JP2014023818A - Imaging system and function control method applied to the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain an imaging system having a simple imaging device (10, 10a, 10b) with superior operability including a camera head (100) connected to a hard mirror (300) in order to allow easy operation of various function controls without requiring complicated switch operation to operate the camera head during surgery performed as a medical activity by using the imaging device, and to obtain a function control method applied to the imaging system.SOLUTION: An operation panel (400) and a display device (500) are connected to an imaging device so as to combine a function selection in the operation panel, simple operation such as turning operation of a camera head according to the function selection, and an image display by the display device.

Description

  The present invention does not require the camera head connected to the rigid endoscope to be equipped with operation switches corresponding to various function controls, and includes function selection on the operation panel, simple operation on the camera head, and image display by the display device. The present invention relates to an imaging system including an imaging device capable of realizing various function controls by combination and a function control method applied to the imaging system.

  As one of imaging devices used for medical purposes, a video signal of an observation image is generated by an imaging element included in the imaging device, and the generated video signal is output to the display device, thereby being rigid on the display device screen. There is an imaging apparatus that can display a mirror image and perform observation (see, for example, Patent Document 1).

  In general, an operator who operates an imaging apparatus connected to a rigid endoscope as described in Patent Document 1 holds the imaging housing (hereinafter referred to as a camera head), and the operator himself In addition, various imaging operations and video control operations are performed. Therefore, the camera head is provided with an operation member so that the operator can operate with one hand while holding the camera head.

  As an example of such an operation member, there is a camera head provided with a plurality of switches. Then, by operating these switches, the surgeon can perform image control such as exposure adjustment, ZOOM function (enlargement / reduction), and edge enhancement on an image captured by the imaging apparatus, for example.

JP 2001-078960 A

However, the prior art has the following problems.
As described above, a conventional imaging apparatus connected to a rigid endoscope as described in Patent Document 1 includes an operation unit such as a plurality of operation switches in a camera head. Therefore, there has been a problem in operability, for example, in order to prevent an unintended operation during an operation during surgery, in which it is necessary to move the line of sight to the operation switch each time.

  In addition, since the camera head has a plurality of operation switches having various functions, the structure of the camera head is complicated, and space saving and sterilization are very difficult.

  The present invention has been made to solve the above-described problems, and can easily perform various function control operations without requiring complicated switch operations during operations during surgery. An object of the present invention is to obtain an imaging system including an imaging device with excellent operability and a function control method applied to the imaging system.

  The imaging system according to the present invention includes a camera head, a camera control unit, a display device that displays an image of a video signal output from the camera control unit, and a plurality of operation items corresponding to various function controls related to images displayed on the display device. An imaging system provided with an operation panel that outputs a desired operation item selected by the user from a plurality of operation items, wherein the camera head captures a light image from the observation site, An image detection unit that generates a first electrical signal, and a rotation position from the reference state of the camera head when the user rotates the camera head with respect to the rotation center axis, and generates a second electrical signal And a camera control unit for the desired operation item selected from the operation panel by the user. The control unit outputs a first command for performing a function control according to the second electric signal generated by the detection unit and the first electric signal generated by the image detection unit. And an image processing unit that generates a video signal by performing function control based on the first command and outputs the video signal to a display device.

  According to the imaging system and the function control method applied to the imaging system according to the present invention, the function selection on the operation panel, the simple operation such as the rotation operation on the camera head according to the function selection, and the image display on the display device are performed. By combining them, an imaging system including an imaging device having a simple and excellent operability that can easily perform various function control operations without requiring complicated switch operations during operation during surgery. Can do.

It is function explanatory drawing of the imaging system comprised from the imaging device in Embodiment 1 of this invention, and the peripheral device connected to an imaging device. In Embodiment 1 of this invention, it is explanatory drawing at the time of seeing the inside of the camera head of the imaging device in FIG. 1 from a z-axis direction. In Embodiment 1 of this invention, it is explanatory drawing of the example of an image displayed on a display apparatus. In Embodiment 1 of this invention, it is explanatory drawing explaining operation | movement of the grip part with which a camera head is equipped. It is function explanatory drawing of the imaging system comprised from the imaging device in Embodiment 2 of this invention, and the peripheral device connected to an imaging device. It is function explanatory drawing of the imaging system comprised from the peripheral device connected to the imaging device and imaging device in Embodiment 3 of this invention. In Embodiment 3 of this invention, it is explanatory drawing which shows the rotation correction method of the rigid endoscope image which a display apparatus displays. In Embodiment 3 of this invention, it is explanatory drawing which shows the specific example of the correction method of the pixel data in case an image rotation process part performs rotation correction.

  Hereinafter, preferred embodiments of an imaging system and a function control method applied to the imaging system of the present invention will be described with reference to the drawings. In the description of the drawings, the same reference numerals are assigned to the same elements, and duplicate descriptions are omitted.

Embodiment 1 FIG.
FIG. 1 is a functional explanatory diagram of an imaging system including an imaging device 10 and peripheral devices connected to the imaging device 10 according to Embodiment 1 of the present invention. The imaging apparatus 10 in FIG. 1 includes a camera head 100 and a camera control unit 200.

The camera head 100 includes an image detection unit 110 having a first image sensor 111 and a position detection unit 120 having a position detection sensor 121. Further, the camera control unit 200, the image processing unit 210, the control unit (CPU) 220, and OSD; comprises (O n S creen D isplay on screen display) generator 230.

  As shown in FIG. 1, a detachable rigid endoscope 300 is connected to the tip of the camera head 100. In addition, an operation panel 400 and a display device 500 are connected to the camera control unit 200. Further, the camera head 100 and the rigid endoscope 300 are connected via a lens 310, an eyepiece lens 320, and an adapter lens 330 that are necessary for collecting light from the observation site.

  The image detection unit 110 in the camera head 100 converts an optical image of an observation site by the rigid endoscope 300 (an optical image formed on the light receiving surface of the first image sensor 111 located on the optical axis) into an electrical signal. . Furthermore, the image detection unit 110 outputs an electrical signal converted by itself to the image processing unit 210 connected via the camera cable 130.

  The position detection unit 120 detects the angle corresponding to the clockwise / counterclockwise rotation of the camera head 100 and the amount of movement in the front-rear direction by the position detection sensor 121, and converts the detected angle and amount of movement into an electrical signal. . The position detection unit 120 then outputs an electrical signal converted by itself to the control unit 220 connected via the camera cable 130. Details of the position detection unit 120 will be described later.

  The control unit 220 is connected to the image processing unit 210, the OSD generation unit 230, and the operation panel 400 via a control cable. The control unit 220 receives a desired operation item selected by the operator operating the operation panel 400. Further, the control unit 220 outputs a command for performing function control to the image processing unit 210 based on the electrical signal generated by the position detection unit 120 in accordance with the operation of the camera head 100 by the surgeon, Information related to function control is output to the OSD generation unit 230.

  The image processing unit 210 generates a video signal based on the electrical signal generated by the image detection unit 110 and a command from the control unit 220. Then, the image processing unit 210 outputs the video signal generated by itself to the connected OSD generation unit 230 via the control cable.

  The OSD generation unit 230 provides OSD information (information such as character information to be displayed together with the image on the display device 500) for the video signal generated by the image processing unit 210 based on information related to function control from the control unit 220. Append. Then, the OSD generation unit 230 outputs a video signal to which the OSD information generated by itself is added to the display device 500 connected via the HDMI cable. The display device 500 displays an image based on the video signal to which the OSD information generated by the OSD generation unit 230 is added.

  Next, details of the position detection unit 120 including the position detection sensor 121 will be described with reference to FIG. 1 and FIG. FIG. 2 is an explanatory diagram when the inside of the camera head 100 of the imaging device 10 in FIG. 1 is viewed from the z-axis direction in the first embodiment of the present invention. The z axis corresponds to a rotation axis when the camera head 100 is rotated. Hereinafter, this rotation axis is referred to as a rotation center axis.

  In FIG. 2, the position detection sensor 121 is installed inside the camera head 100 so that its own detection axis coincides with the direction of gravity. The first image sensor 111 provided in the image detection unit 110 is also installed inside the camera head 100 so that the top-to-bottom relationship of the first image sensor 111 matches the direction of gravity.

  Here, when the camera head 100 is rotated clockwise or counterclockwise (rotated) on the paper, a phase angle indicating how much the camera head 100 is rotated with respect to the x-axis direction is defined as θ. When the phase angle θ is zero, the camera head 100 is not rotated, and this state is referred to as a reference state of the camera head 100. In this case, as shown in FIG. 2, when the camera head 100 is rotated clockwise from the reference state, the phase angle θ becomes a positive value, and when the camera head 100 is rotated counterclockwise, the phase angle θ becomes a negative value. Become.

  For example, when a direction detection sensor in four directions is used as the position detection sensor 121, the position detection unit 120 rotates the position (up / down / left / right) of the camera head 100 from the reference state based on the value of the phase angle θ. The detection result of the position in the four directions can be output. That is, “top” if the phase angle θ is in the range of 0 ° ± α, “right” if it is in the range of 90 ° ± α, “left” if it is −90 ° ± α, ± 180 ° ± α. If there is, “down” is detected for each direction value. Note that the value of α varies depending on the characteristics of the four-direction direction detection sensor used as the position detection sensor 121.

  Here, unlike the conventional camera head, the camera head 100 according to the first embodiment does not include operation switches used for various function operations. Then, the operator operates the operation switch by rotating the camera head 100 clockwise / counterclockwise without taking his eyes off the image displayed on the display device 500 while holding the camera head 100. It has a technical feature that it is possible to output a plurality of direction values for performing various function operations without operating the.

  That is, when the surgeon is observing the body cavity with the rigid endoscope 300 connected to the camera head 100, the camera head 100 is rotated clockwise / counterclockwise. In this case, the position detection unit 120 included in the camera head 100 converts the detected direction value into a detection signal (electric signal) and outputs the detection signal to the control unit 220.

  Then, instead of the operation switch switching operation performed by the operator, the function item selection on the operation panel 400 and the detection signal (clockwise / counterclockwise direction) read from the position detection unit 120 by the control unit 220 are performed. Various function operations can be performed according to the direction value by the rotation operation.

  Note that when the camera head 100 is rotated clockwise / counterclockwise, the control unit 220 receives a plurality of detection signals continuously input during a certain period so as not to erroneously determine rotation due to hand shake or the like. It is possible to perform the switching control by performing the sampling, and determining that the sampling is valid only when all of the plurality of sampled detection signals coincide with each other and outputting a command to the image processing unit 210. On the other hand, when all of the plurality of detection signals do not coincide with each other, it is determined that the rotation is caused by camera shake or the like, no command is output to the image processing unit, and switching control is not performed. As described above, a command is output to the image processing unit 210 when the detection signal is continuously input for a predetermined time or more. Note that the user may predefine the period and the number of detection signals when sampling.

  Next, the operation of the imaging apparatus 10 according to the first embodiment will be described with reference to FIGS. 1 and 2 and FIG. FIG. 3 is an explanatory diagram of an example of an image displayed on the display device 500 in the first embodiment of the present invention.

  Here, in order to explain specifically, the case where the brightness adjustment of the image as shown in FIG. 3 displayed on the display device 500 is performed by rotating the camera head 100 is illustrated. The image in FIG. 3 includes a rigid endoscope image display unit 31, a first OSD display unit 32, and a second OSD display unit 33.

  In the case of this example, while the surgeon is observing a rigid endoscope image in the body cavity (an image displayed on the rigid endoscope image display unit 31) with the rigid endoscope 300 connected to the camera head 100, When the camera head 100 is rotated clockwise, the brightness of the image increases, and when it is rotated counterclockwise, the brightness of the image decreases. When the direction value detected by the position detection sensor 121 is “up” or “down”, the brightness is not adjusted.

  First, when the operator desires to adjust the brightness of the image, the operator selects a desired function by operating the operation panel 400 connected to the control unit 220 provided in the camera control unit 200. Do. A plurality of operation items are prepared on the operation panel 400, and an operation item corresponding to a desired function operation can be selected from the plurality of operation items. In this case, if the “brightness adjustment” item is selected, the brightness of the image can be adjusted by the operator rotating the camera head 100.

  In addition, as an operation item prepared on the operation panel 400, for example, as a function operation other than “brightness adjustment” for an image displayed on the display device 500, a function operation capable of switching control by a rotation operation of the camera head 100 is possible. Anything may be used. For example, as a functional operation for an image displayed on the display device 500, a “display switching” control for switching the display of an image, an “enlargement / reduction” control for adjusting the size of the image, and a “static / Examples include “video” control, “recording start / stop” control for starting or stopping image recording, or “screen orientation tracking” control for tracking the screen orientation.

  In addition, the operator determines what function operation is to be performed before the operation, and if an operation item corresponding to the function operation is selected, the selected operation is performed by rotating the camera head 100. be able to. Further, not only before the operation but also during the operation, a desired operation item can be selected and a functional operation can be performed whenever necessary.

  Next, consider a case where the surgeon rotates the camera head 100 by a predetermined angle with respect to the clockwise direction (the phase angle θ in FIG. 2 is in the range of 90 ° ± α). In this case, when detecting “right” as the direction value, the position detection unit 120 outputs a detection signal of the “right” direction value to the control unit 220. Further, when detecting the direction value, the position detection unit 120 continuously outputs a direction value detection signal to the control unit 220.

  Then, when the surgeon rotates the camera head 100 by a predetermined angle with respect to the clockwise direction and holds the camera head 100 at the position after the rotation, the position detection unit 120 performs the operation while the camera head 100 is held. The detection signal of the “right” direction value is continuously output to the control unit 220. Then, the control unit 220 outputs a command corresponding to the time when the detection signal of the “right” direction value is continuously input to the image processing unit 210. In this case, the control unit 220 calculates a positive gain adjustment value corresponding to the time when the detection signal of the “right” direction value is continuously input, and outputs the positive gain adjustment value to the image processing unit 210.

  The time when the detection signal of the “right” direction value is continuously output to the control unit 220 (the operator rotates the camera head 100 so that the direction value becomes “right”, and the rotation is performed. The longer the time held at the position) is, the longer the control unit 220 performs control so that the positive gain adjustment value becomes larger and outputs it to the image processing unit 210. As a result, a brightened image is displayed on the display device 500.

  On the other hand, consider a case where the surgeon rotates the camera head 100 by a predetermined angle (the phase angle θ in FIG. 2 is −90 ° ± α) with respect to the counterclockwise direction. Similarly, in this case, when the camera head 100 is held at the position after rotation, the position detection unit 120 continuously outputs the detection signal of the “left” direction value while the camera head 100 is held. 220 is output. Then, the control unit 220 calculates a negative gain adjustment value corresponding to the time when the detection signal of the “left” direction value is continuously input, and outputs the negative gain adjustment value to the image processing unit 210.

  The time when the detection signal of the “left” direction value is continuously output to the control unit 220 (the operator rotates the camera head 100 so that the direction value becomes “left”, and the rotation The longer the time held at the position), the control unit 220 performs control so that the negative gain adjustment value becomes smaller and outputs it to the image processing unit 210. As a result, a darkened image is displayed on the display device 500.

  Further, the association between the time during which the camera head 100 is held at the rotational position and the gain adjustment value may be defined in advance.

  Further, the control unit 220 causes the OSD generation unit 230 to provide the OSD generation unit 230 with necessary information for generating OSD information related to the first OSD display unit 32 and the second OSD display unit 33 illustrated in FIG. Output. For example, the control unit 220 outputs the rotation direction of the camera head 100 detected by the position detection unit 120 and the gain adjustment value calculated by itself to the OSD generation unit 230 as information to be displayed on the first OSD display unit 32. To do.

  In addition, the control unit 220 outputs position information related to the position (phase angle θ) from the reference state of the camera head 100 (first image sensor 111) to the OSD generation unit 230. Note that the position information here refers to information regarding the degree of deviation (degree of rotation) with respect to the top-and-bottom relationship of the camera head 100 detected by the position detection unit 120 with respect to the direction of gravity.

  Then, the image processing unit 210 generates a video signal whose brightness is adjusted based on the gain adjustment value output from the control unit 220, and outputs the generated video signal to the OSD generation unit 230.

  The OSD generation unit 230 generates OSD information based on the gain adjustment value and position information (information related to function control) output from the control unit 220, and generates the generated OSD for the video signal generated by the image processing unit 210. Add information. Then, the OSD generation unit 230 outputs the video signal to which the OSD information is added to the display device 500.

  Then, the display device 500 displays an image based on the video signal to which the OSD information input by the OSD generation unit 230 is added, so that the surgeon can display a rigid endoscope image as shown in FIG. 3 with a desired brightness. Can be seen.

  In the screen displayed on the display device 500, as shown in FIG. 3, the first OSD display unit 32 displays a numerical value of the gain adjustment value. Further, among the left and right arrows displayed on the screen, the arrow corresponding to the direction in which the camera head 100 is rotating is lit. The second OSD display unit 33 displays a gravity direction mark indicating the top-to-bottom relationship of the camera head 100 in order to display the position after the camera head 100 is rotated. The current top-to-bottom relationship of the camera head 100 and the direction of the arrow indicating the gravitational direction mark are displayed so as to correspond to each other. Then, by displaying the gravity direction mark, the surgeon can confirm how much the rigid endoscope image of the observation site is rotated as a guide.

  In order to make the OSD display easy to see for the surgeon, as shown in FIG. 3, it is desirable that the OSD display be displayed at the four corners of the screen without overlapping the rigid endoscope image of the observation site shown in the center circle shape of the screen. . Further, the content of the OSD display is not limited to the above-described example, and any content may be used as long as it indicates an operation state. If OSD display is not required, the OSD generation unit 230 may not be provided in the imaging apparatus 10.

  Finally, when the desired operation is completed, the surgeon may return the rotational position of the camera head 100 to the original position while referring to the image displayed on the display device 500. In this case, of course, the state after the brightness adjustment is maintained.

  In this way, the operator does not display only the rigid endoscope image as the image displayed on the display device 500, but by performing OSD display indicating the current state in the rotation operation of the camera head 100, the surgeon can A state becomes very easy to understand, and a desired operation can be reliably performed.

  Here, gain adjustment is performed as a brightness adjustment method, but the present invention is not limited to this. For example, it is possible to perform accumulation time adjustment, illumination light amount adjustment, contrast adjustment, or by applying an offset to an input video signal. The brightness of the video signal may be adjusted.

  Further, the target area for brightness adjustment may be set to be performed on the entire screen area of the display device 500, or only for the circular area indicating the rigid endoscope image of the observation site in FIG. You may set it to do.

  Next, in addition to the switching control by the rotation operation of the camera head 100, the switching control by the movement of the camera head 100 in the z-axis direction will be described with reference to FIG. FIG. 4 is an explanatory diagram for explaining the operation of the grip portion 41 provided in the camera head 100 in Embodiment 1 of the present invention.

  The camera head 100 in FIG. 4 is further provided with a spring 42 in addition to the grip portion 41 as shown. One end of the spring 42 is connected to one end of the grip part 41, and the other end of the spring 42 is connected to one end of the camera head 100.

  The grip portion 41 is installed on the surface of the camera head 100 so as to be slidable in the z-axis direction along the surface of the camera head 100. Here, when the grip portion 41 is slid in the z-axis direction, the spring 42 connected to one end of the grip portion 41 extends. Moreover, the shape of the grip part 41 is a handle shape, and the surgeon can easily slide the grip part 41 by the gripping force of one hand.

  Then, when the operator holds the camera head 100 and slides the grip portion 41 in the positive z-axis direction, the camera head 100 moves relative to the grip portion 41. It moves in the direction opposite to the movement of the grip portion 41 (the negative direction of the z-axis) as a movement amount corresponding to the gripping force.

  When the grip 41 is moved in the positive direction of the z-axis and then moved by the elastic force of the spring 42 in the negative direction of the z-axis (returned to the original position), the camera head 100 is moved. Similarly, it moves relative to the grip part 41 in the direction opposite to the movement of the grip part 41 (positive direction of the z-axis) as a movement amount corresponding to the gripping force.

  Further, by using the elastic force of the spring 42, the range of the amount of movement for moving the camera head 100 in the z-axis direction is limited, and as a result, the range in which the rigid mirror 300 connected to the camera head 100 can move is also possible. Because it is as narrow as possible, there is no burden on the patient.

  That is, if the range of movement of the rigid endoscope 300 is wide, the rigid endoscope 300 moves greatly to the distal end of the rigid endoscope that is in contact with the observation site of the patient, which places a great burden on the patient. However, as described above, since the elastic force of the spring 42 is used, the range of the amount of movement for moving the camera head 100 in the z-axis direction is limited. As a result, the range in which the rigid endoscope 300 connected to the camera head 100 moves is also as narrow as possible, so that the camera head 100 can move (in the front-rear direction) with respect to the z-axis without placing a burden on the patient. It becomes.

  Then, switching control different from the rotation operation of the camera head 100 as described above can be performed by the movement of the camera head 100 with respect to the z-axis.

  Next, the operation of the grip part 41 by the surgeon and the operation of the camera head 100 after operating the grip part 41 will be specifically described. Here, as described above, the rigid endoscope image in the body cavity is observed by the rigid endoscope 300 connected to the camera head 100. A case where the brightness of the image is adjusted by rotating the camera head 100 and the rotation operation is switched between valid / invalid by moving in the z-axis direction will be described.

  In this case, when the operator wants to invalidate the brightness adjustment by rotating the camera head 100 in the clockwise / counterclockwise direction while holding the camera head 100, the grip portion 41 is moved along the z axis. Slide it in the positive direction.

  That is, when the surgeon slides in the positive direction of the z-axis by an operation of pushing out the grip portion 41, the position detection unit 120 provided in the camera head 100 causes the position detection sensor 121 to move the z of the camera head 100. The amount of movement of the shaft in the negative direction is detected, and a corresponding detection signal is generated.

  Then, the position detection unit 120 outputs the generated detection signal to the control unit 220. When this detection signal is input, the control unit 220 outputs a command based on the input detection signal to the image processing unit 210. In this case, when this detection signal is input, the control unit 220 instructs the image processing unit 210 to invalidate the brightness adjustment by the clockwise / counterclockwise rotation operation of the camera head 100. Is output.

  When it is desired to make the brightness adjustment by the clockwise / counterclockwise rotation operation of the camera head 100 effective again, the grip portion 41 is moved in the negative z-axis direction by the elastic force of the spring 42 (original) To the position).

  In other words, when the surgeon returns the grip part 41 to the original position, the position detection unit 120 provided in the camera head 100 causes the position detection sensor 121 to correct the z-axis when the camera head 100 returns to the original position. Is detected, and a corresponding detection signal is generated.

  Then, the position detection unit 120 outputs the generated detection signal to the control unit 220. When this detection signal is input, the control unit 220 outputs a command to the image processing unit 210 to validate the brightness adjustment by the clockwise / counterclockwise rotation operation of the camera head 100.

  As a result, it is possible to switch the valid / invalid of the clockwise / counterclockwise rotation operation in the camera head 100, and it is possible to prevent an erroneous operation unintended by the operator.

  In addition, when switching control is performed by sliding the grip unit 41 and moving the camera head 100 with respect to the z-axis, the control unit 220 outputs a plurality of detection signals input during a certain period. It is possible to perform the switching control by sampling as many as possible, and determining that the sampling is valid only when all of the plurality of sampled detection signals coincide with each other and outputting a command to the image processing unit 210. On the other hand, if all of the plurality of detection signals do not match, it is determined that the operation is due to camera shake or the like, no command is output to the image processing unit 210, and switching control is not performed. As described above, a command is output to the image processing unit 210 when the detection signal is continuously input for a predetermined time or more. Note that the user may predefine the period and the number of detection signals when sampling.

  Similarly, the valid / invalid state of the clockwise / counterclockwise rotation operation in the camera head 100 may be displayed on the screen of the display device 500 in an OSD manner. Thereby, the surgeon can check whether the current state of the rotation operation of the camera head 100 is the valid state or the invalid state.

  As described above, according to Embodiment 1 of the present invention, the surgeon selects an operation item corresponding to a desired function operation from among a plurality of operation items prepared on the operation panel, and selects a desired one. In a state where the operation item is selected, the brightness of the image displayed on the display device is adjusted by performing a simple operation such as a rotation operation of the camera head while holding the camera head to which the rigid endoscope is connected. Various function operations can be controlled.

  This eliminates switches and other operating members in the camera head and simplifies the structure, so that the imaging performance has pressure resistance that can withstand high-temperature steam sterilization without reducing the sealing performance inside the camera head. An imaging system including the apparatus can be obtained. Furthermore, it is possible to obtain an imaging system including an imaging device with excellent operability that can easily control various function operations even while holding the camera head.

  In addition, the camera head is equipped with a grip portion, and by sliding the grip portion along the surface of the camera head, it is possible to switch between valid / invalid of clockwise / counterclockwise rotation operation on the camera head. Can prevent unintended misoperation. Further, it is possible to assign not only switching of rotation operation valid / invalid but also second function control for switching control.

Embodiment 2. FIG.
In the first embodiment, the imaging device 10 includes the imaging device 10 that can adjust the brightness of one image displayed on the display device 500 by rotating the camera head 100 clockwise / counterclockwise. Explained the system. On the other hand, in the second embodiment, an imaging system including an imaging device 10a capable of capturing a plurality of image signals and switching an image display according to an operation will be described.

  FIG. 5 is a functional explanatory diagram of an imaging system including the imaging device 10a and peripheral devices connected to the imaging device 10a according to Embodiment 2 of the present invention. The imaging device 10a in FIG. 5 includes an image detection unit 110a and an image processing unit 210a instead of the image detection unit 110 and the image processing unit 210 that constitute the imaging device 10 in FIG.

  The functional configuration shown in FIG. 5 is the same as the functional configuration described with reference to FIG. 1 in the first embodiment except for the image detection unit 110a and the image processing unit 210a. Further, the grip portion 41 provided in the camera head 100 also has the same functions and effects, and therefore description thereof is omitted.

  In addition to the first image sensor 111 in the first embodiment, the image detector 110a further includes a second image sensor 112, a dichroic prism 113, a visible image detector 114, and a near-infrared image detector 115. Prepare. The image processing unit 210 a includes a visible image signal processing unit 211, a near infrared image signal processing unit 212, and a composite image processing unit 213.

  Here, in the second embodiment, the wavelength band corresponding to the optical image of the observation site by the rigid endoscope 300 is the visible light imaged by the first image sensor 111 and the near red imaged by the second image sensor 112. It consists of outside light. The dichroic prism 113 separates these visible light and near infrared light. Note that the wavelength bands of light captured by the first image sensor 111 and the second image sensor 112 are not limited to visible light and near-infrared light, respectively, so that light of any wavelength band can be captured. You may change to

  Next, the first image sensor 111 images (images) visible light separated by the dichroic prism 113 and outputs it to the visible image detection unit 114. The visible image detection unit 114 converts the visible light image captured by the first image sensor 111 into an electrical signal, and outputs the converted electrical signal to the visible image signal processing unit 211. Similarly, the second image sensor 112 images (images) near-infrared light split by the dichroic prism 113 and outputs it to the near-infrared image detection unit 115. The near-infrared image detection unit 115 converts the near-infrared light image captured by the second image sensor 112 into an electrical signal, and outputs the converted electrical signal to the near-infrared image signal processing unit 212.

  The visible image signal processing unit 211 generates a video signal of a visible image based on the electrical signal input to the visible image detection unit 114. Similarly, the near-infrared image signal processing unit 212 generates a near-infrared image video signal based on the electrical signal input to the near-infrared image detection unit 115.

The composite image processing unit 213 is configured such that the control unit 220 applies the visible image video signal generated by the visible image signal processing unit 211 and the near infrared image video signal generated by the near infrared image signal processing unit 212. Based on the input command, a video signal for a visible image, a video signal for a near-infrared image, or a video signal for a composite image is generated. The visible image video signal generated by the composite image processing unit 213 is the same as the visible image video signal generated by the visible image signal processing unit 211. Also,
Similarly, the near-infrared image video signal generated by the composite image processing unit 213 is the same as the near-infrared image video signal generated by the near-infrared image signal processing unit 212.

  Next, the operation of the imaging device 10a in the second embodiment will be described with reference to FIG.

  Here, in order to explain specifically, the case where the switching operation of the image displayed on the display apparatus 500 is performed by rotating the camera head 100 is illustrated. In the case of this example, as in the first embodiment, the camera head 100 is in the process of observing the rigid endoscope image in the body cavity with the rigid endoscope 300 connected to the camera head 100. The display device 500 is set to display a visible image when rotated clockwise, and to display a near-infrared image when rotated counterclockwise. Note that when the direction value detected by the position detection sensor 121 is “up” or “down”, the image display is not switched.

  First, when it is desired to switch images, the surgeon selects the item “image display switching” by operating the same operation panel 400 as in the first embodiment. If this item is selected, image display can be switched by a rotation operation of the camera head 100 by the surgeon.

  Next, similarly to the first embodiment, the operator rotates the camera head 100 by a predetermined angle with respect to the clockwise direction (the phase angle θ in FIG. 2 is in the range of 90 ° ± α). Think about the case. In this case, when detecting “right” as the direction value, the position detection unit 120 outputs a detection signal of the “right” direction value to the control unit 220. Further, when detecting the direction value, the position detection unit 120 continuously outputs a direction value detection signal to the control unit 220.

  Then, when the surgeon rotates the camera head 100 by a predetermined angle with respect to the clockwise direction and holds the camera head 100 at the position after the rotation, the position detection unit 120 performs the operation while the camera head 100 is held. The detection signal of the “right” direction value is continuously output to the control unit 220. Then, the control unit 220 generates a video signal of a visible image to the composite image processing unit 213 when the time during which the detection signal of the “right” direction value is continuously input reaches a predetermined time. To command.

  On the other hand, as in the first embodiment, the surgeon rotates the camera head 100 by a predetermined angle (the phase angle θ in FIG. 2 is −90 ° ± α) with respect to the counterclockwise direction. Think about the case. Similarly, in this case, when the camera head 100 is held at the position after rotation, the position detection unit 120 continuously outputs the detection signal of the “left” direction value while the camera head 100 is held. 220 is output. Then, when the time when the detection signal of the “left” direction value is continuously input reaches a predetermined time, the control unit 220 sends a near-infrared image signal to the composite image processing unit 213. Command to generate.

  When the rotation operation of the camera head 100 is not performed, as an initial setting state, the control unit 220 causes the composite image processing unit 213 to composite the video signal of the composite image obtained by combining the visible image and the near-infrared image. To generate. Further, the rotation of the camera head 100 is returned to the original state, and if there is no rotation operation for a certain time, the initial setting state is set.

  Thus, the composite image processing unit 213 generates a video signal of a visible image, a near-infrared image, or a composite image in accordance with the rotation operation of the camera head 100. Then, the display device 500 displays each image based on the video signal generated by the composite image processing unit 213, so that the surgeon can switch the desired image. Note that the OSD generation unit 230 may perform OSD display similar to that of the first embodiment on the screen of the display device 500.

  In the second embodiment, the initial setting of the image displayed on the display device 500 is a composite image in which a visible image and a near-infrared image are combined. A near-infrared image may be sufficient. The initial settings of these images can be changed as necessary.

  Further, after the image display is switched, the rotation of the camera head 100 is returned to the original state, and if there is no rotation operation for a certain period of time, the initial setting state is set, but this is not limitative. That is, even if there is no rotation operation for a certain time, the switched state may be maintained as it is, or a threshold value may be provided in a range of a rotation angle, and an image may be switched based on the threshold value. .

  As described above, according to the second embodiment of the present invention, similarly to the first embodiment, the surgeon selects a desired operation item from a plurality of operation items on the operation panel. By performing a simple operation such as a rotation operation of the camera head while holding the camera head to which is connected, various functional operations such as display switching of images displayed on the display device can be controlled.

  Further, the focal position shift between the first image sensor and the second image sensor that occurs when the rigid endoscope is replaced is quickly corrected while viewing the desired captured image by switching the display image by rotating the camera head. Therefore, it is possible to shorten the work time in factory adjustment at the time of factory shipment and service adjustment due to aging deterioration.

  In the first and second embodiments, a direction detection sensor is used as the position detection sensor 121 included in the position detection unit 120. However, the present invention is not limited to this, and an acceleration detection sensor or other device is used. May be used. Further, the number of position detection sensors 121 provided in the position detection unit 120 may be changed according to cost or space.

Embodiment 3 FIG.
In the first and second embodiments, the imaging device 10 that can adjust the brightness of the image displayed on the display device 500 or switch the image display by rotating the camera head 100 clockwise / counterclockwise. The imaging system provided with 10a has been described. On the other hand, in the third embodiment, the imaging apparatus 10b further has a function capable of improving the rotational deviation (tilt) of the rigid endoscope image caused by rotating the camera head 100 clockwise / counterclockwise. An imaging system including the above will be described.

  FIG. 6 is a functional explanatory diagram of an imaging system including the imaging device 10b and peripheral devices connected to the imaging device 10b according to Embodiment 3 of the present invention. The imaging device 10b in FIG. 6 includes an image processing unit 210b instead of the image processing unit 210a constituting the imaging device 10a in FIG.

  The functional configuration shown in FIG. 6 is the same as the functional configuration described with reference to FIG. 5 in the second embodiment except for the image processing unit 210b, and thus the description thereof is omitted. Further, the grip part 41 provided in the camera head 100 has the same function and effect, and thus the description thereof is omitted.

  The image processing unit 210b includes an image rotation processing unit 214 in addition to the visible image signal processing unit 211, the near infrared image signal processing unit 212, and the composite image processing unit 213 in the second embodiment.

  The image rotation processing unit 214 performs an image rotation correction process for correcting a rotation shift of the video signal of the visible image, the near-infrared image, or the composite image generated by the composite image processing unit 213 according to the rotation operation of the camera head 100. . That is, the image rotation processing unit 214 displays an image displayed on the display device 500 based on the video signal generated by the composite image processing unit 213 at the rotation position from the reference state of the camera head 100. , A rotation correction process is performed to match the image displayed on the display device 500 based on the video signal generated by the composite image processing unit 213. The rotation correction process can prevent the rigid mirror image displayed by the display device 500 from being tilted with respect to the direction of gravity.

  Next, the image rotation correction process performed by the image rotation processing unit 214 will be described in detail with reference to FIG. 2 and FIG. Here, a case where the camera head 100 is rotated is considered. In this case, the position detection unit 120 detects the phase angle θ when the camera head 100 is rotated as shown in FIG. 2, and generates a detection signal.

  The control unit 220 analyzes the tilt angle (phase angle θ) of the camera head 100 with respect to the gravitational direction based on the detection signal generated by the position detection unit 120, and the composite image processing unit 213 generates based on the analysis result. The rotation direction and the rotation amount (rotation angle) of the obtained video signal are calculated.

  Then, based on the calculated rotation direction and rotation amount, the control unit 220 instructs the image rotation processing unit 214 to perform rotation processing for rotating the video signal by a predetermined amount in a predetermined direction. The image rotation processing unit 214 corrects the rotational deviation of the video signal so that the rigid mirror image displayed by the display device 500 does not tilt with respect to the direction of gravity based on the command of the control unit 220.

  As described above, the image rotation processing unit 214 corrects the rotational deviation of the video signal based on the tilt state of the camera head 100 so that the rigid mirror image displayed by the display device 500 does not tilt with respect to the direction of gravity. Can be.

  Next, the operation of the imaging device 10b according to the third embodiment will be described with reference to FIG.

  For example, when the operator rotates the camera head 100 while observing the rigid endoscope image in the body cavity with the rigid endoscope 300 connected to the camera head 100, the position detection unit 120 causes the phase angle θ to move. Is output to the control unit 220.

  The control unit 220 determines whether or not the value of the phase angle θ input to the position detection unit 120 is within the allowable angle range, exceeds the allowable angle range in the positive direction, or exceeds the allowable angle range in the negative direction. Compare whether or not. Here, the allowable angle range is an angle when the rigid mirror image displayed on the display device 500 is not inclined with respect to the gravity direction even when the camera head 100 is inclined with respect to the gravity direction. Means.

  When the phase angle θ input to the position detection unit 120 exceeds the allowable angle range in the plus direction or the minus direction, the control unit 220 sets the rotation direction so that the phase angle θ satisfies the allowable angle range. Calculate the amount of rotation.

  Then, the control unit 220 instructs the image rotation processing unit 214 to perform a rotation process for rotating the video signal by a predetermined amount in a predetermined direction based on the calculated rotation direction and rotation amount. When output, the image rotation processing unit 214 corrects the rotation of the video signal. Accordingly, since the phase angle θ satisfies the allowable angle range, the rigid mirror image displayed on the display device 500 is not inclined with respect to the direction of gravity.

  Note that when the phase angle θ is within the allowable angle range, the rigid mirror image displayed by the display device 500 is not tilted with respect to the direction of gravity. Outputs a command not to correct rotation.

  Further, the image rotation correction process performed by the image rotation processing unit 214 will be described with reference to FIGS. FIG. 7 is an explanatory diagram showing a rotation correction method for a rigid endoscope image displayed on the display device 500 in the third embodiment of the present invention. FIG. 8 is an explanatory diagram illustrating a specific example of a pixel data correction method when the image rotation processing unit 214 performs rotation correction in the third embodiment of the present invention.

  FIG. 7 shows a screen 71 of the display device 500, a tilt image 73 in which the rigid mirror image included in the rotation correction range 72 for performing the rotation correction on the screen 71 is tilted by the phase angle θ with respect to the gravity direction, and the tilt correction. A corrected image 74 is shown. FIG. 8A shows a pixel data string 81 and a pixel data string 82 as an example of the pixel data string included in the pixels (R, G, B) of the tilt image 73.

  Here, when the image rotation processing unit 214 performs rotation correction, based on the detection signal of the phase angle θ output from the position detection unit 120 to the control unit 220, the pixel data string 81 shown in FIG. And the pixel data string 82 are combined into an angle corrected pixel data string 83 shown in FIG.

  The image rotation processing unit 214 can obtain a corrected image 74 in which the tilt is corrected with respect to the tilt image 73 tilted by the phase angle θ shown in FIG.

  As described above, according to the third embodiment of the present invention, the imaging device detects the detected phase angle θ with respect to the rotational deviation (tilt) of the rigid mirror image caused by rotating the camera head clockwise / counterclockwise. Based on this value, the rotation direction and the rotation amount are calculated so that the phase angle θ satisfies the allowable angle range, and the deviation of the rigid endoscope image displayed on the display device is corrected based on the calculated result. be able to.

  Accordingly, the rigid endoscope image displayed on the display device does not tilt even though the camera head is rotated clockwise / counterclockwise. Therefore, the rigid endoscope image displayed on the display device can be viewed at a glance. In addition, it is possible to easily grasp the positional relationship between the observation sites, and it is possible to obtain an imaging system including an imaging device that does not have a complicated structure.

  In the third embodiment, as in the second embodiment, the video signal in the imaging system in the case where the first image sensor 111 and the second image sensor 112 are provided in the image detection unit 110a. Although the rotation process has been described, the present invention is not limited to this. That is, regardless of the number of image sensors, the same effect can be obtained by performing rotation processing on the video signals corresponding to the respective image sensors.

  In general, the phase angle θ can be obtained by using a gravity vector (DC acceleration) and its projection on the detection axis of the position detection sensor 121 and using a trigonometric function. In addition, as a detection operation of the phase angle θ, in addition to linearly correcting the tilt angle with respect to the detection axis of the position detection sensor 121, a certain range may be determined and the correction amount may be changed step by step. Can be either equally spaced or unequal.

  Further, linear correction and step correction may be switched according to the inclination angle, and any method may be taken. Moreover, although the direction detection sensor is used as the position detection sensor 121 provided in the position detection unit 120, the present invention is not limited to this, and an acceleration detection sensor or other devices may be used. Further, the number of position detection sensors 121 provided in the position detection unit 120 may be changed according to cost or space.

  10, 10a, 10b imaging device, 31 rigid endoscope image display section, 32 first OSD display section, 33 second OSD display section, 41 grip section, 42 spring, 71 screen, 72 rotation correction range, 73 tilt image, 74 corrected image, 81, 82 pixel data string, 83 angle corrected pixel data string, 100 camera head, 110, 110a image detection unit, 111 first image sensor, 112 second image sensor, 113 dichroic prism, 114 visible image Detection unit, 115 Near infrared image detection unit, 120 Position detection unit, 121 Position detection sensor, 130 Camera cable, 200 Camera control unit, 210, 210a, 210b Image processing unit, 211 Visible image signal processing unit, 212 Near infrared Image signal processing unit, 213 Composite image processing unit, 214 Image rotation processing , 220 control unit, 230 OSD generation unit, 300 a rigid endoscope, 310 lens, 320 eyepiece, 330 adapter lens, 400 operation panel, 500 a display device.

Claims (7)

A camera head,
A camera control unit;
A display device for displaying an image of the video signal output by the camera control unit;
A plurality of operation items corresponding to various function controls relating to images displayed on the display device, and an operation panel for outputting a desired operation item selected by the user from the plurality of operation items. An imaging system,
The camera head is
An image detector that captures a light image from the observation site and generates a first electrical signal;
A position detection unit that detects a rotation position of the camera head from a reference state and generates a second electrical signal when the user rotates the camera head with respect to a rotation center axis;
The camera control unit is
A control unit that outputs a first command for performing function control according to the second electric signal generated by the position detection unit with respect to the desired operation item selected by the user from the operation panel;
A video signal is generated by applying the function control based on the first command output from the control unit to the first electrical signal generated by the image detection unit, and output to the display device And an image processing unit. The imaging system according to claim 1,
The said control part outputs said 1st instruction | command with respect to the said image process part, when the said 2nd electrical signal is input continuously more than predetermined time. The imaging system characterized by the above-mentioned. The imaging system according to claim 1 or 2,
The camera head further includes a grip part that moves the camera head as a movement amount according to a gripping force by the user along the axial direction of the rotation center axis.
The position detection unit detects the amount of movement of the camera head, generates a third electrical signal,
The control unit further outputs a second command based on the third electrical signal generated by the position detection unit to the image processing unit,
The image processing unit generates a video signal by applying the function control based on the first command and the second command to the first electric signal, and outputs the video signal to the display device An imaging system characterized by that. The imaging system according to any one of claims 1 to 3,
The camera control unit generates OSD information, which is information to be displayed together with an image on a display device, based on information related to the function control output from the control unit to the image processing unit, and the image processing unit generates An imaging system, further comprising: an OSD generation unit that adds the OSD information to the video signal subjected to the function control and outputs the OSD information to the display device. The imaging system according to any one of claims 1 to 4,
The image processing unit responds to the second electrical signal corresponding to a rotation position from a reference state of the camera head so that an image displayed on the display device does not rotate by a rotation operation of the camera head. An imaging system that performs image rotation correction processing on a video signal generated by itself. The imaging system according to any one of claims 1 to 5,
The various function controls corresponding to the operation items on the control panel include “brightness adjustment” control for adjusting image brightness, “display switching” control for switching image display, and “enlargement” for adjusting image size. ”/ Reduction” control, “Still / Movie” control to switch the image to still image or movie, “Recording start / stop” control to start or stop recording of image, or “Screen orientation tracking” control to follow the screen orientation An imaging system characterized by that. A function control method applied to the imaging system according to any one of claims 1 to 6,
A function selection step of outputting the desired operation item by selecting an operation item of the control panel;
A detection step of generating the first electrical signal and the second electrical signal;
A video signal is generated based on the desired operation item output by the function selection step and the first electric signal and the second electric signal generated by the detection step, and the generated video signal is converted into the generated video signal. A function control method applied to an imaging system, comprising: an image processing / display step for displaying an image on the display device based on the image processing / display step.

Images