JP2013192803A - Endoscope system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an endoscope system for not making an operator have the feeling of incompatibility regarding an advancing direction of a treatment tool in an image.SOLUTION: A first endoscope processor 130 mainly includes a treatment tool appearing direction input part 132 and a first image rotation and enlargement part 133. The treatment tool appearing direction input part 132 is mainly constituted of an input device such as a keyboard or a mouse and a storage device. A user operates the treatment tool appearing direction input part 132 and specifies a direction in which a treatment tool advances in a display image displayed on a display 140. Then, the treatment tool appearing direction input part 132 stores the specified direction as a treatment tool appearing direction. The first image rotation and enlargement part 133 receives insertion port/imaging element positional relationship, the treatment tool appearing direction, and a processing image. Then, a rotated and enlarged image is prepared by enlarging and/or reducing the processing image so that the treatment tool may appear from the treatment tool appearing direction, that is, the direction in which the treatment tool advances in the processing image and the treatment tool appearing direction may match.

Description

  The present invention relates to processing of an image captured by an endoscope scope.

  There is known an endoscope scope that includes a treatment instrument channel that guides a treatment instrument to an observation target and is configured to perform an endoscopic treatment. The distal end of the endoscope scope is provided with an image sensor that images an observation object and an insertion port through which the treatment tool advances and retreats. The captured image is displayed on the display device, and the surgeon treats the target portion using the treatment tool while observing the treatment tool and the target portion reflected in the image.

  When the target part is small, it may take time and effort to accurately carry the treatment tool to the target part so as not to deviate from the angle of view of the image sensor. In order to reduce this effort, a configuration that limits the movable range of the treatment tool is known (Patent Document 1).

JP 2003-52616 A

  The direction in which the treatment tool enters the image is determined by the positional relationship between the imaging element and the insertion port at the distal end of the endoscope scope. Since this positional relationship differs depending on the endoscope scope, the direction in which the treatment tool enters the image differs depending on the endoscope scope. When an operator accustomed to a predetermined approach direction uses an endoscope scope having a different approach direction, there is a possibility that the operator feels uncomfortable. Due to this uncomfortable feeling, it may be necessary to take time and effort for the treatment.

  The present invention has been made to solve these problems, and an object of the present invention is to obtain an endoscope system that does not cause the operator to feel uncomfortable regarding the approach direction of the treatment tool in the image.

  An endoscope system according to the present invention includes an imaging unit that captures an image of an observation target and outputs a captured image, an insertion port through which the treatment tool advances and retreats, a recognition unit that recognizes a positional relationship between the insertion port and the imaging unit, And image processing means for performing image processing on the photographed image according to the positional relationship recognized by the recognition means.

  The recognition means includes an endoscope scope close to the observation object, the endoscope scope includes an insertion port and an imaging unit, and stores the positional relationship between the insertion port and the imaging unit according to the type of the endoscope scope. It is preferable to do.

  The image processing unit preferably rotates the captured image according to the positional relationship between the insertion port and the imaging unit.

  The image processing means may enlarge the photographed image according to the positional relationship between the insertion port and the imaging means.

  The positional relationship between the insertion port and the imaging unit is preferably the positional relationship between the center of the imaging surface of the imaging unit and the center of the insertion port, and the straight line connecting the center of the imaging surface and the center of the insertion port and the imaging surface It is even better if the angle is formed by the horizontal direction or the vertical direction.

  The image processing means combines a rectangular mask centered on the center of the photographed image with the photographed image so as to cover the periphery of the photographed image, rotates the photographed image around the center of the mask, and creates a rotated photographed image. When the mask is recombined, if the pre-rotation mask is displayed on the part that is not covered by the mask that is combined with the rotated photographed image, the pre-rotation part is not covered by the mask that is combined with the rotated photographed image. It is preferable to enlarge the photographed image to such an extent that no mask is displayed.

  The image processing means may combine a mask having a circular shape centered on the center of the photographed image with the photographed image so as to cover the periphery of the photographed image, and rotate the photographed image around the center of the mask.

  The endoscope system includes an endoscope scope that is close to an observation object, and an endoscope processor that is connected to the endoscope scope. The endoscope scope includes an insertion port, an imaging unit, and a recognition unit. The endoscope processor preferably includes image processing means.

  The endoscope system includes an endoscope scope that is close to an observation object, and an endoscope processor that is connected to the endoscope scope. The endoscope scope includes an insertion port, an imaging unit, and an image processing unit. The endoscope processor may comprise a recognition means.

  According to the present invention, it is possible to obtain an endoscope system that does not cause the operator to feel uncomfortable regarding the approach direction of the treatment tool in the image.

1 is a conceptual diagram of an endoscope system according to a first embodiment. It is the figure which looked at the distal end of the endoscope scope from the axial direction outer side. It is the figure which showed the process image. It is the figure which showed the rotation expansion image obtained by rotating a process image. It is the figure which showed the rotation expansion image obtained by rotating and enlarging a process image. It is the figure which showed the rotation expansion image which applied the mask again. It is the flowchart which showed the 1st image processing. It is the flowchart which showed the rotation expansion process. It is a conceptual diagram of the endoscope system by 2nd Embodiment. It is the figure which showed the process image. It is the figure which showed the rotation expansion image which applied the mask again. It is the flowchart which showed the 2nd image processing.

  Hereinafter, an embodiment of a first endoscope system 100 according to the present invention will be described with reference to the accompanying drawings.

  A first endoscope system 100 according to a first embodiment will be described with reference to FIGS. First, the configuration of the first endoscope system 100 will be described with reference to FIG.

  The first endoscope system 100 includes a first endoscope scope 110 that images an observation target, and a first endoscope processor that receives an image from the first endoscope scope 110 and performs image processing. 130, and a display 140 that receives and displays images from the first endoscope processor 130.

  The first endoscope scope 110 is connected to an observation target, for example, an insertion unit 111 inserted into the human body, an operation unit 112 held by a user, and a connection cable 114 extending from the operation unit 112. And the connector 113. The first connector 113 connects the first endoscope scope 110 and the first endoscope processor 130.

  The distal end 115 of the insertion portion 111 is provided with a CCD unit 116 having a CCD as an image sensor, an insertion port 117, an illumination lens not shown in FIG. A signal line 118 is connected to the CCD unit 116. The CCD unit 116 transmits an image signal obtained by imaging the observation object to the first connector 113 via the signal line 118. An insertion tube 119 is connected to the insertion port 117. The insertion tube 119 extends along the inside of the insertion portion 111 provided in the operation portion 112 and is connected to the treatment instrument insertion port 120. The illumination lens is a lens that emits illumination light to illuminate the observation object, and an illumination fiber extending from the first connector 113 is connected thereto.

  The operation unit 112 includes a treatment instrument insertion port 120 and a switch 121. The treatment instrument insertion port 120 is connected to the insertion tube 119. The treatment instrument inserted into the treatment instrument insertion port 120 is carried to the insertion port 117 along the inside of the insertion tube 119. The switch 121 is used to operate the first endoscope scope 110 and the first endoscope processor 130.

  The first connector 113 includes a first driver 122 connected to the CCD unit 116 via a signal line 118 and an insertion channel position information memory 123 connected to the first driver 122. The insertion channel position information memory 123 records the positional relationship between the insertion port 117 and the image sensor at the distal end 115. The positional relationship between the insertion port 117 and the image sensor is referred to as the insertion port / image sensor positional relationship. The first driver 122 receives the image signal from the CCD unit 116, creates an observation image, and outputs the observation image to the first endoscope processor 130. Further, in response to a request from the first endoscope processor 130, the first driver 122 acquires the insertion port / imaging element positional relationship from the insertion channel position information memory 123, and determines the insertion port / imaging device positional relationship. 1 to the endoscope processor 130.

  The first endoscope processor 130 includes an image processing unit 131, a treatment instrument appearance direction input unit 132, a first image rotation enlargement unit 133, a mask application unit 134, and a signal output unit 135.

  The image processing unit 131 acquires an observation image from the first driver 122, performs image processing such as applying a mask to the observation image, and creates a processed image.

  The treatment instrument appearance direction input unit 132 mainly includes an input device such as a keyboard or a mouse and a storage device. The user operates the treatment instrument appearance direction input unit 132 and designates the direction in which the treatment instrument enters the display image displayed on the display 140. The treatment instrument appearance direction input unit 132 stores the designated direction as the treatment instrument appearance direction. The treatment tool appearance direction is an angle formed by a straight line connecting the appearance position of the treatment tool in the image with the center of the image and the horizontal direction of the image.

  The first image rotation enlargement unit 133 receives the insertion port / imaging element positional relationship from the first endoscope scope 110, acquires the treatment instrument appearance direction from the treatment instrument appearance direction input unit 132, and the image processing unit A processed image is received from 131. Then, the processing image is enlarged and / or reduced so that the treatment tool appears from the treatment tool appearance direction, that is, the direction in which the treatment tool enters and the treatment tool appearance direction match in the processing image. Create a rotation magnified image. In this enlargement / reduction process, the appearance direction of the treatment tool in the processed image is specified using the insertion port / image sensor positional relationship, and the process image is enlarged and / or reduced so that the treatment tool appearance direction coincides with this. It is processing to do. Details will be described later.

  The mask application unit 134 synthesizes a mask that is cut out in a rectangular shape at the periphery of the rotation enlarged image received from the first image rotation enlargement unit 133 to create a composite image.

  The signal output unit 135 outputs the composite image received from the mask application unit 134 to the display 140.

  Next, the insertion port / image sensor positional relationship will be described with reference to FIG. FIG. 2 is a view of the distal end 115 of the first endoscope scope 110 as viewed from the outside in the axial direction.

  The distal end 115 has a circular shape. The CCD unit 116, the illumination lens 124, the insertion port 117, and the air / liquid feeding port 125 are provided so as to be exposed from the distal end 115. An air / liquid feeding conduit (not shown) extending from the operation unit 112 through the insertion portion 111 is attached to the air / liquid feeding port 125. Water, air, or the like is sent through the air / liquid feeding conduit and ejected from the air / liquid feeding port 125. The processor sends illumination light to the illumination lens 124 via an illumination fiber (not shown). The two illumination lenses 124 are arranged on both sides of the CCD unit 116 and irradiate the observation object with illumination light sent from the processor. The illumination lens 124 irradiates the observation target with illumination light.

  The angle α formed by the center Oc of the CCD unit 116, that is, the straight line Oc-Oe connecting the center Oc of the image sensor and the center Oe of the insertion port 117, and the horizontal direction H of the image sensor is the insertion port / image sensor positional relationship. is there.

  Next, the processed image 150 will be described with reference to FIG. As described above, the processed image 150 is an image that is received by the first image rotation enlargement unit 133 and that has not yet matched the direction in which the treatment instrument 151 enters and the treatment instrument appearance direction. . FIG. 3 shows a processed image 150, and a rectangular mask 152 has been applied to the processed image 150. A rectangular area not covered by the mask 152 is referred to as a rectangular image area 153, and an image displayed in the rectangular image area 153 is referred to as a rectangular image 154. The treatment tool 151 enters the image from the lower right. That is, the insertion port / image sensor positional relationship is an angle α formed by the center Oc of the image sensor and the approach direction of the treatment instrument 151. The approach direction of the treatment instrument 151 is determined by the positional relationship between the imaging element and the insertion port 117.

  Next, a rotation enlarged image 160 obtained by rotating the processed image 150 will be described with reference to FIG. As described above, the rotation enlarged image 160 is an image created by the first image rotation enlargement unit 133 and is an image in which the direction in which the treatment instrument 151 enters and the treatment instrument appearance direction are matched. FIG. 4 shows a rotation magnified image 160 when the user desires that the treatment instrument 151 enters from the lower left of the image when the treatment instrument appearance direction is an angle β, for example. An image obtained by rotating the rectangular image 154 is referred to as a rotated rectangular image 164. The first image rotation enlargement unit 133 creates a rotation enlarged image 160 by rotating the processed image 150 by an angle (β−α) with the center Oc of the rectangular image region 153 as an axis. As a result, the treatment tool 151 enters the image from the position desired by the user. In FIG. 4, only the image excluding the mask 162 is shown rotated for explanation. Since the rotated rectangular image 164 obtained by rotating the rectangular image 154 deviates from the rectangular image region 153, a portion where the rotated rectangular image 164 is not displayed is formed in the rectangular image region 153.

  Next, a rotation enlarged image 170 obtained by enlarging the rotation enlarged image 160 shown in FIG. 4 will be described with reference to FIG. Since the rotated rectangular image 164 obtained by rotating the rectangular image 154 deviates from the rectangular image region 153, a portion where the rotated rectangular image 164 is not displayed is formed in the rectangular image region 153. Therefore, the image is enlarged around the center of the image of the rotated rectangular image 164. Here, an image obtained by enlarging the rotated rectangular image 164 is referred to as a rotated enlarged rectangular image 174. As the enlargement magnification, a magnification that can display the rotated rectangular image 164 in the entire rectangular image region 153 is selected. As a result, the rotationally enlarged rectangular image 174 becomes larger than the rectangular image region 153, and the rotationally enlarged rectangular image 174 is displayed in the entire rectangular image region 153. In FIG. 5, only the image excluding the mask 172 is shown enlarged for the sake of explanation.

  FIG. 6 shows a rotated enlarged image 180 obtained by applying a rectangular mask 182 to the rotated enlarged rectangular image 174. A rotation enlarged rectangular image 174 is displayed over the entire rectangular image region 153. Thereby, an image is displayed on the whole rectangular image area | region 153, and the user can recognize the position of the treatment tool 151 without a sense of incongruity.

  Next, the first image processing will be described with reference to FIG. The first image processing is executed by the first endoscope processor 130 when the first endoscope scope 110 is connected to the first endoscope processor 130.

  First, in step S <b> 71, the insertion port / image sensor positional relationship is acquired from the first endoscope scope 110.

  In the next step S <b> 72, the treatment instrument appearance direction is acquired from the treatment instrument appearance direction input unit 132. The treatment instrument appearance direction is set in advance by the user, and is stored in the treatment instrument appearance direction input unit 132.

  In the next step S73, the rotation angle of the processed image 150 is calculated using the insertion port / image sensor positional relationship and the treatment instrument appearance direction.

  In the next step S74, the processed image 150 is rotated and enlarged by executing a rotation enlargement process described later to create a rotation enlarged image.

  In the next step S75, the rotation enlarged image is output to the display 140. In the next step S76, it is determined whether or not the first endoscope scope 110 has been removed from the first endoscope processor 130. If it has been removed, the procedure ends. If it has not been removed, the process returns to step S74, and the processes from step S74 to S76 are repeated.

  Next, the rotation enlargement process will be described with reference to FIG. The rotation enlargement process is executed by the first image rotation enlargement unit 133.

  In step S81, the rotation angle of the processed image 150 is acquired. Referring to FIGS. 3 and 4, the rotation angle is β-α.

  In the next step S82, the processed image 150 is rotated by an angle (β−α) about the center Oc of the rectangular image area 153 to create a rotated rectangular image 164 (see FIGS. 3 and 4).

  In the next step S83, it is determined whether or not to display the rotated rectangular image 164 over the entire rectangular image region 153. Whether to display or not is determined in advance by the user.

  In the next step S84, the enlargement magnification is calculated. As the enlargement magnification, a magnification that can display the rotated rectangular image 164 in the entire rectangular image region 153 is selected.

  In the next step S85, the rotated rectangular image 164 shown in FIG. 4 is enlarged and the rotated enlarged rectangular image 174 is displayed in the entire rectangular image region 153 (see FIG. 5).

  In the next step S86, the mask 182 is applied again to the rotation enlarged rectangular image 174. Thereby, the rotation enlarged image 180 shown in FIG. 6 is created.

  According to this embodiment, since the treatment tool 151 enters the image from a position desired by the user, the user can recognize the position of the treatment tool 151 without a sense of incongruity and can accurately operate the treatment tool 151.

  Further, only the first endoscope scope 110 needs to store only the insertion port / image sensor positional relationship, and the first endoscope scope 110 does not execute the process of rotating and enlarging the image. A new DSP is not provided in the endoscope scope 110, and no load is applied to the existing DSP. As a result, the first endoscope scope 110 does not increase in size or cost. Further, since the first endoscope processor 130 does not have to store the insertion port / imaging element positional relationship for each first endoscope scope 110, the capacity of the storage device included in the first endoscope processor 130 is not necessary. There is no need to increase the size.

  A second embodiment will be described with reference to FIGS. FIG. 9 is a schematic view of a second endoscope system 200 according to the second embodiment. The second embodiment differs from the first embodiment in that the image rotation enlargement unit is provided not in the endoscope processor but in the endoscope scope. In addition, about the structure similar to 1st Embodiment, the code | symbol similar to 1st Embodiment is attached | subjected and description is abbreviate | omitted.

  First, the second endoscope system 200 will be described with reference to FIG.

  The second endoscope system 200 includes a second endoscope scope 210 that images an object to be observed, and a second endoscope processor that receives an image from the second endoscope scope 210 and performs image processing. 230, and a display 140 that receives and displays images from the second endoscope processor 230.

  The second endoscope scope 210 mainly includes an insertion unit 111, an operation unit 112, and a second connector 213 connected to the second endoscope processor 230. The second connector 213 connects the second endoscope scope 210 and the second endoscope processor 230 via a connection cable 114 extending from the operation unit 112.

  The CCD unit 116 provided at the distal end 115 of the insertion unit 111 transmits an image signal obtained by imaging the observation object to the second connector 213 via the signal line 118. The second connector 213 includes a second driver 222 connected to the CCD unit 116 via the connection cable 114 and a second image rotation enlargement unit 223.

  The second driver 222 receives the image signal from the CCD unit 116, creates an observation image, and transmits it to the second image rotation enlargement unit 223. The second image rotation enlargement unit 223 acquires the insertion port / imaging element positional relationship and the treatment tool appearance direction from the second endoscope processor 230 so that the treatment tool 151 appears from the treatment tool appearance direction, that is, The processed image 250 is enlarged and / or reduced so that the direction in which the treatment tool 151 enters and the treatment tool appearance direction coincide with each other in the processed image 250 to create a rotation enlarged image. This enlargement / reduction processing specifies the appearance direction of the treatment tool 151 in the processed image 250 using the insertion port / imaging device positional relationship, and enlarges and reduces the processed image 250 so that this matches the treatment tool appearance direction. This is a process of reducing. Details will be described later. The second image rotation enlargement unit 223 transmits the created rotation enlargement image to the second driver 222. Then, the second driver 222 outputs the rotation enlarged image to the second endoscope processor 230.

  The second endoscope processor 230 includes an enhancement processing unit 231 connected to the second driver 222, a signal output unit 135 connected to the enhancement processing unit 231, a treatment instrument appearance direction storage memory 236, and a treatment instrument A treatment instrument appearance direction input unit 132 connected to the appearance direction storage memory 236 is provided. Since the treatment instrument appearance direction input unit 132 and the signal output unit 135 have the same configuration as that of the first embodiment, description thereof is omitted.

  The treatment instrument appearance direction storage memory 236 records the insertion port / image sensor positional relationship according to the type of endoscope scope. That is, a database of the endoscope scope and the insertion port / image sensor positional relationship is stored. In response to a request from the second image rotation enlargement unit 223, the treatment instrument appearance direction storage memory 236 outputs the insertion port / imaging element positional relationship to the second image rotation enlargement unit 223, and the treatment instrument appearance direction input unit 132. Outputs the treatment instrument appearance direction to the second image rotation enlargement unit 223.

  The enhancement processing unit 231 acquires a rotation enlarged image from the second driver 222, performs image processing such as applying a mask 252 cut out in a circle to the peripheral edge of the rotation enlarged image, and creates a composite image.

  Next, the processed image 250 and the rotation enlarged image 280 will be described with reference to FIGS. As described above, the processed image 250 is an image that is received by the second image rotation enlargement unit 223 and that has not yet matched the direction in which the treatment instrument 151 enters and the treatment instrument appearance direction. . FIG. 10 shows a processed image 250, and a circular mask 252 has been applied to the processed image 250. A circular area not covered by the mask 252 is referred to as a circular image area 253, and an image displayed in the circular image area 253 is referred to as a circular image 254. The treatment tool 151 enters the image from the lower right. That is, the insertion port / image sensor positional relationship is an angle α formed by the center Oc of the image sensor and the approach direction of the treatment instrument 151. The approach direction of the treatment instrument 151 is determined by the positional relationship between the imaging element and the insertion port 117.

  Next, a rotation enlarged image 280 obtained by rotating the processed image 250 will be described with reference to FIG. As described above, the rotation enlarged image 280 is an image created by the second image rotation enlargement unit 223 and is an image in which the direction in which the treatment instrument 151 enters and the treatment instrument appearance direction are matched. FIG. 11 shows a rotation enlarged image when the user desires that the treatment instrument 151 enters from the lower left of the image, for example, when the treatment instrument appearance direction is the angle β. The second image rotation enlargement unit 223 rotates the circular image 254 shown in FIG. 10 by β-α around the center Oc of the circular image region 253 to create a circular image 284, and a mask 282 is added to the circular image 284. Apply to create a rotated magnified image 280. The size of the circular image 284 is the same as that of the circular image 254. Therefore, the circular image 284 can be displayed on the entire circular image region 253 without enlarging the circular image 284. As a result, the treatment tool 151 enters the image from the position desired by the user. In addition, without enlarging the rotation enlarged image 280, the position where the treatment instrument 151 enters only by rotation is matched with the treatment instrument appearance direction, and the user can recognize the position of the treatment instrument 151 without a sense of incongruity. Since the image is not enlarged, the amount of calculation can be reduced as compared with the first embodiment, and image quality deterioration due to enlargement can be prevented.

  Next, the second image processing will be described with reference to FIG. The second image processing is executed by the second image rotation enlargement unit 223 when the second endoscope scope 210 is connected to the second endoscope processor 230.

  First, in step S1201, the second image rotation enlargement unit 223 acquires the insertion port / imaging element positional relationship from the treatment instrument appearance direction storage memory 236, and acquires the treatment instrument appearance direction from the treatment instrument appearance direction input unit 132. .

  In the next step S1202, the rotation angle of the processed image 250 is calculated using the insertion port / image sensor positional relationship and the treatment instrument appearance direction.

  In the next step S1203, the processed image 250 is rotated by executing the rotation enlargement process described above to create a rotation enlargement image 280. In the present embodiment, steps S83 to S85 are not executed in the rotation enlargement process.

  In the next step S1204, the rotation enlarged image 280 is output to the second endoscope processor 230.

  In the next step S1205, it is determined whether or not the second endoscope scope 210 has been removed from the second endoscope processor 230. If it has been removed, the procedure ends. If it has not been removed, the process returns to step S1203, and the processes from step S1203 to S1205 are repeated.

  According to this embodiment, since the treatment tool 151 enters the image from a position desired by the user, the user can recognize the position of the treatment tool 151 without a sense of incongruity and can accurately operate the treatment tool 151.

  Further, since the position where the treatment instrument 151 enters can be made coincident with the treatment instrument appearance direction only by rotation without enlarging the image, the calculation amount can be reduced as compared with the first embodiment, and the enlargement can be achieved. It is possible to prevent the image quality from deteriorating.

  In any of the embodiments, a circular mask may be used instead of the rectangular mask, or a rectangular mask may be used instead of the circular mask.

  The endoscope processor may be provided with a treatment instrument appearance direction storage memory and an image rotation enlargement unit. The effect of the present invention is obtained while using a conventional endoscope scope as it is.

  Further, the positional relationship between the insertion opening and the image sensor may not be the angle α formed by the straight line Oc-Oe and the horizontal direction H, but may be the angle formed by the straight line Oc-Oe and the vertical direction of the image sensor. Also, it may be schematic position information such as the lower right and lower left of the image.

  In any embodiment, the processed image 150 with the mask 152 applied is enlarged or reduced. However, the image before the mask 152 may be applied may be enlarged or reduced.

  Moreover, although each embodiment of the present invention has been described with an endoscope scope using a CCD, the imaging device is not limited to a CCD, and may be, for example, a CMOS.

DESCRIPTION OF SYMBOLS 100 1st endoscope system 110 1st endoscope scope 111 Insertion part 112 Operation part 113 1st connector 114 Connection cable 115 Distal end 116 CCD unit 117 Insertion port 118 Signal line 119 Insertion tube 120 Treatment tool insertion Mouth 121 Switch 122 First driver 123 Insertion channel position information memory 124 Illumination lens 125 Air supply / liquid supply port 130 First endoscope processor 131 Image processing unit 132 Treatment instrument appearance direction input unit 133 First image rotation enlargement unit 134 Mask Application Unit 135 Signal Output Unit 140 Display

Claims (10)

Imaging means for imaging an observation object and outputting a captured image;
An insertion port through which the treatment tool advances and retracts
A recognition means for recognizing a positional relationship between the insertion port and the imaging means;
An endoscope system comprising: an image processing unit that performs image processing on the captured image according to a positional relationship recognized by the recognition unit.   The endoscope system further includes an endoscope scope close to the observation object, the endoscope scope includes the insertion port and the imaging unit, and the recognition unit determines the positional relationship as the endoscope. The endoscope system according to claim 1, wherein the endoscope system stores information according to the type of mirror scope.   The endoscope system according to claim 1, wherein the image processing unit rotates the captured image in accordance with the positional relationship.   The endoscope system according to any one of claims 1 to 3, wherein the image processing unit enlarges the captured image according to the positional relationship.   The endoscope system according to any one of claims 1 to 4, wherein the positional relationship is a positional relationship between a center of an imaging surface of the imaging unit and a center of the insertion port.   The endoscope system according to claim 5, wherein the positional relationship is an angle formed by a straight line connecting the center of the imaging surface and the center of the insertion port and a horizontal direction or a vertical direction of the imaging surface.   The image processing means combines a rectangular mask centered on the center of the captured image with the captured image so as to cover the periphery of the captured image, rotates the captured image around the center of the mask, When the mask is re-synthesized with the photographed image after rotation, if the mask before rotation is displayed in a portion not covered by the mask synthesized with the photographed image after rotation, the mask is synthesized with the photographed image after rotation. The endoscope system according to any one of claims 1 to 6, wherein the photographed image is enlarged to such an extent that a mask before rotation is not displayed in a portion that is not covered by the mask.   The image processing unit synthesizes a mask having a circular shape centered on the center of the captured image with the captured image so as to cover a peripheral portion of the captured image, and rotates the captured image around the center of the mask. The endoscope system according to any one of claims 1 to 6. The endoscope system includes an endoscope scope close to an observation object, and an endoscope processor connected to the endoscope scope,
The endoscope scope includes the insertion port, the imaging unit, and the recognition unit.
The endoscope system according to claim 1, wherein the endoscope processor includes the image processing unit. The endoscope system includes an endoscope scope close to an observation object, and an endoscope processor connected to the endoscope scope,
The endoscope scope includes the insertion port, the imaging unit, and the image processing unit,
The endoscope system according to claim 1, wherein the endoscope processor includes the recognition unit.

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