公开(公告)号：US20100004505A1

公开(公告)日：2010-01-07

申请号：US12559828

申请日：2009-09-15

Applicant: Yoshitaka UMEMOTO ,  Kazuhiko TAKAHASHI ,  Tetsuo NONAMI

Inventor： Yoshitaka UMEMOTO ,  Kazuhiko TAKAHASHI ,  Tetsuo NONAMI

IPC: A61B1/008

CPC classification number: A61B1/04 ,  A61B1/018 ,  A61B34/20 ,  A61B34/70 ,  A61B34/71 ,  A61B90/361 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2055

Abstract: When an operation instruction is input by a first (second) control output instruction input device, locus calculation means calculates a locus of movement of a first (second) therapeutic device on the basis of any one of joint sections, which is instructed to operate. On the basis of a calculation result by the locus calculation means, therapeutic device operation control means controls an operation of the first (second) therapeutic device by a first (second) active mechanism. Thereby, there is provided an endoscope apparatus which can improve the operational efficiency and positional precision of the therapeutic device.

Abstract translation: 当由第一（第二）控制输出指令输入装置输入操作指令时，轨迹计算装置根据被指示操作的任一个接合部分计算第一（第二）治疗装置的移动轨迹。 基于轨迹计算装置的计算结果，治疗装置运行控制装置通过第一（第二）活动机构来控制第一（第二）治疗装置的动作。 由此，能够提高治疗装置的操作效率和位置精度的内窥镜装置。

公开(公告)号：US20090112316A1

公开(公告)日：2009-04-30

申请号：US12260437

申请日：2008-10-29

Applicant: Yoshitaka UMEMOTO ,  Kazuhiko TAKAHASHI ,  Tetsuo NONAMI

Inventor： Yoshitaka UMEMOTO ,  Kazuhiko TAKAHASHI ,  Tetsuo NONAMI

IPC: A61F2/02 ,  B25J13/08 ,  B25J9/06 ,  B25J19/02 ,  B25J17/02 ,  G06F19/00

CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B34/71 ,  A61B90/361 ,  A61B2017/00314 ,  A61B2034/306 ,  A61B2090/064 ,  B25J9/1633 ,  B25J9/1643

Abstract: A medical device system includes a manipulator including a plurality of joints, a parameter storing portion for storing joint parameters, including a largest available force, of each joint of the plurality of joints, a trajectory inputting portion for inputting, as a trajectory plan, trajectories for moving a distal end of the manipulator from a current position and attitude to a target position and attitude, a trajectory setting portion for setting a joint angle trajectory for each joint providing a largest available force from among joint angle trajectories which allow movement to the target position and attitude with a minimum number of driven joints based on a largest available force parameter for the each joint stored in the parameter storing portion and the trajectory plan.

Abstract translation: 一种医疗装置系统，包括具有多个关节的操纵器，用于存储包括所述多个关节各关节的最大可用力的关节参数的参数存储部，轨迹输入部，作为轨迹计划输入轨迹 用于将操纵器的远端从当前位置和姿态移动到目标位置和姿态;轨迹设置部分，用于为每个关节设置关节角度轨迹，从关节角度轨迹中提供最大可用力，所述关节角度轨迹允许移动到目标 基于存储在参数存储部分和轨迹计划中的每个关节的最大可用力参数，具有最小数量的从动关节的位置和姿态。

公开(公告)号：US20110255759A1

公开(公告)日：2011-10-20

申请号：US13168510

申请日：2011-06-24

Applicant: Hirokazu NISHIMURA ,  Tetsuo NONAMI

Inventor： Hirokazu NISHIMURA ,  Tetsuo NONAMI

IPC: G06K9/62

CPC classification number: A61B5/073 ,  A61B1/00016 ,  A61B1/00036 ,  A61B1/00055 ,  A61B1/041 ,  A61B5/7264 ,  A61B5/7267 ,  G06K9/4652 ,  G06T7/0002 ,  G06T2207/10016 ,  G06T2207/10024 ,  G06T2207/10068 ,  G06T2207/30028 ,  G06T2207/30168

Abstract: A plurality of images inputted in an image signal input portion are divided into a plurality of regions by an image dividing portion, and a feature value in each of the plurality of regions is calculated by a feature value calculation portion and divided into a plurality of subsets by a subset generation portion. On the other hand, a cluster classifying portion classifies a plurality of clusters generated in a feature space into any one of a plurality of classes on the basis of the feature value and occurrence frequency of the feature value. And a classification criterion calculation portion calculates a criterion of classification for classifying images included in one subset on the basis of a distribution state of the feature value in the feature space of each of the images included in the one subset.

Abstract translation: 通过图像分割部将输入到图像信号输入部中的多个图像分割成多个区域，并且通过特征量计算部分计算出多个区域中的每个区域中的特征值，并将其分割为多个子集 通过子集生成部分。 另一方面，群集分类部根据特征量的特征量和发生频率，将特征空间中生成的多个群集分类为多个等级中的任意一个。 并且分类标准计算部分基于包括在一个子集中的每个图像的特征空间中的特征值的分布状态来计算用于对包括在一个子集中的图像进行分类的分类标准。

公开(公告)号：US20110255757A1

公开(公告)日：2011-10-20

申请号：US13166938

申请日：2011-06-23

Applicant: Hirokazu NISHIMURA ,  Tetsuo NONAMI

Inventor： Hirokazu NISHIMURA ,  Tetsuo NONAMI

IPC: G06K9/62

CPC classification number: A61B5/073 ,  A61B1/00016 ,  A61B1/00036 ,  A61B1/00055 ,  A61B1/041 ,  A61B5/7264 ,  A61B5/7267 ,  G06K9/4652 ,  G06T7/0002 ,  G06T2207/10016 ,  G06T2207/10024 ,  G06T2207/10068 ,  G06T2207/30028 ,  G06T2207/30168

Abstract: A plurality of images inputted in an image signal input portion are divided into a plurality of regions by an image dividing portion, and a feature value in each of the plurality of regions is calculated by a feature value calculation portion and divided into a plurality of subsets by a subset generation portion. On the other hand, a cluster classifying portion classifies a plurality of clusters generated in a feature space into any one of a plurality of classes on the basis of the feature value and occurrence frequency of the feature value. And a classification criterion calculation portion calculates a criterion of classification for classifying images included in one subset on the basis of a distribution state of the feature value in the feature space of each of the images included in the one subset.

公开(公告)号：US20090043164A1

公开(公告)日：2009-02-12

申请号：US12252085

申请日：2008-10-15

Applicant: Jun HASEGAWA ,  Tetsuo NONAMI

Inventor： Jun HASEGAWA ,  Tetsuo NONAMI

IPC: A61B1/00

CPC classification number: A61B1/00002 ,  A61B1/00016 ,  A61B1/0005 ,  A61B1/041 ,  A61B5/06 ,  A61B5/062 ,  A61B5/073 ,  A61B5/6805 ,  A61B2560/0456 ,  G02B23/2461

Abstract: The position of an antenna incorporated in a capsule-type endoscope 3 that moves in a body is estimated using a plurality of antennae, and where the distance dij between two positions Pti and P(t−1)j estimated at adjacent times falls within a predetermined value, pieces of information for these positions are related to each other and stored in a memory as connection information. Subsequently, processing for searching for a route from the connection information stored in the memory and calculating a track is performed.

Abstract translation: 使用多个天线来估计包含在体内移动的胶囊型内窥镜3中的天线的位置，并且在相邻时间估计的两个位置Pti和P（t-1）j之间的距离dij在 预定值，这些位置的信息相互关联并作为连接信息存储在存储器中。 随后，执行从存储在存储器中的连接信息中搜索路线并计算轨道的处理。

公开(公告)号：US20110255758A1

公开(公告)日：2011-10-20

申请号：US13168483

申请日：2011-06-24

Applicant: Hirokazu NISHIMURA ,  Tetsuo NONAMI

Inventor： Hirokazu NISHIMURA ,  Tetsuo NONAMI

IPC: G06K9/62

CPC classification number: A61B5/073 ,  A61B1/00016 ,  A61B1/00036 ,  A61B1/00055 ,  A61B1/041 ,  A61B5/7264 ,  A61B5/7267 ,  G06K9/4652 ,  G06T7/0002 ,  G06T2207/10016 ,  G06T2207/10024 ,  G06T2207/10068 ,  G06T2207/30028 ,  G06T2207/30168

Abstract: A plurality of images inputted in an image signal input portion are divided into a plurality of regions by an image dividing portion, and a feature value in each of the plurality of regions is calculated by a feature value calculation portion and divided into a plurality of subsets by a subset generation portion. On the other hand, a cluster classifying portion classifies a plurality of clusters generated in a feature space into any one of a plurality of classes on the basis of the feature value and occurrence frequency of the feature value. And a classification criterion calculation portion calculates a criterion of classification for classifying images included in one subset on the basis of a distribution state of the feature value in the feature space of each of the images included in the one subset.

公开(公告)号：US20130051641A1

公开(公告)日：2013-02-28

申请号：US13591289

申请日：2012-08-22

Applicant: Kenichi TANAKA ,  Hirokazu NISHIMURA ,  Sawako SHIBATA ,  Tetsuo NONAMI

Inventor： Kenichi TANAKA ,  Hirokazu NISHIMURA ,  Sawako SHIBATA ,  Tetsuo NONAMI

IPC: G06K9/46

CPC classification number: A61B1/05 ,  A61B1/00009 ,  A61B5/489 ,  G06T7/12 ,  G06T2207/10024 ,  G06T2207/10068 ,  G06T2207/30101

Abstract: A medical image processing apparatus includes a selection portion that selects a pixel of interest from an image composed of a plurality of pixels and obtained by picking up an image of a living tissue, a first feature value calculation portion that calculates a first feature value on the basis of color tone of the pixel of interest and color tones of surrounding pixels, a second feature value calculation portion that calculates a second feature value on the basis of the color tone of the pixel of interest and the color tones of surrounding pixels, an evaluation value calculation portion that calculates an evaluation value on the basis of the first feature value and the second feature value, and an evaluation value judgment portion that judges whether the pixel of interest is a pixel constituting the linear structure, on the basis of the evaluation value.

Abstract translation: 一种医用图像处理装置，包括从由多个像素构成的图像中选择感兴趣的像素并通过拾取生物体组织的图像而获得的选择部，第一特征量计算部， 基于相关像素的色调和周围像素的色调，第二特征值计算部分，其基于感兴趣像素的色调和周围像素的色调来计算第二特征值，评估 值计算部分，其基于第一特征值和第二特征值计算评估值，以及评估值判断部分，基于评估值来判断关注像素是否是构成线性结构的像素 。

公开(公告)号：US20110299748A1

公开(公告)日：2011-12-08

申请号：US13209792

申请日：2011-08-15

Applicant: Hirokazu NISHIMURA ,  Jun HASEGAWA ,  Hideki TANAKA ,  Ryoko INOUE ,  Tetsuo NONAMI

Inventor： Hirokazu NISHIMURA ,  Jun HASEGAWA ,  Hideki TANAKA ,  Ryoko INOUE ,  Tetsuo NONAMI

IPC: G06K9/46

CPC classification number: A61B1/2733 ,  A61B1/041 ,  G06T7/0012 ,  G06T2207/10016 ,  G06T2207/10068 ,  G06T2207/20168 ,  G06T2207/30092 ,  G06T2207/30101

Abstract: There is provided a medical image processing apparatus including an image-extracting section extracting a frame image from in vivo motion picture data picked up by an in vivo image pickup device or a plurality of consecutively picked-up still image data, and an image analysis section analyzing the frame image extracted by the image-extracting section to output an image analysis result. The image analysis section includes a first biological-feature detection section detecting a first biological feature, a second biological-feature detection section detecting, based on a detection result obtained by the first biological feature detection section, a second biological feature in a frame image picked up temporally before or after the image used for detection by the first biological feature detection section; and a condition determination section making a determination for a biological condition based on a detection result obtained by the second biological feature detection section to output the determination.

Abstract translation: 提供了一种医疗用图像处理装置，其包括从体内图像拾取装置拾取的体内运动图像数据或多个连续拍摄的静止图像数据中提取帧图像的图像提取部，以及图像分析部 分析由图像提取部分提取的帧图像以输出图像分析结果。 图像分析部包括检测第一生物特征的第一生物特征检测部，第二生物特征检测部，基于由第一生物特征检测部获得的检测结果，检测所拾取的帧图像中的第二生物特征 在第一生物特征检测部分用于检测的图像之前或之后， 以及条件确定部，其基于由所述第二生物特征检测部获得的检测结果来判定生物状态，以输出所述判定。