ENDOSCOPE APPARATUS

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PROBLEM TO BE SOLVED : To provide an endoscope apparatus securely and swiftly inserting an endoscope into a target region. SOLUTION : The endoscope apparatus 1 comprises the endoscope 2A for capturing the image of a celomic tract of a subject; a route setting means for setting the insertion route for inserting the distal end 2b of the endoscope 2A to a concerned region 100B inside the subject from outside of the body cavity based on the three-dimensional image data of the subject; a virtual endoscopic image creating means for creating the virtual endoscopic image of the celomic tract based on the three-dimensional image data of the subject; a position detecting means for detecting the position of the distal end 2b of the endoscope; a re-insertion reroute setting means for setting the re-insertion route partly overlapping the insertion route for inserting the distal end 2b of the endoscope from the distal end position to the concerned region; and an image processing means for composing the image captured by the endoscope, the virtual endoscopic image of the insertion route and the virtual endoscopic image of the re-insertion route. COPYRIGHT : (C)2009, JPO&INPIT