公开(公告)号：US4727417A

公开(公告)日：1988-02-23

申请号：US048671

申请日：1987-05-11

申请人： Masahide Kanno ,  Masahiko Sasaki ,  Tetsuo Nonami ,  Shinichi Kato ,  Yutaka Konomura ,  Yoshikazu Ichikawa

发明人： Masahide Kanno ,  Masahiko Sasaki ,  Tetsuo Nonami ,  Shinichi Kato ,  Yutaka Konomura ,  Yoshikazu Ichikawa

IPC分类号： A61B1/04 ,  G11B7/00 ,  G11B19/04 ,  G11B27/028 ,  G11B27/10 ,  G11B27/32 ,  G11B27/34 ,  G11B27/36 ,  H04N5/77 ,  H04N7/18

CPC分类号： H04N5/77 ,  A61B1/042 ,  G11B19/04 ,  G11B27/028 ,  G11B27/105 ,  G11B27/32 ,  G11B27/34 ,  G11B27/36 ,  G11B7/00 ,  G11B2220/20 ,  G11B2220/2587

摘要： An endoscope video apparatus has an endoscope including a solid-state image sensor, for outputting an endoscopic image signal, a video processor for processing the image signal supplied from the solid-state image sensor and outputting a video signal, an image file unit for recording the video signal, and an input section for inputting retrieval data corresponding to the video signal recorded in the image file unit. A control section discriminates the presence/absence of retrieval data input from the input section. A control circuit operates an alarm unit by discrimination data representing the absence of retrieval data.

摘要翻译： 一种内窥镜视频设备具有内窥镜，其包括用于输出内窥镜图像信号的固态图像传感器，用于处理从固态图像传感器提供的图像信号并输出​​视频信号的视频处理器，用于记录的图像文件单元 视频信号和用于输入对应于记录在图像文件单元中的视频信号的检索数据的输入部分。 控制部分识别从输入部分输入的检索数据的存在/不存在。 控制电路通过表示不存在检索数据的识别数据来操作报警单元。

公开(公告)号：US08388605B2

公开(公告)日：2013-03-05

申请号：US12260437

申请日：2008-10-29

申请人： Yoshitaka Umemoto ,  Kazuhiko Takahashi ,  Tetsuo Nonami

发明人： Yoshitaka Umemoto ,  Kazuhiko Takahashi ,  Tetsuo Nonami

IPC分类号： A61B17/00

CPC分类号： A61B34/37 ,  A61B34/30 ,  A61B34/71 ,  A61B90/361 ,  A61B2017/00314 ,  A61B2034/306 ,  A61B2090/064 ,  B25J9/1633 ,  B25J9/1643

摘要： A medical device system includes a manipulator including a plurality of joints, a parameter storing portion for storing joint parameters, including a largest available force, of each joint of the plurality of joints, a trajectory inputting portion for inputting, as a trajectory plan, trajectories for moving a distal end of the manipulator from a current position and attitude to a target position and attitude, a trajectory setting portion for setting a joint angle trajectory for each joint providing a largest available force from among joint angle trajectories which allow movement to the target position and attitude with a minimum number of driven joints based on a largest available force parameter for the each joint stored in the parameter storing portion and the trajectory plan.

摘要翻译： 一种医疗装置系统，包括具有多个关节的操纵器，用于存储包括所述多个关节各关节的最大可用力的关节参数的参数存储部，轨迹输入部，作为轨迹计划输入轨迹 用于将操纵器的远端从当前位置和姿态移动到目标位置和姿态;轨迹设置部分，用于为每个关节设置关节角度轨迹，从关节角度轨迹中提供最大可用力，所述关节角度轨迹允许移动到目标 基于存储在参数存储部分和轨迹计划中的每个关节的最大可用力参数，具有最小数量的从动关节的位置和姿态。

公开(公告)号：US07953261B2

公开(公告)日：2011-05-31

申请号：US11666556

申请日：2006-03-14

申请人： Hirokazu Nishimura ,  Tetsuo Nonami

发明人： Hirokazu Nishimura ,  Tetsuo Nonami

IPC分类号： G06K9/00 ,  A61B6/00

CPC分类号： A61B1/041 ,  A61B1/00009 ,  A61B1/00016 ,  A61B1/00036 ,  A61B5/065 ,  A61B5/7264 ,  A61B5/7267 ,  G06K9/00127 ,  G06T7/0012 ,  G06T2207/10016 ,  G06T2207/10068 ,  G06T2207/20021 ,  G06T2207/30092

摘要： An image processing apparatus and an image processing method which can improve efficiency of observation by a user are provided. The image processing apparatus of the present invention includes an image inputting unit configured to input a medical image including a plurality of color signals; a determining unit configured to determine whether the biological mucosa is sufficiently captured in the inputted medical image or not; and a controlling unit configured to control at least either of display or storage of the medical image based on the determination result in the determining unit.

摘要翻译： 提供了可以提高用户观察效率的图像处理装置和图像处理方法。 本发明的图像处理装置包括：图像输入单元，被配置为输入包括多个颜色信号的医学图像; 确定单元，被配置为确定生物粘膜是否在输入的医学图像中被充分捕获; 以及控制单元，被配置为基于所述确定单元中的确定结果来控制所述医学图像的显示或存储中的至少一个。

公开(公告)号：US07905829B2

公开(公告)日：2011-03-15

申请号：US11725077

申请日：2007-03-16

申请人： Hirokazu Nishimura ,  Tetsuo Nonami

发明人： Hirokazu Nishimura ,  Tetsuo Nonami

IPC分类号： A61B1/04

CPC分类号： A61B1/005 ,  A61B1/00009 ,  A61B1/00147

摘要： An endoscope inserting direction detecting system receives an endoscopic image, detects an endoscope inserting direction, in which an endoscope should be inserted, on the basis of the endoscopic image and produces information concerning the detected inserting direction. The endoscope inserting direction detecting method includes setting sampling pixels, detecting the direction of a change in brightness in the endoscopic image and evaluating the angles among a plurality of inserting-direction candidates and the direction of the change in brightness.

摘要翻译： 内窥镜插入方向检测系统接收内窥镜图像，基于内窥镜图像检测内窥镜插入方向，并且产生与检测出的插入方向有关的信息。 内窥镜插入方向检测方法包括设置采样像素，检测内窥镜图像中的亮度变化的方向并评估多个插入方向候选之间的角度和亮度变化的方向。

公开(公告)号：US07878971B2

公开(公告)日：2011-02-01

申请号：US11725079

申请日：2007-03-16

申请人： Hirokazu Nishimura ,  Tetsuo Nonami

发明人： Hirokazu Nishimura ,  Tetsuo Nonami

IPC分类号： A61B1/04

CPC分类号： A61B1/005 ,  A61B1/00009 ,  A61B1/00147

摘要： An endoscope inserting direction method includes a first step of receiving endoscopic images time-sequentially, a second step of sampling pixels representing low densities from pixels of each of the endoscopic images which are time-sequentially received in the first step and a third step of determining whether or not number of pixels representing low densities which are sampled in the second step is equal to or larger than predetermined number of pixels. In a fourth step, if the number of pixels representing low densities is determined to be equal to or larger than the predetermined number of pixels in the third step, a position of the barycenter of the pixels representing low densities is obtained, and based on a change in the position of the barycenter of the pixels representing low densities of the time-sequentially received endoscopic images, a direction of a shift in the time-sequentially received plurality of endoscopic images is detected. In a fifth step, an endoscope inserting direction, in which an endoscope should be inserted, on the basis of the result of the detection performed in the fourth step is determined.

摘要翻译： 内窥镜插入方向方法包括：第一步骤，按时间顺序接收内窥镜图像;第二步骤，从在第一步骤中时间顺序接收的每个内窥镜图像的像素中采样表示低密度的像素;以及第三步骤， 在第二步骤中被采样的表示低密度的像素数是否等于或大于预定像素数。 在第四步骤中，如果在第三步骤中将表示低密度的像素的数量确定为等于或大于预定数量的像素，则获得表示低密度的像素的重心的位置，并且基于 检测表示时间顺序地接收的内窥镜图像的低密度的像素的重心的位置的变化，检测时间顺序地接收的多个内窥镜图像中的偏移的方向。 在第五步骤中，确定根据第四步骤中执行的检测结果，插入内窥镜的内窥镜插入方向。

公开(公告)号：US07854699B2

公开(公告)日：2010-12-21

申请号：US11725078

申请日：2007-03-16

申请人： Hirokazu Nishimura ,  Tetsuo Nonami

发明人： Hirokazu Nishimura ,  Tetsuo Nonami

IPC分类号： A61B1/04

CPC分类号： A61B1/005 ,  A61B1/00009 ,  A61B1/00147

摘要： An endoscope inserting direction detecting method includes receiving an endoscopic image and judging from the endoscopic image whether or not an endoscope is located too closely to an object of observation. When it is judged that the endoscope is located too closely to the object of observation, information is produced for prompting pull-back of the endoscope. When it is judged that the endoscope is not located too closely to the object of observation, a detecting algorithm is selected and applied according to the endoscopic image from among plural detecting algorithms for detecting an inserting direction of the endoscope.

摘要翻译： 内窥镜插入方向检测方法包括：接收内窥镜图像，并且从内窥镜图像判断内窥镜与观察对象是否太靠近。 当判断为内窥镜位置与观察对象太接近时，产生用于提示内窥镜的拉回的信息。 当判断为内窥镜与观察对象不太接近时，根据用于检测内窥镜的插入方向的多个检测算法中的内窥镜图像，选择并应用检测算法。

公开(公告)号：US07559888B2

公开(公告)日：2009-07-14

申请号：US10531496

申请日：2003-11-19

申请人： Jun Hasegawa ,  Tetsuo Nonami

发明人： Jun Hasegawa ,  Tetsuo Nonami

IPC分类号： A61B1/04

CPC分类号： A61B1/042 ,  A61B1/00147 ,  G06T7/73 ,  G06T2207/30028 ,  Y10S600/921

摘要： The invention provides an endoscope inserting direction detecting apparatus and method with which the direction of a lumen can be determined reliably despite a simple configuration. The endoscope inserting direction detecting apparatus includes a pixel sampling unit that samples a stated pixel value from each of domains constituting an endoscopic image received by an image input/output control circuit; a shape-of-range estimating unit that estimates the shape of a range within the endoscopic image according to the continuity of the distribution of the pixels indicating the stated pixel value; and an inserting direction determining unit that determines an inserting direction within a body cavity, in which an endoscope should be further inserted, on the basis of the estimated shape. The inserting direction is displayed together with the endoscopic image.

摘要翻译： 本发明提供一种内窥镜插入方向检测装置和方法，尽管简单的结构，能够可靠地确定内腔的方向。 内窥镜插入方向检测装置包括像素采样单元，其对构成由图像输入/输出控制电路接收的内窥镜图像的各个域进行采样; 距离估计单元，其根据表示所述像素值的像素的分布的连续性来估计内窥镜图像内的范围的形状; 以及插入方向确定单元，其基于估计的形状来确定体腔内的插入方向，其中应进一步插入内窥镜。 插入方向与内窥镜图像一起显示。

公开(公告)号：US20080294105A1

公开(公告)日：2008-11-27

申请号：US12169185

申请日：2008-07-08

申请人： Kazuhiro Gono ,  Tetsuo Nonami

发明人： Kazuhiro Gono ,  Tetsuo Nonami

IPC分类号： A61B1/045

CPC分类号： A61B1/0669 ,  A61B1/043 ,  A61B1/063 ,  A61B1/0638 ,  A61B1/0646 ,  A61B5/0071 ,  A61B5/0084

摘要： An endoscope device obtains tissue information of a desired depth near the tissue surface. A xenon lamp (11) in a light source (4) emits illumination light. A diaphragm (13) controls a quantity of the light that reaches a rotating filter. The rotating filter has an outer sector with a first filter set, and an inner sector with a second filter set. The first filter set outputs frame sequence light having overlapping spectral properties suitable for color reproduction, while the second filter set outputs narrow-band frame sequence light having discrete spectral properties enabling extraction of desired deep tissue information. A condenser lens (16) collects the frame sequence light coming through the rotating filter onto the incident face of a light guide (15). The diaphragm controls the amount of the light reaching the filter depending on which filter set is selected.

摘要翻译： 内窥镜装置获取组织表面附近的期望深度的组织信息。 光源（4）中的氙灯（11）发射照明光。 光圈（13）控制到达旋转滤光器的光量。 旋转滤波器具有带有第一滤波器组的外部扇区和具有第二滤波器组的内部扇区。 第一滤波器组输出具有适于颜色再现的重叠光谱特性的帧序列光，而第二滤波器组输出具有能够提取期望的深层组织信息的离散光谱特性的窄带帧序列光。 聚光透镜（16）将通过旋转滤光器的框架序列光收集到光导（15）的入射面上。 根据所选择的滤波器组，光圈控制到达滤光器的光量。

公开(公告)号：US5697885A

公开(公告)日：1997-12-16

申请号：US382579

申请日：1995-02-02

申请人： Yutaka Konomura ,  Takao Tsuruoka ,  Kazunari Nakamura ,  Tetsuo Nonami ,  Keiichi Hiyama ,  Akihiko Yajima

发明人： Yutaka Konomura ,  Takao Tsuruoka ,  Kazunari Nakamura ,  Tetsuo Nonami ,  Keiichi Hiyama ,  Akihiko Yajima

IPC分类号： H04N1/21 ,  H04N5/225 ,  H04N5/77 ,  H04N5/781 ,  H04N5/85 ,  A61G1/04

CPC分类号： H04N1/2175 ,  H04N1/32122 ,  H04N5/772 ,  H04N2005/2255 ,  H04N2201/3214 ,  H04N2201/3215 ,  H04N2201/3226 ,  H04N2201/3254 ,  H04N5/781 ,  H04N5/85

摘要： An image recording apparatus which includes a time-serial image recording arrangement for recording time-serial images of an object, and still image filling arrangements for recoding a still image. The apparatus also includes an outputting arrangement capable of outputting an image information data of at least a part of the time-serial images to be recorded or having been recorded by the time-serial image recording arrangement, which is used as a standard for observing variations in the time-serial images of the object which occur with lapse of time. The outputting arrangement includes an extracting arrangement for extracting a selected feature of at least one image among the time-serial images as the image information to be a standard of the position and a composing arrangement for composing and outputting image information of the selected feature extracted by the extracting arrangement and for composing and outputting the time-serial images.

摘要翻译： 一种图像记录装置，包括用于记录对象的时间序列图像的时间串行图像记录装置和用于重新编码静止图像的静止图像填充装置。 该装置还包括输出装置，其能够输出要被记录或由时间串行图像记录装置记录的至少一部分时间序列图像的图像信息数据，该时间序列图像记录装置用作观察变化的标准 在随时间流逝发生的物体的时间序列图像中。 输出装置包括一个提取装置，用于提取时间序列图像中的至少一个图像的选定特征，作为要作为该位置的标准的图像信息，以及用于组合和输出所选特征的图像信息的组合装置， 提取装置，用于组合和输出时间序列图像。

公开(公告)号：US08602968B2

公开(公告)日：2013-12-10

申请号：US12559828

申请日：2009-09-15

申请人： Yoshitaka Umemoto ,  Kazuhiko Takahashi ,  Tetsuo Nonami

发明人： Yoshitaka Umemoto ,  Kazuhiko Takahashi ,  Tetsuo Nonami

IPC分类号： A61B1/00

CPC分类号： A61B1/04 ,  A61B1/018 ,  A61B34/20 ,  A61B34/70 ,  A61B34/71 ,  A61B90/361 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2055

摘要： When an operation instruction is input by a first (second) control output instruction input device, locus calculation means calculates a locus of movement of a first (second) therapeutic device on the basis of any one of joint sections, which is instructed to operate. On the basis of a calculation result by the locus calculation means, therapeutic device operation control means controls an operation of the first (second) therapeutic device by a first (second) active mechanism. Thereby, there is provided an endoscope apparatus which can improve the operational efficiency and positional precision of the therapeutic device.

摘要翻译： 当由第一（第二）控制输出指令输入装置输入操作指令时，轨迹计算装置根据被指示操作的任一个接合部分计算第一（第二）治疗装置的移动轨迹。 基于轨迹计算装置的计算结果，治疗装置运行控制装置通过第一（第二）活动机构来控制第一（第二）治疗装置的动作。 由此，能够提高治疗装置的操作效率和位置精度的内窥镜装置。