JP2002365561A - Auto-focusing device of endoscope - Google Patents
Auto-focusing device of endoscopeInfo
- Publication number
- JP2002365561A JP2002365561A JP2001175989A JP2001175989A JP2002365561A JP 2002365561 A JP2002365561 A JP 2002365561A JP 2001175989 A JP2001175989 A JP 2001175989A JP 2001175989 A JP2001175989 A JP 2001175989A JP 2002365561 A JP2002365561 A JP 2002365561A
- Authority
- JP
- Japan
- Prior art keywords
- light
- distance measuring
- distance
- endoscope
- lens
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Automatic Focus Adjustment (AREA)
- Endoscopes (AREA)
Abstract
Description
【０００１】[0001]
【技術分野】本発明は、医療及び工業等の分野に用いら
れる内視鏡の測距装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a distance measuring device for an endoscope used in medical and industrial fields.
【０００２】[0002]
【従来技術及びその問題点】消化管の診断に用いる内視
鏡装置は、消化管内壁の観察対象の領域全体を観察した
撮像画像を出力する構成のものであり、消化管内壁の広
い領域を撮像し、この撮像信号を映像信号に信号処理し
てモニターに映し出している。2. Description of the Related Art An endoscope apparatus used for diagnosis of a gastrointestinal tract is configured to output a picked-up image obtained by observing an entire region to be observed on a gastrointestinal tract inner wall. An image is taken, the image signal is processed into a video signal, and displayed on a monitor.
【０００３】この種の内視鏡装置では、微細な病変を部
分的に拡大して詳細に観察するため、拡大内視鏡装置が
開発されている。拡大内視鏡装置は近接拡大時の焦点深
度が狭いためにオートフォーカス機構を備えることが好
ましい。オートフォーカス機構を備えた拡大内視鏡装置
は特開平１０−１６５３５８号公報に記載されている。In this type of endoscope apparatus, a magnified endoscope apparatus has been developed in order to partially magnify a fine lesion and observe it in detail. The magnifying endoscope device preferably has an autofocus mechanism because the depth of focus at the time of close-up magnification is narrow. A magnifying endoscope device having an autofocus mechanism is described in Japanese Patent Application Laid-Open No. H10-165358.
【０００４】しかしながら、先行例のオートフォーカス
内視鏡装置は、観察物体までの観察観察物体距離を測距
する測距装置が具体的に開示されておらず、オートフォ
ーカス機構を備えた拡大内視鏡装置は実機として存在し
ないのが現状である。However, the prior art autofocus endoscope apparatus does not specifically disclose a distance measuring apparatus for measuring an observation observation object distance to an observation object, and an enlarged endoscope provided with an autofocus mechanism. At present, the mirror device does not exist as an actual device.
【０００５】オートフォーカス機構はムービーを含むカ
メラの分野で既に採用されており、特にＣＣＤを撮像素
子に用いたカメラのオートフォーカス機構は、撮像素子
に結像する像のコントラストを検知してオートフォーカ
スを行うことが一般的であり、デフォーカス方向を検知
するための複雑なシステムが必要である。The auto-focus mechanism has already been adopted in the field of cameras including movies. In particular, the auto-focus mechanism of a camera using a CCD as an image sensor detects the contrast of an image formed on the image sensor and performs auto-focus. And a complicated system for detecting the defocus direction is required.
【０００６】内視鏡の先端部に設けられる体内挿入部は
患者の体腔内に挿入するものであるから、その直径が高
々１０ｍｍ程度に制限されるものであり、前記複雑なシ
ステムをもつカメラ等の測距手段を内視鏡にそのまま適
用することは事実上不可能である。[0006] Since the body insertion portion provided at the distal end of the endoscope is to be inserted into the body cavity of a patient, its diameter is limited to at most about 10 mm. It is practically impossible to directly apply the distance measuring means to the endoscope.
【０００７】さらに、コントラストによるオートフォー
カスは、デフォーカス方向を検知するための複雑なシス
テムが必要であり、また低コントラストな物体には焦点
が合せ難いという問題があった。[0007] Further, autofocusing by contrast requires a complicated system for detecting a defocus direction, and has a problem that it is difficult to focus on an object having low contrast.
【０００８】[0008]
【発明の目的】本発明は、拡大内視鏡の特性に合致した
内視鏡の測距装置を得ることを目的とする。SUMMARY OF THE INVENTION It is an object of the present invention to provide an endoscope distance measuring apparatus that matches the characteristics of a magnifying endoscope.
【０００９】[0009]
【発明の概要】前記目的を達成するため、本発明に係る
内視鏡の測距装置は、内視鏡の体内挿入部の先端部に、
基線長だけ離隔させた発光源と測距受光系とを設け、発
光源から出射され観察物体で反射して測距受光系に入射
する測距光の位置から複数の測距エリアの観察物体距離
を検出する三角測量方式の内視鏡の測距装置であって、
前記体内挿入部の先端部の発光源に送光する送光系は、
該体内挿入部の先端に設けた送光レンズと、内視鏡の操
作部側に設けた発光体と、該発光体の光を送光レンズに
送光する、体内挿入部内に挿通した複数の測距光専用送
光ファイバーとから構成され、前記複数の測距光専用送
光ファイバーは、前記体内挿入部内に並列に挿通され、
前記発光体からの光を、前記送光レンズを介して観察物
体の複数の測距エリアの異なる照射位置に出射すること
を特徴とする。SUMMARY OF THE INVENTION In order to achieve the above object, a distance measuring device for an endoscope according to the present invention comprises:
A light-emitting source and distance-measuring light-receiving system separated by the base line length are provided. A triangulation endoscope distance measuring device for detecting
A light transmitting system for transmitting light to a light emitting source at a distal end portion of the body insertion portion,
A light-sending lens provided at the tip of the body-inserting portion, a light-emitting member provided on the operation unit side of the endoscope, and a plurality of light-emitting members for transmitting the light of the light-emitting body to the light-sending lens; And a plurality of distance-measuring light-dedicated light-transmitting fibers, wherein the plurality of distance-measuring light-only light-transmitting fibers are inserted in parallel into the body insertion portion,
Light from the light emitter is emitted to different irradiation positions of a plurality of distance measurement areas of the observation object via the light transmitting lens.
【００１０】前記測距受光系は、具体的には、観察物体
で反射された光を受光する、体内挿入部先端に配置した
受光レンズと、該受光レンズで結像される測距光の位置
を検出する位置検出センサとから構成したことが望まし
い。Specifically, the distance measuring light receiving system includes a light receiving lens disposed at the distal end of the body insertion portion for receiving light reflected by the observation object, and a position of the distance measuring light formed by the light receiving lens. And a position detection sensor for detecting the position.
【００１１】また前記複数の測距光専用送光ファイバー
の発光を時分割で行い、前記発光の時分割に同期して前
記測距受光系は、入光する測距光で時分割順に測距を行
うことにより、複数の測距エリアからの測距光の入替り
等を回避して、誤った測距を防止する。The plurality of distance-measuring light transmission fibers emit light in a time-division manner, and in synchronization with the time-division of the light emission, the distance-measuring light-receiving system measures the distance in the time-division order with the incoming measuring light. By doing so, switching of ranging light from a plurality of ranging areas is avoided, and erroneous ranging is prevented.
【００１２】前記送光レンズは、ファイバーの出射端面
から出射する光を略平行光とすることが望ましい。It is preferable that the light transmitting lens converts light emitted from the emission end face of the fiber into substantially parallel light.
【００１３】本発明に係る内視鏡の測距装置は、例え
ば、撮像光学系の撮像レンズによる像を撮像素子に結像
させる電子内視鏡に適用することができる。電子内視鏡
では、前記送光レンズと前記測距受光系の受光レンズと
のいずれか一方が、撮像光学系の撮像レンズで兼用する
ことができる。前記測距受光系の受光レンズを内視鏡の
撮像レンズで兼用する態様では、この兼用した撮像レン
ズで集光した測距光を撮像光学系から分岐することが望
ましい。勿論、前記送光レンズと前記測距受光系の受光
レンズの双方を、撮像光学系の撮像レンズとは独立させ
て設けてもよい。The distance measuring apparatus for an endoscope according to the present invention can be applied to, for example, an electronic endoscope for forming an image by an imaging lens of an imaging optical system on an imaging device. In the electronic endoscope, one of the light transmitting lens and the light receiving lens of the distance measuring light receiving system can be also used as an imaging lens of an imaging optical system. In a mode in which the light receiving lens of the distance measuring light receiving system is also used as the imaging lens of the endoscope, it is preferable that the distance measuring light collected by the dual purpose imaging lens is branched from the imaging optical system. Of course, both the light transmitting lens and the light receiving lens of the distance measuring light receiving system may be provided independently of the imaging lens of the imaging optical system.
【００１４】測距光の結像位置を検出する位置検出セン
サは、電子内視鏡の場合、撮像素子で兼用することがで
きる。この態様では、前記撮像素子の出力を測距用と撮
像用に時分割して出力することが望ましい。In the case of an electronic endoscope, the position detecting sensor for detecting the image forming position of the distance measuring light can be shared by the image pickup device. In this aspect, it is desirable that the output of the image sensor be time-divisionally output for distance measurement and for imaging.
【００１５】また前記位置検出センサは、ＰＳＤ又はＣ
ＣＤから構成し、或いは光ファイバーの受光端を直線状
に並べたファイバーアレイから構成してもよい。The position detection sensor may be a PSD or C
It may be composed of a CD or a fiber array in which the light receiving ends of optical fibers are arranged in a straight line.
【００１６】観察物体の複数の測距エリアにおいては、
前記複数の測距エリアの中から指定された測距エリアに
対して測距処理を行う、前記複数の測距エリアの測距情
報を平均化して測距処理を行う、前記複数の測距エリア
の中から最近点又は最遠点を選択して測距処理を行う、
観察物体距離に応じて各測距エリアを担当する送光ビー
ムを変更して測距処理を行うことができる。In a plurality of distance measurement areas of the observation object,
Performing a ranging process on a designated ranging area from among the plurality of ranging areas; averaging ranging information of the plurality of ranging areas to perform a ranging process; Select the closest point or the farthest point from among and perform ranging processing.
The ranging process can be performed by changing the light transmission beam that is in charge of each ranging area according to the observation object distance.
【００１７】[0017]
【発明の実施の形態】以下、本発明の実施の形態を図示
例と共に説明する。Embodiments of the present invention will be described below with reference to the drawings.
【００１８】図１（ａ）は本発明を適用した電子内視鏡
システムの全体を示す図、図１（ｂ）は図１（ａ）のＡ
部のうち撮像光学系を拡大して示す構成図である。図２
は、図１（ａ）のＡ部のうち、内視鏡の特性に合致した
小型で簡易な、本発明を電子内視鏡システムに適用した
第１の実施形態に係る内視鏡の測距装置を拡大して示す
構成図である。図３は観察物体で反射した測距光を用い
て測距するアクティブ方式の三角測量式測距装置の原理
図である。FIG. 1A is a view showing the whole of an electronic endoscope system to which the present invention is applied, and FIG. 1B is a view showing A in FIG. 1A.
FIG. 2 is a configuration diagram showing an enlarged image pickup optical system in a section. FIG.
1A is a small and simple endoscope according to a first embodiment in which the present invention is applied to an electronic endoscope system, which is adapted to the characteristics of the endoscope, from part A of FIG. It is a block diagram which expands and shows an apparatus. FIG. 3 is a principle diagram of an active triangulation type distance measuring apparatus for measuring a distance by using distance measuring light reflected by an observation object.
【００１９】一般的に、三角測量方式は無限遠物体の検
知を正確に行うことが困難であるが、拡大内視鏡装置は
近接拡大時の焦点深度の狭い領域のみ測距が必要であ
り、無限遠の検知は必要がない。また近接拡大時は観察
物体距離に対し長い基線長がとれるため、精度の高い測
距が可能である。さらに送光系の光源として測距光専用
送光ファイバーを利用して内視鏡先端部まで送光するこ
とにより、大きなスペースを必要とする発光素子を内視
鏡装置の外部装置に設置することが可能となり、測距手
段を小型化して、内視鏡先端部の寸法拡大を抑制するこ
とが可能である。In general, it is difficult for the triangulation method to accurately detect an object at infinity, but a magnifying endoscope device needs to measure a distance only in an area having a small depth of focus at the time of close-up magnification. There is no need to detect infinity. In addition, at the time of close proximity enlargement, a long base line length can be taken with respect to the observation object distance, so that highly accurate distance measurement is possible. In addition, by transmitting light to the distal end of the endoscope using a distance-measuring light transmission fiber as a light source of the light transmission system, a light-emitting element requiring a large space can be installed in an external device of the endoscope apparatus. This makes it possible to reduce the size of the distance measuring means and suppress an increase in the size of the distal end portion of the endoscope.
【００２０】上述した基本的思想に基いて、図１（ａ）
に示すように、本発明を適用した電子内視鏡システムは
内視鏡本体１と外部装置１３とから構成しており、内視
鏡本体１は、外部装置１３とのコネクタ１０を有する。
内視鏡本体１は、先端側の体内挿入部１ａと基部の操作
部１ｄを備えている。Based on the basic idea described above, FIG.
As shown in FIG. 1, the electronic endoscope system to which the present invention is applied includes an endoscope main body 1 and an external device 13, and the endoscope main body 1 has a connector 10 with the external device 13.
The endoscope main body 1 includes a body insertion section 1a on the distal end side and an operation section 1d on the base.
【００２１】図１（ａ）に示す内視鏡本体１における体
内挿入部１ａの先端硬性部１ｅには、図１（ｂ）に示す
ように観察物体を結像する撮像レンズ１ｂと撮像レンズ
１ｂが結像した観察物体像を電気信号としての撮像信号
に変換する撮像素子１ｃ等を含む撮像光学系が組み込ま
れている。そして、電子内視鏡システムの撮像光学系の
撮像レンズ１ｂによる像が撮像素子１ｃに結像され、そ
の撮像した撮像信号が図１（ａ）に示す外部装置１３に
伝送され、その撮像信号を図１（ａ）に示す外部装置１
３内のプロセッサ１４で画像処理して図示しないモニタ
ーに表示し観察物体の観察を行う。また図１（ａ）に示
すように、外部装置１３には照明用光源１５が設けら
れ、該照明用光源１５からの光が図１（ｂ）に示すよう
に照明用ライトガイド１５ａを通して内視鏡本体１の先
端硬性部１ｅまで伝送され、集光レンズ１６を通して観
察物体を照明する。また撮像素子１ｃは固体撮像素子、
特にＣＣＤ（電荷結合素子）が用いられるが、これに限
定されるものではない。以下、撮像素子１ｃとしてＣＣ
Ｄを用いる例を説明するため、撮像素子をＣＣＤ１ｃと
して表記する。As shown in FIG. 1B, an imaging lens 1b and an imaging lens 1b which form an image of an observation object are provided on a rigid distal end portion 1e of the body insertion portion 1a of the endoscope body 1 shown in FIG. An imaging optical system including an imaging element 1c for converting the observation object image formed by the imaging device 1 into an imaging signal as an electric signal is incorporated. Then, an image formed by the image pickup lens 1b of the image pickup optical system of the electronic endoscope system is formed on the image pickup device 1c, and the picked-up image pickup signal is transmitted to the external device 13 shown in FIG. External device 1 shown in FIG.
The image is processed by the processor 14 in 3 and displayed on a monitor (not shown) to observe the observation object. Further, as shown in FIG. 1A, the external device 13 is provided with an illumination light source 15, and light from the illumination light source 15 is viewed through an illumination light guide 15a as shown in FIG. 1B. The light is transmitted to the distal end rigid portion 1e of the mirror body 1 and illuminates the observation object through the condenser lens 16. The imaging device 1c is a solid-state imaging device,
In particular, a CCD (Charge Coupled Device) is used, but is not limited to this. Hereinafter, CC is used as the image sensor 1c.
In order to explain an example in which D is used, the image sensor is described as a CCD 1c.
【００２２】さらに内視鏡本体１の撮像光学系には図示
しない焦点調節機構が連動している。この焦点調整機構
は、測距手段による距離情報等に基いて、図１（ｂ）に
示す撮像レンズ１ｂとＣＣＤ１ｃとの相対距離を変化さ
せて焦点合せ（オートフォーカス）を行う。Further, a focusing mechanism (not shown) is linked to the imaging optical system of the endoscope body 1. This focus adjustment mechanism performs focusing (autofocus) by changing the relative distance between the imaging lens 1b and the CCD 1c shown in FIG. 1B based on distance information and the like by the distance measuring means.
【００２３】図２に示す実施形態に係る、内視鏡の特性
に合致した小型で簡易な本発明による三角測量方式内視
鏡の測距装置は、内視鏡本体１の体内挿入部１ａの先端
部に、基線長だけ離隔させた発光源と測距受光系とを設
け、発光源から出射され観察物体で反射して測距受光系
に入射する測距光の位置から複数の測距エリアの観察物
体距離を検出する構成としたものである。A distance measuring device for a triangulation type endoscope according to the present invention, which is small and simple and conforms to the characteristics of the endoscope, according to the embodiment shown in FIG. A light-emitting source and a distance-measuring light-receiving system separated from each other by the base line length are provided at the tip, and a plurality of distance-measuring areas are provided from the position of the distance-measuring light emitted from the light-emitting source, reflected by an observation object and incident on the distance-measuring light-receiving system Is configured to detect the observation object distance.
【００２４】この実施形態では、前記体内挿入部１ａの
先端部の発光源に送光する送光系は図２に示すように、
該体内挿入部１ａの先端に設けた送光レンズ３と、内視
鏡の操作部側に設けた図１（ａ）の発光体２と、該発光
体２の光を送光レンズ３に送光する、体内挿入部１ａ内
に挿通した測距光専用送光ファイバー６ａ、６ｂ、６ｃ
とから構成している。前記測距光専用送光ファイバー６
ａ、６ｂ、６ｃは、図１（ｂ）に示す外部装置１３の照
明用光源１５からの観察物体の照明用光を内視鏡本体１
の先端硬性部１ｅまでが伝送する照明用ライトガイド１
５ａとは独立させて設けられている。また、発光体２が
設けられる内視鏡の「操作部側」には、図１（ａ）に示
す内視鏡本体１の操作部１ｄ及び内視鏡本体１の操作部
１ｄから内視鏡装置の外部装置１３に至る部分が含まれ
るものであり、要は、発光体２が設けられる内視鏡の操
作部側とは、内視鏡本体１の先端部に設けられる体内挿
入部１ａを除く個所を意味する。また発光体２にはＬＥ
Ｄが用いられるが、ＬＥＤに限定されるものではなく、
赤外光を出射する発光素子も用いてもよく、要は測距光
を発光できるものであれば、いずれのものでもよい。In this embodiment, as shown in FIG. 2, the light transmitting system for transmitting light to the light emitting source at the distal end of the body insertion portion 1a is as follows.
A light transmitting lens 3 provided at the tip of the body insertion portion 1a, the light emitting body 2 of FIG. 1A provided on the operation section side of the endoscope, and light from the light emitting body 2 is transmitted to the light transmitting lens 3. Light-transmitting optical fibers 6a, 6b, 6c dedicated to distance measuring light inserted into the insertion portion 1a inside the body
It is composed of The transmission fiber 6 dedicated to the ranging light
a, 6b, and 6c show the illumination light of the observation object from the illumination light source 15 of the external device 13 shown in FIG.
Light guide 1 for transmission up to the tip rigid portion 1e
It is provided independently of 5a. In addition, on the “operation unit side” of the endoscope provided with the light-emitting body 2, the operation unit 1 d of the endoscope main body 1 and the operation unit 1 d of the endoscope main body 1 shown in FIG. It includes a part reaching the external device 13 of the device. In short, the operation unit side of the endoscope provided with the luminous body 2 corresponds to the in-body insertion unit 1a provided at the distal end of the endoscope main body 1. Excludes the part. The luminous body 2 has LE
D is used, but is not limited to LEDs,
A light-emitting element that emits infrared light may be used. In short, any light-emitting element that can emit distance-measuring light may be used.
【００２５】この実施形態では複数の測距エリアの観察
物体距離を検出するために、図２に示すように前記発光
体２の光を送光レンズ３に送光する、体内挿入部１ａ内
に挿通した測距光専用送光ファイバーとして複数の測距
光専用送光ファイバー６ａ、６ｂ、６ｃを備えており、
前記複数の測距光専用送光ファイバー６ａ、６ｂ、６ｃ
に通した前記発光体２からの光（スポット状ビーム）
を、前記送光レンズ３を介して観察物体１１の複数の測
距エリアの異なる照射位置ａ、ｂ、ｃに出射する。以
下、この発光体２からの光（スポット状ビーム）をＡＦ
参照ビームとして表記する。なお、図２では３本の測距
光専用送光ファイバー６ａ、６ｂ、６ｃのみを図示して
いるが、この本数に限定されるものではない。In this embodiment, in order to detect the observation object distances in a plurality of distance measurement areas, the light from the light emitter 2 is transmitted to the light transmission lens 3 as shown in FIG. A plurality of distance-measuring light-dedicated light-transmitting fibers 6a, 6b, and 6c are provided as the inserted distance-measuring light-only light-transmitting fibers,
The plurality of light transmission fibers 6a, 6b, 6c dedicated to distance measuring light
(Spot-like beam) from the luminous body 2 passed through
Through the light transmitting lens 3 to different irradiation positions a, b, and c of a plurality of distance measurement areas of the observation object 11. Hereinafter, the light (spot-like beam) from the light emitting body 2 is
Described as a reference beam. Although FIG. 2 shows only three distance-measuring light transmission optical fibers 6a, 6b, and 6c, the number is not limited to three.
【００２６】図２に示す測距受光系は、観察物体で反射
された光（測距光）を受光する、体内挿入部１ａの先端
に配置した受光レンズ４と、受光レンズ４で結像される
測距光の位置を検出する位置検出センサ５とから構成し
ている。この実施形態では、図１（ｂ）に示す内視鏡本
体１の撮像光学系（撮像レンズ１ｂ、ＣＣＤ１ｃ等を含
む）から独立した、測距専用の光学系によって測距装置
が構成されている。すなわち、測距受光系は図２に示す
ように、図１（ｂ）に示す撮像光学系の撮像レンズ１ｂ
から独立した受光レンズ４を含んでおり、観察物体１１
で反射した反射光（測距光）を受光レンズ４で撮像光学
系の撮像素子１ｃ（図１（ｂ）参照）から独立した位置
検出センサ５の受光面上にスポット状に結像する。The distance measuring light receiving system shown in FIG. 2 receives light reflected by the object to be observed (ranging light), and is formed of an image by the light receiving lens 4 disposed at the tip of the body insertion portion 1a and the light receiving lens 4. And a position detecting sensor 5 for detecting the position of the distance measuring light. In this embodiment, a distance measuring device is configured by an optical system dedicated to distance measurement that is independent of the image pickup optical system (including the image pickup lens 1b, the CCD 1c, and the like) of the endoscope main body 1 shown in FIG. . That is, as shown in FIG. 2, the distance measuring light receiving system is an imaging lens 1b of the imaging optical system shown in FIG.
Light receiving lens 4 independent of the observation object 11
The reflected light (ranging light) reflected by the light-receiving lens 4 forms a spot-like image on the light-receiving surface of the position detection sensor 5 independent of the image pickup device 1c (see FIG. 1B) of the image pickup optical system.
【００２７】図２に示す位置検出センサ５は、複数の光
ファイバー８ａ、８ｂ、８ｃ・・・の受光端を直線状に
並べたファイバーアレイ８を用いている。ファイバーア
レイ８の複数の光ファイバー８ａ、８ｂ、８ｃ・・・は
受光レンズ４の光軸Ｘと平行に配置され、複数の光ファ
イバー８ａ、８ｂ、８ｃ・・・の受光端が受光レンズ４
の光軸Ｘと直交する方向に規則的に配列される。また、
この実施形態では、測距光専用送光ファイバー６ａ、６
ｂ、６ｃで送光されるＡＦ参照ビームに赤外光を用い
る。このため、ファイバーアレイ８の前方に、内視鏡本
体１の撮像光がファイバーアレイ８に混入するのを防止
する赤外透過フィルタ９を配置し、赤外透過フィルタ９
で可視光である撮像光をカットして赤外光である観察物
体１１からの反射光（測距光）のみをファイバーアレイ
８に入光させる。The position detecting sensor 5 shown in FIG. 2 uses a fiber array 8 in which light receiving ends of a plurality of optical fibers 8a, 8b, 8c. The plurality of optical fibers 8a, 8b, 8c... Of the fiber array 8 are arranged in parallel with the optical axis X of the light receiving lens 4, and the light receiving ends of the plurality of optical fibers 8a, 8b, 8c.
Are arranged regularly in a direction orthogonal to the optical axis X of Also,
In this embodiment, the transmission light fibers 6a, 6
Infrared light is used for the AF reference beam transmitted in b and 6c. For this reason, an infrared transmission filter 9 for preventing the imaging light of the endoscope main body 1 from being mixed into the fiber array 8 is disposed in front of the fiber array 8.
Then, only the reflected light (ranging light) from the observation object 11, which is infrared light, enters the fiber array 8 by cutting the visible imaging light.
【００２８】以上の図２に示す測距光学系において、発
光体２、送光レンズ３及び測距光専用送光ファイバー６
ａ、６ｂ、６ｃを介して１つの観察物体１１の複数の測
距エリアの異なる照射位置ａ、ｂ、ｃに向けてＡＦ参照
ビームを発すると、測距光専用送光ファイバー６ａ、６
ｂ、６ｃの先端から出射される光は送光レンズ３により
略平行光のビームに整形され、スポット状ビームとして
観察物体１１の複数の測距エリアの異なる照射位置ａ、
ｂ、ｃに照射される。図２においては、前記ＡＦ参照ビ
ームが観察物体１１の複数の測距エリアの異なる照射位
置ａ、ｂ、ｃで反射し、その反射光（測距光）が位置検
出センサ５に結像するときの結像位置をＡ、Ｂ又はＣと
し、その結像位置Ａ、Ｂ又はＣと前記受光レンズ４の光
軸との間の距離をｄとして表記している。In the distance measuring optical system shown in FIG. 2, the light emitting body 2, the light transmitting lens 3, and the light transmitting fiber 6 for the distance measuring light are used.
When the AF reference beams are emitted toward different irradiation positions a, b, and c of a plurality of distance measurement areas of one observation object 11 via a, 6b, and 6c, the transmission fibers 6a, 6 dedicated to distance measurement light are emitted.
The light emitted from the tips of b and 6c is shaped into a substantially parallel light beam by the light transmitting lens 3, and is applied as a spot-like beam to different irradiation positions a,
b and c are irradiated. In FIG. 2, when the AF reference beam is reflected at different irradiation positions a, b, and c of a plurality of ranging areas of the observation object 11, and the reflected light (ranging light) forms an image on the position detection sensor 5. Is defined as A, B or C, and the distance between the image forming position A, B or C and the optical axis of the light receiving lens 4 is represented as d.
【００２９】次に図３を用いて、測距光が位置検出セン
サ５に結合するときの結合位置（Ａ、Ｂ、Ｃ）と受光レ
ンズ４の光軸Ｘとの間の距離（ｄ）等のデータに基いて
三角測距を行なう場合について説明する。図３は、説明
を簡単にするために図２に示す複数の測距光専用送光フ
ァイバーａ、６ｂ、６ｃから２本の測距光専用送光ファ
イバーａ、６ｂを選択し、これらの測距光専用送光ファ
イバーａ、６ｂからＡＦ参照ビームを２つの測距エリア
の異なる照射位置ａ、ｂに照射した場合における三角測
距について説明する。Next, referring to FIG. 3, the distance (d) between the coupling position (A, B, C) when the distance measuring light is coupled to the position detection sensor 5 and the optical axis X of the light receiving lens 4, etc. A case in which triangulation is performed based on the above data will be described. FIG. 3 shows two distance-measuring light transmission fibers a, 6b selected from the plurality of distance-measuring light transmission fibers a, 6b, 6c shown in FIG. 2 for the sake of simplicity. A description will be given of triangulation in a case where the AF reference beams are irradiated from the dedicated light transmitting fibers a and 6b to different irradiation positions a and b of the two distance measurement areas.
【００３０】図３において、発光体２、送光レンズ３及
び測距光専用送光ファイバー６ａ、６ｂを介して２つの
測距エリアの異なる照射位置ａ、ｂに向けて測距光（Ａ
Ｆ参照光）を発すると、測距光専用送光ファイバー６
ａ、６ｂの先端から出射される光は送光レンズ３により
略平行光のビームに整形され、異なる照射位置ａ、ｂに
照射される。このＡＦ参照ビームが照射位置ａ点又はｂ
点で反射し、その反射光が位置検出センサ５に結像する
ときの結像位置をＡ又はＢとし、その結像位置Ａ又はＢ
と前記受光レンズ４の光軸Ｘとの間の距離をｄ１、ｄ
２、前記受光レンズ４の焦点距離をｆ、前記受光レンズ
４と前記送光レンズ３の光軸間距離をＬ、観察物体距離
をＤ１、Ｄ２とする。In FIG. 3, distance measuring light (A) is directed toward different irradiation positions a and b of the two distance measuring areas via the light emitting body 2, the light transmitting lens 3 and the distance measuring light transmitting light fibers 6a and 6b.
F reference light), the distance measuring light transmission fiber 6
Light emitted from the tips of a and 6b is shaped into a substantially parallel light beam by the light transmitting lens 3, and is applied to different irradiation positions a and b. This AF reference beam is irradiated at the point a or b
An image forming position when the light is reflected at a point and the reflected light forms an image on the position detection sensor 5 is A or B, and the image forming position A or B
Distance between the optical axis X of the light receiving lens 4 and d1, d
2. The focal length of the light receiving lens 4 is f, the distance between the optical axes of the light receiving lens 4 and the light transmitting lens 3 is L, and the observation object distances are D1 and D2.
【００３１】位置検出センサ５が測定した距離ｄ１、ｄ
２を式 Ｄ＝Ｌ／（Ｌ／Ｄ0−ｄ／ｆ）・・・・・・・・・・・（１） に代入して、観察物体距離Ｄ（Ｄ１、Ｄ２）を求める。
ただし、Ｄ0はＡＦ参照ビームが受光レンズ４の光軸Ｘ
と交わる点までの図示しない予め設定された観察物体距
離である。また、ｄ（ｄ１、ｄ２）の符号については受
光レンズ４の光軸Ｘを原点とし、送光レンズ３の設置方
向を正とする。したがって図３の場合ｄ１の符号は正、
ｄ２の符号は負となる。これらの距離ｄ１、ｄ２及び観
察物体距離Ｄの距離データがフォーカシングを行う距離
データとして用いられる。なお、２本の測距光専用送光
ファイバーａ、６ｂ以外の残りの測距光専用送光ファイ
バーｃ・・・についても同様に図３に示す原理に基いて
三角測距を行ない、距離ｄ及び観察物体距離Ｄの距離デ
ータがフォーカシング用の距離データとして用いられ
る。The distances d1, d measured by the position detection sensor 5
2 is substituted into the equation D = L / (L / D 0 −d / f) (1) to obtain the observation object distance D (D1, D2).
However, D 0 is the optical axis X of the light receiving lens 4 when the AF reference beam is
Is a preset observation object distance (not shown) up to the point where the intersection with. For the sign of d (d1, d2), the optical axis X of the light receiving lens 4 is set as the origin, and the installation direction of the light transmitting lens 3 is set as positive. Therefore, in the case of FIG. 3, the sign of d1 is positive,
The sign of d2 is negative. These distance data of the distances d1 and d2 and the observation object distance D are used as distance data for performing focusing. In addition, triangular distance measurement is similarly performed on the remaining distance-measuring light transmission fibers c... Other than the two distance-measurement light transmission fibers a and 6b based on the principle shown in FIG. The distance data of the object distance D is used as distance data for focusing.
【００３２】そして内視鏡本体１の撮像光学系に連動し
た、図示しない焦点調節機構は、測距手段による前記距
離情報等に基いて、図１（ｂ）に示す撮像光学系の撮像
レンズ１ｂとＣＣＤ１ｃとの相対距離を変化させて焦点
合せ（オートフォーカス）を行うこととなる。A focus adjustment mechanism (not shown) interlocked with the imaging optical system of the endoscope main body 1 is provided with an imaging lens 1b of the imaging optical system shown in FIG. Focusing (autofocus) is performed by changing the relative distance between the camera and the CCD 1c.
【００３３】図２において、比較的近接した複数の測距
光専用送光ファイバー６ａ、６ｂ、６ｃからのＡＦ参照
ビームを同時に観察物体１１に照射して観察物体１１の
異なる照射位置ａ、ｂ、ｃで反射した反射光を１つの位
置検出センサ５上に同時に結像させると、異なる複数の
測距光専用送光ファイバー６ａ、６ｂ、６ｃからのＡＦ
参照ビームによる反射光（測距光）の結像点が重なった
り、或いは並び順の入れ替わりが起こる場合があり、誤
った測距をしてしまう可能性がある。そこで、図１
（ａ）に示すプロセッサ１４は、前記発光体２から前記
複数の測距光専用送光ファイバー６ａ、６ｂ、６ｃへの
測距光の送光を時分割で制御し、前記発光体２から前記
複数の測距光専用送光ファイバー６ａ、６ｂ、６ｃへの
光（ＡＦ参照ビーム）の送光の時分割に同期して前記測
距受光系は、複数の測距光の位置検出Ａ、Ｂ、Ｃを時分
割順に行い、観察物体１１の複数の測距エリアの照射位
置までの観察物体距離の測距を行う。In FIG. 2, the observation object 11 is simultaneously irradiated with AF reference beams from a plurality of transmission light fibers 6a, 6b, 6c dedicated to distance measurement light which are relatively close to each other, and different irradiation positions a, b, c of the observation object 11 are shown. When the light reflected by the light source is imaged on one position detection sensor 5 at the same time, AF from a plurality of different distance-measuring light-dedicated light transmitting fibers 6a, 6b, and 6c is performed.
There is a case where the imaging points of the reflected light (ranging light) by the reference beam overlap or the arrangement order is changed, and there is a possibility that an erroneous ranging is performed. Therefore, FIG.
The processor 14 shown in (a) controls the transmission of distance measurement light from the light emitter 2 to the plurality of distance measurement light dedicated transmission fibers 6a, 6b, 6c in a time-division manner. In synchronization with the time division of the transmission of the light (AF reference beam) to the light transmitting fibers 6a, 6b, and 6c dedicated to the distance measuring light, the distance measuring light receiving system detects the positions A, B, and C of a plurality of distance measuring lights. Are performed in time division order, and the distance of the observation object distance to the irradiation positions of the plurality of distance measurement areas of the observation object 11 is measured.
【００３４】この実施形態では、送光系の光源として測
距光専用送光ファイバー６ａ、６ｂ、６ｃを利用して内
視鏡本体1の先端部までＡＦ参照ビームを送光すること
により、大きなスペースを必要とする発光素子を図１
（ａ）に示す内視鏡装置の外部装置１３に設置すること
が可能となり、測距手段を小型化することができ、内視
鏡先端部の寸法拡大を抑制することができる。In this embodiment, the AF reference beam is transmitted to the distal end portion of the endoscope main body 1 using the distance-measuring light transmission fibers 6a, 6b, and 6c as light sources of the light transmission system, thereby providing a large space. Figure 1 shows a light-emitting element that requires
(A) can be installed in the external device 13 of the endoscope apparatus, the distance measuring means can be reduced in size, and an increase in the size of the endoscope tip can be suppressed.
【００３５】さらに図２に示すファイバーアレイ８によ
ると、スポット像がファイバーアレイ８の光ファイバー
８ａを介して内視鏡本体１から内視鏡装置の外部装置１
３に送光され、その光強度分布を維持したまま外部装置
１３内に設けた受光素子を使って電気信号に変換され、
距離データを算出して測距を行う。Further, according to the fiber array 8 shown in FIG. 2, the spot image is transmitted from the endoscope main body 1 to the external device 1 of the endoscope apparatus via the optical fiber 8a of the fiber array 8.
3, and is converted into an electric signal using a light receiving element provided in the external device 13 while maintaining the light intensity distribution,
Distance data is calculated and distance measurement is performed.
【００３６】次に図２に示す測距装置でフォーカシング
に必要な距離データの測距を行い、焦点合せを行った後
に取り込んだ画像に各種の処理を施す場合について図７
に基いて説明する。Next, FIG. 7 shows a case in which the distance measurement device shown in FIG. 2 measures the distance of the distance data necessary for focusing, and performs various processes on the captured image after focusing.
It will be described based on FIG.
【００３７】図２において、近接拡大時の内視鏡による
観察可能な全体測距エリアはａ、ｂ、ｃ点を含む観察物
体面とする。この場合、近接拡大時の内視鏡による観察
可能な測距エリア（ａ、ｂ又はｃ）までの観察物体距離
がそれぞれ異なるため、1つの測距エリアの観察物体距
離データを用いてフォーカシングを行うと、残りの測距
エリアではピンボケが生じてしまい、複数の測距エリア
での合焦を行うことが不可能となる。そこで、図６に示
すような処理を行う。In FIG. 2, the entire distance measurement area observable by the endoscope at the time of close-up enlargement is an observation object plane including points a, b, and c. In this case, since the observation object distances to the distance measurement areas (a, b, or c) observable by the endoscope at the time of the close-up are different, focusing is performed using the observation object distance data of one distance measurement area. Then, out-of-focus occurs in the remaining ranging areas, making it impossible to perform focusing in a plurality of ranging areas. Therefore, processing as shown in FIG. 6 is performed.
【００３８】図６のステップＳ１において、内視鏡本体
１の先端硬性部１ｅが、観察物体１１の複数の測距エリ
アａ、ｂ、ｃが観察可能な位置にある。一方、発光体２
から複数の測距光専用送光ファイバー６ａ、６ｂ、６ｃ
への送光順に時分割制御を予め設定しておく。ここで、
前記送光順を、測距光専用送光ファイバー６ａ、測距光
専用送光ファイバー６ｂ、測距光専用送光ファイバー６
ｃの順に設定した場合を例にとって説明する。In step S1 of FIG. 6, the rigid distal end portion 1e of the endoscope main body 1 is located at a position where a plurality of distance measurement areas a, b, and c of the observation object 11 can be observed. On the other hand, the luminous body 2
From a plurality of transmission fibers 6a, 6b, 6c dedicated to ranging light
Time-division control is set in advance in the order of light transmission to the light source. here,
The light transmission order is determined by the distance-measuring light transmission fiber 6a, the distance-measuring light transmission fiber 6b, and the distance-measuring light transmission fiber 6.
The case where the setting is performed in the order of c will be described as an example.
【００３９】ステップＳ２において、前記送光順が一番
目の測距光専用送光ファイバー６ａに発光体２からＡＦ
参照ビームを入射させると、そのＡＦ参照ビームが測距
光専用送光ファイバー６ａを通して送光レンズ３まで送
光される。前記ＡＦ参照ビームは送光レンズ３により略
平行光のビームに整形され、観察物体１１の第１の測距
エリアである照射位置ａにスポット状に照射される。In step S2, the light transmission order from the light-emitting body 2 to the first transmission light fiber 6a for distance measurement light is the AF transmission order.
When the reference beam is incident, the AF reference beam is transmitted to the light transmitting lens 3 through the distance measuring light-specific transmitting fiber 6a. The AF reference beam is shaped into a substantially parallel light beam by the light transmitting lens 3, and is irradiated in a spot shape on the irradiation position a of the observation object 11, which is the first distance measurement area.
【００４０】次にステップＳ３に示すように、測距光専
用送光ファイバー６ａからのＡＦ参照ビームは観察物体
１１の第１の測距エリアである照射位置ａで反射し、そ
の反射光（測距光）は測距受光系の受光レンズ４で位置
検出センサ５上に結像する。測距受光系（特に図１
（ａ）のプロセッサ１４）は、前記位置検出センサ５上
での測距光の結像位置データから図２の距離ｄを求め
る。Next, as shown in step S3, the AF reference beam from the distance-measuring light transmission fiber 6a is reflected at the irradiation position a, which is the first distance-measuring area of the observation object 11, and the reflected light (the distance-measuring light) is obtained. (Light) is imaged on the position detection sensor 5 by the light receiving lens 4 of the distance measuring light receiving system. Distance measuring light receiving system (particularly FIG. 1
The processor (a) (a) obtains the distance d in FIG. 2 from the image forming position data of the distance measuring light on the position detection sensor 5.
【００４１】引続いて測距受光系（特に図１（ａ）のプ
ロセッサ１４）は、前記距離ｄを前記（１）式に代入し
て観察物体距離を算出し（ステップＳ４）、その測距デ
ータを図示しないメモリに記憶する。Subsequently, the distance measuring light receiving system (particularly, the processor 14 in FIG. 1A) calculates the observation object distance by substituting the distance d into the equation (1) (step S4), and measures the distance. The data is stored in a memory (not shown).
【００４２】次にステップＳ５において、同様に前記送
光順が二番目の測距光専用送光ファイバー６ｂに発光体
２からＡＦ参照ビームを入射させると、そのＡＦ参照ビ
ームが測距光専用送光ファイバー６ｂを通して送光レン
ズ３まで送光される。前記ＡＦ参照ビームは送光レンズ
３により略平行光のビームに整形され、観察物体１１の
第２の測距エリアである照射位置ｂにスポット状に照射
される。Next, in step S5, similarly, when the AF reference beam is incident from the light emitter 2 on the distance-measuring light transmission fiber 6b having the second light transmission order, the AF reference beam is transmitted to the distance-measuring light transmission fiber. The light is transmitted to the light transmitting lens 3 through 6b. The AF reference beam is shaped into a substantially parallel light beam by the light-sending lens 3, and is irradiated in a spot shape on the irradiation position “b” of the observation object 11 which is the second distance measurement area.
【００４３】次にステップＳ６に示すように、測距光専
用送光ファイバー６ｂからのＡＦ参照ビームは観察物体
１１の第２の測距エリアである照射位置ｂで反射し、そ
の反射光（測距光）は測距受光系の受光レンズ４で位置
検出センサ５上に結像する。測距受光系（特に図１
（ａ）のプロセッサ１４）は、上述したと同様に前記位
置検出センサ５上での測距光の結像位置データから図２
の距離ｄを求める。Next, as shown in step S6, the AF reference beam from the distance measuring light transmission fiber 6b is reflected at the irradiation position b, which is the second distance measuring area of the observation object 11, and the reflected light (the distance measuring light) (Light) is imaged on the position detection sensor 5 by the light receiving lens 4 of the distance measuring light receiving system. Distance measuring light receiving system (particularly FIG. 1
2A, the processor 14) of FIG. 2A uses the image forming position data of the distance measurement light on the position detection sensor 5 as shown in FIG.
Is determined.
【００４４】引続いて測距受光系（特に図１（ａ）のプ
ロセッサ１４）は、前記距離ｄを前記（１）式に代入し
て観察物体距離を算出し（ステップＳ７）、その測距デ
ータを図示しないメモリに記憶する。Subsequently, the distance measuring light receiving system (particularly, the processor 14 of FIG. 1A) calculates the observation object distance by substituting the distance d into the equation (1) (step S7), and measures the distance. The data is stored in a memory (not shown).
【００４５】次にステップＳ８において、同様に前記送
光順が三番目の測距光専用送光ファイバー６ｃに発光体
２からＡＦ参照ビームを入射させると、そのＡＦ参照ビ
ームが測距光専用送光ファイバー６ｃを通して送光レン
ズ３まで送光される。前記ＡＦ参照ビームは送光レンズ
３により略平行光のビームに整形され、観察物体１１の
第３の測距エリアである照射位置ｃにスポット状に照射
される。なお、図６のステップＳ１０、Ｓ１１では、符
号「ｎ」を用いて表記しているが、「ｎ」は前記送光順
が最後のものを意味するものであり、図２の例では、
「ｎ」の送光順には第三番目が該当する。Next, in step S8, similarly, when the AF reference beam from the light emitter 2 is made to enter the third distance-measuring light dedicated transmission fiber 6c, the AF reference beam is transmitted to the third distance-measuring light dedicated transmission fiber. The light is transmitted to the light transmitting lens 3 through 6c. The AF reference beam is shaped into a substantially parallel light beam by the light-sending lens 3, and is irradiated in a spot shape on the irradiation position c, which is the third distance measurement area of the observation object 11. In addition, in steps S10 and S11 in FIG. 6, the symbols are represented using the symbol “n”, but “n” means the last one in the light transmission order, and in the example of FIG.
The third corresponds to the light transmission order of “n”.
【００４６】次にステップＳ９に示すように、測距光専
用送光ファイバー６ｃからのＡＦ参照ビームは観察物体
１１の第３の測距エリアである照射位置ｃで反射し、そ
の反射光（測距光）は測距受光系の受光レンズ４で位置
検出センサ５上に結像する。測距受光系（特に図１
（ａ）のプロセッサ１４）は、上述と同様に前記位置検
出センサ５上での測距光の結像位置データから図２の距
離ｄを求める。Next, as shown in step S9, the AF reference beam from the distance-measuring light transmission fiber 6c is reflected at the irradiation position c, which is the third distance-measuring area of the observation object 11, and the reflected light (the distance-measuring light) is obtained. (Light) is imaged on the position detection sensor 5 by the light receiving lens 4 of the distance measuring light receiving system. Distance measuring light receiving system (particularly FIG. 1
The processor 14) in (a) obtains the distance d in FIG. 2 from the imaging position data of the distance measuring light on the position detection sensor 5 in the same manner as described above.
【００４７】引続いて測距受光系（特に図１（ａ）のプ
ロセッサ１４）は、前記距離ｄを前記（１）式に代入し
て観察物体距離を算出し（ステップＳ１０）、その測距
データを図示しないメモリに記憶する。Subsequently, the distance measuring light receiving system (particularly, the processor 14 in FIG. 1A) calculates the observation object distance by substituting the distance d into the equation (1) (step S10), and measures the distance. The data is stored in a memory (not shown).
【００４８】次に図１（ａ）に示す外部装置１３のプロ
セッサ１４は、使用者により予め設定された処理方法に
則って１つの観察物体１１での測距エリア（照射位置
ａ、ｂ、ｃ）に対するのため演算処理を行う（ステップ
Ｓ１３）。前記予め設定された処理には、前記複数の
測距エリアの中から指定された測距エリアの測距情報の
みを使用してＡＦ処理データの演算（測距処理）を行
う、前記複数の測距エリアの測距情報を平均化してＡ
Ｆ処理データの演算（測距処理）を行う、前記複数の
測距エリアの中から最も近接側（図２のｃ点 最近点）
又は最も遠い側（図２のａ点 最遠点）を選択してＡＦ
処理データの演算（測距処理）を行う、観察物体距離
に応じて各測距エリアを担当する送光ビームを変更して
ＡＦ処理データの演算（測距処理）を行う等の処理が含
まれる。Next, the processor 14 of the external device 13 shown in FIG. 1 (a) operates the distance measurement area (irradiation positions a, b, c) of one observation object 11 in accordance with a processing method preset by the user. ) Is performed (step S13). The preset processing includes calculating the AF processing data (distance measurement processing) using only the distance measurement information of the designated distance measurement area from the plurality of distance measurement areas. A is obtained by averaging the distance measurement information of the distance area.
F processing data calculation (ranging processing), the closest side from the plurality of ranging areas (point c in FIG. 2 nearest point)
Alternatively, select the farthest side (point a in FIG.
The processing includes calculation of processing data (distance measurement processing), processing of AF processing data (distance measurement processing) by changing the light transmission beam in charge of each distance measurement area according to the observation object distance, and the like. .
【００４９】次にステップＳ１４において、プロセッサ
１４はステップＳ１３で得られたデータを図示しない焦
点調節機構に出力して観察対象となる測距エリアに対し
てフォーカシング（ＡＦ）を行う。Next, in step S14, the processor 14 outputs the data obtained in step S13 to a focus adjustment mechanism (not shown) and performs focusing (AF) on the distance measurement area to be observed.
【００５０】なお、図２に示す実施形態では、観察物体
１１の各測距エリアａ、ｂ、ｃに対しそれぞれピントを
合わせて撮像し、得られた複数の画像データの合成を行
うことにより、焦点深度が狭い場合にも測距エリアａ、
ｂ、ｃの全面内でピントが合った全体画像を得るように
してもよい。In the embodiment shown in FIG. 2, each of the distance measurement areas a, b, and c of the observation object 11 is imaged in focus, and a plurality of obtained image data are synthesized. Even when the depth of focus is narrow, the ranging area a,
An in-focus image may be obtained within the entire area of b and c.
【００５１】図４は本発明の第２の実施形態に係る内視
鏡の測距装置を示す構成図である。この実施形態では、
受光レンズ４を内視鏡１の撮像レンズ１ｂで兼用し、観
察物体からの測距光を撮像レンズ１ｂでスポット状に結
像させ、そのスポット像を内視鏡１の撮像光学系からビ
ームスプリッタ７で分岐する。その分岐したスポット像
の結像位置を位置検出センサ５で検出する。位置検出セ
ンサ５として図２に示すファイバーアレイ８を用いてい
る。FIG. 4 is a configuration diagram showing a distance measuring device for an endoscope according to a second embodiment of the present invention. In this embodiment,
The light receiving lens 4 is also used as the image pickup lens 1b of the endoscope 1, and the distance measuring light from the observation object is formed into a spot by the image pickup lens 1b, and the spot image is transmitted from the image pickup optical system of the endoscope 1 to the beam splitter. Branch at 7. The position where the branched spot image is formed is detected by the position detection sensor 5. The fiber array 8 shown in FIG. 2 is used as the position detection sensor 5.
【００５２】この場合、測距光専用送光ファイバーで送
光されるＡＦ参照ビームに赤外光を用いることにより、
撮像レンズ１ｂを通過した光束はビームスプリッタ７で
撮像光と測距光とに分岐され、測距光のみが測距受光系
のファイバーアレイ８（位置検出センサ５）上にスポッ
ト状に結像される。測距光は赤外光であるから、ビーム
スプリッタ７は可視光を通過させ、赤外光を反射させる
ような特性をもつ。したがって、この実施形態では内視
鏡の撮像光学系による撮像と測距装置による測距とを同
時に行うことができる。In this case, by using infrared light as the AF reference beam transmitted by the distance measuring light transmission fiber,
The light beam that has passed through the imaging lens 1b is split by the beam splitter 7 into imaging light and distance measuring light, and only the distance measuring light is formed into a spot-like image on the fiber array 8 (position detection sensor 5) of the distance measuring light receiving system. You. Since the distance measuring light is infrared light, the beam splitter 7 has a characteristic of transmitting visible light and reflecting infrared light. Therefore, in this embodiment, imaging by the imaging optical system of the endoscope and ranging by the ranging device can be performed simultaneously.
【００５３】図５は本発明の第３の実施形態に係る内視
鏡の測距装置を示す構成図である。この実施形態では、
送光レンズ３を撮像光学系の撮像レンズ１ｂで兼用し、
測距受光系を撮像光学系から独立させたものである。FIG. 5 is a block diagram showing a distance measuring device for an endoscope according to a third embodiment of the present invention. In this embodiment,
The light transmitting lens 3 is also used as the imaging lens 1b of the imaging optical system,
The distance measuring light receiving system is independent of the imaging optical system.
【００５４】具体的に説明すると、この実施形態では、
測距光専用送光ファイバー６ａ、６ｂ、６ｃは、発光体
２から出射されるＡＦ参照ビームを内視鏡１の体内挿入
部１ａまで送光し、測距光専用送光ファイバー６ａ、６
ｂ、６ｃの先端から出射されるＡＦ参照ビームはビーム
スプリッタ１２で内視鏡の撮像レンズ１ｂに向けて反射
され、撮像レンズ１ｂを介し、観察物体面の複数の測距
エリアの異なる照射位置ａ、ｂ、ｃにスポット状ビーム
としてそれぞれ照射される。なお、撮像レンズ１ｂが複
数の光学レンズを組合せて構成されている場合には、撮
像レンズ１ｂの一部又は全部を使って測距光専用送光フ
ァイバーからの光を撮像レンズ１ｂに入射することにな
る。撮像レンズ１ｂの一部を使う場合には、その個所に
ビームスプリッタ１２を設置することになる。More specifically, in this embodiment,
The distance-measuring light transmission fibers 6a, 6b, and 6c transmit the AF reference beam emitted from the light emitter 2 to the in-body insertion portion 1a of the endoscope 1, and transmit the distance-measuring light transmission fibers 6a, 6a.
b, 6c, the AF reference beam emitted from the tip of the beam splitter 12 is reflected by the beam splitter 12 toward the imaging lens 1b of the endoscope, and passes through the imaging lens 1b to different irradiation positions a of a plurality of distance measurement areas on the observation object plane. , B, and c are irradiated as spot beams. When the imaging lens 1b is configured by combining a plurality of optical lenses, light from the distance-measuring light-dedicated transmission fiber is incident on the imaging lens 1b using a part or all of the imaging lens 1b. Become. When a part of the imaging lens 1b is used, the beam splitter 12 is installed at that location.
【００５５】また内視鏡本体１の撮像光学系（撮像レン
ズ１ｂ、ＣＣＤ１ｃ等を含む）から独立した測距専用の
測距受光系を備えているため、観察物体面で反射した測
距光は、受光レンズ４で位置検出センサ５にスポット状
に結像する。また測距光専用送光ファイバー６ａ、６
ｂ、６ｃで送光されるＡＦ参照ビームに赤外光を用いる
場合には、内視鏡本体１の撮像光が測距センサ５に混入
するのを防止するために赤外透過フィルタ９を用い、赤
外透過フィルタ９で可視光である撮像光をカットして赤
外光である被写体からの反射光のみを位置検出センサ５
に入光させる。Further, since the distance measuring light receiving system dedicated to distance measuring is provided independently of the image pickup optical system (including the image pickup lens 1b, the CCD 1c, etc.) of the endoscope main body 1, the distance measuring light reflected on the observation object surface is not reflected. Then, an image is formed in a spot shape on the position detection sensor 5 by the light receiving lens 4. In addition, transmission light fibers 6a, 6
When infrared light is used as the AF reference beam transmitted in b and 6c, an infrared transmission filter 9 is used to prevent the imaging light of the endoscope main body 1 from being mixed into the distance measuring sensor 5. The infrared light transmitting filter 9 cuts off the visible image light, and detects only the infrared light reflected from the object.
Light.
【００５６】この実施形態では、送光レンズ３として内
視鏡１の撮像レンズ１ｂを兼用しているため、距離によ
る測距点の移動が無く、特に基線長に対して観察物体距
離が非常に短い近接拡大観察を行う場合には有効であ
る。In this embodiment, since the imaging lens 1b of the endoscope 1 is also used as the light transmitting lens 3, there is no movement of the distance measuring point due to the distance, and particularly, the observation object distance is extremely large with respect to the base line length. This is effective when performing short close-up magnification observation.
【００５７】この実施形態においても、位置検出センサ
５として、ＣＣＤ１ｃに代えて図２に示すファイバーア
レイ８を用いてもよい。Also in this embodiment, the fiber array 8 shown in FIG. 2 may be used as the position detection sensor 5 instead of the CCD 1c.
【００５８】以上の実施形態では、消化管等の観察に用
いる内視鏡について説明したが、これに限定されるもの
ではなく、工業用に用いられる内視鏡についても同様に
適用することができるものである。In the above embodiment, the endoscope used for observing the digestive tract and the like has been described. However, the present invention is not limited to this, and can be similarly applied to an endoscope used for industrial use. Things.
【００５９】[0059]
【発明の効果】以上説明したように本発明によれば、内
視鏡の先端部から複数のＡＦ参照ビームを観察物体の複
数の測距エリアに向けて照射し、その測距光を利用して
測距を行うため、コントラストによるオートフォーカス
でのデフォーカス方向を検知するための複雑なシステム
が不要となり、しかも低コントラストな物体に対して合
焦を容易に行うことができる。As described above, according to the present invention, a plurality of AF reference beams are emitted from the distal end of the endoscope toward a plurality of distance measurement areas of the observation object, and the distance measurement light is used. Since the distance measurement is performed, a complicated system for detecting the defocus direction in the autofocus based on the contrast is not required, and the focusing can be easily performed on a low-contrast object.
【００６０】一般的に三角測量方式は無限遠物体の検知
を正確に行うことが困難であるが、拡大内視鏡は近接拡
大時の焦点深度の狭い領域のみ測距が必要であり、無限
遠の検知は必要がなく、高々数センチ程度が測距できれ
ばよいことに鑑みて三角測量方式を内視鏡に採用するこ
とができ、かつ焦点深度が浅い拡大観察に多点測距を行
うことができる。In general, it is difficult for the triangulation method to accurately detect an object at infinity. However, a magnifying endoscope needs to measure a distance only in an area with a small depth of focus at the time of close-up magnification. No triangulation is required for endoscopes in view of the fact that it is only necessary to be able to measure distances of at most several centimeters, and multi-point ranging can be performed for magnified observations with a shallow depth of focus. it can.
【００６１】さらに送光系の光源として並列配列の測距
光専用送光ファイバーを利用して内視鏡先端部まで送光
することにより、大きなスペースを必要とする発光素子
を内視鏡装置の外部装置側に設置することが可能とな
り、内視鏡本体を小型化することができる。Further, by transmitting light to the distal end portion of the endoscope using a parallel-arranged light transmitting fiber for distance measuring light as a light source of the light transmitting system, a light emitting element requiring a large space can be provided outside the endoscope apparatus. The endoscope can be installed on the device side, and the size of the endoscope main body can be reduced.
【図１】図１（ａ）は本発明を適用した電子内視鏡シス
テムの全体を示す図、図１（ｂ）は図１（ａ）のＡ部の
うち撮像光学系を拡大して示す構成図である。FIG. 1A is a diagram showing an entire electronic endoscope system to which the present invention is applied, and FIG. 1B is an enlarged view of an imaging optical system in a portion A of FIG. 1A. It is a block diagram.
【図２】図１（ａ）のＡ部のうち、内視鏡の特性に合致
した小型で簡易な、本発明を電子内視鏡システムに適用
した第１の実施形態に係る内視鏡の測距装置を拡大して
示す構成図である。FIG. 2 is a view showing a small and simple endoscope according to a first embodiment, in which the present invention is applied to an electronic endoscope system, in a part A of FIG. It is a block diagram which expands and shows a ranging device.
【図３】観察物体で反射した測距光を用いて測距するア
クティブ式の三角測量式測距装置の原理図である。FIG. 3 is a principle diagram of an active triangulation distance measuring device that measures a distance by using distance measuring light reflected by an observation object.
【図４】本発明の第２の実施形態に係る内視鏡の測距装
置を示す構成図である。FIG. 4 is a configuration diagram showing a distance measuring device for an endoscope according to a second embodiment of the present invention.
【図５】本発明の第３の実施形態に係る内視鏡の測距装
置を示す構成図である。FIG. 5 is a configuration diagram showing a distance measuring device for an endoscope according to a third embodiment of the present invention.
【図６】本発明の実施形態において多点測距によるデー
タを用いて処理を行う場合のフローチャートである。FIG. 6 is a flowchart in the case where processing is performed using data obtained by multipoint ranging in the embodiment of the present invention.
１ 内視鏡本体 １ａ 体内挿入部 １ｂ 撮像レンズ １ｃ 撮像素子（ＣＣＤ） ２ 発光体 ３ 送光レンズ ４ 受光レンズ ５ 位置検出センサ ６ａ ６ｂ ６ｃ 測距光専用送光ファイバー ８ ファイバーアレイ DESCRIPTION OF SYMBOLS 1 Endoscope main body 1a Internal insertion part 1b Image pickup lens 1c Image pickup device (CCD) 2 Light emitting body 3 Light transmission lens 4 Light reception lens 5 Position detection sensor 6a 6b 6c Light transmission fiber exclusive for distance measuring light 8 Fiber array
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.7 識別記号 ＦＩ テーマコート゛(参考） Ｇ０２Ｂ 7/28 Ｇ０２Ｂ 7/11 Ｈ 7/32 Ｂ Ｆターム(参考） 2F065 AA06 AA60 BB08 DD02 FF09 GG07 HH04 JJ02 JJ03 JJ16 JJ24 JJ25 JJ26 LL01 LL03 LL21 LL46 PP22 QQ23 QQ26 QQ28 QQ29 QQ42 2F112 AA06 AA08 BA10 CA01 CA12 DA02 DA10 DA19 DA26 DA30 EA11 FA21 FA45 2H040 BA06 BA22 CA12 CA13 CA22 CA24 DA12 GA02 2H051 AA00 4C061 AA00 AA29 CC06 FF40 FF46 FF47 HH52 JJ20 LL02 NN01 PP13 ──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. 7 Identification symbol FI Theme coat ゛ (Reference) G02B 7/28 G02B 7/11 H 7/32 B F term (Reference) 2F065 AA06 AA60 BB08 DD02 FF09 GG07 HH04 JJ02 JJ03 JJ16 JJ24 JJ25 JJ26 LL01 LL03 LL21 LL46 PP22 QQ23 QQ26 QQ28 QQ29 QQ42 2F112 AA06 AA08 BA10 CA01 CA12 DA02 DA10 DA19 DA26 DA30 EA11 FA21 FA45 2H040 BA06 BA22 CA12 CA13 CA22 CA05 DA1 AA02A062A062A052 NN01 PP13
Claims (14)
け離隔させた発光源と測距受光系とを設け、発光源から
出射され観察物体で反射して測距受光系に入射する測距
光の位置から複数の測距エリアの観察物体距離を検出す
る三角測量方式の内視鏡の測距装置であって、 前記体内挿入部の先端部の発光源に送光する送光系は、
該体内挿入部の先端に設けた送光レンズと、内視鏡の操
作部側に設けた発光体と、該発光体の光を送光レンズに
送光する、体内挿入部内に挿通した複数の測距光専用送
光ファイバーとから構成され、 前記複数の測距光専用送光ファイバーは、前記体内挿入
部内に並列に挿通され、前記発光体からの光を、前記送
光レンズを介して観察物体の複数の測距エリアの異なる
照射位置に出射することを特徴とする内視鏡の測距装
置。1. A light emitting source and a distance measuring light receiving system which are separated from each other by a base line length at a distal end portion of an insertion portion of a body of an endoscope. What is claimed is: 1. A triangulation endoscope distance measuring device for detecting an observation object distance in a plurality of distance measurement areas from a position of an incident distance measurement light, wherein the transmission device transmits light to a light emitting source at a distal end portion of the body insertion portion. The optical system is
A light-sending lens provided at the tip of the body-inserting portion, a light-emitting member provided on the operation unit side of the endoscope, and a plurality of light-emitting members for transmitting the light of the light-emitting body to the light-sending lens; A plurality of distance-measuring light-dedicated light-transmitting fibers, wherein the plurality of distance-measuring light-dedicated light-transmitting fibers are inserted in parallel into the body insertion portion, and light from the illuminant is transmitted to the observation object through the light-sending lens. A distance measuring device for an endoscope which emits light to different irradiation positions in a plurality of distance measuring areas.
て、 前記測距受光系を、観察物体で反射された光を受光す
る、体内挿入部先端に配置した受光レンズと、該受光レ
ンズで結像される測距光の位置を検出する位置検出セン
サとから構成したことを特徴とする内視鏡の測距装置。2. A distance measuring device for an endoscope according to claim 1, wherein said distance measuring light receiving system receives light reflected by an observation object, and is disposed at a tip of an insertion portion in the body, and said light receiving lens. A distance measuring device for an endoscope, comprising: a position detecting sensor for detecting a position of distance measuring light formed by a lens.
て、 前記複数の測距光専用送光ファイバーの発光を時分割で
行い、前記発光の時分割に同期して前記測距受光系は、
入光する測距光で時分割順に測距を行うことを特徴とす
る内視鏡の測距装置。3. The distance measuring device for an endoscope according to claim 1, wherein the plurality of distance-measuring light transmission fibers emit light in a time division manner, and the distance measuring light receiving system is synchronized with the time division of the light emission. Is
A distance measuring device for an endoscope, wherein a distance is measured in a time-division order with incoming distance measuring light.
て、 前記送光レンズは、ファイバーの出射端面から出射する
光を略平行光とすることを特徴とする内視鏡の測距装
置。4. A distance measuring apparatus for an endoscope according to claim 1, wherein said light transmitting lens converts light emitted from an emission end face of said fiber into substantially parallel light. apparatus.
視鏡の測距装置において、 前記内視鏡は、撮像光学系の撮像レンズによる像を撮像
素子に結像させる電子内視鏡であることを特徴とする内
視鏡の測距装置。5. The electronic endoscope according to claim 1, wherein the endoscope forms an image formed by an imaging lens of an imaging optical system on an imaging device. A distance measuring device for an endoscope, which is a mirror.
て、 前記送光レンズと前記測距受光系の受光レンズとのいず
れか一方が、撮像光学系の撮像レンズで兼用されている
ことを特徴とする内視鏡の測距装置。6. The distance measuring device for an endoscope according to claim 2, wherein one of the light transmitting lens and the light receiving lens of the distance measuring light receiving system is also used as an imaging lens of an imaging optical system. A distance measuring device for an endoscope.
て、 前記測距受光系の受光レンズとして兼用した撮像レンズ
で集光した測距光を撮像光学系から分岐することを特徴
とする内視鏡の測距装置。7. A distance measuring device for an endoscope according to claim 2, wherein distance measuring light condensed by an image pickup lens serving also as a light receiving lens of said distance measuring light receiving system is branched from said image pickup optical system. Endoscope distance measuring device.
て、 前記送光レンズと前記測距受光系の受光レンズの双方
が、撮像光学系の撮像レンズとは独立したものであるこ
とを特徴とする内視鏡の測距装置。8. The distance measuring device for an endoscope according to claim 2, wherein both the light transmitting lens and the light receiving lens of the distance measuring light receiving system are independent of the imaging lens of the imaging optical system. A distance measuring device for an endoscope, comprising:
て、 前記位置検出センサが電子内視鏡の撮像素子で兼用さ
れ、前記撮像素子の出力を測距用と撮像用に時分割して
出力することを特徴とする内視鏡の測距装置。9. A distance measuring device for an endoscope according to claim 5, wherein said position detecting sensor is also used as an image pickup device of an electronic endoscope, and an output of said image pickup device is time-divided for distance measurement and image pickup. A distance measuring device for an endoscope, wherein the distance is outputted.
て、 前記位置検出センサがＰＳＤ又はＣＣＤから構成された
ことを特徴とする内視鏡の測距装置。10. A distance measuring device for an endoscope according to claim 2, wherein said position detection sensor comprises a PSD or a CCD.
て、 前記位置検出センサが、光ファイバーの受光端を直線状
に並べたファイバーアレイから構成されたことを特徴と
する内視鏡の測距装置。11. An endoscope distance measuring apparatus according to claim 2, wherein said position detecting sensor is constituted by a fiber array in which light receiving ends of optical fibers are arranged in a straight line. Distance measuring device.
て、 前記複数の測距エリアの中から指定された測距エリアに
対して測距処理を行うことを特徴とする内視鏡の測距装
置。12. The endoscope distance measuring apparatus according to claim 1, wherein a distance measuring process is performed on a designated distance measuring area from among the plurality of distance measuring areas. Distance measuring device.
て、 前記複数の測距エリアの測距情報を平均化して測距処理
を行うことを特徴とする内視鏡の測距装置。13. A distance measuring apparatus for an endoscope according to claim 1, wherein distance measuring processing is performed by averaging distance measuring information of said plurality of distance measuring areas. .
て、 前記複数の測距エリアの中から最近点又は最遠点を選択
して測距処理を行うことを特徴とする内視鏡の測距装
置。14. The endoscope distance measuring apparatus according to claim 1, wherein a distance measuring process is performed by selecting a nearest point or a farthest point from the plurality of distance measuring areas. Mirror distance measuring device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001175989A JP2002365561A (en) | 2001-06-11 | 2001-06-11 | Auto-focusing device of endoscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001175989A JP2002365561A (en) | 2001-06-11 | 2001-06-11 | Auto-focusing device of endoscope |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2002365561A true JP2002365561A (en) | 2002-12-18 |
Family
ID=19017042
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2001175989A Withdrawn JP2002365561A (en) | 2001-06-11 | 2001-06-11 | Auto-focusing device of endoscope |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2002365561A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005274577A (en) * | 2004-03-25 | 2005-10-06 | Mitsutoyo Corp | Position measuring system |
| JP2009225933A (en) * | 2008-03-21 | 2009-10-08 | Fujifilm Corp | Capsule endoscope system, and capsule endoscope motion control method |
| CN103462578A (en) * | 2013-09-04 | 2013-12-25 | 深圳先进技术研究院 | Medical endoscope, medical endoscope cold light source system, and temperature control system for medical endoscope cold light source system |
| JP2021535408A (en) * | 2018-08-24 | 2021-12-16 | トリナミクス ゲゼルシャフト ミット ベシュレンクテル ハフツング | Detector for determining the position of at least one object |
| CN115143929A (en) * | 2022-03-28 | 2022-10-04 | 南京大学 | Endoscopic range finder based on optical fiber bundle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03197806A (en) * | 1989-12-26 | 1991-08-29 | Olympus Optical Co Ltd | Measurement light projector |
| JPH03200941A (en) * | 1989-12-28 | 1991-09-02 | Seikosha Co Ltd | Range finder for camera |
| JPH10239023A (en) * | 1997-02-28 | 1998-09-11 | Olympus Optical Co Ltd | Three-dimensional measuring device |
| JPH10239029A (en) * | 1997-02-28 | 1998-09-11 | Olympus Optical Co Ltd | Three-dimensional shape measuring device |
| JPH11304470A (en) * | 1998-04-16 | 1999-11-05 | Hamamatsu Photonics Kk | Range finder |
-
2001
- 2001-06-11 JP JP2001175989A patent/JP2002365561A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03197806A (en) * | 1989-12-26 | 1991-08-29 | Olympus Optical Co Ltd | Measurement light projector |
| JPH03200941A (en) * | 1989-12-28 | 1991-09-02 | Seikosha Co Ltd | Range finder for camera |
| JPH10239023A (en) * | 1997-02-28 | 1998-09-11 | Olympus Optical Co Ltd | Three-dimensional measuring device |
| JPH10239029A (en) * | 1997-02-28 | 1998-09-11 | Olympus Optical Co Ltd | Three-dimensional shape measuring device |
| JPH11304470A (en) * | 1998-04-16 | 1999-11-05 | Hamamatsu Photonics Kk | Range finder |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005274577A (en) * | 2004-03-25 | 2005-10-06 | Mitsutoyo Corp | Position measuring system |
| JP4686229B2 (en) * | 2004-03-25 | 2011-05-25 | 株式会社ミツトヨ | Position measuring device |
| JP2009225933A (en) * | 2008-03-21 | 2009-10-08 | Fujifilm Corp | Capsule endoscope system, and capsule endoscope motion control method |
| CN103462578A (en) * | 2013-09-04 | 2013-12-25 | 深圳先进技术研究院 | Medical endoscope, medical endoscope cold light source system, and temperature control system for medical endoscope cold light source system |
| JP2021535408A (en) * | 2018-08-24 | 2021-12-16 | トリナミクス ゲゼルシャフト ミット ベシュレンクテル ハフツング | Detector for determining the position of at least one object |
| JP7374195B2 (en) | 2018-08-24 | 2023-11-06 | トリナミクス ゲゼルシャフト ミット ベシュレンクテル ハフツング | Detector for determining the position of at least one object |
| US11940263B2 (en) | 2018-08-24 | 2024-03-26 | Trinamix Gmbh | Detector for determining a position of at least one object |
| CN115143929A (en) * | 2022-03-28 | 2022-10-04 | 南京大学 | Endoscopic range finder based on optical fiber bundle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP0096570B1 (en) | An optical system focus-state detector | |
| US8900126B2 (en) | Optical scanning device | |
| CN1946332B (en) | Endoscope | |
| US10788311B2 (en) | Microscope system and method for automated alignment of a microscope | |
| US20130023732A1 (en) | Endoscope and endoscope system | |
| CN102438504A (en) | Ophthalmologic photographing apparatus | |
| JP3283084B2 (en) | Stereoscopic rigid endoscope | |
| EP2466376B1 (en) | Optical System having Integrated Illumination and Imaging Optical Systems, and 3D Image Acquisition Apparatus including the Optical System | |
| JP3776561B2 (en) | 3D measuring endoscope device | |
| JP2002365561A (en) | Auto-focusing device of endoscope | |
| JP4668581B2 (en) | Surgical microscope | |
| JP2005161086A (en) | Microscope for operation | |
| JP3257641B2 (en) | Stereoscopic endoscope device | |
| US20230029750A1 (en) | Rigid Scope Device | |
| JP2003290133A (en) | Optical imaging device | |
| JP2008022890A (en) | Endoscope system for enlarging observation | |
| JP2002360502A (en) | Distance measuring equipment for endoscope | |
| JPWO2020170621A1 (en) | Medical observation system, medical system and distance measurement method | |
| US11418772B2 (en) | Imaging device balancing depth of field and resolution | |
| KR102571259B1 (en) | Medical endoscope | |
| JP2002077944A (en) | Stereoscopic imaging device | |
| JP2000075213A (en) | Microscope for operation | |
| US12034904B2 (en) | Endoscopic imaging systems for generating three dimensional images, and associated systems and methods | |
| CN117530645A (en) | Fluorescent navigation stereoscopic endoscope system and focusing method thereof | |
| WO2022064659A1 (en) | Autofocus system, endoscope system, and control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20080313 |
|
| A711 | Notification of change in applicant |
Free format text: JAPANESE INTERMEDIATE CODE: A712 Effective date: 20080430 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20110322 |
|
| A761 | Written withdrawal of application |
Free format text: JAPANESE INTERMEDIATE CODE: A761 Effective date: 20110423 |