoscope apparatus 10 (capsule type endoscope). From the special light image, an image including a region of interest, which is a region of interest, is detected, and attention position information indicating the position of the first endoscope device 10 when the image including the region of interest is captured is obtained. To be acquired. Further, a normal light image (white light image) including information on the wavelength band of white light is acquired by the second endoscope apparatus 15 (scope type endoscope). In this case, the first in-vivo data acquisition unit 185 acquires first in-vivo data including the position information of interest. The second in-vivo data acquisition unit 186 includes a normal light image acquired by the second endoscope device 15 and second position information indicating the position of the second endoscope device 15. Get in-vivo data. Then, the output control unit 181 performs control to output guidance information (navigation information) for guiding the second endoscope device 15 based on the first in-vivo data and the second in-vivo data.

  Thereby, it becomes easy to operate the scope endoscope to the position of the lesion detected using the capsule endoscope. In addition, the certainty of lesion detection can be improved. Specifically, guidance information is presented based on the first in-vivo data and the second in-vivo data, and by operating the scope endoscope according to the guidance information, the doctor can easily operate the scope endoscope. Can be inserted up to the lesion location. Thereby, the oversight of the lesion and the burden on the patient can be reduced. In addition, when a lesion is diagnosed by a capsule endoscope, the use of a special light image that can improve the detection accuracy of a specific lesion such as squamous cell carcinoma can improve the detection accuracy of a lesion that is difficult to detect with a normal light image.

Here, the attention area is an area where the priority of observation for the user is higher than other areas. For example, if the user is a doctor and desires treatment, the mucous membrane area and the lesion area are copied. Refers to the area. As another example, if the object that the doctor desires to observe is a bubble or stool, the region of interest is a region in which the bubble or stool portion is copied. In other words, the object that the user should pay attention to depends on the purpose of observation, but in any case, in the observation, the region where the priority of observation for the user is relatively higher than other regions becomes the region of interest. . The attention area can be detected using the feature amount (hue, saturation, etc.) of the pixel of the special light image. For example, as shown in the following formulas (4) and (5), the attention area can be detected by setting a threshold value for the feature amount, and the threshold value changes according to the type of the attention area. For example, the threshold value of the feature amount such as hue and saturation for the first type of attention region is different from the threshold value of the feature amount for the second type of attention region. Then, when the type of the attention area changes, it is only necessary to change the threshold value of the feature amount. Processing after detection of the attention area (attention position information acquisition processing, output control processing, etc.) is performed in this embodiment. It can be realized by the same processing as that described in the above.
−70 ° <Hue H <30 ° (4)
16 <saturation C <128 (5)

  The guidance information is information that the output control unit 181 outputs to the output device 19, and the user recognizes the output information and operates the second endoscope device 15 to the position of the attention area. It is information to do. For example, the guidance information is displayed on the display indicating the direction of the attention area indicated by D2 in FIG. 5, the information indicating the distance to the attention area indicated by E2 in FIG. 7, the in-vivo map indicated by A2 in FIG. It is a beep sound that is output when approaching, or a sound that announces that it has approached the region of interest.

  In the present embodiment, the output control unit 181 includes the determination unit 401 as described above with reference to FIG. The determination unit 401 determines whether or not the position of the scope endoscope 15 indicated by the second position information has approached the position indicated by the target position information. When the determination unit 401 determines that the position of the scope-type endoscope 15 has approached the position indicated by the position-of-interest information, the output control unit 181 obtains the position-of-interest information from the position of the scope-type endoscope 15. Control is performed to output a direction image (for example, D2 in FIG. 5 and E1 in FIG. 7) indicating the direction to the indicated position as guidance information.

  In this way, when the scope endoscope 15 approaches the attention area, the direction of the approached attention area can be indicated, and an intuitive operation of the scope endoscope 15 by the doctor can be assisted. .

  Further, as described above with reference to FIG. 6 and the like, the output control unit 181 includes the position selection unit 501. When a plurality of attention position information is acquired, the position selection unit 501 is the most from the position of the scope endoscope 15 indicated by the second position information among the plurality of positions indicated by the plurality of attention position information. Select a short distance position. Then, the output control unit 181 performs control to output a direction image indicating the direction from the position of the scope endoscope 15 to the position selected by the position selection unit 501 as guidance information.

  In this way, when a plurality of attention areas are detected, the direction to the closest attention area among the plurality of attention areas can be indicated, and the efficient use of the scope-type endoscope 15 by the doctor can be indicated. Can assist the operation.

  Further, as described above with reference to FIG. 6 and the like, the output control unit 181 includes the distance calculation unit 502 and the position selection unit 501. The distance calculation unit 502, when a plurality of attention position information is acquired, between the plurality of positions indicated by the plurality of attention position information and the position of the scope endoscope 15 indicated by the second position information. Calculate the distance. Based on the distance calculated by the distance calculation unit 502, the position selection unit 501 selects a position closest to the position of the scope endoscope 15 from among a plurality of positions. Then, the output control unit 181 performs control to output distance information (for example, E2 in FIG. 7) between the position selected by the position selection unit 501 and the position of the scope endoscope 15 as guidance information.

  In this way, when a plurality of attention areas are detected, the distance to the closest attention area among the plurality of attention areas can be indicated, and the doctor can efficiently use the scope endoscope 15. Can assist the operation.

  Further, as described above with reference to FIG. 8 and the like, the output control unit 181 includes the map generation unit 601 and the association unit 602. The map generation unit 601 is an in-vivo map (for example, shown in FIG. 9) that represents the whole or a part of the space in the body (the trajectory of the first endoscope device, the arrangement and structure of the digestive tract, the arrangement and structure of the body cavity). 2D map) is generated. The associating unit 602 associates (maps) the target position information and the second position information on the in-vivo map generated by the map generating unit 601. Then, the output control unit 181 performs control to output an in-vivo map (for example, A2 in FIG. 10) in which the target position information and the second position information are associated with each other.

  In this way, an in-vivo map in which the region of interest and the current position of the scope endoscope 15 are mapped can be displayed as guidance information. Thereby, a doctor can grasp | ascertain the whole image of a patient's body easily. Then, by mapping the attention area and the position of the scope endoscope 15 on the in-vivo map, the positional relationship between the attention area and the scope endoscope 15 can be easily grasped.

  Further, as described above with reference to FIG. 1 and the like, the first position information indicating the position of the first endoscope apparatus 10 when the image is acquired by the first endoscope apparatus 10 is the first position information acquisition. Acquired by the unit 132. In this case, the first in-vivo data acquisition unit 185 acquires first in-vivo data including the first position information. Then, the map generation unit 601 generates an in-vivo map from the first position information included in the first in-vivo data.

  In this way, based on the locus of the capsule endoscope that has passed through the body, it is possible to generate an in-vivo map that represents all or part of the space inside the body.

  In addition, as described above with reference to FIG. 11 and the like, the control device 26 includes a second position information acquisition unit 261 that acquires second position information indicating the position of the second endoscope device 25. Then, the second position information acquisition unit 261 acquires the second position information based on the insertion length information (insertion distance information) indicating the insertion distance of the second endoscope device 25.

  This eliminates the need for a transmitter or receiver for acquiring position information of the scope endoscope. Thereby, the preparatory work before treatment, such as mounting the receiver on the patient, can be omitted. In addition, the cost can be reduced by reducing the number of devices.

  Next, an overview of the entire endoscope system including the control device will be described.

  As described above with reference to FIG. 1 and the like, the endoscope system of the present embodiment includes the first endoscope apparatus 10 (capsule endoscope), the attention area detection unit 131, the first position information acquisition unit 132, the first position information acquisition unit 132, and the first position information acquisition unit 132. 2 endoscope apparatuses 15 (scope type endoscopes), a first in-vivo data acquisition unit 185, a second in-vivo data acquisition unit 186, and an output control unit 181. Then, the first endoscope apparatus 10 (capsule endoscope) acquires a special light image. The attention area detection unit 131 detects an image including the attention area from the special light image acquired by the first endoscope apparatus 10. The first position information acquisition unit 132 acquires attention position information indicating the position of the first endoscope apparatus 10 when an image including the attention area is captured. The second endoscope apparatus 15 acquires a normal light image. The first in-vivo data acquisition unit 185 acquires information including attention position information as first in-vivo data. The second in-vivo data acquisition unit 186 receives the information including the normal light image acquired by the second endoscope device 15 and the second position information indicating the position of the second endoscope device 15 as the second information. Obtained as internal data. Then, the output control unit 181 outputs guidance information for guiding the second endoscope apparatus 15 based on the first and second in-vivo data.

  Thereby, it becomes easy to operate the scope endoscope to the position of the lesion detected using the capsule endoscope. In addition, the certainty of lesion detection can be improved. Specifically, when detecting lesions using a capsule endoscope, the detection accuracy of lesions that are difficult to detect with normal light images is improved by using special light images that can improve the detection accuracy of specific lesions such as squamous cell carcinoma. it can.

  Further, as described above with reference to FIG. 14 and the like, the first endoscope apparatus 300 (capsule endoscope) includes the light source 310 (special light source) that emits light in a specific wavelength band. Then, the first endoscope apparatus 10 acquires a special light image using light of a specific wavelength band from the light source 310.

  In this way, it is possible to acquire a special light image with excellent accuracy for detecting a specific lesion. For example, if NBI, which will be described later, is used, capillary blood vessels and fine mucosal patterns on the mucosal surface are highlighted by irradiating a special light source. Becomes easier.

  In addition, as described above with reference to FIG. 17 and the like, the first endoscope apparatus 300 includes a light source 310 (white light source) that emits light in the wavelength band of white light and a filter 370 that transmits light in a specific wavelength band. And having. The first endoscope apparatus 300 acquires a special light image by allowing light (for example, reflected light or transmitted light) obtained by irradiating the subject with light from the light source 310 to pass through the filter 370. To do.

  In this way, by providing the white light source 310 and the filter 370, a special light image can be acquired without providing a special light source. Further, since the white light source 310 is provided, the normal light image and the special light image can be simultaneously acquired by further providing the half mirror 380.

  In the present embodiment, the second endoscope apparatus 15 includes a white light source that emits light in the wavelength band of white light. And the 2nd endoscope apparatus 15 acquires a normal light image using the light of the white wavelength band from a white light source. For example, the imaging unit 151 of the second endoscope apparatus 15 shown in FIG. 1 has a white light source (not shown).

  In this way, it becomes easy to brighten the illumination by using the white light source, so that a high-luminance image can be acquired and the image can be easily observed. Further, since the white light source is mounted on many endoscope apparatuses, the same observation operability as that of the prior art can be ensured.

  In addition, as described above with reference to FIG. 1 and the like, the first position information acquisition unit 132 is configured so that radio waves or sound waves from the transmitter 103 provided in the first endoscope apparatus 10 are transmitted from the first endoscope apparatus 10. Position information (for example, xy coordinates) acquired by receiving by a receiver 11 provided at an external positioning point (a mounting position of the receiver 11) is acquired as attention position information.

  In this way, by receiving radio waves or sound waves by the receiver, the internal position of the capsule endoscope can be measured, and the image processing apparatus 13 can acquire the internal position with high accuracy.

  Further, as described above with reference to FIG. 1 and the like, the attention area detection unit 131 converts the color of each pixel included in the special light image, and detects the attention area based on the converted special light image. For example, the attention area detection unit 131 converts the color space using the above-described conversion formula (1).

  In this way, it is possible to perform color conversion that improves the separation between the attention area and other areas according to the characteristics (spectral characteristics, etc.) of the attention area to be detected. Thereby, detection accuracy can be improved and detection leakage can be suppressed.

  In the present embodiment, the specific wavelength band is a band narrower than the wavelength band of white light (for example, 380 nm to 650 nm) (NBI: Narrow Band Imaging). For example, the normal light image and the special light image are in-vivo images obtained by copying the inside of the living body, and the specific wavelength band included in the in-vivo image is a wavelength band of a wavelength that is absorbed by hemoglobin in blood. The wavelength absorbed by this hemoglobin is, for example, 390 to 445 nanometers (first narrowband light; B2 component of narrowband light), or 530 to 550 nanometers (second narrowband light; G2 of narrowband light). Component).

  Thereby, it becomes possible to observe the structure of the blood vessel located in the surface layer part and the deep part of the living body. In addition, by inputting the obtained signals to specific channels (G2 → R, B2 → G, B), lesions that are difficult to see with normal light such as squamous cell carcinoma can be displayed in brown, etc. Oversight of parts can be suppressed. Note that 390 nm to 445 nm or 530 nm to 550 nm are numbers obtained from the characteristic of being absorbed by hemoglobin and the characteristic of reaching the surface layer or the deep part of the living body, respectively. However, the wavelength band in this case is not limited to this. For example, the lower limit of the wavelength band is reduced by about 0 to 10% due to the variation factors such as the absorption by hemoglobin and the experimental results regarding the arrival of the living body on the surface layer or the deep part. It is also conceivable that the upper limit value increases by about 0 to 10%.

  In the present embodiment, the normal light image and the special light image are in-vivo images obtained by copying the inside of the living body, and the specific wavelength band included in the in-vivo image is a wavelength band of fluorescence emitted from the fluorescent substance. Also good. For example, the specific wavelength band may be a wavelength band of 490 nanometers to 625 nanometers.

  This enables fluorescence observation called AFI (Auto Fluorescence Imaging). By irradiating excitation light (390 nm to 470 nm), autofluorescence (intrinsic fluorescence from 490 nm to 625 nm) from a fluorescent substance such as collagen can be observed. In such observation, the lesion can be highlighted with a color tone different from that of the normal mucous membrane, and the oversight of the lesion can be suppressed. The numbers from 490 nm to 625 nm indicate the wavelength band of autofluorescence emitted by fluorescent materials such as collagen when irradiated with the above-described excitation light. However, the wavelength band in this case is not limited to this. For example, the lower limit of the wavelength band is reduced by about 0 to 10% and the upper limit is 0 due to a variation factor such as an experimental result regarding the wavelength band of the fluorescence emitted by the fluorescent material. A rise of about 10% is also conceivable. Alternatively, a pseudo color image may be generated by simultaneously irradiating a wavelength band (540 nm to 560 nm) absorbed by hemoglobin.

  In the present embodiment, the specific wavelength band included in the in-vivo image may be a wavelength band of infrared light. For example, the specific wavelength band may be a wavelength band of 790 nanometers to 820 nanometers, or 905 nanometers to 970 nanometers.

  Thereby, infrared light observation called IRI (Infra Red Imaging) becomes possible. Intravenous injection of ICG (Indocyanine Green), an infrared index drug that easily absorbs infrared light, and then irradiating with infrared light in the above wavelength band, it is difficult to visually recognize the blood vessels in the deep mucosa And blood flow information can be highlighted, making it possible to diagnose the depth of gastric cancer and determine the treatment policy. The numbers 790 nm to 820 nm are obtained from the characteristic that the absorption of the infrared index drug is strongest, and the numbers 905 nm to 970 nm are calculated from the characteristic that the absorption of the infrared index drug is the weakest. However, the wavelength band in this case is not limited to this. For example, the lower limit of the wavelength band is reduced by about 0 to 10% and the upper limit is 0 to 10 due to a variation factor such as an experimental result regarding absorption of the infrared index drug. It can also be expected to increase by about%.

  Moreover, in this embodiment, you may include the special light image acquisition part which produces | generates a special light image based on the acquired normal light image. For example, the first image acquisition unit 102 illustrated in FIG. 1 acquires a normal light image, the first image acquisition unit 102 includes a special light image acquisition unit (not shown), and the special light image acquisition unit includes the acquired normal light. A special light image may be generated from the image.

  Specifically, the special light image acquisition unit includes a signal extraction unit that extracts a signal in the wavelength band of white light from the acquired normal light image, and the special light image acquisition unit includes the wavelength of the extracted white light. A special light image including a signal in a specific wavelength band may be generated based on the signal in the band. For example, the signal extraction unit estimates the spectral reflectance characteristics of the subject in 10 nm increments from the RGB signal of the normal light image, and the special light image acquisition unit integrates the estimated signal component in the specific band and performs special processing. Generate a light image.

  More specifically, the special light image acquisition unit may include a matrix data setting unit that sets matrix data for calculating a signal in a specific wavelength band from a signal in the wavelength band of white light. Then, the special light image acquisition unit may generate a special light image by calculating a signal in a specific wavelength band from a signal in the wavelength band of white light using the set matrix data. For example, the matrix data setting unit sets table data in which spectral characteristics of irradiation light in a specific wavelength band are described in increments of 10 nm as matrix data. Then, the spectral characteristics (coefficients) described in the table data are multiplied by the estimated spectral reflectance characteristics of the subject and integrated to generate a special light image.

  As a result, the special light image can be generated based on the normal light image, so that the system can be realized with only one light source that irradiates the normal light and one image sensor that images the normal light. . Therefore, the capsule endoscope and the insertion part of the scope endoscope can be made small, and the cost can be expected to be reduced because the number of parts is reduced.

  In addition, as described above with reference to FIG. 12 and the like, the endoscope system includes the first endoscope device 30, the second endoscope device 33, the attention area detection unit 303, the first in-vivo data acquisition unit 345, A two-body data acquisition unit 346, an image association unit 341, and an output control unit 342 are included. Then, the first endoscope apparatus 30 acquires a special light image (for example, C2 in FIG. 13), and the attention area detection unit 303 detects an image (C3) including the attention area from the special light image. The first endoscope apparatus 30 acquires the first normal light image (C4) at the position where the image including the attention area is captured when the image including the attention area is detected from the special light image. To do. Then, the first in-vivo data acquisition unit 345 acquires the first in-vivo data including the first normal light image. The second endoscope apparatus 33 acquires the second normal light image (C6), and the second in-vivo data acquisition unit 346 acquires the second in-vivo data including the second normal light image. The image association unit 341 associates (matches) the first normal light image including the region of interest with the second normal light image. And the output control part 342 performs control which outputs guidance information based on the result of matching.

  In this way, the use of the special light image at the time of lesion detection with a capsule endoscope can improve the detection accuracy of a lesion that is difficult to find with a normal light image. Further, by using the normal light image at the time of the treatment by the scope endoscope, the scope endoscope can be operated while viewing the normal light image that can be easily observed by the doctor. Further, since a transmitter and a receiver for acquiring position information can be omitted, cost reduction can be achieved.

  In the present embodiment, the special light images may be associated with each other. That is, the first endoscope apparatus 30 acquires the first special light image, and the attention area detection unit 303 detects an image including the attention area from the first special light image. The first in-vivo data acquisition unit 345 acquires first in-vivo data including the first special light image including the region of interest. The second endoscope device 33 acquires a second special light image, and the second in-vivo data acquisition unit 346 acquires second in-vivo data including the second special light image. The image association unit 341 associates the first special light image including the region of interest with the second special light image.

  In this way, since the images of the first and second endoscope apparatuses can be associated with each other with the special light images for which feature quantities such as hues can be easily extracted, the accuracy of the association can be improved. For example, when the above-described NBI is used, a hue value peculiar to a specific lesion such as squamous cell carcinoma appears, so that it can be easily distinguished from other regions, and matching accuracy can be improved.

  In the present embodiment, the attention area may be detected from the normal light image, and the normal light may be associated with each other. That is, the first endoscope apparatus 30 acquires the first normal light image, and the attention area detection unit 303 detects an image including the attention area from the first normal light image. The first in-vivo data acquisition unit 345 acquires first in-vivo data including the first normal light image including the region of interest. The second endoscopic device 33 acquires a second normal light image, and the second in-vivo data acquisition unit 346 acquires second in-vivo data including the second normal light image. The image association unit 341 associates the first normal light image including the region of interest with the second normal light image.

  In this way, it is possible to improve the accuracy with which a lesion such as a bleeding site or a polyp that is easily detected with a normal light image can be detected.

10. Software In the present embodiment described above, each unit configuring the control device 18 (or the control devices 26 and 34) is configured by hardware. However, the present invention is not limited to this. For example, the CPU may be configured to perform processing of each unit on an image acquired in advance using an imaging device such as a scope endoscope, and may be realized as software by the CPU executing a program. Alternatively, a part of processing performed by each unit may be configured by software.

  When the processing performed by each unit of the control device 18 is realized as software, a known computer system such as a workstation or a personal computer can be used as the control device 18. A program (control program) for realizing processing performed by each unit of the control device 18 is prepared in advance, and the control program can be executed by the CPU of the computer system.

  FIG. 18 is a system configuration diagram showing a configuration of a computer system 600 in this modification, and FIG. 18 is a block diagram showing a configuration of a main body 610 in the computer system 600. As shown in FIG. 18, the computer system 600 includes a main body 610, a display 620 for displaying information such as an image on the display screen 621 according to an instruction from the main body 610, and various information on the computer system 600. A keyboard 630 for inputting and a mouse 640 for designating an arbitrary position on the display screen 621 of the display 620 are provided.

  Further, as shown in FIG. 19, a main body 610 in the computer system 600 includes a CPU 611, a RAM 612, a ROM 613, a hard disk drive (HDD) 614, a CD-ROM drive 615 that accepts a CD-ROM 660, and a USB memory. USB port 616 to which 670 is detachably connected, I / O interface 617 to which display 620, keyboard 630 and mouse 640 are connected, and a LAN interface for connection to a local area network or wide area network (LAN / WAN) N1 618.

  Further, the computer system 600 is connected to a modem 650 for connecting to a public line N3 such as the Internet, and is another computer system via a LAN interface 618 and a local area network or a wide area network N1. A personal computer (PC) 681, a server 682, a printer 683, and the like are connected.

  The computer system 600 refers to a control program (for example, S21 to S27 in FIG. 21) recorded on a predetermined recording medium, and reads and executes a control program for realizing a processing procedure to be described later. Realize the control device. Here, the predetermined recording medium is a “portable physical medium” including an MO disk, a DVD disk, a flexible disk (FD), a magneto-optical disk, an IC card, etc. in addition to the CD-ROM 660 and the USB memory 670, a computer A “fixed physical medium” such as HDD 614, RAM 612, and ROM 613 provided inside and outside the system 600, a public line N3 connected via the modem 650, and another computer system (PC) 681 or server 682 are connected. It includes any recording medium that records a control program readable by the computer system 600, such as a “communication medium” that stores a program in a short time when transmitting the program, such as a local area network or a wide area network N1.

  That is, the control program is recorded on a recording medium such as “portable physical medium”, “fixed physical medium”, and “communication medium” in a computer-readable manner, and the computer system 600 includes such a recording medium. The control device is realized by reading out and executing the control program from. Note that the control program is not limited to be executed by the computer system 600, and when the other computer system (PC) 681 or the server 682 executes the control program, or these cooperate with each other. The present invention can be similarly applied to the case where the above is executed.

  As an example of a case where a part of processing performed by each unit is configured by software, a processing procedure when the processing of the control device 18 is realized by software will be described with reference to flowcharts of FIGS.

  20 to 23 show processing procedures of the entire endoscope system. For example, the control device 18 executes S21 to S27, S41 to S47, and S61 to S70 in this processing procedure. Similarly, the image processing apparatus 13 can be realized by software processing by a computer system such as a PC. In this case, the image processing apparatus 13 executes, for example, S6 to S9 in the processing procedure illustrated in FIGS.

  FIG. 20 shows a processing procedure of the first endoscope system 100 including the capsule endoscope 10. As shown in FIG. 20, when this process is started, the imaging unit 101 captures an image (S1), the first image acquisition unit 102 acquires a special light image and a normal light image (S2), and the receiver 11 receives sound waves (S3), and the storage unit 121 stores images and sound wave reception information (sound wave reception time) (S4). If the imaging by the capsule endoscope 10 has not been completed (S5, No), the imaging is performed again (S1). When the imaging by the capsule endoscope is completed (S5, Yes), the acquisition unit 135 acquires an image and sound wave reception information (S6). The first position information acquisition unit 132 acquires first position information from the sound wave reception information (S7). The attention area detection unit 131 detects the attention area from the special light image, and the first position information acquisition unit 132 acquires the attention position information (S8). The first in-vivo data is stored in the storage device 14 (S9).

  FIG. 21 shows a processing procedure of the second endoscope system 200 including the scope endoscope 15. As shown in FIG. 21, when this process is started, the first in-vivo data acquisition unit 185 acquires the first in-vivo data from the storage device 14 (S21), and the map generation unit 601 generates an in-vivo map ( S22). Then, the scope endoscope 15 captures an image, the second position information acquisition unit 171 acquires the second position information, and the second in-vivo data acquisition unit 186 acquires the second in-vivo data (S23). The association unit 602 associates the in-vivo map with the second position information (S24), the output control unit 181 generates guidance information (S25), and the output control unit 181 outputs the image, the in-vivo map, and the guidance information to the output device. 19 (S26). When the treatment by the scope endoscope 15 has not been completed (S27, No), imaging is performed again (S23), and when the treatment by the scope endoscope 15 is completed (S27, Yes), The process ends.

  FIG. 22 shows a guidance information generation procedure when guidance information is output when approaching the region of interest. As shown in FIG. 22, when this process is started, the distance calculation unit 502 acquires the first position information I1 and the second position information I2, and calculates the distance | I1-I2 | (S41). . When there are a plurality of I1 (S42, Yes), the position selection unit 501 employs I1 having the minimum distance | I1-I2 |. The position selection unit 501 adopts the acquired I1 as it is when the number of I1 is one (S42, No). When the distance | I1-I2 | is equal to or smaller than the predetermined threshold Th (S45, Yes), the output control unit 181 acquires the distance | I1-I2 | as distance information (S46), and I1-I2 as direction information. The sign of I2 is acquired (S47). If the distance | I1-I2 | is greater than the predetermined threshold Th (S45, No), the output control unit 181 ends the process.

  FIG. 23 shows a guide information generation procedure when guide information is generated by image matching processing. When executing this flow, it is not necessary to execute steps such as acquisition of distance information and generation of an in-vivo map. That is, S22, S24, etc. in FIG. 21 need not be executed. As shown in FIG. 23, when this process is started, the control device 34 determines whether the observation site is a site where lesions should be determined with special light (S61). This determination is made based on, for example, information input from the operation interface by the user. Or the information showing a use site | part may be memorize | stored in the scope type | mold endoscope 15, and judgment may be performed by reading the information.

  If the region is determined by special light (S61, Yes), the image association unit 341 acquires the special light image acquired by the scope endoscope 15 (S62), and the capsule endoscope 10 The special light image including the attention area acquired by the above is acquired (S63). The image association unit 341 compares these images (S64). If it is not the final region of interest (S65, No), the next special light image including the region of interest acquired by the capsule endoscope 10 is acquired (S63). If it is the final region of interest (S65, Yes), the output control unit 342 outputs guidance information when there is a matched image (S70).

  If it is not a part to be determined by special light (S61, No), the image association unit 341 acquires a normal light image acquired by the scope endoscope 15 (S66), and the capsule endoscope 10 A normal light image including the acquired attention area is acquired (S67). The image association unit 341 compares these images (S68). If it is not the final region of interest (S69, No), the next normal light image including the region of interest acquired by the capsule endoscope 10 is acquired (S67). If it is the final region of interest (S69, Yes), the output control unit 342 outputs guidance information when there is a matched image (S70).

  According to the above embodiment, the first in-vivo data is accumulated by, for example, a capsule endoscope, and the accumulated first in-vivo data and the second in-vivo acquired by the scope-type endoscope 15 are stored. Data can be processed in software by a computer system such as a PC.

  The present embodiment is also applied to a computer program product in which a program code for realizing each unit (first in-vivo data acquisition unit, second in-vivo data acquisition unit, output control unit, image association unit, etc.) of the present embodiment is recorded. Applicable.

  The computer program product includes, for example, an information storage medium (an optical disk medium such as a DVD, a hard disk medium, a memory medium, etc.) on which a program code is recorded, a computer on which the program code is recorded, and an Internet system (for example, a program code is recorded). , A system including a server and a client terminal), etc., an information storage medium, apparatus, device or system in which a program code is incorporated. In this case, each component and each processing process of this embodiment are mounted by each module, and the program code constituted by these mounted modules is recorded in the computer program product.

  As mentioned above, although embodiment and its modification which applied this invention were described, this invention is not limited to each embodiment and its modification as it is, and in the range which does not deviate from the summary of invention in an implementation stage. The component can be modified and embodied. Further, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the above-described embodiments and modifications. For example, some constituent elements may be deleted from all the constituent elements described in each embodiment or modification. Furthermore, you may combine suitably the component demonstrated in different embodiment and modification. Thus, various modifications and applications are possible without departing from the spirit of the invention.

  Further, in the specification or drawings, terms (capsule type endoscopes) described at least once together with different terms having a broader meaning or the same meaning (first endoscope device, second endoscope device, normal light image, etc.). Mirror, scope endoscope, white light image, etc.) may be replaced by the different terms anywhere in the specification or drawings.

10 first endoscope apparatus, 11 receiver, 12 receiving apparatus, 13 image processing apparatus,
14 storage devices, 15 second endoscope device, 16 receiver, 17 receiving device,
18 control device, 19 output device, 100 first endoscope system, 101 imaging unit,
102 image acquisition unit, 103 transmitter, 104 control unit, 121 storage unit,
122 control unit, 123 I / F unit, 131 attention area detection unit,
132 first position information acquisition unit, 133 control unit, 134 I / F unit, 135 acquisition unit,
151 imaging unit, 152 image acquisition unit, 153 transmitter, 154 control unit,
155 I / F unit, 171 second position information acquisition unit, 172 control unit, 173 I / F unit,
181 output control unit, 182 control unit, 183 I / F unit,
185 1st in-vivo data acquisition part, 186 2nd in-vivo data acquisition part,
300 capsule endoscope, 310 light source, 320 condenser lens, 330 illumination lens,
340 imaging device, 341 image association unit, 350 imaging lens, 360 imaging device,
370 special optical filter, 380 half mirror, 390 integrated circuit device,
401 determination unit, 501 position selection unit, 502 distance calculation unit,
600 computer system, 601 map generation unit, 602 association unit,
610 body, 615 drive, 616 port, 617 interface,
620 display, 621 display screen, 630 keyboard, 640 mouse,
650 modem, 670 memory, 682 server, 683 printer,
I1 first location information, I2 second location information, N1 wide area network,
N3 public line, Th threshold, TR1 attention area

Claims (30)

A special light image including information on a specific wavelength band is acquired by the first endoscope device, and an image including a region of interest, which is a region of interest, is detected from the special light image and includes the region of interest A first in-vivo data acquisition unit that acquires the first in-vivo data including the attention position information when the attention position information indicating the position of the first endoscope apparatus when the image is captured is acquired. When,
When a normal light image including information on the wavelength band of white light is acquired by the second endoscope device, the normal light image acquired by the second endoscope device, and the second internal image A second in-vivo data acquisition unit that acquires the second in-vivo data including second position information indicating the position of the endoscope device;
An output control unit that performs control to output guidance information for guiding the second endoscope apparatus based on the first in-vivo data and the second in-vivo data;
The control apparatus characterized by including. In claim 1,
The output control unit
A determination unit that determines whether the position of the second endoscope apparatus indicated by the second position information has approached the position indicated by the position-of-interest information;
The output control unit
The position indicated by the attention position information from the position of the second endoscope apparatus when the determination unit determines that the position of the second endoscope apparatus has approached the position indicated by the attention position information. A control device that performs control to output a direction image indicating a direction to the direction information. In claim 1,
The output control unit
The position closest to the position of the second endoscope device indicated by the second position information among the plurality of positions indicated by the plurality of attention position information when a plurality of attention position information is acquired. A position selection unit for selecting
The output control unit
A control apparatus that performs control to output a direction image indicating a direction from a position of the second endoscope apparatus to a position selected by the position selection unit as the guidance information. In claim 1,
The output control unit
When a plurality of attention position information is acquired, a distance between a plurality of positions indicated by the plurality of attention position information and a position of the second endoscope device indicated by the second position information is calculated. A distance calculation unit to perform,
Based on the distance calculated by the distance calculation unit, a position selection unit that selects a position at the shortest distance from the position of the second endoscope device among the plurality of positions;
Have
The output control unit
A control apparatus that performs control to output distance information between the position selected by the position selection unit and the position of the second endoscope apparatus as the guidance information. In claim 1,
The output control unit
A map generator that generates an in-vivo map that represents all or part of the body space;
On the in-vivo map generated by the map generation unit, an association unit that associates the attention position information and the second position information;
Have
The output control unit
A control apparatus that performs control to output the in-vivo map in which the attention position information and the second position information are associated with each other. In claim 5,
The first in-vivo data acquisition unit
When the first position information indicating the position of the first endoscope apparatus when the image is acquired by the first endoscope apparatus is acquired, the first position information including the first position information is acquired. Get in-body data of 1
The map generation unit
The control apparatus generating the in-vivo map from the first position information included in the first in-vivo data. In claim 1,
A second position information acquisition unit that acquires the second position information indicating the position of the second endoscope device;
The second position information acquisition unit
The endoscope system according to claim 1, wherein the second position information is acquired based on insertion distance information indicating an insertion distance of the second endoscope apparatus. A first endoscope device for acquiring a special light image including information of a specific wavelength band;
An attention area detection unit that detects an image including an attention area that is an attention area from the special light image acquired by the first endoscope device;
A first position information acquisition unit that acquires attention position information indicating a position of the first endoscope device when an image including the attention area is captured;
A first in-vivo data acquisition unit that acquires information including the attention position information as first in-vivo data;
A second endoscope device for acquiring a normal light image including information on a wavelength band of white light;
The second in-vivo device acquires information including the normal light image acquired by the second endoscope device and second position information indicating the position of the second endoscope device as second in-vivo data. A data acquisition unit;
An output control unit that performs control to output guidance information for guiding the second endoscope apparatus based on the first in-vivo data and the second in-vivo data;
An endoscopic system comprising: In claim 8,
The first endoscope apparatus is:
A special light source that emits light of the specific wavelength band;
The first endoscope apparatus is:
An endoscope system, wherein the special light image is acquired using light of the specific wavelength band from the special light source. In claim 8,
The first endoscope apparatus is:
A white light source that emits light in the wavelength band of white light;
A filter that transmits light of the specific wavelength band;
Have
The first endoscope apparatus is:
An endoscope system characterized in that the special light image is obtained by allowing light obtained by irradiating a subject with light from the white light source to pass through the filter. In claim 8,
The second endoscope apparatus is:
A white light source that emits light in the wavelength band of white light;
The second endoscope apparatus is:
An endoscope system, wherein the normal light image is acquired using light in the white wavelength band from the white light source. In claim 8,
The first position information acquisition unit
A position obtained by receiving radio waves or sound waves from a transmitter provided in the first endoscope apparatus by a receiver provided at a positioning point outside the first endoscope apparatus. An endoscope system characterized in that information is acquired as the attention position information. In claim 8,
The attention area detector
An endoscope system, wherein the color of each pixel included in the special light image is converted, and the attention area is detected based on the converted special light image. In claim 8,
The endoscope system according to claim 1, wherein the specific wavelength band is a band narrower than the wavelength band of the white light. In claim 14,
The normal light image and the special light image are in-vivo images obtained by copying the inside of the living body,
The endoscope system according to claim 1, wherein the specific wavelength band included in the in-vivo image is a wavelength band of a wavelength absorbed by hemoglobin in blood. In claim 15,
The specific wavelength band is 390 nanometers to 445 nanometers, or 530 nanometers to 550 nanometers. In claim 8,
The normal light image and the special light image are in-vivo images obtained by copying the inside of the living body,
The endoscope system according to claim 1, wherein the specific wavelength band included in the in-vivo image is a wavelength band of fluorescence emitted from a fluorescent substance. In claim 17,
The endoscope system characterized in that the specific wavelength band is a wavelength band of 490 nm to 625 nm. In claim 8,
The normal light image and the special light image are in-vivo images obtained by copying the inside of the living body,
The endoscope system, wherein the specific wavelength band included in the in-vivo image is a wavelength band of infrared light. In claim 19,
The endoscope system characterized in that the specific wavelength band is a wavelength band of 790 nanometers to 820 nanometers, or 905 nanometers to 970 nanometers. In claim 8,
The first endoscope apparatus is:
A white light source that emits light in the wavelength band of white light;
A special light image acquisition unit for acquiring the special light image;
Have
The first endoscope apparatus is:
A normal light image is acquired using light from the white light source,
The special light image acquisition unit
An endoscope system, wherein the special light image is generated based on the normal light image acquired by the first endoscope apparatus. In claim 21,
The special light image acquisition unit
A signal extraction unit for extracting a signal in the wavelength band of white light from the acquired normal light image;
The special light image acquisition unit
An endoscope system, wherein the special light image including the signal in the specific wavelength band is generated based on the extracted signal in the wavelength band of the white light. In claim 22,
The special light image acquisition unit
A matrix data setting unit for setting matrix data for calculating a signal in the specific wavelength band from a signal in the wavelength band of the white light;
The special light image acquisition unit
An endoscope system, wherein the special light image is generated by calculating a signal in the specific wavelength band from a signal in the wavelength band of the white light using the set matrix data. A first endoscope device that acquires a special light image including information on a specific wavelength band and a first normal light image including information on a wavelength band of white light;
A second endoscope apparatus for acquiring a second normal light image including information on a wavelength band of white light;
An attention area detection unit that detects an image including an attention area that is an attention area from the special light image;
A first in-vivo data acquisition unit for acquiring first in-vivo data including the first normal light image;
A second in-vivo data acquisition unit for acquiring second in-vivo data including the second normal light image;
An image associating unit for associating the first normal light image of the first in-vivo data with the second normal light image of the second in-vivo data;
An output control unit that performs control to output guidance information for guiding the second endoscope apparatus based on a result of association by the image association unit;
Including
The first endoscope apparatus is:
When an image including the region of interest is detected from the special light image by the region of interest detection unit, the first normal light image at a position where the image including the region of interest is captured,
The image association unit
An endoscope system, wherein the first normal light image and the second normal light image at a position where an image including the region of interest is captured are associated with each other. A first endoscope device that acquires a first special light image including information of a specific wavelength band;
A second endoscopic device for acquiring a second special light image including information of a specific wavelength band;
An attention area detection unit that detects a special light image including an attention area that is an attention area from the first special light image;
A first in-vivo data acquisition unit for acquiring first in-vivo data including the special light image detected by the attention area detection unit;
A second in-vivo data acquisition unit for acquiring second in-vivo data including the second special light image acquired by the second endoscopic device;
An image association unit that associates the special light image of the first in-vivo data with the second special light image of the second in-vivo data;
An output control unit that performs control to output guidance information for guiding the second endoscope apparatus based on a result of association by the image association unit;
An endoscopic system comprising: A first endoscope device for acquiring a first normal light image including information on a wavelength band of white light;
A second endoscope apparatus for acquiring a second normal light image including information on a wavelength band of white light;
An attention area detection unit that detects a normal light image including an attention area that is an attention area from the first normal light image;
A first in-vivo data acquisition unit that acquires first in-vivo data including a normal light image detected by the attention area detection unit;
A second in-vivo data acquisition unit for acquiring second in-vivo data including the second normal light image acquired by the second endoscopic device;
An image association unit for associating the normal light image of the first in-vivo data with the second normal light image of the second in-vivo data;
An output control unit that performs control to output guidance information for guiding the second endoscope apparatus based on a result of association by the image association unit;
An endoscopic system comprising: A special light image including information on a specific wavelength band is acquired by the first endoscope device, and an image including a region of interest, which is a region of interest, is detected from the special light image and includes the region of interest A first in-vivo data acquisition unit that acquires the first in-vivo data including the attention position information when the attention position information indicating the position of the first endoscope apparatus when the image is captured is acquired. When,
When a normal light image including information on the wavelength band of white light is acquired by the second endoscope device, the normal light image acquired by the second endoscope device, and the second internal image A second in-vivo data acquisition unit that acquires the second in-vivo data including second position information indicating the position of the endoscope device;
Based on the first in-vivo data and the second in-vivo data, as an output control unit that performs control to output the guidance information for guiding the second endoscope device,
A program characterized by causing a computer to function. A special light image including information on a specific wavelength band is acquired by the first endoscope device, and an image including a region of interest, which is a region of interest, is detected from the special light image and includes the region of interest When attention position information indicating the position of the first endoscope device when an image is captured is acquired, the first in-vivo data including the attention position information is acquired;
When a normal light image including information on the wavelength band of white light is acquired by the second endoscope device, the normal light image acquired by the second endoscope device, and the second internal image Obtaining the second in-vivo data including second position information indicating the position of the endoscope device;
A control method for outputting the guidance information for guiding the second endoscope apparatus based on the first in-vivo data and the second in-vivo data. A special light image including information on a specific wavelength band is acquired by the first endoscope device,
From the special light image acquired by the first endoscope device, an image including a region of interest that is a region of interest is detected,
Acquiring attention position information indicating a position of the first endoscope device when an image including the attention area is captured;
A normal light image including information on the wavelength band of white light is acquired by the second endoscope device,
Obtaining information including the attention position information as first in-vivo data;
Obtaining the normal light image acquired by the second endoscope device and information including second position information indicating the position of the second endoscope device as second in-vivo data;
A control method characterized by performing control to output guidance information for guiding the second endoscope apparatus based on the first in-vivo data and the second in-vivo data. A special light image including information on a specific wavelength band is acquired by the first endoscope device,
From the special light image acquired by the first endoscope device, an image including a region of interest that is a region of interest is detected,
When an image including the attention area is detected, a first normal light image including information on a wavelength band of white light at a position where the image including the attention area is captured;
Obtaining first in-vivo data including the first normal light image at a position where an image including the region of interest is captured;
A second normal light image including information on the wavelength band of white light is acquired by the second endoscope device,
Obtaining second in-vivo data including the second normal light image;
Associating the first normal light image of the first in-vivo data with the second normal light image of the second in-vivo data;
A control method characterized by performing control to output guidance information for guiding the second endoscope apparatus based on a result of association by the image association unit.