ENDOSCOPE INSERTION DIRECTION SENSING METHOD AND ENDOSCOPE INSERTION DIRECTION SENSING APPARATUS

摘要

In step 1, an R image is acquired from the RGB image of the endscope image input. In step 2, M (an integer, one or larger) sampling pixels are set on the R image. In step 3, a gradient vector is calculated for obtaining the brightness gradient direction of each sampling pixel. In step S4, a tube direction is sensed. In step S5, a direction corresponding to the obtained tube direction is defined as the insertion direction and arrow information is superimposed on the image and displayed on a display unit. Control is returned to step S1 and a series of processes is repeated for the next frame. Thus, even when the tube is moved out of the field of view of the image, it is possible to sense the insertion direction.