Projection mapping apparatus

A projection mapping apparatus comprising:

• a light source that emits measurement light to irradiate a subject with the measurement light;
• a distance image sensor in which a plurality of light receiving elements are two-dimensionally arranged, wherein an amount of measurement light received by each light receiving element of the plurality of light receiving elements two-dimensionally arranged in the distance image sensor is dependent on a distance between each light receiving element and a surface of the subject, the distance image sensor outputting the amount of measurement light received by each element as a received light signal to a processor, the processor configured to:
• acquire the received light signal outputted by the distance image sensor and generate a distance image on the basis of the acquired received light signal;
• acquire a position of a leading end of a medical instrument inserted into the subject and determine a corresponding part of the subject which corresponds to the position of the leading end of the medical instrument in the subject;
• acquire, as a leading end position image indicating the position of the leading end of the medical instrument in the subject, a transmission image of the corresponding part of the subject;
• detect unevenness of a surface shape of the corresponding part of the subject on the basis of the generated distance image;
• and
• transform the transmission image of the corresponding part of the subject to a shape fitted to the detected unevenness of the surface shape of the corresponding part of the subject to generate a projection image fitted to the surface shape of the corresponding part of the subject;
• and
• a projector including a display optical element that displays the generated projection image, a projection light source that emits projection light so as to be incident on the display optical element, and a projection lens that projects the projection image emitted from the display optical element to the surface of the corresponding part of the subject.