Image processing device, image processing method, and surgical system
The present disclosure relates to an image processing device, an image processing method, and a surgical system that enable detection of a region including a specific living body site in an intraoperative image on the basis of a frequency of a motion vector of a living body in the intraoperative image. A motion detection unit detects the motion vector of the living body in the intraoperative image using the intraoperative images at different times. The analysis unit obtains the frequency of the motion vector detected by the motion detection unit. A frequency map generation unit detects the region including the specific living body site in the intraoperative image on the basis of the frequency obtained by the analysis unit. The present disclosure is applicable to, for example, a CCU and the like of an endoscopic surgical system.
1. An image processing device comprising:
a motion detector that detects a motion vector of a living body in an intraoperative image using intraoperative images at different times;
an analyzer that obtains a frequency of the motion vector detected by the motion detector;
a region detector that detects a region including a specific living body site in the intraoperative image on the basis of the frequency obtained by the analyzer; and
an intersection detector that detects an intersection of motion vectors of the specific living body site in the region detected by the region detector.
2. The image processing device according to claim 1 ,
wherein the region detector is to detect, for each frequency, the region including the specific living body site corresponding to the frequency.
3. The image processing device according to claim 1 ,
wherein the region detector is to detect the region including the specific living body site corresponding to a predetermined frequency.
4. The image processing device according to claim 3 ,
wherein the predetermined frequency is to be determined on the basis of heartbeat information.
5. The image processing device according to claim 1 ,
wherein the region detector is to detect the region on the basis of the frequency and a feature amount of the intraoperative image.
6. The image processing device according to claim 5 ,
wherein the region includes a specific organ or a blood vessel.
7. The image processing device according to claim 1 , further comprising:
a state detector that detects a state of the region on the basis of a feature of the region detected by the region detector.
8. The image processing device according to claim 7 ,
wherein the region is a region including a blood vessel, and
the state detector detects a hemostasis state of the blood vessel on the basis of width of the blood vessel.
9. The image processing device according to claim 7 , further comprising:
a superimposer that superimposes a state notification image generated on the basis of the state of the region on the intraoperative image.
10. The image processing device according to claim 1 , further comprising:
a distinguisher that distinguishes a type of the specific living body site included in the region detected by the region detector on the basis of the motion vector detected by the motion detector.
11. The image processing device according to claim 10 ,
wherein the distinguisher is to distinguish the type of the specific living body site on the basis of the motion vector detected by the motion detector and a feature amount of the intraoperative image.
12. The image processing device according to claim 10 ,
wherein the region is a region including a blood vessel, and
the distinguisher is to distinguish whether the blood vessel is an artery or a vein.
13. The image processing device according to claim 1 ,
wherein the region detector to detect a region including bleeding on the basis of the frequency and a feature amount of the intraoperative image, and
the intersection detector to detect a bleeding point on the basis of the intersection of the motion vectors of the bleeding in the region.
14. An image processing method comprising:
detecting a motion vector of a living body in an intraoperative image using intraoperative images at different times;
obtaining a frequency of the motion vector;
detecting a region including a specific living body site in the intraoperative image on the basis of the frequency obtained; and
detecting an intersection of motion vectors of the specific living body site in the region detected.
15. A surgical system comprising:
an imaging device that captures an intraoperative image; and
an image processing device that performs image processing on the intraoperative image,
wherein the image processing device is provided with:
a motion detector that detects a motion vector of a living body in the intraoperative image using intraoperative images at different times,
an analyzer that obtains a frequency of the motion vector detected by the motion detector,
a region detector that detects a region including a specific living body site in the intraoperative image on the basis of the frequency obtained by the analyzer, and
an intersection detector that detects an intersection of motion vectors of the specific living body site in the region detected by the region detector.
16. The surgical system according to claim 15 ,
wherein the imaging device that captures the intraoperative image is an endoscope.
17. The surgical system according to claim 15 ,
wherein the imaging device that captures the intraoperative image is a video microscope.