| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an endoscope insertion support device to present support information when observing a hollow organ by an endoscope. <P>SOLUTION: When the endoscope is inserted into the luminal organ of a subject for observation, a non-contact type sensor 14, which can measure moving distance information in the longitudinal direction of an endoscope 12 integrated with the endoscope insertion auxiliary tool 34 and moving distance information in a direction perpendicular to the longitudinal direction, is set in the site where the endoscope 12 is inserted into the subject. After roughly estimating positional attitude corresponding to a present endoscope positional attitude on three-dimensional image data of the subject utilizing temporal change of the endoscope insertion length and temporal change information of a rotation angle from the movement distance information obtained from the non-contact type sensor 14, the endoscope positional attitude is precisely found by comparing the endoscope image inserted into the hollow organ of the subject with the virtualized endoscope image generated by three-dimensional image data to generate the endoscope insertion support information. <P>COPYRIGHT: (C)2012,JPO&INPIT |
