MEDICAL DEVICE
A medical device includes: a CT image data storing section for storing three-dimensional image data of a subject; a position calculation section for calculating a position and a direction of a distal end portion of an insertion portion inserted into the bronchus; a route generation section for generating a three-dimensional insertion route for inserting the distal end portion to a target site through the bronchus, based on the three-dimensional image data; a tomographic image generation section for generating a two-dimensional tomographic image based on the position and direction of the distal end portion, from the three-dimensional image data; and a superimposed image generation section configured to generate, based on image data in which the three-dimensional insertion route is superimposed on the two-dimensional tomographic image on a three-dimensional space, the three-dimensional space in a displayable manner, as a three-dimensional model image viewed along a desired line of sight.
1 . A medical device comprising:
a storing section configured to store previously acquired three-dimensional image data of a subject;
a position calculation section configured to calculate a position and a direction of a distal end portion of an insertion portion inserted into a lumen in a body of the subject;
a route generation section configured to generate a three-dimensional insertion route for inserting the distal end portion to a target position through the lumen in the body of the subject, based on the three-dimensional image data;
a tomographic image generation section configured to generate a two-dimensional tomographic image based on the position and the direction of the distal end portion, from the three-dimensional image data; and
a superimposed image generation section configured to generate, based on image data in which the three-dimensional insertion route is superimposed on the two-dimensional tomographic image on a three-dimensional space, the three-dimensional space in a displayable manner, as a three-dimensional model image viewed along a desired line of sight.
2 . The medical device according to claim 1 , wherein the tomographic image generation section generates a tomographic image of a plane which includes a position of the distal end portion and which is perpendicular to a direction of the distal end portion.
3 . The medical device according to claim 1 , wherein the superimposed image generation section superimposes a distal end portion display mark indicating at least one of the position and the direction of the distal end portion on the three-dimensional model image.
4 . The medical device according to claim 1 , wherein the superimposed image generation section superimposes on the insertion route a bifurcation portion display mark indicating a position of a bifurcation portion of the lumen which is branched off.
5 . The medical device according to claim 1 , wherein the superimposed image generation section displays the insertion route such that a part of the insertion route from an insertion start position to the position of the distal end portion is distinguishable from a part of the insertion route from the position of the distal end portion to the target position.
6 . The medical device according to claim 1 , wherein the superimposed image generation section does not display the part of the insertion route from the insertion start position to the position of the distal end portion.
7 . The medical device according to claim 1 , further comprising:
an image pickup section configured to pick up an endoscopic image, the image pickup section being provided at the distal end portion of the insertion portion;
a virtual endoscopic image generation section configured to generate a virtual endoscopic image using a position, a direction, and a roll angle of the distal end portion as line-of-sight parameters, from the three-dimensional image data; and
a display section which displays at least one of the three-dimensional model image generated by the superimposed image generation section, the endoscopic image, and the virtual endoscopic image.
8 . The medical device according to claim 7 , wherein a position calculation section calculates the position and the direction of the distal end portion based on the line-of-sight parameters of the virtual endoscopic image which is similar to the endoscopic image.
9 . The medical device according to claim 8 , wherein the superimposed image generation section displays a second insertion route image indicating the insertion route in a superimposed manner on at least one of the endoscopic image and the virtual endoscopic image.
10 . The medical device according to claim 9 , further comprising,
a display area calculation section configured to calculate a display area of the second insertion route image which is displayed in the superimposed manner,
wherein when the display area is equal to or smaller than a first predetermined value, the superimposed image generation section displays the second insertion route image in a highlighted manner.
11 . The medical device according to claim 9 , further comprising:
a display area calculation section configured to calculate a display area of the second insertion route image which is displayed in the superimposed manner; and
an auxiliary insertion route calculation section configured to calculate an auxiliary insertion route which is a cross line between a plane including the insertion route and a luminal wall of the lumen,
wherein when the display area is equal to or smaller than a second predetermined value, the superimposed image generation section displays an auxiliary route image indicating the auxiliary insertion route in a superimposed manner.
12 . The medical device according to claim 9 , wherein the three-dimensional model image generated by the superimposed image generation section is selected based on the position of the distal end portion.
13 . The medical device according to claim 12 , wherein the tomographic image generation section further generates a tomographic image of a plane which includes the position of the distal end portion and which is parallel to the direction of the distal end portion.