CN102429622B - Electronic endoscope system - Google Patents
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- CN102429622B CN102429622B CN201110249365.4A CN201110249365A CN102429622B CN 102429622 B CN102429622 B CN 102429622B CN 201110249365 A CN201110249365 A CN 201110249365A CN 102429622 B CN102429622 B CN 102429622B
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Abstract
The present invention relates to a kind of electronic endoscope system, even if when the distant view observation state of deficiency in light quantity, also can not observe special light and bring impact, and obtain enough bright reflection.In distant view observing pattern, second blue narrow-band-domain light (Bn2) and the second green narrow-band-domain light (Gn2) are taken to body cavity internal radiation, the half breadth of the first blue narrow-band-domain light (Bn1) when being used for close shot observing pattern expands by this second blue narrow-band-domain light (Bn2); The half breadth of the first green narrow-band-domain light (Gn1) when being used for close shot observing pattern equally expands by this second green narrow-band-domain light (Gn2).The narrow-band-domain light of these first blue narrow-band-domain light (Bn1) etc. by make the multiple Te set by wide band light transmission rotary filter Ding Bo Long through in light filter any one and be removed.In rotary filter, the mode shortened according to the interregnum making arbitrary observation state in close shot observation state and distant view observation state can not obtain endoceliac image, configuration specific wavelength is through light filter.
Description
Technical field
The present invention relates to the electronic endoscope system possessing the special smooth overview function being highlighted superficial blood vessel.
Background technology
At medical field in recent years, the Treatment and diagnosis of fujinon electronic video endoscope is used to popularize.Fujinon electronic video endoscope possesses the endoceliac elongated insertion section of inserting examinee, and is built-in with the imaging apparatuss such as CCD in the leading section of this insertion section.In addition, fujinon electronic video endoscope is connected with light supply apparatus and processor device.Illumination light from light supply apparatus is irradiated from the illuminating window of the leading section being located at fujinon electronic video endoscope to endoceliac look-out station.Reflected light from look-out station is incident to CCD by the shooting window being located at the leading section of fujinon electronic video endoscope.The image taken by this CCD is admitted to processor device, after treatment circuit implements various image procossing, shows at monitor.Therefore, by using fujinon electronic video endoscope, can the endoceliac image of real-time confirmation examinee, therefore, Treatment and diagnosis can be carried out aptly.
Light supply apparatus uses white light source, the such as xenon lamp that can send from blue band domain (blue wavelength domain) to the wide band light of the white of red band domain (red wavelength territory).By using the wide band light of white as illumination light, can comprehensive observing irradiated body tissue (objective tissue).Can roughly observe irradiated body tissue from the photographed images obtained when irradiating wide band light, but the irradiated body tissues such as the sag and swell of capillary vessel, pit pattern (gland outlet structure), depression or protuberance and so on are difficult to observe clearly.
As known, by wavelength being limited in for this irradiated body irradiated tissue the narrow-band-domain light of specific band domain, capillary vessel etc. can be observed emphatically clearly.On the other hand, due to the half breadth constriction of the light to irradiated body irradiated tissue, so the light quantity of illumination light reduces.Consequently, endoceliac illumination is insufficient, can not carry out good shooting.
In Japanese Patent No. 4009626 publication, the image pickup signal obtained is implemented to the image procossing compensated for deficiency in light quantity when irradiating narrow-band-domain light.Thus, though when narrow-band-domain light irradiation and when making dark in body cavity, the image quality of the reflection shown by monitor also can not reduce.
But as known, even if when irradiating narrow-band-domain light, when making forward end section of endoscope observe close to irradiated body tissue, so-called close shot is when observing, the light quantity of narrow-band-domain light also can not deficiency, fully can emphasize superficial blood vessel etc.In contrast, make endoscope distal end portion to carry out away from irradiated body tissue distant view observe time, so-called distant view observe time, due to the deficiency in light quantity of narrow-band-domain light, so sometimes fully superficial blood vessel etc. can not be emphasized.
For this opinion, do not record or hint in Japanese Patent No. 4009626 publication, therefore, no matter distant view is observed or arbitrary situation that close shot is observed, and all image pickup signal is carried out to the image procossing compensated for deficiency in light quantity.Therefore, when the distant view becoming deficiency in light quantity is observed, the image procossing for deficiency in light quantity compensation recorded in Japanese Patent No. 4009626 publication is useful.But when close shot is observed, be more fully highlighted superficial blood vessel etc., it is brighter, therefore, when carrying out the image procossing for supplementary deficiency in light quantity, the reflection on monitor is too bright, and the anxiety being difficult on the contrary carry out observing exists.
Summary of the invention
The object of the invention is to, even if provide a kind of to irradiate the electronic endoscope system that also can obtain enough bright reflection special plain edge carries out distant view observation on limit.
For achieving the above object, other object, electronic endoscope system of the present invention possesses wide band light source, the first rotary filter, imaging apparatus, observation state decision maker, video camera controller.Described wide band light source produces the wide band light comprised from blue band domain to red band domain.Described first rotary filter is alternately to configure multiple first narrow-band-domain light in the circumferential direction through light filter and multiple second narrow-band-domain light through light filter by the first narrow-band-domain light and the second narrow-band-domain light alternately to the mode of carrying out in body cavity irradiating.Described each first narrow-band-domain light through light filter make the first narrow-band-domain light in described wide band light through.Described each second narrow-band-domain light make through light filter the second narrow-band-domain light that the half breadth of described first narrow-band-domain light is expanded with certain limit through.Described imaging apparatus is configured at the endoscope distal end portion inserted in described body cavity, takes described endoceliac irradiated body tissue, produces image pickup signal.Described observation state decision maker judges it is take under the close shot observation state shooting as near state of the distance of described endoscope distal end portion and described irradiated body tissue or the distance at described endoscope distal end portion and described irradiated body tissue are as the distant view observation state of state far away based on described image pickup signal.Described video camera controller controls described imaging apparatus as follows, that is, when being judged to be described close shot observation state, take when irradiating described first narrow-band-domain light, when being judged to be described distant view observation state, take when irradiating described second narrow-band-domain light.
Preferably, described first narrow-band-domain light comprises the first blue narrow-band-domain light of the specific band domain be restricted in described blue band domain and is restricted to the first green narrow-band-domain light of the specific band domain in green band domain.Preferably, described second narrow-band-domain light comprise by the half breadth of described first blue narrow-band-domain light with second of certain expanded range the blue narrow-band-domain light and by the half breadth of described first green narrow-band-domain light with second of certain expanded range the green narrow-band-domain light.
Described multiple first narrow-band-domain light through light filter be make described first blue narrow-band-domain light through the first blue narrow-band-domain light through light filter and make described first green narrow-band-domain light through the first green narrow-band-domain light through light filter.In addition, described multiple second narrow-band-domain light through light filter be make described second blue narrow-band-domain light through the second blue narrow-band-domain light through light filter and make described second green narrow-band-domain light through the second green narrow-band-domain light through light filter.
Described first rotary filter has the first filter areas and is configured at inside it or second filter areas in outside.Described first filter areas is provided with in order makes the blue light of the B light transmission of described blue band domain through light filter, make the green light of the G light transmission of described green band domain through light filter and make the red light of R light transmission of described red band domain through light filter.Described second filter areas be provided with in the circumferential direction in order described first blue narrow-band-domain light through light filter, described second blue narrow-band-domain light through light filter, described first green narrow-band-domain light through light filter and described second green narrow-band-domain light through light filter.
When carrying out normal light observation, the light path of described wide band being settled described first filter areas, by making described first rotary filter rotate, described B light, described G light, described R light being irradiated in order in described body cavity.When carrying out special light observation, the light path of described wide band light is settled described second filter areas, by making described first rotary filter rotate, described first blue narrow-band-domain light, described second blue narrow-band-domain light, described first green narrow-band-domain light, described second green narrow-band-domain light are irradiated in order in described body cavity.
Also the first rotary filter and the second rotary filter can be used.Described first rotary filter is provided with described first blue narrow-band-domain light through light filter, described second blue narrow-band-domain light through light filter, described first green narrow-band-domain light through light filter, described second green narrow-band-domain through light filter.Described second rotary filter is provided with make the blue light of the B light transmission of described blue band domain through light filter, make the green light of the G light transmission of described green band domain through light filter, make the red light of the R light transmission of described red band domain through light filter, make described wide band light directly through peristome.
When carrying out normal light observation, under the state that the light path making described first rotary filter from described wide band light is kept out of the way, described second rotary filter is rotated, thus, described B light, described G light, described R light is irradiated in order in described body cavity.When carrying out special light observation, under the state that the light path of described wide band light is settled the peristome of described second rotary filter, described first rotary filter is rotated, thus, described first blue narrow-band-domain light, described second blue herring bone city light, described first green narrow-band-domain light, described second green narrow-band-domain light are irradiated in order in described body cavity.
Preferably, described observation state detection unit detects light exposure according to described image pickup signal, is judged to be close shot observation state, is judged to be distant view observation state when not enough certain value when this light exposure is more than certain value.
According to the present invention, under close shot observation state, use the first blue narrow-band-domain light, under distant view observation state, use the second blue narrow-band-domain light expanded with certain limit by the half breadth of the first narrow-band-domain light, therefore, even if be that distant view observation state also can obtain enough bright reflection.
In addition, for the rotary filter of the generation of the special light such as the first narrow-band-domain light, any one of no matter close shot observation state and distant view observation state, all can so that multiple first narrow-band-domain light can not be configured through light filter to the mode that the interregnum taken in body cavity shortens, therefore, it is possible to reliably carry out diagnostic imaging etc.
Accompanying drawing explanation
Fig. 1 is the skeleton diagram of the electronic endoscope system of first embodiment of the invention;
Fig. 2 is the block diagram of electronic endoscope system;
Fig. 3 is the skeleton diagram of rotary filter;
Fig. 4 represents that blue light that the rotary filter of Fig. 3 uses is through light filter, green through light filter, the red chart through the spectral transmission of light filter;
Fig. 5 A represents that the first blue narrow-band-domain light that the rotary filter of Fig. 3 uses is through light filter and the first green narrow-band-domain light chart through the spectral transmission of light filter;
Fig. 5 B represents that the second blue narrow-band-domain light that the rotary filter of Fig. 3 uses is through light filter and the second green narrow-band-domain light chart through the spectral transmission of light filter;
Fig. 6 A is the chart of the absorptance of the light represented in blood vessel;
Fig. 6 B is the chart of the scattering of light coefficient represented in raw soma;
Fig. 7 A is the key diagram that the shooting of the CCD represented when normal light is observed controls;
Fig. 7 B is the key diagram that the shooting of the CCD representing when special light is observed (close shot) controls;
Fig. 7 C is the key diagram that the shooting of the CCD that when special light is observed (distant view) is described controls;
Fig. 8 is the image graph that (close shot) is shown in the special light image of monitor when special light is observed;
Fig. 9 be when special light is observed (distant view) be shown in monitor the image graph of special light image;
Figure 10 is the flow chart of the effect representing the first embodiment;
Figure 11 is the block diagram of the electronic endoscope system of second embodiment of the invention;
Figure 12 is the skeleton diagram of normal light rotary filter;
Figure 13 is the skeleton diagram of special light rotary filter;
Figure 14 A is the key diagram that the shooting of the CCD represented when normal light is observed controls;
Figure 14 B is the key diagram that the shooting of the CCD representing when special light is observed (close shot) controls;
Figure 14 C is the key diagram that the shooting of the CCD representing when special light is observed (distant view) controls;
Figure 15 A is the key diagram of rotary filter;
Figure 15 B illustrates by using the rotary filter of Figure 15 A by CCD to during the shooting of taking in body cavity and the sequential chart of the interregnum that can not take;
Figure 16 A is the key diagram of the rotary filter of comparative example;
Figure 16 B illustrates by using the rotary filter of Figure 16 A by CCD to during the shooting of taking in body cavity and the sequential chart of the interregnum that can not take.
Detailed description of the invention
As shown in Figure 1, the electronic endoscope system 10 of first embodiment of the invention possesses: the endoceliac fujinon electronic video endoscope 11 of shooting examinee; The processor device 12 of endoceliac image is generated based on the signal obtained by shooting; The light supply apparatus 13 of supply to the illumination light of irradiating in body cavity; Show the monitor 14 of endoceliac image.
Above-mentioned electronic endoscope system 10 has normal light image model and these two observing patterns of special light image pattern.In normal light image model, by by wide band light such as white lights to throwing light in body cavity, obtain the natural image of irradiated body tissue, comprehensive observation can be carried out to irradiated body tissue.In special light image pattern, by being thrown light on in body cavity by narrow-band-domain light, obtain the image being highlighted superficial blood vessel etc.In this special light image pattern, under there is the close shot observing pattern of to carry out observing under the leading section 16a of fujinon electronic video endoscope 11 and the close close shot state of the distance of irradiated body tissue and the distant view state in the distance with irradiated body tissue, carry out the distant view observing pattern of observing.
Fujinon electronic video endoscope 11 possesses: insert endoceliac flexual insertion section 16, be located at the operating portion 17 of the cardinal extremity part of insertion section 16, general flexible cord 18 for being connected with processor device 12 and light supply apparatus 13 by operating portion 17.Be formed multiple bending block (Horse in the front of insertion section 16) bending section 19 that links.Bending section 19 carries out flexure operation by operating the dihedral knob 21 of operating portion in direction up and down.Be connected with leading section 16a in the front end of bending section 19, by the flexure operation of bending section 19, and make leading section 16a towards desired direction.In this leading section, 16a is accommodated with well-known camera system, illuminator etc.
On general flexible cord 18, at processor device 12 and light supply apparatus 13 side, adapter 24 is installed.Adapter 24 is for having the compound adapter of connector for communication and light source adapter.Via this adapter 24, fujinon electronic video endoscope 11 is connected freely with processor device 12 and light supply apparatus 13 dismounting.
As shown in Figure 2, light supply apparatus 13 possesses wide band light source 30, rotary filter 31, light filter switching part 32.As wide band light source 30, use xenon lamp, White LED, micro white light source etc., produce the wide band light BB from blue band domain to red band domain (about 470 ~ 700nm).Wide band light source 30 continues to light in the use of fujinon electronic video endoscope 11.The wide band light BB sent from wide band light source 30 incides collecting lens 34 through rotary filter 31.Incident to photoconduction 35 by the wide band light BB of collecting lens 34 optically focused.
Rotary filter 31 is pressed certain speed by motor 36 and is rotated centered by rotating shaft 31a.This rotary filter 31 possesses the first filter areas 38 and the second filter areas 39.In this example, the first filter areas 38 to the second filter areas 39 is arranged more in the inner part.First filter areas 38 make in the wide band light BB from wide band light source 30 for illumination light during normal light image model through.Second filter areas 39 make in wide band light BB for illumination light during special light image pattern through.Light filter switching part 32 is installed on the rotating shaft 31a of rotary filter 31, according to making the second filter areas 39 be positioned at mode in the light path of wide band light source 30 when making the first filter areas 38 be positioned in the light path of wide band light source 30, in special light image pattern when normal light image model, rotary filter 31 is moved in direction, footpath.
Fujinon electronic video endoscope 11 possesses photoconduction 35, CCD44, analog processing circuit (AFE:Analog FrontEnd) 45, imaging control part 46.Photoconduction 35 is heavy caliber optical fiber, fibre bundle etc., incidence end is inserted light supply apparatus 13, by ejecting end and irradiation lens 48 opposite being located at leading section 16a.From the illumination light of light supply apparatus 13 by after photoconduction 43 leaded light, penetrate to irradiation lens 48.Incide the illumination light of irradiating lens 48, by being installed on the illuminating window 49 of the end face of leading section 16a to body cavity internal radiation.At the reflected light of body cavity internal reflection by being installed on the observation window 50 of the end face of leading section 16a, incide collecting lens 51.
In this embodiment, use CCD44 as imaging apparatus.This CCD is the black-white CCD of the spectral sensitivity with regulation, and the reflected light that have passed collecting lens 51 is received by imaging surface 44a.Have multiple well-known pixel in imaging surface 44a two-dimensional arrangement, the reflected light of reception is carried out opto-electronic conversion by each pixel, and accumulates the signal charge produced.
Imaging control part 46 is connected with the controller 59 in processor device 12, under the control of controller 59, send drive singal to CCD44.CCD44 is driven based on drive singal, is read by the signal charge that each pixel is accumulated by time series, it can be used as the image pickup signal of the frame rate of regulation to be sent to AFE45.
As everyone knows, above-mentioned AFE45 is made up of correlated double sample circuit (CDS), automatic gain control circuit (AGC) and analog/digital converter (A/D) (all not shown).CDS implements correlated double sampling processing to the image pickup signal from CCD44, the noise contribution in removing image pickup signal.Image pickup signal from CDS amplifies in the mode making image pickup signal and converge in desired dynamic range by AGC.Image pickup signal from AGC is converted to digital form by A/D, and delivers to processor device 12 as the image pickup signal of specified bit number.
Processor device 12 possesses digital signal processing section (DSP:Digital Signal Processor) 55, frame memory 56, observation state detection unit 57, display control circuit 58, controller 59.Controller 59 pairs of each several parts control.DSP55 carries out the signal processing such as blank level adjustment, tone process, gray proces, definition process to the image pickup signal of the AFE45 from fujinon electronic video endoscope.In addition, frame memory 56, observation state detection unit 57, display control circuit 58, due to relevant to the kind of illumination light, are therefore described in detail after rotary filter 31.
As shown in Figure 3, in the first filter areas 38, be provided with in the circumferential direction in order: make the illumination light of blue band domain in wide band light BB (B light) through blue light through light filter 40, make the illumination light (G light) of wide band light BB Green band domain through green light through light filter 41, make the illumination light (R light) of red band domain in wide band light BB through red light through light filter 42.Therefore, by the rotation of rotary filter 31, penetrate B light, G light, R light successively from rotary filter 31.The B light penetrated successively from rotary filter 31, G light, R light are referred to as face order light.
At this, as shown in Figure 4, blue light has the spectral transmission shown in curve B through light filter 40, and green light has the spectral transmission shown in curve G through light filter 41, and red light has the spectral transmission shown in curve R through light filter 42.In addition, the long wavelength side of curve B and the short wavelength side of curve G overlap a part of, and in addition, the long wavelength side of curve G and the short wavelength side of curve R overlap a part of, therefore, in the coloured light selected, mix adjacent coloured light a little.
In the second filter areas 39, be provided with in the circumferential direction in order: make in wide band light BB for the first blue narrow-band-domain light Bn1 during close shot observing pattern through the first blue narrow-band-domain light through light filter 65, make in wide band light BB for the second blue narrow-band-domain light Bn2 during distant view observing pattern through the second blue narrow-band-domain light through light filter 66, make in wide band light BB for the first green narrow-band-domain light Gn1 during close shot observing pattern through the first green narrow-band-domain light through light filter 67, make in wide band light BB for the second green narrow-band-domain light Gn2 during distant view observing pattern through the second green narrow-band-domain light through light filter 68.
First blue narrow-band-domain light has the distribution as shown in the curve B n1 of Fig. 5 A through the spectral transmission of light filter 65, therefore, to the first blue narrow-band-domain light Bn1 of body cavity internal radiation near the roughly 450nm of centre wavelength, light quantity reaches peak value, than 450nm longer wavelength side, light quantity sharply declines, and between 450nm and 500nm, light quantity is roughly " 0 ".On the other hand, than 450nm more short wavelength side, although less than the light quantity reduction at long wavelength side so sharply, light quantity declines from 450nm to 400nm, and at the position lower than 400nm, light quantity is " 0 ".
In contrast, second blue narrow-band-domain light has the distribution shown in the curve B n2 of Fig. 5 B through the spectral transmission of light filter 66, therefore, to the second blue narrow-band-domain light Bn2 of body cavity internal radiation, in the same manner as the first blue narrow-band-domain light Bn1, in the roughly 450nm longer wavelength side of centre wavelength reaching peak value than light quantity, light quantity sharply reduces.On the other hand, than roughly 450nm more short wavelength side, different from the first blue narrow-band-domain light Bn1, under the state keeping higher light quantity between 450nm ~ 400nm, light quantity little by little reduces slowly.And near 400nm, light quantity starts sharply to reduce, at the position lower than 400nm, light quantity is " 0 ".Therefore, in the second blue narrow-band-domain light Bn2, although centre wavelength in the first blue narrow-band-domain light Bn1 namely roughly the light quantity of the long wavelength side of 450nm do not change, the light quantity of short wavelength side increases.
Light quantity distribution is as above adopted to be based on following reason the first blue narrow-band-domain light Bn1 and the second blue narrow-band-domain light Bn2.As shown in the distribution of the specific absorbance of Fig. 6 A, the superficial blood vessel of light in raw soma lower than the wavelength near 450nm is subject to extremely strong absorption, but more than the light near 450nm at superficial blood vessel hardly by absorbing directly through.In addition, the distribution as the scattering coefficient of Fig. 6 B is known, the light that wavelength is short, and the scattering in soma is stronger.According to the opinion relevant with the light scattering characteristic of raw soma to the optical absorption characteristics of these blood vessels and other opinion, if the wavelength of illumination light is more than near 470nm, then in superficial blood vessel, irradiated illumination light is made to turn back to the leading section 16a of fujinon electronic video endoscope hardly because of the absorption characteristic of strong light.But, in the raw soma surrounding superficial blood vessel, made irradiated a large amount of illumination light reflections by stronger scattering properties, turn back to the leading section 16a of fujinon electronic video endoscope thus.Therefore, the contrast (contrast) of superficial blood vessel and the raw soma around it is high, can fully emphasize to represent superficial blood vessel etc.
For fully emphasizing superficial blood vessel etc., when close shot is observed and when distant view observes during arbitrary observation, about the first blue narrow-band-domain light Bn1 and the second blue narrow-band-domain light Bn2, need to irradiate not containing the illumination light of the light more than the wavelength domain near 470nm.At this, when the distant view of deficiency in light quantity is observed, use relative to the first blue narrow-band-domain light Bn1 than more short wavelength side the second blue narrow-band-domain light Bn2 of making light quantity add near 470nm.
On the other hand, the first green narrow-band-domain light has the distribution shown in the curve Gn1 of Fig. 5 A through the spectral transmission of light filter 67, and therefore, be near 550nm to the first green narrow-band-domain light Gn1 of body cavity internal radiation in centre wavelength, half breadth is 10nm ~ 20nm.In contrast, second green narrow-band-domain light has the distribution shown in the curve Gn2 of Fig. 5 B through the spectral transmission of light filter 68, therefore, to the second green narrow-band-domain light Gn2 of body cavity internal radiation, in the same manner as the first green narrow-band-domain light Gn1, centre wavelength is 550nm, but its half breadth is different from the first green narrow-band-domain light Gn1, is 20 ~ 40nm.That is, wide than the first green narrow-band-domain light Gn1 of the half breadth of the second green narrow-band-domain light Gn2.Therefore, in the second green narrow-band-domain light Gn2, compared with the first green narrow-band-domain light Gn1, light quantity has more the amount that half breadth is widened.
By as follows for the reason that the first green narrow-band-domain light Gn1 and the second green narrow-band-domain light Gn2 is set to above-mentioned light quantity distribution.As shown in the distribution of the specific absorbance of Fig. 6 A, about more than the light near 450nm, the optical absorption characteristics corresponding to blood vessel reduces, but between 500nm ~ 600nm, particularly near 530nm ~ 570nm, the optical absorption characteristics corresponding to the blood vessel of middle level improves.And about the light more than 600nm, absorption characteristic reduces again.In addition, as shown in the distribution of the scattering coefficient of Fig. 6 B, wavelength is longer, and scattering coefficient reduces more gradually, but between 500nm ~ 600nm, the scattering properties in raw soma has almost no change.
Therefore, according to about the opinion of the optical absorption characteristics of these blood vessels and the light scattering characteristic of raw soma and other opinion, at the wavelength of light be between 500nm ~ 600nm, particularly near 530nm ~ 570nm, the change comprising the scattering properties of the raw soma of middle level blood vessel is little, therefore, the light quantity reflecting the light of also return electron forward end section of endoscope 16a by raw soma is roughly certain.In contrast, the middle level blood vessel comprised in this life soma shows higher optical absorption characteristics relative to the light display between 500nm ~ 600nm, particularly near 530nm ~ 570nm, therefore, the ratio turning back to the light of the leading section 16a of fujinon electronic video endoscope in the light of middle level blood vessel irradiation reduces.Therefore, the wavelength of light between 500um ~ 600nm, particularly near 530nm ~ 570nm under, the contrast of middle level blood vessel and the raw soma around it improves, therefore, it is possible to be fully highlighted middle level blood vessel etc.
For being fully highlighted middle level blood vessel etc., when close shot is observed and when distant view observes during arbitrary observations, all need the wavelength band domain of light between 500nm ~ 600nm, preferred 530nm ~ 570nm.If between 500nm ~ 600nm, be preferably in the scope of 530nm ~ 570nm, then can fully be highlighted middle level blood vessel etc., therefore, when the distant view of deficiency in light quantity is observed, use the second green narrow-band-domain light Gn2, it is widened further by the half breadth of the first green narrow-band-domain light Gn1 by centre wavelength being roughly 550nm makes light quantity increase.
When normal light image model, utilize rotary filter 31 B light irradiated to look-out station between (rotary filter 31 1/3 rotate between), as shown in Figure 7 A, B light is carried out opto-electronic conversion and the step accumulating signal charge and the step read as blue image pickup signal by the signal charge of accumulation, alternately repeated with the cycle specified.
Secondly, when illumination light being switched to G light from B light in the rotation by rotary filter 31, equally, between 1/3 of rotary filter 31 rotates, G light is carried out opto-electronic conversion and accumulates the step of signal charge and the step that the signal charge of accumulation reads as green image pickup signal is alternately repeated.
Equally, when utilizing rotary filter 31 that illumination light is switched to R light from G light, between 1/3 of rotary filter 31 rotates, R light being carried out the step of opto-electronic conversion and being alternately repeated as the step that red image pickup signal reads.
In contrast, when special light image pattern, when being in the state that close shot is observed, as shown in Figure 7 B, being selected by rotary filter 31 between first blue narrow-band-domain light Bn1, namely rotary filter 31 1/4 rotate between, the first blue narrow-band-domain light Bn1 is carried out opto-electronic conversion and accumulates the step of signal charge and the step that this signal charge reads as the first blue narrow-band-domain image pickup signal is alternately repeated by with the cycle of regulation.When switching to the second blue narrow-band-domain light Bn2 in the rotation by rotary filter 31 from the first blue narrow-band-domain light Bn1, irradiating between this second blue narrow-band-domain light Bn2, namely rotary filter 31 1/4 rotate between, do not carry out the accumulation of signal charge and the reading of image pickup signal.
If rotary filter 31 further rotates, then switch to the first green narrow-band-domain light Gn1 from the second blue narrow-band-domain light Bn2.Irradiating between this first green narrow-band-domain light Gn1, namely rotary filter 31 1/4 rotate between, the first green narrow-band-domain light Gn1 is carried out opto-electronic conversion and accumulates the step of signal charge and the step that this signal charge reads as the first green narrow-band-domain image pickup signal is alternately repeated.Secondly, by the rotation of rotary filter 31, the second green narrow-band-domain light Gn2 is switched to from the first green narrow-band-domain light Gn1.Irradiating between this second green narrow-band-domain light Gn2, namely rotary filter 31 1/4 rotate between, do not carry out the accumulation of signal charge and the reading of image pickup signal.
In addition, when special light image pattern, when being in the state that distant view is observed, as seen in figure 7 c, taking out from rotary filter 31 between first blue narrow-band-domain light Bn1, namely rotary filter 31 1/4 rotate between, do not carry out the accumulation of signal charge and the reading of image pickup signal.When rotary filter 31 further rotates, switch to the second blue narrow-band-domain light Bn2 from the first blue narrow-band-domain light Bn1.Irradiating between this second blue narrow-band-domain light Bn2, namely rotary filter 31 1/4 rotate between, the second blue narrow-band-domain light Bn2 is carried out opto-electronic conversion and accumulates the step of signal charge and the step that this signal charge reads as the second blue narrow-band-domain image pickup signal is repeated by with the cycle of regulation.
Secondly, the first green narrow-band-domain light Gn1 is switched to from the first blue narrow-band-domain light Bn1.Irradiating between this first green narrow-band-domain light Gn1, namely rotary filter 31 1/4 rotate between, do not carry out the accumulation of signal charge and the reading of image pickup signal.By the rotation of rotary filter 31, switch to the second green narrow-band-domain light Gn2 from the first green narrow-band-domain light Gn1.Between the green narrow-band-domain light Gn2 of irradiation second, namely rotary filter 31 1/4 rotate between, the second green narrow-band-domain light Gn2 is carried out opto-electronic conversion and accumulates the step of signal charge and the step that this signal charge reads as the second green narrow-band-domain image pickup signal is repeated.
When being set as normal light image model, DSP55 carries out the signal processing such as blank level adjustment, tone process, gray proces, definition process to the blue image pickup signal exported from AFE45, green image pickup signal, red image pickup signal, generates normal light view data.The normal light view data obtained is stored in frame memory 56.
On the other hand, when being set as close shot observing pattern under special light image pattern, above-mentioned signal processing is implemented respectively to the export from AFE45 first blue narrow-band-domain image pickup signal and the first green narrow-band-domain image pickup signal.The each image pickup signal implementing signal processing is stored in frame memory 56 by as close shot by special light image data.In addition, when being set as distant view observing pattern under special light image pattern, in the same manner as close shot observing pattern, second blue narrow-band-domain image pickup signal and the second green narrow-band-domain image pickup signal, respectively after being implemented above-mentioned signal processing, are stored in frame memory 56 as the special light image data of distant view.
Observation state detection unit 57 detects light exposure from the special light image data of close shot and distant view view data arbitrary special light image data being stored in frame memory 56.When the light exposure detected is more than certain value, be judged to be that current point is in close shot observation state.When being judged to be close shot observation state, be automatically made close shot observing pattern.If be set as close shot observing pattern, then the mode obtaining the first blue narrow-band-domain image pickup signal and the first green narrow-band-domain image pickup signal when taking with next time for imaging control part 46 sends instruction (with reference to Fig. 7 B).
On the other hand, when detecting light exposure deficiency certain value, be judged to be that current point is in distant view observation state.When being judged to be in distant view observation state, be automatically made distant view observing pattern.After being set as distant view observing pattern, in the mode obtaining the second blue narrow-band-domain image pickup signal and the second green narrow-band-domain image pickup signal when next time takes, instruction (with reference to Fig. 7 C) is sent for imaging control part 46.
Display control circuit 58, when being in normal light image model, reads normal light view data from frame memory 56, and on monitor 14, shows normal light image based on the normal light view data read.In addition, when being placed in close shot observing pattern in special light image pattern, read the special light image data of close shot from frame memory 56.And, based on the special light image data of close shot read, monitor 14 shows the special light image when close shot shown in Fig. 8 is observed.
In addition, when being placed in distant view observing pattern in special light image pattern, read the special light image data of distant view from frame memory 56.And, on monitor 14, show special light image when distant view shown in Fig. 9 is observed based on the special light image data of the distant view read.In the present invention, by making the broadening deficiency in light quantity compensated when distant view is observed of half breadth to the illumination light of body cavity internal radiation.Now, owing to making half breadth broadening in view of the optical absorption characteristics of blood vessel and the scattering properties of its circumvascular raw soma, so the special light that can not be highlighted superficial blood vessel etc. is observed bring impact.
Secondly, the effect of flow chart to the first embodiment with reference to Figure 10 is described.First, switch SW50 by operation image model, switch to special light image pattern from normal light image model.In special light image pattern, be set as close shot observing pattern in setting in the early stage.Second filter areas 39 of rotary filter 31, according to the switching to special light image pattern, is placed in the light path of wide band light source 30 by light filter switching part 131.By making rotary filter 31 rotate in this condition, the first blue narrow-band-domain light Bn1, the second blue narrow-band-domain light Bn2, the first green narrow-band-domain light Gn1 and the second green narrow-band-domain light Gn2 (being special light) are irradiated to endoceliac look-out station successively.In addition, in special light image pattern, yet initial setting can be set to close shot observing pattern and be set to distant view observing pattern.
And imaging control part 46 is according to only indicating from the mode of CCD44 reading image pickup signal when the first blue narrow-band-domain light Bn1 and the first green narrow-band-domain light Gn1 irradiates to look-out station.Thus, the first blue narrow-band-domain image pickup signal and the first green narrow-band-domain image pickup signal is obtained.After obtained first blue narrow-band-domain image pickup signal and the first green narrow-band-domain image pickup signal are implemented the signal processing such as blank level adjustment, tone process, gray proces, definition process by DSP55, be stored in frame memory 56 as the special light image data of close shot.And, based on the special light image data of the close shot read from frame memory 56, monitor 14 shows the special light image when close shot shown in Fig. 8 is observed.
In addition, observation state detection unit 57 is according to the special light image Data Detection light exposure of close shot being stored in frame memory 56.And when light exposure is more than certain value, be judged to be that the observation state of current point is close shot observation state, former state keeps close shot observing pattern.On the other hand, when the not enough certain value of light exposure, judge that the observation state of current point is as distant view observation state.If it is determined that be distant view observation state, then switch to distant view observing pattern from close shot observing pattern.
According to the switching to distant view observing pattern, imaging control part 46 is only to indicate from the mode of CCD44 reading image pickup signal when making the second blue narrow-band-domain light Bn2 and the second green narrow-band-domain light GI12 irradiates to look-out station.Thus, the second blue narrow-band-domain image pickup signal and the second green narrow-band-domain image pickup signal is obtained.After obtained second blue narrow-band-domain image pickup signal has been implemented the signal processing identical with during close shot observing pattern with the second green narrow-band-domain image pickup signal by DSP55, be stored in frame memory 56 as the special light image data of distant view.And, based on the special light image data of the distant view read from frame memory 56, monitor 14 shows the special light image when distant view shown in Fig. 9 is observed.
When distant view observing pattern, in the same manner as also when close shot observing pattern, observation state detection unit is utilized to carry out the judgement of observation state.Therefore, when light exposure is more than certain value, close shot observing pattern is switched to from distant view observing pattern.On the other hand, when the not enough certain value of light exposure (light exposure is not enough certain value but when fully can be highlighted superficial blood vessel etc.), as long as set special light image pattern, just can former state continuation distant view observing pattern.
Secondly, with reference to Figure 11, the second embodiment of the present invention is described.In this second embodiment, electronic endoscope system 100 uses two panels rotary filter and sends the face order light of RGB or special light.In addition, only portion's materials different in the first embodiment and the second embodiment is described, and for public component omission explanation.
Normal light rotary filter 101 and special light rotary filter 102 is provided with in light supply apparatus 13.Normal light rotary filter 101 and special light rotary filter 102 with rotating shaft 101a by motor 103,104, are pressed certain speed and are rotated centered by 102a.
As shown in figure 12, at normal light with on rotary filter 101, be provided with in the circumferential direction in order: make the light of blue band domain in wide band light BB (B light) through blue light through light filter 110, make the light (G light) of wide band light BB Green band domain through green light through light filter 111, make the light of red band domain in wide band light BB (R light) through red light through light filter 112, make wide band light BB directly through peristome 113.Normal light is with in rotary filter 101, and through light filter 110, green light, through light filter 111, red light, through in light filter 112 and peristome 113, any one enters in the light path of wide band light source 30 blue light.
On the other hand, as shown in figure 13, special light rotary filter 102 is provided with in order in the circumferential direction: make the first blue narrow-band-domain light Bn1 when observing for close shot in wide band light BB through the first blue narrow-band-domain light through light filter 115, make the second blue narrow-band-domain light Bn2 when observing for distant view in wide band light BB through the second blue narrow-band-domain light through light filter 116, make the first green narrow-band-domain light Gn1 when observing for close shot in wide band light BB through the first green narrow-band-domain light through light filter 117, make the second green narrow-band-domain light Gn2 when observing for distant view in wide band light BB through the second green narrow-band-domain light through light filter 118.
Special light rotary filter 102 is provided with the light filter switching part 120 making rotating shaft 102a in the direction movement orthogonal with the light path of wide band light BB.By this light filter switching part 120, special light rotary filter 102 make the first blue narrow-band-domain light through the blue narrow-band-domain light of light filter 115, second through the green narrow-band-domain light of light filter 116, first through light filter 117 and the second green narrow-band-domain light through light filter 118 in the on position of any one light filter in the light path of wide band light source 30 and make rotary filter overall between the retreating position that the light path of wide band light BB is kept out of the way mobile freely.
In this second embodiment, when being set as normal light image model, special light rotary filter 102 is placed in retreating position.Therefore, the wide band light BB from wide band light source 30 irradiates directly to normal light rotary filter 101.In this condition, by making normal light rotary filter 101 rotate, by B light, G light, R light, wide band light BB irradiation body intracavity in order.
In this second embodiment, owing to being provided with the peristome 113 of special light transmission on normal light rotary filter 101, so not only by B light, G light, R light but also can by wide band light BB to body cavity internal radiation.Therefore, when controlling by imaging control part 46 CCD44 receiving endoceliac reflected light, as shown in figure 14, in irradiation B light, G light, R light time, identical with the first embodiment, carry out accumulation and the reading of signal; But when irradiating wide band light BB, do not carry out accumulation and the reading of signal.
On the other hand, when being set as special light image pattern, special light rotary filter 102 is placed on position.And, when the peristome 113 of normal light rotary filter 101 is positioned in the light path of wide band light BB, the rotation of normal light rotary filter 101 is stopped.In this condition, by making special light rotary filter 102 rotate, the first blue narrow-band-domain light Bn1, the second blue narrow-band-domain light Bn2, the first green narrow-band-domain light Gn1, the second green narrow-band-domain light Gn2 are irradiated in body cavity in order.Under special light image pattern, to kind and the order identical (with reference to Fig. 7 B, Fig. 7 C) of the illumination light of body cavity internal radiation, therefore, the control of the CCD44 carried out about imaging control part 46 is omitted.
In the above-described embodiment, by the half breadth of the narrow-band-domain light of blueness or the narrow-band-domain light of green is expanded, deficiency in light quantity when observing distant view compensates, but when using red narrow-band-domain light to carry out distant view observation on this basis, also can expand the half breadth of red narrow-band-domain light.
In the above-described embodiment, when close shot is observed and when distant view observes, half breadth is changed, but preferably by its further vague generalization, the distance according to endoscope distal end portion and irradiated body tissue make the half breadth of narrow-band-domain light change, namely far away with the distance of irradiated body distance, half breadth more increases; Its distance is nearer, and half breadth more reduces.
[embodiment]
Below, based on embodiment and comparative example the present invention done and more specifically illustrate.In this embodiment, in the close shot observing pattern in special smooth portrait mode, use the rotary filter 31 shown in Figure 15, carry out endoceliac shooting.Identical shown in this rotary filter 31 with above-mentioned first embodiment.Rotary filter 31 is provided with for the first filter areas 38 during normal light portrait mode with for the second filter areas 39 during special smooth portrait mode.Wherein, in the second filter areas 39, be provided with in the circumferential direction in order the first blue narrow-band-domain light through the blue narrow-band-domain light of light filter 65, second through the green narrow-band-domain light of light filter 66, first through the green narrow-band-domain light of light filter 67, second through light filter 68.Therefore, by under the state of placing the second filter areas 39 in the light path of wide band light BB, rotary filter 31 is rotated, the first blue narrow-band-domain light Bn1, the second blue narrow-band-domain light Bn2, the first green narrow-band-domain light Gn1, the second green narrow-band-domain light Gn2 are irradiated in body cavity in order.
On CCD in endoscope distal end portion, first, when incident first blue narrow-band-domain light Bn1, during making a video recording in (during 1/4 rotation of rotary filter 31) carry out accumulation and the reading of signal.Then, when the first blue narrow-band-domain light Bn1 is incident to CCD by the second blue narrow-band-domain light Bn2, accumulation and the reading of signal is not carried out.Therefore, during irradiation the first blue narrow-band-domain light Bn2, (during 1/4 rotation of rotary filter 31) is can not to the interregnum taken in body cavity.
Secondly, when then the second blue narrow-band-domain light Bn2 is incident to CCD by the first green narrow-band-domain light Gn1, during making a video recording in (during 1/4 rotation of rotary filter 31) again carry out accumulation and the reading of signal.In addition, when then the first green narrow-band-domain light Bn2 is incident to CCD by the second green narrow-band-domain light Gn2, accumulation and the reading of signal is not carried out.Therefore, during irradiation the second blue narrow-band-domain light Gn2, (rotary filter 31 rotates during 1/4) is can not to the interregnum taken in body cavity.
[comparative example]
In comparative example, when the close shot observing pattern of special smooth portrait mode, the rotary filter 200 shown in Figure 16 is used to carry out endoceliac shooting.On rotary filter 200, also in the same manner as rotary filter 31, be provided with for the first filter areas 201 during normal light portrait mode with for the second filter areas 202 during special smooth portrait mode.Wherein, in the second filter areas 202, different from rotary filter 31, be provided with in the circumferential direction in order the first blue narrow-band-domain light through the green narrow-band-domain light of light filter 65, first through the blue narrow-band-domain light of light filter 67, second through the green narrow-band-domain light of light filter 66, second through light filter 68.Therefore, rotary filter 200 is rotated, by the first blue narrow-band-domain light Bn1, the first green narrow-band-domain light Gn1, the second blue narrow-band-domain light Bn2, the second green narrow-band-domain light Gn2 in order to body cavity internal radiation by under the state of placing the second filter areas 202 in the light path of wide band light BB.
In CCD in endoscope distal end portion, first, during incident first blue narrow-band-domain light Bn1, (during 1/4 rotation of rotary filter 200) carries out accumulation and the reading of signal.At then the first blue narrow-band-domain light Bn1 by the first green narrow-band-domain light Gn1 to (rotary filter 200 rotates during 1/4) during CCD incidence, carry out accumulation and the reading of the signal of CCD.And, at the second blue narrow-band-domain light Bn2, the second green narrow-band-domain light Gn2 to accumulation and the reading of not carrying out signal during CCD incidence.Therefore, during carrying out the shooting of the first blue narrow-band-domain light Bn1 and during the shooting carrying out the first green narrow-band-domain light Gn1, namely rotary filter 200 rotates between 1/2 is can not to the interregnum taken in body cavity.
[comparison of embodiment and comparative example]
As above, in an embodiment, in close shot observing pattern, interregnum is only between 1/4 rotation of rotary filter, and in contrast, in a comparative example, interregnum is that between 1/2 of rotary filter rotates, therefore, the interregnum of comparative example is than embodiment duration.Therefore, in an embodiment, relative to comparative example, it is short to take endoceliac period, therefore, it is possible to reliably carry out the diagnostic imaging etc. when endoscope uses.In addition, about the difference of the interregnum of this embodiment and comparative example, also identical under distant view observing pattern can be said.
Claims (8)
1. an electronic endoscope system, it possesses:
Wide band light source, it produces the wide band light comprised from blue band domain to red band domain;
First rotary filter, it alternately configures multiple first narrow-band-domain light through light filter and multiple second narrow-band-domain light through light filter according to by the first narrow-band-domain light and the second narrow-band-domain light in the circumferential direction alternately to the mode of carrying out in body cavity irradiating, the second narrow-band-domain light that each described first narrow-band-domain light makes the first narrow-band-domain light in described wide band light the half breadth of described first narrow-band-domain light be expanded with certain limit through, each described second narrow-band-domain light through light filter through light filter through;
Imaging apparatus, it is taken described endoceliac irradiated body tissue, and produces image pickup signal, and this imaging apparatus is configured in and inserts described endoceliac endoscope distal end portion;
Observation state decision maker, it is based on described image pickup signal, judge be taken under the distance of described endoscope distal end portion and described irradiated body tissue is as near state and close shot observation state or to be taken under the distance of described endoscope distal end portion and described irradiated body tissue is as state far away and distant view observation state; And
Video camera controller, it controls described imaging apparatus, thus, when being judged to be described close shot observation state, takes when irradiating described first narrow-band-domain light; When being judged to be described distant view observation state, take when irradiating described second narrow-band-domain light,
Described first narrow-band-domain light comprises: be restricted to the first blue narrow-band-domain light of the specific band domain in described blue band domain and be restricted to the first green narrow-band-domain light of the specific band domain in green band domain,
Described second narrow-band-domain light comprises: by the half breadth of described first blue narrow-band-domain light with second of certain expanded range the blue narrow-band-domain light and by the half breadth of described first green narrow-band-domain light with second of certain expanded range the green narrow-band-domain light.
2. electronic endoscope system as claimed in claim 1, wherein,
Described second blue narrow-band-domain light only makes the light quantity of short wavelength side increase relative to described first blue narrow-band-domain light under not changing than the light quantity more by long wavelength side near 450nm.
3. electronic endoscope system as claimed in claim 2, wherein,
Described multiple first narrow-band-domain light through light filter is: make the first blue narrow-band-domain light described in described wide band light through the first blue narrow-band-domain light through light filter and make the first green narrow-band-domain light described in described wide band light through the first green narrow-band-domain light through light filter
Described multiple second narrow-band-domain light through light filter is: make the second blue narrow-band-domain light described in described wide band light through the second blue narrow-band-domain light through light filter and make the second green narrow-band-domain light described in described wide band light through the second green narrow-band-domain light through light filter.
4. electronic endoscope system as claimed in claim 3, wherein,
Described first rotary filter possesses:
First filter areas, it is provided with in order makes the blue light of the B light transmission of described blue band domain through light filter, make the green light of the G light transmission of described green band domain through light filter and make the red light of R light transmission of described red band domain through light filter; And
Second filter areas, it is arranged on inner side or outside relative to described first filter areas, this second filter areas be provided with in the circumferential direction in order described first blue narrow-band-domain light through light filter, described second blue narrow-band-domain light through light filter, described first green narrow-band-domain light through light filter and described second green narrow-band-domain light through light filter.
5. electronic endoscope system as claimed in claim 4, wherein,
When using described B light, described G light, described R light to carry out normal light observation, the light path of described wide band light is placed described first filter areas, rotate by making described first rotary filter, described B light, described G light, described R light are irradiated in described body cavity in order, and
When using described first blue narrow-band-domain light, described second blue narrow-band-domain light, described first green narrow-band-domain light and described second green narrow-band-domain light to carry out special light observation, the light path of described wide band light is placed described second filter areas, by making described first rotary filter rotate, described first blue narrow-band-domain light, described second blue narrow-band-domain light, described first green narrow-band-domain light, described second green narrow-band-domain light are irradiated in described body cavity in order.
6. electronic endoscope system as claimed in claim 3, wherein,
Also possess the second rotary filter, this second rotary filter have configure in order with lower component:
Make the blue light of the B light transmission of blue band domain described in described wide band light through light filter;
Make the green light of the G light transmission of green band domain described in described wide band light through light filter;
Make the red light of the R light transmission of red band domain described in described wide band light through light filter; And
Make described wide band light directly through peristome.
7. electronic endoscope system as claimed in claim 6, wherein,
When using described B light, described G light, described R light to carry out normal light observation, under the state making described first rotary filter keep out of the way from the light path of described wide band light, described second rotary filter is rotated, and makes described B light, described G light, described R light be irradiated in described body cavity in order;
When using described first blue narrow-band-domain light, described second blue narrow-band-domain light, described first green narrow-band-domain light and the second green narrow-band-domain light to carry out special light observation, under the state that the light path of described wide band light is placed the peristome of described second rotary filter, described first rotary filter is rotated, and described first blue narrow-band-domain light, described second blue narrow-band-domain light, described first green narrow-band-domain light, described second green narrow-band-domain light are irradiated in described body cavity in order.
8. electronic endoscope system as claimed in claim 1, wherein,
Described observation state decision maker detects light exposure according to described image pickup signal, is judged to be close shot observation state, is judged to be distant view observation state when not enough certain value when this light exposure is more than certain value.
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| JP6389377B2 (en) * | 2014-05-27 | 2018-09-12 | Hoya株式会社 | Endoscopy processor |
| JP2018019975A (en) * | 2016-08-04 | 2018-02-08 | Hoya株式会社 | Turret-type optical element |
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| CN101184427A (en) * | 2005-07-15 | 2008-05-21 | 奥林巴斯医疗株式会社 | Endoscope and endoscope device |
| CN101291615A (en) * | 2005-10-21 | 2008-10-22 | 奥林巴斯医疗株式会社 | Organism imaging device and organism observing system |
| EP2196134A1 (en) * | 2008-12-09 | 2010-06-16 | Fujifilm Corporation | Endoscope apparatus and control method thereof |
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| US7892169B2 (en) * | 2000-07-21 | 2011-02-22 | Olympus Corporation | Endoscope apparatus |
| JP4728162B2 (en) * | 2006-04-21 | 2011-07-20 | オリンパスメディカルシステムズ株式会社 | Endoscope system |
| JP5226403B2 (en) * | 2008-07-04 | 2013-07-03 | オリンパスメディカルシステムズ株式会社 | Light source device and endoscope apparatus using the light source device |
| EP2335551B1 (en) * | 2008-10-22 | 2014-05-14 | Fujifilm Corporation | Endoscope apparatus and control method therefor |
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| CN101184427A (en) * | 2005-07-15 | 2008-05-21 | 奥林巴斯医疗株式会社 | Endoscope and endoscope device |
| CN101291615A (en) * | 2005-10-21 | 2008-10-22 | 奥林巴斯医疗株式会社 | Organism imaging device and organism observing system |
| EP2196134A1 (en) * | 2008-12-09 | 2010-06-16 | Fujifilm Corporation | Endoscope apparatus and control method thereof |
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