Endoscope system and coordinate system correction method
AssigneeOlympus Corporation
InventorRyota Sasai
Life of this patent
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Abstract
An endoscope system includes: an endoscope; a moving device that holds and moves the endoscope; and at least one processor. The at least one processor is configured to: detect a movement direction of the endoscope moved by the moving device in a coordinate system of the moving device; estimate an area of a moving body in an image captured by the endoscope; detect a movement direction of an object in the image on the basis of another area in the image excluding the area of the moving body; calculate a deviation between a coordinate system of the endoscope and the coordinate system of the moving device on the basis of the movement direction of the endoscope and the movement direction of the object; and correct the coordinate system of the moving device on the basis of the deviation.
Claims20
An endoscope system comprising:
- an endoscope;
- a moving device that holds and moves the endoscope;
- and
- at least one processor,
- wherein the at least one processor is configured to:
- detect a movement direction of the endoscope moved by the moving device in a coordinate system of the moving device;
- estimate an area of a moving body in an image captured by the endoscope;
- detect a movement direction of an object in the image on the basis of another area in the image excluding the area of the moving body;
- calculate a deviation between a coordinate system of the endoscope and the coordinate system of the moving device on the basis of the movement direction of the endoscope and the movement direction of the object;
- and
- correct the coordinate system of the moving device on the basis of the calculated deviation.
An endoscope system comprising:
- an endoscope;
- a moving device that holds and moves the endoscope;
- and
- at least one processor,
- wherein the at least one processor is configured to:
- detect a movement direction of the endoscope moved by the moving device in a coordinate system of the moving device;
- estimate motion vectors at respective positions in an image captured by the endoscope;
- detect a movement direction of an object in the image on the basis of another area in the image excluding an area in which magnitudes of the motion vectors are greater than or equal to a predetermined threshold;
- calculate a deviation between a coordinate system of the endoscope and the coordinate system of the moving device on the basis of the movement direction of the endoscope and the movement direction of the object;
- and
- correct the coordinate system of the moving device on the basis of the calculated deviation.
A coordinate system correction method for correcting a coordinate system of a moving device that holds and moves an endoscope, the method comprising:
- detecting a movement direction of the endoscope moved by the moving device in the coordinate system of the moving device;
- estimating an area of a moving body in an image captured by the endoscope;
- detecting a movement direction of an object in the image on the basis of another area in the image excluding the area of the moving body;
- calculating a deviation between a coordinate system of the endoscope and the coordinate system of the moving device on the basis of the movement direction of the endoscope and the movement direction of the object;
- and
- correcting the coordinate system of the moving device on the basis of the calculated deviation.
Dependencies are inferred from the claim text.