WO2005039401A1 - 挿入支援システム - Google Patents
挿入支援システム Download PDFInfo
- Publication number
- WO2005039401A1 WO2005039401A1 PCT/JP2004/016035 JP2004016035W WO2005039401A1 WO 2005039401 A1 WO2005039401 A1 WO 2005039401A1 JP 2004016035 W JP2004016035 W JP 2004016035W WO 2005039401 A1 WO2005039401 A1 WO 2005039401A1
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- Prior art keywords
- image
- vbs
- rotation
- insertion support
- branch
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
- A61B1/0005—Display arrangement combining images e.g. side-by-side, superimposed or tiled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/267—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
Definitions
- the present invention relates to an insertion support system that supports insertion of an endoscope.
- a helical scan (helical scan) is performed on a three-dimensional region of a subject by continuously feeding the subject in the body axis direction while continuously rotating X-ray irradiation and detection. ) To create a 3D image from tomographic images of successive slices in the 3D region.
- One such three-dimensional image is a three-dimensional image of the bronchi of the lungs.
- the three-dimensional image of the bronchus is used to three-dimensionally grasp the position of an abnormal part suspected of, for example, lung cancer. Then, in order to confirm the abnormal portion by biopsy, a bronchoscope is inserted, a biopsy needle, biopsy forceps, and the like are taken out from the distal end portion to collect a tissue sample.
- a body duct having a multi-stage bifurcation such as a bronchus
- a multi-stage bifurcation such as a bronchus
- a three-dimensional image of a duct in the subject is created based on image data of a three-dimensional region of the subject, and the three-dimensional image is formed on the three-dimensional image.
- a route to a destination point is found along the pipeline, a virtual introspection image of the pipeline along the route is created based on the image data, and the virtual introspection image is displayed. Accordingly, a device for navigating a bronchoscope to a target site has been proposed.
- the virtual endoscope image is a predetermined model image at the bifurcation of the bronchus, and the operation when inserting the bronchoscope into the bronchus ( Insertion (E.g., twisting the input axis).
- Insertion E.g., twisting the input axis
- it is difficult to determine a branch destination at a branch point of the bronchus because the vertical and horizontal directions of the live image of the bronchoscope and the vertical and horizontal directions of the virtual endoscope image do not match.
- the comparison with the virtual endoscope image requires that the bronchoscope (the distal end of the insertion portion) must reach the branch point, There is another problem that it is difficult to predict the insertion operation.
- the present invention has been made in view of the above circumstances, and generates virtual endoscopic images at a plurality of bifurcations of a bronchus corresponding to a bronchial insertion operation, and effectively inserts a bronchial endoscope.
- a bronchial endoscope For the purpose of providing an insertion support system that can support insertion.
- the insertion support system includes: a virtual image generation unit configured to generate a three-dimensional image of a body cavity path in the subject as a continuous frame-based virtual image based on image data of a three-dimensional region of the subject; A plurality of reduced images of an endoscope image from an endoscope for imaging a body cavity path in the subject, the virtual image, and the virtual image at all branch points where the body cavity path in the subject branches.
- Navigation image generation means for generating a navigation image, rotation information storage means for storing image rotation information of the reduced image, and the reduced image generated by the navigation image generation means based on the image rotation information.
- image rotation control means for rotating the image.
- FIG. 1 is a configuration diagram showing a configuration of a bronchial insertion support system according to a first embodiment of the present invention.
- FIG. 2 is a block diagram showing a functional configuration of an image processing unit in FIG. 1.
- FIG. 3 is a flowchart showing a flow of a process of generating navigation data, which is a first preparation of insertion support by the insertion support device of FIG.
- FIG. 4 First diagram showing a route setting screen developed in the process of FIG.
- FIG. 5 Second diagram showing the route setting screen developed in the process of Fig. 3.
- FIG. 6 Flow chart showing the flow of the route setting process of Fig. 3.
- FIG. 10 is a flowchart showing the flow of a simulation process which is the second preparation of insertion support by the insertion support device of FIG.
- FIG. 11 First diagram showing the insertion support screen developed in the process of Fig. 10
- Fig. 12 Diagram explaining the rotation of the VBS image on the insertion support screen in Fig. 11
- FIG. 13 The second diagram showing the insertion support screen developed in the process of Fig. 10.
- Figure 14 Diagram showing the error display window expanded in the process of Figure 10
- FIG. 15 Third diagram showing the insertion support screen developed in the process of Fig. 10
- Figure 16 Diagram explaining the rotation of the VBS image on the insertion support screen in Figure 15.
- Figure 17 Fourth diagram showing the insertion support screen developed in the process of Figure 10
- Figure 18 Fifth diagram showing the insertion support screen developed in the process of Figure 10
- Figure 19 Diagram showing a modification of the insertion support screen in Figure 18.
- Fig. 20 Flow chart showing the flow of the support processing of the insertion support device 5 during the inspection and treatment inspection in Fig. 1.
- FIG. 26 First diagram for explaining a modification of the insertion support screen in FIG. 24
- FIG. 27 Second diagram illustrating a modification of the insertion support screen in FIG. 24
- FIG.28 The first diagram explaining the processing when the stack display button is selected on the insertion support screen of Fig.25.
- FIG. 30 A third diagram for describing processing when a stack display button is selected on the insertion support screen in FIG. 25
- FIG. 31 A fourth diagram for describing processing when a stack display button is selected on the insertion support screen in FIG. 25
- FIG. 32 A fifth diagram for explaining processing when the stack display button is selected on the insertion support screen in FIG. 25
- FIG. 33 A sixth diagram illustrating processing when the stack display button is selected on the insertion support screen in FIG. 25.
- the bronchial insertion support system 1 of the present embodiment includes a bronchial endoscope device 3 and an insertion support device 5.
- the insertion support device 5 is a virtual endoscope (hereinafter referred to as VB
- an S image (Hereinafter referred to as an S image) and a VBS image synthesized with an endoscope image (hereinafter, referred to as a live image) obtained by the bronchial endoscope apparatus 3 and displayed on the monitor 6 to display the bronchial endoscope apparatus 3.
- a live image obtained by the bronchial endoscope apparatus 3 and displayed on the monitor 6 to display the bronchial endoscope apparatus 3.
- the bronchial endoscope apparatus 3 includes a bronchial endoscope having imaging means.
- a light source that supplies illumination light to the bronchoscope, and a camera control unit that processes image signals from the bronchoscope.
- the bronchoscope is inserted into the bronchus in the patient and inserted into the bronchus.
- the biopsy of the affected tissue at the end of the bronchus is performed, and the live image and the VBS image are synthesized and displayed on the monitor 7.
- the monitor 7 is provided with an input unit 8 including a pointing device such as a touch panel.
- the insertion support device 5 converts CT image data, which is three-dimensional image data generated by a known CT device (not shown) that captures an X-ray tomographic image of a patient, into, for example, a MO (Magnetic Optic). al) CT image data capturing unit 11 captured via a portable storage medium such as a disk device or DVD (Digital Versatile Disk) device, and CT image data captured by CT image data capturing unit 11 are stored.
- a portable storage medium such as a disk device or DVD (Digital Versatile Disk) device
- a keyboard and a pointing device for inputting setting information to the input device 19, and a memory for linking and storing VBS image rotation angle data based on the input signal from the input unit 8 with the VBS image frame information 20 and power are also composed.
- the image processing unit 17 includes an image generation function 17a as a navigation image generation unit, an image rotation control function 17b as an image rotation control unit, and a rotation as a rotation amount comparison unit. Equipped with an amount determination function 17c.
- the image processing unit 17 performs rotation correction of the VBS image and the thumbnail VBS image under the control of the image rotation control function 17b based on the rotation angle data of the VBS image stored in the memory 20 and the image generation function 17a supports the insertion.
- a screen is generated, and the rotation amount determination function 17c determines the rotation angle data.
- the image rotation control function 17b executes the rotation control of the VBS image and the thumbnail VBS image based on the result of the determination of the rotation angle data by the rotation amount determination function 17c. Details will be described later.
- the bronchial endoscope device 3 receives the VBS image and the thumbnail VBS image from the image processing unit 17 of the insertion support device 5, synthesizes it with the live image, and displays the image on the monitor 6 by the insertion support device 5.
- a screen equivalent to the insertion support screen to be displayed is displayed on the monitor 7, and input information from the input section 8, which also serves as a touch screen of the monitor 7, is output to the image processing section 17 of the insertion support apparatus 5.
- the CT image data storage unit 12 and the VBS image storage unit 16 may be configured by one hard disk.
- the processing unit 17 can be composed of one arithmetic processing circuit.
- the CT image data acquisition unit 11 connects to an in-hospital LAN, which stores CT image data or CT image data via a portable storage medium such as MO or DVD.
- the CT image data capturing unit 11 may be configured with an interface circuit that can be connected to the in-hospital LAN so that the CT image data is captured via the in-hospital LAN!
- the insertion support apparatus 5 transmits the CT image of the patient generated by the CT apparatus by the CT image data acquisition unit 11 in step S 1.
- the data is fetched, and the CT image data fetched in step S2 is stored in the CT image data storage unit 12.
- step S3 the route setting section 14 displays a route setting screen 21 as shown in FIG. 4 on the monitor 6, and selects patient information on the patient information tag screen 22 on the route setting screen 21.
- the route setting section 14 displays a route setting screen 21 as shown in FIG. 4 on the monitor 6, and selects patient information on the patient information tag screen 22 on the route setting screen 21.
- three different multi-sectional MPR images of the patient selected in step S4 are generated, and in step S5, the MPR image 23 is displayed on the route setting screen 21.
- Selection of patient information on the patient information tag screen 22 is performed by inputting a patient ID for identifying a patient using the input device 19.
- step S6 when the route setting tag 24 (see FIG. 4) on the route setting screen 21 is selected by the setting information input section 19, the route setting tag screen 25 as shown in FIG. 5 is displayed. Displayed at 21 and performs a route setting process described later to set a route for bronchial endoscope insertion support in the bronchi.
- the VBS image generation unit 15 sets the route in step S7.
- a continuous VBS image of all routes is generated in frame units, and the VBS image generated in step S8 is stored in the VBS image storage unit 16.
- step S6 in the route setting process of step S6, by operating the input device 19, the user clicks the route search button on the route setting tag screen 25 shown in FIG.
- a start point input instruction window 31 for prompting the input of the start point of the route as shown in FIG. 7 is displayed on the route setting screen 21, and the cursor 30 is used on the route setting screen 21 to display one of the MPR images 23 on the tomographic image.
- the end point is set on one tomographic image of the MPR image 23 using the cursor 30 on the route setting screen 21.
- the end point is set at a corresponding position on the two tomographic images of the other MPR images 23 as well.
- the route setting unit 14 searches for a route in the bronchus from the start point to the end point. Since the bronchus have a complicated route, the route in the bronchi from the start point to the end point is not always determined uniquely. Search for the first candidate for the route.
- the route setting unit 14 superimposes and displays the route searched in step S14 on the MPR image 23, as shown in FIG. A route confirmation window 33 that prompts the user to enter a name is displayed.
- the route confirmation window 33 includes a route confirmation button 41 for instructing confirmation of the searched route, a next candidate search button 42 for instructing search of a next candidate route, and a route for resetting the start point and the end point.
- a reset button 43 and a cancel button 44 for canceling the route search process are provided.
- step S15 it is determined whether the next candidate search button 42 has been clicked. Then, in step S16, the route of the next candidate is automatically searched, and the process proceeds to step S17. If not clicked, the process proceeds to step S18.
- step S17 as a result of searching for the next candidate, it is determined whether or not the next candidate exists. If it does not exist, it is not shown! A warning is displayed indicating that the next candidate route does not exist, and returns to step S13. If it does, the process returns to step S14.
- step S18 it is determined whether or not the route reset button 43 has been clicked. If so, the process returns to step SI1. If not, the process proceeds to step S19.
- step S19 it is determined whether or not the route confirmation button 41 has been clicked. If the button has not been clicked, the flow returns to step S15. If the button has been clicked, the flow proceeds to step S20. The position information of the branch point is determined, and the process returns to step S7 in FIG.
- the monitor 7 displays an insertion support screen 51 as shown in FIG. Note that an insertion support screen 51 similar to the monitor 7 is displayed on the monitor 6.
- the insertion support screen 51 includes an endoscope live image display area 52 that displays a live image from the bronchial endoscope apparatus 3 obtained during actual observation, and a VBS image that displays a VBS image 53a.
- the live area consists of a display area 53 and a branch thumbnail VBS image area 54 that reduces the VBS image 53a at all branch points on the route and displays it as a branch thumbnail VBS image 54 (a) -54 (j).
- a VBS image 53a which is a virtual image corresponding to the branch point where the image is located, is displayed in the VBS image display area 53.
- the frame of the same branch thumbnail VBS image as the VBS image 53a displayed in the VBS image display area 53 is displayed in a bold frame or in color, and can be distinguished from other branch thumbnail VBS images. The user can easily recognize which branch the VBS image displayed in the VBS image display area 53 is.
- One 54 (j) is a virtual model image along the route initialized to a predetermined image rotation angle in step S32 in the initial state.
- the original image of the branch thumbnail VBS image 54 (a) is shown. Is displayed in the VBS image display area 53.
- the insertion support screen 51 is provided with a left button 71, a right button 72, a previous button 73, and a next button 74.
- the next button 74 By selecting the next button 74 with the cursor 75 using the input unit 8, the VBS The image 53a can be advanced forward in the frame unit by inserting it, and the VBS image 53a can be moved backward in the frame unit by selecting the front button 73 with the cursor 75.
- the VBS image 53a can be continuously rotated leftward
- the VBS image 53a can be rotated. Can be continuously rotated to the right.
- a marker 76 indicating a branch hole to be inserted is displayed in a superimposed manner.
- the direction of bending of the bronchoscope for narrow diameter is only one direction, for example, up and down, so the insertion hole indicated by the marker 76 is placed on the VBS image 53a or Use the left button 71 or right button 72 to rotate the VBS image 53a so that it is located at the bottom.
- step S33 it is determined whether or not the operator has performed a rotation operation on the VBS image 53a. If there is a rotation operation, the rotation amount of the rotation operation is determined in step S34 as a branch thumbnail VBS image 54. It is determined whether the force is less than 180 ° based on (a), and if it is less than 180 °, the VBS image 53a, which is the original image of the branch thumbnail VBS image 54 (a), is displayed based on the operation, for example, as shown in Fig. 12. Rotate to position the marker 76, which is the insertion hole, on the VBS image 53a as shown in FIG. 13, and link the image rotation angle with the frame information of the VBS image 53a in the memory 20 in step S35.
- step S37 If the rotation amount of the rotation operation is 180 ° or more based on the branch thumbnail VBS image 54 (a), an error display window 79 as shown in FIG. 14 is superimposed on the insertion support screen 51 in step S36 in step S36. Proceed to S37. Then, in step S37, it is determined whether or not the end of the simulation has been instructed. If the end of the simulation has not been instructed, the process returns to step S33, and the process is repeated, and if the end of the simulation is instructed, the process ends.
- the previous button 73 is selected with the cursor 75, and the VBS image 53a is advanced to the original image of the branch thumbnail VBS image 54 (b) as shown in FIG.
- the frame of the VBS image 54 (b) is displayed in a bold frame or in color.
- the VBS image 53 which is the original image of the branch thumbnail VBS image 54 (b), is also rotated as shown in FIG. 16 so that the insertion hole is inserted into the VBS image 53a as shown in FIG.
- the image rotation angle is linked to the frame information of the VBS image 53a and stored in the memory 20.
- the branch thumbnail VBS images 54 (a) to 54 (j) of each branch point are inserted into the bronchoscope for insertion. Images should be oriented appropriately.
- the memory 20 is linked with the image rotation angle for each frame of the VBS image 53a.
- a moving image rotated according to the rotation operation of the simulation is obtained. Will be done.
- the monitor 7 has a small display area and is a display device, if the number of branch thumbnail VBS images to be displayed increases, the branch thumbnail VBS image becomes difficult to see. Therefore, instead of the insertion support screen 51 of FIG. Display the insertion support screen 1051 as shown in the figure! ,.
- This insertion support screen 1051 includes a patient information display area 1052 in addition to the endoscope live image display area 52 and the VBS image display area 53, and a first branch thumbnail display for displaying two branch thumbnail VBS images.
- An area 1053 and a second branch thumbnail display area 1054 are included, and a branch thumbnail VBS image and a second branch thumbnail display area 1054 displayed in the first branch thumbnail display area 1053 are displayed as an example of a display pattern of the 1054 branch thumbnail VBS image. For example, in the pattern shown in Table 1, only the branch thumbnails located before and after the displayed VBS image are displayed.
- the switching display timing of the branch thumbnail in Table 1 switches in synchronization with the progress of the live image ZVBS image.
- the left button 71, the right button 72, the previous button 73, and the next button 74 are omitted in the case of the monitor 7 having a smaller display area. It is good to have it on the foot switch (not shown).
- rotation reflection VBS images all VBS images in frame units rotated according to the rotation operation of the simulation will be referred to as rotation reflection VBS images, and all VB images in frame units initialized to a predetermined image rotation angle will be described.
- the S image is referred to as an initial VBS image.
- the image processing unit 17 searches the memory 20 in step S41, and stores the frame in the memory 20 in step S42. Judge whether the force stores the image rotation angle data linked to the information. If the image rotation angle data linked to the frame information is stored in the memory 20, the rotation thumbnail VBS image of each branch point whose angle has been corrected from the rotation reflected VBS image corrected by the image rotation angle data in step S 43. Is generated, and the insertion support screen 51 is displayed on the monitor 7.
- step S44 an assistant who supports the operator uses the input unit 8 on the input support screen 51 in step S44 to move the cursor. Use 75 to display the VBS image of the corresponding branch point. Then, in step S45, it is determined whether or not the rotation operation of the VBS image has been performed.
- Corrected form It is determined whether the rotation amount of the rotation operation is less than 180 ° based on the branch thumbnail VBS image 54 (a). If the rotation amount is less than 180 °, the rotation operation of the VBS image is performed in step S47 based on the operation. In this case, the rotation angle of the branch thumbnail VBS image at the branch point corresponding to the rotation operation of the VBS image is corrected and displayed, and the process proceeds to step S49.
- step S45 If it is determined that the rotation operation of the VBS image has not been performed in step S45, the process directly proceeds to step S49. If the rotation amount of the rotation operation is 180 ° or more with reference to the branch thumbnail VBS image 54 (a) in step S46, an error display window 79 as shown in FIG. 14 is displayed on the insertion support screen 51 in step S48. And the process proceeds to step S49.
- Steps S44 to S49 are repeated until an instruction to end the inspection is obtained in step S49.
- step S47 the branch thumbnail VBS images after the corrected branch point are rotated by the same rotation angle, corrected and displayed, and the subsequent frames are displayed. VBS image is also rotated and corrected by the same rotation angle
- the insertion support screen 51 as shown in Fig. 21 is displayed. Is displayed.
- the insertion support screen 51 is provided with a hierarchy display button 81, the details of which will be described later.
- the initialized branch thumbnail as shown in FIG. 11 is displayed in the branch thumbnail VBS image area 54. You.
- a live image 52a from the bronchial endoscope apparatus 3 is displayed in the endoscope live image display area 52 of the insertion support screen 51 in FIG. 21, and the surgeon arrives! Twist the bronchoscope so that the live image 52a at the point matches the VBS image 53a (operation to rotate the insertion unit around the longitudinal axis), and place the insertion hole into the live image 52a. Even if it is located above or below.
- FIG. 21 shows the insertion support screen 51 on which the rotation reflection VBS image 53a of the first branch point indicated by the branch thumbnail VBS image 54 (a) is displayed.
- Figure 22 shows the VBS image 53a in Figure 21.
- FIG. 7 shows an insertion support screen 51 in which a twist operation is performed on the bronchoscope in accordance with the above, and the branch hole at the insertion destination is positioned on the live image 52a.
- FIG. 23 shows an insertion support screen 51 on which the rotation reflection VBS image 53a of the third branch point indicated by the branch thumbnail VBS image 54 (c) is displayed.
- the insertion destination branch hole is placed below the VBS image 53a as shown in Fig. 23, for example. If it is positioned, the live image 52a may not be able to match the rotation-reflected VBS image 53a without performing a twist operation with a large amount of twist. Therefore, before performing a twist operation on the bronchoscope, the rotation reflected VBS image 53a is rotated to reduce the twist amount.
- FIG. 24 shows the insertion support screen 51 in which the rotation reflection VBS image 53a of FIG. 23 is rotated to position the insertion destination branch hole on the VBS image 53
- FIG. 25 is the VBS image of FIG. 53a shows an insertion support screen 51 in which a twist operation is performed on the bronchoscope in correspondence with the bronchoscope to position the insertion destination branch hole above the live image 52a.
- the rotation amount of the first branch point with respect to the branch thumbnail VBS image 54 (a) is read from the memory 20, and the rotation reflection VBS image 53a is displayed on the rotation reflection VBS image 53a.
- the rotation information 101 which also includes the rotation direction and the amount of rotation, can be superimposed on the image, and the rotation information 102 can be displayed below the branch thumbnail VBS image 54 (c). In this case, the rotation is performed as shown in FIG.
- the rotation information 102 for the branch thumbnail VBS image 54 (a) may be displayed below all the branch thumbnail VBS images 54 (i). This makes it possible to easily grasp the details of the twisting operation of the bronchoscope
- the schematic diagram 91a of the fourth branch point is reduced so as to fit in the branch hole into which the rotation reflection VBS image 53a of the third branch point is inserted.
- the schematic diagram 91b of the fifth branch point is reduced so as to fit into the insertion hole of the insertion destination in the schematic diagram 91a of the fourth branch point.
- the schematic diagram 91a of the fifth branch point in which the schematic diagram 91b of the fifth branch point is placed in the insertion hole of the insertion destination, is shown as a rotation reflection image 91a of the third branch point in the VBS image 53a.
- the force of displaying the branch holes displayed in the rotation reflection VBS image 53a in a thick line with a bold line may be displayed in different colors as shown in FIG.
- the number of layers is not limited to three.
- the image rotation angle data linked to the frame information by the simulation before the procedure is stored in the memory 20, and the VBS image and the thumbnail VBS image are rotated and corrected based on the stored image rotation angle data.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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DE602004031657T DE602004031657D1 (de) | 2003-10-29 | 2004-10-28 | Einführstützsystem |
EP04793143A EP1685787B1 (en) | 2003-10-29 | 2004-10-28 | Insertion support system |
US11/395,101 US7659912B2 (en) | 2003-10-29 | 2006-03-31 | Insertion support system for producing imaginary endoscopic image and supporting insertion of bronchoscope |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2003369556A JP3820244B2 (ja) | 2003-10-29 | 2003-10-29 | 挿入支援システム |
JP2003-369556 | 2003-10-29 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US11/395,101 Continuation US7659912B2 (en) | 2003-10-29 | 2006-03-31 | Insertion support system for producing imaginary endoscopic image and supporting insertion of bronchoscope |
Publications (1)
Publication Number | Publication Date |
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WO2005039401A1 true WO2005039401A1 (ja) | 2005-05-06 |
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PCT/JP2004/016035 WO2005039401A1 (ja) | 2003-10-29 | 2004-10-28 | 挿入支援システム |
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US (1) | US7659912B2 (ja) |
EP (1) | EP1685787B1 (ja) |
JP (1) | JP3820244B2 (ja) |
CN (1) | CN100413457C (ja) |
DE (1) | DE602004031657D1 (ja) |
WO (1) | WO2005039401A1 (ja) |
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WO2022269736A1 (ja) * | 2021-06-22 | 2022-12-29 | オリンパスメディカルシステムズ株式会社 | 画像処理装置、マニピュレータシステム、画像処理方法及び表示方法 |
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JP3820244B2 (ja) | 2006-09-13 |
CN100413457C (zh) | 2008-08-27 |
JP2005131042A (ja) | 2005-05-26 |
US7659912B2 (en) | 2010-02-09 |
DE602004031657D1 (de) | 2011-04-14 |
EP1685787A1 (en) | 2006-08-02 |
EP1685787B1 (en) | 2011-03-02 |
US20060170765A1 (en) | 2006-08-03 |
EP1685787A4 (en) | 2009-06-10 |
CN1874715A (zh) | 2006-12-06 |
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