Patent ID: 9247865
Filing Date: 2016-02-02
CPC Classification: A61B,G06T

Claim Text:
1. A three-dimensional image forming device for forming a continuous three-dimensional image on a basis of images of an inner face of a tubular structure to be observed, comprising: an imaging unit having an optical axis extending in an axial direction of the tubular structure, for obtaining a plurality of frame images while moving in the tubular structure under a specified lighting condition; a luminance information extracting unit for extracting luminance information of pixels corresponding to a specified range of each frame image of the inner face of the tubular structure acquired by the imaging unit; a distance information calculating unit for calculating relative distances in a depth direction between points on the inner face of the tubular structure and an objective lens from the luminance information extracted by the luminance information extracting unit according to an inverse proportional relationship between the relative distance and the luminance; a three-dimensional image forming unit for forming a three-dimensional image of the inner face of the tubular structure by arraying the pixels on the specified range of each frame image of the inner face of the tubular structure while reflecting the relative distances to the arraying, and combining the arrayed pixels for a plurality of frame images; and a detecting unit for detecting change amount of the imaging unit in at least one of a circumferential direction or an axial direction, wherein the three-dimensional image forming unit corrects the image three-dimensional image formed by the arrayed pixels in at least one of the circumferential direction or the axial direction on a basis of the change amount detected by the detecting unit, and in order to correct the three-dimensional image formed by the arrayed pixels, the three-dimensional image forming unit shifts the pixels on the specified range of each frame image in the circumferential direction based on the change amount of the imaging unit in the circumferential direction, and in order to correct the three-dimensional image formed by the arrayed pixels, the three-dimensional image forming unit interpolates or deletes the pixels on the specified range of each frame image based on the change amount of the imaging unit in the axial direction.