Medical control apparatus, medical system, and method for controlling marking device
A medical system includes a marking device inserted into a body cavity, the marking device having an applicator configured to transmit energy so as to perform marking on target tissues; and a controller comprises at least a processor and configured to control the marking device, wherein the applicator has a plurality of application elements which individually applies energy; and wherein the controller is configured to set a marking region on the target tissues in the body cavity; and selectively control the application elements among the plurality of application elements corresponding to the marking region to apply the energy.
1. A medical control apparatus comprising:
one or more processors comprising hardware, the one or more processors being configured to:
set a marking region in each of a plurality of images showing a target tissue and a plurality of application elements;
process the plurality of images to determine whether the plurality of application elements are being moved relative to the target tissue to approach the marking region;
in response to determining that the plurality of application elements are being moved to approach the marking region, process the plurality of images to determine an overlapping region of the marking region and the plurality of application elements as a proximity area;
process the plurality of images to select a subset of the plurality of application elements shown in the plurality of images having a predetermined distance relationship with the proximity area in the plurality of images; and
selectively control the subset of the plurality of application elements to apply energy.
2. The medical control apparatus according to claim 1 , wherein the one or more processors are configured to:
determine whether an applicator including the plurality of application elements approaches the proximity area; and
in response to determining that the applicator approaches the proximity area, selectively control the subset of the plurality of application elements to apply the energy.
3. The medical control apparatus according to claim 2 , wherein the one or more processors are configured to:
generate the plurality of images of the target tissue according to captured images of the target tissue;
superimpose the marking region on the plurality of images of the target tissue to set the marking region in the plurality of images of the target tissue; and
determine the overlapping region of the marking region and the applicator in the plurality of images as the proximity area.
4. The medical control apparatus according to claim 2 , wherein the one or more processors are configured to determine whether the applicator approaches the proximity area by image processing.
5. The medical control apparatus according to claim 1 , wherein the one or more processors are configured to set the marking region based on user input.
6. The medical control apparatus according to claim 5 , wherein the user input comprises a radius of a circular separation line from the center of the target tissue, and the circular separation line is the marking region.
7. The medical control apparatus according to claim 5 , wherein the user input comprises a margin distance of a separation line from external edges of the target tissue, and the separation line is the marking region.
8. The medical control apparatus according to claim 5 , wherein the user input comprises a depth and a resection angle associated with a cone-shaped separation line, and the cone-shaped separation line is the marking region.
9. The medical control apparatus according to claim 1 , wherein the one or more processors are configured to set the marking region according to anatomical information obtained in advance.
10. A medical system comprising:
the medical control apparatus according to claim 1 ; and
a marking device comprising an applicator comprising the plurality of application elements.
11. The medical system according to claim 10 ,
wherein the marking device further comprises a plurality of light-emitting elements,
wherein the one or more processors are configured to activate a subset of the plurality of light-emitting elements to emit light, and
wherein the subset of the plurality of light-emitting elements are arranged at a corresponding position on an opposite side of the subset of the plurality of application elements controlled to apply the energy.
12. The medical system according to claim 11 ,
wherein the one or more processors are configured to perform image processing of an image of the subset of the plurality of light-emitting elements.
13. The medical system according to claim 11 , wherein the marking device comprises:
a treatment portion including the applicator; and
an insertion portion, wherein the treatment portion is configured to be bendable relative to the insertion portion.
14. The medical system according to claim 13 , wherein:
the plurality of application elements is located along a longitudinal axis of the marking device when the treatment portion is bent to be located along the longitudinal axis of the marking device; and
the plurality of light-emitting elements is located along the longitudinal axis of the marking device when the treatment portion is bent to be located along the longitudinal axis of the marking device.
15. The medical system according to claim 10 ,
wherein the one or more processors are configured to:
obtain three-dimensional positions of the applicator and the marking region; and
determine a region in the marking region that is a predetermined distance from the applicator as the proximity area.
16. The medical system according to claim 15 , wherein the one or more processors are configured to control the subset of the plurality of application elements closest to the proximity area to apply the energy.
17. The medical system according to claim 15 , wherein:
the applicator comprises a position sensor;
the three-dimensional positions of the applicator is obtained from an output of the position sensor; and
the one or more processors are configured to compare the three-dimensional positions of the marking region with the three-dimensional positions of the applicator to determine the region in the marking region is the predetermined distance from the applicator.
18. The medical system according to claim 10 , wherein the marking device comprises:
a treatment portion including the applicator; and
an insertion portion, wherein the treatment portion is configured to be bendable relative to the insertion portion.
19. The marking device according to claim 18 , wherein the plurality of application elements is located along a longitudinal axis of the marking device when the treatment portion is bent to be located along the longitudinal axis of the marking device.
20. The medical control apparatus according to claim 1 , wherein application of the energy causes the subset of the plurality of application elements being selectively controlled to generate heat for cauterizing a surface of the target tissue.