Patent Description:
In recent years, in endoscopy in the medical field, endoscope systems have been widespread, which can efficiently perform the endoscopy by grasping the shape of an insertion part in a body cavity of a subject and utilizing information on the shape of the insertion part.

For example, in <CIT>, a virtual movement line of an endoscope insertion part in a body cavity is calculated on the basis of a CT image obtained by a computed tomography (CT) apparatus, and in a case where the endoscopy is actually performed on a lesion estimated from the CT image, the operation up to the position of the lesion is supported by utilizing the virtual movement line created on the basis of the CT image.

Additionally, in <CIT>, an endoscope of <CIT> detects the position and orientation of a distal end of an insertion part in an endoscope having a plurality of coils built in the insertion part placed in a magnetic field to store the position and the orientation as instructional information, and supports operations on the basis of the stored instructional information. Document <CIT> describes an endoscope system comprising: a processor that acquires shape data of an insertion part of an endoscope in a body cavity in an examination using the endoscope with movement of a distal end of the insertion part; and a memory that stores the shape data, wherein the processor stores the shape data at a position of an object to be observed in a first examination as first shape data in the memory, and determines that the distal end of the insertion part has reached the position of the object to be observed and provides notification of a result of determination in a case where the shape data acquired in a second examination after the first examination matches the first shape data. The documents <CIT> and <CIT> describe similar endoscopic systems.

In endoscopy of the large intestine, in a case where a part to be observed that has been observed once is observed again, in the method of searching for a target part to be observed by relying on an observation image of the part to be observed and comments on the position of the part to be observed, it may be difficult to grasp the position of the part to be observed due to the lack of landmarks in the lumen or a decrease in visibility caused by residue. For that reason, there has been an eager desire for a method of making it easier to grasp the position of the target part to be observed by utilizing the acquired examination information even in the endoscopy targeting a part having poor visibility.

An object of the present invention is to provide an endoscope system and an endoscope device in which a part to be observed can be easily grasped in endoscopy targeting a part having poor visibility.

The present invention has been made to solve the above problems, and the endoscope system of the present invention comprises a processor that acquires shape data of an insertion part of an endoscope in a body cavity in an examination using the endoscope with movement of a distal end of the insertion part; and a memory that stores shape data, and the processor stores the shape data at a position of an object to be observed in a first examination as first shape data in the memory, and determines that the distal end of the insertion part has reached the position of the object to be observed and provides notification of a result of examination in a case where the shape data acquired in a second examination after the first examination matches the first shape data.

It is preferable that the endoscope system further comprises a display, and the processor stores an observation image obtained by imaging the object to be observed and the first shape data in association with each other in the memory, and displays the observation image on the display in a case where the shape data acquired in the second examination matches the first shape data.

It is preferable that the processor compares the shape data with the first shape data each time the shape data is acquired, in the second examination.

It is preferable that the processor stores the shape data, which has matched the first shape data, in the second examination as second shape data in the memory.

The processor stores in the memory an arrival time, which is a time at which the distal end of the insertion part reaches the position of the object to be observed after the insertion part is inserted into the body cavity, and performs a notification on the basis of the arrival time.

It is preferable that the processor displays diagnosis information of the object to be observed, which is associated with the first shape data, on the display.

It is preferable that the endoscope system further comprises a light source control processor, and the light source control processor controls a light source that emits first illumination light and second illumination light having a different emission spectrum from the first illumination light.

It is preferable that the first illumination light is white light, and the observation image is an image captured by irradiating the object to be observed with the first illumination light.

It is preferable that the light source control processor causes the first illumination light to be emitted in a first illumination period, causes the second illumination light to be emitted in a second illumination period, and in a case where the first illumination period and the second illumination period are automatically and alternately switched and in a case where a predetermined illumination period is defined as one frame, controls the first illumination light in a first light emission pattern having a first A light emission pattern in which a total number of frames obtained by summing the frames in each first illumination period is the same in all the first illumination periods, and a first B light emission pattern in which a total number of frames in one of the first illumination periods is different from the total number of frames in at least one other first illumination period.

It is preferable that the light source control processor controls the second illumination light in a second light emission pattern, the second light emission pattern has a second A light emission pattern, a second B light emission pattern, a second C light emission pattern, and a second D light emission pattern, the second A light emission pattern is a light emission pattern in which the total number of frames in each second illumination period is the same in all the second illumination periods and an emission spectrum of the second illumination light in each second illumination period is the same in all the second illumination periods, the second B light emission pattern is a light emission pattern in which the total number of frames in each second illumination period is the same in all the second illumination periods, and the emission spectrum of the second illumination light in one of the second illumination periods is different from the emission spectrum of the second illumination light in at least one other second illumination period, the second C light emission pattern is a light emission pattern in which a total number of frames in one of the second illumination periods is different from the total number of frames in at least one other second illumination period and the emission spectrum of the second illumination light in each second illumination period is the same in all the second illumination periods, and the second D light emission pattern is a light emission pattern in which the total number of frames in one of the second illumination periods is different from the total number of frames in at least one other second illumination period and the emission spectrum of the second illumination light in one of the second illumination periods is different from the emission spectrum of the second illumination light in at least one other second illumination period.

An endoscope device of the present invention comprises a processor that acquires shape data of an insertion part of an endoscope in a body cavity in an examination using the endoscope with movement of the insertion part of the endoscope; and a memory that stores shape data, and the processor stores the shape data at a position of an object to be observed in a first examination as first shape data in the memory, and determines that the distal end of the insertion part has reached the position of the object to be observed and provides notification a result of determination in a case where the shape data acquired in a second examination after the first examination matches the first shape data.

According to the present invention, in endoscopy targeting a part having poor visibility, attention is called at an appropriate position with respect to a target part to be observed. Thus, the endoscope system and the endoscope device that make it easy to grasp the part to be observed can be provided.

The endoscope system <NUM> of the present invention is a system that makes it easy to find a part to be observed that has been observed in the past, in the follow-up observation of observing the part to be observed including an object to be observed using an endoscope. As the object to be observed, in addition to lesions and tumors, inflamed spots and difficult-to-insert parts are main objects. As shown in <FIG>, the endoscope system <NUM> includes an endoscope <NUM>, a light source device <NUM>, a processor device <NUM>, a magnetic field generating device <NUM>, and a display <NUM> and an input device <NUM> connected to the processor device <NUM>.

Since a computer constituting the processor device <NUM> has a general hardware configuration, the illustration of each hardware is omitted, but the computer has a central processing unit (CPU), a memory, a storage device, and an input and output interface (I/F). The display <NUM> and the input device <NUM> are connected to the input and output I/F. In addition, the processor device <NUM> corresponds to an endoscope device of the present invention.

The CPU of the processor device <NUM> is a processor that causes the endoscope system of the present invention to function in cooperation with the memory or the like. The storage device stores control programs such as an operating system, various application programs, display data of various screens associated with these programs, and the like. The memory is a work memory for the CPU to execute processing. The CPU receives an input from an operating part <NUM> (see <FIG>) of the endoscope <NUM> or the input device <NUM> and executes a program in the memory in order to operate various programs stored in the storage device. Accordingly, the functions of the respective parts (units) in the processor device <NUM> (such as the shape data collation unit <NUM> described below) are realized. In addition, an input method for the CPU may be based on voice input of a voice input unit (not shown) provided in the processor device <NUM>.

The light source device <NUM> has a light source control processor (not shown) that controls a plurality of light emitting diodes (LEDs) that emit light in different wavelength ranges. The light source control processor independently controls the amounts of light of a violet LED (V-LED), a blue LED (B-LED), a green LED (G-LED), and a red LED (R-LED) that emit light corresponding to purple, blue, green, and red in a visible light region having a wavelength range of <NUM> to <NUM>, and causes the LEDs to emit illumination light having an emission spectrum adapted to each observation purpose. In addition, the LEDs correspond to light sources in the present specification.

The endoscope system <NUM> has a normal light mode and a special light mode as observation modes. In a case where an observation mode is the normal light mode, white light (first illumination light) is emitted as normal light, and a natural hue image is generated on the basis of an image signal obtained by radiating white light to image the part to be observed. Additionally, in a case where an observation mode is the special light mode, a special light (second illumination light) having a different emission spectrum from the white light is emitted, and an image in which the structure of a lesioned part, blood vessel, or mucous membrane is enhancement-processed is generated on the basis of an image signal obtained by radiating the special light to image the part to be observed. The processor device <NUM> displays on the display <NUM> various images generated according to each observation mode and information incidental to the images.

As shown in <FIG>, the endoscope <NUM> has an insertion part <NUM> to be inserted into a body cavity of a subject (inside a lumen such as the large intestine) and the operating part <NUM> for operating the endoscope <NUM>. The operating part <NUM> includes an angle knob that bends a distal end 21a of the insertion part <NUM> in upward-downward and leftward-rightward directions, an imaging button for imaging a part to be observed, a switch that executes the functions of the respective parts of the processor device <NUM>, and the like. By operating the operating part <NUM>, the distal end 21a of the insertion part <NUM> is directed in a desired direction, and an observation image obtained by imaging the inside of the body cavity of the subject is acquired by an imaging unit (not shown) having an imaging element such as a charge coupled device (CCD) built in the distal end 21a.

Additionally, a shape data acquisition unit <NUM> (see <FIG>) detects a current value of an induced current generated in a coil (not shown) built in the insertion part <NUM> of the endoscope <NUM> due to the action of a magnetic field generated by the magnetic field generating device <NUM>, and grasps the shape of the insertion part <NUM> of the endoscope <NUM> in the body cavity on the basis of the detected current value. Specifically, the known technique described in <CIT> can be used.

In the present embodiment, by generating a magnetic field from the magnetic field generating device <NUM> in a short cycle, data on the shape of the insertion part <NUM> of the endoscope <NUM> is acquired in real time. On the basis of the data on the acquired shape, the shape data acquisition unit <NUM> acquires shape data representing the shape from the insertion position of the insertion part <NUM> of the endoscope <NUM> to the current position thereof with the movement of the distal end 21a of the insertion part <NUM> of the endoscope <NUM>. In a case where the shape data is displayed on the display <NUM>, it is preferable to generate and display the shape of the insertion part <NUM> currently being inserted as an image that can be visually discriminated as in a shape image <NUM> of <FIG>. Hereinafter, in the present specification, the shape data and the shape image <NUM> are treated as the same, and in the drawings, the shape data is expressed as the shape image <NUM>.

The light source device <NUM> has a light source control processor (not shown). The light source control processor has an automatic switching mode in which the white light and the special light are alternately switched in addition to the normal light mode and the special light mode. The automatic switching mode is a mode in which observation according to various purposes is performed by emitting illumination light in a predetermined wavelength range. For example, the automatic switching mode is a mode used for the purpose of detecting a plurality of lesions by alternately irradiating a part to be observed with the white light and the special light or generating an enhanced image for enhancing a lesioned part.

The light source control processor controls the light source in a predetermined light emission pattern. As shown in <FIG>, in the automatic switching mode, the illumination light is controlled in a predetermined light emission pattern determined by each observation mode. The light source control processor automatically and alternately switches between a first illumination period and a second illumination period, causes the first illumination light to be emitted in a first light emission pattern in the first illumination period, and causes the second illumination light to be emitted in a second light emission pattern in the second illumination period. The first light emission pattern includes a first A light emission pattern and a first B light emission pattern. The second light emission pattern includes a second A light emission pattern, a second B light emission pattern, a second C light emission pattern, and a second D light emission pattern.

In a case where a predetermined illumination period is defined as one frame, as shown in <FIG>, the first A light emission pattern is a light emission pattern in which the total number of frames obtained by summing the frames in each first illumination period is the same in all the first illumination periods. As shown in <FIG>, the first B light emission pattern is a light emission pattern in which the total number of frames in one of the first illumination periods is different from the total number of frames in at least one other first illumination period.

Additionally, as shown in <FIG>, the second A light emission pattern is a light emission pattern in which the total number of frames in each second illumination period is the same in all the second illumination periods and the emission spectrum of the second illumination light in each second illumination period is the same in all the second illumination periods. As shown in <FIG>, the second B light emission pattern is a light emission pattern in which the total number of frames in each second illumination period is the same in all the second illumination periods, and the emission spectrum of the second illumination light in one of the second illumination periods is different from the emission spectrum of the second illumination light in at least one other second illumination period. As shown in <FIG>, the second C light emission pattern is a light emission pattern in which the total number of frames in one of the second illumination periods is different from the total number of frames in at least one other second illumination period and the emission spectrum of the second illumination light in each second illumination period is the same in all the second illumination periods. As shown in <FIG>, the second D light emission pattern is a light emission pattern in which the total number of frames in one of the second illumination periods is different from the total number of frames in at least one other second illumination period and the emission spectrum of the second illumination light in one of the second illumination periods is different from the emission spectrum of the second illumination light in at least one other second illumination period.

In addition, the first illumination period is preferably longer than the second illumination period. For example, in <FIG>, in a case where the first light emission pattern is a first A pattern and the second light emission pattern is a second A pattern, the first illumination period is two frames and the second illumination period is one frame.

As shown in <FIG>, the processor device <NUM> comprises an observation image acquisition unit <NUM>, a shape data acquisition unit <NUM>, a shape data storage unit <NUM>, a shape data collation unit <NUM>, and a notification unit <NUM>. In a case where a user such as a doctor inserts the insertion part <NUM> of the endoscope <NUM> into the body cavity of the subject, the shape data acquisition unit <NUM> acquires the shape data of the insertion part <NUM> of the endoscope <NUM> in the body cavity with the movement of the distal end 21a of the insertion part <NUM>. Additionally, the observation image acquisition unit <NUM> acquires an observation image of the part to be observed in a case where a release operation or the like for imaging the part to be observed is performed. The shape data storage unit <NUM> stores the shape data acquired the shape data acquisition unit <NUM> in a case where the user starts imaging the part to be observed or in a case where the user performs an operation of storing the shape data in order to observe any part to be observed again. Additionally, the shape data storage unit <NUM> stores the observation image of the part to be observed in association with the stored shape data. For example, as shown in <FIG>, as the information stored in the shape data storage unit <NUM>, for a patient A, regarding a part to be observed 41a, which is a first part to be observed in the insertion direction of the insertion part <NUM>, "inflammation" is recorded as the shape data up to the position of the part to be observed 41a, the observation image of the part to be observed 41a, and the type of the part to be observed. Similarly, regarding a part to be observed 41b, which is a second part to be observed, the shape data up to the position of the part to be observed 41b, a "lesion (tumor)" is recorded as the observation image of the part to be observed 41b, and the type of the part to be observed. Additionally, for a patient B, regarding one part to be observed 42b, deformation (stenosis) is recorded as the shape data up to the position of the part to be observed 42b, the observation image of the part to be observed 42b, and the type of the part to be observed. In addition, the stenosis is a symptom that makes it difficult to insert the endoscope <NUM> due to the narrowing of the intestine, and such a part is also a target for observation. In addition, it is preferable that the shape data storage unit <NUM> store an image around a target part to be observed, an image of a landmark in the middle of a route, or the like in association with the shape data on the basis of not only the observation image of the part to be observed but also the image acquired with the insertion of the endoscope <NUM>.

In <FIG>, the type of the part to be observed that is stored in the shape data storage unit <NUM> reflects the result of the diagnosis of the part to be observed. The stored timing may be, for example, at the time of the user input after the part to be observed is diagnosed, or may be at the time of the input from a diagnosis support system (not shown) connected to the endoscope system <NUM>. Alternatively, in a case where the part to be observed is analyzed on the basis of the observation image obtained by imaging the part to be observed using the special light, the input may be automatically performed according to the analysis result. In the diagnosis support system, diagnosis information such as the malignancy of the lesion or tumor included in the part to be observed may be stored as the diagnosis information observed in detail with respect to the part to be observed. The shape data storage unit <NUM> may store association information associated with the diagnosis information and the shape data.

The shape data collation unit <NUM> functions in a case where the part to be observed that has been observed in the past is observed again, such as the follow-up observation. For example, in a case where the shape data (first shape data) acquired in the past examination (first examination) is stored in the shape data storage unit <NUM>, in the current examination (second examination) for performing the follow-up observation, the current shape data sequentially acquired by the shape data acquisition unit <NUM> and the first shape data are collated with each other in real time each time the shape data is acquired. In a case where the distal end 21a of the insertion part <NUM> eventually reaches the position of the part to be observed that has been observed in the past, the current shape data and the first shape data match each other. In a case where the current shape data and the first shape data match each other, the notification unit <NUM> determines that the distal end 21a of the insertion part <NUM> has reached the position of the target part to be observed, and notifies the user a result of determination. As a method of the notification, a notification sound may be output instead of displaying a notification icon <NUM> on the display <NUM>. In addition, the match does not always mean a perfect match, and as long as a difference in a case where the shape data is compared is within a predetermined range, this case may be regarded as the match.

Hereinafter, the functions of the respective parts of the processor device <NUM> will be specifically described. In a case where the subject that is a target for endoscopy undergoes a first-time examination (first examination) for acquiring the shape data, the shape data is not stored in the shape data storage unit <NUM>. In this case, the shape data is acquired in a case where the user observes the part to be observed along the progress of the examination. As shown in <FIG>, each time the part to be observed is observed, the shape data storage unit <NUM> stores the shape data and the observation image of the part to be observed in order. In addition, the first shape data is the shape data acquired in the first examination. For example, the two shape data of the patient A in <FIG> are both the first shape data.

In a case where the follow-up observation (second examination) of the part to be observed that has been observed in the past examination, the shape data acquired with the movement of the distal end 21a of the insertion part <NUM> is collated with the first shape data stored in the shape data storage unit <NUM> in order from the first shape data on the part to be observed that is located on the near side with respect to the insertion direction of the insertion part <NUM>. <FIG> is a diagram illustrating the functions of the shape data collation unit <NUM>. In <FIG>, time elapses from left to right. In the follow-up observation, in a case where the insertion part <NUM> of the endoscope <NUM> is inserted toward the part to be observed 41a, which is the first part to be observed of the patient A (see <FIG>), the distal end 21a of the insertion part <NUM> reaches the vicinity of the position of the part to be observed 41a, and as in a comparison result 410a, the shape data of the insertion part <NUM> of the endoscope <NUM> in the current examination and the stored shape data up to the part to be observed 41a match each other (matching A1). In this case, the shape data collation unit <NUM> determines that the position of the part to be observed 41a that has been observed in the past has been reached. In a case where the observation of the part to be observed 41a is completed and the insertion part <NUM> of the endoscope <NUM> is inserted toward the part to be observed 41b, which is the second part to be observed, the distal end 21a of the insertion part <NUM> reaches the vicinity of the position of the part to be observed 41a, and as in a comparison result 410b, a current shape data and the stored shape data up to the part to be observed 41b match each other (matching A2), and the shape data collation unit <NUM> determine that the position of the part to be observed 41b that has been observed in the past has been reached. In addition, the shape data collation unit <NUM> collates the shape data acquired from time to time with the shape data on the target part to be observed even in a section not shown in <FIG> in real time.

<FIG> is an example of the notification displayed on the display <NUM> by the notification unit <NUM>. The observation image in the current examination is displayed as a motion picture <NUM> on the display <NUM>. A comparison display region <NUM> displays the result obtained by comparing the current shape data with the stored shape data. In a case where the current shape data and the stored shape data match each other, the notification unit <NUM> displays on the screen the notification icon <NUM> informing the user a result of determination that the current position is near the target part to be observed.

In addition, as a method of the notification, as shown in <FIG>, since the previously observed image and the shape data are stored in association with each other in the shape data storage unit <NUM>, the previously observed image (still image) <NUM> may be displayed in a case where the vicinity of the target part to be observed is reached. In this case, the previous part to be observed can be quickly specified by displaying an observation image <NUM> and displaying a plurality of images around the target part to be observed. In addition, the observation image and the observation image <NUM> displayed as the motion picture <NUM> are preferably white light images captured using the white light, but may be special light images captured using the special light.

In addition, in a case where diagnosis information corresponding to a specific shape data is stored in or is associated with the shape data storage unit <NUM>, the operating part <NUM> of the endoscope <NUM> or the input device <NUM> can be used and called in a timely manner. For example, the diagnosis information on the part to be observed corresponding to an information display button <NUM> depressed by depressing the information display button <NUM> using the input device <NUM> is displayed on the display <NUM> shown in <FIG>. Alternatively, in the second examination, the display may be automatically performed at the timing at which a detailed observation is performed.

<FIG> is a diagram illustrating the functions of the shape data collation unit <NUM> in a case where the follow-up observation is performed on the patient B (see <FIG>), but unlike <FIG>, illustrating an example in which the current shape data and the stored first shape data do not match each other. Since there are parts that are likely to be deformed depending on organs to be observed, such as the large intestine, it is also considered that the lumen shape at the time of the previous examination and the lumen shape at the time of the follow-up observation are different from each other. As shown in <FIG>, in the current examination, a range k1 up to the vicinity of a position k on the way to the target part to be observed and a range k2 after that in the shape data acquired in a case where the insertion part <NUM> of the endoscope <NUM> is inserted into a part to be observed 42a, which is the target part to be observed, are different from each other. In such a case, the shape data collation unit <NUM> determines that the current lumen shape is different from the previous lumen shape. Even in a case where the target part to be observed has not been reached, the notification unit <NUM> performs a notification in a case where it is determined that the current lumen shape is different from the previous lumen shape. As a method of the notification, as shown in <FIG>, in addition to displaying the observation image, it is preferable to notify a user a result of determination that the current lumen shape is different from the previous lumen shape.

In <FIG> and <FIG>, the shape data storage unit <NUM> preferably stores the shape data up to the position of the part to be observed that has been acquired in the second examination as a second shape data. The second shape data is used for a comparison target in the subsequent follow-up observations and the like.

In this way, in the endoscope system <NUM> in the present embodiment, in endoscopy targeting a part having poor visibility, it is easy to grasp the positions of parts where deformations such as inflamed spots and stenosis that are difficult to visually identify are occurring in addition to lesions and tumors. Moreover, even in a case where a current user in charge is different from the user in charge in the past examination, it is easy to grasp the position of the target part to be observed. Therefore, the endoscopy can be advanced without delay.

In the first embodiment, the current shape data and the first shape data stored in the shape data storage unit <NUM> are compared with each other to determine whether or not the target part to be observed has been reached. However, in the second embodiment, the shape data and the arrival time are used to perform the comparison. As shown in <FIG>, in the first examination, the shape data storage unit <NUM> inserts the insertion part <NUM> into the body cavity in conformity with the shape data and the observation image, and then stores the arrival time that is the time at which the distal end 21a of the insertion part <NUM> reaches the position of the part to be observed. For example, for patient A, regarding he first part to be observed 41a, the shape data, the observation image of the part to be observed, and the type of the part to be observed are the same as those in the first embodiment. However, in addition to these, the arrival time that is the time at which the distal end 21a reaches the position of the part to be observed 41a is recorded as "∘∘ seconds".

In a case where the follow-up observation (second examination) is performed, similarly to the first embodiment, the shape data acquired with the movement of the insertion part <NUM> of the endoscope <NUM> and the elapsed time since the insertion part <NUM> are inserted into the body cavity are compared with the shape data and the arrival time to the target part to be observed that has been stored in the shape data storage unit <NUM>. As shown in <FIG>, in a case where the current shape data and the elapsed time match the stored shape data and arrival time, the shape data collation unit <NUM> determines that the vicinity of the target part to be observed has been reached. In this case, the notification unit <NUM> notifies the user a result of determination that the vicinity of the target part to be observed has been reached. In addition, regarding the time (arrival time, elapsed time), the insertion time is not always constant. Therefore, in a case where the difference between the elapsed time and the arrival time is within any time range, it is determined that the arrival times match each other. Additionally, for the purpose of searching for the past part to be observed, it is preferable to perform a notification before the position of the target part to be observed is reached. Therefore, in a case where the current shape data and the previous shape data match each other, and in a case where the time obtained by subtracting any time from the arrival time is equal to the elapsed time, it may be determined that the vicinity of the target part to be observed has been reached.

In the first and second embodiments, a scene of the follow-up observations is assumed as the second examination. However, in the third embodiment, an examination scene where in-path screening is performed in an outward route in the insertion direction of the endoscope <NUM> and then a detailed observation is performed on a return route is assumed. <FIG> shows an example in which the position of the part to be observed 41b is searched for the patient A in the present embodiment. In the outward route (first examination), the shape data storage unit <NUM> stores the shape data up to the position of the part to be observed 41b as the first shape data. In a case where the innermost part of the examination range is reached in the examination of the outward route, the shape data collation unit <NUM> collates the shape data acquired in real time in the return route (second examination) with the first shape data until the shape data matches the first shape data. In a case where the shape data acquired in the return route matches the first shape data (matching A2), the notification unit <NUM> notifies the user a result of determination that the vicinity of the target part to be observed has been reached.

It goes without saying that the present invention is not limited to the above respective embodiments and modification examples, and can have various configurations as long as the invention does not depart from the scope of the present invention. For example, it is also possible to appropriately combine the above embodiments and modification examples with each other. Moreover, the present invention extends to a storage medium for storing a program in addition to the programs.

In the present embodiment, the hardware structures of the processing unit, which executes various processing, such as the observation image acquisition unit <NUM> and the shape data collation unit <NUM> are various processors as shown next. The various processors include a central processing unit (CPU) that is a general-purpose processor that executes software (programs) to function as various processing units, a programmable logic device (PLD), which is a processor capable of changing the circuit configuration after manufacturing, such as a field programmable gate array (FPGA), a dedicated electric circuit that is a processor having a circuit configuration designed in a dedicated manner to execute various processing, and the like.

One processing unit may be constituted of one of the various processors, or may be constituted of a combination (for example, a plurality of FPGAs or a combination of a CPU and an FPGA) of two or more processors of the same type or different types. Additionally, a plurality of processing units may be constituted of one processor. As an example in which the plurality of processing units is constituted of one processor, firstly, as represented by a computer such as a client or a server, there is a form in which one processor is configured by a combination of one or more CPUs and software and this processor functions as the plurality of processing units. Secondly, as represented by system on chip (SoC), there is a form in which a processor that realizes the functions of the entire system including a plurality of processing units with one integrated circuit (IC) chip is used. In this way, the various processing units are configured using one or more of the various processors as the hardware structure.

Claim 1:
An endoscope system comprising:
a processor (<NUM>) configured to acquire shape data of an insertion part (<NUM>) of an endoscope (<NUM>) in a body cavity in an examination using the endoscope with movement of a distal end (21a) of the insertion part; and
a memory (<NUM>) configured to store the shape data,
wherein the processor is configured to store the shape data at a position of an object to be observed in a first examination as first shape data in the memory, and
to determine that the distal end of the insertion part has reached the position of the object to be observed and provides notification of a result of determination in a case where the shape data acquired in a second examination after the first examination matches the first shape data; and wherein the processor is further configured to store in the memory an arrival time, which is a time at which the distal end of the insertion part reaches the position of the object to be observed after the insertion part is inserted into the body cavity, and to perform a notification on the basis of the arrival time