JP2007044153A - Stereoscopic endoscope apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a stereoscopic endoscope apparatus having the function of easily adjusting the left and right fluctuation of a display element in a system including an endoscope apparatus for photographing and the display element for displaying the image. <P>SOLUTION: The stereoscopic endoscope apparatus has a stereoscopic endoscope 10 having two optical systems 11R, 11L, two CCUs 12R, 12L converting optical images formed by the optical systems to image signals, a control unit 15 converting the output signals from the CCUs to electric signals in a displaying format, a display unit 18 having a photographing unit 16 photographing two display sections 14R, 14L and the display screen of the display sections, and a reference object jig 22 having a reference object pattern which becomes the reference for adjusting, the control unit is constituted of a means for collecting the image signals shown in the display sections, and a means for adjusting the display characteristics of the two display section. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a stereoscopic endoscope apparatus, more specifically, a stereoscopic endoscope having two or more optical systems, in which the right and left image variations are adjusted and a good observation image can be obtained. The present invention relates to an endoscope apparatus.

  2. Description of the Related Art Conventionally, endoscope apparatuses that can insert an elongated insertion portion into a body cavity and observe a test site that cannot be directly viewed have been widely used.

  Further, in recent years, a plurality of observation optical systems provided in parallel to obtain an optical image having parallax are provided, so that a test site that can be viewed only as a flat surface without a sense of perspective in a normal endoscope apparatus Various proposals have been made, for example, by Japanese Patent Laid-Open No. 2000-85330, etc. regarding a stereoscopic endoscope apparatus configured to be able to stereoscopically view unevenness and the like on the body cavity wall surface and the like.

  According to such a stereoscopic endoscope apparatus, it is possible to observe a minute unevenness or the like on a test site, such as a body cavity wall surface, which can be seen only as a flat surface without a perspective with a normal endoscope apparatus. Therefore, the efficiency of diagnosis and various treatments by endoscopic observation can be improved.

  The stereoscopic endoscope apparatus described in Japanese Patent Application Laid-Open No. 2002-85330 includes an optical system that forms an image of a pair of test sites having different parallaxes on the imaging surfaces of a pair of imaging units. In a stereoscopic endoscope apparatus that obtains a stereoscopic image by alternately or simultaneously displaying images of a pair of test sites imaged by a pair of imaging means, image comparison for comparing the images of the pair of test sites Based on the comparison result by the means, the zooming control of the zooming optical system is performed so that the sizes of the images of the pair of test sites are substantially equal. As a result, the magnifications of the left and right images can be automatically made substantially equal, and good observation can be performed.

Further, in a conventional stereoscopic endoscope, two or more optical systems, a plurality of image sensors corresponding to these optical systems, and a plurality of images for displaying each image captured by each of these image sensors, respectively. A plurality of optical systems are arranged so that an optical image having parallax can be obtained, and a plurality of images having parallax are captured, and each captured video is separately displayed on a plurality of display elements. Various proposals have also been made for stereoscopic endoscope apparatuses that are configured so that an observer can observe stereoscopically by viewing the video displayed and displayed on each display element with the left and right eyes. .
JP 2000-85330 A

  However, in a stereoscopic endoscope apparatus that includes a plurality of display elements and is capable of observing a region to be examined as a three-dimensional (3D) image, when the user observes the left and right images, For example, if there is a difference in luminance or chromaticity caused by the characteristics of the display element, the user's eyes may be burdened and the eyes may be easily fatigued.

  In general, even if the display device is the same model, there are differences in luminance and chromaticity, and there are almost no display devices having exactly the same characteristics. Therefore, in conventional stereoscopic endoscopes, display elements with little difference in characteristics are selected and combined, and adjustment is performed so that the left and right images can be displayed under substantially the same conditions over time and effort. It is necessary to do.

  Further, since a normal display element generally deteriorates with age, its characteristics change as it is used. For this reason, there is a problem that it is difficult to always maintain the display state of the left and right display elements used in the stereoscopic endoscope apparatus in the same state.

  On the other hand, variations in characteristics also exist in an imaging system including an imaging element such as a CCD used in a stereoscopic endoscope and an optical member of an optical system. Therefore, even if only the left and right display elements are adjusted as a single unit, there is a case where the left and right images may vary when used as a stereoscopic endoscope device in combination with a stereoscopic endoscope. . Therefore, the adjustment of the display element as described above needs to be individually adjusted for each stereoscopic endoscope apparatus. This means that, for example, when either a stereoscopic endoscope (imaging element or optical system thereof) or a display element is replaced due to a failure or the like, the time and labor for performing the adjustment work again. There is also a problem that this occurs.

  Note that the technique disclosed in the above Japanese Patent Laid-Open No. 2000-85330 is a proposal for making it possible to display the size of the subject image displayed on the left and right display elements substantially equal, for example, No mention is made of the color and luminance characteristics of the display element and the technique for solving the display position shift of the display element.

  The present invention has been made in view of the above-described points, and an object of the present invention is to provide a right and left display element in a system including an endoscope apparatus for photographing and a display element for displaying an image. It is an object of the present invention to provide a stereoscopic endoscope apparatus having a function capable of easily adjusting variations.

  In order to achieve the above object, a stereoscopic endoscope apparatus according to the present invention displays a stereoscopic endoscope having at least two optical systems and an optical image formed by the two optical systems. At least two CCUs that convert signals, a control device that converts output signals from the two CCUs into electrical signals in a display format, and an imaging device that captures at least two display units and a display screen of the display unit And a reference subject jig having a reference subject pattern serving as a reference for adjustment. The control device corrects a video signal to be displayed on the display unit, and the two displays. And a means for adjusting the display characteristics of the part.

  According to the present invention, there is provided a stereoscopic endoscope apparatus having a function capable of easily adjusting left and right variations of display elements in a system including an endoscope apparatus for photographing and a display element for displaying video. can do.

The present invention will be described below with reference to the illustrated embodiments.
FIG. 1 is an overall configuration diagram of a stereoscopic endoscope apparatus according to a first embodiment of the present invention. FIG. 2 is a block configuration diagram showing an internal configuration of the comparison device in the stereoscopic endoscope apparatus of the present embodiment. FIG. 3 is a block configuration diagram showing an internal configuration of the control device in the stereoscopic endoscope apparatus of the present embodiment. 4 and 5 show a reference subject jig in the stereoscopic endoscope apparatus of the present embodiment, and FIG. 4 is a perspective view showing an appearance of the reference subject jig. FIG. 5 is a view showing a reference subject pattern provided inside the reference subject jig, and is a view seen from the direction of arrow A in FIG. 6 and 7 show a display device in the stereoscopic endoscope apparatus of the present embodiment, and FIG. 6 shows a schematic internal configuration of the display device and an imaging field of view of an image sensor unit set in the display device. FIG. FIG. 7 is a diagram showing an image of the reference subject pattern photographed by the image sensor unit group in the display device. FIG. 8 and FIG. 9 are flowcharts showing the operation when the left and right adjustment of the observation image of the display device in the stereoscopic endoscope of the present embodiment is performed.

  As shown in FIG. 1, the stereoscopic endoscope apparatus 1 according to the present embodiment forms an image with stereoscopic objective lenses 11R and 11L which are two systems of optical systems arranged side by side to form a subject image. Stereoscopic endoscope 10 configured to include imaging elements 12R, 12L such as CCDs that photoelectrically convert two optical images, respectively, and outputs from imaging elements 12R, 12L of stereoscopic endoscope 10 A display device comprising CCUs 13R and 13L that receive signals and convert them into video signals of a predetermined form, and display elements 14R and 14L that are display units, eyepieces 17R and 17L, an image sensor unit set 16, and the like. 18 and a video signal in a form (display format) suitable for receiving an output signal (video signal) from the CCUs 13R and 13L and displaying the video using the display elements 14R and 14L of the display device 18. Display signal), a balance SW 19 for generating a signal for starting left / right adjustment, a light emitting diode (LED) 20 for displaying that the left / right balance adjustment is being executed, and the like. A comparison device 21 that compares signals from the image pickup device unit set 16 of the device 18 and a reference subject pattern that is disposed so as to cover the distal end portion of the stereoscopic endoscope 10 when performing left-right adjustment. Is displayed, and a light source device 23 for illuminating the reference subject jig 22 from the stereoscopic endoscope 10 side.

  The display device 18 includes a display element 14R and a display element 14L, which are display units including a liquid crystal display device (LCD), and an eyepiece 17R and an eyepiece 17L for observing the display element 14R and the display element 14L, respectively. The display elements 14R and 14L can be simultaneously photographed on one screen, and are configured by an imaging element unit set 16 or the like that is disposed at a position that does not obstruct the field of view during observation from the eyepieces 17R and 17L.

  The imaging element section set 16 is an imaging device provided for imaging the display screens of the display elements 14R and 14L. For this purpose, the imaging element section set 16 is a unit configured by components such as an imaging element and an optical lens. In addition, about the internal structure, the thing similar to the conventional general image pick-up element part group is applied, The detail is abbreviate | omitted.

  As shown in FIG. 2, the comparison device 21 includes the LED 20, the balance SW 19, an A / D converter 30 that receives a video signal from the imaging element unit set 16 and converts the analog signal into a digital signal, In response to an instruction input from the balance SW 19, the LED 20 is controlled to blink, and the controller 29 performs output control of a timing generation command signal (hereinafter referred to as a timing signal) to the TG 31 described later. A timing generator (hereinafter abbreviated as TG) 31 that generates a signal, an image memory 32R that records display information of the right display element 14R, an image memory 32L that records display information of the left display element 14L, and a reference Position information is recorded in advance, and the reference position information and image memo The comparator 33 for position comparison for comparing the values (position information) of the specific addresses 32R and 32L, and the reference W (white) color information are recorded in advance, and the reference W color information and the image memories 32R and 32L The comparator 34 for comparing the value of the specific address (W color information) and the reference R (red) color information are recorded in advance, and the reference R color information and the value of the specific address (R color) of the image memories 32R and 32L. Information) and reference G (green) color information is recorded in advance, and the reference G color information is compared with specific address values (G color information) in the image memories 32R and 32L. 36, a reference B (blue) color information recorded in advance, a comparator 37 for comparing the reference B color information and the value (B color information) of a specific address in the image memories 32R and 32L, the position, Each ratio of W color, R color, G color, B color Output vessels 33 to 37 is configured by including a memory 38 which stores the (comparison).

  As shown in FIG. 3, the control device 15 includes A / D 40R, 40L and TG 41R, 41L to which video signals (analog signals) from the CCUs 13R, 13L are input, and video signals (digital signals) from the A / D 40R, 40L. ) In response to the display elements 14R and 14L, and converts the scalers 42R and 42L into display signals in a form optimal for display, image memories 43R and 43L for storing output signals of the scalers 42R and 42L, and the image memories Memory controller 44R, 44L for controlling 43R, 43L, R position correction data LUT45R (hereinafter referred to as LUT45R) and L position correction data LUT45L (hereinafter referred to as LUT45R) to which signals from the memory 38 of the comparison device 21 are input. , LUT45L) and signals from the memory 38 of the comparison device 21. W color, R color, G color, data and image memory 43R about the B color, the adder 47R for adding the data 43L, is configured by 47L or the like.

  The reference subject jig 22 is formed in a substantially cylindrical shape having an opening at one end as shown in FIG. The inner diameter dimension of the reference subject jig 22 is formed to be substantially the same as the outer diameter dimension of the stereoscopic endoscope 10. Thus, the reference subject jig 22 can be arranged and fixed so as to cover the distal end portion of the stereoscopic endoscope 10.

  A stopper portion 22a as shown in FIGS. 4 and 5 is provided on the inner peripheral surface of the reference subject jig 22 so as to project inward. When the reference subject jig 22 is disposed with respect to the distal end portion of the stereoscopic endoscope 10, the stopper portion 22 a has the most distal portion of the stereoscopic endoscope 10 at the bottom of the reference subject jig 22. It plays a role not to conflict with the part.

  A predetermined figure representing a reference subject pattern as shown in FIG. 5 is displayed on the inner surface of the bottom of the other end of the reference subject jig 22. The figure of the reference subject pattern shown in FIG. 5 is an example. That is, the reference subject pattern in this example includes a cross mark 91 shown in a portion near the center, and charts 92, 93, 94, and 95 representing the reference colors of W, R, G, and B. Is formed by.

  In the stereoscopic endoscope apparatus 1 of the present embodiment configured as described above, the operation when adjusting the left and right images of the stereoscopic endoscope 10 will be described below.

  First, the reference subject jig 22 is attached to the distal end portion of the stereoscopic endoscope 10. At this time, since the stopper portion 22 a is formed on the reference subject jig 22, the tip of the stereoscopic endoscope 10 does not come into contact with the reference subject pattern at the bottom of the reference subject jig 22. Further, since the inner diameter of the reference subject jig 22 is substantially the same as the outer diameter of the stereoscopic endoscope 10, it can be attached and fixed without play.

  The position of the stopper portion 22a, that is, the distance from the bottom of the reference subject jig 22 to the stopper portion 22a, and the distance at which the stereoscopic endoscope 10 is focused are set to be substantially equal. Therefore, by simply pushing the distal end of the stereoscopic endoscope 10 through the opening at one end of the reference subject jig 22 to a position where it can be stopped, the reference subject pattern at the bottom can be observed in a focused state. it can.

  Separately from this, when the stereoscopic endoscope 10 has a focus adjustment mechanism, a range from a position not less than the minimum distance at which the stereoscopic endoscope 10 is in focus to a position not more than the maximum distance at which the focus is achieved. What is necessary is just to provide the stopper part 22a in the inside.

  In this state, the photographing operation by the stereoscopic endoscope 10 is executed. When this photographing operation is executed, the illumination light of the light source device 23 illuminates the reference subject pattern at the bottom of the reference subject jig 22, and the reference elements of the reference subject jig 22 are picked up by the imaging elements 12R and 12L of the stereoscopic endoscope 10. Optical images representing the cross mark 91, which is the subject pattern, and the reference color charts 92 to 95 of W color, R color, G color, and B color are acquired as electrical signals.

  The electrical signals thus acquired by the imaging elements 12R and 12L are converted into video signals representing the reference subject pattern by being subjected to various signal processing by the CCUs 13R and 13L.

  This video signal is converted by the control device 15 into a display signal in an optimal form for display on the display elements 14R and 14L of the display device 18 and transmitted to the display device 18.

  In response to this, an image of the reference subject pattern of the reference subject jig 22 is displayed on the display portions of the display elements 14R and 14L of the display device 18.

  Next, in this state, an operation of photographing the image displayed on the display elements 14R and 14L using the imaging element unit set 16 of the display device 18 is executed.

  In this case, the graphic image of the reference subject pattern photographed by the image pickup device unit set 16 is like the example shown in FIG.

  In the present embodiment, the two display elements 14R and 14L are configured to simultaneously photograph on one screen. However, the present invention is not limited to this. For example, the two display elements 14R and 14L are separately photographed by moving or rotating the imaging element unit set 16 using a predetermined driving unit, that is, a plurality of photographing operations. To do.

  The video signal acquired by the imaging operation by the imaging element unit set 16 is output toward the comparison device 21. Here, when an operation such as pressing the balance SW 19 of the comparison device 21 is performed, a comparison process by the comparison device 21 is executed.

  Here, in the stereoscopic endoscope apparatus 1 of the present embodiment, the sequence of the comparison process by the comparison device 21 when adjusting the left and right images of the stereoscopic endoscope 10 is shown in the flowcharts of FIGS. 8 and 9. This will be described below.

  As described above, when the start signal of the left / right adjustment operation from the balance SW 19 is generated, the controller 29 of the comparison device 21 receives this signal and generates a timing signal for driving the TG 31 in step S1 of FIG. At the same time, the controller 29 starts blinking control of the LED 20. Thereafter, the process proceeds to step S1.

  In the present embodiment, the fact that adjustment is being performed is displayed by blinking the LED 20. Therefore, instead of the LED 20, for example, a liquid crystal display (LCD) or the like may be applied to display that fact on the LCD.

  Next, by comparing the values of the image memories 32R and 32L and the comparators 33 to 37, the captured video signal (contents of the image memories 32R and 32L), position information, W color, R color, and G color are displayed. , B color reference information for each color is compared using comparators 33-37.

  That is, in step S2, the A / D converter 30 receives an input signal (analog signal) from the image pickup device unit set 16, performs A / D conversion processing, and converts the converted digital signal into the image memory 32R, Output to 32L. At this time, the A / D converter 30 switches the image memories 32R and 32L in a time that is one half (1/2) of the horizontal scanning time of the image sensor unit set 16 based on the timing signal from the TG 31. . Thereby, a video signal obtained by photographing the display image of the display element 14R is output to the image memory 32R, and a video signal obtained by photographing the display image of the display element 14L is output to the image memory 32L. In response, the image memories 32R and 32L record the input video signal.

  Then, the controller 29 detects the address (position information) of the cross mark 91 from the video signals recorded in the image memories 32R and 32L. Thereafter, the process proceeds to step S3.

  In step S <b> 3, the controller 29 controls the comparator 33 to execute a comparison process for comparing the addresses of the image memories 32 </ b> R and 32 </ b> L where the cross mark 91 is recorded with the reference position information of the comparator 33.

  If it is determined that there is a difference between the addresses of the image memories 32R and 32L and the reference position information of the comparator 33, the process proceeds to step S4. If it is determined that there is no difference, the process proceeds to step S5.

  When it is determined that there is a difference between the two in the process of step S3 and the process proceeds to the process of step S4, the difference data of the comparison result of the comparator 33 is output to the memory 38 in step S4. Are simultaneously output to the control device 15. Then, a predetermined data correction process is performed in the control device 15. A processing sequence performed by the control device 15 will be described later.

  On the other hand, if it is determined that there is no difference between the two in the process of step S3 and the process proceeds to the process of step S5, in this step S5, the controller 29 determines the W color from the recording data of the image memories 32R and 32L. An address of the reference color chart 92 is detected, and a comparison process between this and the reference W color information of the comparator 34 is executed in the comparator 34.

  If it is determined that there is a difference between the addresses of the image memories 32R and 32L and the reference W color information of the comparator 34, the process proceeds to step S6. If it is determined that there is no difference, the process proceeds to step S7.

  When it is determined that there is a difference between the two in the process of step S5 described above and the process proceeds to the process of step S6, the difference data of the comparison result of the comparator 34 is output to the memory 38 in step S6. Are simultaneously output to the control device 15. Then, a predetermined data correction process is performed in the control device 15. A processing sequence performed by the control device 15 will be described later.

  On the other hand, if it is determined in step S5 that there is no difference between the two and the process proceeds to step S7, in step S7, the controller 29 determines the R color from the recording data in the image memories 32R and 32L. The address of the reference color chart 93 is detected, and the comparator 35 executes a comparison process between this and the reference R color information of the comparator 35.

  If it is determined that there is a difference between the addresses of the image memories 32R and 32L and the reference R color information of the comparator 35, the process proceeds to step S8. If it is determined that there is no difference, the process proceeds to step S9 in FIG. 9 (see symbol A in FIGS. 8 and 9).

  When it is determined that there is a difference between the two in the process of step S7 and the process proceeds to the process of step S8, the difference data of the comparison result of the comparator 35 is output to the memory 38 in step S8. Are simultaneously output to the control device 15. Then, a predetermined data correction process is performed in the control device 15. A processing sequence performed by the control device 15 will be described later.

  On the other hand, if it is determined in step S7 that there is no difference between the two and the process proceeds to step S9 in FIG. 9, in step S9, the controller 29 uses the recorded data in the image memories 32R and 32L. The address of the G color reference color chart 94 is detected, and the comparator 36 executes a comparison process between this address and the reference G color information of the comparator 36.

  If it is determined that there is a difference between the addresses of the image memories 32R and 32L and the reference G color information of the comparator 36, the process proceeds to step S10. If it is determined that there is no difference, the process proceeds to step S11.

  If it is determined that there is a difference between the two in the process of step S9 and the process proceeds to step S10, the difference data of the comparison result of the comparator 36 is output to the memory 38 in step S10. Are simultaneously output to the control device 15. Then, a predetermined data correction process is performed in the control device 15. A processing sequence performed by the control device 15 will be described later.

  On the other hand, when it is determined that there is no difference between the two in the process of step S9 and the process proceeds to the process of step S11, the controller 29 determines the B color from the recorded data in the image memories 32R and 32L. The address of the reference color chart 95 is detected, and a comparison process between this and the reference B color information of the comparator 37 is executed in the comparator 37.

  If it is determined that there is a difference between the address of the image memories 32R and 32L and the reference B color information of the comparator 37, the process proceeds to step S12. If it is determined that there is no difference, the process proceeds to step S13.

  When it is determined in step S11 described above that there is a difference between the two and the process proceeds to step S12, the difference data of the comparison result of the comparator 37 is output to the memory 38 in step S12. Are simultaneously output to the control device 15. Then, a predetermined data correction process is performed in the control device 15. A processing sequence performed by the control device 15 will be described later.

  In step S13, the controller 29 ends the blinking control of the LED 20, and turns off the LED 20. Then, a series of processing sequences are complete | finished.

  Note that the comparison processing of the comparison device 21 is continued until the difference between the left and right images is resolved by the calculation results of the comparators 33 to 37.

  Next, the data correction process executed by the control device 15 performed in the processes of steps S4, S6, S8 (FIG. 8) and steps S10, S12 described above is as follows.

  First, the difference data of the comparison result of the comparator 37 output from the memory 38 of the comparison device 21 is input to the LUTs 45R and 45L of the control device 15. Based on the values of the LUTs 45R and 45L, the memory controllers 44R and 44L change the output timing of the image memories 43R and 43L and change the drawing positions of the display elements 14R and 14L.

  Next, the adders 47R and 47L perform arithmetic processing for adding the difference data from the memory 38 of the comparison device 21 and the values of the image memories 43R and 43L. Display is performed by the display elements 14R and 14L of the display device 18 based on the correction data obtained as a result.

  In this way, the image displayed on the display elements 14R and 14L based on the correction data is re-captured by the image sensor unit set 16, and the display characteristics of the left and right images are stored in the comparison device 21 in advance by repeating the same correction process. It is adjusted so as to meet a predetermined reference value.

  As described above, according to the first embodiment, the reference subject pattern of the reference subject jig 22 is photographed, and two or more display elements (14R, 14L) are adjusted based on the photographing result. Thus, the display characteristics of the display elements 14R and 14L can be adjusted to be substantially the same in the entire system including all the optical systems, CCUs, display elements, and the like.

  In the present embodiment, instead of correcting the mechanical displacement of the display elements 14R and 14L itself of the display device 18, an image of the reference subject pattern is displayed on the display elements 14R and 14L, and the display elements 14R and 14L are displayed. By correcting the display position of the image displayed on the 14L display screen, it is possible to correct the positional deviation between the left and right images when the user (observer) views the left and right images simultaneously.

  The left and right images generated due to optical variations of the stereoscopic objective lenses 11R and 11L of the stereoscopic endoscope 10 and variations of the imaging elements 12R and 12L, the CCUs 13R and 13L, the display elements 14R and 14L, and the like. The display positions of the display elements 14R and 14L are adjusted by correcting the variation.

  Therefore, this makes it possible to always perform correction that matches the reference image stored in advance in the comparison device 21, and to adjust the display characteristics of the display elements 14R and 14L and the display position. As a result, it is possible to improve the left-right variation of the image observed by the user and reduce the fatigue of the user.

  In the present embodiment, correction processing is performed for four colors of W color, R color, G color, and B color. However, the present invention is not limited to this, and correction processing using other colors is performed. You may make it perform.

  Next, a stereoscopic endoscope apparatus according to a second embodiment of the present invention will be described below with reference to FIGS.

  FIG. 10 is an overall configuration diagram of the stereoscopic endoscope apparatus according to the second embodiment of the present invention. FIG. 11 is a block configuration diagram showing an internal configuration of the comparison device in the stereoscopic endoscope device of the present embodiment. FIG. 12 is a block configuration diagram showing an internal configuration of the control device in the stereoscopic endoscope apparatus of the present embodiment. FIG. 13 is a flowchart illustrating an operation when the left and right adjustment of the observation image of the display device in the stereoscopic endoscope of the present embodiment is performed.

  This embodiment basically has substantially the same configuration as that of the first embodiment described above, and the internal configurations of the comparison device 21A and the control device 15A are slightly different. Therefore, the same configurations as those of the first embodiment described above are denoted by the same reference numerals, the description thereof is omitted, and only different configurations and operations will be described below.

  As shown in FIG. 11, the comparison device 21A in the stereoscopic endoscope apparatus 1A of the present embodiment includes an LED 20, a balance SW 19, an A / D converter 30, a controller 29, a TG 31, an image memory 32R, 32L, the reference position information is recorded in advance, the comparator 33 that compares the reference position information with the value (position information) of the specific address in the image memories 32R and 32L, and the correspondence between the image memory 32R and the image memory 32L And an R / L comparison comparator 39 for comparing the values of specific addresses, a comparator 33, and a memory 38 for storing the output result (comparison result) of the comparator 39.

  In the present embodiment, two image memories, the right image memory 32R and the left image memory 32L, are provided as the image memories. However, the present invention is not limited to this configuration, and for example, an address is designated. It is also possible to configure with one image memory.

  As shown in FIG. 12, the control device 15A in the stereoscopic endoscope apparatus 1A according to the present embodiment includes A / D 40R, 40L, TG 41R, 41L, scalers 42R, 42L, image memories 43R, 43L, and a memory controller. 44R, 44L, LUTs 45R, 45L, an adder 52, and a signal (difference data relating to W color, R color, G color, B color) from the memory 38 of the comparison device 21A, and the left and right display elements 14R, The 14 L video signal (the signal from the image memory 43R, 43L) is switched to the first switch 53 for switching whether to perform the correction process, and the signal output to the display device 18 is output to either the display element 14R, 14L. Is configured by a second switch 54 or the like.

  A signal from the comparator 39 of the comparison device 21A is input to the first switch 53 and the second switch 54. Based on the signal from the comparator 39, the outputs of the first switch 53 and the second switch 54 are switched. For this purpose, the first switch 53 and the second switch 54 constitute a switch having two inputs and two outputs.

  The first switch 53 receives the signal from the comparator 39 and the video signals from the image memories 43R and 43L. On the other hand, one of the output signals from the first switch 53 is output to the adder 52, and the other is output to the second switch 54 through.

  The second switch 54 receives the signal from the comparator 39 described above, the signal that has passed through the first switch 53 (from the image memories 43R and 43L), and the video signal from the adder 52. It has become so. On the other hand, the second switch 54 outputs a video signal to the display elements 14R and 14L.

  Therefore, after performing correction processing on only one of the left and right video signals from the image memories 43R and 43L, the video signal is output to the display device 18. Other configurations are the same as those in the first embodiment.

  In the stereoscopic endoscope apparatus 1A of the present embodiment configured as described above, the operation when the left and right images of the stereoscopic endoscope 10 are adjusted will be described below with reference to the flowchart of FIG.

  First, the brightness of the images in the image memory 32R and the image memory 32L is compared by the comparator 39 of the comparison device 21A. Thereby, it is determined which image of the two display elements 14R and 14L is bright or dark. In response to the comparison result, the control device 15A adjusts the display element that is determined to be dark.

  In this embodiment, the adjustment to be adjusted to the darker side is performed as described below. However, the adjustment is not limited to this, and the adjustment to the brighter side may be performed based on the comparison result. . In addition, the adjustment may always be performed on one of the left and right sides.

  First, in step S21, the control device 15A adjusts the image output timing by the memory controllers 44R and 44L, thereby performing the left and right image position correction processing.

  Next, in step S22, execution of adjustment processing for the W color, the R color, the G color, and the B color is started.

  First, in step S23, it is determined which of the display elements 14R and 14L is bright based on the signal from the comparator 39. If it is determined that the display element 14R is bright, the process proceeds to step S24. On the other hand, if it is determined that the display element 14L is bright, the process proceeds to step S28.

  In step S23 described above, when it is determined that the display element 14R is bright and the process proceeds to step S24, in step S24, the first switch 53 determines the video signal from the image memory 43R and the difference data from the comparator 39. Are output to the adder 52. At the same time, the first switch 53 passes the video signal from the image memory 43L and outputs it to the second switch 54.

  Next, in step S25, the adder 52 performs addition processing for adding the video signal from the image memory 43R and the difference data from the comparator 39, and then outputs the processing result to the second switch 54. .

  Subsequently, in step S26, the second switch 54 outputs the output signal from the adder 52 (the signal obtained by adding the video signal of the image memory 43R and the difference data of the comparator 39) to the display element 14R. . At the same time, the second switch 54 outputs a video signal input through the first switch 53 from the image memory 43L to the display element 14L.

  In step S27, the display element 14R displays an image to which the difference data of the comparator 39 is added. On the other hand, the display element 14L displays an image that has not been subjected to any correction. As a result, the series of adjustment processing ends.

  On the other hand, when it is determined in step S23 that the display element 14L is bright and the process proceeds to step S28, the first switch 53 in step S28 receives the video signal from the image memory 43L and the comparator 39. The difference data is output to the adder 52. At the same time, the first switch 53 passes the video signal from the image memory 43R and outputs it to the second switch 54.

  Next, in step S29, the adder 52 performs addition processing for adding the video signal from the image memory 43L and the difference data from the comparator 39, and then outputs the processing result to the second switch 54. .

  Subsequently, in step S30, the second switch 54 outputs the output signal from the adder 52 (the signal obtained by adding the video signal in the image memory 43L and the difference data from the comparator 39) to the display element 14L. . At the same time, the second switch 54 outputs a video signal input through the first switch 53 from the image memory 43R to the display element 14R.

  In step S31, the display element 14L displays an image to which the difference data of the comparator 39 is added. On the other hand, the display element 14R displays an image that has not been subjected to any correction. As a result, the series of adjustment processing ends.

  As described above, according to the second embodiment, the same effect as in the first embodiment can be obtained. At the same time, since the video signals displayed on the left and right display elements 14R and 14L are compared and adjusted to match one side, for example, the comparator has a predetermined reference value (initial state) in advance. Therefore, it is not necessary to keep it, and it can contribute to the simplification of the configuration.

  In addition, even when one of the display elements is very dark due to a failure or the like, the adjustment of matching the left and right images can be performed.

  Next, a stereoscopic endoscope apparatus according to a third embodiment of the present invention will be described below with reference to FIGS.

  FIG. 14 is an overall configuration diagram of a stereoscopic endoscope apparatus according to a third embodiment of the present invention. FIG. 15 is a block configuration diagram showing an internal configuration of the comparison device in the stereoscopic endoscope device of the present embodiment. FIG. 16 is a block configuration diagram illustrating an internal configuration of a control device in the stereoscopic endoscope apparatus according to the present embodiment. FIG. 17 is a flowchart showing an operation when the display switching between the stereoscopic video and the wide-angle video is performed in the display device of the stereoscopic endoscope apparatus according to the present embodiment.

  This embodiment basically has substantially the same configuration as that of the above-described second embodiment, and is configured to be able to acquire a wide-angle field image in addition to the stereoscopic field image. The control device 15B has a endoscope 10B, a CCU 13W corresponding to the endoscope 10B, and the like, and the control of the comparison device 21B and the control device 15B is made different from that of the video signal of the wide-angle visual field image. Therefore, the same configurations as those of the second embodiment described above are denoted by the same reference numerals, the description thereof is omitted, and only different configurations and operations will be described below.

  As shown in FIG. 14, the stereoscopic endoscope apparatus 1B according to the present embodiment includes two stereoscopic objective lenses 11R and 11L, a wide-angle visual field objective lens 11W, and two images formed by the stereoscopic objective lenses 11R and 11L. An image sensor 12R, 12L such as a CCD for converting an optical image into an electric signal, and an image sensor 12W such as a CCD for converting an optical image formed by the wide-angle visual field objective lens 11W into an electric signal are provided. The configured stereoscopic endoscope 10B, CCUs 13R, 13L, and 13W that receive output signals from the imaging elements 12R, 12L, and 12W of the stereoscopic endoscope 10B and convert them into video signals of a predetermined form, and the CCU 13R , 13L, 13W, a control device 15B that receives output signals (video signals) and converts them into display format display signals (video signals), and display elements 14R, The display device 18 having 4L, the eyepieces 17R and 17L, the image pickup device set 16 and the like, and the signal from the image pickup device set 16 of the display device 18 having the balance SW 19 and the light emitting diode (LED) 20 are compared. The comparison device 21B, the reference subject jig 22, the light source device 23, and the like are mainly configured.

  As described above, the control device 15B receives the output signals (video signals) from the CCUs 13R, 13L, and 13W and converts them into display format display signals (video signals). Each video signal is output to the display elements 14R and 14L by switching. That is, when performing stereoscopic observation, a video signal in the right display format is output to the display element 14R, and at the same time, a video signal in the left display format is output to the display element 14L. When observing the wide-angle field of view, the wide-angle field-of-view video signal converted and generated based on the output signal from the CCU 13W is output to both the display elements 14R and 14L. The same image is displayed on 14L.

  In addition to this, for example, a display element for wide-angle visual field display is provided in the display device 18 so that a video signal for wide-angle visual field is displayed on the display element for wide-angle visual field display. Good.

  As shown in FIG. 15, the comparison device 21B in the stereoscopic endoscope apparatus 1B of the present embodiment includes an LED 20, a balance SW 19, an A / D converter 30, a controller 29B, a TG 31, an image memory 32R, 32L, a comparator 33 for position comparison, a comparator 39 for R / L comparison, a memory 38, and the like.

  Among these, the controller 29B in the comparison device 21B further communicates with the control device 15B, so that the display elements 14R and 14L are displaying or displaying a wide-angle visual field image (CCU13W image). It is possible to detect whether the elements 14R and 14L are displaying stereoscopic images (CCUs 13R and 13L).

  Depending on the detection result, the third switch 63R, 63L (described later) of the control device 15B is controlled to switch the display, or the read address is switched by the image memory 43R, 43L of the control device 15B. ing.

  Further, the controller 29B transmits to the control device 15B that the balance adjustment processing by the comparison device 21B is being performed by communication with the control device 15B.

  As shown in FIG. 16, the control device 15B in the stereoscopic endoscope device 1B according to the present embodiment includes the control devices 15A (see FIG. 13) in the second embodiment as described above, Third switchers 63R and 63L that switch and output an input signal and an input signal from the CCU 13W are provided. The third switchers 63R and 63L are ensured electrical connection with the controller 29B of the comparison device 21B. Other configurations are the same as those in the second embodiment described above.

  In the stereoscopic endoscope apparatus 1B of the present embodiment configured as described above, the operation when adjusting the left and right images of the stereoscopic endoscope 10B is substantially the same as that of the above-described second embodiment. . Therefore, FIG. 13 is referred to for a flowchart showing the operation sequence.

  However, in the present embodiment, the display elements 14R and 14L of the display device 18 display a wide-angle visual field image (CCU 13W image) and make adjustments, and then display the display elements 14R and 14L. The video is switched to a video for stereoscopic viewing (CCU 13R, 13L video), and adjustment is performed even in this state.

  The operation in this case is as follows. First, the user operates the balance SW 19 of the comparison device 21B to start the adjustment operation.

  Thus, when the adjustment operation is started, the control device 15B controls the third switching devices 63R and 63L to execute switching control for making the images displayed on the display elements 14R and 14L of the display device 18 into images for a wide-angle field of view. To do.

  Then, a wide-angle visual field image is simultaneously displayed on both display elements 14R and 14L. On the other hand, the same adjustment process (see FIG. 13) as in the second embodiment is executed. As a result, the left and right images displayed on the display elements 14R and 14L are adjusted.

  When this adjustment process is completed, the control device 15B subsequently controls the third switching devices 63R and 63L to switch the images displayed on the display elements 14R and 14L of the display device 18 to stereoscopic images. Execute.

  As a result, stereoscopic images are displayed on the display elements 14R and 14L. On the other hand, the same adjustment process (see FIG. 13) as in the second embodiment is executed. Then, the left and right images displayed on the display elements 14R and 14L are adjusted.

  Data relating to the video imaged by the imaging device unit set 16 of the display device 18 for the wide-angle visual field image displayed on the display elements 14R and 14L is stored at predetermined addresses in the image memories 43R and 43L. Further, at other addresses of the image memories 43R and 43L, data relating to images captured by the image sensor unit set 16 of the display device 18 with respect to stereoscopic images displayed on the display elements 14R and 14L is stored. . Therefore, it is possible to compare the stereoscopic video and the wide-angle visual image.

  In the present embodiment, the display image of the display device 18 is switched by switching the wide-angle visual field image and the stereoscopic image by operating the balance SW 19 of the comparison device 21B. However, in practice, for example, reference data (lookup table; LUT; Look Up Table) is previously stored in an internal memory (not shown) of the control device 15B, for example, for specifying a surgical instrument or forceps. The shape and color of the display device 18 are stored, and when these instruments and the like enter the imaging range of the imaging element 12W for wide-angle viewing, this is detected so that the display on the display device 18 becomes a stereoscopic image. It is good also as a structure switched to.

  In the case of such a configuration, the operation when the display image of the display device 18 is switched will be described below with reference to the flowchart of FIG.

  First, it is assumed that the display elements 14R and 14L of the display device 18 are displaying a wide-angle visual field image based on the video signal from the CCU 13W.

  In this state, in step S41, the control device 15B compares the data (LUT) stored in advance in the internal memory (not shown) of the control device 15B with the video signal from the CCU 13W, and uses the wide-angle visual field. It is detected whether or not there are instruments such as forceps in the image (wide angle image). If no appliance is detected, the process proceeds to step S44. If an appliance is detected, the process proceeds to step S42.

  In step S42, the control device 15B receives the wide-angle visual field video signal from the CCU 13W and performs format conversion so that the video signal has a predetermined display format (a format for displaying a wide-angle image). The video signal in the display format thus generated is output toward both display elements 14R and 14L.

  Next, in step S43, the control device 15B compares the data (LUT) stored in advance in its own internal memory (not shown in particular) with the video signals from the CCUs 13R and 13L, so that a stereoscopic video ( It is detected whether or not there are instruments such as forceps in the stereoscopic image. If no appliance is detected, the process returns to step S42. If an appliance is detected, the process proceeds to step S44.

  Subsequently, in step S44, the control device 15B receives the stereoscopic video signals from the CCUs 13R and 13L and performs format conversion so that the video signals have a predetermined display format (a format for displaying a 3D image). With respect to the generated display format video signal, the video signal from the CCU 13R is output to the display element 14R, and the video signal from the CCU 13L is output to the display element 14L. Then, a series of sequence is complete | finished.

  In addition to the above-described example, the switching timing of the display image of the display device 18 may be set by using forceps and a trocar configured as shown in FIG.

  As shown in FIG. 18, a magnet is provided at a predetermined portion of the forceps 81. In the example shown in FIG. 18, two magnets of a first magnet 83 and a second magnet 84 are arranged at a predetermined interval.

  The trocar 82 is provided with a magnetic sensor 85 at a predetermined site.

  When the forceps 81 is inserted into the trocar 82, a predetermined detection signal is generated when the magnets 83 and 84 of the forceps 81 pass in the vicinity of the magnetic sensor 85.

  Here, since the forceps 81 is provided with a plurality of magnets 83 and 84, when the forceps 81 is inserted into the trocar 82, the amount of the forceps 81 can be detected.

  By the way, when displaying an image for a wide-angle visual field on the display elements 14R and 14L of the display device 18, since the image displays a wide range, the object in the imaging range is displayed relatively small. Become. On the other hand, in a stereoscopic image, an object within the imaging range is displayed relatively larger than in the case of a wide-angle visual image. For this reason, when the image displayed on the display elements 14R and 14L is switched between a wide-angle visual image and a stereoscopic image, there is a slight sense of incongruity for those who are observing the video. There is a case.

  In order to reduce the uncomfortable feeling in this case, the following configuration of the display device can be considered.

  FIG. 19 shows another stereoscopic display device having a mechanism for reducing a sense of incongruity when switching between a wide-angle visual field image and a stereoscopic image in the stereoscopic endoscope apparatus according to the third embodiment. It is a figure which shows a structure. FIG. 20 is a configuration diagram showing an eyepiece lens set and a drive mechanism for driving the eyepiece lens set in the display device of FIG. 19, and shows a state when viewed from the direction of arrow C in FIG.

  The display device 18B basically has the same configuration as the display device (18) of each of the embodiments described above. In this display device 18B, instead of the eyepieces 17R and 17L in the display device (18) of each of the above-described embodiments, the eyepiece lens set 70 and the first mirror are used as means for observing the display elements 14R and 14L. 64R, 64L and second mirrors 65R, 65L are provided, and in addition, a driving mechanism for driving the eyepiece set 70 of the observation means and a driving mechanism for driving the display elements 14R, 14L. The difference is that it is configured.

  Among the constituent members of the observation means for observing the display elements 14R and 14L, the first mirrors 64R and 64L have their reflection surfaces at the positions facing the display surfaces of the display elements 14R and 14L. The display elements 14R and 14L are arranged at an angle of approximately 45 degrees with respect to the display surfaces of the display elements 14R and 14L.

  The second mirrors 65R and 65L are arranged on the extended line of the light beam reflected by the reflecting surfaces of the first mirrors 64R and 64L with the reflecting surfaces facing the reflecting surfaces of the first mirrors 64R and 64L. In this case, the second mirrors 65R and 65L are inclined at an angle of approximately 45 degrees with respect to the light beam reflected by the first mirrors 64R and 64L and are substantially parallel to the first mirrors 64R and 64L. Is arranged. The eyepiece lens set 70 is disposed on the extended line of the light beam reflected by the reflecting surfaces of the second mirrors 65R and 65L.

  With such a configuration, the display images of the display elements 14R and 14L are reflected by the first mirrors 64R and 64L and the second mirrors 65R and 65L, respectively, and then enter the eyepiece lens set 70. Accordingly, the display images of the display elements 14R and 14L can be observed from the direction of arrow C in FIG.

  Further, the eyepiece lens set 70 can move in the directions of arrows X1 and X2 shown in FIG. For this purpose, a drive motor 71 and a drive gear 72 are provided as a drive mechanism for driving the eyepiece lens set 70.

  As shown in FIG. 20, the eyepiece lens set 70 is disposed on a disk-like lens support 70d that is rotatably provided with respect to a fixing member inside the display device 18B, and on the periphery of the lens support 70d. And three pairs of lens groups (each pair of equal-magnification lens 70a, magnifying lens 70b, and reducing lens 70c). And the gear part 70e is formed in a part of outer peripheral part of the lens support body 70d.

  The driving mechanism for driving the eyepiece lens set 70 includes a driving motor 71 fixed inside the display device 18B and configured to be rotatable forward and backward, and a driving gear fixed to the driving shaft of the driving motor 71. 72. In this case, the gear portion formed on the outer periphery of the drive gear 72 meshes with the gear portion 70e of the eyepiece set 70 described above.

  Therefore, with this configuration, when the drive motor 71 is driven, the drive gear 72 rotates in either the forward or reverse direction. Then, since the driving gear 72 rotates in the same direction, the lens support 70d meshed with the driving gear 72 rotates in a predetermined direction. As a result, any one of the three pairs of lens groups of the eyepiece lens set 70 can be arbitrarily moved to a predetermined observation position.

  On the other hand, the drive mechanism for driving the display element 14R and the display element 14L is configured by drive motors 67R and 67L configured to be rotatable forward and backward and shafts 68R and 68L having notches.

  Small gears fixed to the drive shafts of the drive motors 67R and 67L are screwed into the shafts 68R and 68L. Thus, when the drive motors 67R and 67L are rotated, the shafts 68R and 68L are also rotated.

  In addition, predetermined portions of the display elements 14R and 14L are engaged with the notches of the shafts 68R and 68L. Thus, when the shafts 68R and 68L rotate with the rotation of the drive motors 67R and 67L, the display elements 14R and 14L move in the directions of arrows X1 and X2 shown in FIG. Other configurations are the same as those of the above-described embodiments.

  When the display device 18B configured as described above is used, the display elements 14R and 14L are usually observed through the equal-magnification lens 70a of the eyepiece lens set 70.

  When enlarging or reducing observation is desired from this state, the magnifying lens 70b or the reducing lens 70c is disposed at a predetermined position by rotating the driving motor 71 to rotate the eyepiece lens set 70.

  Thereby, if the display elements 14R and 14L are observed through the magnifying lens 70b, magnifying observation can be performed. Further, if the display elements 14R and 14L are observed through the reduction lens 70c, the reduction observation can be performed.

  Further, when it is desired to perform further enlargement observation at the time of enlargement observation or the like, the display elements 14R and 14L are moved in the direction of the arrow X1 by rotating the drive motors 67R and 67L, that is, from the eyepiece set 70. What is necessary is just to move to the direction away.

  Then, if the switching operation of the eyepiece lens set 70 is controlled so as to be interlocked when the images displayed on the display elements 14R and 14L are switched, the display image is optically converted even when the stereoscopic image and the wide-angle image are switched. Therefore, the observation can be continued with no sense of incongruity.

1 is an overall configuration diagram of a stereoscopic endoscope apparatus according to a first embodiment of the present invention. The block block diagram which shows the internal structure of the comparison apparatus in the stereoscopic endoscope apparatus of FIG. The block block diagram which shows the internal structure of the control apparatus in the stereoscopic endoscope apparatus of FIG. The perspective view which shows the external appearance of the reference | standard object jig | tool in the stereoscopic endoscope apparatus of FIG. FIG. 5 is a diagram illustrating a reference subject pattern provided inside a reference subject jig in the stereoscopic endoscope apparatus of FIG. 1, viewed from the direction of arrow A in FIG. 4. The figure which shows the schematic internal structure of the display apparatus in the stereoscopic endoscope apparatus of FIG. 1, and the imaging visual field of the image pick-up element part group in the said display apparatus. The figure which shows the image | video of the reference | standard subject pattern image | photographed by the image pick-up element part group in the display apparatus of the stereoscopic endoscope apparatus of FIG. The flowchart which shows the effect | action at the time of performing the left-right adjustment of the observation image of the display apparatus in the stereoscopic endoscope of FIG. The flowchart which shows the effect | action at the time of performing the left-right adjustment of the observation image of the display apparatus in the stereoscopic endoscope of FIG. The whole block diagram of the stereoscopic endoscope apparatus of the 2nd Embodiment of this invention. The block block diagram which shows the internal structure of the comparison apparatus in the stereoscopic endoscope apparatus of FIG. The block block diagram which shows the internal structure of the control apparatus in the stereoscopic endoscope apparatus of FIG. The flowchart which shows the effect | action at the time of performing the left-right adjustment of the observation image of the display apparatus in the stereoscopic endoscope of FIG. The whole block diagram of the stereoscopic endoscope apparatus of the 3rd Embodiment of this invention. The block block diagram which shows the internal structure of the comparison apparatus in the stereoscopic endoscope apparatus of FIG. The block block diagram which shows the internal structure of the control apparatus in the stereoscopic endoscope apparatus of FIG. The flowchart which shows the effect | action at the time of the display switching of a stereoscopic vision image and a wide angle image | video in the display apparatus of the stereoscopic endoscope apparatus of FIG. The figure which shows the forceps and the trocar provided with the means to set the switching timing of the display image of a display apparatus in the stereoscopic endoscope apparatus of FIG. The figure which shows the structure of another display apparatus provided with the mechanism which reduces the discomfort at the time of switching the image | video for wide-angle visual fields, and the image | video for stereoscopic vision in the stereoscopic endoscope apparatus of FIG. FIG. 20 is a configuration diagram showing an eyepiece set and a drive mechanism for driving the eyepiece lens set in the display device of FIG.

Explanation of symbols

1, 1A, 1B ... Stereoscopic endoscope devices 10, 10B ... Stereoscopic endoscopes 11R, 11L ... Stereoscopic objective lens 11W ... Wide-angle visual field objective lenses 12R, 12L, 12W ... Imaging element 14R , 14L... Display elements 15, 15A, 15B... Control device 16... Imaging element unit set 17R, 17L .. Eyepieces 18 and 18B .. Display devices 21, 21A, 21B. Subject jig

Claims (1)

A stereoscopic endoscope having at least two optical systems;
At least two CCUs for converting each of the optical images formed by the two systems of optical systems into video signals;
A control device that converts the output signals from the two CCUs into electrical signals in a display format;
A display device having at least two display units and an imaging device for capturing a display screen of the display unit;
A reference object jig having a reference object pattern as a reference for adjustment;
Comprising
3. The stereoscopic endoscope apparatus according to claim 1, wherein the control device includes means for correcting a video signal displayed on the display unit and means for adjusting display characteristics of the two display units.

Images