JP2013000403A - Endoscope apparatus and endoscope apparatus operation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To assist an operator to insert an insertion tube into a desired body cavity by compensating the endoscope operation technique of the operator even when there are a plurality of body cavities.SOLUTION: An endoscope apparatus 100 includes: the insertion tube 12 which can be inserted into a body cavity; a bending section 13 which are arranged at the distal end of the insertion tube 12 and which has a distal end surface with changeable direction by being bent; an imaging part 16 which is arranged in the insertion tube 12 and images the anterior visual field of the distal end surface; a body cavity extraction part 23 for extracting a plurality of body cavities from an image captured by the imaging part 16; a body cavity designation part 18 for designating one body cavity, based on an input by the operator, among the plurality of body cavities extracted by the body cavity extraction part 23; and a bending control part 25 for bending the bending section 13 to allow the body cavity designated by the body cavity designation part 18 to be set at the substantial center of the image.

Description

  The present invention relates to an endoscope apparatus and an operation method of the endoscope apparatus.

  2. Description of the Related Art Conventionally, there is known a device that assists an operator in operating an endoscope by presenting auxiliary information indicating an appropriate insertion direction of an insertion portion inserted into a body cavity to the operator (for example, (See Patent Document 1).

JP 2003-93328 A

  When the body cavity is branched at an intermediate position and there are multiple entrances of the body cavity in the endoscopic image, and the endoscope is introduced by selecting one entrance, the direction of the distal end surface of the endoscope is changed by the bending portion. Advanced endoscope operation techniques are required, such as the need to adjust the insertion direction of the endoscope by changing the position. However, in the apparatus of Patent Document 1, since such a scene is not assumed, there is a problem in that the insertion unit cannot be guided to one body cavity desired by the operator and the operator cannot be supported. is there.

  The present invention has been made in view of the above-described circumstances, and even in a situation where there are a plurality of body cavities, the operator can operate the insertion portion into the desired body cavity by supplementing the operator's endoscope operation technology. It is an object of the present invention to provide an endoscope apparatus and an operation method of the endoscope apparatus that can support the above.

In order to achieve the above object, the present invention provides the following means.
The present invention images an insertion portion that can be inserted into a body cavity, a bending portion that is provided at the distal end portion of the insertion portion and can change the direction of the distal end surface by bending, and a visual field in front of the distal end surface. An imaging unit, a body cavity extraction unit that extracts a plurality of body cavities from an image captured by the imaging unit, and one body cavity is designated based on input by an operator among the plurality of body cavities extracted by the body cavity extraction unit There is provided an endoscope apparatus comprising: a body cavity designating section that performs bending of the bending section so that the body cavity designated by the body cavity designating section is disposed at a substantially center of the image.

  According to the present invention, the inside of the body cavity can be observed by inserting the insertion section into the body cavity and outputting the image inside the body cavity captured by the imaging section to a monitor or the like. In this case, the body cavity extraction unit extracts the plurality of body cavities in a scene where the body cavity diverges into a plurality at the midway position. The operator designates a desired body cavity among the extracted body cavities by the body cavity designating unit. As a result, the bending control unit controls the bending unit so that the body cavity designated in the image moves to approximately the center.

  Therefore, the operator can introduce the insertion portion into a desired body cavity disposed substantially at the center of the image simply by moving the insertion portion forward. That is, by supplementing the operation of the bending portion by the operator, the operation of the insertion portion into the desired body cavity of the operator can be supported even in a scene where a complicated operation of the bending portion is conventionally required.

  In the above invention, the body cavity extraction unit extracts the body cavity from the images continuously captured in the time axis direction by the imaging unit, and the body cavity designation among the plurality of body cavities extracted by the body cavity extraction unit A designated body cavity determining unit that determines the same body cavity as the body cavity specified by the unit, wherein the bending control unit places the body cavity determined by the specified body cavity determining unit at a substantially center of the image. May be curved.

  In this way, after the operator designates the body cavity by the body cavity designating unit, the control of the bending part is continued by the curvature control unit so that the body cavity is tracked and the body cavity is arranged at the approximate center of the image. . Thereby, even in a scene where a higher-level operation of the bending portion has been conventionally required, the operator's operation technique can be supplemented more firmly and supported.

  In the above invention, the bending portion can be bent in a predetermined direction, and the body cavity specified by the body cavity specifying portion is arranged in the predetermined direction in which the bending portion can be bent. It is good also as providing the display production | generation part which produces | generates the rotation instruction | indication display which instruct | indicates the rotation of the circumferential direction of the said insertion part, and the display part which displays the said rotation instruction | indication display produced | generated by this display production | generation part.

  In this way, when the bendable direction of the bending portion is limited, the body cavity designated by the operator using the body cavity designating portion is displayed in the direction in which the bending portion cannot bend in the image. A rotation instruction display is generated by the generation unit and displayed on the display unit. The operator can move the designated body cavity in a direction in which the bending portion can be bent by rotating the insertion portion in the direction indicated by the rotation instruction display. Thus, the operator only needs to perform the operation of the insertion portion in the circumferential direction according to the rotation instruction display, and can further support the operation of the endoscope by the operator.

  The present invention is also an operation method of an endoscope apparatus including an insertion portion having a bending portion capable of changing a direction of a distal end surface, the step of imaging an image including a body cavity by an imaging unit, and a body cavity extraction unit Specified in the step of extracting a plurality of body cavities from the image, the step of designating a body cavity among the plurality of body cavities based on the input signal from the input unit, and the step of designating the body cavities And a step of bending the bending portion so that a body cavity is arranged at the approximate center of the image.

  According to the present invention, even in a situation where there are a plurality of body cavities, it is possible to supplement the operator's operation technique of the endoscope and support the operation of the insertion portion into the desired body cavity of the operator.

1 is a block diagram showing an overall configuration of an endoscope apparatus according to a first embodiment of the present invention. It is a flowchart explaining the operating method in the assistance mode of the endoscope apparatus of FIG. It is a figure which shows an example of the display screen by the normal mode of the endoscope apparatus of FIG. It is a figure which shows an example of the display screen by the assistance mode of the endoscope apparatus of FIG. It is a figure which shows the display screen after a curved part was controlled in the display screen of FIG. It is a figure which shows an example of the display screen in the modification of the endoscope apparatus of FIG. It is a figure which shows the display screen after rotating an insertion part according to the rotation instruction display on the display screen of FIG. It is a block diagram which shows the whole structure of the endoscope apparatus which concerns on the 2nd Embodiment of this invention. It is a flowchart explaining the operating method in the assistance mode of the endoscope apparatus of FIG.

Hereinafter, an endoscope apparatus 100 according to a first embodiment of the present invention will be described with reference to FIGS.
As shown in FIG. 1, an endoscope apparatus 100 according to the present embodiment includes an endoscope body 1 including an insertion portion 12 and a bending portion 13 provided on the distal end side of the insertion portion 12, and the endoscope. A control unit 2 that processes an endoscopic image (image) G1 acquired by the mirror body 1 and controls the operation of the bending portion 13 is provided.

The endoscope main body 1 includes an elongated flexible insertion portion 12 and a gripping portion 14 provided on the proximal end side of the insertion portion 12 and gripped by an operator.
The direction of the distal end surface of the insertion portion 12 is changed when the bending portion 13 is bent. The bending portion 13 can be bent in a 360 ° direction and is driven by the bending drive portion 15. An imaging unit 16 that captures a visual field in front of the insertion unit 12 is built in the distal end of the insertion unit 12. The imaging unit 16 outputs the captured endoscopic image to an operation mode switching unit (described later) 21 in the control unit 2.

The grasping unit 14 includes an operation mode input unit 17 and a designated body cavity input unit (body cavity designation unit) 18.
The operation mode input unit 17 receives one of the normal mode and the support mode by an operation by the operator. The operation mode input unit 17 validates the input of a number to the designated body cavity input unit 18 described later when the support mode is input.

  In the designated body cavity input unit 18, a number indicated by one number display B among a plurality of number displays B displayed on a display screen G2 to be described later is input by an operation by the operator. Thereby, the operator can designate one body cavity among the plurality of body cavities displayed on the display screen G2. The designated body cavity input unit 18 is, for example, a dial capable of selecting numbers.

  The control unit 2 displays an operation mode switching unit 21 that switches the output destination of the endoscope image G1 according to the operation mode input from the operation mode input unit 17, and various displays superimposed on the endoscope image G1. A screen generation unit 22 that generates the screen G2, a body cavity extraction unit 23 that extracts the contour of the body cavity from the endoscopic image G1, and a body cavity corresponding to the number input from the designated body cavity input unit 18 (hereinafter referred to as a designated body cavity). ), A designated body cavity position calculating unit 24 for calculating the center of gravity position of the contour, and a bending control unit 25 for controlling the bending driving unit 15 based on the center of gravity position calculated by the designated body cavity position calculating unit 24.

  When the signal indicating the normal mode is input from the operation mode input unit 17, the operation mode switching unit 21 outputs the endoscopic image G <b> 1 input from the imaging unit 16 only to the screen generation unit 22. On the other hand, when a signal indicating the support mode is input from the operation mode input unit 17, the operation mode switching unit 21 outputs the endoscopic image G <b> 1 input from the imaging unit 16 to the screen generation unit 22 and the body cavity extraction unit 23. To do. Thus, when the support mode is selected by the operator, processing by a body cavity extraction unit 23, a designated body cavity position calculation unit 24, and a bending control unit 25 described later is performed. The operation mode switching unit 21 is initially set to the normal mode, and after switching to the support mode based on the input by the operator, the bending control end signal (described later) is input from the bending control unit 25 to thereby enter the normal mode. Switch to.

  When the normal mode is selected, the screen generation unit 22 outputs the endoscope image G1 input from the imaging unit 16 as it is to the display unit 3 as the display screen G2. On the other hand, when the support mode is selected, the screen generation unit 22 displays a contour display A indicating the contour of the body cavity based on information input from the body cavity extraction unit 23 and the designated body cavity position calculation unit 24, as will be described later. The number display B associated with each contour display A, the center marker C indicating the center position of the endoscopic image G1, and the center of gravity marker D indicating the center of gravity position of the contour of the designated body cavity are generated. Then, the screen generation unit 22 generates the display screen G2 by superimposing these displays A to D on the endoscopic image G1, and outputs the display screen G2 to the display unit 3.

  The body cavity extraction unit 23 recognizes an area displayed darker than other parts in the input endoscopic image G1 as a body cavity, and extracts the outline of the area. For the extraction of the contour of the body cavity, for example, an image processing method such as differentiation of the luminance value of the image, convolution, or binarization of the brightness is used. The body cavity extraction unit 23 outputs position information indicating the position of the extracted body cavity contour to the designated body cavity position calculation unit 24 and the screen generation unit 22. Also, the body cavity extraction unit 23 assigns a number to each extracted outline, and outputs the number to the designated body cavity position calculation unit 24 and the screen generation unit 22 in association with the position information of the outline.

  The designated body cavity position calculation unit 24 calculates the center of gravity position of the contour from the position information of the contour corresponding to the number input to the designated body cavity input unit 18 among the position information of the plurality of contours input from the body cavity extraction unit 23. calculate. The designated body cavity position calculation unit 24 outputs the calculated center of gravity position to the screen generation unit 22 and the bending control unit 25.

  The screen generation unit 22 generates a contour display A at positions corresponding to the contours of the plurality of body cavities input from the body cavity extraction unit 23. The screen generation unit 22 generates a number display B indicating the number input from the body cavity extraction unit 23 in the vicinity of the corresponding contour display A. Thereby, when the operator selects the support mode, the operator confirms the contour display A and the number display B displayed on the display unit 3 and inputs a number indicating a desired body cavity to the designated body cavity input unit 18. Can do.

  Further, the screen generation unit 22 generates a centroid marker D, for example, a cross mark whose center coincides with the centroid position at a position corresponding to the centroid position of the contour of the designated body cavity calculated by the designated body cavity position calculation unit 24. Further, the screen generation unit 22 receives the information of the number input to the designated body cavity input unit 18, thereby displaying the contour display A corresponding to the designated body cavity in a display mode different from other contour displays A, for example, different colors or You may display with a thicker line.

  The bending control unit 25 compares the centroid position input from the designated body cavity position calculation unit 24 with the center position of the endoscope image G1, and determines the shift amount and the shift direction of the centroid position with respect to the center position of the endoscope image G1. calculate. Then, the bending control unit 25 outputs, to the bending driving unit 15, a driving signal instructing to bend in the calculated shift direction by an angle based on the calculated shift amount. Along with this drive signal, the bending control unit 25 outputs a bending control end signal to the operation mode switching unit 21. By receiving this bending control end signal, the operation mode switching unit 21 ends the support mode and returns to the normal mode.

Next, the operation of the endoscope apparatus 100 configured as described above will be described with reference to FIG.
In order to observe the inside of the body cavity using the endoscope apparatus 100 according to the present embodiment, for example, while observing the endoscopic image G1 imaged by the imaging unit 16 on the display unit 3, for example, the patient's oral cavity or nasal cavity The insertion part 12 is inserted. When the insertion portion 12 is advanced along the cavity, the entrance of the esophagus X and the trachea Y appears in the endoscopic image G1 at the pharynx where the body cavity branches into the esophagus X and the trachea Y as shown in FIG. To do. FIG. 3 shows a state where the pharyngeal lid Z opens the entrance of the trachea Y, the central portion of the esophagus X adjacent to the trachea Y is blocked, and the esophagus X is divided into the left and right sides.

  Thus, in a scene where there are a plurality of insertion paths of the insertion unit 12, the operator selects the support mode by the operation mode input unit 17 at hand. When the operation in the support mode is started, the endoscope apparatus 100 first extracts the contours of the entrance of the trachea Y and the esophagus X from the acquired endoscopic image G1 (step S1), and these contours. The display A, the number display B, and the center marker C are generated, and as shown in FIG. 4, these displays A to C are displayed on the display screen G2 (step S3).

  The operator designates the body cavity by inputting the number corresponding to the body cavity to be observed by the designated body cavity input unit 18 at hand (step S4). For example, “1” is input to observe the inside of the esophagus X. Thereby, the endoscope apparatus 100 calculates the gravity center position of the contour display A corresponding to “1” (step S5), and displays the gravity center marker D inside the contour display A. At the same time, the endoscope apparatus 100 determines a bending direction and a bending angle by the bending driving unit 15 based on the position of the center of gravity (step S6), and the center of gravity marker D moves toward the center position of the endoscope image G1. In this way, the bending drive unit 15 is driven (step S7).

  Then, as shown in FIG. 5, when the barycentric marker D is arranged at the center position of the endoscopic image G1, the endoscope apparatus 100 returns to the normal mode, so that various displays A to A are displayed from the display screen G2. D disappears. Thereafter, the operator can introduce the distal end portion of the insertion portion 12 into the esophagus X from the left side of the entrance of the esophagus X only by pushing the proximal end portion of the insertion portion 12 into the oral cavity or nasal cavity.

  As described above, according to the present embodiment, even when a plurality of body cavities X and Y exist, the operator can advance in the same body cavity without requiring a complicated operation of the bending portion 13. The insertion part 12 can be introduced into a desired body cavity designated by the user only by a simple operation of pushing in the proximal end side of the same insertion part 12. That is, an operator who is not skilled in the operation of the endoscope main body 1 by supplementing the operator's operation technique of the endoscope main body 1 even in the scene where the advanced operation technique of the bending portion has been conventionally required. There is an advantage that smooth operation can be supported.

  In the present embodiment, the bending portion 13 includes a material that can be bent in a 360 ° direction. Alternatively, a material that can be bent only in a limited direction may be provided. In this case, the designated body cavity may be arranged in a direction in which the bending portion 13 cannot bend in the endoscopic image G1, and the insertion portion is arranged so as to bend the bending portion 13 in the direction of the designated body cavity. It is necessary to rotate 12 in the circumferential direction. The screen generation unit (display generation unit) 22 may generate such a rotation instruction display E that instructs rotation of the insertion unit 12.

  For example, when the bending portion 13 can bend only in the left direction with respect to the endoscopic image G1, as shown in FIG. 6, the center of gravity position of the contour of the designated body cavity is relative to the center position of the endoscopic image G1. When arranged in the upper left direction, the distal end surface of the insertion portion 12 cannot be directed toward the designated body cavity. In this case, an arrow for instructing the insertion unit 12 to rotate rightward is displayed as a rotation instruction display E. The operator rotates the insertion portion 12 in the right direction in accordance with the rotation instruction display E, whereby the center of gravity position of the contour of the designated body cavity is substantially left with respect to the center position of the endoscope image G1, as shown in FIG. Accordingly, the distal end surface of the insertion portion 12 can be changed to the direction of the designated body cavity.

  Thus, the operator only needs to perform the rotation operation of the insertion unit 12 in accordance with the rotation instruction display E, and the operator does not have to consider the positional relationship between the center of gravity marker D and the center position of the endoscope image G1. . As a result, it is possible to more strongly supplement and support the operation technique of the endoscope main body 1 of the operator.

Next, an endoscope apparatus 100 according to a second embodiment of the present invention will be described with reference to FIGS. 8 and 9.
In the present embodiment, the same components as those in the first embodiment described above are denoted by the same reference numerals, description thereof is omitted, and differences from the first embodiment will be mainly described.

  As shown in FIG. 8, the endoscope apparatus 100 according to the present embodiment determines a designated body cavity among a plurality of body cavities displayed in the endoscope image G1 sequentially acquired in the control unit 2. The first embodiment is different from the first embodiment in that the designated body cavity determination unit 26 is provided and the bending control unit 25 continuously controls the bending drive unit 15 until the support mode is ended by the operator. This is mainly different from the endoscope apparatus 100.

As in the first embodiment, the operation mode switching unit 21 is set with the normal mode as an initial state, and switches to the support mode based on an input by the operator. Switching from the support mode to the normal mode is performed by the operator. This is performed based on the normal mode input to the operation mode input unit 17.
The body cavity extracting unit 23 sequentially extracts the contour of the body cavity from the endoscope image G1 continuously input from the operation mode switching unit 21, and designates the extracted position information and number information of the contour of the body cavity as the designated body cavity determining unit 26. Output to.

  The designated body cavity position calculation unit 24 calculates the gravity center position of the contour of the designated body cavity in the same manner as in the first embodiment. Then, the designated body cavity position calculation unit 24 outputs the calculated center of gravity position to the screen generation unit 22 and the designated body cavity determination unit 26.

  The designated body cavity determination unit 26 first stores the gravity center position of the contour of the designated body cavity input from the designated body cavity position calculation unit 24. Next, when the position information of the contour is input from the body cavity extraction unit 23, the designated body cavity determination unit 26 calculates the center-of-gravity position of each contour from the position information of all the contours, and stores the calculated center-of-gravity position group and storage The center of gravity of the contour of the designated body cavity is compared. As a result of the comparison, the designated body cavity determination unit 26 determines that the contour corresponding to the centroid position closest to the centroid position of the contour of the designated body cavity is the same body cavity contour as the designated body cavity, and stores the stored centroid The position is updated to the determined center of gravity position.

  As a result, the designated body cavity determination unit 26 once designates the body cavity by the operator using the designated body cavity input unit 18 and then moves in the endoscopic image G1 as the insertion unit 12 moves in the body cavity. Track the center of gravity. The designated body cavity determination unit 26 first outputs the updated new center of gravity position to the bending control unit 25 after outputting the center of gravity position input from the designated body cavity position calculating unit 24 to the bending control unit 25 first.

  The bending control unit 25 calculates the deviation direction and the deviation amount with respect to the center position of the endoscope image G1 from the center of gravity position of the contour of the designated body cavity sequentially input from the designated body cavity determination unit 26, and the calculated deviation direction and deviation amount are calculated. Based on this, a drive signal is output to the bending drive unit 15.

Next, the operation of the endoscope apparatus 100 configured as described above will be described with reference to FIG.
The endoscope apparatus 100 according to the present embodiment operates in the same manner as in the first embodiment until the center of gravity position of the body cavity designated by the operator is calculated (step S5). After storing the calculated barycentric position (step S9), the endoscope apparatus 100 controls the bending drive unit 15 as in the first embodiment (steps S6 and S7).

  After the center-of-gravity positions are stored once in this way (step S8), the endoscope apparatus 100 calculates the center-of-gravity positions of the contours of all body cavities extracted from the acquired endoscopic image G1, and these center-of-gravity positions. By comparing the group and the stored centroid position (step S10), the centroid position after the movement of the designated body cavity is determined (step S11), the stored centroid position is updated (step S12), and updated. The bending drive unit 15 is controlled based on the center of gravity position (steps S6 and S7). The endoscope apparatus 100 is until the operator switches to the normal mode (step S13), that is, until the distal end of the insertion portion 12 reaches the designated body cavity and the number of body cavities displayed on the display screen G2 is one. The update of the center of gravity position of the designated body cavity and the control of the bending drive unit 15 are continued.

  As described above, according to the present embodiment, similarly to the first embodiment, even in a scene where a plurality of body cavities X and Y exist and a conventional operation technique for the bending portion 13 is required, the operator By supplementing the operation technique of the endoscope main body 1, there is an advantage that a smooth operation can be supported for an operator who is not skilled in the operation of the endoscope main body 1.

  Further, the bending drive unit 15 is continuously controlled so that the distal end surface of the insertion unit 12 is always directed to the body cavity once designated by the operator. Thereby, for example, a scene in which the shape of the body cavity is complicated and a more advanced operation technique of the bending portion is required such that the insertion portion 12 cannot be smoothly introduced to the desired body cavity only by a single bending operation of the bending portion 13. Even so, the insertion section 12 can be introduced into a desired body cavity by a simple operation that only pushes the proximal end side of the insertion section 12, and the operation technique of the endoscope main body 1 by the operator is further strengthened. There is an advantage that it can be supported.

  In the first and second embodiments described above, the normal mode and the support mode are provided, and the bending drive unit 15 is controlled only in the support mode. Instead, the inside of the body cavity is observed. During this, the bending drive unit 15 may be controlled at all times.

  That is, at a position where the body cavity is not branched, the body cavity extracting unit 23 extracts only one outline of a dark region in front of the body cavity in which the insertion unit 12 is inserted. By doing so, for example, even in a scene where the body cavity is curved with a relatively large curvature and the bending portion 13 needs to be operated, the operator simply presses the insertion portion 12 and follows the shape of the body cavity. The insertion part 12 can be inserted smoothly, and the operation of the endoscope main body 1 by the operator can be further supported.

In the first and second embodiments described above, the normal mode and the support mode are switched based on the input from the operator, and the body cavity extraction unit 23 extracts the body cavity in the support mode. Instead of this, the body cavity may be extracted by the body cavity extraction unit 23 at all times during observation of the inside of the body cavity. In this case, when the body cavity extraction unit 23 extracts a plurality of body cavities, the position information indicating the position of the extracted body cavity contour is output to the designated body cavity position calculation unit 24 and the screen generation unit 22, and each extracted contour is displayed. The assigned number is output to the screen generation unit 22.
Thereafter, the operator inputs the number assigned to the target body cavity to the designated body cavity input unit 18 so that the bending control unit 25 controls the driving of the bending driving unit 15 as in the first and second embodiments. Will do.

  In this case, even if the operator does not arbitrarily switch the mode, when the control unit 2 recognizes a plurality of body cavities, a screen for designating the body cavities is automatically generated as in the support mode. Therefore, it is possible to perform the same insertion support as in the first and second embodiments without the operator confirming the presence or absence of a plurality of body cavities.

DESCRIPTION OF SYMBOLS 1 Endoscope main body 2 Control unit 3 Display part 12 Insertion part 13 Curvature part 14 Gripping part 15 Curvature drive part 16 Imaging part 17 Operation mode input part 18 Designated body cavity input part (body cavity designation part, input part)
21 operation mode switching unit 22 screen generation unit (display generation unit)
DESCRIPTION OF SYMBOLS 23 Body cavity extraction part 24 Designated body cavity position calculation part 25 Curvature control part 26 Designated body cavity determination part 100 Endoscope apparatus A Outline display B Number display C Center marker D Center of gravity marker G1 Endoscopic image G2 Display screen X Esophagus Y Trachea Z Pharynx lid

Claims (4)

An insertion section that can be inserted into a body cavity;
A bending portion provided at the distal end portion of the insertion portion and capable of changing the direction of the distal end surface by being bent;
An imaging unit for imaging a visual field in front of the tip surface;
A body cavity extraction unit that extracts a plurality of body cavities from the image captured by the imaging unit;
A body cavity designating unit for designating one body cavity based on an input by an operator among the plurality of body cavities extracted by the body cavity extracting unit;
An endoscope apparatus comprising: a bending control unit configured to bend the bending portion so that the body cavity specified by the body cavity specifying unit is arranged at a substantially center of the image. The body cavity extraction unit extracts the body cavity from images continuously captured in the time axis direction by the imaging unit;
A designated body cavity determination unit that determines the same body cavity as the body cavity designated by the body cavity designation unit among the plurality of body cavities extracted by the body cavity extraction unit;
The endoscope apparatus according to claim 1, wherein the bending control unit bends the bending unit so that the body cavity determined by the designated body cavity determining unit is arranged at a substantially center of the image. The bending portion is bendable in a predetermined direction;
A display generation unit that generates a rotation instruction display that instructs rotation of the insertion unit in the circumferential direction so that the body cavity specified by the body cavity specifying unit is arranged in the predetermined direction in which the bending unit can be bent; ,
The endoscope apparatus according to claim 1, further comprising a display unit that displays the rotation instruction display generated by the display generation unit. An operation method of an endoscope apparatus including an insertion portion having a bending portion capable of changing a direction of a distal end surface,
Capturing an image including a body cavity by an imaging unit;
Extracting a plurality of body cavities from the image by a body cavity extraction unit;
A body cavity designating unit designating one body cavity among the plurality of body cavities based on an input signal from the input unit;
A method of operating an endoscope apparatus, comprising: a step of bending the bending portion so that the body cavity specified in the step of specifying the body cavity is arranged at a substantially center of the image.

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