Insertion assistance system, insertion assistance method, and recording medium

1 . An insertion assistance system configured to assist an insertion operation of an insertion unit when the insertion unit is inserted into a subject, the insertion unit including a lens that is disposed at a distal end of the insertion unit and is configured to acquire an optical image of the subject, the insertion assistance system comprising a processor configured to:

set a first position and a second position in shape information indicating a three-dimensional shape of the subject,

wherein the first position is different than a current position of the distal end and indicates a target position being a predetermined position that the distal end of the insertion unit is intended to reach, and

wherein the second position is different from the first position;

calculate an estimated first state for the distal end to be in at the first position on the basis of a specification of the insertion unit, the first state including a first posture of the distal end;

calculate a path through which the distal end passes when moving from the second position to the first position and the estimated first state;

determine a second state of the distal end at the second position, the second state including a second posture of the distal end; and

output, to an information-reporting device, insertion assistance information required for the insertion operation for causing the distal end to reach the first position from the second position through the path and causing a state of the distal end to change from the second state to the first state.

2 . The insertion assistance system according to claim 1 ,

wherein, in a case in which the three-dimensional shape includes a branch portion, the processor is configured to:

record the branch portion through which the distal end disposed at the first position in the first state passes while the distal end moves from the first position to the second position in the three-dimensional shape;

calculate two or more path candidates including a path candidate passing through the branch portion; and

select one of the two or more path candidates as the path.

3 . The insertion assistance system according to claim 1 ,

wherein, in a case in which the three-dimensional shape includes a branch portion, the processor is configured to:

calculate two or more path candidates including a path candidate passing through the branch portion;

analyze the two or more path candidates in accordance with one or more indices related to at least one of the insertion unit and the subject; and

select one of the two or more path candidates as the path on the basis of a result of analyzing the two or more path candidates.

4 . The insertion assistance system according to claim 3 ,

wherein a degree of importance is set for each of two or more indices including the one or more indices in advance,

wherein the processor is configured to analyze the two or more path candidates m accordance with the two or more indices and the degree of importance, and

wherein the degree of importance set for each of the two or more indices is variable.

5 . The insertion assistance system according to claim 3 ,

wherein the processor is configured to analyze the two or more path candidates by using at least one of information indicating a size of the insertion unit and information indicating a shape of the subject.

6 . The insertion assistance system according to claim 1 ,

wherein, when the insertion operation is performed, the processor is configured to:

determine a position of the distal end; and

set the second position to the determined position.

7 . The insertion assistance system according to claim 1 ,

wherein the processor is configured to estimate the first state causing a state of the distal end at the first position to be at least one of a first observation state, a second observation state, and a third observation state,

wherein the first observation state is a state in which a direction of an optical axis of the lens is perpendicular to a surf ace of the subject,

wherein the second observation state is a state in which a predetermined direction in the distal end matches a predetermined direction in the three-dimensional shape, and

wherein the third observation state is a state in which a distance between the distal end and the subject is appropriate for observation of the subject.

8 . The insertion assistance system according to claim 1 ,

wherein the insertion operation indicates at least one of an operation of moving the insertion unit in the subject, an operation of bending the insertion unit, and an operation of twisting the insertion unit.

9 . The insertion assistance system according to claim 1 ,

wherein the insertion assistance information includes at least one of a distance between the second position and the first position, an amount of change of a direction of the distal end to cause the direction of the distal end to match a direction along the path, and an amount of twist to cause a twist state of the insertion unit to match a twist state of the insertion unit in the first state.

10 . The insertion assistance system according to claim 1 ,

wherein the insertion assistance information includes a history of a position through which the distal end passes.

11 . The insertion assistance system according to claim 1 ,

wherein the processor is configured to calculate the path on the basis of a specification of an optical adaptor mounted on the distal end.

12 . An insertion assistance method causing a processor to assist an insertion operation of an insertion unit when the insertion unit is inserted into a subject, the insertion unit including a lens that is disposed at a distal end of the insertion unit and is configured to acquire an optical image of the subject, the insertion assistance method comprising:

setting a first position and a second position in shape information indicating a three-dimensional shape of the subject,

wherein the first position is different than a current position of the distal end and indicates a target position being a position that the distal end of the insertion unit is intended to reach, and

wherein the second position is different from the first position;

estimating a first state of the distal end at the first position on the basis of a specification of the insertion unit, the first state including a first posture of the distal end;

calculating a path through which the distal end passes when moving from the second position to the first position and the estimated first state by using the processor;

determining a second state for the distal end to be in at the second position, the second state including a second posture of the distal end; and

outputting, to an information-reporting device, insertion assistance information required for the insertion operation for causing the distal end to reach the first position from the second position through the path and causing a state of the distal end to change from the second state to the first state.

13 . A non-transitory computer-readable recording medium storing a program causing a computer to execute processing of assisting an insertion operation of an insertion unit when the insertion unit is inserted into a subject, the insertion unit including a lens that is disposed at a distal end of the insertion unit and is configured to acquire an optical image of the subject, the processing comprising:

setting a first position and a second position in shape information indicating a three-dimensional shape of the subject,

wherein the first position is different than a current position of the distal end and indicates a target position being a position that the distal end of the insertion unit is intended to reach, and

wherein the second position is different from the first position;

estimating a first state for the distal end to be in at the first position on the basis of a specification

of the insertion unit, the first state including a first posture of the distal end;

calculating a path through which the distal end passes when moving from the second position to the first position and the estimated first state;

determining a second state of the distal end at the second position, the second state including a second posture of the distal end; and

outputting, to an information-reporting device, insertion assistance information required for the insertion operation for causing the distal end to reach the first position from the second position through the path and causing a state of the distal end to change from the second state to the first state.