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公开(公告)号：US20230172675A1
公开(公告)日：2023-06-08
申请号：US18105305
申请日：2023-02-03
发明人： Hiroto OGIMOTO , Ryota SASAI , Masaru YANAGIHARA , Hiro HASEGAWA , Daichi KITAGUCHI , Nobuyoshi TAKESHITA , Shigehiro KOJIMA , Yuki FURUSAWA , Yumi KINEBUCHI , Masaaki ITO
CPC分类号： A61B34/30 , A61B1/00006 , A61B1/00009 , A61B1/00149 , A61B2034/2055
摘要： A controller controls a movement of an endoscope to cause the endoscope to follow a surgical instrument. The controller includes a processor. The processor acquires position information including the position of the surgical instrument, acquires scene information associated with a procedure scene to be observed through the endoscope, determines an offset parameter, which determines the position of the target point with respect to a predetermined fiducial point in the field of view of the endoscope, of a target point on the basis of the scene information, sets the position of the target point with respect to the fiducial point on the basis of the offset parameter, and causes the endoscope to follow the surgical instrument such that the surgical instrument is disposed at the target point, by controlling a movement of the endoscope on the basis of the position of the target point and the position of the surgical instrument.
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公开(公告)号：US20230180998A1
公开(公告)日：2023-06-15
申请号：US18105300
申请日：2023-02-03
发明人： Chiharu MIZUTANI , Masaru YANAGIHARA , Hiroto OGIMOTO , Hiro HASEGAWA , Daichi KITAGUCHI , Nobuyoshi TAKESHITA , Shigehiro KOJIMA , Yuki FURUSAWA , Yumi KINEBUCHI , Masaaki ITO
CPC分类号： A61B1/00009 , A61B1/045 , G06T2207/10068
摘要： An endoscope system includes an endoscope, a moving device that moves the endoscope, a storage unit, and a processor. The storage unit stores first position information and first rotation angle information, which defines a rotation angle of an endoscope image of a first region, on the first region in a subject and second position information and second rotation angle information, which defines a rotation angle of an endoscope image of a second region, on the second region in the subject. The processor calculates third rotation angle information on a third region in the subject based on the first and second position information, the first and second rotation angle information, and third position information on the third region. If the third region includes the current imaging region, the processor rotates the endoscope image based on the third rotation angle information and outputs the rotated endoscope image to the display device.
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公开(公告)号：US20230180996A1
公开(公告)日：2023-06-15
申请号：US18105314
申请日：2023-02-03
发明人： Mingxuan DAI , Ryota SASAI , Hiro HASEGAWA , Daichi KITAGUCHI , Nobuyoshi TAKESHITA , Shigehiro KOJIMA , Yuki FURUSAWA , Yumi KINEBUCHI , Masaaki ITO
CPC分类号： A61B1/00006 , A61B1/0004 , A61B1/00009 , A61B1/00042 , A61B1/045 , A61B1/00045 , A61B1/00149 , G06T3/60 , G06T7/70 , H04N23/62 , H04N23/667 , G06T2207/10012 , G06T2207/10068 , G06T2207/30004 , G06T2207/30244
摘要： A controller controls an image that is captured by an image sensor of an endoscope and is displayed on the display screen of a display device. The controller includes a processor. The processor acquires a first image that is an image captured by the image sensor, detects a first angle of a surgical instrument, and generates a second image rotated with respect to the first image on the basis of the first angle and a predetermined target angle. The first angle is an angle formed by the surgical instrument in the first image with respect to a predetermined reference line that is set with respect to a plane of the first image. A second angle formed by the surgical instrument in the second image with respect to the predetermined reference line is equal to the predetermined target angle.
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公开(公告)号：US20230180995A1
公开(公告)日：2023-06-15
申请号：US18105291
申请日：2023-02-03
发明人： Hiroyuki TAKAYAMA , Ryota SASAI , Masaru YANAGIHARA , Chiharu MIZUTANI , Hiro HASEGAWA , Daichi KITAGUCHI , Nobuyoshi TAKESHITA , Shigehiro KOJIMA , Yuki FURUSAWA , Yumi KINEBUCHI , Masaaki ITO
CPC分类号： A61B1/00006 , A61B5/065 , A61B34/30 , A61B2034/305
摘要： A medical system includes an endoscope that captures an image including an object, a moving device that includes a robot arm and that moves the endoscope in a body, and a controller that controls the moving device on the basis of the position of the object. The controller is configured to control the moving device in a first control mode in which the endoscope is caused to follow the object at a first speed and a second control mode in which the endoscope is caused to follow the object at a second speed lower than the first speed. The controller controls the moving device in the first control mode when the object is located outside a predetermined three-dimensional region set in a field of view of the endoscope. The controller controls the moving device in the second control mode when the object is located in the predetermined three-dimensional region.
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