To provide an endoscope shape detecting device visually determining a reference surface position, the separation state of the endoscope shape from the reference surface, and the direction of the head of a patient and easily grasping the shape of the endoscope inserted in a subject inside such as the patient.
A step S62_2 of displaying the reference surface and a step S-62_3 of displaying a marker are performed. The processing of the steps is additional processing. The processing of the reference surface display bears a supplementary role of visually facilitating the three-dimensional display of the endoscope shape by displaying the reference surface of a bed surface, and the like. Affine transformation in a step S62_21 is performed to transform a reference display symbol of a world coordinate system to a viewpoint coordinate system. Then, a 3D→-2D projection in a stepS62_22 is performed. The reference display symbol transformed to the viewpoint coordinate system is transformed and projected two-dimensionally so as to be displayed on a monitor. A symbol display such as the bed to be the reference surface of the step S62_23 is performed. A symbol assisting the three-dimensional description of the endoscope is displayed.
ISHII TSUKASA
UCHIMURA SUMIHIRO
HARA MASANAO
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