JP3262849B2 - Stereoscopic image observation system and endoscopic image observation system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stereoscopic image observation system and an endoscope image observation system for displaying an image having parallax on a head mounted display to reproduce a three-dimensional image.

[0002]

2. Description of the Related Art It has been known that two solid-state imaging devices such as CCDs are provided at the tip of an endoscope, and three-dimensional information of a subject can be obtained based on the captured left and right images. I have.
For example, Japanese Patent Application Laid-Open No. 4-16812 discloses that
A stereo endoscope provided with two objective optical systems and a CCD and capable of stereoscopically viewing a subject is disclosed.

In recent years, a three-dimensional image has been reproduced by mounting a head mounted display (hereinafter abbreviated as HMD) provided with liquid crystal monitors on the left and right on a face.

[0004] Thus, using the HMD, a subject image having parallax obtained from a stereo endoscope can be stereoscopically observed.

Therefore, it can be said that diagnosis and treatment using an endoscope can be advanced to a higher level.

[0006]

SUMMARY OF THE INVENTION However, HMD
Has a structure in which a liquid crystal display is usually worn like eyeglasses in front of both eyes of a user. For this reason, the user will not see anything other than the image displayed on the HMD.

In other words, when the HMD is applied to an endoscope system, the surgeon enters only the stereoscopic endoscope image displayed by the HMD into the field of view, and operates the endoscope and views the treatment tool. Even if you try to insert it into a mirror or the like, you cannot operate it while checking it visually.

Therefore, various operations of the apparatus cannot be easily performed at the time of observing a stereoscopic image, and the time required for endoscopic diagnosis becomes longer.
Such a problem also occurs.

[0009] The present invention has been made in view of these circumstances, and it is possible to obtain a forward view when observing a stereoscopic image.
This makes it possible to confirm the various operations of the device from the front view along with the observation of the stereoscopic image, and to improve the operability of the stereoscopic image observation system and the endoscope image observation system.
It is an object of the present invention to provide a Temu.

[0010]

According to the present invention, there is provided a stereoscopic image observation system , comprising: first image pickup means for picking up an image of a portion to be inspected;
Performs signal processing on the image pickup signal output from the first image pickup means.
And a first normal observation image corresponding to the first normal observation image
First image signal processing means for generating and outputting an image signal
A first imaging means provided near the first imaging means;
Imaging the subject with a predetermined parallax with respect to the imaging means
A second imaging unit, and an output from the second imaging unit.
Subjecting the first normal observation image to signal processing
Having the parallax for a first image signal corresponding to
A second image corresponding to a second normal observation image of the subject part
A second image signal processing means for generating and outputting a signal;
The first and second image pickup means are provided in the vicinity of the first and second image pickup means.
And a distance for detecting a distance between the second imaging unit and the subject.
Separation detection means, and detection results detected by the distance detection means
Based on the first and second having the parallax with each other
Enlarging and reducing the image signal, respectively,
Is a signal corresponding to the actual size image of
Scaling processing means for generating third and fourth image signals
A step and the second step generated by the scaling processing means.
3, a fourth image signal and the first and second image signals
Switching means for switching, and an output signal from the switching means.
A display unit that displays a three-dimensional image of the subject based on the
A display device that can be worn on the face.
Sign. Endoscopic image observation system according to the present invention, the
Endoscope image observation system having an insertion part to be inserted into a specimen
A test portion provided at a distal end portion of the insertion portion,
First imaging means for imaging, and output from the first imaging means.
Applying signal processing to the input imaging signal, the first
Generates and outputs a first image signal corresponding to the normal observation image of
First image signal processing means for applying a force, and a tip of the insertion portion
And a predetermined parallax with respect to the first imaging unit.
A second imaging unit for imaging the subject to be inspected,
2 performs signal processing on the imaging signal output from the second imaging means.
And a first image signal corresponding to the first normal observation image
A second normal view of the subject having the parallax
Generating and outputting a second image signal corresponding to the observation image
And an image signal processing means provided at the distal end of the insertion portion.
Is, the distance detection for detecting the distance between the tip portion and the test unit
Means based on the detection result detected by the distance detecting means.
And the first and second image signals having the parallax with each other.
Enlargement / reduction processing is applied to each of the
A signal corresponding to a large image having the parallax with each other
Scaling processing means for generating third and fourth image signals;
The third and fourth generated by the scaling processing means
Image signal and the first and second image signals
Switching means, based on an output signal from the switching means.
A face having a display unit for displaying a stereoscopic image of the test portion
And a display device that can be mounted on the device.
You.

[0011]

According to the above construction, when the three-dimensional image is observed by attaching the face-mounting monitor means, the three-dimensional image obtained by the imaging unit and the face-mounting monitor means are displayed by the image display means and the front view image reproducing means. And the forward vision of the eye.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 8 relate to a first embodiment of the present invention. FIG. 1 is an explanatory diagram showing an overall configuration of a stereoscopic endoscope system. FIG. 2 is an explanatory diagram showing a configuration of a stereoscope.
FIG. 4 is an explanatory diagram illustrating transmission and reception of ultrasonic waves by a stereoscope, FIG. 4 is an explanatory diagram illustrating a configuration of a head mounted display (HMD), FIG. 5 is a side view of the HMD, FIG. 6 is a block diagram illustrating a configuration of a video processor, FIG. 7 is a block diagram showing the configuration of the ultrasonic distance detecting unit, and FIG. 8 is a block diagram showing the configuration of the video signal synthesizing unit and its peripheral parts.

This embodiment is an example of the configuration of a stereoscopic endoscope system in which a stereoscopic image observation system is applied to an endoscope apparatus.

FIG. 1 shows the overall configuration of a stereoscopic endoscope system according to a first embodiment. The stereoscopic endoscope system 1 includes a stereoscope 2 capable of stereoscopic viewing, and the stereoscope 2
And a video processor 3 connected to the video processor 3. The video processor 3 generates an image signal based on a subject image having parallax obtained by the stereoscope 2, and outputs the image signal to the left and right monitors 4a and 4b. Left and right images obtained by the endoscope are displayed. Further, a light source 5 for supplying illumination light is connected to the stereoscope 2.

The video processor 3 includes monitors 4a, 4
Similarly to b, an HMD 6 for displaying an endoscope image is connected. The HMD 6 is mounted on the face of the surgeon as a face-mounted monitor, so that the surgeon can observe the endoscope image as a three-dimensional stereoscopic image.

FIG. 2 shows the configuration of the stereoscope 2. The stereoscope 2 has left and right CCDs 7a and 7b as imaging units at the distal end of the insertion unit.
Thereby, two subject images are captured. This CCD7
a and 7b are driven by drive signals from the video processor 3, and output signals are amplified by the preamplifiers 8a and 8b, respectively, and output to the video processor 3.

An ultrasonic vibrator 9 is provided at the distal end of the endoscope. This ultrasonic transducer 9 is for measuring the distance between the tip of the endoscope and the subject,
As shown in FIG. 3, this is for transmitting and receiving ultrasonic waves to and from the subject 10. From the transmitted and received ultrasonic signals, the distance is determined as described later.

The operation unit 11 at the proximal end of the insertion section of the endoscope
Has a freeze switch 12 for obtaining a still image,
An enlargement switch 13 for switching between a normal image and a full-size image, which will be described later, and a visual field switch 14 for switching between an endoscope image and an HMD visual field image are provided.

The structure of the HMD 6 will be described with reference to FIGS. HMD6 is inside (the side facing the eyes)
Left and right liquid crystal displays 15a for displaying images on
15b. Image display means is constituted by the video processor 3 and the liquid crystal displays 15a and 15b. On the front side of the HMD 6, CCDs 16a and 16b for capturing a front view image instead of the operator's view are provided. The CCDs 16a and 16b, an HMD signal processing unit and a signal synthesizing unit in the video processor 3, which will be described later, constitute a forward visual field image reproducing unit.

On the side surface of the HMD 6, a changeover switch 17 having the same function as the enlargement changeover switch and the field of view changeover switch provided in the operation section 11 of the endoscope described above is provided. A cable extends from the other side of the HMD 6, and is connected to the video processor 3 via the cable.

Next, the configuration of the video processor 3 will be described with reference to FIG. The video processor 3 drives the CCDs 7a and 7b provided at the distal end of the endoscope.
An endoscope CCD drive unit 18 that generates a CCD drive signal is provided. The stereoscope 2 is connected via a connector 19 to which the endoscope CCD drive unit 18 and the like are connected. The imaging signals obtained by the CCDs 7 a and 7 b driven by the endoscope CCD driving unit 18 are input to the endoscope video signal processing unit 20 via the connector 19. The endoscope video signal processing unit 20 processes the image pickup signal into a signal that can be displayed on a monitor, and outputs a video signal to the monitors 4a and 4b via the monitor image output unit 21. The video signal processed by the endoscope video signal processing unit 20 is also input to the video signal synthesis unit 22.

The ultrasonic distance detector 2 is connected to the connector 19.
3 is also connected. The ultrasonic distance detection unit 23 drives the ultrasonic transducer 9 provided in the stereoscope 2, receives the ultrasonic wave reflected from the subject 10, and based on the phase shift of the transmission / reception signal at this time. Then, the distance between the tip of the stereoscope 2 and the subject 10 is measured. The distance information detected by the ultrasonic distance detector 23 is input to the video signal synthesizer 22.

The video processor 3 has an HMD 6
For driving the CCDs 16a and 16b provided in
An MD CCD drive unit 24 is provided. HMD C
A connector 25 is connected to the CD drive unit 24, and is connected to the HMD 6 via the connector 25. When the surgeon wears the HMD, the CCDs 16a and 16b become invisible, except for what is displayed on the liquid crystal displays 15a and 15b. Things. C
Image signals picked up by the CDs 16 a and 16 b are subjected to signal processing by an HMD image signal processing unit 26 via a connector 25, and are input to the image signal synthesizing unit 22.

The video signal synthesizing section 22 includes an image obtained from the stereoscope 2 and the HMD CCDs 16a and 16b.
For displaying the image obtained from the HMD 6 on the HMD 6. For example, the image is synthesized so that either the endoscope image or the front view image of the HMD (hereinafter abbreviated as HMD image) is selected and displayed. Perform processing. Or the ultrasonic distance detector 23
The image is enlarged / reduced based on the distance information obtained in (1). Furthermore, various processes such as a synthesis process for displaying a moving image and a still image are performed. The video signal that has undergone such processing is output to the HMD via the HMD image output unit 27.
The data is output to MD6.

The processing instruction in the video signal synthesizing unit 22 is based on each switch provided in the stereoscope 2 and the HMD 6, or similarly, is operated based on a command input from the input unit 28. 29. That is, although not shown,
The enlargement changeover switch 13, the field of view changeover switch 14 of the stereoscope 2, and the changeover switch 17 of the HMD 6 are connected to the control unit 29 as well as the input unit 28.

A status display unit 30 is connected to the control unit 29, and the control status of the control unit 29 is displayed on the status display unit 30.
And the control status can be notified to a person other than the operator.

Further, the control unit 29 generates various timing pulses and controls the operation of each unit.

Next, the internal circuit of the video processor 3 will be described in more detail. FIG. 7 shows a detailed configuration of the ultrasonic distance detection unit 23.

The ultrasonic distance detector 23 is provided with the ultrasonic vibrator 9
An ultrasonic transmission circuit 31 is provided to drive the ultrasonic transducer 9, and the ultrasonic transducer 9 is driven by a pulse signal transmitted from the ultrasonic transmission circuit 31. Further, an ultrasonic receiving circuit 32 is provided, and an ultrasonic signal received by the ultrasonic vibrator 9 is transmitted to the ultrasonic receiving circuit 3.
2 to be detected.

Ultrasonic transmission circuit 31 and ultrasonic reception circuit 32
Is connected to the distance calculation circuit 33. The distance calculation circuit 33 determines the position of the stereoscope 2 based on the phase difference between the ultrasonic pulse at the time of transmission and the ultrasonic pulse at the time of reception.
Is calculated. Distance calculation circuit 33
Outputs a signal proportional to the distance to the enlargement / reduction control signal generation circuit 34 based on the calculation result.

The enlargement / reduction control signal generating circuit 34 is for exerting the function described below.

That is, when the surgeon wears the HMD 6, the stereoscopic image is obtained by the stereoscope 2 based on the output signal of the distance calculation circuit 33 so that a real-sized subject appears to be present in front of the operator. The control signal is for generating a control signal for enlarging or reducing the displayed image to an actual size.

Thus, the operator can intuitively know the size of the subject.

The control signal output from the enlargement / reduction control signal generation circuit 34 is input to the video signal synthesizing section 22.

Next, the details of the functional configuration of the video signal synthesizing unit 22 and its peripheral parts will be described with reference to FIG.

The imaging signal output from the stereoscope 2 is processed by the L and R video signal processing circuits 35a and 35b provided in the endoscope video signal processing unit 20.
The signals output from the L and R video signal processing circuits 35a and 35b are input to the L and R enlargement / reduction circuits 36a and 36b, respectively, and are input to the monitor image output unit 21. Has become.

L and R enlargement / reduction circuits 36a, 36a
6b enlarges / reduces the L and R endoscope images in the same manner, respectively, based on the control signal output from the enlargement / reduction control signal generation circuit 34 provided in the ultrasonic distance detection unit 23 described above. Things.

The L and R enlargement / reduction circuits 36a, 36
In step 6b, the endoscope image is not always enlarged / reduced, but is enlarged / reduced only when the actual size display is instructed by the input unit 28. This is because the surgeon always looks like there is a subject in front of the endoscope and always feels uncomfortable when the endoscope is diagnosed,
We try to prevent this. For this reason, the output signal of the ultrasonic distance detection unit 23 is supplied to the L
The signals are input to R enlargement / reduction circuits 36a and 36b.

When the actual size display is designated by the input unit 28, the control unit 29 performs an image enlargement / reduction process.
The switch 37 is closed, and control signals from the ultrasonic distance detector 23 are supplied to the L and R enlargement / reduction circuits 36a and 36b.
To enter. As a result, the HMD 6 displays an actual-sized endoscope image.

When the switch 37 is open, L
The R / R enlargement / reduction circuits 36a and 36b do not perform the enlargement / reduction processing, and the video signal obtained by the stereoscope 2 is used as it is in the next stage circuit, that is, the L / R image memories 38a and 38b and the image data. The data is output to the superimposing circuits 39a and 39b.

The L image memory 38a and the R image memory 38b are freeze memories, respectively. Therefore, when a freeze is instructed by the input unit 28 or the like, the L, R
The video signals output from the use enlargement / reduction circuits 36a and 36b are stored, and the video signals are image-superimposed on the circuits 39a and 3b.
9b. The L and R image memories 38a, 38
8b is controlled by the control unit 29.

The image superimposing circuits 39a and 39b are for L,
The output signals of the R image memories 38a and 38b are input, respectively, and the L and R enlargement / reduction circuits 36a,
The video signal output from 36b is also input as it is. The image superimposing circuits 39a and 39b
Is to superimpose the video output from the L and R enlargement / reduction circuits 36a and 36b and the video stored in the L and R image memories 38a and 38b and output the resultant to the next circuit. .

That is, when no freeze instruction is given, no video signal is output from the L / R image memories 38a, 38b, and the L / R enlargement / reduction circuits 36a,
Only the video signal from 36b is an image superimposing circuit 39a, 3
9b, and the signals input from the L and R enlargement / reduction circuits 36a and 36b are output as they are.

On the other hand, when the freeze is instructed, L
A video signal is output from the image memories 38a and 38b for use. Therefore, the image superimposing circuits 39a and 39b convert the video signals output from the L and R image memories 38a and 38b and the video signals output from the L and R enlargement / reduction circuits 36a and 36b, respectively. They are superimposed and output to the next stage circuit. That is, a video signal in a state where a moving image and a still image are superimposed is generated.

The output signals of the image superimposing circuits 39a and 39b are input to switching circuits 40a and 40b, respectively. The output signals of the HMD video signal processing unit 26 are input to the other input terminals of the switching circuits 40a and 40b. The HMD video signal processing unit 26 includes L and R video signal processing circuits 41a and 41.
b, the CCD 16 provided in the HMD 6
a, and 16b are processed.

The switching circuits 40a and 40b are for selecting an image output from the image superimposing circuits 39a and 39b and an image processed by the L and R video signal processing circuits 41a and 41b. . That is, switching between displaying an endoscope image and displaying an HMD image on the HMD is performed. This switching is performed by the input unit 28 or the visual field switch 14 provided on the stereoscope 2 or the HMD
6 can be operated by the changeover switch 17 provided on the control unit 6, and the control unit 29 switches the changeover circuits 40a, 40b
Control.

The endoscope image or the HMD image selected by the switching circuits 40a and 40b is output to the HMD 6 via the HMD image output unit 27. Then, H shown in FIG.
The information is displayed on the liquid crystal monitors 15a and 15b of the MD 6.

Next, the operation of the present embodiment will be described.
When observing the subject, the insertion section of the stereoscope 2 is inserted into the subject 10, and the subject 10 is imaged by the CCDs 7a and 7b. The imaging signals obtained by the CCDs 7a and 7b are transmitted to the endoscope video signal processing unit 2 via a connector 19.
0, and processed so as to be a video signal that can be displayed on a monitor. Then, the images are output to the monitors 4 a and 4 b via the monitor image output unit 21, and the endoscope images are displayed on the monitors 4 a and 4 b and input to the video signal synthesizing unit 22. The output image signal of the video signal combining unit 22 is output to the HMD 6 via the HMD image output unit 27, and the endoscope image is displayed on the liquid crystal displays 15a and 15b of the HMD 6. The surgeon wears the HMD 6 and wears the liquid crystal display 15
By viewing a and 15b, a three-dimensional image of the subject 10 can be obtained.

On the other hand, in the HMD 6, the CCD 16a,
By 16b, a field image in front of the HMD 6 (that is, in front of the operator's face) is captured. The imaging signals obtained by the CCDs 16a and 16b are input to the HMD video signal processing unit 26 via the connector 25, where they are processed, and then input to the video signal synthesis unit 22. In the video signal synthesizing section 22, the endoscope image signal and the HMD image signal are selected and output to the HMD 6.

That is, according to this embodiment, the endoscope image obtained by the stereoscope 2 and the CCD 16a, 1
By selecting either one of the HMD front view images obtained in 6b, the images can be displayed on the liquid crystal monitors 15a, 15b of the HMD 6.

Therefore, when the surgeon observes the endoscope image stereoscopically while wearing the HMD 6 and performs various operations such as using a treatment tool, the HMD 6 is displayed on the HMD 6 once. With this, the surgeon is as if HMD6
Can be obtained, and an operation such as grasping a treatment tool or the like and inserting it into the endoscope can be easily performed in this state.

When the distal end of the treatment instrument is inserted into the endoscope, and the treatment instrument can be inserted into the endoscope without observing the treatment instrument, the HMD 6 is again provided with an endoscope image. Is displayed.

Thus, the operator can intuitively grasp the distance between the subject and the distal end of the treatment tool as a three-dimensional image. Therefore, the tip of the treatment tool can be brought closer to the subject more quickly, and the treatment can be performed.

As described above, the operability regarding the endoscope diagnosis can be improved.

Further, in this embodiment, the distance between the subject and the endoscope end is measured using ultrasonic waves, and the enlargement / reduction circuits 36a and 36b are displayed so that the subject is displayed in full size.
Controls the enlargement / reduction of the image. Therefore, the distance between the treatment tool and the subject can be more intuitively sensed by the operator based on the three-dimensional image displayed on the HMD 6 in full size.

This full-size display is not always performed, but has a switching function so that it can be used only when necessary. Therefore, when the operator feels discomfort when performing only the full-size display, an image of a predetermined size (such that the subject is displayed to some extent far away so that the operator does not experience discomfort) Image) can be displayed.

When the freeze switch 12 is operated to freeze the image displayed on the HMD 6 when observing a still image, the image superimposing circuit 39 of the video signal synthesizing section 22 is operated.
According to a and 39b, not only a still image but also an image in which a still image and a moving image are superimposed is displayed on the HMD 6.

This is because if only a still image is displayed on the HMD 6, the operator can observe only the still image, and if the endoscope is moved carelessly, the patient may be in danger. A moving image is also displayed. That is, even in a frozen state, a still image and a moving image are superimposed and displayed so that at least the user can at least feel how the endoscope tip is moving.

Thus, it is possible to prevent a problem that the end of the endoscope moves carelessly and hurts the patient.

Although the first embodiment of the present invention has been described above, as a means for inputting a switching signal, the input unit 28 provided in the video processor 3 or the operation unit 11 of the stereoscope 2 is used. There are provided switches, a changeover switch 17 provided on the HMD 6, and the like.

Input unit 2 provided in video processor 3
The operation 8 can be easily performed by anyone other than the surgeon. The switches provided on the operation unit 11 or the HMD 6 are provided so that the surgeon can freely operate the switches to some extent without necessarily confirming where the switches are located.

That is, the operator is used to the operation of the endoscope, and can understand where and what shape the endoscope is.
Intuitive operation is possible. Also, the switch provided on the HMD 6 allows the operator to intuitively know where the switch is located with respect to his / her face. Therefore,
The surgeon can perform operations such as freeze while viewing a stereoscopic endoscope image on the HMD 6.

However, in consideration of a case where the number of switches to be operated increases, it is difficult to operate the switches.

Therefore, for example, when a voice recognition function as shown in FIG. 9 is provided, the operability of the stereoscopic endoscope system can be further improved.

In the stereoscopic endoscope system having a voice recognition function, a microphone 42 for detecting voice is provided on the HMD 6, and a voice recognition device 44 is connected to the video processor 3. The voice signal detected by the microphone 42 is transmitted to a voice recognition device 44 by an antenna 43. The voice recognition device 44 is provided with a voice recognition circuit 46, and the voice signal is input to the voice recognition circuit 46 via the antenna 45. This voice recognition circuit 46
Thus, the voice of the operator is recognized, and control of the video processor and the like are performed in accordance with a command by the voice of the operator.

As described above, the video processor can be controlled according to the operator's command without operating the switch, etc., and the operator does not need to use nerves at the fingertips and the like, and the burden on the operator is reduced. Can be reduced.

FIG. 10 shows the video signal synthesizing section 2 of the first embodiment.
2 shows a first modified example. Note that the same components are denoted by the same reference numerals and description thereof is omitted.

In the first embodiment, when an image is frozen,
The obtained moving image and still image are simply superimposed and displayed.

However, if the images are simply superimposed, the priorities of both images may be displayed in the same manner, resulting in an image which is difficult to see. Therefore, in the first modification, the monochrome / color switching circuit 47a,
47b is provided so that when a freeze is instructed, the moving image is changed from a color image to a monochrome image, and the monochrome moving image and a color still image are superimposed.

Monochrome / color switching circuits 47a, 47b
When a freeze is instructed, the moving image is converted to monochrome and output, and when the freeze is released, a color moving image is output, and the output moving image and the color still image are combined. The images are superimposed in the image superimposing circuits 39a and 39b.

According to this, the still image to be actually observed is displayed in color, and this image is emphasized.
Therefore, a good still image that can be easily observed can be obtained.

The superimposition of a moving image and a still image can be performed not only by superimposing a color image and a monochrome image but also by superimposing an image having high and low brightness. FIG. 11 shows a second modification in which images having different luminances are superimposed as described above.

In the second modification, the video signal synthesizing section 2
In 2b, luminance switching circuits 48a and 48b are provided instead of the monochrome / color switching circuits 47a and 47b shown in FIG.

When a freeze is instructed, the luminance switching circuits 48a and 48b switch the luminance of the input moving image to be low, and superimpose the low luminance moving image on the image superimposing circuits 39a and 48b.
39b. As a result, a still image with high luminance and a moving image with low luminance are displayed on the HMD 6 in a superimposed state. When the freeze is released, the luminance switching circuits 48a and 48b output moving images with high luminance.

As described above, even when images having different luminances are superimposed, it is possible to emphasize a still image actually desired to be observed.

The method of electrically overlapping a moving image and a still image during freeze has been described above. However, an image can be mechanically overlapped.

FIGS. 12 to 14 show examples of the configuration of an apparatus for mechanically superimposing a moving image and a still image.

For example, as shown in FIG. 12, an HMD 50 can be constituted by using a half mirror 49.

That is, the HMD 50 is provided with a first liquid crystal monitor 51 for displaying a moving image and a second liquid crystal monitor 52 for displaying a still image. According to this, a moving image displayed on the first liquid crystal monitor 51 can be observed through the half mirror 49 and a still image displayed on the second liquid crystal monitor 52 can be observed. Can be observed by being reflected by the half mirror 49.

The video signal synthesizing section 22 of the video processor 3 connected to the HMD 50 can be configured as shown in FIG. 13, for example.

As can be seen from the figure, the video signal synthesizing section 22
c does not require an image superimposing circuit, and the video signals output from the L and R image memories 38a and 38b are directly input to the second liquid crystal monitor 52 for still images. The output video signals of the L and R enlargement / reduction circuits 35a and 35b, which become moving images, are supplied to the switching circuits 40a and 4b.
0b, and output signals from the switching circuits 40a, 40b are input to the first liquid crystal monitor 51.

As a result, a moving image and a still image can be superimposed and displayed on the HMD 50.

By using the circuit shown in FIG. 13, two monitors, a monitor for a moving image and a monitor for a still image, can be driven.

That is, as shown in FIG. 14, the present invention can be applied to an HMD 53 in which a first liquid crystal monitor 51 and a second liquid crystal monitor 52 are arranged vertically and the two monitors can be directly observed. it can.

According to this, since the moving image and the still image are not superimposed, there is an effect that each image becomes easy to see.

Next, a second embodiment of the present invention will be described with reference to FIG. FIG. 15 is a configuration explanatory view showing the entire configuration of the stereoscopic endoscope system according to the second embodiment of the present invention.

In the first embodiment, the forward field-of-view image obtained by the CCD provided on the HMD is displayed on the HMD 6 to secure the field of view of the operator.
Thus, the field of view of the operator can be secured without providing a CCD.

The HMD 61 of the second embodiment has a liquid crystal monitor 62 for displaying an image obtained by the stereoscope 2.
The image displayed on the monitor is reflected by the half mirror 63 so that the operator can observe the image.

The HMD 61 has a liquid crystal monitor 62
A brightness adjustment volume 64 is provided for adjusting the brightness of the images displayed on a and 62b.

The main part of the video processor 65 connected to the HMD 61 is configured as shown in FIG.
The video processor 65 includes a signal level adjusting circuit 66 on the output side of the L and R video signal processing circuits 35a and 35b.
a and 66 b are provided and connected to the brightness adjustment volume 64 of the HMD 61. That is, by operating the brightness adjustment volume 64 provided on the HMD 61, the brightness level of the video signal is adjusted by the signal level adjustment circuits 66a and 66b, and the brightness of the image displayed on the liquid crystal monitors 62a and 62b is controlled. It has become. Thereby, the brightness of the endoscope image can be controlled.

Therefore, when the operator attempts to secure his or her field of view, the brightness of the image displayed on the monitor by the brightness adjustment volume 64 is reduced. Then, the surrounding illumination becomes brighter than the brightness of the monitor, so that the operator can visually recognize the surrounding state through the half mirror 63.

On the other hand, when the operator intends to observe the endoscope image, the brightness of the images on the liquid crystal monitors 62a and 62b is increased by adjusting the brightness adjustment volume 64. Then, the liquid crystal monitors 62a, 62
The brightness of the image displayed at b becomes brighter, the image is reflected by the half mirror 63, and the endoscope image can be observed.

As described above, according to the second embodiment, the switching between the securing of the operator's field of view and the observation of the endoscope image is performed only by controlling the brightness of the image displayed on the liquid crystal monitors 62a and 62b. Various operations can be easily performed while stereoscopically observing an endoscope image.

FIG. 16 is an explanatory diagram showing the overall configuration of a stereoscopic endoscope system according to a third embodiment of the present invention.

The third embodiment is different from the second embodiment in that the brightness of the image displayed on the liquid crystal monitor is adjusted, whereas the amount of illumination in the room is adjusted to secure the field of view of the operator. It is.

The HMD 71 according to the third embodiment includes liquid crystal monitors 62a and 62b and a half mirror 6 similar to the second embodiment.
3 and an illumination light amount adjustment volume 72 for adjusting illumination light in the endoscope room.

The video processor 73 connected to the HMD 71 is connected to a lighting control unit via a connection cable 74. Illumination light volume control 7
The dimming signal from 2 is sent to the lighting control unit from the connection cable 74 via the changeover switch 77. A wireless transmitter 75 is connected to the other end of the changeover switch 77 so that the dimming signal from the illumination light amount adjusting volume 72 can be skipped as a radio wave and transmitted to the illumination control unit. The dimming signal transmitted from the wireless transmitter 75 is received by the wireless receiver 76.

The connection cable 74 and the wireless receiver 76 are connected to an indoor lighting control device 79 via a changeover switch 78 so that the amount of illumination of the illumination lamp 80 can be adjusted by the indoor lighting control device 79. Has become. Further, a light amount adjusting volume 81 provided on a wall in the endoscope room is connected to the indoor lighting control device 79.
Also enables light quantity adjustment.

The dimming signal from the illumination light amount adjusting volume 72 has its transmission path switched according to the connection state of the connection cable 74. That is, the changeover switches 77 and 78 are automatically switched according to the connection state of the connection cable 74. Accordingly, when the connection cable 74 is connected to the video processor 73, the radio wave is transmitted as a radio wave by the wireless transmitter 75 and the wireless receiver 76 when the connection cable 74 is not connected. A light control signal is sent to the indoor lighting control device 79. Based on this dimming signal, the illumination light amount of the illumination lamp 80 is adjusted by the indoor illumination control device 79.

According to the system configured as described above,
When the illumination light amount in the room is increased by operating the illumination light amount adjustment volume 72, the operator can use the half mirror 63 of the HMD 71.
, It is possible to see the state of the room. on the other hand,
When the indoor lighting is darkened, the endoscopic images displayed on the liquid crystal monitors 62a and 62b are reflected by the half mirror 63, and the surgeon can observe a three-dimensional endoscopic image based on this.

Accordingly, only by adjusting the amount of illumination in the room, it is possible to switch between the securing of the field of view of the operator and the observation of the endoscope image in the same manner as in the second embodiment. Various operations can be easily performed while observing.

FIG. 17 is an explanatory diagram showing the overall configuration of a stereoscopic endoscope system according to a fourth embodiment of the present invention.

The fourth embodiment is a combination of the second and third embodiments.

The HMD 91 according to the fourth embodiment includes liquid crystal monitors 62a and 62b and a half mirror 6 similar to the second embodiment.
3 and an observation image switching volume 9
2 are provided.

The video processor 93 connected to the HMD 91 is provided with a luminance adjustment signal generation circuit 94 and an illumination light amount adjustment signal generation circuit 95 so that an output signal from the observation image switching volume 92 is supplied. Has become. The luminance adjustment signal output from the luminance adjustment signal generation circuit 94 is input to the L and R video signal processing circuits 35a and 35b, and the luminance level of the video signal is adjusted. The illumination light amount adjustment signal output from the illumination light amount adjustment signal generation circuit 95 is input to the changeover switch 77,
The light is sent to the indoor lighting control device 79 as in the third embodiment.

Therefore, by adjusting the observation image switching volume 92 of the HMD 91, the luminance adjustment signal generation circuit 94 generates a signal for adjusting the luminance of the video signal.
The illumination light amount adjustment signal generation circuit 95 generates a signal for adjusting the illumination light amount. Thereby, the liquid crystal monitors 62a,
The brightness of the image displayed on 62b and the amount of illumination of the illumination lamp 80 are adjusted.

When the user wants to see the state of the room, he operates the observation image switching volume 92 to lower the luminance of the video signal and raise the amount of illumination in the room. This allows
The operator can see the room through the half mirror 63.

When the user wants to observe an endoscope image, he operates the observation image switching volume 92 to increase the luminance of the video signal and decrease the amount of illumination in the room. As a result, a high-brightness endoscopic image is displayed on the HMD 91, and the surrounding rooms are dark, so
Is reflected by the half mirror 63, and the operator can observe the endoscope image.

Therefore, by adjusting the brightness of the image displayed on the liquid crystal monitor and the amount of illumination in the room, it is possible to switch between the securing of the field of view of the operator and the observation of the endoscope image.

As described above, in the present embodiment, the mode for observing an endoscopic image and the mode for observing a room in front of the HMD are switched in the HMD mounted on the operator's face so that each can be observed. It was done.

Therefore, it is possible to solve the problem that only the endoscope image can be observed with the HMD mounted as in the conventional case, and it is difficult to perform other operations. Various operations can be performed easily.

[0112]

As described above, according to the present invention, it is possible to obtain a front view at the time of observing a three-dimensional image, thereby enabling various operations of the apparatus to be confirmed by the front view while observing the three-dimensional image. There is an effect that the property can be improved.

[Brief description of the drawings]

FIG. 1 to FIG. 8 relate to a first embodiment of the present invention,
FIG. 1 is a configuration explanatory view showing the entire configuration of a stereoscopic endoscope system.

FIG. 2 is an explanatory diagram showing a configuration of a stereoscope.

FIG. 3 is an explanatory diagram illustrating transmission and reception of ultrasonic waves by a stereoscope.

FIG. 4 is an explanatory diagram showing a configuration of a head mounted display (HMD).

FIG. 5 is a side view of the HMD.

FIG. 6 is a block diagram illustrating a configuration of a video processor.

FIG. 7 is a block diagram illustrating a configuration of an ultrasonic distance detection unit.

FIG. 8 is a block diagram showing a configuration of a video signal synthesis unit and its peripheral parts

FIG. 9 is a configuration explanatory diagram showing a configuration of a stereoscopic endoscope system having a voice recognition function.

FIG. 10 is a block diagram showing a first modification of the video signal combining unit shown in FIG. 8;

FIG. 11 is a block diagram showing a second modification of the video signal combining unit shown in FIG.

FIG. 12 is a side view showing a first configuration example of an HMD in an apparatus that mechanically superimposes a moving image and a still image.

FIG. 13 is a block diagram illustrating a configuration example of a video signal combining unit in an apparatus that mechanically superimposes a moving image and a still image.

FIG. 14 is a side view showing a second configuration example of the HMD in an apparatus for mechanically superimposing a moving image and a still image.

FIG. 15 is an explanatory diagram showing an overall configuration of a stereoscopic endoscope system according to a second embodiment of the present invention.

FIG. 16 is an explanatory diagram showing an overall configuration of a stereoscopic endoscope system according to a third embodiment of the present invention.

FIG. 17 is an explanatory diagram showing an overall configuration of a stereoscopic endoscope system according to a fourth embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Stereoscopic endoscope system 2 ... Stereoscope 3 ... Video processor 6 ... Head mounted display 7a, 7b ... Endoscope CCD 9 ... Ultrasonic vibrator 12 ... Freeze switch 13, 14, 17 ... Changeover switch 15a, 15b Liquid crystal display 16a, 16b CCD for HMD 20 Endoscope video signal processing unit 22 Video signal synthesis unit 23 Ultrasonic distance detection unit 26 HMD video signal processing unit 29 Control unit 40a, 40b switching circuit

Continuation of the front page (56) References JP-A-2-124132 (JP, A) JP-A-2-189689 (JP, A) JP-A-2-281189 (JP, A) JP-A-3-226198 (JP) JP-A-57-190543 (JP, A) JP-A-59-30389 (JP, A) JP-A-59-69046 (JP, A) JP-A-59-69720 (JP, A) 59-69721 (JP, A) JP-A-59-231510 (JP, A) JP-A-62-161337 (JP, A) JP-A-63-307305 (JP, A) JP-A-2-26870 (JP, A) U) Japanese Utility Model Showa 58-93489 (JP, U) Japanese Utility Model Showa 58-93490 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) H04N 13/00-15/00 A61B 1 / 00-1/32

Claims (2)

(57) [Claims] A first image pickup unit for picking up an image of an object to be inspected; and a signal processing unit for processing an image pickup signal output from the first image pickup unit
To the first normal observation image of the subject part.
A first image signal processing means for generating and outputting one image signal
A step and a first imaging device provided near the first imaging means;
A second step of imaging the subject with a predetermined parallax with respect to a step;
(2) an image pickup unit, and signal processing on an image pickup signal output from the second image pickup unit.
And a first image corresponding to the first normal observation image
A second communication of the subject having the parallax with respect to the signal.
Generate and output a second image signal corresponding to the normal observation image
A second image signal processing means provided near the first and second imaging means;
Detecting the distance between the first and second imaging means and the subject;
Based on the distance detection means and the detection result detected by the distance detection means.
To the first and second image signals having the parallax
Enlargement and reduction processes are applied to the actual size image of the part to be inspected.
Third and third corresponding signals having the parallax with each other
(4) an enlargement / reduction processing means for generating an image signal of ( 4);
Image signal and the first and second image signals
Switching means for detecting the position of the test object based on an output signal from the switching means.
A table that can be worn on the face and has a display that displays a body image
Stereoscopic image observation system characterized by comprising a shows apparatus. 2. An endoscope having an insertion portion inserted into a subject.
In a mirror image observation system, a first image is provided at a distal end portion of the insertion portion and captures an image of a test portion.
Image processing means, and signal processing on an imaging signal output from the first imaging means.
To the first normal observation image of the subject part.
A first image signal processing means for generating and outputting one image signal
And a step , provided at the distal end of the insertion section, for the first imaging means.
Second for imaging the object part also predetermined parallax for
Imaging means, and signal processing on an imaging signal output from the second imaging means
And a first image corresponding to the first normal observation image
A second communication of the subject having the parallax with respect to the signal.
Generate and output a second image signal corresponding to the normal observation image
A second image signal processing means provided at a distal end of the insertion portion, and
Distance detecting means for detecting a distance between the two, and based on a detection result detected by the distance detecting means.
To the first and second image signals having the parallax
Enlargement and reduction processes are applied to the actual size image of the part to be inspected.
Third and third corresponding signals having the parallax with each other
(4) an enlargement / reduction processing means for generating the image signal of ( 4);
Image signal and the first and second image signals
Switching means for detecting the position of the test portion based on an output signal from the switching means.
A table that can be worn on the face and has a display that displays a body image
An endoscope image observation system , comprising: a display device .