JP2021146197A - Control device and medical observation system - Google Patents

Abstract

To provide a control device that can perform focus adjustment by voice input through simple processing having reduced load, and to provide a medical observation system.SOLUTION: A control device includes: an acquisition unit for acquiring an operation instruction by voice input into an imaging device which includes an optical system including a focus lens and an imaging part; and a control unit that, when the operation instruction is an instruction of stopping the motion of the focus lens, controls the focus lens to stop and then move at a second speed which is slower than a first speed before the stoppage.SELECTED DRAWING: Figure 4

Description

The present disclosure relates to control devices and medical observation systems.

There is known a medical observation system that magnifies and images the surgical site when performing surgery on the brain, heart, etc. of a patient to be observed, and displays the captured image on a monitor (see, for example, Patent Document 1). ). In this medical observation system, the microscope device has a focus function.

When a user such as a doctor uses the focus function to focus an image, the user needs to operate a predetermined switch. During this operation, the user has to interrupt the operation or change his / her posture, which is not efficient. Therefore, it is conceivable that the user performs various operations by inputting voice.

However, in the case of voice input, the time required for the user to speak, the time for transmitting the voice signal to the control device, the time for the control device to recognize the utterance content, and the time for completing the operation are required, and the user needs. There is a delay from the timing when. Therefore, for example, when the user focuses by voice input, the focus lens does not stop at the position intended by the user, and the focus cannot be achieved.

Therefore, it is conceivable to apply a technique for realizing the processing intended by the user in consideration of the time difference between the operation command timing intended by the user and the operation command timing actually given by the user (for example, Patent Document 2). See).

Japanese Unexamined Patent Publication No. 2016-42882 Japanese Unexamined Patent Publication No. 2001-175281

However, the above-mentioned technique of Patent Document 2 has a problem that the processing is complicated and the load on the system becomes high.

The present disclosure has been made in view of the above, and an object of the present invention is to provide a control device and a medical observation system capable of performing focus adjustment by voice input by a simple process with a small load.

In order to solve the above-mentioned problems and achieve the object, the control device according to the present disclosure includes an acquisition unit that acquires an operation instruction by voice input to an imaging device including an optical system including a focus lens and an imaging unit, and the above-mentioned. When the operation instruction is an instruction to stop the operation of the focus lens, a control unit that moves the focus lens at a second speed smaller than the first speed before the stop after stopping the focus lens. Be prepared.

The medical observation system according to the present disclosure includes an imaging device including an optical system including a focus lens and an imaging unit, an acquisition unit that acquires an operation instruction by voice input to the imaging device, and the operation instruction of the focus lens. In the case of an operation stop instruction, a control device having a control unit for moving the focus lens at a second speed smaller than the first speed before the stop after stopping the focus lens, and the imaging It includes a display device that displays an image captured by the device.

According to the present disclosure, focus adjustment by voice input can be performed by a simple process with less load.

FIG. 1 is a diagram schematically showing a medical observation system according to the first embodiment of the present disclosure. FIG. 2A is a diagram (No. 1) schematically illustrating the focus operation according to the first embodiment of the present disclosure. FIG. 2B is a diagram (No. 2) schematically illustrating the focus operation according to the first embodiment of the present disclosure. FIG. 3 is a diagram showing the relationship between the time and the speed during the focus operation shown in FIGS. 2A and 2B. FIG. 4 is a block diagram showing a functional configuration of the medical observation system according to the first embodiment of the present disclosure. FIG. 5 is a flowchart showing an outline of the processing performed by the control device according to the first embodiment of the present disclosure. FIG. 6 is a diagram schematically showing a movement in which the focal position of the focus lens returns in the opposite direction after the focus operation is stopped in the second embodiment of the present disclosure. FIG. 7 is a diagram showing the relationship between the time and the speed during the focus operation in the second embodiment of the present disclosure. FIG. 8A is a diagram (No. 1) schematically showing the movement of the focal position of the focus lens after the focus operation is stopped in the second modification of the second embodiment of the present disclosure. FIG. 8B is a diagram (No. 2) schematically showing the movement of the focal position of the focus lens after the focus operation is stopped in the second modification of the second embodiment of the present disclosure. FIG. 9 is a diagram showing the relationship between the time and the speed during the focus operation in the second modification of the second embodiment of the present disclosure. FIG. 10 is a flowchart showing an outline of the processing performed by the control device according to the third embodiment of the present disclosure. FIG. 11 is a diagram showing the relationship between the time and the speed during the focus operation in the third embodiment of the present disclosure. FIG. 12 is a diagram schematically illustrating a focus operation according to the third embodiment of the present disclosure.

Hereinafter, embodiments for carrying out the present disclosure (hereinafter referred to as “embodiments”) will be described with reference to the accompanying drawings.

(Embodiment 1)
FIG. 1 is a diagram schematically showing a medical observation system according to the first embodiment of the present disclosure. FIG. 1 shows a situation in which a user 101 such as a doctor performing an operation using the medical observation system 1 is operating the head of the patient 102. The medical observation system 1 shown in FIG. 1 includes a medical observation device 2, a display device 3, and a microphone 4.

The medical observation device 2 is a surgical microscope, and includes a microscope device 5 and a control device 6. The microscope device 5 has a function as an image pickup device that images an observation target and generates an image signal.

The display device 3 is wirelessly or wiredly connected to the control device 6, receives a three-dimensional image signal or a two-dimensional image signal from the control device 6, and receives a three-dimensional image signal (3D image) based on the three-dimensional image signal. ) Or a two-dimensional image (2D image) based on the two-dimensional image signal is displayed. The display device 3 has a display panel made of a liquid crystal display or an organic EL (Electro Luminescence). The display device 3 displays an image of the surgical site of the patient 102 imaged by the microscope device 5. FIG. 1 schematically shows a situation in which a display device 3 displays a 3D image and a user 101 wears 3D glasses 201 and visually observes the 3D image.

The microphone 4 is wirelessly or wiredly connected to the control device 6, receives the voice input of the user 101, generates a voice signal, and transmits the voice signal to the control device 6.

The appearance configuration of the microscope device 5 will be described. The microscope device 5 includes a microscope unit 7 that magnifies and images the microstructure of an observation target, a support unit 8 that supports the microscope unit 7, and a base unit that holds the base end of the support unit 8 and incorporates a control device 6. Has 9 and.

The microscope unit 7 has a cylindrical portion having a columnar shape. A cover glass is provided on the opening surface at the lower end of the main body (not shown). The tubular portion can be grasped by the user, and has a size that allows the user to move the tubular portion while grasping it when changing the imaging field of view of the microscope unit 7. The shape of the tubular portion is not limited to a cylindrical shape, and may be a polygonal tubular shape.

The support portion 8 has a plurality of links on the arm portion, and the adjacent links are rotatably connected to each other via the joint portion. In the hollow portion formed inside the support portion 8, a transmission cable for transmitting various signals between the microscope unit 7 and the control device 6 and a light guide for transmitting the illumination light generated by the control device 6 to the microscope unit 7. Is passing.

The control device 6 acquires an audio signal generated by the microphone 4 and recognizes the content of the audio signal. For example, the expression indicating the focus operation of the microscope device 5 is “focus in” or “focus out”, and the expression of stopping the focus operation of the microscope device 5 is “stop”. When the control device 6 performs the focus operation of the microscope device 5, after stopping the focus lens 511 (described later) included in the microscope device 5 in response to a voice input, the control device 6 is smaller than the first speed at the constant speed before the stop. Moreover, the focus lens is moved at a constant speed at the second speed in the opposite direction. Needless to say, the speed changes before and after the constant speed movement. Further, during the constant speed movement period, a minute change in speed of about several percent with respect to the constant speed is included. The above expression when instructing the focus operation by voice is only an example, and other expressions may be used.

2A and 2B are diagrams schematically illustrating the focus operation in the first embodiment. FIG. 2A schematically shows the movement of the focus position of the focus lens 511 until the focus operation is stopped. Further, FIG. 2B schematically shows a movement in which the focus position of the focus lens 511 returns in the opposite direction after the focus operation is stopped.

First, FIG. 2A will be described. When the focus operation is stopped, the user 101 utters "stop" and inputs the input to the microphone 4. In FIG. 2A, the target focus position at which the focus lens 511 is desired to be stopped is set as the target position P, and the user 101 “stops” at _{time t = t 1 at the timing when the focus position of the focus lens 511 is located at the target position P.} It shows the case of speaking. After recognizing the audio signal acquired from the microphone 4, the control device 6 transmits a control signal instructing the microscope device 5 to stop the focus operation. Therefore, there is a time difference between the input timing (I) of "stop" by the user 101 and the stop timing (II) of the focus lens 511, and the focal position when the focus lens 511 is stopped (hereinafter, "stop position"). ”) Q overruns by the time difference from the target position P. In FIG. 2A, _{the stop position Q when the focus lens 511 stops at time t = t 2} is located outside the depth of focus (depth L) when the focus position of the focus lens 511 is located at the target position P. Indicates the situation. In this case, the display device 3 displays an image that is out of focus.

Next, FIG. 2B will be described. The focus lens 511 reverses immediately after stopping when the focal position is at the stop position Q, and begins to return so that the focal position heads toward the target position P (III). _{After that, at the time t = t 3} when the focal position of the focus lens 511 passes through the return position R, the user utters "stop" and inputs (IV) to the microphone 4, and then the focus lens 511 gradually decelerates. , Stop at time t = t _4. The focal position of the focus lens 511 at this time is the stop position S near the target position P (V). The target position P is located within the _{depth of focus (depth L 1} ) of the focus lens 511 when the focal position is at the stop position S. Although FIG. 2B shows a case where the focus lens 511 stops after the focus position of the focus lens 511 passes through the target position P again, the focus position of the focus lens 511 may change depending on the voice input timing of the user. The focus lens 511 may stop without passing through the target position P again.

When the depths L and L _{1 of the} two depths of focus described above are equal, if the stop position S is located within the depth of focus (FIG. 2A) when the focal position is at the target position P, the figure shows. The same effect as in the case shown in 2B can be obtained.

FIG. 3 is a diagram showing the relationship between the time and the speed during the focus operation shown in FIGS. 2A and 2B, and is a diagram showing the relationship between the time and the speed when the focus operation is started at time t = 0. .. _{The focus lens 511 starts moving at t = t 0} with a slight delay after the user inputs "focus in" or "focus out" to the microphone 4 at t = 0, and eventually becomes the first speed. a constant speed movement in the v _{1. When the user inputs "stop" to the microphone 4 at the time t = t 1} when the focal position of the focus lens 511 passes the target position P (I), the focus lens 511 starts decelerating with a slight delay, and the time t Stop at = t _2. The focal position of the focus lens 511 at this time is the stop position Q (II). Immediately after that, the focus lens 511 reverses and starts moving in the opposite direction (III), and eventually moves at a constant speed at a _{second speed v 2 which is smaller than the first speed v 1.} The second speed v ₂ is a speed at which the lens unit 51 can stop within the depth of focus. _{After that, when the user inputs "stop" to the microphone 4 again at the time t = t 3} when the focus position of the focus lens 511 passes through the return position R (IV), the focus lens 511 starts decelerating with a slight delay. , Stop at time t = t _4. The focal position of the focus lens 511 at this time is the stop position S (V).

The expressions (“focus in”, “focus out”, “stop”) corresponding to the various operation instructions described above are merely examples, and other expressions may be adopted.

FIG. 4 is a block diagram showing a functional configuration of the medical observation system 1. First, the functional configuration of the microscope device 5 will be described. The microscope device 5 includes a lens unit 51, a lens drive unit 52, an aperture 53, an aperture drive unit 54, a detection unit 55, an imaging unit 56, an arm drive unit 57, an input unit 58, and a communication unit 59. And a control unit 5a.

The lens unit 51 is an optical system that is configured by using a plurality of lenses that can move along the optical axis and forms a focused subject image on the image pickup surface of the image pickup device included in the image pickup unit 56. The lens unit 51 includes a focus lens 511 that adjusts the focus and a zoom lens 512 that changes the angle of view. The focus lens 511 and the zoom lens 512 are configured by using one or more lenses, respectively.

The lens driving unit 52 has an actuator for moving the focus lens 511 and the zoom lens 512, respectively, and a driver for driving the actuator under the control of the control unit 5a.

The aperture 53 is provided between the lens unit 51 and the image pickup unit 56, and adjusts the amount of light of the subject image from the lens unit 51 toward the image pickup unit 56 under the control of the control unit 5a. The aperture 53, together with the lens unit 51, constitutes the optical system of the microscope device 5.

The aperture drive unit 54 operates the aperture 53 under the control of the control unit 5a to adjust the aperture value (also referred to as F value).

The detection unit 55 includes two position sensors that detect the positions of the focus lens 511 and the zoom lens 512, respectively, an encoder that detects the aperture value of the aperture 53, and the like. The detection unit 55 outputs the detected position of the zoom lens 512 and the aperture value of the aperture 53 to the control unit 5a.

The image pickup unit 56 removes noise and removes noise from the image pickup element that forms an image of the subject image focused by the lens unit 51 to generate an image pickup image (analog signal) and the image signal (analog signal) from the image pickup element. It has a signal processing unit that performs signal processing such as / D conversion. The image sensor is configured by using an image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The image pickup unit 56 may have two image pickup elements. In this case, the imaging unit 56 can generate a three-dimensional image (3D image).

The arm drive unit 57 operates a plurality of joints of the support unit 8 under the control of the control unit 5a. Specifically, the arm drive unit 57 includes an actuator provided at a joint between the arms and a driver for driving the actuator.

The input unit 58 receives inputs such as an operation signal of the lens unit 51 and an operation signal of the arm of the support unit 8. The input unit 58 has a plurality of switches, buttons, and the like provided at positions on the side surface of the cylindrical portion of the microscope unit 7 that can be operated by the user while holding the microscope unit 7.

The communication unit 59 is an interface for communicating with the control device 6. The communication unit 59 transmits the image signal (digital signal) generated by the image pickup unit 56 to the control device 6, and receives the control signal from the control device 6.

The control unit 5a controls the operation of the microscope device 5 in cooperation with the control unit 66 of the control device 6. The control unit 5a operates the microscope device 5 based on the operation instruction signal that the input unit 58 receives the input and the operation instruction signal sent from the control unit 66 of the control device 6. In the present embodiment, the control unit 66 of the control device 6 receives a signal for operating the arm to move the imaging field of view of the microscope device 5.

The control unit 5a is configured by using at least one processor such as a CPU (Central Processing Unit), an FPGA (Field Programmable Gate Array), and an ASIC (Application Specific Integrated Circuit).

Next, the functional configuration of the control device 6 will be described. The control device 6 includes a communication unit 61, an image processing unit 62, an input unit 63, a light source unit 64, a voice recognition unit 65, a control unit 66, and a storage unit 67. The communication unit 61 acquires an image signal imaged by the microscope device 5 and transmitted via a transmission cable. The image signal includes information related to imaging such as a gain adjustment value at the time of imaging, a focus lens position, a zoom lens position, a shutter speed, and an aperture value. Further, the communication unit 61 acquires the voice signal of the user 101 whose input is received by the microphone 4 as an operation instruction. In this sense, the communication unit 61 has the function of an acquisition unit.

The image processing unit 62 generates an image signal for display by performing various signal processing on the image signal acquired by the communication unit 61, and outputs the generated image signal to the display device 3. Specific image processing includes known image processing such as brightness level and contrast detection processing of an image signal, gain adjustment, interpolation processing, color correction processing, color enhancement processing, and contour enhancement processing. The image processing unit 62 is configured by using at least one processor such as a CPU, FPGA, and ASIC.

The input unit 63 accepts input of various information. The input unit 63 is configured by using a user interface such as a keyboard, a mouse, a touch panel, and a foot switch. The input unit 63 may have at least a part of the functions of the input unit 58 of the microscope device 5.

The light source unit 64 generates illumination light to be supplied to the microscope device 5 via the light guide. The light source unit 64 is configured by using, for example, a solid-state light emitting element such as an LED (Light Emitting Diode) or an LD (Laser Diode), a laser light source, a xenon lamp, a halogen lamp, or the like.

The voice recognition unit 65 executes the recognition processing of the voice signal received from the microphone 4. The voice recognition unit 65 recognizes the content of the voice signal by comparing the feature amount of the voice signal with the feature amount stored in the storage unit 67.

The control unit 66 controls the operation of the control device 6 and controls the operation of the medical observation device 2 in cooperation with the control unit 5a of the microscope device 5. The control unit 66 generates a control signal for operating the microscope device 5 based on the content of the voice signal recognized by the voice recognition unit 65, and transmits the control signal to the microscope device 5. When the content of the voice signal recognized by the voice recognition unit 65 is an instruction to stop the operation of the focus lens 511, the control unit 66 determines the first speed at the constant speed before the stop after the focus lens 511 is stopped. The focus lens 511 is moved at a constant speed at a small second speed. The control unit 66 generates a shutter speed of the imaging unit 56, a gain adjustment performed by the image processing unit 62, and a light source unit 64 in order to set the brightness level of the image signal imaged by the microscope device 5 to a predetermined brightness level. Controls the amount of illumination light to be used. Further, the control unit 66 controls the display of the display device 3. The first speed and the second speed do not have to be the speeds at the constant speed, and may be, for example, typical speeds. The typical speed may be determined at a predetermined timing or position, may be the average speed during movement, or may be the speed that continues for the longest time.

The control unit 66 is configured by using at least one processor such as a CPU, FPGA, and ASIC. The image processing unit 62 and the control unit 66 may be configured by using a common processor.

The storage unit 67 stores the first speed v ₁ and the second speed v ₂ during the focus operation. The storage unit 67 stores various programs for the control device 6 to operate, and temporarily stores the data being processed by the control device 6. The storage unit 67 is configured by using a ROM (Read Only Memory), a RAM (Random Access Memory), or the like.

FIG. 5 is a flowchart showing an outline of the processing performed by the control device 6. In parallel with the processing described below, the control device 6 sequentially acquires the image data captured by the imaging unit 56 from the microscope device 5, and the image processing unit 62 sequentially acquires the image signal for display. Is generated and output to the display device 3. This point is common to all the flowcharts described later.

First, when the communication unit 61 acquires the voice signal (step S1: Yes), the voice recognition unit 65 performs the voice signal recognition process (step S2). If the communication unit 61 does not acquire the audio signal in step S1 (step S1: No), the control device 6 repeats step S1.

As a result of the recognition process, when the focus operation is input (for example, “focus in” or “focus out”) (step S3: Yes), the control unit 66 operates a control signal (operation) for operating the lens drive unit 52 of the microscope device 5. A control signal) is generated and transmitted to the control unit 5a (step S4). As a result, the lens driving unit 52 moves the focus lens 511 under the control of the control unit 5a. Rate of time variation of the focus lens 511 include, for example, are those shown in FIG. 3, the constant-speed movement of the first speed v ₁ in the middle. If the result of the recognition process is not the input of the focus operation (step S3: No), the control device 6 returns to step S1.

After step S4, when the communication unit 61 acquires the voice signal (step S5: Yes), the voice recognition unit 65 performs the voice signal recognition process (step S6). If the communication unit 61 does not acquire the audio signal in step S5 (step S5: No), the control device 6 repeats step S5. If the communication unit 61 does not acquire the voice signal even after a lapse of a predetermined time after step S4, the control unit 66 may display the information prompting the user 101 for voice input on the display device 3. Further, the control unit 66 may output a message or an alarm sound prompting the user 101 to input voice from the speaker.

As a result of the recognition process in step S6, when the focus operation is instructed to stop (for example, "stop") (step S7: Yes), the control unit 66 stops the operation of the lens drive unit 52 and reverses the control signal (stop). -Inversion control signal) is generated and transmitted to the control unit 5a (step S8). As a result, the lens driving unit 52 moves in reverse after stopping the focus lens 511 under the control of the control unit 5a. The time change of the speed of the focus lens 511 at the time of reversal is, for example, the one shown in FIG. 3 (t ≧ t ₂ ), and the constant speed movement _{at the second speed v 2} (<v ₁ ) is performed on the way. include.

As a result of the recognition process in step S6, if it is not an instruction to stop the focus operation (step S7: No), the control device 6 returns to step S5. If the focus operation stop instruction is not input even after a lapse of a predetermined time after step S4, the control unit 66 may display the information prompting the user 101 for voice input on the display device 3. Here, too, the control unit 66 may output a message or an alarm sound prompting the user 101 to input voice from a separately installed speaker.

After step S8, when the communication unit 61 acquires the voice signal (step S9: Yes), the voice recognition unit 65 performs the voice signal recognition process (step S10). If the communication unit 61 does not acquire the audio signal in step S9 (step S9: No), the control device 6 repeats step S9.

When the focus operation is instructed to stop (for example, "stop") as a result of the recognition process in step S10 (step S11: Yes), the control unit 66 stops the operation of the lens drive unit 52 (stop control signal). Is generated and transmitted to the control unit 5a (step S12). As a result, the lens driving unit 52 stops the focus lens 511 under the control of the control unit 5a. After this, the control device 6 ends a series of processes.

As a result of the recognition process in step S10, if it is not an instruction to stop the focus operation (step S11: No), the control device 6 returns to step S9.

According to the first embodiment of the present disclosure described above, the content of the voice signal acquired from the microphone that receives the voice input of the operator of the image pickup apparatus including the optical system including the focus lens and the image pickup unit is recognized, and the content thereof is recognized. When the content is an instruction to stop the operation of the focus lens, after stopping the focus lens, the focus lens is moved at a constant speed at a second speed in the opposite direction, which is smaller than the first speed before the stop, so that voice input is performed. You can adjust the focus with just. Therefore, the focus adjustment by voice input can be performed by a simple process with less load.

Further, according to the first embodiment, even if a delay from the voice input occurs, fine adjustment can be performed only by the voice input, so that the focus adjustment can be easily performed.

Further, according to the first embodiment, after the focus lens is inverted, the target position is slowly approached, so that the user can easily focus while looking at the display device 3.

Further, according to the first embodiment, the focus lens moves at a relatively high speed before the first stop, and the movement after the inversion is slower than before the stop, so that the focus lens moves at a much lower speed than before the stop. The adjustment time can be shortened.

(Modification example 1)
A modification 1 of the first embodiment will be described. _{In the first modification, the control unit 66 sets the second speed v 2} based on the depth of focus according to the imaging conditions at the time of imaging of the microscope device 5. The imaging conditions are, for example, a magnification and / or an aperture value of the aperture 53 according to the positions of the focus lens 511 and the zoom lens 512. These values are detected by the detection unit 55.

Storage unit 67 stores a table which gives a relationship between the detection portion 55 velocity v ₂ deep depth of focus and the second determined in accordance with the magnification and / or aperture was detected. This relationship is such that, for example, the shallower the depth of focus, the smaller _{the second speed v 2.}

In this modification, in step S8 described above, the control unit 66 sets the second speed v ₂ with reference to the table of the storage unit 67, and then stops the operation of the lens drive unit 52 to invert the control signal. Is generated and transmitted to the control unit 5a.

According to the first modification of the first embodiment described above, the control can be performed according to the depth of focus that changes according to the imaging conditions.

(Embodiment 2)
In the second embodiment of the present disclosure, after the focus lens is stopped, the focus lens is set at a third speed opposite to the first speed and larger than the second speed. After moving for a time, the speed is reduced to a second speed opposite to the first speed. The functional configuration of the medical observation system according to the second embodiment is the same as that of the first embodiment.

FIG. 6 is a diagram schematically showing a movement in which the focus position of the focus lens 511 returns in the opposite direction after the focus operation is stopped in the second embodiment. The movement from the start to the stop of the focus operation is the same as that described with reference to FIG. 2A in the first embodiment.

_{The focus lens 511 reverses immediately after stopping (t = t 2} ) when the focal position is at the stop position Q, and begins to return so that the focal position heads toward the target position P (III). After that, the focus lens 511 moves at a constant speed at a _{third speed v 3 which is larger than the second} speed v 2, and then the speed of the focus lens 511 at _{t = t 5} when the focus position passes the return position T. _{Slows down to a second} speed v 2 and moves (IIIa). Time t ₅ -t ₂ from reversing start to switching to the second speed v ₂ is preset as a time such as to cancel the delay amount due to the processing of the device side following the voice input by the user. _{Subsequently, at the time t = t 3} when the focal position of the focus lens 511 passes through the return position R, the user utters "stop" and inputs (IV) to the microphone 4, and then the focus lens 511 gradually decelerates. Then, it stops at time t = t _4. The focal position of the focus lens 511 at this time is the stop position S near the target position P (V). The target position P is located within the _{depth of focus (depth L 2} ) of the focus lens 511 when the focal position is at the stop position S. Although FIG. 6 shows a case where the focus lens 511 stops after the focus position of the focus lens 511 passes through the target position P again, the focus position of the focus lens 511 may change depending on the voice input timing of the user. The focus lens 511 may stop without passing through the target position P again.

FIG. 7 is a diagram showing the relationship between the time and the speed during the focus operation, and is a diagram showing the relationship between the time and the speed when the focus operation is started at the time t = 0. The change from the start of operation of the focus lens 511 to the first stop of operation is the same as in FIG. 3 (I to III). After that, the focus lens 511 _{moves at a constant speed at the third speed v 3} and then decelerates, and starts the constant speed movement at the _second speed v _{2 at the time t 5} when the focus position passes the return position T. (IIIa). _{After that, when the user inputs "stop" to the microphone 4 again at the time t = t 3} when the focus position of the focus lens 511 passes through the return position R (IV), the focus lens 511 starts decelerating with a slight delay. , Stop at time t = t _4. The focal position of the focus lens 511 at this time is the stop position S (V).

FIG. 7 illustrates a case _{where the third} speed v 3 is larger than the first speed v _1. As a result, the focus lens 511 can quickly return until the focal position is located near the target position P. The magnitude relationship between the first speed v ₁ and the third speed v ₃ is not limited to this, and the first speed v ₁ may be larger, and the first speed v _{1 may be larger.} And the third speed v ₃ may be equal.

The outline of the processing performed by the control device according to the second embodiment is the same as the outline of the processing described with reference to FIG. 5 in the first embodiment. However, in step S8, the control unit 66 inverts the focus lens 511, moves the focus lens 511 at a constant speed for a predetermined time at a _{third speed v3, and then decelerates to a second} speed v2 to move at a low speed. A control signal is generated and transmitted to the control unit 5a.

According to the second embodiment of the present disclosure described above, the focus adjustment by voice input can be performed by a simple process with less load, as in the first embodiment.

Further, according to the second embodiment, after the focus lens is stopped and inverted, the focus lens is moved to a constant speed at a third speed larger than the second speed, and then decelerated to a second speed to a constant speed. Since it is moved, the focus lens can be quickly returned until the focal position of the focus lens reaches the vicinity of the target position, and the adjustment time can be shortened.

It should be noted that the user 101 may be able to set and input via the input units 58, 63 or the microphone 4 as to whether or not to move the focus lens at a constant speed at a third speed after reversing.

(Modification 2)
In the second modification of the second embodiment, _{after returning beyond the target position P at the third} speed v3, it reverses again and approaches the target position P. In the second modification, the _{direction of the second} speed v 2 is the same as the direction of the first speed v _1.

8A and 8B are diagrams schematically showing the movement of the focus position of the focus lens 511 after the focus operation is stopped. FIG. 8A shows the movement of the focus position of the focus lens 511 after inversion, and FIG. 8B shows the movement of the focus position of the focus lens 511 after re-inversion.

First, FIG. 8A will be described. _{The focus lens 511 reverses immediately after stopping (t = t 2} ) when the focal position is at the stop position Q, and begins to return so that the focal position heads toward the target position P (III). After that, the focus lens 511 _{moves at a constant speed at a third} speed v3, which is larger than the _second speed v2, and the focus position exceeds the target position P and stops. The focal position of the focus lens 511 at this time is the stop position U (IV).

Next, FIG. 8B will be described. _{The focus lens 511 re-inverts immediately after stopping (t = t 6} ) when the focal position is at the stop position U, and begins to return so that the focal position heads toward the target position P (V). After that, the focus lens 511 moves at a constant _{speed at the second speed v2.} After the user utters "stop" and inputs (VI) to the microphone 4 at _{the time t = t 3} when the focal position of the focus lens 511 passes through the return position R, the focus lens 511 gradually decelerates and time. Stop at t = t _4. The focal position of the focus lens 511 at this time is the stop position S near the target position P (VII). The target position P is located within the _{depth of focus (depth L 3} ) of the focus lens 511 when the focal position is at the stop position S. Note that FIG. 8B shows a case where the focus lens 511 stops after the focus position of the focus lens 511 has passed the target position P three times, but the focus position of the focus lens 511 depends on the voice input timing of the user. The focus lens 511 may stop without passing the target position P for the third time.

FIG. 9 is a diagram showing the relationship between the time and the speed during the focus operation, and is a diagram showing the relationship between the time and the speed when the focus operation is started at the time t = 0. The change from the start of operation of the focus lens 511 to the first stop of operation is the same as in FIG. 3 (I to III). After that, the focus lens 511 _{moves at a constant speed at a third} speed v3, then decelerates and stops. The focal position of the focus lens 511 at this time is a stop position U that exceeds the target position P along the moving direction (IV). Subsequently, the focus lens 511 re-inverts (V) and starts constant speed movement at the _{second speed v2. After that, when the user inputs "stop" to the microphone 4 again at the time t = t 3} when the focus position of the focus lens 511 passes through the return position R (VI), the focus lens 511 starts decelerating with a slight delay. , Stop at time t = t _4. The focal position of the focus lens 511 at this time is the stop position S (VII).

According to the second modification of the second embodiment described above, since the first speed direction and the third speed direction are the same, the user has seen it once after the focus lens has decelerated. You can focus while slowly following changes on a certain screen.

(Embodiment 3)
In the third embodiment of the present disclosure, when the focus information extracted by the image processing unit satisfies a predetermined condition after the movement of the focus lens is started, the focus lens is set to a second speed smaller than the first speed and in the same direction. Move at a constant speed. The functional configuration of the medical observation system according to the third embodiment is the same as that of the first embodiment.

FIG. 10 is a flowchart showing an outline of the processing performed by the control device 6 according to the third embodiment. First, the processes of steps S21 to S24 sequentially correspond to the processes of steps S1 to S4 described in the first embodiment.

After that, the control unit 66 compares the contrast of the latest image detected by the image processing unit 62 with a predetermined threshold value Th (step S25). The latest image referred to here is the latest image acquired from the microscope device 5. As a result of comparison, when the contrast of the latest image is equal to or higher than the threshold value Th (step S25: Yes), the control unit 66 controls to decelerate to the _{second speed v 2 without changing the direction of the speed of the focus lens 511.} A signal (deceleration control signal) is generated and transmitted to the control unit 5a (step S26).

Subsequent processes of steps S27 to S30 correspond sequentially to steps S9 to S12 described in the first embodiment.

When the contrast of the latest image is smaller than the threshold value Th in step S25 (step S25: No), the control device 6 repeats step S25.

FIG. 11 is a diagram showing the relationship between the time and the speed during the focus operation, and is a diagram showing the relationship between the time and the speed when the focus operation is started at the time t = 0. _{The focus lens 511 starts moving at t = t 0} with a slight delay after the user inputs "focus in" or "focus out" to the microphone 4 at t = 0, and eventually becomes the first speed. a constant speed movement in the v _1. During this time, the image processing unit 62 sequentially detects the contrast of the image acquired from the microscope device 5 as focus information and stores it in the storage unit 67.

Then, the contrast of the latest image is greater than or equal to the threshold value Th to the time t = t _a focus lens 511 passes through the position A (I), the control unit 66 issues a control signal to decelerate the second speed v _{2. After the focus lens 511 decelerates to the second} speed v2, the focus lens 511 moves at a constant speed. _{When the user voices "stop" to the microphone 4 at the time t = t b} when the focus lens 511 passes through the position B (II), the focus lens 511 starts decelerating with a slight delay and reaches the time t = t _c . It stops at the stop position C (III).

FIG. 12 is a diagram schematically illustrating a focus operation according to the third embodiment. The positions A and B and the stop position C shown in FIG. 12 correspond to the positions A and B and the stop position C shown in FIG. 11, respectively. As shown in FIG. 12, in the third embodiment, when the focus lens 511 stops in response to a voice input from the user, the focus position of the focus lens 511 approaches the target position P without reversing the direction of movement. To go. The target position P is located within the _{depth of focus (depth L 4} ) of the focus lens 511 when the focal position is at the stop position C. Although FIG. 12 shows a case where the focus lens 511 stops after the focus position of the focus lens 511 exceeds the target position P, the focus position of the focus lens 511 may be the target position depending on the voice input timing of the user. The focus lens 511 may stop before reaching P.

According to the third embodiment of the present disclosure described above, the focus adjustment by voice input can be performed by a simple process with less load, as in the first embodiment.

Further, according to the third embodiment, since the deceleration is performed without performing the reversing operation, the time required for focusing can be shortened.

Also in the third embodiment, similarly to the first modification of the first embodiment, the control unit 66 has a second depth of focus based on the depth of focus according to the imaging conditions at the time of imaging of the microscope device 5. The speed v ₂ may be set.

(Other embodiments)
Although the embodiments for carrying out the present disclosure have been described so far, the present disclosure should not be limited only to the above-described embodiments 1 to 4. For example, the present disclosure is not limited to the focus operation, and the same process can be performed after the various functional members are stopped by the user's voice input in the case of the zoom operation or the field of view movement.

Further, the medical observation device according to the present disclosure may be an endoscope or an endoscope provided with an imaging device.

The present technology can also have the following configurations.
(1)
An acquisition unit that acquires operation instructions by voice input to an imaging device including an optical system including a focus lens and an imaging unit, and an acquisition unit.
When the operation instruction is an instruction to stop the operation of the focus lens, a control unit for moving the focus lens at a second speed smaller than the first speed before the stop after stopping the focus lens.
A control device comprising.
(2)
The acquisition unit
The control device according to (1) above, which acquires a voice signal generated by a microphone that accepts voice input as the operation instruction.
(3)
The control device according to (1) or (2), further comprising a voice recognition unit that recognizes the content of the operation instruction acquired by the acquisition unit.
(4)
The first and second speeds are the speeds at a constant speed.
The control unit
The control device according to any one of (1) to (3), wherein the focus lens is moved at a constant speed at the second speed.
(5)
The control unit
When an audio signal corresponding to an instruction to stop the operation of the focus lens is recognized while the focus lens is being moved at a constant speed at the second speed, the operation of the focus lens is stopped (1). The control device according to any one of (4).
(6)
The control unit
After stopping the focus lens, the focus lens is moved at a third speed opposite to the first speed and higher than the second speed for a predetermined time, and then the focus lens is moved for a predetermined time. The control device according to any one of (1) to (5) above, which is moved at the second speed.
(7)
The control device according to (6), wherein the third speed is larger than the first speed.
(8)
The control device according to any one of (1) to (7), wherein the direction of the second speed is opposite to the direction of the first speed.
(9)
The control device according to (6) or (7), wherein the direction of the second speed is the same as the direction of the first speed.
(10)
The control unit
The control device according to any one of (1) to (9), wherein the second speed is set based on the depth of focus according to the imaging conditions at the time of imaging of the imaging unit.
(11)
The control device according to (10), wherein the imaging condition is a magnification of the optical system.
(12)
The control device according to (10), wherein the imaging condition is an aperture value of the optical system.
(13)
An imaging device including an optical system including a focus lens and an imaging unit,
A microphone that accepts voice input of operation instructions to the image pickup device,
The acquisition unit that acquires the voice signal generated by the microphone, the voice recognition unit that recognizes the content of the voice signal acquired by the acquisition unit, and the content of the voice signal recognized by the voice recognition unit are the focus lens. When the operation is instructed to stop, the focus lens is stopped, and then the focus lens is moved at a constant speed at a second speed smaller than the first speed at the constant speed before the stop. Control device and
A display device that displays an image captured by the image pickup device, and
Medical observation system equipped with.

[Appendix 1]
An acquisition unit that acquires an image signal imaged by an image pickup device including an optical system including a focus lens and an image pickup device, and an operation instruction by voice input to the image pickup device.
An image processing unit that extracts the focus information of the image acquired by the acquisition unit, and an image processing unit.
When the operation instruction is an operation instruction of the focus lens, the focus lens is started and moved at the first speed, and when the focus information extracted by the image processing unit satisfies a predetermined condition, the focus is obtained. A control unit that moves the lens at a second speed that is smaller than the first speed and in the same direction.
A control device comprising.
[Appendix 2]
The acquisition unit
The control device according to Appendix 1, which acquires a voice signal generated by a microphone that accepts voice input as the operation instruction.
[Appendix 3]
The control device according to claim 1 or 2, further comprising a voice recognition unit that recognizes the content of the operation instruction acquired by the acquisition unit.
[Appendix 4]
The control device according to any one of Items 1 to 3, wherein the first and second speeds are speeds at a constant speed.
[Appendix 5]
The control unit
If an audio signal corresponding to an instruction to stop the operation of the focus lens is recognized while the focus lens is being moved at a constant speed at the second speed, the operation of the focus lens is stopped. The control device according to any one of the above.
[Appendix 6]
The control device according to any one of Supplementary note 1 to 5, wherein the focus information is the contrast of an image.
[Appendix 7]
The control device according to any one of Supplementary note 1 to 6, wherein the second speed is a speed at which the speed can be stopped within the depth of focus of the optical system.
[Appendix 8]
The control unit
The control device according to any one of Supplementary note 1 to 7, wherein the second speed is set based on the depth of focus according to the imaging conditions at the time of imaging of the imaging unit.
[Appendix 9]
The control device according to Appendix 8, wherein the imaging condition is a magnification of the optical system.
[Appendix 10]
The control device according to Appendix 8, wherein the imaging condition is an aperture value of the optical system.
[Appendix 11]
An imaging device including an optical system including a focus lens and an imaging unit,
An acquisition unit that acquires an image signal captured by an imaging device including an optical system including a focus lens and an imaging unit, an operation instruction by voice input to the imaging device, and a focus information of an image acquired by the acquisition unit are extracted. When the image processing unit and the operation instruction are operation instructions of the focus lens, the focus lens is started and moved at the first speed, and the focus information extracted by the image processing unit satisfies a predetermined condition. A control device having a control unit that moves the focus lens at a second speed that is smaller than the first speed and in the same direction when the focus lens is moved.
A display device that displays an image captured by the image pickup device, and
Medical observation system equipped with.

1 Medical observation system 2 Medical observation device 3 Display device 4 Microscope 5 Microscope device 5a, 66 Control unit 6 Control device 7 Microscope unit 8 Support unit 9 Base unit 51 Lens unit 52 Lens drive unit 53 Aperture 54 Aperture drive unit 55 Detection Part 56 Imaging unit 57 Arm drive unit 58, 63 Input unit 59, 61 Communication unit 62 Image processing unit 64 Light source unit 65 Voice recognition unit 67 Storage unit 101 User 102 Patient 201 3D glasses 511 Focus lens 512 Zoom lens A, B Position C , Q, S, U Stop position L Depth of focus depth P Target position R, T Return position

Claims (13)

An acquisition unit that acquires operation instructions by voice input to an imaging device including an optical system including a focus lens and an imaging unit, and an acquisition unit.
When the operation instruction is an instruction to stop the operation of the focus lens, a control unit for moving the focus lens at a second speed smaller than the first speed before the stop after stopping the focus lens.
A control device comprising. The acquisition unit
The control device according to claim 1, wherein a voice signal generated by a microphone that accepts voice input is acquired as the operation instruction. The control device according to claim 1, further comprising a voice recognition unit that recognizes the content of the operation instruction acquired by the acquisition unit. The first and second speeds are the speeds at a constant speed.
The control unit
The control device according to claim 1, wherein the focus lens is moved at a constant speed at the second speed. The control unit
The first aspect of claim 1 is that when an audio signal corresponding to an instruction to stop the operation of the focus lens is recognized while the focus lens is being moved at a constant speed at the second speed, the operation of the focus lens is stopped. The control device described. The control unit
After stopping the focus lens, the focus lens is moved at a third speed opposite to the first speed and higher than the second speed for a predetermined time, and then the focus lens is moved for a predetermined time. The control device according to claim 1, wherein the control device is moved at the second speed. The control device according to claim 6, wherein the third speed is larger than the first speed. The control device according to claim 1, wherein the direction of the second speed is opposite to the direction of the first speed. The control device according to claim 6, wherein the direction of the second speed is the same as the direction of the first speed. The control unit
The control device according to claim 1, wherein the second speed is set based on the depth of focus according to the imaging conditions at the time of imaging of the imaging unit. The control device according to claim 10, wherein the imaging condition is a magnification of the optical system. The control device according to claim 10, wherein the imaging condition is an aperture value of the optical system. An imaging device including an optical system including a focus lens and an imaging unit,
When the acquisition unit that acquires an operation instruction by voice input to the image pickup device and the operation instruction is an instruction to stop the operation of the focus lens, the speed is smaller than the first speed before the stop after the focus lens is stopped. A control device having a control unit for moving the focus lens at a second speed, and
A display device that displays an image captured by the image pickup device, and
Medical observation system equipped with.

Images