JPH10113333A - Tomograph for endoscope-assisted operation - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide effective information under such a condition as the field of vision is restricted by assigning a tomographic plane to be photographed on the picture image of an endoscope, when a low-invasion operation using the endoscope and a tomograph is carried out. SOLUTION: A tomograph for endoscope-assisted operation is provided with an endoscope 10 or a stereoendoscope and a tomographic image, a device 30 for processing the information of the images obtained herein, a display 40 for displaying these images and the processed results, and a device 50 for inputting the coordinates of the display. Further, the tomographing device is provided with a means 50 for assigning the point to be aimed at on the endoscope image, and a means or obtaining the relative position of the point to be aimed at and the reference point of the endoscope 10, and also a means by which both the relative position of the point to be aimed at and the reference point of the endoscope and the absolute position of the reference point of the endoscope are obtained, and the absolute position of the reference point of the endoscope in the coordinates of the tomography is obtained, and the absolute position in the tomography coordinates of the point to be aimed at is calculated, and the tomographic image of the cut surface passing through the point to be aimed at is photographed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tomographic imaging technique such as an MRI tomographic imaging apparatus, an X-CT apparatus, and an ultrasonic imaging apparatus in minimally invasive surgery performed under an endoscope. In particular, the present invention relates to a tomographic plane which passes through a point of interest on a stereoscopic endoscope image, and relates to MRI tomographic imaging on the tomographic plane.

[0002]

2. Description of the Related Art There are the following documents as prior art of the present invention. (1) "Health and Welfare White Papers for 1995", p. 59 (2) Daisetsu Hashimoto "Abdominal wall subcutaneous cholecystectomy by lifting the abdominal wall" Nanzan-do (3) Izeki, et al. Prospects for Computer Surgery and Virtual Hospital ”, The 5th Annual Meeting of the Computer-Aided Diagnostic Imaging Society, 4th Meeting of the Japanese Society of Computer Surgery, p11, 12 (1995) (4) Ramin Shahidi,“ Applications of Virtual R
eality in Stereotacic Surgery: Volumetric Ima
ge Navigation via Surgical Microscope ", CAR95
Computer Assisted Radiology, pp.1126-1138 (1995) (5) Exit "Geometry for Computer Vision 2"
Unraveling the Stereoscopic Device "Information Processing, Vol. 37 N
o.7, pp662-670 (July, 1996) (6) Yanauchida ed. "Computer Vision" Maruzen p118-124 Non-thoracotomy and non-laparotomy surgery under an endoscope is a technique to reduce invasiveness to patients. It is becoming popular. There are two types of surgery, the insufflation method and the lifting method. In the insufflation method, as in the conventional example (1), the body cavity is filled with carbon dioxide and a space is created in the abdominal cavity to facilitate work. The lifting method is a method of lifting the abdomen with a wire as in the conventional example (2). The pneumoperitoneum method increases the pressure inside the body, which may cause injury, and the lifting method is said to be less invasive.

[0003] As a conventional example of an image assisting system in brain surgery, a system called HivisCAS (Tokyo Women's Medical University Hospital) of a conventional example (3) is known. HivisCAS is an intraoperative image such as a surgical field image of a microscope or an ultrasonic tomographic image obtained during an operation, and a three-dimensional image created from original images such as DSA, X-CT, MRI measured before the operation, and those data. This is a system that can display simulation images, medical information, and the like on a high-vision surgical microscope.

As another conventional example, there is a conventional example (4). Among them, Computer Aide in low brain surgery
In d Surgery, 3D images using preoperative MRI data are combined with intraoperative microscopic images and displayed to support surgery. In addition, the surgical tool is tracked using a stereo camera, and the relationship between the surgical tool and the affected part is also measured.

[0005] Conventional examples of three-dimensional shape measurement of camera images are summarized in Conventional Examples (5) and (6). This technology has been studied in the field of computer vision.When two cameras are used, information on the imaging characteristics such as the focal length of the camera lens, the position and orientation of the camera, and the corresponding points of the two camera images can be obtained. For example, it is possible to measure a three-dimensional shape.

[0006]

In recent years, due to the advancement of surgical techniques and surgical tools, there has been performed a less invasive surgery using an endoscope or a laparoscope without increasing the size of the thoracotomy and laparotomy. ing. However, since this technique is performed under an endoscope, the field of view is limited, and there is a problem that a burden is imposed on the operator as compared with open surgery. In order to solve this problem, it is required to present effective information that compensates for the limited field of view.

[0007]

According to the present invention, the following configuration is employed to solve the above-mentioned problems. An endoscopic surgery assisted tomographic imaging apparatus to which the present invention is applied is a device that captures an endoscope or a stereoscopic endoscope and a tomographic image, a device that processes information such as images obtained by these devices, It has a display for displaying images and processing results, and a device for inputting coordinates of the display. The apparatus further includes means for designating a point of interest on the endoscope image, and means for calculating a relative position between the point of interest and a reference point of the endoscope. Obtain the absolute position of the endoscope reference point, obtain the absolute position of the endoscope reference point in the tomographic imaging device coordinates, calculate the absolute position of the point of interest in the tomographic image coordinates, and obtain the tomographic plane of the tomographic plane passing through the point of interest. It has means for taking an image.

Further, in the tomographic plane designating means, a plane passing through the point of interest on the relative coordinates from the endoscope reference point is set perpendicular to the line of sight, and the set tomographic plane is set by interactive operation. There is provided means for changing the direction and direction and designating a tomographic plane.

Further, in the tomographic plane designating means, a shaded plane image is generated by the processing device, synthesized and displayed on the endoscope image, and the tomographic plane is designated by operating this plane image interactively. Has functions. Further, in the tomographic plane designating means, the relative positions of all the pixel points on the endoscope image from the endoscope reference point are obtained, compared with the relative positions of the respective pixels of the plane image, the anteroposterior relationship is determined, and the combined display is performed. It has a function to do. Furthermore, when the endoscope used is a monocular, the two images obtained by spatially shifting the viewpoint of the endoscope and the amount of movement of the viewpoint are acquired, and the positional relationship between the points of interest formed on the two images is obtained. Means for determining a relative position from the endoscope reference point from the distance and the movement amount. Furthermore, when the endoscope to be used is a stereoscopic endoscope, two images are acquired by the stereoscopic endoscope, and
There is provided a means for calculating a relative position from an endoscope reference point from a positional relationship of a point of interest formed on a single image and parallax of the stereoscopic endoscope. Further, the endoscope image display device used here has a device or a function of detecting vibration of the device or vibration due to body movement, and has a function of removing and displaying a vibration component from the endoscope image. .

[0010]

Embodiments of the present invention will be described below. First, the device configuration of the present invention will be described in section (1), the outline of the operation of the device of the present invention will be described in section (2), and the details of each means and function will be described in the following sections (3) to (9). Will be described.

(1) Apparatus Configuration (FIG. 1) First, FIG. 1 shows an example of an apparatus configuration of the present invention in which an operator 5 performs a minimally invasive operation on a patient 1.

An endoscope or a stereoscopic endoscope 10 which is inserted into the body of the patient 1 and observes and treats an operating field, and devices 20 and 10 and 20 for taking a tomographic image of the inside of the patient 1 during the operation It is composed of a device 30 for processing the obtained image, a device 40 for presenting information (images and the like) obtained by the operators 10, 20 and 30 to the operator, and a device 50 for operating the operator based on the presented information. ing.

(2) Outline of Operation of Apparatus (FIGS. 2 to 6) Next, an outline of operation of the apparatus will be described with reference to FIGS.

The distal end of the slave manipulator 120 having the endoscope 10 at the distal end is inserted from the insertion section 110 of the patient 1.

The endoscope 10 makes an image of a site of interest 100, which is an operation field, and presents the image to the display device 40. (FIG. 2) The operator 2 operates the operating device 5 for the endoscopic image including the region of interest.
The point of interest is designated by 0.

The processing device 30 obtains the relative position between the point of interest and the reference point of the endoscope, obtains the absolute position of the endoscope reference point in the coordinates of the tomographic image capturing device 20, and obtains the tomographic image capturing device of the point of interest.
Calculate the absolute position at 20 coordinates.

Further, the processing device 30 generates a tomographic plane based on the relative position information of the endoscope image with respect to the reference point of the endoscope.
Has a function to specify 140a. (FIG. 3) Further, the processing device 30 generates the tomographic plane 14 at the coordinates of the tomographic imaging apparatus 20 based on the relative position information of the designated tomographic plane 140a.
0b is obtained, a tomographic image including the site of interest 100 of the operative field of the patient 1 is captured, and presented on the display device 40. (FIG. 4) Here, in taking a tomographic image, a statistic having a small area having a rectangular parallelepiped volume is used as a pixel value, so that the imaging surface has a certain thickness. The fault plane is defined as a plane that bisects this thick plane in the thickness direction.

Referring to FIG. 5, a coordinate system of the tomographic imaging apparatus will be described. Equation 1 summarizes the equations of the coordinate system (x, y, z).

[0019]

(Equation 1)

Point 300: Reference point (origin) of the coordinate system of the tomographic imaging apparatus O Point 301: Endoscope origin P1 in the coordinate system of the tomographic imaging apparatus Point 302: Endoscope in the coordinate system of the tomographic imaging apparatus Reference point P2 Point 303: Point of interest P3 on the endoscope image in the coordinate system of the tomographic imaging apparatus Vector 304: Unit vector d in the line of sight direction of the endoscope in the coordinate system of the tomographic imaging apparatus Vector 305: Tomographic imaging apparatus Vertical unit vector v of the endoscope image in the coordinate system of vector v 306: horizontal unit vector h of the endoscope image in the coordinate system of the tomographic imaging apparatus vector 307: viewpoint P2 in the coordinate system of the tomographic imaging apparatus
L to the point of interest P3 A coordinate system in the endoscope image will be described with reference to FIG. Number 2
Summarizes the equations for the coordinate system (h, v, d).

[0021]

(Equation 2)

Point 400: origin P2 = R in the endoscope coordinate system
(h = 0, v = 0, d = 0) Point 401: First viewpoint e1 (h = ed / 2,0,
0) Point 402: second viewpoint e2 (h = −ed / 2,
0,0) Image 403: Image I1 from viewpoint e1 Image 404: Image I2 from viewpoint e2 405: Point of interest P3 (hp3, vp3, dp in endoscope coordinate system)
3) Vector 406: Depth unit vector γ indicating the direction of the tomographic plane 140a passing through the point of interest in the endoscope coordinate system Vector 407: Vertical unit indicating the direction of the tomographic plane 140a passing through the point of interest in the endoscope coordinate system Vector α vector 408: a left and right unit vector β indicating the direction of the tomographic plane 140a passing through the point of interest in the endoscope coordinate system. Vector OP to point of interest
By obtaining the tomographic plane 140b passing through the point of interest and 3, the tomographic plane to be imaged by the tomographic imaging apparatus can be specified.

[0023]

(Equation 3)

Hereinafter, the method of designating the point of interest and the tomographic plane will be described in section (3), the method of obtaining the relative position of the point of interest will be described in section (4), and the method of obtaining the reference point of the endoscope will be described in section (5). In section), the method of obtaining the absolute position of the point of interest is described in section (6). The method of capturing a tomographic image of the tomographic plane specified in section (6) is described in section (7). Is described in section (8), and a method of correcting the movement of the endoscope image will be described in detail in section (9).

(3) Method of Designating Point of Interest and Tomographic Plane The outline of the method of designating the point of interest and tomographic plane 140a has been described with reference to FIG.

Pointing device on endoscope image
By operating 50, a point of interest is selected from all the pixel points projected on the screen.

Here, a relative coordinate system from the endoscope reference point will be described with reference to FIG. Point of interest on image I1 (403)
Specify (hI1, vI1). Here, assuming that the tomographic plane is an image I1
A plane parallel to the (403) plane is set and overwritten and displayed only on the image I1 (403). Here, by not overwriting the image I2, this surface appears translucent to the observer.
By operating this surface with the pointing device 50, an arbitrary tomographic surface 140a can be specified.

(4) Means for Determining the Relative Position of the Point of Interest The principle of the method of determining the relative position of the point of interest is based on trigonometry.

Here, for simplicity of explanation, the explanation will be made based on a stereoscopic endoscope. Similarly for monocular 2
By obtaining the viewpoint of the eye by moving the viewpoint, the relative position of the point of interest can be similarly obtained.

Here, the viewpoint e1 (401) and the projection plane (image) I
The distance Id to 1 (403) is determined in advance. View point e2 (402)
The distance between the object and the projection plane (image) I2 (404) is also Id.

Further, the distance ed between the viewpoint e1 (401) and the viewpoint e2 (402) is also determined in advance.

Here, if it is known at which position the pixel of interest is projected on the projection plane I1 (403) and the projection plane I2 (404), P
The coordinates of 3 (405) can be obtained by trigonometry.

Here, the point of interest is determined by the designation method (3).
(hI1, vI1) is specified. What is necessary is just to find the coordinates (hI2, vI2) corresponding to this point of interest.

The simplest method is to specify a point of interest on the image I2. According to the method of designating a point on the image by the movement of the observer's eyeball, (hI1, vI1) and (hI2, vI2) can be designated at the same time by gazing at the point of interest.

If the positions of the endoscope are set in parallel, the corresponding points are restricted on the same line.
Based on the feature amount of the density (hI1, vI1) on 1 and the feature amount of the pixel on the same line on the image I2,
(hI2, vI2).

Equations for obtaining the coordinates of P3 (405) from the information obtained above are summarized in Equation 4.

[0037]

(Equation 4)

In order to determine the coordinates of P3 (405), first,
P3e1e2 (ε1), ∠P3e2e1 (ε2), P3 and e1 (4
01) and e2 (402) are determined from the axis hd of the plane.

Since these points of interest PI1 and PI2 on the projection planes I1 (403) and I2 (404) are known, they can be obtained as shown in Expression 4.

Using this result, P3 (40
The coordinates (hP3, vP3, dP3) of 5) can be obtained.

On the other hand, the tomographic plane 140a is modeled as a plane parallel to the projection plane passing through P3 (405) according to the designation method (3), and the image displayed is initially displayed, and the operator operates the pointing device 50. By changing the setting of the displayed surface to an arbitrary direction, the designated surface is designated. By this designation, the direction vectors α, β, γ of the tomographic plane 140a are determined.

(5) Means for Determining the Absolute Position and Direction Vector of the Reference Point of the Endoscope FIG. 5 shows an outline of the means for determining the absolute position of the reference point of the endoscope.

Here, the coordinate origin O of the tomographic image photographing device at the point 300 and the origin P1 of the endoscope are known.

The means for obtaining the reference point P2 of the endoscope will be described.

Here, when the endoscope is made of a linear rigid body such as a laparoscope, a slave-type manipulator 12 is used.
By using a device such as 0, it is possible to obtain the absolute position of P2 and the direction (vector) of the endoscope.

In the case of a tubular endoscope which can be freely refracted to some extent, an optical fiber is passed through the endoscope, whereby physical refraction is detected by the optical fiber, and the absolute position of P2 and the orientation of the endoscope are detected. It is possible to determine the direction (vector) that is present.

(6) Means for finding the absolute position of the point of interest and the absolute coordinate vector of the tomographic plane The relative position of the point of interest from the reference point of the endoscope and the relative vector of the tomographic plane are obtained as described in section (4). be able to. Further, the absolute position of the reference point of the endoscope and the direction (vector) to which the endoscope faces can be obtained as described in section (5).

As described above, the absolute position of the point of interest in the coordinates of the tomography apparatus and the absolute coordinate vector 140b of the tomographic plane can be obtained.

This conversion formula is summarized in Equation 5.

[0050]

(Equation 5)

By calculating L, the following equation is used.
The OP3 vector in the coordinates of the tomography apparatus can be obtained. Similarly, the absolute coordinate vector 140b of the fault plane is given by Equation 5
Can be obtained as shown in FIG.

(7) Means for photographing a tomographic image of the specified tomographic plane The endoscope image is specified by the method described in the above section (3), and the method described in the above sections (4) to (6) is used. When the absolute position and the absolute coordinate vector of the tomographic plane 140b in the calculated tomographic apparatus coordinates are obtained, the apparatus 20 for photographing a tomographic image is obtained.
Thus, a tomographic image of the designated tomographic plane 140b can be actually taken. The absolute position of the center P3 point of the designated tomographic plane 140b is as described in Equation 1 (X3, Y3, Z3), and the unit vectors indicating the direction of the plane are also as described in Equation 5, as shown in Equation 5. The absolute coordinate vector 407 is (αx, αy, αz), and the left-right unit vector (β) 4
08 is (βx, βy, βz), the unit vector (γ) 406 in the depth (slice) direction is (γx, γy, γz), and imaging is performed using a magnetic resonance diagnostic apparatus as the tomographic imaging apparatus 20. An example of the operation is shown below.

There are various known imaging methods of the magnetic resonance diagnostic apparatus.
If the absolute position and the absolute coordinates of b are known, the operation method of the apparatus for actually photographing the cross section has been established and is well known. Hereinafter, as an example of a photographing method, a photographing sequence and a photographing operation in the case of photographing by the spin echo method will be briefly described below.

FIG. 7 shows an example of a photographing sequence based on the spin echo method. In the figure, the horizontal axis represents time, and the vertical axis represents the operation of each device. The high-frequency magnetic field 701 is a high-frequency magnetic field and has two types, a 90-degree pulse 706 and a 180-degree pulse 707. The readout gradient magnetic field 702, the encode direction gradient magnetic field 703, and the slice direction gradient magnetic field 704 have a proper ratio of a gradient magnetic field generator which can operate independently on each of the X, Y and Z axes in the absolute coordinate system of the apparatus. It is formed by applying a voltage. The reception gate 705 is a gate signal for receiving a nuclear magnetic resonance signal coming out of the imaging slice after each magnetic resonance, and receives the signal at this time when the upward portion is in the reception ON state. The reading direction and the encoding direction correspond to the horizontal axis and the vertical axis of the captured image. For example, the vertical direction of the display image (the direction of the vertical unit vector (α) 407) is the read direction, and the horizontal direction of the display image (the horizontal unit vector (β) 4
08 direction) can be taken as the encoding direction. The unit vector (γ) 406 in the depth direction is the slice direction.

With the above setting, in order to set the direction of the vertical unit vector (α) 407 as the readout direction, the gradient magnetic field in the X-axis direction, the gradient magnetic field in the Y-axis direction, and the gradient magnetic field in the Z-axis direction are determined. The application ratio is αx: αy: αz. α
Is a unit vector, to set the intensity of the read magnetic field to Gr, a gradient magnetic field of each axis is applied with an intensity of Gr * αx on the X axis, Gr * αy on the Y axis, and Gr * αz on the Z axis. Similarly, to generate a gradient magnetic field in the encoding direction of intensity Ge, Ge * βx on the X axis, Ge * βy, Z on the Y axis.
A gradient magnetic field of each axis is applied to the axes at an intensity of Ge * βz. Similarly, in order to generate a slice-direction gradient magnetic field having an intensity Gs, Gs * γx on the X axis, Gs * γy on the Y axis, and Gs on the Z axis.
* Apply a gradient magnetic field of each axis at an intensity of γz. As described above, the direction of the designated tomographic plane 140b can be set to the direction of the tomographic plane to be actually photographed.

Next, the center P3 of the designated tomographic plane 140b
An operation required to set a point ((X3, Y3, Z3) in an absolute coordinate system) as a center point of an image to be actually photographed and displayed will be described.

To set the center in the slice direction to Z3, the frequency f of the high-frequency magnetic field 701 is set to the following equation (6).

F = γ · H0 + γ · Gz · Z3 where H0 is the intensity of the static magnetic field, Gz is the intensity of the gradient magnetic field in the slice direction at the time of applying the high-frequency magnetic field, and γ is the gyromagnetic ratio. In the case of a hydrogen nucleus, it is 4258 revolutions / cm / Gauss.

To set the center in the reading direction to X3, the frequency fr to be divided when the signal is read by the receiving device is set to the following equation (7).

[Mathematical formula 7] fr = γ · H0 + γ · Gr · X3 where Gr is the intensity of the gradient magnetic field in the slice direction when the receiving gate 705 is in the ON state. In order to set the center in the encoding direction to Y3, there is no method of setting the center at the time of measurement, and an image is always taken around Y = 0. However, the obtained image is cyclic in the encoding direction (the vertical direction of the image), and the position of the upper end and the position of the lower end of the image are connected. Therefore, by cyclically moving the image by −Y3 in the vertical direction with respect to the image obtained by shooting, an image in which Y3 is the center in the encoding direction can be obtained. As described above, the designated tomographic plane 140b can be aligned to the center to provide a tomographic plane to be actually photographed.

(8) Means for Combining a Tomographic Image and an Endoscope Image A composite display of a tomographic image and an endoscopic image will be described with reference to FIG. The tomographic plane 900 can be modeled in a computer within the coordinates of the endoscope, the model plane can be shaded by computer graphics technology, and the tomographic plane 140a can be imaged.

The means for stereoscopically combining the tomographic plane image thus obtained on the endoscope image will be described. With respect to the area of the endoscope image in which the tomographic plane 140a is drawn, the position information of the endoscope coordinates is obtained by means of (4). Cross section layer 140a
Since is modeled by endoscope coordinates, it is possible to determine whether the tomographic plane image or the endoscope image is located at the back of all the pixels in the tomographic plane area from the viewpoint position. The depth value at AA ′ is shown in the graph of FIG. Here, a line 902 indicates the depth value of the tomographic plane 140a, and a line 903 indicates the depth value of the target portion.

By determining the depth value, the sum of the pixels is calculated by weighting the pixel values located at the back in accordance with the transparency of the image located at the front, and the pixel values are synthesized. Depth relations can be correctly combined and displayed.

(9) Motion Correction Method A motion correction method will be described with reference to FIG. As an example of performing the motion correction, the vibration detection device 951 is connected to the endoscope 950.
Consider the case where Here, the endoscope 950 transfers the vibration information obtained by the vibration detection device of the endoscope to the processing device 952 together with the endoscope image. The processing device 952 corrects the fine vibration of the endoscope image based on the vibration information, and presents the correction result to the display device 953.

When the endoscope 950 does not have a vibration detecting device, the endoscope 950 has a vibration detecting function of detecting vibration based on the endoscope image information input to the processing device. Then, the micro vibration included in the endoscope image is corrected, and the corrected image is presented on the display device 953.

[0066]

As described above in detail, according to the present invention, in a minimally invasive operation using an endoscope and a tomographic imaging apparatus, a tomographic plane to be imaged on an endoscope image is designated. This has a remarkable effect that effective information can be presented in a situation where the visual field is limited.

[Brief description of the drawings]

FIG. 1 is an example of an apparatus configuration of the present invention.

FIG. 2 is a schematic diagram of the operation of the endoscope apparatus according to the present invention.

FIG. 3 is a schematic diagram of designation of a tomographic plane according to the present invention.

FIG. 4 is a schematic diagram of the operation of the tomographic imaging apparatus of the present invention.

FIG. 5 is a schematic diagram of the coordinates of the tomographic imaging apparatus of the present invention.

FIG. 6 is an explanatory diagram of derivation of a relative position of a point of interest from an endoscope viewpoint position according to the present invention.

FIG. 7 is an example of an imaging sequence based on a spin echo method when the tomographic imaging apparatus of the present invention is a magnetic resonance diagnostic apparatus.

FIG. 8 is an explanatory diagram of an example of a composite display of a tomographic plane image and an endoscope image according to the present invention.

FIG. 9 is a diagram illustrating an example of a motion correction (vibration removal) technique according to the present invention.

[Explanation of symbols]

1 ... patient, 5 ... operator, 10 ... endoscope, 20 ... tomography (MRI), 30 ... processing device, 40 ... display device, 50 ... pointing device.

Claims (7)

[Claims] An endoscope or a stereoscopic endoscope for observing and treating an operation field in a minimally invasive surgical environment, a device for taking a tomographic image, and a device for processing an image obtained by the device. Means for designating a point of interest on the mirror image, and means for determining the relative position between the point of interest and the reference point of the endoscope, Obtain the absolute position of the endoscope reference point, obtain the absolute position of the endoscope reference point in the coordinates of the tomographic imaging apparatus, calculate the absolute position of the point of interest in the coordinates of the tomographic image, and calculate this point of interest. An endoscopic surgery-assisted tomographic imaging apparatus, which captures a tomographic image of a passing tomographic plane. 2. The tomographic plane designating means of the endoscopic surgery assisted tomographic imaging apparatus according to claim 1, wherein a plane passing through the point of interest on a coordinate relative to the reference point of the endoscope is perpendicular to a line of sight. Wherein the direction and direction of the set tomographic plane are changed by interactive operation of the set tomographic plane, and the tomographic plane is designated. 3. The tomographic plane designating means of the endoscopic surgery assisted tomographic imaging apparatus according to claim 1, wherein the processing apparatus generates a surface image obtained by shading the tomographic plane operated in claim 2. An endoscopic surgery assisted tomographic imaging apparatus having a function of displaying a composite on an endoscopic image. 4. The tomographic plane designating means of the endoscopic surgery assisted tomographic imaging apparatus according to claim 1, wherein relative positions of all pixel points on the endoscope image from an endoscope reference point are obtained,
An endoscopic surgery assisted tomographic imaging apparatus, characterized in that it is compared with the relative position of each pixel of the plane image generated in claim 3 to determine the anteroposterior relationship and to display the combined image. 5. When the endoscope used in claim 1 is a monocular, two images in which the viewpoint of the endoscope is spatially shifted and the amount of movement of the viewpoint are obtained, and An endoscope operation assisted tomographic imaging apparatus, wherein a relative position from the endoscope reference point is obtained from a positional relationship of the point of interest formed on the target and the movement amount. 6. When the endoscope used in claim 1 is a stereoscopic endoscope, two images are acquired by the stereoscopic endoscope,
Obtaining a relative position from the endoscope reference point from a positional relationship between the point of interest formed on the two images and a parallax of the stereoscopic endoscope, wherein a tomographic image for assisting endoscopic surgery is obtained. apparatus. 7. The endoscope operation assisted tomographic imaging apparatus according to claim 1, wherein the endoscope has a vibration detecting device or has a function of detecting vibration from an image of the endoscope. An endoscopic surgery assisted tomographic imaging apparatus, wherein vibration due to vibration or body motion is detected by the vibration detection device or the vibration detection function, and the detected vibration is removed from the endoscope image. .