Image processing device and method, surgical system, and surgical member
The present invention relates to an image processing device and method, a surgical system, and a surgical member with which a position and an orientation of the surgical member for surgery of a subject can be easily grasped. The present invention acquires a microscopic image ( 201 ) obtained by photographing the surgical member ( 121 ) inserted to the subject with a surgical microscope ( 112 ), estimates the relative posture of the surgical member in the subject on the basis of the acquired microscopic image ( 201 ), and outputs posture information ( 222, 223, 224 ) associated with the posture that has been estimated. The present invention can be applied to ophthalmic surgery, in which an intraocular endoscope or surgical tool is observed with a surgical microscope, for example.
1. An image processing device comprising:
processing circuitry configured to
acquire a microscopic image obtained by photographing an intraocular endoscope inserted into a subject with a surgical microscope;
estimate a relative posture of the intraocular endoscope within the subject by analyzing an image of the intraocular endoscope captured in the microscopic image; and
output posture information regarding the relative posture of the intraocular endoscope by superimposing the posture information onto an endoscopic image obtained by the intraocular endoscope, wherein
the relative posture includes at least one of a position, an orientation, and a rotation angle of the intraocular endoscope within the subject,
the posture information includes a graphic representing the at least one of the position, the orientation, and the rotation angle on a scale, and
the posture information includes a cross-sectional or three-dimensional view of an eyeball model.
2. The image processing device according to claim 1 , wherein
a marker is displayed on the intraocular endoscope, and
the processing circuitry estimates the relative posture of the intraocular endoscope in the subject on the basis of the marker in the microscopic image captured by the surgical microscope.
3. The image processing device according to claim 1 , wherein
the processing circuitry acquires an image of the intraocular endoscope photographed from an outside of a subject eye as the subject, and
the processing circuitry estimates the relative posture of the intraocular endoscope in the subject eye on the basis of a feature amount of a portion of the intraocular endoscope, the portion not being inserted into the subject eye.
4. An image processing method comprising:
acquiring a microscopic image obtained by photographing an intraocular endoscope inserted into a subject with a surgical microscope;
estimating, using processing circuitry, a relative posture of the intraocular endoscope within the subject by analyzing an image of the intraocular endoscope captured in the microscopic image; and
outputting posture information regarding the relative posture of the intraocular endoscope by superimposing the posture information onto an endoscopic image obtained by the intraocular endoscope, wherein
the relative posture includes at least one of a position, an orientation, and a rotation angle of the intraocular endoscope within the subject,
the posture information includes a graphic representing the at least one of the position, the orientation, and the rotation angle on a scale, and
the posture information includes a cross-sectional or three-dimensional view of an eyeball model.
5. A surgical system comprising:
a surgical microscope that photographs a subject;
an intraocular endoscope configured to be inserted into the subject, and obtain an endoscopic image inside the subject; and
processing circuitry configured to
acquire a microscopic image obtained by photographing the intraocular endoscope inserted into the subject with the surgical microscope;
estimate a relative posture of the intraocular endoscope within the subject by analyzing an image of the intraocular endoscope captured in the microscopic image; and
output posture information regarding the relative posture of the intraocular endoscope by superimposing the posture information onto an endoscopic image obtained by the intraocular endoscope, wherein
the relative posture includes at least one of a position, an orientation, and a rotation angle of the intraocular endoscope within the subject,
the posture information includes a graphic representing the at least one of the position, the orientation, and the rotation angle on a scale, and
the posture information includes a cross-sectional or three-dimensional view of an eyeball mode.