JP2012120578A - Endoscope device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To acquire a higher-accuracy high resolution image while reducing an operation burden on a user.SOLUTION: A CCD 104 photoelectrically converts a photographic object image to acquire a signal. An image processing means 107 processes the signal acquired by the CCD to generate an image. A high resolution processing means 114 acquires a plurality of images generated by the image processing means 107, and generates one high resolution image from the plurality of images. An image recording means 115 records the high resolution image generated by the high resolution processing means 114. A curvature control means 122 performs driving control of a UD curvature motor 120 and an RL curvature motor 121. A system control means 110 performs control such that the high resolution processing means 114 acquires the plurality of images to generate the high resolution image while the curvature control means 122 performs the driving control of the UD curvature motor 120 and the RL curvature motor 121 to automatically curve a tip part 128 a little.

Description

  The present invention relates to an endoscope apparatus.

  Conventionally, by inserting an elongated insertion portion into a body cavity, it is possible to observe internal organs of the body cavity or perform various treatment treatments using a treatment instrument inserted into a treatment instrument channel as necessary. Endoscopic devices are widely used. In the industrial field, industrial endoscope apparatuses are widely used to observe and inspect internal scratches and corrosion of boilers, turbines, engines, chemical plants, and the like.

  In an industrial endoscope apparatus, a video scope in which an image sensor is mounted at a distal end portion of an insertion portion has become mainstream. In addition, the diameter required for the insertion part of an industrial endoscope device is becoming smaller year by year, and the image sensor mounted on the distal end of the insertion part can be mounted because of restrictions on the diameter of the distal end. The sensor size (chip size) is limited. For this reason, it is difficult to employ a high-resolution image sensor having a large size for an endoscope apparatus, and a high-resolution image cannot be obtained. On the other hand, because of the characteristics of products that provide users with scratches, corrosion, etc. as images in the observation images, endoscope devices are constantly demanding higher resolution as the market demands. Image processing has become indispensable.

  In addition, a technique for obtaining a single high-resolution image by performing alignment between images using a plurality of images is known (see, for example, Patent Document 1). By installing this technique in an endoscope apparatus, a high-resolution image can be obtained even if the resolution of the image sensor is low.

JP 2008-293185 A

  In the high-resolution technique described in Patent Document 1, a plurality of images are aligned to obtain one high-resolution image. Therefore, a high-resolution image cannot be obtained when the plurality of images are exactly the same. . That is, a high-resolution image cannot be obtained unless there are a plurality of images in which the position of the subject is slightly shifted. In addition, in order to acquire an image in which the position of the subject is slightly shifted, it is necessary for the image sensor mounted at the distal end of the insertion portion of the endoscope apparatus to move slightly with respect to the subject. For this, a delicate operation such as slightly moving the distal end portion of the endoscope apparatus is required.

  The length of the insertion part required for an industrial endoscope varies greatly depending on the purpose. For example, the length of the insertion portion of an industrial endoscope is as long as about 2 m from a short one and 30 m from a long one. Among them, the endoscope apparatus used for pipe inspection, such as observing water pipes, requires a relatively long insertion part, and also observes the part ahead through multiple right angle elbows. There are also often. When observing by inserting the insertion portion of the endoscope apparatus into such a subject, the amount of pushing force is high due to friction between the insertion portion and the subject, and considerable labor is required.

  As a method of acquiring an image in which the position of the subject is slightly shifted, for example, there is a method of acquiring an image while moving the distal end portion by moving the base of the insertion portion of the endoscope apparatus by hand. Therefore, delicate and accurate operation is difficult. In addition, since the operation is also performed manually, it is difficult to always stably capture an image used for high resolution processing in which the position of the subject is slightly shifted. Therefore, it is difficult to acquire a high-resolution image with high accuracy.

  Furthermore, when acquiring a plurality of images in which the position of the subject is slightly shifted using the endoscope device, the user performs a shooting operation, and inserts it to slightly shift the position of the tip after the shooting is completed. It is necessary to repeat the operation of moving the base of the part by hand and then performing the photographing operation again. This method has a problem that the user's operation becomes complicated and obviously the user is burdened.

  Further, a bending means for bending the distal end portion of the insertion portion of the endoscope apparatus is provided, and the user can operate the joystick included in the endoscope apparatus so that the distal end portion can be bent vertically and horizontally. Endoscopic devices are known. Even when an image in which the position of the subject is slightly shifted is obtained using this endoscope apparatus, the moving operation of the tip is performed based on the manual operation of the user. It is difficult to always stably capture images that are slightly out of position. Therefore, it is difficult to acquire a high-resolution image with high accuracy.

  Furthermore, when acquiring a plurality of images in which the position of the subject is slightly shifted, the user performs a shooting operation, and after shooting, operates the joystick to slightly shift the direction of the tip, and then again. It is necessary to repeat the operation of performing the shooting operation. Even in this case, the user's operation becomes complicated, and there is a problem that the user is obviously burdened.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide an endoscope apparatus that can acquire a high-resolution image with higher accuracy while reducing a user's operation burden. .

  The present invention performs imaging processing for obtaining a signal by photoelectrically converting a subject image captured from an objective lens arranged at the distal end portion of an endoscope with an image sensor, and processing the signal obtained by the imaging means. Video signal processing means for generating an image, a plurality of images generated by the video signal processing means, a high-resolution processing means for generating one high-resolution image from the plurality of images, and the high-resolution processing means Recording means for recording the high-resolution image generated by the resolution processing means, bending means for bending the endoscope tip, bending control means for driving and controlling the bending means, and the bending control means After driving and controlling the bending means to temporarily stop the bending of the endoscope tip, the bending control means drives and controls the bending means to automatically bend the endoscope tip by a small amount, High resolution processing means And control means for generating one of the high resolution image from a plurality of the image the serial image by acquiring a plurality, an endoscope apparatus characterized by having a.

  Further, in the endoscope apparatus according to the present invention, when the control means controls the bending control means so as to automatically bend the endoscope tip part by a small amount, the endoscope instrumentation tip part is orthogonal. The bending control means is controlled so as to be bent in each of the two biaxial directions, and at least one or more images are acquired when the endoscope distal end is bent in each of the two biaxial directions perpendicular to each other. The high resolution processing means is controlled.

  Further, in the endoscope apparatus according to the present invention, the control means includes the number of images to be acquired when the distal end portion of the endoscope is curved in the first axial direction out of the two orthogonal axes, The high-resolution processing means is controlled so that the number of images acquired when the endoscope distal end is curved in the axial direction of 2 is the same.

  In the endoscope apparatus of the present invention, the control means controls the bending control means so as to automatically bend the endoscope distal end a plurality of times little by little, and at the time of the control, once Control is performed so that the amount of movement of the endoscope distal end in the curvature of the lens is always the same amount of movement.

  According to the present invention, the imaging unit obtains a signal by photoelectrically converting the subject image captured from the objective lens arranged at the distal end portion of the endoscope by the image sensor. The video signal processing means performs processing of the signal obtained by the imaging means to generate an image. The high resolution processing means acquires a plurality of images generated by the video signal processing means, and generates a single high resolution image from the plurality of images. The recording unit records the high resolution image generated by the high resolution processing unit. Further, the bending means bends the distal end portion of the endoscope. Further, the bending control means drives and controls the bending means. Further, the control means drives and controls the bending means so that the bending control means temporarily stops the bending of the endoscope distal end portion, and then the bending control means drives and controls the bending means to automatically move the endoscope distal end portion. The high-resolution processing means controls to acquire a plurality of images and generate one high-resolution image from the plurality of images while curving a small amount.

  As a result, the high resolution processing means can always stably and automatically acquire a plurality of images in which the position of the subject is slightly shifted, and a single high resolution image is obtained using the plurality of images. Can be generated. Therefore, the endoscope apparatus can acquire a high-resolution image with higher accuracy while reducing the operation burden on the user.

It is the block diagram which showed the structure of the endoscope apparatus in one Embodiment of this invention. It is the block diagram which showed the structure of the high-resolution process means in this embodiment. It is the flowchart which showed the process sequence of the high-resolution process which the endoscope apparatus in this embodiment performs.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram illustrating a configuration of an endoscope apparatus according to the present embodiment. In the illustrated example, the endoscope apparatus 101 includes an elongated insertion unit 102, a main body unit 103, and an LCD (Liquid Crystal Display, liquid crystal display) 130. In addition, a recording medium 132 can be attached to the main body 103, and a still image, a moving image, or the like captured by the endoscope apparatus 101 can be recorded on the recording medium 132.

  The insertion unit 102 includes an objective lens 127, a CCD (Charge Coupled Device) 104 (imaging means), an LED (Light Emitting Diode) 106, and a wire fixing unit 119. The objective lens 127, the CCD 104, the LED 106, and the wire fixing portion 119 are disposed at the distal end portion 128 (endoscope distal end portion) of the insertion portion 102.

  The main body 103 includes a CCD drive circuit 105, a preamplifier 131, an image processing means 107 (video signal processing means), an AFE (Analog Front End, analog front end) 109, a system control means 110 (control means), User interface 111, LED drive circuit 113, UD (up / down) bending motor 120, RL (left / right) bending motor 121, bending control means 122, high-resolution processing means 114, image recording means 115 (recording means) ) And an LCD controller 117. In addition, the endoscope apparatus 101 includes four wires 123 to 126 for bending the distal end portion 128 of the insertion portion 102 vertically and horizontally.

  The user interface 111 includes a switch, an endoscope tip bending joystick, and the like, receives an instruction from the user, and inputs a signal based on the received input to the system control unit 110. As an instruction from the user, for example, an instruction for zoom magnification, an instruction for the brightness of an image to be captured, an instruction for turning on and off the LED 106, an instruction for bending the distal end portion 128 of the insertion unit 102, and a recording medium 132 There are an instruction to record an image on the LCD 130 and an instruction to display an image on the LCD 130.

  The system control unit 110 controls each unit included in the endoscope apparatus 101 so as to execute processing based on a signal input from the user interface 111. For example, when the user interface 111 receives an input for instructing a zoom magnification or an input for instructing the brightness of an image to be captured, the system control unit 110 executes processing based on the input received by the user interface 111. In this manner, the image processing unit 107 is controlled. When the user interface 111 receives an input for instructing to turn on / off the LED 106, the system control unit 110 controls the LED drive circuit 113 so as to execute processing based on the input received by the user interface 111. To do. When the user interface 111 receives an input for instructing the bending of the distal end portion 128 of the insertion unit 102, the system control unit 110 performs the bending control so as to execute processing based on the input received by the user interface 111. The means 122 is controlled. In addition, when the user interface 111 receives an input for instructing recording of an image on the recording medium 132 or an input for instructing display of an image on the LCD 130, the system control unit 110 uses the input received by the user interface 111. The image recording means 115 is controlled so as to execute the processing based on it.

  The wire fixing portion 119 fixes four wires 123 to 126 for bending the distal end portion 128 of the insertion portion 102 vertically and horizontally. Of the four wires 123 to 126, two wires 123 and 124 for bending the distal end portion 128 of the insertion portion 102 in the vertical direction are connected to the UD bending motor 120. Further, two wires 125 and 126 for bending the distal end portion 128 of the insertion portion 102 in the left-right direction are connected to the RL bending motor 121.

  The UD bending motor 120 and the RL bending motor 121 are connected to the bending control means 122. The bending control unit 122 is connected to the system control unit 110. The bending control unit 122 controls the driving of the UD bending motor 120 based on the up / down direction bending signal input from the system control unit 110 and the RL bending motor 121 based on the left / right direction bending signal input from the system control unit 110. Control the drive. The UD bending motor 120 bends the distal end portion 128 of the insertion portion 102 in the vertical direction by pulling the two wires 123 and 124 based on the control of the bending control means 122. Further, the RL bending motor 121 bends the distal end portion 128 of the insertion portion 102 in the left-right direction by pulling the two wires 125 and 126 based on the control of the bending control means 122.

  With this configuration, when the user tilts the endoscope tip bending joystick included in the user interface 111 in the vertical direction, the system control unit 110 transmits the vertical bending instruction signal to the bending control unit 122. The bending control means 122 drives and controls the UD bending motor 120 based on the received vertical bending instruction signal, and pulls the wires 123 and 124 connected to the UD bending motor 120. Thereby, the endoscope apparatus 101 can bend the front-end | tip part 128 of the insertion part 102 to an up-down direction. Similarly, when the user tilts the endoscope tip bending joystick in the left-right direction, the system control unit 110 transmits a left-right direction bending instruction signal to the bending control unit 122. The bending control means 122 drives and controls the RL bending motor 121 based on the received left and right direction bending instruction signal, and pulls the wire connected to the RL bending motor 121. Thereby, the endoscope apparatus 101 can bend the distal end portion 128 of the insertion portion 102 in the left-right direction. The UD bending motor 120 and the RL bending motor 121 correspond to the bending means of the present invention.

  The LED 106 is connected to the LED drive circuit 113 through a cable. The LED drive circuit 113 is connected to the system control means 110. The LED drive circuit 113 controls lighting and extinguishing of the LED 106 based on the LED lighting signal input from the system control unit 110. The LED 106 is turned on and off based on the control of the LED drive circuit 113.

  The objective lens 103 forms an image of the subject illuminated by the LED 106 on the light receiving surface of the CCD 104. The CCD 104 is connected to the CCD drive circuit 105 and the preamplifier 131 by a composite coaxial cable. The CCD drive circuit 105 receives a timing signal for driving the CCD 104 from a timing generator provided in the image processing means 107. Then, the CCD drive circuit 105 performs drive processing on the received timing signal in accordance with the transmission path length to the CCD 104 (the length of the composite coaxial cable) and transmits it to the CCD 104 as a CCD drive signal.

  The CCD 104 photoelectrically converts the light imaged on the light receiving surface based on the timing of the transmitted CCD drive signal, and outputs the photoelectrically converted signal as a CCD output signal. The CCD output signal output from the CCD 104 is input to the preamplifier 131 through a composite coaxial cable. The preamplifier 131 amplifies the CCD output signal in order to compensate for the signal level attenuated by the transmission through the composite coaxial cable. The CCD output signal amplified by the preamplifier 131 is input to the AFE 109. The AFE 109 performs CDS processing (correlated double sampling processing), AGC processing (auto gain processing), and AD conversion processing (analog / digital conversion processing) on the input CCD output signal. The CCD output signal processed by the AFE 109 is input to the image processing unit 107. Based on the control of the system control unit 110, the image processing unit 107 performs white balance correction, gamma correction, contour correction, electronic zoom processing, color correction, contrast correction, AE control, and the like on the input CCD output signal. Various camera signal processes are performed to generate image data.

  The image data generated by the image processing unit 107 is input to the high resolution processing unit 114. The high-resolution processing unit 114 performs high-resolution processing that generates a single high-resolution image using a plurality of images based on the image data. Further, the image processing unit 107 outputs the input image data and the high resolution image data of the generated high resolution image to the image recording unit 115.

  The image recording unit 115 outputs the input image data and high resolution image data to the LCD controller 117. Further, the image recording unit 115 performs a freeze process in which an image displayed on the LCD 130 is a still image. Further, the image recording means 115 compresses the input image data and high resolution image data with an encoder, and records them on the recording medium 106 as still image data or moving image data. This image recording operation is performed when the system control unit 110 transmits a recording signal to the image recording unit 115 and the image recording unit 115 receives the recording signal based on an input from the user interface 111.

  Note that the endoscope apparatus 101 captures a still image when the image recording unit 115 performs image recording after the freeze processing and performs image recording when the image recording unit 115 performs image recording without performing the freeze processing. Take a picture. Further, the image recording means 115 performs an image reproduction operation of reading out still image data or moving image data from the recording medium 132, decompressing it with a decoder, and outputting it to the LCD controller 117. This image reproduction operation is performed when the system control unit 110 receives an image display signal from the user interface 111.

  The LCD controller 117 performs optimal image processing (gamma correction, scaling, RGB conversion, etc.) on the connected LCD 130 with respect to various image data input from the image recording unit 115, and outputs the processed image data to the LCD 130. The LCD 130 displays an image based on the input image data.

  Next, a detailed configuration and operation of the high resolution processing unit 114 will be described. FIG. 2 is a block diagram showing the configuration of the high resolution processing means 114 in the present embodiment. In the illustrated example, the high resolution processing unit 114 includes a high resolution processing circuit 201, a switching circuit 202, a memory controller 203, and a RAM (Random Access Memory). The high resolution processing circuit 201 generates high resolution image data using a plurality of pieces of image data. The switching circuit 202 outputs either the image data input from the image processing unit 107 or the high resolution image data generated by the high resolution processing circuit 201 to the image recording unit 115. The memory controller 203 performs control for storing data in the RAM 204. The RAM 204 stores data.

  Image data output from the image processing unit 107 is input to the high resolution processing unit 114. The image data input to the high resolution processing unit 114 is branched and input to the high resolution processing circuit 201 and the switching circuit 202. When receiving the image acquisition signal from the system control unit 110, the high resolution processing circuit 201 stores the image data input when the image acquisition signal is received in the RAM 204 via the memory controller 203. When the high-resolution processing circuit 201 repeatedly receives an image acquisition signal, the image data input when the image acquisition signal is received is stored in another address of the RAM 204 via the memory controller 203. When the high resolution processing circuit 201 receives the high resolution processing start signal from the system control unit 110, the high resolution processing circuit 201 generates high resolution image data using a plurality of pieces of image data stored in the RAM 204, and sends it to the switching circuit 202. On the other hand, the generated high-resolution image data is output. In response to an instruction from the system control unit 110, the switching circuit 202 selects either the image data input from the image processing unit 107 or the high resolution image data generated by the high resolution processing circuit 201 as the image recording unit 115. Output to.

  With this configuration, the high resolution processing unit 114 can acquire a plurality of pieces of image data and store them in the RAM 204. Further, the high resolution processing unit 114 can generate high resolution image data using a plurality of pieces of image data stored in the RAM 204.

  Next, a processing procedure of high resolution processing executed by the endoscope apparatus 101 will be described. FIG. 3 is a flowchart showing a processing procedure of high-resolution processing executed by the endoscope apparatus 101 according to the present embodiment.

  The system control unit 110 uses the input channel of the switching circuit 202 included in the high resolution processing unit 114 as an input from the image processing unit 107, and displays a normal observation image on the LCD 130 (step S301). When a freeze switch of the user interface 111 is pressed during display of a normal observation image, the system control unit 110 transmits a freeze signal to the image recording unit 115. When receiving the freeze signal, the image recording means 115 freezes the normal observation image displayed on the LCD 130. (Step S302).

  Next, the system control unit 110 determines whether or not the high resolution mode is selected in the menu. When it is determined that the high resolution mode is selected, the system control unit 110 proceeds to the process of step S304, and when it is determined that the high resolution mode is not selected, the system control unit 110 proceeds to the process of step S315. (Step S303). Note that the user can arbitrarily select the high resolution mode by operating the user interface 111.

  If the system control unit 110 determines that the high-resolution mode is selected, the system control unit 110 transmits a bending lock signal that holds the bending state of the distal end portion 128 of the insertion unit 102 to the bending control unit 122. When the bending control unit 122 receives the bending lock signal, the bending control unit 122 maintains the driving state of the UD bending motor 120 and the RL bending motor 121, and the user interface 111 accepts the bending of the distal end portion 128 of the insertion unit 102. A curve lock is applied so as not to change (step S304).

  Subsequently, the system control unit 110 instructs the bending control unit 122 to perform a bending operation (step S305). Based on the control of the system control unit 110, the bending control unit 122 slightly operates the UD bending motor 120 so as to bend the distal end portion 128 of the insertion unit 102 upward or downward (step S306). Subsequently, the system control unit 110 transmits an image acquisition signal to the high resolution processing circuit 201. The high resolution processing circuit 201 stores the image data input when the image acquisition signal is received via the memory controller 203 in the RAM 204 (step S307).

  By performing the processing of step S306 and step S307 a plurality of times, the plurality of pieces of image data acquired by the high resolution processing circuit 201 are stored in the RAM 204 after the distal end portion 128 of the insertion portion 102 is gradually bent in the vertical direction. Stored. Note that the displacement of the image acquired by the high resolution processing circuit 201 by executing the processing of step S306 and step S307 is the same as the image acquired when the distal end portion 128 is curved upward and the distal end portion 128. It is desirable that the deviation from the image acquired when curving downward is a deviation from one half pixel to one pixel.

  Thereafter, in order to acquire an image by curving the distal end portion 128 in the left-right direction with reference to the position of the subject when the freeze processing is performed in step S302, regardless of the number of times the distal end portion 128 is bent in the vertical direction. The system control unit 110 controls the bending control unit 122 to return the bending state of the distal end portion 128 to the bending state immediately after the freeze processing is performed in Step S302 (Step S308).

  Next, the bending control unit 122 slightly operates the RL bending motor 121 so as to bend the distal end portion 128 of the insertion unit 102 in the right direction or the left direction based on the control of the system control unit 110 (step S309). . Subsequently, the system control unit 110 transmits an image acquisition signal to the high resolution processing circuit 201. The high resolution processing circuit 201 stores the image data input when the image acquisition signal is received via the memory controller 203 in the RAM 204 (step S310).

  By performing the processing of Step S309 and Step S310 a plurality of times, the image data acquired by the high resolution processing circuit 201 after the distal end portion 128 of the insertion portion 102 is gradually bent in the left-right direction is stored in the RAM 204. Note that the image data acquired by executing the processing of step S309 and step S310 includes an image acquired when the distal end portion 128 curves most rightward and an image acquired when the distal end portion 128 curves most leftward. It is desirable that the deviation from the acquired image is a deviation from one half pixel to one pixel.

  Through the processing in steps S304 to S310, the endoscope apparatus 101 can automatically and stably acquire a plurality of images for generating a high-resolution image. It should be noted that the number of images acquired in step S304 to step S310 is desirably acquired in the same direction in the vertical and horizontal directions. Further, before the high-resolution processing circuit 201 acquires an image, the bending control unit 122 bends the distal end portion 128, but it is desirable to control the bending amount of the distal end portion 128 to be constant. That is, the distal end portion 128 is bent a small number of times several times before acquiring a plurality of images, but it is desirable to control the movement amount of the distal end portion 128 to be always the same movement amount in one bending.

  Next, based on a plurality of pieces of image data stored in the RAM 204, the high resolution processing circuit 201 generates a single high resolution image and outputs the high resolution image data to the switching circuit 202 (step S311). . Next, the system control unit 110 switches the input channel of the switching circuit 202 from the input from the image processing unit 107 to the input from the high resolution processing circuit 201. Further, the system control unit 110 transmits a freeze release signal to the image recording unit 115 to release the freeze. The image recording unit 115 outputs a high resolution image to the LCD controller 117. Thereby, the LCD controller 117 can display a high resolution image on the LCD 130 (step S312).

  Hereinafter, the process of step S313 will be described. If it is determined in step S303 that the high resolution mode is selected, the high resolution image generated in step S311 is displayed on the LCD 130. If it is determined in step S303 that the high resolution mode has not been selected, the LCD 130 displays a normal observation image when the freeze control is performed in step S302.

  The user confirms whether or not the high-resolution image or normal observation image displayed on the LCD 130 is a desired image, and then records the high-resolution image or normal observation image displayed on the LCD 130 on the recording medium 132. You can indicate whether or not to do so. If the high-resolution image or the normal observation image displayed on the LCD 130 is a desired image, the user presses the recording button on the user interface 111 to record the high-resolution image or the normal observation image on the recording medium 132. Can do. Specifically, when the recording button of the user interface 111 is pressed, the system control unit 110 controls the image recording unit 115 so that the high resolution image or the normal observation image displayed on the LCD 130 is displayed by the encoder. After compression and recording on the recording medium 132, the process proceeds to step S315 (steps S313 and S314). On the other hand, if the high-resolution image or the normal observation image displayed on the LCD 130 is not a desired image, the user presses the release button of the user interface 111, and the system control unit 110 proceeds to the process of step S315 ( Step S313).

  When a high-resolution image is displayed on the LCD 130, the system control unit 110 switches the input channel of the switching circuit 202 from the input from the high-resolution processing circuit 201 to the input from the image processing unit 107, and the process of step S301 Return to. When the frozen normal observation image is displayed on the LCD 130, the system control unit 110 transmits a freeze release signal to the image recording unit 115. When receiving the freeze release signal, the image recording unit 115 releases the freeze of the normal observation image displayed on the LCD 130. Thereafter, the process returns to step S301 (step S315).

  As described above, according to the present embodiment, the system control unit 110 and the high-resolution processing unit 114 are curved so as to acquire a plurality of image data while automatically bending the distal end portion 128 of the insertion unit 102 by a small amount. The control means 122 is controlled. Then, the high resolution processing unit 114 generates a single piece of high resolution image data using the acquired plurality of pieces of image data. As a result, the high-resolution processing means 114 can always stably and automatically acquire a plurality of images in which the position of the subject is slightly shifted, and a single high-resolution image using the plurality of images. An image can be generated. Therefore, the endoscope apparatus 101 can acquire a high-resolution image with higher accuracy while reducing the operation burden on the user.

  In the above-described embodiment, when acquiring an image used to generate high-resolution image data, the bending lock is applied so that the bending of the distal end portion 128 is not changed by an operation input to the user interface 111. In addition, a display that warns the user not to move the insertion unit 102 without locking the curve may be displayed on the LCD 130.

  In the above-described embodiment, the endoscope apparatus 101 using the wire bending method that pulls the wire and curves the distal end portion 128 of the insertion unit 102 has been described as an example, but the present invention is not limited thereto. For example, an endoscope apparatus using a pneumatic bending method in which a tube is provided instead of a wire and the distal end portion 128 of the insertion unit 102 is bent by changing the air pressure applied to the tube. In addition, the direction in which the distal end portion 128 of the insertion unit 102 is curved when acquiring a plurality of images in which the position of the subject is slightly shifted has been described as the vertical and horizontal directions. As long as the direction in which 128 is curved is a biaxial direction that is orthogonal, it does not have to be in the vertical and horizontal directions.

  Although one embodiment of the present invention has been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and includes design and the like within a scope not departing from the gist of the present invention.

  DESCRIPTION OF SYMBOLS 101 ... Endoscope apparatus, 102 ... Insertion part, 103 ... Main-body part, 104 ... CCD, 105 ... CCD drive circuit, 106 ... LED, 107 ... Image processing means 109 ... AFE, 110 ... system control means, 111 ... user interface, 113 ... LED drive circuit, 114 ... high resolution processing means, 115 ... image recording means, 117. ..LCD controller, 119 ... wire fixing part, 120 ... UD bending motor, 121 ... RL bending motor, 122 ... bending control means, 123-126 ... wire, 127 ... objective Lens, 128... Tip, 130... LCD, 131... Preamplifier, 132... Recording medium, 201. , 203 ... memory controller, 204 ··· RAM

Claims (4)

Imaging means for photoelectrically converting a subject image captured from an objective lens arranged at the distal end of the endoscope with an image sensor to obtain a signal;
Video signal processing means for processing the signal obtained by the imaging means and generating an image;
High resolution processing means for acquiring a plurality of images generated by the video signal processing means and generating one high resolution image from the plurality of images;
Recording means for recording the high-resolution image generated by the high-resolution processing means;
Bending means for bending the endoscope distal end;
Bending control means for driving and controlling the bending means;
After the bending control means drives and controls the bending means so as to temporarily stop the bending of the endoscope distal end portion, the bending control means drives and controls the bending means to automatically move the endoscope distal end portion. Control means for controlling the high-resolution processing means to acquire a plurality of the images and generate one high-resolution image from the plurality of the images while curving a small amount
An endoscope apparatus characterized by comprising: The control means controls the bending control means to automatically curve the endoscope distal end portion by a small amount so that the endoscope mounting distal end portion is bent in two orthogonal directions. Controlling the bending control means, and controlling the high-resolution processing means so as to acquire at least one image when the endoscope distal end portion is bent in each of the two orthogonal directions. The endoscope apparatus according to claim 1, wherein the endoscope apparatus is characterized. The control means includes: the number of images to be acquired when the endoscope front end portion is curved in the first axial direction out of the two orthogonal axes; and the endoscope front end portion in the second axial direction. The endoscope apparatus according to claim 2, wherein the high-resolution processing unit is controlled so that the number of images acquired when the lens is curved is the same. The control means controls the bending control means so as to automatically bend the endoscope tip portion a plurality of times little by little, and at the time of the control, movement of the endoscope tip portion in one bending The endoscope apparatus according to any one of claims 1 to 3, wherein the amount is always controlled to be the same movement amount.

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