The Study for Automatic 3D Reconstruction of Endoscopic Video Image

In these days, an endoscope is applied to therapy as well as a diagnosis. Especially, the early gastric cancer can be treated by either endoscopic mucosa resection (EMR) or endoscopic submucosal dissection (ESD). So, pathological information of the depth direction of mucosal tissue is very important. For a precise endoscopic diagnosis of a depth direction of mucosal tissue is used by ultrasound endoscope. And optical coherence tomography (OCT) and confocal endoscope will be used in the future. Though these methods are very complicate and have many problems to have to be solved. If it becomes using clinically both the current endoscope and such new endoscope in the future, the patients probably may be suffered twice. And the development of image sensors is fast enough to make new endoscopic diagnosis. So we studied potentiality of three dimension measurement of gastrointestinal tract surface and mucosa internal structure with the present endoscope. Because the three-dimensional measurement procedure of the gastrointestinal surface that we adopted was manual, it was not suitable for a serial three-dimensional measurement. Therefore we performed a three-dimensional measurement by image processing by a motion image.