Medical system and medical system operating method

Abstract

A medical system and an operating method of a medical system are disclosed. The medical system includes: an endoscope; a controller that can operate the endoscope and generate a display image from a captured image; and a display for displaying the display image. The controller can record a model of an organ of concern generated in a preoperative plan, extract feature points in the model, extract a distance between each feature point and a reference position set in the model before surgery, extract corresponding points in the display image, and associate a first coordinate system of the model with a second coordinate system of a display space, based on the feature and corresponding points, to set a path for the endoscope to move such that a region of interest in the organ of concern corresponding to the reference position is displayed in the display image.

What is claimed is: 
     
         1 . A medical system, comprising:
 an endoscope that has an imaging section including a lens and is configured to be operated by being electrically driven;   a controller configured to operate the endoscope and generate a display image from an image captured by the imaging section; and   a display configured to display the display image,   wherein the controller is configured to:
 record a model of an organ of concern generated in a preoperative plan, the model being arranged with respect to a first coordinate system, 
 extract feature points in the model, 
 extract a distance between each of the feature points and a reference position set in the model before surgery, 
 extract corresponding points in the display image that correspond to the feature points in the model, and 
 associate the first coordinate system of the model with a second coordinate system of a display space displayed by the display image, based on the feature points and the corresponding points, to set a path for the endoscope to move such that a region of interest in the organ of concern that corresponds to the reference position in the model is displayed in the display image. 
   
     
     
         2 . The medical system according to  claim 1 , wherein the controller is further configured to form a graph in which adjacent feature points are connected, and the distance between each of the feature points and the reference position is set on the graph. 
     
     
         3 . The medical system according to  claim 1 , wherein the controller is further configured to drive the endoscope so that the region of interest is displayed in the display image. 
     
     
         4 . The medical system according to  claim 1 , wherein the controller is further configured to set a shortest path of movement of the endoscope so that the region of interest and an imaging center point of the second coordinate system of the display space approach each other, and drive the endoscope along the shortest path. 
     
     
         5 . The medical system according to  claim 3 , wherein the controller is further configured to disable an operation input device of the endoscope while the controller is driving the endoscope. 
     
     
         6 . The medical system according to  claim 3 , wherein the controller is further configured to set a region in the model that is defined by some of the feature points so as to include the reference point, and drive the endoscope so that a region in the organ of concern that corresponds to the region in the model and includes the region of interest is displayed in the display image. 
     
     
         7 . The medical system according to  claim 6 , wherein the controller is further configured to drive the endoscope along a shortest path of movement so that the corresponding region and an imaging center point of the second coordinate system of the display space approach each other. 
     
     
         8 . The medical system according to  claim 3 , wherein, after driving the endoscope a predetermined distance or for a predetermined time, the controller is further configured to determine whether there is a deviation between the first coordinate system and the second coordinate system, and correct the deviation when present. 
     
     
         9 . The medical system according to  claim 8 , wherein the controller is further configured to determine whether the region of interest is displayed in the display image. 
     
     
         10 . The medical system according to  claim 1 , wherein the controller is further configured to superimpose navigation information with respect to the set path on the display image to guide an operator to move the endoscope along the set path to display the region of interest on the display image. 
     
     
         11 . The medical system according to  claim 1 , wherein the controller is further configured to calculate a position of the region of interest in the second coordinate system of the display space relative to the reference position in the first coordinate system of the model. 
     
     
         12 . An operating method of a medical system that includes an endoscope that has an imaging section including a lens and is configured to be driven and operated by electric power, a controller configured to operate the endoscope and generate a display image from an image captured by the imaging section, and a display configured to display the display image, the method comprising:
 recording a model of an organ of concern generated in a preoperative plan, the model being arranged with respect to a first coordinate system,   extracting feature points in the model,   extracting a distance between each of the feature points and a reference position set in the model before surgery,   extracting corresponding points in the display image that correspond to the feature points in the model, and   associating the first coordinate system of the model with a second coordinate system of a display space displayed by the display image, based on the feature points and the corresponding points, to set a path for the endoscope to move such that a region of interest in the organ of concern that corresponds to the reference position in the model is displayed in the display image.   
     
     
         13 . The operating method according to  claim 12 , further comprising forming a graph in which adjacent feature points are connected, and the distance between each of the feature points and the reference position is set on the graph. 
     
     
         14 . The operating method according to  claim 12 , further comprising driving the endoscope so that the region of interest is displayed in the display image. 
     
     
         15 . The operating method according to  claim 12 , further comprising setting a shortest path of movement of the endoscope so that the region of interest and an imaging center point of the second coordinate system of the display space approach each other, and drive the endoscope along the shortest path. 
     
     
         16 . The operating method according to  claim 14 , wherein an operation input device of the endoscope is disabled while the endoscope is being driven. 
     
     
         17 . The operating method according to  claim 14 , further comprising setting a region in the model that is defined by some of the feature points so as to include the reference point, and driving the endoscope so that a region in the organ of concern that corresponds to the region in the model and includes the region of interest is displayed in the display image. 
     
     
         18 . The operating method according to  claim 17 , further comprising driving the endoscope along a shortest path of movement so that the corresponding region and an imaging center point of the second coordinate system of the display space approach each other. 
     
     
         19 . The operating method according to  claim 14 , further comprising determining whether there is a deviation between the first coordinate system and the second coordinate system after driving the endoscope a predetermined distance or for a predetermined time, and correcting the deviation when present. 
     
     
         20 . The operating method according to  claim 19 , further comprising determining whether the region of interest is displayed in the display image. 
     
     
         21 . The operating method according to  claim 12 , further comprising superimposing navigation information with respect to the set path on the display image to guide an operator to move the endoscope along the set path to display the region of interest on the display image. 
     
     
         22 . The operating method according to  claim 12 , further comprising calculating a position of the region of interest in the second coordinate system of the display space relative to the reference position in the coordinate system of the model.