Medical support device, puncture method, operation program of medical support device, and medical support system

A puncture method including:

• performing an operation of causing a change in an interior wall of an inside of a body of a subject from an outside of the body while visually recognizing an intracorporeal image that is captured by an intracorporeal camera that images the inside of the body the intracorporeal image including, within an imaging range, an organ punctured by a puncture needle, an insertion part of a medical device inserted into the body, and a marker that is provided at the insertion part and is image-recognizable, and in which a puncture path of the puncture needle is displayed in a superimposed form on a position specified based on position/posture information including at least one of a position or a posture of the insertion part derived based on the marker;
• determining whether or not a change position in which the interior wall is changed and the puncture path intersect with each other in a three-dimensional space inside the body based on a first intracorporeal image captured from a first viewpoint and a second intracorporeal image captured from a second viewpoint different from the first viewpoint in a state in which the operation is performed;
• and
• puncturing an intersection point between the change position and the puncture path by the puncture needle in a case in which it is determined in a determination result that the change position and the puncture path intersect with each other.

A non-transitory computer-readable storage medium storing a operation program of a medical support device, the operation program causing a computer to function as the medical support device and causing the computer to execute:

• a process of acquiring an intracorporeal image that is captured by an intracorporeal camera that images an inside of a body of a subject, the intracorporeal image including, within an imaging range, an organ punctured by a puncture needle, an insertion part of a medical device inserted into the body, and a marker that is provided at the insertion part and is image-recognizable;
• a process of deriving position/posture information including at least one of a position or a posture of the insertion part based on the marker;
• and
• a process of executing display control of displaying a puncture path of the puncture needle in a superimposed form at a position specified in the intracorporeal image based on the position/posture information.

A medical support system comprising:

• a medical device that includes an insertion part to be inserted into an inside of a body of a subject and has a marker that is provided at the insertion part and is image-recognizable;
• an intracorporeal camera that images an intracorporeal image including, within an imaging range, the insertion part, the marker, and an organ punctured by a puncture needle;
• and
• a medical support device including a processor,
• wherein the processor is configured to:
• acquire the intracorporeal image;
• derive position/posture information including at least one of a position or a posture of the insertion part based on the marker;
• and
• execute display control of displaying a puncture path of the puncture needle in a superimposed form at a position specified in the intracorporeal image based on the position/posture information.