Endoscopic image processing device, method and program

An endoscopic image processing device comprising:

• a memory storing a plurality of components;
• and
• a processor configured to execute the plurality of components, which comprise:
• an endoscopic image interface configured to obtain a plurality of endoscopic images captured with an endoscope inserted into an anatomical structure of a subject;
• a volume data interface configured to obtain volume data of the anatomical structure acquired through tomographic imaging wherein the obtained volume data is three dimensional image data;
• a virtual endoscopic image generator configured to generate a plurality of virtual endoscopic images of the anatomical structure from the obtained volume data;
• an associator configured to extract an endoscopic image captured at a predetermined position of the anatomical structure from the obtained endoscopic images, further configured to extract a comparative virtual endoscopic image virtually generated as if being captured at a position corresponding to the predetermined position from the obtained virtual endoscopic images, and further configured to associate the extracted endoscopic image and the comparative virtual endoscopic image with each other;
• a position calculator configured to calculate a three-dimensional position of each pixel forming the anatomical structure based on the obtained volume data, specifying each pixel forming the associated comparative virtual endoscopic image corresponding to each pixel forming the endoscopic image captured at the predetermined position, specifying each pixel on an inner wall of the anatomical structure in the obtained volume data corresponding to each pixel forming the comparative virtual endoscopic image, and further configured to calculate, as a three-dimensional position corresponding to each pixel forming the endoscopic image, the three-dimensional position of the pixel on the inner wall corresponding to each pixel forming the associated comparative virtual endoscopic image corresponding to each pixel forming the endoscopic image;
• and
• an endoscopic volume data generator configured to generate volume data, which includes the pixels forming the anatomical structure and the pixels positioned in the calculated three-dimensional positions corresponding to each pixel forming the endoscopic image and further configured to generate an endoscopic volume data by inserting a pixel value of each pixel forming the endoscopic image as the pixel value of each pixel positioned in the calculated three-dimensional positions corresponding to each pixels forming the endoscopic image based on the generated volume data and the endoscopic image,
• wherein the endoscopic volume data is three dimensional image data, and
• wherein the endoscopic volume data generator is configured to insert a pixel value of a certain pixel among the pixels forming the endoscopic image as pixel values of a plurality of pixels included in a predetermined regions which includes the three-dimensional positions of the endoscopic volume data corresponding to the certain pixel.