443 results about "Endoscopic imaging" patented technology

The invention relates to the technical field of medical instruments, and discloses a laparoscope and digestive endoscope combined positioning measurement system and method.The method comprises the steps of positioning mark initialization, image feature analysis, instrument path planning, dynamic positioning calibration, operation integrity evaluation and the like. Spatial matching is realized by setting multiple types of positioning marks and utilizing optical reflection signals, noise reduction and feature extraction are performed on endoscope imaging data to generate a measurement area boundary, an operation path is planned in combination with anatomical path information, the tail end position of an instrument is calibrated in real time, and operation integrity is evaluated. The system comprises a positioning module, an analysis module, a correction module and an integration module which are respectively used for realizing the functions of positioning mark setting, image processing and path generation, offset correction and operation evaluation. According to the system, the operation positioning precision and the operation safety are improved, intellectualization and precision of minimally invasive surgery are achieved, and the system is suitable for minimally invasive treatment of digestive system diseases.

The invention provides a photoacoustic endoscopic imaging system and method based on polarized light multi-angle rotary scanning, and belongs to the technical field of photoacoustic imaging, the photoacoustic endoscopic imaging system comprises a control system, a light source system, a light path system, an endoscope probe, a data acquisition system and a data reconstruction system, the control system is connected with the light source system and the data acquisition system, and the light path system is connected with the data reconstruction system. The light source system, the light path system and the endoscope probe are sequentially connected, and the data acquisition system is respectively connected with the endoscope probe and the data reconstruction system; the light path system at least comprises a hollow servo motor and a half-wave plate, and the hollow servo motor is used for responding to the time sequence pulse signal and controlling the half-wave plate to rotate by multiple preset angles so as to adjust the polarization direction of the linearly polarized light. The hollow servo motor and the half-wave plate are combined, the polarization direction of light can be rapidly and accurately adjusted, multi-angle scanning is achieved, the imaging speed is remarkably increased, multiple images can be obtained in a shorter time, and the device is suitable for clinical scenes needing real-time feedback.

The invention relates to the technical field of medical endoscope imaging, and discloses an endoscope image correction method and electronic equipment, and the image correction method comprises the steps: obtaining an original image collected by an imaging unit, the original image comprises a first color channel for representing first human tissue characteristics and a second color channel for representing second human tissue characteristics; performing edge attribute marking on pixels in the original image according to the first color channel and the second color channel to obtain a plurality of to-be-processed pixels with edge attribute marks; performing color contrast correction on the to-be-processed pixels according to the edge attribute mark corresponding to each to-be-processed pixel and the relationship between the edge attribute marks to obtain a corrected image; according to the invention, in the specific illumination mode, the colors corresponding to the to-be-processed pixels representing the first human body tissue characteristics and the second human body tissue characteristics are enhanced, so that the color differentiation between different tissues in the specific illumination mode can be highlighted.

The invention discloses a lateral transceiving integrated optical fiber ultrasonic endoscope and a preparation method, and belongs to the field of ultrasonic endoscopic imaging. Comprising a double-clad optical fiber, an excitation film, a dielectric mirror and a sensing film. A part of the inner cladding of the optical fiber is etched into a concave spherical surface and coated with an excitation film, excitation light transmitted in the inner cladding is absorbed, and focused ultrasonic waves transmitted in the lateral direction are excited. A part of an inner cladding layer and a fiber core of the optical fiber are etched, and a Fabry-Perot (Fabry-Perot, F-P) cavity is prepared. When an ultrasonic signal laterally transmitted into the ultrasonic endoscope acts on the sensing film of the cavity, the effective refractive index and the F-P cavity length of the sensing film are changed, and the change is demodulated through signal light in the fiber core to complete ultrasonic detection. According to the lateral transmitting-receiving integrated optical fiber ultrasonic endoscope, the inner cladding is etched and coated with the excitation thin film to excite laterally focused ultrasonic waves, an F-P cavity is formed through lateral etching of the optical fiber to achieve lateral ultrasonic detection, and the lateral transmitting-receiving integrated optical fiber ultrasonic endoscope is formed.

The invention relates to the technical field of image processing, in particular to an endoscope image processing method based on photodynamic imaging and an endoscope imaging system.The endoscope image processing method based on photodynamic imaging comprises the steps that a focus image is collected through a photodynamic imaging endoscope, and preprocessing, three-dimensional reconstruction, combined reaction and curative effect database analysis are conducted; configuring an image processing module according to the request, and docking three-dimensional display; according to the method, the technical problem that the imaging request cannot be quickly and accurately responded due to the fact that the speed of endoscopic image processing through empirical data is low is solved, and the effects that the endoscopic image is finely processed, the photodynamic reaction features are extracted and the imaging request cannot be quickly and accurately responded are achieved. The technical effects that the optimal image enhancement parameter is adaptively searched, the imaging request is quickly responded, and the image targeting enhancement is performed are achieved, so that the focus area is accurately and visually displayed in a three-dimensional manner, and the output quality of the endoscope image is remarkably improved are achieved.

The invention discloses a photoacoustic focusable endoscopic imaging device based on temperature control memory alloy and an imaging method. The photoacoustic focusable endoscopic imaging device comprises a bidirectional memory metal photoacoustic zoom module, the bidirectional memory metal optical-acoustic zoom module comprises an optical fiber fixing clamp, a gradient refractive index lens, a light-reflecting and sound-reflecting mirror, a transducer, a temperature control memory alloy spring and a temperature control deformation current controller, the optical fiber fixing clamp is used for clamping an optical fiber outer sleeve, and the bidirectional memory alloy spring is connected with the optical fiber fixing clamp; the optical fiber outer sleeve and the single-mode optical fiber penetrate through the center of the temperature control memory alloy spring, and the temperature control memory alloy spring can be controlled to deform through the temperature control deformation current controller, so that the position of the single-mode optical fiber relative to the gradual change refractive index lens is changed. By applying the temperature control memory alloy spring to photoacoustic endoscopy, dynamic infinitesimal displacement of an optical device is realized based on the characteristic that the temperature control memory alloy spring deforms differently at different temperatures, so that dynamic focusing is realized, and the limitation of depth of field is overcome.

An image acquisitor acquires an image of a lumen imaged by an endoscope. An image classifier classifies the acquired lumen image as one of a plurality of types. When the lumen image is classified as a first type, an operation detail determinator determines an insertion operation detail of the endoscope using an insertion operation selection model generated by machine learning. When the lumen image is classified as a second type, the operation detail determinator determines the insertion operation detail of the endoscope using an algorithm for determining the insertion operation detail.

The application discloses a multi-marked endoscopic imaging lens for digestive tract, and belongs to the field of biomedical microscopic endoscopic imaging. The endoscopic imaging lens comprises a first lens, a second lens, a third lens, a fourth lens, a fifth lens, a sixth lens and a seventh lens; the first lens focuses laser; the second lens is matched with the first lens to limit a light beam in an effective light aperture of the lens; the third lens corrects chromatic aberration; the fourth lens and the fifth lens are combined to correct aberration; the sixth lens adopts an aspheric lens to correct spherical aberration caused in a collimating and focusing system; and the seventh lens is matched with the sixth lens to correct chromatic aberration. The working spectral range of the microscopic objective lens group is 488-860 nm, the effective light aperture is less than 1.8 mm, the mechanical outer diameter is not greater than 2.6 mm, the numerical aperture at the object side or the tissue is 0.55, the imaging field of view is 450 microns, the magnification is 2.14 times, and the working distance is 84 microns. The effect of matching excitation and fluorescence spectrum of a clinically available fluorescence contrast agent is realized.

The invention discloses an ultra-wide-spectrum endoscopic imaging device capable of being used for short-wave infrared fluorescence imaging, which is used for in-vivo minimally invasive imaging and comprises an illumination module, a wide-spectrum image transmission module, an imaging module and an image processing module. The illumination module consists of a light source and a light guide optical fiber, and is used for generating illumination light from ultraviolet to short wave infrared band and transmitting the illumination light to the wide-spectrum image transmission module; the wide-spectrum image transmission module consists of a few-interface optical imaging channel and a light guide illumination channel, and is used for illuminating an imaging target, exciting target fluorescence and collecting image signals from ultraviolet to short-wave infrared bands; the imaging module is composed of an optical filter and an imaging camera, and the imaging camera can be a wide spectral response image sensor or can be formed by combining cameras working in different wavebands and is used for converting optical images in different wavebands into image data; and the image processing module is used for registering and fusing image data of different wavebands in real time and displaying the image data.

The invention discloses a multi-photon optical fiber array endoscopic imaging device and method based on hollow spiral scanning, and belongs to the technical field of biological imaging. The device comprises a laser collimation and beam expansion module, a pulse chirp module, a light beam switching module, an endoscopic detection module and a fluorescence acquisition module. The light beam switching module comprises an optical switch and an optical fiber array composed of at least two low-group-velocity dispersion single-mode optical fibers. The endoscopic detection module drives the optical fiber array to execute hollow spiral scanning through the resonance driver, the track starting point is not located at the view field original point, and central dense sampling is avoided. According to the method, the optical fibers are switched through the optical switch, so that the optical fibers execute spatial non-coincident hollow spiral scanning, multi-photon signals such as fluorescence, second harmonic and fluorescence lifetime are acquired, a central hole is complemented through image reconstruction and fusion, and a complete field imaging result is obtained. Light damage of the central area is remarkably reduced, the imaging resolution uniformity is improved, the fused image is true and reliable based on physical sampling, and the system stability is high.

An endoscopic imaging system for use in a light deficient environment includes an imaging device having a tube, one or more image sensors, and a lens assembly including at least one optical elements that corresponds to the one or more image sensors. The endoscopic system includes a display for a user to visualize a scene and an image signal processing controller. The endoscopic system includes a light engine having an illumination source generating one or more pulses of electromagnetic radiation and a lumen transmitting one or more pulses of electromagnetic radiation to a distal tip of an endoscope.

The invention discloses a photoacoustic endoscopic imaging assembly, computer equipment and an endoscopic imaging method. The photoacoustic endoscopic imaging assembly comprises a photoacoustic endoscopic detection system and a photoacoustic endoscopic imaging system. Wherein the photoacoustic endoscopic detection system comprises a balloon, a motion control unit and a photoacoustic endoscopic probe, and the photoacoustic endoscopic imaging system comprises a synthetic aperture image data processing unit. When the photoacoustic endoscopic imaging assembly performs imaging work, the cavity of the balloon is filled with a liquid medium to support the inner wall of an organ to be detected, and the focusing position of the transducer receives echo sound signal original data after tissue excitation response in the balloon. And the synthetic aperture image data processing unit processes the echo sound signal original data and the position and angle information of the transducer by using a synthetic aperture principle to obtain a high-resolution photoacoustic image. According to the invention, organ wrinkles and movement influences are eliminated through balloon support, and a high-resolution photoacoustic image is obtained by using a synthetic aperture principle, so that the diagnosis accuracy of the early cancer of the digestive tract is improved.

The invention discloses a nerve stimulation device based on an endoscopic imaging sensor, which comprises an endoscopic imaging sensing electrode module, a tracking label, an external 3D tracking system and an external navigation system, and is characterized in that the endoscopic imaging sensing electrode module comprises a stimulation electrode and an endoscopic imaging sensor installed on the stimulation electrode; the endoscopic imaging sensor captures grayscale images and spectral data from tissue and transmits the grayscale images and spectral data to the external navigation system. According to the nerve stimulation device based on the endoscopic imaging sensor, the problem that the nerve stimulation electrode is inaccurately placed relative to the target nerve is solved, and by combining real-time imaging and navigation tools, the precision of implanting the nerve stimulation electrode is remarkably improved, discomfort is reduced, and the treatment effect is improved.

The present invention relates to an endoscopic probe for photoacoustic tomography of cavity side walls, characterized by comprising a hollow tubular probe housing with a closed front end; N acoustic wave receiving windows and M laser output windows formed on the side wall of the tubular probe housing; an array of linear laser output ports connected to a pluggable optical fiber connector via an optical fiber bundle; and an ultrasonic transducer array connected to a multi-channel signal connector via a signal harness. The present invention employs a method of arranging array transducers and array laser outputs on the side wall of the probe, eliminating the need for a reflector. The probe is less than 2 centimeters in size and can be placed in close proximity to the prostate through the rectum for photoacoustic imaging of the prostate, or in close proximity to the inner wall of the rectum for photoacoustic imaging of the inner wall of the rectum. The endoscopic probe provided by the present invention, combined with a photoacoustic imaging system host, utilizes photoacoustic endoscopic imaging technology to perform real-time transrectal prostate imaging and rectal imaging, achieving ideal imaging results.

The invention discloses an optical fiber coupling real-time correction method in a single-mode and multi-mode optical fiber endoscopic imaging system, which comprises the following steps of: firstly, manually adjusting reflectors M1 and M2 to an optimal multi-mode optical fiber coupling state, acquiring images of light spots at the near end and the far end of a laser beam in the state by using a CCD (charge coupled device) 1 and a CCD 2, and calculating the position of a central coordinate of the images; and collecting a speckle image formed by the light spot through the scattering medium by using a CCD3 (charge coupled device 3). The system monitors the center coordinates of near-end and far-end light spots at the current moment and the correlation coefficient of the current speckle image and the collimation state image in real time. The piezoelectric mirror bracket is fed back and adjusted in real time through the center coordinates of the two spot light spots and the correlation coefficient of the speckles, so that the correlation coefficient of the speckles is kept above a set threshold value, and automatic calibration of light beams is achieved. On the basis of the traditional thinking that two points determine one straight line, the correlation coefficient of using speckles is increased, the alignment precision is improved, and the method has certain practicability and application prospects.

The invention relates to the technical field of image processing, and discloses an endoscope image imaging method and an endoscope, and the endoscope image imaging method comprises the steps: obtaining a real-time collection image of the endoscope and a light source parameter of the endoscope; positioning a target light spot in the real-time acquired image based on light source parameters of the endoscope; suppressing a specular reflection component of a target area where the target light spot is located to obtain an endoscope imaging image; the method comprises the following steps: firstly, positioning a light spot in a real-time acquired image based on a light source parameter to obtain a target light spot; the specular reflection component of the target area where the target light spot is located is further suppressed, so that the overexposure spots can be suppressed while global processing damage to normal highlight areas such as highlight bleeding spots and highlight mucous membranes can be avoided, and the original expression of the image can be restored.

Endoscopic viewing systems for use in diagnostic and therapeutic medical procedures. More specifically, an imaging and control system and coupler that allows for control of imaging and fluid management from a hand-held unit coupled to a conventional multiple-use, sterilizable endoscope.

The invention provides an endoscope imaging system and a hard tube type endoscope, and belongs to the technical field of optical imaging, the endoscope imaging system comprises an objective lens, a relay lens and an ocular lens of an object space telecentric structure, the objective lens comprises a first lens, a second lens, a third lens with positive focal power and a bonding lens group with positive focal power, the second lens is a steering prism, the image side surface and the object side surface of the first lens are aspheric surfaces, the balsaming lens group comprises a fourth lens, a fifth lens and a sixth lens, the fourth lens is a doublet lens, the fifth lens is a triplet lens, the sixth lens is a doublet lens, the relay lens comprises an odd number of rod lens groups which are arranged at intervals, and the rod lens groups are arranged at intervals. The eyepiece comprises a seventh lens, an eighth lens and a ninth lens, and the seventh lens, the eighth lens and the ninth lens are all doublet lenses. By optimizing the structural design of the optical system, the defocusing amount is reduced, seamless switching of visible light and near-infrared light dual-mode imaging can be achieved, and meanwhile high-quality imaging is achieved.

The invention relates to an endoscope device (10), comprising a shaft (12), which extends from a proximal end (14) to a distal end (16), and a distal end piece (18), which is arranged on the distal end (16) of the shaft (12). The distal end piece (18) comprises a plurality of image-capturing units (20), which are oriented in different directions and define a total viewing angle (6), wherein the total viewing angle (6) is greater than a single viewing angle (α, ß, γ) of the image-capturing units (20). The invention also relates to an endoscopic system and to an endoscopic imaging method.

The invention relates to an endoscope imaging system and a light source thereof, the light source comprises a laser light source, a visible light source and a light combiner, the laser light source is used for outputting laser of at least two different wavebands, the laser of the different wavebands is used for exciting different fluorescent dyes, and the visible light source is used for outputting visible light; the light combiner is used for combining the laser and the visible light into a combined light beam and outputting the combined light beam to the endoscope; wherein the laser light source is a single light-emitting device, the single light-emitting device comprises a single substrate and at least two laser chips arranged on the single substrate, the at least two laser chips are used for emitting laser of different wave bands, and the single light-emitting device further comprises a single light outlet and a single optical fiber; and laser emitted by the at least two laser chips is output to the single optical fiber through the single light outlet. The light source can independently or simultaneously output laser of different wave bands to excite different fluorescent dyes, and the layout of an endoscope imaging system is simplified by adopting the light source.

The invention provides an endoscope working distance self-adaptive adjustable system, an endoscope imaging system and application. The endoscope working distance self-adaptive adjustable system comprises an image transmission lens sheath, a lens base, a protective lens sheath and a working distance auxiliary adjusting system arranged between the protective lens sheath and the lens base and / or arranged between the protective lens sheath and the image transmission lens sheath. The lens base protrudes in the axial direction to form a supporting part, and an imaging lens is arranged in the image transmitting lens sheath far away from the image side. The protective lens sheath comprises an outer sheath tube which axially extends out of the imaging lens, a sheath tube connecting part which partially sleeves the outer side of the supporting part and is connected with the outer sheath tube, and a protective lens which is arranged in the tail end of the object side of the outer sheath tube; the working distance auxiliary adjusting system is used for adjusting the relative axial position between the imaging lens and the protection lens and keeping the working distance between the protection lens and the imaging lens. By means of the working distance auxiliary adjusting system, the optimal object distance of the endoscope imaging system is achieved, and the microscopic imaging quality is ensured.

The invention relates to the technical field of endoscope imaging, and discloses a depth-of-field continuation imaging device and method for an endoscope and electronic equipment. The microlens array is composed of a plurality of microlenses with positive focal power, the microlens array is used for obtaining an original image collected by the endoscope, a light field image comprising sub-aperture images corresponding to the microlenses is obtained, depth calculation is carried out according to the parallax value between the different sub-aperture images, and the depth of the endoscope is calculated according to the parallax value between the sub-aperture images. Obtaining a pixel depth corresponding to an image pixel in the original image, refocusing each sub-aperture image on a focal plane corresponding to the pixel depth to obtain a refocused image corresponding to each sub-aperture image, and determining a definition weight corresponding to the image pixel from each refocused image; and carrying out image fusion on the pixel regions of the image pixels in the corresponding definition weights to obtain a target image. Compared with depth-of-field continuation according to multiple frames of images, the target picture with clear texture and extended depth-of-field can be obtained, and the image quality is improved.

The invention discloses an endoscope imaging quality improvement method and device, and the method comprises the steps: obtaining a target image shot by a target endoscope; determining an image brightness parameter of the target image; determining an image quality parameter based on the image brightness parameter; and when the image quality parameter is not greater than the preset quality parameter value, controlling an illumination regulator to regulate the illumination of the target endoscope until the target image meets a preset illumination index condition. A layer of illumination regulator is additionally arranged at the output front end of the light source, and the purpose of reducing and even eliminating a light spot area and a fuzzy area can be achieved by controlling the local illumination brightness, the illumination angle, the color temperature and the like without changing the original structure of the endoscope; therefore, the quality of the acquired endoscopic image can be improved.

The present invention discloses a three-dimensional reconstruction method and device for endoscopic images, including: building a polarization measurement binocular endoscope system; receiving original endoscopic images in different scenes, decoupling to obtain corresponding RGB images and polarization images with different polarization angles, and calculating corresponding polarization information codes; constructing an end-to-end RGB+polarization fusion network, using the dense surface normal information carried by the polarization mode to enhance the depth information of binocular stereo vision, and using the calculated polarization information code and RGB image group as input to obtain the corresponding depth map in real time; using the current posture parameters of the image and the depth map to reconstruct the image and obtain a three-dimensional visualization point cloud. The present invention can efficiently fuse the RGB modal information and polarization modal information in the endoscopic imaging system, perform high-precision three-dimensional model reconstruction tasks for complex endoscopic scenes, thereby significantly improving the operation speed and judgment accuracy of doctors when performing medical diagnosis.

The present invention discloses a fiber-optic ultrasonic endoscope with integrated lateral transmission and reception and a preparation method, which belongs to the field of ultrasonic endoscopic imaging. It comprises a double-clad optical fiber, an excitation film, a dielectric mirror, and a sensing film. By etching part of the inner cladding of the optical fiber into a concave spherical surface and coating it with an excitation film, the excitation light transmitted in the inner cladding is absorbed and focused ultrasonic waves transmitted laterally are excited. By etching part of the inner cladding and the core of the optical fiber and preparing it into a Fabry-Perot (F-P) cavity. When the ultrasonic signal transmitted laterally into the ultrasonic endoscope acts on the sensing film of the cavity, the effective refractive index of the sensing film and the F-P cavity length change, and the signal light in the core demodulates this change to complete the detection of ultrasonic waves. The present invention etches the inner cladding and coats it with an excitation film to achieve the excitation of laterally focused ultrasonic waves, etches an F-P cavity on the side of the optical fiber to achieve the lateral detection of ultrasonic waves, and thus forms a fiber-optic ultrasonic endoscope with integrated lateral transmission and reception.

The invention discloses a self-adaptive intervention type single-array-element photoacoustic endoscopic imaging near-field noise removal method based on a spatial domain and morphological characteristics. The method comprises the following steps that 1, original data of photoacoustic endoscopic imaging are obtained; step 2, adaptively generating a patch mask area; 3, preprocessing the image in a frequency domain; step 4, executing strip interference detection based on adaptive spatial domain filtering on the non-plaque region to obtain a spatial domain noise mask; step 5, screening strip-shaped noise areas; step 6, performing interpolation restoration on the noise area; 7, calculating the convergence degree and the noise level in the iteration process; and step 8, outputting a final result after polar coordinate transformation. The intrusive single-array-element photoacoustic endoscopic imaging method can effectively inhibit strip-shaped interference signals occurring in intrusive single-array-element photoacoustic endoscopic imaging and reduce the covering influence of background noise on target signals, so that the imaging quality of a near-end area is improved, and the structural definition and contrast ratio of overall imaging are remarkably optimized.

An endoscopic medical imaging analysis and manipulation method including: capturing endoscopic images of laryngeal, pharyngeal and / or surrounding tissue structures during examination of the larynx, pharynx and / or surrounding tissue using an endoscope, feeding the captured endoscopic images to first and second instances of artificial intelligences, the first instance of artificial intelligence having been trained to identify suspicious areas of laryngeal, pharyngeal and / or surrounding tissue structures showing signs of alterations from healthy laryngeal, pharyngeal and / or surrounding tissue and the second instance of artificial intelligence having been trained to detect and classify abnormalities in the mucosal layer or the tissue of the larynx, pharynx and / or surrounding tissue, overlaying the captured endoscopic images with one or more markings indicating an area or areas indicated by the first instance of artificial intelligence as suspicious, and displaying the overlaid captured endoscopic images on a monitor, together with information provided by the second instance of artificial intelligence.

There is provided a processor device that performs a type determination method for an endoscope by a processor using an endoscope color adjustment jig, the endoscope color adjustment jig including an insertion portion that includes at least one insertion hole into which a distal end portion of the endoscope is inserted, a lid portion that is disposed to face the insertion portion in an insertion direction of the distal end portion, and an outer peripheral portion that is in contact with the insertion portion and the lid portion to form an internal space, the lid portion including a chart that includes a mark on an inner surface facing the internal space, in which the processor is configured to, based on a shape of the mark imaged by the endoscope inserted from the insertion portion, determine an oblique angle of the endoscope.

The invention discloses a multi-label endoscopic imaging lens for a digestive tract, and belongs to the field of biomedical microscopic endoscopic images. The endoscopic imaging lens comprises a first lens, a second lens, a third lens, a fourth lens, a fifth lens, a sixth lens and a seventh lens. The first lens focuses laser, and the second lens is matched with the first lens to limit a light beam in an effective clear aperture of the lens; the third lens corrects chromatic aberration; a fourth lens and a fifth lens are combined to correct aberration; the sixth lens is an aspheric lens and corrects spherical aberration brought in collimation and focusing systems, and the seventh lens is matched with the sixth lens to correct chromatic aberration. The working spectral range of the microscope objective set is 488-860 nm, the effective clear aperture is smaller than 1.8 mm, the mechanical outer diameter is not larger than 2.6 mm, the numerical aperture at the object space or the tissue is 0.55, the imaging view field is 450 microns, the magnification factor is 2.14 times, and the working distance is 84 microns. And the effect of matching excitation and fluorescence spectrum of a clinically available fluorescence contrast agent is realized.

An endoscopic examination assistance device according to an aspect of the present disclosure includes: a memory storing instructions; and at least one processor configured to execute the instructions to: acquire an endoscopic image captured by an imaging unit of an endoscope and imaging unit position information indicating a position of the imaging unit of the endoscope within a lumen at a time when the endoscopic image is captured; detect a lesion from the endoscopic image; determine whether it is an insertion step for inserting the endoscope to a turnaround point in the lumen or a removal step for removing the endoscope from a turnaround point in the lumen; and cause a notification device to give notification according to a positional relationship between the imaging unit position information and lesion position information indicating a position of a lesion, in a case where a result of the determination indicates the removal step.