JPH08313825A - Endoscope device - Google Patents

Abstract

PURPOSE: To provide an endoscope device enabling the stereoscopic vision of good operability over a wide range. CONSTITUTION: This device is composed of left and right lenses 2 and CCD 3 of a solid-state image pickup element, a bending mechanism 4, an optical axis control part 5 for adjusting the shifting amount of position between the lenses 2 and the CCDs 3 and the bending mechanism 4, a designating part of interest 6 giving control information to the optical axis control parts 5, a parallax detecting part 8 for detecting parallax from a pair of images (stereoscopic images) obtained by the left/right CCDs 3, a detection area designating part 7 designating a parallax detecting area detected by the parallax detecting part 8, a parallax control part 9 for adjusting the detected parallax by the parallax detecting part 8 so that it enters into the uniting range of an operator and a 3D display part 10 for displaying the stereo image after controlling the parallax and the direction designated by the noticing part designating means and desired by the operator is picked up by means of the left/right CCDs.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscopic device used for a surgical operation or the like capable of stereoscopic vision.

[0002]

2. Description of the Related Art In recent years, an operation using an endoscope has been performed in order to prevent the human body from being damaged during the operation. Along with this, the need for a stereoscopic endoscope is increasing to give the operator a sense of depth. A conventional stereoscopic endoscope is composed of left and right optical systems and a solid-state image sensor (CCD).

[0003]

However, the conventional structure as described above has a problem that the viewing angle is narrow and a wide range cannot be stereoscopically viewed.

In view of the above points, an object of the present invention is to provide an endoscope device which is capable of stereoscopic viewing in a wide range and has good operability.

[0005]

According to the present invention, there is provided a bending mechanism for bending the optical axis of a camera, which is composed of left and right optical systems and a solid-state image pickup device, and a camera head, and the optical system and the solid-state image pickup device. An optical axis control unit that adjusts the shift amount of the element position and the bending mechanism, a target portion designation unit that gives control information to the optical axis control unit, and a parallax between the left and right images are within a human fusion range. This is a configuration including a parallax control unit that adjusts and a 3D display unit that displays a stereo image after parallax control.

[0006]

According to the present invention, with the above-described configuration, the operator's desired direction designated by the attention portion designation unit is imaged by the left and right CCDs, and the parallax control unit corrects the parallax so that it falls within the fusion range. Display on the display unit.

[0007]

【Example】

(First Embodiment) FIG. 1 is a block diagram of a stereoscopic endoscope apparatus according to a first embodiment of the present invention. In FIG. 1, reference numeral 1 is a camera head portion, 2R and 2L are right eye lenses, left eye lenses, 3R and 3L are right eye and left eye solid-state image pickup devices (hereinafter referred to as CCDs), a lens 2 and a CCD 3 respectively. And constitute the camera part. Reference numeral 4 denotes a bending mechanism that can be bent so that the mounting angle of the body of the camera head 1 with respect to the optical axis of the CCD 3 mounted on the camera head 1, that is, the normal to the light receiving surface of the CCD 3, can be changed. Any mechanism is possible. Reference numeral 5 is an optical axis control unit that changes the optical axis of the camera vertically and horizontally, 6 is a target portion designation unit that gives control information to the optical axis control unit 5, and 8 is a left and right C
A parallax detection unit that detects parallax from a pair of images (stereo images) obtained from a CD, a detection region designation unit 7 that designates a region in which the parallax detection unit 8 performs parallax detection, and a parallax detection unit 8
A parallax control unit 10 that adjusts the parallax detected by the so that the parallax is within a human fusion range, and a 3D display unit 10 that displays a stereo image after parallax control.

The operation of each section having the above configuration will be described below. The optical axis control unit 5 changes the optical axis of the camera horizontally and vertically. In this embodiment, the optical system is shifted in the horizontal direction, and the optical axis is changed in the vertical direction by mechanical means. FIG. 2 shows a state of lens shift by the optical axis control unit 5, and in FIG.
R and 2L are lenses for the right and left eyes, 3R and 3L, respectively
2 is a CCD for the right eye and a CCD for the left eye, respectively, and as shown in FIG. 2A, when the lens shift amount is 0, the optical axis of the camera is C
It is perpendicular to the CD. On the other hand, when the lens is shifted as shown in FIG. 2B, the optical axis of the camera is refracted by the angle θ shown in (Equation 1) with respect to the shift amount Δ of the lens.

[0009]

[Equation 1]

Then, by making the moving surface of the bending mechanism 4 controlled by the optical axis control unit 5 perpendicular to the lens shift direction, the optical axis control unit 5 makes the optical axis of the camera horizontal and vertical. It is possible to change in both directions.

The attention section designation section 6 gives control information to the optical axis control section 5. FIG. 3 shows a cross-shaped foot switch which is an example of the attention portion designation portion. In FIG. 3, when the operator wants to look further upward with respect to the current screen, he / she wants to look downward, and if he / she wants to look downward, he / she wants to look left and right. By stepping on each part on the right, the control information is given to the optical axis controller 5, and the optical axis of the camera can be changed to a desired direction by a simple operation.

FIG. 4 shows how the parallax detector 8 detects parallax. For the images obtained by the left and right CCDs 2L and 2R, the parallax detection unit 8 sets a parallax detection region in one image (set in the right image in this embodiment) and searches in the other image. Set the area. Then, the parallax is calculated by the association calculation such as the block matching method shown in (Equation 2).

[0013]

[Equation 2]

In (Equation 2), L (x, y) and R (x, y) are coordinates (x, y).
Is a pixel value of the left and right images, W indicates a parallax detection area, and (dx, dy) indicates a shift degree of the left image with respect to the right image. Then, the parallax is calculated as dx which gives the minimum value of the residual sum of squares SSD in the search area.

Block matching by the residual sum of squares is
Although this is a simple and effective method for obtaining parallax, it is assumed that the distribution of parallax is uniform within a block as shown in (Equation 2). Therefore, the correct parallax cannot be calculated in the region where the parallax is not uniform and changes discontinuously. Therefore, the detection area designating unit 7 sets the parallax detection area. FIG. 5 shows a cross-shaped foot switch which is an example of the detection area designating section. The operator can easily scale the parallax detection area set at the center of the screen horizontally and vertically by stepping on the foot switch. By setting the parallax detection region by the detection region designation unit 7, it is possible to calculate the correct parallax in the region focused on by the operator, and the parallax control unit 9 described later limits the parallax to fall within the fusion range. To do.

The parallax control unit 9 judges whether the parallax detected by the parallax detection unit 8 falls within the fusion range, and if it does not fall within the fusion range, the parallax between the left and right images is shifted by horizontally shifting the image data. To be within the fusion range. 3D display unit 1
0 displays a parallax-controlled image and presents a stereoscopic image to the operator.

As described above, according to this embodiment, the optical system of the camera is shifted in the direction perpendicular to the optical axis, and the bending mechanism of the head portion is bent in a plane perpendicular to the shift direction of the optical system. The optical axis of the camera can be changed in the horizontal and vertical directions, and the degree of the change can be easily adjusted by the operator using the foot switch. Also, by controlling the parallax in the parallax detection area designated by the operator within the fusion range, the operator's point of interest can be displayed as a natural stereoscopic image.

The attention portion designating portion and the detection area designating portion may be provided with a changeover switch, and one cross-shaped foot switch may be shared to obtain the same effect.
Such an example is shown in FIG. 7 and described below.

FIG. 7 is a block diagram of an endoscope apparatus capable of stereoscopic viewing in which a changeover switch is provided and one cross-shaped foot switch is shared as an attention portion designation portion and a detection area designation portion. In FIG. 7, 11 is an attention area / detection area designating section, 12 is a changeover switch for switching whether the attention area / detection area designating section 11 is used as the attention area designating section or the detection area designating section, The other components are the same as those in the first embodiment,
The same numbers as in the first embodiment are attached.

As described above, according to the present embodiment, the attention portion designation portion and the detection area designation portion in the first embodiment are shared, and the same effect as that of the first embodiment can be obtained by the easier operation. be able to.

(Second Embodiment) A second embodiment of the present invention will be described below with reference to the drawings. FIG. 9 is a block diagram of an endoscope apparatus capable of stereoscopic vision according to the second embodiment of the present invention. In FIG. 9, 13 is a 3D display unit for changing the display position or the display direction according to the designation of the attention portion by the operator, and the other components are the same operations as those of the first embodiment shown in FIG. The same numbers as in FIG. 7 are assigned.

FIG. 10 is an example of a configuration diagram of the 3D display unit 13, in which 14 is a stereoscopic monitor for presenting stereoscopic images to the operator, and 15 is a stereoscopic monitor.
Is a horizontal movement mechanism, 16 is a vertical movement mechanism, and 17 is a drive unit of the horizontal movement mechanism 15 and the vertical movement mechanism 16.

In FIG. 10, the 3D monitor 14 presents the left and right images whose parallax is controlled within the fusion range by the parallax control unit 9 as a stereoscopic image. In response to the optical axis control information generated by the target portion / detection area designation unit 11 (generated only when the changeover switch 12 is selected on the target portion designation side), the drive unit 17 moves in the direction in which the target portion moves. The horizontal movement mechanism 15 and the vertical movement mechanism 16 are driven to drive the 3D monitor 14.
Move to increase the presence (realism) of the object. FIG.
Shows an example of a display method for increasing the presence of an object. FIG.
6, the 3D monitor 14 displays the displayed stereoscopic image so that it does not move when viewed from the observer when it moves in the direction in which the part of interest moves. As a result, the observer has the impression of looking into the stereoscopic space captured by the stereoscopic endoscope through a window as large as the 3D monitor 14.

As described above, according to this embodiment, the position of the 3D monitor is moved in the same direction as the movement and rotation of the camera in accordance with the operator's attention portion, so that the operator's sense of presence can be enhanced. Can present a stereoscopic image.

Incidentally, the 3D display unit 13 in the present embodiment.
Can provide the effect of presenting a stereoscopic image at a position where the operator can easily see, even if the movable direction is limited only to the horizontal direction.
Included in the present invention. Further, the 3D display unit 13 in the present embodiment can obtain the effect of presenting a stereoscopic image in the direction that is easy for the operator to see even if it is driven by the rotation drive unit as shown in FIG. 11, and is included in the present invention. . In FIG. 11, 1
Reference numeral 8 changes the direction of the 3D monitor 14 to the left or right in accordance with the optical axis control information generated from the attention area / detection area designating portion (only occurs when the changeover switch 12 is selected to the attention portion designating side). It is a rotation drive unit.

(Third Embodiment) A third embodiment of the present invention will be described below with reference to the drawings. FIG.
It is a block diagram of the endoscope apparatus which can perform stereoscopic vision in the 3rd Example of the present invention.

In FIG. 13, 19 is a zoom ratio designating unit for the operator to specify the zoom ratio, 20 is a zooming unit for enlarging the image to the zoom ratio specified by the operator, and 21 is the operator designating the shift amount. The shift amount designation unit 22 is an image shift unit that horizontally shifts the image according to the designation of the shift amount by the operator, and the other components perform the same operation as in the first to third embodiments. The first to third
The same numbers as in the examples of

In this embodiment, the image is enlarged and displayed at the zoom ratio designated by the operator, and parallax is not detected.
The parallax is adjusted by shifting the image left and right according to the operator's designation. The zoom ratio designating section 19 designates a zoom magnification desired by the operator by using a lever or a dial. The zoom unit 20 interpolates pixels between the left and right images and outputs an image with a designated magnification. The shift amount designating section 21 designates a shift amount desired by the operator by using a lever or a dial. Image shift unit 22
Adjusts the parallax between the left and right images by shifting the images in the horizontal direction. Therefore, the shift has the same effect even if only one of the left and right images is shifted or the shift amount is distributed to the left and right images and both images are shifted.

As described above, according to the present embodiment, a stereoscopic image can be displayed at a zoom magnification desired by the operator, so that a large and easily visible stereoscopic image can be displayed at high magnification, and a wide viewing angle at low magnification. A stereoscopic image can be displayed. Further, the parallax at the portion desired by the operator on the screen can be easily set within the fusion range, and the stereoscopic image naturally felt by each operator can be easily displayed.

It should be noted that the same effect can be obtained even if the zoom in this embodiment is performed after the image shift, and is included in the present invention. Further, it is obvious that the same effect can be obtained even if an optical means is used, and it is not limited to an electrical means (electronic zoom), and is included in the present invention.

The zoom ratio designating section 1 in this embodiment
By disposing the zoom lens 9 and the zoom unit 20 between the parallax detection unit 8 and the CCDs 3L and 3R in the first and second embodiments, the parallax of the stereoscopic image of the operator's desired magnification falls within the fusion range. Can be automatically restricted and is included in the present invention. Further, in shifting the optical system of each embodiment, CCDs 3L, 3 are arranged as shown in FIG. 6 instead of FIG.
Even if R is shifted, obviously the same effect can be obtained, and this is included in the present invention.

In each embodiment, the optical axis control of the camera is not limited to the one in which the lens or CCD is shifted in the horizontal direction and the bending mechanism is used in the vertical direction, and the lens or CCD is shifted in the horizontal and vertical directions. Obviously, the same effect can be obtained by performing a bending mechanism in both the horizontal and vertical directions, a bending mechanism in the horizontal direction, a lens or CCD shift in the vertical direction, and other means.

The horizontal shift of the image in the parallax control section of the first and second embodiments and the horizontal shift of the image in the image shift section of the third embodiment shift the image data in the horizontal direction. It is not limited to the above, and even if the optical axis of the camera is changed horizontally by shifting the lens or CCD horizontally, or the optical axis of the camera is changed horizontally by the bending mechanism, the same applies. It is possible to obtain the effect of and is included in the present invention.

The attention area designation section in the first and third embodiments, the detection area designation section in the first embodiment, the second,
The attention portion / detection area designating portion in the third embodiment is not limited to the cross-shaped foot switch (for example, a head motion detecting device by acceleration detection above a certain threshold value, speed detection, position detection, or the like) or a certain portion. The present invention is included in the present invention as long as the attention portion and the detection area can be specified even if a line-of-sight detection device that detects an eye movement above a threshold value is used.

In FIG. 8, an acceleration detecting device such as a gyro (velocity / position detecting device, angular acceleration / angular velocity / angle detecting device) may be attached to the operator's head, and an attention portion and a detection area designation portion may be provided. This is an example of a method of designating the operator in the case of doing so, and the attention portion and the detection region can be designated by the natural movement of the operator as shown by the arrow. The attention portion and the detection area can be designated by the line-of-sight detection device by the operator moving the eyeball in a desired direction.

FIG. 17 and FIG. 18 show an example of a method of designation by the operator when the line-of-sight detection device is used as the attention portion designation portion and the detection area designation portion, respectively. And the detection area can be specified. Note that the position or movement of the operator's head or eyeball is the acceleration,
If either the speed or the position information is detected, it is possible to calculate the update amounts Δx and Δθ of the position and angle (which may be movements of course) based on the relationship of (Equation 3) and (Equation 4).

[0037]

(Equation 3)

In (Equation 3), t is time, Δt is time change of a certain interval, a is acceleration, v is velocity, x is position,
Δx is the change in position. Here, by setting a threshold value to any of a, v, and Δx, a slight movement of the operator is not detected, and erroneous operation due to careless movement can be prevented. Further, in the designation of the attention portion and the detection area, the attention portion is moved at a constant rate regardless of the detection value or the parallax is detected at a constant rate regardless of the detection value with respect to the detection value exceeding the threshold value. The detection area of may be enlarged or reduced, or the attention area may be moved according to the size of the detected value,
The parallax detection area may be enlarged or reduced at a rate according to the magnitude of the detected value, and both may be switched by a changeover switch. In addition, the calibration of the detection position before use and during long-term use (generally requires a calibration because the error accumulates with time in the device with integration), the time change Is unnecessary because it detects

[0039]

[Equation 4]

In Equation (4), t is time, Δt is time change of a certain interval, α is angular acceleration, ω is angular velocity, θ is angle (ie direction), and Δθ is angle (direction) change. The angle can be detected and easily calibrated in the same manner as the position.

In the driving of the 3D monitor according to the second embodiment, the position detection error is accumulated because the accumulation result of the position time change is set as the current 3D monitor position. FIG. 19 is a block diagram showing a configuration example of the drive unit 17 that drives the 3D monitor 14. In FIG. 19, 18 is 3D
A reset switch for setting the horizontal and vertical position control signals of the monitor 14 at the center (that is, the origin) of the drivable range,
Reference numeral 19 is a drive signal generator that changes the horizontal and vertical position control signals in accordance with the optical axis control signal. The operator pushes a reset switch before or during use, thereby
Only the position can be set to the center of the movable range while the display screen of the D monitor (that is, the optical axis of the camera) remains unchanged. Further, when the attention portion is specified outside the periphery of the movable range of the 3D monitor shown in FIG. 16, the position of the 3D monitor is not changed and only the optical axis of the camera is changed to perform calibration. It can be operated instead of.

The operation of the reset switch 18 is not limited to the above-mentioned one, and when the reset switch 18 is pushed (or turned on as a toggle operation), it is 3
Even if only the optical axis of the camera is changed without changing the position of the D monitor, it can be operated as a substitute for the calibration and is included in the present invention.

When the head motion detecting device is used as the attention area / detection area designating section in the second and third embodiments, if the shape (aspect ratio) of the detection area is fixed, the changeover switch 12 is turned on. It is possible to specify the attention area and the size of the detection area according to the natural movement of the head of the operator shown in FIG. FIG. 12 shows how the attention part is designated by the head movement in the vertical and horizontal directions, and the size of the detection region is designated by the head movement in the front and back.

The zoom ratio designating unit and the shift amount designating unit in the third embodiment are not limited to the levers or the dials, and a designating unit such as a cross type foot switch, a head movement detecting device or a visual axis detecting device may be used. It is obvious that the same effect can be obtained even when used, and it is included in the present invention.

It should be noted that it is obvious that the effects of the respective selected functions can be obtained according to the cost and purpose of use by selecting and combining the individual functions shown in the above-mentioned respective embodiments, and it is included in the present invention. Be done. That is, 3D
If the drive is not performed according to the optical axis control signal of the display, the entire device can be made compact, and if the size of the parallax detection area is fixed, the parallax calculation accuracy will decrease, but the number of items set by the operator will decrease. Can be reduced. Further, each of the attention portion designation, the detection area designation, the zoom designation, and the shift amount designation shares the designation means with a single designation means and a changeover switch, or shares only a part of the designation means, and others. The specifying means may be independent, or all the specifying means may be independently prepared and are included in the present invention.

FIG. 14 shows an example of a case in which a single head movement detecting device is used to specify a target portion and a zoom ratio by head movement. FIG. 15 is an example of a case in which a single head movement detection device is used to perform attention portion designation and shift amount designation by head movement. Further, if a switch for specifying the zoom ratio and the shift amount is provided, the attention portion, the zoom ratio, and the shift amount can be specified by the operator's natural movement using a single head movement detection device. . In FIG. 14 and FIG. 15, the zoom ratio designation and the shift amount designation are such that, for detection values equal to or greater than the threshold value, the zoom ratio is expanded or reduced and the shift amount is increased or decreased by a constant value regardless of the detection value. Alternatively, the zoom ratio may be increased or decreased and the shift amount may be increased or decreased according to the magnitude of the detected value, and both may be switched by a changeover switch.

It should be noted that the head movement detection device or the line-of-sight detection device is used to specify the attention area, the detection area, the zoom,
When specifying the shift amount, set the threshold value high when updating the specified value with a constant value for the detected value above the threshold value, make a rough specification with a large operation, and set the threshold value. When updating the specified value according to the size of the detected value that is greater than or equal to the value, set the threshold value low and set each specified value by natural operation by making detailed specification with small operation. You can

The correspondence calculation in the parallax detection in the first to third embodiments is not limited to the sum of squared residuals of (Equation 2), and the sum of absolute difference of residuals (SAD) shown in (Equation 5) is used. The same effect can be obtained by calculating), and is included in the present invention.

[0049]

(Equation 5)

In equation (5), L (x, y) and R (x, y) are coordinates (x, y).
Is a pixel value of the left and right images, W indicates a parallax detection area, and (dx, dy) indicates a shift degree of the left image with respect to the right image.

[0051]

As described above, according to the present invention, the operator's desired direction designated by the attention portion designating means is set to the left and right CCs.
The image can be captured by D. Further, the parallax detection unit detects the parallax between the left and right images in the detection region desired by the operator designated by the detection region designation unit, and the parallax control unit corrects the parallax so as to be within the fusion range. By displaying it by the means, it is possible to display the portion of interest to the operator as a natural stereoscopic image within the fusion range. In addition, by moving the position and direction of the 3D monitor according to the attention part of the operator, a stereoscopic image is displayed so as to give the operator a sense of presence, or a stereoscopic image is displayed at a position where the operator can easily see. You can Furthermore, the attention portion, the detection area, the zoom ratio, and the shift amount can be specified by the operator's natural motion.

[Brief description of drawings]

FIG. 1 is a block diagram of an endoscope apparatus according to a first embodiment of the present invention.

2 (a) and 2 (b) are schematic diagrams showing changes in the optical axis due to the lens shift.

FIG. 3 is a plan view showing the cross-shaped foot switch.

FIG. 4 is a diagram showing correspondence between left and right images for parallax detection.

FIG. 5 is a plan view showing the cross-shaped foot switch.

6 (a) and 6 (b) are schematic diagrams showing changes in the optical axis due to the shift of the CCD.

FIG. 7 is a block diagram of an endoscope apparatus according to a second embodiment of the present invention.

FIG. 8 is a schematic diagram showing attention part designation and detection region designation by head motion detection.

FIG. 9 is a block diagram of an endoscope apparatus according to a third embodiment of the present invention.

FIG. 10 is a schematic diagram showing an example of a 3D display unit according to the third embodiment of the present invention.

FIG. 11 is a schematic view showing an example of a 3D display unit according to the third embodiment of the present invention.

FIG. 12 is a schematic diagram showing attention portion designation and detection area designation by head movement detection.

FIG. 13 is a block diagram showing an example of a 3D display unit according to the fourth embodiment of the present invention.

FIG. 14 is a schematic diagram showing attention portion designation and zoom ratio designation by head movement detection.

FIG. 15 is a schematic diagram showing attention portion designation and shift amount designation by head movement detection.

FIG. 16 is a schematic diagram showing an example of a display method for enhancing the sense of presence.

FIG. 17 is a diagram showing attention portion designation by eye gaze detection.

FIG. 18 is a diagram showing detection area designation by eye gaze detection.

FIG. 19 is a configuration diagram including a calibration unit of a 3D monitor driving unit.

[Explanation of symbols]

 1 camera head section 2R, 2L for right eye, left eye lens 3R, 3L for right eye, left eye CCD 4 bending mechanism 5 optical axis control section 6 attention area designation section 7 detection area designation section 8 parallax detection section 9 parallax Control unit 10 3D display unit

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Kenji Tabei 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd.

Claims (15)

[Claims] 1. An endoscope apparatus, wherein an optical axis of a camera mounted on a camera head portion and a mounting angle of the camera head portion main body are made variable. 2. The endoscope apparatus according to claim 1, wherein the optical system of the camera moves in a direction perpendicular to the optical axis of the solid-state image sensor. 3. The endoscope apparatus according to claim 1, further comprising a designating unit for designating a target portion of the image, and capturing a desired direction of the user. 4. An endoscope apparatus capable of stereoscopic viewing, comprising: a position and size designating unit of a parallax detection region, a parallax detection unit,
An endoscope apparatus comprising a parallax control unit, performing parallax detection at a position and size desired by a user in an image, and correcting the parallax so that the detected parallax falls within a fusion range. . 5. An endoscope apparatus capable of stereoscopic vision, comprising horizontal image shift amount designating means and image shifting means for shifting left and right images, and a position desired by the user in the image. In the above, an endoscope apparatus displaying a stereoscopic image having a parallax desired by a user. 6. The apparatus according to claim 3, further comprising means for detecting the posture of the user and means for moving the position of the image display means, and displaying the image so as to give the user a sense of presence.
The endoscope apparatus according to any one of to 5. 7. The apparatus according to claim 3, further comprising means for detecting the posture of the user and means for moving the position of the image display means, so that the image is displayed in a direction in which the user can easily see.
The endoscope apparatus according to any one of 1. 8. The endoscope apparatus according to claim 1, further comprising a zoom designating unit and a zoom function for displaying an image with a wide viewing angle and an image with an enlarged detail. . 9. A target area designating unit, a detection area designating unit, or a horizontal shift amount designating unit of an image, and a zoom designating unit, or all of the designating units. 5. The same designation means is shared.
The endoscope apparatus according to any one of to 8. 10. All or any of the designating means is
The endoscopic device according to claim 9, which is a foot switch. 11. All or any of the designating means is provided with a detecting means for detecting a position, velocity, acceleration or angle attached to the user, acceleration, or angular acceleration, and the operation is performed by the natural movement of the user. The endoscope apparatus according to claim 9, wherein: 12. A detection means which does not operate for a detection value below a certain threshold value is provided to prevent an erroneous operation by an operator and facilitate the calibration of the detection means. 11. The endoscope apparatus according to item 11. 13. A detection device having a variable threshold value is provided, and the operability is improved by changing the threshold value according to the accuracy required for each designated object.
The endoscopic device described. 14. The endoscope apparatus according to claim 9, further comprising a head movement detecting device or a line-of-sight detecting device as the specifying means. 15. A bending mechanism that flexibly bends an optical axis of a camera composed of left and right optical systems and a solid-state image sensor and a camera head section, a shift amount between positions of the optical system and the solid-state image sensor, and An optical axis control unit that adjusts the bending mechanism, a target portion designation unit that gives control information to the optical axis control unit, a parallax control unit that adjusts the parallax between the left and right images to fall within a human fusion range, and the parallax 3D displaying a stereo image after control
An endoscopic device including a display unit.