Patent ID: 8102416
Filing Date: 2012-01-24
Classification: A61B

Abstract:
1. A medical apparatus comprising: an endoscopic insertion portion provided with an image pickup unit and a channel which passes through an inner part; a treatment unit provided with a sensor and a bending portion and passed through the channel, with a distal end portion of the treatment unit being allowed to protrude from an insertion-portion distal end portion of the endoscopic insertion portion, where the sensor is disposed in the distal end portion and configured to detect a position, a direction, and a roll angle and the bending portion is adapted to bend the distal end portion; a storage unit adapted to store three-dimensional image data of the lumen of a subject acquired in advance; a target position setting unit adapted to set the target position based on the three-dimensional image data; a virtual endoscopic image generating unit adapted to generate a virtual endoscopic image using a line-of-sight parameter which includes the position, the direction, and the roll angle of the distal end portion detected by the sensor, based on the three-dimensional image data; and an image processing unit adapted to perform a superimposition process and thereby display operation information used to insert the distal end portion to the target position in superimposition on the virtual endoscopic image.