JP2011125617A - Endoscope apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain an observation image without irregularities even when movement occurs at the distal end of a scope in a scanning endoscope apparatus. <P>SOLUTION: In the scanning endoscope apparatus which spirally scans illuminated light, a difference between the pixel signal of a G component of the previous frame period and the pixel signal of a G component of the present frame period is detected for each pixel. When a difference pixel ratio is ≥70%, it is determined that there is the movement of the distal end of the scope where discontinuous intermittent images are produced, and weighting addition is performed to the image signal of the previous frame period and an image signal to be constituted of the pixel signal of the present frame period. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an endoscope apparatus that scans illumination light toward an observation target such as an inner wall of an organ to acquire an observation image, and particularly relates to image processing for suppressing image disturbance.

  As an endoscope apparatus, an endoscope apparatus (hereinafter referred to as a scanning endoscope apparatus) that scans illumination light by resonating an optical fiber distal end instead of providing an imaging element at the distal end of a scope is known. (For example, refer to Patent Document 1). In this case, a scanning optical fiber is provided inside the scope, and the tip of the fiber is two-dimensionally vibrated by a piezoelectric element, so that illumination light is scanned in a spiral shape.

  The fiber tip part periodically spirals according to a predetermined frame rate (for example, at an interval of 1/30 seconds) to illuminate the observation target area. Then, the reflected light from the observation target is sequentially received by the photosensor, and the pixel signals are detected in time series. An observation image is obtained by making a series of detected pixel signals correspond to the scanning position of the fiber tip.

  On the other hand, in a conventional endoscope apparatus using a video scope equipped with an image pickup device such as a CCD, a cyclic noise reduction process is executed when there is no movement of an image in order to remove random noise in the image (Patent Document). 2). Noise is suppressed by generating an image signal using an image signal of the previous frame period. When there is movement in the image, the noise reduction process is suppressed and an observation image without an afterimage effect is displayed.

US Pat. No. 6,294,775 JP-A-9-138356

  In the case of a scanning endoscope apparatus, if the scope tip moves during one frame scanning period and the observation target area changes between the screen center scanning period and the peripheral scanning period, one frame is obtained. The image is an abnormal image obtained by connecting discontinuous images. When a broken image is displayed on the monitor, the operator is distracted by the suddenly disturbed image, which hinders endoscopic work.

  Such image disturbance based on the movement of the scope tip cannot be dealt with by noise reduction processing that prioritizes image quality as in the past, and processing that suppresses image disturbance in a scanning endoscope apparatus is required. Is done.

  The endoscope apparatus of the present invention receives scanning light that scans illumination light emitted from an optical fiber tip toward an observation target according to a frame period, receives reflected light from the observation target, and outputs a series of pixel signals. A photosensor for outputting, and image processing means for sequentially generating image signals for one frame based on a series of pixel signals. As the scanning means, for example, the tip of the optical fiber is driven to scan the illumination light in a spiral shape. The reflected light may be transmitted by the image sensor to the photosensor in the processor, or a photosensor may be provided at the distal end of the scope.

  Furthermore, the endoscope apparatus according to the present invention further includes a motion detection means for detecting whether or not the movement of the scope distal end portion is a predetermined amount or more. Here, the state in which the movement of the scope tip is equal to or greater than a predetermined amount means an observation having an intermittent portion in which different images in which the entire irradiation target area does not match due to the movement of the scope tip during scanning for one frame period are combined. This indicates a state in which an image is obtained, and a state in which a broken image that is difficult for an operator to recognize as an image is displayed.

  In the present invention, the image processing means generates an image signal of the current frame period using the image signal of the previous frame period when the movement of the scope tip is a predetermined amount or more. That is, the image signal of the current frame period is generated by feeding back the image signal of the previous frame period.

  For example, an image signal can be generated by cyclic or non-cyclic filter processing, and image information of the previous frame period or previous frame period is taken into the observation image of the current frame at a predetermined rate. It is also possible to output the image signal of the previous frame period as it is as the image transmission signal of the current frame period.

  If the image information of the previous frame period is included when the scope tip moves, the image variation based on the actual movement of the tip does not appear in the observation image, and the change in the movement of the observation image becomes small. As a result, the movement recognized from the observation image that is a moving image appears to be a continuous movement due to the afterimage effect.

  In general, when an observation increase image in the previous frame period is fed back to an image with some blurring, the movement of the observation image does not look smooth due to the afterimage effect, and it is difficult to observe. However, in the present invention, when there is a large movement at the distal end of the scope to display intermittent images, the afterimage effect is used in reverse to make the movement of the continuous observation image visible so that the operator can perform endoscopic work. Preventing trouble.

  As a configuration for detecting the movement of the distal end of the scope, it is only necessary to detect the difference between the image signals between successive frames in consideration of using image processing that recurs the image signal of the previous or previous frame. In this case, the motion detection means detects pixels having a difference between a series of pixel signals in the previous frame period and a series of pixel signals in the current frame period, and the ratio of the difference pixels to the total number of pixels (hereinafter, difference pixels). It is determined whether or not (the ratio) is equal to or greater than a threshold value. If the difference in pixel values is greater than or equal to the allowable range, or if the pixel values are somewhat different, it may be determined that a difference has occurred. Further, a difference may be detected based on a pixel signal of one color component such as a G component.

  Regarding the threshold value, the value may be determined in consideration of the range in which the image is disturbed by the movement of the scope tip. For example, it is possible to determine that a broken image is displayed when the pixel difference ratio is 30% or more. In order to recurse the image signal of the previous frame only in an abnormal image state and avoid the difficulty in viewing the observed image due to the afterimage effect, it is preferable to set the threshold value of the pixel difference ratio to about 50%, 60%, or 70% or more. .

  As a configuration for feeding back the image signal of the previous frame, it is preferable to provide a cyclic filter processing circuit in which previous image information is stored in order to display continuous image movement. When the difference pixel ratio is equal to or greater than the threshold, the image processing means weights and adds the image signal of the previous frame period and the image signal composed of the pixel signal of the current frame period, thereby adding the image signal of the current frame period Is generated.

  The larger the pixel difference ratio, the larger the difference between the previous frame image and the current frame image. For this reason, when the difference pixel ratio is equal to or larger than the threshold, it is desirable that the image processing unit relatively increases the weighting of the image signal in the previous frame period as the difference pixel ratio is larger. In particular, in order to incorporate a large amount of image information of the previous frame, it is preferable to weight the ratio so as to be larger than the ratio of the image signal of the current frame.

  On the other hand, the cyclic filter processing has a noise reduction function. Therefore, in a situation where the blur at the distal end of the scope is small, it is better to perform weighted addition positively. At this time, the image processing means relatively increases the weighting of the image signal in the previous frame period as the difference pixel ratio is smaller in the range where the difference pixel ratio is equal to or less than the threshold (for example, 25% or less). If blurring increases to some extent, the movement of the observation image becomes intermittent and difficult to see, so weighting is suppressed.

  Regarding motion detection, a configuration may be adopted in which the motion of the scope tip is actually detected. For example, the motion detection unit includes a motion detection sensor that detects the motion of the distal end portion of the scope, and determines whether or not a displacement amount (for example, acceleration) related to the motion is greater than or equal to a threshold value.

  Further, in consideration of suppressing image disturbance by simple image processing without using weighted addition processing or the like, the image processing means, when the displacement amount is equal to or greater than the threshold value, directly uses the image signal of the previous frame period as it is. It is good also as an image signal.

  As described above, according to the present invention, in the scanning endoscope apparatus, it is possible to obtain an observation image that is not disturbed even if movement occurs in the distal end portion of the scope.

It is a block diagram of the scanning endoscope apparatus which is this embodiment. It is the figure which showed roughly the internal structure of the scope front-end | tip part. It is the figure which showed the scanning pattern. It is a block diagram of an initial stage circuit, a cyclic filter processing circuit, and a coefficient calculation circuit. It is the figure which showed the timing chart of the signal processing at the time of observation. It is the figure which showed the graph showing the relationship between a pixel difference and the weighting coefficient k. It is the figure which showed the disorder of the image resulting from the movement of a scope front-end | tip part. It is the flowchart which showed the coefficient calculation process performed by the coefficient calculation circuit. It is a block diagram of an endoscope apparatus which is a second embodiment. It is a timing chart of image processing in a 2nd embodiment. It is a flowchart of the image signal output in 2nd Embodiment.

  Below, the scanning endoscope apparatus which is this embodiment is demonstrated with reference to drawings.

  FIG. 1 is a block diagram of a scanning endoscope apparatus according to the first embodiment. FIG. 2 is a diagram schematically showing the internal configuration of the distal end portion of the scope. FIG. 3 is a diagram showing a scanning pattern.

  The scanning endoscope apparatus includes a scope 10 and a processor 30. Inside the scope 10, a single mode optical fiber (hereinafter referred to as a scanning optical fiber) 12 for illumination and reflected light from an observation target are provided. An image fiber (not shown here) for transmission is provided. The scope 10 can be detachably connected to the processor 30, and a monitor 60 is connected to the processor 30.

  The processor 30 is provided with laser light sources 20R, 20G, and 20B that respectively emit R, G, and B light, and is driven by a laser driver 22, respectively. R, G, and B simultaneously emit light from the laser light sources 20R, 20G, and 20B, and light enters the coupling portion 23 to which the scanning optical fiber 12 is connected. The coupling unit 23 includes an optical lens and a half mirror group, and mixes R, G, and B light. Light mixed with R, G, and B (white light) passes through the scanning optical fiber 12 and exits from the distal end portion 10T of the scope, thereby illuminating the observation target.

  The scope tip 10T is provided with a scanner device 16 (hereinafter referred to as an SFE scanner) 16 that scans illumination light emitted from the scope tip 10T in a spiral shape, and is sent from a piezo drive circuit 46 in the processor 30. It operates based on the drive signal coming. As shown in FIG. 2, the SFE scanner 16 is mounted inside the housing 10H of the scope distal end portion 10T, and the scanning optical fiber 12 is held so as to be inserted through the shaft of the tubular actuator 18.

  The actuator 18 fixed by the cylindrical fixing member 15 is a piezoelectric element constituted by a piezoelectric element, and resonates the tip portion 12T of the scanning optical fiber 12 two-dimensionally. That is, the fiber tip 12T is resonated in a predetermined resonance mode along two orthogonal directions. The fiber tip portion 12T supported in a cantilever shape by the actuator 18 vibrates so that the tip surface 12S periodically spirals. Here, the scanning period (frame period) is set to 1/30 seconds.

  The illumination light emitted from the distal end surface 12S of the fiber distal end portion 12T passes through the lens group 19 and reaches the observation site. Since the fiber tip portion 12T is driven in a spiral shape, the locus PT of the illumination light in the observation target area becomes a spiral scanning line (see FIG. 3). By scanning so that the radial intervals of the scanning lines PT are dense, the entire observation target is irradiated (in order from the center toward the periphery).

  The light reflected from the observation target is incident on the image fiber 17 extending around the housing 10 </ b> H and guided to the processor 30. The reflected light that has passed through the image fiber 17 is incident on a color separation unit 24 including an optical lens and a half mirror group (see FIG. 1), and is separated into R, G, and B light. The R, G, and B lights are incident on the photosensors 26R, 26G, and 26B, respectively.

  In the photo sensors 26R, 26G, and 26B, pixel signals corresponding to R, G, and B are generated by photoelectric conversion. The spiral scanning period is set at a predetermined time interval (here, 1/30 second interval), and R, G, and B pixel signals for one frame are read in accordance with the illumination light scanning.

  The R, G, and B pixel signals are converted into digital signals by the A / D converters 28R, 28G, and 28B, and then sent to the initial circuit 32, where signal processing is performed for each of the R, G, and B pixel signals. The initial circuit 32 specifies a pixel position of a pixel signal acquired in time series by mapping, ie, associating, a series of R, G, B digital pixel signals and illumination light scanning positions that are sequentially transmitted. Is done. Thereby, a pixel signal for one frame is generated as two-dimensional image data (raster data).

  The two-dimensional image data obtained by the mapping is sent to the coefficient calculation circuit 33 and the cyclic filter processing circuit 34. The cyclic filter processing circuit 34 weights and adds the image signal generated and output in the previous frame period and the image signal composed of the two-dimensional image data in the current frame period. A coefficient calculation circuit 33 configured by an FPGA or the like calculates a weighting coefficient based on a difference between pixel signals in two consecutive frame periods.

  The image signals for one frame sequentially output from the recursive filter processing circuit 34 are sent to the image signal processing circuit 36. There, image signal processing such as white balance adjustment is performed on the digital pixel signal to generate a video signal. The video signal is sent to the monitor 60 via the encoder 38. As a result, the observation image is displayed on the monitor 60.

  A system control circuit 40 including a CPU, a ROM, and a RAM controls the operation of the processor 30 and outputs control signals to each circuit such as the initial circuit 32, the timing controller 42, and the laser driver 22. The timing controller 42 outputs a synchronization signal to the photosensors 26R, 26G, and 26B, the laser driver 22, the initial circuit 32, the recursive filter processing circuit 34, the scanner control circuit 44, etc., and the spiral motion and light emission of the fiber tip 12T. Synchronize timing and image processing timing.

  FIG. 4 is a block diagram of an initial circuit, a cyclic filter processing circuit, and a coefficient calculation circuit.

  The initial circuit 32 includes a mapping circuit 62, an image buffer memory 64, and a delay buffer memory 66. The mapping circuit 62 associates a series of R, G, B pixel signals input in time series with pixel positions (addresses). Thereby, each pixel signal is stored at a specific address of the image buffer memory 64, and a raster-developed pixel signal is obtained for each of the R, G, and B components. The delay buffer memory 64 sequentially stores G component pixel signals among the R, G, B pixel signals for one frame.

  The coefficient calculation circuit 33 includes a difference detector 68, a binarization circuit 70, a counter 72, and a coefficient determination circuit 74. The difference detector 68 detects the difference between the pixel signal Gn−1 in a predetermined frame period and the pixel signal Gn in the next frame period for each pixel. The binarization circuit 70 determines whether or not the difference value of each pixel exceeds a threshold value, and outputs 1 if the threshold value is exceeded, and outputs 0 if the threshold value is not exceeded.

  Based on the signal output from the binarization circuit 70, the counter 72 counts the number of pixels whose difference value is equal to or greater than a threshold value. Then, the coefficient determination circuit 74 determines the weighting coefficient k based on the count number. Lookup table data in which the count number and the weighting coefficient are associated with each other is stored in advance in the memory of the system control circuit 30, and the coefficient k is determined based on the lookup table.

  The recursive filter processing circuit 34 includes a buffer memory 76, integrators 80 and 82, and an adder 84. The image signal in the current frame period input to the accumulator 82 is multiplied by a weighting coefficient (1-k). On the other hand, the image signal input to the accumulator 80 via the buffer memory 76 is an image signal generated and output in the previous frame period, and the image signal is multiplied by the weighting coefficient k.

  In the adder 84, the weighted feedback image signal and the newly generated image signal are added together. An image signal for one frame generated by the addition is output to the monitor 60 via the image signal processing circuit 36 and the like, and is also sent to the buffer memory 76.

  FIG. 5 is a timing chart of signal processing during observation.

  A drive signal for driving the fiber tip 12T is output according to the frame rate (1/30 second). In the frame period, a brake period for returning the fiber tip portion 12T from the maximum amplitude position to the center position is provided. The difference of each pixel is calculated in the imaging period, and the weighting coefficient k for the pixel signal in the previous frame period is determined at the end of the imaging period.

  Pixel signals acquired during the imaging period are stored in the image buffer memory 32 as pixel signals forming an observation image. Based on the buffer output clock signal, the rasterized pixel signal is output from the image buffer memory 32. The monitor output clock signal is output in accordance with the sampling frequency of the digital video signal. When the video data update clock signal rises in accordance with the monitor output clock signal, the image signal (video data) is sent to the monitor 60 accordingly. Is output.

  FIG. 6 is a graph showing a relationship between the pixel difference and the weighting coefficient k. FIG. 7 is a diagram showing image distortion caused by the movement of the distal end portion of the scope.

  In FIG. 6, the horizontal axis represents the pixel difference ratio, that is, the ratio of pixels having a difference equal to or greater than the threshold value (allowable value) between consecutive frames, and the vertical axis represents the value of the weighting coefficient k. When the pixel difference ratio is small, it may be considered that there is almost no blurring of the scope tip 10T, and the operator can visually recognize a stable observation image without failure.

  On the other hand, when the pixel difference ratio is approximately 70% or more, there is a large difference between the image signal of the previous frame period and the image signal of the current frame period. The difference between the observed images in the two frame periods occurs when a large blur occurs in the scope distal end 10T in the middle of the one frame scanning period.

  FIG. 7 shows a state in which an intermittent image is displayed because blurring occurs in the middle of one frame period. A partial image A1 corresponding to the central portion and a partial image A2 corresponding to the peripheral portion are images of different scanning target areas captured by the scope tip 10T, that is, different observation target areas, and two discontinuous partial images A1 and A2 are obtained. The connected observation image is displayed on the monitor 60.

  In this embodiment, when the pixel difference ratio is large, it is determined that a broken image is displayed. Then, the image signal generated in the previous frame period is fed back and weighted together with the image signal in the current frame period. Then, an image including image information of the previous frame period is displayed as an observation image of the current frame period.

  Here, it is considered that when the pixel difference ratio is 70% or more, the display state of the unobservable broken image is surely led, and the image signal of the previous frame period is multiplied by the weighting coefficient k. The coefficient k is determined such that the larger the pixel difference ratio is, the larger the value of the coefficient k is, and the ratio of the image signal in the previous frame period is larger than the ratio of the image signal in the current frame period. Here, the weighting coefficient k is set to 0.8 to 1.0.

  The recursive filter processing circuit 34 described above is a circuit for recurring the image signal of the previous frame, and if the image signal of the previous frame is an image signal obtained by recurring the image signal of the previous frame, the previous image information An observation image in which is accumulated is obtained. For this reason, when an observation image signal weighted and added by the movement of the scope tip 10T is generated, the operator visually recognizes an observation image having a certain degree of continuous movement due to the afterimage effect.

  Even in a range where the pixel difference ratio is small (0 to 25%), an image signal is generated by performing weighted addition processing. When there is substantially no movement of the scope distal end portion 10T, a noise reduction function operates, noise generated in the current frame image signal is suppressed, and a high-quality observation image is obtained. However, if the blur is somewhat increased and the pixel difference ratio is slightly increased, the observation image does not move smoothly and is difficult for the operator to observe. For this reason, the value of the weighting coefficient k is set to a smaller value as the pixel difference ratio increases.

  FIG. 8 is a flowchart showing a coefficient calculation process executed by the coefficient calculation circuit. Processing is started according to the observation operation.

  The G component pixel signals of the current frame and the previous frame period are compared for each pixel, and a difference is obtained (S101). And when the difference of a pixel value is more than a threshold value, it counts as a pixel with a difference (S102-S105). When the comparison is completed for all the pixels (S106), it is determined how much the count number, that is, the ratio of pixels having a difference (difference pixel ratio) with respect to all the pixels (S107). If the count number falls within the range of the pixel difference ratio of 25% or less, it is determined that there is no large blurring at the scope tip 10T and the observation image does not fail, and the weighting coefficient k shown in FIG. 6 is determined (S108). On the other hand, when the count number falls within the range of the pixel difference ratio of 70% or more, the weighting coefficient k is determined to the value shown in FIG. 6 (S110).

  On the other hand, in step S109, when the count number does not fall within the range of the pixel difference ratio of 70% or more, that is, when the pixel difference ratio is in the intermediate range (25% to 70%), the process proceeds to step S111 without weighting, An image signal composed of pixel signals in the frame period is output as it is. Steps S101 to S111 are repeatedly executed until the observation work is completed.

  As described above, according to this embodiment, in the scanning endoscope apparatus that scans illumination light in a spiral manner, the difference between the G component pixel signal in the previous frame period and the G component pixel signal in the current frame period is calculated for each pixel. When the difference pixel ratio is 70% or more, it is determined that there is a movement of the scope tip that causes a discontinuous intermittent image, and it is composed of the image signal of the previous frame period and the pixel signal of the current frame period. And the image signal to be weighted.

  By displaying an observation image obtained by feeding back the previous image information, it is possible to prevent the display of a broken image that interferes with the observation, and the afterimage effect allows a certain degree of continuous movement even if it is not smooth. be able to. On the other hand, a high-quality observation image can be obtained by the noise reduction effect by performing weighted addition when there is almost no blurring or some blurring.

  Because the movement of the scope tip is detected by the difference in the image signal between consecutive frames, there is no need to provide a special sensor to detect the movement, and the movement is detected using a recursive filter process that recursively moves the image signal. be able to. In addition, since the image signal is acquired at the frame period by dot sequential scanning, the image is surely disturbed when the pixel difference ratio is large. Therefore, by constantly detecting the pixel difference ratio, it is possible to detect the movement of the distal end portion of the scope and prevent display of a broken image.

  The value of the weighting coefficient k is not only changed stepwise as shown in FIG. 6, but may be proportional to the size of the pixel difference ratio. Further, the value of the weighting coefficient k is not limited to 0.8 to 1.0, and the increasing rate of the weighting coefficient k can be arbitrarily set. However, it is desirable to determine the weighting coefficient k so that the ratio of the image signal of the previous frame is relatively large. On the other hand, the threshold value of the pixel difference ratio may be set to a value other than 70%, and the threshold value may be set to 30%, for example, in order to cope with some degree of image disturbance.

  The weighted summing process is not limited to the cyclic filter process, and may be a non-cyclic filter process. Further, the calculation processing of the weighting coefficient k may be configured to perform calculation by software processing by the system control circuit.

  Next, the endoscope apparatus which is 2nd Embodiment is demonstrated using FIGS. In the second embodiment, the movement of the scope tip is detected by a sensor, and when the scope tip moves, the image signal of the previous frame period is used as it is. Other configurations are substantially the same as those in the first embodiment.

  FIG. 9 is a block diagram of an endoscope apparatus according to the second embodiment.

  The image signals for one frame sequentially generated in the initial circuit 32 are sent to the image signal processing circuit 36 '. The image signal processing circuit 36 'includes a buffer memory (video memory) that temporarily stores the generated image signal for one frame period. An image signal is output to the monitor 60 based on a control signal from the system control circuit 40.

  An acceleration sensor 56 is provided at the distal end portion 10T of the video scope 10 '. The system control circuit 40 detects a signal from the acceleration sensor 56 and outputs a control signal to the image signal processing circuit 36 ′ to adjust the output timing of the image signal.

  FIG. 10 is a timing chart of image processing in the second embodiment.

  While the movement of the scope tip 10T is not detected by the signal sent from the acceleration sensor 56, a clock signal for updating video data is output in accordance with the digital sampling frequency. As a result, the image signal stored in the buffer memory of the image signal processing circuit 36 'is output.

  When the movement of the scope tip 10T is detected by the acceleration sensor 56, the clock signal for updating the video data is not output. As a result, the image signal of the previous frame period is output to the monitor 60 as it is.

  FIG. 11 is a flowchart of image signal output in the second embodiment.

  When it is confirmed that the clock signal for outputting the image signal to the monitor 60 is output in accordance with the digital sampling frequency (S201), it is determined whether or not the level of the voltage signal output from the acceleration sensor 202 is lower than the threshold value. (S202). If the signal level is lower than the threshold value, it is considered that the movement of the scope tip 10T has not occurred, and the image signal stored in the buffer memory is output to the monitor 60 (S203). On the other hand, when the signal level is equal to or higher than the threshold value, it is determined that the scope tip 10T is blurred, and the image signal output to the monitor 60 is not updated. Image processing is repeatedly executed until the inspection is completed (S204).

  Note that the movement of the distal end of the scope may be detected by a sensor other than the acceleration sensor, or the pixel difference ratio may be detected as in the first embodiment. Conversely, an acceleration sensor may be provided in the first embodiment.

  Although weighted addition processing is performed in the first embodiment, the image signal of the previous frame period may be displayed as it is as in the second embodiment. Conversely, weighted addition as in the first embodiment may be performed in the second embodiment.

10 Scope 12 Scanning Optical Fiber 12T Fiber Tip 16 SFE Scanner (Scanning Means)
26R, 26G, 26B Photosensor 30 Processor 32 Initial circuit (Image processing means)
33 Count calculation circuit (Image processing means)
34 recursive filter processing circuit (image processing means)
36, 36 'Image signal processing circuit (image processing means)
k Weighting factor

Claims (8)

Scanning means for scanning the illumination light emitted from the tip of the optical fiber toward the observation object according to the frame period;
A photosensor that receives reflected light from an observation target and outputs a series of pixel signals;
Image processing means for sequentially generating image signals for one frame based on the series of pixel signals;
Movement detecting means for detecting whether or not the movement of the scope tip is a predetermined amount or more,
An endoscope apparatus, wherein the image processing unit generates an image signal of a current frame period using an image signal of a previous frame period when the movement of the distal end portion of the scope is a predetermined amount or more.   The motion detection means detects pixels having a difference between a series of pixel signals in the previous frame period and a series of pixel signals in the current frame period, and determines whether or not the difference pixel ratio is equal to or greater than a threshold value. The endoscope apparatus according to claim 1.   The endoscope apparatus according to claim 2, wherein the motion detection unit determines whether the difference pixel ratio is 30% or more of the entire image.   When the difference pixel ratio is equal to or greater than the threshold, the image processing means weights and adds the image signal of the previous frame period and the image signal composed of the pixel signal of the current frame period, thereby adding the current frame period. The endoscope apparatus according to claim 2, wherein an image signal is generated.   The endoscope apparatus according to claim 4, wherein the image processing unit relatively increases the weighting of the image signal in the previous frame period as the difference pixel ratio increases.   5. The internal view according to claim 4, wherein the image processing unit relatively increases the weighting of the image signal in the previous frame period as the difference pixel ratio is smaller in a range where the difference pixel ratio is equal to or less than a threshold value. Mirror device.   2. The inside according to claim 1, wherein the movement detection unit includes a movement detection sensor that detects movement of a distal end portion of the scope, and determines whether or not a displacement amount related to the movement is greater than or equal to a threshold value. Endoscopic device. The endoscope apparatus according to claim 7, wherein the image processing unit directly uses the image signal of the previous frame period as the image signal of the current frame period when the displacement amount is equal to or greater than the threshold value.

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