Observation apparatus that detects position of a treatment tool from an image
A body cavity observation apparatus includes a treatment tool to be inserted into a body cavity of a subject with an insertion tool as a guide, an observation section attached to an opening of a body wall of the subject, a monitor for displaying the body cavity captured by the observation section, and a marker position-detecting device for detecting a position of a marker part applied to the treatment tool or insertion tool from an image showing the body cavity captured by the observation section. The marker position-detecting device includes a pixel extracting device for extracting a group of pixels in the same color as the color of the marker part from the image and a calculation device for calculating a position of the barycenter of the group of pixels as a position of the marker part. The pixel extracting device extracts a pixel whose output value of a color component included in a color of the marker part among R, G, and B output values outputted from an image pickup device of the observation section is bigger than an output value of a color component that is not included in a color of the marker part by a predetermined threshold of the group of pixels.
1. A body cavity observation apparatus comprising:
a treatment tool to be inserted into a body cavity of a subject with an insertion tool as a guide,
an observation section attached to an opening of a body wall of the subject, a monitor for displaying the body cavity captured by the observation section, and
a marker position-detecting device for detecting a position of a marker part applied to the treatment tool or insertion tool from an image showing the body cavity captured by the observation section; wherein
the marker position-detecting device comprises:
a pixel extracting device for extracting a group of pixels in the same color as color of the marker part from the image, and
a calculation device for calculating a position of the barycenter of the group of pixels as a position of the marker part; wherein
the pixel extracting device extracts a pixel whose output value of a color component included in a color of the marker part among R, G, and B output values outputted from an image pickup device of the observation section is bigger than an output value of a color component that is not included in a color of the marker part by a predetermined threshold of the group of pixels.
2. The body cavity observation apparatus according to claim 1 , further comprising:
a trimming device for trimming an image to a predetermined region so that the position of the marker part calculated by the calculating device is placed at the center of the image, and
a zooming device for zooming the trimmed predetermined region on the monitor by a predetermined magnification.
3. The body cavity observation apparatus according to claim 1 , wherein
the marker part is applied at least to two parts on the treatment tool or insertion tool,
the body cavity observation apparatus includes:
a trimming device for trimming an image to a predetermined region so that a position on a predetermined extension between two positions on the marker part calculated by the calculation device is placed at the center of the image, and
a zooming device for zooming the trimmed predetermined region on the monitor by a predetermined magnification.