WO2023144986A1 - 内視鏡システム、制御方法および記録媒体 - Google Patents

内視鏡システム、制御方法および記録媒体 Download PDF

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Publication number
WO2023144986A1
WO2023144986A1 PCT/JP2022/003245 JP2022003245W WO2023144986A1 WO 2023144986 A1 WO2023144986 A1 WO 2023144986A1 JP 2022003245 W JP2022003245 W JP 2022003245W WO 2023144986 A1 WO2023144986 A1 WO 2023144986A1
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Prior art keywords
image
endoscope
region
captured image
display range
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Ceased
Application number
PCT/JP2022/003245
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English (en)
French (fr)
Japanese (ja)
Inventor
雅史 原口
直也 畠山
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Olympus Corp
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Olympus Corp
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Publication date
Application filed by Olympus Corp filed Critical Olympus Corp
Priority to PCT/JP2022/003245 priority Critical patent/WO2023144986A1/ja
Priority to JP2023576504A priority patent/JP7763274B2/ja
Publication of WO2023144986A1 publication Critical patent/WO2023144986A1/ja
Priority to US18/776,375 priority patent/US20240374115A1/en
Anticipated expiration legal-status Critical
Priority to JP2025177385A priority patent/JP2026010153A/ja
Ceased legal-status Critical Current

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    • 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
    • A61B1/000094—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope extracting biological structures
    • 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
    • A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00043—Operational features of endoscopes provided with output arrangements
    • A61B1/00045—Display arrangement
    • 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
    • A61B1/04—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 combined with photographic or television appliances
    • A61B1/045—Control thereof

Definitions

  • the present invention relates to an endoscope system, control method and recording medium.
  • Patent Literature 1 discloses a system that uses a high-resolution image, digital zoom and digital pan, and digitally automatically tracks the image without physically moving the endoscope. Specifically, a partial region, such as a region of interest, is selected from a high-resolution wide-field full image, a digital zoom image is generated from the selected region, and the digital zoom image is displayed on a display device. By moving the selected area within the full image, the digital zoom image follows the object digitally.
  • Image tracking by digital processing has the advantage of faster response to movement of the object than image tracking by physical movement of the endoscope.
  • the farther away from the center of the image the lower the image quality.
  • the peripheral edge of the image is greatly distorted. Therefore, if the image is digitally tracked by digital panning, the quality of the digitally zoomed image displayed on the display may be degraded.
  • the present invention has been made in view of the circumstances described above, and an endoscope system and control method capable of rapidly providing an image of good quality in a follow-up process for following an image to a predetermined region of interest. and to provide a recording medium.
  • One aspect of the present invention is an endoscope that acquires a captured image, a drive mechanism that moves a field of view of the endoscope by moving at least a distal end portion of the endoscope, and an observation displayed on a display device.
  • the digital tracking process is a process of causing a predetermined first target region at or near the center of the display range to follow the region of interest by changing the position of the display range within the captured image.
  • the tracking process is an endoscope system in which a predetermined second target area at or near the center of the captured image follows the region of interest by moving the field of view of the endoscope.
  • Another aspect of the present invention is a control method for controlling movement of an observation image displayed on a display device and a field of view of an endoscope, wherein the observation image is a portion of a captured image captured by the endoscope. an image to be generated, detecting a predetermined region of interest in the captured image; selecting the portion of the captured image as a display range; generating the observed image from the display range; and digital tracking. tracking the observed image to the region of interest by performing processing and physical tracking processing in concert, wherein the digital tracking processing changes the position within the captured image of the display range by , a predetermined first target region at or near the center of the display range to follow the region of interest, wherein the physical tracking processing moves the field of view of the endoscope to move the center of the captured image.
  • the control method is a process of causing a predetermined second target region near the center to follow the region of interest.
  • Another aspect of the present invention is a computer-readable non-temporary recording medium storing a control program for causing a computer to execute the above control method.
  • FIG. 1 is an overall configuration diagram of an example of an endoscope system according to an embodiment of the present invention
  • FIG. 2 is a block diagram showing the overall configuration of the endoscope system of FIG. 1
  • FIG. FIG. 5 is a diagram for explaining movement of the field of view due to bending of the bending portion of the endoscope
  • FIG. 10 is a diagram for explaining processing for causing an observation image to follow an ROI, and is a diagram showing an example of a captured image and a display range
  • FIG. FIG. 10 is a diagram for explaining processing for causing an observation image to follow an ROI, and is a diagram showing an example of a captured image and a display range
  • FIG. FIG. 10 is a diagram for explaining processing for causing an observation image to follow an ROI, and is a diagram showing an example of a captured image and a display range
  • FIG. 10 is a diagram for explaining processing for causing an observation image to follow an ROI, and is a diagram showing an example of a captured image and a display range;
  • FIG. 10 is a diagram for explaining processing for causing an observation image to follow an ROI, and is a diagram showing an example of a captured image and a display range;
  • FIG. 10 is a diagram for explaining processing for causing an observation image to follow an ROI, and is a diagram showing an example of a captured image and a display range;
  • FIG. 4 is a flowchart of a control method according to an embodiment of the invention;
  • 5B is a flow chart of the digital tracking processing routine of FIG. 5A;
  • 6 is a flowchart of a physical follow-up processing routine in FIG. 5;
  • FIG. 7 is a diagram showing an example of temporal changes in the amount of movement of the display range and the amount of movement of the visual field
  • FIG. 10 is a diagram showing another example of temporal changes in the amount of movement of the display range and the amount of movement of the field of view
  • FIG. 10 is a diagram showing another example of temporal changes in the amount of movement of the display range and the amount of movement of the field of view
  • It is a figure explaining the movable range of the display range within a captured image.
  • FIG. 10 is a diagram showing an example of temporal changes in the amount of movement of the display range and the amount of movement of the visual field when the physical follow-up process starts before the digital follow-up process;
  • FIG. 10 is a diagram showing an example of temporal changes in the amount of movement of the display range and the amount of movement of the visual field when the physical follow-up process starts before the digital follow-up process
  • FIG. 10 is a diagram showing an example of temporal changes in the amount of movement of the display range and the amount of movement of the visual field when the digital follow-up process starts before the physical follow-up process;
  • FIG. 10 is a diagram showing an example of temporal changes in the amount of movement of the display range and the amount of movement of the field of view when a dead zone is set in the center of the captured image;
  • FIG. 10 is a diagram showing an example of temporal changes in the amount of movement of the display range and the amount of movement of the field of view when the field of view is moved until the ROI passes through the second target area in the captured image in the physical follow-up process;
  • 9B is a diagram showing an example of a captured image and a display range in the tracking process of FIG. 9A;
  • FIG. 9B is a diagram showing an example of a captured image and a display range in the tracking process of FIG. 9B;
  • an endoscope system 1 includes an endoscope 2 to be inserted into the body, a drive mechanism 3 for moving at least the distal end of the endoscope 2, It comprises a display device 4 and a control device 5 for controlling the driving mechanism 3 and an image displayed on the display device 4 .
  • FIG. 1 shows, as an example, an endoscope system 1 for laparoscopic surgery in which an affected part is treated with a treatment tool 7 inserted into the abdominal cavity of a patient X while observing the treatment tool 7 with an endoscope 2. It is
  • the endoscope 2 includes a rigid elongated insertion section 2a, an electrically driven bending section 2b provided in the insertion section 2a, and an imaging device provided at the distal end of the insertion section 2a. and a portion 2c.
  • the driving mechanism 3 is the curved portion 2b.
  • the bending portion 2b is bendable in a direction intersecting the longitudinal axis of the insertion portion 2a, and the distal end portion of the insertion portion 2a and the field of view F of the endoscope 2 are moved by the bending of the bending portion 2b.
  • the dashed-dotted line represents the optical axis of the endoscope 2 .
  • the endoscope 2 is inserted into the body via, for example, a trocar that penetrates the body wall, and is supported by the trocar.
  • the endoscope system 1 may further include a moving device 6 for holding and moving the endoscope 2.
  • the moving device 6 includes, for example, an electric holder composed of a multi-joint robot arm, and is controlled by the control device 5 .
  • the driving mechanism 3 may be the moving device 6 instead of the bending portion 2b, and the endoscope 2 may not have the bending portion 2b.
  • both the bending portion 2b and the moving device 6 may be used as the drive mechanism 3 to move the field of view F of the endoscope 2.
  • the imaging unit 2c has an imaging device such as a CCD image sensor or a CMOS image sensor, and captures a captured image A (see FIGS. 4A to 4E) including a predetermined region of interest (ROI).
  • the captured image A is transmitted from the endoscope 2 to the control device 5 , the observed image B is generated from the captured image A in the control device 5 , and the observed image B is displayed on the display device 4 .
  • the observation image B is a part of the captured image A that is a digitally zoomed image. Therefore, the captured image A is preferably a wide-field and high-resolution image, and it is preferable to use the wide-angle endoscope 2 and the high-resolution imaging unit 2c.
  • the display device 4 is an arbitrary display such as a liquid crystal display or an organic EL display.
  • the control device 5 controls the operation of the bending portion 2b as the driving mechanism 3 and/or the moving device 6 and the observation image B displayed on the display device 4.
  • FIG. 2 the control device 5 includes at least one processor 5a, a memory 5b, a storage section 5c, and an input/output interface 5d.
  • the control device 5 is connected to other peripheral devices 2, 3, 4, and 6 via an input/output interface 5d, and transmits/receives images, signals, and the like via the input/output interface 5d.
  • the memory 5b is, for example, a semiconductor memory including a ROM (read-only memory) or RAM (Random Access Memory) area.
  • the storage unit 5c is a computer-readable non-temporary recording medium, for example, a non-volatile recording medium including a semiconductor memory such as a hard disk or flash memory.
  • the storage unit 5c stores various programs including the control program 5e and data necessary for processing of the processor 5a. Part of the later-described processing executed by the processor 5a is a dedicated It may be implemented by a logic circuit, hardware, or the like.
  • the processor 5a selects a portion of the captured image A as a display range C, expands the display range C by digital processing to generate an observation image B, and converts the observation image B to Displayed on the display device 4 .
  • the display range C is, for example, a rectangular range having a predetermined size.
  • the ROI is a region that the operator pays attention to during surgery, such as the treatment tool 7, tissue, or organ.
  • the ROI moves in the body when the operator moves the treatment instrument 7 or when the tissue or organ is deformed as the surgery progresses.
  • the processor 5a displays By controlling the position of the range C within the captured image A and the drive mechanism 3, a control method is executed to automatically align the observation image B displayed on the display device 4 with the position of the ROI.
  • the control method executed by the processor 5a will be described with reference to FIGS. 5A to 5C.
  • the processor 5a executes this control method by executing processing in accordance with the control program 5e loaded from the storage unit 5c into the memory 5b.
  • the control method according to the present embodiment includes step S1 of receiving a captured image A, step S2 of detecting a predetermined ROI in the captured image A, and causing observation image B to follow the ROI. and step S3.
  • FIG. 4A to 4E are captured images A acquired by the endoscope 2 during execution of the control method.
  • FIG. 4A is the captured image A at the start of the control method
  • FIG. 4E is the captured image A at the end of the control method
  • the display range C is normally positioned in the center of the captured image A where the first target area P1 coincides with the second target area P2.
  • the first target area P1 is the center of the display range C or a predetermined area near the center
  • the second target area P2 is the center of the captured image A or a predetermined area near the center.
  • Each of the target regions P1, P2 may be a single point or a two-dimensional region having an area.
  • step S2 the processor 5a detects the ROI in the captured image A using known means such as image recognition by artificial intelligence or detection of markers previously provided in the ROI.
  • Step S3 includes step S4 for performing digital follow-up processing and step S5 for performing physical follow-up processing.
  • the digital follow-up process is a process of changing the position of the display range C within the captured image A so that the predetermined first target region P1 within the display range C follows the ROI digitally.
  • the driving mechanism 3 is operated to move the field of view F of the endoscope 2 at a constant speed, thereby physically (mechanically) moving the predetermined second target region P2 in the captured image A to the ROI.
  • the processor 5a simultaneously starts the digital follow-up process and the physical follow-up process, and cooperatively executes the digital follow-up process and the physical follow-up process at the same time.
  • step S4 includes a step S41 of determining the movement amount d1 of the display range C, a step S42 of selecting the display range C from the captured image A based on the movement amount d1, and a step S42 of selecting the display range C from the display range C.
  • a step S43 of generating an observed image B and a step S44 of transmitting the observed image B to the display device 4 are included.
  • step S41 the processor 5a determines the movement amount d1 of the display range C based on the positional relationship between the first target area P1 within the display range C and the ROI.
  • the amount of movement d1 is the amount of movement of the display range C required to move the first target area P1 to the ROI.
  • step S42 the processor 5a moves the position of the display range C in the direction in which the movement amount d1 approaches zero, that is, in the direction in which the first target region P1 approaches the ROI. , to change from the current position.
  • the amount of movement of the display range C at this time is set, for example, so that the movement speed of the subject within the observation image B on the display device 4 is a suitable speed for the user.
  • the display range C of the two-dot chain line indicates the display range C before the position is changed.
  • step S43 the processor 5a selects the display range C of the changed position from the captured image A, and expands the size of the selected display range C to generate the observed image B.
  • step S ⁇ b>44 the processor 5 a transmits the generated observation image B to the display device 4 to display the observation image B on the display device 4 .
  • step S5 includes a step S51 of determining a movement amount d2 of the field of view F and a step S52 of moving the field of view F.
  • step S51 the processor 5a determines the movement amount d2 of the field of view F based on the positional relationship between the second target region P2 in the captured image A and the ROI.
  • the amount of movement d2 is the amount of movement of the field of view F required to move the second target area P2 to the ROI.
  • step S52 the processor 5a shifts the field of view F from the current position in the direction in which the movement amount d2 approaches zero, that is, in the direction in which the second target region P2 approaches the ROI. move.
  • the field of view F is moved, for example, at the maximum speed that the drive mechanism 3 can achieve.
  • the ROI indicated by a two-dot chain line indicates the ROI before the field of view F is moved.
  • the ROI in the observation image B on the display device 4 has a total displacement which is the sum of the displacement of the display range C and the displacement of the field of view F. move toward the center of the observed image B by the amount.
  • the processor 5a repeatedly executes steps S1 to S5 so that the displacements d1 and d2 each gradually approach zero.
  • the processor 5a repeats steps S1 to S5 until the second target region P2 of the captured image A reaches the ROI (YES in step S6).
  • the distance D from the second target region P2 to the ROI at the start of tracking see FIG.
  • step S3 is repeated until time t8.
  • digital tracking represents the amount of movement of the display range C by the digital tracking process
  • physical tracking represents the amount of movement of the visual field F by the physical tracking process
  • Total represents the sum of the amount of movement of the display range C and the amount of movement of the field of view F.
  • Each movement amount is a total movement amount from the position at the start of tracking, and represents a two-dimensional movement amount along the image plane in the coordinate system of the captured image A.
  • FIG. In these figures, times t1, t2, t3, . . . (sec) progress from left to right.
  • target area P1 reaches the ROI, and the ROI is placed at or near the center of the observed image B on the display device 4 .
  • the first target region P1 reaches the ROI at time t3.
  • the processor 5a stops the digital follow-up process when the first target region P1 reaches the ROI and the movement amount d1 becomes zero. Only the physical follow-up process is executed until the ROI is reached and the movement amount d2 becomes zero. That is, after the first target area P1 reaches the ROI, the processor 5a moves the field of view F in the direction in which the second target area P2 approaches the ROI, and at the same time moves the first target by a movement amount equal to the movement amount of the field of view F. The position of the display range C within the captured image A is changed in the direction in which the region P1 approaches the second target region P2. Thereby, the processor 5a moves the display range C to the center of the captured image A while maintaining the first target region P1 of the display range C in the ROI.
  • the movement of the ROI such as the treatment instrument 7 may be faster than the physical (mechanical) movement of the distal end of the endoscope 2. Therefore, when the captured image A or the observed image B is made to physically follow the ROI only by moving the field of view F, there is a problem that the following response is low. On the other hand, when the observation image B is digitally followed by the ROI by changing the position of the display range C within the captured image A, high follow-up responsiveness can be easily realized.
  • the ROI is captured as an image only by moving the visual field F. It is difficult to capture in the center of A.
  • the image quality is good at the center of the image and worse at the periphery of the image.
  • the peripheral edge of the captured image A is distorted.
  • the display range C moves to the center of the captured image A due to the movement of the field of view F. It moves quickly, and the image quality of the observed image B is quickly improved. Therefore, even if the image quality of the observation image B temporarily deteriorates due to the digital follow-up processing, there is an advantage that the observation image B of good image quality with no or little distortion can be quickly provided to the user.
  • the field of view F is moved only by the movement of the distal end portion of the endoscope 2 placed inside the body. Therefore, since the moving device 6 such as the robot arm that holds the endoscope 2 does not move, interference between the moving device 6 and the operator can be prevented.
  • the field of view F can also be moved by rocking the entire endoscope 2 around a predetermined pivot point or by moving the entire endoscope 2 with the moving device 6 . In this case, there is a possibility that the moving endoscope 2 or the moving device 6 will interfere with surrounding operators.
  • the moving device 6 as the driving mechanism 3 when it is desired to maintain the observation direction of the subject such as living tissue. That is, when the field of view F is moved by bending the bending portion 2b, the observation direction of the subject changes.
  • the endoscope 2 is moved by a moving device 6 such as an electric holder, the endoscope 2 is translated while maintaining the orientation of the tip of the electric holder, thereby maintaining the observation direction.
  • the field of view F can be moved.
  • the movable range of the display range C in the digital follow-up process may be the entire range of the captured image A.
  • the movement of the display range C in the digital follow-up process may be A may be limited within a predetermined range.
  • the image quality of captured image A can be degraded at the periphery. Therefore, for example, as shown in FIG. 6B, an upper limit is set to the total amount of movement of the display range C (the distance from the second target region P2 to the first target region P1), and the display range C may be movable within the captured image A.
  • the upper limit of the total amount of movement of the display range C is "6".
  • the central area excluding the hatched peripheral portion is a predetermined range, and the display range C can be moved only within the central area of the captured image A. Therefore, it is possible to prevent the image quality of the observation image B displayed on the display device 4 from deteriorating, and to provide the observation image B with better image quality to the user.
  • the moving speed of the visual field F in the physical tracking process (that is, the amount of movement from time ti to time ti+1) is assumed to be constant. good too.
  • the processor 5a moves the field of view F at maximum speed until the first target region P1 of the display range C reaches the ROI. Let Then, after the first target region P1 reaches the ROI, the processor 5a may reduce the moving speed of the field of view F to a speed slower than the maximum speed.
  • the moving speed of the field of view F is "2" until time t2, and is "1" after time t3.
  • the user may be concerned about sudden changes in image quality of the observed image B on the display device 4 .
  • the image quality of the observed image B can be changed slowly so that the user does not notice the change in image quality.
  • FIG. 8A shows an example of the amount of movement when the processor 5a starts the physical follow-up process S5 and then starts the digital follow-up process S4. While the digital tracking process can increase the tracking speed, it can cause sudden changes in image quality such as distortion.
  • FIG. 8B shows an example of the amount of movement when the processor 5a starts the digital follow-up process S4 and then starts the physical follow-up process S5. With this configuration, it is possible to reduce the burden on the hardware such as the drive mechanism 3 .
  • the processor 5a moves the field of view F in the physical tracking process S5 until the ROI reaches the second target area P2 of the captured image A.
  • the field of view F may be moved until another position near region P2 is reached. That is, the position in the captured image A that the ROI should finally reach can be changed as appropriate according to the surgical scene, the user's request, or the like.
  • a dead zone E including the second target region P2 is set in the center of the captured image A, and when the ROI arranged outside the dead zone E enters the dead zone E , the processor 5a may end the physical follow-up processing S5. In this case, the processor 5a moves the field of view F until the ROI reaches a position in front of the second target region P2. Alternatively, as shown in Figures 9B and 10B, the processor 5a may move the field of view F until the ROI passes the second target region P2. For example, the processor 5a may end the physical following process S5 when the ROI has passed the second target region P2 by a predetermined distance.
  • FIGS. 9A and 10A a wider space is formed on the upper left side of the ROI after the tracking process. Therefore, in the next follow-up process, the display range C can be followed to the upper left side with a margin.
  • FIGS. 9B and 10B a wider space is formed on the lower right side of the ROI after the tracking process. Therefore, in the next follow-up process, the display range C can be followed to the lower right side with a margin.
  • the examples of FIGS. 9A to 10B are suitable, for example, when the next moving direction of the ROI can be predicted in advance. That is, the position to be finally reached by the ROI may be determined such that a wide space is formed on the side to which the ROI moves next.
  • the first target area P1 is set to be the center or a point near the center of the display range C so that the user can easily observe the ROI in the observation image B.
  • the position of P1 may be any position other than the center of the display range C or near the center.
  • the position of the first target region P1 may be changed as appropriate according to a request from a user such as an operator.
  • the second target region P2 is the center of the captured image A or a point near the center in order to achieve good image quality of the observed image B even when the wide-angle endoscope 2 is used.
  • the position of the second target area P2 may be any position other than the center of the captured image A or the vicinity of the center. For example, when the image quality of the entire captured image A is good, or when deterioration of the image quality of the observed image B is not a problem for the user, the position of the second target region P2 can be changed as appropriate. good.
  • Endoscope system 2 Endoscope 2b Bending unit, drive mechanism 3 Drive mechanism 4 Display device 5 Control device 5a Processor 6 Movement device, drive mechanism A Captured image B Observation image C Display range E Dead zone F Field of view P1 First target area P2 second target region ROI region of interest

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PCT/JP2022/003245 2022-01-28 2022-01-28 内視鏡システム、制御方法および記録媒体 Ceased WO2023144986A1 (ja)

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Application Number Priority Date Filing Date Title
PCT/JP2022/003245 WO2023144986A1 (ja) 2022-01-28 2022-01-28 内視鏡システム、制御方法および記録媒体
JP2023576504A JP7763274B2 (ja) 2022-01-28 2022-01-28 内視鏡システム、制御方法および記録媒体
US18/776,375 US20240374115A1 (en) 2022-01-28 2024-07-18 Endoscope system, control method, and recording medium
JP2025177385A JP2026010153A (ja) 2022-01-28 2025-10-21 内視鏡システム、制御方法および記録媒体

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JPH0549599A (ja) * 1991-08-23 1993-03-02 Olympus Optical Co Ltd 電子内視鏡装置
JPH08164148A (ja) * 1994-12-13 1996-06-25 Olympus Optical Co Ltd 内視鏡下手術装置
JP2005046200A (ja) * 2003-07-29 2005-02-24 Olympus Corp 内視鏡下手術システム
JP2007159738A (ja) * 2005-12-12 2007-06-28 Olympus Medical Systems Corp 内視鏡装置
JP2012239644A (ja) * 2011-05-19 2012-12-10 Olympus Corp 画像処理装置、内視鏡装置、画像処理方法
JP2016504067A (ja) * 2013-01-28 2016-02-12 オリンパス株式会社 医療用マニピュレータおよび医療用マニピュレータの制御方法

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JPH0549599A (ja) * 1991-08-23 1993-03-02 Olympus Optical Co Ltd 電子内視鏡装置
JPH08164148A (ja) * 1994-12-13 1996-06-25 Olympus Optical Co Ltd 内視鏡下手術装置
JP2005046200A (ja) * 2003-07-29 2005-02-24 Olympus Corp 内視鏡下手術システム
JP2007159738A (ja) * 2005-12-12 2007-06-28 Olympus Medical Systems Corp 内視鏡装置
JP2012239644A (ja) * 2011-05-19 2012-12-10 Olympus Corp 画像処理装置、内視鏡装置、画像処理方法
JP2016504067A (ja) * 2013-01-28 2016-02-12 オリンパス株式会社 医療用マニピュレータおよび医療用マニピュレータの制御方法

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