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1. 发明授权

US5036464A Methods of detecting endoscope insertion direction 失效
标题翻译：检测内窥镜插入方向的方法
公开(公告)号：US5036464A
公开(公告)日：1991-07-30
申请号：US523506
申请日：1990-05-15
申请人： Duncan F. Gillies , Gul N. Khan , Yutaka Takahashi
发明人： Duncan F. Gillies , Gul N. Khan , Yutaka Takahashi
IPC分类号： G02B23/24 , A61B1/00 , A61B1/04 , G01S3/786 , H04N7/26
CPC分类号： A61B1/042 , G01S3/7864 , H04N19/96
摘要： The method of detecting the direction of insertion of an endoscope includes the steps of a) forming a system of images made of a plurality of picture images which have a different number of pixels from the same endoscope image, and b) extracting a spatially largest region including an average gray level and variance of gray level within predetermined ranges by examining the average gray level and variance of the gray level of respective pixels in a plurality of picture images formed by the forming step. The region extracted by the extracting step is considered to be an endoscope insertion direction.
摘要翻译：检测内窥镜插入方向的方法包括以下步骤：a）从相同的内窥镜图像形成由具有不同像素数的多个图像图像构成的图像的系统，以及b）提取空间上最大的区域通过检查通过形成步骤形成的多个图像中的各个像素的灰度级的平均灰度级和方差，包括平均灰度级和灰度级在预定范围内的方差。通过提取步骤提取的区域被认为是内窥镜插入方向。

2. 发明授权

US4916533A Endoscope insertion direction detecting method 失效
标题翻译：内窥镜插入方向检测方法
公开(公告)号：US4916533A
公开(公告)日：1990-04-10
申请号：US330523
申请日：1989-03-30
申请人： Duncan F. Gillies , Gul N. Khan
发明人： Duncan F. Gillies , Gul N. Khan
IPC分类号： G02B23/24 , A61B1/00 , A61B1/04 , H04N7/18
CPC分类号： A61B1/00147 , A61B1/042
摘要： The endoscope insertion direction detecting method is to extract the form of a fold existing on the inside wall of an observed part from an endoscope picture image and to judge the direction of inserting the endoscope on the basis of the form of this fold and comprises, for example, a step of extracting discontinuous points in the endoscope picture image, a step of extracting line segments based on the above mentioned discontinuous points from respective divided picture images obtained by dividing into a plurality of picture images the picture image obtained by the step of extracting the discontinuous points, a step of connecting the line segments obtained by the step of extracting the line segments and a step of considering the line connected by the connecting step to be the form of a fold existing on the inside wall of the observed part and judging the endoscope insertion direction on the basis of this form of the fold. The step of extracting the discontinuous points includes, for example, extracting points at which the brightness and color of the picture image varies. The step of extracting the line segments has, for example, a step of extracting line segment candidates and a step of extracting the optimum line segment from among the candidates extracted by this candidate extracting step.
摘要翻译：内窥镜插入方向检测方法是从内窥镜图像图像中提取存在于观察部分的内壁上的褶皱的形式，并且基于该折痕的形式判断插入内窥镜的方向，并且包括例如，提取内窥镜图像中的不连续点的步骤，从通过分割成多个图像而获得的各个分割图像中提取基于上述不连续点的线段的步骤，通过提取步骤获得的图像图像不连续点，连接通过提取线段的步骤获得的线段的步骤和考虑通过连接步骤连接的线作为存在于观察部分的内壁上的折叠形式的步骤，并且判断基于这种形式的折叠的内窥镜插入方向。提取不连续点的步骤包括例如图像的亮度和颜色变化的提取点。提取线段的步骤具有例如提取线段候选的步骤和从由该候选提取步骤提取的候选中提取最佳线段的步骤。

3. 发明授权

US4910590A Endoscope insertion direction detection method 失效
标题翻译：内窥镜插入方向检测方法
公开(公告)号：US4910590A
公开(公告)日：1990-03-20
申请号：US291772
申请日：1988-12-29
申请人： Duncan F. Gillies , Gul N. Khan
发明人： Duncan F. Gillies , Gul N. Khan
IPC分类号： G02B23/24 , A61B1/04
CPC分类号： A61B1/00147 , A61B1/042
摘要： This endoscope insertion direction detection method comprises the steps of forming from the same endoscope image a plurality of picture images different in the number of pixels (or picture elements) and extracting a dark region in the picture image of a predetermined number of pixels by inspecting in the order of the picture images of less pixels the gray levels of the respective pixels in the plurality of picture images formed by the above mentioned forming step, the above mentioned dark region extracted by the above mentioned extracting step being considered to be the endoscope insertion direction. Preferably, the forming step includes gradually forming picture images of less pixels while reducing the number of pixels to 1/4 so that, in the case where the number of pixels is reduced to 1/4, the gray level of one pixel in the picture image of less pixels wil be of an average value of the gray levels of the four son pixels in the 2.times.2 square region in the picture image of more pixels corresponding to this one pixel.
摘要翻译：该内窥镜插入方向检测方法包括以下步骤：从相同的内窥镜图像形成多个像素数（或图像元素）不同的图像图像，并且通过检查在预定数量的像素中检查图像中的暗区域通过上述形成步骤形成的多个图像中的各个像素的灰度级的较少像素的图像的顺序，将通过上述提取步骤提取的上述暗区域视为内窥镜插入方向。优选地，形成步骤包括逐渐形成较少像素的图像，同时将像素数减少到1/4，使得在像素数减少到1/4的情况下，图像中的一个像素的灰度级较少像素的图像将是与该一个像素对应的更多像素的图像中的2x2方形区域中的四个子像素的灰度级的平均值。

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