Image processing device, image processing method, and program
An image processing device includes an image acquisition section that acquires an image that has been acquired by imaging a tissue using an endoscope apparatus, an in vivo position identification information acquisition section that acquires in vivo position identification information that specifies an in vivo position of the endoscope apparatus when the image has been acquired, a in vivo model acquisition section that acquires a in vivo model that is a model of the tissue, an on-model position determination section that specifies an on-model position that corresponds to the position specified by the in vivo position identification information on the acquired in vivo model, and a linking section that links information about the acquired image to the specified on-model position.
1. An image processing device comprising:
a processor; and
a memory storing computer-readable instructions that, when executed by the processor, implement:
an image acquisition section that acquires an image that has been acquired by imaging a tissue using an endoscope apparatus;
an in vivo position and moving distance identification information acquisition section that acquires, based on the acquired image: (a) in vivo position identification information that specifies an in vivo position of the endoscope apparatus when the image has been acquired; and (b) moving distance information that indicates an in vivo moving distance of the endoscope apparatus;
an in vivo model acquisition section that acquires an in vivo model that schematically represents a model of the tissue;
an on-model position determination section that specifies an on-model position that corresponds to the position specified by the in vivo position identification information on the acquired in vivo model; and
a linking section that links information about the acquired image to the specified on-model position;
wherein the in vivo position and moving distance identification information acquisition section includes a correction section that corrects the moving distance information based on structural properties of the entirety or part of a tissue where the endoscope apparatus has moved; and
wherein the on-model position determination section specifies the on-model position that corresponds to the acquired image based on the moving distance information corrected by the correction section.
2. The image processing device as defined in claim 1 ,
the in vivo position and moving distance identification information acquisition section including a direction information calculation section that calculates moving direction information that indicates an in vivo moving direction of the endoscope apparatus based on the acquired image, and
the in vivo position and moving distance identification information acquisition section acquiring the moving direction information calculated by the direction information calculation section as the in vivo position identification information.
3. The image processing device as defined in claim 1 ,
the image acquisition section acquiring a first image and a second image,
the first image being acquired at a first timing,
the second image being acquired at a second timing that occurs after the first timing, and
the in vivo position and moving distance identification information section performing a matching process on the first image and the second image, and acquiring the in vivo position identification information based on a result of the matching process.
4. The image processing device as defined in claim 1 ,
the on-model position determination section including a conversion section that converts the distance indicated by the moving distance information corrected by the correction section into a distance on the in vivo model, and
the on-model position determination section specifying the on-model position that corresponds to the acquired image based on the distance on the in vivo model obtained by the conversion section.
5. The image processing device as defined in claim 4 ,
the on-model position determination section including a reference position detection section that detects a reference position that indicates a start point of movement of the endoscope apparatus, and
the on-model position determination section specifying a position distant from the reference position detected by the reference position detection section by the distance on the in vivo model as the on-model position that corresponds to the acquired image.
6. The image processing device as defined in claim 5 ,
the in vivo position and moving distance identification information acquisition section including a direction information calculation section that calculates moving direction information that indicates an in vivo moving direction of the endoscope apparatus,
the conversion section converting the direction indicated by the moving direction information calculated by the direction information calculation section into a moving direction on the in vivo model, and
the on-model position determination section specifying a position that is distant from the reference position detected by the reference position detection section by the distance on the in vivo model in the moving direction on the in vivo model as the on-model position that corresponds to the acquired image.
7. The image processing device as defined in claim 1 ,
the correction section increasing the distance indicated by the moving distance information when the endoscope apparatus has moved within the entirety or part of a curved tissue that has a curved section.
8. The image processing device as defined in claim 7 ,
the curved tissue being a large intestine or a small intestine.
9. The image processing device as defined in claim 1 ,
the on-model position determination section including a conversion section that converts the distance indicated by the moving distance information into a distance on the in vivo model, and
the on-model position determination section specifying the on-model position based on the distance on the in vivo model obtained by the conversion section.
10. The image processing device as defined in claim 9 ,
the on-model position determination section including a correction section that corrects the distance on the in vivo model obtained by the conversion section based on structural properties of the entirety or part of a tissue where the endoscope apparatus has moved, and
the on-model position determination section specifying the on-model position based on the distance on the in vivo model that has been corrected by the correction section.
11. The image processing device as defined in claim 1 ,
the on-model position determination section including a reference position detection section that detects a reference position that indicates a start point of movement of the endoscope apparatus, and
the on-model position determination section specifying the on-model position based on the reference position detected by the reference position detection section and the in vivo position identification information.
12. The image processing device as defined in claim 11 ,
the reference position detection section detecting a measurement start point as the reference position, and
the measurement start point being a point where imaging using the endoscope apparatus has started.
13. The image processing device as defined in claim 11 ,
the reference position detection section detecting a point where imaging of a given tissue using the endoscope apparatus has started as the reference position.
14. The image processing device as defined in claim 1 , wherein the computer-readable instructions, when executed by the processor, further implement a sensor information acquisition section that acquires sensor information from a sensor,
the in vivo position and moving distance identification information acquisition section acquiring movement information about the endoscope apparatus as the in vivo position identification information based on the sensor information acquired by the sensor information acquisition section.
15. The image processing device as defined in claim 14 , wherein the computer-readable instructions, when executed by the processor, further implement a display control section that controls display of an in vivo model image and the acquired image,
the in vivo model image being an image of the in vivo model, and
the display control section deforming the in vivo model image based on the movement information.
16. The image processing device as defined in claim 1 , wherein the computer-readable instructions, when executed by the processor, further implement an attention area detection section that detects an attention area from the image acquired by the image acquisition section,
the linking section linking information about an attention image to the on-model position specified by the on-model position determination section, and
the attention image being the acquired image that includes the attention area.
17. The image processing device as defined in claim 16 ,
the image acquisition section acquiring a special light image that includes an object image including information in a wavelength band narrower than that of white light; and
the attention area detection section detecting the attention area based on the special light image.
18. The image processing device as defined in claim 17 ,
the attention area detection section detecting the attention area based on an image acquired by a capsule endoscope apparatus.
19. The image processing device as defined in claim 1 ,
the in vivo model acquisition section acquiring the in vivo model based on an image acquired by a capsule endoscope apparatus.
20. The image processing device as defined in claim 1 , wherein the computer-readable instructions, when executed by the processor, further implement an attention area detection section that detects an attention area from the acquired in vivo model,
the linking section linking information about the attention area to a position of the attention area detected from the in vivo model.
21. The image processing device as defined in claim 20 ,
the attention area detection section detecting the attention area based on an image acquired by a CT scanner.
22. The image processing device as defined in claim 20 ,
the in vivo model acquisition section acquiring the in vivo model based on an image acquired by a CT scanner.
23. The image processing device as defined in claim 1 ,
the linking section linking an indicator that indicates a position of the endoscope apparatus when the image has been acquired as the information about the acquired image.
24. The image processing device as defined in claim 1 ,
the image acquisition section acquiring a first image that includes an object image including information in a wavelength band of white light, and a second image that includes an object image including information in a specific wavelength band narrower than that of white light.
25. The image processing device as defined in claim 24 ,
the first image and the second image being in vivo images, and
the specific wavelength band included in the in vivo image being a wavelength band absorbed by hemoglobin in blood.
26. The image processing device as defined in claim 25 ,
the specific wavelength band being 390 to 445 nm or 530 to 550 nm.
27. The image processing device as defined in claim 24 ,
the first image and the second image being in vivo images, and
the specific wavelength band included in the in vivo image being a wavelength band of fluorescence emitted from a fluorescent substance.
28. The image processing device as defined in claim 27 ,
the specific wavelength band being 490 to 625 nm.
29. The image processing device as defined in claim 24 ,
the first image and the second image being in vivo images, and
the specific wavelength band included in the in vivo image being an infrared wavelength band.
30. The image processing device as defined in claim 29 ,
the specific wavelength band being 790 to 820 nm or 905 to 970 nm.
31. An image processing method comprising:
acquiring an image that has been acquired by imaging a tissue using an endoscope apparatus;
acquiring, based on the acquired image: (a) in vivo position identification information that specifies an in vivo position of the endoscope apparatus when the image has been acquired; and (b) moving distance information that indicates an in vivo moving distance of the endoscope apparatus;
acquiring an in vivo model that schematically represents a model of the tissue;
specifying an on-model position that corresponds to the position specified by the in vivo position identification information on the acquired in vivo model;
linking information about the acquired image to the specified on-model position; and
correcting the moving distance information based on structural properties of the entirety or part of a tissue where the endoscope apparatus has moved;
wherein the specifying step specifies the on-model position that corresponds to the acquired image based on the corrected moving distance information.
32. A program that is stored in an information storage medium, the program causing a computer to function as:
an image acquisition section that acquires an image that has been acquired by imaging a tissue using an endoscope apparatus;
an in vivo position and moving distance identification information acquisition section that acquires, based on the acquired image: (a) in vivo position identification information that specifies an in vivo position of the endoscope apparatus when the image has been acquired; and (b) moving distance information that indicates an in vivo moving distance of the endoscope apparatus;
an in vivo model acquisition section that acquires an in vivo model that schematically represents a model of the tissue;
an on-model position determination section that specifies an on-model position that corresponds to the position specified by the in vivo position identification information on the acquired in vivo model; and
a linking section that links information about the acquired image to the specified on-model position;
wherein the in vivo position and moving distance identification information acquisition section includes a correction section that corrects the moving distance information based on structural properties of the entirety or part of a tissue where the endoscope apparatus has moved; and
wherein the on-model position determination section specifies the on-model position that corresponds to the acquired image based on the corrected moving distance information.