Patent Publication Number: US-2019183321-A1

Title: Image output system, image output method and control device

Description:
TECHNICAL FIELD 
     This application claims the benefit of priority to JP 2016-152502, filed on Aug. 3, 2016. The entire contents of the above-identified application are hereby incorporated by reference. 
     The following disclosure relates to technologies of image output systems, image output methods and control devices that can be used in endoscopic surgery and the like. 
     BACKGROUND 
     Conventionally, technologies related to image output systems, image output methods and control devices that can be used in endoscopic surgery and the like have been widely known. For example, JP 4860629 B (PTL 1) discloses a laparoscopic surgery monitor device and a display method for the stated monitor device. According to PTL 1, the laparoscopic surgery monitor device includes: a plurality of laparoscope monitors of flat panel type on which image screens photographed by a single laparoscope unit are respectively applied and displayed, and each of which is supported from the ceiling or the floor with an arm in such a manner that a position, a height, and rightward and leftward slant angles of the laparoscope monitor are adjustable; screen rotation operation units provided for each of the laparoscope monitors; drive motors attached to rear surfaces of the respective laparoscope monitors for rotating the laparoscope monitors in the clockwise direction and in the counterclockwise direction; motor drivers for rotationally driving the drive motors; a control unit configured to rotate each laparoscope monitor, in response to a request for rotation from a practitioner of surgery through the screen rotation operation unit, by the requested amount of rotation angle by controlling the driving of the motor driver based on the request for rotation from the screen rotation operation unit; and protection boxes, each of which is supported from a leading end of the arm in a non-rotatable manner with respect to the leading end, accommodates the laparoscope monitor supported by the arm, has a circular opening window in a front surface thereof, and covers the image screen of the laparoscope monitor around the opening window. 
     CITATION LIST 
     Patent Literature 
     SUMMARY OF DISCLOSURE 
     Technical Problem 
     An object of an aspect of the present disclosure is to provide an image output system, an image output method, and a control device that can be used by medical specialists more easily than those of the prior art. 
     Solution to Problem 
     According to a certain aspect of the present disclosure, an image output system including a camera, a display, and a control device configured to communicate with the camera and the display is provided. The control device causes an image photographed by the camera to be rotated based on an orientation of the camera and an orientation of a prescribed subject, and then causes an image to be outputted to the display. 
     According to another aspect of the present disclosure, an image output system including a camera, a display, and a control device configured to communicate with the camera and the display is provided. The control device causes the camera to be rotated based on an orientation of the camera and an orientation of a prescribed subject, and causes an image photographed by the rotated camera to be outputted to the display. 
     It is preferable for the control device to adjust an angle of the rotation based on an angle between the orientation of the camera and the orientation of the prescribed subject on a plane. 
     It is preferable for the control device to accept designation of the prescribed subject for each user. 
     According to another aspect of the present disclosure, provided is an image output method including a step of acquiring an orientation of a camera, a step of acquiring an orientation of a prescribed subject, and a step of causing an image photographed by the camera to be rotated based on the orientation of the camera and any one of the orientations, and then causing an image to be outputted to a display. 
     According to still another aspect of the present disclosure, provided is an image output method including a step of acquiring an orientation of a camera, a step of acquiring an orientation of a prescribed subject, and a step of causing the camera to be rotated based on the orientation of the camera and any one of the orientations, and causing an image photographed by the rotated camera to be outputted to a display. 
     According to another aspect of the present disclosure, there is provided a control device including a communication interface configured to communicate with a camera and a display, and a processor. The processor causes an image photographed by the camera to be rotated based on an orientation of the camera and an orientation of a prescribed subject, and then causes an image to be outputted to the display through the above communication interface. 
     According to another aspect of the present disclosure, there is provided a control device including a communication interface configured to communicate with a camera and a display, and a processor. The processor causes the camera to be rotated based on an orientation of the camera and an orientation of a prescribed subject, and causes an image photographed by the rotated camera to be outputted to the display through the communication interface. 
     Advantageous Effects of Disclosure 
     As discussed above, according to an aspect of the present disclosure, there are provided an image output system, an image output method, and a control device that can be used by medical specialists more easily than those of the prior art. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is an image diagram illustrating an overall configuration and an operational outline of an image output system  1  according to a first embodiment. 
         FIG. 2  is a block diagram illustrating a hardware configuration of the image output system  1  according to the first embodiment. 
         FIG. 3  is a block diagram illustrating a hardware configuration of a control device  100  according to the first embodiment. 
         FIG. 4  is a flowchart illustrating a first information process in the control device  100  according to the first embodiment. 
         FIG. 5  is a plan view illustrating a relationship in orientation and a positional relationship among a camera  200 A, the body of an operating surgeon, the head of the operating surgeon and a display  300 , according to the first embodiment. 
         FIG. 6  is an image diagram illustrating a relationship among an image photographing direction of the camera  200 A, an orientation of the body of the operating surgeon, a line-of-sight direction of the operating surgeon and the orientation of the display  300 , according to the first embodiment. 
         FIG. 7  is a flowchart illustrating a second information process in the control device  100  according to the first embodiment. 
         FIG. 8  is an image diagram illustrating actual operations of the image output system  1  according to the first embodiment. 
         FIG. 9  is an image diagram illustrating actual operation results in the display  300  of the image output system  1  according to the first embodiment. 
         FIG. 10  is a flowchart illustrating a first information process in a control device  100  according to a second embodiment. 
         FIG. 11  is an image diagram illustrating a relationship among an image photographing direction of a camera  200 A, an orientation of the body of an operating surgeon, a line-of-sight direction of the operating surgeon, and an orientation of a display  300 , according to the second embodiment. 
         FIG. 12  is a flowchart illustrating a first information process in a control device  100  according to a third embodiment. 
         FIG. 13  is a plan view illustrating a relationship in orientation and a positional relationship among a camera  200 A, the body of an operating surgeon, the head of the operating surgeon, a display  300  and treatment instruments  400 , according to the third embodiment. 
         FIG. 14  is an image diagram illustrating a relationship among an image photographing direction of the camera  200 A, an orientation of the treatment instrument  400 , a line-of-sight direction of the operating surgeon and an orientation of the display  300 , according to the third embodiment. 
         FIG. 15  is a flowchart illustrating a first information process in a control device  100  according to a fourth embodiment. 
         FIG. 16  is an image diagram illustrating a relationship among an image photographing direction of a camera  200 A, an orientation of the body of an operating surgeon, a line-of-sight direction of the operating surgeon, and an orientation of the display  300 , according to the fourth embodiment. 
         FIG. 17  is a plan view illustrating a relationship in orientation and a positional relationship among a camera  200 A, the body of an operating surgeon, the head of the operating surgeon and a display  300 , according to a fifth embodiment. 
         FIG. 18  is a flowchart illustrating a second information process in a control device  100  according to the fifth embodiment. 
         FIG. 19  is an image diagram illustrating a structure of a camera  200 A according to a sixth embodiment. 
         FIG. 20  is an image diagram illustrating an overall configuration and an operational outline of an image output system  1  according to a seventh embodiment. 
         FIG. 21  is a block diagram illustrating a hardware configuration of the image output system  1  according to the seventh embodiment. 
         FIG. 22  is an image diagram illustrating a hardware configuration of a camera  200 A according to an eighth embodiment. 
         FIG. 23  is a flowchart illustrating a first information process in a control device  100  according to the eighth embodiment. 
         FIG. 24  is a flowchart illustrating a first information process in a control device  100  according to a ninth embodiment. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. Note that in the following description, identical constituent elements are assigned the same reference signs. The above-mentioned constituent elements have the identical names and identical functions as well. Accordingly, detailed description thereof will not be repeated. 
     First Embodiment 
     Overall Configuration and Operational Outline of Image Output System 
     First, with reference to  FIG. 1 , an overall configuration and an operational outline of an image output system  1  according to the present embodiment will be described.  FIG. 1  is an image diagram illustrating an overall configuration and an operational outline of the image output system  1  according to the present embodiment. 
     First, the overall configuration of the image output system  1  according to the present embodiment will be described. The image output system  1  according to the present embodiment primarily includes a camera  200 A such as an endoscope, a display  300 , and a control device  100  configured to control the camera  200 A and the display  300 . The operational outline of the image output system  1  according to the present embodiment will be described below. 
     The control device  100  causes a moving image photographed by the camera  200 A to be displayed on the display  300 . In particular, in the present embodiment, the control device  100  causes the photographed image to be rotated and displayed on the display  300  in accordance with an image photographing direction of the camera  200 A and an orientation of the body of an operating surgeon in such a manner that the photographed image can be easily seen by the operating surgeon as a medical specialist, a positional relationship among the organs being displayed, treatment instruments  400  and the like can be easily recognized by the operating surgeon, or the operation can be easily performed by the operating surgeon. 
     Hereinafter, a specific configuration of the image output system  1  for enabling the above-mentioned functions will be described in detail. 
     Hardware Configuration of Image Output System  1   
     First, an aspect of the hardware configuration of the image output system  1  according to the present embodiment will be described.  FIG. 2  is a block diagram illustrating the hardware configuration of the image output system  1  according to the present embodiment. 
     Referring to  FIG. 2 , the image output system  1  according to the present embodiment includes the camera  200 A for photographing a portion to be treated or the like, a camera controller  200 B configured to control the camera  200 A, the display  300  to which an image of the portion to be treated or the like is outputted, the control device  100  configured to control the above-mentioned devices, various kinds of sensor units  501 ,  502 ,  503 ,  504  and  505  for measuring positions, postures and the like of the operating surgeon, the patient and the above devices, and the like. 
     The first sensor unit  501  according to the present embodiment is attached to the camera  200 A, and reports, to the control device  100 , an image photographing direction of the camera  200 A, a posture of the camera  200 A, an angle indicating a slant of the photographed image of the camera  200 A relative to a vertical upper side, and the like, by making use of an electronic compass or a magnet installed inside the sensor unit  501 . The first sensor unit  501  may also acquire a position of the camera  200 A and may transmit the position of the camera  200 A to the control device  100 . The first sensor unit  501  may be included in the camera  200 A or may be integrated with the camera  200 A. 
     The second sensor unit  502  according to the present embodiment is attached to the body or the clothes of the operating surgeon, and reports, to the control device  100 , the orientation of the body of the operating surgeon by making use of an electronic compass or a magnet installed inside the sensor unit  502 . The second sensor unit  502  may also acquire a position of the body of the operating surgeon and may transmit the position of the body of the operating surgeon to the control device  100 . 
     The third sensor unit  503  according to the present embodiment is mounted on the head of the operating surgeon, and reports, to the control device  100 , a line-of-sight direction of the operating surgeon or an orientation of the face of the operating surgeon by making use of an electronic compass or a magnet installed inside the sensor unit  503 . The third sensor unit  503  may also acquire a position of the head of the operating surgeon and may transmit the position of the head of the operating surgeon to the control device  100 . 
     A fourth sensor unit  504  according to the present embodiment is attached to the display  300 , and reports, to the control device  100 , the orientation of the display  300  by making use of an electronic compass or a magnet installed inside the sensor unit  504 . The fourth sensor unit  504  may also acquire a position of the display  300  and may transmit the position of the display  300  to the control device  100 . In addition, the fourth sensor unit  504  may be included in the display  300  or may be integrated with the display  300 . 
     The fifth sensor unit  505  according to the present embodiment is attached to the treatment instrument  400 , and reports, to the control device  100 , the orientation of the treatment instrument  400  by making use of an electronic compass or a magnet installed inside the sensor unit  505 . The fifth sensor unit  505  may also acquire a position of the treatment instrument  400  and may transmit the position of the treatment instrument  400  to the control device  100 . The fifth sensor unit  505  may be included in the treatment instrument  400  or may be integrated with the treatment instrument  400 . 
     In order for the first to fifth sensor units  501  to  505  to accurately detect the direction, posture and position of the camera  200 A, the direction, posture and position of the body of the operating surgeon, the direction, posture and position of the head of the operating surgeon, the direction, posture and position of the display  300 , and the direction, posture and position of the treatment instrument  400 , an indoor GPS antenna, a WiFi (trade name) router, an ultrasonic wave oscillator, or the like may be disposed in four corners or the like of the operating room. 
     Next, an aspect of the hardware configuration of the control device  100  according to the present embodiment will be described.  FIG. 3  is a block diagram illustrating the hardware configuration of the control device  100  according to the present embodiment. 
     Referring to  FIG. 3 , the control device  100  includes, as main constituent elements, a central processing unit (CPU)  110 , a memory  120 , an operation unit  140 , and a communication interface  160 . 
     The CPU  110  controls constituent elements of the control device  100  by performing programs stored in the memory  120 . To be specific, the CPU  110  carries out various processes to be explained later by performing the programs stored in the memory  120  and referring to various kinds of data. 
     The memory  120  is implemented by various types of Random Access Memories (RAMs), various types of Read-Only Memories (ROMs), or the like. The memory  120  stores the programs to be performed by the CPU  110 , data created by the CPU  110  performing the programs, inputted data, and other data such as a database. 
     The operation unit  140  accepts commands from a user and inputs the stated commands to the CPU  110 . The operation unit  140  may be a touch panel including a display. 
     The communication interface  160  receives data from devices such as the camera controller  200 B and the display  300  to deliver the received data to the CPU  110 , transmits data from the CPU  110  to the devices such as the camera controller  200 B, the display  300 , and the like. Note that the communication interface  160  may exchange data with other external apparatuses such as a server via the Internet, a router, or the like. 
     Information Process in Control Device  100   
     Next, a first information process in the control device  100  according to the present embodiment will be described.  FIG. 4  is a flowchart illustrating the first information process in the control device  100  according to the present embodiment.  FIG. 5  is a plan view illustrating a relationship in orientation and a positional relationship among the camera  200 A, the body of an operating surgeon, the head of the operating surgeon and the display  300 , according to the present embodiment.  FIG. 6  is an image diagram illustrating a relationship among an image photographing direction of the camera  200 A, an orientation of the body of the operating surgeon, a line-of-sight direction of the operating surgeon, and the orientation of the display  300 , according to the present embodiment. 
     Referring to  FIGS. 4 to 6 , the CPU  110  of the control device  100  periodically acquires, from the first sensor unit  501  through the communication interface  160 , vector data indicating an image photographing direction (z) of the camera  200 A, an angle indicating a slant of the camera  200 A, and the like (step S 102 ). 
     The CPU  110  periodically acquires, from the third sensor unit  503  through the communication interface  160 , vector data indicating a line-of-sight direction (y) of the operating surgeon (step S 104 ). 
     The CPU  110  acquires an angle of the line-of-sight direction (y) of the operating surgeon corresponding to an orientation (z) of the camera on a plane, as a display correction angle Y by which the image is to be rotated and corrected (step S 106 ). In the present embodiment, the CPU  110  calculates the display correction angle Y based on an equation given below. It is assumed that, in a plan view, the orientation (z) of the camera and the line-of-sight direction (y) determine the angle in the clockwise direction. 
         Y=y−z   (1)
 
     Next, a second information process in the control device  100  according to the present embodiment will be described.  FIG. 7  is a flowchart illustrating the second information process in the control device  100  according to the present embodiment. 
     Referring to  FIGS. 6 and 7 , the CPU  110  of the control device  100  acquires image data from the camera  200 A through the communication interface  160  (step S 152 ). 
     The CPU  110  rotates the image to make an upper direction of the photographed image closest to an actual vertical upper direction, based on the posture of the camera  200 A acquired from the first sensor unit  501 , that is, a slant angle of the photographed image screen (step S 154 ). 
     The CPU  110  further rotates the image by −Y degrees in the clockwise direction, in other words, Y degrees in the counterclockwise direction based on the display correction angle Y (step S 156 ). The CPU  110  causes the rotated image to be displayed on the display  300  through the communication interface  160 . 
       FIG. 8  is an image diagram illustrating actual operations of the image output system  1  according to the present embodiment.  FIG. 9  is an image diagram illustrating actual operation results of the display  300  of the image output system  1  according to the present embodiment. 
     Referring to  FIGS. 8 and 9 , in the present embodiment, since the image is rotated and displayed based on the line-of-sight direction of the operating surgeon and the image photographing direction of the camera  200 , the rotation angle of the image to be displayed is adjusted as a direction from the operating surgeon toward the display  300  changes. With this, it is possible for the operating surgeon to recognize the positional relationship among the constituent elements with ease as compared with the prior art, and as a result the operation can be easily performed. 
     More specifically, on the screen of the display  300  in  FIG. 9 , among four treatment instruments  400  in  FIG. 8 , two treatment instruments  400  prepared on the operating surgeon side are displayed. 
     In a case where the orientation of the camera  200  in  FIG. 9  is taken as 0 degrees, when an orientation x of the body of the operating surgeon is 135 degrees and an orientation y of the line-of-sight of the operating surgeon is 135 degrees, a correction angle Y, which is obtained by an expression of (Y=y−z), becomes equal to 135 degrees. Therefore, the CPU  110  displays a screen on the display  300  in which the image is rotated by 135 degrees in the counterclockwise direction. 
     In the case where the orientation of the camera  200  in  FIG. 9  is taken as 0 degrees, when the orientation x of the body of the operating surgeon is 135 degrees and the orientation y of the line-of-sight of the operating surgeon is 90 degrees, the correction angle Y, which is obtained by the expression of (Y=y−z), becomes equal to 90 degrees. Therefore, the CPU  110  displays a screen on the display  300  in which the image is rotated by 90 degrees in the counterclockwise direction. 
     In the case where the orientation of the camera  200  in  FIG. 9  is taken as 0 degrees, when the orientation x of the body of the operating surgeon is 135 degrees and the orientation y of the line-of-sight of the operating surgeon is 45 degrees, the correction angle Y, which is obtained by the expression of (Y=y−z), becomes equal to 45 degrees. Therefore, the CPU  110  displays a screen on the display  300  in which the image is rotated by 45 degrees in the counterclockwise direction. As discussed above, since the photographed image is rotated and displayed based on a prescribed rule, the operating surgeon is able to easily understand the positional relationship among the organs, the treatment instruments  400 , and the like. 
     It is preferable that a user such as an operating surgeon be able to fine-tune the rotation angle of the image through the operation unit  140  of the control device  100 . 
     In addition, information of the image rotation may be updated in real time. The frequency of the information updates may be adjustable (e.g., 60 seconds, 10 seconds, one second, or a timing determined by the operating surgeon by manual operation). Alternatively, a configuration may be selected in which the positional relationship among the devices, the rotation angle of the image, and the like are “confirmed” before the operation, and the rotation angle of the image is not changed during the operation. 
     Second Embodiment 
     In the first embodiment, the photographed image is rotated and displayed on the display  300  based on the line-of-sight direction of a medical doctor. However, the present disclosure is not limited to such embodiment. In the present embodiment, the photographed image is rotated and displayed on a display  300  based on the orientation of the body of a medical doctor. A first information process in a control device will be described below. However, since the hardware configuration and the like of an image output system  1  are similar to those of the aforementioned embodiment, description thereof will not be repeated herein. 
       FIG. 10  is a flowchart illustrating a first information process in a control device  100  according to the present embodiment.  FIG. 11  is an image diagram illustrating a relationship among an image photographing direction of a camera  200 A, an orientation of the body of an operating surgeon, a line-of-sight direction of the operating surgeon, and an orientation of the display  300 , according to the present embodiment. 
     Referring to  FIGS. 10 and 11 , a CPU  110  of the control device  100  periodically acquires, from a first sensor unit  501  through a communication interface  160 , vector data indicating an image photographing direction (z) of the camera  200 A (step S 102 ). 
     The CPU  110  acquires, from a second sensor unit  502  through the communication interface  160 , vector data indicating an orientation (x) of the body of the operating surgeon (step S 204 ). 
     The CPU  110  acquires an angle of the orientation (x) of the body of the operating surgeon corresponding to an orientation (z) of the camera on a plane, as a display correction angle Y by which the image is to be rotated and corrected (step S 106 ). In the present embodiment, the CPU  110  calculates the display correction angle Y based on an equation given below. 
         Y=x−z   (2)
 
     Thus, as illustrated in  FIG. 11 , the CPU  110  rotates the image by −Y degrees based on the display correction angle Y (step S 156  in  FIG. 7 ). The CPU  110  causes the rotated image to be displayed on the display  300  through the communication interface  160 . 
     Third Embodiment 
     In the first embodiment, the photographed image is rotated and displayed on the display  300  based on the line-of-sight direction of a medical doctor. However, the present disclosure is not limited to such embodiment. In the present embodiment, the photographed image is rotated and displayed on a display  300  based on the orientation of a treatment instrument  400 . A first information process in a control device will be described below. However, since the hardware configuration and the like of an image output system  1  are similar to those of the aforementioned embodiment, description thereof will not be repeated herein. 
       FIG. 12  is a flowchart illustrating a first information process in a control device  100  according to the present embodiment.  FIG. 13  is a plan view illustrating a relationship in orientation and a positional relationship among a camera  200 A, the body of an operating surgeon, the head of the operating surgeon, the display  300  and treatment instruments  400 , according to the present embodiment.  FIG. 14  is an image diagram illustrating a relationship among an image photographing direction of the camera  200 A, an orientation of the treatment instrument  400 , a line-of-sight direction of the operating surgeon, and an orientation of the display  300 , according to the present embodiment. 
     Referring to  FIGS. 12 to 14 , a CPU  110  of the control device  100  periodically acquires, from a first sensor unit  501  through a communication interface  160 , vector data indicating an image photographing direction (z) of the camera  200 A (step S 102 ). 
     The CPU  110  acquires, from a fifth sensor unit  505  through the communication interface  160 , vector data indicating an orientation (v) of the treatment instrument  400  (step S 304 ). 
     The CPU  110  acquires an angle of the orientation (v) of the treatment instrument corresponding to an orientation (z) of the camera on a plane, as a display correction angle Y by which the image is to be rotated and corrected (step S 106 ). In the present embodiment, the CPU  110  calculates the display correction angle Y based on an equation given below. 
         Y=v−z   (3)
 
     Thus, the CPU  110  rotates the image by −Y degrees based on the display correction angle Y (step S 156 ). The CPU  110  causes the rotated image to be displayed on the display  300  through the communication interface  160 . 
     As for the direction of the treatment instrument  400 , based on directions, positions, and the like of a plurality of treatment instruments in use or a plurality of treatment instruments held by the operating surgeon, an average direction may be used. 
     Fourth Embodiment 
     In the first embodiment, the photographed image is rotated and displayed based on the line-of-sight direction of a medical doctor. However, the present disclosure is not limited to such embodiment. In the present embodiment, a photographed image is rotated and displayed based on the orientation of a display  300 . A first information process in a control device will be described below. However, since the hardware configuration and the like of an image output system  1  are similar to those of the aforementioned embodiment, description thereof will not be repeated herein. 
       FIG. 15  is a flowchart illustrating the first information process in a control device  100  according to the present embodiment.  FIG. 16  is an image diagram illustrating a relationship among an image photographing direction of a camera  200 A, an orientation of the body of an operating surgeon, a line-of-sight direction of the operating surgeon, and an orientation of the display  300 , according to the present embodiment. 
     Referring to  FIGS. 15 and 16 , a CPU  110  of the control device  100  periodically acquires, from a first sensor unit  501  through a communication interface  160 , vector data indicating an orientation (z) of the camera  200 A (step S 102 ). 
     The CPU  110  acquires, from a second sensor unit  502  through the communication interface  160 , vector data indicating an orientation (x) of the display (step S 404 ). 
     The CPU  110  acquires an angle of the display (w) corresponding to the orientation (z) of the camera on a plane, as a display correction angle Y by which the image is to be rotated and corrected (step S 106 ). In the present embodiment, the CPU  110  calculates the display correction angle Y based on an equation given below. 
         Y=z−w   (4)
 
     Thus, as illustrated in  FIG. 16 , the CPU  110  rotates the image by −Y degrees based on the display correction angle Y (step S 156  in  FIG. 7 ). The CPU  110  causes the rotated image to be displayed on the display  300  through the communication interface  160 . 
     Fifth Embodiment 
     In the first embodiment, the photographed image is rotated and displayed based on the line-of-sight direction of a medical doctor. However, the present disclosure is not limited to such embodiment. In the present embodiment, the photographed image is rotated and displayed based on the line-of-sight direction of a medical doctor and the orientation of the body of the medical doctor. A first information process in a control device will be described below. However, since the hardware configuration and the like of an image output system  1  are similar to those of the aforementioned embodiment, description thereof will not be repeated herein. 
       FIG. 17  is a plan view illustrating a relationship in orientation and a positional relationship among a camera  200 A, the body of an operating surgeon, the head of the operating surgeon and a display  300 , according to the present embodiment. 
     Referring to  FIGS. 4 and 17 , a CPU  110  of a control device  100  periodically acquires, from a first sensor unit  501  through a communication interface  160 , vector data indicating an orientation (z) of the camera  200 A (step S 102 ). 
     The CPU  110  acquires, from a second sensor unit  502  through the communication interface  160 , vector data indicating a line-of-sight direction (y) of the medical doctor (step S 104 ). 
     The CPU  110  acquires an angle of the line-of-sight direction (y) of the medical doctor corresponding to the orientation (z) of the camera on a plane, as a display correction angle Y by which the image is to be rotated and corrected (step S 106 ). In the present embodiment, the CPU  110  calculates the display correction angle Y based on an equation given below. 
         Y=y−z   (1)
 
     Next, a second information process in the control device  100  according to the present embodiment will be described.  FIG. 18  is a flowchart illustrating the second information process in the control device  100  according to the present embodiment. 
     Referring to  FIG. 18 , the CPU  110  of the control device  100  acquires image data from the camera  200 A through the communication interface  160  (step S 152 ). 
     The CPU  110  rotates the image in such a manner that an actual vertical upper direction comes to be an upper direction of the image, based on the posture of the camera  200 A acquired from the first sensor unit  501  (step S 154 ). 
     The CPU  110  acquires, from a third sensor unit  503  through the communication interface  160 , vector data indicating an orientation (x) of the body of the medical doctor (step S 155 ). 
     Based on Equation (5) given below, the CPU  110  further rotates the image based on a display correction angle Y and the orientation of the body of the medical doctor (step S 156 ). The CPU  110  causes the rotated image to be displayed on the display  300  through the communication interface  160 . 
       Image rotation angle=− Y +α( y−x )  (5)
 
     Note that α is greater than −1 and smaller than 1, that is, −1&lt;α&lt;1. 
     Alternatively, based on Equation (6) given below, the CPU  110  further rotates the image based on the display correction angle Y and the orientation of the body of the medical doctor (step S 156 ). The CPU  110  causes the rotated image to be displayed on the display  300  through the communication interface  160 . 
       Image rotation angle=− Y +β( x−x 0)  (6)
 
     Note that β is greater than −1 and smaller than 1, that is, −1&lt;β&lt;1, and x0 refers to x when a line-of-sight direction of the medical doctor and the orientation of the body of the medical doctor match each other. 
     Sixth Embodiment 
     In the first embodiment, the image photographed by the camera  200 A is rotated and displayed on the display  300  by the control device  100 . However, the present disclosure is not limited to such embodiment. In the present embodiment, a camera  200 A itself rotates in such a manner as to make the upper side of the photographed image face an actual vertical upper side. 
       FIG. 19  is an image diagram illustrating a structure of the camera  200 A according to the present embodiment. As illustrated in  FIG. 19 , the camera  200 A according to the present embodiment rotates an image sensor in such a manner as to make the upper side of the photographed image come closest to the actual vertical upper side by the camera itself including a magnet or referring to data from the first sensor unit  501 . The camera  200 A itself may control the rotation, or a control device  100  may cause the image sensor of the camera  200 A to be rotated in such a manner that the upper side of the photographed image faces the actual vertical upper side based on the data indicating the slant, the posture, and the like of the camera  200 A. 
     In this case, step S 154  of the second information process in the control device  100  illustrated in  FIG. 6  becomes unnecessary. 
     Further, the camera  200 A may rotate by the display correction angle Y in the clockwise direction. In this case, steps S 154  and S 156  of the second information process in the control device  100  illustrated in  FIG. 6  become unnecessary. 
     Seventh Embodiment 
     In the first embodiment, the control device  100  causes the image to be displayed on a single display  300 . However, the present disclosure is not limited to such embodiment. In the present embodiment, a control device  100  controls a plurality of displays  300 A,  300 B, and the like. 
     Overall Configuration and Operational Outline of Image Output System 
     First, with reference to  FIG. 20 , an overall configuration and an operational outline of an image output system  1  according to the present embodiment will be described.  FIG. 20  is an image diagram illustrating the overall configuration and the operational outline of the image output system  1  according to the present embodiment. 
     First, the overall configuration of the image output system  1  according to the present embodiment will be described. The image output system  1  according to the present embodiment primarily includes a camera  200 A such as an endoscope, the display  300 A, the display  300 B, and the control device  100  configured to control the camera  200 A and the displays  300 A and  300 B. The operational outline of the image output system  1  according to the present embodiment will be described below. 
     The control device  100  causes an image photographed by the camera  200 A to be displayed on the displays  300 A and  300 B. In particular, the control device  100  causes the photographed image to be rotated and displayed on the display  300 A in accordance with an image photographing direction of the camera  200 A and an orientation of the body of an operating surgeon in such a manner that the photographed image can be easily seen by the operating surgeon, a positional relationship among the organs being displayed, treatment instruments and the like can be easily recognized by the operating surgeon, or the operation can be easily performed by the operating surgeon. 
     In addition, the control device  100  causes the photographed image to be rotated and displayed on the display  300 B in accordance with the image photographing direction of the camera  200 A and the orientation of the body of the operating surgeon or a surgical assistant in such a manner that the photographed image can be easily seen by the surgical assistant and the like, a positional relationship among the organs being displayed, treatment instruments and the like can be easily recognized by the surgical assistant and the like, or the surgical assistant and the like can easily support the operation. 
     Hardware Configuration of Image Output System  1   
     Next, an aspect of the hardware configuration of the image output system  1  according to the present embodiment will be described.  FIG. 21  is a block diagram illustrating the hardware configuration of the image output system  1  according to the present embodiment. 
     Referring to  FIG. 21 , the image output system  1  according to the present embodiment includes the camera  200 A for photographing a treatment site or the like, a camera controller  200 B configured to control the camera  200 A, the displays  300 A and  300 B to which an image of the treatment site or the like is outputted, the control device  100  configured to control the above-mentioned devices, sensor units  501 ,  502 ,  503 ,  504 ,  505  and  506  for measuring positions, postures and the like of the operating surgeon, a patient, the above devices, and the like. 
     Since the first to fifth sensor units  501  to  505  are similar to those of the first embodiment, description thereof will not be repeated herein. 
     The sixth sensor unit  506  according to the present embodiment is attached to the display  300 B, and reports, to the control device  100 , the orientation of the display  300 B by making use of an electronic compass or a magnet installed inside the sensor. The sixth sensor unit  506  may also acquire a position of the display  300 B and may transmit the position of the display  300 B to the control device  100 . Further, the sixth sensor unit  506  may be included in the display  300 B or may be integrated with the display  300 B. 
     In addition, a seventh sensor unit for acquiring a line-of-sight direction of the surgical assistant, an eighth sensor unit for acquiring an orientation of the body of the surgical assistant, and the like may be further provided. 
     With this, the control device  100  rotates and displays the image photographed by the camera  200 A on the first display  300 A in accordance with the line-of-sight direction of the medical doctor, the orientation of the body of the medical doctor, the orientation of the treatment instrument  400  used by the medical doctor, and the like, and also rotates and displays the image photographed by the camera  200 A on the second display  300 B in accordance with the line-of-sight direction of the medical doctor, the surgical assistant or the like, the orientation of the body of the medical doctor, the surgical assistant or the like, the orientation of the treatment instrument  400  used by the medical doctor, the surgical assistant, or the like. Since the configuration for the control device  100  to make the image rotated and displayed on the displays  300 A and  300 B is similar to the configurations for the first to sixth embodiments, description thereof will not be repeated herein. 
     Eighth Embodiment 
     In the first to seventh embodiments, an image photographed by the camera  200 A is rotated and displayed on the display  300 . However, the present disclosure is not limited to such embodiment. In the present embodiment, a camera  200 A changes an image photographing direction itself in accordance with a line-of-sight direction of a medical doctor, an orientation of the body of the medical doctor, an orientation of a treatment instrument  400  being used by the medical doctor, an orientation of a display  300 , and the like. 
       FIG. 22  is an image diagram illustrating a hardware configuration of the camera  200 A according to the present embodiment. In the present embodiment, the camera  200 A primarily includes an image sensor  210 , a sensor horizontal direction changing unit  220 , a sensor vertical direction changing unit  230 , a sensor rotation unit  240 , a light  250 , and a communication interface  260 . 
     The image sensor  210  detects light and outputs a signal to represent an image. To be more specific, the camera  200 A radiates light from the light  250 , and reflection light thereof is detected by the image sensor  210 . 
     The communication interface  260  transmits image data photographed by the image sensor  210  to a camera controller  200 B, a control device  100 , and the like. 
     The sensor horizontal direction changing unit  220  is constituted of a motor, an actuator, and the like, and changes a direction of a horizontal component photographed by the image sensor  210 , based on a command from the control device  100  inputted through the communication interface  260 . 
     The sensor vertical direction changing unit  230  is constituted of a motor, an actuator, and the like, and changes a direction of a vertical component photographed by the image sensor  210 , based on a command from the control device  100  inputted through the communication interface  260 . 
     The sensor rotation unit  240  is constituted of a motor, an actuator, and the like, and makes the image sensor  210  rotate while taking an image photographing direction of the image sensor  210  as an axis, based on a command from the control device  100  inputted through the communication interface  260 . 
       FIG. 23  is a flowchart illustrating a first information process in the control device  100  according to the present embodiment. 
     Referring to  FIG. 23 , a CPU  110  of the control device  100  periodically acquires, from a first sensor unit  501  through a communication interface  160 , vector data indicating an orientation (z) of the camera  200 A (step S 102 ). 
     The CPU  110  acquires, from a second sensor unit  502  or the like through the communication interface  160 , vector data indicating a line-of-sight direction (y) of the medical doctor or the like (step S 104 ). 
     The CPU  110  causes the image photographing direction of the camera  200 A to turn toward the line-of-sight direction of the medical doctor (step S 105 ). To be more specific, the CPU  110  transmits, to the camera  200 A through the communication interface  160 , a command to control the sensor horizontal direction changing unit  220  and the sensor vertical direction changing unit  230  of the camera  200 A, and thus the image photographing direction of the camera  200 A is made to turn toward the line-of-sight direction of the medical doctor. 
     Then, the CPU  110  transmits, to the camera  200 A through the communication interface  160 , a command to control the sensor rotation unit  240  of the camera  200 A, and thus the image sensor  210  is rotated in such a manner that the zenith of the photographed image of the camera  200 A comes closest to the actual vertical upper side. 
     In a case where the camera  200 A cannot be made to completely turn toward the line-of-sight direction of the medical doctor, the CPU  110  acquires an angle of the line-of-sight direction (y) of the medical doctor corresponding to the orientation (z) of the camera on a plane after direction control in step S 105 , as a display correction angle Y by which the image is to be rotated and corrected (step S 106 ). 
     Thus, as illustrated in  FIG. 6 , the CPU  110  rotates the image by −Y degrees based on the display correction angle Y (step S 156  in  FIG. 7 ). The CPU  110  causes the rotated image to be displayed on the display  300  through the communication interface  160 . 
     Ninth Embodiment 
     In a ninth embodiment, a control device  100  accepts and registers designation of factors, as base data for rotating images, for each user such as a medical doctor, a surgical assistant, or the like. 
     For example, a user accepts, through an operation unit  140  of the control device  100 , designation of factors as the base data for rotating images, for example, a line-of-sight direction of the medical doctor, an orientation of the body of the medical doctor, an orientation of a treatment instrument, an orientation of a display  300 , and the like. A CPU  110  of the control device  100  stores, in a memory  120 , a correspondence relationship between information for identifying the user and information for identifying the factors as the base data for rotating images. Note that the correspondence relationship may be stored in another device that can be accessed by the control device  100 . 
       FIG. 24  is a flowchart illustrating a first information process in the control device  100  according to the present embodiment. Note that the CPU  110  of the control device  100  accepts a user ID and the like beforehand through the operation unit  140 . 
     Referring to  FIG. 24 , the CPU  110  of the control device  100  periodically acquires, from a first sensor unit  501  through a communication interface  160 , vector data indicating an orientation (z) of a camera  200 A (step S 102 ). 
     The CPU  110  identifies the factors for rotating an image based on the information for identifying the user using the system at the time (step S 103 ). 
     The CPU  110  acquires, from any one of the sensor units  501  to  505  through the communication interface  160 , vector data indicating a designated direction (step S 104 ). 
     Thus, as illustrated in  FIG. 6 , the CPU  110  rotates the image by −Y degrees based on the display correction angle Y (step S 156  in  FIG. 7 ). The CPU  110  causes the rotated image to be displayed on the display  300  through the communication interface  160 . 
     Further, the control device  100  may accept a registration of a as base data for rotating the image in step S 156  for each user such as an operating surgeon, a surgical assistant, or the like. In this case, the CPU  110  reads out the factors for rotating the image and a rotation rate a based on the information for identifying the user using the system at the time (step S 103  in  FIG. 24 ). 
     The CPU  110  acquires, from any one of the sensor units  501  to  505  through the communication interface  160 , vector data indicating the designated direction (step S 104  in  FIG. 24 ). 
     As illustrated in  FIG. 6 or 17 , the CPU  110  rotates the image by −αY degrees or αY degrees in the clockwise direction (0&lt;α&lt;1) based on the display correction angle Y (step S 156  in  FIG. 7  or  FIG. 18 ). The CPU  110  causes the rotated image to be displayed on the display  300  through the communication interface  160 . 
     Tenth Embodiment 
     It is only required for the factors to be capable of making adjustments in such a manner that the photographed image can be easily seen by an operating surgeon as a medical specialist, a positional relationship among the organs being displayed, treatment instruments  400  and the like can be easily recognized by the operating surgeon, or the operation can be performed with ease by the operating surgeon, and the present disclosure is not limited to the embodiments that make use of factors such as the line-of-sight direction of the operating surgeon, the orientation of the body of the operating surgeon, the orientation of the treatment instrument  400 , and the orientation of the display  300  like the first to ninth embodiments. 
     It is possible to study and derive a more optimal relationship in position (rotation angle) by accumulating the data acquired from the sensors and the like. Extracting the characteristics (habits) of a practitioner of surgery as data may contribute to the improvement of skills of the practitioner of surgery. 
     Other Application Examples 
     It is needless to say that an aspect of the present disclosure can be applied also in a case where the stated aspect is achieved by supplying a program to a system or a device. Further, it is also possible to obtain an effect of an aspect of the present disclosure by a scheme in which a storage medium (or a memory) storing a program expressed by software to achieve the stated aspect of the present disclosure is supplied to a system or a device, and a computer (such as a CPU or MPU) of the system or the device reads out the program code stored in the storage medium and then performs the program code. 
     In this case, the program code itself having been read out from the storage medium enables the functions of the above embodiments, and thus the storage medium storing the program code constitutes an aspect of the present disclosure. 
     Further, needless to say, an aspect of the present disclosure includes not only the case in which the computer performs the program code having been read out to enable the functions of the above-described embodiments, but also a case in which an operating system (OS) or the like working on the computer performs part or all of actual processes in accordance with commands of the program code so that the functions of the above-described embodiments are enabled by the stated processes. 
     Also needless to say, an aspect of the present disclosure includes a case in which, after the program code having been read out from the storage medium is written into another storage medium provided in a function enhancement board inserted in the computer, a function enhancement unit connected to the computer or the like, a CPU or the like provided in the function enhancement board, the function enhancement unit or the like performs part or all of the actual processes in accordance with the commands of the program code so that the functions of the above embodiments are enabled by the stated processes. 
     In addition, in the image output system and the control device described in the aforementioned embodiments, each of the blocks thereof may be individually formed in a single chip by a semiconductor device such as an LSI, or may be formed in a single chip in such a manner as to include part or all of the block. 
     Although the term LSI is used here, an LSI is also called as an IC, system LSI, super LSI, or ultra LSI in some case depending on the degree of integration. 
     The method of circuit integration is not limited to an LSI, and the circuit integration may be achieved by using a dedicated circuit or a general-purpose processor. After the manufacture of an LSI, a Field Programmable Gate Array (FPGA) that can be programmed, a reconfigurable processor in which connections, configurations or the like of circuit cells inside the LSI can be reconfigured, or the like may be used. 
     Further, in a case where a technology of circuit integration capable of replacing LSIs becomes available by the progress of the semiconductor technology or another technology derived therefrom, it is needless to say that the functional blocks may be integrated by using the stated technology. It may be possible to apply biotechnology or the like in this field. 
     The processes of the aforementioned embodiments may be implemented by hardware or software (including a case where the processes are implemented along with an operating system (OS), middleware, or a prescribed library). In addition, the above processes may be implemented by a mixed process of software and hardware. In the case where the image output system and the control device according to the above-described embodiments are implemented by hardware, it is needless to say that the timing for carrying out each of the processes need to be adjusted. In the above-described embodiments, detailed description of the timing adjustments of various signals necessary to be considered in actual design is omitted for the sake of convenience in explanation. 
     Supplement 
     In the above-described first to tenth embodiments, the image output system  1  including the camera  200 A, the display  300 , and the control device  100  configured to communicate with the camera  200 A and the display  300  is provided. The control device  100  causes an image photographed by the camera  200 A to be rotated based on an orientation of the camera  200 A and an orientation of a prescribed subject, and then causes an image to be outputted to the display  300 . 
     In the above-described embodiments, the image output system  1  including the camera  200 A, the display  300 , and the control device  100  configured to communicate with the camera  200 A and the display  300  is provided. The control device  100  causes the camera  200 A to be rotated based on the orientation of the camera  200 A and the orientation of the prescribed subject, and causes an image photographed by the rotated camera  200 A to be outputted to the display  300 . 
     It is preferable for the control device  100  to adjust an angle of the rotation based on an angle between the orientation of the camera  200 A and the orientation of the prescribed subject on a plane. 
     It is preferable for the control device  100  to accept the designation of the prescribed subject for each user. 
     In the above-described embodiments, provided is an image output method including a step of acquiring an orientation of the camera  200 A, a step of acquiring an orientation of a prescribed subject, and a step of causing an image photographed by the camera  200 A to be rotated based on the orientation of the camera  200 A and any one of orientations, and then causing an image to be outputted to the display  300 . 
     In the above-described embodiments, provided is an image output method including a step of acquiring an orientation of the camera  200 A, a step of acquiring an orientation of a prescribed subject, and a step of causing the camera  200 A to be rotated based on the orientation of the camera  200 A and any one of orientations, and causing an image photographed by the rotated camera  200 A to be outputted to the display  300 . 
     In the above embodiments, provided is the control device  100  including the communication interface  160  configured to communicate with the camera  200 A and the display  300 , and the processor  110 . The processor  110  causes an image photographed by the camera  200 A to be rotated based on the orientation of the camera  200 A and the orientation of the prescribed subject, and then causes an image to be outputted to the display  300  through the communication interface  160 . 
     In the above embodiments, provided is the control device  100  including the communication interface  160  configured to communicate with the camera  200 A and the display  300 , and the processor  110 . The processor  110  causes the camera  200 A to be rotated based on the orientation of the camera  200 A and the orientation of the prescribed subject, and causes an image photographed by the rotated camera  200 A to be outputted to the display  300  through the communication interface  160 . 
     The embodiments disclosed herein are to be understood as being in all ways exemplary and in no way limiting. The scope of the present disclosure is defined not by the foregoing descriptions but by the appended claims, and is intended to include all changes equivalent in meaning and scope to the appended claims. 
     REFERENCE SIGNS LIST 
     
         
           1  Image output system 
           100  Control device 
           110  Processor (CPU) 
           120  Memory 
           140  Operation unit 
           160  Communication interface 
           200  Camera 
           200 A Camera 
           200 B Camera controller 
           210  Image sensor 
           220  Sensor horizontal direction changing unit 
           230  Sensor vertical direction changing unit 
           240  Sensor rotation unit 
           260  Communication interface 
           300  Display 
           300 A First display 
           300 B Second display 
           400  Treatment instrument 
           501  to  506  Sensor unit