JP2003070719A - Measurement endoscope - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a measurement endoscope which enables an inspector to easily recognize the position and length of measurement by comparatively simple processing without equipping a function to display a corrected image by displaying measurement lines to be displayed in measurement by this unit. SOLUTION: The main circuit group mounted in the control unit 12 is constituted including CPU 26, ROM 27, RAM 28, PC card I/F 30, USB I/F 31, RS231C I/F 29, a sound signal processing circuit 32, and an image signal processing circuit 33 to control to make execute and move various functions based on main programs.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to an object to be inspected (object).
A plurality of stereo measurement optical adapters necessary for taking and measuring the image are related to the measuring endoscope device that can be attached to and detached from the endoscopic mirror body, and the measurement line displayed when measuring the desired length is optical. The present invention relates to a measuring endoscopic device that allows an inspector to easily recognize a measured position without discomfort by making it possible to display on the original image with a line in which the distortion correction is performed.

[0002]

2. Description of the Related Art Generally, in order to examine a test object in more detail with an endoscope, it is necessary to measure the test object. Various proposals disclose measuring means capable of measuring an object to be measured using a mirror.

For example, in the proposal disclosed in Japanese Patent Laid-Open No. 10-248806, a measurement endoscope apparatus by stereo measurement is shown. In addition, Japanese Patent Application 2 filed by the applicant earlier
The proposal described in No. 000-101122 shows a measurement endoscope apparatus that automatically selects and executes a measurement method that differs depending on the type of optical adapter according to the type of optical adapter.

In the former measuring endoscope apparatus disclosed in Japanese Patent Application Laid-Open No. 10-248806, an optical adapter having two optical systems necessary for imaging an object to be measured and measuring the endoscope body is provided. Is detachably provided, images of two lens systems in the optical adapter are formed on one image sensor, and measurement is performed by at least image processing using the obtained endoscopic image. The process of reading information from the recording medium in which the optical data is recorded, the process of correcting the optical data based on the position error of the imaging system of the endoscope body, and the coordinate conversion of the image to be measured based on the corrected optical data Processing and
In the measurement endoscope apparatus having the above-described configuration, the measurement endoscope apparatus is configured to have a measurement processing unit that performs a process of obtaining three-dimensional coordinates of an arbitrary point by matching two images based on the two coordinate-converted images. , Based on two image information obtained by coordinate conversion of two images of the object (subject) captured by the image sensor through the optical adapter, by matching the two images, an arbitrary image on the object is detected. Find the three-dimensional coordinates of a point. As a result, it is possible to realize a measurement endoscope device that is inexpensive and has excellent measurement accuracy.

On the other hand, the latter Japanese Patent Application No. 2000-101122.
The measuring endoscope apparatus described in No. 1 is a connection unit provided at the distal end of the endoscope, a plurality of types of optical adapters that form a subject image detachable on the connection unit on an image sensor, and the optical adapter. In the measurement endoscopic device that connects one of the plurality of optical adapters to each other and measures the image signal of the image sensor by image processing,
It is configured to include a menu display process for performing a selection operation, and a measurement processing unit that performs a measurement process based on a selection result of the menu display process.

In the measuring endoscope apparatus having the above structure, when an optical adapter is selected on the menu, the measuring method corresponding to the optical adapter is automatically selected, and when the measurement is executed, the endoscope operating section is selected. It is possible to execute the measurement process corresponding to the selected measurement method simply by pressing the measurement execution switch provided on the.

In addition, in the embodiment disclosed in the above publication, the result of setting the measurement environment for each of the plurality of optical adapters is saved as measurement environment data in a compact flash (R) memory card which is an external storage medium. Every time, by selecting an appropriate optical adapter on the menu, the configuration in which the measurement environment data suitable for the corresponding optical adapter is used is disclosed.

[0008]

Generally, the measurement image is a video endoscope body, a measurement optical adapter having an objective lens, and a camera control unit for converting a signal output from the video endoscope into a TV signal. (CCU),
The characteristics of the image appearance change depending on the type or individual difference of the recording device for converting the TV signal into a digital signal and recording it. For this reason, if the various settings (calibration processing) are not performed so that the setting of the measurement endoscope device is in a state suitable for the combination of each device when the measurement image is taken, the measurement will be performed correctly. I can't do it.

Further, recently, as the number of types of endoscope main bodies, optical adapters, CCUs, etc. has increased in order to suit various measurement applications, recording is carried out by combining various devices (measurement environment). Opportunities to re-measure with the measured images are increasing.

However, the conventional device does not have a function of displaying a corrected image in which the optical characteristics of the optical adapter including the optical system of the video endoscope main body are corrected, and therefore, when a subject is photographed by such a device, In the image, the location of the straight line portion is curved and displayed on the image due to the geometric distortion.

When this straight line portion is measured in this image, the displayed measurement line is simply a straight line connecting the points at both ends and is displayed on this image. Since the measurement lines do not overlap on the top, it was difficult for the inspector to correctly recognize the measurement location and length.

Further, in the measurement, an accurate value cannot be calculated unless it is calculated on the corrected image. Therefore, when the vertical distance from the reference line or the reference plane is measured, conventionally, the reference line and the reference plane are not Since there was no function to display the intersection point in consideration of geometric distortion, the position of these vertical distances was not displayed, or it was displayed in pseudo coordinates, so the inspector measured it. I could not recognize the length correctly.

The present invention has been made in view of the above circumstances, and the original image in which the geometric distortion is not corrected in consideration of the geometric distortion of the measurement line displayed when the measurement is performed by the present apparatus. By displaying it above, a measurement endoscope that does not have a function of displaying a corrected image and can relatively easily recognize the position and length measured by the inspector by a relatively simple process. The purpose is to provide a device.

[0014]

A measuring endoscope apparatus according to the present invention comprises a connecting portion provided at a distal end portion of the endoscope and a plurality of types of connecting a subject image detachable from the connecting portion to an image pickup device. An optical adapter is connected to one of the optical adapters, a process of measuring an image signal of the image sensor by image processing, and a measurement created by setting a measurement environment using the plurality of optical adapters A means for storing and managing a plurality of environment data, a means for displaying the plurality of measurement environment data, a means for performing measurement processing by selecting the measurement environment data from the display means, and a measurement image on a removable recording medium. A means for recording, a means for selecting a measurement image already recorded on the recording medium and executing the measurement processing, and the optical characteristics of the optical adapter and the one used when the subject was photographed The measuring endoscope information indicating vessel type and is provided with a means for recording the measurement image,
The measuring side line displayed when performing the measurement is configured to have a means for displaying on the measurement image in a state where the geometrical distortion due to the optical characteristics is corrected.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

1 to 19 relate to an embodiment of the present invention. FIG. 1 is a perspective view showing a system configuration of a measuring endoscope apparatus, and FIG. 2 is an electric circuit of the measuring endoscope apparatus of FIG. FIG. 3 is a block diagram showing the configuration, FIG. 3 is a perspective view showing the configuration of the remote controller of FIG. 1, and FIG. 4 is a perspective view showing the configuration of the endoscope tip portion of the endoscope insertion part of FIG. 1 with a stereo measurement adapter attached. 5, FIG. 5 is a sectional view taken along the line AA of FIG. 4, FIG. 6 is a view showing an endoscopic image with the stereo measurement adapter of FIG. 4, and FIG. 7 is an image of a mask shape of the stereo measurement adapter of FIG. 9A and 9B are diagrams showing the relationship between the original image and the corrected image for explaining the setting of the measurement environment in the measurement endoscope apparatus of FIG.
Is a diagram showing an example of a stereo measurement screen in which the measurable left and right visual field regions are cut out and displayed in the endoscopic image of FIG. 5, and FIG. 10 is an endoscope insertion part of FIG. 1 with a normal optical adapter attached. 11 is a perspective view showing the configuration of the distal end portion of the endoscope of FIG.
10 is a cross-sectional view taken along the line AA of FIG. 10, FIG. 12 is a view showing an endoscopic image with the normal optical adapter of FIG. 10, and FIG. 13 is an example of an optical adapter selection screen displayed on the LCD of FIG. FIG. 14 is a flowchart showing an example of control operation until the measurement which is a characteristic of the apparatus of FIG. 1 is executed, and FIG. 15 is a flow chart showing points specified when measuring a distance between two points or a vertical distance from a reference line. FIG. 16 is a diagram showing an example of a position, FIG. 16 is a flowchart showing an example of control operation when measuring a distance between two points, and FIG. 17 is a positional relationship of each point for explaining a method of displaying a measurement line on an original image. FIG. 18 is a flowchart showing an example of control operation for displaying the meter side line on the original image, and FIG. 19 is a flowchart showing an example of control operation when measuring the vertical distance from the reference line.

(Structure) Measuring endoscope apparatus 1 of the present embodiment
The system configuration of No. 0 will be described.
As shown in FIG. 1, an endoscope insertion section 11 in which a plurality of stereo measurement optical adapters and a normal measurement optical adapter are detachably attached and which has an image pickup element incorporated therein, and the endoscope insertion section 11 are A control unit 12 to be housed, a remote controller 13 that performs operations necessary to execute various operation controls of the entire system of the measurement endoscope apparatus 10, an endoscope image, or operation control content (for example, a processing menu). LCD monitor (hereinafter referred to as LCD)
14, a normal endoscope image, or a face-mounted display (hereinafter, referred to as FMD) 17 capable of stereoscopically viewing the endoscopic image as a pseudo stereo image and the F
The FMD adapter 18 that supplies image data to the MD 17 is included.

Further, the system configuration of the apparatus will be described in detail with reference to FIG. As shown in FIG. 2, the endoscope insertion portion 11 is connected to an endoscope unit 24, and the endoscope unit 24 is mounted in the control unit 12 as shown in FIG. 1, for example. The endoscope unit 24 includes a light source device (not shown) for obtaining illumination light necessary for imaging, and an electric bending device for electrically bending the endoscope insertion portion 11 freely. It is configured.

An image pickup signal from the solid-state image pickup device 43 (see FIG. 5) at the tip of the endoscope insertion portion is input to a camera control unit (hereinafter referred to as CCU) 25. The CCU
Reference numeral 25 converts the supplied image pickup signal into a video signal such as an NTSC signal and supplies it to a main processing circuit group in the control unit 12.

The main circuit group mounted in the control unit 12 is, for example, as shown in FIG. 2, a CPU 26, a ROM 27, a RAM 28, and a PC card interface for controlling to execute and operate various functions based on a main program. (Hereafter, described as PC card I / F)
30, USB interface (hereinafter, referred to as USB I / F) 31, RS-232C interface (hereinafter,
RS-232C I / F) 29, an audio signal processing circuit 32, and a video signal processing circuit 33.

The RS-232C I / F 29 is a CCU.
25, endoscope unit 24 and remote controller 1
3 are respectively connected to the CCU 25 and the endoscope unit 2
Remote controller 1 for controlling 4 and giving operation instructions
It is for performing communication required for controlling the operation based on the operation of 3.

The USB I / F 21 is an interface for electrically connecting the control unit 12 and the personal computer 21.
When connected via the / F21, the personal computer 21 side can also perform various instruction controls such as an instruction to display an endoscopic image in the control unit 12 and image processing during measurement. It is possible to input / output control information, data, etc. required for various processes between the personal computer 21 and the personal computer 21.

The PC card I / F 30 is a PC
The MCIA memory card 22 and the compact flash (R) memory card 23 are detachably connected. That is, when any one of the above memory cards is installed, the data such as the control processing information and the image information stored in the memory card as the recording medium is reproduced by the control of the CPU 26, and the PC card I / F
Data can be loaded into the control unit via the control unit 30, or data such as control processing information and image information can be supplied to the memory card via the PC card I / F 30 and recorded.

The video signal processing circuit 33 includes a CCU 25
To display a composite image that combines the endoscopic image supplied from
The image signal from 25 and the display signal based on the operation menu generated by the control of the CPU 26 are combined, and further processed to be displayed on the screen of the LCD 14 and supplied to the LCD 14, thereby providing an internal view. A composite image of the mirror image and the operation menu is displayed on the LCD 14. Note that the video signal processing circuit 33 can also simply perform processing for displaying an endoscopic image or an image such as an operation menu alone.

The audio signal processing circuit 32 includes the microphone 20.
It is necessary to play back to the supplied audio signal by supplying the audio signal that is collected and generated by the audio signal to be recorded in the recording medium such as the memory card or the audio signal obtained by reproducing the recording medium such as the memory card. Processing (amplification processing, etc.)
And outputs to the speaker 19. As a result, the speaker 19 reproduces the audio signal.

The CPU 26 executes a program stored in the ROM 27, controls various circuit parts so as to perform processing according to the purpose, and controls the operation of the entire system.

Next, the configuration of the remote controller 13 and an example of program operation control of the CPU 26 based on its operation will be described with reference to FIG.

The remote controller 13 used in the measuring endoscope apparatus 10 of the present embodiment has been improved to further improve the operability during use such as during measurement.

As shown in FIG. 3, the remote controller 13 has a joystick 47, a lever switch 48, a freeze switch 49, a store switch 50, and a measurement execution switch 51 provided on at least the upper surface thereof.
In other words, the arrangement is adopted that is easy for the user to operate. In the remote controller 13 having the above structure, the joystick 47 is a switch for bending the distal end portion of the endoscope, and can freely give an operation instruction in any direction of 360 degrees. The lever switch 48 is a switch for performing various graphically displayed menu operations and a pointer operation for performing measurement, and is configured in substantially the same shape as the joystick switch 47. Freeze switch 49
It is a switch used when displaying the moving image of the endoscope displayed on the LCD 14 as a still image. The store switch 50 displays the still image when the still image is displayed by pressing the freeze switch 49.
A switch used when recording on the A memory card 22 (see FIG. 2). In addition, the measurement execution switch 51
Is a switch used when executing the measurement software.

The freeze switch 49, the store switch 50, and the measurement execution switch 51 are constructed by, for example, an ON / OFF push-down type. Further, the lever switch 48 may be assigned with a function other than the above.

For example, if the lever switch 48 is tilted to the right, the zoom-up function of the image will be displayed.
These functions may be assigned to the lever switch 48 so that the WN function can be executed. In addition, when the measurement is performed on a zoom image, the magnification of the image is usually changed, and thus the measurement cannot be performed correctly. In such a case, when the measurement execution switch 51 is pressed, the CPU
26 receives the operation signal, releases the instantaneous zoom function, freezes the image, and then controls the measurement. As a method other than this, control may be performed so that the image can be measured as it is in consideration of the zoom magnification.

Next, the measurement endoscope apparatus 10 of the present embodiment
The configuration of the stereo measurement adapter used in the above will be described with reference to FIGS.

4 and 5 show a stereo measurement adapter 37.
Is attached to the endoscope tip 39, and the stereo measurement adapter 37 is fixed by screwing the female thread 53 of the fixing ring 38 with the male thread 54 of the endoscope tip 39. Has become.

A pair of illumination lenses 36, two objective lenses 34, and an objective lens 35 are provided at the tip of the stereo measurement adapter 37. Two objective lenses 3
The reference numerals 4 and 35 form two images on the image pickup device 43 arranged in the endoscope distal end portion 39. The obtained image pickup signal is supplied to the CCU 25 through the electrically connected signal line 43a and the endoscope unit 24, converted into a video signal by the CCU 25, and then supplied to the video signal processing circuit 33. As a result, for example, an image as shown in FIG. 6 is displayed on the LCD 14.

When performing stereo measurement, the measurement endoscope 10 of the present embodiment uses an endoscopic image of a white subject as shown in FIG. 7, and further records optical data of the stereo measurement adapter 37, for example. The stereo measurement processing of the object to be measured is performed based on the optical data taken from the recording medium (for example, CompactFlash (R) memory card).

Here, in this measurement endoscope apparatus 10, it is necessary to set the measurement environment and prepare for the measurement before actually performing the stereo measurement. Before the description, the setting of the measurement environment will be described.

A stereo measurement adapter is disclosed in Japanese Patent Laid-Open No. 10-2.
As shown in Japanese Patent No. 48806, even if the type is the same, the optical characteristics differ depending on the individual, so that optical data is measured in the production process. The optical data includes the following information.

A) Geometrical distortion correction equation of two optical systems b) Focal length of two lens systems c) Distance between optical axes of two lenses and position coordinates of these optical axes d) Used for data measurement The positional information of the attachment state in the combination of the endoscope and the optical adapter described above is the positional information of d) above, and the white object as shown in FIG. 7 is obtained by combining the endoscope used in the data measurement and the optical adapter. It is the information of the position coordinates and the tilt angle of two visual field regions from an endoscopic image obtained by photographing a white paper or the like.

The stereo measurement adapter after taking the above optical data is attached to the endoscope insertion portion, and the endoscope apparatus 10 performs the following processing to set the measurement environment.

1) A recording medium in which the optical data of the stereo measurement adapter is recorded is attached to the measurement endoscope device, and this data is read.

2) The optical adapter is attached to the endoscope insertion portion 11 which is actually used, a white subject as shown in FIG. 7 is photographed, and position information on the attachment is obtained. The position information obtained here has the same contents as the position information included in the optical data.

3) The position information contained in this optical data is compared with the position information obtained in 2) above, and the information of a) and c) of the optical data recorded on the recording medium is calculated as follows. Correct the data to suit the endoscope actually used.
Specifically, rotation correction for each coordinate is performed.

4) C used when measuring data in the production process
The characteristics of the CU and the video capture circuit may differ from the characteristics of the measurement endoscope device actually used for measurement, and the image enlargement ratio may differ depending on the type of the device. In this case, the difference in these characteristics is verified in advance, and the optical data recorded on the recording medium is corrected to match the enlargement ratio.

5) The corrected optical data obtained by the above processing is used as the calibration data used for setting the measurement environment.

6) Using the above calibration data, a conversion table for geometrical distortion correction for the present endoscope apparatus is created.

7) An inverse conversion table is created for obtaining the coordinates on the original image before correction with respect to the coordinates on the corrected image.

8) The calibration data shown in 5) above and 6) above
The conversion table obtained in step 7), the inverse conversion table obtained in 7) above, and the measurement environment information indicating the type of device are combined and recorded as measurement environment data in, for example, a compact flash card 23. To do.

The above is the processing relating to the setting of the measurement environment. Next, the rotation correction shown in 3) above will be described using an equation.

It is assumed that the geometric distortion correction expression before the rotation correction is the following relational expression.

X ′ = fx (x, y), y ′ = fy (x, y) (1) (x ′, y ′): Coordinates (x, y) after geometric distortion correction: Arbitrary coordinates on the image before geometrical distortion correction (coordinates on the original image) fx (x, y): Function that converts the coordinates (x, y) on the original image before correction to the corrected x coordinate fy (x, y): a function for converting the coordinates (x, y) on the original image before correction to the corrected y coordinates, and the position information in the optical data before correction and the endoscope actually used If the rotation matrix indicating the difference is represented by A when the position information regarding and is compared, the geometric distortion correction equation after correction is as follows.

(X ″, y ″) = A · (x ′, y ′) + 10 (a, b) (2) (x ″, y ″): geometric distortion correction including rotation correction Post-coordinates (coordinates on the corrected image) (x ', y'): Coordinates after geometrical distortion correction (a, b): misregistration amount in the x-direction and the y-direction. By substituting into 2) and expanding the determinant, it can be expressed as follows. This relationship is shown in FIG.

X ″ = fx ′ (x, y), y ″ = fy ′ (x, y) (3) (x ″, y ″): after geometric distortion correction including rotation correction Coordinates (coordinates on the corrected image) (x, y): Arbitrary coordinates on the image before geometric distortion correction or rotation correction (coordinates on the original image) fx '(x, y): Coordinates on the original image Function fy ′ (x, y) for obtaining the x-coordinate on the corrected image by performing geometric distortion correction and rotation correction on (x, y): Geometric distortion correction on the coordinate (x, y) on the original image Also, in the position coordinate of the optical axis that performs the rotation correction to obtain the y coordinate on the corrected image, the rotation matrix A and the position shift amount (a, b) can be used to show the same relational expression as above. .

In order to obtain the inverse conversion table obtained in 7) above, it is created at the same time when the conversion table is created.

That is, when the coordinates on the original image are converted to the coordinates on the corrected image using the equation (3), (x "in the inverse conversion table corresponding to the coordinates on the corrected image in a one-to-one correspondence. ，
y ") at the location corresponding to the coordinates (x,
Save y).

Since the coordinates converted by the equation (3) are normally obtained by real numbers, it is necessary to convert them into integers so that the values match the inverse conversion table.

Further, since the coordinates on the original image are converted into the coordinates on the corrected image by the conversion formula, there are places in the inverse conversion table where the values on the original image do not directly enter. In such a case, interpolation is performed at adjacent neighboring points so that appropriate coordinates on the original image can be entered at all locations in the inverse conversion table.

When the inverse conversion formula for the conversion formula (1) is predetermined or when the inverse conversion formula is obtained from the conversion formula (1) by formula conversion, the inverse conversion formula is used to directly inverse the conversion formula. A conversion table may be obtained.

Assuming that the inverse matrix of the rotation matrix used in the equation (2) is A ^-1 , the equation for returning the coordinates on the corrected image to the coordinates before the positional deviation correction is (x ', y') = A ⁻¹ · (x ″, y ″) · (a, b) (4) (x ′, y ′): Coordinates (x ″, before displacement correction in which only geometric distortion is corrected) y ″): coordinates after geometrical distortion correction including rotation correction (coordinates on the corrected image) (a, b): the positional deviation amount in the x direction and the y direction. If the inverse transformation equation in the geometric distortion correction is defined as the functions gx and gy, the following relational equation holds.

X = gx (x ′, y ′), y = gy (x ′, y ″) (5) (x, y): coordinates before geometric distortion correction (coordinates on the original image ) (X ', y'): Coordinates before positional deviation correction in which only geometric distortion is corrected gx (x ', y'): Inverse conversion function gy ( x ', y'): When the determinant of the inverse transformation function formula (4) for obtaining the y coordinate before correction in the geometric distortion correction is expanded and substituted into the formula (5),
The formula for converting the coordinates on the corrected image to the original image can be expressed as follows. This relationship is shown in FIG.

X = gx ′ (x ″, y ″), y = gy ′ (x ″, y ″) (6) (x, y): on the image before geometric distortion correction or rotation correction Arbitrary coordinates (coordinates on the original image) (x ", y"): coordinates after geometric distortion correction including rotation correction (coordinates on the corrected image) gx '(x, y): on the corrected image The function gy '(x, y) for obtaining the x-coordinate (x ", y") of the original image before the geometric distortion correction and the rotation correction: the coordinate (x ", y") on the corrected image Function 3 for obtaining the y-coordinate on the original image before geometric distortion correction and rotation correction: The measurement environment information shown in 8) above is information indicating the type of measurement environment data (that is, calibration data and conversion table). Therefore, the following information is included, for example.

-Type of stereo measurement adapter and individual identification number-Type of endoscope insertion part and individual identification number-TV type such as NTSC-CCU type-Video capture circuit type CCU type, video capture circuit type Is often equipped as one module of the measurement endoscope apparatus, and in this case, these may be read as the types of the measurement endoscope apparatus.

After setting the measurement environment as described above, the object to be measured can be photographed and the measurement can be executed.

Therefore, in the stereo measurement by the main measurement endoscope apparatus 10, the first process of reading the optical information from the recording medium (for example, the compact flash (R) memory card) in which the optical data of the stereo measurement adapter 37 is recorded, Second processing for obtaining position information between the image pickup device 43 of the endoscope tip portion 39 and the stereo measurement adapter 37, and the position information and the position information of the main endoscope and the stereo measurement adapter 37 obtained at the time of production Third position error is calculated from
And processing for correcting optical data from the position error
Processing, and a fifth processing for creating a conversion table for correcting the geometric distortion included in the captured image, and a corrected image is created by performing coordinate conversion of the captured image for measurement using the conversion table. 6th process for performing, and 7th process for matching two left and right images at arbitrary points based on the corrected image, and three-dimensional from the two left and right coordinates obtained by matching, the position coordinate of the optical axis, and the focal length. Eighth seeking coordinates
And the ninth process of obtaining measured values such as a distance between two points and an area from the three-dimensional coordinates of arbitrary plural points.

The CPU 26 executes, for example, the first to fifth processes once on the stereo measurement adapter 37, and controls the result to be recorded as measurement environment data on the compact flash (R) memory card 23. To do.
If you want to continue the stereo measurement after this, press C
The PU 26 loads the measurement environment data previously recorded on the compact flash (R) memory card 23 into the RAM and controls the sixth to ninth processes. Since the image is recorded on a removable memory card, by installing a memory card of the same type whose image is recorded using another individual's measuring endoscope device in this device,
There is an effect that an image recorded by another device can be easily viewed on another device.

The measurement environment data includes calibration data after position correction, a conversion table, an inverse conversion table, and measurement environment information. The measurement environment data is controlled so as to be recorded on the detachable compact flash (R) memory card 23.

Further, in the present embodiment, the recording of the image is performed on the PCMCIA memory card 22 under the control of the CPU 26, and the image is recorded on a memory card different from the compact flash (R) memory card 23 for recording the measurement environment data. Control to record. When recording an image, the measurement environment information in the measurement environment data is recorded at the same time as a part of the image file or as another file associated with the image file. The calibration data is also recorded as a part of the image file or as another file associated with the image file.

When the recorded image is selected from the list and the stereo measurement is executed, it is searched whether or not the measurement environment data already registered has the same measurement environment as the selected image. To do.

If the same one is registered, the measurement environment data is read, the setting of the measurement endoscope device is changed, and the sixth processing is performed to make the measurement possible.
If the same one is not registered, the measurement environment data is created using the calibration data attached to the image, and the sixth process is performed to make the measurement possible.

The information recorded in the image may be not only calibration data and measurement environment information but also measurement environment data including a conversion table. In this case, when an image is selected and measurement is performed. When the measurement environment data on the image is directly read and the sixth process is performed, the preparation for measurement is completed. However, recording the measurement environment data together with the image results in a large capacity, which is not preferable. On the other hand, since the measurement environment information and the calibration data are often several tens of Kbytes, it is very effective in terms of the capacity of the image to record only the measurement environment information and the calibration data in the image.

When the preparation for measurement is completed, for example, a stereo measurement image as shown in FIG. 6 is cut out and displayed on the stereo measurement screen as shown in FIG.
For example, when measuring the length of the crack 44 on this screen,
The measurement point is designated so as to trace the crack 44 on the left screen with a polygonal line. Each time a new measurement point is designated, the CPU 26 searches for each corresponding point on the right screen, obtains the three-dimensional coordinates at each point from the coordinates of the measurement point and the corresponding point, and adjoins from these three-dimensional coordinates. The distance between two matching points is calculated, and the sum of them is calculated to display the length as the total length of the crack 44 on the LCD 14.

Next, the measurement endoscope apparatus 10 of the present embodiment
The configuration of the normal optical adapter used for the above will be described with reference to FIGS.

10 and 11 show the normal optical adapter 42.
Is attached to the distal end portion 39 of the endoscope. The normal optical adapter 42 includes the female screw 53 of the fixing ring 38.
Is fixed by screwing with the male screw 54 of the endoscope distal end portion 39.

Further, at the tip of the normal optical adapter 42,
A pair of illumination lens 41 and objective lens 40 are provided. The objective lens 40 forms an image on the image pickup device 43 arranged in the endoscope distal end portion 39. The obtained image pickup signal is supplied to the CCU 25 through the signal line 43a electrically connected to the stereo measurement adapter 37 and the endoscope unit 24, and is converted into a video signal by the CCU 25, and then an image is obtained. By being supplied to the signal processing circuit 33, as a result, for example, an image as shown in FIG. 12 is displayed on the LCD 14.

In the measurement endoscope apparatus 10 of the present embodiment, when the measurement using the ordinary optical adapter is performed, the measurement is performed by using the method based on the comparative measurement. That is, the comparative measurement is a method of measuring with reference to the known dimensions in the screen.

For example, when the diameter of the circle shown in FIG. 12 is known, pointers are placed at both ends of the diameter of the circle and the length L1 45 between two points is input. Dimension L2 46 you want to know
Is calculated as a ratio from the size of L1 on the screen by arithmetic processing by the CPU 26. Further, at this time, the distortion is corrected based on the information on the distortion characteristics of the lens, and adjustment is performed so as to obtain the dimension more accurately.
The distortion characteristic of the lens is recorded in the ROM 27 in advance, and the CPU 26 loads the data corresponding to the selected normal optical adapter 42 into the RAM 2 to execute the comparative measurement.

(Operation) The display processing of the measurement line when the stereoscopic measurement is performed by the measurement endoscope apparatus of the present embodiment configured as described above will be described with reference to the flowcharts of FIGS. 13 and 19.

The measuring endoscope apparatus of the embodiment is turned on. When taking a new measurement image from now on,
The optical adapter is attached to the endoscope insertion portion, and the one suitable for the optical adapter to be used is selected from the optical adapters registered in advance in the optical adapter selection screen shown in FIG. That is, in the selection screen of the optical adapter, for example, in the case of the stereo measurement adapter, "AT60D / 6OD"
1005 "Mataba" AT60S / 60S 304
3 ", in the case of a normal optical adapter, it is a screen displaying" AT120D "or" AT60S ". After the user selects the current optical adapter from this selection screen,
Take an image of the object to be measured.

If there is no suitable optical adapter on the screen of FIG. 13, it is necessary to set the measurement environment with the optical adapter to be used and register it on the optical adapter selection screen.

Further, when re-measurement is performed on the already recorded measurement image, although not shown, the image to be measured is selected from the list of measurement images.

When the measurement execution switch 51 of the remote controller 13 is pressed after the preparation of the measurement image, as shown in FIG.
The program shown in FIG. 4 is executed, and in the determination processing of step S101, it is determined whether the measurement image is the image recorded on the recording medium.

In the case of the image recorded in step S101, the type of measurement method is determined by referring to the header of this image file in the determination processing of step S102. If the image is a stereo measurement image in step S102, it is determined in the determination process of step S103 whether or not the measurement environment information for stereo measurement and the calibration data are attached to the header of this image file.

If the calibration data and the like are attached in step S103, the measurement environment data is created using the calibration data in step S104, and the measurement environment is set.
After that, the process proceeds to step S105, a corrected image is created using the created measurement environment data, stereo measurement is executed, and a standby state is set until a measurement point is designated.

In step S101, if the image is the image just taken, the determination process of step S107 is performed as shown in FIG.
Discriminate the type of optical data selected on the screen.

If the stereo measurement adapter is selected in step S107, the flow advances to step S108 to read the measurement environment data of this optical adapter that has already been created, execute the stereo measurement after creating the corrected image, and use it. Put it in a standby state.

On the other hand, when the type of the selected optical adapter is the normal optical adapter in step S107, the process proceeds to step S109, the geometrical distortion information of the selected optical adapter is read, the comparison measurement is executed, and the standby for use. Put in a state.

If the type of measurement method recorded in the image is comparative measurement in step S102,
In step S111, it is determined whether the geometric distortion information of the optical adapter or the like is recorded in this image. In step S111, if this is recorded, that information is read, comparative measurement is executed, and a use standby state is set.

When the measurement method is not recorded in the image in step S102, the calibration data for stereo measurement is not recorded in the image in step S103, or the measurement method is compared in the image in step S111. When the distortion correction information for measurement and the like are not recorded, an error is displayed and a standby state is set so that another image can be selected.

When the stereo measurement is executed in step S106, the stereo measurement screen is opened and a standby state is set until a point for measurement is designated. By specifying a point at an appropriate place on this screen, L1 as shown in FIG.
And the length of L2 can be measured.

For example, when measuring the distance between two points,
On the left side original image before distortion correction displayed on the stereo measurement screen, for example, as shown in FIG. 15C, points M1 and M2
Is specified on the left image, the program of FIG. 16 is executed.

After recognizing the coordinates of the points M1 and M2 on the left image in step S201, the two points M1 and M2 on the original image before correction are detected on the corrected image by using the equation (3) in step S202. Converting to coordinates, points A1 and A2 shown in FIG. 17 are obtained. Then, in the matching process of step S203,
Points B1 and B2 on the right side corrected image with respect to points A1 and A2 on the left side corrected image are obtained. In step S204, a point M is calculated from the points A1 and B1 on the right and left corrected images based on the principle of triangulation.
A three-dimensional coordinate C1 for 1 is obtained. Similarly, point A2
And the point C2 from B2.

Then, in S205, the program shown in FIG. 18 is executed in order to display the measurement lines M1-M2.

In step S301, the points C1 and C2 are equally divided into N to obtain points P1 to Pn-1. In step S302, point P
1 to Pn-1 are projected on the left side corrected image to obtain points Q1 to Qn-1. In step S303, the points Q1 to Qn-1 on the corrected image are obtained using the inverse conversion table or the equation (6) to find points W1 to Wn-1 on the left original image before correction. Then, in step S304, the point M1, the points W1 to Wn-1, and the point M2 are displayed by connecting them with a polygonal line.

When the processing of FIG. 18 is completed, step S2
Go to 06, and in the same way as step S205, the line B1-B2
The line corresponding to is displayed on the right original image before correction. Then, in step S207, the distance between the two points C1 and C2 is calculated and displayed, and a standby state is set until the next measurement point is designated.

Further, in order to measure the length indicated by L2 in FIG. 15A, that is, the vertical distance from the reference line, on the left original image as shown in FIG. 15C displayed on the stereo measurement screen. After the points M1 and M2 are designated and the three-dimensional coordinates are obtained by the program of FIG. 16, the point M3 is designated to execute the program of FIG.

After recognizing the coordinates of the point M3 on the left image in step S401, the point M3 on the original image before correction is converted to the coordinates on the corrected image by using the equation (3) in step S402. , Point A3 shown in FIG.

Then, in the matching process in step S403, the point B3 on the right side corrected image with respect to the point A3 on the left side corrected image is obtained. In step S404, a point M is calculated from the points A3 and B3 on the right and left corrected images based on the principle of triangulation.
A three-dimensional coordinate C3 for 3 is obtained.

In step S405, the three-dimensional coordinates of the points C1 and C2 already found at both ends of the reference line and the point C3 obtained previously are used to find the intersection C4 perpendicular to the reference line. Then, in step S406, the point C4 is projected onto the corrected image on the left side to obtain the point A4, and the line A3-A4 on the corrected image is obtained.
The measurement line corresponding to is displayed on the left side original image.

In this case, the program shown in FIG. 18 is executed and the line M1-M2 is displayed in the same manner as the process of displaying the line M1-M2.
M4 is displayed as a line.

Similarly to step S406, the line B3 on the corrected image is added to the original image on the right side in step S407.
-Display the measurement line corresponding to B4.

When the measurement lines are displayed on the left and right original images, the process proceeds to step S408, the distance between the two points C3 and C4 is calculated and displayed, and the next measurement point is designated. Wait until.

Further, even when performing comparative measurement on an image taken using an ordinary optical adapter, the geometric distortion is corrected and the measurement is performed. Therefore, in the same manner as in the stereo measurement described above, the original measurement is performed. It is possible to easily display the measurement line in consideration of the geometric distortion correction on the image.

(Effect) As a result, for example, in the case where the actual object to be measured has a shape as shown in FIG.
An image of this image taken by the measurement endoscope device is shown in FIG.
And is distorted and displayed as shown in FIG.

In the prior art, if points M1 and M2 in FIG. 15B were designated to measure the height (L1) of an object, the measurement line would be displayed as a straight line as shown by line 1, so It did not follow the edge of the measured object shown in. As a result, the inspector may mistakenly recognize the measured location.

Further, by designating the point M3 in FIG. 15 (b),
When the vertical distance (L2) from the reference line (green of the object) was measured, the length of the displayed line did not correspond to the actually calculated value, so the measurement result was judged incorrectly. It was often the case.

Further, this phenomenon appears remarkably when the geometric distortion characteristic of the optical adapter is large, and in an endoscope, such an optical system is often used.

On the other hand, in the present embodiment, FIG.
As shown in (c), the line 1 is displayed as a curve along the green of the actual object to be measured, and the line 2 is also displayed so as to be suitable for the length shown in FIG. The measurement result can be visually recognized easily and correctly.

In the present invention described in each of the above embodiments, a line with a geometrical distortion characteristic can be displayed on an image containing geometrical distortion, so that the examiner can display the original image on the original image. The line that connects the points specified in is displayed at the correct position on the subject, making it easier for the inspector to correctly recognize the measured position and length, and it is possible to prevent incorrect judgment during inspection. Become.

Further, in order to display the color corrected image in which the geometrical distortion is corrected, it is not practical unless a device or a system having a CPU having a high processing speed is used, but the present invention makes the original image look unnatural. Since it is possible to display a measurement line with no color, it is not necessary to display a color correction image, and the process of converting the coordinates on the correction image to the original image is a relatively simple process, so it is inexpensive. The system can do this.

That is, according to the present invention, each point obtained by dividing a straight line set on the corrected image by a plurality of line segments is converted into coordinates on the original image by an inverse conversion formula or an inverse conversion table, and each of these points is converted. By connecting the points and displaying the designated two points on the original image with a polygonal line, it is possible to display a line including a geometric distortion characteristic.

Further, any point on the corrected image can be converted into the coordinates on the original image by the inverse conversion formula or the inverse conversion table, and thus the vertical distance from the reference line or the vertical distance from the reference plane is calculated. The intersection can be displayed on the original image.

If the broken line is noticeable,
By increasing the number of divisions of the straight line set on the corrected image, it is possible to easily adjust the appearance of a smooth curve.

[0112]

As described above, according to the present invention, the measurement line displayed when the measurement is performed by this apparatus is displayed on the original image in which the geometric distortion is not corrected in consideration of the geometric distortion. By displaying the corrected image, the function of displaying the corrected image is not provided, and the position and length measured by the inspector can be easily recognized correctly by a relatively simple process.

[Brief description of drawings]

FIG. 1 is a perspective view showing a system configuration of a measurement endoscope apparatus according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing an electric circuit configuration of the measurement endoscope apparatus of FIG.

FIG. 3 is a perspective view showing the configuration of the remote controller of FIG.

4 is a perspective view showing a configuration of an endoscope distal end portion of the endoscope insertion portion of FIG. 1 to which a stereo measurement adapter is attached.

5 is a sectional view taken along line AA of FIG.

FIG. 6 is a diagram showing an endoscopic image with the stereo measurement adapter of FIG.

7 is a diagram showing an image of a mask shape of the stereo measurement adapter of FIG.

8 is a diagram showing a relationship between an original image and a corrected image for explaining the setting of the measurement environment in the measurement endoscope apparatus of FIG.

9 is a diagram showing an example of a stereo measurement screen in which the measurable left and right visual field regions are cut out and displayed in the endoscopic image of FIG. 5;

10 is a perspective view showing a configuration of an endoscope distal end portion of the endoscope insertion portion of FIG. 1 to which a normal optical adapter is attached.

11 is a cross-sectional view taken along the line AA of FIG.

FIG. 12 is a diagram showing an endoscopic image with the normal optical adapter of FIG.

13 is a diagram showing an example of an optical adapter selection screen displayed on the LCD of FIG.

FIG. 14 is a flowchart showing an example of control operation up to execution of measurement, which is a feature of the apparatus of FIG.

FIG. 15 is a diagram showing an example of a position of a point designated when measuring a distance between two points or a vertical distance from a reference line.

FIG. 16 is a flowchart showing an example of control operation when measuring a distance between two points.

FIG. 17 is a diagram showing a positional relationship of points for explaining a method of displaying a measurement line on an original image.

FIG. 18 is a flowchart showing an example of control operation for displaying the meter side line on the original image.

FIG. 19 is a flowchart showing an example of control operation when measuring a vertical distance from a reference line.

[Explanation of symbols]

10 ... Measuring endoscope device 11 ... Endoscope insertion part 12 ... Control unit 13 ... Remote controller 14 ... Liquid crystal monitor (LCD) 17 ... Face Cloak Display (FMD) 18 ... FMD adapter 19 ... Speaker 20 ... Mike 21 ... Personal computer 22 ... PCMCIA memory card 23 ... Compact Flash (R) memory card 24 ... Endoscope unit 25 ... Camera control unit (CCU) 26 ... CPU (control unit) 27 ... ROM 28 ... RAM 29 ... RS-232 CI / F 30 ... PC card I / F 31 ... USB I / F 32 ... Audio signal processing circuit 33 ... Video signal processing circuit 34, 35, 40 ... Objective lens system 36, 41 ... Illumination lens 37 ... Stereo optical adapter 38 ... Fixing ring 39 ... End of endoscope 42 ... Normal optical adapter 43 ... Image sensor 44 ... crack 45 ... L1 (known size) 46 ... L2 (unknown size) 47 ... Joystick 48 ... Lever switch 49 ... Freeze switch 50 ... Store switch 51 ... Measurement execution switch

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Claims (4)

[Claims] 1. A connecting portion provided at a distal end portion of an endoscope, a plurality of types of optical adapters for connecting a detachable subject image to an image sensor, and one of the optical adapters are connected to the connecting portion, Processing for measuring the image signal of the image sensor by image processing; means for storing and managing a plurality of measurement environment data created by setting a measurement environment using the plurality of optical adapters; Means for displaying measurement environment data, means for performing measurement processing by selecting measurement environment data from the display means, means for recording measurement images on a removable recording medium, and measurements already recorded on the recording medium Information that indicates the method that can be used to select an image and execute the measurement process, and the optical characteristics of the optical adapter and the type of equipment used when the subject was shot is included in the measurement image. In the measurement endoscope equipped with a means for recording, a means for displaying on the measurement image in which the measuring side line displayed when performing the measurement is corrected for the geometrical distortion due to optical characteristics A measuring endoscope apparatus characterized by the following. 2. When obtaining a distance between two points, a vertical distance from a reference line, or a vertical distance from a reference plane, a meter side line indicating these distances is a state in which geometric distortion due to optical characteristics is corrected. The measuring endoscope apparatus according to claim 1, further comprising: a unit that is displayed on the measurement image in. 3. The measurement endoscopy according to claim 1 or 2, wherein a conversion formula for correcting geometrical distortion due to optical characteristics of the optical adapter and an inverse conversion formula thereof are defined. Mirror device. 4. A conversion table used when correcting an original image using a conversion formula for correcting geometrical distortion due to optical characteristics of an optical adapter, and coordinates on the created corrected image on the original image. The measurement endoscope apparatus according to claim 1 or 2, further comprising an inverse conversion table for converting into the.