Endoscope system

1. An endoscope system, comprising:

a storage portion that stores image information for constructing three-dimensional image information relating to a subject that is previously acquired;

a luminal organ extraction portion that, by constructing the three-dimensional image information based on the image information, extracts a predetermined luminal organ that is present in the three-dimensional image information;

an image pickup portion that picks up an image of inside the subject;

a position information acquisition portion that acquires position information of the image pickup portion;

a position alignment portion that makes the position information acquired by the position information acquisition portion correspond to position information of three-dimensional image coordinates of the predetermined luminal organ; and

an image processing portion that generates trail information based on the position information of the image pickup portion, and based on a result of the position alignment portion, creates an image in which current distal end position information of the image pickup portion and determination information indicating a place that an image pickup portion distal end reaches inside the predetermined luminal organ and a place that the image pickup portion distal end has not reached, which are determined from the trail information, in different display forms are superimposed in a distinguishable manner on three-dimensional image information of the predetermined luminal organ.

2. The endoscope system according to claim 1 , further comprising a determination portion that, based on a result of the position alignment portion, determines whether or not the image pickup portion passes through a duct in the predetermined luminal organ.

3. The endoscope system according to claim 2 , wherein the determination portion determines whether or not the image pickup portion passes through based on distance information regarding a distance between a past position and a current position of the image pickup portion distal end.

4. The endoscope system according to claim 1 , further comprising a virtual endoscopic image generation portion that generates a virtual endoscopic image in which the predetermined luminal organ is endoscopically seen from a predetermined observation point,

wherein the image processing portion generates trail information based on the position information of the image pickup portion, and superimposes the trail information on the three-dimensional image information of the predetermined luminal organ, the virtual endoscopic image, or the image that is picked up by the image pickup portion, and displays the resulting image.

5. The endoscope system according to claim 1 , wherein the image processing portion creates an image in which the determination information is superimposed in different colors.

6. The endoscope system according to claim 1 , further comprising:

an X-ray image acquisition portion that acquires X-ray information that is obtained by irradiating the subject with X-rays; and

an extraction portion that extracts a predetermined structure from the X-ray information;

wherein:

the position alignment portion makes the predetermined structure correspond to the three-dimensional image information of the predetermined luminal organ; and

the image processing portion superimposes the predetermined structure on the three-dimensional image information of the predetermined luminal organ and displays the resulting information.

7. The endoscope system according to claim 6 , further comprising a determination portion that determines whether or not the image pickup portion passes through the predetermined structure based on a result of the position alignment portion,

wherein if the determination portion determines that the image pickup portion passes through the predetermined structure, the image processing portion creates an image in which a display form of the predetermined structure is changed on the three-dimensional image information.

8. An endoscope system, comprising:

a storage portion that stores image information for constructing three-dimensional image information relating to a subject that is previously acquired;

a luminal organ extraction portion that, by constructing the three-dimensional image information based on the image information, extracts a predetermined luminal organ that is present in the three-dimensional image information;

an image pickup portion that picks up an image of inside the subject;

a position information acquisition portion that acquires position information of the image pickup portion;

a position alignment portion that, makes the position information acquired by the position information acquisition portion correspond to position information of three-dimensional image coordinates of the predetermined luminal organ;

a determination portion that, based on a result of the position alignment portion, determines whether or not the image pickup portion passes through a duct in the predetermined luminal organ by setting a point that is nearest to centerline data of the predetermined luminal organ in the three-dimensional image information to be a trail point with respect to respective position coordinates of an image pickup portion distal end; and

an image processing portion that, based on the result of the position alignment portion, generates trail information from the position information of the image pickup portion, and superimposes past trail information in the trail information on centerline data of a range in which the trail point exists, and creates an image in which insertion shape information including current distal end position information of the image pickup portion, and determination information which is obtained by determining whether or not the image pickup portion passes through a duct in the predetermined luminal organ are superimposed in a distinguishable manner on three-dimensional image information of the predetermined luminal organ.