WO2010103868A1 - 画像処理システム、その外部装置およびその画像処理方法 - Google Patents
画像処理システム、その外部装置およびその画像処理方法 Download PDFInfo
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- WO2010103868A1 WO2010103868A1 PCT/JP2010/050556 JP2010050556W WO2010103868A1 WO 2010103868 A1 WO2010103868 A1 WO 2010103868A1 JP 2010050556 W JP2010050556 W JP 2010050556W WO 2010103868 A1 WO2010103868 A1 WO 2010103868A1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
- A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/0002—Operational features of endoscopes provided with data storages
- A61B1/00022—Operational features of endoscopes provided with data storages removable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
- A61B5/073—Intestinal transmitters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
- A61B8/4472—Wireless probes
Definitions
- the present invention relates to an image processing system, an external device thereof, and an image processing method thereof, and more particularly to an image processing system including an in-subject introduction device provided with an imaging means, an external device thereof, and an image processing method thereof.
- apparatuses for observing the inside of a subject such as a person or an animal include a tube-type endoscope and a capsule-type endoscope (hereinafter simply referred to as a capsule endoscope).
- Tube-type endoscopes include electronic endoscopes with a CCD (Charge Coupled Device) sensor at the tip, and fiberscopes in which a bundle of optical fibers is passed through the tube.
- An image inside the subject is acquired by inserting from the mouth or anus of the subject (for example, see Patent Document 1 shown below).
- the capsule endoscope is of a size that can be swallowed by a person, an animal, or the like.
- the capsule endoscope is orally introduced into the subject and periodically images the inside of the subject.
- An image inside the subject obtained by imaging is transmitted as a radio signal to an external receiving device (see, for example, Patent Document 2 shown below).
- An observer reproduces a plurality of images obtained by a tube-type endoscope or a capsule endoscope individually or continuously, and observes them to diagnose the inside of the subject.
- the display surface with respect to a certain reference (subject, ground surface, etc.) of the image obtained by imaging is used.
- the vertical tilt (rotation amount) at the position does not change.
- the posture of the capsule endoscope in the subject is free as long as the configuration is not limited by an external magnetic field. Accordingly, the capsule endoscope passively moves in the lumen of the subject by its peristaltic motion while rotating in various directions. For this reason, it is difficult to keep the vertical inclination (rotation amount) in the display surface with respect to a certain reference of the image acquired by the capsule endoscope constant.
- the degree of similarity and correlation between successive images will decrease. For example, when the vertical direction of the subsequent image is rotated by 90 ° with respect to the vertical direction of the previous image, even if the image is the same part imaged, the subject (hereinafter simply referred to as the part) in the image The position changes greatly, or the part in the image rotates to change the apparent shape.
- Such a change in the vertical inclination (rotation amount) of the image may cause problems such as an increase in labor required for subject diagnosis by visual interpretation and a decrease in the accuracy of the diagnosis result.
- problems such as an increase in labor required for subject diagnosis by visual interpretation and a decrease in the accuracy of the diagnosis result.
- the accuracy and speed of various data processing may be greatly reduced.
- a decrease in the accuracy and speed of data processing causes a decrease in accuracy of data processing results and a decrease in convenience of functions provided to an observer. For this reason, as in the case of the subject diagnosis by interpretation, as a result, problems such as an increase in labor required for the subject diagnosis and a decrease in accuracy of the diagnosis result may occur.
- the present invention has been made in view of the above problems, and provides an image processing system, an external device thereof, and an image processing method thereof that can reduce labor during diagnosis and improve the accuracy of diagnosis results. For the purpose.
- an image processing system includes an imaging unit that images the inside of a subject, and an output unit that outputs image data acquired by the imaging unit to the outside.
- An introduction device input means for inputting the image data, orientation specifying means for specifying the orientation of the in-subject introduction device with respect to a reference direction when the image data is imaged, and the orientation specified by the orientation specifying means
- an external device including rotation correction means for aligning the orientations of a plurality of image data by rotationally correcting the image data input by the input means.
- the above-described image processing system is characterized in that the orientation specifying means specifies the orientation of the in-subject introduction apparatus based on the orientation of the subject.
- the image processing system according to the present invention described above is characterized in that the orientation specifying means acquires the orientation of the in-subject introduction device with reference to a real space.
- the external apparatus includes a directional antenna having directivity, and an electromagnetic wave transmitting unit that transmits an electromagnetic wave through the directional antenna, Comprises a plurality of antennas and intensity / phase detection means for detecting the intensity and phase of the electromagnetic wave received by each antenna, and the output means detects the electromagnetic wave detected by the intensity / phase detection means.
- Intensity and phase are added to the image data and output to the outside, and the input means inputs the intensity and phase of the electromagnetic wave added to the image data to the direction specifying means, and the direction specifying means is the The direction of the in-subject introduction device is specified from the intensity and phase of the electromagnetic wave input from the input means.
- the external device includes subject orientation specifying means for specifying the orientation of the subject, the reference direction is set to the subject, and the orientation specifying means is The direction of the in-subject introduction apparatus with respect to the specified reference direction is rotationally corrected by the direction of the subject specified by the subject direction specifying means.
- the in-subject introduction apparatus includes gravity direction detecting means for detecting the direction of gravity, and the output means detects the direction of gravity detected by the gravity direction detecting means.
- the input means inputs the direction of the gravity added to the image data to the orientation specifying means, and the orientation specifying means is input from the input means
- the direction of the in-subject introduction device is specified from the direction of gravity.
- the image processing system according to the present invention described above is characterized in that the external device includes screen generation means for generating a screen for displaying the rotation-corrected image data.
- the external device calculates an average color of the rotation-corrected image data, generates the calculated average color image, and the generated average color image is the image.
- the average color bar generating unit calculates the average color for each divided region that divides one piece of the image data into a plurality of regions, and the average color for each divided region. An image is generated, and the average color bar is generated so that an image of an average color for a corresponding divided area between the image data is arranged in parallel to a predetermined axis.
- the external device detects a red component included in the rotation-corrected image data, and a red image for visually displaying a detection result by the red detection unit.
- a red image generating means for generating the image wherein the screen generating means generates the screen in which the red image generated by the red image generating means is incorporated.
- the external device includes a rotation amount image generation unit that generates a rotation amount image for visually displaying the rotation amount used for the rotation correction for each of the image data.
- the screen generation unit generates the screen in which the rotation amount image generated by the rotation amount image generation unit is incorporated.
- the external device includes an organ image generation unit that generates an organ image obtained by imaging an organ in the subject, and the screen generation unit converts the organ image into the screen. It is characterized by incorporating.
- the external device is an organ image obtained by imaging the organ in the subject, and the average color image generated by the average color bar generating unit is superimposed on the image.
- An organ image generating means for generating an organ image is provided, and the screen generating means incorporates the organ image into the screen.
- the external device is an organ image obtained by imaging the organ in the subject, and the organ on which the image of the detection result generated by the red image generation unit is superimposed.
- An organ image generating means for generating an image is provided, and the screen generating means incorporates the organ image into the screen.
- the position of the in-subject introduction device when the external device acquires the image data is estimated based on the rotation amount used for the rotation correction for each image data. It is characterized by comprising a position estimation means.
- the external device determines the similarity between the image data before and after the rotation-corrected plurality of image data, and the determination by the similarity determination unit.
- Image data selection means for selecting image data after rotation correction satisfying a predetermined condition from the plurality of rotation-corrected image data based on the result.
- the external device calculates the motion vector between the preceding and succeeding image data among the plurality of rotation-corrected image data
- the motion vector calculating unit calculates the motion vector.
- a maximum scalar amount extraction unit that extracts a value having the maximum scalar amount from the motion vectors, and a rotation that satisfies a predetermined condition from the plurality of image data that has been rotationally corrected based on an extraction result by the maximum scalar amount extraction unit.
- image data sorting means for sorting the corrected image data.
- the image processing system according to the present invention described above is characterized in that the external device includes screen generation means for generating a screen for displaying a list of reduced images obtained by reducing the rotation-corrected image data.
- the external apparatus includes an input means for inputting image data acquired by an in-subject introduction apparatus provided with an imaging means for imaging the inside of the subject, and the inside of the subject when the image data is imaged.
- Direction specifying means for specifying the orientation of the introduction device with respect to a reference direction
- rotation correction means for aligning the directions of the plurality of image data by rotationally correcting the image data based on the direction specified by the direction specifying means. It is characterized by having prepared.
- the image processing method includes an input step of inputting image data acquired by an in-subject introduction apparatus provided with an imaging means for imaging the inside of the subject, and the subject when the image data is imaged.
- a direction specifying step for specifying a direction with respect to a reference direction of the internal introduction device, and a rotation correcting step for aligning the directions of a plurality of image data by rotationally correcting the image data based on the direction specified in the direction specifying step; It is characterized by including.
- the present invention it is possible to align the orientations of a plurality of image data by rotationally correcting the image data based on the orientation of the in-subject introduction apparatus at the time of imaging with respect to the reference direction. It is possible to realize an image processing system, an external device thereof, and an image processing method thereof that can reduce or improve the accuracy of diagnosis results.
- FIG. 1 is a schematic diagram showing a schematic configuration of a medical system according to Embodiment 1 of the present invention.
- FIG. 2 is a block diagram showing a schematic internal configuration of the capsule medical device according to the first embodiment of the present invention.
- FIG. 3 is a perspective view showing a schematic appearance of the capsule medical device according to the first embodiment of the present invention.
- FIG. 4 is a cross-sectional view showing a cross-sectional structure when the capsule medical device is cut along a plane including the imaging surface of the CCD array in the imaging unit according to Embodiment 1 of the present invention.
- FIG. 5 is a block diagram showing a schematic configuration example of the receiving apparatus according to Embodiment 1 of the present invention.
- FIG. 1 is a schematic diagram showing a schematic configuration of a medical system according to Embodiment 1 of the present invention.
- FIG. 2 is a block diagram showing a schematic internal configuration of the capsule medical device according to the first embodiment of the present invention.
- FIG. 3 is a perspective view showing
- FIG. 6 is a diagram illustrating an arrangement example of antennas on the receiving device side according to the first embodiment of the present invention.
- FIG. 7 is a block diagram showing a schematic configuration example of the display device according to the first embodiment of the present invention.
- FIG. 8 is a diagram showing an example of a GUI screen generated according to the first embodiment of the present invention.
- FIG. 9 is a diagram showing continuous image data obtained by the capsule medical device according to Embodiment 1 of the present invention imaging the same part in the subject.
- FIG. 10 is a diagram illustrating an example of the average color bar generated according to the first embodiment of the present invention.
- FIG. 11 is a flowchart showing a schematic operation example of the capsule medical device according to the first embodiment of the present invention.
- FIG. 12 is a flowchart showing a schematic operation example of the receiving apparatus according to Embodiment 1 of the present invention.
- FIG. 13 is a flowchart showing a schematic operation example of the display device according to the first embodiment of the present invention.
- FIG. 14 is a diagram for explaining the rotation correction of the image data in step S123 of FIG.
- FIG. 15 is a diagram illustrating an example of the average color bar generated using the image data after the rotation correction in step S127 of FIG.
- FIG. 16 is a schematic diagram showing a schematic configuration of a medical system according to Modification 1-1 of Embodiment 1 of the present invention.
- FIG. 17 is a block diagram showing a schematic configuration example of a capsule medical device and a receiving device according to Modification 1-1 of Embodiment 1 of the present invention.
- FIG. 18 is a flowchart showing a schematic operation example of the receiving apparatus according to the modified example 1-1 according to the first embodiment of the present invention.
- FIG. 19 is a block diagram illustrating a schematic configuration example of a capsule medical device and a receiving device according to another example of the modification 1-1 of the first embodiment of the present invention.
- FIG. 20 is a schematic diagram showing a schematic configuration of a medical system according to Modification 1-2 of Embodiment 1 of the present invention.
- FIG. 21 is a block diagram showing a schematic configuration example of a capsule medical device and a receiving device according to Modification 1-2 of Embodiment 1 of the present invention.
- FIG. 22 is a flowchart showing a schematic operation example of the capsule medical apparatus according to the modified example 1-2 of the first embodiment of the present invention.
- FIG. 23 is a flowchart showing a schematic operation example of the receiving apparatus according to the modified example 1-2 of the first embodiment of the present invention.
- FIG. 24 is a schematic diagram showing a schematic configuration of a medical system according to Embodiment 2 of the present invention.
- FIG. 25 is a block diagram showing a schematic configuration example of a capsule medical device and a receiving device according to Embodiment 2 of the present invention.
- FIG. 26 is a flowchart showing a schematic operation example (No. 1) of the capsule medical device according to the second embodiment of the present invention.
- FIG. 27 is a flowchart showing a schematic operation example (No. 2) of the capsule medical device according to the second embodiment of the present invention.
- FIG. 28 is a flowchart showing a schematic operation example of the receiving apparatus according to the second embodiment of the present invention.
- FIG. 29 is a schematic diagram showing a schematic configuration of a medical system according to Modification 2-1 of Embodiment 2 of the present invention.
- FIG. 30 is a block diagram showing a schematic configuration example of a capsule medical device and a receiving device according to the modified example 2-1 of the second embodiment of the present invention.
- FIG. 31 is a flowchart showing a schematic operation example of the capsule medical apparatus according to the modified example 2-1 of the second embodiment of the present invention.
- FIG. 32 is a flowchart showing a schematic operation example of the receiving apparatus according to the modified example 2-1 of the second embodiment of the present invention.
- FIG. 29 is a schematic diagram showing a schematic configuration of a medical system according to Modification 2-1 of Embodiment 2 of the present invention.
- FIG. 30 is a block diagram showing a schematic configuration example of a capsule medical device and a receiving device according to the modified example
- FIG. 33 is a schematic diagram showing a schematic configuration of a medical system according to Modification 2-2 of Embodiment 2 of the present invention.
- FIG. 34 is a block diagram showing a schematic configuration example of a capsule medical device and a receiving device according to Modification 2-2 of Embodiment 2 of the present invention.
- FIG. 35 is a flowchart showing a schematic operation example of the reception apparatus according to the modification 2-2 of the second embodiment of the present invention.
- FIG. 36 is a schematic diagram showing a schematic configuration of a medical system according to Embodiment 3 of the present invention.
- FIG. 37 is a block diagram showing a schematic configuration example of a capsule medical device and a receiving device according to Embodiment 3 of the present invention.
- FIG. 38 is a diagram for explaining rotation correction according to the third embodiment of the present invention.
- FIG. 39 is a diagram showing an example of the average color bar generated using the image data after the rotation correction according to the third embodiment of the present invention.
- FIG. 40 is a schematic diagram showing a schematic configuration of a medical system according to Modification 3-1 of Embodiment 3 of the present invention.
- FIG. 41 is a block diagram showing a schematic configuration example of a capsule medical device and a receiving device according to the modified example 3-1 of the third embodiment of the present invention.
- FIG. 42 is a schematic diagram showing a schematic configuration of a medical system according to Modification 3-2 of Embodiment 3 of the present invention.
- FIG. 43 is a block diagram showing a schematic configuration example of a capsule medical device and a receiving device according to Modification 3-2 of Embodiment 3 of the present invention.
- FIG. 44 is a schematic diagram showing a schematic configuration of a medical system according to Embodiment 4 of the present invention.
- FIG. 45 is a block diagram showing a schematic configuration example of a capsule medical device and a receiving device according to Embodiment 4 of the present invention.
- FIG. 46 is a schematic diagram showing a schematic configuration of a medical system according to Modification 4-1 of Embodiment 4 of the present invention.
- FIG. 47 is a block diagram showing a schematic configuration example of a capsule medical device and a receiving device according to Modification 4-1 of Embodiment 4 of the present invention.
- FIG. 44 is a block diagram showing a schematic configuration example of a capsule medical device and a receiving device according to Modification 3-2 of Embodiment 3 of the present invention.
- FIG. 44 is a schematic diagram showing a schematic configuration of
- FIG. 48 is a schematic diagram showing a schematic configuration of a medical system according to Modification 4-2 of Embodiment 4 of the present invention.
- FIG. 49 is a block diagram showing a schematic configuration example of a capsule medical device and a receiving device according to the modification 4-2 of the fourth embodiment of the present invention.
- FIG. 50 is a schematic diagram showing a schematic configuration of a medical system according to the fifth embodiment of the present invention.
- FIG. 51 is a block diagram showing a schematic configuration example of a capsule medical device and a receiving device according to Embodiment 5 of the present invention.
- FIG. 52 is a flowchart showing a schematic operation example of the capsule medical apparatus according to the fifth embodiment of the present invention.
- FIG. 53 is a flowchart showing a schematic operation example of the receiving apparatus according to the fifth embodiment of the present invention.
- FIG. 54 is a block diagram showing a schematic configuration example of a display device according to Embodiment 6 of the present invention.
- FIG. 55 is a flowchart showing a schematic operation example of the display device 650 according to the sixth embodiment of the present invention.
- FIG. 56 is a diagram showing an example of a GUI screen generated by the screen generation unit according to Embodiment 6 of the present invention.
- FIG. 57 is a diagram showing an example of the average color bar according to the modification 6-1 of the sixth embodiment of the present invention.
- FIG. 58 is a diagram showing an example of the average color bar according to the modification 6-2 of the sixth embodiment of the present invention.
- FIG. 59 is a diagram showing an example of the average color bar according to the modified example 6-3 of the sixth embodiment of the present invention.
- FIG. 60 is a block diagram showing a schematic configuration example of a display device according to Embodiment 7 of the present invention.
- FIG. 61 is a flowchart showing a schematic operation example of the display device according to the seventh embodiment of the present invention.
- FIG. 62 is a diagram showing an example of a GUI screen generated by the screen generation unit according to Embodiment 7 of the present invention.
- FIG. 63 is a diagram showing an example of the average color bar according to the modification 7-1 of the seventh embodiment of the present invention.
- FIG. 64 is a diagram showing an example of a GUI screen according to the eighth embodiment of the present invention.
- FIG. 65 is a diagram showing the relationship between the part of the lumen through which the capsule medical device introduced into the specimen passes and the amount of rotation.
- FIG. 66 is a block diagram showing a schematic configuration example of a display device according to Modification 8-1 of Embodiment 8 of the present invention.
- FIG. 67 is a diagram showing an example of a GUI screen according to the modification 8-1 of the eighth embodiment of the present invention.
- FIG. 68 is a diagram showing an example of a GUI screen according to Modification 8-3 of Embodiment 8 of the present invention.
- FIG. 69 is a block diagram illustrating a schematic configuration example of the image selection unit according to the ninth embodiment of the present invention.
- FIG. 70 is a diagram showing an example of a GUI screen according to the tenth embodiment of the present invention.
- FIG. 71 is a block diagram showing a schematic configuration example of a display device according to Embodiment 11 of the present invention.
- FIG. 72 is a block diagram showing a schematic configuration example of a display device according to Embodiment 12 of the present invention.
- FIG. 73 is a diagram showing an example of a GUI screen according to the twelfth embodiment of the invention.
- each drawing only schematically shows the shape, size, and positional relationship to the extent that the contents of the present invention can be understood. Therefore, the present invention is illustrated in each drawing. It is not limited to only the shape, size, and positional relationship. Moreover, in each figure, a part of hatching in a cross section is abbreviate
- the subject 900 is introduced orally into the subject 900, and the subject 900 is subjected to an imaging operation while moving in the lumen 902 (see FIG. 1) from the esophagus to the anus of the subject 900.
- a capsule-type intra-subject introduction apparatus hereinafter referred to as a capsule medical apparatus
- the present invention is not limited to this, and when using a capsule medical device floating on a liquid stored in the stomach, small intestine, large intestine, etc. of the subject 900, or from outside the body with respect to a magnet fixed in the capsule medical device.
- Various modifications are possible, for example, when using a capsule medical device that is guided by applying a magnetic field.
- FIG. 1 is a schematic diagram showing a schematic configuration of a medical system 1 according to the first embodiment.
- the medical system 1 includes, for example, a capsule medical device 10 that is orally introduced into a subject 900, and wireless communication with the capsule medical device 10 by performing wireless communication with the capsule medical device 10.
- a receiving device 130 that transmits and receives image data, control commands, and the like, and a display device 150 that performs predetermined processing on the image data received from the capsule medical device 10 by the receiving device 130 and displays the image data to an observer.
- the receiving device 130 and the display device 150 are external devices arranged outside the subject 900.
- a portable recording medium 140 such as a flash memory (registered trademark) or a smart card (registered trademark) can be attached to and detached from the receiving device 130.
- image data received from the capsule medical device 10 is stored in the portable recording medium 140.
- the observer replaces the portable recording medium 140 from the receiving device 130 with the display device 150, and uses the display device 150 to perform predetermined processing such as reproduction processing and conversion processing of image data stored in the portable recording medium 140.
- the display device 150 an information processing device such as a personal computer or a workstation, or a display such as a liquid crystal display or an organic EL display can be used.
- FIG. 2 is a block diagram showing a schematic internal configuration of the capsule medical device 10.
- FIG. 3 is a perspective view showing a schematic appearance of the capsule medical device 10.
- FIG. 4 is a cross-sectional view showing a cross-sectional structure when the capsule medical device 10 is cut along a plane including the imaging plane of the CCD array 11a in the imaging unit 11. As shown in FIG.
- the capsule medical device 10 includes an imaging unit 11 that illuminates and images the inside of a subject 900, and a processing unit 12 that performs processing on an image generated by the imaging unit 11 and other various types of processing.
- the memory unit 13 that stores the image data processed by the processing unit 12, the transmission / reception unit 14 that transmits and receives signals to and from the reception device 130, the antenna 15 a, and the capsule medical device 10 are supplied with electric power.
- the imaging unit 11, the processing unit 12, the memory unit 13, the transmission / reception unit 14, and the battery 16 are accommodated in a watertight casing 18 including a container 18a and a cap 18b.
- the container 18a has a substantially cylindrical or semi-elliptical spherical shape in which one end has a hemispherical dome shape and the other end is opened.
- the cap 18b has a hemispherical shape, and seals the inside of the housing 18 in a watertight manner by being fitted into the opening of the container 18a.
- At least the cap 18b is formed of a transparent resin or the like.
- the imaging unit 11 is an imaging means for imaging the inside of the subject 900.
- the LED 11c that illuminates the inside of the subject 900, a CCD array 11a in which CCDs (Charge Coupled Devices) as light receiving elements are arranged in a matrix, and a CCD
- the objective lens 11b arrange
- the imaging unit 11 operates regularly (for example, twice per second), thereby imaging the inside of the subject 900 and generating image data.
- the generated image data is read by the drive circuit and input to the processing unit 12 in substantially real time.
- the processing unit 12 performs predetermined signal processing on the input image data, and inputs the processed image data to the transmission / reception unit 14.
- the transmission / reception unit 14 mainly functions as an output unit that outputs the image data captured by the imaging unit 11 to the external reception device 130. Therefore, the image data that has undergone the predetermined signal processing by the processing unit 12 is then wirelessly transmitted from the transmission / reception unit 14 to the reception device 130 via the antenna 15a in substantially real time.
- Image data that has undergone predetermined image signal processing is stored in the memory unit 13, and after the capsule medical device 10 is extracted from the subject 900, the image data is extracted from the memory unit 13. You may comprise as follows. Note that it is preferable that a time stamp is added to the image data to be transmitted / stored, for example, by the processing unit 12 so that the imaging time, the imaging timing, and the like can be understood.
- the LED 11c and the CCD array 11a are arranged inside the housing 18 so that the illumination / imaging direction Dr faces the outside of the housing 18 through the transparent cap 18b.
- the CCD array 11 a is disposed at the approximate center of the cross section perpendicular to the longitudinal direction of the housing 18.
- the plurality of LEDs 11c are arranged in point or line symmetry so as to surround the CCD array 11a in the cross section.
- a certain direction in a plane parallel to the light receiving surface of the CCD array 11 a is defined as the prescribed direction Ui of the capsule medical device 10.
- the antenna 15a of the capsule medical device 10 for example, an antenna having directivity is used.
- a loop antenna is used as the antenna 15a.
- the present invention is not limited to this, and the direction of the antenna 15a with respect to a certain reference (in the first embodiment, the direction connecting the head and the foot of the subject 900 as an example: hereinafter referred to as the reference direction Ds) is a signal source. Any antenna that can be detected based on the phase or intensity at the antenna 120 that is each observation point of electromagnetic waves (hereinafter, electromagnetic waves include radio waves) emitted from an antenna 15a of a capsule medical device 10 Anything can be applied.
- electromagnetic waves include radio waves
- the antenna 15 a having this directivity is fixed inside the housing 18. At this time, the antenna 15a is arranged inside the casing 18 so that the center line of the loop of the antenna 15a (corresponding to the symmetry axis of the electric field distribution shape of the electromagnetic wave emitted from the antenna 15a) and the longitudinal direction of the capsule medical device 10 are not parallel. Fixed to. Thereby, even when the capsule medical device 10 rotates about the longitudinal center line, the direction of the prescribed direction Ui of the capsule medical device 10 with respect to the reference direction Ds is changed to the receiving device 130 and the phase of the electromagnetic wave at the plurality of observation points. It is possible to specify based on the strength and the like.
- the direction of the center line of the antenna 15a having directivity is preferably matched with the direction of the specified direction Ui. This makes it possible to directly use the direction of the antenna 15a with respect to the reference direction Ds as the direction of the specified direction Ui with respect to the reference direction Ds, and thus the processing in the receiving device 130 described later can be lightened.
- the image data wirelessly transmitted from the capsule medical device 10 includes a plurality of antennas 120a to 120i (hereinafter referred to as "arbitrary") arranged on the body surface of the subject 900 as shown in FIGS.
- the antennas 120a to 120i are denoted by 120), and input to the receiving device 130 arranged outside the subject 900 via the cable 121.
- a schematic configuration example of the receiving apparatus 130 according to the first embodiment is shown in a block diagram of FIG.
- the reception device 130 transmits / receives a signal to / from the capsule medical device 10 via the antenna 120, and a signal (particularly image data) input from the transmission / reception circuit 131.
- a signal processing circuit 132 that executes predetermined processing, a memory 134 that stores image data and the like that have been subjected to predetermined processing, and a GUI that allows an observer to input various operations and instructions to the capsule medical device 10 and the receiving device 130 (Graphical User Interface)
- An operation unit 135 and a display unit 136 that realize a function are provided.
- the transmission / reception circuit 131 also has a function as phase detection means for detecting the phase of the electromagnetic waves transmitted from the antenna 15a of the capsule medical device 10 at each of the antennas 120a to 120i.
- the transmission / reception circuit 131 detects, for example, the intensity of the received electromagnetic wave at each antenna 120 as intensity detection means for detecting the intensity at each antenna 120a to 120i of the electromagnetic wave transmitted from the antenna 15a of the capsule medical device 10.
- An RSSI (Received Signal Strength Indicator) circuit 131a is provided. That is, the transmission / reception circuit 131 also functions as intensity / phase detection means for detecting the intensity and phase of the electromagnetic waves transmitted from the antenna 15a of the capsule medical device 10 at each of the antennas 120a to 120i.
- the receiving apparatus 130 estimates the spatial spread (electric field distribution) of the electromagnetic waves from the phase of the electromagnetic waves at each antenna 120 detected by the transmission / reception circuit 131 and the intensity at each antenna 120 detected by the RSSI circuit 131a.
- the capsule medical device 10 includes a CPU 133 that functions as direction specifying means for specifying the direction of the antenna 15a with respect to the reference direction Ds (that is, the direction of the specified direction Ui with respect to the reference direction Ds).
- the antenna 15a of the capsule medical device 10 is an orientation detection indicator (this example) for specifying the orientation of the capsule medical device 10 with respect to the reference direction Ds (that is, the inclination of the specified direction Ui).
- the antenna 120 functions as a signal source that emits an electromagnetic wave
- the antenna 120 functions as an observation point for observing a direction detection mark (electromagnetic wave) emitted from the signal source (antenna 15a)
- the CPU 133 of the receiving device 130 performs the above operation.
- Direction specifying means for specifying the direction of the capsule medical device 10 with respect to the reference direction Ds (that is, the inclination of the specified direction Ui) from the intensity or phase of the direction detection sign (electromagnetic wave) observed at the observation point (antenna 120) To do.
- the orientation of the capsule medical device 10 using electromagnetic waves for example, convergence calculation by iterative calculation using the least square method can be used.
- the plurality of antennas 120a to 120i are composed of, for example, a dipole antenna or a loop antenna, and are fixed to a jacket 122 on which the subject 900 can be worn, for example, as shown in FIG.
- the number and arrangement pattern of the antennas 120 and the fixing destination of the antennas 120 are not limited to those shown in FIG. 6, and electromagnetic waves (direction detection signs) emitted from the antenna 15 a of the capsule medical device 10 that is a signal source. )
- the number and arrangement that the CPU 133 can estimate / specify based on the intensity, phase, etc. of the electromagnetic wave (direction detection marker) observed by the antenna 120 as the observation point. Any pattern can be used as long as it is a fixation target that enables a state of being substantially fixed to the subject 900.
- the number of antennas 120 is at least two.
- orientation data Information on the orientation of the prescribed direction Ui specified by the CPU 133 with respect to the reference direction Ds (hereinafter referred to as orientation data) is temporarily stored in the memory 134 in association with image data received from the capsule medical device 10 simultaneously or simultaneously.
- the memory 134 functions as a buffer that temporarily stores image data.
- the image data and orientation data stored in the memory 134 are then accumulated in the portable recording medium 140 via the interface (I / F) unit 137, or the communication cable 159 is connected from the interface (I / F) unit 137.
- the interface unit 137 can be variously modified according to the data input / output method, such as a USB (Universal Serial Bus) interface or a communication interface used for a LAN (Local Area Network).
- the display device 150 includes an information processing device such as a personal computer or a workstation, or a display such as a liquid crystal display or an organic EL display. As shown in FIGS. 1 and 7, the display device 150 includes a control unit 151 that controls operations inside the display device 150 and input / output of data, and an interface unit 152 via a portable recording medium 140 or a communication cable 159.
- an information processing device such as a personal computer or a workstation
- a display such as a liquid crystal display or an organic EL display.
- the display device 150 includes a control unit 151 that controls operations inside the display device 150 and input / output of data, and an interface unit 152 via a portable recording medium 140 or a communication cable 159.
- FIG. 7 is a block diagram illustrating a schematic configuration example of the display device 150 according to the first embodiment.
- the interface unit 152 functions as an input unit that inputs image data (including orientation data) from the capsule medical device 10 via the receiving device 130.
- Image data and orientation data input from the interface unit 152 are temporarily stored in the memory unit 153 via the control unit 151. Thereafter, the image data and the orientation data are appropriately input to the image processing unit 154, and predetermined processing is performed.
- the processed image data may be stored again in the memory unit 153, for example.
- the image processing unit 154 performs predetermined processing described later on the input image data and orientation data, and then generates a GUI screen to be provided to the observer using the processed image data.
- the generated GUI screen is input to the display unit 155 via the control unit 151 and displayed on the display unit 155.
- the display unit 155 and the input unit 156 provide a viewer with a GUI function using the GUI screen being displayed.
- the observer inputs various operations from the input unit 156 such as a mouse and a keyboard, selects a target function, and displays / reproduces a desired image on the display unit 155.
- the observer diagnoses the inside of the subject 900 by reading the displayed / reproduced image.
- the image processing unit 154 includes a rotation correction unit 154a that rotates and corrects image data, a feature point extraction unit 154b that extracts feature points of image data, and a feature point extracted by the feature point extraction unit 154b.
- An image selection unit 154c that selects image data based on the image data, an average color bar generation unit 154d that generates an average color bar 60 using the selected image data, and the selected image data and average color bar 60.
- a screen generation unit (screen generation means) 154e that generates a GUI screen.
- the rotation correcting unit 154a is a rotation correcting unit that rotates and corrects corresponding image data based on the orientation of the capsule medical device 10 specified by the CPU 133 that is the orientation specifying unit, and is an upward direction Du of the screen (see FIG. 8).
- the image data is rotationally corrected so that the inclination of the reference direction Ds of each image on the display surface (hereinafter simply referred to as a rotation amount) matches between the plurality of images.
- each image data is rotationally corrected so that the reference direction Ds and the upper direction Du of the screen match in all images.
- the correction amount (that is, the rotation amount) at the time of rotation correction can be specified from the inclination on the display surface of the specified direction Ui of each image data with respect to the reference direction Ds. That is, by specifying how much the specified direction Ui is rotated with respect to the reference direction Ds on the surface parallel to the light receiving surface of the CCD array 11a, the rotation amount (correction amount) used for rotation correction is specified. Can do.
- the rotation amount A used for rotation correction can be specified by projecting the reference direction Ds onto the light receiving surface and obtaining the angle of the specified direction Ui with respect to the projected reference direction Ds.
- the rotation correction unit 154a rotates and corrects the image data according to the specified rotation amount, thereby matching the reference direction Ds in the image data with the upward direction Du of the screen. Thereby, it becomes possible to make the direction of the part in the image imaged as the subject coincide between the plurality of images.
- the image data after the rotation correction may be held in, for example, the memory 134 regardless of whether or not the image data is selected.
- the feature point extraction unit 154b extracts feature points of each image data after rotation correction (that is, for each frame), and inputs them to the image selection unit 154c as an extraction result.
- the image data after rotation correction is also input to the image selection unit 154c.
- the image selection unit 154c Based on the feature point extraction result input from the feature point extraction unit 154b, the image selection unit 154c selects image data in which a scene change has occurred or image data including a specific shape, and generates an average color bar. To the unit 154d and the screen generation unit 154e.
- the average color bar generation unit 154d calculates an average color of the rotation-corrected image data, generates an image of the calculated average color, and connects the generated average color images according to the order between the image data to calculate the average It functions as an average color bar generating means for generating the color bar 60.
- the average color bar generation unit 154d generates an average color bar using the image data selected by the image selection unit 154c. Details of the operation of the average color bar generation unit 154d and the average color bar 60 generated by the operation will be described later.
- the screen generation unit 154e generates a GUI screen as exemplified in FIG.
- the GUI screen generated by the image processing unit 154 includes patient information g11, examination information g12, a main image display area g13, a sub-image display area g14, a reproduction control button g15, and an average color bar 60. Is incorporated.
- the observer switches the image displayed in the main image display region g13 by operating the input unit 156 such as a mouse and selecting the reproduction control button g15. For example, when an image reproduction stop button (“
- the arrow Du direction in the main image display area g13 is the upward direction Du of the screen.
- a scroll bar g14s and a slider g14a are disposed adjacent to each other in the sub-image display area g14.
- the scroll bar g14s is linked to the time axis of the imaging timing of continuously captured images. Therefore, the observer can slide the reduced image displayed in the sub-image display area g14 by moving the slider g14a along the scroll bar g14s.
- the average color bar 60 generates an image simply indicating the color that is a feature of each image over all selected image data, and this image is displayed on the time axis t (see FIG. 10 or FIG. 15). It is a GUI generated by arranging along. Note that arranging images along the time axis results in arranging images along the movement trajectory in the lumen 902 of the capsule medical device 10.
- the color (average color) serving as a feature of each image can be obtained by, for example, dividing the target image into a plurality (for example, four) in the vertical direction and averaging the color of the feature points in each divided region. Therefore, the observer can visually confirm which region in the lumen 902 should be noted by interpreting the average color bar 60.
- a slider g16a indicating which position of the image data is currently displayed on the time axis is displayed in the main image display area g13. Further, the observer can switch the image data displayed in the main image display region g13 to image data at a target position on the time axis by moving the slider g16a using, for example, a mouse or the like in the input unit 156. .
- the posture of the capsule medical device 10 in the subject 900 is arbitrary. Therefore, the capsule medical device 10 moves passively in the lumen of the subject 900 by its peristaltic motion while rotating in various directions.
- the capsule medical device 10 moves passively in the lumen of the subject 900 by its peristaltic motion while rotating in various directions.
- the specified direction Ui in the image data Im12 imaged at the second imaging timing which is the timing, has an inclination of 90 ° with respect to the reference direction Ds, and the third in the image data Im13 imaged at the next successive timing.
- the specified direction Ui has an inclination of 180 ° with respect to the reference direction Ds. That is, from FIG. 9A to FIG. 9C, the capsule medical device 10 is rotated by 90 ° about the longitudinal symmetry axis. Therefore, as shown in FIGS. 9D to 9F, the specified direction Ui of the image data Im11 to Im13 acquired by the capsule medical device 10 is rotated by 90 ° with respect to the reference direction Ds. End up. As a result, as shown in FIGS. 9D to 9F, the reference direction Ds of the image data Im11 to Im13 displayed on the screen is rotated by 90 ° with respect to the upward direction Du of the screen. End up.
- FIG. 9 is a diagram showing temporally continuous image data Im11 to Im13 obtained by the capsule medical device 10 imaging the same part p1 in the subject 900.
- FIG. 10 is a diagram illustrating an example of the average color bar 60 generated according to the first embodiment.
- regions P1, P2a, P2b, and P3 are images obtained by averaging characteristic colors of divided regions (A3, A1, and A2, A2) each including the same portion p1.
- each image data is two-dimensionally rotationally corrected on the display surface so that the reference direction Ds of each image coincides with the upper direction Du of the screen.
- FIG. 11 is a flowchart showing a schematic operation example of the capsule medical device 10 according to the first embodiment.
- FIG. 12 is a flowchart illustrating a schematic operation example of the receiving apparatus 130 according to the first embodiment.
- FIG. 13 is a flowchart showing a schematic operation example of the display device according to the first embodiment.
- the reception device 130 constantly monitors whether image data has been received from the capsule medical device 10 (No in step S111), and receives image data (step S111). Yes), from the phase of the electromagnetic wave (direction detection sign) detected by the transmission / reception circuit 131 when the image data is received in step S111 and the intensity of each antenna 120 detected by the RSSI circuit 131a.
- the spatial spread (electric field distribution) of the electromagnetic wave is estimated, the direction of the capsule medical device 10 with respect to the reference direction Ds (that is, the direction of the specified direction Ui with respect to the reference direction Ds) is specified in the CPU 133, and this is generated as direction data. (Step S112).
- the receiving device 130 adds the orientation data generated by the CPU 133 to the image data received in step S111 (step S113), and as a result, the image data with the orientation data and the time stamp added is portable from the interface unit 137.
- the data is stored in the recording medium 140 or transmitted from the interface unit 137 to the display device 150 via the communication cable 159 (step S114).
- the receiving apparatus 130 determines whether or not to continue the operation, for example, whether or not an operation end instruction is input from the operation unit 135 (step S115). If the operation is continued (Yes in step S115), Returning to step S111, the reception of the next image data is awaited. On the other hand, when the operation is not continued (No in step S115), the operation is terminated.
- the display device 150 when the display device 150 receives one or more pieces of image data from the receiving device 130 via the portable recording medium 140 or the communication cable 159 (step S121), the display device 150 performs image processing on the image data. Input to the unit 154.
- the image processing unit 154 sequentially selects the input image data one by one (step S122), and inputs the image data and the orientation data added thereto to the rotation correction unit 154a.
- the rotation correction unit 154a uses the orientation data added to the input image data to two-dimensionally correct the image data on the display surface, thereby changing the reference direction Ds of the image data to the upward direction Du of the screen. (Step S123).
- steps S122 and S123 are repeated (No in step S124) until all the image data input in step S121 are rotationally corrected (Yes in step S124).
- the image data after the rotation correction is sequentially input from the rotation correction unit 154a to the feature point extraction unit 154b and the image selection unit 154c.
- the feature point extraction unit 154b to which the image data after rotation correction is input, extracts feature points included in this image data (step S125). Note that the extracted feature points are input to the image sorting unit 154c.
- the image selection unit 154c Image data satisfying a predetermined condition is selected from the image data (step S126). For example, the image sorting unit 154c sorts image data whose feature points are significantly different from the feature points of the previous image data. Note that the selected image data is input to the average color bar generation unit 154d and the screen generation unit 154e, respectively.
- the threshold value is a value for selecting, for example, image data in which a scene change has occurred or image data including a specific shape. This threshold value can be obtained in advance by experience, experiment, simulation, or the like.
- the average color bar generation unit 154d generates an image of the average color bar 60 that allows a rough image of each image to be viewed at a glance in time series from all the selected image data after rotation correction (Step S127: Average color). Bar generation processing). An example of the rotation correction in step S123 and an example of the average color bar 60 generated in step S127 will be described in detail later with reference to FIGS.
- the generated image of the average color bar 60 is input to the screen generation unit 154e.
- the screen generation unit 154e to which the average color bar 60 image and the selected image data are input, generates a GUI screen as shown in FIG. 8 using the average color bar 60 image and the selected image data.
- a generation process is executed (step S128), and then the process ends. Note that the generated GUI screen is input to the display unit 155 via the control unit 151 and displayed to the observer. As a result, the GUI function using the GUI screen and the input unit 156 is provided to the observer.
- FIG. 14 is a diagram for explaining the rotation correction of the image data in step S123 of FIG.
- FIG. 15 is a diagram showing an example of the average color bar 60 generated using the image data after the rotation correction in step S127 of FIG. Note that the image data Im11 to Im13 shown in FIGS. 14A to 14C correspond to the image data Im11 to Im13 shown in FIG.
- the rotation amount (correction amount) A at the time of rotation correction for the image data Im11 is 0 °.
- the angle of the specified direction Ui with respect to the reference direction Ds is 90 °. Therefore, the rotation amount (correction amount) A at the time of rotation correction for the image data Im12 is 90 °.
- the angle of the defined direction Ui with respect to the reference direction Ds is 180 °.
- the rotation amount (correction amount) A at the time of rotation correction for the image data Im13 is 180 °.
- the image data is rotated and corrected using the rotation amount (correction amount) A thus obtained, as shown in FIGS. 14 (d) to 14 (f).
- the reference direction Ds of each of the image data Im21 to Im23 is made to coincide with the upward direction Du of the screen.
- FIGS. 14D to 14F the same part p1 in each of the image data Im21 to the image data Im23 is included in the same divided area A3. become. Accordingly, as shown in FIG. 15, the positions of the regions P21 to P23 including the same portion p1 in the average color bar 60 generated using the image data Im21 to Im23 after the rotation correction are arranged side by side in the divided region A3. It becomes possible to arrange.
- 14D shows the image data Im21 obtained by rotationally correcting the image data Im11 in FIG. 14A
- FIG. 14E shows the image data Im12 in FIG. 14B.
- the image data Im22 obtained by performing the rotation correction is shown
- FIG. 14F shows the image data Im23 obtained by rotating the image data Im13 of FIG. 14C.
- Embodiment 1 it is possible to align the directions of a plurality of image data by rotationally correcting the image data based on the orientation of the capsule medical device 10 with respect to the reference direction Ds at the time of imaging. Therefore, it is possible to realize the medical system 1 and the image processing method thereof that can reduce labor during diagnosis and improve the accuracy of diagnosis results.
- image data rotation correction (see step S123 in FIG. 13) is executed in the display device 150.
- the present invention is not limited to this, and various modifications such as execution in the receiving device 130 are possible. Is possible.
- Modification 1-1 Further, in the medical system 1 according to the first embodiment, the case where an electromagnetic wave generation source (antenna 15a) is used as a signal source has been described as an example. However, the present invention is not limited to this, and the signal source is configured to generate a magnetic field. It can also be a source. Hereinafter, this case will be described in detail as modification 1-1 of the first embodiment of the present invention with reference to the drawings. However, in the following description, components similar to those in the above embodiment are denoted by the same reference numerals for the sake of simplification of description, and description thereof is omitted.
- FIG. 16 is a schematic diagram showing a schematic configuration of the medical system 1A according to the modified example 1-1.
- FIG. 17 is a block diagram showing a schematic configuration example of the capsule medical device 10A and the receiving device 130A according to Modification 1-1.
- the capsule medical device 10 is replaced with a capsule medical device 10A
- the receiving device 130 is replaced with a receiving device 130A.
- the medical system 1A includes magnetic sensors 123a and 123b connected to the receiving device 130A via a cable 124.
- the capsule medical device 10A includes a permanent magnet 17a in addition to the same configuration as the capsule medical device 10 shown in FIG. 17.
- the permanent magnet 17a is a magnetic field forming means for forming a magnetic field that reaches the outside of the subject 900, and an orientation for specifying the orientation of the capsule medical device 10A with respect to the reference direction Ds (that is, the inclination of the specified direction Ui). It functions as a signal source that emits a detection sign (in this example, a magnetic field).
- the permanent magnet 17 a is fixed to the housing 18.
- the present invention is not limited to the permanent magnet 17a, and any coil or the like that can form a magnetic field reaching the outside of the subject 900 can be applied.
- the permanent magnet 17a is fixed in the housing 18 so that the direction of the magnetic pole thereof coincides with the direction of the specified direction Ui. This makes it possible to directly use the orientation of the permanent magnet 17a with respect to the reference direction Ds as the orientation of the specified direction Ui with respect to the reference direction Ds, and thus the processing in the receiving device 130A described later can be lightened.
- the receiving device 130 ⁇ / b> A has a configuration similar to that of the receiving device 130 shown in FIG. 5, and a plurality of magnetic sensors 123 a fixed to the body surface of the subject 900 (for example, the jacket 122). 123b, and a signal detection circuit 131A that performs predetermined signal processing on the detection signals read from the magnetic sensors 123a and 123b.
- the magnetic sensors 123a and 123b are, for example, three-axis magnetic sensors in which three coils whose center axes are directed to the x-axis, the y-axis, and the z-axis, respectively, and detect the direction emitted from the permanent magnet 17a that is a signal source. It functions as an observation point as a magnetic field detection means for observing a sign for use (magnetic field in this example).
- a triaxial magnetic sensor including a magnetoresistive element, a magnetic impedance element (MI element), a Hall element, or the like can be used.
- the number and arrangement pattern of the magnetic sensors 123a and 123b and the fixing destinations of the magnetic sensors 123a and 123b are spatial expansion of the magnetic field formed by the permanent magnet 17a of the capsule medical device 10A introduced into the subject 900 (
- the number and arrangement pattern that allows the CPU 133A to estimate / specify the magnetic field distribution) and to be a fixed object that enables a substantially fixed state with respect to the subject 900 are arbitrarily modified. Is possible.
- the number of magnetic sensors 123a and 123b is at least two.
- the potential change detected by the magnetic sensors 123a and 123b is read as a detection signal via the cable 124 by the signal detection circuit 131A of the reception device 130A.
- the signal detection circuit 131A performs processing such as FFT (Fast Fourier Transform) on the read signal, and then inputs this to the CPU 133A.
- FFT Fast Fourier Transform
- the CPU 133A is a capsule medical device with respect to the reference direction Ds from the strength and direction of the direction detection sign (magnetic field) observed at the observation point (magnetic sensors 123a and 123b). It functions as direction specifying means for specifying the direction of 10A (that is, the inclination of the specified direction Ui). That is, the CPU 133A estimates the spatial spread (magnetic field distribution) of the magnetic field from the magnetic field strength of the detection signal and the direction of the lines of magnetic force in the magnetic sensors 123a and 123b input from the signal detection circuit 131A, and the capsule medical device 10A.
- the direction with respect to the reference direction Ds (that is, the direction of the specified direction Ui with respect to the reference direction Ds) is specified.
- the orientation information (orientation data) with respect to the reference direction Ds of the specified direction Ui specified by the CPU 133A is associated with the image data received from the capsule medical device 10A at the same time or at the same time as in the above embodiment.
- the intensity and direction of the magnetic field formed by the permanent magnet 17a can be detected by, for example, a change in magnetic field distribution when the capsule medical device 10A (that is, the permanent magnet 17a) moves.
- the permanent magnet 17a is used as the signal source, and the plurality of magnetic sensors 123a and 123b are used as the observation points to generate the orientation data indicating the orientation of the specified direction Ui with respect to the reference direction Ds.
- the plurality of magnetic sensors 123a and 123b are used as the observation points to generate the orientation data indicating the orientation of the specified direction Ui with respect to the reference direction Ds.
- Other configurations are the same as those in any of the above-described embodiments (including modifications thereof).
- FIG. 18 is a flowchart showing a schematic operation example of the receiving apparatus 130A according to the modification 1-1.
- the receiving device 130A constantly monitors whether image data has been received from the capsule medical device 10A (No in step S111-1), and receives image data (step S111). -1), the detection signals are read out from the magnetic sensors 123a and 123b using the signal detection circuit 131A, and predetermined signal processing is executed (step S112-1). Subsequently, the magnetic field strength of the detection signals after the signal processing
- the CPU 133A specifies the direction of the capsule medical device 10A with respect to the reference direction Ds (that is, the direction of the specified direction Ui with respect to the reference direction Ds) by estimating the spatial spread (magnetic field distribution) of the magnetic field from the direction of the magnetic field and the direction of the magnetic field lines. Is generated as orientation data (step S113-1).
- receiving apparatus 130A adds the orientation data generated in CPU 133A to the image data received in step S111-1 in the same manner as described with reference to FIG. 12 in the first embodiment (step S114-1).
- the image data to which the orientation data and the time stamp are added is stored in the portable recording medium 140 from the interface unit 137, or is transmitted from the interface unit 137 to the display device 150 via the communication cable 159 (step). S115-1).
- the receiving apparatus 130A determines whether or not to continue the operation, for example, whether or not an operation end instruction is input from the operation unit 135 (step S116-1), and when the operation is continued (step S116-1). Yes), the process returns to step S111-1 to wait for reception of the next image data. On the other hand, when the operation is not continued (No in step S116-1), the operation is terminated.
- image data is rotationally corrected based on the orientation of the capsule medical device 10A with respect to the reference direction Ds at the time of imaging, as in the first embodiment.
- This makes it possible to align the orientation of a plurality of image data, so that it is possible to realize the medical system 10A and its image processing method that can reduce the time and effort of diagnosis and improve the accuracy of diagnosis results. It becomes.
- FIG. 19 is a block diagram illustrating a schematic configuration example of a capsule medical device 10A ′ and a receiving device 130A according to another example of the modification 1-1.
- a current signal having a substantially resonant frequency is input to the LC resonance circuit 17b from, for example, the processing unit 12 (signal generation means).
- a frequency substantially equal to the resonant frequency of the LC resonant circuit 17b is introduced into the detection space into which the capsule medical device 10A ′ is introduced.
- the magnetic field (driving magnetic field) is formed.
- the CPU 133A Based on the direction and strength of the magnetic field indicated by the detection signals read from the magnetic sensors 123a and 123b (that is, the direction and strength of the magnetic field at the positions of the magnetic sensors 123a and 123b), the CPU 133A The direction with respect to the reference direction Ds of 10A ′ is specified, and direction data is generated therefrom.
- Modification 1-2 an ultrasonic wave generation source can be used as the signal source in the first embodiment.
- modification 1-2 of Embodiment 1 of the present invention with reference to the drawings.
- the same reference numerals are given to the same configurations as those of the above-described embodiment and any of the modifications thereof, and the description thereof will be omitted.
- FIG. 20 is a schematic diagram showing a schematic configuration of the medical system 1B according to the modification 1-2.
- FIG. 21 is a block diagram illustrating a schematic configuration example of the capsule medical device 10B and the receiving device 130B according to the modification 1-2.
- the capsule medical device 10 is replaced with a capsule medical device 10B and the receiving device 130 is replaced with a receiving device 130B, as compared with the medical system 1 shown in FIG. Furthermore, the medical system 1B includes acoustic sensors 125a and 125b connected to the receiving device 130B via a cable 126.
- the capsule medical device 10B includes at least two piezoelectric elements 17c and 17d in addition to the same configuration as the capsule medical device 10 shown in FIG. 21
- the piezoelectric elements 17c and 17d are ultrasonic wave generation means for generating an ultrasonic wave that propagates through the subject 900 and reaches the outer surface, and the direction of the capsule medical device 10B with respect to the reference direction Ds (that is, in the specified direction Ui). It functions as a signal source that emits a direction detection sign (ultrasonic wave in this example) for specifying (tilt).
- the piezoelectric elements 17c and 17d are each fixed to the casing 18 that is partially exposed to the outside of the casing 18 while maintaining the water tightness of the casing 18. However, it is not limited to the piezoelectric elements 17c and 17d, and any element can be applied as long as it can be an ultrasonic source.
- the piezoelectric elements 17c and 17d are preferably arranged in a state of being fixed in the housing 18 so as to coincide with the direction of the specified direction Ui.
- the direction of the arrangement direction of the piezoelectric elements 17c and 17d with respect to the reference direction Ds can be directly used as the direction of the defined direction Ui with respect to the reference direction Ds. Can do.
- the receiving apparatus 130B has a configuration similar to that of the receiving apparatus 130 shown in FIG. 5, and a plurality of acoustic sensors 125a fixed to the body surface (for example, the jacket 122) of the subject 900, and 125b, and a signal detection circuit 131B that performs predetermined signal processing on the detection signals read from the acoustic sensors 125a and 125b.
- the acoustic sensors 125a and 125b are configured by using, for example, microphones, and ultrasonic detection means for observing direction detection signs (ultrasonic waves in this example) emitted from the plurality of piezoelectric elements 17c and 17d as signal sources, respectively. Functions as an observation point. However, it is not limited to this, For example, it can also comprise with a piezoelectric element etc.
- the number and arrangement pattern of the acoustic sensors 125a and 125b and the fixing destinations of the acoustic sensors 125a and 125b are a plurality of ultrasonic waves generated by the piezoelectric elements 17c and 17d of the capsule medical device 10B introduced into the subject 900.
- the number of acoustic sensors 125a and 125b is at least two.
- the potential change generated in the acoustic sensors 125a and 125b is read as a detection signal via the cable 126 by the signal detection circuit 131B of the reception device 130B.
- the signal detection circuit 131B performs processing such as FFT (Fast Fourier Transform) on the read signal, and then inputs this to the CPU 133B.
- FFT Fast Fourier Transform
- the CPU 133B is a capsule medical device for the reference direction Ds from the intensity and phase of the direction detection sign (ultrasound) observed at the observation points (acoustic sensors 125a and 125b). It functions as direction specifying means for specifying the direction of the device 10B (that is, the inclination of the specified direction Ui). That is, the CPU 133B estimates the spatial spread (ultrasound distribution) of the ultrasonic wave from the phase and intensity of the detection signal in each acoustic sensor 125a and 125b input from the signal detection circuit 131B, and the capsule medical device 10B.
- the direction with respect to the reference direction Ds (that is, the direction of the specified direction Ui with respect to the reference direction Ds) is specified. Further, the orientation information (orientation data) of the prescribed direction Ui specified by the CPU 133B with respect to the reference direction Ds is associated with the image data received from the capsule medical device 10B at the same time or at the same time as in the above embodiment. Are temporarily stored in the memory 134.
- a plurality of piezoelectric elements 17a and 17b are used as signal sources, and a plurality of acoustic sensors 125a and 125b are used as observation points to indicate the direction of the prescribed direction Ui with respect to the reference direction Ds. Generate orientation data.
- Other configurations are the same as those in any of the above-described embodiments (including modifications thereof).
- FIG. 22 is a flowchart illustrating a schematic operation example of the capsule medical apparatus 10B according to the modification 1-2.
- FIG. 23 is a flowchart illustrating a schematic operation example of the reception device 130B according to the modification 1-2.
- the capsule medical device 10B transmits the image data with the time stamp added as a radio signal (step S106-2), and returns to step S101-2.
- image data is periodically wirelessly transmitted from the capsule medical device 10B to the receiving device 130B, and the orientation of the capsule medical device 10B at the imaging timing is specified by the receiving device 130B. Generate ultrasound. Note that the operation of the capsule medical device 10B shown in FIG. 22 is continued until the power of the battery 16 in the capsule medical device 10B is exhausted.
- the receiving device 130B constantly monitors whether image data has been received from the capsule medical device 10B (No in step S111-2), and receives image data (No in step S111-2) (see FIG. 23).
- the signal detection circuit 131B is used to read the detection signals from the acoustic sensors 125a and 125b and execute predetermined signal processing (step S112-2). Subsequently, the detection signal after the signal processing is detected.
- the spatial positions of the piezoelectric elements 17c and 17d, which are ultrasonic sources, are estimated from the phase, intensity, etc., and the direction of the capsule medical device 10B with respect to the reference direction Ds (that is, the direction of the specified direction Ui with respect to the reference direction Ds) is determined from the arrangement. And is generated as orientation data (step S113-2).
- the receiving device 130B adds the orientation data generated in the CPU 133B to the image data received in step S111-2, similarly to the operation described with reference to FIG. 12 in the first embodiment (step S114-2).
- the image data to which the orientation data and the time stamp are added is stored in the portable recording medium 140 from the interface unit 137, or is transmitted from the interface unit 137 to the display device 150 via the communication cable 159 (step). S115-2).
- the receiving apparatus 130B determines whether or not to continue the operation, for example, whether or not an operation end instruction is input from the operation unit 135 (step S116-2), and when the operation is continued (step S116-2). Yes), the process returns to step S111-2 to wait for reception of the next image data. On the other hand, when the operation is not continued (No in step S116-2), the operation is terminated.
- the capsule medical device 10B is oriented in the direction with respect to the reference direction Ds at the time of imaging. Since it is possible to align the orientations of a plurality of image data by rotationally correcting the image data based on the image data, the medical system 1B and the image processing thereof that can reduce labor during diagnosis and improve the accuracy of diagnosis results The method can be realized.
- the signal source (antenna 15a) is arranged in the capsule medical device 10 and the observation point (antenna 120) is fixed to the outer surface of the subject 900.
- the signal source may be fixed to the outer surface of the subject 900 and the observation point may be arranged in the capsule medical device.
- this case will be described in detail as a second embodiment of the present invention with reference to the drawings.
- the same reference numerals are given to the same configurations as those of the above-described embodiment and any of the modifications thereof, and the detailed description thereof will be omitted.
- FIG. 24 is a schematic diagram showing a schematic configuration of the medical system 2 according to the second embodiment.
- FIG. 25 is a block diagram illustrating a schematic configuration example of the capsule medical device 20 and the receiving device 230 according to the second embodiment.
- the capsule medical device 10 is replaced with a capsule medical device 20 and the receiving device 130 is replaced with a receiving device 230, as compared with the medical system 1 shown in FIG. Furthermore, in the medical system 2, the antenna 120 (see FIG. 1) and the cable 121 fixed to the body surface of the subject 900 are replaced with the antenna 220 and the cable 221.
- the capsule medical device 20 detects the phase and intensity of the electromagnetic waves at the antennas 22a and 22b and the antennas 22a and 22b in addition to the same configuration as the capsule medical device 10 shown in FIG. And a signal detection unit 21.
- the antennas 22a and 22b are constituted by, for example, a dipole antenna, a loop antenna, or the like, and function as observation points for observing a direction detection sign (electromagnetic wave) emitted from an antenna 220 which is a signal source described later.
- the antennas 22a and 22b are preferably arranged as far apart as possible in the housing 18.
- the antennas 22a and 22b are preferably arranged in a state of being fixed in the housing 18 so as to coincide with the direction of the specified direction Ui.
- the direction of the arrangement direction of the antennas 22a and 22b with respect to the reference direction Ds can be directly used as the direction of the specified direction Ui with respect to the reference direction Ds. it can.
- the signal detection unit 21 includes, for example, an RSSI circuit (not shown) that detects the intensity of the received electromagnetic wave at the antennas 22a and 22b.
- the signal detection unit 21 performs frequency separation, the phase of electromagnetic waves (direction detection signs) between the antennas 22a and 22b, and the strength of the antennas 22a and 22b on the detection signals input from the antennas 22a and 22b. Predetermined processing including detection processing and the like is executed. Further, the signal detection unit 21 adds the detected phase and intensity at each of the antennas 22a and 22b as signal detection data to the image data acquired simultaneously or simultaneously.
- the signal detection data includes the phase of the electromagnetic wave (direction detection sign) between the antennas 120 detected by the transmission / reception circuit 131 of the receiving device 130 and the RSSI circuit 131a of the transmission / reception circuit 131 detected in the first embodiment.
- Data corresponding to the intensity of the electromagnetic wave (direction detection sign) at the antenna 120 is included.
- a time stamp is added to the image data, as in the first embodiment.
- the image data to which the signal detection data and the time stamp are added is wirelessly transmitted from the processing unit 12 to the receiving device 230 via the transmission / reception unit 14 from the antenna 15a.
- the receiving device 230 has the same configuration as the receiving device 130 shown in FIG. 5, in which the antenna 120 is replaced with the antenna 220 and the transmission / reception circuit 131 is replaced with the transmission / reception circuit 231.
- the antenna 220 is an antenna having directivity, for example, similar to the antenna 15a of the first embodiment, for specifying the direction of the capsule medical device 20 with respect to the reference direction Ds (that is, the inclination of the specified direction Ui). It functions as a signal source that emits a sign for detecting the direction (in this example, an electric field).
- a loop antenna is used as the antenna 220.
- the present invention is not limited to this, and any antenna that can detect the orientation of the capsule medical device 20 with respect to the reference direction Ds based on the phase and intensity of electromagnetic waves (direction detection markers) at the antennas 22a and 22b. Anything can be applied.
- the antenna 220 having this directivity is fixed to the body surface of the subject 900 (for example, the jacket 122). At this time, the antenna 220 is fixed to the outer surface of the subject 900 so that the center line of the loop of the antenna 220 (corresponding to the symmetry axis of the electric field distribution shape of the electromagnetic wave emitted from the antenna 15a) and the reference direction Ds are parallel. . Thereby, even when the capsule medical device 20 rotates about the center line in the longitudinal direction, the direction of the specified direction Ui of the capsule medical device 20 with respect to the reference direction Ds is received by the antennas 22a and 22b of the capsule medical device 20. It becomes possible to specify based on the phase and intensity of the electromagnetic wave.
- the transmission / reception circuit 231 is configured to transmit and receive signals to and from the capsule medical device 20 via the antenna 220, similarly to the transmission / reception circuit 131. However, as described above, the transmission / reception circuit 231 according to the second embodiment causes the antenna 220 to output an electromagnetic wave, which is a direction detection sign, periodically (for example, twice or more per second).
- the received signal input from the antenna 220 to the transmission / reception circuit 231 is input to the signal processing circuit 132.
- the signal detection data is added to the image data received from the capsule medical device 20.
- the signal processing circuit 132 performs predetermined processing on the input signal (particularly image data), specifies signal detection data added to the image data, and inputs this to the CPU 133.
- the CPU 133 detects the phase of the electromagnetic waves (direction detection signs) at the antennas 22a and 22b included in the signal detection data and the electromagnetic waves (direction detection signs) at the antennas 22a and 22b detected by the RSSI circuit of the signal detection unit 21. ) To estimate the spatial extent (electric field distribution) of the electromagnetic wave (direction detection sign) from the antenna 220 and the direction of the capsule medical device 20 with respect to the reference direction Ds (that is, the prescribed direction Ui with respect to the reference direction Ds). It functions as direction specifying means for specifying (direction).
- the method for estimating the electric field distribution is the same as that in the first embodiment, and thus detailed description thereof is omitted here.
- the antenna 220 that is a signal source is fixed to the outer surface of the subject 900, the antennas 22a and 22b that are observation points are arranged in the capsule medical device 20, and the antennas 22a and 22b. Based on the electromagnetic wave from the antenna 220 observed in step 1, direction data indicating the direction of the specified direction Ui with respect to the reference direction Ds is generated.
- Other configurations are the same as those in any of the above-described embodiments (including modifications thereof).
- FIG. 26 is a flowchart illustrating a schematic operation example (part 1) of the capsule medical device 20 according to the second embodiment.
- FIG. 27 is a flowchart showing a schematic operation example (part 2) of the capsule medical device 20 according to the second embodiment.
- FIG. 28 is a flowchart illustrating a schematic operation example of the receiving device 230 according to the second embodiment.
- the capsule medical device 20 returns to step S201 and waits for reception of the next electromagnetic wave (direction detection marker) (No in step S201).
- the operation of the capsule medical device 20 shown in FIG. 26 is continued until the power of the battery 16 in the capsule medical device 20 is exhausted.
- the capsule medical device 20 transmits the image data to which the time stamp and the signal detection data are added as a radio signal (step S216), and returns to step S211.
- image data to which a time stamp and signal detection data are periodically added is periodically transmitted from the capsule medical device 20 to the receiving device 230.
- the operation of the capsule medical device 20 shown in FIG. 27 is continued until the power of the battery 16 in the capsule medical device 20 is exhausted.
- the receiving device 230 outputs an electromagnetic wave (direction detection sign) from the antenna 220, for example, regularly or periodically (step S221), and outputs image data from the capsule medical device 20. It is monitored whether it has been received (No in step S222).
- the receiving device 230 inputs the signal detection data included in the received image data to the CPU 133, and spatially detects the electromagnetic wave (direction detection sign) from the antenna 220.
- the CPU 133 identifies the direction of the capsule medical device 20 with respect to the reference direction Ds (that is, the direction of the specified direction Ui with respect to the reference direction Ds) by estimating a wide spread (electric field distribution), and generates this as direction data (step S223).
- the receiving device 230 adds the orientation data generated in the CPU 133 to the image data received in step S222 (step S224), as in the operation described with reference to FIG.
- the orientation data and the image data with the time stamp added are stored in the portable recording medium 140 from the interface unit 137 or transmitted from the interface unit 137 to the display device 150 via the communication cable 159 (step S225).
- the receiving device 230 determines whether or not to continue the operation, for example, whether or not an operation end instruction is input from the operation unit 135 (step S226). If the operation is continued (Yes in step S226), Returning to step S221, the output of the electromagnetic wave (direction detection marker) and the standby for receiving the next image data are repeated. On the other hand, when the operation is not continued (No in step S226), the operation is terminated.
- the second embodiment is based on the orientation of the capsule medical device 20 with respect to the reference direction Ds at the time of imaging, as in the first embodiment (including modifications thereof). Since the image data can be rotationally corrected to align the directions of the plurality of image data, the medical system 2 and the image processing method for the same can reduce the labor for diagnosis and improve the accuracy of the diagnosis result. Can be realized.
- Modification 2-1 Further, in the medical system 2 according to the second embodiment, the case where an electromagnetic wave generation source (antenna 220) is used as a signal source has been described as an example. However, the present invention is not limited to this, and the signal source is configured to generate a magnetic field. Can be a source.
- this case will be described in detail as modification 2-1 of the second embodiment of the present invention with reference to the drawings.
- the same reference numerals are given to the same configurations as those of the above-described embodiment and any of the modifications thereof, and the description thereof will be omitted.
- FIG. 29 is a schematic diagram showing a schematic configuration of the medical system 2A according to the modification 2-1.
- FIG. 30 is a block diagram illustrating a schematic configuration example of the capsule medical device 20A and the reception device 230A according to the modification 2-1.
- the capsule medical device 20 is replaced with the capsule medical device 20A, and the receiving device 230 is replaced with the receiving device 230A, compared to the medical system 2 shown in FIG. Furthermore, the medical system 2A includes an LC resonance circuit 222 connected to the receiving device 230A via a cable 223.
- the antennas 22a and 22b are the magnetic sensors 23a and 23b, and the signal detection unit 21 is the signal detection unit 21A. Respectively.
- the magnetic sensors 23a and 23b are, for example, a three-axis magnetic field in which three coils whose central axes are directed to the x-axis, the y-axis, and the z-axis are combined in the same manner as the magnetic sensors 123a and 123b of the above-described modification 1-1. It is a sensor and functions as an observation point as magnetic field detection means for observing a direction detection sign (magnetic field in this example) emitted from the LC resonance circuit 222 as a signal source.
- the present invention is not limited to this, and for example, a triaxial magnetic sensor including a magnetoresistive element, a magnetic impedance element (MI element), a Hall element, or the like can be used.
- the number and arrangement pattern of the magnetic sensors 23a and 23b can cause the CPU 133A to estimate / specify the spatial spread (magnetic field distribution) of the magnetic field formed by the LC resonance circuit 222 fixed on the outer surface of the subject 900. Any number and arrangement pattern can be modified in any way. In this description, the number of magnetic sensors 23a and 23b is at least two.
- the magnetic sensors 23a and 23b are preferably fixed in the housing 18 so that the arrangement direction thereof coincides with the direction of the specified direction Ui.
- the arrangement direction of the magnetic sensors 23a and 23b with respect to the reference direction Ds can be directly used as the direction of the capsule medical device 20A (that is, the specified direction Ui) with respect to the reference direction Ds.
- the processing in can be lightened.
- the signal detection unit 21A includes, for the detection signals input from the magnetic sensors 23a and 23b, bandpass processing, detection processing of the direction and intensity of the magnetic field (direction detection sign) in the magnetic sensors 23a and 23b, and the like. A predetermined process is executed. Further, the signal detection unit 21A adds the detected direction, intensity, and the like as signal detection data to the image data acquired simultaneously or simultaneously.
- the signal detection data includes data corresponding to the direction and intensity of the magnetic field (direction detection mark) in the magnetic sensors 123a and 123b detected by the signal detection circuit 131A of the reception device 130A in Modification 1-1. .
- a time stamp is also added to the image data, as in Modification 1-1.
- the signal detection data and the image data to which the time stamp is added are wirelessly transmitted from the processing unit 12 to the receiving device 230A via the transmission / reception unit 14 from the antenna 15a.
- the receiving device 230 ⁇ / b> A includes a signal generation circuit 224 ⁇ / b> A that inputs a resonance frequency signal to the LC resonance circuit 222 via the cable 223 in addition to the same configuration as the receiving device 230 shown in FIG. 25.
- receiving apparatus 230A has the same configuration as that of receiving apparatus 230 shown in FIG. 25, antenna 220 and transmission / reception circuit 231 are replaced with antenna 120 and transmission / reception circuit 131 in the first embodiment, and CPU 133 is the same as in modified example 1-1. The CPU 133A is replaced.
- the LC resonance circuit 222 to which a signal having a resonance frequency is input via the cable 223 from the signal generation circuit 224A, which is a signal generation unit, is induced by the input signal having the resonance frequency to form an induction magnetic field having the resonance frequency. It is a means and functions as a signal source that emits a direction detection sign (magnetic field in this example) for specifying the direction of the capsule medical device 20A with respect to the reference direction Ds (ie, the inclination of the specified direction Ui).
- a direction detection sign magnetic field in this example
- the LC resonance circuit 222 is fixed to the outer surface of the subject 900 (for example, the jacket 122). At this time, the LC resonance circuit 222 is covered so that the polarity direction of the inductor constituting the LC resonance circuit 222 (corresponding to the symmetry axis of the magnetic field distribution shape of the magnetic field generated by the LC resonance circuit 222) and the reference direction Ds are parallel to each other. Fixed to the outer surface of the specimen 900. Thereby, even when the capsule medical device 20A rotates about the center line in the longitudinal direction, the direction of the specified direction Ui of the capsule medical device 20A with respect to the reference direction Ds is set by the magnetic sensors 23a and 23b of the capsule medical device 20A. It is possible to specify the detected magnetic field based on the direction and intensity of the magnetic field.
- a received signal input from the antenna 120 to the transmission / reception circuit 131 is input to the signal processing circuit 132.
- signal detection data is added to the image data received from the capsule medical device 20A.
- the signal processing circuit 132 performs predetermined processing on the input signal (particularly image data), specifies signal detection data added to the image data, and inputs this to the CPU 133A.
- the CPU 133A determines the spatial extent (magnetic field) of the magnetic field (direction detection sign) from the LC resonance circuit 222 based on the direction and intensity of the magnetic field (direction detection sign) in the magnetic sensors 23a and 23b included in the signal detection data. It functions as direction specifying means for estimating the distribution) and specifying the direction of the capsule medical device 20A relative to the reference direction Ds (that is, the direction of the specified direction Ui relative to the reference direction Ds).
- the method for estimating the magnetic field distribution is the same as that in Modification 1-1, and therefore detailed description thereof is omitted here.
- the LC resonance circuit 222 as the signal source is fixed to the outer surface of the subject 900, and the magnetic sensors 23a and 23b as the observation points are arranged in the capsule medical device 20A. Based on the magnetic field from the LC resonance circuit 222 observed by the magnetic sensors 23a and 23b, direction data indicating the direction of the specified direction Ui with respect to the reference direction Ds is generated.
- Other configurations are the same as those in any of the above-described embodiments (including modifications thereof).
- FIG. 31 is a flowchart showing a schematic operation example of the capsule medical apparatus 20A according to the modification 2-1.
- FIG. 32 is a flowchart illustrating a schematic operation example of the reception device 230A according to the modification 2-1.
- the capsule medical device 20A adds the acquired time to the image data as a time stamp, and adds the generated signal detection data to the image data (step S216-1).
- the capsule medical device 20A transmits the image data to which the time stamp and the signal detection data are added as a radio signal (step S217-1), and returns to step S211-1.
- image data to which time stamps and signal detection data are periodically added is periodically transmitted from the capsule medical device 20A to the receiving device 230A.
- the operation of the capsule medical device 20A shown in FIG. 31 is continued until the power of the battery 16 in the capsule medical device 20A is exhausted.
- the receiving device 230A constantly generates a magnetic field as a direction detection marker from the LC resonance circuit 222 by inputting a signal having a resonance frequency generated by the signal generation circuit 224A to the LC resonance circuit 222.
- the receiving device 230A monitors whether image data has been received from the capsule medical device 20A, for example, constantly or periodically, as shown in FIG. 32 (step S221-1). No).
- the receiving device 230A inputs the signal detection data included in the received image data to the CPU 133A, and receives the magnetic field (direction detection indicator) from the LC resonance circuit 222.
- Step S222-1 Is estimated and the direction of the capsule medical device 20A with respect to the reference direction Ds (that is, the direction of the specified direction Ui with respect to the reference direction Ds) is specified by the CPU 133A, and this is generated as direction data. (Step S222-1).
- the receiving device 230A adds the orientation data generated in the CPU 133A to the image data received in step S221-1 in the same manner as described with reference to FIG. 12 in the first embodiment (step S223-1).
- the image data to which the orientation data and the time stamp are added is stored in the portable recording medium 140 from the interface unit 137, or is transmitted from the interface unit 137 to the display device 150 via the communication cable 159 (step). S224-1).
- the receiving device 230A determines whether or not to continue the operation, for example, whether or not an operation end instruction is input from the operation unit 135 (step S225-1), and when the operation is continued (step S225-1). Yes), the process returns to step S221-1, and repeats the output of the electromagnetic wave (direction detection marker) and the standby for receiving the next image data. On the other hand, when the operation is not continued (No in step S225-1), the operation is terminated.
- the capsule medical device 20A at the time of imaging with respect to the reference direction Ds Since it is possible to align the orientations of a plurality of image data by rotationally correcting the image data based on the orientation, the medical system 2A that can reduce labor during diagnosis and improve the accuracy of the diagnostic result and its An image processing method can be realized.
- Modification 2-2 an ultrasonic wave generation source can be used as the signal source in the second embodiment.
- modification 2-2 of the second embodiment of the present invention with reference to the drawings.
- the same reference numerals are given to the same configurations as those of the above-described embodiment and any of the modifications thereof, and the description thereof will be omitted.
- FIG. 33 is a schematic diagram showing a schematic configuration of a medical system 2B according to the modification 2-2.
- FIG. 34 is a block diagram illustrating a schematic configuration example of the capsule medical device 20B and the reception device 230B according to the modification 2-2.
- the capsule medical device 20 is replaced with a capsule medical device 20B
- the receiving device 230 is replaced with a receiving device 230B.
- the medical system 2B includes a plurality of piezoelectric elements 225a and 225b connected to the receiving device 230B via a cable 226.
- the antennas 22a and 22b are detected by the plurality of acoustic sensors 24a and 24b, and the signal detection unit 21 detects the signal.
- the signal detection unit 21 detects the signal.
- Each unit 21B is replaced.
- the acoustic sensors 24a and 24b are composed of, for example, microphones, and direction detection signs (present books) emitted from the piezoelectric elements 225a and 225b that are signal sources.
- it functions as an observation point as an ultrasonic detection means for observing each ultrasonic wave).
- it is not limited to this, For example, it can also comprise with a piezoelectric element etc.
- the number and arrangement pattern of the acoustic sensors 24a and 24b are used to estimate the direction of the capsule medical device 20B to the CPU 133B from the intensity and phase of the ultrasonic waves generated by the piezoelectric elements 225a and 225b fixed on the outer surface of the subject 900. Any number and arrangement pattern that can be specified can be modified in any way. In this description, the number of acoustic sensors 24a and 24b is at least two.
- the acoustic sensors 24a and 24b are preferably fixed in the housing 18 so that the arrangement direction thereof coincides with the direction of the specified direction Ui. Accordingly, the arrangement direction of the acoustic sensors 24a and 24b with respect to the reference direction Ds can be directly used as the direction of the capsule medical device 20B (that is, the specified direction Ui) with respect to the reference direction Ds.
- the processing in can be lightened.
- the signal detection unit 21B performs, for the detection signals input from the acoustic sensors 24a and 24b, a bandpass process, a process of detecting the phase and intensity of ultrasonic waves (direction detection markers) by the acoustic sensors 24a and 24b, and the like. A predetermined process including that is executed. Further, the signal detection unit 21B adds the detected phase, intensity, and the like as signal detection data to the image data acquired simultaneously or simultaneously.
- the signal detection data is data corresponding to the phase and intensity of the ultrasonic waves (direction detection markers) detected by the acoustic sensors 125a and 125b detected by the signal detection circuit 131B of the receiving device 130B in Modification 1-2. Including. Further, a time stamp is also added to the image data, as in Modification 1-2.
- the image data to which the signal detection data and the time stamp are added is wirelessly transmitted from the processing unit 12 to the reception device 230B through the transmission / reception unit 14 from the antenna 15a.
- the receiving device 230B has a configuration similar to that of the receiving device 230 shown in FIG. 25, and a signal generation circuit 224B that inputs a resonance frequency signal to the piezoelectric elements 225a and 225b via the cable 226. Is provided.
- receiving apparatus 230B has the same configuration as that of receiving apparatus 230 shown in FIG. 25, antenna 220 and transmitting / receiving circuit 231 are replaced with antenna 120 and transmitting / receiving circuit 131 in the first embodiment, and CPU 133 is the same as in modified example 1-2. The CPU 133B is replaced.
- the piezoelectric elements 225a and 225b to which a signal having a resonance frequency is input from the signal generation circuit 224B, which is a signal generation unit, via the cable 226, are vibrated by the input signal having the resonance frequency to generate an ultrasonic wave. And functions as a signal source that emits a direction detection sign (ultrasonic wave in this example) for specifying the direction of the capsule medical device 20B with respect to the reference direction Ds (that is, the inclination of the specified direction Ui).
- a direction detection sign ultrasonic wave in this example
- the piezoelectric elements 225a and 225b are fixed to the outer surface of the subject 900 (for example, the jacket 122). At this time, the piezoelectric elements 225 a and 225 b are fixed to the outer surface of the subject 900 so that the arrangement direction of the piezoelectric elements 225 a and 225 b is parallel to the reference direction Ds. Thereby, even when the capsule medical device 20B rotates about the center line in the longitudinal direction, the direction of the specified direction Ui of the capsule medical device 20B with respect to the reference direction Ds is set by the acoustic sensors 24a and 24b of the capsule medical device 20B. It becomes possible to specify based on the phase and intensity of the detected ultrasonic wave.
- the reception signal input from the antenna 120 to the transmission / reception circuit 131 is input to the signal processing circuit 132.
- the signal detection data is added to the image data received from the capsule medical device 20B.
- the signal processing circuit 132 performs predetermined processing on the input signal (particularly image data), specifies signal detection data added to the image data, and inputs this to the CPU 133B.
- the CPU 133B spatially detects the ultrasonic waves (direction detection signs) from the piezoelectric elements 225a and 225b from the phase and intensity of the ultrasonic waves (direction detection signs) in the acoustic sensors 24a and 24b included in the signal detection data. It functions as direction specifying means for estimating the spread (ultrasonic distribution) and specifying the direction of the capsule medical device 20B with respect to the reference direction Ds (that is, the direction of the specified direction Ui with respect to the reference direction Ds).
- the method for estimating the ultrasonic distribution is the same as that in Modification 1-2, and a detailed description thereof is omitted here.
- the piezoelectric elements 225a and 225b that are signal sources are fixed to the outer surface of the subject 900, and the acoustic sensors 24a and 24b that are observation points are disposed in the capsule medical device 20B. Based on the ultrasonic waves from the piezoelectric elements 225a and 225b observed by the acoustic sensors 24a and 24b, direction data indicating the direction of the specified direction Ui with respect to the reference direction Ds is generated.
- Other configurations are the same as those in any of the above-described embodiments (including modifications thereof).
- FIG. 35 is a flowchart illustrating a schematic operation example of the reception device 230B according to the modification 2-2.
- the capsule medical device 20B adds the acquired time to the image data as a time stamp, and adds the generated signal detection data to the image data (step S216-2).
- the capsule medical device 20B transmits the image data to which the time stamp and the signal detection data are added as a radio signal (step S217-2), and returns to step S211-2.
- the image data to which the time stamp and the signal detection data are periodically added is wirelessly transmitted from the capsule medical device 20B to the receiving device 230B. Note that the operation of the capsule medical device 20B shown in FIG. 35 is continued until the power of the battery 16 in the capsule medical device 20B is exhausted.
- the capsule medical device 20B with respect to the reference direction Ds at the time of imaging is used. Since it is possible to align the orientation of a plurality of image data by rotationally correcting the image data based on the orientation, the medical system 2B capable of reducing labor at the time of diagnosis and improving the accuracy of the diagnosis result and its An image processing method can be realized.
- FIG. 36 is a schematic diagram showing a schematic configuration of the medical system 3 according to the third embodiment.
- FIG. 37 is a block diagram illustrating a schematic configuration example of the capsule medical device 10 and the receiving device 330 according to the third embodiment.
- the capsule medical device 10 according to the first embodiment is used.
- the capsule medical device 10 includes an antenna 15a having directivity as a signal source.
- the receiving device 130 is replaced with a receiving device 330, as compared with the medical system 1 shown in FIG.
- the receiving device 330 is installed on a floor or the like so as not to move, for example.
- the space including the floor is a real space in which the reference direction Dg is set in the third embodiment.
- the medical system 3 includes a sensor base 320 installed so as not to move with respect to the floor surface, a bed 341 on which the subject 900 is placed, and a movable base 340 that supports the bed 341 so as to be horizontally movable.
- the capsule medical device 10 according to the first embodiment is used.
- the bed 341 may be fixed so as not to move with respect to the floor surface.
- the receiving device 330 has the same configuration as the receiving device 130 shown in FIG.
- the antennas 120 connected to the receiving device 330 via the cable 121 are arranged in a matrix on the sensor table 320 fixed to the receiving device 330, for example, so as not to move with respect to the floor surface.
- the sensor base 320 is installed so that the surface on which the antenna 120 is arranged faces the back surface of the bed 341. That is, the sensor base 320 is installed under the bed 341 with the surface on which the antenna 120 is arranged facing upward.
- the present invention is not limited to this, and the antenna 120 can be variously modified such as being arranged inside the bed 341 so as to be arranged along the placement surface or the back surface of the bed 341.
- the position of the subject 900 relative to the antenna 120 that is, the position of the capsule medical device 10 can be adjusted as appropriate. Therefore, the direction of the capsule medical device 10 can be specified with higher accuracy.
- the antenna 120 as the observation point is fixed with respect to the real space, thereby generating the direction data indicating the direction of the specified direction Ui with respect to the reference direction Dg set with respect to the real space.
- Other configurations are the same as those in any of the above-described embodiments (including modifications thereof).
- the operation of the medical system 3 according to the present embodiment is the same as that of the first embodiment, and thus detailed description thereof is omitted here.
- FIG. 38 is a diagram for explaining the rotation correction according to the third embodiment.
- FIG. 39 is a diagram showing an example of the average color bar 60 generated using the image data after the rotation correction according to the third embodiment.
- the rotation amount (correction amount) B at the time of the rotation correction for the image data Im31 is 0 °.
- the angle of the specified direction Ui with respect to the reference direction Dg is 90 °.
- the rotation amount (correction amount) B at the time of rotation correction for the image data Im32 is 90 °.
- the angle of the specified direction Ui with respect to the reference direction Dg is 180 °.
- the rotation amount (correction amount) B at the time of rotation correction for the image data Im33 is 180 °.
- the rotation correction unit 154a of the display device 150 according to the present embodiment rotationally corrects image data Im31 to Im33 based on the orientation data, as in the above-described embodiments (including modifications thereof). For this reason, in the image data Im41 to Im43 after the rotation correction, as shown in FIGS. 38D to 38F, the upper direction Du of the screen coincides with the reference direction Dg.
- FIGS. 38D to 38F show the same part p1 in each of the image data Im41 to the image data Im43 in the same divided area A3. become.
- FIG. 39 the positions of the regions P21 to P23 including the same part p1 in the average color bar 60 generated using the image data Im41 to Im43 after the rotation correction are arranged side by side in the divided region A3. It becomes possible to arrange.
- FIG. 38D shows image data Im41 obtained by rotationally correcting the image data Im31 shown in FIG. 38A
- FIG. 38E shows the image data Im32 shown in FIG. 38B
- FIG. 38F shows image data Im43 obtained by rotationally correcting the image data Im33 shown in FIG. 38C.
- the reference direction set for the subject 900 is the same as in the first embodiment (including modifications thereof) and the second embodiment (including modifications thereof). It is also possible to configure so that Ds and the specified direction Ui coincide. This is because, for example, the observer manually inputs the posture of the subject 900 or automatically detects the posture of the subject 900 by providing a gravity sensor, so that the reference direction Ds and the reference direction set for the subject 900 are detected. This is realized by obtaining the inclination (rotation amount) with respect to the direction Dg and rotationally correcting the image data using the inclination (rotation amount) and the direction of the specified direction Ui with respect to the reference direction Dg (correction amount B). Is possible.
- image data is rotationally corrected based on the orientation of the capsule medical device 10 with respect to the reference direction Dg at the time of imaging, as in the first embodiment.
- the reference direction set for the subject 900 is the same as in the first embodiment (including modifications thereof) and the second embodiment (including modifications thereof). It is also possible to configure so that Ds and the specified direction Ui coincide. This is because, for example, the observer manually inputs the posture of the subject 900 or automatically detects the posture of the subject 900 by providing a gravity sensor, so that the reference direction Ds and the reference direction set for the subject 900 are detected. This is realized by obtaining the inclination (rotation amount) with respect to the direction Dg and rotationally correcting the image data using the inclination (rotation amount) and the direction of the specified direction Ui with respect to the reference direction Dg (correction amount B). Is possible.
- the capsule medical device 10A ′ is a so-called passive method that generates an induced magnetic field by exciting the LC resonance circuit 17b mounted on the capsule medical device 10A ′ using an external magnetic field (drive magnetic field). Take the case of specifying the direction of.
- symbol is attached
- FIG. 40 is a schematic diagram showing a schematic configuration of the medical system 3A according to the modification 3-1.
- FIG. 41 is a block diagram illustrating a schematic configuration example of the capsule medical device 10A ′ and the reception device 330A according to the modification 3-1. Note that in the present modified example 3-1, the capsule medical device 10A 'according to the modified example 1-1 is used.
- the capsule medical device 10A ' includes, as a signal source, an LC resonance circuit 17b that is induced by an external magnetic field (drive magnetic field) having a predetermined resonance frequency and generates an induced magnetic field.
- the capsule medical device 10 is replaced with a capsule medical device 10A ′, and the receiving device 330 is replaced with a receiving device 330A. .
- the receiving device 330A is installed on a floor or the like so as not to move.
- Drive coils Dx_1 and Dx_2, Dy_1 and Dy_2, and Dz_1 and Dz_2 are disposed.
- the sign of an arbitrary drive coil is D
- the sign of any pair of drive coils is D_1 and D_2.
- the medical system 3A includes a sensor base 320 installed so as not to move with respect to the floor surface, and a plurality of magnetic sensors S_1 arranged in a matrix on the sensor base 320 so as not to move with respect to the floor surface.
- S_8 an arbitrary magnetic sensor is denoted by S.
- the sensor base 320 is installed so that the surface on which the magnetic sensors S are arranged is close to the detection space K.
- the sensor base 320 is installed on the detection space K with the surface on which the magnetic sensors S are arranged facing downward.
- the present invention is not limited to this, and various modifications can be made such that the antenna 120 is arranged inside the bed 341 so as to be arranged along the placement surface or the back surface of the bed 341.
- the receiving device 330A has the same configuration as the receiving device 330 shown in FIG. 37, and the CPU 133 is replaced with a CPU 133A. Furthermore, the receiving device 330A generates a drive signal substantially equal to the resonance frequency of the LC resonance circuit 17b and inputs the drive signal to the drive coil D, and a potential change generated in each magnetic sensor S as a detection signal. A signal detection unit 332A to be read.
- the driving coil D forms a driving magnetic field having a substantially resonant frequency in the detection space K by the driving signal input from the coil driving unit 331A.
- Each magnetic sensor S is affected by an induced magnetic field generated by excitation of the LC resonance circuit 17b of the capsule medical device 10A 'by a driving magnetic field formed in the detection space K, and changes its potential. Note that the potential change generated in each magnetic sensor S depends on the position and orientation in which each magnetic sensor S is arranged and the position and orientation of the LC resonance circuit 17b.
- the signal detection unit 332A reads a potential change generated in each magnetic sensor S as a detection signal via the cable 121, performs predetermined processing such as frequency separation or FFT on the signal, and then converts the processed detection signal to orientation data. To the CPU 133A.
- the CPU 133A is a capsule medical device with respect to the reference direction Dg from the strength and direction of the direction detection sign (magnetic field) observed at the observation points (magnetic sensors S_1 to S_8). It functions as direction specifying means for specifying the direction of 10A ′ (that is, the inclination of the specified direction Ui). That is, the CPU 133A estimates the spatial spread (magnetic field distribution) of the magnetic field based on the magnetic field strength of the detection signal in each magnetic sensor S input from the signal detection circuit 332A, the direction of the lines of magnetic force, and the like of the capsule medical device 10A ′.
- the direction with respect to the reference direction Dg (that is, the direction of the specified direction Ui with respect to the reference direction Dg) is specified. Further, the orientation information (orientation data) with respect to the reference direction Dg of the specified direction Ui specified by the CPU 133A corresponds to the image data received from the capsule medical device 10A ′ at the same time or at the same time as in the above embodiment. In addition, it is temporarily stored in the memory 134.
- Modification 3-1 the magnetic sensor S that is the observation point is fixed with respect to the real space, whereby the orientation data indicating the orientation of the specified direction Ui with respect to the reference direction Dg set with respect to the real space. Is generated.
- Other configurations are the same as those in any of the above-described embodiments (including modifications thereof).
- the operation of the medical system 3A according to the present embodiment is the same as that of the above-described modification 1-1, and thus detailed description thereof is omitted here.
- the reference set for the subject 900 is the same as in the first embodiment (including this modification) and the second embodiment (including this modification). It is also possible to configure the direction Ds and the specified direction Ui to coincide with each other. This is because, for example, the observer manually inputs the posture of the subject 900 or automatically detects the posture of the subject 900 by providing a gravity sensor, so that the reference direction Ds and the reference direction set for the subject 900 are detected. This is realized by obtaining the inclination (rotation amount) with respect to the direction Dg and rotationally correcting the image data using the inclination (rotation amount) and the direction of the specified direction Ui with respect to the reference direction Dg (correction amount B). Is possible.
- Modification 3-2 an ultrasonic wave generation source can be used as the signal source in the third embodiment.
- modification 3-2 of the third embodiment of the present invention with reference to the drawings.
- the same reference numerals are given to the same configurations as those of the above-described embodiment and any of the modifications thereof, and the detailed description thereof will be omitted.
- FIG. 42 is a schematic diagram showing a schematic configuration of the medical system 3B according to the modification 3-2.
- FIG. 43 is a block diagram illustrating a schematic configuration example of the capsule medical device 10B and the reception device 330B according to the modification 3-2.
- the capsule medical device 10B according to the modification 1-2 is used.
- the capsule medical device 10B includes piezoelectric elements 17c and 17d that generate ultrasonic waves that propagate through the subject 900 and reach the outer surface as signal sources.
- the capsule medical device 10 is replaced with a capsule medical device 10B
- the receiving device 330 is replaced with a receiving device 330B.
- the receiving device 330B is installed on a floor or the like so as not to move.
- acoustic sensors 125a to 125i connected to the receiving device 330B via the cable 126 are disposed in the bed 341 and in the vicinity of the surface in contact with the subject 900.
- the receiving apparatus 330B has the same configuration as the receiving apparatus 330 shown in FIG. 37, and the CPU 133 is replaced with a CPU 133B. Furthermore, the receiving device 330B includes a signal detection unit 332B that reads out potential changes generated in the acoustic sensors 125a to 125i as detection signals.
- the signal detection unit 332B reads the potential change generated in each of the acoustic sensors 125a to 125i as a detection signal via the cable 126, performs predetermined processing such as frequency separation and FFT on this, and then outputs the detection signal after processing.
- the direction data is input to the CPU 133B.
- the CPU 133B is a capsule medical device for the reference direction Dg from the intensity and phase of the direction detection sign (ultrasound) observed at the observation points (acoustic sensors 125a to 125i). It functions as direction specifying means for specifying the direction of the device 10B (that is, the inclination of the specified direction Ui). That is, the CPU 133B estimates the spatial spread (ultrasonic distribution) of the ultrasonic waves from the intensity and phase of the detection signals in the acoustic sensors 125a to 125i input from the signal detection circuit 332B, and the piezoelectric elements 17c and 17d.
- the direction of the capsule medical device 10B with respect to the reference direction Dg (that is, the direction of the specified direction Ui with respect to the reference direction Dg) is specified from Further, the orientation information (orientation data) of the prescribed direction Ui specified by the CPU 133B with respect to the reference direction Dg is associated with the image data received from the capsule medical device 10B at the same time or at the same time as in the above embodiment. Are temporarily stored in the memory 134.
- Modification 3-2 the acoustic sensors 125a to 125i that are observation points are fixed with respect to the real space, thereby indicating the direction of the specified direction Ui with respect to the reference direction Dg set with respect to the real space. Generate orientation data.
- Other configurations are the same as those in any of the above-described embodiments (including modifications thereof).
- the operation of the medical system 3B according to the present embodiment is the same as that of the above-described modification example 1-2, and thus detailed description thereof is omitted here.
- image data is rotationally corrected based on the orientation of the capsule medical device 10B with respect to the reference direction Dg at the time of imaging.
- the reference set for the subject 900 is the same as in the first embodiment (including this modification) and the second embodiment (including this modification). It is also possible to configure the direction Ds and the specified direction Ui to coincide with each other. This is because, for example, the observer manually inputs the posture of the subject 900 or automatically detects the posture of the subject 900 by providing a gravity sensor, so that the reference direction Ds and the reference direction set for the subject 900 are detected. This is realized by obtaining the inclination (rotation amount) with respect to the direction Dg and rotationally correcting the image data using the inclination (rotation amount) and the direction of the specified direction Ui with respect to the reference direction Dg (correction amount B). Is possible.
- the signal source (antenna 15a) is arranged in the capsule medical device 10 and the observation point (antenna 120) is fixed in real space. Without being limited thereto, it is also possible to fix the signal source in the real space and arrange the observation point in the capsule medical device.
- this case will be described in detail as Embodiment 4 of the present invention with reference to the drawings.
- the same reference numerals are given to the same configurations as those of the above-described embodiment and any of the modifications thereof, and the detailed description thereof will be omitted.
- FIG. 44 is a schematic diagram showing a schematic configuration of the medical system 4 according to the fourth embodiment.
- FIG. 45 is a block diagram illustrating a schematic configuration example of the capsule medical device 20 and the receiving device 430 according to the fourth embodiment.
- the capsule medical device 20 according to the second embodiment is used.
- the capsule medical device 20 includes a plurality of antennas 22a and 22b.
- the receiving device 230 is replaced with a receiving device 430 as compared with the medical system 2 shown in FIG.
- the receiving device 430 is installed on a floor or the like so as not to move, for example.
- the space including the floor is a real space in which the reference direction Dg is set in the fourth embodiment.
- the medical system 4 includes a sensor base 320 installed so as not to move with respect to the floor surface, a bed 341 on which the subject 900 is placed, and a movable base 340 that supports the bed 341 so as to be horizontally movable.
- the bed 341 may be fixed so as not to move with respect to the floor surface.
- the receiving device 430 has the same configuration as the receiving device 230 shown in FIG.
- the antenna 220 connected to the receiving device 430 via the cable 221 is disposed on, for example, the sensor base 320 fixed to the receiving device 430 so as not to move with respect to the floor surface.
- the sensor table 320 is installed so that the surface on which the antenna 220 is disposed faces the back surface of the bed 341. That is, the sensor base 320 is installed under the bed 341 with the surface on which the antenna 220 is disposed facing upward.
- the present invention is not limited to this, and various modifications such as disposing the antenna 220 on a fixing member other than the bed are possible.
- the position of the subject 900 relative to the antenna 220 that is, the position of the capsule medical device 20 can be adjusted as appropriate. Therefore, the direction of the capsule medical device 20 can be specified with higher accuracy.
- the antenna 220 as the signal source is fixed with respect to the real space, thereby generating the direction data indicating the direction of the specified direction Ui with respect to the reference direction Dg set with respect to the real space.
- Other configurations are the same as those in the first embodiment (including the modification), the second embodiment (including the modification), or the third embodiment (including the modification).
- the operation of the medical system 4 according to the present embodiment is the same as that of the second embodiment, and thus detailed description thereof is omitted here.
- the image data is rotationally corrected based on the orientation of the capsule medical device 20 with respect to the reference direction Dg at the time of imaging. This makes it possible to align the orientations of a plurality of image data, so that it is possible to realize the medical system 4 and its image processing method capable of reducing labor during diagnosis and improving the accuracy of diagnosis results. Become.
- the reference direction set for the subject 900 is the same as in the first embodiment (including the modification) and the second embodiment (including the modification). It is also possible to configure so that Ds and the specified direction Ui coincide. This is because, for example, the observer manually inputs the posture of the subject 900 or automatically detects the posture of the subject 900 by providing a gravity sensor, so that the reference direction Ds and the reference direction set for the subject 900 are detected. This is realized by obtaining the inclination (rotation amount) with respect to the direction Dg and rotationally correcting the image data using the inclination (rotation amount) and the direction of the specified direction Ui with respect to the reference direction Dg (correction amount B). Is possible.
- FIG. 46 is a schematic diagram showing a schematic configuration of the medical system 4A according to the modification 4-1.
- FIG. 47 is a block diagram showing a schematic configuration example of the capsule medical device 20A and the receiving device 430A according to the modification 4-1. Note that in the present modified example 4-1, the capsule medical device 20A according to the modified example 2-1 is used.
- the capsule medical device 20A includes a plurality of magnetic sensors 23a and 23b as observation points.
- the medical system 4A includes the capsule medical device 20 as the capsule medical device 20A, the receiving device 430 as the receiving device 430A, and the receiving device 430.
- the antenna 220 is replaced with the sensor base 320 and the antenna 120, respectively.
- the receiving device 430A is installed on a floor or the like so as not to move, for example.
- an LC resonance circuit 222 as a signal source is fixed to the bed 341.
- the LC resonance circuit 222 is connected to the reception device 430A via the cable 223.
- the receiving device 430A includes a signal generation circuit 224A in addition to the same configuration as the receiving device 430 shown in FIG.
- the antenna 220 and the transmitting / receiving circuit 231 are replaced with the antenna 120 and the transmitting / receiving circuit 131
- the CPU 133 is replaced with the CPU 133A in the same configuration as the receiving apparatus 430 shown in FIG. That is, receiving device 430A has substantially the same configuration as receiving device 230A according to Modification 2-1, except that antenna 120 and LC resonance circuit 222 are fixed to sensor base 320, bed 341, and the like.
- the CPU 133A specifies the direction of the capsule medical device 20A with respect to the reference direction Dg (that is, the inclination of the specified direction Ui) using the signal detection data added to the image data from the capsule medical device 20A.
- the LC resonance circuit 222 which is a signal source, is fixed with respect to the real space, whereby the direction indicating the direction of the specified direction Ui with respect to the reference direction Dg set with respect to the real space Generate data.
- Other configurations are the same as those in any of the above-described embodiments (including modifications thereof).
- the operation of the medical system 4A according to the modification 4-1 is the same as that of the modification 2-1, and thus detailed description thereof is omitted here.
- Image data is rotationally corrected based on the orientation of the capsule medical device 20A with respect to the reference direction Dg at the time of imaging, as in the first embodiment.
- This makes it possible to align the orientations of a plurality of image data, so that it is possible to realize the medical system 4A and its image processing method that can reduce the time and effort of diagnosis and improve the accuracy of diagnosis results. It becomes.
- the reference set for the subject 900 is the same as in the first embodiment (including the modified example) and the second embodiment (including the modified example). It is also possible to configure the direction Ds and the specified direction Ui to coincide with each other. This is because, for example, the observer manually inputs the posture of the subject 900 or automatically detects the posture of the subject 900 by providing a gravity sensor, so that the reference direction Ds and the reference direction set for the subject 900 are detected. This is realized by obtaining the inclination (rotation amount) with respect to the direction Dg and rotationally correcting the image data using the inclination (rotation amount) and the direction of the specified direction Ui with respect to the reference direction Dg (correction amount B). Is possible.
- Modification 4-2 an ultrasonic wave generation source may be used as the signal source in the fourth embodiment.
- modification 4-2 of the fourth embodiment of the present invention with reference to the drawings.
- the same reference numerals are given to the same configurations as those of the above-described embodiment and any of the modifications thereof, and the description thereof will be omitted.
- FIG. 48 is a schematic diagram showing a schematic configuration of a medical system 4B according to the modification 4-2.
- FIG. 49 is a block diagram illustrating a schematic configuration example of the capsule medical device 20B and the reception device 430B according to the modification 4-2.
- the capsule medical device 20B according to the modification 2-2 is used.
- the capsule medical device 20B includes a plurality of acoustic sensors 24a and 24b as observation points.
- the medical system 4B includes a capsule medical device 20 as a capsule medical device 20B, a receiving device 430 as a receiving device 430B, and a receiving device 430.
- the antenna 220 is replaced with the sensor base 320 and the antenna 120, respectively.
- the receiving device 430B is installed on a floor or the like so as not to move, for example.
- a plurality of piezoelectric elements 225a and 225b connected to the receiving device 430B via the cable 226 are disposed in the bed 341 and in the vicinity of the surface in contact with the subject 900. .
- the receiving device 430B includes a signal generation circuit 224B in addition to the same configuration as the receiving device 430 shown in FIG.
- the antenna 220 and the transmission / reception circuit 231 are replaced with the antenna 120 and the transmission / reception circuit 131 in the same configuration as the reception apparatus 430 shown in FIG. That is, the receiving device 430B has substantially the same configuration as the receiving device 230B according to the modified example 2-2 except that the antenna 120 and the LC resonance circuit 222 are fixed to the sensor base 320, the bed 341, and the like.
- the CPU 133 specifies the direction of the capsule medical device 20B with respect to the reference direction Dg (that is, the inclination of the specified direction Ui) using the signal detection data added to the image data from the capsule medical device 20B.
- the plurality of piezoelectric elements 225a and 225b which are signal sources, are fixed with respect to the real space, whereby the direction of the specified direction Ui with respect to the reference direction Dg set with respect to the real space. Orientation data is generated.
- Other configurations are the same as those in any of the above-described embodiments (including modifications thereof).
- the operation of the medical system 4B according to the modification 4-2 is the same as that of the modification 2-2, and thus detailed description thereof is omitted here.
- image data is rotationally corrected based on the orientation of the capsule medical device 20B with respect to the reference direction Dg at the time of imaging. By doing so, it is possible to align the orientation of a plurality of image data, so that it is possible to realize the medical system 4B and its image processing method that can reduce the labor of diagnosis and improve the accuracy of diagnosis results. It becomes.
- the reference set for the subject 900 is the same as in the first embodiment (including the modification) and the second embodiment (including the modification). It is also possible to configure the direction Ds and the specified direction Ui to coincide with each other. This is because, for example, the observer manually inputs the posture of the subject 900 or automatically detects the posture of the subject 900 by providing a gravity sensor, so that the reference direction Ds and the reference direction set for the subject 900 are detected. This is realized by obtaining the inclination (rotation amount) with respect to the direction Dg and rotationally correcting the image data using the inclination (rotation amount) and the direction of the specified direction Ui with respect to the reference direction Dg (correction amount B). Is possible.
- a configuration is used in which some signal such as the antenna 220, the LC resonance circuit 222, the piezoelectric elements 225a and 225b is generated in the signal source fixed in the real space.
- the present invention is not limited to this, and physical phenomena existing in real space such as gravity and geomagnetism may be used.
- gravity instead of the signal source will be described in detail with reference to the drawings.
- the same reference numerals are given to the same configurations as those of the above-described embodiment and any of the modifications thereof, and the detailed description thereof will be omitted.
- FIG. 50 is a schematic diagram showing a schematic configuration of the medical system 5 according to the fifth embodiment.
- FIG. 51 is a block diagram illustrating a schematic configuration example of the capsule medical device 50 and the receiving device 530 according to the fifth embodiment.
- the capsule medical device 10 is replaced with the capsule medical device 50, and the receiving device 130 is replaced with the receiving device 530.
- the capsule medical device 50 includes a gravity sensor 51 in addition to the same configuration as the capsule medical device 10 shown in FIG.
- the gravity sensor 51 is a gravity direction detecting means for detecting the direction of gravity.
- a semiconductor acceleration sensor using a mechanical acceleration sensor using a coil, a spring, a plate, or the like, a MEMS (Micro Electro Mechanical Systems) technology, or the like is used. Any acceleration sensor such as an acceleration sensor that can detect gravity and is small enough to be accommodated in the capsule medical device 50 may be used.
- the processing unit 52 reads a voltage change generated in the gravity sensor 51 as a detection signal, and executes predetermined processing on the detection signal. Further, the processing unit 52 adds the detection signal after the signal processing as the orientation data to the image data acquired simultaneously or simultaneously.
- the orientation data can be data representing the direction of gravity as a vector with respect to the capsule medical device 50 as a reference.
- data direction data representing the direction of gravity as a vector
- the direction of the capsule medical device 50 with respect to the reference direction Dg that is, the direction of the specified direction Ui with respect to the reference direction Dg
- Dg the direction of the specified direction Ui with respect to the reference direction Dg
- the present invention is not limited to this.
- the two-axis gravity sensor that omits this axis is used as the gravity sensor 51. It is possible to use.
- a time stamp is added to the image data, as in the first embodiment.
- the signal detection data and the image data to which the time stamp is added are wirelessly transmitted from the processing unit 52 to the receiving device 530 through the transmission / reception unit 14 from the antenna 15a.
- the signal processing circuit 132 is replaced with a signal processing circuit 532 in the same configuration as the receiving apparatus 130 shown in FIG.
- the vector of the gravity direction detected by the gravity sensor 51 is added to the image data received from the capsule medical device 50 as the orientation data. Therefore, in the fifth embodiment, after the signal processing circuit 532 buffers the input orientation data and time-stamped image data in the temporary memory 134 or the like, this is directly displayed via the interface unit 137 on the display device 150. Can be configured to send to.
- gravity that is stable in real space is used as a direction detection sign
- the gravity sensor 51 that is an observation point thereof is arranged in the capsule medical device 50
- the gravity sensor Based on the gravity direction vector observed at 51, direction data indicating the direction of the specified direction Ui with respect to the reference direction Ds is generated.
- Other configurations are the same as those in any of the above-described embodiments (including modifications thereof).
- FIG. 52 is a flowchart showing a schematic operation example of the capsule medical apparatus 50 according to the fifth embodiment.
- FIG. 53 is a flowchart showing a schematic operation example of the receiving apparatus 530 according to the fifth embodiment.
- the capsule medical device 50 wirelessly transmits image data to which the time stamp and the orientation data are periodically added to the receiving device 530.
- the operation of the capsule medical device 50 shown in FIG. 52 is continued until the power of the battery 16 in the capsule medical device 50 is exhausted.
- the receiving device 530 monitors whether image data has been received from the capsule medical device 50, for example, constantly or periodically (No in step S521).
- the receiving device 530 temporarily buffers the received image data in the memory 134 or the like, and then stores the received image data in the portable recording medium 140 from the interface unit 137, or Then, the data is transmitted from the interface unit 137 to the display device 150 via the communication cable 159 (step S522).
- the receiving device 530 determines whether or not to continue the operation, for example, whether or not an operation end instruction is input from the operation unit 135 (step S523), and when the operation is continued (Yes in step S523), Returning to step S521, the image data reception standby is repeated. On the other hand, when the operation is not continued (No in step S523), the operation is terminated.
- the image data is based on the orientation of the capsule medical device 50 with respect to the reference direction Dg (gravity direction) at the time of imaging.
- Dg gravitation direction
- the reference direction Dg when the reference direction Dg is set in the real space, it is possible to use gravity instead of the direction detection sign. As a result, it is possible to directly detect the direction of the specified direction Ui with respect to the reference direction Dg using the gravity sensor 51 that can detect gravity, which is a substantially absolute reference that is not affected by the posture and orientation of the subject 900.
- the configuration for detecting the orientation can be simplified, and the processing in the receiving device 530 described later can be lightened.
- the reference direction set for the subject 900 is the same as in the first embodiment (including the modification) and the second embodiment (including the modification). It is also possible to configure so that Ds and the specified direction Ui coincide. This is because, for example, the observer manually inputs the posture of the subject 900 or automatically detects the posture of the subject 900 by providing a gravity sensor, so that the reference direction Ds and the reference direction set for the subject 900 are detected. This is realized by obtaining the inclination (rotation amount) with respect to the direction Dg and rotationally correcting the image data using the inclination (rotation amount) and the direction of the specified direction Ui with respect to the reference direction Dg (correction amount B). Is possible.
- an image of the average color bar 60 is generated from the image data obtained by rotationally correcting the image data, and a GUI function is provided to the observer.
- the image incorporated in the GUI screen in the present invention is not limited to the average color bar 60.
- an image of a red detection result hereinafter referred to as a red indicator
- the sixth embodiment will be described based on the first embodiment.
- the present invention is not limited to this, and the present embodiment is not limited to this embodiment and any modification thereof. Needless to say, form 6 can be applied.
- red detection means detection of a red area (width) and density in image data. Therefore, by imaging the result of red detection for each image data, it becomes possible for the observer to visually recognize the amount and density of red contained in the image data.
- GUI red indicator
- FIG. 54 is a block diagram illustrating a schematic configuration example of the display device 650 according to the sixth embodiment.
- the image processing unit 154 in the display device 150 is replaced with an image processing unit 654.
- the image processing unit 654 has a configuration similar to that of the image processing unit 154, and a red detection unit 654a and a red indicator generation unit 654b are added, and the screen generation unit 154e includes a screen generation unit (screen Generation means) 654e.
- the red detection unit 654a functions as a red detection unit that detects a red component included in the rotation-corrected image data. That is, the red detection unit 654a determines the amount and density of the red component included in the image data after the rotation correction selected by the image selection unit 154c, and generates red data obtained by averaging the red component. Note that the determination and averaging of the amount and density of the red component can be performed using, for example, the value of the red component in the image data. Further, red detection may be performed separately for each of the divided areas (for example, divided areas A1 to A4) in the image data divided into a plurality (for example, four).
- the red data generated by the red detection unit 654a is input to the red indicator generation unit 654b as a red detection result.
- the red indicator generation unit 654b is a red image generation unit that generates an image (red image) for visually displaying the detection result of the red detection unit 654a.
- a red indicator (see red indicator 66 in FIG. 56) is used as the red image. Therefore, the red indicator generation unit 654b generates an image of a red indicator using the red detection result, and inputs this to the screen generation unit 654e.
- the screen generation unit 654e displays the rotation-corrected image data selected by the image selection unit 154c, the average color bar image input from the average color bar generation unit 154d, and the red indicator input from the red indicator generation unit 654b.
- a GUI screen as shown in FIG. 56 is generated using the above image.
- a GUI screen generated according to the sixth embodiment will be described later.
- display device 650 first performs the same steps as those described in Embodiment 1 using steps S121 to S127 in FIG. Rotation correction and average color bar image generation processing are executed. Next, the display device 650 performs red detection processing in the red detection unit 654a (step S621), and subsequently executes generation processing of a red indicator from the red detection result in the red indicator generation unit 654b (step S622). .
- the display device 650 displays the image data after rotation correction selected by the image selection unit 154c, the average color bar image input from the average color bar generation unit 154d, and the red color input from the red indicator generation unit 654b.
- the screen generation unit 654e is caused to execute a screen generation process for generating a GUI screen as shown in FIG. 55 (step S623), and then the process ends.
- the generated GUI screen is input to the display unit 155 via the control unit 151 and displayed to the observer.
- the GUI function using the GUI screen and the input unit 156 is provided to the observer.
- the GUI screen generated by the screen generation unit 654e includes patient information g11 and diagnosis information g12, similar to the GUI screen (see FIG. 8) generated by the screen generation unit 154e in each of the above embodiments.
- the main image display area g13, the sub-image display area g14, the reproduction control button g15, and the average color bar 60 are incorporated.
- the red indicator 66, the average color bar 60, and the red indicator 66 are linked to each other, and the slider indicating the average color bar 60 and the position on the red indicator 66 of the image being displayed in the main image display area g13. g61a is incorporated.
- the red indicator 66 has the same length in the time axis direction as the average color bar 60 and is arranged above or below the average color bar 60 in the screen. This makes it possible to link the apparent time axes of the average color bar 60 and the red indicator 66, so that it is easy for the observer to determine which part of the average color bar 60 has more red. It can be recognized.
- the color of the area corresponding to each image data of the red indicator 66 is shaded according to the red detection result. This makes it possible for the observer to easily recognize in which part the red color appears more.
- FIG. 57 is a diagram illustrating an example of the average color bar 60_1 according to the modified example 6-1 of the sixth embodiment.
- the average color bar 60_1 is obtained by superimposing an image representing a red detection result in a histogram on the average color bar 60. Therefore, in the image of the red detection result, as shown in FIG. 57, the amount and darkness of red in each image data is indicated by its height.
- the present invention is not limited to this, and the red detection result may be expressed by a broken line or the like.
- the image of the red detection result for the image data in which red is not detected or the average value of the red data is smaller than the first threshold value which is the minimum value is not drawn on the average color bar 60_1. Further, the image of the red detection result for the image data that is equal to or larger than the first threshold and smaller than the second threshold that is the intermediate value is superimposed on the lowermost divided area A1 of the corresponding image data portion in the average color bar 60_1. Is done. Further, the image of the red detection result for the image data in which the average value of the red data is equal to or greater than the second threshold value, which is the maximum value, is superimposed over the entire corresponding image data portion in the average color bar 60_1.
- FIG. 58 is a diagram illustrating an example of the average color bar 60_2 according to the modification 6-2 of the sixth embodiment.
- the average color bar 60_2 is obtained by superimposing the image of the red detection result on the average color bar 60.
- FIG. 59 is a diagram showing an example of the average color bar 60_3 according to the modification 6-3 of the sixth embodiment.
- the average color bar 60_3 is obtained by superimposing the image of the red detection result on the average color bar 60.
- Embodiment 7 Further, in Embodiment 6 (including the modifications thereof), the image of the red detection result is linked to the average color bar 60 and displayed. However, in the present invention, the object to be displayed linked to the average color bar is red.
- the rotation amount used in the rotation correction unit 154a is not limited to the detection result.
- the seventh embodiment will be described based on the first embodiment. However, the present invention is not limited to this, and the present embodiment is not limited to this embodiment and any modification thereof. Needless to say, form 7 can be applied.
- FIG. 60 is a block diagram illustrating a schematic configuration example of the display device 750 according to the seventh embodiment.
- the image processing unit 154 in the display device 150 is replaced with an image processing unit 754.
- the image processing unit 754 has a configuration similar to that of the image processing unit 154, a rotation amount indicator generating unit 754a is added, and the screen generating unit 154e is replaced with a screen generating unit (screen generating unit) 754e. Replaced.
- the rotation correction unit 154a according to the seventh embodiment inputs the generated or specified rotation amount to the rotation amount indicator generation unit 754a.
- the rotation amount indicator generation unit 754a is rotation amount image generation means for generating an image (rotation amount image) for visually displaying the rotation amount for each image data used at the time of rotation correction.
- a rotation amount indicator (see the rotation amount indicator 68 in FIG. 62) is used as the rotation amount image. Therefore, the rotation amount indicator generation unit 754a generates an image of the rotation amount indicator using the input rotation amount, and inputs this to the screen generation unit 754e.
- the screen generation unit 754e displays the rotation-corrected image data selected by the image selection unit 154c, the average color bar image input from the average color bar generation unit 154d, and the rotation input from the rotation amount indicator generation unit 754a.
- a GUI screen as shown in FIG. 62 is generated using the image of the quantity indicator.
- a GUI screen generated according to the seventh embodiment will be described later.
- display device 750 first performs the same steps as those described in Embodiment 1 using steps S121 to S127 in FIG. Rotation correction and average color bar image generation processing are executed. Next, the display device 750 performs a rotation amount indicator image generation process from the rotation amount in the rotation amount indicator generation unit 754a (step S721).
- the display device 750 receives the rotation-corrected image data selected by the image selection unit 154c, the average color bar image input from the average color bar generation unit 154d, and the rotation amount indicator generation unit 754a.
- the screen generation unit 754e is caused to execute a screen generation process for generating a GUI screen as shown in FIG. 62 (step S722), and then the process ends.
- the generated GUI screen is input to the display unit 155 via the control unit 151 and displayed to the observer.
- the GUI function using the GUI screen and the input unit 156 is provided to the observer.
- the GUI screen generated by the screen generation unit 754e will be described in detail with reference to FIG.
- the GUI screen generated by the screen generation unit 754e includes patient information g11 and diagnosis information g12, similar to the GUI screen (see FIG. 8) generated by the screen generation unit 154e in each of the above embodiments.
- the main image display area g13, the sub-image display area g14, the reproduction control button g15, and the average color bar 60 are incorporated.
- a rotation amount indicator 68 is incorporated in the GUI screen.
- the rotation amount indicator 68 has the same length in the time axis direction as the average color bar 60 and is arranged above or below the average color bar 60 in the screen. This makes it possible to link the apparent time axes of the average color bar 60 and the rotation amount indicator 68, so that the capsule medical device 10 rotates greatly at any part of the average color bar 60. Can be easily recognized.
- the color of the area corresponding to each image data of the rotation amount indicator 68 is shaded according to the rotation amount. Therefore, it becomes possible for the observer to easily recognize at which part the capsule medical device 10 is largely rotated.
- FIG. 63 is a diagram illustrating an example of the average color bar 60_4 according to the modified example 7-1 of the seventh embodiment.
- the average color bar 60_4 is obtained by superimposing an image expressed by a broken line of the rotation amount on the average color bar 60. Therefore, in the image of the rotation amount, as shown in FIG. 63, the rotation amount in each image data is indicated by its height.
- the present invention is not limited to this, and the rotation amount may be expressed by a histogram or the like.
- the rotation amount may be averaged by the rotation amount of a predetermined number of image data before and after.
- the observer can know the steepness of the change in the rotation amount from the broken line image of the rotation amount.
- the observer can easily know the tendency of the change in the rotation amount from the broken line image of the rotation amount.
- FIG. 64 is a diagram showing an example of a GUI screen according to the eighth embodiment.
- the patient information g11, the diagnosis information g12, the main image display area g13, and the sub image are displayed in the same manner as the GUI screen according to the first embodiment (see FIG. 8).
- An image display area g14 and a reproduction control button g15 are incorporated.
- the average color bar 60 in FIG. 8 is replaced with the average color bar 60_5.
- a column for selecting an index to be added to the position of the slider g16a in the average color bar 60_5 (part selection column g81) and a code for displaying the selected index are selected.
- a registration button g83 for inputting registration of the selected index and code are incorporated.
- the observer selects a target part as an index from the pull-down menu provided by the part selection field g81.
- the code to be selected next is automatically selected in the code field g82 in a predetermined order.
- the observer can change the selected code by the pull-down menu provided by the code field g82.
- the part selection field g81 may be configured to directly input a character string. Furthermore, a code may be added in advance to an index selected in the part selection field g81.
- the display device 150 inputs the selected part and code as an index to the screen generation unit 154e in the image processing unit 154.
- the screen generation unit 154e adds an index to the average color bar 60_5 using the name and code of the input part and creates an image for visually displaying the index (especially the code), and uses this as the average color It is added to the corresponding part of the bar 60_5.
- the GUI screen in which the index image is added to the average color bar 60_5 is input to the display unit 155 and displayed to the observer.
- codes for example, a to e
- the observer can easily know which part of the image data is currently displayed in the main image display area g13.
- an image of a lumen inside the subject 900 (hereinafter referred to as an organ image) g84 is incorporated in the GUI screen according to the eighth embodiment.
- an organ image a lumen inside the subject 900
- parts such as the pylorus, cecum, liver curvature, spleen curvature, and sigmoid colon do not depend on the individual and are substantially the same in all the subjects 900.
- an organ image g84 is created with an image of a general subject 900, and the position of the part in the image drawn by the organ image g84 is defined in advance.
- an image (color) of a region sandwiched between the selected part and the previously selected part in the average color bar 60_5. Or texture) is pasted to the corresponding section of the lumen shape in the organ image g84. If there is no previously selected image, an image (color, texture, etc.) from the head of the average color bar 60_5 on the time axis to the corresponding part is pasted on the organ image g84.
- a display similar to the average color bar 60_5 can be superimposed on the organ image g84 on the GUI screen according to the present embodiment. As a result, the observer can easily recognize which part has what average color.
- the configuration is such that the index added to the average color bar 60_5 is manually selected / input.
- the present invention is not limited to this, and for example, automatically from the color of the average color bar 60_5, etc. It is also possible to configure so that a part is identified and added to the average color bar 60_5 as an index.
- FIG. 65 is a diagram illustrating a relationship between a site in the lumen 902 through which the capsule medical device 10 introduced into the subject 900 passes and the amount of rotation.
- FIG. 66 is a block diagram illustrating a schematic configuration example of the display device 850 according to the modification 8-1.
- the image processing unit 154 in the display device 150 is replaced with an image processing unit 854.
- the image processing unit 854 has the same configuration as the image processing unit 154, and an organ determination unit (organ determination unit) 854a and an organ image generation unit (organ image generation unit) 854b are added.
- the screen generator 154e is replaced with a screen generator (screen generator) 854e.
- the rotation correction unit 154a according to the present modification 8-1 inputs the generated or specified rotation amount to the organ determination unit 854a.
- the average color bar generation unit 154d inputs the generated average color data between the respective parts to the organ image generation unit 854b.
- the organ determination unit 854a functions as an organ determination unit that determines an organ located in the vicinity of the capsule medical device 10 when each piece of image data is acquired based on the amount of rotation for each image data used for rotation correction.
- the image data of the timing at which the capsule medical device 10 passes through each organ for example, the pylorus 907a, the cecum 907b, the liver curvature 907c, the splenic distortion 907d, the sigmoid colon 907e, etc.
- the rotation amount is generated for each image data and is associated with each other.
- the organ determination unit 854a determines the average color bar corresponding to the path between the organs from the image data (ID thereof) of each specified organ and the average color bar image input from the average color bar generation unit 154d. These images are identified, and the identified result is input to the organ image generation unit 854b. Note that the average color bar image is obtained by connecting the average color images of the respective image data. In addition, the average color image of each image data is associated with the ID of the corresponding image data.
- the organ image generation unit 854b compares a previously created organ image and an index added thereto with the specific result input from the organ determination unit 854a, and corresponds to an organ image between matching parts. The average color data between the parts is specified, and this is pasted into the organ image. Thereby, an organ image similar to the organ image g84 on the GUI screen illustrated in FIG. 64 is automatically generated.
- the organ image g84 includes not only an average color image but also a red detection result as shown in an organ image g84B incorporated in the GUI screen according to the modification 8-2 of the eighth embodiment shown in FIG. It may be superimposed.
- the image processing unit that generates the organ image g84B can be easily conceived from the image processing unit 654 illustrated in FIG. 54 and the image processing unit 854 illustrated in FIG. 66, and thus detailed description thereof is omitted here. To do.
- a red indicator 66 is also incorporated in the GUI screen shown in FIG.
- the above-described rotation amount indicator 68 may be incorporated in the GUI screen (see FIG. 64) according to the present embodiment, as shown in the GUI screen according to the modified example 8-3 shown in FIG.
- FIG. 69 is a block diagram illustrating a schematic configuration example of the image selection unit 154c according to the ninth embodiment.
- the image selection unit 154c temporarily stores the image after rotation correction input last time, the image after rotation correction input this time, and the previous image held in the buffer 954b.
- a similarity determination unit 954a that determines the similarity of the current image data to the immediately preceding image data from the image after rotation correction, and the image data after rotation correction based on the similarity determination result by the similarity determination unit 954a.
- the similarity determination unit 954a functions as a similarity determination unit that determines the similarity between the preceding and succeeding image data among the plurality of rotation-corrected image data. Therefore, the similarity determination unit 954a obtains the difference between the color component values for each pixel at the same position in the image data after rotation correction for the previous time read from the buffer 954b and the image data after rotation correction for the current time. Overall, the sum of the differences between the color component values obtained for each pixel is obtained.
- the image data after the current rotation correction is the same image data as the image data after the previous rotation correction, that is, Then, it is determined that the image data is an image of the same part, and the determination result is input to the display target image selection unit 954c.
- the current rotation-corrected image data Is determined to be image data different from the image data after the previous rotation correction, that is, image data obtained by imaging a different part, and this determination result is input to the display target image selection unit 954c.
- the display target image sorting unit 954c functions as an image data sorting unit that sorts image data after rotation correction satisfying a predetermined condition from a plurality of image data rotation-corrected based on the determination result by the similarity determination unit 954a. Therefore, the display target image selection unit 954c captures a part of the determination result input from the similarity determination unit 954a, where the image data after the current rotation correction is different from the image data after the previous rotation correction. This image data is sorted out. That is, this image data is input to the average color bar generator 154d and the screen generator 154e, respectively.
- the determination result input from the similarity determination unit 954a indicates that the current rotation-corrected image data and the previous rotation-corrected image data are image data obtained by imaging the same part. If so, the display target image selection unit 954c discards the image data after the rotation correction for this time.
- image data after rotation correction obtained by imaging a portion different from the image data after rotation correction for the previous time is selected with priority. It is possible to display. As a result, since it is possible to avoid displaying many pieces of image data of the same part continuously, it is possible for the observer to efficiently interpret the image.
- the number of image data items to be selected can be adjusted by adjusting the threshold value used when determining the similarity between the preceding and following images. Can also be adjusted.
- the screen generation unit (154e, 654e, 754e, or 854e) according to each of the above-described embodiments (including modifications thereof) converts the rotation-corrected image data selected by the image selection unit 154c into thumbnails, as shown in FIG.
- a list display also referred to as an overview display
- the screen generation unit 154e in the display device 150 may generate a GUI screen (see FIG. 70) for reducing the selected image data after rotation correction and displaying them in a list.
- FIG. 71 is a block diagram illustrating a schematic configuration example of the display device 1150 according to the eleventh embodiment.
- the eleventh embodiment will be described based on the first embodiment.
- the present invention is not limited to this, and the present embodiment is not limited to this embodiment and any modification thereof. Needless to say, Form 11 can be applied.
- the display device 1150 has the same configuration as that of the display device 150 shown in FIG. 7, and the image processing unit 154 is replaced with an image processing unit 1154.
- the feature point extraction unit 154b is replaced with a motion vector calculation unit 1154b
- the image selection unit 154c is replaced with an image selection unit 1154c in the same configuration as the image processing unit 154. ing.
- the motion vector calculation unit 1154b functions as a motion vector calculation unit that calculates a motion vector between the preceding and succeeding image data among the plurality of rotation-corrected image data, and calculates a motion vector of a region in the preceding and following image data. Is input to the image selection unit 1154c.
- the image selection unit 1154c includes a maximum scalar amount extraction unit 1154d (maximum scalar amount extraction unit) that extracts a value that maximizes the scalar amount from the motion vectors input from the motion vector calculation unit 1154b.
- the image sorting unit 1154c functions as an image data sorting unit that sorts image data after rotation correction satisfying a predetermined condition from a plurality of image data rotation-corrected based on the extraction result by the maximum scalar quantity extraction unit 1154d.
- the image selection unit 1154c selects different parts for the previous image data and the current image data. It is determined that the image is taken, and the image data for this time is selected. That is, this image data is input to the average color bar generator 154d and the screen generator 154e, respectively.
- the maximum scalar amount of the motion vector extracted by the maximum scalar amount extraction unit 1154d is larger than a predetermined threshold, it is determined that the previous image data and the current image data are obtained by imaging the same part. The image data for this time is discarded.
- image data after rotation correction obtained by imaging a portion different from the image data after rotation correction for the previous time is selected with priority. It is possible to display. As a result, since it is possible to avoid displaying many pieces of image data of the same part continuously, it is possible for the observer to efficiently interpret the image.
- the number of image data items to be selected can be adjusted by adjusting the threshold value used when determining the similarity between the preceding and following images. Can also be adjusted.
- FIG. 72 is a block diagram illustrating a schematic configuration example of the display device 1250 according to the twelfth embodiment.
- Embodiment 12 will be described based on Embodiments 1 and 8 as appropriate.
- the present invention is not limited to this, and both the above embodiment and modifications thereof are described. Needless to say, the twelfth embodiment can be applied.
- the display device 1250 includes a position / movement route estimation unit 1257 in addition to the same configuration as the display device 150 shown in FIG.
- the image data whose rotation is corrected by the rotation correction unit 154a in the image processing unit 154 is also input to the position / movement path estimation unit 1257.
- the position / movement path estimation unit 1257 functions as a position estimation unit that estimates the position of the capsule medical device 10 at the time of acquiring image data based on the rotation amount used for rotation correction for each image data.
- a similarity calculation unit 1257a that calculates the similarity between the image data input before and after the input from the unit 154a, and a capsule type while imaging the image data that is acquired based on the similarity calculated by the similarity calculation unit 1257a.
- the movement distance estimation unit 1257b that estimates the distance that the medical device 10 has moved, and the position and movement of the capsule medical device 10 when the current image data is captured based on the movement distance estimated by the movement distance estimation unit 1257b
- a position / route estimation unit 1257c that estimates a route.
- the image data after the rotation input from the rotation correction unit 154a to the position / movement path estimation unit 1257 is input to the similarity calculation unit 1257a.
- the similarity calculation unit 1257a calculates the similarity between the image data before and after the input image data after the rotation correction, and inputs this to the movement distance estimation unit 1257b. Note that the similarity between the preceding and following image data can be calculated from, for example, feature points or motion vectors of the quantity image data.
- the travel distance estimation unit 1257b estimates the distance traveled by the capsule medical device 10 when imaging the preceding and following image data based on the input similarity, and the estimated travel distance is sent to the position / route estimation unit 1257c. input.
- the movement distance can be estimated based on, for example, a correspondence relationship between the similarity and the distance obtained in advance through experimentation, experience, simulation, or the like.
- the position / route estimation unit 1257c captures the current image data based on the input travel distance and the position and travel path of the capsule medical device 10 when the previous estimated image data is captured.
- the position and movement path of the capsule type medical device 10 at that time are estimated and input to the screen generation unit 154e in the image processing unit 154.
- information regarding the position and movement path of the capsule medical device 10 may be separately input to the position / route estimation unit 1257c from the control unit 151 or the like.
- the position / route estimation unit 1257c includes the position of the capsule medical device 10 estimated as described above and the movement path separately input and The error is corrected according to the movement path. This error correction can be executed, for example, by convergence calculation by iterative calculation using the least square method.
- the position and movement path at each imaging timing of the capsule medical device 10 estimated by the position / movement path estimation unit 1257 are input to the screen generation unit 154e in the image processing unit 154, for example.
- the screen generation unit 154e generates a GUI screen as shown in FIG. 73, for example, using the position and movement path of the capsule medical device 10 at each input imaging timing.
- the GUI screen shown in FIG. 73 is obtained by applying the present embodiment to the GUI screen according to the eighth embodiment, for example.
- the marker g121 indicating the position of the capsule medical device 10 at the timing when the image data being displayed in the main image display area g13 is imaged and the image data are displayed.
- a path g122 along which the capsule medical device 10 has moved before imaging is superimposed on the organ image g84.
Abstract
Description
以下、本発明の実施の形態1による医療システム1の構成および動作を、図面を用いて詳細に説明する。本実施の形態1では、被検体900内に経口にて導入され、被検体900の食道から肛門にかけて管腔902(図1参照)内を移動する途中で撮像動作を実行することで被検体900内部の画像を取得するカプセル型の被検体内導入装置(以下、カプセル型医療装置という)10を用いる場合を例に挙げて説明する。ただし、本発明はこれに限定されず、被検体900の胃や小腸や大腸などに蓄えた液体に浮かぶカプセル型医療装置を用いる場合や、カプセル型医療装置内に固定した磁石に対して体外から磁場を印加して誘導するカプセル型医療装置を用いる場合など、種々変形することが可能である。
図1は、本実施の形態1による医療システム1の概略構成を示す模式図である。図1に示すように、医療システム1は、例えば経口で被検体900内に導入されるカプセル型医療装置10と、このカプセル型医療装置10と無線通信を行なうことでカプセル型医療装置10との間で画像データや制御命令等を送受信する受信装置130と、受信装置130がカプセル型医療装置10から受信した画像データに所定の処理を実行して観察者へ表示する表示装置150と、を備える。なお、受信装置130と表示装置150とは、被検体900外に配置される外部装置である。
ここで、カプセル型医療装置10の概略構成例を図2~図4に示す。図2は、カプセル型医療装置10の概略内部構成を示すブロック図である。図3は、カプセル型医療装置10の概略外観を示す斜視図である。図4は、撮像ユニット11におけるCCDアレイ11aの撮像面を含む面でカプセル型医療装置10を切断した際の断面構造を示す断面図である。
また、カプセル型医療装置10から無線送信された画像データは、図1および図6に示すように、被検体900の体表に配設された複数のアンテナ120a~120i(以下、任意のアンテナ120a~120iの符号を120とする)によって受信され、被検体900外に配置された受信装置130にケーブル121を介して入力される。ここで、本実施の形態1による受信装置130の概略構成例を図5のブロック図に示す。
表示装置150は、上述したように、パーソナルコンピュータやワークステーション等の情報処理装置または液晶ディスプレイや有機ELディスプレイ等のディスプレイなどで構成される。表示装置150は、図1および図7に示すように、表示装置150内部の動作やデータの入出力を制御する制御部151と、携帯型記録媒体140または通信ケーブル159を介してインタフェース部152より入力された画像データおよび向きデータ等を一時格納するメモリ部153と、入力された画像データに所定の処理を実行して観察者へ提供する画面を生成する画像処理部154と、画像処理部154が生成した画面を表示する表示部155と、観察者が表示部155に表示された画面に基づいて各種指示を入力する入力部156と、を備える。なお、図7は、本実施の形態1による表示装置150の概略構成例を示すブロック図である。
ただし、上述したように、カプセル型医療装置10の被検体900体内での姿勢は自由である。したがって、カプセル型医療装置10は、様々な方向に回転しながら被検体900の管腔内をこれの蠕動運動によって受動的に移動する。例えば図9(a)~図9(c)に示す例では、第1の撮像タイミングで撮像された画像データIm11における基準方向Dsと規定方向Uiとが同一方向であったとすると、連続する次のタイミングである第2の撮像タイミングで撮像された画像データIm12における規定方向Uiが基準方向Dsに対して90°の傾きを持ち、さらに連続する次のタイミングで撮像された画像データIm13における第3の撮像タイミングでは規定方向Uiが基準方向Dsに対して180°の傾きを持つ。すなわち、図9(a)から図9(c)にかけて、カプセル型医療装置10が長手方向の対称軸を中心として90°ずつ回転している。したがって、図9(d)~図9(f)に示すように、カプセル型医療装置10によって取得された画像データIm11~Im13の規定方向Uiは、基準方向Dsに対して90°ずつ回転してしまう。この結果、図9(d)~図9(f)に示すように、画面中に表示される画像データIm11~Im13の基準方向Dsが、画面の上方向Duに対して90°ずつ回転してしまう。このように画像データの基準方向Dsが画面の上方向Duに対して任意に回転してしまうと、第1の撮像タイミングで撮像された画像データIm11では分割領域A1~A4のうち分割領域A3に含まれていた特徴となる部位p1が、第2の撮像タイミングで撮像された画像データIm12では分割領域A1およびA2の2つの領域に跨がり、第3の撮像タイミングで撮像された画像データIm13では分割領域A2に含まれるというケースが生じてしまう。なお、図9は、被検体900内の同一の部位p1をカプセル型医療装置10が撮像することで得られた時間的に連続する画像データIm11~Im13を示す図である。
また、本実施の形態1による医療システム1では、信号源に電磁波の発生源(アンテナ15a)を用いた場合を例に挙げたが、本発明はこれに限定されず、信号源を磁界の発生源とすることも可能である。以下、この場合を本発明の実施の形態1の変形例1-1として、図面を用いて詳細に説明する。ただし、以下の説明において、上記実施の形態と同様の構成については、説明の簡略化のため、同一の符号を付し、その説明を省略する。
また、上記実施の形態1における信号源には、超音波の発生源を用いることも可能である。以下、この場合を本発明の実施の形態1の変形例1-2として、図面を用いて詳細に説明する。ただし、以下の説明において、上記実施の形態およびその変形例のいずれかと同様の構成については、説明の簡略化のため、同一の符号を付し、その説明を省略する。
また、上記実施の形態1では、信号源(アンテナ15a)をカプセル型医療装置10に配置し、観測点(アンテナ120)を被検体900の外表に固定した場合を例に挙げたが、本発明はこれに限定されず、信号源を被検体900の外表に固定し、観測点をカプセル型医療装置に配置することも可能である。以下、この場合を本発明の実施の形態2として、図面を用いて詳細に説明する。ただし、以下の説明において、上記実施の形態およびその変形例のいずれかと同様の構成については、説明の簡略化のため、同一の符号を付し、その詳細な説明を省略する。
また、本実施の形態2による医療システム2では、信号源に電磁波の発生源(アンテナ220)を用いた場合を例に挙げたが、本発明はこれに限定されず、信号源を磁界の発生源とすることが可能である。以下、この場合を本発明の実施の形態2の変形例2-1として、図面を用いて詳細に説明する。ただし、以下の説明において、上記実施の形態およびその変形例のいずれかと同様の構成については、説明の簡略化のため、同一の符号を付し、その説明を省略する。
また、上記実施の形態2における信号源には、超音波の発生源を用いることも可能である。以下、この場合を本発明の実施の形態2の変形例2-2として、図面を用いて詳細に説明する。ただし、以下の説明において、上記実施の形態およびその変形例のいずれかと同様の構成については、説明の簡略化のため、同一の符号を付し、その説明を省略する。
また、上記各実施の形態(その変形例を含む)では、基準方向Dsを被検体900に設定した場合、被検体900との相対的な向きに依って画像データを回転補正する場合を例に挙げたが、本発明はこれに限定されず、基準方向を被検体900以外に設定してもよい。すなわち、回転補正をする際の基準方向を被検体900の向きや姿勢とは独立した系に設定してもよい。このような系には、例えば実空間がある。以下、基準方向Dsを実空間に設定した場合を本発明の実施の形態3として、図面を用いて詳細に説明する。ただし、以下の説明において、上記実施の形態およびその変形例のいずれかと同様の構成については、説明の簡略化のため、同一の符号を付し、その詳細な説明を省略する。
また、本実施の形態3による医療システム3では、信号源に電磁波の発生源(アンテナ15a)を用いた場合を例に挙げたが、本発明はこれに限定されず、信号源を磁界の発生源とすることも可能である。以下、この場合を本発明の実施の形態3の変形例3-1として、図面を用いて詳細に説明する。ただし、以下の説明では、カプセル型医療装置10A’に搭載したLC共振回路17bを外部磁界(駆動磁界)を用いて励起して誘導磁界を発生させる、いわゆるパッシブ方式で、カプセル型医療装置10A’の向きを特定する場合を例に挙げる。また、以下の説明において、上記実施の形態およびその変形例のいずれかと同様の構成については、説明の簡略化のため、同一の符号を付し、その詳細な説明を省略する。
また、上記実施の形態3における信号源には、超音波の発生源を用いることも可能である。以下、この場合を本発明の実施の形態3の変形例3-2として、図面を用いて詳細に説明する。ただし、以下の説明において、上記実施の形態およびその変形例のいずれかと同様の構成については、説明の簡略化のため、同一の符号を付し、その詳細な説明を省略する。
また、上記実施の形態3では、信号源(アンテナ15a)をカプセル型医療装置10に配置し、観測点(アンテナ120)を実空間に固定した場合を例に挙げたが、本発明はこれに限定されず、信号源を実空間に固定し、観測点をカプセル型医療装置に配置することも可能である。以下、この場合を本発明の実施の形態4として、図面を用いて詳細に説明する。ただし、以下の説明において、上記実施の形態およびその変形例のいずれかと同様の構成については、説明の簡略化のため、同一の符号を付し、その詳細な説明を省略する。
また、本実施の形態4による医療システム4では、信号源に電磁波の発生源(アンテナ220)を用いた場合を例に挙げたが、本発明はこれに限定されず、信号源を磁界の発生源とすることが可能である。以下、この場合を本発明の実施の形態4の変形例4-1として、図面を用いて詳細に説明する。ただし、以下の説明では、実空間に固定したLC共振回路222にこれの共振周波数の信号(駆動信号)を入力して誘導磁界を発生させる、いわゆるアクティブ方式で、カプセル型医療装置20Aの向きを特定する場合を例に挙げる。また、以下の説明において、上記実施の形態およびその変形例のいずれかと同様の構成については、説明の簡略化のため、同一の符号を付し、その説明を省略する。
また、上記実施の形態4における信号源には、超音波の発生源を用いることも可能である。以下、この場合を本発明の実施の形態4の変形例4-2として、図面を用いて詳細に説明する。ただし、以下の説明において、上記実施の形態およびその変形例のいずれかと同様の構成については、説明の簡略化のため、同一の符号を付し、その説明を省略する。
また、上記実施の形態4(その変形例を含む)では、実空間に固定された信号源にアンテナ220やLC共振回路222や圧電素子225aおよび225bなどの、何らかの信号を発生する構成を用いたが、本発明はこれに限定されず、例えば重力や地磁気などの実空間に存在する物理現象を使用してもよい。以下、信号源の代わりに重力を用いた場合を、図面を用いて詳細に説明する。ただし、以下の説明において、上記実施の形態およびその変形例のいずれかと同様の構成については、説明の簡略化のため、同一の符号を付し、その詳細な説明を省略する。
また、上記各実施の形態(その変形例を含む)では、画像データを回転補正することで得られた画像データから平均色バー60のイメージを生成し、観察者へGUI機能を提供するためのGUI画面(図8参照)に生成した平均色バー60を組み込む場合を例に挙げたが、本発明においてGUI画面に組み込まれるイメージは、平均色バー60に限られるものではない。以下、その一例として赤色検出結果のイメージ(以下、赤色インジケータという)を例に挙げ、これを本発明の実施の形態6として図面を用いて詳細に説明する。ただし、以下の説明では、上記実施の形態1をベースとして本実施の形態6を説明するが、本発明はこれに限定されず、上記実施の形態およびこれの変形例のいずれについても本実施の形態6を適用することが可能であることは言うまでもない。
また、上記実施の形態6では、赤色検出結果をバー状のイメージで表現する赤色インジケータ66(図56参照)を用いて赤色検出結果を視覚的に表示する場合を例に挙げたが、本発明はこれに限定されず、例えば図57に示すように、平均色バーに赤色検出結果を重畳してもよい。なお、図57は、本実施の形態6の変形例6-1による平均色バー60_1の一例を示す図である。また、平均色バー60_1は、平均色バー60に赤色検出結果をヒストグラムで表現したイメージを重畳したものである。したがって、赤色検出結果のイメージでは、図57に示すように、各画像データにおける赤色の量や濃さがその高さで示されている。ただし、これに限らず、赤色検出結果を折れ線等で表現してもよい。
また、画像データを複数(例えば4つ)に分割した分割領域A1~A4ごとに赤色検出を実行する場合、分割領域A1~A4ごとの赤色検出結果のイメージは、図58に示すように、画像データを分割する分割領域A1~A4に対応付けて平均色バー60_2に重畳されてもよい。これにより、観察者にどの辺りの部位のどの辺りに赤色が広く検出されたかを目視により容易に認識させることが可能となる。なお、図58は、本実施の形態6の変形例6-2による平均色バー60_2の一例を示す図である。また、平均色バー60_2は、平均色バー60に赤色検出結果のイメージを重畳したものである。
また、画像データを複数(例えば4つ)に分割した分割領域A1~A4ごとに赤色検出を実行する場合、分割領域A1~A4ごとの赤色検出結果のイメージは、分割領域A1~A4についての赤色検出結果の濃淡を赤色の濃さで表現してもよい。さらに、この際、各分割領域A1~A4についての赤色検出結果のイメージは、図59に示すように、画像データを分割する分割領域A1~A4に対応付けて平均色バー60_3に重畳されてもよい。これにより、観察者にどの辺りの部位のどの辺りにどの程度の濃さの赤色が検出されたかを目視により容易に認識させることが可能となる。なお、図59は、本実施の形態6の変形例6-3による平均色バー60_3の一例を示す図である。また、平均色バー60_3は、平均色バー60に赤色検出結果のイメージを重畳したものである。
また、上記実施の形態6(その変形例を含む)では、平均色バー60に赤色検出結果のイメージをリンクさせて表示したが、本発明において平均色バーにリンクさせて表示する対象は、赤色検出結果に限らず、例えば回転補正部154aにおいて用いた回転量とすることも可能である。以下、この場合の一例を本発明の実施の形態7として、図面を用いて詳細に説明する。ただし、以下の説明では、上記実施の形態1をベースとして本実施の形態7を説明するが、本発明はこれに限定されず、上記実施の形態およびこれの変形例のいずれについても本実施の形態7を適用することが可能であることは言うまでもない。
また、上記実施の形態7では、回転量をバー状のイメージで表現する回転量インジケータ68(図62参照)を用いて回転量を視覚的に表示する場合を例に挙げたが、本発明はこれに限定されず、例えば図63に示すように、平均色バーに回転量を重畳してもよい。なお、図63は、本実施の形態7の変形例7-1による平均色バー60_4の一例を示す図である。また、平均色バー60_4は、平均色バー60に回転量の折れ線で表現したイメージを重畳したものである。したがって、回転量のイメージでは、図63に示すように、各画像データにおける回転量がその高さで示されている。ただし、これに限定されず、回転量をヒストグラム等で表現してもよい。
次に、本発明の実施の形態8について、図面を用いて詳細に説明する。なお、以下の説明では、上記実施の形態1をベースとして本実施の形態8を説明するが、本発明はこれに限定されず、上記実施の形態およびこれの変形例のいずれについても本実施の形態8を適用することが可能であることは言うまでもない。
また、被検体900内に導入されたカプセル型医療装置は、図65に示すように、通過する管腔の形状等、すなわち部位によって回転量や回転量の変化率が変化する。なお、図65は、被検体900内に導入されたカプセル型医療装置10の通過する管腔902における部位と回転量との関係を示す図である。
また、臓器イメージg84には、平均色のイメージだけでなく、図67に示す本実施の形態8の変形例8-2によるGUI画面に組み込まれた臓器イメージg84Bに示すように、赤色検出結果が重畳されていてもよい。
さらに、本実施の形態によるGUI画面(図64参照)には、図68に示す本変形例8-3によるGUI画面に示すように、例えば上述の回転量インジケータ68が組み込まれてもよい。
また、上記した各実施の形態(その変形例を含む)における画像選別部154cのより具体的な説明を、本発明の実施の形態9として、以下に図面を用いて詳細に説明する。図69は、本実施の形態9による画像選別部154cの概略構成例を示すブロック図である。
また、上記各実施の形態(その変形例を含む)による画面生成部(154e、654e、754eまたは854e)は、画像選別部154cで選別された回転補正後の画像データをサムネイル化して、図70の本発明の実施の形態10によるGUI画面に示すように、一覧表示(オーバビュー表示ともいう)してもよい。すなわち、表示装置150における画面生成部154eが、各選別された回転補正後の画像データを縮小して、これらを一覧に表示するGUI画面(図70参照)を生成してもよい。
また、上記した各実施の形態(その変形例を含む)における表示装置150の他の形態を、本発明の実施の形態11として、以下に図面を用いて詳細に説明する。図71は、本実施の形態11による表示装置1150の概略構成例を示すブロック図である。ただし、以下の説明では、上記実施の形態1をベースとして本実施の形態11を説明するが、本発明はこれに限定されず、上記実施の形態およびこれの変形例のいずれについても本実施の形態11を適用することが可能であることは言うまでもない。
また、上記した各実施の形態(その変形例を含む)における表示装置150または1150の他の形態を、本発明の実施の形態12として、以下に図面を用いて詳細に説明する。図72は、本実施の形態12による表示装置1250の概略構成例を示すブロック図である。ただし、以下の説明では、上記実施の形態1および8を適宜ベースとして本実施の形態12を説明するが、本発明はこれに限定されず、上記実施の形態およびこれの変形例のいずれについても本実施の形態12を適用することが可能であることは言うまでもない。
10、10A、10B、10A’、20、20A、20B、50 カプセル型医療装置
11 撮像ユニット
11a CCDアレイ
11c LED
12、52 処理ユニット
13 メモリユニット
14 送受信ユニット
15a、22a、22b アンテナ
16 バッテリ
17a 永久磁石
17b、222 LC共振回路
17c、17d、225a、225b 圧電素子
18 筐体
18a 容器
18b キャップ
21、21A、21B 信号検出ユニット
23a、23b、123a、123b 磁気センサ
24a、24b、125a~125i 音響センサ
51 重力センサ
120、120a~120i、220 アンテナ
121、124、126、221、223、226 ケーブル
122 ジャケット
130、130A、130B、230、230A、230B、330、330A、330B、430、430A、430B、530 受信装置
131、231 送受信回路
131A、131B 信号検出回路
131a RSSI回路
132、532 信号処理回路
133、133A、133B CPU
134 メモリ
135 操作部
136 表示部
137 インタフェース部
140 携帯型記録媒体
150、650、750、850、1150、1250 表示装置
151 制御部
152 インタフェース部
153 メモリ部
154、654、754、854、1154 画像処理部
154a 回転補正部
154b 特徴点抽出部
154c 画像選別部
154d 平均色バー生成部
154e、654e、754e、854e 画面生成部
155 表示部
156 入力部
159 通信ケーブル
224A、224B 信号生成回路
320 センサ台
331A コイル駆動部
332A、332B 信号検出部
340 可動台
341 ベッド
654a 赤色検出部
654b 赤色インジケータ生成部
754a 回転量インジケータ生成部
854a 臓器判定部
854b 臓器イメージ生成部
900 被検体
902 管腔
954a 類似度判定部
954b バッファ
954c 表示対象画像選別部
1154b 動きベクトル算出部
1154c 画像選別部
1154d 最大スカラー量抽出部
1257 位置・移動経路推定部
1257a 類似度算出部
1257b 移動距離推定部
1257c 位置・経路推定部
A1~A4 分割領域
60、60_1~60_5 平均色バー
66 赤色インジケータ
68 回転量インジケータ
D、D_1、D_2、Dx_1、Dx_2、Dy_1、Dy_2、Dz_1、Dz_2 駆動コイル
Dg、Ds 基準方向
Du 画面の上方向
Im11~Im13、Im21~Im23、Im31~Im33、Im41~Im43 画像データ
K 検出空間
P1、P2a、P3b、P3、P21~P23 領域
S、S_1~S_8 磁気センサ
Ui 規定方向
g13 主画像表示領域
g14 副画像表示領域
g14a、g16a、g61a スライダ
g14s スクロールバー
g15 再生制御ボタン
g121 マーカ
g122 経路
g84B 臓器イメージ
g81 部位選択欄
g82 符号欄
g83 登録ボタン
g84 臓器イメージ
p1 部位
Claims (20)
- 被検体内部を撮像する撮像手段と、
前記撮像手段で取得された画像データを外部へ出力する出力手段と、
を備えた被検体内導入装置と、
前記画像データを入力する入力手段と、
前記画像データを撮像した際の前記被検体内導入装置の基準方向に対する向きを特定する向き特定手段と、
前記向き特定手段で特定された向きに基づいて前記入力手段で入力された画像データを回転補正することで複数の画像データの向きを揃える回転補正手段と、
を備えた外部装置と、
を備えたことを特徴とする画像処理システム。 - 前記向き特定手段は、前記被検体の向きを基準とした前記被検体内導入装置の向きを特定することを特徴とする請求項1記載の画像処理システム。
- 前記向き特定手段は、実空間を基準とした前記被検体内導入装置の向きを取得することを特徴とする請求項1記載の画像処理システム。
- 前記外部装置は、指向性を備えた指向性アンテナと、該指向性アンテナを介して電磁波を送信する電磁波送信手段と、を備え、
前記被検体内導入装置は、複数のアンテナと、各アンテナで受信された前記電磁波の強度および位相を検出する強度/位相検出手段と、を備え、
前記出力手段は、前記強度/位相検出手段で検出された前記電磁波の強度および位相を前記画像データに付加して外部へ出力し、
前記入力手段は、前記画像データに付加された前記電磁波の強度および位相を前記向き特定手段に入力し、
前記向き特定手段は、前記入力手段から入力された前記電磁波の強度および位相から前記被検体内導入装置の向きを特定することを特徴とする請求項1記載の画像処理システム。 - 前記外部装置は、前記被検体の向きを特定する被検体向き特定手段を備え、
前記基準方向は、前記被検体に設定されており、
前記向き特定手段は、特定した前記基準方向に対する前記被検体内導入装置の向きを前記被検体向き特定手段で特定された前記被検体の向きで回転補正することを特徴とする請求項4記載の画像処理システム。 - 前記被検体内導入装置は、重力の方向を検出する重力方向検出手段を備え、
前記出力手段は、前記重力方向検出手段で検出された前記重力の方向を前記画像データに付加して外部へ出力し、
前記入力手段は、前記画像データに付加された前記重力の方向を前記向き特定手段に入力し、
前記向き特定手段は、前記入力手段から入力された前記重力の方向から前記被検体内導入装置の向きを特定することを特徴とする請求項1に記載の画像処理システム。 - 前記外部装置は、前記回転補正された画像データを表示する画面を生成する画面生成手段を備えたことを特徴とする請求項1記載の画像処理システム。
- 前記外部装置は、前記回転補正された画像データの平均色を算出し、前記算出した平均色のイメージを生成し、前記生成した平均色のイメージが前記画像データ間の順序性に従って繋ぎ合わされた平均色バーを生成する平均色バー生成手段を備え、
前記画面生成手段は、前記平均色バー生成手段によって生成された前記平均色バーが組み込まれた前記画面を生成することを特徴とする請求項7記載の画像処理システム。 - 前記平均色バー生成手段は、1つの前記画像データを複数の領域に分割する分割領域ごとに前記平均色を算出し、該分割領域ごとに前記平均色のイメージを生成し、前記画像データ間で対応する分割領域についての平均色のイメージが所定の軸に対して平行に配列されるように前記平均色バーを生成することを特徴とする請求項8記載の画像処理システム。
- 前記外部装置は、前記回転補正された画像データに含まれる赤色成分を検出する赤色検出手段と、前記赤色検出手段による検出結果を視覚的に表示する赤色イメージを生成する赤色イメージ生成手段と、を備え、
前記画面生成手段は、前記赤色イメージ生成手段によって生成された前記赤色イメージが組み込まれた前記画面を生成することを特徴とする請求項7記載の画像処理システム。 - 前記外部装置は、前記画像データごとの前記回転補正に使用される回転量を視覚的に表示する回転量イメージを生成する回転量イメージ生成手段を備え、
前記画面生成手段は、前記回転量イメージ生成手段によって生成された前記回転量イメージが組み込まれた前記画面を生成することを特徴とする請求項7記載の画像処理システム。 - 前記外部装置は、前記被検体内の臓器をイメージ化した臓器イメージを生成する臓器イメージ生成手段を備え、
前記画面生成手段は、前記臓器イメージを前記画面に組み込むことを特徴とする請求項7記載の画像処理システム。 - 前記外部装置は、前記被検体内の臓器をイメージ化した臓器イメージであって前記平均色バー生成手段によって生成された前記平均色のイメージが重畳された前記臓器イメージを生成する臓器イメージ生成手段を備え、
前記画面生成手段は、前記臓器イメージを前記画面に組み込むことを特徴とする請求項8記載の画像処理システム。 - 前記外部装置は、前記被検体内の臓器をイメージ化した臓器イメージであって前記赤色イメージ生成手段によって生成された前記検出結果のイメージが重畳された前記臓器イメージを生成する臓器イメージ生成手段を備え、
前記画面生成手段は、前記臓器イメージを前記画面に組み込むことを特徴とする請求項10記載の画像処理システム。 - 前記外部装置は、前記画像データを取得する際の前記被検体内導入装置の位置を前記画像データごとの前記回転補正に使用される回転量に基づいて推定する位置推定手段を備えたことを特徴とする請求項1記載の画像処理システム。
- 前記外部装置は、前記回転補正された複数の画像データのうち前後する画像データ間の類似度を判定する類似度判定手段と、前記類似度判定手段による判定結果に基づいて前記回転補正された複数の画像データから所定条件を満たす回転補正後の画像データを選別する画像データ選別手段と、を備えたことを特徴とする請求項1記載の画像処理システム。
- 前記外部装置は、前記回転補正された複数の画像データのうち前後する画像データ間で動きベクトルを算出する動きベクトル算出手段と、前記動きベクトル算出手段によって算出された動きベクトルのうちスカラー量が最大となる値を抽出する最大スカラー量抽出手段と、前記最大スカラー量抽出手段による抽出結果に基づいて前記回転補正された複数の画像データから所定条件を満たす回転補正後の画像データを選別する画像データ選別手段と、を備えたことを特徴とする請求項1記載の画像処理システム。
- 前記外部装置は、前記回転補正された画像データを縮小した縮小画像を一覧表示する画面を生成する画面生成手段を備えたことを特徴とする請求項1に記載の画像処理システム。
- 被検体内部を撮像する撮像手段を備えた被検体内導入装置で取得された画像データを入力する入力手段と、
前記画像データを撮像した際の前記被検体内導入装置の基準方向に対する向きを特定する向き特定手段と、
前記向き特定手段で特定された向きに基づいて前記画像データを回転補正することで複数の画像データの向きを揃える回転補正手段と、
を備えたことを特徴とする外部装置。 - 被検体内部を撮像する撮像手段を備えた被検体内導入装置で取得された画像データを入力する入力ステップと、
前記画像データを撮像した際の前記被検体内導入装置の基準方向に対する向きを特定する向き特定ステップと、
前記向き特定ステップで特定された向きに基づいて前記画像データを回転補正することで複数の画像データの向きを揃える回転補正ステップと、
を含むことを特徴とする画像処理方法。
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CN102753078B (zh) * | 2010-09-24 | 2015-03-18 | 奥林巴斯医疗株式会社 | 图像显示装置以及胶囊型内窥镜系统 |
JP5015363B2 (ja) * | 2010-09-24 | 2012-08-29 | オリンパスメディカルシステムズ株式会社 | 画像表示装置及びカプセル型内視鏡システム |
CN102753078A (zh) * | 2010-09-24 | 2012-10-24 | 奥林巴斯医疗株式会社 | 图像显示装置以及胶囊型内窥镜系统 |
WO2012039171A1 (ja) * | 2010-09-24 | 2012-03-29 | オリンパスメディカルシステムズ株式会社 | 画像表示装置及びカプセル型内視鏡システム |
WO2012042987A1 (ja) * | 2010-09-28 | 2012-04-05 | オリンパスメディカルシステムズ株式会社 | 画像表示装置及びカプセル型内視鏡システム |
JP5242852B2 (ja) * | 2010-09-28 | 2013-07-24 | オリンパスメディカルシステムズ株式会社 | 画像表示装置及びカプセル型内視鏡システム |
US8986198B2 (en) | 2010-09-28 | 2015-03-24 | Olympus Medical Systems Corp. | Image display apparatus and capsule endoscope system |
JP2012249936A (ja) * | 2011-06-06 | 2012-12-20 | Toshiba Corp | 医用画像処理システム |
WO2017158901A1 (ja) * | 2016-03-18 | 2017-09-21 | オリンパス株式会社 | 画像処理装置、画像処理装置の作動方法、及び画像処理プログラム |
JPWO2017158901A1 (ja) * | 2016-03-18 | 2018-03-22 | オリンパス株式会社 | 画像処理装置、画像処理装置の作動方法、及び画像処理プログラム |
JP2019097137A (ja) * | 2017-11-28 | 2019-06-20 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | 生成装置、生成システム、撮像システム、移動体、生成方法、及びプログラム |
US11340772B2 (en) | 2017-11-28 | 2022-05-24 | SZ DJI Technology Co., Ltd. | Generation device, generation system, image capturing system, moving body, and generation method |
WO2023228659A1 (ja) * | 2022-05-24 | 2023-11-30 | 富士フイルム株式会社 | 画像処理装置及び内視鏡システム |
Also Published As
Publication number | Publication date |
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EP2407082A4 (en) | 2015-11-18 |
EP2407082B1 (en) | 2017-04-26 |
JPWO2010103868A1 (ja) | 2012-09-13 |
US20110196201A1 (en) | 2011-08-11 |
US20120238809A1 (en) | 2012-09-20 |
JP4642940B2 (ja) | 2011-03-02 |
CN102421350B (zh) | 2014-12-17 |
US8167789B2 (en) | 2012-05-01 |
EP2407082A1 (en) | 2012-01-18 |
CN102421350A (zh) | 2012-04-18 |
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